Profibus: Operation Manual

PROFIBUS
Operation manual Fundamentals

Configuration
Parameters
V 5.6-H or later
09/2013 en
Table of contents
Operation manual
Table of contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1 Purpose of the manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 Readers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 Other manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Further support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Notes on Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1 Component part of the product . . . . . . . . . . . . . . . . . . . . . . 6
2.2 Operation in accordance with its intended use . . . . . . . . . . 6
2.3 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.4 Transportation and storage . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.5 Installation and connection . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.6 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.7 Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.8 Presentation of notes on safety . . . . . . . . . . . . . . . . . . . . . . 9
3 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1 Install in MDS 5000 or SDS 5000 . . . . . . . . . . . . . . . . . . . . 10
WE KEEP THINGS MOVING

3.2 Installation in the FDS 5000. . . . . . . . . . . . . . . . . . . . . . . . . 13
4 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.1 Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.2 Cable specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.3 Connection of the bus cables to the inverter . . . . . . . . . . . . 18
5 Fundamentals of PROFIBUS . . . . . . . . . . . . . . . . . . 19
5.1 PROFIdrive profil version 3 . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.2 Comparison of the PROFIBUS generations . . . . . . . . . . . . 20
5.3 Data transmission via PROFIBUS DP . . . . . . . . . . . . . . . . . 21
5.3.1 Possible communication . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.3.2 User data communication . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6 Bus diagnosis/LEDs . . . . . . . . . . . . . . . . . . . . . . . . . 23
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Table of contents
Operation manual
7 Configuration of the bus system . . . . . . . . . . . . . . . . 25
7.1 GSD file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.2 Procedure for SIEMENS SIMATIC S7 and STEP 7. . . . . . . 26
7.2.1 The HW-config . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
7.2.2 SFC Calls for data consistency . . . . . . . . . . . . . . . . . . . . . . 27
8 Prozess data transmission PZD . . . . . . . . . . . . . . . . 28
8.1 Parameter process data object (PPO) . . . . . . . . . . . . . . . . . 28
8.2 The mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
8.2.1 Example PPO4 with 12-Byte PZD area . . . . . . . . . . . . . . . . 30
9 Control with control and status bits . . . . . . . . . . . . . . 31
10 Switchable scaling . . . . . . . . . . . . . . . . . . . . . . . . . . 32
11 Parameter Overview . . . . . . . . . . . . . . . . . . . . . . . . . 33
11.1 PROFIDRIVE parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
11.2 PROFIBUS parameter/mapping/PKW1 . . . . . . . . . . . . . . . . 33
11.3 List of the primary communication parameters . . . . . . . . . . 35
11.4 List of quick location of parameters . . . . . . . . . . . . . . . . . . . 40
12 Appendix A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
12.1 General characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

12.2 Parameter jobs and responses . . . . . . . . . . . . . . . . . . . . . . 41
12.3 DPV1 telegram sequences . . . . . . . . . . . . . . . . . . . . . . . . . 46
12.3.1DPV1 telegram frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
13 Appendix B PKW0 telegram . . . . . . . . . . . . . . . . . . . 50
13.1 PKW0 mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
13.2 Further regulations for order/answer processing . . . . . . . . . 53
13.3 Time sequence of a PKW0 service . . . . . . . . . . . . . . . . . . . 53
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1
Introduction
Operation manual
1 Introduction
1.1 Purpose of the manual
This manual gives you information on the connection of the 5th generation of
STÖBER inverters to the PROFIBUS fieldbus system. The structure of
PROFIBUS and the principal procedures are also discussed.
Goals of the manual:
• Provide you with a basic knowledge of PROFIBUS communication.
• Offer you support when you design an application and configure
communication.
1.2 Readers
Users who are familiar with the control of drive systems and have a knowledge of
commissioning inverter systems are the target group of this manual.
1.3 Other manuals

The documentation of the MDS 5000 includes the following manuals:
Manual Contents ID Latest versiona)

Commissioning Instructions Reinstallation, replacement, function test 442297 V 5.6-H
Projecting manual Installation and connection 442273 V 5.6-H
Operating manual Set up the inverter 442285 V 5.6-H

a) At the time of publication. You can find all versions at www.stoeber.de > Products > Doc Center.
The documentation of the FDS 5000 includes the following manuals:

The documentation of the SDS 5000 includes the following manuals:

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1
Introduction
Operation manual
You can find information on the POSITool software in the following manuals:

POSITool operating manual Information on the 442233 V 5.6-H
basic functions of
POSITool
Programming manual Information on 441693 V 5.6-H
programming with
POSITool
Note that the programming functionality of POSITool can only be used after
training by STÖBER ANTRIEBSTECHNIK. You can find information on training at
www. stoeber.de
1.4 Further support

For questions on the use of the 5th generation of STÖBER inverters and its
EtherCAT interface which have not been answered by this manual, do not
hesitate to contact us at
• telephone: +49 (0) 7231 582-1187 or
• E-Mail [email protected]
To make getting started with our software easier, we offer courses. Contact our
training center at [email protected].
If you have questions about the documentation, please contact:

• E-mail: [email protected]
If you have questions about training sessions, please contact:

• E-mail: [email protected]
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2
Notes on Safety
Operation manual
2 Notes on Safety
The devices may cause risks. For these reasons, comply with the following:
• The safety notes listed in the following sections and points
• The technical rules and regulations.
In addition, always read the appropriate documentation. STÖBER

ANTRIEBSTECHNIK GmbH + Co. KG accepts no liability for damages caused by
non-adherence to the instructions or applicable regulations. Subject to technical
changes to improve the devices without prior notice. This documentation is purely
a product description. It does not represent promised properties in the sense of
warranty law.
2.1 Component part of the product

The technical documentation is a component part of a product.
• Since the technical documentation contains important information, always

keep it handy in the vicinity of the device until the machine is disposed of.
• If the product is sold, disposed of, or rented out, always include the technical
documentation with the product.
2.2 Operation in accordance with its intended use

The DP5000 accessory is only intended for establishing communication between
devices from the 5th generation of STÖBER inverters and a PROFIBUS network.

Improper use includes integration in other communication networks.
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Notes on Safety
Operation manual
2.3 Qualified personnel

Since the devices may harbor residual risks, all configuration, transportation,
installation and commissioning tasks including operation and disposal may only
be performed by trained personnel who are aware of the possible risks.
Personnel must have the qualifications required for the job. The following table
lists examples of occupational qualifications for the jobs:
Activity Possible occupational qualifications

Transportation and storage Worker skilled in storage logistics or comparable
training
Configuration - Graduate engineer (electro-technology or
electrical power technology)
- Technician (m/f) (electro-technology)
Installation and connection Electronics technician (m/f)
Commissioning  - Technician (m/f) (electro-technology)
(of a standard application) - Master electro technician (m/f)
Programming Graduate engineer (electro-technology or
electrical power technology)
Operation - Technician (m/f) (electro-technology)
- Master electro technician (m/f)
Disposal Electronics technician (m/f)
Tab. 2-1: examples of occupational qualifications
In addition, the valid regulations, the legal requirements, the reference books, this
technical documentation and, in particular, the safety information contained

therein must be carefully
• read
• understood and
• complied with
2.4 Transportation and storage

Inspect the delivery for any transport damage immediately after you receive it.
Notify any damage to the transport company immediately. Do not operate the
product if damaged. Store the device in a dry and dust-free room if you do not
install it immediately
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Notes on Safety
Operation manual
2.5 Installation and connection

The accessory installation instructions allow the following actions during the
installation of accessories:
• The housing in the upper slot can be opened.
Opening the housing in another place or for other purposes is not permitted.
Installation and connection work are only permitted after the device has been
isolated from the power!
Apply the 5 safety rules in the order stated before performing any work on the
machine:
1. Enable. Also enable the auxiliary circuits.
2. Secure against restart.
3. Check that voltage is not present.
4. Earth and short circuit.
5. Cover adjacent live parts.
Information
Note that the discharge time of the DC link capacitors is 5 minutes. You
can only determine the absence of voltage after this time period.
Afterwards you can carry out the work.
2.6 Service
Repairs must only be performed by STÖBER ANTRIEBSTECHNIK GmbH + Co.
KG. Send faulty devices with a fault description to:

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG
Abteilung VS-EL
Kieselbronner Str.12
75177 Pforzheim, Germany
GERMANY
2.7 Disposal
Please comply with the latest national and regional regulations! Dispose of the
individual parts separately depending on their nature and currently valid
regulations such as, for example:
• Electronic scrap (PCBs)
• Plastic
• Sheet metal
• Copper
• Aluminum
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Notes on Safety
Operation manual
2.8 Presentation of notes on safety
NOTICE
Notice
means that property damage may occur
 if the stated precautionary measures are not taken.
CAUTION!
Caution
with warning triangle means that minor injury may occur
WARNING!
Warning
means that there may be a serious danger of death
DANGER!
Danger

means that serious danger of death exists
Information
indicates important information about the product or a highlighted
portion of the documentation which requires special attention.
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3
Mounting
Operation manual
3 Mounting
The DP 5000 fieldbus module (PROFIBUS DP-V1) must first be installed before
the inverter of the 5th generation of STÖBER inverters can be integrated in a
PROFIBUS system. The accessories are installed above the inverter display.
We recommend ordering the option card with mounting and the inverter. If this is
done, STÖBER ANTRIEBSTECHNIK will mount the DP 5000 before delivery.
3.1 Install in MDS 5000 or SDS 5000
WARNING!
Danger of injury/death and property damage due to electric shock!
 Before installing accessories, turn off all voltage supplies! Then wait 5
minutes for the DC link capacitors to discharge. Never begin with accessory
installation until after this!
CAUTION!
Danger of property damage due to electrostatic discharge, among others!
 Provide suitable protective measures while handling open PCBs (e.g., ESD
clothing, environment free of dirt and grease).
 Do not touch the contact surfaces.
You will need the following tools to install the DP 5000:

• TX10 Torx screwdriver
• Pliers
• Hexagon socket wrench, 4.5 mm
Installing the DP 5000
1. Unscrew the mounting screws and remove the cover plate:
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Mounting
Operation manual
2. Remove the punched out metal section with the pliers:
3. Remove the screws from the option PCB:
4. Stick the sub D plug connector of the PCB through the plate from below:
5. Secure the PCB to the plate with the screw in step 3:
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Mounting
Operation manual
6. Insert the option PCB in the inverter so that the gold contacts slide into the
black terminal block:
7. Secure the plate to the inverter with the mounting screws:
 You have installed the accessory.
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Mounting
Operation manual
3.2 Installation in the FDS 5000
WARNING!
Danger of injury/death and property damage due to electric shock!
 Before installing accessories, turn off all voltage supplies! Then wait 5
minutes for the DC link capacitors to discharge. Never begin with accessory
installation until after this!
CAUTION!
Danger of property damage due to electrostatic discharge, among others!
 Provide suitable protective measures while handling open PCBs (e.g., ESD
clothing, environment free of dirt and grease).
 Do not touch the contact surfaces.
You will need the following tools to install the DP 5000:

• TX10 Torx screwdriver
• Pliers
• Hexagon socket wrench, 4.5 mm
Installing the DP 5000 in an FDS 5000
1. Unscrew the mounting screws and remove the cover plate:

2. Remove the punched out metal section with the pliers:
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Mounting
Operation manual
3. Remove the screws from the option PCB:
4. Stick the sub D plug connector of the PCB through the plate from below:
5. Secure the PCB to the plate with the screws from step 3:
6. Stick the option PCB in the inverter so that the gold contacts slide into the

black terminal block:
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Mounting
Operation manual
7. Secure the plate to the inverter with the mounting screws:
 You have installed the accessory.
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Electrical installation
Operation manual
4 Electrical installation
4.1 Setup
PROFIBUS DP consists of at least one bus segment. One segment consists of at
least two but not more than 32 stations. They are all physically connected with a
bus cable. One of the stations is the master. The master is the active station on
PROFIBUS. It can send or request data to/from other stations. The slaves are the
passive stations on PROFIBUS. They can only exchange data with the master
when the master requests this.
Terminating resistors must be placed at the beginning and the end of the bus.
3
.2
Master no. 1
.
.
no
no
no
e
e
av
av
av
Sl
Sl
Sl
Station (master or slave)
Station with circuited

terminating resistor
Fig. 4-1 Setup of a bus segment
If more than 32 stations are to operate on a bus or the maximum line length of a
bus segment is exceeded, several bus segments must be coupled via RS 485
repeaters. The maximum number of masters and slaves within one bus segment
must be decreased by one for every repeater used. The maximum number of
masters and slaves over the entire bus system is 126. The maximum line length

depends on the baud rate being used. The table below gives you the maximum
permissible lengths for one segment and for all segments.
We strongly recommend NOT using stub lines in the setup. This is only permitted
during commissioning. This bus system is usually set up with shielded, two-wire
lines (RS 485). It can also be set up for special applications via fiber-optic
conductors. STÖBER Antriebstechnik offers the coupling to the two-wire line.
This permits a maximum distance of 10,000 m. When suitable measures are
taken on the master side, slaves can be coupled or decoupled during operation
without having to interrupt data communication on the bus.
Baud rate one segment all segments

9.6 to 187.5 kBaud 1000 m 10000 m
500 kBaud 400 m 4000 m
1.5 Mbaud 200 m 2000 m
3 to 12 Mbaud 100 m 1000 m
These distances only apply with suitable bus cable!
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Operation manual
Segment 1
R
Repeater
Segment 2
Repeater R
Segment 3
Fig. 4-2 Setup with more than 32 stations
4.2 Cable specifications

To ensure interference-free use of the above baud rates and distances, STÖBER
ANTRIEBSTECHNIK recommends using cable type A with the folloeing
specification described in PROFIBUS literature:
• Wave resistance: 135 to 165 Ω, at a measuring frequency of 3 to 20 MHz.
• Cable capacity: < 30 pF per meter
• Core cross section: > 0,34 mm²
• Loop resistance: < 110 Ohm per km
• Signal attenuation: Max. of 9 dB over the entire length of the line segment.
• Shielding: Braided copper shield or braided shield and foil shield.
Use of other types of cables is not recommended since then only slower baud
rates and reduced distances may be possible.
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Operation manual
4.3 Connection of the bus cables to the inverter

To connect PROFIBUS DP, the DP5000 option module is equipped with a 9-pin,
sub D socket plug connector with the pin allocation specified in the PROFIBUS
standard (see below).
To connect the bus cable(s), we recommend the use of suitable bus connection
plugs which are offered by various manufacturers especially for PROFIBUS DP.
The incoming and the outgoing bus cable can be inserted and screwed down in
these plug connectors. There is no outgoing bus cable for the last station. In this
case the sliding switch on the plug is set to "on" to switch on the bus terminating
resistors.
Information
To ensure that bus termination functions correctly, the power supply
may not be allowed to fail on the stations with circuited terminating
resistors! To bypass the risk of a complete bus failure when the last
station malfunctions, active bus terminating components can be
used.
The inverters in the device series MDS 5000 and SDS 5000 with a
separate 24-V control part power supply represent such
components. In the device series FDS 5000, inverters with the
identifier "/L" have a separate 24-V control part power supply.
PINa) Designation Function

1 nc Not connected
2 nc Not connected
3 B RxD/TxD-P (send/receive data - plus)

4 RTS Direction control for repeater (plus)
5 GND Ground to +5 V
6 +5V Power for the terminating resistors
7 nc Not connected
8 A RxD/TxD-N (send/receive data - minus)
9 nc Not connected
a) View of sub D
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5
Fundamentals of PROFIBUS
Operation manual
5 Fundamentals of PROFIBUS
PROFIBUS is an open fieldbus standard for a wide variety of applications in
manufacturing and process automation. The independence from manufacturers
and the openness are ensured by international standard IEC 61158. For years
now PROFIBUS has been one of the primary fieldbus systems on the
international market.
PROFIBUS DP is a fast and cost-optimized communication system for use at the
field level in which a controller (PROFIBUS master) with several slaves (drives,
IOs, and so on) performs cyclic data communication.
5.1 PROFIdrive profil version 3

There are three types: PROFIBUS FMS, PROFIBUS DP and PROFIBUS
PA.PROFIBUS DP offers high-speed cyclic communication for small amounts of
data.
The PROFIBUS profile drive technology, called PROFIDrive, version 3, is a
compatible continuation of the proven PROFIBUS profile for variable-speed
drives, PROFIDrive, version 2. Today PROFIBUS communication is the standard
for drive technology.
In addition to the PROFIBUS standard, the PROFIDrive profile specifies uniform
device reactions and access procedures for the drive data. One of the new
functions of version 3 is the parameter channel which uses the DP-V1 services of
the acyclic communication.
STÖBER ANTRIEBSTECHNIK offers all inverters of the 5th generation of
STÖBER inverters the capacity to connect to PROFIBUS DP (DP = Decentral
Periphery) via the PROFIDrive profile. This turns these devices into intelligent DP

slaves which can be operated by a PROFIBUS master (controller, PLS, PC).
Bus operation is possible up to a maximum speed of 12 Mbaud. Two LEDs
indicate the function of the option board, the status of the data transmission and
any malfunction (see chapter 6).
When a PROFIBUS system is commissioned, the manuals/commissioning
instructions of all involved components (DP master/controller, additional slaves,
etc.) must be adhered to. For further information on PROFIBUS or PROFIDrive
profile, go to www.profibus.com at the PROFIBUS User Organization.
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Operation manual
5.2 Comparison of the PROFIBUS generations

This chapter summarizes the system characteristics applicable to drive
technology and the system differences:
Simultaneous operation of different inverter generations on one controller is

possible and easy (see figure). Only when the new acyclic services are used are
an inverter of the 5th generation of STÖBER inverters and an appropriate master
required. The use of these services does not interfere with the operation of the
other stations. When an older controller is used which does not support acyclic
services, operation with cyclic data (PZD and PKW) can be used.
MDS FDS SDS FDS FAS

5000 5000 5000 4000 4000
Fig. 5-1 Schematic setup with different types of STÖBER inverters
PROFIBUS Standard  New Features Meaning for FDS

Properties 5000 / MDS 5000

DP-V0 Cyclic data — Compatible with FDS
communication (PZD 4000, ...
+ PKW)
DP-V1 Zyklischer Daten- Acyclic services + New parameter
austausch identisch alarm handling channel, available as
wie DP-V0 per PROFIDrive V3
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Operation manual
5.3 Data transmission via PROFIBUS DP
5.3.1 Possible communication
Devices of the 5th generation of STÖBER inverters support cyclic and acyclic
services with the DP-V1 option. This provides a wide variety of possible ways to
communicate:
C2 - Master
C2 - Master
C1 - Master
HMI
1
3
2
4

Fig. 5-2 Different communication options
1: Cyclic communication
2 - 4: Acyclic communication
Cyclic communication (1) is the simple exchange of user data via the data
exchange telegram. Time critical process data (PZD) are exchanged between a
class-1 master (C1) and the drive controller with cyclic communication. Such data
include, for example, reference and actual values, and control and status
information. A routine for parameter communication (of the familiar PKW channel
as with the FDS 4000) can be implemented within the cyclic communication.
There is always exactly one C1 master in each PROFIBUS setup. This master
reads the GSD file, configures the drives, starts PROFIBUS and runs the cyclic
communication. The C1 master is usually the controller (arrow 1).
The acyclic services (2-4) are available in DP-V1 for the transmission of new
parameter jobs for controlling and monitoring the drives, parallel to true cyclic
communication.
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Operation manual
In contrast to cyclic communication, acyclic communication data are only

exchanged when necessary. Acyclic communication is performed either via an
appropriate routine within cyclic communication (for PKW routine, see
PROFIDrive profile version 2) or via the DP-V1 routines READ and WRITE. This
permits the connection of commissioning tools as class-2 master (C2) to
PROFIBUS.
Several acyclic channels are available at the same time. The C1 master (the
controller) maintains a continuously open connection to the inverter (MSAC1)
which can be used as necessary by the controller program (arrow 2). In addition,
the inverter provides the capacity for two connections (MSAC2) which can be
established and used as necessary by C2 masters (e.g., an operator panel or a
service PC).
Time wise on PROFIBUS, the cyclic data always have the highest priority. During
each data exchange cycle, the master inserts an acyclic telegram when
necessary. This does not noticeably affect the speed of PROFIBUS.
5.3.2 User data communication
The process data channel is used for high-speed transmission of data which are
used for controlling and monitoring the running process and which require a
particularly short transmission time. When the bus system is configured, the
selection of the PPO type specifies whether the cyclic parameter channel is to be
used and how many bytes the process data channel will have.
All parameters can be read and changed with the parameter channels. First, the
PKW1 routine (which uses the acyclic services of PROFIBUS) specified by
PROFIDrive version 3 is available and, second, the old PKW0 routine (which is
embedded in the cyclic data) defined by PROFIDrive version 2 is offered.

Because of the comprehensive capabilities and the access to all inverter
parameters without exception, the new PKW1 routine should be used if possible:
Transmission Channel Inverter with Option DP-V1 5000

Process data reference values Depends on the configuration and setting of
from the bus to the processing on the parameter A150 cycle time.
the device.
Complete processing of a PKW0 Approx. 16 to 64 ms
service. Depends on the configuration!
PKW1 via acyclic services. Approx. 16 to 64 ms 
Depends on the configuration!
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Bus diagnosis/LEDs
Operation manual
6 Bus diagnosis/LEDs
The DP 5000 option module is equipped with a green and a red LED. The LEDs
indicate communication-specific states. This permits the PROFIBUS status to be
diagnosed on the device.
RED
GREEN
Fig. 6-1 View on LED
Red LED Green Bedeutung/Maßnahme

LED
Off Off No connection between the inverter and the PROFIBUS
board (board was not recognized or has failed. See
parameter E54 option module 1).
Flashing Off PROFIBUS master stopped bus for more than 25 s (PLC in

stop) or has failed or bus cable no longer connected (see
parameter A84 PROFI-Baud).
Off Flashing Device is ready and is waiting for the PROFIBUS master to
start or:When this state does not change although the
PROFIBUS master has already attempted to establish a
connection, this means that the applicable function blocks
for PROFIBUS have not been downloaded to the inverter.
Off On Device was configured by PROFIBUS master and data
communication was started.
Flashing Flashing PROFIBUS master stopped the bus just a few seconds ago
(< 25 s) (PLC in stop) or has failed or bus cable is no longer
connected (see parameter A84 PROFI-Baud).
The following diagnostic capabilities are available:

• The two LEDs on the option board DP 5000
• Parameter A84 PROFIBUS Baudrate
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Bus diagnosis/LEDs
Operation manual
• Parameter A86 PROFIBUS configuration

• Parameter A85 PROFIBUS diagnosis (indication of internal inverter
diagnostic information via the PROFIBUS interface).
Parameter A85 is composed of the following bits:
Bit Name Meaning for Bit = 1

0 Shutdown-Fail Problems during shutting down the PROFIBUS driver
software
1 Data-Exchange PROFIBUS is in the state of cyclic data communication
with this station.
2 Wait for Param Station is waiting to be parameterized by the
PROFIBUS master.
3 Bus-Failure Error on PROFIBUS
4 Acyc. Initiate 1 An acyclic connection has been established.
5 Acyc. Initiate 2 A second acyclic connection has been established.
6 MDS configured Station has been configured by the PROFIBUS master.
7 Driver-Error Error in the PROFIBUS driver software.
8 Application ready Inverter firmware is ready for a connection to
PROFIBUS.
9 LED red on The red LED of the DP 5000 is now on.
10 LED green on The green LED of the DP 5000 is now on.
ID 441687.04 24
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Configuration of the bus system
Operation manual
7 Configuration of the bus system

7.1 GSD file
Wiring all bus stations together is not sufficient to commission PROFIBUS DP.
The following additional measures are required:
• Different bus addresses must be set on the master and on all slaves.
• With older slaves which are unable to find the baud rate automatically, the
same baud rate must be set as on the master (the devices of the 5th
generation of STÖBER inverters are able to find the baud rate automatically).
• The master must be informed as to how many slaves are connected together
with their characteristics and bus addresses.
The baud rate must be set on the master under consideration of the segment
lengths and the total distance of the bus.
This work is performed on the master side using configuration software. This
software must read the device master data files (GSD files) from all stations. The
GSD files are like electronic data sheets which contain the information on the
PROFIBUS characteristics such as supported baud rates, supported modules,
and so on. They are provided by the manufacturer for each PROFIBUS device.
The GSD file for the devices of the 5th generation of STÖBER inverters has the
designation STOE5005.GSD. The file can be downloaded from the Internet under
www.stoeber.de.
Information
The change in the PROFIBUS address of a slave is not accepted
until the next device startup of the bus master. This was

standardized to prevent the occurrence of dangerous system states
due to double/non-addressed stations. Before switch-off, it is
imperative that the drive data be stored on the inverter safe from a
power failure with A00 save values = 1. After action A00 is
concluded successfully, the device can be turned off and on. After
this the new PROFIBUS address is active.
ID 441687.04 25
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Operation manual
7.2 Procedure for SIEMENS SIMATIC S7 and STEP 7

Different configuration software is used for different PROFIBUS masters. How
this works with the SIMATIC Manager for the SIMATIC S7 in version 5.1 will be
explained with an example. At least version 5.1 SP4 of STEP 7 is required for use
of DPV1 with STEP 7. The SIMATIC S7 CPUs must also support DPV1. For
whether the particular CPU supports DPV1, see the CPU characteristics under
the hardware manager.
7.2.1 The HW-config
To link in the GSD file in the STEP 7, open the menu "Extras"  "Neue GSD Datei
einbinden." Then display the GSD in the device catalog under "Extras"  "Katalog
Aktualisieren." This must done only once. After this, the inverter appears at the
position as shown on the screen () in the hardware catalog. HW-Config in STEP
7 may look like this.
Fig. 7-1 HW-Config
It is not necessary to reserve a separate memory area for the acyclic services
(DPV1). This means that no PPO type must be selected which supports PKW.
Every PPO type has this capability with the DPV1 protocol.
ID 441687.04 26
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Operation manual
7.2.2 SFC Calls for data consistency
To ensure data consistency on the bus, SIEMENS requires that SFCs 14 and 15
be used for data lengths longer than a double word. Direct accesses to the IO
area via L PAW or L PEW are then NOT permitted. The SFCs must be called once
per slave.
Fig. 7-2 SIEMENS SFC's 14/15
ID 441687.04 27
8
Prozess data transmission PZD
Operation manual
8 Prozess data transmission PZD

8.1 Parameter process data object (PPO)
The 5th generation of STÖBER inverters offer various telegram types in the GSD
file for cyclic data transmission. The master selects one of the possibilities to
configure the inverter and then start the bus. These possibilities are called
parameter process data object (PPO types) and always contain the process data
channel (PZD) and sometimes also a parameter channel (PKW0). The Devices
of the 5th generation of STÖBER inverters provide five different PPO types to
choose from for the establishment of this user data structure.
To be able to use the functionality of process data transmission, the applicable
blocks must be activated by the PC software POSITool. This is done by selecting
a suitable application in user-prompted commissioning and then downloading it to
the inverter. PPO types 3 and 4 do not need a separate memory area for the
PKW1 service of the DP-V1 protocol.
PKW PZD
PKE IND PWE PZD1, 2, 3, 4, 5 6
Bytes 0 1 … … 19
PPO1
PPO2
PPO3
PPO4
PPO5
PKW : Parameter ID value

PZD : Process data
PKE : Parameter ID
IND : Subindex in byte 2, Byte 3 is reserved
PWE : Parameter value
Fig. 8-1 PPO-Typen
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Operation manual
8.2 The mapping

Mapping manages the allocation of incoming data from the bus to the inverter
parameters and vice versa.
Information
A new mapping does not become active until the following has
taken place:
1. Back up the changed mapping with the A00 function Save
values. 
2. Wait until the action is successfully completed. 
3. Turn the device off and on again.
The new mapping is now active.
The following table describes the parameters required for mapping.
STÖBER Parameter PNU/ Description

Subindex
A90 PZD Setpoint Mapping Rx 205A/0  Up to 6 parameters are selected here to which the received
A90.0 1. Mapped Parameter ... ... PZD data are copied with reference values (RV).
A90.5 6. Mapped Parameter 205A/5
A91 PZD Setpoint Mapping 2Rx 205B/0  Up to 6 additional parameters can be selected here as
A91.0 1. Mapped Parameter ... ... necessary in which the received PZD data are copied.
A91.5 6. Mapped Parameter 205B/5
A93 PZD Setpoint Len 205C / 0 Specifies the total data length in bytes which is to be
accepted by PROFIBUS for the selected setting in A90 and
A91. The value corresponds to the sum of the data lengths
of the correctly set parameters which can be mapped on

PZD. If no value or wrong values are entered in A90 and
A91, the value 0 appears here (i.e., no data are accepted by
PROFIBUS).
A94 PZD ActValue Mapping Tx 205E/0  Up to 6 parameters are selected here which are copied as
A94.0 1. Mapped Parameter ... ... actual values (AV) to the PZD data to be sent to the master.
A94.5 6. Mapped Parameter 205E/5
A95 PZD ActValue Mapping 2Tx 205F/0  Up to 6 additional parameters can be selected here which
A95.0 1. Mapped Parameter ... ... are copied as actual values to the PZD data to be sent to
A95.5 6. Mapped Parameter 205F/5 the master.
A96 PZD ActValue Len 2061/0 Specifies the total data length in bytes which is to be
transferred to PROFIBUS for the selected setting in A94
and A95. The value corresponds to the sum of the data
lengths of the correctly set parameters which can be
mapped on PZD. If no value or wrong values were entered
in A94 and A95, the value 0 appears here (i.e., no data are
accepted by PROFIBUS).
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Operation manual
8.2.1 Example PPO4 with 12-Byte PZD area
Receiving area of th 5th generation of STÖBER inverters
Parameter Value Description Length [Byte]

A90.0 A180 Device control byte 1
A90.1 I211 Motion control byte 1
A90.2 I210 Control word command posi 2
A90.3 I213 Target position 4
A90.4 I230 Override 2
• Total length: 10 byte

• Kept in reserve for this example: 2 byte
Sending area of the 5th generation of STÖBER inverters
Parameter Value Description Length [Byte]

A90.0 E200 Device status byte 1
A90.1 I201 Motion status byte 1
A90.2 I200 Status word command posi 2
A90.3 I203 Current position 4
A90.4 E100 Current speed 2
• Total length: 10 byte

• Kept in reserve for this example: 2 byte

When the parameters A90/A94 are set as described here, the data are
automatically mapped by the inverter from and to the parameters.
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Control with control and status bits
Operation manual
9 Control with control and status bits

The control and status words depend on their use and the STÖBER template
used. The demands on the control word differ for the individual applications (e.g.,
command positioning, fast reference value, etc.) and can be found in the
particular application documentation.
ID 441687.04 31
10
Switchable scaling
Operation manual
10 Switchable scaling
Some of the device parameters can be scaled for the fieldbus transmission in the
process data in two ways: Scaled as standard or with the native raw resolution of
the 5th generation of STÖBER inveters. The scaling can be set with the
parameter A100. With A100=0, all values are scaled as standard. With A100=1,
the raw values are transferred to PROFIBUS. In this case there is no scaling to
user-defined or physical units and the values are forwarded in the internal-inverter
format instead. This relieves the main processor of the inverter.
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Parameter Overview
Operation manual
11 Parameter Overview
All parameters of the inverter are available as communication objects via the
PKW service (PKW0 or PKW1).
11.1 PROFIDRIVE parameter
PNU Sub- Parameter name STÖBER Data Value / meaning

index address type
918hex 0 Node address A83 5 Bus address
964hex 0 Device — 6 (U16) 267dez = STÖBER
Identification /
Manufacturer
964hex 1 Device — 6 (U16) 4D44hex = ASCII
Identification / "MD" for MDS 5000
Device type
964hex 2 Device — 6 (U16) 0500hex = V 5.00
Identification /
Version
964hex 3 Device — 6 (U16) —
Identification /
Firmware year
964hex 4 Device — 6 (U16) —
Identification /
Firmware day /

month
965hex 0 PROFIBUS — — 0303hex für
profilnumber PROFIdrive profile
version 3
11.2 PROFIBUS parameter/mapping/PKW1

All STÖBER-specified drive parameters are stored as communication objects in
the parameter number area from 2000hex to 5FFFhex.
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Parameter Overview
Operation manual
Information
Formula for the generation of: parameter number, axis and subindex:
- Parameter number (PNU) = 2000hex + 200hex * group (A=0, B=1, ...)
+ row.
- Subindex = Element number for record or array (e.g., A00 0 = start,

A00.1=progress, A00.2=result).
- Axis = Number of the physical axis. Values between 0 and 3 can be

used here (when the table contains "global," the same memory location
is addressed in every axis).
The letters of the groups apply to the following numbers (Attention, decimal
indication):
A B C D E F G H I J K L M N O P Q R S T U V W X Y Z
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
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Parameter Overview
Operation manual
11.3 List of the primary communication parameters

You will need the following parameters when commissioning an inverter on
PROFIBUS:
A00 Save values & start:

When this parameter is activated, the inverter saves the current configuration
and the parameter values in the Paramodule. After power-off, the inverter starts
with the saved configuration. If the configuration data on the inverter and
Paramodul are identical, only the parameters are saved (speeds up the
procedure).
NOTE
Do not turn off the power of the control section (device version /L:24V, device
version /H: supply voltage) while the action is being executed. If the power is
turned off while the action is running this causes incomplete storage. After the
device starts up again the fault "*ConfigStartERROR parameters lost" appears
on the display.
Only several 1000 storage procedures are possible per Paramodul. When this
limit has almost been reached, result 14 is indicated after the storage procedure.
When this happens, replace Paramodul as soon as possible.
Axes: Global
Data type: —
Value: 0, 0, 0
PNU: 2000hex
Subindex: 3

A83 Busaddress:
Specifies the device address for operation with fieldbus. A83 has no effect on
communication via X3 with POSITool or another USS master.
Axes: Global
Data type: 5
Value: 3
PNU: 2053hex
Subindex: 1
A84 PROFIBUS Baudrate:
When operated with a device of the 5th generation of STÖBER inverters with
option board "PROFIBUS DP," the baud rate found on the bus is indicated.
Axes: Global
Data type: 5
Value: 0=9600 Baud, ...
PNU: 2054hex
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Parameter Overview
Operation manual
Subindex: 1
A85 PROFIBUS diagnostic:
Indication of internal inverter diagnostic information on the PROFIBUS DP
interface.
Axes: Global
Dat entyp: 6
Wert: Bitfeld mit 16 Bits
PNU: 2055hex
Subindex: 1
A86 PROFIBUS configuration:
The inverter offers various ways (PPO types) to transfer cyclic user data via
PROFIBUS DP. These can be configured in the GSD file STOE5005.gsd on the
controller (bus master). This indication parameter can be used to check which of
the possible configurations was chosen.
Axes: Global
Data type: 5
Value: chosen configuration
PNU: 2056hex
Subindex: 1
A90 PZD Setpoint Mapping:
The target parameters are entered in A90/A91 for the reference values/control
bits which are sent by the PLC to the device via PROFIBUS.
Example: When A90.0 = A180 is entered, this means that the first byte (length of

A180) which is received by the bus is transferred to parameter A180.
Subsequent data are transferred in the same way to the entered parameters. It
is absolutely necessary that the length of the entered parameters be known.
Axes: Global
Data type: 7
Value: see above
PNU: 205Ahex
Subindex: 6
A91 PZD Setpoint Mapping:
The target parameters are entered in A90/A91 for the reference values/control
bits which are sent by the PLC to the device via PROFIBUS.
Example: When entered in A90.0 = A180, this means that the first byte (length
of A180) which is received by the bus is transferred to parameter A180. The
subsequent data are transferred in the same way to the entered parameters. It
is absolutely necessary that the length of the entered parameters be known.
Axes: Global
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Parameter Overview
Operation manual
Data type: 7
Value: see above
PNU: 205Bhex
Subindex: 6
A93 PZD Setpoint Len:
Indicator parameter which indicates the length in bytes of the expected process
data with reference values (data from PROFIBUS master to inverter) for the
current parameterization.
Axes: Global
Data type: 5
Value: see above
PNU: 205Chex
Subindex: 1
A94 PZD ActValue Mapping:
The source parameters are entered in A94/A95 which contain the actual values/
status bits of the inverter which are sent to the PLC via PROFIBUS.
Example: When entered in A94.0 = E200, this means that the first byte (length
of E200) which is transferred by the bus contains the contents of parameter
E200. The subsequent data are transferred via the bus in the same way. It is
absolutely necessary that the length of the entered parameters be known.
Axes: Global
Data type: 7
Value: see above

PNU: 205Ehex
Subindex: 6
A95 PZD ActValue Mapping:
The source parameters are entered in A94/A95 which contain the actual values/
status bits of the inverter which are sent to the PLC via PROFIBUS.
Example: When entered in A94.0 = E200, this means that the first byte (length
of E200) which is transferred by the bus contains the contents of parameter
E200. The subsequent data are transferred via the bus in the same way. It is
absolutely necessary that the length of the entered parameters be known.
Axes: Global
Data type: 7
Value: see above
PNU: 205Fhex
Subindex: 6
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Parameter Overview
Operation manual
A97 PZD ActValue Len:

Indicator parameter which indicates the length in bytes of the current process
data with actual values (data from inverter to PROFIBUS master) for the current
parameterization.
Axes: Global
Data type: 5
Value: see above
PNU: 2061hex
Subindex: 1
A100 Fieldbus scaling:
The selection is made here between internal raw values and whole numbers for
the representation/scaling of process data values during transmission via PZD
channel. Regardless of this setting, the representation is always the whole
number via PKW channel and the non cyclic parameter channel.
CAUTION
When "0:integer" is parameterized (scaled values), the runtime load increases
significantly and it may become necessary to increase A150 cycle time to avoid
the fault "57:runtime usage" or "35:Watchdog".
With few exceptions, the PKW channel is always transferred in scaled format.
Axes: Global
Data type: 5
Value: 0:Standard
1:raw value

PNU: 2064hex
Subindex: 1
A109 PZD-Timeout:
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Parameter Overview
Operation manual
To keep the inverter from continuing with the last received reference values after
a failure of PROFIBUS or the PROFIBUS master, process data monitoring
should be activated. The RX block monitors the regular receipt of process data
telegrams (PZD) which the PROFIBUS master sends cyclically during normal
operation. The A109 PZD-Timeout parameter is used to activate this monitoring
function. A time is set here in milliseconds. The default setting is 65535. This
value and also the value 0 mean that monitoring is inactive. This is
recommended while the inverter is being commissioned on PROFIBUS and for
service and maintenance work.
Monitoring should only be activated for the running process during which a bus
master cyclically sends process data to the inverter. The monitoring time must
be adapted to the maximum total cycle time on PROFIBUS plus a sufficient
reserve for possible delays on the bus. Sensible values are usually between 30
and 300 msec.
When process data monitoring is triggered on the inverter, the fault
"52:communication" is triggered.
* The A109 PZD-Timeout parameter is also used for communication via USS
protocol for the USS-PZD telegram.
Axes: Global
Data type:
Value:
PNU: 206Dhex
Subindex:
ID 441687.04 39
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Parameter Overview
Operation manual
11.4 List of quick location of parameters

List for quick location of the correct parameter numbers based on the STÖBER
address:
Group Start PNU End PNU

A 2000hex 21FFhex
B 2200hex 23FFhex
C 2400hex 25FFhex
D 2600hex 27FFhex
E 2800hex 29FFhex
F 2A00hex 2BFFhex
G 2C00hex 2DFFhex
H 2E00hex 2FFFhex
I 3000hex 31FFhex
J 3200hex 33FFhex
K 3400hex 35FFhex
L 3600hex 37FFhex
M 3800hex 39FFhex
N 3A00hex 3BFFhex
O 3C00hex 3DFFhex
P 3E00hex 3FFFhex
Q 4000hex 41FFhex

R 4200hex 43FFhex
S 4400hex 45FFhex
T 4600hex 47FFhex
U 4800hex 49FFhex
V 4A00hex 4BFFhex
W 4C00hex 4DFFhex
X 4E00hex 4FFFhex
Y 5000hex 51FFhex
Z 5200hex 53FFhex
ID 441687.04 40
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Appendix A
Operation manual
12 Appendix A
Information
Please note that the protocol described here can only be used with
the 5th generation of STÖBER inverters.
This chapter discusses the structure of the PKW1 protocol in detail.
12.1 General characteristics

• 16-bit address each for parameter number and subindex.
• Transmission of whole arrays, areas thereof or the entire parameter
description.
• Transmission of different parameters in one access (multi-parameter jobs).
• Only one parameter job is processed at a time (no pipelining).
• A parameter job/rely must fit in one data block (max. of 240 bytes). The
maximum length of the data blocks can be less than 240 bytes due to slave
characteristics or the bus configuration.
• "Multi-parameter" jobs are defined for optimized, simultaneous access to
different parameters (e.g., HMI screens).
• There are no cyclic parameter jobs, in contrast to PKW0 (of DP-V0).
12.2 Parameter jobs and responses

This chapter provides detailed information on the organization of the protocol of
the PKW1 standard which is only required when no SIMATIC S7 controller is used
with our FB50.

A parameter job consists of three areas:
• Job header: ID for the job and the number of parameters which are accessed.
Addressing of an axis for multiple-axis drives.
• Parameter address: Addressing of a parameter. The parameter address only
appears in the job, not in the response.
• Parameter value: There is one area for the parameter value for each
parameter. Parameter values appear only in either the job or in the response,
depending on the job ID.
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Appendix A
Operation manual
DPV1 parameter job:
Telegram portion Byte Function Info

0 Job reference —
1 Job ID —
Job header
2 Axis —
3 Number of parameters Fixed at 1
4 Attribut —
1. Parameter address 5 Number of elements Fixed at 1
6+7 Parameter number —
8+9 Subindex —
10 Format —
st
1 parameter value 11 Number of values —
(only for writing)
12 bis xx Values —
DPV1 parameter response:
Telegram portion Byte Function Info

0 Job reference, echoed —
1 Response ID —
Response header
2 Axis, echoed —
3 Number of parameters Fixed at 1
4 Format —
1st parameter value 5 Number of values —

(only for writing)
6 bis xx Values —
Job header
• Job reference:
Unique identification of the job/response pair for the master. The master
changes the job reference with each new job (e.g., Modulo 255). The slave
echoes the job reference in the response.
• Job ID:
Two IDs are defined:
01hexRequest/read parameter
02hexChange parameter
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Appendix A
Operation manual
• Response ID:
Echoing of job ID with additional info whether execution positive or negative.
01hexRequest parameter, positive
81hexRequest parameter, negative (job could not be executed, either partially
or completely).
02hexChange parameter, positive
82hexChange parameter, negative (job could not be executed either partially
or completely).
With a negative response, an error number is transferred instead of the
parameter value.
• Axis:
Addressing of an axis when a POSISwitch® is used. This means that the
same DP-V1 connection can be used to access different axis with a separate
parameter number area for each on the drive.
Value range: 0 to 3.
• Number of parameters:
Specifies the number of subsequent areas, parameter address and/or
parameter value for multiple parameter jobs. "Number of parameters" = 1 for
simple jobs.
Value range: 1 to 37 (restricted by DP-V1 telegram length)
Parameter address
• Attribute:
Type of object which is being accessed.
10hex = Value
20hex = Description, not implemented

30hex = Text, not implemented
• Number of elements
Number of array elements which are being accessed.
Value range: 0, 1 to 117 (restricted by DP-V1 telegram length)
Special case: Number of elements = 0
Access to values: Recommended for non-indexed parameters for compatible
conversion of the parameter job to a PKW job in accordance with PROFIDrive
profile version 2 (differentiation between "request/change parameter value"
and "request/change parameter value (array)").
• Parameter number PNU
Addresses the parameter which is being accessed.
Value range: 1 to 65535. See parameter list.
• Subindex
Addresses first array element of the parameter or text array or the descriptive
element which is being accessed.
Value range: 0 to 65535. See parameter list.
Parameter value
ID 441687.04 43
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Appendix A
Operation manual
• Format
Must only be supplied in exceptional cases for write jobs.
Value Meaning
01hex Boolean
02hex Integer 8
03hex Integer 16
04hex Integer 32
05hex Unsigned 8
06hex Unsigned 16
07hex Unsigned 32
08hex Floating Point
11 Double
17 Posi 64
28 String 8
29 String 16
30 String 80
31 U8 Array64
40 Zero
41 Byte
42 Word
43 Double word (standard)
44 Error

• Number of values: When a multiple-parameter job is not being used, a 1
should appear here.
• Values: Contents of the parameter.
• Error numbers
Error numbers in PKW0 parameter responses
Error Meaning Use for Additional

number info
00hex Illegal parameter number Access to a non-existent 0
parameter.
01hex Parameter value cannot Modification access to a Subindex
be changed parameter value that cannot
be changed.
02hex Upper or lower value limit Modification access with Subindex
has been exceeded value outside the value
limits.
ID 441687.04 44
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Appendix A
Operation manual

number info
03hex Wrong subindex Access to a non-existent Subindex
subindex.
04hex No array Access with subindex to a 0
non-indexed parameter.
05hex Wrong data type Modification access with 0
value which does not match
the data type of the
parameter.
11hex Job cannot be executed Access is not possible for 0
due to operating state temporary reasons which
are not specified further.
65hex Wrong job ID — —
66hex Internal communication Example: no configuration —
failed loaded
67hex Reserved — —
77hex Access not permitted by — —
user level
79hex Scaling error — —
7Chex Value in definition gap — —
(see selection)
7Dhex Collision with other values — —
83hex Error in pre-read function — —

84hex Error in post-write function
Rest Reserved
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Appendix A
Operation manual
12.3 DPV1 telegram sequences

The data in the write request correspond to the parameter job. The data in the
read response correspond to the parameter response.
Master DPV1 Slave
Parameter job Write.req DB47 Parameter job

with data (parameter job)
Write.res
without data
Read.req DB47
without data
Parameter
Read.res(-) processing
without data
Read.req DB47
without data
Parameter response Read.res Parameter response

with data (parameter response)
Fig. 12-1 Telegram sequence via DPV1
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Appendix A
Operation manual
12.3.1 DPV1 telegram frame
Normal case
The following four DPV1 telegrams are used to transmit a parameter job/
parameter response pair:
Transmission of the parameter job in a DPV1 write request
DPV1-Write-Header Function_Num = 5Fhex (write) Slot_Number = ...

Index = 47 Length = (data)
DPV1-Data (length) Parameter job ...
...
1. Abbreviated acknowledgment of the parameter job with the DPV1 write

response (without data):
DPV1-Write-Header Function_Num = 5Fhex (write) Slot_Number = (echoed)

Index = (echoed) Length = (echoed)
2. Request for the parameter response in a DPV1 read request (without data):
DPV1-Read-Header Function_Num = 5Ehex (read) Slot_Number =

Index = 47 Length = MAX
3. Transmission of the parameter response in the DPV1 read response:
DPV1-Read-Header Function_Num = 5Ehex (read) Slot_Number = (echoed)

Index = (echoed) Length = (data)
DPV1-Data (length) Parameter response ...

...
Meaning and use of the elements in the DPV1 header:

• Function_Num: ID for DPV1 service (read, write, error).
• Slot_Number:
DPV1: In the request: Addressing of a real or virtual module on the slave. In
the response: Echoed.
PROFIDrive: No evaluation
ID 441687.04 47
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Appendix A
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• Index (data block):

DPV1: In the request: Addressing of a data block on the slave. In the
response: Echoed.
PROFIDrive: Data block number 47 defines for parameter jobs and
responses.
• Length:
DPV1: In the write request and read response, the length of the transferred
data in bytes.
PROFIDrive: Length of the parameter job/response.
DPV1: Length of the parameter job/response.
PROFIDrive: Maximum possible length.
DPV1: In the write response, the data length accepted by the slave.
PROFIDrive: Echoing of the length from the write request.
Errors
In case an error occurs, a DPV1-read or write request is answered with an error
response:
4) DPV1 error response:
DPV1 error Function_Num= DFhex (error write)= Error_Decode = 128 (DPV1)

DEhex (error read)
Error_Code_1 Error_Code_2 = (don't care
 always = 0)
• Error_Decode
DPV1: ID, to be interpreted like Error_Code1/2.
PROFIDrive: Always 128 (DPV1 codes)

• Error_Code_1
DPV1: Division into error class (4 bits) and error code (4 bits)
• PROFIDrive
Use of certain numbers
• Error_Code_2
DPV1: User-specific
PROFIDrive: Not used (always = 0).
DPV1 error class and code for PROFIDrive
Error_Class Error_Code PROFIDrive application

(from DPV1-Spec) (from DPV1-Spec)
0hex ... 9hex =  — —
reserved
ID 441687.04 48
12
Appendix A
Operation manual
Error_Class Error_Code PROFIDrive application

(from DPV1-Spec) (from DPV1-Spec)
Ahex = application 0hex = read error —
1hex = write error
2hex = module failure
3hex to 7hex = reserved
8hex = version conflict
9hex = feature not supported
Ahex to Fhex = user specific
Bhex = access 0hex = invalid index B0hex =Data block does not
exist, DB47: Parameter
jobs not supported.
1hex = write length error
2hex = invalid slot
3hex = type conflict
4hex = invalid area
5hex = state conflict B5hex =Access to DB47
temporarily impossible due
to internal processing state.
6hex = access denied
7hex = invalid range B7hex =Write DB47 with
error in DB47 header.
8hex = invalid parameter
9hex = invalid type
Ahex to Fhex = user specific

Chex = resource 0hex = read constrain conflict —
1hex = write constrain conflict
2hex = resource busy
3hex = resource unavailable
4hex..7hex = reserved
8hex..Fhex = user specific
Dhex...Fhex = user — —
specific
ID 441687.04 49
13
Appendix B PKW0 telegram
Operation manual
13 Appendix B PKW0 telegram

13.1 PKW0 mechanism
Information
The PKW0 mechanism described here is compatible with the 4th
generation of STÖBER inverters.
When PPO type 1 or 2 is selected during configuration of PROFIBUS DP, the
"parameter ID value (PKW0)" routine defined in PROFIDRIVE is available for
parameter communication. However, not all parameters, displays and actions of
the inverter can be accessed. Excluded are parameters with a number greater
than 255, a length greater than 32 bits (text parameters) or indexed parameters
with an index greater than 19. The axis is selected via A11.1 as shown below.
A11.1 = 0 Axis 1 or 2 depending on PNU
A11.1 = 1 (=2/3) Axis 13 or 4 depending on PNU
A11.1 itself can be accessed via:
PNUdez = 1000 + 20 * 0 + 1 = 1001
Subindex = 11.
In the old PROFIDrive profile version 2, only 11 bits were provided for a parameter
number. That severely restricted the available address area. Fourth-generation
STÖBER Antriebstechnik inverters locate their parameters in the area of the PNU
between 1000dec to 1999dec. To be able to offer downwards compatibility, the old
PKW0 routine is still available with the same addresses. The entire scope of
parameters available today with the various data types cannot be imaged on this,
however. Specification of parameter number and subindex for the access via

PROFIBUS can be created from the coordinates of the particular parameter in the
menu of the inverter. The following rules apply:
PNUdec = 1000 + 20 * letter of the menu coordinate + 500 for axis 2

(used to be parameter record 2) + 1 * index
Subindexdec = Counting value of the menu coordinate
The letters of the menu coordinates apply to the following numbers
A B C D E F G H I J K L M N O P Q R S T U V W X Y Z
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
The parameters from the groups B.. to G.. exist once in axis 1 and then again in
axis 2. The menu only contains one coordinate. For access via PROFIBUS, the
parameter numbers for the parameters for axis 1 are selected from 1000 to 1499
and for axis 2 starting at 1500.
ID 441687.04 50
13
Operation manual
The bits for the parameter number, job and response ID are located within the
two-byte parameter ID. (The SPM bit for spontaneous message processing is not
supported.) The master sends to the inverter the job ID, the parameter number,
the subindex and, during write accesses, the new value. The device then answers
with the response ID, parameter number, subindex and, during read accesses,
with the current value. All values are represented as double words (4 bytes in
length) on PROFIBUS. This means that the master no longer needs to recognize
and distinguish between the data sizes of byte, word and double word. The job ID
is used to differentiate between reset, write and read jobs. The master (PLC) must
repeat the same job at least until the applicable response arrives from the
PROFIBUS slave.
Bytes for parameter ID (PKW)
PKE IND PWE

Byte 01234567
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
SPM
Job ID Parameter number (PNU)
PKE : Parameter ID
IND : Subindex in byte 2. Byte 3 is reserved
PWE : Parameter value
Fig. 13-1 Organization of job identifier and PNU
Job ID Meaning
0 No job (reset job)

1 Request parameter value (read)
3 Change parameter value (write)
Rest Do not use!
The devices of the 5th generation of STÖBER inverters respond to the same bit
positions with the response ID. The response ID remains unchanged until the
current job is finished. The job ID must be maintained constant as long as this has
not occurred.
Response ID Meaning
0 No response or also: OK for job ID "no job"
2 Transfer parameter value (sent to master)
7 Job cannot be executed
The inverter deletes all response bytes together with the response ID 0. With
response ID 2, the parameter number and the subindex are echoed from the job
in the response. The inverter continues sending the complete response until the
master formulates a new job. With read accesses to indicator values, the inverter
ID 441687.04 51
13
Operation manual
always cyclically sends new current values until the master formulates a new job.
When the device responds with 7:Job cannot be executed, the least significant
byte of the parameter value (PWE) (thus in byte 7) contains the applicable error
number.
Error numbers in PKW0 parameter responses

number info
00hex Illegal parameter number Access to a non-existent 0
parameter.
01hex Parameter value cannot Modification access to a Subindex
be changed parameter value that cannot
be changed.
02hex Upper or lower value limit Modification access with Subindex
has been exceeded value outside the value
limits.
03hex Wrong subindex Access to a non-existent Subindex
subindex.
04hex No array Access with subindex to a 0
non-indexed parameter.
05hex Wrong data type Modification access with 0
value which does not match
the data type of the
parameter.
11hex Job cannot be executed Access is not possible for 0
due to operating state temporary reasons which

are not specified further.
65hex Wrong job ID — —
66hex Internal communication Example: no configuration —
failed loaded
67hex Reserved — —
77hex Access not permitted by — —
user level
79hex Scaling error — —
7Chex Value in definition gap — —
(see selection)
7Dhex Collision with other values — —
83hex Error in pre-read function — —
84hex Error in post-write function
Rest Reserved
ID 441687.04 52
13
Operation manual
13.2 Further regulations for order/answer processing

• To ensure that the inverter with PROFIBUS interface always stops responding
to the last job and is ready for the next job, the job ID "no job" must be briefly
sent.
• Transmission on the bus takes place in Motorola format (Big-endian): High
parameter value is sent first both within a word and the words within a double
word.
• When no information is needed from the PKW interface during cyclic
operation, the job ID should be set to "no job".
13.3 Time sequence of a PKW0 service

In the following example for a controller, the transfer commands for the 16 bit
format should be given and the parameter D00 SW-Accel from axle 1 should be
changed to the value 300 ms/3000 rpm.
Find the values from the parameter list:
• PNU = 1000 + 20  3 + 0 + 0 = 1060dec = 424hex, subindex = 1
• Parameter value 300dec = 12Chex.
Step Set PLC output byte Explanation

(xx = old content)
1 Byte: 0 1 2 3 4 5 6 7 Delete parameter identification, subindex and reserved byte 3.
Hex value: 00 00 00 00 xx xx xx xx
2 Byte: 0 1 2 3 4 5 6 7 Wait until the input bit of the inverter has the response
Hex value: 00 00 00 00 xx xx xx xx identification 0. In addition, mask out bits 4 to 7 and check they
are set to 0. The PNU of the last task could still occupy the

other bits and byte 1. The waiting time depends on the bus
cycle time (number of subscribers).
3 Byte: 0 1 2 3 4 5 6 7 Expand parameter value 12C to 4 byte and enter in bytes 4 to
Hex value: 00 00 00 00 00 00 01 2C 7.
4 Byte: 0 1 2 3 4 5 6 7 Enter subindex 1 in byte 2.
Hex value: 00 00 00 00 00 00 01 2C
6 Byte: 0 1 2 3 4 5 6 7 Enter parameter number 424hex in bits 0 … 10 of the PKE and
Hex value: 34 24 00 00 00 00 01 2C enter task identification 3 in bits 12 … 15, bit 11 remains 0.
7 Byte: 0 1 2 3 4 5 6 7 Wait until a response arrives in the input byte, e.g.
Hex value: 34 24 00 00 00 00 01 2C Byte: 0 1 2 3 4 5 6 7
Hex value: 24 24 00 00 00 00 00 00
The 2 in byte 0 indicates the response identification Transfer
parameter value. In this sway, the new value has been
transferred from the inverter without errors.
8 Byte: 0 1 2 3 4 5 6 7 Delete the parameter identification again to shorten the waiting
Hex value: 00 00 00 00 00 00 xx xx time for the next PKW service.
ID 441687.04 53
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ID 441687.04
09/2013
441687.04

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PROFIBUS

Operation manual Fundamentals

1.1 Purpose of the manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.3 Other manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.4 Further support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2.1 Component part of the product . . . . . . . . . . . . . . . . . . . . . . 6

2.2 Operation in accordance with its intended use . . . . . . . . . . 6

2.3 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.4 Transportation and storage . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.5 Installation and connection . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.8 Presentation of notes on safety . . . . . . . . . . . . . . . . . . . . . . 9

3.1 Install in MDS 5000 or SDS 5000 . . . . . . . . . . . . . . . . . . . . 10

WE KEEP THINGS MOVING

4.2 Cable specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

4.3 Connection of the bus cables to the inverter . . . . . . . . . . . . 18

5.1 PROFIdrive profil version 3 . . . . . . . . . . . . . . . . . . . . . . . . . 19

5.2 Comparison of the PROFIBUS generations . . . . . . . . . . . . 20

5.3 Data transmission via PROFIBUS DP . . . . . . . . . . . . . . . . . 21

5.3.1 Possible communication . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

5.3.2 User data communication . . . . . . . . . . . . . . . . . . . . . . . . . . 22

7 Configuration of the bus system . . . . . . . . . . . . . . . . 25

7.1 GSD file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

7.2 Procedure for SIEMENS SIMATIC S7 and STEP 7. . . . . . . 26

7.2.1 The HW-config . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

7.2.2 SFC Calls for data consistency . . . . . . . . . . . . . . . . . . . . . . 27

8 Prozess data transmission PZD . . . . . . . . . . . . . . . . 28

8.1 Parameter process data object (PPO) . . . . . . . . . . . . . . . . . 28

8.2 The mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

8.2.1 Example PPO4 with 12-Byte PZD area . . . . . . . . . . . . . . . . 30

9 Control with control and status bits . . . . . . . . . . . . . . 31

11.1 PROFIDRIVE parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

11.2 PROFIBUS parameter/mapping/PKW1 . . . . . . . . . . . . . . . . 33

11.3 List of the primary communication parameters . . . . . . . . . . 35

11.4 List of quick location of parameters . . . . . . . . . . . . . . . . . . . 40

12.1 General characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

WE KEEP THINGS MOVING

12.3 DPV1 telegram sequences . . . . . . . . . . . . . . . . . . . . . . . . . 46

12.3.1DPV1 telegram frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

13 Appendix B PKW0 telegram . . . . . . . . . . . . . . . . . . . 50

13.1 PKW0 mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

13.2 Further regulations for order/answer processing . . . . . . . . . 53

13.3 Time sequence of a PKW0 service . . . . . . . . . . . . . . . . . . . 53

1.3 Other manuals

Manual Contents ID Latest versiona)

WE KEEP THINGS MOVING

The documentation of the FDS 5000 includes the following manuals:

Manual Contents ID Latest versiona)

The documentation of the SDS 5000 includes the following manuals:

Manual Contents ID Latest versiona)

Manual Contents ID Latest versiona)

1.4 Further support

WE KEEP THINGS MOVING

If you have questions about training sessions, please contact:

In addition, always read the appropriate documentation. STÖBER

2.1 Component part of the product

• Since the technical documentation contains important information, always

2.2 Operation in accordance with its intended use

WE KEEP THINGS MOVING

2.3 Qualified personnel