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1. PNU 1000 Subindex 0 Name Position Set Number Data type UINT16 Access rw Unit Value range 0 68 0 63 Standard position data sets 64 67 Reserved 68 Position data set PROFIBUS Default value 68 Position data set PROFIBUS 10 2 2 PNU 1001 Position Data This parameter number is used to address parameters of the selected position data set PNU 1000 is used for selection The following parameters are available e Target position e Profile velocity e End velocity e Acceleration and deceleration either separately or combined for both accelerations The data are interpreted in the way they were set as physical units For this purpose the DIS 2 ServoCommander parameterisation software opens a special window see chapter 7 Physical units PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Manufacturer specific parameter numbers Page 51 This PNU can also be used to parameterize parameters for jogging for example To do so the position data set number has to be set accordingly Then the jogging speed can be set with the help of the profile velocity PNU 1001 Name Position Data Subindex 0 Name Target Position Data type INT32 Access rw Unit Physical unit of PROFIBUS position Value range S Default value O Subindex 1 Name Profile Velocity Data type INT32 Access
2. Figure 7 2 Gear ratio PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Physical units Page 33 Example If the motor performs 10 revolutions and a gear connected to the output performs one revolution this corresponds to the following entries Ingoing shaft 10 Outgoing shaft 1 Now the system can be parameterized using the units of the output outgoing shaft The gear ratio and the feed constant are defined as positive values If the orientation of the application has to be changed this can be done in the software DIS 2 ServoCommander in the window commands PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 34 Operating parameters 8 Operating parameters This chapter describes all the necessary measures to set up a communication using PROFIBUS DP The parameters described in the following sections are set via the serial interface using the DIS 2 ServoCommander program 8 1 PROFIBUS operating parameters At the servo positioning controller end only the slave address has to be entered to configure the communication After this the communication can be activated It has to be taken into consideration that the PROFIBUS communication is not activated until a reset is performed Deactivation however is always done immediately Figure 8 1 shows the window of the parameterisation program used to set the operating parameters gi Data Exchang Slave
3. Figure 6 2 Composition of a response telegram The telegram shown in Figure 6 2 transmits the following parameters Addres Content parameter number Description s 0 Identifier 2 OxFO Fixed identifier 1 Operating mode PNU 1500 0 Current operating mode of the servo positioning controller 2 Status word 1 PNU 968 0 Status word for device control has to be under this address 4 Position actual value Current actual position indication with the physical unit PNU 1100 0 of a position set for PROFIBUS 8 Velocity actual value Current actual speed value indication with the physical PNU 1101 0 speed unit set for PROFIBUS 12 Current actual value Actual value of the current indicated per thousand PNU 1102 0 referring to the nominal motor current 16 Digital inputs Current status of the digital inputs see for the meaning PNU 1141 0 of the bits in the detailed description of the PNU Detailed information on parameter numbers can be found in chapters 9 Device control 10 Manufacturer specific parameter numbers 11 Operating modes and 12 Profile specific parameter numbers PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Physical units Page 31 7 Physical units For trouble free operation the units of the process data transmitted on the field bus have to be defined They can be set in the menu Physical units Profibus called by Parameters Fieldbus Profibus The
4. hold If this input is set the current positioning run is stopped The system is slowed down with the deceleration valid for this positioning run After the process has been completed the pos ok output is not set A reset of the input has no effect During homing this input has not effect jog pos If the input is set the drive accelerates with the acceleration value set in position set Tipp amp Teach until it reaches the speed also parameterized in this position set If there is a falling edge at this input the drive slows down to standstill with the deceleration set in position set Tipp amp Teach During homing this input has no effect jog neg If the input is set the drive accelerates with the acceleration set in position set Tipp amp Teach until it reaches the speed also parameterized in this position set If there is a falling edge at this input the drive slows down to standstill with the deceleration set in position set Tipp amp Teach During homing this input has no effect fault reset If there is a rising edge at this input pending fault messages are acknowledged PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Function and data blocks for SIEMENS S7 Page 75 e Outputs drive_enable_ok The controller enabling of the servo positioning controller is active home valid This output is set if there is a valid home position The output is not set dur
5. Device control Page 39 Different meaning in another operating mode Manufacturer specific bit Manufacturer specific deviation from PROF ldrive specification Table 9 2 Control word 1 for positioning mode Kk Notes concerning Table 9 2 0 The command Activate traversing starts the position set selected through PNU 1002 0 If the PROFIBUS position set is started the current options of control word 1 will be adopted Otherwise the options of the corresponding position set will take effect The following boundary conditions apply to the start of a positioning e Bit4 1 Do not reject traversing task e Bit5 1 No intermediate stop e No homing active Parameterizable options are taken into account e g with following positioning Chapter 9 4 State diagram and device control describes the device control The servo positioning controller takes on various states Defined transitions can be performed between these states The transitions are triggered by so called commands through bits 0 3 The commands are described in detail in chapter 9 4 State diagram and device control The following tables shows an overview of the commands Command Bit3 Bit2 Bit1 BitO State 0008 0004 0002 0001 transitions OFF x 1 1 0 1 5 11 ON x 1 1 1 2 Coast Stop x x 0 x 6 7 8 Quick Stop x 0 1 x 9 10 12 Disable Operation 0 1 1 1 4 Enable Oper
6. First start the STEP 7 software After the start of the SIMATIC Manager the STEP7 Wizard is opened Follow the instructions of the STEP 7 Wizard The STEP 7 Wizard leads you step by step through the creation of an S7 project STEP 7 Wizard New Project 3 Which CPU are you using in your project 2 4 CPU CPU312 IFM BES 312 54002 04B0 CPU313 6E57 313 1AD03 0480 CPU314 6ES7 314 14E04 0480 CPU314 IFM 6ES7 314 54E03 0480 CPU315 6ES7 315 1AF03 0ABO CPU315 2 DP 6ES7 315 24F03 04B0 zi CPU name cPust 5 2 DP 1 MPI address f zl 54 KB work memory 0 3 ms 1000 instructions MPI DP connection DP master or DP slave multi tier configuration sl Preview Back Finish Cancel Help Then select the organization module OB1 OB1 is located at the top program level and organizes all the other modules Additional modules can be added later After that select the preferred programming language This language can be converted into other programming languages later 13 2 6 Integrating the GSD file As a next step the hardware of the PLC system used must be configured in the project created To do so select SIMATIC 300 in the left pane Then double click on Hardware in the right pane Close the station by clicking on Station gt Close without quitting the hardware configuration program E DIS 2_VELO C Siemens Step7 S7proj Dis_2_ve cE DIS 2 VELO T Hardware IB CPU 315 2 DP 2 3 SIMATIC 30011
7. Nonobservance may result in property damages and in personal injuries ES ek Caution Dangerous voltages 4 N The safety note indicates a possible perilous voltage PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Safety notes for electrical drives and controllers Page 11 2 2 General notes a Jl In the case of damage resulting from non compliance of the safety notes in this manual Metronix MeBger te und Elektronik GmbH will assume any liability If the documentation in the language at hand is not understood accurately please contact and inform your supplier Sound and safe operation of the servo drive controller requires proper and professional transportation storage assembly and installation as well as proper operation and maintenance Only trained and qualified personnel may handle electrical devices TRAINED AND QUALIFIED PERSONAL in the sense of this product manual or the safety notes on the product itself are persons who are sufficiently familiar with the setup assembly commissioning and operation of the product as well as all warnings and precautions as per the instructions in this manual and who are sufficiently qualified in their field of expertise Education and instruction or authorisation to switch devices systems on and off and to ground them as per the standards of safety engineering and to efficiently label them as per the job demands Education and inst
8. To integrate the servo positioning controller into the PROFIBUS network the controller has to be selected in the hardware catalogue Drag the DIS 2 FB folder to the PROFIBUS DP master system The slave address is inquired immediately afterwards Next the bitmap of the servo positioning controller is displayed at the master system and has to be highlighted After that the length of the input and output data has to be defined The associated modules are already prepared in the GSD file One module for input data and one module for output data with the desired length have to be added to one port Profile Tendenz El Additional Field Devices H E General GC Drives DIS 2FB Egg DIS 2FB I Universal module 1 Word Input 2 Words Input 3 Words Input 4 Words Input 5 Words Input 6 Words Input 7 Words Input 8 Words Input S words Input 10 Words Input 11 words Input 12 Words Input 13 Words Input 14 words Input 15 Words Input 16 Words Input 1 Word Output 2 Words Output 3 Words Output 4 Words Output 5 Words Output 6 Words Output Words Output 8 Words Output 4 aarda Diner e k Figure 5 2 Hardware configuration under SIEMENS S7 PROFIBUS 1 DP master system 1 1 lj Ps 307 54 a 2 i CPU 315 2 DP wa DIS 2 FE 7 DIS 2 FB LI 1 To ensure trouble free operation we recommend defining separate areas for input data and output data see the example above Furth
9. gt Mechanical locking of the vertical axle External braking catching or clamping devices or gt Sufficient balancing of the axle The motor holding brake supplied by default or an external motor holding brake driven by the drive controller alone is not suitable for personal protection N ED Render the electrical equipment voltage free using the main switch and protect it from being switched on again until the DC bus circuit is discharged in the case of N ED gt Maintenance and repair work Cleaning gt long machine shutdowns Prior to carrying out maintenance work make sure that the power supply has been turned off locked and the DC bus circuit is discharged N ED Be careful during the assembly During the assembly and also later during operation of the drive make sure to prevent drill chips metal dust or assembly parts screws nuts cable sections from falling into the device N ED PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Safety notes for electrical drives and controllers Page 15 Also make sure that the external power supply of the controller 24V is switched off The DC bus circuit or the mains supply must always be switched off prior to switching off the 24V controller supply Jo o Carry out work in the machine area only if AC and or DC supplies are switched off Switched off output stages or controller enablings are no suitable means of locking In the case o
10. indication with the physical speed unit set for PROFIBUS 12 Accelerations PNU 1001 5 Combination of the values for acceleration and deceleration indication with the physical unit set for PROFIBUS The total length of this telegram is 16 bytes When the slave is integrated into the hardware configuration of the master the module 8 Words Output has to be selected for the output data and connected to one of the ports PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Function and data blocks for SIEMENS S7 Page 83 13 2 4 3 Response telegram for the example projects In both example projects the same actual value data are transmitted from the slave to the master Thus the same response telegram 0 has to be configured for both reception telegrams 0 and 1 at the servo positioning controller end The following screenshot shows the necessary parameterisation for the example project An additional diagnostic information is displayed above the button Change entry if a communication could have been established between Master and Slave The really configured length of the telegram from Master to Slave is displayed Telegram type cC Receive telegram Master gt gt Slave Respond telegram Slave gt gt Master telegram editor z Parameterized telegram length 20 Bytes Respond telegram 0 DP Master ADR 1 Entry 2010 0 1 Byte ADR 2 cud 968 0 2 Bytes Do
11. read only 0 15 reserved 16 00010000h controller ready for operation read only 17 18 00060000h DOUT1 DOUT 10 5 5 PNU 1141 Digital Inputs The parameter is used to read the state of the digital inputs The available digital inputs depend on the parameterisation of the servo positioning controller PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 62 Manufacturer specific parameter numbers PNU 1141 Subindex 0 Name Digital Inputs Data type UINT32 Access ro Unit Value range Default value Bit Value Digital Output 0 00000001h Negativ limit switch DIN7 2 00000002h Positiv limit switch DIN8 3 00000008h Interlock controller enable DIN9 is missing 16 25 O3FF0000h DINO DIN9 10 6 Parameters for the telegram structure Due to certain technical requirements some parameters cannot be stored under any random address in the storage area of the master In addition to that the length of the telegrams may differ although the same number of data is transmitted This is why certain parameters have been defined to fill gaps for example 10 6 1 PNU 2000 PKW Access Register this parameter into a telegram in order to variably access different parameter at runtime of the process There is only one access at maximum available for the receive and response telegrams Parameterize this access accordingly Ensure that this acce
12. 2 PNU 1040 Jogging This parameter allows the simplified access of both velocities and all four acceleration values for jogging By this less data has to be transmit in the cyclic data telegram Internally all parameters are written PNU 1040 Name Jogging Subindex 0 Name Jogging Velocity Data type INT32 Access rw Unit Physical unit PROFIBUS velocity Value range Default value 100 rpm Subindex 1 Name Symmetrical Jogging Accelerations Data type UINT32 Access rw The read access returns the value of the acceleration Unit Physical unit PROFIBUS acceleration Value range Default value 10 000 rpm s 10 4 3 PNU 1290 Motor Data Servo motors may be overloaded for a certain period of time This parameter indicates how long the motor may receive the indicated maximum current After the expiry of the I t time the current is automatically limited to the parametrized rated current in order to protect the motor The default adjustment is 2 seconds and can be used for most motors The actual value of iit can be read via the object iit ratio motor PNU 1290 Name Motor Data Subindex 0 Name iit Time Motor Data type UINT16 Access rw PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Manufacturer specific parameter numbers Page 59 Unit ms Value range 0 10000
13. Beschleunigung Dann zu bertragender Parameter in default Parametrierung Speed control FB43 FB_velocity Function block for speed control mode DB43 Instance DB for FB43 Data block of internal variables belonging to the function block DB44DB_velocity Data for speed control mode m DB44 DIS 2_ VELO SIMATIC 300 1 CPU 315 2 DP heme em _antengswert jaktuaimrt Liese Sos bz BEEN rome O em james jones Eiere Platehalvervarieble 1 0 2 0 PROFIDRIVE_Controlwoxa ks boat _4 0 Geschwindigkeitssollwert 500 soo es bertragender Parameter in default Parametrierung 8 0 Beschieunigung pzwr baang L soooo zu bertragender Parameter in default Paranetrierung PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0
14. Default value 1 10 2 6 PNU 1051 Home Offset Set the distance between the home position and the zero position of a homing process by this parameter number Positive values move the zero position into positive direction referring to the home position The following figure illustrates this by an example for the target limit switch and the zero pulse as zero position The shown direction of the arrow displays the effective direction of the offset PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 54 Manufacturer specific parameter numbers Home Home offset position gt Zero position i ER i J First zero pulse X Limit switch Figure 10 1 Interpretation of the home offset The data are interpreted in the physical unit PROFIBUS position The physical unit can be set by an appropriate menu of the parameterisation program DIS 2 ServoCommander PNU 1051 Subindex 0 Name Home Offset Data type INT32 Access rw Unit Physical unit PROFIBUS position Value range Default value O PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Manufacturer specific parameter numbers Page 55 10 3 PNUS for speed control mode This section describes the parameters required for the speed control mode 10 3 1 PNU 1010 Target Velocity This parameter set the speed setpoint via PROFIBUS In speed control mode the selector spe
15. Default value 2000 Subindex 1 Name iit Ratio Motor Data type UINT16 Access ro Unit Promille Value range Default value 10 4 4 PNU 1350 Enable Logic The parameter enable logic gibt an wie die Reglerfreigabe erfolgen soll For safety reasons this is done automatically after activation of CANopen also after a reset PNU 1350 Subindex 0 Name Enable Logic Data type UINT16 Access rw Unit Value range 0 3 Default value Value Description 0 Controller enable via digital input DIN 9 1 Controller enable via digital input DIN 9 RS232 2 Controller enable via digital input DIN 9 CAN 3 Controller enable via digital input DIN 9 Profibus PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 60 Manufacturer specific parameter numbers 10 5 Actual values This section provides an overview of actual values which can be read with the help of parameter numbers 10 5 1 PNU 1100 Position Actual Value This parameter is used to return the actual position value This value is scaled with the physical unit set for PROFIBUS The calculation of the actual position value of the servo positioning controller may has a greater value range than the range that can be transmitted through PROFIBUS by the PNU 1100 PNU 1100 Subindex 0 Name Position Actual Value Data type INT32 Access rw Unit Physical u
16. Please contact the technical support department o Attention IL To switch from one operating mode to another the current FB has to be deactivated and an FB of another operating mode has to be activated As a result the controller enabling might be deactivated PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 72 Function and data blocks for SIEMENS S7 13 2 Function and data blocks for DIS 2 48 10 FB servo positioning controllers 13 2 1 Function block FB overview The function blocks FBs are used to control the state diagram implemented in the servo positioning controller Status word 1 in byte 2 3 of the DB40 actual value data block symbolizes the actual state of the servo positioning controller Control word 1 which is contained in bytes 2 3 of every mode specific telegram format and described by the FB is used to control the servo positioning controller The master connection provides the PLC system in defined UO areas with the input and output data of the servo positioning controllers These data are read out of the slave through SFC14 and written to the slave through SFC15 SFCs 14 and 15 are system functions which must be used for consistent reading and writing of telegrams with a length gt 4 bytes The data are stored in the data blocks defined for the operating mode in question through the corresponding SFCs The SFCs are not integrated in the function blocks and must be load
17. be protected against accidental contact by means of a housing e g a switch cabinet The regulations VBG 4 must be complied with PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Safety notes for electrical drives and controllers Ke Q oO o Always connect the ground conductor of the electrical equipment and devices securely to the mains supply Due to the integrated line filter the leakage current exceeds 3 5 mA NED Comply with the minimum copper cross section for the ground conductor over its entire length as per EN60617 NED Prior to the initial operation even for short measuring or testing purposes always connect the ground conductor of all electrical devices as per the terminal diagram or connect it to the ground wire Otherwise the housing may carry high voltages which can cause electrical shock NED Do not touch electrical connections of the components when switched on NED Prior to accessing electrical parts carrying voltages exceeding 50 Volts disconnect the device from the mains or power supply Protect it from being switched on again NED For the installation the amount of DC bus voltage must be considered particularly regarding insulation and protective measures Ensure proper grounding wire dimensioning and corresponding short circuit protection NED N A Protection against electrical shock by means of protective extra low voltage PELV All connections
18. be used The following parameters have to be used for the blocks Reading data using SFC14 Input data area Data block number into which 256dez 100hex the data of the slave are written HI 20 P DB40 DEX W 16 100 0 0 BYTE 2 RECORD Lo Initial address within the DB 0 0 and number of bytes received 20 bytes Parameter Declaration Data type Storage area Description LADDR INPUT WORD E A M D L const Projected initial address of the E area of the module which has to be read RET VAL OUTPUT INT E A M D L If a fault occurs while the function is processed the return value contains a fault code RECORD OUTPUT ANY E A M D L Target area for the useful data read This area has to be as long as has been projected for the selected module with STEP 7 Only the data type BYTE is admissible In both example projects positioning example project and speed control example project the same actual value data are returned As a consequence the response telegram is configured in an identical manner in both example projects PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Function and data blocks for SIEMENS S7 Page 79 Writing data using SFC15 Depending on the operating mode positioning or speed control different data are transmitted to the PROFIBUS slave This leads to different telegram lengths affecting the parameterisation of SFC15 Writing data for the positi
19. controller enabling 1 After completion of the state transition The mask for the relevant bits is 0x0277 Table 9 7 Most important state transitions of the servo positioning controller The following example shows the enabling of the servo positioning controller i e the enabling of the controller via the PROFIBUS field bus EXAMPLE The servo positioning controller is to be enabled i e the power stage and the controller enabling are to be activated via PROFIBUS 1 The servo positioning controller is in the SWITCH ON INHIBITED state 2 The servo positioning controller has to change over to the OPERATION state 3 According to the state diagram Figure 9 1 state transitions 1 2 and 3 have to be performed 4 The following results from Table 9 7 Transition 1 Control Word 1 0406 Transition 2 Control Word 1 0407 Transition 3 Control Word 1 040F Note Ja must be set Otherwise transitions x1 relevant bits mask 0x0277 manual PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB New state READY FOR SWITCHING ON Status Word 1 0x0201 New state SWITCHED ON Status word 1 0x0203 New state OPERATION Status Word 1 0x0207 The example assumes that no other bits are set in controlword1 Bit 10 only bits 0 3 are relevant for the The master has to wait until the state can be read back in status word 1 in the This will be explained in detail later in
20. eg cru 315 2 DP et S7 Programm 1 gj Quellen gy Bausteine e PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Function and data blocks for SIEMENS S7 Page 85 The command Options gt Install new GSD adds the GSD file MMEOAS8 gsd which is required for adding the DIS 2 48 10 FB to the hardware catalog Suchenin C3 65D Datei el Al ei uwen en Dateityp GSD Dateien gc Abbrechen 13 2 7 Hardware configuration The S7 project must then be opened using the command Station gt Open Einstieg Ansicht Proet zl SKomponentensicht m C Onne Offline Name Ablagepfad pis2 veto gt E1iemens step7s7ponDe 2 ve Durchsuchen gu Fe ml fy DIS 2 VELO bjektname SIMATIC 300 1 Abbrechen Hilfe Select the project name in the Name field of the Open window Then select SIMATIC 300 1 in the right window pane Then click on the OK button to open the hardware configuration of your project The following screenshot shows the hardware catalogue from which the hardware components can be selected If the hardware catalogue is not shown it can be called up by clicking on View gt Catalog Za SIMATIC 30011 Konfiguration DIS 3 VELO SIE Dot ms C Netzkomponerien 3 Regie a C Scholgeote GD SIMAD N i GI Simatic 3 Gy SIMODRIVE y Gy SIMOREG Gy SIMOVERT s ros Dages Mi aen EE Kier NEE EE E E EE E aj simatic 30
21. held in its position start homing This input is used to start a homing run The motor is started This requires an active controller enabling i e the output drive enable ok must be set If the start homing input is reset during homing the homing run is aborted without an error PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 74 Function and data blocks for SIEMENS S7 Start pos A rising edge signals that a new motion task has to be accepted A falling edge has no consequence During homing this input has no effect abs rel If this input is set with a rising edge at the start pos input the positioning run is executed relatively to the current target position If this input is not set with a rising edge at start pos an absolute positioning run is executed change immediatly If this input is set with a rising edge at the start pos input a running positioning is aborted immediately and replaced with a new motion task If this input is not set with a rising edge at start pos the new motion task is added to the end of the running positioning intermediate stop If this input is not set a started positioning run is completed If the input is set during a running positioning run the drive is stopped and remains in position control mode The current positioning run is not terminated It will be continued when the intermediate stop input is reset During homing this input has no effect
22. positioning controller DIS 2 48 10 FB Version 1 0 Manufacturer specific parameter numbers Page 57 10 4 PNUS for Different Operating Modes This section describes parameters which are not especially assigned to one single operating mode 10 4 1 PNU 1022 Current Limitiation The parameter Current Limitiation adjusted the torque limitation independently of the mode of operation The parameter Limit Current Input Channel is used to select the channel which limit the current It can be selected between a direct value RS232 or PROFIBUS or a indirectly value over an analogue input Depending from the choosen selector the parameter Limit Current set the value for current limit or the scaling factor for the analogue inputs Inthe first case the moment is limited to the proportional current in mA Inthe second case the current is set to the value in mA which corresponds to 10V PNU 1022 Name Current Limitiation Subindex 0 Name Limit Current Input Channel Data type INT8 Access rw Unit Value range 0 3 7 Default value O Value Description 0 no limitation 1 AINO 2 AIN1 3 RS232 7 Profibus Subindex 1 Name Limit Current Data type INT32 Access rw Unit mA Value range 0 40 A Default Wert s PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 58 Manufacturer specific parameter numbers 10 4
23. rw Unit Physical unit of PROFIBUS velocity Value range Default value 1000 rpm Subindex 3 Name Acceleration Positioning Data type UINT32 Access rw Unit Physical unit of PROFIBUS acceleration Value range Default value 10 000 rpm s Subindex 4 Name Deceleration Positioning Data type UINT32 Access rw Unit Physical unit of PROFIBUS acceleration Value range Default value 10 000 rpm s PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 52 Manufacturer specific parameter numbers The parameter All Accelerations Positioning provides access to the acceleration and deceleration ramp If the same value is intended for both parameters only one data value has to be transmitted This value is then used internally for both acceleration types It has to be taken into consideration that during a read operation only the current value of the deceleration ramp is read The user has to make sure that reading a value is sufficient This can be ensured for example by reading a value once and then writing it back Subindex 5 Name All Accelerations Positioning Data type UINT32 Access rw Unit Physical unit of PROFIBUS acceleration Value range S Default value 10 000 rpm s 10 2 3 PNU 1002 Start Set Number This parameter is used to select the position data set which is started through control word 1 following a positi
24. servo positioning controllers and Siemens PLC systems SIMATIC S7 control systems These functions blocks facilitate the integration of the servo positioning controllers into a PLC program with PROFIBUS functionality The various function and data blocks FD DB are assigned to one of the operating modes To make the use of the function blocks clearer example programs were written This chapter is intended to familiarise the user quickly with the functions of the inputs and outputs and the use of the FBs and DBs within the S7 environment However this IL chapter does not replace the previous chapters of the PROFIBUS DP Product Manual The available example programs are only examples and explain the fundamental methods for using the function and data blocks When the example programs are used in customer specific applications the user has to check whether all function and safety relevant requirements have been fulfilled Information il Specific function and data blocks have been developed for the DIS 2 48 10 FB servo positioning controllers These function and data blocks are integrated in example programs and can be downloaded free of charge under www metronix de If one switches between the operating modes one also has to switch between two function blocks If the controller enabling shall remain active during switching between two function blocks it might be necessary to modify the function blocks accordingly
25. the cyclic reception telegrams Following the PROFidrive specification the following operating modes and the associated reception telegrams are supported at present Operating mode Reception telegram Identifier Positioning 0 OxEO Speed control 1 OxE1 Other operating modes cannot be selected at present 11 2 Parameters The operating mode is continuously monitored or selected with the help of reception telegrams The process of changing the operating mode requires several cycles of an internal function This is why a manufacturer specific parameter number has been defined to be able to read the current operating mode 11 2 1 PNU 1500 Operating Mode This manufacturer specific parameter is used to set read the operating mode The operating mode is served regardless of the setpoint selectors Other special features can be found in the associated chapters PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 68 Operating modes PNU 1500 Subindex 0 Name Operating Mode Data type UINT8 Access rw Unit Value range 0x08 Speed control 0x10 Positioning Default value 11 3 Speed control mode PROFIdrive defines special features for handling the setpoint For this purpose the meanings of the corresponding bits in control word 1 have been defined The setpoint can be deactivated for example or the setpoint ramp can be stopped frozen 11 4 Pos
26. 0 eem B SIMATIC 400 e RM SIMATIC PC Based Conmel 200 41 SIMATIC PC Staon PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 86 Function and data blocks for SIEMENS S7 Use the mouse to select the desired hardware components from the Catalog and drag them into the station window 3 Order number Firmware MPI address address Q address 1 f Ps307 54 BES 307 1EA00 0440 AP BP Avesta 3 Fa E 4 MEE mE 6ES7 323 1BHO0 0440 Information il The order numbers in the project must match the order numbers of the hardware shown on the front Port 3 is not used as the project does not use a controller board 13 2 8 Integrating the servo positioning controller The servo positioning controller is integrated by selecting the line X2 DP Master in the station window Then add the Profibus with the help of the command Insert gt Master System Then add the desired module to the Profibus using drag amp drop from the directory PROFIBUS DP gt Additional Field Devices gt Closed loop controllers gt DIS 2 48 10 FB of the hardware catalogue Profil Standard e CC Allgemein EC Antriebe Er 3 DIS 2FB Egg DIS 2FB Universalmodul 1 Word Input 2 Words Input 3 Words Input 4 Words Input 5 Words Input 6 Words Input 7 Words Input 8 Words Input 9 Words Input 10 Words Input 11 Words Input 12 Words Input 13 Words Input 14 Words Input 15 Words In
27. 60 Motor data 1290 0 l2t time motor UINT16 rw 1 l t ratio motor UINT16 ro 0 Controller enable UINT16 irw 1350 0 Operating mode UINT8 ro 1500 Error code 1601 0 Error field O UINT32 ro 1 Error field 1 UINT32 ro Error management 1610 0 Error number UINT8 rw 1 Error reaction code UINT8 rw 0 Entry for manufacturer specific PKW access 2 rw UINT32 2000 Placeholder 2010 0 8 bit placeholder blank element UINT8 rw 1 16 bit placeholder blank element UINT16 rw 2 32 bit placeholder blank element UINT32 rw 0 32 bit placeholder blank element UINT32 rw 2011 PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 50 Manufacturer specific parameter numbers 10 2 PNUS for positioning mode This section describes the parameters required for the positioning mode 10 2 1 PNU 1000 Position Set Number This parameter is used to select the position data set into which the data transmitted through PROFIBUS are entered This parameter provides access to all position data sets of the servo positioning controller Field bus data sets are often volatile data sets The position data set for PROFIBUS however can be saved and parameterized with the help of the DIS 2 ServoCommander parameterisation program In this way parameters which do not have to be changed in an application during operation can be defined in a fixed manner Accelerations for example can be entered once and then do not have to be transmitted
28. COOPER Power Tools PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Metronix MeBger te und Elektronik GmbH Telefon 49 0 531 8668 0 KocherstraBe 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de metro n IX Page 2 Copyrights 2006 Metronix MeBger te und Elektronik GmbH All rights reserved The information and data in this document have been composed to the best of our knowledge However deviations between the document and the product cannot be excluded entirely For the devices and the corresponding software in the version handed out to the customer Metronix guarantees the contractual use in accordance with the user documentation In the case of serious deviations from the user documentation Metronix has the right and the obligation to repair unless it would involve an unreasonable effort A possible liability does not include deficiencies caused by deviations from the operating conditions intended for the device and described in the user documentation Metronix does not guarantee that the products meet the buyer s demands and purposes or that they work together with other products selected by the buyer Metronix does not assume any liability for damages resulting from the combined use of its products with other products or resulting from improper handling of machines or systems Metronix Me ger te und Elektronik GmbH reserves the right to mo
29. EE 36 GE 118 1532 WOT WEG 40 9 4 State diagram and device control sssssssssssees esent 42 GR WER le TE EE 43 94 22 2 Bevice contiol c ee et ete te bam 44 PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 9 4 3 Command overview esssssssssssssseeee ener nnns en terrenis nnns inneren 46 10 Manufacturer specific parameter numbers eene enne nnns nnne enn 48 MEE EE 48 10 2 PNUS for positioning mode en neneen nennen nennt enne nnne nene 50 10 2 1 PNU 1000 Position Set Number 50 10 2 2 PNU 1001 Position Data ior Re een emis 50 10 2 3 PNU 1002 Start Set Number 52 10 2 4 PNU 1003 Position Profile Type 52 10 2 5 PNU 1050 Homing Method 53 10 2 6 PNU 1051 Home Offset iiin aeaaea adaa aiea daraan 53 10 3 PNUs for speed control mode enne terrenis 55 10 3 1 PNU 1010 Target Veloctv nee 55 10 3 2 PNU 1011 Accelerations for Velocity Control 55 10 4 PNUS for Different Operating Mode 57 10 4 1 PNU 1022 Current Limitiation ssssssssse esee nennen 57 10 4 2 PNU 1040 Jogging 58 10 4 3 PNU 1290 Motor Dat uat re e Re e e ps 58 10 4 4 PNU 1350 Enable Loge 59 10 5 Actual Values wie eicit c He i i etd Mme dern 60 10 5 1 PNU 1100 Position Actual Value enn 60 10 5 2 PNU 1101 Velocity Actual Value enne 60 10 5 3 PNU 1102 Current Actual Value nnns 61 10 5 4 PNU 1140 Digital Outputs nennen nennen nnne nnns 61 10 5 5 PNU 1141 Digital Inpute aeaee
30. FB Figure 5 1 shows the example of a standard servo positioning controller DIS 2 48 10 FB telegram sent from the master to the slave Apart from the identifier in byte 0 this telegram type requires the PROFldrive control word 1 in byte 2 and 3 for device control The content of the other bytes can be configured as desired In this example 3 additional data are transmitted each comprising 4 bytes This results in a total length of 16 bytes for the telegram The user has to make this definition when planning the PROFIBUS connection prior to parameterizing the field bus connection at both ends The slave should be parameterized first and then the master If the parameterisation is correct the application is immediately ready for operation without any communication error PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 PROFIBUS connection Page 25 5 2 Slave overview This section provides an overview of slave related steps for parameterisation and configuration As some parameters do not become effective until after storage and reset the following procedure is recommended 1 Telegram configuration using the Telegram editor chapter 6 2 Selection and parameterisation of Physical units chapter 7 3 Configuration and activation of Operating parameters chapter 8 The meaning of the data at the slave end is defined by entering parameter numbers PNUs This is done with the help of the telegram editor of the DIS 2 Serv
31. OFIBUS wiring AN Because of the very high baud rates we recommend using standardized cables and connectors They offer additional diagnose functionalities and facilitate rapid analysis of the field bus hardware in the event of malfunctions When setting up the PROFIBUS network compliance with the information given in the standard literature and the following information and notes is strongly recommended in order to obtain a stable trouble free system Improper wiring may lead to problems with the PROFIBUS causing the servo positioning controller to automatically deactivate itself while signalling an error 3 2 PROFIBUS cable PROFIBUS cable Bus cable PROFIBUS Socket straight shielded M12 B codiert 2 pole Pin straight shielded M12 B codiert 2 pole PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 20 Wiring and pin assignment Manufacturer Phoenix Contact order number length in m 15 18 106 0 3 15 18 119 0 5 15 18 122 1 1518135 2 1518148 5 1518151 10 1518164 15 3 3 Termination and bus terminating resistors Every bus segment of the PROFIBUS network has to be equipped with bus terminating resistors to minimize line reflections to guarantee practically constant load behaviour on the bus and to adjust a defined rest potential on the line Termination has to be provided at the beginning and at the end of every bus segment The terminating resistors of th
32. PROFIBUS connection of DIS 2 48 10 FB servo positioning controller 80 PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 6 13 2 4 1 Reception telegram of the speed control example prolert A 80 13 2 4 2 Reception telegram of the positioning example project 82 13 2 4 3 Response telegram for the example projects AA 83 13 2 5 Creating an S7 program 84 13 2 6 Integrating BONNERT 84 13 2 7 Hardware configuration esses ener nnne nennen 85 13 2 8 Integrating the servo positioning controller eeseeeeeeen 86 13 2 9 Overview of function and data blocks ssssssssseeeeeerenees 87 PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 7 List of Figures Figure 3 1 PROFIBUS connector for DIS 2 48 10 FB 19 Figure 5 1 Example of the telegram format for the DIS 2 48 10 FB 24 Figure 5 2 Hardware configuration under SIEMENS S7 26 Figure 6 1 Composition of a reception telegram 28 Figure 6 2 Composition of a response telegram 30 Figure 7 1 Setting of physical units 31 Figure 7 2 Gear ratio 32 Figure 8 1 Setting of operating parameters 34 Figure 9 1 Simplified state diagram 43 Figure 10 1 Interpretation of the home offset 54 Figure 11 1 Uninterrupted sequence of motion tasks 69 PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 8 General 1 General 1 1 Documentation This
33. ae aaa aaiae a aa aea e iea a aa aa ei 61 10 6 Parameters for the telegram structure sssssssssssseseee eene nnne 62 10 6 1 PNU 2000 PKW Access A 62 10 6 2 PNU 2010 PlaceholderS AAA 63 10 6 3 PNU 2011 Element O inihirit a aa aaa 64 10 7 Parameter for Various Intents sssssssssssesesseeeeeeen nennen entren nnn enne 65 10 7 1 PNU 1601 Last Error Code entente nennen 65 10 7 2 PNU 1610 Error Managment eis sceind e a reekk nnne Si Ree 66 11 Operating Hale EE 67 TIA OVOWIOW TE 67 IRAN 67 11 2 1 PNU 1500 Operating Mode 67 T1 39 Speed controlimode nie tete ite ame a bu et d iet 68 T1 4 Posrtioning Kuul 68 12 Profile specific parameter numbers sse enne enne nnana 70 IZPOVE EW a oc eee tat e t utes t te t ee I A LED a LU DLE DU 70 12 2 FNU description iiir ien e cn erede e Ca ote Eee ee Cad eee eR et oa 70 12 2 1 PNU 971 Transfer into a Non Volatile Memory eene 70 13 Function and data blocks for SIEMENS E 71 T9 OVelrViBWs o see Eege Ee Eege 71 13 2 Function and data blocks for DIS 2 48 10 FB servo positioning controllers 72 13 2 1 Function block FB overnview nennen nennen 72 13 2 2 FBs of DIS 2 48 10 FB servo positioning controllers sssssssss 73 13221 FB position FB 41 positioning mode 73 13 2 2 2 FB velocity FB 43 speed contrat 76 13 2 3 Integration of FBs and Des enne enne nns 77 13 2 4
34. and terminals with voltages between 5 and 50 Volts at the servo drive controller are protective extra low voltage which are designed safe from contact in correspondence with the following standards International IEC 60364 4 41 European countries within the EU EN 50178 1998 section 5 2 8 1 DANGER High electrical voltages due to wrong connections Danger to life risk of injury due to electrical shock Only devices and electrical components and wires with a protective extra low voltage PELV may be connected to connectors and terminals with voltages between 0 to 50 Volts Only connect voltages and circuits with protection against dangerous voltages Such protection may be achieved by means of isolation transformers safe optocouplers or battery operation PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Safety notes for electrical drives and controllers Page 17 2 4 5 Protection against dangerous movements Dangerous movements can be caused by faulty control of connected motors for different reasons Improper or faulty wiring or cabling Error in handling of components Error in sensor or transducer Defective or non EMC compliant components Error in software in superordinated control system These errors can occur directly after switching on the device or after an indeterminate time of operation The monitors in the drive components for the most part rule out malfunctions in the connecte
35. apter describes how DIS 2 48 10 FB servo positioning controllers are controlled with the help of the two data words control word 1 PNU 967 and status word 1 PNU 968 i e how the power stage is activated for example This control mechanism follows the specification of the PROFIdrive profile The following terms are used for the explanation of the context State Depending on whether the power stage has been activated for example or whether a fault has occurred the servo positioning controller is in different states The states defined under PROF drive will be described in this chapter Example SWITCHING ON INHIBITED Just like the states also the transitions between the states are defined under PROFldrive Transition means getting from one state to another The master triggers state transitions by setting bits in control word 1 The servo positioning controller can also trigger a state transition internally when it detects a fault State transition To trigger state transitions certain combinations of bits have to be set in control word 1 Such a combination is referred to as a command Command Example Enable Operation PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Device control Page 43 State diagram The states and the state transitions form the state diagram i e an overview of all states and possible transitions 9 4 1 State diagram The states have been taken over to a la
36. ation 1 1 1 1 3 Table 9 3 Overview of all commands x not relevant As some state transitions take a certain time all status changes that are triggered through control word 1 have to be read back through status word 1 It is only when IL the requested status can also be read in status word 1 that another command can be written in through control word 1 PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 40 9 3 Status word 1 Device control Status word 1 reflects various device states e g an active controller enabling Some bits have corresponding meanings All this is described in chapter 9 4 State diagram and device control The meaning of the bits follows the PROFIdrive profile In addition some functions are manufacturer specific and some bits have a manufacturer specific functionality PNU 968 Subindex 0 Name Status word 1 Data type UINT16 Access ro Unit Value range S Default value In response telegrams 0 2 status word 1 is bound to a fixed position Some bits have different meanings depending on the operating mode The two following tables show the meaning for the two operating modes Bit Meaning Behaviour 0 1 Ready To Switch On See the Device control section chapter 9 4 State 0 Not Ready To Switch On diagram and device control 1 1 Ready To Opera
37. can be chosen as desired from the object directory of the parameter numbers The only thing that has to be considered is whether they are suitable It is for instance not possible to enter write only parameters into response telegrams Figure 6 2 shows the example of response telegram 0 positioning mode The entries can be highlighted and changed directly or deleted successively starting with the last entry When an entry is highlighted an additional field is displayed into which the parameter number can be entered New telegram entries are added to the end An additional diagnostic information is displayed above the button Change entry if a communication could have been established between Master and Slave The really configured length of the telegram from Master to Slave is displayed PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 30 Telegram editor Profibus telegram editor Telegram type c Receive telegram Respond telegram Master gt gt Slave Slave gt gt Master telegram editor Respond telegram 0 Y Used Memory 968 0 ADR 1 Entry 2010 0 ADR 2 Entry ADR 4 Entry 1100 0 ADR 8 Entry 1101 0 ADR 12 Entry 1102 0 ADR 16 Parameterized telegram length 20 Bytes DP Master 1B be u Change enry 4 Bytes 4 Bytes Append entry 4 Bytes Entry 1141 0 4 Bytes Delete last entry 20 Bytes
38. controller DIS 2 48 10 FB Version 1 0 Page 70 Profile specific parameter numbers 12 Profile specific parameter numbers This chapter provides an overview of the parameter numbers PNU which were implemented following PROF drive 12 1 Overview The following table provides an overview of the implemented PNUs PNU Sub Description Type Access index 967 0 Control word 1 see chapter 9 2 Control word 1 V2 rw 968 0 Status word 1 siehe chapter 9 3 Status word 1 V2 ro 971 0 Save parameters UINT16 rw Note Data type V2 is defined as a bit sequence with a length of 2 bytes 12 2 PNU description The PNUs 967 and 968 are described in detail in chapter 9 Device control The PNU 971 is described in the following chapter 12 2 1 PNU 971 Transfer into a Non Volatile Memory Active different saving processes of parameters inside the servo positioning controller by this parameter number PNU 971 Subindex 0 Name Transfer into a non volatile memory Data type UINT16 Access rw Unit Value range 0 No action 1 Save the actual parameter set and all position data sets 2 65535 reserved Default value O PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Function and data blocks for SIEMENS S7 Page 71 13 Function and data blocks for SIEMENS S7 13 1 Overview Special function blocks have been written for DIS 2 48 10 FB
39. d drives In view of personal protection particularly the danger of personal injury and or property damage this may not be relied on exclusively Until the built in monitors come into effect faulty drive movements must be taken into account their magnitude depends on the type of control and on the operating state DANGER Dangerous movements Danger to life risk of injury serious personal injuries or property damage For the reasons mentioned above personal protection must be ensured by means of monitoring or superordinated measures on the device These are installed in accordance with the specific data of the system and a danger and error analysis by the manufacturer The safety regulations applying to the system are also taken into consideration Random movements or other malfunctions may be caused by switching the safety installations off by bypassing them or by not activating them 2 4 6 Protection against contact with hot parts DANGER Housing surfaces may be hot Risk of injury Risk of burning N gp Do not touch housing surfaces in the vicinity of heat sources Danger of burning PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 18 NP hz 2 4 7 Safety notes for electrical drives and controllers Before accessing devices let them cool down for 10 minutes after switching them off Touching hot parts of the equipment such as the housing which contain heat sinks and resist
40. d to a large extent Manufacturer specific deviations are related to certain details and documented and marked in one of the following chapters The servo positioning controller DIS 2 48 10 FB covers a part of the application classes defined in the DOE drive specification PROFIBUS DP does not specify the form and meaning of the useful data themselves This is why the concept of parameter numbers PNUs has been adopted for a PROFIBUS connection These parameter numbers have an optional subindex and there are pre defined or reserved areas among these PNUS In addition there is room for manufacturer specific PNUs PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 24 PROFIBUS connection 5 PROFIBUS connection 5 1 Introduction Several steps are required to set up a functional PROFIBUS connection Some of these settings should or even have to be made prior to activating the PROFIBUS communication This chapter provides an overview of the required steps The exact procedure is described in the following chapters With the DP VO service data are transmitted in the form of so called telegrams The amount of data to be transmitted and their meaning have to be defined for the master and the slave prior to starting the data exchange Telegram identifier Byte o 2 3 4 5 je 7 Control word 1 Data 1st PNU dummy Data 2nd PNU Data 3rd PNU Figure 5 1 Example of the telegram format for the DIS 2 48 10
41. dify amend or improve the document or the product without prior notification This document may neither entirely nor in part be reproduced translated into any other natural or machine readable language nor transferred to electronic mechanical optical or any other kind of data media without expressive authorisation by the author Trademarks Any product names in this document may be registered trademarks The sole purpose of any trademarks in this document is the identification of the corresponding products ServoCommander is a registered trademark of Metronix Me ger te und Elektronik GmbH Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Seite 3 No Description Revision Date of change index 001 1 0 06th July 2006 Page 4 Table of Contents UEEC UICUPRTT EMITIR M 8 Ted IDOCUMEMTAT EE 8 1 2 PROFIBUS documentation 8 2 Safety notes for electrical drives and controllers 10 2 1 Used symbols 5 teen e e e ERS 10 EE Nee 11 2 3 Danger resulting from MISUSE nennen trennen enn sinn enne 12 2 4 Ee 13 2 4 41 General safety notes sssssssssssssssssssssesteee nennen entree enne 13 2 4 2 Safety notes for assembly and maintenance nn 14 2 43 Protection against contact with electrical parts 15 2 4 4 Protecti
42. e DP VO service the amount and the meaning of the data to be transmitted have to be defined both for the master and for the slave When a PROFIBUS connection is configured the user has to make this definition before the field bus connection can be parameterized at both ends 4 3 PROFIdrive overview The PROFIBUS profile for drive technology or short PROFIdrive is a manufacturer standard for implementing PROFIBUS interfaces for drives It has been defined by the association of PROFIBUS users Just like CANopen its aim is to offer the user a defined interface for programming servo controllers This interface should be as manufacturer independent as possible PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 PROFIBUS DP and PROFlIdrive Page 23 PROFIdrive specifies the configuration diagnosis data exchange and state machines with a PROFIBUS master Furthermore so called application classes are defined There are different versions of the PROF drive specification with significant differences The servo positioning controller DIS 2 48 10 FB follows exclusively version 3 1 see chapter 1 2 PROFIBUS documentation The PROFlIdrive specification see chapter 1 2 PROFIBUS documentation also defines a state machine for device control This state machine is addressed using a control word and a status word The meaning of the individual bits is also defined in the specification The functions of these two words have been adopte
43. e PROFIBUS module of the servo positioning controller DIS 2 48 10 FB are already integrated in the module so that external connections special connectors are not required The terminating resistors can be activated by setting the two DIP switches on the module switches set to ON Due to the high class of protection of the servo positioning controller DIS 2 48 10 FB the terminating resistors can not served from outside To switch on off the terminating resistors is only possible if the servo positioning controller DIS 2 48 10 FB is removed from the motor Therefore a terminal resistance in form of a M12 of plug is recommended to use O Bus terminating resistors The DIP switches for activating the bus terminating resistors are already integrated on the technological modules External connection is also possible The power supply of 5 V required for the externally connected terminating resistors is supplied to the PROFIBUS connector of the module see pin assignment Faulty or improper bus termination is the most common cause of errors in the event of malfunctions If the adjusted baud rate is gt 1 5 MBaud connectors with integrated line inductors 110 nH have to be used because of the capacitive load of the device and the resulting line reflections PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 PROFIBUS DP and PROF Idrive Page 21 4 PROFIBUS DP and PROFIdrive 4 1 Overview of DP and
44. ed setpoint is selected automatically PNU 1010 Subindex 0 Name Target Velocity Data type INT32 Access rw Unit Physical unit of PROFIBUS velocity Value range S Default value O 10 3 2 PNU 1011 Accelerations for Velocity Control Under this parameter number the acceleration values for the speed control mode can be parameterized The servo positioning controller defines 4 different acceleration ramps As in most applications several ramps are parameterized in an identical manner the following selections are possible e Acceleration combined for positive and negative direction of rotation e Deceleration combined for positive and negative direction of rotation e Combination of acceleration and deceleration for positive and negative direction of rotation The data are interpreted in the way they were set as physical units For this purpose the DIS 2 ServoCommander parameterisation software opens a special window see chapter 7 Physical units The parameter with subindex 0 and 1 provides access to the acceleration for both directions of rotation Internally it is always written to the accelerations for both directions of rotation It has to be taken into consideration that during a read operation only the current value of the acceleration ramp for a positive direction of rotation is read The user has to make sure that reading a value is sufficient This can be ensured for example by readin
45. ed as S7 program elements In practice the DBs are used as I O modules to control the states of the servo positioning controller and to transmit data which have to be sent to the servo positioning controller Every operating mode and every servo positioning controller requires separate function blocks If several servo positioning controllers are used in different operating modes this might lead to bottlenecks concerning the storage utilization of the application Information L1 Il The order of the data in the data blocks corresponds to the order defined in the telegram format of the associated operating mode FB PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Function and data blocks for SIEMENS S7 13 2 2 FBs of DIS 2 48 10 FB servo positioning controllers 13 2 2 1 FB position FB 41 positioning mode FB position EN DB nr pos ition DB nr act ual value drive ena ble start hom ing start_pos abs_rel intermedi ate stop jog pos jog neg fault res et e Parameters DB nr position Number of the data block containing the data for the positioning mode INT DB nr actual value Number of the data block containing the actual value data INT e Inputs drive enable drive ena ble ok home vali d pos ok velo zero fault ENO Page 73 This input is used to activate the controller enabling in the positioning mode The drive is
46. en into consideration i e the comparison is not based on the sum of the actual speed and the reference speed Bit Meaning Behaviour 0 1 Ready To Switch On See the Device control section chapter 9 4 State 0 Not Ready To Switch On diagram and device control 1 1 Ready To Operate 0 Not Ready To Operate 2 1 Operation Enabled 0 Operation Disabled 3 1 Fault Present 1 Active faults 0 No Fault Present 0 No fault active 4 1 No OFF2 1 No OFF2 command active 0 OFF2 0 OFF2 command control word 1 power stage OFF active 5 1 No OFF3 1 No OFF3 command active 0 OFF3 0 OFF3 command control word 1 quick stop active 6 1 Switching On Inhibited See the device control section 0 Switching On Not Inhibited 7 1 Warning Present 1 Active warning and or setpoint disabling through 0 No Warning Present limit switch active in at least one direction of rotation 0 No warning active 8 1 Following error within tolerance 1 No following error range 0 Following error message active 0 Following error out of tolerance range 9 1 Control by PLC Mirroring of bit 10 of control word 1 0 No control by PLC 10 1 Target position reached 1 The current positioning run has been completed 0 Not at target position and the actual position is within the target window 0 The current positioning run is still active or the actual position is not within the target window We 1 Home position valid 1 A homin
47. er information concerning the hardware configuration can be found in chapter 6 Telegram editor or in chapter 13 Function and data blocks for SIEMENS S7 or in the Application Note together with complete example projects including function and data blocks for SIMATIC S7 PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Telegram editor Page 27 6 Telegram editor 6 1 Introduction The telegram editor is used to define the way the servo positioning controller interprets the data received and sent The firmware of DIS 2 48 10 FB servo positioning controllers supports the exchange of data using the DP VO service The data are exchanged cyclically in the form of so called telegrams The following telegram types can be distinguished Reception telegrams Data sent from the master to the slave also called output data Response telegrams Data to be sent from the slave to the master also called input data A telegram can contain 10 entries maximum In the project of the PROFIBUS master data areas e g data blocks are created The input and output data of the master and of the slave are stored in these data areas During project planning the user has to define the contents and their order as well as the size of the two data areas in an identical manner for both the master and the slave This parameterisation should be performed prior to activating the communication 6 2 Reception telegrams The servo positioning c
48. es are engineering project or operating devices They are used for start up maintenance and diagnosis to configure the connected devices to evaluate measured values and parameters and to check the device status A DPM2 device does not have to be permanently connected to the bus system A slave is peripheral device I O device drive etc which reads in process information and or uses output information to intervene in the process In terms of communication slaves are passive devices as they reply only to direct requests from a DPM1 or DPM2 device 4 2 Basic functions of DP VO The central control system master cyclically reads the input information from the slaves and cyclically writes the output information to the slaves The bus cycle time should be shorter than the program cycle time of the central automation system which is in the range of about 10 ms for many applications A high data throughput alone is not enough for successful use of a bus system Other factors such as ease of operation good diagnosis facilities and a fail safe transmission method are more important These characteristics have been combined successfully in DP VO DP needs only about 1 ms to transmit 512 bits of input data and 512 bits of output data distributed to 32 connected devices DP transmits input and output data in a message cycle Useful data are transmitted using the SRD service Send and Receive Data Service of ISO OSI layer 2 To transmit data using th
49. f a malfunction the drive may accidentally be put into action NED Initial operation must be carried out with idle motors to prevent mechanical damages e g due to the wrong direction of rotation NED Electronic devices are never fail safe It is the user s responsibility in the case an electrical device fails to make sure the system is transferred into a secure state NED The servo drive controller and in particular the brake resistor externally or internally can assume high temperatures which may cause serious burns N sp N 4 3 Protection against contact with electrical parts This section only concerns devices and drive components carrying voltages exceeding 50 V Contact with parts carrying voltages of more than 50 V can be dangerous for people and may cause electrical shock During operation of electrical devices some parts of these devices will inevitably carry dangerous voltages DANGER High electrical voltage Danger to life danger due to electrical shock or serious personal injury The appropriate DIN VDE EN and IEC regulations as well as all national and local safety regulations and rules for the prevention of accidents apply for the assembly and maintenance of the system The plant engineer or the operator is responsible for compliance with these regulations Before switching on the device install the appropriate covers and protections against Che Ba accidental contact Rack mounted devices must
50. g a value once and then writing it back PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 56 Manufacturer specific parameter numbers PNU 1011 Name Accelerations for Velocity Control Subindex 0 Name Acceleration Velocity Control Data type UINT32 Access rw Unit Physical unit of PROFIBUS acceleration Value range Default value 10 000 rpm s Default value Subindex 1 Name Deceleration Velocity Control Data type UINT32 Access rw Unit Physical unit of PROFIBUS acceleration Value range 10 000 rpm s The parameter All Accelerations Velocity Control provides access to the acceleration and deceleration ramp for both directions of rotation If the same value is intended for all 4 parameters only one data value has to be transmitted This value is then used internally for all four acceleration types It has to be taken into consideration that during a read operation only the current value of the deceleration ramp for the positive direction of rotation is read The user has to make sure that reading a value is sufficient This can be ensured for example by reading a value once and then writing it back Subindex 2 Name All Accelerations Velocity Control Data type UINT32 Access rw Unit Physical unit of PROFIBUS acceleration Value range Default value 10 000 rpm s PROFIBUS Manual Servo
51. g on the other inputs of the function block hold If this input is set the speed setpoint is blocked The drive slows down to standstill as quickly as possible When the input is reset the motor accelerates along the paramerized setpoint ramp to reach the adjusted speed setpoint jog pos If this input is set the drive accelerates with the set acceleration of the setpoint ramp until it reaches the speed parameterized in position set Tipp amp Teach If there is a falling edge at this input the drives slows down to standstill with the set deceleration of the setpoint ramp jog neg If this input is set the drive accelerates with the set acceleration of the setpoint ramp until it reaches the speed parameterized in position set Tipp amp Teach If there is a falling edge at this input the drives slows down to standstill with the adjusted deceleration of the setpoint ramp PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Function and data blocks for SIEMENS S7 Page 77 fault reset If there is a rising edge at this input pending fault messages are acknowledged e Outputs drive_enable_ok The controller enabling of the servo positioning controller is active velo_zero This output is set if the actual velocity is zero in range of the message window The message window is parametrized in the DIS 2 ServoCommander under Parameters Messages Motor speed messages message window velo
52. g run has been completed successfully 0 Home position not valid 0 No homing run has been performed or the position information is invalid due to an error 12 Traversing Task Acknowledge See detailed description PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 42 Device control Ta 1 Drive stopped 1 The actual speed is within a fixed tolerance 0 Drive in motion window around 0 No active positioning or active quick stop 0 The actual speed is out of the tolerance window around 0 or the condition above is not fulfilled 14 15 Device specific Free Different meaning in another operating mode Table 9 5 Status word 1 for positioning mode Just like the combination of several bits of control word 1 can trigger several state transitions the combination of several bits of status word 1 can indicate the state of the servo positioning controller The following table shows the possible states of the state diagram and the associated bit combination used to indicate the states in status word 1 Status cuc WE SWITCH ON INHIBITED 1 0 0 0 0047 0040 READY FOR SWITCHING ON 0 0 0 1 0047 0001 SWITCHED ON 0 0 1 1 0047 0003 OPERATION 0 1 1 0047 0007 Table 9 6 Device status x not relevant Bits 4 and 5 depend on the command and therefore are not included in Table 9 6 9 4 State diagram and device control This ch
53. g table shows the desired state transition and the second column the requirements which have to be fulfilled for this transition in most cases a command coming from the host indicated by a frame in the table The creation of this command i e the bits which have to be set in control word 1 is shown in the third column x not relevant Bit 10 in control word 1 has always to be set to control the servo positioning controller After the state transition the new state can be recognised by evaluating the relevant bits in status word 1 This is shown in the last column Will be performed if Bit combination for control word 1 Power stage and controller enabling present no coast stop OFF 0x0201 None no quick stop command OFF PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Device control Will be performed if Bit combination for control Page 45 Status word 1 Command Enable Operation Disable Operation Command Disable Operation Command 7 Command Coast Stop Coast Stop Activation of power stage enabling and control in 0x0207 accordance with operating mode set Cancellation of controller enabling 0x0203 0x0201 Power stage is disabled The 0x0250 motor coasts down or and can be rotated 0x0270 freely Cancellation of
54. ing a running homing run It is not set or reset until after a homing run has been completed successfully pos ok This output is set when the current position is in the target window after the positioning run has been completed velo zero This output is set if the actual velocity is zero in range of the message window The message window is parametrized in the DIS 2 ServoCommander under Parameters Messages Motor speed messages message window fault If this output is set there is a fault The controller enabling is cancelled The output is reset after the fault has been acknowledged Please note the timing shown in the diagram when using the function blocks EN A 1 ENO drive_enable drive_enable_ok start_pos bzw start_homing PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 76 Function and data blocks for SIEMENS S7 13 2 2 2 FB velocity FB 43 speed control FB velocity DB nr act drive ena ual value ble ok drive ena velo zero ble velo reac hold hed jog pos velo exce eded jog ned fault fault res et ENO e Parameters DB nr velocity The number of the data block containing the data for speed control mode INT DB nr actual value The number of the data block containing the actual value data INT e Inputs drive enable Activation of the controller enabling in speed control mode The speed setpoint takes effect dependin
55. ission of data using the DP VO service requires a definition of the number of data to be transmitted and of the meaning of these data both at the master and at the slave end If the example projects described above are used the master and the slave have to be configured accordingly When the example projects are loaded the data blocks are already structured as required The telegrams have to be structured as required by the example projects using the DIS 2 ServoCommander parameterisation program Information concerning the use of the telegram editor and further information on the parameters can be found in the previous chapters of the PROFIBUS product manual 13 2 4 1 Reception telegram of the speed control example project In this case reception telegram 1 at the servo positioning controller end has to be configured The following screenshot shows the necessary parameterisation of the reception telegram for the example project An additional diagnostic information is displayed above the button Change entry if a communication could have been established between Master and Slave The really configured length of the telegram from Master to Slave is displayed PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Function and data blocks for SIEMENS S7 Page 81 Profibus telegram editor Telegram type Receive telegram C Respond telegram Master gt gt Slave Slave gt gt Master teleg
56. itioning controller end has to be configured The following screenshot shows the necessary parameterisation of the reception telegram for the example project An additional diagnostic information is displayed above the button Change entry if a communication could have been established between Master and Slave The really configured length of the telegram from Master to Slave is displayed Profibus telegram editor Telegram type Receive telegram C Respond telegram Master gt gt Slave Slave gt gt Master telegram editor Receive telegram 0 m Used Memory ADR 1 Entry 2010 0 ADR 2 Entry 967 0 ADR 4 Entry 1001 0 ADR 8 Entry 1001 1 ADR 12 Entry 1001 5 corresponding Respond telegram 0 Parameterized telegram length 16 Bytes DP Master 1s B Change enry 4 Bytes acr 4 Bytes Delete last entry 16 Bytes Parameterized telegram length 20 Bytes DP Master The following table describes the telegram structure Address Content parameter number Description 0 Identifier OxEO Fixed identifier 1 8 bit placeholder PNU 2010 0 Free 2 Control word 1 PNU 967 0 Control word for device control has to be under this address 4 Target position PNU 1001 0 Target position indication with the physical unit set for PROFIBUS 8 Profile velocity PNU 1001 1 Profile velocity during positioning
57. itioning mode PROFldrive defines special features concerning the behaviour in the positioning mode For this purpose the meanings of the corresponding bits in control word 1 have been defined Homing controlled by the slave for example is started by a certain bit Some features are now described in detail All global options for homing are also valid when homing is started through the PROF ldrive control word 1 An optional following positioning to zero position is performed Due to a manufacturer specific implementation positioning is started only on a rising edge of the associated bit in control word 1 Positioning is started even if no successful homing has been performed beforehand Other manufacturer specific bits are defined in control word 1 in order to be able to perform optional relative or absolute positioning tasks Distinction between absolute and relative positioning Definition as to whether at the start of a positioning run a running position has to be interrupted or whether the positioning run to the started has to be added to the running positioning PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Operating modes Page 69 Some applications require a sequence of motion tasks to be executed without interruption see Figure 11 1 d Interruption of the running positioning t t t Time Figure 11 1 Uninterrupted sequence of motion tasks PROFIBUS Manual Servo positioning
58. its different versions The DP communication protocol DP decentralized peripherals is intended for quick data exchange on the field level On this level central automation devices such as PLC PC or process control systems communicate via a quick serial connection with decentralized field devices such as I O devices drives valves measuring transducers and analysis devices Data exchange with the decentralized devices is mainly cyclic The required communication functions are defined by the DP basic functions version DP VO To meet special requirements of different areas of application the basic functions of DP were extended and special functions were added so that now three versions of DP i e DP VO DP V1 and DP V2 are available Every version has a special main focus They can be described as follows d DP VO This version offers the basic functionality of DP such as cyclic data exchange and station module and channel specific diagnosis d DP V1 This version includes extensions for process automation like for example acyclic data exchange for parameterisation operation monitoring and alarm management of intelligent field devices in parallel to cyclic exchange of useful data Bus devices can be accessed online through engineering tools In addition DP V1 includes alarms like the status alarm the update alarm and a manufacturer specific alarm d DP V2 This version includes further extensions and is main
59. lation conditions for the servo drive controller are to be found in this product manual and must be met KE DANGER The general setup and safety regulations for work on power installations e g DIN VDE EN IEC or other national and international regulations must be complied with Non compliance may result in death personal injury or serious property damages PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 14 Safety notes for electrical drives and controllers Without claiming completeness the following regulations and others apply a VDE 0100Regulations for the installation of high voltage up to 1000 V devices EN 60204 Electrical equipment of machines EN 50178 Electronic equipment for use in power installations 2 4 2 Safety notes for assembly and maintenance The appropriate DIN VDE EN and IEC regulations as well as all national and local safety regulations and rules for the prevention of accidents apply for the assembly and maintenance of the system The plant engineer or the operator is responsible for compliance with these regulations The servo drive controller must only be operated maintained and or repaired by personnel trained and qualified for working on or with electrical devices N ED Prevention of accidents injuries and or damages Additionally secure vertical axes against falling down or lowering after the motor has been switched off e g by means of N ED
60. le project E DIS 2_VELO C Siemens Step7 S7proj Dis_2_ve DIS 2 VELO Systemdaten i 061 GB SIMATIC 30011 FB43 iz DB40 fj CPU 315 2 DP ap VAT VELO i SFCIA B E 57 Programmf1 Actual values DB4O0actual value Actual values of the servo positioning controller for both example projects PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 88 Function and data blocks for SIEMENS S7 m DB40 DIS 2_POS SIMATIC 300 1 CPU 315 2 DP heme None nett rte 0 0 Te1egrauukennung EYE baten may l 0Betriebsart emt ben eo herstellerspezifisch z o POFIRIWE Stamoswori juo bus ense eo ewesim e fiso imo Ree Parameter tie se essescedigeeir pnr um Jba Isbereragener Parameter in defaule Paranerrierumg irejusxsernisteert e fiso pun fiwercragener Parameter in deteui Parametrierung ic cfaigitaie ringaenge pu puereso purero wercragener Parameter in detauit Pareneteiening Positioning FB41 FB position Function block for the positioning mode DB41 Instance DB for FB41 The data block of internal variables belonging to the function block DB42DB position Positioning data m DB42 DIS 2_POS SIMATIC 300 1 CPU 31 mese Je wert nz Co Ex bertregender Parameter in defewlt Parawetrierung 4 0 zielposition sso Jo bertragender Parameter in default Parametrierung 8 0 Fahrgeschwindigkeit Dam Jee bertragender Parameter in default Paranetrierung 12 0
61. lectrical drives and controllers Page 13 2 4 Safety notes gt ok General safety notes The servo drive controller corresponds to IP54 class of protection as well as pollution level 1 Make sure that the environment corresponds to this class of protection and pollution level Got Ng Only use replacements parts and accessories approved by the manufacturer The devices must be connected to the mains supply as per EN regulations so that they can be cut off the mains supply by means of corresponding separation devices e g main switch contactor power switch Ng Gold contacts or contacts with a high contact pressure should be used to switch the control contacts Ng Preventive interference rejection measures should be taken for control panels such as connecting contactors and relays using RC elements or diodes The safety rules and regulations of the country in which the device will be operated must be complied with o o The environment conditions defined in the product documentation must be kept Safety critical applications are not allowed unless specifically approved by the manufacturer Ng For notes on installation corresponding to EMC please refer to User Manual of the servo positioning controller DIS 2 48 10 FB The compliance with the limits required by national regulations is the responsibility of the manufacturer of the machine or system a The technical data and the connection and instal
62. ler DIS 2 48 10 FB Version 1 0 Page 36 Device control 9 Device control 9 1 Overview To make the control of a field device slave independent from the various manufacturers two data words have been specified in the PROFIdrive specification 4 Control word 1 is used to control the major device functions by the master whereas the status of the device is read back in status word 1 The PROFldrive profile defines the order in which certain bits have to be set e g to enable the power stage of the servo controller Device control of servo positioning controllers DIS 2 48 10 FB follows the state diagram specified in the PROFIdrive profile The implementation and potential manufacturer specific deviations are described in detail in chapter 9 4 State diagram and device control The implementation of the control word and the status word only follows the PROF drive specification Deviations from the specifications are marked In addition some bits have different meanings depending on the operating mode In the following chapters first the control word and then the status word are described Then the device control mechanism using these two data words is explained 9 2 Control word 1 Control Word 1 is used to control various device functions e g controller enabling Some bits have corresponding meanings The use of these bits is described in chapter 9 4 State diagram and device control The meaning of the individual bits follows the PROFldrive
63. ly intended to meet the requirements of drive applications Additional functions such as for example isochronous slave operation and slave to slave communication allow DP V2 to be used as a drive bus for controlling quick sequences of motion in drive shafts This version requires special hardware At present the control systems and target applications of the servo positioning controller DIS 2 48 10 FB is not equipped with this hardware This is why support of DV V2 is not intended The versions of DP are specified in detail in IEC 61158 see chapter 1 2 PROFIBUS documentation Every DP system comprises different types of devices Three types can be distinguished DP master class 1 DP master class 2 and DP slaves DP can be used to realize mono and multi master systems and thus offers a high level of flexibility for system configuration A maximum of 126 devices masters or slaves can be connected to the bus PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 22 PROFIBUS DP and PROFldrive Due to the extensive diagnosis functions of DP errors can be localized very quickly Diagnosis messages are transmitted on the bus and collected at the master DP master class 1 DPM1 is a central control system which exchanges information cyclically with decentralized stations slaves in a defined message cycle Typical DPM1 devices are programmable logic controls PLCs or PCs for example DP master class 2 DPM2 devic
64. m revolution gt The feed constant will be ignored WU 2 Position in mm feed constant without a unit gt The feed constant will be considered like a gear ratio 3 Position in mm feed constant in um revolution gt The feed constant will be considered with the factor 1000 m The value of the feed constant will be ignored for the associated physical unit if the feed IL constant has a translatory unit and a rotatory unit has been selected for the physical quantity Problems might arise during operation only if the internal value or the value entered externally cannot be represented following the conversion In such a case an error is issued and the setting of the physical units has to be checked During the parameterisation of the display units intermediate states may occur in which the physical units have an overflow This case generates the error 59 general arithmetic error Perform Save amp Reset in order to find out if the parameterisation is really invalid If no error 59 is active after Reset the settings are valid LI il Perform Save amp Reset if an error 59 occurs during the parameterisation of the physical units The physical units are valid if there is no error after Reset Figure 7 2 shows the interpretation of the gear ratio In the menu Physical units Profibus of the ServoCommander parameterisation program the value Ingoing shaft refers to Uen the value Outgoing shaft to Uaus
65. manual describes the field bus connection of DIS 2 48 10 FB servo positioning controllers under PROFIBUS DP It describes the adjustment of the physical parameters the activation of the PROFIBUS communication the integration into the master connection and the communication with the servo positioning controller It is intended for persons who are familiar with this servo positioning controller model It contains safety notes which have to be complied with Further information can be found in the following manual User Manual DIS 2 48 10 DIS 2 48 10 IC DIS 2 48 10 FB Description of the device functionality and the software functions of the firmware including RS232 communication Description of the DIS 2 ServoCommander parameterisation program with instructions concerning the start up of DIS 2 48 10 servo positioning controllers and description of the technical specifications and the device functionality as well as notes on the installation and the operation of the servo positioning controller DIS 2 48 10 1 2 PROFIBUS documentation PROFIBUS PROcess FleldBUS is a standard defined by the German association of PROFIBUS users PROFIBUS Nutzerorganisation e V A complete description of the field bus system can be found in the following standard IEC 61158 Digital data communication for measurement and control Fieldbus for use in industrial control systems This standard is divided into several parts and defines 10 Fieldbus Pr
66. nit of PROFIBUS position Value range Default value 10 5 2 PNU 1101 Velocity Actual Value This parameter is used to return the actual speed value This value is scaled with the physical unit set for PROFIBUS PNU 1101 Subindex 0 Name Velocity Actual Value Data type INT32 Access ro Unit Physical unit of PROFIBUS velocity Value range x Default value PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Manufacturer specific parameter numbers Page 61 10 5 3 PNU 1102 Current Actual Value This parameter is used to read the actual current value When this value is returned it is referred to the rated motor current PNU 1102 Subindex 0 Name Current Actual Value Data type INT32 Access ro Unit Parts per thousand with regard to the rated motor current Value range Default value 10 5 4 PNU 1140 Digital Outputs The digital outputs can be set via the parameter digital outputs It has to be kept in mind that a delay of up to 10 ms may occur between sending the command and a real reaction of the digital output The time the outputs are really set can be seen by rereading the parameter PNU 1140 Subindex 0 Name Digital Outputs Data type UINT32 Access rw Unit Value range Default value O Bit Value Description 0 00000001h holding brake
67. node number Offset DIN inactive er Effective slave node number 3 Baud rate X ze Figure 8 1 Setting of operating parameters When the communication has been activated the base value of the slave address can no longer be changed PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Operating parameters Page 35 Starting at the base value it is possible to increase the slave address using options and a suitable hardware connection The digital inputs DINO 3 and the analogue inputs AIN1 and AIN2 are intended for this purpose The states of the inputs are read once immediately after a reset and used to calculate the effective slave address Later changes have no effect The options have different values Option Active at Value Addition of DINO 5 24 V DC 0 63 Addition of DIN4 5 24 V DC 16 32 48 The baud rate of the PROFIBUS communication is automatically recognized by the hardware used The automatically detected baud rate is displayed in this menu if a connection between Master and Slave could have been established successfully The following baud rates are supported by servo positioning controllers of the DIS 2 48 10 FB product range Baud rate 9 6 kBaud 19 2 kBaud 45 45 kBaud 93 75 kBaud 187 5 kBaud 500 0 kBaud 1 5 MBaud 3 0 MBaud 6 0 MBaud 12 0 MBaud PROFIBUS Manual Servo positioning control
68. oCommander parameterisation program The number of bytes for the PNU is automatically displayed As a reference the telegram editor also displays the total length of the telegram Important process data with regard to position speed and acceleration are handed over in the form of physical units These units should be parameterized prior to starting the communication as they define the way the data are interpreted in the servo positioning controller Once these steps have been completed the operating parameters of the PROFIBUS connection have to be set The slave address has to be set correctly prior to activating the communication Additional options for controlling the address allocation can be activated through an external connection 5 3 Master overview This section provides an overview of master related steps for parameterisation and configuration The following procedure is recommended 1 Installation of the GSD file 2 Indication of the slave address 3 Configuration of the input and output data At the master end the servo positioning controller has to be integrated into the PROFIBUS To do so the GSD file has to be installed if this has not been done already Then the address for the slave and the input and output data have to be configured This is now described as an example for the integration under SIEMENS SIMATIC S7 PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 26 PROFIBUS connection
69. on 1 0 Telegram editor Page 29 The example telegram in Figure 6 1 transmits the following parameters Addres Content parameter number Description s 0 Identifier OxEO Fixed identifier 1 8 bit placeholder PNU 20100 free 2 Control Word 1 PNU 967 0 Control word for device control has to be under this address 4 Target position PNU 1001 0 Target position indication with the physical unit of a position set for PROFIBUS 8 Profile velocity PNU 1001 1 Profile velocity during positioning indication with the physical speed unit set for PROFIBUS 12 Acceleration PNU 1001 5 Combination of the values for acceleration and deceleration indication with physical unit for acceleration set for PROFIBUS Detailed information on parameter numbers can be found in chapters 9 Device control 10 Manufacturer specific parameter numbers and 12 Profile specific parameter numbers 6 3 Response telegrams The firmware of the servo positioning controller DIS 2 48 10 FB supports 2 response telegrams The necessary parameter numbers have to be entered for every response telegram They include the information concerning the meaning of the data in the telegram In the case of reception telegrams 0 2 a so called status word is entered at address 2 length 2 bytes This consistent convention facilitates the creation of applications and the use of the Metronix example projects for SIEMENS SIMATIC S7 The other entries
70. on against electrical shock by means of protective extra low voltage PELV 16 2 4 5 Protection against dangerous movemente sse 17 2 4 6 Protection against contact with hot parts ssssssssseeeeeneeenen 17 2 4 7 Protection during handling and assembly sss 18 3 Wiring and pin assignment enne enne nenne treten rennen sinn enne 19 341 Pin ssignment TEE 19 3 2 PROFIBUS Cables xr e tei en erste si deg eda ER BL Hee SEENEN 19 3 3 Termination and bus terminating resiseiors enne nn 20 4 PROFIBUS DP and PROEL Idrive ette ete et et edente iced de etd 21 4 1 Overview of DP and its different VErSiONS ener 21 4 2 Basic Tunctioris of DP VO e ar ar a eet dero dee tities d ee e dle ee sin 22 4 3 PROEldrtiVe OVerviGW zu ra e os dete eti rata devise Ced noeh d rave avare ad ub ua exea ec TEAT 22 5 PROFIBUS connections aessa eee enne nennen sient nr sienten ss en tris e nne nen nnns 24 e IW IntrOdUetlOp ui ee EAA ees ra 24 5 2 Slave OVeltVIOW EE 25 5 3 Master EE 25 6 Tel gram editor E 27 Gill LIMTLOGUCTION 24sec tates taste tat teda SS e tds eon E e ch ec ES 27 6 2 Reception telegrams u re ee nahe heben 27 6 3 Response telegramS eene then nennen ns entren etre sentis sn nn nsns 29 4 ePhysical In Ce 31 8 Operating parameters uic na du dee nde di pun dna ENEE 34 8 1 PROFIBUS operating parameters nennen nennen enne nns 34 MEN DI tie Xeo n 1 7 6 rer 36 Jerem naar Ri kai 36 9 2 E0ntrol wordt
71. oning mode Output data area 256dez 100hex Wgl6 100 P DB42 DBX RET V L e122 0 0 BYTE 1 Number of the data block Initial address within the DB 0 0 and of which data are transmitted number of bytes to be transmitted 16 bytes to the slave Writing data for the speed control mode Output data area 256dez 100hex WE165 100 P DB44 DBX RET V L MU22 0 0 BYTE 1 2 Number of the data block Initial address within the DB 0 0 and of which data are transmitted number of bytes to be transmitted 12 bytes to the slave PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 80 Function and data blocks for SIEMENS S7 Parameter Declaration Data type Storage area Description LADDR INPUT WORD E A M D L const Projected initial address of the A area of the module which has to be written to RECORD _ INPUT ANY E A M D L Source area of the useful data to be written It has to be as long as has been projected for the selected module with STEP 7 Only the data type BYTE is admissible RET VAL OUTPUT INT E A M D L If a fault occurs while the function is processed the return value contains a fault code 13 2 4 PROFIBUS connection of DIS 2 48 10 FB servo positioning controller Several steps have to be performed to set up a functional PROFIBUS connection Some settings should or have to be made before the PROFIBUS communication can be activated The transm
72. oning start command The servo positioning controller contains up to 64 storable standard position data sets These data sets can be selected unambiguously on the basis of 8 bits PNU 1002 Subindex 0 Name Start Set Number Data type UINT8 Access rw Unit Value range 0 68 0 63 Standard position data sets 64 67 Reserved 68 Position data set PROFIBUS Default value 68 Position data set PROFIBUS 10 2 4 PNU 1003 Position Profile Type By using this parameter the jerk free ramp is activated The time is not adjustable It is set automatically on the maximum time when activation If the time is changed by DIS 2 ServoCommander parameterisation software the value which is read back via PROFIBUS supplies the value 2 PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Manufacturer specific parameter numbers Page 53 PNU 1003 Subindex 0 Name Position Profile Type Data type UINT16 Access rw Unit Value range 0 2 0 Jerk free is disabled 2 Jerk free is enabled with the maximum time Default value O 10 2 5 PNU 1050 Homing Method Set the homing method by this parameter number Please refer to the USER Manual DIS 2 48 10 FB for a detailed description of the homing methods PNU 1050 Subindex 0 Name Homing Method Data type INT8 Access rw Unit Value range see USER Manual DIS 2 48 10 FB
73. ontroller enabling 1 After completion of the state transition The mask for the relevant bits is 0x0277 Table 9 8 Overview of all state transitions of the servo positioning controller It has to be taken into consideration that some quantities do not always make sense A purely rotatory system for example does not require a feed constant Apart from that the feed constant has a physical unit If this unit has not be parameterized correctly the feed constant will be ignored Power stage disabled AN means that the power semiconductors transistors are no longer activated If this state is assumed while the motor is running the motor will coast down A motor brake which might be present will be put on automatically AN Caution The signal does not guarantee that the motor is really disconnected from N power Power stage enabled A means that the motor is controlled as defined by the selected operating mode A motor brake which might be present will be released automatically In the event of a defect or incorrect parameterisation motor current number of poles encoder offset angle etc the drive might react in an uncontrolled manner gt PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 48 Manufacturer specific parameter numbers 10 Manufacturer specific parameter numbers 10 1 The following table provides an overview of currently implemented PNUs O
74. ontrollers DIS 2 48 10 FB supports 2 reception telegrams The following table shows how the different reception telegrams are connected to specific operating modes Telegram Operating mode Reception telegram 0 Positioning Reception telegram 1 Speed control Once a corresponding telegram identifier is read in the servo positioning controller a check is performed and the associated operating mode is parameterized PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 28 Telegram editor The necessary parameter numbers have to be entered for every reception telegram They include the information concerning the meaning of the data in the telegram In the case of reception telegrams 0 2 a so called control word is entered at address 2 length 2 bytes This consistent convention facilitates the creation of applications and the use of the Metronix example projects for SIEMENS SIMATIC S7 The other entries can be chosen as desired from the object directory of the parameter numbers The only thing that has to be considered is whether they are suitable It is for instance not possible to enter pure actual value data into reception telegrams As far as reception telegrams are concerned the associated response telegrams have to be selected too The user can specify and configure a specific response telegram for every reception telegram In most cases however it is easier to use the same response telegram f
75. or all operating modes reception telegrams 0 2 This reduces the necessary programming workload at the master end In addition the master usually requires the same actual value data from the servo positioning controller in all operating modes Figure 6 1 shows the example of reception telegram 0 positioning mode The entries can be highlighted and changed directly or deleted successively starting with the last entry When an entry is highlighted an additional field is displayed into which the parameter number can be entered New telegram entries are added to the end An additional diagnostic information is displayed above the button Change entry if a communication could have been established between Master and Slave The really configured length of the telegram from Master to Slave is displayed Profibus telegram editor r Telegram type Receive telegram Master gt gt Slave C Respond telegram Slave gt gt Master telegram editor Receive telegram 0 ep telegram length 16 Bytes ADR 1 Entry 2010 0 1 Byte ADR 2 Entry 967 0 2 Bytes EISE ADR 4 Entry 1001 0 4 Bytes ADR 8 Entry 1001 1 4 Bytes Append entry ADR 12 Entry 1001 5 4 Bytes Delete last entry Used Memory 16 Bytes corresponding Respond telegram 0 m ior MEAT In I pre Figure 6 1 Composition of a reception telegram PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Versi
76. ors may cause burns Protection during handling and assembly Handling and assembly of certain parts and components in an unsuitable manner may under adverse conditions cause injuries NP NI SP SP NP NP NI NB DANGER Risk of injury due to improper handling Personal injury due to pinching shearing cutting crushing he following general safety notes apply Comply with the general setup and safety regulations on handling and assembly Use suitable assembly and transportation devices Prevent incarcerations and contusions by means of suitable protective measures Use suitable tools only If specified use special tools Use lifting devices and tools appropriately If necessary use suitable protective equipment e g goggles protective footwear protective gloves Do not stand underneath hanging loads Remove leaking liquids on the floor immediately to prevent slipping PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Wiring and pin assignment Page 19 3 Wiring and pin assignment 3 1 Pin assignment The PROFIBUS interface in the servo positioning controller DIS 2 48 10 FB is in accordance with EN 50170 as 5 pin M12 plug b codes at the technology plug in module as socket and as plug color of conductor Signal Profibus 5V green A line OV red B line shield Figure 3 1 PROFIBUS connector for DIS 2 48 10 FB gt PR
77. otocol Types Among these types PROFIBUS is specified as type 3 PROFIBUS comes in two versions One is PROFIBUS DP for quick data exchange in production and building automation DP decentralized peripherals The standard also describes the integration of the system into the ISO OSI network model Further information contact addresses etc can be found under www profibus com PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 General Page 9 Further documentation in German concerning the use of PROFIBUS DP 1 PROFIBUS DP Grundlagen Tips und Tricks f r Anwender Manfred Popp H thig Verlag Heidelberg 1998 2 Dezentralisieren mit PROFIBUS DP Aufbau Projektierung und Einsatz des PROFIBUS DP mit Simatic S7 Josef Weigmann Gerhard Kilian Siemens Erlangen M nchen 1998 3 Der neue Schnelleinstieg f r PROFIBUS DP Von DP VO bis DP V2 Manfred Popp PROFIBUS Nutzerorganisation e V Karlsruhe 2002 4 PROFldrive Profile Drive Technology Vers 3 1 PROFIBUS Nutzerorganisation e V Karlsruhe 5 EC 61158 Feldbus f r industrielle Leitsysteme PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 10 Safety notes for electrical drives and controllers N Safety notes for electrical drives and controllers 2 1 Used symbols Information Important information and notes jl d Caution Nonobservance may result in severe property damages DANGER
78. parameters of the physical units should be set once and then remain unchanged during a running application Unit related factors are calculated internally so that all the user has to do is to select the desired unit The gear ratio and the feed constant are stated as separate parameters Figure 7 1 shows the physical unit set up menu of the DIS 2 ServoCommander program Physical units Profibus Position Revolutions 1 000 R 1000 Speed Revolutions per minute r min D Acceleration Revolutions per minute second r min s M Feed constant Gearbox Drive h Dutput H Figure 7 1 Setting of physical units When the physical units are entered the firmware automatically calculates conversion factors They consist of a numerator and a denominator which can comprise a maximum of 32 bits each If an overflow occurs when the factors are entered the value will be rejected In this case the factors or the physical units have to be corrected It has to be taken into consideration that some quantities cannot always be used in a sensible manner A purely rotative system for example does not require a feed constant Apart from this the feed constant has a physical unit If this unit is not parameterized correctly the feed constant will be ignored PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 32 Physical units Example 1 Position in revolutions feed constant in m
79. profile In addition some functions are a manufacturer specific and some bits have a manufacturer specific functionality PNU 967 Subindex 0 Name Control word 1 Data type UINT16 Access rw Unit Value range Default value O PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Device control Page 37 In reception telegrams 0 2 control word 1 is bound to a fixed position The system evaluates the control word always as the last datum This means that new target positions are written first A command to start a positioning run which is transmitted simultaneously therefore always refers to the data transmitted in the same telegram Some bits have different meanings depending on the operating mode The two following tables show the meanings for the two operating modes Bit Meaning Behaviour 0 ON OFF OFF 1 See the Device control section chapter 9 4 1 No coast stop no OFF 2 State diagram and device control coast stop OFF 2 2 No quick stop no OFF 3 quick stop OFF 3 3 Enable Operation Disable Operation 4 1 Enable ramp generator 1 All speed setpoints enabled 0 Reset ramp generator 0 All speed setpoints disabled 55 1 Unfreeze ramp generator 1 Setpoint ramp enabled 0 Freeze ramp generator 0 Ramp stopped frozen 6 1 Enable setpoint 1 All setpoint inputs for the ramp enabled 0 Disable se
80. put 16 Words Input 1 Word Output 2 Words Output 3 Words Output A df erde Pues d I D The telegram length has to be taken into consideration when selecting the modules This means Select the module 8 Words Output for the positioning mode setpoint telegram and the module 6 Words Output for the speed control setpoint telegram Select the module 10 Words Input for the actual value telegram PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Function and data blocks for SIEMENS S7 Page 87 It is also possible to use both function blocks in one project In this case the module 8 Words Output has to be used The Profibus address of the servo positioning controller has to be set in the Properties window The address has to be the same as the address previously set with the DIS 2 ServoCommander program The servo positioning controller is now integrated The hardware configuration should now look like that PROFIBUS 1 DP Mastersystem 1 PS 307 54 CPU 315 2 DP DI8 DO8x24V 0 54 DIS 2 FB The S7 project is now prepared and programming can be started 13 2 9 Overview of function and data blocks Overview of positioning mode example project UE DIS 2_POS C Siemens Step7 S 7proj Dis_2_po DIS 2_POS Systemdaten iz 081 EB SIMATIC 30001 FB41 i3 DB40 B f CPU 315 2DP a VAT POS ga SFC14 et 7 Programm 1 Bj Quellen Bausteine Overview of speed control examp
81. ram editor Receive telegram 1 hd ADR 1 Entry 2010 0 ADR 2 Entry 967 0 ADR 4 Entry 1010 0 ADR 8 Entry 1011 2 Used Memory 1 Byte 2 Bytes 4 Bytes 4 Bytes corresponding Respond telegram 0 e Parameterized telegram length 12 Bytes DP Master Change enry Append entry Delete last entry 12 Bytes Parameterized telegram length 20 Bytes DP Master The following table describes the telegram structure Address Content parameter number Description 0 Identifier OxE1 Fixed identifier 1 8 bit placeholder PNU 2010 0 Free 2 Control word 1 PNU 967 0 Control word for device control has to be under this address 4 Target velocity PNU 1010 0 Speed setpoint indication with the physical unit set for PROFIBUS 8 Acceleration PNU 1011 2 Combination of the values for acceleration and deceleration indication with the physical unit set for PROFIBUS The total length of this telegram is 12 bytes When the slave is integrated into the hardware configuration of the master the module 6 Words Output has to be selected for the output data and connected to one of the ports PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 82 Function and data blocks for SIEMENS S7 13 2 4 2 Reception telegram of the positioning example project In this case reception telegram 0 at the servo pos
82. reached When this output is set the actual velocity is in the parameterized tolerance window of the target speed declared speed velo exceeded If this output is set the actual speed is greater than the free reference speed fault If this output is set there is a fault The controller enabling is cancelled The output is reset after the fault has been acknowledged 13 2 3 Integration of FBs and DBs As shown in the overview the function and data blocks developed for the DIS 2 48 10 FB servo positioning controllers can be downloaded free of charge oO Information iI The function and data blocks can be downloaded under www metronix de The blocks are packaged into two example projects in the file FB_DB_DIS 2 FB_xpx zip xpx stands for the current version number The file can be opened using commercially available programs such as for example WINZIP Example projects Operating mode Example project Positioning DIS 2_FB_POS zip Speed control DIS 2_FB_VEL zip The unpacked example projects can be de archived under STEP7 The relevant FBs DBS and SFCs can be copied from these de archived example objects PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 78 Function and data blocks for SIEMENS S7 To ensure consistent data exchange between the PROFIBUS master and the PROFIBUS slave the system functions SFC14 consistent reading and SFC15 consistent writing must
83. rge extent from the PROFIdrive specification PROFIdrive distinguishes between a ramp stop and a quick stop In firmware 3 0 the controller enabling is deactivated in both cases so that the simplified state diagram shown in Figure 9 1 results After it has been switched on the servo positioning controller initializes and finally reaches the SWITCHING ON INHIBITED state The power stage is deactivated and the motor shaft can be rotated freely if no holding brake in the motor Via state transitions 1 2 and 3 the OPERATION state is reached This state corresponds to the controller enabling through PROFIBUS In this state the power stage is activated and the drive is controlled as defined by the operating mode set Make sure that the servo positioning controller has been parameterized correctly and that an associated setpoint equals zero Einschalten S1 SWITCHING ON INHIBITED A en S2 READY_FOR_SWITCHIN A Y S3 SWITCHED ON S4 OPERATION A Figure 9 1 Simplified state diagram State transition 4 corresponds to the cancellation of the controller enabling i e a running motor is slowed down to standstill following a set emergency stop ramp State transition 7 corresponds to the cancellation of the power stage enabling i e a running motor would coast down in an uncontrolled manner PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Ver
84. rsion 1 0 Page 66 Manufacturer specific parameter numbers 10 7 2 PNU 1610 Error Managment The parameter error number contains the error number which is to be found in the DIS 2 ServoCommander under Error management The parameter Error Reaction Code indicates the reaction of the servo positioning controller to different situations PNU 1610 Name Error Management Subindex 0 Name Error Number Data type UINT8 Access rw Unit Value range 1 64 Default value Subindex 1 Name Error Reaction Code Data type UINT8 Access rw Unit Value range 0x00 0x03 0x05 0x08 Default value Value Description 0x00 no reaction 0x03 warning display 0x05 brake with quick stop deceleration 0x08 power stage motor coast off PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Operating modes Page 67 11 Operating modes 11 1 Overview The servo positioning controllers DIS 2 48 10 FB offer two operating modes via PROFIBUS d Speed control d Positioning Within the operating modes different behaviour is the result of setpoint selectors which can be parameterized differently PROFIdrive see chapter 1 2 PROFIBUS documentation defines so called application classes These classes can be set using corresponding parameter numbers To simplify this the operating mode is linked to
85. ruction as per the standards of safety engineering regarding the maintenance and use of adequate safety equipment First aid training The following notes must be read prior to the initial operation of the system to prevent personal injuries and or property damages D l These safety notes must be complied with at all times 1 Do not try to install or commission the servo drive controller before carefully reading all safety notes for electrical drives and controllers contained in this document These safety instructions and all other user notes must be read prior to any work with the servo drive controller In case you do not have any user notes for the servo drive controller please contact your sales representative Immediately demand these documents to be sent to the person responsible for the safe operation of the servo drive controller o If you sell rent and or otherwise make this device available to others these safety notes must also be included o PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 12 Safety notes for electrical drives and controllers n The user must not open the servo drive controller for safety and warranty reasons Professional control process design is a prerequisite for sound functioning of the servo drive controller o 2 3 Danger resulting from misuse PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Safety notes for e
86. sion 1 0 Page 44 Device control If a fault occurs no matter in which state the system is led to the SWITCHING ON INHIBITED state Depending on the severity of the fault certain actions e g an emergency stop can be performed before this state is reached The states and their meanings are listed in the following table Name Meaning Switching on The servo positioning controller performs a self test The PROFIBUS communication does not work yet SWITCHING ON INHIBITED The servo positioning controller has completed its self test PROFIBUS communication is possible READY FOR SWITCHING The servo positioning controller waits until the digital inputs power ON stage enable and controller enable are connected to 24 V Controller enabling logic Din9 and Profibus SWITCHED ON Power stage enabling is active OPERATION The motor is connected to power and is controlled as defined by the operating mode 9 4 2 Device control To perform the state transitions described in chapter 9 4 1 State diagram certain bit combinations have to be set in control word 1 see below The lowest 4 bits of control word 1 are evaluated together to trigger a state transition In the following section only the most important state transitions 1 2 3 4 7 and 11 are explained A table showing all possible states and state transitions can be found in chapter 9 4 3 Command overview The first column of the followin
87. sition set 6 0 gt 1 Activate traversing task Manufacturer specific implementation 0 gt 1 Start of the positioning run under the set position data set if boundary conditions are fulfilled 7 Fault acknowledge Active errors are acknowledged if possible edge from 0 21 8 Jog 1 ON Jog 1 OFF Manufacturer specific implementation 0 gt 1 Start of positioning in accordance with positive jogging position set 1 gt 0 Stop with deceleration in accordance with positive jogging position set 9 Jog 2 ON Jog 2 OFF Manufacturer specific implementation 0 gt 1 Start of positioning in accordance with negative jogging position set 1 gt 0 Stop with deceleration in accordance with negative jogging position set 10 1 Control by PLC 1 Control word evaluated 0 No control by PLC 0 Control word not evaluated 11 Start Stop homing procedure 1 No action Continue homing 1 gt 0 Homing still active Termination of homing without error Homing already terminated No action 0 No action 0 gt 1 Start of homing le Relative absolute At positioning start 1 Relative positioning 0 Absolute positioning Te Interrupt current positioning add At positioning start 1 Interrupt current positioning immediately start new positioning 0 Add positioning to the end of the running positioning 14 15 Device specific PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0
88. ss is registered in all receive and response telegrams The term PKW results from Parameter Kennung Wert parameter identification value stated in a former version of the PROF ldrive standard There the value for the identification was limited Here the access is enlarged to higher parameter numbers PNU 2000 Subindex 0 Name PKW Access manufacturer specific Data type 2 UINT32 8 Byte Access rw Unit PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Manufacturer specific parameter numbers Value range Byte 0 Access type 0x00 No access 0x41 Read access 0x42 Write access Other values reserved Page 63 Byte 1 2 Parameter number Byte 3 Subindex Byte 4 7 Data Default value O 10 6 2 PNU 2010 Placeholders These parameters are used to fill up parameters As a result data areas e g data blocks can be structured such that parameters with a length of 2 or 4 bytes are located at even storage addresses PNU 2010 Name Placeholder Subindex 0 Name 8 Bit Data type UINT8 Access rw Unit Value range Default value O Subindex 1 Name 16 Bit Data type UINT16 Access rw Unit Value range S Default value O Subindex 2 Name 32 Bit Data type UINT32 Access rw Unit Value range Default value O PROFIBUS Manual Servo posi
89. te 0 Not Ready To Operate 2 1 Operation Enabled 0 Operation Disabled 3 1 Fault Present 1 Active faults 0 No Fault Present 0 No fault active 4 1 No OFF2 1 No OFF2 command active 0 OFF2 0 OFF2 command control word 1 power stage OFF active 5 1 No OFF3 1 No OFF3 command active 0 OFF3 0 OFF3 command control word 1 quick stop active 6 1 Switching On Inhibited See the Device control section 0 Switching On Not Inhibited 7 1 Warning Present 1 Active warning and or setpoint disabling through limit 0 No Warning Present Switch active in at least one direction of rotation 0 No warning active 8 1 Speed error within tolerance 1 The actual speed is within the parameterizable range message window around the target speed 0 Speed error out of tolerance 0 The actual speed is out of the parameterizable range message window around the target speed 9 1 Control by PLC Mirroring of bit 10 of control word 1 0 No control by PLC PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Device control Page 41 10 1 forn reached 1 Actual speed gt freely parameterizable reference 0 f or n not reached speed 0 Actual speed freely parameterizable reference speed 11 Device specific Free 13 14 Device specific Free 15 Different meaning in another operating mode Table 9 4 Status word 1 for speed control mode For this comparison the sign character is always tak
90. this Version 1 0 Page 46 9 4 3 Command overview Device control The following table shows the commands for the state transitions described in chapter 9 4 1 State EE combination for control word 1 diagram E Will be performed if Power stage and con troller enabling present no Coast Stop no Quick Stop command OFF Command Enable Operation Enable Operation Disable Operation Coast Stop Coast Stop Coast Stop Coast Stop m II f Cancellation o 0x0201 controller enabling 0x0250 Coast Stop None resp 0x0270 Bi E Control in accordance 0x0207 Activation of power stage enabling and with adjusted operating mode ad of controller ad The power stage is disabled The motor coasts down and ca be rotated freely en De 1 0x0201 0x0203 n Cancellation of power stage enabling llati f Command Quick Stop n de 0x0260 controller enabling Command OFF OFF E EE 0x0201 controller enabling PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Cancellation of controller enabling 0x0260 Version 1 0 Device control Page 47 No Will be performed if Bit combination for control word 1 Action Status word 1 C llati f Command Quick Stop ud 0x0260 c
91. tioning controller DIS 2 48 10 FB Version 1 0 Page 64 10 6 3 PNU 2011 Element 0 Manufacturer specific parameter numbers This parameter has basically the same purpose as the parameter PNU 2010 2 The only difference is that it is not shown in the telegram editor of the DIS 2 ServoCommander program if it is entered at the end of a telegram The number of entries in a telegram is limited to 10 Unused entries therefore contain this PNU PNU 2011 Subindex 0 Name Element 0 Data type UNT32 Access rw Unit Value range Default value O PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Manufacturer specific parameter numbers Page 65 10 7 Parameter for Various Intents This section contains parameters which are not explicitly assigned to a special function group 10 7 1 PNU 1601 Last Error Code This parameter number returns the last generated error With the parameters error Field 0 and error Field 1 the actual errors codes can be read out PNU 1601 Name Error Code Subindex 0 Name Error Field 0 Data type UINT32 Access ro Unit Value range see USER Manual DIS 2 48 10 FB Default value Subindex 1 Name Error Field 1 Data type UINT32 Access ro Unit Value range see USER Manual DIS 2 48 10 FB Default value PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Ve
92. tpoint 0 All setpoint inputs for the ramp deactivated 7 Fault acknowledge Active errors are acknowledged if possible edge from 0 gt 1 EN Jog 1 ON Jog 1 OFF The speed of motion of the positive jogging position set is preset as a speed setpoint through the ramp 9 Jog 2 ON Jog 2 OFF The speed of motion of the negative jogging position set is preset as a speed setpoint through the ramp 10 1 Control by PLC 1 Control word evaluated 0 No control by PLC 0 Control word not evaluated 117 Device specific free 12 15 Device specific free Different meaning in another operating mode Table 9 1 Control word 1 for speed control mode PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 38 Device control Bit Meaning Behaviour 0 ON OFF OFF 1 See the Device control section chapter 9 4 State 1 No coast stop no OFF 2 diagram and device control coast stop OFF 2 2 No quick stop no OFF 3 quick stop OFF 3 3 Enable Operation Disable Operation 4 1 Do not reject traversing task 9 The current positioning run is cancelled or no 2 Reject traversing task positioning is started 1 No action 5 1 No intermediate stop 0 No action or no positioning is started 0 Intermediate stop 0 gt 1 Acceleration to motion speed in accordance with the current position set 1 No action 1 0 Stopping with deceleration in accordance with current po
93. us au ADR 4 Entry 1100 0 4 Bytes ADR 8 Entry 1101 0 4 Bytes Append entry ADR 12 Entry 1102 0 4 Bytes ADR 16 Entry 1141 0 4 Bytes Delete last entry Used Memory 20 Bytes The following table describes the telegram structure Addres Content parameter number Description s 0 Identifier 2 OxFO Fixed identifier 1 Operating mode PNU 1500 0 Current operating mode of the servo positioning controller 2 Status word 1 PNU 968 0 Control word for device control has to be under this address 4 Position Actual Value Actual position indication with the physical position unit PNU 1100 0 set for PROFIBUS 8 Velocity Actual Value Actual speed value indication with the physical speed PNU 1101 0 unit set for PROFIBUS 12 Current actual value Actual value of the current indicated per thousand PNU 1102 0 referring to the nominal motor current 16 Digital inputs Current status of the digital inputs see for the meaning PNU 1141 0 of the bits in the detailed description of the PNU The total length of this telegram is 20 bytes When the slave is integrated into the hardware configuration of the master the module 10 Words Output PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Page 84 Function and data blocks for SIEMENS S7 has to be selected for the input data and connected to one of the ports 13 2 5 Creating an S7 program
94. verview PNU Sub Description Type Acces index S 1000 0 Position set number read write UINT16 rw 1001 Position data 0 Target position INT32 rw 1 Profile velocity INT32 rw 3 Acceleration positioning UINT32 rw 4 Deceleration positioning UINT32 rw 5 Acceleration and deceleration positioning UINTS2 jrw 0 Start set number UINT8 rw 1002 0 Profile type of the position sets INT16 rw 1003 0 Target velocity INT32 rw 1010 Accelerations for velocity control 1011 0 Acceleration velocity control UINT32 rw 1 Deceleration velocity control UINT32 rw 2 All accelerations velocity control UINTS2 jrw Current limitation 1022 0 Selector for current limitation INT8 rw 1 read write setpoint for current limitation INT32 rw Jogging 1040 0 Jogging velocities symmetrical INT32 rw 1 Jogging accelerations symmetrical UINT32 rw 0 Homing method INT8 rw 1050 0 Homing offset INT32 rw 1051 0 Position actual value INT32 ro 1100 0 Velocity actual value INT32 ro 1101 0 Current actual value INT32 ro PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB Version 1 0 Manufacturer specific parameter numbers Page 49 1102 0 Digital outputs UINT32 rw 1140 0 Digital inputs UINT32 ro 1141 0 DC bus voltage UINT32 ro 1150 0 Power stage temperature INT16 ro 11

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