Home

Profibus-DP manual

1. Byte 9 10 11 12 XXXX XOXX XXXX XXXX XXXX XXXX XXXX XXXX STW HSW b Transmit a parameterization telegram for the operating mode setting Byte 1 2 3 4 5 6 7 8 0011 0011 1010 0010 xxxx xxxx xxxx xxxx 0000 0000 0000 0000 0000 0000 0000 0010 PKE IND PWE The bits in the PKE section have the following significance Bit 0 to 10 PNU 930 Bit 12 to 15 AK 3 see also Chapter 111 1 1 The SERVOSTAR sends a response telegram with AK 2 and mirrors identical the values for PNU and PWE c Switch on the new operating mode by setting the control word Bit 10 to 1 This validates the process data If for example point a is not observed the SERVOSTAR transmits a negative answer response ID 7 Byte 1 2 3 4 5 6 7 8 0111 0011 1010 0010 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0001 0001 PKE IND PWE The number that is transferred in the PWE section represents the error number and can be looked up in the table in Chapter 111 1 1 2 In this case error no 17 Task impossible because of operating state will be signaled 48 PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4 016 3 3 Sample telegrams VII 4 Enable the SERVOSTAR 400 600 The hardware enable signal must be applied as a precondition for enabling the SERVOSTAR via the PROFIBUS The enable can be made by setting the bit combination for the Oper
2. axistype o ee ee ee baudifat e oi we ee Oe a complete documentation control Word oor a poa soa ee ke eda data format parameter deceleration time defaultparameters digital inputs digital outputs errornumbers u x saosa g a g e e a a error register o DOMINO coca e to homing direction homing type incremental position installation o oo a instrument control instrument IDs o c se aoe A e o a ad instrument profile interface modules JO MO ws arre rr jolt limiting acceleration deceleration motion task PROFIBUS for SERVOSTAR 400 600 09 02 O Appendix next motion task 29 operating modes 39 parameter chamel 16 parameter description 22 parameter ID 16 parameter numbers 19 parameter value 18 parameterization of the amplifier 18 PNUWSE a asep a aaa ae ba eee ees 19 positiondata 27 process data channel 18 PROFIDRIVE profile number 24 read actual values 53 read write amplifier parameter 19 response IDs 16 safety instructions
3. Priority of the Bits 6 8 11 in position control mode 6 high 11 8 low PROFIBUS for SERVOSTAR 400 600 Seidel V 1 2 V 2 09 02 A 4 016 3 3 Process data channel Status word ZSW With the aid of the status word the instrument state can be represented and the transmitted control word can be verified If an unexpected condition is reported as the result of a transmitted control word then first of all the boundary conditions for the expected instrument state must be clarified e g enable of the output stage hardware software application of the DC link voltage The bits in the status word can be mode dependent or mode independent The following table describes the bit assignment in the status word Bit_ Name Commentary Q Ready for switch on 1 Switched on 2 Operation enabled 3 Error see ASCII command ERRCODE 4 _ Voltage inhibited 5 Faststop 6 Switch on inhibit 7 _ Warning see ASCII command STATCODE 8 Setpoint actual value monitoring only in position control mode contouring error indicator 9 Remote not supported fixed to 1 10 Setpoint reached only in position mode In Position 11 Limit active not supported at present 12 Mode dependent used in ASCll mode 13 Mode dependent used in ASCll mode 14 Manufacturer specific used in ASCIl mode 15 Manufacturer specific reserved States of the status machin
4. www DanaherMotion com Communication profile PROFIBUS DP for SERVOSTAR 400 600 Technical description Edition 09 02 Solutio File srprof_e xxx cD DANAHER EU order No 92142 MOTION NA M SS 004 1103 Previous editions Edition Comments 05 99 Preliminary version 10 99 First edition 06 02 new layout several corrections valid from firmware 3 54 SINEC is a registered trademark of Siemens AG SERVOSTAR is a registered trademark of Kollmorgen Motion Technologies Group Technical changes to improve the performance of the equipment may be made without prior notice Printed in the Federal republic of Germany All rights reserved No part of this work may be reproduced in any form by printing photocopying microfilm or any other method or stored processed copied or distributed by electronic means without the written permission of Kollmorgen Seidel Seidel 09 02 Contents Page Contents earr es Re are hs a dde Qe tog a Gk on ee 3 Safety instructions a 5 Directives and standards 0 00000 20000 Fe eee 6 CE Conformance ocacion ida aa arde a a ad 6 l General 1 1 ADOUETNIS MANUAL hora AA A A A A Eee AE A ARA 9 Il Installation Setup 11 1 Hard and Software Installation ada oleae oes wedted eed Oda aa ee tetee dente A TE 11 11 1 1 Parameterization of the master interface modules 0 0 0c cee ee 12 1 1 1 1 Configuration of the Control isc xd ade a A
5. SWE1 SWE1N is met 22 Depending on the configuration this bit is set on exceeding SWE1 or going below SWE1 on reaching the InPosition window SWE1 SWE1N or on leaving the InPosition window SWE1 SWE1N 23 Position 2 reached see above 24 Position 3 reached see above 25 Position 4 reached see above 26 Initialization completed is set if the internal initialization of the amplifier is completed 27 28 Speed 0 is set as long as the motor speed is below the standstill threshold VELO 29 Safety relay has been triggered is set as long as the safety relay is open AS Option 30 Output stage enabled is set when software and hardware enables are set 31 Error present is canceled when the amplifier is switched on or if the function Cancel error is called In the process data Bits 16 to 31 of the manufacturer specific status register are given out Warnings 3 and 4 can be reset through Bit 13 in the control word 26 PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4 016 3 3 Using the parameter channel IV 2 4 IV 2 4 1 IV 2 4 2 IV 2 5 IV 2 5 1 IV 2 5 2 Position controller parameters PNU 1250 velocity multiplier This parameter is used to enter a multiplier for the jogging homing velocity The velocity for jog ging homing is given through PZD2 in the control word when jogging homing is started The actual jog velocity is calculated according to the following formula Viog ver
6. 016 3 3 Using the parameter channel IV 2 3 General parameters IV 2 3 1 PNU 1000 instrument ID The instrument ID consists of four ASCII characters with the contents S6xx whereby xx stands for the current level of the output stage e g S606 IV 2 3 2 PNU 1001 manufacturer specific error register The assignment of the error register can be seen in the following table The explanation of the indi vidual errors can be found in the assembly amp installation instructions for the servo amplifier Bit_ Description Q ErrorFO1 Heatsink temperature q Error F02 Overvoltage 2 Error F03 Contouring error in preparation 3 ErrorFO4 Feedback 4 Error F05 Undervoltage 5 Error F06 Motor temperature 6 Error F07 Auxiliary voltage 7 Error F08 Overspeed 8 Error F09 EEPROM 9 ErrorF10 Flash EEPROM 10 Error F11 Brake 11 Error F12 Motor phase 12 Error F13 Internal temperature 13 Error F14 Output stage 14 Error F15 12t max 15 Error F16 Mains supply BTB 16 Error F17 A D converter 17 ErrorF18 Ballast 18 Error F19 Mains supply phase 19 Error F20 Slot error 20 ErrorF21 Handling error plug in card 21 Error F22 Erdschluss 22 Error F23 CAN Bus off 23 Error F24 Warning 24 Error F25 Commuation error 25 Error F26 Limit switch 26 Error F27 AS Option 27 30 Error F28 F31 reserved 31 Er
7. 1 l l l l Typ 5 Octet String 28 SERVOSTAR only uses the PPO type 2 with 4 words PKW section and 6 words PZD section The PKW section is used mainly for the transmission of parameters for the servo amplifier the PZD section is used principally for handling motion functions The instrument profile can be divided into two sections or data channels 1 PKW section 4 words 2 PZD section 6 words The PKW data channel can also be termed the service channel The service channel only uses confirmed communication services and is used by SERVOSTAR as a parameter channel This channel has no real time capability The PZD data channel can also be termed the process data channel The process data channel uses unconfirmed communication services The response of the servo amplifier to an unconfirmed service can only be seen in the reaction of the instrument status word actual values This channel has real time capability PROFIBUS for SERVOSTAR 400 600 15 Profile of SERVOSTAR 09 02 A 4 016 3 3 Seidel 111 1 Parameter channel 111 1 1 Parameter ID PKE 1 BYTE 2 BYTE Abbreviations BIT AK task response ID 15 14 E h2 11 10 9 8 7 s 5 4 3 2 1 0 SPM Toggle Bit for spontaneous message not implemented at present PNU Parameter number AK EN PNU Bold lines in the table are valid for SERVOSTAR M
8. 1453 QO Off x x x x 1 Reset A 2 PSTOP MLow active 3 _ NSTOP MLow active 4 PSTOP Intg Off MLow active 5 NSTOP Intg Off MLow active 6 PSTOP NSTOP MLow active x 7 ___ P Nstop intg Off MLow active x 8 sw1 SW2 High Low x x x Xx 9 Fauftr Bit a X x x x 10 Intg Off a x x x x 11 1 1 control High Low x x x x 12 Reference a x x x x 13 ROD SSI High Low Xx Xx Xx Xx 14 S fehl clear a x x x x 15 FStart_Folge adjustable x x x x 16 FStart_Nrx a Task number x x x x 17__ FStart_lO a x x x x 18 lpeak2 x a of Ipeak x x x x 20 FStart_TIPP x A vin rpm x x x x 21 U Mon off a x x x x 22 FRestart a x x x x 23 FStart2_Nr x a Task number x x x x 24 Opmode A B a Opmode No x x x 25 Zero_latch A x x x x 26 Zero pulse a x 27 __ Emergency stop A Low x x x 32 Brake a x x x x PROFIBUS for SERVOSTAR 400 600 31 Using the parameter channel 09 02 A 4 016 3 3 Seidel IV 2 8 2 PNU 1458 1459 function of the digital outputs These parameters can be used to configure the two digital outputs individually PWE Function PWE Function 0 Off 14 PosREG 3 1 n_act lt x 15 PosREG 4 2 n_act gt x 16 Next InPos 3 Mains BTB 17 Error Warn 4 Ballast 18 Error 5 Sw_end 19 DC_Link gt x 6 Pos gt x 20 DC_Link lt x F InPos 21 ENABLE 8 list lt x 22 Zero pulse 9 list gt x 23 Reserve 10 S_fault 24 Ref_OK 11 lt 28 PosREG 0 12 PosRE
9. 176 F Never undo the electrical connections of the servo amplifier when it is live In unfavorable circumstances this can produce electrical arcing that is damaging both to persons and the equipment Wait at least two minutes after disconnecting the servo amplifier from the supply voltage before touching any normally live sections of the equipment e g contacts screwed connections or undoing connections Capacitors can have dangerous voltages present up to two minutes after switching off the supply voltages To be sure measure the voltage in the intermediate circuit DC link and wait until it has fallen below 40V PROFIBUS for SERVOSTAR 400 600 5 Directives and standards 09 02 Seidel Eurpoean directives and standards Servo amplifiers are components that are intended to be incorporated into electrical machines and plant When the servo amplifiers are incorporated into machines or plant the intended operation of the servo ampli fier is forbidden until it has been established that the machine or plant fulfills the requirements of the EC Machinery Directive 98 37 EEC and the EC EMC Directive 89 336 EEC EN 60204 and EN 292 must also be observed The manufacturer of the machine must generate a hazard analysis for the machine and take appropri ate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property In connection with the Low Voltage Directive 73 23 EEC the harmonized standards of
10. 5 sample telegram 48 SAVING e Ve a em Ae SS 24 set reference point 49 SOU an a aaa 13 setup software 45 Speeds n ula asa 30 standard function blocks 13 Standardfunktionsbausteine 13 Start delay 0 4 4 Ged aE a 29 status Machine 36 status register 0 26 status word o 39 SUDID EX co dea a ae te a a a 17 velocity 2 3 4eadadwa sae d bad 27 velocity multiplier 27 55 www DanaherMotion com Sales and Service We are committed to quality customer service In order to serve in the most effective way please contact your local sales representative for assistance If you are unaware of your local sales representative please contact us Europe Visit the European Danaher Motion web site at www DanaherMotion net for Setup Software upgrades application notes technical publications and the most recent version of our product manuals Danaher Motion Customer Support Europe Internet www DanaherMotion net E Mail virtapp danaher motion net Phone 49 0 203 99 79 0 Fax 49 0 203 99 79 155 North America Visit the North American Danaher Motion web site at www DanaherMotion com for Setup Software upgrades application notes technical publications and the most recent version of our product manuals Danaher Motion Customer Support North America Internet www DanaherMotion com E Mail customer supp
11. Action Output stage is switched off disabled motor loses torque 9 Event Bit 1 is canceled operation enabled gt switch on inhibited Action Output stage is switched off disabled motor loses torque 40 Event Bit 1 or 2 are canceled ready for operation gt switch on inhibited Action Output stage is switched off disabled motor loses torque Event Bit 4 is canceled operation enabled gt fast stop 11 Drive is stopped using the emergency ramp The output stage remains enabled Setpoints are Action a E canceled e g motion block number digital setpoint 12 Event Bit 1 is canceled fast stop gt switch on inhibited Action Output stage is switched off disabled motor loses torque 43 Event Error response active Action Output stage is switched off disabled motor loses torque 14 Aveni Error Action none 45 Event_ Bit 7 is set error gt switch on inhibited Action Acknowledge error depending on error with without reset 16 Event Bit 4 is set fast stop gt operation enabled Action Motion function is enabled again Event Bit 2 is canceled uf Action Switch on inhibited output stage disabled The state transitions are affected by internal events e g switching off the DC link voltage and by the flags in the control word Bits 0 1 2 3 7 PROFIBUS for SERVOSTAR 400 600 37 Process data channel 09 02 A 4 016 3 3 Seidel V 1 1 38 Control word STW With the
12. Bea eae Raed aad Gee Rea pe ae ee 47 VIL2 ZerotelegraM aii a A oe eee ee aa aed Re E ae 48 VIES Setting the Operating Mode veian nta a a E ias 48 VILA Enable the SERVOSTAR 400 600 ocococococccc tenn ete RA ERAN tanii ENE 49 VILS Stat jog Mode sorna ic a bea ete a ea kes Stee A See oho be See wh ee eda 49 VILO Setreterence Pointes inienn eaa i ii ai aos 49 VIT Start NOMNO paree Ame ade a ap E a arene dens Bae wa a Beane a aoaia as oE 50 VILO tarta Motion task ei sites A A a a EEA 52 VILO Starta directimotiomtask comia ad A a AA A A A AA a 52 VII 10 Polling a warning or error Message o o o eee eee eee 52 MILIT Witing As parameter sssri sS a cerca E oe Mormon tc dete lala dr de ages cate ey ieee eo 53 VIZ Read actlial Values ccoo A dae ite RA A HER Ea Ae Ra Pad mS HOES ORES 53 VII 13 Write a parameter via the ASCII channel 0 0 00 000 tees 54 VIII Appendix VINA LO act Lea det dade NN 55 PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 Safety instructions Safety instructions A Only properly qualified personnel is permitted to carry out activities such as transport installation setup and maintenance Properly qualified persons are those who are familiar with transport installation assembly setup and operation of the products and who have the appropriate qualifications for their job The qualified personnel must know and observe the following directives and standards IEC 364 and CENELEC HD
13. PAW Ea eS AES wale eek PA Gada eS Aes 12 11 1 2 Standard functions for data exchange with SERVOSTAR 00 0 cc cece tees 13 11 2 O A RO NR NN 13 11 2 1 Setup of the basic functions of the servo amplifier 0 00 cece tees 13 Hl Profile of SERVOSTAR 111 4 Parameter chanel vda deca ata 16 111 4 1 Parameter ID PKE zades ni an oae A dd RA A ae a RA 16 1 4 1 1 Interpretation of the response IDS oococccccc eee eee 16 1 4 1 2 Profile specific error numbers with response ID 7 0 000 ccc tees 17 111 1 2 A A O A 17 111 1 3 Parameter value P WE A e Ae amo EE dee A RA A ine 18 111 2 The pr cess data Chameleon cia a beeen r a E ea coded OF eae eee 18 IV Using the parameter channel IV 1 Read write an amplifier parameter cocida Ghd wh ha ee he Loe ed eae 19 IV 2 Summary of the parameter numbers o asas savesi gia ean iE A E U nets 19 IV 2 1 List of the parameter numbers ooo 19 IV 2 2 Profile ParaMeters 0 Hit eee hte weasel thaw ae eon ete elated aes 22 IV 2 2 1 PNU 904 911 PPO type write read c3 4 28s vane A A we 22 IV 2 2 2 PNU 918 PROFIBUS node addresse 1 0 0 cece teen teen teen teens 22 IV 2 2 3 PNU 930 selector for operating modes 0c eet eee 23 IV 2 2 4 PNU 963 baudirat n ica oan sadun det kde aes Se eA ang hae mene Ese a ia 24 IV 2 2 5 PNU 965 PROFIDRIVE profile numb6r s 1 2 0i0c220 400 d2 0400 0ehenien tan dad 24 IV 2 2 6 PNU 970 default parameters ids ga na d ma aa a e aE e aa Eea
14. S2Bit Vog rz02 16BIt x multiplier 1 6Bit The defaultvalue is 1 PNU 1251 axis type This parameter is used to define to which type the axis belongs If a 0 is given as the parameter value it is a linear axis 1 means a rotary axis Position data for the position control mode PNU 1300 position Since the SERVOSTAR 400 600 calculates all positioning operations internally only on an incre mental basis there are limitations on the usable range of values for distances that are given in SI units The range for the incremental position covers the values from 2 281 1 The resolution that is determined by the PGEARO PNU1258 and PGEARI PNU1259 parameters and the variable PRBASE fix the sensibly usable range for positioning operations The variable PRBASE determines through the equation n 2 4S the number of increments per motor turn The value of PRBASE can only be 16 or 20 PGEARO contains the number of increments that must be traversed when the distance to be moved is PGEARI The default values for PGEARO correspond to one turn The number of turns that can be covered are given as follows 2048 2047 for PRBASE 16 and 32768 32767 for PRBASE 20 The sensibly usable position range is derived as follows gx PGEARI ja qa PGEARI for BGEARI lt PGEARO or PGEARO PGEARO 95 44 for PGEARI gt PGEARO PNU 1301 velocity The usable range for the velocity is not limited by the available data area It is li
15. aid of the control word you can switch from one instrument state to another In the dia gram for the state machine you can see which instrument states can be reached by which transi tions The momentary instrument state can be taken from the status word Several states may be passed through during a telegram cycle e g Ready for switch on Ready for operation gt Operation enabled The bits in the control word can be operating mode dependent or mode independent The following table describes the bit assignment in the control word Bit _ Name Commentary 0 Switch on 1 Inhibit voltage 1 gt 0 drive brakes using emergency ramp axis is disabled E PARADA See also ASCII commands STOPMODE and DECDIS 3 Operation enabled 4 Fast stop inhibit rfg 1 gt 0 drive brakes using emergency ramp 5 Pause stop rf Mode dependent 1 gt 0 stops motion 6 Setpoint enable mode dependent 7 Reset Fault only effective with errors 8 Jogging on off mode dependent 9 reserved 10 PZD enable inhibit 11 Start homing run edge mode dependent 12 Manufacturer specific reset the position 13 Manufacturer specific acknowledge warnings only position mode Bit14 1 PZD section is interpreted as direct 14 Manufacturer specific motion block velocity 32 bit position 32 bit motion block type 16 bit Bit14 0 PZD section HSW is interpreted as motion b
16. and receive directions as seen by the bus master This page is helpful when searching for errors and commissioning the bus communication Baudrate The baud rate that is given by the PROFIBUS master is shown here PNO Identno The PNO identification is the number for SERVOSTAR in the list of ID numbers of the PROFIBUS user organization Address Station address of the amplifier The address is set up on the screen page Basic setup see function descriptions in the setup Software PPO type SERVOSTAR 400 600 only supports PPO type 2 of the PROFIDRIVE profile Interface states Shows the present status of the bus communication Data can only be transferred across the PROFIBUS when the Communication OK message appears Input The last bus object that was received by the master Here PKE Response to write parameter operating mode PWE Operating mode 2 OK message Output The last bus object that was sent by the master Here PKE write parameter operating mode PNU 930 PWE Word 2 The data for input output are only transferred if the threshold monitoring for the SERVOSTAR 400 600 has been activated in the master s hardware configuration PROFIBUS for SERVOSTAR 400 600 45 Setup software 09 02 A 4 016 3 3 Seidel VI 2 Screen page PROFIBUS instrument control s Device Control 3 DRIVEO Control word STW State Diagram Status word 25 Switch on 0 o Ready for switch on Switched on Dperati
17. no change of direction use SI units Byte 1 2 3 4 5 6 0100 0100 OF 11 1111 0000 0000 0000 0000 0100 1110 0010 0000 PZD1 PZD2 PZD3 STW Vsetp 0000 0000 0000 0010 0000 1111 0101 1000 0010 0001 0001 1101 PZD4 PZD5 PZD6 Ssetp motion block type F stands for a transition edge the state of Bit 6 STW also depends on the previous state Polling a warning or error message If a warning or error message is present then parameter 1001 or 1002 can be interrogated to find out the number of the warning or error PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 Sample telegrams VII 11 Writing a parameter Parameter v_max is used as an example to show how control parameters are transmitted from the master to the SERVOSTAR Parameter number 1265 100 1111 0001 Parameter value 350000 um s 0100 0011 1010 1111 0000 0000 0000 0000 Byte 1 2 3 4 5 6 7 8 0011 0100 1111 0001 0000 0000 0000 0000 0000 0000 0000 0101 01010111 0011 0000 PKE IND PWE Note after an error has occurred in parameter transmission AK 7 a Zero telegram should be transmitted i e the first 8 bytes of the transmit telegram from the PLC should be kept at 0 until the SERVOSTAR 400 600 has responded with a zero telegram Vil 12 Read actual values Cyclical actual value request This PKW task switches on the reading of an actual value T
18. the EN 50178 series are applied to the servo amplifiers together with EN 60439 1 EN 60146 and EN 60204 The manufacturer of the machine or plant is responsible for ensuring that the machine or plant meets the lim its that are laid down by the EMC regulations Advice on the correct installation for EMC such as shielding grounding arrangement of filters handling of connectors and laying out the cabling can be found in the as sembly and installation instructions for the servo amplifier C conformance Conformance with the EC Directive on EMC 89 336 EEC and the Low Voltage Directive 73 23 EEC is manda tory for the supply of servo amplifiers within the European Community The servo amplifiers of the series have been tested by an authorized testing laboratory in a defined configura tion with the system components which are described in this documentation Any divergence from the configuration and installation described in this documentation means that you will be responsible for the perfor mance of new measurements to ensure that the regulatory requirements are met UL and cUL Conformance UL cUL certified servo amplifiers Underwriters Laboratories Inc fulfil the relevant U S and Canadian stan dard in this case UL 840 and UL 508C This standard describes the fulfilment by design of minimum requirements for electrically operated power con version equipment such as frequency converters and servo amplifiers which is inten
19. velocity actual value PV 1405 INTEGER32 ro SI contouring error PE 1406 INTEGER32 ro RMS current 1407 INTEGER32 ro Sl speed actual value V 1408 INTEGER32 ro Heatsink temperature TEMPH 1409 INTEGER32 ro Internal temperature TEMPE 1410 INTEGER32 ro DC bus DC link voltage VBUS 1411 INTEGER32 ro Ballast power PBAL 1412 INTEGER32 ro It loading 127 1413 INTEGER32 ro Running time TRUN Digital I O configuration 1450 UINT32 Function of digital input 1 IN1MODE 1451 UINT32 Function of digital input 2 IN2MODE 1452 UINT32 Function of digital input 3 IN3MODE 1453 UINT32 Function of digital input 4 IN4MODE 1454 INTEGER32 Auxiliary variable for digital input 1 IN1TRIG 1455 INTEGER32 Auxiliary variable for digital input 2 IN2TRIG 1456 INTEGER32 r w Auxiliary variable for digital input 3 IN3TRIG 1457 INTEGER32 r w Auxiliary variable for digital input 4 IN4TRIG 1458 INTEGER32 r w Function of digital input 1 O1MODE 1459 INTEGER32 r w Function of digital input 2 O2MODE 1460 UINT32 r w Auxiliary variable for digital output 1 O1TRIG 1461 UINT32 r w Auxiliary variable for digital output 2 O2TRIG 1462 UINT32 bli State of four digital inputs Enable STATIO 2 digital outputs Analog configuration 1500 UINT32 r w Configuration of the analog input functions ANCNFG 1501 UINT32 r w Configuration monitor function analog output 1 ANOUT1 1502 UINT32 r w Offset voltage for analog input 1 ANOFF1 1503 UINT32 r w Filter time const
20. word The SERVOSTAR uses a 1 in this bit to signal that the ASCII buffer now contains valid data A transition edge of Bit 14 in the control word STW can be used to make the SERVOSTAR write the buffer contents to the PZD reception section of the bus master Bit 14 Control word Any transition edge on this bit requests the SERVOSTAR to write the contents of its filled ASCII buffer to the receive process data of the bus master Status word The SERVOSTAR uses a transition edge on this bit to signal that the ASCII buffer data have been written to the process data When transmitting ASCII data the following must be observed 1 Every ASCII command must be terminated by the CR LF character sequence 2 If the ASCII command with CR LF is shorter than the 10 characters that are available then the rest of the telegram must be filled up with bytes with a content 0x00 3 ASCII commands that are longer than 10 characters must be divided into more than one telegram whereby a maximum of 30 characters can be sent before the buffer must be read out once When evaluating the responses to the transmitted ASCII command the following must be observed 1 The ASCII response is always terminated by an End of Text EOT 0x04 character 2 Response telegrams can include less than 10 bytes of user data without the response being concluded The telegram must then be filled up with bytes with the value 0x00 3 After reading out the buff
21. 384 or DIN VDE 0100 IEC Report 664 or DIN VDE 0110 national accident prevention regulations or BGV A2 Read all the documentation for the servo amplifier before carrying out installation and setup Incorrect handling of the servo amplifier can lead to injury to persons or material damage It is vital that you keep to the technical data and information on connection requirements nameplate and documentation The manufacturer of the machine must generate a hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property The servo amplifiers contain electrostatically sensitive components that may be damaged by incorrect handling Discharge your body before touching the servo amplifier Avoid contact with highly insulating materials artificial fabrics plastic films etc Place the servo amplifier on a conductive surface Do not open the units Keep all covers and switchgear cabinet doors closed during operation Otherwise there are deadly hazards with the possibility of severe damage to health or property Depending on the degree of enclosure protection servo amplifiers can have hot surfaces and bare components that are live Control and power cables may carry a high voltage even when the motor is not rotating Servo amplifiers may have hot surfaces during operation Since the front panel is used for cooling it can reach temperatures above 80 C
22. EROR AAN Ea e e a E DNE ee EE 24 IV 2 2 7 PNU 971 non volatile saving of parameters saasa aaan 24 IV 2 3 Genefaliparameters vs 08 cnc dirt Maa A a ld de a a dee wad ye eae dale dened 25 IV 2 3 1 PNU 1000 instrument ID anir reseter dali ae eae tet ia Gan Vea E aan eee tetrad teed ae 25 IV 2 3 2 PNU 1001 manufacturer specific error register 2 0 2 00 ccc 25 IV 2 3 3 PNU 1002 manufacturer specific status register 0 0 unuara ett 26 IV 2 4 Position controller parameters sess iaaii eieaa a eS as a Ga Ye ee dae oS a ee 27 IV 2 4 1 PNU 1250 velocity multiplienics ci ce oe cee le Ra et eka gale ha eae a Litho eee games 27 IV 2 4 2 PINUS MAIS AY Ore anda ses eae a e 27 IV 2 5 Position data for the position control MOE 27 IV 2 5 1 PNU 1300 POSTOR pad Ae hada od gate G da 27 IV 2 5 2 PNU 1301 VEY vicario 27 IV 2 5 3 PNU 1302 motion task type educa cure cama oie AG Ee aoe Gad dled Pa oe a eal dead Sa 28 IV 2 5 4 PNU 1304accelerationitime croacia ts e id cents Gunite oh iam amas Oa a aun erecta 28 IV 2 5 5 PNU 1305 deceleration times oe cea aa eaten ehh ae aw Dee Ga Ee Nee ead ae ee aR 28 IV 2 5 6 PNU 1306 accelerationijolt limiting sessanta epai e a 44 00sec viaeeebe e da a ae 29 IV 2 5 7 PNU 1307 deceleration jolt limiting 0 0 00000 eee eee 29 IV 2 5 8 PNU 1308 next motion task darte a dads on aes ded Maren deel ha mnie mereka ends 29 IV 2 5 9 PNU1309 start delay sorpa ssia dame ade aaa 29 IV 2 5 10 PNU 13
23. G 1 29 PosREG 5 13 PosREG 2 IV 2 9 Analog configuration All settings for the analog inputs and outputs only become effective after being saved in the EEPROM and then switching off and on again or making a cold start of the SERVOSTAR 400 600 The significance of the functions can be seen in the user manual for the setup Software 1V 2 9 1 PNU 1500 configuration of the analog input functions This parameter can be used to configure the two analog inputs together PWE Function 0 Xsetp SW1 1 N_setp SW1 Isetp SW2 2 unused 3 Xsetp SW1 Ipeak SW2 4 Xsetp SW1 SW2 5 Xsetp SW1 SW2 6 Electr gearing 7 Icmd SW1 nmax SW2 8 Pemd SW1 9 Xcmd SW1 Ferraris SW2 IV 2 9 2 PNU 1501 1506 configuration of the analog outputs This parameter can be used to configure the two analog outputs individually PWE Function 0 Off 1 n act 2 act 3 n setp 4 setp 5 S fault 6 Slot 32 PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4 016 3 3 Using the parameter channel IV 2 10 Manufacturer specific object channel from PNU 1600 The object catalogue was expanded by all existing parameters and commands from PNU 1600 on reserved object range PNU 1600 PNU 2000 This object range is called SDO channel SDO Service Data Object The SDO channel is expansible dynamically new parameters will be added to the table automatically The PNU is cal culated b
24. PZD1 PZD2 PZD3 6 STW CR LP 4 Wait for the transition edge on Bit 12 ZSW 5 Wait until Bit 13 ZSW 1 6 Invert Bit 14 STW 7 Wait until Bit 14 ZSW 1 8 The servo amplifier sends a response telegram Byte 1 2 3 4 5 6 0110 0010 0000 0000 0100 1101 0100 1100 0100 0111 0101 0001 PZD1 PZD2 PZD3 ZSW M ds aG Q Byte 7 8 9 10 11 12 0010 0000 0011 0000 0010 1110 0011 1001 0011 1000 0011 0101 PZD4 PZD5 PZD6 _ 0 HE g 8 D 9 Repeat steps 5 to 8 until a response telegram indicates EOT Byte 1 2 3 4 5 6 7 12 0000 0010 0000 0000 0000 1101 0000 1010 0000 0100 0000 0000 0000 0000 PZD1 PZD2 PZD3 PZD4 6 ZSW CR LF EOT Note The sequence of response telegrams shown above is only one of many possibilities for the same response from the servo amplifier Because of the transmission rate and the internal synchronization mechanism it can happen that process data sections remain empty and so the response is broken into segments This could possibly alter the number of response telegrams 54 PROFIBUS for SERVOSTAR 400 600 Seidel VIII VIII 1 A Appendix abbreviations accelerationtime actual position value incremental SIEUAHS 20206 au kis we aoe le ai analoginputs analog outputs Antwortkennungen
25. Soft ware limit switches are not a substitute for the hardware limit switches in the machine Install the servo amplifier as described in the installation manual The wiring for the analog setpoint input and the positioning interface as shown in the wiring diagram in the installation manual is not required Use the valid connection diagram in the amplifier installation manual for the connec tion to a PROFIBUS network Never break any of the electrical connections to the servo amplifier while it is live This could result in destruction of the electronics Because of the internal representation of the position control parameters the position controller can only be operated if the final limit speed of the drive at sinusoidal commutation is not more than 7500 rpm At trap ezoidal commutation the permitted maximum speed is 12000 rpm All the data on reso lution step size positioning accuracy etc refer to calculatory values Non linearities in the mechanism backlash flexing etc are not taken into account If the final limit speed of the motor has to be altered then all the parameters that were previously entered for position control and motion blocks must be adapted PROFIBUS for SERVOSTAR 400 600 11 Installation Setup 09 02 Seidel 1 1 1 Parameterization of the master interface modules 1 1 1 1 Configuration of the control The graphics interface makes it very easy to configure the Siemens S7 for the PROFIBUS network After you h
26. T103COpy motion task aa menaa a a ea drow AEA Kaa ies 29 IV 2 5 11 PNU 1311 Position 32 Bit floating decimal point format sasaaa aaaeeeaa 29 IV 2 5 12 PNU 1312 Velocity 32 Bit floating decimal point format 0 0 0006 29 IV 2 6 Setup Mode POSUN sisira saana ein Seated Bea edad SA AA EATE E A AA 30 IV 2 6 1 PNU 1350 ROMING aia a E a Mn E aid Pathak dee eae ed E E EE A 30 IV 2 6 2 PNUS3S 1 MOM MG COCHIN siasa saana enna E R see ete aa ETE ENR AA stato Serena dentate ar av a aiia adine 30 IV 2 7 ACA VAlUGS eco ia e i E SR eS O A e E E Pea ea Ce TE CR ES 30 IV 2 7 1 PNUM401 Sp6 d acti cha a ea dele deve te eda ela Ad iad waned gates 30 IV 2 7 2 PNU 1402 incremental position actual value 2 0 tte 30 IV 2 7 3 PNU 1403 Sl position actual Value ve dai cscs eae e aera ee ee ee da 30 IV 2 7 4 PNU 1414 Actual position 32 Bit floating decimal point format 00 0 0 cece eee 30 IV 2 7 5 PNU 1415 Actual velocity 32 Bit floating decimal point format 00 0c eee 31 PROFIBUS for SERVOSTAR 400 600 3 Contents 09 02 Seidel Page IV 2 8 Digital O configuratiOn ss senres edi aa A a dete eae de tea Seale eee SA 31 IV 2 8 1 PNU 1450 1453 function of the digital inputs 0 0000 31 IV 2 8 2 PNU 1458 1459 function of the digital outputs 2 20 tees 32 IV 2 9 Analog CONTQUEAION a 2 4 ic healed Oa ete Se Rae Ai Peel ees Aaa BEA 32 IV 2 9 1 PNU 1500 configuration of the analog inpu
27. able range of values for distances that are given in SI units The range for the incremental position covers the values from 231 to 281 1 The resolution that is determined by the PGEARO PNU1258 and PGEARI PNU1259 parameters and the variable PRBASE fix the sensibly usable range for positioning operations The variable PRBASE determines through the equation n 27 45 the number of increments per motor turn The value of PRBASE can only be 16 or 20 PGEARO contains the number of increments that must be traversed when the distance to be moved is PGEARI The default values for PGEARO are 1048576 PRBASE 20 or 65536 PRBASE 16 and correspond to one turn The number of turns that can be covered are given as follows 2048 2047 for PRBASE 16 and 32768 32767 for PRBASE 20 The sensibly usable position range is derived as follows gst PGEARI n_e PGEARI for PGEARI lt PGEARO or PGEARO PGEARO 2 2 1 for PGEARI gt PGEARO Vor max or as an incremental value from n Viner max T Pm in each case with Nmax in revs sec Motion block type The various types of motion block are described in Chapter IV 2 5 3 PROFIBUS for SERVOSTAR 400 600 Seidel V 2 2 V 2 3 09 02 A 4 016 3 3 Process data channel Digital speed operating mode 1 PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 STW Nsetp ZSW Nact incremental actual position 32 bit ma ut speciiie status Deviating assignment of the proc
28. al PSTOP Limit switch input for CW rotation right COM Serial interface for a PC AT PWM Pulse width modulation DGND Digital ground RAM Volatile memory DIN German Institute for industrial Standards Rregen Regen resistor Disk Magnetic storage diskette hard disk RBext External regen resistor EEPROM Electrically erasable programmable memory RBint Internal regen resistor EMC Electromagnetic compatibility RES Resolver EMI Electromagnetic interference ROD 426 A quad B encoder EN European standard PLC Programmable logic controller ESD Electrostatic discharge SRAM Static RAM IEC International Electrotechnical Commission SSI Synchronous serial interface IGBT Insulated Gate Bipolar Transistor SW SETP setpoint INC Incremental Interface UL Underwriters Laboratory ISO International Standardization Organization VAC AC voltage LED Light emitting diode VDC DC voltage MB Megabyte VDE Verein deutscher Elektrotechniker MS DOS Operating system for PC AT XGND Ground for the 24V supply Symbols used in this manual general warning danger to personnel from F A a general instructions electricity and its effects i mechanical hazard gt p see page cross ref O special emphasis Keys on the servo amplifier panel A press once move up one menu item increase number by one ress twice in rapid succession increase number by ten v press once move down one menu item decrease number by one press twice
29. ant for analog input 1 AVZ1 1504 UINT32 r w Scaling factor for velocity analog input 1 VSCALE1 1505 UINT32 r w Scaling factor for current analog input 1 ISCALE1 1506 UINT32 r w Configuration monitor function analog output 2 ANOUT2 1507 UINT32 r w Offset voltage for analog input 2 ANOFF2 1508 UINT32 r w Scaling factor for velocity analog input 2 VSCALE2 1509 UINT32 r w Scaling factor for current analog input 2 ISCALE2 Motor parameters 1550 1551 UINT32 r w Motor number from motor database MNUMBER Manufacturer specific object channel gt 1600 gt p 33 and description of the ASCIl commands on the CD rom 4th quarter 2002 Abbreviations in the Access column The Access column shows which type of access e g read write is possible via the bus Abbrev Description wO write only access ro read only access r w read write access PROFIBUS for SERVOSTAR 400 600 21 Using the parameter channel 09 02 A 4 016 3 3 Seidel IV 2 2 Profile parameters IV 2 2 1 PNU 904 911 PPO type write read These parameters describe the numbers of the supported PPO types write und read Since only PPO type 2 is supported see Chapter III this parameter is always set to 2 IV 2 2 2 PNU 918 PROFIBUS node addresse With this parameter the PROFIBUS node address of the drive can be read You can alter the node address station addres in a PROFIBUS network in different ways O With the ke
30. aster gt Slave Slave gt Master Task ID Function Response ID positive Response ID negative 0 no task 0 0 1 request parameter value 1 2 7 2 alter parameter value W 1 718 3 alter parameter value DW 2 7 8 4 request description element 3 7 5 alter description element 3 7 8 6 request parameter value A 4 5 7 7 alter parameter value A W 4 7 8 8 alter parameter value 5 7 8 9 request number of array elements 6 T 10 15 reserved 1 1 1 1 Interpretation of the response IDs Response ID Interpretation 0 no task 1 transmit parameter value 2 transmit parameter value 3 transmit description element 4 transmit parameter value 5 transmit parameter value 6 transmit number of array elements 7 task not possible with error no 8 no operating authority for PKW interface 9 spontaneous message W 10 spontaneous message DW 11 spontaneous message A W 12 spontaneous message A DW Abbreviatoins in the tables A Array W Word DW Double word 16 PROFIBUS for SERVOSTAR 400 600 Seidel 1 1 1 2 11 1 2 09 02 A 4 016 3 3 Profile of SERVOSTAR Profile specific error numbers with response ID 7 Error no Description 0 illegal PNU 1 parameter value cannot be changed 2 Lower or upper limit violated 3 Erroneous sub index 4 no array 5 Incorrect data type 6 setting not allowed can only be reset 7 Descriptive element cannot be c
31. ation enabled state in the con trol word Byte 9 10 11 12 XXx0 x1xx 0011 1111 xxxx XXXX XXXX XXXX STW HSW The SERVOSTAR then reports back the corresponding state in its status word or indicates a warn ing or error message Byte 9 10 11 12 xxxx xx1x 0010 0111 xxxx XXXX XXXX XXXX ZSW HSW VII 5 Start jog mode Jog mode is started in a similar manner to homing To start Bit 8 STW must be set The jog velocity is given by the product of the 16 bit main setpoint in PZD2 and the multiplier defined by parameter 1250 The sign of the main setpoint determines the direction of movement It is not necessary to have a reference point set for jogging VII 6 Set reference point Warning NM Take care that the position of the reference point permits the following positioning op erations The parameterized software limit switches in the SERVOSTAR may not be ef fective The axis could then drive up to the hardware limit switch or the mechanical stop There is a danger of damage being caused The control word Bit 12 1 defines the momentary position as being the reference point The posi tioning functions are enabled The shifting of the zero point Nl offset is ineffective The replay Reference point set is made through Bit 17 in the manufacturer specific status register PNU 1002 or Bit 1 manufacturer status of the process data Conditions PNU930 16 No motion fu
32. ave set up the control layout configure the interface module that is used as follows Use our library file KOLL045D GSD for the planning Open the Hardware catalog and drag the symbol for the corresponding field unit onto the representation of the bus system A window opens auto matically for the general parameterization of the field unit Enter the address of the participant here Hardware Katalog Hardware Auswahl SIMOREG 2 SIMOVERT 2 SIPOS Weitere FELDGERATE J Sonstige DIGIFAS 7 5600 fe 4 WortAE AA Kol g E Wort AE AA Kor B Universalmodul 4 La Next use the same method as above to drag the module from the Hardware catalog into the box for the field unit whereby the 4 word module must lie in Cell O and the 6 word module in Cell 1 DP Mastersystem 1 0 UR Hardware Katalog PS307 55 a Hardware Auswahl CPU315 DP A asia DP Mastersystem 1 SIMOREG A 42 SIMOWERT e SIPOS Weitere FELDGERATE 839110 DP Slave 3 8 Sonstige DIGIFAS 5600 Ge 4 Wort AE MAA Ko wo Work a Er o ras z Another window opens in which you can set the parameters for the module Eigenschaften DP Slave x Adresse Kennung Adresse 64 F E EH Adresse fs EY tote x essamte Linge Abbrechen Hilfe 12 PROFIBUS for SERVOSTAR 400 600 Seidel 11 1 2 11 2 11 2 1 09 02 Installation Setup Standard fun
33. can be initiated via the PROFIBUS However it is possible to perform motion functions with the aid of the setup Software If the operating mode is changed then motion functions can only be operated via the PROFIBUS If the operating mode is changed via another communication channel then the drive is emergency braked and the error F21 Handling error plug in card is signaled PROFIBUS for SERVOSTAR 400 600 23 Using the parameter channel 09 02 A 4 016 3 3 Seidel IV 2 2 4 IV 2 2 5 IV 2 2 6 IV 2 2 7 24 PNU 963 baud rate This parameter defines the index of the baud rate that is used for PROFIBUS communication and can only be read The baud rate is given out by the PROFIBUS master The table below shows the indices with the according baud rates Index 0 1 2 3 4 5 6 7 8 9 Baud rate 12000 6000 3000 1500 500 187 5 93 75 45 45 19 2 9 6 PNU 965 PROFIDRIVE profile number This parameter can be used to read out the number of the PROFIDRIVE profile Profile Number 3 Version 2 is used PNU 970 default parametersr With this parameter you can reject all the parameters that are set and load the manufacturer s default values PNU 971 non volatile saving of parameters With this parameter you can save all the parameter settings to the EEPROM To do this the param eter must have the value PWE 1 when the transfer takes place PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4
34. ctions for data exchange with SERVOSTAR Kollmorgen Seidel supplies function block package DRIVE_FC The function block package includes a number of function blocks that make it possible to handle SERVOSTAR 400 600 control functions very simply A description of the individual function blocks can be found as a text file on the CDrom and in the download section of our website Setup Setup of the basic functions of the servo amplifier Only properly qualified personnel with professional expertise in control and drive tech nology are permitted to setup the servo amplifier Check that all the safety instructions which are included in both the installation manual for the servo amplifier and in this manual have been observed and implemented Check assembly installation Connect PC Use the setup Software DRIVE EXE for setting the parameters for the start DRIVE EXE servo amplifier Caution Make sure that any unintended movement of the drive cannot create a danger to personnel or machinery Now setup the basic functions of the servo amplifier and optimize the current and speed controllers This part of setup is described in the Quickstart setup manual Setup the basic functions Save When the optimization is finished save the controller parameters in the parameters servo amplifier Remove the Enable signal Terminal X3 16 and switch off the power Test the supply for the servo amplifier bus connection The 24V DC auxiliar
35. ded to eliminate the risk of fire electric shock or injury to persons being caused by such equipment The technical conformance with the U S and Canadian standard is determined by an independent UL cUL inspector through the type testing and regular check ups Apart from the notes on installation and safety in the documentation the customer does not have to observe any other points in direct connection with the UL cUL certification of the equipment UL 508C UL 508C describes the fulfilment by design of minimum requirements for electrically operated power conver sion equipment such as frequency converters and servo amplifiers which is intended to eliminate the risk of fire being caused by such equipment UL 840 UL 840 describes the fulfilment by design of air and insulation creepage spacings for electrical equipment and printed circuit boards 6 PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 Kurzel Symbole Abbreviations used in this manual The abbreviations used in this manual are explained in the table below Abbrev Meaning Abbrev Meaning AGND Analog ground NI Zero pulse AS Restart Lock option NSTOP Limit switch input for CCW rotation left BTB RTO Ready to operate PC AT Personal computer with 80x86 Processor CAN Fieldbus CANopen PELV Protected low voltage CE Communit Europ enne EC PGND Ground for the interface CLK Clock sign
36. e State Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Not ready for switch on Switch on inhibit Ready for switch on Ready for operation Operation enabled Error Error response Fast stop active ojololololo Oo x X al x x X lt lt lt gt lt gt lt gt X lt o l lolololo alolx lolojo a lolx lo lo alolx a ajo Operating modes The selection of a new operating mode is described in detail in the chapter on the parameter chan nel This procedure must be observed and adhered to WARNING Appropriate precautionary measures against damage caused by faulty presentation of data formats or normalization of the setpoints must be taken by the user The possible operating modes are described below Operating modes with a positive number 1 2 are defined in the drive profile Operating modes with a negative number 1 2 are labeled in the drive profile as being manufacturer specific modes PROFIBUS for SERVOSTAR 400 600 39 Process data channel 09 02 A 4 016 3 3 Seidel V 2 1 40 Positioning operating mode 2 PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD6 STW motion task no a l Or Vsetp ZSW Nact 16 bit actual position 32 bit manufacturer i specific status for jogging homing Deviating assignment of the process data sections with STW Bit 14 1 PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 STW direct moti
37. e over to next motion task without standstill at the target position The type of velocity transition is determined by Bit 8 Change over to next motion task without evaluating inputs A following motion task is started by a correspondingly configured input Start the next motion task by Input State low or if bit 7 1after the delay set in PNU 1309 Start the next motion task by Input State high or if bit 7 1after the delay set in PNU 1309 The next motion task is started immediately The next motion task is started after the delay time set by PNU 1309 or if Bit 6 1 previ ously by a corresponding input signal Only for following motion tasks and Bit 4 1 from the target position for the previous mo tion task onwards the velocity is altered to the value for the following motion task The change of velocity is made so that the velocity at the target position of the previous motion task matches the value given for the following motion task 10 11 reserved 12 Accelerations are calculated according to the run up acceleration and run down braking times for the motion task the deceleration aceleration ramps are interpreted in mm s 13 The target position and target velocity of a motion task are interpreted as increments The target position and target velocity are recalculated as increments before the start of the motion task The parameters PGEARI and PGEARO ar
38. e used for this purpose 14 15 The programmed velocity is used as the velocity for the motion task The velocity for the motion task is determined by the voltage present on analog input SW1 at the start of the motion task reserved IV 2 5 4 PNU 1304 acceleration time This parameter defines the total time to reach the target velocity for the motion task IV 2 5 5 PNU 1305 deceleration time This parameter defines the total time to reduce the velocity to 0 at the target position 28 PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4 016 3 3 Using the parameter channel 1V 2 5 6 PNU 1306 acceleration jolt limiting This parameter defines the form of the acceleration ramp If a value 0 is entered here then a sin ramp S curve is used to reach the target velocity To employ sine ramps the configuration variable SPSET has to be set to 1 via the ASCll channel or the ASCll terminal in the setup software and to be saved IV 2 5 7 PNU 1307 deceleration jolt limiting This parameter defines the form of the braking deceleration ramp If a value O is entered here then a sin ramp S curve is used for braking deceleration IV 2 5 8 PNU 1308 next motion task The motion task number of the motion task to be started can lie in the range 1 to 180 motion tasks in EEPROM or 192 to 255 motion tasks in RAM IV 2 5 9 PNU 1309 start delay This parameter is used to set a delay time before the start o
39. er Bit 13 of the status word is reset to O until the buffer is filled again The designation of the end of the ASCII response is in all cases End of Text Initial setting after switch on operating mode 126 In this state it is indeed possible to control the state machine but motion functions cannot be initi ated PROFIBUS for SERVOSTAR 400 600 43 Process data channel 44 09 02 A 4 016 3 3 Seidel This page is deliberately left blank PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4 016 3 3 Setup software Vi Setup software VI 1 Screen page PROFIBUS EW PROFIBUS 3 DRIVEO Baudrate PNO Identno kBaud P Bus 12000 00 Kbau H0450 Control Interface Address PPO Type Output E 2 Input PROFIBUS Interface States Watchdog State Baud Search Baud Control DP Control Je Communication DP State Wait Param Wait Config Data Exchange OK Profibus m Input Output Buffer E PZD PKE _ IND STW HSW P2D3 PZD4 PZD5 PDE Output E 3342 fo 0000 po a 0002 fo OC3F 2 2710 fo 0000 fo 0000 fo 0000 fo 0000 PKE IND Zsw HIw_ PZD3 PZD4 PZD5 PZD6 Input 2342 fo 0000 dE no IP 247 FDEO E E947 fo D4E5 4 4401 fo 000 i OK Cancel Apply On the menu page Amplifier the PROFIBUS screen will appear Beyond this is a screen page that displays the PROFIBUS specific parameters the bus status and the data words in the transmit
40. er specific status register Speed controller parameters 1200 UINT32 r w Kp gain factor for speed controller GV 1201 UINT32 r w Tn integral action time for speed controller GVTN 1202 UINT32 r w PID T2 time constant for speed controller GVT2 1203 UINT32 r w Setpoint ramp speed controller ACC 1204 UINT32 r w Setpoint ramp speed controller DEC 1205 UINT32 r w Emergency stop ramp speed controller DECSTOP 1206 UINT32 r w Maximum speed VLIM 1207 UINT32 r w Overspeed VOSPD 1208 UINT32 r w Count direction DIR Position controller parameters 1250 UINT32 r w Velocity multiplier for jogging homing VMUL 1251 UINT32 r w Axis type POSCNFG 1252 INTEGER32 r w InPosition window PEINPOS 1253 INTEGER32 r w Contouring error window PEMAX 1254 INTEGER32 r w Position register 1 SWE1 1255 INTEGER32 r w Position register 2 SWE2 1256 INTEGER32 r w Position register 3 SWE3 1257 INTEGER32 r w Position register 4 SWE4 1258 UINT32 r w Denominator resolution PGEARO 1259 UINT32 r w Numerator resolution PGEARI 1260 UINT32 r w Minimum acceleration braking time PTMIN 1261 UINT32 r w Feed forward factor for position controller GPFFV 1262 UINT32 r w Ky factor for position controller GP 1263 UINT32 r w Kp factor for position controller GPV 1264 UINT32 r w Tn integral action time for position controller GPTN 1265 UINT32 r w Maximum velocity for positioning mode PVMAX 1266 UINT32 r w Co
41. esponding ASCIl command see corresponding ASCIl command Subindex short description Unit Access Data type Value range Defaultvalue EEPROM Desription The following object formats are possible Function no parameters write only Function 32 Bit parameter Function 32 Bit parameter with weighting 3 8 Bit integer 8 Bit unsigned integer 16 Bit integer 16 Bit unsigned integer 32 Bit integer 32 Bit unsigned integer 32 Bit integer weighting 3 OMANDOARWNH O Subindex 6 short description read object control data Unit Access Read only Data type UNSIGNED32 Value range 0 27 4 Defaultvalue EEPROM Description 0x00010000 when altered the variable has to be saved and the amplifier reset 0x00020000 variable will be saved in the serial EEPROM 0x00200000 variable is read only must not be written via PROFIBUS Subindex 7 8 short description reserved Unit Access Read only Data type UNSIGNED32 Value range 0 2 1 Defaultvalue EEPROM Caution Objects with format 0 subindex 5 must not be accessed reading response identifica tion 1 34 PROFIBUS for SERVOSTAR 400 600 Seidel V 1 09 02 A 4 016 3 3 Process data channel Process data channel The process data channel is used for real time communication This channel can effectively be divided into two telegram por
42. ess data sections with STW Bit 14 1 PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 STW NSetp 32 bit a ZSW Nact 32 bit incremental actual position 32 bit manut Spec status Deviating assignment of the process data sections with STW Bit 15 1 PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 STW Nsetp E z 7 ZSW Nact z position 20 bits turn and 16 turns 1anYf Specific status Actual speed nact 16 bit The representation of the 16 bit actual speed value is normalized to the parameter for the overspeed VOSPD N ns Meat 915 VOSPD Actual position 32 bit The range for the incremental position covers values from 281 to oti Here one turn corresponds to 2PRBASE increments Manufacturer specific status In the process data the upper 16 bits of the manufacturer specific status register PNU 1002 are made available The numbering starts again from 0 The significance of the status register bits can be seen in the table in Chapter IV 2 3 3 Speed setpoint Nsetp 16 bit The 16 bit speed setpoint is normalized to the parameter for the overspeed VOSPD n es setp x 2 5 sete VOSPD Position The actual position value is an incremental value with a resolution of 24 bits Her one turn corresponds to 2PRBASE increments So 22 PRBASE turns can be represented Speed values Nact 32 bit The digital speed values are converted according to the formula 60 x4000 A iN rpm N setp act dig x Increments pe
43. f AENA after the error was Cleared In this way the behavior of the amplifier after a software reset is similar to the switch on reaction 4 INPT PNU 1904 With this parameter a delay for the in position message can be set With the start of a motion task the in position message is deleted and the monitoring of the position is acti vated after expiration of the adjusted time This function is particularly important for positioning pro cedures within the in position window In this case it is guaranteed that the in position message is suppressed back for a defined time PROFIBUS for SERVOSTAR 400 600 47 Sample telegrams 09 02 A 4 016 3 3 Seidel VII 2 Zero telegram At the beginning of communication via the parameter channel and after communication errors a zero telegram should be sent 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 PKE IND PWE The SERVOSTAR answers by likewise setting the first 8 byte of the telegram to zero VII 3 Setting the operating mode After switch on or a reset the SERVOSTAR is in the operating mode 126 in which it cannot per form any motion functions To be able to carry out positioning operations motion tasks jogging homing it must be set to the position control mode The procedure to do this is as follows a Set the control word Bit 10 PZD1 Bit 10 to 0 This invalidates the process data for the SERVOSTAR 400 600
44. f a motion task IV 2 5 10 PNU 1310 copy motion task This parameter can be used to copy motion tasks The source motion task must be entered in the high value portion of PWE PZD 3 amp 4 and the target motion task must be entered in the low value portion of PWE PZD 5 amp 6 1V 2 5 11 PNU 1311 Position 32 Bit floating decimal point format from SW Version 0 07 With this object the target position for motion task 0 direct motion task see ASCII command O_P can be set in 32 Bit Floating decimal point format IEEE Right of comma positions will be truncated This objekt is aside from the data format identical PNU 1300 The defaults are indicated in micrometers Use Controls that support only 16 Bit integer and 32 Bit floating decimal point IV 2 5 12 PNU 1312 Velocity 32 Bit floating decimal point format from SW Version 0 07 With this object the velocity for motion task 0 direct motion task see ASCII command O_V can be set in 32 Bit Floating decimal point format IEEE Right of comma positions will be truncated This objekt is aside from the data format identical PNU 1301 Use Controls that support only 16 Bit integer and 32 Bit floating decimal point PROFIBUS for SERVOSTAR 400 600 29 Using the parameter channel 09 02 A 4 016 3 3 Seidel IV 2 6 IV 2 6 1 IV 2 6 2 IV 2 7 IV 2 7 1 IV 2 7 2 IV 2 7 3 IV 2 7 4 30 Setup mode position PNU 1350 homing This para
45. hanged 8 PPO write requested _ in IR not available 9 descriptive data not available 10 access group incorrect 11 No parameter change rights 12 Password incorrect 13 Text cannot be read in cyclic data transmission 14 Name cannot be read in cyclic data transmission 15 text array not available 16 PPO write missing 17 task cannot be executed due to operating status 18 other error 19 100 reserved 101 faulty task ID 102 software error command table 103 only possible in disabled state 104 only possible in enabled state 105 BCC error in the EEPROM data 106 only possible after task is stopped 107 wrong value 16 20 108 wrong parameter OCOPY x y z 109 wrong motion block no 0 1 180 192 255 110 wrong parameter PTEACH x y 111 EEPROM write error 112 wrong value 113 BCC error in motion block 114 Object is read only or write only 115 Incompatible object SDO channel only gt 115 reserve 3 BYTE 4 BYTE BIT 15 14113 12 11 101 918 716 1544 13 211 0 0 IND reserved Subindex IND PROFIBUS for SERVOSTAR 400 600 17 Profile of SERVOSTAR 09 02 A 4 016 3 3 Seidel 11 1 3 111 2 18 Parameter value PWE 5 BYTE 6 BYTE 7 BYTE 8 BYTE BIT fs 114113 12 111410 978 716 5 14 13 21 O15 114113 124111101 918 7 6 5 4 131241 0 MSB LSB MSW LSW The data for the PNU variable is contained in the PWE and is placed flush right 4 byte data double word PWE 5 8 PWE 8 LSB Commands are tra
46. he actual value will now be transmitted with each cyclical telegram until a new PKW task is presented Telegram layout Request Response PKE AK_ 1 2 PKE PNU Parameter number of the actual values 1400 1413 as transmitted IND 0 read 0 PWE no significance actual value PROFIBUS for SERVOSTAR 400 600 53 Sample telegrams 09 02 Seidel VII 13 Write a parameter via the ASCII channel The KP value for the current controller is to be set through the ASCII channel The command is then MLGQ_0 985 Here the understroke stands for an empty character Since every telegram only has 10 positions available for the transmission of ASCII characters the termi nation of the line CR LF must be transmitted in a second telegram Conditions ASCII mode is switched on PNU 930 16 Bit 13 STW 0 if necessary toggle Bit 14 STW until Bit 13 ZSW 0 Procedure 1 Write data to PZD 2 6 and invert Bit 12 STW Byte 1 2 3 4 5 6 0001 0000 0000 0000 0100 1101 0100 1100 0100 0111 0101 0001 PZD1 PZD2 PZD3 STW M al CG Q Byte 7 8 9 10 11 12 0010 0000 0011 0000 0010 1110 0011 1001 0011 1000 0011 0101 PZD4 PZD5 PZD6 ns o ea 297 8 29 2 Wait for the transition edge on Bit 12 ZSW 3 Continue writing data to PZD 2 6 and invert Bit 12 STW Byte 1 2 3 4 5 12 0000 0000 0000 0000 0000 1101 0000 1010 0000 0000
47. in rapid succession decrease number by ten AV hold right key pressed and then press left key as well to enter number Return function PROFIBUS for SERVOSTAR 400 600 7 09 02 Seidel This page is deliberately left blank PROFIBUS for SERVOSTAR 400 600 Seidel PROFIBUS for SERVOSTAR 400 600 09 02 General General About this manual This manual describes the wiring setup range of functions and software protocol for the SERVOSTAR 400 600 It is part of the complete documentation of the SERVOSTAR family of digi tal servo amplifiers The installation and setup of the servo amplifier as well as all the standard functions are described in the corresponding manuals Other parts of the complete documentation of the SERVOSTAR family of digital servo ampli fiers can be found on the CD rom Further documentation PNO Installationsrichtlinien fur PROFIBUS FMS DP PNO Profile for Variable Speed Drives SINEC Produktinformation S79200 A0737 X 02 7437 SINEC Installationsanleitungen S79200 A0737 X 01 7419 SINEC Einf hrung CP5412 A2 C79000 G8900 C068 SINEC DP Masterbetrieb mit dem COML DP projektieren C79000 G8900 C069 SINEC DP Programmierschnittstelle C79000 G8900 C071 This manual is intended for the use of qualified personnel with the following knowledge Wiring trained electro technical personnel Programming experienced PLC programmers with PROFIBUS DP expertise We offer training and familiariza
48. lock number 15 Manufacturer specific mode dependent digital speed Depending on the bit combination in the control word a corresponding control command is defined The following table shows the bit combinations and also determines the priorities of the individual bits in case several bits are altered in one telegram cycle Command Bit13 Bit7 Bit4 Bit3 Bit2 Bit1 BitO Transitions Shutdown X X X X 4 1 o 2 6 8 Switch on X X X X il 1 1 3 Inhibit voltage X X X X X 0 X 7 9 10 12 Fast stop disable X X X X 0 1 X 7 10 11 gt 12 Fast stop enable x X 0 1 1 1 1 11 Inhibit operation X X X 0 1 1 1 5 Enable operation x x 1 1 1 1 1 4 16 Reset error X 1 X X X X X 15 Acknowledge warnings 1 X X X X X x Bits labeled with X are irrelevant Mode dependent bits in the control word Mode Bit 5 Bit 6 Bit 8 Bit 11 Motion block The parameter that is set in the mo St tas aia Position Hommbleckts used ery transition edge al Start homing Setup operation toggle bit jogging The parameter that is set as a ramp for homing and jogging is used Digital speed Drive Drakes Hind me proset Setpoint enable reserved reserved speed ramp Digital current reserved Setpoint enable reserved _ reserved Analog speed __ reserved reserved reserved reserved Analog current reserved reserved reserved reserved Trajectory reserved reserved reserved reserved
49. meter can be used to determine which type of homing run should be applied The assign ment can be seen in the following table PWE Type of homing run Reference point at the present position Initiator with resolver zero mark Hardware limit switch resolver zero mark Initiator without resolver zero mark Hardware limit switch without resolver zero mark Zero mark feedback unit Reference point at the actual position Hardware limit switch with resolver zero mark Absolute SSI position O0 JX DO ON BAa O N ajo PNU 1351 homing direction This parameter can be used to determine the direction of motion for homing runs If a 0 is presented as the parameter value then the direction of motion is negative for a value 1 it is positive and for a 2 it depends on the distance to the reference point in the direction in which the homing run started Actual values PNU 1401 speed The parameter value is the actual speed of the motor in increments 250 usec PNU 1402 incremental position actual value The parameter value is the actual position value in increments PNU 1403 Sl position actual value The parameter value is the actual Sl position value PNU 1414 Actual position 32 Bit floating decimal point format from SW Version 0 07 With this object the actual position see ASCIl command PFB can be read in 32 Bit Floating deci mal point format IEEE Right of comma positions will n
50. mited by the maxi mum applicable speed nmax which is given by the speed parameter VLIM as the final limit speed for the motor The maximum velocity is thus given by PGEARI oprease n x x PGEARO V simax with Nmax in turns second or in incremental units as 250us n Mpg X2PROASE EHS L mex 9 PREASE with nmax in turns second v 1sec 4000 incr max PROFIBUS for SERVOSTAR 400 600 27 Using the parameter channel 09 02 A 4 016 3 3 Seidel IV 2 5 3 PNU 1302 motion task type Bit Meanin The position value Subindex 1 that is given is evaluated as an absolute position The position value that is given is evaluated as a relative traversing distance The two following bits then determine the type of relative motion If Bit 1and Bit 2 are set to O and Bit O set to 1 then the relative motion task is performed according to the InPosition bit The new target position is given by the old target position plus the traversing distance Bit 1 has priority over Bit 2 If Bit 1and Bit 2 are set to 0 and Bit O set to 1 then the relative motion task is performed according to the InPosition bit The new target position is given by the actual position plus the traversing distance no following task available There is a following task but it must be defined through Subindex OAH Change over to next motion task with braking to 0 at the target position Chang
51. nction active manufacturer specific status process data 5 bit 0 PROFIBUS for SERVOSTAR 400 600 49 Sample telegrams 09 02 A 4 016 3 3 Seidel VIl 7 A 50 Start homing run After switching on the 24V auxiliary voltage the system must first of all carry out a homing run Take care that the position of the machine zero point reference point permits the fol lowing positioning operations The parameterized software limit switches in the SERVOSTAR may not be effective The axis could then drive up to the hardware limit switch or the mechanical stop There is a danger of damage being caused If the reference point machine zero point is approached too fast with high moments of inertia in the system then it might be overrun and the axis could then drive up to the hardware limit switch or the mechanical stop There is a danger of damage being caused The homing run is started by STW Bit 11 1 The start of the homing run is detected by a positive transition edge for Bit 11 If Bit 11 is set to O again before the reference point has been reached then the homing run is can celed Bit 12 ZSW remains at 0 reference point not set A set reference point is a precondition for all the positioning functions of the linear axis The reference point switch is wired up to a digital input on the SERVOSTAR Depending on the type of homing run you can freely shift the zero crossing point of the motor shaft within one turn by using the pa
52. nfiguration variable for software switch SWCNFG 1267 UINT32 r w Configuration variable 2 for software switch SWCNFG2 Position data for the position control mode 1300 INTEGER32 r w Position OP 1301 INTEGER16 r w Velocity OV 1302 UINT32 r w Motion task type oc 1304 UINT32 r w Starting time acceleration O_ACC1 1305 UINT32 r w Braking time deceleration O_DEC1 1306 UINT32 r w Jolt limiting acceleration O_ACC2 1307 UINT32 r w Jolt limiting deceleration O_DEC2 1308 UINT32 r w Number of next motion task O_FN 1309 UINT32 r w Start delay for next motion task O FT 1310 2 UINT16 wo Copy a motion task OCOPY Position set up mode 1350 UINT32 r w Homing type NREF 1351 UINT32 r w Homing direction DREF 1352 UINT32 r w Acceleration ramp jogging homing ACCR 1353 UINT32 r w Braking ramp DECR 1354 UINT32 r w Reference offset ROFFS 1355 UINT32 ro Homing run velocity VREF 1356 UINT32 ro Jogging velocity VJOG PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4 016 3 3 Using the parameter channel PNU Data type Access Description SERVOSTAR ASCII command Actual values 1400 INTEGER32 ro Actual position 20 bits turn PRD 1401 INTEGER32 ro Speed 1402 INTEGER32 ro Incremental position actual value 1403 INTEGER32 ro Sl position actual value PFB 1404 INTEGER32 ro Sl
53. nsferred with task ID 3 If a command cannot be executed the response identifi cation AK 7 signals the error and an error number is given out The error numbers are described on page 17 The process data channel Cyclical data are exchanged across the PROFIBUS through the process data section of the 20 byte telegram Each PROFIBUS cycle triggers an interrupt in the SERVOSTAR 400 600 This has the effect that new process data are exchanged and processed The interpretation of these process data depends on the operating mode that is set The operating mode is set through a PROFIBUS parameter PNU 930 gt p 23 In all operating modes the data word 1 of the process data PZD1 in the direction from control sys tem gt SERVOSTAR 400 600 is used for instrument control and in the direction from SERVOSTAR 400 600 gt control system it has the function of a status indicator for the drive The interpretation of the process data PZD2 PZD6 changes depending on the operating mode as can be seen in Chapter V 2 Caution When the SERVOSTAR 400 600 is switched on the operating mode that is set is al ways 126 safe state Before changing the operating mode bit 10 of the control word STW must always be set to 0 The new operating mode only becomes active when bit 10 of the control word is set to 1 PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4 016 3 3 Using the parameter channel IV Using the parameter channel The digital se
54. oftware limit switch 1 has been activated 6 Warning 7 Software limit switch 2 has been activated 7 Warning 8 Faulty motion task has been started 8 Warning 9 No reference point was set at the start of the motion task 9 Warning 10 PSTOP active 10 Warning 11 NSTOP active 11 Warning 12 Motor default values were loaded HIPERFACE only 12 Warning 13 Expansion card is not working properly 13 Warning 14 SinCos commutation not carried out 14 Warning 15 Speed current table error INXMODE 35 15 Warning 16 Reserve 16 Motion task active is set as long as a position control task is active motion task jogging homing 17 Reference point set is set after a homing run or when an absolute position multi turn encoder is used This is canceled when the amplifier is switched on or when a homing run is started 18 Actual position home position is set as long as the reference switch is activated InPosition is set as long as the difference between the target position for a motion task and the actual 19 position is smaller than PEINPOS The InPosition signal is suppressed if a following task is started at the target position 20 Position latch set positive edge this is set if a rising edge is detected on the INPUT2 IN2MODE 26 that is configured as a latch This is canceled if the latched position is read out LATCH16 LATCH32 21 Position 1 reached is set if the configured condition for this signal SWCNFG
55. on enabled Inhibit voltage Fast stop switch on i Notready for switeh on Error Voltage inhibited Fast stop Switch on inhibit Warning Setpoint actual value m Operation enabled Fast stop inh Ramp Pause stop rfg Setpoint enable Ani Reset Fault an Jogging on off reserved Ready Remote PZD enable inhibit opii 0 f Setpoint reached Start homing run e 3 6 Limit active Manufacturer specific g 3eadp fo Mode dependent Manufacturer specific Mode dependent Manufacturer specific 5 Manufacturer specific Manufacturer specific 1 Manufacturer specific on Ma Ww we 3 1 2 3 4 5 6 i 8 Operation enabled On this screen page the single bits of the control word SZT and the status word ZSW are shown The device status resulting from the status word is visualized in the status machine The current status is shown as black all other are grey Additionally the previous status is visualized by empha sis of the number of the appropriate arrow 46 PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4 016 3 3 Sample telegrams Vil Sample telegrams Vil 1 Important communication parameter 1 EXTWD PNU 1658 With this parameter the observation time watch dog for the fieldbus slot communication can be set The observation is only active if a value higher than 0 is assigned to EXTWD EXTWD 0 observation switched off and the output stage is enabled If the set time ran off withou
56. on task Vsetp 32 bit position setpoint 32 bit motion block type ZSW Nact 16 bit actual position 32 bit manufacturer specific status Motion task number The motion task number of the motion task to be started can lie in the range 1 to 180 motion tasks in EEPROM or 192 to 255 motion tasks in RAM Actual speed 16 bit The representation of the 16 bit actual speed value is normalized to the parameter for n act x gis VOSPD overspeed VOSPD Nemo Actual position 32 bit The range for the incremental position covers values from to Pu whereby one turn corresponds to 2PRBASE increments Manufacturer specific status In the process data the upper 16 bits of the manufacturer specific status register PNU 1002 are made available The numbering starts again from 0 The significance of the status register bits can be seen in the table in Chapter IV 2 3 3 Speed setpoint for a direct motion task The usable range for the speed is not limited by the available data area It is limited by the maximum achievable speed nmax which is given by the speed parameter VLIM as the final limit speed for the motor The maximum speed is derived from the following formula h PGEARI lt 2PRBASE PGEARO x 9 PRBASE 250us Dmax 9 PRBASE i 1sec 4000 Position setpoint for a direct motion task The SERVOSTAR 400 600 calculates all positioning operations internally only on an incremental basis so there are limitations on the us
57. ort danahermotion com Phone 815 226 2222 Fax 815 226 3148
58. ot be shown This objekt is aside from the data format identical PNU 1403 Use Controls that support only 16 Bit integer and 32 Bit floating decimal point PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4 016 3 3 Using the parameter channel IV 2 7 5 1V 2 8 1V 2 8 1 PNU 1415 Actual velocity 32 Bit floating decimal point format from SW Version 0 07 With this object the actual velocity see ASCIl command PV can be read in 32 Bit Floating decimal point format IEEE Right of comma positions will not be shown This objekt is aside from the data format identical PNU 1404 Use Controls that support only 16 Bit integer and 32 Bit floating decimal point Digital l O configuration All settings for the digital inputs and outputs only become effective after being saved in the EEPROM and then switching off and on again or making a cold start of the SERVOSTAR 400 600 The significance of the functions can be seen in the user manual for the setup Software PNU 1450 1453 function of the digital inputs This parameter can be used to configure the digital inputs 1 to 4 individually The column flank describes the required signal at the digital input to actuate the corresponding function Function n be employed with f Auxiliary variable PNU PNU PNU PNU PWE F niction Flank PNU 1454 1457 1450 1451 1452
59. peration enabled Fast stop PROFIBUS for SERVOSTAR 400 600 35 Process data channel 09 02 A 4 016 3 3 Seidel 36 The following table describes the instrument states and the transitions States of the status machine State Not ready for switch on Description SERVOSTAR 400 600 is not ready for switch on No operation readiness BTB is signaled from the amplifier software Switch on inhibited SERVOSTAR 400 600 is ready for switch on Parameters can be transferred DC link DC bus can be switched on motion functions cannot be carried out yet Ready for switch on DC link voltage must be applied Parameters can be transferred motion functions cannot be carried out yet Ready for operation DC link voltage must be switched on Parameters can be transferred motion functions cannot be carried out yet Output stage is switched on enabled Operation enabled No error present Output stage is switched on motion functions are enabled Fast stop activated Drive has been stopped using the emergency stop ramp Output stage is switched on enabled motion functions are enabled Error response active error If an instrument error occurs the SERVOSTAR 400 600 changes to the instrument state Error response active In this state the power stage is switched off immediately After this error response has taken place it changes to the state Error This state can onl
60. ple telegrams 09 02 Seidel VII 8 VII 9 VII 10 52 Start a motion task Motion tasks are started by a transition edge positive or negative at Bit 6 STW Bit 14 STW is used to decide whether a stored motion task or a direct motion task should be carried out Conditions Hardware enable is present Amplifier is in the Operation enabled state For linear axis reference point is set Example start the EEPROM motion task number 10 Byte 9 10 11 12 0000 0100 OF 11 1111 0000 0000 0000 1010 STW HSW F stands for a transition edge the state of Bit 6 STW also depends on the previous state By setting Bit 5 in the manufacturer specific status the amplifier indicates that it has accepted the motion task and is carrying it out Start a direct motion task If the motion task data are to be freely defined then a direct motion task must be used In this case the target position velocity and type of motion task are transferred to the process data together with the call of the motion task If required further parameters for this motion task e g ramps can be transferred previously by parameter tasks Target position 135000 um Velocity 20000 47 Ss Motion task type relative to actual position with following motion task without pause setpoint velocity for the following task should already be reached at the target position only makes sense if there is
61. r Motor turn 60s min 4000 Number of position controller cycles sec with 2PRBASE Analog speed operating mode 1 in preparation PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 PROFIBUS for SERVOSTAR 400 600 41 Process data channel 09 02 A 4 016 3 3 Seidel V 2 4 Digital torque operating mode 2 PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 STW Isetp ZSW incremental actual position manuf specific E Si 32 bit value range 24 bit status Actual position 32 bit The range for the incremental position covers values from to 2 2PRBASE Here one turn corresponds to increments Manufacturer specific status In the process data the upper 16 bits of the manufacturer specific status register PNU 1002 are made available The numbering starts again from 0 The significance of the status register bits can be seen in the table in Chapter IV 2 3 3 Digital current values 16 bit digital current setpoint The digital current values are converted as follows I A 1640 xl soto V 2 5 Analog torque operating mode 3 in preparation PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 V 2 6 Electronic gearing operating mode 4 PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 STW E z ZSW Nact actual position 32 bit manuf status Actual speed 16 bit The representation of the 16 bit actual speed value is normalized to the parameter for the over
62. rameter Zero point offset Nl offset Furthermore you can fix the position value to be the reference point by using the reference offset After the homing run the drive signals InPosition thereby enabling the position controller The velocity for the homing run is transmitted with the main setpoint as a 16 bit value Multiplying this by the value of parameter 1250 determines the 32 bit speed The sign is not evaluated Conditions State of the state machine Operation enabled No warning message ZSW Bit 7 0 The following diagram uses the homing run Type 1 negative direction of motion positive rotation starting point in negative direction relative to the reference switch as an example to illustrate the signal sequence of the relevant bits in the manufacturer specific state PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4 016 3 4 Sample telegrams Resolver zero mark NSTOP Warning NSTOP Act Pos Homepos Influence jof phrameter speed 0 Reference 4 point set gt t INPOS gt t Motion task active After the homing run has been completed Bit 11 STW must be set to 0 again Alternatively the reference point can also be set at the actual position This can be achieved by setting Bit 12 STW or by setting the homing run Type 0 with parameter 1350 and subsequent start of the homing run by Bit 11 STW PROFIBUS for SERVOSTAR 400 600 51 Sam
63. rization 17 to 125 reserved 126 Initial settings when instrument is switched on The individual operating modes are described in Chapter V 2 A change of operating mode can only be undertaken in connection with the control word The operating mode must be changed according to the following sequence 1 Inhibit setpoints and process data Bit 10 in the control word is set to 0 so that no new setpoints will be accepted by the servo amplifier and no new control functions can be initiated A new operating mode can however be selected while a motion function is being performed The control word is only inhibited to the extent that the servo amplifier can always be switched into a safe state 2 Select the new operating mode with PNU 930 The new operating mode is selected with parameter 930 through the parameter channel but not yet accepted 3 Set receive the setpoints and actual values Enter the corresponding setpoints in the setpoint area of the process data Here you must take note that the normalization and data formats depend on the operating mode that is selected The interpretation of the actual values is also altered see Chapter IV 2 2 3 The user program must respond accordingly 4 Enable the setpoints Bit 10 of STW is set to 1 The setpoints are immediately accepted and processed The new actual values are output with the appropriate normalization and data format Caution In the safe operating mode 126 no motion functions
64. ror F32 System error When the cause of the error has been cleared the error state can be canceled by setting Bit 7 in the control word The error response of the SERVOSTAR 400 600 to the reset will differ depending on the error that has occurred For errors that are marked by an asterisk setting the reset bit initiates a cold start of the drive whereby the PROFIBUS communication to this instrument will also be interrupted for several sec onds Depending on the circumstances this break in communication may have to be separately handled by the PLC For the other errors the reset leads to a warm start during which the communication will not be interrupted A description of the individual errors and recommendations for removing them can be found in the installation manual PROFIBUS for SERVOSTAR 400 600 25 Using the parameter channel 09 02 A 4 016 3 3 Seidel IV 2 3 3 PNU 1002 manufacturer specific status register The assignment of the bits for the status register can be seen in the following table Bit_ Description 0 Warning 1 t threshold exceeded set as long as Irms is above the threshold 1 Warning 2 Ballast power exceeded set as long as the set ballast power is exceeded 2 Warning 3 Contouring error 3 Warning 4 Threshold monitoring field bus active 4 Warning 5 Mains supply phase missing 5 Warning 6 S
65. rvo amplifiers of the SERVOSTAR 400 600 series have to be adapted to the circum stances of your machine The parameters for the controllers are set using either the setup Software DRIVE EXE or via the PROFIBUS 1V 1 Read write an amplifier parameter Read AK 1 or write AK 3 amplifier parameters To read or write an amplifier parameter which is recognized by the parameter number PNU to the volatile memory of the SERVOSTAR The parameters that are stored in the SERVOSTAR can be transferred to the non volatile memory by using the command non volatile parameter save PNU 971 Telegram layout Request Response PKE AK 1 read 3 write 2 OK 7 error PKE PNU see 1V 2 1 as transmitted PWE for AK 3 see IV 2 1 for data type for AK 3 returns the PWE of the request for AK 1 data type irrelevant for AK 1 see IV 2 1 for data type IV 2 Summary of the parameter numbers All the parameter numbers for SERVOSTAR are listed in numerical order in the table in Chapter 1V 2 1 with a short description The parameter numbers in the range 900 999 are profile specific for the PROFIBUS drive profile PROFIDRIVE Parameter numbers gt 999 are manufacturer spe cific For better understanding you can look up the ASCII commands which are in the column SERVOSTAR ASCII command in the user manual for the Setup Software DRIVE EXE This section deals onl
66. speed VOSPD Nans Nat y5 VOSPD Actual position 32 bit The range for the actual position covers values from 231 to aa Here one turn corresponds to 2PRBASE increments Manufacturer specific status In the process data the upper 16 bits of the manufacturer specific status register PNU 1002 are made available The numbering starts again from 0 The significance of the status register bits can be seen in the table in Chapter IV 2 3 3 42 PROFIBUS for SERVOSTAR 400 600 Seidel V 2 7 V 2 8 09 02 A 4 016 3 3 Process data channel ASCll channel operating mode 16 PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 STW 10 bytes of ASCIl data ZSW 10 bytes of ASCIl data The operating mode ASCll channel is used for parameterizing the SERVOSTAR 400 600 With this channel just as with any terminal program ASCII data can be exchanged with the servo amplifier via the RS232 interface The control of the communication is performed by handshake bits in the control and status words The assignment is as follows Bit 12 Control word Any transition edge on this bit informs the SERVOSTAR that valid ASCII data are available in its process data input section i e that with effect from this moment valid data must have been entered into the PZD transmission section PZD 2 PZD 6 by the control system Status word The SERVOSTAR confirms that it has accepted the ASCII data by a transition edge on this bit Bit 13 Status
67. t functions 1 2 0 0 0 0 00 eee 32 IV 2 9 2 PNU 1501 1506 configuration of the analog outputs 0 2 20 006 c eee 32 IV 2 10 Manufacturer specific object channel from PNU 1600 0 000 tees 33 V Process data channel V 1 Instrument CON tol rera E A A E E arene aes dade 35 V 1 1 ONTO WOR GST VN tarada ao a EE ET REET E E ATEN taste 38 V 1 2 Status word ZSW 2 a oY A a eae AA dane eta Me eae aes DE ee eae 244 39 V 2 Operating MOdeS Lai A Deedee ae ieee PA be Wie be Pee ee Se 39 V 2 1 Positioning OperatingiM0Ode 2 ce conri nee Saga Aone agg ace Seman a e donee dog toma eae ae 40 V 2 2 Digital speed operating mode 1 00 ete eee 41 V 2 3 Analog speed operating mode 1 in preparation 0 00 cece ee eee 41 V 2 4 Digital torque operating Mode 2 biocidas Peete be eases aha ea aie Sede Pew ade aes ata 42 V 2 5 Analog torque operating mode 3 in preparation 0 0 00 c cette eae 42 V 2 6 Electronic gearing operating mode M asiasi sey uaa ee bodes wee bee eee eho A a gate aes 42 V 2 7 ASCll channel operating mode 16 2 2 0 0 0000 eee ee 43 V 2 8 Initial setting after switch on operating mode 126 0c cette eee 43 Vi Setup software VI 1 screen page PROFIBUS 200000 ra A da a A A el hae ote 45 VI 2 Screen page PROFIBUS instrument control 0 0 0 eens 46 Vil Sample telegrams MIL Important communication parameter lt siz erisnimien oF Aa keene ee esa
68. t the timer being triggered newly then the warning n04 response monitoring is gener ated and the drive is stopped The amplifier remains ready for operation and the output stage enabled Before a new driving command setpoint is accepted this warning must be deleted func tion CLRFAULT or INXMODE 14 2 ADDR PNU 918 With this command the node address of the amplifier is set When the address has been changed all parameters should be saved to the EEPROM and the amplifier switched off and on again Since the modular structure of the SERVOSTAR 400 as a multi axis system requires its own addressing there is the additional parameter ADDRFB PNU 2012 for this series with which a field bus address deviating from the internal device address can be defined The setting takes place exactly as with ADDR 3 AENA PNU 1606 With this parameter the state of the software enable after switch on can be defined The software enable allows an external control to enable disable the output stage For amplifiers with analog setpoints OPMODE 1 3 the software enable is set automatically after switch on and the devices are ready for operation immediately if hardware enable is present For all others software enable will be set to the value of AENA The variable AENA has also a function when resetting the amplifier after an error by digital input 1 or the CLRFAULT command If an error can be reset by the software the software enable is set to the value o
69. tion courses on request General 09 02 Seidel This page is deliberately left blank 10 PROFIBUS for SERVOSTAR 400 600 Seidel 11 1 09 02 Installation Setup Installation Setup Hard and Software installation Install and wire up the equipment only while it is electrically dead Make sure that the switchgear cabinet is safely isolated lock out warning signs etc The individual supply voltages will not be switched on until setup is carried out Residual charges in the capacitors can still have dangerous levels several minutes after switching off the supply voltage Measure the voltage in the intermediate DC link cir cuit and wait until it has fallen below 40V Power and control connections can still be live even though the motor is not rotating Electronic equipment is basically not failure proof The user is responsible for ensur ing that in the event of a failure of the servo amplifier the drive is set to a state that is safe for both machinery and personnel for instance with the aid of a mechanical brake Drives with servo amplifiers and PROFIBUS expansion cards are remote controlled machines They can start to move at any time without previous warning Take appro priate measures to ensure that the operating and service personnel is aware of this dan ger Implement appropriate protective measures to ensure that any unintended start up of the machines cannot result in dangerous situations for personnel or machinery
70. tions PZD1 Control word STW Status word ZSW instrument control The control word and the status word are used to control the instrument and monitor the status of the instrument PZD2 6 Setpoint actual values depending on the operating mode Setpoints and actual values such as position velocity and current are exchanged in this section The availability of a process data channel is determined in the PROFIDRIVE drive profile The sig nificance of the process data is defined according to the operating mode The process data that are used are determined in such a way that the real time capability of this channel is optimally used A central role is played by the parameter Selector for operating modes see Chapter IV 2 2 3 that is used to choose between individual operating modes In the following the instrument control is described first and then the significance and functioning of the operating modes Instrument control The control of the instrument is described with the aid of a status machine The status machine is defined in the drive profile by a flow diagram for all operating modes The following diagram shows the possible instrument states for the SERVOSTAR Output stage not switched on Eror response 0 Not ready to switch on 1 Switch on inhibited 7 Error Error an 2 Ready for switch on Ready for operation 4 Output stage switched on 5 O
71. y 1600 ASCII object number Each of the object in the SDO channel is described by 8 subindexes octet 3 In the following the structure of the subindexes is shown Subindex 0 short description Number of entries Unit Access Data type UNSIGNED8 Value range 0 29 1 EEPROM Subindex 1 short description read write a parameter Unit see corresponding ASCIl command Access see corresponding ASCIl command Data type see corresponding ASCll command Value range see corresponding ASCIl command Defaultvalue ad EEPROM see corresponding ASCIl command Subindex Unit see corresponding ASCIl command Access Read only Data type see corresponding ASCIl command Value range see corresponding ASCIl command Defaultvalue EEPROM Subindex 3 short description read upper limit Unit see corresponding ASCIl command Access Read only Data type see corresponding ASCIl command Value range see corresponding ASCIl command Defaultvalue EEPROM Subindex 4 short description read defaultvalue Unit see corresponding ASCIl command Access Read only Data type see corresponding ASCIl command Value range see corresponding ASCIl command Defaultvalue EEPROM PROFIBUS for SERVOSTAR 400 600 33 Using the parameter channel 09 02 A 4 016 3 3 Seidel read object format Read only see corr
72. y be terminated by the bit command Error reset To do this the cause of the error must have been removed see ASCII command ERRCODE PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4 016 3 3 Process data channel Transitions of the status machine Transition _ Description 0 Event_ Reset 24V supply is switched on Action Initialization started 4 Event _ Initialization successfully completed SERVOSTAR 400 600 switch on inhibit Action none Event Bit 1 inhibit voltage and Bit 2 fast stop are set in the control word 2 command shutdown DC link voltage is present Action none 3 Event Bit 0 switch on is also set command switch on Action Output stage is switched on enabled Drive has torque 4 Event_ Bit 3 operation enabled is also set command operation enable Action Motion functions are enabled depending on the operating mode that is set Event Bit 3 is canceled command inhibit 5 Action Motion functions are disabled Drive is braked using the relevant ramp depends on operating mode 6 Event Bit 0 is canceled ready for switch on Action Output stage is switched off disabled Drive has no torque Event Bit 1 or Bit 2 is canceled T Action Command Fast stop or Inhibit voltage 8 Event_ Bit 0 is canceled operation enabled gt ready for switch on
73. y voltage remains switched on Test the installation of the PROFIBUS connection and the interface for the PROFIBUS master Check the PROFIBUS DP parameter settings and the station configu ration Check the parameter settings for the PROFIBUS interface module Check the PLC user program and the parameter settings for the func tion block packages DVA_S7 and SR6FC Test the communication Setup the Setup the position controller as described in the Quickstart setup position controller manual HERMES PROFIBUS for SERVOSTAR 400 600 13 Installation Setup 09 02 Seidel This page is deliberately left blank 14 PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4 016 3 1 Profile of SERVOSTAR 111 Profile of SERVOSTAR The PROFIBUS profile PROFIDRIVE includes the following parameter process data objects PPO BYTE 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 PRW STW HSW Pen PKE IND PWE F BNA ezoslpzo4l pzosl pzo6lpz07lpz08l ezoelezp10 Typ 1 Octet String 12 Abbreviations PKW Parameter ID value T T TTT T T T T T T PKE Parameter ID 1st and 2nd octet L L I L L L L L L IND Index with PPO 3rd octet Typ 2 Octet String 20 4th octet reserved PWE Parameter value 5th to 8th octet f A PZD Process data Typ 3 Octet String 4 I l STW Control word ZSW Status word HSW Main setpoint HIW Main actaul value Typ 4 Octet String 12
74. y with parameters that refer to the PROFIBUS expansion card and have not already been described in the setup software manual The attachment runs via the ASCIl com mands IV 2 1 List of the parameter numbers PNU Data type Access Description SERNOSTAR ASCII command Profile parameter 904 UINT32 ro Number of the supported PPO write always 2 911 UINT32 ro Number of the supported PPO read always 2 918 UINT32 ro Participant address on PROFIBUS ADD 930 UINT32 r w Selector for operating mode 963 UINT32 ro PROFIBUS baud rate 965 Octet String2 ro Number of the PROFIDRIVE profile 0302H 970 UINT32 wO Load default parameter set RSTVAR 971 UINT32 wO non volatile parameter save SAVE 1204 UINT32 r w Setpoint ramp speed controller DEC 1205 UINT32 r w Emergency stop ramp speed controller DECSTOP 1206 UINT32 r w Maximum speed VLIM 1207 UINT32 r w Overspeed VOSPD 1208 UINT32 r w Count direction DIR PROFIBUS for SERVOSTAR 400 600 19 Using the parameter channel 09 02 A 4 016 3 3 Seidel PNU Data type Access Description SERVOSTAR ASCII command Manufacturer specific parameters SERVOSTAR General parameters 1000 Visible String4 ro Instrument ID 1001 UINT32 ro Manufacturer specific error register ERRCODE 1002 UINT32 ro Manufactur
75. ys in the front panel SERVOSTAR 600 only see installation manual O With the setup software DRIVE EXE on the screen page Basic setup O Via the serial interface with the sequence of ASCIl commanas ADDR nn gt SAVE COLDSTART mit nn Adresse The range of addresses can be extended from 1 63 to 1 127 with the ASCIl command MDRV 22 PROFIBUS for SERVOSTAR 400 600 Seidel 09 02 A 4 016 3 3 Using the parameter channel IV 2 2 3 PNU 930 selector for operating modes The Selector for operating modes is defined by the drive profile and mirrors the operating modes of the drive profile to the operating modes of the SERVOSTAR 400 600 The following table shows a summary of the operating modes Caution If process data are exchanged across the PROFIBUS then the operating modes of the drive profile must only be selected with PNU 930 pono Operating mode SERVOSTAR ao ASCII command OPMODE P drive profile Positioning mode according to PROFIDRIVE profile Digital speed control according to PROFIDRIVE profile reserved 1 Speed control analog setpoint provision in preparation 2 2 Torque control digital setpoint provision 3 3 Torque control analog setpoint provision in preparation 4 4 Position control electronic gearing 5 5 Position control external trajectory in preparation 6 to 15 reserved 16 ASCII channel for expanded paramete

Profibus-DP manual

Contents

Download Pdf Manuals

Related Search

Related Contents