User Guide

SM-INTERBUS

Solutions Module for:

• Unidrive SP
• Commander SK
• Digitax ST
• Mentor MP

Part Number: 0471-0021-04

Issue Number: 4
General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or
incorrect installation or adjustment of the optional parameters of the equipment or from mismatching the
variable speed drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of commitment
to a policy of continuous development and improvement, the manufacturer reserves the right to change the
specification of the product or its performance, or the content of the guide without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means,
electrical or mechanical including, photocopying, recording or by an information storage or retrieval system,
without permission in writing from the publisher.
Environmental Statement
(3$ is committed to minimising the environmental impacts of its manufacturing operations
and of its products throughout their life cycle. To this end, we operate an Environmental Management
System (EMS) which is certified to the International Standard ISO 14001. Further information on the EMS,
our Environment Policy and other relevant information is available on request, or can be found at
www.greendrives.com.
The electronic variable speed drives manufactured by (3$ have the potential to save
energy and (through increased machine/process efficiency) reduce raw material consumption and scrap
throughout their long working lifetime. In typical applications, these positive environmental effects far
outweigh the negative impacts of product manufacture and end-of-life disposal.
Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded
but should instead be recycled by a specialist recycler of electronic equipment. Recyclers will find the
products easy to dismantle into their major component parts for efficient recycling. Many parts snap
together and can be separated without the use of tools, whilst other parts are secured with conventional
fasteners. Virtually all parts of the product are suitable for recycling.
Product packaging is of good quality and can be re-used. Large products are packed in wooden crates,
while smaller products come in strong cardboard cartons which themselves have a high-recycled fibre
content. If not re-used, these containers can be recycled. Polythene, used on the protective film and bags
from wrapping product, can be recycled in the same way. (3$s' packaging strategy prefers
easily recyclable materials of low environmental impact, and regular reviews identify opportunities for
improvement.
When preparing to recycle or dispose of any product or packaging, please observe local legislation and
best practice.
Software Statement
This Solutions Module (SM) is supplied with the latest software version. When retro-fitting to an existing
system, all software versions should be verified to confirm the same functionality as Solutions Modules of
the same type already present. This also applies to products returned from a (3$ Service
Centre or Repair Centre. If there is any doubt please contact the supplier of the product.
The software version of the Solutions Module can be identified by looking at Pr MM.02 and Pr MM.51,
where MM is the relevant menu number for the Solutions Module slot being used.
See Pr MM.02 and Pr MM.51 description later in this manual for more information.
The software version takes the form of xx.yy.zz, where Pr MM.02 displays xx.yy and Pr MM.51 displays zz
(e.g. for software version 01.01.00 Pr MM.02 will display 1.01 and Pr MM.51 will display 0).
REACH legislation
EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals
(REACH) requires the supplier of an article to inform the recipient if it contains more than a specified
proportion of any substance which is considered by the European Chemicals Agency (ECHA) to be a
Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for compulsory
authorisation.
For current information on how this requirement applies in relation to specific (3$ products,
please approach your usual contact in the first instance. (3$V position statement can be
viewed at:
http://www.HSDDQWULHEHGH

Issue Number : 4
 Contents
1 Safety information ........................................... 5
1.1 Warnings, Cautions and Notes ............................................. 5
1.2 Electrical safety - general warning ........................................ 5
1.3 System design and safety of personnel ................................ 5
1.4 Environmental limits .............................................................. 6
1.5 Compliance with regulations ................................................. 6
1.6 Motor ..................................................................................... 6
1.7 Adjusting parameters ............................................................ 6

2 Introduction ...................................................... 7
2.1 SM-INTERBUS ..................................................................... 7
2.2 General specification ............................................................. 7
2.3 Solutions Module identification .............................................. 7

3 Mechanical installation ................................... 9

3.1 General installation ............................................................... 9

4 Electrical installation ..................................... 10

4.1 SM-INTERBUS terminal descriptions ................................. 10
4.2 INTERBUS cable ................................................................ 11
4.3 SM-INTERBUS cable shield connections ........................... 11
4.4 INTERBUS network termination .......................................... 11
4.5 Maximum network length .................................................... 11

5 Getting started ............................................... 12

5.1 SM-INTERBUS version compatibility .................................. 12
5.2 Slot configuration menu ...................................................... 12
5.3 Node address ...................................................................... 12
5.4 Data rate ............................................................................. 12
5.5 SM-INTERBUS data format ................................................ 12
5.6 SM-INTERBUS operating status ......................................... 13
5.7 Resetting the SM-INTERBUS ............................................. 13
5.8 Reset all Solutions Modules (Unidrive SP and Digitax ST) . 13
5.9 Restore SM-INTERBUS defaults ........................................ 13
5.10 Restore previous SM-INTERBUS configuration .................. 14

6 Cyclic Data ..................................................... 15

6.1 What is cyclic data? ............................................................ 15
6.2 SM-INTERBUS data formats .............................................. 15
6.3 Cyclic data mapping errors ................................................. 18
6.4 Storing SM-INTERBUS configuration parameters .............. 18
6.5 Restore previous SM-INTERBUS configuration .................. 19
6.6 Disabling cyclic data channels ............................................ 20

7 Control and Status Words ............................ 21

7.1 Control word ........................................................................ 21
7.2 Status word ......................................................................... 22
7.3 Legacy Control Words ......................................................... 24

SM-INTERBUS User Guide

Issue Number: 4
8 Non-Cyclic Data ............................................. 25
8.1 Mode 1 - Single Word mode ..........................................25
8.2 Mode 2 - PPO 4 Word mode ...............................................34
8.3 Mode 3 - Peripheral Communications Protocol (V2.0) ........42
8.4 SM-INTERBUS set-up using non-cyclic data ......................44

9 CMD Tool Support Files ................................45

9.1 INTERBUS CMD tool ..........................................................45
9.2 SM-INTERBUS CMD tool configuration formats .................45

10 Diagnostics .................................................... 47
10.1 Module ID code ...................................................................47
10.2 Firmware version .................................................................47
10.3 Node address ......................................................................47
10.4 Data rate ..............................................................................47
10.5 Operating status ..................................................................48
10.6 Status LEDs ........................................................................49
10.7 Mapping status ....................................................................50
10.8 SM-INTERBUS error codes .................................................51
10.9 SM-INTERBUS serial number .............................................52

11 Advanced Features ........................................ 53

11.1 Network loss trip ..................................................................53
11.2 Menu 60 - Local Solutions Module parameter access .........54
11.3 Mapping to SM-Applications parameters .............................54
11.4 Block mapping .....................................................................55
11.5 Direct data mapping ............................................................57
11.6 Cyclic data compression ......................................................58
11.7 EVENT task trigger in SM-Applications ...............................60
11.8 Unidrive compatible control word ........................................60
11.9 Commander SE compat ble control word ............................62

12 Quick Reference ............................................ 64

12.1 Complete parameter reference ............................................64

13 Glossary of terms .......................................... 66

SM-INTERBUS User Guide

Issue Number: 4
 The SECURE DISABLE and SAFE TORQUE OFF functions meet the requirements of
EN954-1 category 3 for the prevention of unexpected starting of the drive. They may be
used in a safety-related application. The system designer is responsible for
ensuring that the complete system is safe and designed correctly according to
the relevant safety standards.

1.4 Environmental limits

Instructions regarding transport, storage, installation and use of the drive must be
complied with, including the specified environmental limits. These instructions can be
found in the relevant drive documentation. Drives must not be subjected to excessive
physical force.

1.5 Compliance with regulations

The installer is responsible for complying with all relevant regulations, such as national
wiring regulations, accident prevention regulations and electromagnetic compatibility
(EMC) regulations. Particular attention must be given to the cross-sectional areas of
conductors, the selection of fuses or other protection, and protective earth (ground)
connections.
Instructions for achieving compliance with specific EMC standards may be found in the
relevant drive documentation.
Within the European Union, all machinery in which this product is used must comply
with the following directives:
98/37/EC: Safety of machinery.
2004/108/EC: Electromagnetic Compatibility.

1.6 Motor
Ensure the motor is installed in accordance with the manufacturer’s recommendations.
Ensure the motor shaft is not exposed.
Standard squirrel cage induction motors are designed for single speed operation. If it is
intended to use the capability of the drive to run a motor at speeds above its designed
maximum, it is strongly recommended that the manufacturer is consulted first.
Low speeds may cause the motor to overheat because the cooling fan becomes less
effective. The motor should be fitted with a protection thermistor. If necessary, an
electric forced vent fan should be used.
The values of the motor parameters set in the drive affect the protection of the motor.
The default values in the drive should not be relied upon.
It is essential that the correct value is entered in the motor rated current parameter: This
affects the thermal protection of the motor.

1.7 Adjusting parameters

Some parameters have a profound effect on the operation of the drive. They must not
be altered without careful consideration of the impact on the controlled system.
Measures must be taken to prevent unwanted changes due to error or tampering.

6 SM-INTERBUS User Guide

Issue Number: 4
4.2 INTERBUS cable

information
Safety
INTERBUS cable has three twisted pairs plus overall shielding. The colors normally
used on INTERBUS networks are shown in Table 4.2. It is recommended to follow
these wiring guidelines as this will make it easier to trace possible wiring errors during

Introduction
system commissioning.
Table 4.2 INTERBUS cable color codes
Cable Data Signal D-type Description

Mechanical
installation
Green /DO1, /DO2 6 Nega ive data OUT line
Yellow DO1, DO2 1 Positive data OUT line
Pink /DI1, /DI2 7 Nega ive data IN line

installation
Electrical
Grey DI1, DI2 2 Positive data IN line
Brown 0V ISO IN, 0V ISO OUT 3 0V
White Not used --- Not used
Shield Shield Shell Cable shield

Getting
started
INTERBUS cable is specifically designed to carry high frequency signals. Low quality
cable will attenuate the signals, and may render the signal unreadable for the other
nodes on the network. A list of suppliers approved by the INTERBUS Club is available

Cyclic data
from the INTERBUS Club web site at www.interbusclub.com.

NOTE (3$ can only guarantee correct and reliable operation of the SM-
INTERBUS if all other equipment installed (including the network cable) has been

status words
Control and
approved by the INTERBUS Club.

4.3 SM-INTERBUS cable shield connections

The Remote Bus IN and Remote Bus OUT cable shields MUST be connected to the

Non-cyclic
shell of the D-type connector. There is no requirement to connect the cable shields

data
directly to Ground at any other point in the INTERBUS network.
4.4 INTERBUS network termination

support files
CMD tool
External termination resistors are not required on INTERBUS networks, as each section
of cable is automatically terminated on every INTERBUS node. Ensure that the Ground
Tab on the SM-INTERBUS is connected to a grounding point using the minimal cable
length. (Refer to section The terminal functions are given in the Table 4.1. on page 10.)
Diagnostics

4.5 Maximum network length

The maximum length of cable is 400m between Remote Bus nodes. Hence, the
maximum total length of the INTERBUS network depends entirely on the number of
Advanced
features

nodes connected to the network.

Advanced
features
Glossary of
terms
Index

SM-INTERBUS User Guide 11

Issue Number: 4
5 Getting started
Full explanations of the cyclic data functions and supported data formats are given in
Chapter 6 Cyclic data on page 16. Non-cyclic data and node configuration using non-
cyclic data are descr bed in Chapter 8 Non-cyclic data on page 26.

5.1 SM-INTERBUS version compatibility

Table 5.1 SM-INTERBUS version compatibility
Drive Type SM-INTERBUS Firmware
Unidrive SP V01.00.00 or later
Commander SK V03.00.00 or later
Digitax ST Indexer V03.00.00 or later
Digitax ST Plus V03.00.00 or later
Mentor MP V01.00.00 or later

5.2 Slot configuration menu

SM-INTERBUS can be Installed to any slot, and each slot has a corresponding menu of
parameters. When referring to a specific parameter for any slot, e.g. ID Code, the
parameter will be referred to as Pr MM.01.
5.3 Node address
INTERBUS networks do not require a node address to be specified for each device.
The physical wiring of the network determines the Communication Reference (CR) that
will be assigned to each device.
5.4 Data rate
INTERBUS networks can operate at a either 500 Kbits/s or 2Mbits/s. Two types of SM-
Interbus modules available, one for each network data rate, and users should ensure
they match the solutions module to the network data rate. Therefore, there is no
requirement to configure the data rate for the SM-Interbus module.
5.5 SM-INTERBUS data format
SM-INTERBUS data format
Default 4
Pr MM.05 Range 0 to 309
Access RO
The default data format is 4 cyclic words. Each cyclic data channel is mapped to a drive
parameter, with default mappings as shown in the table below.
Table 5.2 Default data mapping
Cyclic word Data word Default mapping status
IN channel 0 Word 0, 1 Pr 10.40, status word
IN channel 1 Word 1, 2 Pr 2.01, post-ramp speed reference
OUT channel 0 Word 0, 1 Pr 6.42, control word
OUT channel 1 Word 2, 3 Pr 1.21, digital speed reference 1
Other data formats are also supported. For further details. see section 6.2 SM-
INTERBUS data formats on page 16.

12 SM-INTERBUS User Guide

Issue Number: 4
5.6 SM-INTERBUS operating status

information
Safety
SM-INTERBUS operating status
Default N/A
Pr MM.06 Range -3 to 9999

Introduction
Access RO
The SM-INTERBUS network activity can be monitored in the operating status
parameter, Pr MM.06. When the SM-INTERBUS is communicating successfully with the

Mechanical
installation
INTERBUS master controller, the operating status will give an indication of the number
of cyclic data messages per second that are being processed.
If Pr MM.06 is a negative value, this indicates a non-operational state. Refer to section
10.5 Operating status on page 47 for a full list of operating error codes.

installation
Electrical
5.7 Resetting the SM-INTERBUS
SM-INTERBUS reset

Getting
Default 0 (OFF)

started
Pr MM.32 Range 0 (OFF) to 1 (ON)
Access RW

Cyclic data
Changes to the SM-INTERBUS configuration in menu 15, 16 and 17 parameters will not
take effect until the SM-INTERBUS has been reset.
To reset an SM-INTERBUS in slot 3:

status words
1. Set Pr 17.32 to ON.

Control and
2. When the reset sequence has been completed, Pr 17.32 will be reset to OFF.
3. The SM-INTERBUS will re-initialise using the updated configuration.

This sequence does NOT store the SM-INTERBUS configuration parameters in the drive

Non-cyclic
NOTE

data
or the SM-INTERBUS FLASH memory.
We need to also state here that you need to on Mentor MP followed by pressing to
reset the options

support files
CMD tool
5.8 Reset all Solutions Modules (Unidrive SP and Digitax ST)
To reset all Solutions Modules Installed on a Unidrive SP or Digitax ST:
1. Set Pr MM.00 to res op.
Diagnostics

2. Press the red RESET button on the Unidrive SP or Digitax ST.

To reset all Solutions Modules Installed on a Mentor MP drive:
Advanced

1. Set "res op".

features

2. Press the red RESET button.

NOTE This sequence does NOT store the SM-INTERBUS configuration parameters in the drive
or the SM-INTERBUS FLASH memory.
reference
Quick
Glossary of
terms
Index

SM-INTERBUS User Guide 13

Issue Number: 4
5.9 Restore SM-INTERBUS defaults
Restore SM-INTERBUS defaults
Default OFF (0)
Pr MM.30 Range OFF (0) or ON (1)
Access RW
If the SM-INTERBUS detects that the drive has been restored to default values, it will
over-write the slot configuration parameters with the SM-INTERBUS default values.

NOTE If the stored values in the drive are for a different type of Solutions Module, the SM-
INTERBUS will trip, but no error code will be set. It will over-write the parameter values
with the SM-INTERBUS default values, but will NOT store these values in the drive.
Pr MM.30 specifies whether the default values should be written to the SM-INTERBUS
FLASH memory. If Pr MM.30 is set to ON, the default values will be written into the SM-
INTERBUS FLASH memory.
The full sequence of events to restore default settings for a SM-INTERBUS Installed in
slot 3 is as follows:
1. Set Pr 17.00 to 1233 to restore European defaults (1244 for USA defaults) to the
drive.
2. INTERBUS communications will be stopped.
3. The drive will load and store its default parameter values.
4. Default parameter values for the SM-INTERBUS will be loaded in Pr 17.PP
parameters.
5. If Pr 17.30 is set to ON (1), the SM-INTERBUS default parameter values will be
stored in the SM-INTERBUS FLASH memory.
6. The SM-INTERBUS will reset and re-initialise using the default values.
5.10 Restore previous SM-INTERBUS configuration
Upload from SM-INTERBUS FLASH memory
Default OFF (0)
Pr MM.33 Range OFF (0) or ON (1)
Access RW
If valid configuration parameters have previously been stored in the SM-INTERBUS
FLASH memory, these values can be restored to the drive. When the configuration
parameter values have been uploaded to the drive, the SM-INTERBUS will reset and re-
configure using the updated parameter values.
This feature allows a pre-configured SM-INTERBUS to be Installed to a drive without
losing the SM-INTERBUS configuration.

NOTE If the SM-INTERBUS is unable to upload the configuration parameters to the drive, or
configuration parameters have never been stored in the SM-INTERBUS FLASH
memory, the drive will trip “SLx.ER” and set the error code (Pr MM.49) to 70.
When Pr MM.33 is set to ON, the SM-INTERBUS will transfer the configuration
parameters from its FLASH memory to the drive, over-writing the existing values in the
drive.

14 SM-INTERBUS User Guide

Issue Number: 4
 The full sequence of events for restoring values from a SM-INTERBUS Installed in slot 3

information
is as follows:

Safety
1. Set Pr 17.33 to ON.
2. INTERBUS communications will be stopped.

Introduction
3. The SM-INTERBUS will overwrite all Pr 17.PP parameters with the values stored in
its internal FLASH memory.
4. Pr 17.33 will be reset to OFF.
5. The SM-INTERBUS will reset and re-initialise using the restored values.

Mechanical
installation
This procedure will NOT store the updated drive parameters.

NOTE The SM-INTERBUS will restore its configuration parameters to the menu of parameters
associated with the slot that it is installed in. If an SM-INTERBUS is moved from slot 3

installation
Electrical
on a drive, it can be re-installed in any slot on another drive.

Getting
started
Cyclic data
status words
Control and
Non-cyclic
data
support files
CMD tool
Diagnostics
Advanced
features
reference
Quick
Glossary of
terms
Index

SM-INTERBUS User Guide 15

Issue Number: 4
6 Cyclic data
“OUT cyclic data” and “IN cyclic data” describe the direction of cyclic data transfer as
seen by the INTERBUS master controller.
6.1 What is cyclic data?
Cyclic data is a method of data transfer that must be set-up during network
configuration, but is transmitted automatically once configuration is complete. The high-
speed data transfer is achieved by transmitting only data bytes over the INTERBUS
network, and relying on local mapping information within the SM-INTERBUS and
INTERBUS master controller to ensure that the correct data is sent to the correct
locations. This method relies on the master controller program writing and reading data
values to and from the registers allocated to the node during network configuration, and
the source and destination of IN and OUT data being set-up correctly in the drive.
The flexibility of the SM-INTERBUS means that each cyclic data OUT channel can be
directed to any read-write drive parameter. Similarly, each cyclic data IN channel can
use any drive parameter as a source of data.

NOTE The cyclic data mapping cannot be changed dynamically, as changes to the mapping
parameters will only take effect during initialisation of the SM-INTERBUS, i.e. after a
reset, or at power up.
6.2 SM-INTERBUS data formats
SM-INTERBUS data format
Default 4
Pr MM.05 Range 0 to 309
Access RW
The SM-INTERBUS can be configured with up to 10 cyclic IN and OUT data words. IN
and OUT cyclic data words are mapped using 10 mapping parameters each, with “block
mapping” mode (see section 11.4 Block mapping on page 54) available for the
additional data words. Single Word or PPO 4 Word modes of non-cyclic data using
cyclic data can also be enabled.
The SM-INTERBUS data format is specified as “NNPP”, where NN is the non-cyclic
data mode, and PP is the number of cyclic data words.
Table 6.1 Valid SM-INTERBUS data formats
Pr MM.05 NN PP Non-cyclic mode Cyclic words
1 to 10 0 1 to 10 None 1 to 10
100 to 109 1 0 to 9 Single Word 0 to 9
200 to 206 2 0 to 6 PPO 4 Word 0 to 6
300 to 309 3 0 to 9 PCP V2.0 0 to 9

NOTE The size of the data mapping will depend on the size of the target / source parameter. If
using 16-bit (or less) parameters the data can be sent as 16-bits on the network using
Pr MM.34. Parameters larger than 16-bits always use 32-bits on the network.

16 SM-INTERBUS User Guide

Issue Number: 4
 The reference for the source or target parameter is entered in the mapping parameter in

information
the form MMPP, where MM = menu number of the target/source parameter and PP =

Safety
parameter number of the target/source parameter.
Table 6.2 SM-INTERBUS mapping parameters

Introduction
IN OUT
Mapping parameter Mapping parameter
channel channel
0 Pr MM.10 0 Pr MM.20

Mechanical
1 Pr MM.11 1 Pr MM.21

installation
2 Pr MM.12 2 Pr MM.22
3 Pr MM.13 3 Pr MM.23
4 Pr MM.14 4 Pr MM.24

installation
Electrical
5 Pr MM.15 5 Pr MM.25
6 Pr MM.16 6 Pr MM.26
7 Pr MM.17 7 Pr MM.27
8 Pr MM.18 8 Pr MM.28

Getting
started
9 Pr MM.19 9 Pr MM.29
“Block mapping” can be used to map several words to consecutive drive parameters.
Full details about “block mapping” can be found in section 11.4 Block mapping on

Cyclic data
page 54

NOTE If a mapping parameter is set to an invalid value, e.g. destination parameter is read only,
or parameter does not exist, the SM-INTERBUS will indicate a mapping error in the

status words
Control and
operating status parameter, Pr MM.06. The reason for the mapping error will be
indicated by the mapping status parameter, Pr MM.49. Refer to section 10.7 Mapping
status on page 49 for more details.

Non-cyclic
When the data format is configured using Pr MM.05, the SM-INTERBUS will

data
communicate using the same number of data words for IN and OUT data. It is not
possible to configure the SM-INTERBUS to communicate with different numbers of IN
and OUT cyclic data words.

support files
CMD tool
NOTE The cyclic data channels do not use decimal points. To write a value of 24.6Hz to Pr 1.21,
the value must be transmitted as 246.
Diagnostics
The following sections show some example data formats that can be selected, and the
parameter mapping that will apply (by default) to each format.
6.2.1 2 cyclic channels only (default)
This data format provides two cyclic data channels with no non-cyclic data. The total
Advanced
features

data length is 4 words in and 4 words out. To select this data format, set Pr MM.05 = 4.
This data format is selected by default.
Table 6.3 Mapping for 4 cyclic data words
reference
Quick

Data word Parameter Default mapping status

IN Word 0, 1 Pr MM.10 Pr 10.40, status word
IN Words 2, 3 Pr MM.11 Pr 2.01, post-ramp speed reference
Glossary of

OUT Word 0, 1 Pr MM.20 Pr 6.42, control word

terms

OUT Word 2, 3 Pr MM.21 Pr 1.21, digital speed reference 1

Index

SM-INTERBUS User Guide 17

Issue Number: 4
 6.2.2 3 cyclic channels with Single Word non-cyclic data
This data format provides three cyclic data channels, plus an additional channel for
Single Word (Mode 1) non-cyclic data (see section 8 Non-cyclic data on page 26). The
total data length is 8 words. To select this data format, set Pr MM.05 = 106.
Table 6.4 Mapping for 3 cyclic channels with Single Word non-cyclic data
Data word Parameter Default mapping status
IN Word 0, 1 Pr MM.10 Pr 60.50, Single Word
IN Word 2, 3 Pr MM.11 Pr 10.40, status word
IN Word 4, 5 Pr MM.12 Pr 2.01, post-ramp speed reference
IN Word 6, 7 Pr MM.13 0, not mapped
OUT Word 0, 1 Pr MM.20 Pr 60.50, Single Word
OUT Word 2, 3 Pr MM.21 Pr 6.42, control word
OUT Word 4, 5 Pr MM.22 Pr 1.21, digital speed reference 1
OUT Word 6, 7 Pr MM.23 0, not mapped

6.2.3 5 cyclic channels only

This data format provides five cyclic data channels, with no non-cyclic data channel.
The total data length is 10 words, to select this data format, set Pr MM.05 = 10.
Table 6.5 Mapping for 5 cyclic channels
Data word Parameter Default mapping status
IN Word 0, 1 Pr MM.10 Pr 10.40, status word
IN Word 2, 3 Pr MM.11 Pr 2.01, post-ramp speed reference
IN Word 4-9 Pr MM.12 to Pr MM.14 0, not mapped
OUT Word 0, 1 Pr MM.20 Pr 6.42, control word
OUT Word 2, 3 Pr MM.21 Pr 1.21, digital speed reference 1
OUT Word 4-9 Pr MM.22 to Pr MM.24 0, not mapped
Block mapping can be used to map the remaining un-used data words to drive or SM-
Applications parameters. See section 11.4 Block mapping on page 54.
6.2.4 3 cyclic channels with PPO 4 Word non-cyclic data
This data format provides three cyclic data channels, plus an additional 4 words for PPO
4 Word (Mode 2) non-cyclic data (see section 8 Non-cyclic data on page 26). The total
data length is 10 words. To select this data format, set Pr MM.05 = 206.
Table 6.6 Mapping for 3 cyclic channels with PPO 4 Word non-cyclic data
Data word Slot 1 Default mapping status
IN Word 0-3 Pr MM.10 Pr 60.51, Mode 2 non-cyclic data
IN Word 4, 5 Pr MM.11 Pr 10.40, status word
IN Word 6, 7 Pr MM.12 Pr 2.01, post-ramp speed reference
IN Word 8, 9 Pr MM.13 0, not mapped
OUT Word 0-3 Pr MM.20 Pr 60.51, Mode 2 non-cyclic data
OUT Word 4, 5 Pr MM.21 Pr 6.42,control word
OUT Word 6, 7 Pr MM.22 Pr 1.21, digital speed reference 1
OUT Word 8, 9 Pr MM.23 0, not mapped

18 SM-INTERBUS User Guide

Issue Number: 4
 6.2.5 3 cyclic channels with PCP non-cyclic data

information
Safety
This data format provides three cyclic data channels with PCP (Mode 3) non-cyclic data
(see section 8.3 Mode 3 - Peripheral Communications Protocol (V2.0) on page 41). The
total data length is 7 words. To select this data format, set Pr MM.05 = 306.

Introduction
Table 6.7 Mapping for 3 cyclic channels with PCP non-cyclic data
Data word Parameter Default mapping status
IN Word 0, 1 Pr MM.10 Pr 10.40, status word

Mechanical
installation
IN Word 4, 5 Pr MM.11 Pr 2.01, post-ramp speed reference
IN Word 8, 9 Pr MM.12 0, not mapped
OUT Word 0, 1 Pr MM.20 Pr 6.42,control word
OUT Word 2, 3 Pr MM.21 Pr 1.21, digital speed reference 1

installation
Electrical
OUT Word 4, 5 Pr MM.22 0, not mapped
There is no mapping required when the peripheral communications protocol is enabled.
The PCP channel will use 1 cyclic data word, but it cannot be accessed directly in the

Getting
started
PLC or the SM-INTERBUS.
6.3 Cyclic data mapping errors
The SM-INTERBUS will scan and check the mapping parameter configuration for errors

Cyclic data
during initialisation (i.e. after reset). If an error is detected, the SM-INTERBUS operating
status parameter (Pr MM.06) will indicate -3, and the mapping error detected will be
indicated in SM-INTERBUS mapping status parameter, Pr MM.49 (see section

status words
Control and
10.7 Mapping status on page 49 for full details).
6.4 Storing SM-INTERBUS configuration parameters
Store to SM-INTERBUS FLASH memory

Non-cyclic
Default OFF

data
Pr MM.31 Range OFF (0) to ON (1)
Access RW

support files
Menu 15, 16 and 17 parameters are stored in the drive. The SM-INTERBUS will always

CMD tool
use these values during initialisation to configure itself, so if a new SM-INTERBUS is
Installed to the same slot, it will communicate using the same settings as the previous
SM-INTERBUS. Diagnostics

NOTE If the stored values in the drive are for a different type of Solutions Module, the drive will
trip on “SLx.dF” (“SL.dF” on SK). The slot configuration parameters will be set to default
values for SM-INTERBUS, but the default values will NOT be stored in the drive.
Advanced
features

The SM-INTERBUS configuration parameters can also be stored in the FLASH memory
on the SM-INTERBUS. If the drive is replaced, the SM-INTERBUS configuration
parameters can subsequently be restored to the drive.
reference

6.4.1 Saving drive parameters (local to the drive)

Quick

To store drive parameters:

1. Set Pr MM.00 to 1000.
Glossary of

2. Press the red RESET button.

terms

The drive will store all parameters (except Menu 20) but the operation of the SM-
INTERBUS will not be affected. Changes made to the SM-INTERBUS configuration
parameters will not take effect until the SM-INTERBUS is reset.
Index

NOTE Drive parameters are NOT stored in the SM-INTERBUS.

SM-INTERBUS User Guide 19

Issue Number: 4
 6.4.2 Storing parameters to SM-INTERBUS FLASH memory (backup)
To store the SM-INTERBUS configuration parameters in the FLASH memory in the SM-
INTERBUS in slot 3:
1. Set Pr 17.31 to ON.
2. Set Pr MM.00 to 1000.
3. Press the red RESET button.
The drive will store its parameters, and INTERBUS communication will be halted
immediately. The SM-INTERBUS configuration parameters will be saved within the SM-
INTERBUS FLASH memory. The SM-INTERBUS will then reset and re-initialize using
the updated configuration parameter values.

6.5 Restore previous SM-INTERBUS configuration

Table 6.8 Upload from SM-INTERBUS FLASH memory
Default OFF (0)
Pr MM.33 Range OFF (0) or ON (1)
Access RW

If valid configuration parameters have previously been stored in SM-INTERBUS flash

memory these values can be restored to the host drive parameters settings of SM-
INTERBUS. When the configuration parameter values have been uploaded to the host
drive SM-INTERBUS will reset and re-configure using the updated parameter values.
This feature allows a pre-configured SM-INTERBUS to be installed to a host drive
without losing the SM-INTERBUS configuration.
NOTE If SM-INTERBUS is unable to upload the configuration parameters to the host drive or
configuration parameters have never been stored in the SM-INTERBUS flash memory,
the drive will trip with a slot error and set the error code (Pr MM.49) to 70.

When Pr MM.33 is set “ON” SM-INTERBUS will transfer the configuration parameters
from its flash memory to the host drive over-writing the existing values in the host drive.
The full sequence of events for restoring values from a SM-INTERBUS installed in slot
MM is as follows:
• Set Pr MM.33 to ON.
• INTERBUS communications will be stopped.
• SM-INTERBUS will overwrite all Pr MM.PP parameters with the values stored
in its internal flash memory.
• Pr MM.33 will be reset to OFF.
• SM-INTERBUS will reset and re-initialise using the restored values.

NOTE This procedure will NOT store the updated host drive parameters and a drive save will
be required to update the drive memory. If a drive save is not done, then this will result
in SM-INTERBUS resorting to previously stored parameters in the drive flash memory
on the next power-up.

NOTE SM-INTERBUS will restore its configuration parameters to the menu of parameters
associated with the slot that it is installed in. If an SM-INTERBUS is moved from a slot
on a drive it can be re-installed in any slot on another drive and will pass its configuration
to the drive.

20 SM-INTERBUS User Guide

Issue Number: 4
6.6 Disabling cyclic data channels

information
Safety
If any data words are not being used in an application, the unused mapping parameters
should be set to 0. Although the data word will still be transmitted over the INTERBUS
network, any incoming data value will be discarded. Unmapped data words being

Introduction
passed back to the INTERBUS master controller will be set to 0.

Mechanical
installation
installation
Electrical
Getting
started
Cyclic data
status words
Control and
Non-cyclic
data
support files
CMD tool
Diagnostics
Advanced
features
reference
Quick
Glossary of
terms
Index

SM-INTERBUS User Guide 21

Issue Number: 4
7 Control and status words
7.1 Control word
The control word allows the digital control of the drive to be implemented using a single
data word. Each bit in the control word has a particular function and provides a method
of controlling the output functions of the drive (RUN FWD, JOG, TRIP, etc.) with a single
data word.

NOTE The drive control word (Pr 6.42) must be enabled by setting control word enable (Pr 6.43)
to 1. When the control word is enabled, the source of the control signals (ENABLE, RUN
FWD, JOG, etc.) is selected using the AUTO bit.

b15 b14 b13 b12b b11 b10 b9 b8

KEYPAD
RESET TRIP JOG REV REMOTE
WDOG

b7 b6 b5 b4 b3 b2 b1 b0
NOT
AUTO RUN FWD REV RUN REV JOG RUN FWD ENABLE
STOP

NOTE For safety reasons, any external HARDWARE ENABLE signals must be present before
the fieldbus control word can be used to start the drive.
To select external fieldbus control, set the AUTO bit to 1. This selects the control word
(Pr 6.42) as the source for the control functions of the drive. When AUTO is reset to 0,
the drive will revert to terminal control.
To select the INTERBUS speed reference, set the REMOTE bit to 1. As the REMOTE
bit directly controls Pr 1.42, this will select the digital speed reference as the main speed
reference for the drive. When REMOTE is reset to 0, the drive will revert to using the
external analog speed reference.

NOTE By default, the digital speed reference will be Pr 1.21, which is also the default mapping
for the fieldbus speed reference. The actual digital speed reference selected when
REMOTE is set to 1 will depend on the setting of the digital speed reference selector,
Pr 1.15.

22 SM-INTERBUS User Guide

Issue Number: 4
 information
Table 7.1 Control word bit functions

Safety
Bit Function Description
Set to 1 to enable the drive. Resetting to 0 will immediately disable the drive,

Introduction
0 ENABLE and the motor will coast to stop. The external HARDWARE ENABLE signal
must also be present before the drive can run.
Set to 1 (with ENABLE set to 1) to run the motor in the forward direction. When
1 RUN FWD reset to 0, the drive will decelerate the motor to a controlled stop before the
PWM output stack is disabled

Mechanical
installation
Set to 1 to jog the motor. JOG must be set BEFORE setting RUN FWD or RUN
REV to enable the drive. The direction is specified by RUN FWD and RUN
2 JOG
REV (the motor can also be jogged by using the RUN and FWD REV bits
instead of RUN FWD and RUN REV).

installation
Electrical
Set to 1 (with ENABLE set to 1) to run the motor in the reverse direction. When
3 RUN REV reset to 0, the drive will decelerate the motor to a controlled stop before the
PWM output stack is disabled.
Set to 1 to select the reverse direction when operating with a RUN and
4 FWD REV DIRECTION signal. Set to 0 to run in the forward direction. The RUN signal is

Getting
started
used to start and stop the motor.
Set to 1 to run the motor when operating with a RUN and DIRECTION signal.
FWD REV is used to select the direction of motor rotation. When reset to 0,
5 RUN

Cyclic data
the drive will decelerate the motor to a controlled stop before he PWM output
stack is disabled.
NOT Set to 1 to allow the sequencing bit to be latched. If NOT STOP is zero, all
6
STOP latches are cleared and held at 0.

status words
Control and
Set to 1 to enable the drive Control Word. The Control Word Enable (Pr 6.43)
7 AUTO must also be set to 1. When reset to 0, the drive will operate under terminal
control.
Set to 1 to select digital speed reference 1 (Pr 1.21), and reset to 0 to select
analog reference 1 (Pr 1.36). REMOTE directly controls Pr 1.42, so reference

Non-cyclic
8 REMOTE
selector (Pr 1.14) and preset selector (Pr 1.15) must both be set to 0 (default)

data
for the REMOTE bit to work properly.
Set to 1 to jog the motor in the reverse direction. JOG must be set BEFORE
9 JOG REV
setting RUN to enable the drive.

support files
CMD tool
10-11 Reserved
Set to 1 to trip the drive at any time. The trip display on drive will be “CL.bit”
12 TRIP and the trip code will be 35. AUTO (b7) has no effect on this function. The trip
cannot be cleared until TRIP is reset to 0.
Diagnostics

A 0-1 transition of the RESET bit will reset the drive from a trip condition. If the
reason for the trip is still present, for another fault condition has been detected,
13 RESET the drive will immediately trip again. When resetting the drive, it is
recommended to check the status word to ensure that the reset was
Advanced

successful, before attempting to re-start the drive

features

KEYPAD
14 Reserved for use with external keypads.
WDOG
15 Reserved
reference
Quick

NOTE When a trip occurs, the drive control word MUST be set to a safe, disabled state. This
ensures that the drive does not re-start unexpectedly when it is reset. This can be
achieved by continuously monitoring the drive status word, and interlocking it with the
Glossary of

control word.
terms
Index

SM-INTERBUS User Guide 23

Issue Number: 4
7.2 Status word
The status word returns the status of multiple functions within the drive, e.g. At speed,
Zero speed, Drive OK, etc., and provides a quick method of checking the current status
of the drive. The status word is mapped to cyclic data as Pr 10.40.
b15 b14 b13 b12b b11 b10 b9 b8
Not Used Pr 10.15 Pr 10.14 Pr 10.13 Pr 10.12 Pr 10.11 Pr 10.10 Pr 10.09

b7 b6 b5 b4 b3 b2 b1 b0
Pr 10.08 Pr 10.07 Pr 10.06 Pr 10.05 Pr 10.04 Pr 10.03 Pr 10.02 Pr 10.01

The table below shows the function indicated by each bit in the status word when set to
1 (one). A bit set to 0 (zero) indicates that the condition is false.
Table 7.2 Status word bit functions
Bit Parameter Description
Drive OK
Indicates the drive is not in the trip state. If the auto-reset feature is being
0 Pr 10.01
used, this bit is not reset until all auto-resets have been attempted and the
next trip occurs.
Drive active
1 Pr 10.02
Indicates that he output stage of the drive is active.
Zero speed
In Open Loop mode, zero speed indicates that the absolute value of the
post-ramp speed reference (Pr 2.01) is at or below the zero speed
2 Pr 10.03 threshold defined by Pr 3.05.
In Closed Loop and Servo modes, zero speed indicates that the absolute
value of speed feedback (Pr 3.02) is at or below the zero speed threshold
defined by Pr 3.05.
Running at or below minimum speed
In bipolar mode (Pr 1.10 = 1) Pr 10.04 is the same as zero speed, Pr 10.03.
In unipolar mode, Pr 10.04 is set if the absolute value of the post-ramp
3 Pr 10.04
speed reference (Pr 2.01) or speed feedback (Pr 3.02) is at or below
minimum speed + 0.5Hz or 5rpm (minimum speed is defined by Pr 1.07).
This parameter is only set if the drive is running.
Below set speed
4 Pr 10.05 Only set if the drive is running. Refer to Pr 3.06, Pr 3.07 and Pr 3.09 in the
Drive User Guide.
At speed
5 Pr 10.06 Only set if the drive is running. Refer to Pr 3.06, Pr 3.07 and Pr 3.09 in the
Drive User Guide.
Above set speed
6 Pr 10.07 Only set if the drive is running. Refer to Pr 3.06, Pr 3.07 and Pr 3.09 in the
Drive User Guide.
Load reached
Indicates that the modulus of the active current is greater or equal to the
7 Pr 10.08
rated active current, as defined in menu 4. Refer to the Drive User Guide
for more details.
In current limit
8 Pr 10.09
Indicates that he current limits are active.
Regenerating
In Open Loop, Closed Loop and Servo modes, regenerating indicates that
9 Pr 10.10 power is being transferred from the motor to the drive.
In Regen mode, regenerating indicates that power is being transferred from
the supply to the drive.
Dynamic brake active
10 Pr 10.11 Indicates that he braking IGBT is active. If the IGBT becomes active, this
parameter will remain on for at least one second.

24 SM-INTERBUS User Guide

Issue Number: 4
 Table 7.2 Status word bit functions

information
Safety
Bit Parameter Description
Dynamic brake alarm
11 Pr 10.12 Dynamic brake alarm is set when the braking IGBT is active, and the

Introduction
braking energy accumulator is greater than 75%.
Direction commanded
Direction commanded is set to 1 if the Pre-ramp speed reference (Pr 1.03)
12 Pr 10.13
is negative, and reset to 0 if the Pre-ramp speed reference is zero or
positive.

Mechanical
installation
Direction running
In Open Loop mode, direction running is set to 1 if the post-ramp speed
reference (Pr 2.01) is negative, and reset to 0 if the post-ramp speed
13 Pr 10.14 reference is zero or positive.

installation
Electrical
In Closed Loop Vector and Servo modes, direc ion running is set to 1 if the
Speed Feedback (Pr 3.02) is negative, and reset to 0 if the speed feedback
is zero or posi ive.
Mains loss
In Open Loop, Closed Loop Vector and Servo modes, mains loss indicates

Getting
started
that the drive has detected mains loss from the level of the DC bus voltage.
14 Pr 10.15
This parameter can only become active if mains loss ride through or mains
loss stop modes are selected.
In Regen mode, mains loss is the inverse of Pr 3.07.

Cyclic data
15 Not Used Reserved

7.3 Legacy Control Words

SM-INTERBUS can emulate the Unidrive and Commander SE control words if required,

status words
Control and
allowing Unidrive or Commander SE to be replaced in an existing system without the
need to re-program the control logic in the main controller program. The INTERBUS
master will need to be re-configured to allow communications with the SM-INTERBUS.
Unidrive or Commander SE control words are enabled by mapping data to the virtual

Non-cyclic
data
parameter associated with each control word. Refer to section 11.8 Unidrive compatible
control word on page 59 and section 11.9 Commander SE compatible control word on
page 61 for further details.

support files
CMD tool
Diagnostics
Advanced
features
reference
Quick
Glossary of
terms
Index

SM-INTERBUS User Guide 25

Issue Number: 4
8 Non-cyclic data
The non-cyclic data channel provides a method for the master controller to read from or
write to any parameter within the drive. This channel can be used for single infrequent
data transfers, or uploading and downloading parameter sets to or from a particular
node.
The SM-INTERBUS provides three non-cyclic data formats, plus the option to disable
non-cyclic data.
1. Single Word format (mode 1, see section 8.1 Mode 1 - Single Word mode ).
2. PPO 4 Word format (mode 2, see section 8.2 Mode 2 - PPO 4 Word mode on
page 35).
3. Peripheral Communications Protocol V2.0 (mode 3, see section 8.3 Mode 3 -
Peripheral Communications Protocol (V2.0) on page 41).
Table 8.1 SM-INTERBUS non-cyclic modes
Non-cyclic Data format
Description
mode (Pr MM.05)
Disabled 0 xx Non-cyclic data disabled.
Single Word Format. Uses 2 cyclic data words if data
Single
1.xx compression is disabled, or 1 cyclic word if data compression is
Word
enabled.
PPO 4 Word 2.xx PPO 4 Word Format. Uses 4 cyclic data words.
Peripheral Communications protocol (PCP) V2.0. Uses 1 of the
PCP V2.0 3.xx
available cyclic data words.

NOTE The non-cyclic data channel does not use decimal points. To write a value of 24.6Hz to
Pr 1.21, the value must be transmitted as 246.

8.1 Mode 1 - Single Word mode

The Single Word (Mode 1) uses one cyclic channel for non-cyclic data. The non-
cyclic sub-protocol requires a specific sequence of 4 or 6 telegrams to implement the
parameter access. Each non-cyclic word or telegram is split into 2 bytes to implement
the sub-protocol, with the high byte containing the control codes for each telegram, and
the low byte containing the data for each telegram.

NOTE If cyclic data compression is disabled, the Single Word non-cyclic channel will be 32-
bits wide, i.e. uses 2 words, and data must be transferred on the low word. If cyclic data
compression is enabled, the Single Word non-cyclic channel will revert to 16-bits and
only use 1 word.
8.1.1 Mapping For Single Word non-cyclic data
To configure an SM-INTERBUS in slot 3 for Single Word Mode non-cyclic data, the
following steps must be performed:
1. Set Pr 17.05 to the required mode.
2. Set Pr 17.32 to ON to reset and reconfigure the SM-INTERBUS.
When the SM-INTERBUS re-initializes, it will map cyclic data IN Word 0 and OUT Word
0 to the Single Word protocol parameter, Pr 61.50. All existing mapping parameters
will be moved down by 1 word, i.e. the previous mapping set in Pr 17.10 and Pr 17.20
will now appear in Pr 17.11 and Pr 17.21 respectively.

26 SM-INTERBUS User Guide

Issue Number: 4
 The table below shows what happens to the mappings when the data format is changed

information
from 4 cyclic words to 4 cyclic words with Single Word non-cyclic data.

Safety
Table 8.2 Single Word non-cyclic data mapping
Mapping Before format change (Pr 17.05 = 5) After format change (Pr 17.05 = 105)

Introduction
parameter Value Mapping Value Mapping
Pr 17.10 1040 Pr 10.40, status word 6150 Pr 61.50, Single Word
Pr 17.11 201 Pr 2.01, post ramp speed ref 1040 Pr 10.40, status word

Mechanical
installation
Pr 17.12 0 Not mapped 201 Pr 2.01, post ramp speed ref
Pr 17.13 to
0 Not mapped 0 Not mapped
Pr 17.19
Pr 17.20 642 Pr 6.42, control word 6150 Pr 61.50, Single Word

installation
Electrical
Pr 17.21 121 Pr 1.21, digital speed ref 1 642 Pr 6.42, control word
Pr 17.22 0 Not mapped 121 Pr 1.21, digital speed ref 1
Pr 17.23 to
0 Not mapped 0 Not mapped
Pr 17.29

Getting
started
NOTE If all IN or OUT mapping parameters are being used when the data format change is
implemented, the last mapping parameter value will be lost.

Cyclic data
8.1.2 Single Word protocol
All parameter values for the drive are written as signed 32-bit data values. Decimal
point information is inserted automatically when the data value is written to the drive,

status words
Control and Non-cyclic
and removed when the data value is read. Hence, the number of decimal places of the
target parameter must be known. Writing a value of 1234 to a parameter with 2 decimal
places will produce a value of 12.34 in the target parameter. Similarly, reading a value
of 12.34 will return a 32-bit integer value of 1234.
b15 b14 b13 b12 b11 b10 b9 b8

data
READ ERR Reserved 32-BIT Stamp Number

support files
b7 b6 b5 b4 b3 b2 b1 b0

CMD tool
Data Byte

Table 8.3 Single Word format Diagnostics

Bit Function Values Description

Depending on the stamp number of the telegram, this
0 to 7 Data 0 to 255
byte contains the menu, parameter or data byte
Indicates the stamp number of the word. This shows
Advanced
features

Stamp which part of the message is currently in progress.

8 to 11 0 to 6
number Setting the stamp number to 0 resets the internal non-
cyclic state machine
Specifies whether a 16-bit or 32-bit data value is to be
reference

0 = 16-bit data written to or read from the drive. If 32-BIT is set,

12 32-BIT
Quick

1 = 32-bit data telegrams 5 and 6 will be used to transfer the additional

data bytes
13 Reserved 0 Reserved for future use. Always set to 0
Glossary of

Indicates the success or failure of the message. Failure

terms

0 = Data OK could occur if the parameter does not exist, or is a read-

14 ERR
1 = Error only or write-only parameter. This bit will also be set if
he parameter value is out of range in 16-bit mode.
0 = Write Defines whether the data word is part of a READ or
15 READ
Index

1 = Read WRITE cycle.

SM-INTERBUS User Guide 27

Issue Number: 4
 8.1.3 16-bit parameter access
16-bit data can be used to access parameters within the drive using only 4 telegrams. If
an attempt is made to read a 32-bit parameter from the drive, the parameter value will
be returned, provided that the parameter value does not exceed a signed 16-bit limits. If
the value is larger than a signed 16-bit value, the ERR bit will be set.
When writing data to a 32-bit parameter, the 16-bit data will be treated as a signed 16-bit
data value. This limits the range that can be written to a 32-bit parameter.
8.1.4 Reading parameters using Single Word
To read 32-bit parameters using the non-cyclic channel, the following “telegrams” must
be transmitted to construct the final message.
• Telegram 1 Define menu number.
• Telegram 2 Define parameter number.
• Telegram 3 Request high data byte.
• Telegram 4 Request mid-high data byte.
• Telegram 5 Request mid-low data byte.
• Telegram 6 Request low data byte.
Figure 8-1 Single Word read sequence

Send telegram 3 to
Start
READ OUT word 0

Send first telegram

to OUT word 0 Read IN
word 0

Read IN
word 0 Tx_Stamp_No = No
Rx_Stamp_No?
Yes
Tx_Stamp_No = No
Rx_Stamp_No? Store data
Yes byte
Send next
Tx_Stamp_No No
telegram to Send next
= 2? Tx_Stamp_No No
OUT word 0 telegram to
Yes = 6?
OUT word 0
Yes
Check status 0
of ERR bit Calculate
1 data value

ERROR. Check paramter exists, data

is in correct range, and parameter is
Read/Write
END OF
SEQUENCE

The following example telegrams show how to read the post-ramp speed reference (in
rpm with 2 decimal places) from Pr 2.01 in the drive.

28 SM-INTERBUS User Guide

Issue Number: 4
 information
Safety
TELEGRAM 1
The first telegram from the INTERBUS master indicates a READ with stamp number 1.
The data byte contains the menu number of the parameter that is to be read.

Introduction
Example telegram
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 1001 0001 0000 0010

Mechanical
installation
Data word = 0x9102
Stamp number = 1
Menu = 2

installation
When the first telegram has been received and processed in the slave node, it is

Electrical
mirrored in the non-cyclic IN word back to the PLC. This is the signal to the master
controller program that the first telegram of the message has been received and
understood the second telegram can now be transmitted.

Getting
started
Example response
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 1001 0001 0000 0010

Cyclic data
Data word = 0x9102
Stamp number = 1
If a telegram produces an error at any point in the sequence the reply to the master will

status words
NOTE

Control and Non-cyclic

have the error bit ERR set to a 1.
TELEGRAM 2
The second telegram from the INTERBUS master also indicates a READ cycle, but the
stamp number is now 2. The data byte would contain the parameter number for the

data
parameter that is to be read.

Example telegram

support files
CMD tool
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 1001 0010 0000 0001

Data word = 0x9201 Diagnostics

Stamp number = 2
Parameter = 1
When the second telegram has been received and processed in the slave, it is mirrored
in the non-cyclic IN word. This is the signal to the master controller program that the
Advanced
features

second telegram of the message has been received and the third telegram can now be
transmitted.
NOTE If telegrams 1 and 2 were not received correctly or an invalid parameter was specified,
reference

(e.g. parameter is write only, or does not exist), the INTERBUS interface will set the
Quick

ERROR bit to 1 (b14 = 1) in the response. The data bits will have no significance.
Setting the stamp number to 0 resets the internal non-cyclic state machine.
Glossary of

Example response
terms

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 1001 0010 0000 0001

Data word = 0x9201

Index

Stamp number = 2

SM-INTERBUS User Guide 29

Issue Number: 4
NOTE If an error is reported, the non-cyclic data word should be set to 0 to ensure that the
non-cyclic state machine is completely reset and ready for the next non-cyclic READ or
WRITE sequence.

TELEGRAM 3
The third telegram from the INTERBUS master acts as the indication to the slave to
send the high data byte from the requested parameter. The data byte is not used in this
telegram, and should be set to 0.

Example telegram
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 1001 0011 0000 0000

Data word = 0x9300

Stamp number = 3
When the third telegram has been received and processed in the slave node, the node
will mirror the stamp number in the non-cyclic IN word and load the high byte of the
parameter value into the data byte.

Example response
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 1001 0011 0000 0000

Data word = 0x9300

Stamp number = 3
Data high byte = 0x00 = 0

TELEGRAM 4
The fourth telegram from the INTERBUS master acts as the indication to the slave to
send the mid-high data byte from the requested parameter. The data byte is not used in
this telegram, and should be set to 0.

Example telegram
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 1001 0100 0000 0000

Data word = 0x9400

Stamp number = 4
When the fourth telegram has been received and processed in the slave node, the node
will mirror the stamp number in the non-cyclic IN word and load the mid high byte of the
parameter value into the data byte.

Example response
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 1001 0100 0000 0001

Data word = 0x9401

Stamp number = 4
Data mid high byte = 0x01 = 1

30 SM-INTERBUS User Guide

Issue Number: 4
 TELEGRAM 5

information
Safety
The fifth telegram from the INTERBUS master acts as the indication to the slave to send
the mid-low data byte from the requested parameter. The data byte is not used in this
telegram and should be set to 0.

Introduction
Example telegram
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 1001 0101 0000 0000

Mechanical
installation
Data word = 0x9500
Stamp number = 5
When the fifth telegram has been received and processed in the slave node, the node
will mirror the stamp number in the non-cyclic IN word and load the mid-low byte of the

installation
Electrical
parameter value into the data byte.

Example response
Bit b15-b12 b11-b8 b7-b4 b3-b0

Getting
started
Value 1001 0101 0010 0101

Data word = 0x9525

Stamp number = 5

Cyclic data
Data mid low byte = 0x25 = 37

TELEGRAM 6

status words
Control and Non-cyclic
The sixth telegram from the INTERBUS master acts as the indication to the slave to
send the low data byte from the requested parameter. The data byte is not used in this
telegram and should be set to 0.

Example telegram

data
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 1001 0110 0000 0000

support files
CMD tool
Data word = 0x9600
Stamp number = 6

When the sixth telegram has been received and processed in the slave node, the node
Diagnostics

will mirror the stamp number in the non-cyclic IN word and load the low byte of the
parameter value into the data byte.

Example response
Advanced
features

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 1001 0110 1101 1100

Data word = 0x96DC

reference
Quick

Stamp number = 6
Data low byte = 0xDC = 220
Glossary of
terms
Index

SM-INTERBUS User Guide 31

Issue Number: 4
 8.1.5 The parameter re-assembled
The completed value can be assembled as follows to give the complete value as read
from the parameter.

Speed = (High byte * 224) + (Mid-high byte * 216) +

(Mid-low byte * 28) + Low byte
= (0 * 16777216) + (1 * 65536) + (37 * 256) + 220
= 75228
= 7522.8 rpm

8.1.6 Writing parameters using Single Word

To write to a 32-bit parameter using the non-cyclic channel, the following telegrams
must be sent on each network cycle to construct the final message.
• Telegram 1 - define menu number
• Telegram 2 - define parameter number
• Telegram 3 - send high data byte
• Telegram 4 - send mid-high data byte
• Telegram 5 - send mid-low data byte
• Telegram 6 - send low data byte

Figure 8-2 Single Word write sequence

Start WRITE
Send first telegram
to OUT word 0

Read IN Check status 1

ERROR
word 0 of ERR bit
Check paramter
exists, and that it is
a Read/Write
Tx_Stamp_No = No Parameter
Send next parameter
Rx_Stamp_No? written OK
telegram
Yes

Tx_Stamp_No No
= 6?
Yes END OF
SEQUENCE

The following telegrams show how to set the digital speed reference 1 (Pr 1.21) to
12553.9 rpm (32-bit value is 125539) in the drive.

TELEGRAM 1
The first telegram from the INTERBUS master indicates a WRITE cycle by setting the R/
W bit to 0. The stamp number is set to 1. The data byte contains the menu number for
the parameter that is to be written to.

Example telegram
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 0001 0001 0000 0001

Data word = 0x1101

Stamp number = 1
Menu = 1

32 SM-INTERBUS User Guide

Issue Number: 4
 When the first telegram has been received and processed in the slave node, it is

information
mirrored in the non-cyclic IN word. This is the signal to the master controller program

Safety
that the first telegram of the message has been received and understood and the
second telegram can be transmitted.

Introduction
TELEGRAM 2
The second telegram from the INTERBUS master also indicates a write cycle, but the
stamp number is now set to 2. The data byte would contain the parameter number for

Mechanical
installation
the parameter that is to be written to
Example telegram
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 0001 0010 0001 0101

installation
Electrical
Data word = 0x1215
Stamp number = 2
Parameter = 21

Getting
started
When the second telegram has been received and processed in the slave node, it is
mirrored in the non-cyclic IN word. This is the signal to the master controller program
that the second telegram of the message has been received and understood and the

Cyclic data
third telegram can be transmitted.

TELEGRAM 3

status words
The third telegram from the INTERBUS master has the stamp number set to 3. The data

Control and Non-cyclic

bits contain the high data byte for the parameter being written to.
Example telegram
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 0001 0011 0000 0000

data
Data word = 0x1300
Stamp number = 3

support files
CMD tool
Data high byte = 0x00
When the third telegram has been received and processed in the slave node, it is
mirrored in the non-cyclic IN word. This is the signal to the master controller program Diagnostics
that the third telegram of the message has been received and understood and the fourth
telegram can be transmitted.

TELEGRAM 4
Advanced
features

The fourth telegram from the INTERBUS master has the stamp number set to 4. The
data bits contain the mid-high data byte for the parameter being written to.

Example telegram
reference
Quick

Bit b15-b12 b11-b8 b7-b4 b3-b0

Value 0001 0100 0000 0001

Data word = 0x1401

Glossary of

Stamp number = 4
terms

Data mid-high byte = 0x01 = 1

When the fourth telegram has been received and processed in the slave node, it is
mirrored in the non-cyclic IN word. This is the signal to the master controller program
Index

that the fourth telegram of the message has been received and understood and the fifth
telegram can be transmitted.

SM-INTERBUS User Guide 33

Issue Number: 4
 TELEGRAM 5
The fifth telegram from the INTERBUS master has the stamp number set to 5. The data
bits contain the mid-low data byte for the parameter being written to.

Example telegram
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 0001 0101 1110 1010

Data word = 0x15EA

Stamp number = 5
Data mid-low byte = 0xEA = 234
When the fifth telegram has been received and processed in the slave node, it is
mirrored in the non-cyclic IN word. This is the signal to the master controller program
that the fifth telegram of the message has been received and understood and the sixth
telegram can be transmitted.

TELEGRAM 6
The sixth telegram from the INTERBUS master has the stamp number set to 6. The
data bits contain the low data byte for the parameter that is being written to.
Example telegram
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 0001 0110 0110 0011

Data word = 0x1663

Stamp number = 6
Data low byte = 0x63 = 99
When the sixth telegram has been received and processed in the slave node, it will write
the data (Pr 1.21 = 12553.9) as transmitted (The decimal point is automatically inserted
when the data is transferred to the drive). If the operation is successful, the ERR bit is
reset to 0 and the telegram is reflected in the non-cyclic IN word.

Example response - success

Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 0001 0110 0110 0011

Data word = 0x1663

Stamp number = 6
Data low byte = 0x63 = 99
If there was a problem with writing the data to the defined parameter, e.g. parameter is
read only, does not exist, or data is out of range, the ERR bit is set to 1.

Example response - success

Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 0101 0110 0110 0011

Data word = 0x5663

Stamp number = 6

34 SM-INTERBUS User Guide

Issue Number: 4
 8.1.7 Abort Single Word non-cyclic message

information
Safety
The internal state machine that controls the non-cyclic data transfer will only accept a
new telegram if it contains the next expected telegram (i.e. after accepting Telegram 2,
the state machine will only respond to Telegram 3. If Telegram 4 is received, it will be

Introduction
ignored).
If an error occurs in the master controller that causes the telegrams to get out of step,
the master controller program should time-out, abort the message and reset the non-
cyclic state machine.

Mechanical
installation
A Mode 1 non-cyclic message can be abandoned by resetting the state machine. This is
done by setting the non-cyclic word to 0.
Example telegram

installation
Electrical
Bit b15-b12 b11-b8 b7-b4 b3-b0
Value 0000 0000 0000 0000

Data word = 0x0000

Getting
started
Stamp number = 0
8.1.8 16-bit parameter access
Normally six telegrams would be required to access drive parameters using Mode 1

Cyclic data
non-cyclic data. When accessing 16-bit data only four telegrams are required. If an
attempt is made to read a 32-bit parameter from the drive the parameter value will be
returned, provided that the parameter value does not exceed signed 16-bit limits. If the

status words
Control and Non-cyclic
value is larger than a signed 16-bit value, the ERR bit will be set. When writing data to a
32-bit parameter, the 16-bit data will be treated as a signed 16-bit data value. This limits
the range that can be written to a 32-bit parameter.

8.2 Mode 2 - PPO 4 Word mode

data
PPO 4 word mode of non-cyclic data is a simple method of accessing non-cyclic data
without the need for the telegrams required with Mode 1 non-cyclic data and its
associated overheads. Mode 2 has the disadvantage of using four words of mappings

support files
CMD tool
and reduces the available free mappings accordingly.

8.2.1 Mapping for PPO 4 Word non-cyclic data Diagnostics

To configure an SM-INTERBUS for PPO 4 word mode non-cyclic data, the following
steps must be performed:
1. Set Pr MM.05 to the required mode.
2. Set Pr MM.32 to ON to re-initialize SM-INTERBUS.
Advanced
features

3. Save the parameters if required (see section 6.4.1 Saving drive parameters (local to
the drive) for more information).
When the SM-INTERBUS re-initializes, it will map cyclic data IN words 0 to 3 and OUT
reference
Quick

words 0 to 3 to the PPO 4 Word protocol parameter, Pr 61.51. All existing mapping
parameters will be moved down by one mapping, (i.e. the previous mappings set in
Pr MM.10 and Pr MM.20 will now appear in Pr MM.11 and Pr MM.21 respectively).
Glossary of

Table 8.4 shows what happens to the mapping parameters when the data format is
terms

changed from 10 cyclic words (Pr MM.05=10) to 10 cyclic words with Mode 2 non-cyclic
data. (Pr MM.05=210).
Index

SM-INTERBUS User Guide 35

Issue Number: 4
 Table 8.4 PPO 4 Word mode data mapping
Mapping Before format change (Pr 17.05 = 10) After format change (Pr 17.05 = 210)
parameter Value Mapping Value Mapping
Pr 17.10 1040 Pr 10.40, status word 6151 Pr 61.51, PPO 4 Word
Pr 17.11 201 Pr 2.01, post ramp speed ref 1040 Pr 10.40, status word
Pr 17.12 0 Not mapped 201 Pr 2.01, post ramp speed ref
Pr 17.13 to
0 Not mapped 0 Not mapped
Pr 17.19
Pr 17.20 642 Pr 6.42, control word 6151 Pr 61.51, PPO 4 Word
Pr 17.21 121 Pr 1.21, digital speed ref 1 642 Pr 6.42, control word
Pr 17.22 0 Not mapped 121 Pr 1.21, digital speed ref 1
Pr 17.23 to
0 Not mapped 0 Not mapped
Pr 17.29

NOTE If all IN or OUT mapping parameters are being used when the data format change is
implemented, the last mapping parameter value will be lost.

8.2.2 PPO 4 Word protocol

Table 8.5 shows the data structure required on the OUT data to implement PPO 4 Word
request.

NOTE Decimal point information is inserted automatically when the data value is written to the
drive and removed when the data value is read. Hence the number of decimal places of
the target parameter must be known. Writing a value of 1234 to a parameter with two
decimal places will produce a value of 12.34 in the target parameter. Similarly reading a
value of 12.34 will return a 32-bit integer value of 1234.

Table 8.5 PPO 4 Word OUT data structure

OUT data Function
word b15-b12 b11 b10-b8 b7-b0
OUT word 0 TASK ID 0 MENU
OUT word 1 PARAMETER Reserved
OUT word 2 DATA HIGH word
OUT word 3 DATA LOW word

The PPO 4 Word protocol is controlled by the TASK ID and RESPONSE ID; the TASK
ID specifies the transaction required and the remainder of the data words carry the data
for the transaction. Table 8.6 lists the possible TASK ID codes.
Table 8.6 TASK ID codes
TASK ID Function Description
0 No task No non-cyclic transaction required
1 Fieldbus specific
2 Fieldbus specific
3 Fieldbus specific
4 Not implemented Reserved
5 Not implemented Reserved
Read parameter value from drive.
Request parameter
6 Specify MENU and PARAMETER, set DATA HIGH word
value
and DATA LOW word to 0.

36 SM-INTERBUS User Guide

Issue Number: 4
 Table 8.6 TASK ID codes

information
Safety
TASK ID Function Description
Write 16-bit parameter value to the drive.
Specify MENU, PARAMETER and DATA LOW word. (Any
Change parameter
7 value in DATA HIGH word will be discarded.) This function

Introduction
value (16-bit)
can be used to write to 32-bit drive parameters, but the
range of values is limited to 16-bits.
Write 32-bit parameter value to the drive.
Specify MENU, PARAMETER, DATA HIGH word and
Change parameter

Mechanical
installation
8 DATA LOW word. This func ion can also be used to write
value (32-bit)
to 16-bit drive parameters, but if DATA HIGH word is not
set to 0, a value over-range error will be reported.
Returns the last parameter for the specified menu.
Request last parameter
9 Specify MENU. (Values in PARAMETER, DATA HIGH

installation
Electrical
reference
word and DATA LOW word will be discarded.)

Table 8.7 shows the data structure of a PPO 4 Word response that will be returned by
SM-INTERBUS.

Getting
started
Table 8.7 PPO 4 Word IN data structure
IN data word Function

Cyclic data
b15-b12 b11 b10-b8 b7-b0
IN word 0 RESPONSE ID 0 MENU
IN word 1 PARAMETER
IN word 2 DATA HIGH word

status words
Control and Non-cyclic
IN word 3 DATA LOW word

The RESPONSE ID indicates the success or otherwise of the requested transaction.

Table 8.8 lists the possible RESPONSE ID codes.

data
Table 8.8 RESPONSE ID codes
RESPONSE
Function Description
ID

support files
CMD tool
0 No task No non-cyclic transaction active
1 Fieldbus specific
2 Fieldbus specific Diagnostics
3 Not implemented
Returns a 16-bit data value from the request parameter
Transfer parameter
4 value specified by TASK ID 6, or the successful change
value (16-bit)
parameter value (16-bit) specified by TASK ID 7.
Advanced

Returns a 32-bit data value from the request parameter

features

Transfer parameter
5 value specified by TASK ID 6, or the successful change
value (32-bit)
parameter value (32-bit) specified by TASK ID 8.
Transfer last parameter Returns the highest parameter for the menu specified by
6
reference request last parameter reference, TASK ID 9.
reference
Quick

The previously specified TASK ID could not be completed.

Error - TASK ID could
7 Word 3 will return an error code to indicate the reason for
not be executed
the TASK ID failure (see table below).
Glossary of

Error - read only Target parameter specified by TASK ID 7 or TASK ID 8 is

8
terms

parameter read only, and cannot be modified.

Index

SM-INTERBUS User Guide 37

Issue Number: 4
 information
Safety
Table 8.10 PPO 4 Word Read TASK ID and RESPONSE ID combinations
Function TASK ID RESPONSE Message status
ID

Introduction
No Task 0 0 No message active.
Request Parameter Parameter read successfully, 16-bit value
6 4
Value (16-bit) returned in word 3.
Request Parameter Parameter read successfully, 32-bit value
6 5

Mechanical
installation
Value (32-bit) returned in words 2 and 3.
Request Parameter TASK ID 6 could not be executed. Check the
6 7
Value (16-bit) error code in IN word 3 for he reason why.
Request Last
The highest parameter reference in specified

installation
Electrical
(Parameter 9 6
menu is available in IN word 3.
Reference)
Request Last
TASK ID 9 could not be executed. Check the
Parameter 9 7
error code in IN word 3 for he reason why.
Reference

Getting
started
Table 8.11 shows an example set of data words for PPO 4 Word mode. This example
will read the value in the post ramp speed reference (Pr 2.01) in the drive.

Cyclic data
Table 8.11 PPO 4 Word read request example
OUT data Function
Hex value
word b15-b12 b11 b10-b8 b7-b0

status words
Control and Non-cyclic
OUT word 0 0x6002 TASK ID = 6 0 MENU = 2
OUT word 1 0x0100 PARAMETER = 1 0
OUT word 2 0x0000 DATA HIGH word = 0
OUT word 3 0x0000 DATA LOW word = 0

data
Table 8.12 shows an example successful read response to the read instruction
illustrated above. The value returned is 15284, which equates to 1528.4 rpm.

support files
Table 8.12 PPO 4 Word read response example

CMD tool
Function
IN data word Hex value
b15-b12 b11 b10-b8 b7-b0
RESPONSE
Diagnostics
IN word 0 0x5002 0 MENU = 2
ID = 5
IN word 1 0x0100 PARAMETER = 1 0
IN word 2 0x0000 DATA HIGH word = 0
Advanced

IN word 3 0x3BB4 DATA LOW word = 15284

features

NOTE It is important that the correct module is selected from the GSD file to ensure that the
PPO 4 word mode block is consistent otherwise data skew may occur.
reference

If the OUT data words 0 and 1 are left at the same value, the target parameter will be
Quick

read or written to (depending on the TASK ID) on every data cycle.

If the PPO 4 command is left in the data words, the read will be executed on every poll
of the network, effectively providing a continuous read. Care should be taken to ensure
Glossary of
terms

the parameters for the read are setup before the TASK ID is changed from 0 to prevent
incorrect data in the returned value.
Index

SM-INTERBUS User Guide 39

Issue Number: 4
 8.2.4 Writing parameters using PPO 4 Word mode
Figure 8-4 shows the sequence of events required to write to a drive parameter using
the PPO 4 Word non-cyclic channel.
Figure 8-4 PPO 4 Word write sequence

START

Set OUT Word 0 8

CASE:
0 to 0
RESPONSE ID
4 5 7
Specify
PARAMETER in
OUT Word 1
SUCCESS:
ERROR:
16-bit data
Specify DATA HIGH TASK ID could
value written to
WORD in OUT not executed
parameter
Word 2

Specify DATA LOW

SUCCESS: ERROR:
WORD in OUT
32-bit data value Parameter is
Word 3
written to parameter read only

Specify TASK D
and MENU in OUT
Word 0
END OF
SEQUENCE

Table 8.13 shows the possible TASK ID and RESPONSE ID combinations that may be
seen when attempting to write to the drive.
Table 8.13 PPO 4 Word write TASK ID and RESPONSE ID combinations
Function TASK ID RESPONSE Message status
ID
No Task 0 0 No message active.
Write Parameter Value
7 4 Parameter (16-bit) written successfully.
(16-bit)
Write Parameter Value
8 5 Parameter (32-bit) written successfully.
(32-bit)
Write Parameter Value TASK ID 7 could not be executed. Check the
7 7
(16-bit) error code in IN word 3 for the reason why.
Write Parameter Value TASK ID 8 could not be executed. Check the
8 7
(32-bit) error code in IN word 3 for the reason why.
Write Parameter Value Parameter is read only, and cannot be
8 8
(32-bit) written to.

40 SM-INTERBUS User Guide

Issue Number: 4
 Table 8.14 shows an example set of data words for PPO 4 Word mode. This example

information
will write a value of 1553.9 rpm (32-bit value is 15539) to the digital speed reference 1

Safety
(Pr 1.21) to the drive.
Table 8.14 PPO 4 Word write request example

Introduction
OUT data Function
Hex value
word b15-b12 b11 b10-b8 b7-b0
OUT word 0 0x8001 TASK ID = 8 0 MENU = 1
OUT word 1 0x1500 PARAMETER = 21 0

Mechanical
installation
OUT word 2 0x0000 DATA HIGH word = 0
OUT word 3 0x3CB3 DATA LOW word = 15539

installation
Table 8.15 shows an example successful write response to the write instruction

Electrical
illustrated above in Table 8.14.
Table 8.15 PPO 4 Word write response example
Function
IN data word Hex value

Getting
started
b15-b12 b11 b10-b8 b7-b0
RESPONSE
IN word 0 0x5001 0 MENU = 1
ID = 5

Cyclic data
IN word 1 0x1500 PARAMETER = 21 0
IN word 2 0x0000 DATA HIGH word = 0
IN word 3 0x3CB3 DATA LOW word = 15539

status words
Control and Non-cyclic
NOTE If the PPO 4 command is left in the data words, the write will be executed on every poll
of the network, effectively providing a continuous write. Care should be taken to ensure
the parameters for the write are setup before the TASK ID is changed from 0 to prevent
incorrect data being written.

data
8.3 Mode 3 - Peripheral Communications Protocol (V2.0)
The Peripheral Communication Protocol (PCP) Version 2.0 has server functionality only

support files
CMD tool
on the SM-INTERBUS. When an INTERBUS network is initialized, each node
supporting PCP is assigned a Communication Reference, or CR. Supported services
are listed in Table 8.17 PCP supported services .
Diagnostics
Table 8.16 PCP Object specification
Attribute Setting Value
Index 0x5000 + Menu 0x5000 + Menu
Sub Index Parameter (>0) Parameter (>0)
Advanced
features

Object code ARRAY_OBJECT Array Object

Data-Type Index INT32 Signed 32 bit value
Length 4 Four octets
reference
Quick

Number of Elements 200 Up to parameter 200

Password 0 None
Access-Groups 0 None
Glossary of

ACC_WRITE_ALL and
terms

Access-Rights Read and Write

ACC_READ_ALL
Local-Address 0 Not used
Variable-Name Menu Menu
Extension Not Supported Not Supported
Index

SM-INTERBUS User Guide 41

Issue Number: 4
 To configure the PCP channel in the INTERBUS CMD Tool, use the following settings:
Message Length Transmit:64 bytes
Message Length Receive:64 bytes
Client services supported are READ, WRITE and GET OV LONG.
Table 8.17 PCP supported services
Function Description
INITIATE Opens a PCP connection with the node at the defined CR
ABORT Closes the PCP connection to the node at the defined CR
Reads a number of data bytes from an Index and Sub-Index reference in the remote
READ
device with the defined CR
Writes a specified number of data bytes to an Index and Sub-Index reference in the
WRITE
remote device with the defined CR
Returns the current state and current operating state of he remote device at the
STATUS
defined CR
Returns the "ID plates" of the device at he defined CR. The following is returned:
Manufacturer_Name: “(3$"
IDENTIFY
Device_Name: "SM-INTERBUS"
Revision: "Version 01.00"
All parameter accesses using the PCP channel are treated as 32-bit, irrespective of the
range of the target parameter.
8.3.1 READ object
Index: 0x5000 + Menu
Sub-Index: Parameter
The READ object is used to read a value from a parameter within the drive. No
additional data bytes are required.
If the read is successful, a success response will be returned, with 4 data bytes
containing the value of the target parameter.
1. Data high byte
2. Data mid-high byte
3. Data mid-low byte
4. Data low byte
If an error occurs, an error message is returned, with codes to indicate why the
message failed (see section 8.3.3 Service error codes ).

NOTE Pr MM.00 (parameter 0) cannot be accessed directly as the sub-index cannot be set to
0. Access to Pr 1.00 is provided via virtual parameter Pr 61.01
8.3.2 WRITE object
Index: 0x5000 + Menu
Sub-Index: Parameter
The WRITE object is used to send a data value to a parameter within the drive. Four
bytes are written to this object.
1. Data high byte
2. Data mid-high byte
3. Data mid-low byte
4. Data low byte
If the WRITE is successful, a success response will be returned.

42 SM-INTERBUS User Guide

Issue Number: 4
 If an error occurs, an error message is returned, with codes to indicate why the

information
message failed. See section 8.3.3 Service error codes .

Safety
NOTE Pr MM.00 (Parameter 0) cannot be accessed directly as the Sub-Index cannot be set to
0. Access to Pr 1.00 is provided via virtual parameter Pr 61.01

Introduction
8.3.3 Service error codes
If an error occurs while accessing a parameter, a (3$ defined error code
may be returned. These error codes are listed in Table 8.18.

Mechanical
installation
Table 8.18 EPA defined error codes
Additional
Error Error class Error code
error code

installation
Electrical
Parameter Does Not Exist 0x08 0x01 0x00
Parameter Is Read Only 0x08 0x02 0x00
Parameter Is Write Only 0x08 0x03 0x00
Value Outside Permitted Range 0x08 0x04 0x00

Getting
started
Decimal Place Error 0x08 0x05 0x00
Sub-Index Zero Access Error 0x06 0x05 0x11

8.4 SM-INTERBUS set-up using non-cyclic data

Cyclic data
The SM-INTERBUS can be configured using the PCP channel, Single Word or PPO
4 Word non-cyclic data. The configuration parameters for the slot in which the SM-
INTERBUS is located can be accessed as Pr 60.PP.

status words
Control and Non-cyclic
Changes made to the SM-INTERBUS configuration parameters will not take effect until
SM-INTERBUS has been reset. The SM-INTERBUS can be reset by writing a value of 1
to Pr 60.32. A brief interruption in INTERBUS communications may be seen while the
reset sequence is in progress.

support files data

CMD tool
Diagnostics
Advanced
features
reference
Quick
Glossary of
terms
Index

SM-INTERBUS User Guide 43

Issue Number: 4
9 CMD tool support files
9.1 INTERBUS CMD tool
The CMD tool is the software package used to configure and diagnose the Generation 4
INTERBUS master controllers. An external database file is available from EPA
that contains full product descriptions and bitmaps for drives.
IBS.ZIP is available from your local EPA Drive Centre. The ZIP file
contains a text file (README.TXT) with instructions on how to install the drive
support files to the appropriate directories, and import them into the CMD Configuration
Tool.

NOTE The INTERBUS CMD tool support files are not essential when configuring an
INTERBUS network. Each node can be entered manually, or the master controller can
scan the network to determine which nodes are connected.

9.2 SM-INTERBUS CMD tool configuration formats

The data formats supported by the SM-INTERBUS are listed in Table 9.1.
Table 9.1 SM-INTERBUS data formats
Format Non-cyclic Cyclic INTERBUS ID Process data CMD tool
(Pr 15.05) data mode words code channel width reference
0.01 0 1 0x03 (3) 16 bits USP_001
0.02 0 2 0x03 (3) 32 bits USP_002
0.03 0 3 0x03 (3) 48 bits USP_003
0.04 0 4 0x03 (3) 64 bits USP_004
0.05 0 5 0x03 (3) 80 bits USP_005
0.06 0 6 0x03 (3) 96 bits USP_006
0.07 0 7 0x03 (3) 112 bits USP_007
0.08 0 8 0x03 (3) 128 bits USP_008
0.09 0 9 0x03 (3) 144 bits USP_009
0.10 0 10 0x03 (3) 160 bits USP_010
1.00 1 0 0x03 (3) 16 bits USP_100
1.01 1 1 0x03 (3) 32 bits USP_101
1.02 1 2 0x03 (3) 48 bits USP_102
1.03 1 3 0x03 (3) 64 bits USP_103
1.04 1 4 0x03 (3) 80 bits USP_104
1.05 1 5 0x03 (3) 96 bits USP_105
1.06 1 6 0x03 (3) 112 bits USP_106
1.07 1 7 0x03 (3) 128 bits USP_107
1.08 1 8 0x03 (3) 144 bits USP_108
1.09 1 9 0x03 (3) 160 bits USP_109
2.00 2 0 0x03 (3) 64 bits USP_200
2.01 2 1 0x03 (3) 80 bits USP_201
2.02 2 2 0x03 (3) 96 bits USP_202
2.03 2 3 0x03 (3) 112 bits USP_203
2.04 2 4 0x03 (3) 128 bits USP_204
2.05 2 5 0x03 (3) 144 bits USP_205
2.06 2 6 0x03 (3) 160 bits USP_206

44 SM-INTERBUS User Guide

Issue Number: 4
 Table 9.1 SM-INTERBUS data formats

information
Safety
Format Non-cyclic Cyclic INTERBUS ID Process data CMD tool
(Pr 15.05) data mode words code channel width reference
3.00 3 0 0xF3 (243) 0 bits USP_300

Introduction
3.01 3 1 0xF3 (243) 16 bits USP_301
3.02 3 2 0xF3 (243) 32 bits USP_302
3.03 3 3 0xF3 (243) 48 bits USP_303
3.04 3 4 0xF3 (243) 64 bits USP_304

Mechanical
installation
3.05 3 5 0xF3 (243) 80 bits USP_305
3.06 3 6 0xF3 (243) 96 bits USP_306
3.07 3 7 0xF3 (243) 112 bits USP_307

installation
Electrical
3.08 3 8 0xF3 (243) 128 bits USP_308
3.09 3 9 0xF3 (243) 144 bits USP_309

Getting
started
Cyclic data
status words
Control and
Non-cyclic
data
support files
CMD tool
Diagnostics
Advanced
features
reference
Quick
Glossary of
terms
Index

SM-INTERBUS User Guide 45

Issue Number: 4
10 Diagnostics
The information from the parameters described below should always be noted before
contacting (3$ for technical support.
10.1 Module ID code
Module ID code
404 (SM-INTERBUS 500 Kbits/s)
Default
414 (SM-INTERBUS 2 Mbits/s)
Pr MM.01
Range -
Access RO
The module ID code indicates the type of solutions module that is fitted in the
corresponding slot. This is useful for checking the module fitted is of the correct type,
especially when used with DPL code.
10.2 Firmware version
SM-INTERBUS firmware - major version
Default N/A
Pr MM.02 Range 00.00 to 99.99
Access RO

SM-INTERBUS firmware - minor version

Default N/A
Pr MM.51 Range 0 to 99
Access RO

Unidrive SP (sizes 1 to 6) / Unidrive SPM / Mentor MP

The software version of the Solutions Modules can be identified by looking at Pr 15.02
or Pr 16.02 or Pr 17.02 and Pr 15.51 or Pr 16.51 or Pr 17.51. Menu 15,16 or 17 is
Solutions Module slot dependent with menu 17 being the lowest position nearest the
control terminal connections.
The software version takes the form of xx.yy.zz, where Pr 15.02 or Pr 16.02 or Pr 17.02
displays xx.yy and Pr 15.51 or Pr 16.51 or Pr 17.51 displays zz (e.g. for software version
01.01.00 on a module in the middle Solutions Module slot, Pr 16.02 will display 1.01 and
Pr 16.51 will display 0).
Unidrive SP (size 0) / Digitax ST / Unidrive ES / Affinity
The software version of the Solutions Modules can be identified by looking at Pr 15.02
or Pr 16.02 and Pr 15.51 or Pr 16.51.
Menu 15 or 16 is Solutions Module slot dependent with menu 15 (Unidrive SP size 0
and Digitax ST) or menu 16 (Unidrive ES and Affinity) being the position nearest the
control terminal connections.
The software version takes the form of xx.yy.zz, where Pr 15.02 or Pr 16.02 displays
xx.yy and Pr 15.51 or Pr 16.51 displays zz (e.g. for software version 01.01.00 on a
module in the middle Solutions Module slot (Unidrive ES and Affinity) or for Unidrive SP
size 0 and Digitax ST, the Solutions Module slot nearest the incoming supply terminals),
Pr 16.02 will display 1.01 and Pr 16.51 will display 0).
Commander SK (sizes B to D and 2 to 6)
The software version of the Solutions Module can be identified by looking at Pr 15.02
and Pr 15.51.

46 SM-INTERBUS User Guide

Issue Number: 4
 The software version takes the form of xx.yy.zz, where Pr 15.02 displays xx.yy and

information
Pr 15.51 displays zz (e.g. for software version 01.01.00 Pr 15.02 will display 1.01 and

Safety
Pr 15.51 will display 0).
The full version of the SM-INTERBUS firmware can be read for the corresponding slot.

Introduction
Table 10.1 shows how to construct the full firmware version from these values.
Table 10.1 SM-INTERBUS firmware version
Major Minor
Firmware version

Mechanical
installation
version version
1.01 5 V1 01.05

10.3 Node address

installation
Electrical
INTERBUS networks do not require a node address to be specified for each device.
The physical wiring of the network determines the Communication Reference (CR) that
will be assigned to each device.
10.4 Data rate

Getting
started
INTERBUS networks can operate at a either 500 Kbits/s or 2 Mbits/s. Two types of SM-
Interbus modules available, one for each network data rate, and users should ensure

Cyclic data
they match the solutions module to the network data rate. Therefore, there is no
requirement to configure the data rate for the SM-Interbus module.
10.5 Operating status

status words
Control and
SM-INTERBUS operating status
Default N/A
Pr MM.06 Range -3 to 9999
Access RO

Non-cyclic
data
The network activity can be monitored in the SM-INTERBUS operating status
parameter, Pr MM.06. When the SM-INTERBUS is communicating successfully with the
INTERBUS master controller, the operating status will give an indication of the number

support files
CMD tool
of cyclic data messages per second that are being processed.
If the operating status shows a negative number, this indicates that the SM-INTERBUS
is not currently communicating with the INTERBUS master controller. See Table 10.2 for Diagnostics
a list of operating status codes.
Table 10.2 Operating status codes
Pr MM.06 Parameter Description
Advanced
features

>0 Network healthy Indicates the number of processed cyclic messages per second.
Indicates that the INTERBUS master has established
Network healthy, communications with the SM-INTERBUS. If the operating status
0
no data transfer changes briefly to -1 and returns to 0, the slave configuration does
reference

not match he configuration in the master controller.

Quick

Indicates that the SM-INTERBUS has initialized correctly, and is

-1 Initialized
waiting for the INTERBUS master to initialize communications.
Indicates that part of the SM-INTERBUS initialisation sequence
Internal hardware
Glossary of

-2 was not successful. If this fault persists after a power cycle,

terms

failure
replace the SM-INTERBUS.
Indicates that there is an invalid setting in the SM-INTERBUS
-3 Configuration error
configuration parameters.
Index

SM-INTERBUS User Guide 47

Issue Number: 4
10.7 Mapping status

information
Safety
Mapping status
Default 0
Pr MM.49 Range 0 to 255

Introduction
Access RO
If the SM-INTERBUS operating status parameter (Pr MM.06) indicates -3, a mapping
configuration error has been detected. The reason for the error is indicated by the SM-

Mechanical
installation
INTERBUS mapping status parameter, Pr MM.49. When a mapping error has been
corrected, reset the SM-INTERBUS by setting Pr MM.32 to ON (1).
Table 10.4 Generic mapping error codes

installation
Electrical
Mapping
Error Description
status
No error detected with IN or OUT cyclic data mapping
No error detected 0
configuration.

Getting
started
Direct data mapping Non-cyclic data cannot be used when direct data mapping is
2
error enabled.
An invalid non-cyclic data mode has been selected in
Invalid non-cyclic mode 3
Pr MM.05.

Cyclic data
Invalid mode value 5 The value entered in Pr MM.05 is not supported.
A non-cyclic data mode has been mapped more than once in
Multiple non-cyclic
104 the IN data mapping configuration parameters (Pr MM.10 to
mapping error

status words
Pr MM.19).

Control and
An error has occurred reading the IN cyclic data mapping
Configuration read
110 configuration parameters (Pr MM.10 to Pr MM.19) from the
error
drive.
One or more parameters specified in the IN cyclic data

Non-cyclic
Invalid source mapping configuration (Pr MM.10 to Pr MM.19) is outside of

data
111
parameter the allowed range for INTERBUS. The allowable parameter
range is from Pr 0.00 to Pr 199.99.
One or more parameters specified in the IN cyclic data

support files
CMD tool
mapping configuration (Pr MM.10 to Pr MM.19) cannot be
Read mismatch 112
used as a source parameter for IN data. The parameter may
not exist, or is a write-only parameter.
IN cyclic data mapping parameters (Pr MM.10 to Pr MM.19) Diagnostics
Hole in IN data
113 are not contiguous. It is not possible have an un-used
mapping configuration
parameter in the middle of the cyclic data.
A request to set up an inter-option communications block
Inter-option
115 failed. Either the server does not support block transfer or
communications error
parameters were not legal.
Advanced
features

Too many IN data After expanding ranges of block mappings, too many IN cyclic
120
objects mapped data channels configured.
Total size of all IN cyclic data mappings has exceeded the total
Mapping over length 121
size of the cyclic data.
reference
Quick

Register mode objects More than 10 cyclic IN data channels have been selected with
122
exceeded direct data mapping mode.
A non-cyclic data mode has been mapped more than once in
Multiple non-cyclic
Glossary of

204 the OUT cyclic data mapping configuration parameters.

mapping error
terms

(Pr MM.20 to Pr MM.29)

An error has occurred reading the OUT cyclic data mapping
Configuration read
210 configuration parameters (Pr MM.20 to Pr MM.29) from the
error
drive.
Index

SM-INTERBUS User Guide 49

Issue Number: 4
 Table 10.4 Generic mapping error codes
Mapping
Error Description
status
One or more parameters specified in he OUT cyclic data
Invalid destination mapping configuration (Pr MM.20 to Pr MM.29) is outside of
211
parameter the allowed range for INTERBUS. The allowable parameter
range is from Pr 0.00 to Pr 199.99.
One or more parameters specified in he OUT cyclic data
mapping configuration (Pr MM.20 to Pr MM.29) cannot be
used as a destination parameter for OUT data. The parameter
may not exist, or is a read-only parameter.
Write mismatch 212
This error will also occur if an attempt is made to map OUT
data to he configuration parameters of a fieldbus option in
another slot, unless that fieldbus is configured in register
mode, i.e. Pr MM.09 = ON (1).
OUT data mapping parameters (Pr MM.20 to Pr MM.29) are
Hole in OUT data
213 not contiguous. It is not possible have an un-used parameter
mapping configuration
in the middle of the cyclic data.
Two or more OUT cyclic data mapping configuration
Duplicate mapping
214 parameters (Pr MM.20 to Pr MM.29) have been configured
error
with the same destination parameter reference.
A request to set up an inter-option communications block
Inter-option
215 failed. Either the server does not support block transfer or
communications error
parameters were not legal.
Too many OUT data After expanding ranges of block mappings, too many OUT
220
objects mapped cyclic data channels configured.
Total size of all OUT cyclic data mappings has exceeded the
Mapping over length 221
total size of he cyclic data.
Register mode objects More than 10 cyclic OUT data channels have been selected
222
exceeded with direct data mapping mode.

10.8 SM-INTERBUS error codes

SM-INTERBUS error code
Default N/A
Pr MM.50 Range 0 to 255
Access RO
If SM-INTERBUS detects an error during operation, it will force a trip in the drive, and
update the SM-INTERBUS error code parameter. The table below shows the SM-
INTERBUS error codes

50 SM-INTERBUS User Guide

Issue Number: 4
 information
Table 10.5 SM-INTERBUS error codes

Safety
Error
Fault Description
Code

Introduction
Indicates that the trip was not caused by he SM-INTERBUS. It
0 No error detected is possible to trip the drive externally via various communication
channels.
User control word
52 The TRIP bit has been set in the control word.
trip

Mechanical
installation
An invalid configuration has been detected. Refer to Pr MM.49
61 Configuration error
for configuration error codes.
No new messages have been received for the specified network
65 Network loss
loss trip time.

installation
Electrical
FLASH transfer The SM-INTERBUS was unable to upload the configuration
70
error parameters from its FLASH memory to the drive.
SM-INTERBUS If he temperature inside the SM-INTERBUS exceeds 82 C, the
74
overtemperature SM-INTERBUS will trip the drive.

Getting
started
Inter-option Communications time-out has occurred, but SM-INTERBUS is
80
communication error unable to determine the reason for the error.
Communication
81 Direct communications between SM-INTERBUS and an SM-
error to slot 1

Cyclic data
Applications in another slot has timed out. This can occur when
Communication
82 SM-INTERBUS has been mapped to directly read or write _P,
error to slot 2
_Q, _T or _U registers in an SM-Applications and the SM-
Communication Applications has been reset.
83

status words
Control and
error to slot 3
Internal watchdog
98
error Internal error. Cycle power to the drive to reset from this trip. If
Internal software trip persists, replace the SM-INTERBUS.
99

Non-cyclic
error

data
10.9 SM-INTERBUS serial number
SM-INTERBUS serial number

support files
CMD tool
Default N/A
Pr MM.35 Range 32-bit
Access RO Diagnostics

The serial number is a loaded into the SM-INTERBUS during manufacture, and cannot
be changed. It contains the last 6 digits of the 10-digit serial number of the label.
Advanced
features
reference
Quick
Glossary of
terms
Index

SM-INTERBUS User Guide 51

Issue Number: 4
11.2 Menu 60 - Local Solutions Module parameter access

information
Safety
The menu used to configure the SM-INTERBUS depends on the slot in the drive where
the SM-INTERBUS is fitted. Menu 60 can be used to ensure that the INTERBUS
configuration parameters can be accessed without necessarily knowing in which drive

Introduction
slot the SM-INTERBUS is fitted.
When a Menu 60 parameter is accessed from INTERBUS, the SM-INTERBUS will re-
direct it to the menu in the drive that is associated with the slot where the SM-
INTERBUS is fitted.

Mechanical
installation
Table 11.1 Local slot configuration parameter access
SM-INTERBUS in slot SM-INTERBUS in slot SM-INTERBUS in slot
Parameter
1 2 3

installation
Electrical
Pr 60.01 - Pr 60.51 Pr 15.01 - Pr 15.51 Pr 16.01 - Pr 16.51 Pr 17.01 - Pr 17.51
Menu 60 parameters are only accessible from the INTERBUS network using non-cyclic
data access methods.
11.3 Mapping to SM-Applications parameters

Getting
started
SM-INTERBUS reads and writes data directly to and from internal registers in an SM-
Applications. 6 sets of 32-bit registers are access ble in the SM-Applications, and block
mapping to these registers is supported. Each register in the SM-Applications can be

Cyclic data
accessed as a virtual parameter.
SM-INTERBUS can be configured to read data from and write data to an SM-
Applications fitted in any slot in the drive, simply by specifying the target parameter as

status words
Control and
shown in Table 11.2.
Table 11.2 SM-Applications internal parameters
Parameter Direct to Direct to Direct to
SM-Applications parameters

Non-cyclic
reference slot 1 slot 2 slot 3

data
_Pxx% PLC Registers Pr 70.xx Pr 100.xx Pr 130.xx Pr 160.xx
_Qxx% PLC Registers Pr 71.xx Pr 101.xx Pr 131.xx Pr 161.xx
_Rxx% PLC Registers Pr 72.xx Pr 102.xx Pr 132.xx Pr 162.xx

support files
CMD tool
_Sxx% PLC Registers Pr 73.xx Pr 103.xx Pr 133.xx Pr 163.xx
_Txx% PLC Registers Pr 74.xx Pr 104.xx Pr 134.xx Pr 164.xx
_Uxx% PLC Registers Pr 75.xx Pr 105.xx Pr 135.xx Pr 165.xx Diagnostics

Local Configuration Parameters Pr 81.xx Pr 111.xx Pr 141.xx Pr 171.xx

Timer Function Parameters Pr 85.xx Pr 115.xx Pr 145.xx Pr 175.xx
DIgital I/O Parameters Pr 86.xx Pr 116.xx Pr 146.xx Pr 176.xx
Advanced

Status Parameters Pr 88.xx Pr 118.xx Pr 148.xx Pr 178.xx

features

General Parameters Pr 90.xx Pr 120.xx Pr 150.xx Pr 180.xx

Fast Access Parameters Pr 91.xx Pr 121.xx Pr 151.xx Pr 181.xx
If SM-INTERBUS is configured to map data to Pr 70.xx to Pr 91.xx parameters, data will
reference
Quick

be exchanged with the SM-Applications fitted in the lowest slot number. This method is
convenient to use if there is only one SM-Applications fitted to the drive, as it
guarantees that data will always be written to the SM-Applications, even if it is moved to
Glossary of

a different slot. If two SM-Applications are fitted, it is best to map directly to the required
terms

slot.
Index

SM-INTERBUS User Guide 53

Issue Number: 4
 11.3.1 Single SM-Applications fitted
Consider a drive with the following configuration:
• Slot 1 - Vacant
• Slot 2 - SM-Applications.
• Slot 3 - SM-INTERBUS.
If a parameter read request comes over INTERBUS to read Pr 71.08, this will be re-
directed to the SM-Applications in the lowest slot number, i.e. the SM-Applications in
slot 2. The value in _Q08% from slot 2 will be returned.
If a parameter read request comes over INTERBUS to read Pr 131.08, this will be sent
straight to the SM-Applications in slot 2. The value in _Q08% from slot 2 will be
returned.
If a parameter read request comes over INTERBUS to read Pr 101.08, this will be sent
straight to the SM-Applications in slot 1. As there is no SM-Applications fitted in slot 1,
an error message will be returned, indicating that the parameter does not exist.

NOTE If a single SM-Applications is fitted to the drive, normal SM-Applications parameter

references can be used without problem, as the SM-INTERBUS will automatically divert
them to the SM-Applications.
11.3.2 Dual SM-Applications fitted
Consider a drive with the following configuration:
• Slot 1 - SM-Applications.
• Slot 2 - SM-Applications.
• Slot 3 - SM-INTERBUS.
If a parameter read request comes over INTERBUS to read Pr 71.08, this will be re-
directed to the SM-Applications in the lowest slot number, i.e. the SM-Applications in
slot 1. The value in _Q08% from slot 1 will be returned.
If a parameter read request comes over INTERBUS to read Pr 131.08, this will be sent
straight to the SM-Applications in slot 2. The value in _Q08% from slot 2 will be
returned.
If a parameter read request comes over INTERBUS to read Pr 101.08, this will be sent
straight to the SM-Applications in slot 1. The value in _Q08% from slot 1 will be
returned.

NOTE If dual SM-Applications are fitted to the drive, it is best to access SM-Applications
parameters using the direct slot parameter references. If normal SM-Applications
parameter references are used, and the SM-Applications is removed from slot 1, these
parameter references will be re-directed to slot 2 instead.

11.4 Block mapping

SM INTERBUS provides 10 mapping parameters each for IN data and OUT data.
However, some Solutions Modules are capable of more than 10 words of IN and OUT
data, so “block mapping” is provided to allow these additional words to be mapped.

NOTE The SM-INTERBUS is limited to 10 cyclic words, but block mapping can still be used if
required. The maximum number of mapping is 10 parameters in and 10 parameters out
regardless of the method used. A minimum of 10 parameters can be used when block
mapping or a combination of block mapping and conventional mapping.

54 SM-INTERBUS User Guide

Issue Number: 4
 Block mapping can be used when mapping data to drive user parameters in Pr 18.PP,

information
Pr 19.PP and Pr 20.PP, and to the PLC registers in an SM-Applications. If successive

Safety
mapping parameters are mapped to different higher parameters within the same drive
user menu or SM-Applications PLC register menu, the mappings will be interpreted as
indicating a range of parameters.

Introduction
If it is required to map to individual parameters within the same menu, ensure that the
target registers are listed in descending order. Refer to section 11.4.3 Avoiding block
mapping on page 56.

Mechanical
installation
11.4.1 IN data
“IN” refers to data as seen by the INTERBUS master controller. Hence, IN data is data
that is being transmitted from the drive to the INTERBUS master controller. Consider a
drive with the following configuration:

installation
Electrical
• Slot 1 - SM-Applications.
• Slot 2 - SM-Applications.
• Slot 3 - SM-INTERBUS, configured for data format = 10.

Getting
started
To map the five IN 32-bit parameters from registers _P11% through to _P15%, the
following mapping values can be set.
Table 11.3 IN data block mapping example

Cyclic data
Mapping Mapping
Description
parameter value
Pr 17.10 7011 Block mapping to registers _P11% to _P15% in the SM-Applications
in the lowest slot, i e. in slot 1.

status words
Pr 17.11 7015

Control and
Pr 17.12 to
0 Not mapped
Pr 17.19

Table 11.4 IN data block mapping data structure example

Non-cyclic
Data word Target parameter Data word Target parameter

data
IN word 0, 1 _P11% slot 1 IN word 6, 7 _P14% slot 1
IN word 2, 3 _P12% slot 1 IN word 8, 9 _P15% slot 1

support files
CMD tool
IN word 4, 5 _P13% slot 1

11.4.2 OUT data

“OUT” refers to cyclic data as seen by the INTERBUS master controller. Hence, OUT Diagnostics
data is data that is being transmitted from the INTERBUS master controller to the drive.
Consider a drive with the following configuration:
• Slot 1 - SM-Applications.
• Slot 2 - SM-Applications.
Advanced
features

• Slot 3 - SM-INTERBUS, configured for data format = 10.

To map the five IN 32-bit parameters from registers _P11% through to _P15%, the
following mapping values can be set.
reference

Table 11.5 OUT data block mapping example

Quick

Mapping Mapping
Description
parameter value
Glossary of

Pr 17.20 2031
Block mapping to drive parameters Pr 20.31 to Pr 20.35
terms

Pr 17.21 2035
Pr 17.22 to
0 Not mapped
Pr 17.29
Index

SM-INTERBUS User Guide 55

Issue Number: 4
 Table 11.6 OUT data block mapping data structure example
Data word Target parameter Data word Target parameter
OUT word 0, 1 Pr 20.31 OUT word 6, 7 Pr 20.34
OUT word 2, 3 Pr 20.32 OUT word 8, 9 Pr 20.35
OUT word 4, 5 Pr 20.33

11.4.3 Avoiding block mapping

In the above sections, block mappings were used to configure 5 channels of IN data to
read data from _P11% through to _P15%, and 5 channels of OUT data to write data to
Pr 20.31 through to Pr 20.35. But what happens if the requirement is to map 2 IN
channels to _P11% and _P15% only, and write 2 OUT channels to Pr 20.31 and
Pr 20.35 only?
The answer is to simply specify the target parameters in descending order. This means
that SM-INTERBUS will not recognize a range of parameters, and 2 channels only will
be mapped.
Table 11.7 Non-block data mapping example
Mapping Mapping
Description
parameter value
Pr 17.10 7015 Map to _P15% in the SM-Applications in the lowest slot, i.e. slot 1.
Pr 17.11 7011 Map to _P11% in the SM-Applications in the lowest slot, i.e. slot 1.
Pr 17.12 to
0 Not mapped
Pr 17.19
Pr 17.20 2035 Map to Pr 20.35 in the SM-Applications in the lowest slot, i.e. slot 1.
Pr 17.21 2031 Map to Pr 20.31 in the SM-Applications in the lowest slot, i.e. slot 1.
Pr 17.22 to
0 Not mapped
Pr 17.29

Table 11.8 Non-block data structure example

Data word Target parameter Data word Target parameter
IN word 0, 1 _P15% slot 1 OUT word 0, 1 Pr 20.35
IN word 2, 3 _P11% slot 1 OUT word 2, 3 Pr 20.31
IN word 4-9 Not mapped OUT word 4-9 Not mapped

11.5 Direct data mapping

Direct data mapping enable
Default OFF (0)
Pr MM.09 Range OFF (0) or ON (1)
Access RW
By default, Pr MM.10 to Pr MM.29 are used as pointers to specify the destination
parameter for OUT data received from the master controller, and the source parameter
of IN data to be transmitted to the master controller.
When direct data mapping is enabled, Pr MM.10 to Pr MM.29 are used as the actual
destination and source parameters for OUT data and IN data respectively. Hence, OUT
data values arriving from the PLC will be written directly into Pr MM.20 to Pr MM.29.

NOTE Non-cyclic data cannot be used when direct data mapping mode is enabled.

56 SM-INTERBUS User Guide

Issue Number: 4
 When direct data mapping mode is enabled, all mapping parameters (Pr MM.10 to

information
Pr MM.29) will be reset to 0. When data compression is OFF, the number of data words

Safety
specified in Pr MM.05 must be an even number. If an odd number is specified, the
appropriate parameter will be set to specify the next lowest even number of data words,
i.e. a value of 7 in Pr MM.05 will only handle 6 data words or 3 data channels.

Introduction
Table 11.9 Direct data mapping configurations (data compression OFF)
Pr MM.05 Description
The first 10 IN channels will be written directly to Pr MM.10 to Pr MM.19, and the

Mechanical
installation
2 to 10
first 10 OUT channels will be read directly from Pr MM.20 to Pr MM.29.
100 to 109 Non-cyclic data cannot be used in direct data mapping mode. The SM-
200 to 206 INTERBUS operating status parameter (Pr MM.06) will indicate -3, and mapping
300 to 309 error code (Pr MM.50) will indicate 2.

installation
Electrical
Parameters Pr MM.10 to Pr MM.29 are all 16-bit parameters, each data channel will be
reduced to 16-bits when data compression is enabled. Hence, a maximum of 10 data
channels can be specified in Pr MM.05, or Pr MM.39 and Pr MM.40.

Getting
Table 11.10 Direct data mapping configurations (data compression ON)

started
Pr MM.05 Description
The first 10 OUT channels will be written directly to Pr MM.10 to Pr MM.19, and
1 to 10
the first 10 IN channels will be read directly from Pr MM.20 to Pr MM.29.

Cyclic data
100 to 109 Non-cyclic data cannot be used in direct data mapping mode. The SM-
200 to 206 INTERBUS operating status parameter (Pr MM.06) will indicate -3, and mapping
300 to 3098 error code (Pr MM.50) will indicate 2.

status words
Control and
11.6 Cyclic data compression
Table 11.11 Cyclic data compression enable
Default OFF (0)

Non-cyclic
Pr MM.34 Range OFF (0) or ON (1)

data
Access RW

By default, the SM-INTERBUS uses 32-bits for each data channel, even if the target

support files
CMD tool
parameter in the drive is a 16-bit parameter. This strategy (known as casting) ensures
that the cyclic data transmitted over the INTERBUS network is kept aligned with
memory locations in 32-bit PLCs. When cyclic data compression is enabled (Pr MM.34
= ON) a data channel will only use 32-bits if the target drive parameter is a 32-bit
Diagnostics

parameter. If the target drive parameter is only 1, 8 or 16-bits wide 16-bits will be used
for that particular data channel. This is shown in Table 11.12.
Table 11.12 Actual data sizes
Advanced
features

Parameter Size (bits) Actual Data Size (bits) Actual Data Size (bits)
Compression on Compression off
1 16 32
8 16 32
reference
Quick

16 16 32
32 32 32

The following examples demonstrate setting up a network using five cyclic channels for
Glossary of
terms

both IN and OUT data with the cyclic data compression first disabled and then enabled.
Index

SM-INTERBUS User Guide 57

Issue Number: 4
 Table 11.13 shows the mapping parameters where five IN and five OUT cyclic data
channels are required. With data compression disabled each data channel uses 32-bits
(two data words, so a total of ten words are required, Pr MM.05 = 10).
Table 11.13 Example cyclic data channel mapping with compression off
Data words Mapping Data
Data channel Setting Mapping status
used for slot 3 width
IN channel 0 IN word 0, 1 Pr 17.10 1040 16-bit Pr 10.40, status word
IN channel 1 IN word 2, 3 Pr 17.11 201 32-bit Pr 2.01, post-ramp speed ref
Pr 4.20, motor load as % of
IN channel 2 IN word 4, 5 Pr 17.12 420 16-bit
rated motor load
IN channel 3 IN word 6, 7 Pr 17.13 1421 16-bit Pr 14.21, PID feedback
IN channel 4 IN word 8, 9 Pr 17.14 1401 16-bit Pr 14.01, PID output
OUT channel 0 OUT word 0, 1 Pr 17.20 642 16-bit Pr 6.42, control word
OUT channel 1 OUT word 2, 3 Pr 17.21 121 32-bit Pr 1.21, digital speed ref 1
OUT channel 2 OUT word 4, 5 Pr 17.22 211 32-bit Pr 2.11, acceleration ramp
OUT channel 3 OUT word 6, 7 Pr 17.23 221 32-bit Pr 2.21, deceleration ramp
OUT channel 4 OUT word 8, 9 Pr 17.24 1420 16-bit Pr 14.20, PID reference

It is advisable to keep 16-bit parameters paired together. This prevents mis-alignment of

cyclic data with 32-bit PLC registers when using auto-mapping facilities to configure the
INTERBUS network. By swapping the mappings for input channel 1 with input channel 2
and moving output channel 4 to output channel 1, the data channel structure will appear
as shown in Table 11.14.
Table 11.14 Compressed cyclic data channel mapping
Data words Mapping Data
Data channel Setting Mapping status
used for slot 3 width
IN channel 0 IN word 0 Pr 17.10 1040 16-bit Pr 10.40, status word
Pr 4.20, motor load as % of
IN channel 1 IN word 1 Pr 17.11 420 16-bit
rated motor load
IN channel 2 IN word 2, 3 Pr 17.12 201 32-bit Pr 2.01, post-ramp speed ref
IN channel 3 IN word 4 Pr 17.13 1421 16-bit Pr 14.21, PID feedback
IN channel 4 IN word 5 Pr 17.14 1401 16-bit Pr 14.01, PID output
OUT channel 0 OUT word 0 Pr 17.20 642 16-bit Pr 6.42, control word
OUT channel 1 OUT word 1 Pr 17.21 1420 16-bit Pr 14.20, PID reference
OUT channel 2 OUT word 2, 3 Pr 17.22 121 32-bit Pr 1.21, digital speed ref 1
OUT channel 3 OUT word 4, 5 Pr 17.23 211 32-bit Pr 2.11, acceleration ramp
OUT channel 4 OUT word 6, 7 Pr 17.24 221 32-bit Pr 2.21, deceleration ramp

58 SM-INTERBUS User Guide

Issue Number: 4
11.7 EVENT task trigger in SM-Applications

information
Safety
SM-Applications EVENT task trigger
Default 0
Pr MM.41 Range 0 to 4

Introduction
Access WO
The SM-Applications has 4 EVENT tasks available for use in the DPL Program, and the
SM-INTERBUS can be configured to trigger one of these tasks.

Mechanical
installation
An EVENT task is triggered when the trigger parameter is actually written to, while the
value written (1 to 4) determines which task is actually triggered. The task trigger
parameter can be written to using cyclic or non-cyclic data.

installation
Electrical
Table 11.15 EVENT task trigger parameters
Trigger Value written to trigger parameter
parameter 0 1 2 3 4
Pr 61.40* No action EVENT* EVENT1* EVENT2* EVENT3*

Getting
started
EVENT task EVENT1 task EVENT2 task EVENT3 task
Pr 61.41 No action
in slot 1 in slot 1 in slot 1 in slot 1
EVENT task EVENT1 task EVENT2 task EVENT3 task
Pr 61.42 No action

Cyclic data
in slot 2 in slot 2 in slot 2 in slot 2
EVENT task EVENT1 task EVENT2 task EVENT3 task
Pr 61.43 No action
in slot 3 in slot 3 in slot 3 in slot 3
* The specified EVENT task will be triggered in the SM-Applications fitted in the lowest

status words
Control and
slot number on the drive.
When an EVENT task runs in the SM-Applications, the reason code parameter
(Pr 90.12 to Pr 90.15 for EVENT to EVENT3 task respectively) will indicate why the

Non-cyclic
event task was triggered. The reason codes for Solution Modules are shown in Chapter

data
11.16 EVENT task reason codes on page 59.(Refer to the SM-Applications User Guide
for full details.)

support files
Table 11.16 EVENT task reason codes

CMD tool
Solution Module Reason code
SM-INTERBUS 4
Diagnostics

NOTE If cyclic data is used to trigger an EVENT task in an SM-Applications, it is best to map
the last OUT cyclic data word to the EVENT task trigger parameter. As cyclic data is
written to destination parameters in the order in which it is received, this guarantees that
all received cyclic data will have been written to the target parameters BEFORE the
Advanced
features

EVENT task runs in the SM-Applications.

11.8 Unidrive compatible control word

Unidrive compatible control word
reference
Quick

Default 0
Pr MM.11 Range 0 to 65535
Access RW
Glossary of
terms

NOTE This feature has been removed in firmware V3.0.0 and later, although it is still compatible
with older versions.
Index

SM-INTERBUS User Guide 59

Issue Number: 4
 This feature converts the Unidrive fieldbus control word to allow it to be used on the SM-
INTERBUS to the control the host drive. The Unidrive compatible control word can be
accessed by mapping a cyclic data channel to Pr 61.11. Reading Pr 61.12 will return
the drive status word (Pr 10.40).
b15 b14 b13 b12b b11 b10 b9 b8
M6 M5 Pr 18.33 M3 M2 M1 M0 Pr 18.32

b7 b6 b5 b4 b3 b2 b1 b0
Pr 18.31 Pr 1.46 Pr 1.45 TRIP RUN REV JOG RUN FWD ENABLE

NOTE For safety reasons, the external HARDWARE ENABLE signal (terminal 31) or SAFE
TORQUE OFF (Digitax ST) must be present before the fieldbus control word can be
used to start the drive. Typically, this terminal is controlled by the external emergency
stop circuit to ensure that the drive is disabled in an emergency situation.
The ENABLE, RUN FWD, JOG and RUN REV bits are transferred directly to the drive
control word, Pr 6.42. The NOT STOP bit is also set to 1. If a MASK bit (shown as
“Mx”) is set to 1, this will set Pr 6.43 to 1 in the drive. This enables the drive control
word (Pr 6.42). Clearing all MASK bits to 0 will reset Pr 6.43 to 0, and the drive will
revert to terminal control.

NOTE MASK bit operation is different to Unidrive, but an existing control strategy will produce
the same result.
The TRIP bit (b4) will cause a slot trip with error code 52 when set to 1. Pr 18.31 to
Pr 18.33 are general user parameters and do not have mask bits.
Table 11.17 Unidrive compatible control word
Bit Function Description
Set to 1 to put the drive in READY mode (the hardware ENABLE must
also be present). The RUN FWD, JOG and RUN REV bits will have no
0 ENABLE effect unless the ENABLE bit is set to 1. The drive outputs are disabled
immediately when the ENABLE bit is reset to 0, and the motor will coast
to stop
Set to 1 to run the motor in the forward direction. Reset to 0 to
1 RUN FWD decelerate he motor to a controlled stop before the drive output stage
is disabled
Set to 1 with RUN FWD or RUN REV bit also set to jog the motor in the
appropriate direction. The drive will ramp the motor to the normal
2 JOG
speed or stop when the JOG bit is reset to 0, depending on the status of
the RUN FWD and RUN REV bits.
Set to 1 to run the motor in the reverse direction. When reset to 0, the
3 RUN REV
drive will decelerate the motor to stop before the outputs are disabled
4 TRIP Set to 1 to trip the drive with error code 52.
5 Pr 1.45 Preset Reference Select. These bits are used to select the digital
6 Pr 1.46 speed references used.
7 Pr 18.31 User application bit.
8 Pr 18.32 User application bit.
9 M0 ENABLE mask bit.
10 M1 RUN FWD mask bit.
11 M2 JOG mask bit.
12 M3 RUN REV mask bit.
13 Pr 18.33 User application bit
14 M5
Mask bits for the preset reference select bits
15 M6

60 SM-INTERBUS User Guide

Issue Number: 4
11.9 Commander SE compatible control word

information
Safety
Commander SE compatible control word
Default 0

Introduction
Pr MM.12 Range 0 to 65535
Access RW

Mechanical
This feature may be subject to change or removal in future software versions.

installation
NOTE

This feature converts the Commander SE fieldbus control word to allow it to be used on
the SM-INTERBUS to the control the drive. The Commander SE compat ble control
word can be accessed by mapping a cyclic data channel to Pr 61.12. Reading Pr 61.12

installation
Electrical
will return the drive status word (Pr 10.40).
b15 b14 b13 b12b b11 b10 b9 b8
Reserved

Getting
started
b7 b6 b5 b4 b3 b2 b1 b0
FBUS
TRIP RESET DIG REF RUN REV JOG RUN FWD ENABLE
CTRL

Cyclic data
NOTE For safety reasons, any HARDWARE ENABLE signal must be present before the
fieldbus control word can be used to start the drive. Typically, this terminal is controlled
by the external Emergency Stop circuit to ensure that the drive is disabled in an

status words
Control and
emergency situation.
To enable fieldbus control of the drive, set the FBUS CTRL bit to 1. The 0-1 transition of
the FBUS CTRL bit will cause SM-INTERBUS to set Pr 6.43 to 1 in the drive, and
enable the drive control word. When the FBUS CTRL bit is reset to 0, SM-INTERBUS

Non-cyclic
data
will reset Pr 6.43 to 0, thus putting the drive back into terminal control mode.
The DIG REF bit allows the source of the speed reference to be changed. The 0-1
transition of the DIG REF will cause SM-INTERBUS to set Pr 1.14 to 3, selecting digital

support files
CMD tool
speed reference as the source of the speed reference. (By default, this will be digital
speed reference 1, Pr 1.21.) When the DIG REF bit is reset to 0, SM-INTERBUS will
set Pr 1.14 to 1, selecting the analog input as the source of the speed reference (the
actual digital speed reference selected will depend on the setting of the digital speed
Diagnostics

reference selector, Pr 1.15).

Advanced
features
reference
Quick
Glossary of
terms
Index

SM-INTERBUS User Guide 61

Issue Number: 4
 Table 11.18 Commander SE compatible control word

Bit Function Description

Must be set to 1 to put the drive in READY mode. Reset ing to 0 will
immediately disable the drive, and the motor will coast to stop. The
0 ENABLE
external HARDWARE ENABLE signal (terminal 30) must also be
present before the drive can be enabled and run.
Set to 1 (with ENABLE set to 1) to run the motor in the forward direction.
1 RUN FWD When reset to 0, the drive will decelerate the motor to a controlled stop
before the outputs disabled
Set to 1 with RUN FWD or RUN REV bit also set to one to jog the motor
2 JOG in the appropriate direction. The drive will ramp the motor to the normal
speed reference if the bit is reset to 0
Set to 1 (with ENABLE set to 1) to run the motor in the reverse direction.
3 RUN REV When reset to 0, the drive will decelerate the motor to a controlled stop
before the outputs disabled
A 0-1 transition of this bit will set Pr 6.43 to 1 to enable the drive control
FBUS
4 word. A 1-0 transition will reset Pr 6.43 to 0, setting the drive back into
CTRL
terminal control.
A 0-1 transition of this bit will set Pr 1.14 to 3 to select digital speed
5 DIG REF reference control. A 1-0 transition will reset Pr 1.14 to 1 to select analog
reference control.
A 0-1 transition will reset the drive from a trip condition, provided that the
6 RESET
cause of the trip has been removed.
A 0-1 transition will force an “SLx.Er” (“SL.Er” on SK) trip with error code
7 TRIP 52 on the drive. If the RESET and TRIP bits change from 0 to 1 on the
same cycle, the TRIP bit will take priority
8 - 15 Reserved Reserved

62 SM-INTERBUS User Guide

Issue Number: 4
 information
12 Quick reference

Safety
12.1 Complete parameter reference

Introduction
Table 12.1 shows every parameter available in the drive for configuring the SM-
INTERBUS, plus a cross-reference to the section in the manual where more information
can be found.
Table 12.1 SM-INTERBUS configuration parameter reference

Mechanical
installation
Cross
Parameter Default Description
Reference
404 (500 Kbits/s) Section 10.1‚

installation
Pr MM.01 Module ID code

Electrical
414 (2 Mbits/s) page 46
Section 10.2‚
Pr MM.02 ---- Major firmware version
page 46
Section 6.2‚
Pr MM.05 4 Data format

Getting
started
page 16
Section 10.5‚
Pr MM.06 ---- Operating status
page 47
Section 11.1‚

Cyclic data
Pr MM.07 200 Network loss trip timeout
page 52
Section 11.5‚
Pr MM.09 OFF (0) Direct data mapping enable
page 56

status words
Control and
Pr MM.10 1040 IN mapping 0
Pr MM.11 201 IN mapping 1
Pr MM.12 0 IN mapping 2
Pr MM.13 0 IN mapping 3

Non-cyclic
Pr MM.14 0 Section 6.2‚ IN mapping 4

data
Pr MM.15 0 page 16 IN mapping 5
Pr MM.16 0 IN mapping 6

support files
CMD tool
Pr MM.17 0 IN mapping 7
Pr MM.18 0 IN mapping 8
Pr MM.19 0 IN mapping 9
Pr MM.20 642 OUT mapping 0
Diagnostics

Pr MM.21 121 OUT mapping 1

Pr MM.22 0 OUT mapping 2
Pr MM.23 0 OUT mapping 3
Advanced
features

Pr MM.24 0 Section 6.2‚ OUT mapping 4

Pr MM.25 0 page 16 OUT mapping 5
Pr MM.26 0 OUT mapping 6
Pr MM.27 0 OUT mapping 7
reference
Quick

Pr MM.28 0 OUT mapping 8

Pr MM.29 0 OUT mapping 9
Section 5.9‚
Glossary of

Pr MM.30 0 Restore SM-INTERBUS defaults

page 14
terms

Section 6.4‚ Store to SM-INTERBUS FLASH

Pr MM.31 0
page 19 memory
Section 5.7‚
Pr MM.32 0 Reset SM-INTERBUS
page 13
Index

SM-INTERBUS User Guide 63

Issue Number: 4
 Table 12.1 SM-INTERBUS configuration parameter reference
Cross
Parameter Default Description
Reference
Restore previous configuration
Section 6.5‚
Pr MM.33 0 from SM-INTERBUS FLASH
page 20
memory
Section 11.6‚
Pr MM.34 0 Data compression enable
page 57
Section 10.9‚
Pr MM.35 ---- Serial number
page 51
Pr MM.36 OFF (0)
Pr MM.37 OFF (0)
Pr MM.38 0
Pr MM.39 0
Pr MM.40 0
Pr MM.41 0
Pr MM.42 0 ---- Reserved
Pr MM.43 0
Pr MM.44 0
Pr MM.45 0
Pr MM.46 0
Pr MM.47 0
Pr MM.48 0
Section 10.7‚ SM-INTERBUS cyclic data
Pr MM.49 ----
page 49 mapping status
Section 10.8‚
Pr MM.50 ---- SM-INTERBUS error codes
page 50
Section 10.2‚
Pr MM.51 ---- Minor firmware version
page 46
Table 12.2 shows every virtual parameter available in the SM-INTERBUS, plus a cross-
reference to the section in this manual where more information can be found.
Table 12.2 SM-INTERBUS virtual parameter reference
Cross
Slot 1 Default Description
Reference
Pr 61.01 ---- ---- Mapped directly to Pr 1.00 to allow access to Parameter 0
Section 11.8‚
Pr 61.11 ---- Unidrive compatible control word
page 59
Section 11.9‚
Pr 61.12 ---- Commander SE compatible control word
page 61
Section 10.9‚
Pr 61.35 ---- Serial number
page 51
Pr 61.40 0 SM-Applica ions event task trigger (lowest slot)
Pr 61.41 0 Section 11.7‚ SM-Applica ions event task trigger (slot 1)
Pr 61.42 0 page 59 SM-Applica ions event task trigger (slot 2)
Pr 61.43 0 SM-Applica ions event task trigger (slot 3)
Section 8.1‚ Single Word (Mode 1) non-cyclic data mapping
Pr 61.50 0
page 26 parameter
Section 8‚ PPO 4 Word (Mode 2) non-cyclic data mapping
Pr 61.51 0
page 26 parameter

64 SM-INTERBUS User Guide

Issue Number: 4
 information
13 Glossary of terms

Safety
Address: This is the unique network identification given to a networked device to allow

Introduction
communication on a network. When a device sends or receives data the address is
used to determine the source and the destination of the message.

Bit: A binary digit, this may have the value of 1 or 0.

Mechanical
installation
Block mapping: A method of mapping a range of consecutive parameters using only
two ascending parameters. This means that by using two mapping parameters, up to 10

installation
consecutive mappings may be made.

Electrical
Byte: A collection of 8 binary digits that collectively store a value. This may be signed or
unsigned.

Getting
started
Compression: By default SM-INTERBUS transmits values as 32-bits on the network. It
is possible by using compression to reduce the number of bits transmitted when sending
16-bit (or smaller) values on the network to 16-bit (32-bit values will still be transmitted

Cyclic data
as 32-bit values). This has the advantage of reducing the volume of traffic on the
network and allowing more parameters to be mapped within SM-INTERBUS.

status words
Control and
Control word: A collection of binary digits that are used to control the drive. Features
typically include directional controls, run controls and other similar functions.

Cyclic data: This consists of values that are sent at regular or cyclic intervals across the

Non-cyclic
network. A typical use of cyclic data would be the transmission of a speed reference or a

data
control word.

Data format: Determines the quantity and function of the data sent and received across

support files
CMD tool
the network.

Data rate: Determines the communication speed of the network, the higher the value
the more data can be sent across the network in the same time period.
Diagnostics

Device: A piece of equipment connected to a network, this may be any type of

equipment including repeaters, hubs, masters or slaves.
Advanced
features

Direct data mapping: Data is sent directly to the mapping parameters in the drive
rather than the parameters redirecting the data to another parameter.
reference

INTERBUS CMD tool: The CMD tool is the software package used to configure and
Quick

diagnose the INTERBUS master controllers.

Mapping: The process of linking INTERBUS values to parameters within the drive.
Glossary of
terms

Master: The controlling device on the network, generally this will include programming
features.
Index

Mode 1 - single word mode: A method of sending non-cyclic data using a single
word on a cyclic channel.

SM-INTERBUS User Guide 65

Issue Number: 4
 Mode 2 - PPO4 word mode: A method of sending 4 non-cyclic data words using cyclic
channels.

Network loss trip: A method to determine when a node has lost communication with
the master.

Module ID code: Indicates the type of solutions module that is fitted in the
corresponding slot.

Node: A device on the network. This may be either a device such as a drive or part of
the network such as a repeater.

Non-cyclic data: Data that is requested or sent by the master as required. This is not
sent on a regular basis and generally allows access to any parameter. This is useful for
occasional changes or configuration purposes.

Response ID: The response code of the message received when using PPO4 word
non-cyclic communication.

Slave: A device on the INTERBUS network such as a drive or sensor. A slave device
will
only respond to messages from a master.

Status word: A value that denotes the status of the drive. Each bit within the word will
have a specific meaning.

Telegram: A message used within mode 1 non-cyclic data communication. This term is
sometimes used to represent a generic message on the network.

Termination: This is used at both ends of a network segment to prevent reflections and
reduce noise.

Watchdog: A method used to determine if a communication system is healthy. A typical

watchdog scheme uses a handshaking system to check both the master and slave are
participating in communications.

66 SM-INTERBUS User Guide

Issue Number: 4
 information
Index

Safety
Numerics

Introduction
16-bit parameter access .................................................................................... 34
A
Abort single word ......................................................................................... 34

Mechanical
installation
Actual data sizes ............................................................................................... 58
Auxiliary ............................................................................................................... 8
Auxiliary supply ................................................................................................... 8
Avoiding block mapping .................................................................................... 57

installation
Electrical
B
Backup supply ..................................................................................................... 8
Block mapping ................................................................................................... 55

Getting
started
C
Compliance ......................................................................................................... 6
Control word ...................................................................................................... 21

Cyclic data
Control word bit functions .................................................................................. 21
CRQWURO Single Word protocol ............................................................................ 26
Control Single Word read sequence ................................................................. 27

status words
Control and
Cyclic data compression ................................................................................... 58
Cyclic data mapping errors ................................................................................ 18
D
Default data format ............................................................................................ 12

Non-cyclic
data
Default data mapping ........................................................................................ 12
Direct data mapping .......................................................................................... 57
Direction of cyclic data ...................................................................................... 15

support files
Disabling cyclic data channels .......................................................................... 20

CMD tool
E
Electrical installation .......................................................................................... 10
Diagnostics

Environmental limits ............................................................................................ 6

Error codes ........................................................................................................ 51
External fieldbus control .................................................................................... 21
G
Advanced
features

General installation .............................................................................................. 9

General specification ........................................................................................... 7
H
reference
Quick

HARDWARE ENABLE ...................................................................................... 21

I
INTERBUS CMD tool ........................................................................................ 45
Glossary of
terms

Introduction .......................................................................................................... 7
L
Legacy Control Words ....................................................................................... 24
Index

M
Mapping To SM-Applications parameters ......................................................... 54

SM-Interbus User Guide 67

Issue Number: 4
 Maximum cable length ...................................................................................... 11
Mechanical installation ........................................................................................ 9
Mode 1 - Single Word mode ............................................................................... 25
Mode 2 .............................................................................................................. 34
Mode 3 - Peripheral Communications Protocol (V2.0) ...................................... 42
Module ID code ................................................................................................. 47
P
Parameters - adjusting ........................................................................................ 6
PCP Object specification ................................................................................... 42
PPO 4 word error codes .................................................................................... 37
PPO 4 word mode ............................................................................................. 34
PPO 4 word read ............................................................................................... 38
PPO 4 word write .............................................................................................. 40
R
Reading parameters using Single Word ............................................................ 27
Resetting the SM-INTERBUS ........................................................................... 13
Response ID codes ........................................................................................... 36
Restore configuration ........................................................................................ 19
S
Safety information ............................................................................................... 5
Safety of personnel ............................................................................................. 5
Saving drive parameters ................................................................................... 18
SECURE DISABLE / SAFE TORQUE OFF ........................................................ 5
Serial number .................................................................................................... 52
Slot arrangement ............................................................................................... 12
SM-INTERBUS data formats ............................................................................. 15
SM-INTERBUS firmware version ...................................................................... 47
SM-INTERBUS mapping parameters ................................................................ 16
SM-INTERBUS non-cyclic modes ..................................................................... 25
SM-INTERBUS set-up using non-cyclic data .................................................... 44
SM-INTERBUS terminal descriptions ................................................................ 10
Status word bit functions ................................................................................... 23
Storing SM-INTERBUS configuration parameters ............................................ 18
T
Task id codes .................................................................................................... 35
V
Valid SM-INTERBUS data formats .................................................................... 15
W
What is cyclic data? ........................................................................................... 15
Writing parameters using Single Word .............................................................. 31
Writing parameters using PPO 4 Word mode ................................................... 40

68 SM-Interbus User Guide

Issue Number: 4
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