BONFIGLIOLI Vectron Agile Series User Manual (English)

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Probus DP V1 Agile 2706/2010

Handling of the Objects

16.1.1 Request Identification

Structure of the request identification AK (output data set, Master  Slave)

Request

Identification AK

Data type Function

0 - no request

1 int/uint , long read parameter value

2 int/uint write parameter value int/uint

long

write parameter value long

int/uint , long Array

read parameter value Array

int/uint Array

write parameter value int/uint Array

8 long Array write parameter value long Array

Array:

Applies to data set change-over capable parameters; the required data must be specified in

data set/INDEX. Otherwise, data set/INDEX = 0.

16.1.2 Response Identification

Structure of the reply identification AK (input data set, Slave  Master)

Identification AK

Data type Function

0 - no request

1 int/uint transmit parameter value int/uint

2 long transmit parameter value long

int/uint Array

transmit parameter value int/uint Array

5 long Array transmit parameter value long Array

request cannot be implemented

8 - no control sovereignty for PKW interface

If the reply identification = 7 (request cannot be implemented), an error code is inserted in PWE low

(Byte 6/7).

If the reply identification = 8 (no control sovereignty), the master has no writing right to the slave.

16.1.3 Fault Messages

Coding of the fault messages in the reply data set PWE-Low/Low-Byte in Byte 7 (Slave  Master):

Fault No. (dec.)

acc. to

PROFIDRIVE

Meaning

Inadmissible parameter number PNU

Parameter value cannot be altered

2 Lower or upper parameter value limit exceeded

3 Faulty data set

4 No data set change-over capable parameter

5 Wrong data type

Other fault

Systembus not responding

Extension

Meaning

101

Parameter cannot be read

103

Fault occurred in reading the EEPROM

104

Fault occurred in writing the EPROM

105

Check sum fault in EEPROM occurred

106

Parameter may not be written in operation

107 Values of the data sets differ

108

Unknown request

Handling of the Objects

Note:

The fault number „20“ can be caused by different reasons.

If you do not use the Systembus: Check, that the Low-Byte is “0” (Zero). Values big

ger than zero will

try to communicate with a Systembus connected device instead of the Profibus device.

If you use Systembus (in example via an EM-

SYS module), the requested device doesn’t respond.

Check, that the requested device is supplied with power and that the Systembus Node ID in the Index

Low Byte and the parameterization of the requested device match.

16.1.4 Parameters, Data Set Selection and Cyclic Writing

Parameters to be set can be taken from the parameter list referring to the configura

tion of the

standard operating instructions. In the parameter list, state whether a parameter is data set change-

over capable (data set/INDEX = 1 to 4) or only exists once (data set/INDEX = 0).

The parameter list also provides information on the display format of a parameter and its type

(int/uint/long). String parameters cannot be transmitted due to the possible number of bytes.

The values transmitted are always integer values. For values with decimal places, the decimal point is

not transmitted.

The word IND passes on the required data set of the parameter. In the present appli

cation, the data

set number 0 is assigned to existing parameters; a selection from multiple (data set change-

over

capable) existing parameters is carried out by inserting a number from 1 to 4.

The actual parameter value is transmitted i

n the PWE area; as a 16 Bit value (int/uint) it occupies

PWEl, as a 32 Bit value (long) PWE high and PWE low, with the high word located in PWE high.

If parameters with four data values are set via data set = 0, all four data sets are set to the same

ansmitted value. A read access with data set = 0 to such parameters is only successful if all four

data sets are set to the same value. If this is not the case an error is reported.

Caution! The values are entered automati

cally into the EEPROM on the controller.

If values are to be written cyclically with a high repetition rate, there must

be no entry into the EEPROM, as it only has a limited number of

admissi

ble writing cycles (about 1 million cycles). If the number of

admissible writing cycles is exceeded, the EEPROM is destroyed.

To avoid this, cyclically written data should be transmitted into the RAM (only

without a writing cycle

onto the EEPROM). Then the data are not stored secure against zero voltage and must be w

ritten

again after a Power off/on.

This mechanism is activated by the target data set being increased by five in the spe

cification of the

data set (IND).

Entry only into the RAM:

EEPROM RAM

Entry into data set 0 Data set (IND) = 5

Entry into data set 1 Data set (IND) = 6

Entry into data set 2 Data set (IND) = 7

Entry into data set 3 Data set (IND) = 8

Entry into data set 4 Data set (IND) = 9

Writing access to data set change-over capable parame

ters is to be considered as a further special

point. If the values of a data set change-

over capable parameter are to be set to the same value in all

data sets, the parameter can be written via the data set (IND) 0.

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BONFIGLIOLI Vectron Agile Series Specifications

General

Fieldbus Communication	CANopen, Modbus RTU
Protection	Overvoltage; Undervoltage
Control Interface	Digital Inputs, Analog Inputs
Operating Temperature Range	-10°C to +50°C
Cooling Method	Liquid cooling
Enclosure Rating	IP20
Dimensions	Varies by model
Weight	Varies depending on the model
Storage Temperature Range	-20°C to 70°C