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MAN529 - Quin Systems Ltd

1. 17 The QManager Machine Mana eer 17 PTS commands for SERVOnet 18 CO CAN OUEN aaa un ae et a de 18 SI CAN module Number nn nn ra aies 19 LK master map Link over CANbus ccccecccceceesseeeeeeeeseees 19 ME Map TH Se a n lna u abu it 19 NizdiffereNttal ARE y a AN Seat 19 RN Reset module Number 19 XN eXecute sequence on remote Node ccccccceeseeeeeeeeeees 20 FW Fault options Wotrd 21 SERVOnet node table LN NN NT NQ 22 PTS Program Writing for SERVOnet 23 Copyright 2004 Quin Systems Ltd Page 1 SERVOnet for PTS Issue 6 7 SERVOnet Error Detection and Handling 24 7 1 Error Detection In Fail Safe mode ccsssecceseeresceseeeeees 24 72 Hot Swapping Servicing a working machine 0 24 73 What happens when a SERVOnet error occurs 25 74 Advanced SERVOnet error handling using FW 26 7 4 1 Using FW ona multi axis machine that mechanically Interlocks26 7 4 2 Using FW ona multi axis machine with significant product momentum27 8 SERVOnet node table 28 8 1 Node table principles 28 8 2 PTS commands for node table 28 62 1 LN Tist Node table a uu tended eon natin 28 8 2 2 NN
2. validated this is a node table built from NN and NT commands These have previously been saved by SP100 and can be listed by LA100 The node listing is a tabular form of NN NT and NQ commands Type the NT value for the node State the NQ value for the node Chans the NN value for the node First calculated first channel number for each node 8 2 2 NN Number of channels on Node This sets the number of PTS channels on any given node For example for a QDrive this will be 1 or 2 depending upon whether the virtual channel is disabled or enabled Syntax NN lt node gt lt channels gt NN lt node gt may be used to query the setting of any node Jes mint 2 Set node 1 to have 2 channels 1 nnl query node 1 NN2 Note response doesn t have node number 1 nn1 1 Set node 1 to have 1 channel TE nnd query NN1 response 8 2 3 NT Node Type This sets whether any given node is optional or required An optional node can be missing from the network and the QManager Machine Manager will simply ignore commands to the PTS channels on that node a required node should never be missing Syntax NT lt node gt lt type gt where type is 0 for optional and 1 for required NT lt node gt may be used to query the setting of any node 1 nt2 0 Set node 2 to be optional 1 nt2 query node 2 NTO Note response doesn t have node number TE et 2 71 Set node 2 to be required
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4. CA2049 4 screened pair Hiperlink cat 5 7 0 16mm 26AWG grey 100 M reel Farnell 296 788 CA2050 8 core screened to 61 12 part 5 16 0 2 mm black 100 M reel Farnell 715 839 Note that for short links it may be simpler to use a ribbon lead with IDC connectors The CANbus cable should not exceed 100m total and individual module to module connections should not be less than 10cm long 3 2 Connectors Each PTS module with the exception of SRV300 and PTSQ5xxx series QDrives has a male and female 9 pin sub D type connector for CANbus thus a simple daisy chain wiring system can be employed SERVOnet includes a hardware error detection method built into the CANbus cable itself Certain modules SRV300 and PTSQ5xxx series QDrives are constrained for space and use RJ45 connectors rather than D type Link cables use pre made assemblies drawing QDV 2 2 011 shows these and the necessary adaptors and termination Note that RJ45 connectors do not accommodate Hot swap wiring Page 8 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS 3 3 Connection table The connections for both male and female 9 pin sub D type CANbus connectors are Description k reserved CAN L signal CAN ground 0 V SERVOnet Continuity line CAN shield CAN ground 0V CAN H signal SERVOnet Error line CAN V 12V G ain R D Table 2 Pin descriptions for SERVOnet Cable A 12V DC powe
5. 1 nt2 query NTI response Copyright 2004 Quin Systems Ltd Page 29 SERVOnet for PTS Issue 6 S 2 4 SP100 Save Node Table To save the node table into the PTS use bit 2 of SP To reset a node table to default clear no table use RS bit 2 e g RS100 SP100 to clear completely Note power cycle the whole SER VOnet system after saving the node table to check it is correctly configured 8 2 5 NQ Query Node status This has two uses it can be used to tell if any given module node is present on the SER VOnet or to tell the status of the node table itself NQ lt node gt e g NQ1 lt return gt This will return 1 0 or 1 Use NQ NQI1 or similar PTS code and interpret the return value according to the following table NQ lt node gt returns Meaning 1 Node is not present on the network Node was required and so shouldn t be missing PTS user program will not function correctly any commands sent to the channels on this node will fail with device not ready errors 0 Node is not present on the network Node was optional and is asleep PTS commands can be sent to the channels on this node but they won t do anything 1 Node is alive and communicating PTS instructions such as PC can be sent to the PTS channels on this node Table 8 NQ return values axis module Page 30 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS The second form of NQ queries the state of the node table Th
6. FIG 3 SERVONET WIRING MORE THAN 15 NODES FOR FAIL SAFE SCENARIO A centre feed link should be fitted with two sockets and power runs out to the ends with the free socket always carrying the supply and a free plug always dead when disconnected this avoids accidents due to pins of plugs contacting ground Note this cabling is not compatible with the SRV300 PTSQ5xxx product please contact Quin Systems for more information if required Copyright 2004 Quin Systems Ltd Page 11 SERVOnet for PTS Issue 6 3 6 Wiring using an active terminator Quin can supply an active terminator for networks containing many nodes up to 60 This terminator boosts the error line signal and ensures consistent operation This wiring is only suitable for QDrives QMotion products with sub D type connectors Please contact Quin for details if using the SRV300 PTSQ5xxx product CAN_Gnd CAN_L CAN_H CAN_Gnd Error CAN_V Screen oo NS OD a wo N Monitor 2 D9 Plug D9 Socket Up to 9 nodes in this run D9 Socket Up to 11 nodes in this run 0 volts Supply feed Supply 6 CAN_Gnd 2 CAN L 7 CAN H 3 CAN Gnd 4 8 _ Error 9 CAN_V 5 Screen D9 Plug D9 Plug D9 Socket D9 Socket D9 Plug D9 Plug note not pin 9 Up to 11 nodes OR OL pin 9 up to 11 nodes in this run in this run 0 volts Supply feed Supply 1 6 CAN_Gnd 2
7. QUIN SERVOnet A PTS SYSTEM USING DISTRIBUTED CONTROL UNITS This manual also covers SynchroLink and using CANopen devices encoder and 1 0 on CANbus enabled PTS systems MAN 529 Issue 6 August 2004 Copyright Notice Copyright 2004 Quin Systems Limited All rights reserved Reproduction of this document in part or whole by any means without the prior written consent of Quin Systems Limited is strictly prohibited SERVOnet is a registered trade mark of Quin Systems Ltd Software Version This manual reflects the following firmware software versions PTS Firmware version 1 9 3 1 or later for SERVOnet PTS Firmware version 1 9 1 1 or later for SynchroLink PTS Firmware version 1 9 1 1 or later for CANopen devices Important Notice Quin Systems reserves the right to make changes without notice in the products described in this document in order to improve design or performance and for further product development Examples given are for illustration only and no responsibility is assumed Tor their suitability in particular applications Although every attempt has been made to ensure the accuracy of the information in this document Quin Systems assumes no liability for inadvertent errors Suggestions for improvements in either the products or the documentation are welcome and should be addressed to Quin Systems Limited Oaklands Business Centre Oaklands Park Wokingham Bershire RG41 2FD Telephon
8. 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS Receive Receive SDO tx messages from chosen node This turns on or off the displaying of CANopen SDO messages from the chosen node SDO messages will be interpreted and displayed giving R W byte index sub index and 4 data bytes as per CANopen syntax Send Send an SDO rx message This will be sent to the currently selected node You will be prompted for the R W flag Index sub index and D1 D2 D3 and D4 data bytes as per CANopen syntax No transmit acknowledgement will be generated won t work at the same time as FS9 or FS10 on Q Drive MiniPTS 1 1 and MiniPTS 3 All commands are case insensitive ignore spaces and can be shortened to their first character except NMT and Quit B 7 4 CANopen configuration The CANopen I O PDO configuration must be as follows 1 PDOI tx digital inputs asynchronous with inhibit time used to create debounce for noisy inputs BECKHOFF The default configuration is fine except for noisy inputs need to change Index 1800 sub index 03 in this case and then save settings PDO2 tx analogue inputs should be configured to transmit data when the analogue signal changes by a certain amount event with threshold use an inhibit time as well if system is noisy In this manner the bus load will be restricted and PTS trigger variables will not be continuously firing If the analogue input can only be set to transmit synchronously the
9. EI1 etc Copyright 2004 Quin Systems Ltd Page 51 SERVOnet for PTS Issue 6 3 PDOI rx is used to receive digital output data and PDO2 rx is used to receive analogue output data Once the configuration has been performed remember to save these settings in the CANopen device NVM CANopen objects and sub indexes not mentioned here should be left at their factory defaults It is quite possible to configure the CANopen I O is such a way that data is not sent to PTS correctly so avoid doing any further configuration unless confident of the outcome B 7 4 1 Sending Service Data Objects SDO The CANopen configuration shell allows you to query and configure a CANopen device using the SDO system Typing S or Send will prompt you for a number of parameters used to build an SDO message This will be transmitted from the PTS and received by a CANopen module target node number as set by the N or Node command A response will be generated by the CANopen module which will be displayed by the PTS if R or Receive is set to on A CANopen SDO message has the following 8 bytes of data Byte 1 2 3 4 5 6 7 8 Meaning R W Index sub ind DI D2 D3 D4 Entering the values to construct the SDO message is done using hexadecimal Read Write Byte Choose from the following table Value hex Meaning 40 Read data length independent D1 D4 ignored 22 Write
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11. CAN L 7 CAN H 3 CAN Gnd 4 8 _ Error 9 CAN V 5 Screen a D9 Socket D9 Socket up to 11 nodes Up to 9 nodes Monitor 1 in this run in this run 0 volts Supply feed Supply FiG 4 SERVONET WIRING USING ACTIVE TERMINATOR UP TO 60 NODES Page 12 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS Here three power feeds are used each powering a section of the network Special link cables are used to join the sections pin 9 the power feed is not connected The active terminators boost and control the error line signal Note the careful choice of plug and sockets to ensure connection disconnection does not cause problems with shorting to ground earth Active Monitor jumper settings Lt 0 m x Jumpers as for Monitor 2 or Monitor 1 FIG 5 ACTIVE MONITOR JUMPER SETTINGS 3 7 Error Line Logic The logic of the standard error line and continuity wiring is given in the following figure Error driver Error line FIG 6 CANBUS WIRING A node may give an error output by reason of logical faults or lack of node power and error from any node signals to all nodes A break in the continuity line also creates an error which signals to all nodes on the powered side of the break Nodes unpowered because of the break see a No CANbus power error Copyright 2004 Quin Systems Ltd Page 13 SERVOnet for PTS Issue 6 4 Configuring SERVOnet Once the SER VOnet wi
12. Machine Manager This manual also covers SynchroLink a subset of SERVOnet used for linking separate and independent PTS controllers and for including LinMot actuators within the system refer to Appendix A on page 36 for this CANOopen I O and encoder devices can be used with SERVOnet and SynchroLink The use of these is detailed in Appendix B on page 45 Issue 6 of this manual introduces Updated wiring diagrams for long or many noded SERVOnet systems Issue 5 of this manual introduces SERVOnet node table PTS V2 1 and higher SERVOnet error line control PTS V2 2 1 1 and higher Re ordered Appendix B on page 45 General changes for SRV300 product and other updates 1 1 Technical Specification SERVOnet supports the following features Up to 58 axis modules and one QManager Machine Manager on a SERVOnet network SERVOnet uses CANbus as the network transport medium Control up to 24 motors using a Mini Machine Manager Control up to 180 motors using a QManager Machine Manager Use any combination of MiniPTS 3 SERVOnet axis modules 3 real motors 1 optional virtual motor Q Drive SERVOnet axis modules 1 real motor 1 optional virtual motor and SRV300 ABB ACS600 ACS800 series with Quin inside axis modules 1 real motor 1 optional virtual motor Future developments will add more types of Axis Modules that can be used on SERVOnet Network length maximum 100m minimum module module cable length 10
13. Number of channels on Node 29 8 2 3 NI Node Type aa Da n ann gas yakus aa 29 8 2 4 SP100 Save Node Table 30 8 2 5 NQ Query Node status 30 9 Error Messages and Codes 32 10 SERVOnet LED Displays 34 10 1 MiniPTS 3 SERVOnet Axis Module Mini Machine Manager and QManager34 10 1 1 Axis Module SERVOnet LED error codes 35 10 2 Q Drive SER VOnet Axis Module 35 10 3 Machine Manager a 36 Appendix A SynchroLink 36 Pea LL Intred ugti mi cun tatanpa maqaam ansa e 36 A 2 Features of SynchroLink 36 A 3 Wiring Requirements for SynchroLink 36 A 4 SynchroLink between two or more SER VOnets 37 A 4 1 Enabling the Second CAN Port 38 A 4 2 SI amp CN Commands 38 A 4 3 ML and NL Commands 38 A 4 3 1 CF Command 39 A 4 3 2 CQ Command e nere nerne 39 A 4 3 3 SERVOnet Node Number Limit 00 0 0 eeeeeeee 39 A 4 4 SERVOnet Clock 40 Page 2 Copy
14. SERVOnet Fraba Absolute encoder usage details given Beckhoff BK51xx series digital and analogue I O usage details given Weidmuller CAN Bridge 1 digital I O module only B 5 1 CANbus Connection Most CANopen devices give their own isolated power to their interface circuits and most units make no provision for connection of the 9 standard CANbus leads A simple 3 wire connection from the non powered SERVOnet SynchroLink terminator is generally recommended with the 120Q bus termination installed at the CANopen unit CAN L 120Q termination oe CAN Gnd 0 volts 5 Last SERVOnet node CANopen unit terminator FiG 9 CANOPEN UNIT WIRING For process and power connections refer to the CANopen module data sheets Copyright 2004 Quin Systems Ltd Page 47 SERVOnet for PTS Issue 6 B 6 CANopen Encoder B 6 1 Hardware configuration The encoder needs configuring to transmit its data in a certain manner specific details for Fraba encoder included here 1 Baud rate of CANbus for SERVOnet and SynchroLink is 500kBit s FRABA This means that the following DIP switches in the encoder should be set DIP 8 ON DIP 7 OFF and DIP 6 ON 2 Node number for encoder should be the same as the Quin unit requiring the encoder data CN setting on SynchroLink Axis Module number on SERVOnet FRABA This is set on DIP switches 1 to 5 as per encoder user manual section 6 2 Settings i
15. SERVOnet power or protocol error The motor error user error routines in PTS can be used to slowly ramp the machine down after an error has occurred NOTE if FW bit 3 is used it may not be possible to communicate with the axis module to stop the motor an EStop would be required Copyright 2004 Quin Systems Ltd Page 27 SERVOnet for PTS Issue 6 8 SERVOnet node table 8 1 Node table principles When a SERVOnet system is switched on the QManager Machine Manager waits 6 15 seconds and then scans the network to find axis module s using the scheme detailed in section 4 1 on page 14 By default a SERVOnet system scans the network and dynamically builds the module node table from what is detected This provides an efficient solution but has two potential pitfalls What if an axis module fails to start The SERVOnet will not have all it s required PTS channels the NC command should be used to check for this situation What if part of the machine is deliberately missing A truly modular machine will have optional components The dynamic module detection system will not allow for this Using the SER VOnet node table it is possible to pre load the module configuration into the QManager Machine Manager so that instead of building the table dynamically it compares what is found on the network with the table and reacts accordingly To build a node table a number of steps need to be performed e Decide how many modules there wi
16. Using FW on a multi axis machine that mechanically interlocks Consider a machine where the product and mechanism form a gear train which is driven by many servo motors One servo motor is the master and the other servo motors are map slaves using the ML and XM commands of PTS If a slave motor should fail it is imperative that the machine stops quickly and in sychronisation To achieve this set FW bits 2 and 4 on all slave motors leave the master with FW bits 2 and 4 unset If the master fails it will stop and all synchronised slaves will also come to a standstill via mapping If any one slave fails it will create a SERVOnet error which the master will respond to by stopping and all other slave motors will also stop in synchronisation Motor error routines will operate for these failures and can be used to make the machine safe after the stop e g issue global GF command Page 26 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS 7 4 2 Using FW on a multi axis machine with significant product momentum Consider a machine where the product has a significant mass and achieves a significant momentum through the process In this case simply stopping a motor via MO would potentially cause damage the product would back drive the motor mechanics Consider the use of PTS parameter EA FW bit 2 will allow the motor to continue after a SERVOnet error FW bit 3 will allow the motor to continue after a
17. and Analogue inputs will also occupy CANbus bandwidth The bus load will depend upon the number of events per second The top limit of this will equate to one SynchroLink SERV Onet map transmission therefore the same rules as stated in the last point apply B 4 CANopen devices supported by PTS B 4 1 CANopen absolute encoder To facilitate absolute position measurement on Q Drive systems the CANopen absolute encoder can be used For completeness this option is available across all CAN enabled PTS products CiA DS406 is the specification required for a CANopen encoder see section 4 Page 46 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS B 4 2 CANopen I O CANopen I O adds additional digital and or analogue I O to a PTS system quickly and cheaply without resorting to a PLC and other such external logic Within PTS there is sufficient power to handle I O tasks such as opening closing air valves via digital I O as part of a machine cycle This additional I O does not support referencing position triggers or other channel specific functions and is slower than channel level I O CANopen I O is intended for machine process control rather than machine motion control CIA DS401 is the specification required for CANopen I O devices see section 4 Digital I O is supported in groups of 8 i e bytes of data Analogue I O is supported as 16bit conversions 2 byte data fields B 5 CANopen Devices Tested with SynchroLink and
18. cycled in the manner as described above using only a single LED display Copyright 2004 Quin Systems Ltd Page 35 SERVOnet for PTS Issue 6 10 3 Machine Manager The machine manager has power status LEDs only AppendixA SynchroLink A 1 Introduction SynchroLink is the ability for PTS systems to perform map linking between separate PTS units nodes This is an advance on the use of a link encoder to daisy chain PTS units together A high speed communications bus CANbus has been used for SynchroLink providing real time map linking for multiple master slave combinations Currently SynchroLink is supported on the MiniPTS 3 MiniPTS 1 1 Q Drive 1 1 receive only Q Drive MAP and PTS Mk2 SynchroLink is a subset of SERVOnet a distributed Master Slave configuration of PTS units utilising CANbus as the communication medium A 2 Features of SynchroLink SynchroLink supports the following features Upto 60 nodes on one SynchroLink network Network length maximum 100m Up to 8 map masters transmitting simultaneously across CANbus Many map slaves can receive one map master signal see next point Each node can support up to 8 unique map masters slaves more than one channel can receive the same map slave information within a node whilst only requiring one unique map slave reception from CANbus Global sequence execute for use during motor error sequences or similar Requires only a handful of extra PT
19. have no affect on any Axis Module See section A 5 7 on page 43 for more information on XN on SynchroLink For LinMot linear motors connected to SERVOnet the XN command and PTS variable XN form a means of issuing command response communications between a PTS and a LinMot system Further documentation of this is provided in the LinMot manual Page 20 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS 5 8 FW Fault options Word From PTS V2 2 1 1 and higher FW Set fault options word allows advanced control over the SER VOnet error line Meaning when set Don t abort on motor error 1f ME defined Don t abort on user error if UE defined Don t force motor off if Servonet error line detected Don t force motor off if another Servonet error has occurred Trip Servonet error line if a motor error occurs Table 4 FW Fault word option bit definitions The FW command is channel specific 1 e it needs defining on the PTS motor channel for which the modified behaviour is required Copyright 2004 Quin Systems Ltd Page 21 SERVOnet for PTS Issue 6 The following table describes how FW affects the behaviour of the SER VOnet error line Default Modified behaviour behaviour using FW Error line goes into Motor off the PTS FW bit 2 if set the motor error state various automatically goes continues to be enabled This causes power failure into MO state should be used if stopping the or another axis motor
20. unchanged When the second CAN port is enabled the CQ command shows information on both the SERVOnet and SynchroLink networks The SERVOnet report now includes a bus load estimate similar to SynchroLink A 4 3 3 SERVOnet Node Number Limit The highest node number for a SERVOnet axis module has been reduced from 60 to 59 This is to allow the QManager Machine Manager to use node number 60 when it is transmitting map data arriving from a SynchroLink node Copyright 2004 Quin Systems Ltd Page 39 SERVOnet for PTS Issue 6 A 4 4 SERVOnet Clock Normally the SERVOnet clock is generated by the QManager Machine Manager When the system also has SynchroLink on the second CAN port the SERVOnet clock is locked to the SynchroLink clock master to ensure that all nodes on both networks are synchronized This means that if the SynchroLink clock is lost for any reason the SER VOnet networks will also lose their clock and any mapped axis modules will stop due to map time out The exception to this is at power up before the SynchroLink network has been started by the SI command In this case the QManager Machine Manager will generate the SER VOnet clock as normal Once the SynchroLink network has been started the SERVOnet clock relies on it as described above The SynchroLink node chosen to provide the clock should be the source of most map data and receiver of least to give the maximum time for data transmission Note also that there is a trade off bet
21. 00 will be reported if clock signal is not available Therefore always configure one node to be the SynchroLink clock master Use the CQ function to check for the presence of a clock signal A SERVOnet QManager Machine Manager is a clock master by definition so CK must not be used if SERVOnet is present on CANbus Page 40 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS A 5 2 CN lt node gt Configure Node Value 0 default to 60 inclusive To assign a node number and to go on bus for SynchroLink use CN lt n gt where lt n gt is the node number to be used Setting CNO switches SynchroLink off for this node Setting CN lt n gt will start SynchroLink If another node already uses lt n gt as its node number an error will be reported error 134 and the node will go bus off CN will also revert to zero SABC CN will place the current node number 0 to 60 in the variable ABC If at any time the node goes bus off loss of CANbus power or loss of CANbus cable integrity each affected node will report an error error 128 and try to go back on bus immediately If that fails the node will continue to try and regain the bus waiting 1 minute between each attempt No error messages will be displayed for success or failure of these attempts The CQ function can be used to query the status of a node at any time There is no requirement for nodes to be numbered consecutively or to start at node number 1 a node numbering scheme tha
22. 10 on page 34 Appendix A containing details of SynchroLink wiring configuring and using Appendix B containing details of using CANopen encoders and I O devices on SERVOnet and SynchroLink Page 6 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS PA Glossary A number of new phrases and words are used throughout this document to refer to SERVOnet features and functions A glossary of these is provided here Explanation CANbus The network hardware and transport protocol used for SERVOnet SERVOnet Proprietary name used by Quin Systems to describe the linking of multiple axis control systems over CANbus SynchroLink Proprietary name used by Quin Systems to describe a subset of SERVOnet that is available on some PTS systems CANopen A protocol for CANbus for connecting devices such as encoders and digital and analogue I O modules together with a master controller Module A single PTS unit that connects to SERVOnet Mini The man machine interface One QManager Machine Machine Manager is required per SERVOnet installation The Manager PTS program is held on the QManager Machine Manager and all operator interfaces such as Operator s Panel are processed through it Axis Module A PTS unit that provides the motor control functions This unit can be placed on or near the motors in question and will not need operator access Many up to 60 Axis Modules can be connected to one SERVOnet Tabl
23. 4 data bytes D1 D4 2A Write 2 data bytes D1 amp D2 2E Write data byte D1 Index This is the object dictionary index that you wish to read write A four figure number in hexadecimal should be entered here This value is required for the SDO transmit to work Sub Index Each entry in the object dictionary has a number of sub indexes enter the appropriate value here in hexadecimal This value is required for the SDO transmit to work Page 52 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS Data bytes 1 to 4 All four data bytes need values in hexadecimal The default setting of zero Is provided for use when the data byte is not required by CANopen object B 7 4 2 Received SDO Data from CANopen module The received SDO data from a CANopen device is displayed as read write code index sub index and four data bytes Byte 1 2 3 4 5 6 7 8 Meaning R W Index sub ind D1 D2 D3 D4 The values displayed in the SDO message use hexadecimal notation Read Write Byte A response to a read request from the PTS gives one of the following codes Value hex Meaning 43 Read 4 data bytes D1 D4 contain data 4B Read 2 data bytes D1 amp D2 contain data 4F Read 1 data byte D1 contains data 60 Confirm write D1 D4 irrelevant 80 Error in SDO sent from PTS see following section Note that data bytes not containing valid data will possibly
24. 5 CK0 CN5 CH8 MP20000 MM256 SB1000 ML3 5 PC XM56 In the above example channel 5 on node 3 is to be the map master for channel 8 on node 5 First node 3 is configured here it is also the clock master The master axis is then initialised by setting the bounds SB and the analogue range AR optional before exporting the map data on CANbus using LK1 Secondly node 5 is configured Channel 8 requires knowledge of the master bound MP using the SB value entered on channel 5 node 3 the master analogue range MM using the AR value entered on channel 5 node 3 optional and its own bound SB The map link is established by ML3 5 and then the axis put into mapping using map table 56 ABC ML will place a value of 256 node channel in variable ABC In this manner it is possible to query and program ML using variables For example to set ML to node 3 channel 5 the following are valid ML3 5 ML773 ABC 773 ML ABC Page 42 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS A 5 6 NL lt node channel gt differeNtial Link Value node 1 to 60 inclusive channel 1 to 48 inclusive The NL command has been extended for SynchroLink Using a node channel format it Is possible to specify that the required map master is on another node The standard form of NL lt channel gt still functions and performs a map link within the node The existence of this master Is not checked however map timeout errors will occur if the master is not tran
25. Motor off all axes on module Module will not regain CANbus when power returns QManager Machine Manager can restart affected module using RN command SERVOnet needs restarting which will happen automatically when power is restored to QManager Machine Manager Table 6 Effect of SERVOnet error on local module Copyright 2004 Quin Systems Ltd Page 25 SERVOnet for PTS Issue 6 Affect on other Axis Modules Failure of an Axis All motors stop by means of the hardware error line Module The axis module will then wait for new instructions from the Machine Manager Failure of the All motors stop by means of the hardware error line QManager Machine The axis module will then wait for new instructions Manager from the QManager Machine Manager Table 7 Effect of SERVOnet error on another module 7 4 Advanced SERVOnet error handling using FW The default behaviour of the PTS system to the SERVOnet error line and other error conditions can be modified by the use of the FW command This is available from PTS version 2 2 1 1 and higher Care should be taken when modifying the default behaviour as there is no guarantee that it will be possible to command the axis module after a SERVOnet fault in other words you may not be able to stop a motor without an EStop See section 5 8 on page 21 for detail on the FW command bits This section provides two scenarios to demonstrate how FW can be used effectively 7 4 1
26. Onet network on the first CAN port lower connectors This means that a number of SERVOnet systems can be linked together with SynchroLink to increase flexibility and extend the physical size of the whole system The data rate of the SynchroLink network can be reduced if required to increase the maximum distance between units although this also reduces the maximum number of map masters which can be accommodated Copyright 2004 Quin Systems Ltd Page 37 SERVOnet for PTS Issue 6 In systems with two CAN ports the QManager Machine Manager acts as a bridge between SERVOnet and SynchroLink An axis module on one SER VOnet system can be map linked to a master axis on a different SERVOnet system with the SynchroLink network carrying the map data from one SER VOnet system to the other The map data from the master axis is picked up by the QManager Machine Manager which then broadcasts the data over SynchroLink The data is then picked up from SynchroLink by the second system where the QManager Machine Manager broadcasts the map data over SER VOnet to the map slave module This type of system can operate with any type of SynchroLink system including the PTS Mark 2 Mini PTS 3 Q Drive Map etc CANOpen I O and encoders are supported as normal on the SER VOnet network The operation of the two networks is very similar to before However some changes have been necessary to allow the two physical networks to co exist as described below A 4 1 Enabling t
27. PTS 3 SERVOnet Version 2 2 1 1 Date 2 Dec 02 press any key M for Module S for Serial Number C for Channels T for Type md Module number 1 New Module number 2 1 Changes made REBOOTING Copyright 2004 Quin Systems Ltd Page 15 SERVOnet for PTS Issue 6 Axis Module MiniPTS 3 SERVOneL Version 2 2 1 1 Date 2 Dec 02 press any key This module number is then stored in NVM Note that the serial port cannot be used when SER VOnet is working i e when the QManager Machine Manager has talked to the Axis Module or when the LED display does not display the module number 4 1 3 SRV300 Using ABB Front Panel For the SRV300 product fitted to ABB ACS600 or ACS800 the SERVOnet configuration can be performed from the ABB front panel parameter group 51 Comm Mod data 51 02 Module number This may display a value of 100 module number indicating a temporary module number 51 05 Channels Select 1 real motor only or 2 real motor virtual motor If no ABB front panel is available use a serial connection as described above instead 4 1 4 PTSQSxxx Module number setting The PTSQ5xxx series of QDrives have a rotary dial switch to set module number Set dial switch to 0 to use software module number set as for QDrive documented above Set dial switch to 1 15 to select module number 4 1 5 Using Auto Module Numbering It is possible for a fresh SERVOnet system to successfully auto module number i
28. Perform maintenance replacement as necessary v Turn the power on to the Axis Module vi Reconnect the SERVOnet T socket to the Axis Module vii Issue an RN function from the PTS program viii Use the CN function to set the module number of the replacement Axis Module Page 24 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS If this order is not followed you are likely to cause a SERVOnet hardware error and cause all motors to stop 7 3 What happens when a SERVOnet error occurs To describe what happens when a SER VOnet error occurs use the following two tables The first table describes what will happen to the module local to the failure the second table indicates what will happen to all the other modules on the SER VOnet as the result of this failure Error Source CANbus protocol failure If module Was a Axis Module Motor off all axes on module automatically attempt to regain CANbus as soon as possible When bus regained send PTS error 128 to QManager Machine Manager QManager Machine Manager PTS error 128 generated automatically attempt to regain CANbus as soon as possible CANbus power failure Motor off all axes on module automatically attempt to regain CANbus as soon as possible When bus regained send PTS error 128 to QManager Machine Manager PTS error 127 generated automatically attempt to regain CANbus as soon as possible Module power failure
29. S instructions to configure and use SynchroLink e Node number clash clock signal configuration and network error detection provided A 3 Wiring Requirements for SynchroLink SynchroLink may be wired in an identical manner to SERVOnet as described in chapter 3 on page 8 and must be so wired if a network is shared between SER VOnet and SynchroLink However for purely SynchroLink or CANopen nodes it may be wired as follows Page 36 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS Each PTS node has a male 9 pin sub D type connector for CANbus The cable should therefore have female 9 pin sub D type connectors The CANbus cable Joins each node in turn in the same manner as ethernet with no cable spurs Twisted pair cable is recommended A 12V DC power supply is required to provide bus power at about 30mA per node all PTS nodes are opto isolated from the bus Each end of the bus should be terminated with a 120Q resistor placed between CAN H and CAN L Max cable 100m 1200 ON CAN L 1200 FIG 7 CANBUS WIRING A LinMot controller uses a female 9 pin sub D type connector which should be wired as below 1 n c n c 6 2 CAN L CAN H 7 j 3 n c n c 8 EO 4 n c 5 OV n c not connected F1G 8 LINMOT CONNECTOR PINOUT A 4 SynchroLink between two or more SERVOnets On the QManager Machine Manager it is possible to have a SynchroLink network on the second CAN port upper connectors as well as a SER V
30. See section A 5 5 on page 42 for more details 5 5 NL differeNtial Link The NL command has two alternative syntaxes NL lt channel gt for use on SERVOnet and NL lt node gt lt channel gt for use with SynchroLink See section A 5 6 on page 43 for more details 5 6 RN Reset module Number RN is used to recover an Axis Module that has suffered a power failure without restarting the whole SERVOnet As such it is a specialised function and requires careful implementation from a programming perspective It is not seen as an operational feature but as a maintenance feature Syntax RN lt module gt where lt module gt is between 1 and 60 Copyright 2004 Quin Systems Ltd Page 19 SERVOnet for PTS Issue 6 RN performs error checking to determine if the module is alive able to use CANbus to communicate and to decide whether the module is already communicating with the QManager Machine Manager These tests take a few seconds during which the message Working is displayed If the target module is alive but not communicating with the QManager Machine Manager then RN attempts to begin communication with the module If this is successful the axis parameters stored in the module are reloaded This gives the message Restoring channels 1 to 4 OK or similar Once this process is complete the module is ready for use During this process the RN function also sends a CANopen NMT wakeup command to any CANopen device with the same node numbe
31. a means of issuing command response communications between a PTS and a LinMot system Further documentation of this is provided in the LinMot manual Copyright 2004 Quin Systems Ltd Page 43 SERVOnet for PTS A 6 Error Messages and Codes Issue 6 Eleven additional error codes have been added to the PTS language for SynchroLink Description Comments 125 No CAN chip fitted to board SynchroLink functionality requires a CAN interface IC to be fitted to the circuit board 126 CAN chip stuck in reset Hardware fault on circuit board contact Quin Systems 127 No CAN network transceiver power Check CAN cabling 128 This node Is CANbus OFF Reported when node goes off bus due to errors or when already bus off and a command such as LK is issued 129 Unable to log onto CANbus Either there is insufficient bus idle for CAN chip to synchronise with other bus traffic or the wiring is faulty 130 No free CAN mailbox All eight mailboxes are in use no more SynchroLink map links available 131 No CAN mailbox assigned ML LK or UL function failed 132 Node lt n gt is already clock master Only one clock master is required 133 No Clock signal being received Node is not receiving the clock signal that should be being broadcast from one node 134 Another node already uses our node number Attempt to go bus on with CN lt n gt failed as lt n gt
32. anager Axis Module Q x Machine Manager Axis module is module 3 indicates QManager MM 11 n temporary N NVM Machine Manager is E rc g initialising 33 r d 9 Indicates a SERVOnet Indicates QManager related error See section L Machine Manager is working 10 1 1 on page 35 H OK H E I Axis module is OFF due to module number clash Indicates PTS error number 34 errors above 99 just display as a number NME LUI Table 11 SERVOnet LED Displays for MiniPTS 3 QManager For normal operation an axis module will display a number per channel indicating the current status of that channel or an error code Exx for a PTS error such as motor position error the machine manager will display CAN Page 34 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS 10 1 1 Axis Module SERVOnet LED error codes The MiniPTS 3 SERVOnet axis module displays SER VOnet related errors on the 7 segment displays which correspond to PTS error codes but which might not be reported as the error will mean that the CANbus communications are not working properly LED igi Description Display ECO Hardware fault This is similar to PTS error 126 contact your supplier or Quin Systems Ltd EC1 No CANbus power PTS error 127 Check CAN cabling and power supply EC2 CANbus Error line in Error state PTS error 141 All motors will stop Check CAN cabling an
33. ariables EI1 to EI4 letter e and i number 1 to 4 will be updated with this information Each of these four variables will contain 16 bits of information relating to a analogue input if the input exists The value in each variable will be the raw data transmitted from the CANopen device PTS has no knowledge of any scale factors Bi polar inputs may need the sign bit propagating for example I11 SEI1 lt lt 16 gt gt 16 Use a PTS trigger variable to respond to changes in analogue inputs but only if the update frequency of the analogue input is low enough It is sufficient to define a single trigger variable for all analogue inputs as the update event from any one analogue input causes all the relevant PTS variables to be updated Copyright 2004 Quin Systems Ltd Page 57 SERVOnet for PTS Issue 6 B 7 5 3 Analogue Outputs Write out the desired level of the CANopen analogue outputs using variables EO1 to EO4 letter e and o number 1 to 4 The scale factor of these variables is dependent upon the CANopen hardware PTS has no knowledge of this Writing to any one of these variables will cause the analogue output to be updated automatically These variables will be initialised to zero when the CANopen interface starts Page 58 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS B 8 Implementation Details for SynchroLink SERVOnet B 8 1 Implementation Details specific to SynchroLink For either CANopen encoder o
34. atibility These notes form the basic rules for CANopen devices if the CANopen device obeys these rules it will work with SynchroLink and SER VOnet 1 General description of the type of CANopen A CANopen slave which supports the minimum CANopen bootup with node guarding and a pre defined connection set The CANbus hardware should be CAN specification V2 0B passive CANOpen encoders must adhere to CiA DS406 CANOopen I O must adhere to CIA DS401 Require NO configuration from PTS systems during normal usage with the exception of NMT bootup as mentioned in point 1 The CANopen device must therefore store its own configuration data CQ A N 6 Module numbering of the CANopen devices will need to use the same number as the PTS unit it needs to talk to i e 1 60 for Absolute Encoders and 1 60 or 61 for External I O depending upon PTS system 7 No CANopen error handling will be provided by PTS systems All other CANopen issues such as node guarding dynamic allocation of messages etc will be ignored Further notes regarding the impact of using CANopen devices on SynchroLink and SERVOnet 8 Each Absolute encoder used will reduce the available CANbus bandwidth by the same amount as one SynchroLink SERVOnet map transmission Quin recommends 8 map transmissions as a sensible maximum bus load Therefore there will be a trade off between Absolute encoders and PTS map sources and a top limit of 8 Absolute encoders 9 Extra Digital
35. cally detected and configured B 7 3 The CANopen configuration shell PTS function QC The PTS command QC allows manual configuration of CANopen I O and also provides features to send and receive of CANopen messages for one time configuration and diagnostics of the CANopen device During using this command PTS cannot perform motor control and all motors will remain in the motor off state Upon entering this command the PTS prompt is replaced by CAN gt and a new set of commands are available Configure Select CANopen I O settings Configure will automatically detect the CANopen I O module amp report what is found This function is not available if the CANopen I O license key does not exist Exit Exit this configuration tool Quit also works Help Displays a simple listing of the available commands also works NMT Sends NMT message You will be queried for the number of data bytes and the value for each data byte before the message is sent No transmit acknowledgement will be generated Node Choose CANopen node number to talk to 1 to 127 inclusive but to 61 only relevant for Quin products This setting affects the send and receive commands but not configure which uses the node number 61 for SERVOnet as CN for SynchroLink Query Displays CANopen configuration and CANbus diagnostics similar to CQ command including CAN state bus load from synchronous transmissions and PTS units found on the network Page 50 Copyright
36. cm Up to 8 map masters transmitting simultaneously across CANbus Many map slaves can receive one map master signal see next point Each axis module can support up to 8 unique map masters slaves more than one channel can receive the same map slave information within a module whilst only requiring one unique map slave reception from CANbus Requires only a handful of extra PTS instructions to configure and use SERVOnet e Module number clash and network error detection provided using both hardware and software Copyright 2004 Quin Systems Ltd Page 5 SERVOnet for PTS Issue 6 1 2 What this Manual Contains This manual is intended to be used in conjunction with the PTS Reference Manual and PTS User Manual for the PTS system you are installing using Allthe extra information required to install and use a SERVOnet based PTS system is detailed in the following chapters Wiring details for SERVOnet chapter 3 on page 8 Initial configuration of SERVOnet modules chapter 4 on page 14 New PTS commands for configuring and diagnosing SERVOnet chapter 5 on page 18 Hints and tips for writing PTS programs on a SERVOnet system chapter 6 on page 23 Detecting and handling hardware errors on SERVOnet chapter 7 on page 24 SERVOnet node table operating SERVOnet with optional modules chapter 8 on page 28 PTS error codes for SERVOnet chapter 9 on page 32 Explanation of LED display codes for SERVOnet chapter
37. communicating which means that its power is off Page 18 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS For any module the CANbus status can be working OK some errors or bus off applicable to QManager Machine Manager only The error source given is specific to CANbus For the vast majority of the time any given module should be working OK the some errors state should be transient and is normally related to CANbus or other power failure If a system is regularly experiencing both errors and bus off due to errors the CANbus wiring should be inspected paying attention to screening of electrically noisy equipment NOTE If the QManager Machine Manager fails to find any Axis Modules when it is switched on the CQ display will be given this gives a network diagnosis to help solve any SERVOnet problems 5 2 SI CAN module Number SI allows module number configuration of an entire SERVOnet network from the QManager Machine Manager Care should be taken when using this function to obey the rules set in section 4 1 on page 14 Version 1 9 2 and earlier used CN command here 5 3 LK master map Link over CANbus The LK function exists on SERVOnet to allow SynchroLink and LinMot operations to be performed See section A 5 4 on page 42 for more details 5 4 ML Map Link The ML command has two alternative syntaxes ML lt channel gt for use on SERVOnet and ML lt node gt lt channel gt for use with SynchroLink
38. contain non zero values carried over from a previous command these values should be ignored Copyright 2004 Quin Systems Ltd Page 53 SERVOnet for PTS Issue 6 B 7 4 3 SDO Data Bytes for error report from CANopen device The four data bytes should be interpreted using the following tables Byte 1 2 3 4 5 6 7 8 Meani ng 80 Index Sub ind EE1 EE2 ECD ECL EE1 Additional information ECD ECL 0x 00 No precise details for the Error code Error class reason for the error 03 inconsistent parameter 05 Service Error 1x Service parameter with 04 illegal parameter an invalid value 11 sub index doesn t exist 12 length of parameter too high 13 length of parameter too low 01 unsupported 06 Access Error 02 object doesn t exist 06 hardware fault 07 type conflict 2x Service cannot currently 09 attributes inconsistent be executed 21 because of local control 22 because of present device state 00 always 08 Other Error 3x Value range of parameter exceeded 31 value written too high 32 value written too low 36 max less than min 4x Incompatibility with other values 41 data cannot be mapped to PDO 42 PDO length exceeded 43 general reason 47 general internal Page 54 Copyright 2004 Quin Systems Ltd SERVOnet for PTS Issue 6 si 274q SOMOT onea TGQ ol XX XX A4 00 AA 00 POLO HFP9
39. d power supply EC3 CANbus off due to bus errors PTS error 128 All motors will stop This is caused by electrical noise interfering with the CANbus messages EC4 No synchronisation clock being received PTS error 133 All motors will stop This means that the Machine Manager is not communicating on CANbus Table 12 MiniPTS 3 SERVOnet Axis Module LED error codes NOTE The local serial port on the Axis Module will output text in these error cases This is intended for diagnostics of SERVOnet errors when the communications between the Machine Manager and the Axis Modules is unreliable 10 2 Q Drive SERVOnet Axis Module The Q Drive SERVOnet axis module has a single 7 segment LED display This will display E for errors including SERVOnet errors other display codes indicate the current motor status When the Axis Module has been started but not talked to by the Machine Manager the LED will display Nxx or nxx where xx module number by cycling the display every 0 5 seconds NOTE The local serial port on the Axis Module will output text in the case of SERVOnet specific errors in a similar manner to the MiniPTS 3 SERVOnet axis module This is intended for diagnostics of SERVOnet errors when the communications between the QManager Machine Manager and the Axis Modules is unreliable PTSQ5xxx has two 7 segment LED displays one for each PTS channel When displaying errors an E is displayed and the node number is
40. e 0118 977 1077 Facsimilie 0118 977 6728 E Mail Support quin co uk WWW Site http www quin co uk Issue 6 1 1 1 2 3 1 3 3 3 4 3 5 3 6 3 7 4 1 4 2 4 3 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 SERVOnet for PTS Contents Introduction 5 Technical Specification 5 What this Manual Contains 6 Glossary 7 Wiring SERVOnet 8 Cable DES S asus masay ane Ne 8 CONMECIONS nana Nana 8 Connection table sam ns tannins 9 3 331 Fail safe or hot swapping 9 Wiring for up to 15 nodes 10 Cabling for more than 15 nodes fail safe 11 Wiring using an active terminator 12 Error Liner LOGIC saliva nauk sn ere 13 Configuring SERVOnet 14 Axis Module Numbering steam ane ner 14 4 1 1 Module number clashing eecceceeeeseeeeeerteeeeees 15 4 1 2 Using Local Serial Port 15 4 1 3 SRV300 Using ABB Front Panel 16 4 1 4 PTSQ5xxx Module number setting 16 4 1 5 Using Auto Module Numbering 16 4 1 6 Using QManager Machine Manager 16 Axis Module Virtual Channel Enabline Disabling
41. e 1 Glossary of Terms used for SERVOnet Copyright 2004 Quin Systems Ltd Page 7 SERVOnet for PTS Issue 6 3 Wiring SERVOnet Wiring SER VOnet requires the CANbus cable to be connected to each module to form a single continuous cable with terminators at each end There is no requirement for modules to be positioned or connected in numerical order Cable spurs should not be used SERVOnet uses additional wires to standard CANbus to provide hardware error detection fail safe mode of operation When long runs of cable many nodes are used this error line requires additional circuitry to function This section presents the cable types recommended pin out descriptions and then wiring scenarios for different lengths of SERVOnet 3 1 Cable types The choice of cable is determined primarily by the volt drop due to the supply current to the node buffers each node takes about 35mA and the maximum drop in the 0 volt return is 2 volts The heaviest practicable screened lead is 16 0 2 mm such as DEF STAN 61 12 pt 5 16 2 8C with core resistance about 40 milliohms metre 30 nodes and a 50 metre run is the limit for this allowing centre fed supply to a maximum network For lighter loads on a smaller network Hiperlink patch cable has about 90 milliohms metre and is probably adequate for most likely applications It is possible to split the net into sections each centre fed from its own supply enabling large networks with the thinner cable
42. e 48 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS B 6 4 Using a CANopen absolute encoder The CANopen encoder is enabled disabled by the use of the FS command FS option 9 amp 10 The number of data bits from the encoder can be set using the same commands as used for an SSI absolute encoder NB and NZ Ifthe CANopen encoder fails to transmit data PTS error 102 will be generated The IN command works on the CANopen absolute encoder in the same manner as it works on an SSI absolute encoder Copyright 2004 Quin Systems Ltd Page 49 SERVOnet for PTS Issue 6 B 7 CANopen I O B 7 1 Hardware configuration The CANopen I O needs configuring to transmit its data in a certain manner specific details for Beckhoff device included here 1 Baud rate of CANbus for SERVOnet and SynchroLink is 500kBit s BECKHOFF This means that the following DIP switches should be set DIP 7 ON and DIP 8 OFF 2 The node number of the CANopen I O device should be 61 for SERVOnet or to the CN number for SynchroLink BECKHOFF DIP switches 1 to 6 inclusive set the node number in a binary format e g 61 111101 switch order 654321 B 7 2 PTS Configuration A serial key feature canopen version 0 enables CANopen I O Once the serial key is present at power on the CANopen I O configuration and host level I O PTS commands will function and FS9 10 will not Q Drive MiniPTS 1 1 MiniPTS 3 Once CANopen I O is enabled it will be automati
43. eady for use CANopen I O operates in two different modes depending upon whether the I O is digital or analogue Digital I O will appear as input and output groups 10 to 17 inclusive i e host level digital I O Additionally the digital outputs first 32 bits can be addressed using variables Analogue I O will use variables to read store write the voltage settings from and to the CANopen device B 7 5 1 Digital Inputs and Outputs CANopen digital I O will appear as I O groups 10 to 17 inclusive depending upon the number of physical I O present on the CANopen device A subset of PTS I O commands is supported SOn x COn x IOn x ROn x LOn DIn x Iin x RIn x Lin Mln x BIn x Eln x There is one limitation variables cannot be used to specify I O groups 10 to 17 For example SO SO will always refer to channel level I O whatever the value of SO To provide the ability to set bytes of data onto digital output variable access is provided for the first 4 bytes 32 bits of digital output using EO1 EO4 letter e and o number 1 to 4 Writing these variables causes the digital outputs to be updated If you need to read the current value of the digital inputs use EI1 RI10 for example The following I O functions are not supported for CANopen I O MG BG PO OC OX DX WI and all timer counter functions nor channel specific indications B 7 5 2 Analogue Inputs When the CANopen device transmits a state change of the analogue inputs PTS v
44. ers are restored the QManager Machine Manager will transmit a global NMT wakeup message FS9 10 will be restored as parameters and will immediately start receiving CANopen encoder data After the autostart sequence is triggered the CANopen I O will be initialised if it is enabled Therefore CANopen devices should be powered up before or at the same time as the QManager Machine Manager If it is necessary to re establish communications with a CANopen device e g after device power failure use PTS command RN61 which will transmit a CANopen NMT wakeup command Copyright 2004 Quin Systems Ltd Page 59 SERVOnet for PTS Issue 6 Page 60 Copyright 2004 Quin Systems Ltd Issue 6 Index EI 57 LK EO 58 LN XN 43 Local serial port A M ABB Map master parameter group 51 16 Map slave ABB front panel 16 MiniPTS3 Auto module numbering 16 ML C N cable length 8 NB CAN module numbering 19 NC CAN Query 18 NL CANopen 45 NN Channel 1 14 Node CK 18 40 Node number clashes Clock 40 node table CM 23 Nodes CN 16 19 41 NQ compatibility CANopen 46 NT Connections 8 37 number of channels CQ 18 23 41 NZ D P Diagnostics 41 Power supply Disabling a virtual channel 17 E QC Enabling a virtual channel 17 error codes 44 R executing sequences on remote nodes 20 Recover axis module F RN Fail safe wiring 9 24 S FW 21 26 Sequences H serial key SERVOnet Hot swapping wiring 9 24 SI SP L Status LED 14 SynchroLink LinMot 20 43 C
45. es of Axis Module there is some functionality available on the virtual channel such as reading an encoder for example a master line speed position feedback It is unlikely that more than a handful of virtual channels will be necessary on any one SERVOnet so it is possible to switch off the virtual channels you do not require This means that you can use the channel numbering more efficiently and also have a SERVOnet without any virtual channels if required In this manner a Mini Machine Manager can have 24 real motors using either 8 MiniPTS 3 SERVOnet Axis Modules or 24 Q Drive SERVOnet Axis Modules The virtual channel in each axis module is enabled disabled using the local serial port in the same way as the axis module number can be configured see section 4 1 2 on page 15 Select C for channels and then E to enable the virtual channel or D to disable the virtual channel 4 3 The QManager Machine Manager No specific configuration of the QManager Machine Manager is required it is module number 61 and this cannot be changed Copyright 2004 Quin Systems Ltd Page 17 SERVOnet for PTS Issue 6 5 PTS commands for SERVOnet To configure and maintain a SERVOnet system a number of commands have been added to the PTS language Note the CK command is not present on SERVOnet This is because the QManager Machine Manager is by definition a clock master CK1 and this cannot be changed 5 1 CQ CAN Query CQ perfo
46. figuration cc vesicenerecast eevscnechovenccsusecvevensmncaness 48 B 6 4 Using a CANopen absolute encoder 49 B 7 CANOPEN VO l unun a aaa us deep een 50 B 7 1 Hardware configuration 50 B 7 2 PTS Configuration sement ste 50 B 7 3 The CANopen configuration shell PTS function QC 50 B 7 4 CANopen configuration cccescecesesrsceeeerseessnes 51 B 7 4 1 Sending Service Data Objects SDO 52 B 7 4 2 Received SDO Data from CANopen module 53 B 7 4 3 SDO Data Bytes for error report from CANopen device 54 B 7 5 Using CANopen I O as noue 57 B 7 5 1 Digital Inputs and Outputs 57 B 7 5 2 Mal ORME TPS uu Se une 57 B 7 5 3 Analogue Outputs astres sde 58 B 8 Implementation Details for SynchroLink SERVOnet 59 B 8 1 Implementation Details specific to SynchroLink 59 B 8 2 Implementation Details specific to SERVOnet 59 Copyright 2004 Quin Systems Ltd Page 3 SERVOnet for PTS Issue 6 Page 4 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS 1 Introduction SERVOnet is a method of connecting PTS units together to form a multiple axis control system which does not have to reside in a single cabinet but can be strategically placed throughout the machine The system is programmed as a single unit with all user interface through a master QManager
47. g the rules in the following table Module and Module A Module A Module B have the same number NVM temporary Module A will turn Module B Both Axis Modules itself off increment will turn themselves its module number NVM off and turn itself on again Module B will turn One module will turn Module B itself off increment itself off increment its module number its module number temporary and turn itself on and turn itself on again again Table 3 How module number clashes are resolved Note that for the case of two temporary modules it is not possible to determine which module will increment its module number this depends upon which module switches on first which module communicates over CANbus first which module waits longest before deciding to increments its module number The module number of an Axis Module can be configured a number of ways 4 1 2 Using Local Serial Port Serial Port A on an Axis Module can be used to configure the module number Connect a correctly wired serial cable to Port A and use PTS Terminal part of PTS Toolkit 2000 or equivalent The serial port settings are 9600baud 8 data bits 1 stop bit no parity software handshaking When the Axis Module is switched on the following message or similar will appear Axis Module MiniPTS 3 SERVOnet Version 2 2 1 1 Date 2 Dec 02 press any key Enter m to change the module number as per the following example Axis Module Mini
48. he Second CAN Port To enable the second CAN port you must install a jumper link on the CPU360 and enter a software key The link is fitted between pins 11 and 12 the bottom two pins of Jumper J11 which is located just behind the second CAN port To enable the software key use the SK command to enter the feature and version as follows Feature synchro2 Version 0 After changing SK the system must be powered off and back on for the change to take effect When the second CAN port is enabled DeviceNet is disabled since it also uses the second CAN port If the second CAN port is not enabled the system still allows SynchroLink nodes to be placed on the SER VOnet network and accessed as map slaves map masters or using XN A 4 2 SI amp CN Commands The SI command SER VOnet node Id has now replaced the CN command for SER VOnet networks SI is used to set the SER VOnet axis module node numbers and CN is used to set the SynchroLink node number as before CN is only available on systems having a separate SynchroLink network The CN command is used both to set the SynchroLink node number and to start and stop SynchroLink and is also saved in non volatile memory A 4 3 ML and NL Commands On a QManager Machine Manager using the second CAN port the ML map link and NL differential link commands use the node channel syntax to link to an axis on SynchroLink where node is the remote SynchroLink node number and channel is the channel number on the
49. is already used try another number 135 Page 44 XN s lost on CANbus Over ten XN s arrived before they could be processed Table 14 CANbus Error codes and descriptions Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS Appendix B CANopen Devices B 1 Introduction This document contains information for using CANopen devices absolute encoders and or additional digital and analogue I O on SERVOnet and SynchroLink This covers hardware configuration software configuration and PTS programme usage This appendix is split into four sections e B I to B 5 is general information for all CANopen devices supported B 6 is specific information for CANopen absolute encoders B 7 is specific information for CANopen IO B 8 is programming information for SERVOnet and SynchroLink B 2 Summary Table PTS Product CANopen devices available SynchroLink CANopen I O Q Drive 64 digital inputs or 4 16bit analogue inputs MiniPTS 1 1 WITH amp MiniPTS 3 64 digital outputs or 4 16bit analogue outputs OR 1 Absolute Encoder SERVOnet CANopen I O 64 digital inputs or 4 16bit analogue inputs Mini Machine Manager WITH PLUS 64 digital outputs or 4 16bit analogue outputs axis modules PLUS of any sort Absolute Encoder 1 per Axis Module Table 15 Availability of CANopen on PTS systems Copyright 2004 Quin Systems Ltd Page 45 SERVOnet for PTS Issue 6 B 3 Important notes on CANopen comp
50. is is done by issuing the NQ command without a parameter e g NQ lt return gt or NQ NQ NQ returns Meaning Node table not validated This indicates a node table that has been dynamically determined from the network no node table has been saved in the PTS The node table doesn t match the network There can be two reasons for this a module has a different number of channels to the node table entry and or a required module is missing Use NQ lt node gt to find out which node s are not matching the node table correctly The node table matches what was found on the network N B This doesn t tell you whether an optional module is alive or asleep use NQ lt node gt to determine this Table 9 NQ return values node table Copyright 2004 Quin Systems Ltd Page 31 SERVOnet for PTS 9 Issue 6 Error Messages and Codes Additional error codes have been added to the PTS language for SERVOnet Description Comments 126 CAN chip stuck The QManager Machine Manager has a hardware in reset problem contact your supplier or Quin Systems Ltd 127 No CAN network All motors will stop Check CAN cabling and transceiver power power supply 128 This module is Reported when QManager Machine Manager CANbus OFF module goes off bus due to CANbus errors All motors will stop FW default CANbus errors are probably caused by electrical noise on the CANbus cable 129 Unable to log Either the
51. is more dangerous than module fails continuing SERVOnet power Motor off the PTS FW bit 3 if set the motor fails 12V dc failure automatically goes continues to be enabled This into MO state should be used if stopping the motor is more dangerous than continuing SERVOnet protocol Motor off the PTS FW bit 3 if set the motor failure message automatically goes continues to be enabled This corruption into MO state should be used if stopping the motor is more dangerous than continuing Motor error occurs Motor stops ME FW bit 4 if set the motor error such as position routine triggered will cause the SERVOnet error error i e SE line to trigger making ALL exceeded other PTS channels respond by motor off or not depending on FW bit 2 on individual channel Table 5 FW fault option word actions and behaviour This is an advanced facility to provide user control over the SER VOnet error line and its behaviour see chapter 7 on page 24 for more details about SERVOnet error handling NOTE FW bit 3 is potentially very dangerous There is no guarantee that the PTS system will be able to communicate after either the 12V power fails or a communications corruption occurs Therefore it may not be possible to command the motor to stop via the PTS language as the QManager Machine Manager cannot communicate with the axis module s 5 9 SERVOnet node table LN NN NT NQ See chapter 8 on page 28 for detail of
52. l 0 volts The second terminator provides a 1200 120R resistor between CAN H and CAN L the 12V bus power supply and additional 100R 2W circuitry for the SERVOnet continuity line This consists of a 100Q 2W resistor and a 5 supply BAV21 diode D9 socket Supply feed FiG 1 SERVONET WIRING UP TO 15 NODES FOR FAIL SAFE SCENARIO To provide an Axis Module with Hot swapping capability the male sub D type of the unit should be used with the SERVOnet cable socket for each Axis Module having two wires for each pin The resultant cable has a T connection to the Axis Module with Hot swapping capability For short cable runs within a single cabinet in this mode a ribbon cable with IDC connectors may be used Page 10 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS Both methods require 120 ohm termination resistors at both ends of the bus placed between CAN H and CAN L D O Cb D aD ep TaD icp PTS node connectors up to 15 FIG 2 SERVONET WIRING UP TO 15 NODES HOT SWAPPING 3 5 Cabling for more than 15 nodes fail safe When wiring more than 15 nodes together or where long cable runs are to be used it Is advisable to centre feed the cabling to reduce voltage drop sockets viewed on mating face _ CAN Gnd CAN L CAN H CAN Gnd Error CAN V Screen D9 Plug D9 Socket D9 Socket D9 Plug Termination 2 Termination 1 N N OO Supply feed Supply
53. ll be Decide for each module how many PTS channels it will have e g whether the virtual channel is turned off or on Decide for each module whether it needs to exist for the machine to operate required or whether it is optional Code this information into PTS via the node table commands as explained below Add error checking in the PTS autostart to detect any failures during SERVOnet boot up e g what is found on the network doesn t match the table Add user code to report which PTS channels axis modules exist to the operator fault finding and status feedback Add user code to handle optional modules being removed or added The remainder of this chapter details the PTS commands used to perform these actions 8 2 PTS commands for node table These commands are also detailed in the PTS Reference manual MANS533 issue 18 or higher and in the PTS online help system for PTS Toolkit 2000 8 2 1 LN List Node table This command provides a textual list of the current status for the SERVOnet node table Page 28 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS Lis TA Table is validated Node Type State Chans First 1 Optional Asleep 2 1 2 Required Alive 2 3 1 The first line of the display shows whether the node table is operational or not not validated this is a dynamic node table built by scanning the network No NN or NT commands exist in NVM and SP100 will have no effect
54. n as low a bandwidth as possible should be selected and PTS trigger variables avoided BECKHOFF Analogue inputs can be configured by following this procedure using the CANopen configuration shell section B 7 3 on page 50 a Disable SynchroLink clock CKO this is automatic on SERVOnet b Set node switches on bus coupler as required and connect to CANbus etc c Enter the configuration shell QC on the PTS system d Send NMT node reset for which the parameters are length 2 data byte 1 81 hex data byte 2 lt node number gt which is 61 decimal 3D hex for SERVOnet e Send SDO to reset Beckhoff unit for which the parameters are listed in the Table on page 56 f Set PDO2 transmit to event this is SDO index 1801 sub index 2 data item 1 to FF again see the Table on page 56 g Set Index 6423 sub index 0 to 1 specify event driven analogue inputs This is done by sending the appropriate SDO command listed in the table h For ALL analogue inputs set event threshold Index 6424 and 6425 or 6426 sub indexes 1 to number of analogue inputs Index 6426 is the more common setup set to OF 00 say Again use the table for reference i Set inhibit time if required Index 1801 sub index 3 j Send the Store parameters SDO Index 1010 sub index 1 If this is successful there will be an SDO acknowledgement after a few seconds k Exit the configuration shell restart CK1 if applicable and test using PTS trigger variables on
55. n the Connection Cap Node number 1 binary switches B 6 2 CANopen configuration The encoder CANopen PDO configuration must be as follows 1 Synchronous transmissions every sync message on PDO2 with no inhibit time 2 PDOI must be suppressed FRABA refer to section 7 2 7 Cyclic Mode in the encoder user manual specifically switching off cyclic mode transmissions NOTE THAT THIS REQUIRES A SOFTWARE MOD TO ENCODER If this mod has not been implemented set cyclic transmit period to 65535 maximum Also refer to section 7 2 8 Sync Mode in the encoder user manual Once the configuration has been performed remember to save these settings in the encoder NVM CANopen objects and sub indexes not mentioned here should be left at their factory defaults It is quite possible to configure the encoder is such a way that position data is not sent to PTS correctly so avoid doing any further configuration unless confident of the outcome Other settings such as encoder direction resolution and limit switches will be application specific Index 2100 B 6 3 PTS Configuration A CANopen encoder is configured by the FS command This will check that CANopen I O is not being used on systems where one or the other will work but not both Q Drive MiniPTS 1 1 MiniPTS 3 A CANopen clock signal is required for the encoder to transmit its data this is manually enabled on SynchroLink using the CK command but is fully automatic on SERVOnet Pag
56. opyright 2004 Quin Systems Ltd SERVOnet for PTS 19 42 28 15 42 42 36 49 23 28 29 14 15 28 41 30 29 23 49 50 19 19 43 50 36 16 30 41 36 Page 61 SERVOnet for PTS T Terminators TM TP v Virtual channel enabling disabling W Wiring XN 20 Page 62 9 37 23 23 36 43 44 Issue 6 Copyright 2004 Quin Systems Ltd
57. or the hot swappable system Fail safe means that any failure should automatically stop all motors e Hot swappable means it is possible to remove one Axis Module from the SERVOnet for maintenance replacement without stopping motors attached to other Axis Modules From PTS V2 2 1 1 and higher advanced control over the error line and how PTS responds to it is provided by the FW command See section 7 4 on page 26 for full details 7 1 Error Detection in Fail Safe mode In fail safe mode all SERVOnet errors are considered potentially serious the only sensible response is to stop all motors SER VOnet errors consist of CANbus protocol failures CANbus power failures and module power failures The means oftransmitting these error states between modules is via the hardware error line and software messaging detection Therefore errors are detected very quickly and acted upon whether or not an error Is received by the PTS program 7 2 Hot Swapping Servicing a working machine To enable hot swapping of Axis Modules the SERVOnet cable must be wired differently as covered in chapter 3 on page 8 Once this has been done it is possible to remove an axis module without stopping all motors by following this procedure i Use the PTS program to ensure that the machine is in the correct state for removing the Axis Module H Remove the SERVOnet T socket from the front of the Axis Module iii Turn the power off on the Axis Module iv
58. r CANopen I O to operate the SynchroLink system needs turning on using the CK and CN PTS commands CQ can be used to query the state of CANbus but will not return information about the state of any CANopen modules A CANopen NMT wakeup command is sent whenever a nonzero CN command is issued the node number of the CANopen device to wakeup is the same as the CN parameter value CK CN and FS configuration are all stored in NVM Therefore for the system to work properly these values should be saved correctly During PTS boot the parameters are restored which will start the SynchroLink features CK amp CN which will issue an NMT wakeup and then start receiving CANopen encoder data if so configured FS9 10 After the autostart sequence is triggered the CANopen I O will start if enabled This will determine the present state of the CANopen module Therefore any CANopen device should be powered up before or at the same time as the PTS system If it is necessary to re establish communications with a CANopen device e g after device power failure use PTS command string CN CN CNO CN CN or similar This will re issue the CANopen NMT wakeup command Any SynchroLink mapping will be temporarily interrupted and might cause PTS error messages B 8 2 Implementation Details specific to SERVOnet CANbus is an integral part of SERVOnet so the necessary facilities for CANopen encoders and I O will be initialised during PTS boot up Just before paramet
59. r as the Axis Module in question This is to recover any CANopen encoder that might have been used with the Axis Module RN does not restore the current state of any user program Sequences Maps and Profiles will need downloading when necessary by means of the CM TM TP commands any variables storing channel level parameters will need resetting as will any DI line definitions that were modified by the program Notes RN cannot be used to add channels to a SERVOnet system it is for recovering channels lost due to module power failure RN will not work if Axis Module suffered power failure during the CM command or similar To properly implement RN ensure that the PTS system is not currently accessing the channels in question before turning the Axis module off performing maintenance and restarting it Syntax RN61 This special case of RN is used to send a global CANopen NMT wakeup command to any CANopen device on the CANbus This is provided so that the PTS can recover any CANopen devices that have failed without requiring the PTS system to be re booted 5 7 XN eXecute sequence on remote Node Syntax XN lt seq no gt where lt seq no gt is between 1 and 65535 inclusive This function is used to execute a PTS sequence on a number of SynchroLink nodes simultaneously A SERVOnet QManager Machine Manager n Axis Modules forms one SynchroLink node as far as XN is concerned Issuing XN from the QManager Machine Manager will
60. r supply is required to provide bus power all PTS modules are optoisolated from the bus at about 35 mA per node Each end of the CANbus should be terminated with a 120Q resistor placed between CAN H and CAN L The SERVOnet error line may use this is recommended additional circuitry placed in the terminators to provide a fail safe cable continuity check 3 3 1 Fail safe or hot swapping It is possible to wire SERVOnet to two configurations fail safe and hot swapping Fail safe All modules are connected using daisy chain wiring Any hardware failure see chapter 7 on page 24 for a full discussion of these will be detected e Hot swapping By wiring Axis modules using a T connection it is possible to remove an Axis Module for service replacement without causing a hardware error state on SERVOnet Copyright 2004 Quin Systems Ltd Page 9 SERVOnet for PTS Issue 6 3 4 Wiring for up to 15 nodes Wiring diagrams for both fail safe and hot swapping configurations are given below 6 1 One terminator requires the 120Q resistor between CAN H and CAN L and a wire link between pins 3 and 4 for the SERVOnet continuity line 120R D9 plug FAIL SAFE wiring Pere The SERVOnet cable CAN_H linking each module r nd ogetherisastraightforward i CAN V pin to pin connection Screen 5 D9 socket D9 plug Each link 6
61. ransmissions A 5 4 LK lt val gt master map LinK over CANbus Value 0 default or 1 For map linking across CANbus a map master is required This is created by setting LK1 on the desired channel Each master map link over CANbus uses up approximately 5 of the available bandwidth CANbus map slaves do not use bus bandwidth as they receive messages only Testing has found that up to 8 map masters will be supported by CANbus equivalent to 40 bus loading The number of map slaves is limited by the CANbus interface on each node maximum 8 unique CANbus map masters slaves per node ABC LK will place zero or one in variable ABC indicating map master off and map master on respectively A 5 5 ML lt node channel gt Map Link Value node 1 to 60 inclusive channel 1 to 48 inclusive The ML command has been extended for SynchroLink Using a node channel format it is possible to specify that the required map master is on another node The standard form of ML lt channel gt still functions and performs a map link within the node The existence of this master is not checked however map timeout errors will occur if the master is not transmitting data Any one node will support up to 8 CANbus map masters slaves In addition to ML two other functions must be called to complete the map link on the map slave axis above the normal requirements Master axis channel 5 on node 3 CK1 CN3 CH5 SB20000 AR256 LK1 ZC PC Slave axis channel 8 on node
62. re is insufficient bus idle for CAN chip onto CANbus to synchronise with other bus traffic or the wiring is faulty 130 No free CAN All eight mailboxes used for mapping and trace mailbox functions are in use no more SERVOnet map links available or no mailboxes are available for trace data the axis module is fully occupied already 131 No CAN mailbox ML TR DM or UL function failed Contact Quin assigned Systems 133 No Clock signal Axis modules are not receiving the clock signal being received that should be being broadcast from the QManager Machine Manager This error normally occurs after the QManager Machine Manager has been off bus error 128 All motors will stop FW default 136 Module n lost RX A module is having problems receiving CANbus data on CANbus messages this can happen when the bus load and processor load are both extremely high A solution is to rewrite sequences to use TM for instance to reduce loading 137 No more map All the CAN mailboxes have been used or the Page 32 links available maximum number 8 of map transmitters are being used CQ will confirm this for you Table 10 SERVOnet Error codes and descriptions Copyright 2004 Quin Systems Ltd Issue 6 Description MODULE n has been CANbus OFF SERVOnet for PTS Comments Axis module n has been off CANbus due to bus errors To receive this message communication has been re established frequent errors like this imply CANbus
63. remote system The commands use the channel number only to link to an axis on the SERVOnet Page 38 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS On a SynchroLink network the LK command is used on the master axis to enable map transmission The receiving axis needs to be set up to match the master axis with MP NP and MM commands A 4 3 1 CF Command On the QManager Machine Manager and PTS Mk2 the CF command now allows you to set the data rate on port C the second CAN port The data rate can be set to 125 250 or 500 kbps To change the data rate enter the CF command select port C and type in the new data rate The system power must be cycled for the change to take effect As the data rate drops the loading on the network grows since the time taken to transmit each message increases This means that the maximum number of map masters possible reduces with the data rate The maximum network length and number of map masters for the different data rates is shown in the following table Data Rate Network Length Map Masters 125 kbps 500 metres 250 kbps 250 metres 500 kbps 100 metres Table 13 CF option C settings for SynchroLink A 4 3 2 CQ Command The output from the CQ command for SynchroLink has been modified to be similar to the SERVOnet report It includes a table of the modules found with the number of map transmissions from each The bus load calculation has also been improved The binary parameter is
64. right 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS A 5 Additional Modified PTS Instructions for SynchroLink 40 A 5 1 CK lt val gt Configure ClocK 40 A 5 2 CN lt node gt Configure Node 41 A 5 3 CQ CANbus status Query 41 A 5 4 LK lt val gt master map LinK over CANbus 42 A 5 5 ML lt node channel gt Map Link 42 A 5 6 NL lt node channel gt differeNtial Link 43 A 5 7 XN lt n gt eXecute sequence on all other Nodes 43 A 6 Error Messages and Codes 44 Appendix B CANopen Devices 45 BL Intoduch ns mms mines nee 45 B 2 Summary Table ss nur sise 45 B 3 Important notes on CANopen compatibility 46 B 4 CANopen devices supported by PTS 46 B 4 1 CANopen absolute encoder 46 B R CANopen VO En eee na han ayasa 47 B 5 CANopen Devices Tested with SynchroLink and SERVOnet 47 Bock CANbus Connection 47 B6 CANopen Encoder uyasapa needs 48 B 6 1 Hardware configuration 48 B 6 2 CANopen configuration ccccseseceeesneceeeeneeeeeees 48 B 63 PTS Con
65. ring is complete the system can be configured 4 1 Axis Module Numbering Each Axis Module requires a unique module number to identify it to the QManager Machine Manager The module number of an axis module determines the channel numbers that will be used to refer to its motors The following rules apply There must be at least one Axis Module on a SERVOnet system There must be an Axis Module with module number 1 on a SERVOnet system Channel 1 will be the first axis on module 1 The second Axis Module must have module number 2 The channel number of the first axis on module 2 will depend upon what module 1 was and how it was configured if module 1 is an MiniPTS 3 SERVOnet Axis Module with the virtual channel enabled see section 4 2 on page 17 for details of this then channel 5 will be the first axis on module 2 if module 1 is an Q Drive SERVOnet Axis Module with the virtual channel disabled then channel 2 will be the first axis on module 2 For further Axis Modules higher module numbers should be used BUT there should never be a missing module number in the sequence The channel number for any given axis on any given Axis Module will depend upon how many lower numbered Axis Modules there are and how many axes each of these modules have channel numbering always starts at 1 and increments with no missing numbers in the same manner as module numbers Note for SERVOnet node table see chapter 8 on page 28 the above r
66. rms a network wide analysis of the current state of SERVOnet CANbus Each module will be queried as to their status and this will be displayed as text messages for example 1 CQJ ServoNet Status Report Module TX map RX map Trace Status 1 1 2 0 CANbus is working ok 2 2 1 4 CANbus is working ok 3 0 1 0 CANbus is working ok Bus load 42 4 3 map txns 4 trace txns Other module s found 59 Machine Controller CANbus is working ok PTS is not a SynchroLink module As well as the CANbus status of each axis module the usage of mailboxes for map TX and RX and trace data is displayed CQ also searches the CANbus network for PTS modules that are not currently being used by the QManager Machine Manager and will report their existence as a further line of text giving their module numbers The following error states can be encountered and reported by CQ Ifthe SERVOnet error line is in the error state this will be reported If the QManager Machine Manager is unable to communicate over CANbus it will not report the status of any Axis Modules An axis module can have three error states reported in CQ a the axis module has some errors on CANbus which implies that there have been some problems but is still functioning as an Axis Module b the Axis Module is alive but not communicating with the QManager Machine Manager which implies that the Axis Module has suffered a power failure and c the Axis Module is neither alive or
67. smitting data Any one node will support up to 8 CANbus map masters slaves Usage of NL follows the same format as ML A 5 7 XN lt n gt eXecute sequence on all other Nodes Value I to 65535 inclusive This function provides the ability for one node to request the execution of the said sequence number on all other nodes This is equivalent to typing XS lt n gt on terminals connected to the serial ports of all other nodes and pressing all the enter keys at the same time XN lt n gt does NOT perform an XS lt n gt on the source node XN is a global broadcast with no confirmation from receiving nodes and therefore no guarantee of reception and execution of sequence lt n gt on remote node can be given If sequence lt n gt does not exist on a receiving node no error is generated the request is instead written into PTS variable XN XN lt n gt will generate errors if two or more XN s are received or transmitted before the firmware has finished operating the first XN function XN lt n gt is primarily intended for use in motor error sequences If one channel on a node experiences a motor error the XN function should be used to inform all other nodes and perform a controlled shutdown of the plant for example the XN could call the motor error sequence on other nodes Other uses of XN are not recommended due to the lack of acknowledgment between transmitter and receiver For LinMot linear motors connected to SynchroLink the XN command forms
68. t suits the application should be implemented and SERVOnet node numbers must not be used A 5 3 CQ CANbus status Query Value none or binary code flags To query the SynchroLink status of the node use CQ CQ lt return gt displays the current status of the node This information includes the node number being used whether the node is clock master the status of the CANbus interface and which node is clock master if the current node isn t The CQ function can display extra diagnostic information to aid CANbus configuration Bit Meaning 0 Display this nodes bus usage 1 Find all nodes on CANbus 2 Display global bus load 3 Reserved 4 Reserved 5 Reserved 6 Reserved 7 Reserved Bit 0 displays the number of unique map links being transmitted and received by this node maximum of eight transmissions receptions is available Bit 1 counts all the nodes responding on CANbus For a node to respond it must have been configured with CN non zero have successfully initialised its CANbus interface and be bus on receiving power to the transceivers and the CANbus cable be sound Copyright 2004 Quin Systems Ltd Page 41 SERVOnet for PTS Issue 6 Bit 2 gives an indication of the percentage bus load on CANbus due to map links Each master map link across CANbus occupies approximately 5 of the available bandwidth with the clock signal occupying a further 3 5 The figure presented is calculated by querying each node for the number of map t
69. that are module specific e g AO Remember that input group 1 on one Axis module is not the same as input group 1 on another module and the same applies for output groups and other functions So keep a note of which PTS channels are on which Axis modules Channel specific parameters are stored on the Axis Module to save memory on the QManager Machine Manager This means if an axis module is exchanged or moved its parameters will go with it To avoid this have all configuration parameters in sequences stored in the QManager Machine Manager which means hot swapping configurations can be constructed If any other points arise that would be useful please contact Quin Systems who will add them to the next release of this manual Copyright 2004 Quin Systems Ltd Page 23 SERVOnet for PTS Issue 6 r SERVOnet Error Detection and Handling SERVOnet has been designed to provide robust error detection and handling of CANbus and hardware failures Due to the design and implementation of a SERVOnet system individual modules may well be powered from different sources in differing electrical conditions and exposed to different mechanical risks This contrasts with the PTS Mk2 which is a rack based system driven from a single power supply and is situated in a single place This chapter deals with the possible errors and how they are detected and reported Two distinct implementations of SER VOnet are possible the fail safe system
70. these commands Page 22 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS 6 PTS Program Writing for SERVOnet Once SERVOnet has been installed and configured a machine control program can be written in much the same manner as for any other PTS system However some attention needs to be paid to the coding to allow for SERVOnet the following points have been noted e Use NC function to determine if all modules have started successfully NC should give the expected number of channels This is useful diagnostic information for the operator Use CM and TM TP in your program to transfer sequences and maps profiles before using them the XS and XM XP commands This will reduce processor bus load at critical points e CQ can be queried into a variable i e CQ CQ where 0 means CANbus OK a non zero value Indicates an error the number being a PTS error code e g CQ 141 means there is an error state on the hardware error line Use this feature to produce information for machine diagnostics After using the RN command certain variables may need resetting especially if you are using variables to hold information about channel level parameters such as position or loop counting It Is also advisable to use CM TM TP as required after an RN to download sequences maps profiles to reduce the processor bus load when restarting the machine As with the PTS Mk2 you should be careful with I O line definitions and other functions
71. tself without any user intervention This happens because Axis Modules automatically sort out module number clashes However there is no guarantee that each time the system is turned on the module numbering will be the same or work at all Therefore use the CN function from the QManager Machine Manager to set the correct module numbers into NVM on each Axis Module and then cycle the power on all units 4 1 6 Using QManager Machine Manager Once a SERVOnet system has been initialised in other words both the Axis Modules and the QManager Machine Manager switched on and successfully communicated with each other the CN command PTS V1 9 or SI command PTS V2 1 and higher can be used to change module numbers in Axis Modules Care should be taken to ensure that the changes do not make the system invalid the rules governing Axis Module module numbers still apply Page 16 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS 4 2 Axis Module Virtual Channel Enabling Disabling Each Axis Module has one virtual channel A virtual channel is a PTS motor channel without the ability to connect a motor the motor is virtual These channels are used to provide timing buffering mapping and other software features which allow complex machines to be controlled A MiniPTS 3 SERVOnet Axis Module will control 3 real motors and has one additional virtual channel A Q Drive SERVOnet Axis module has one real motor and one virtual channel On both typ
72. ules still apply but instead of detecting these settings from the network a pre written table is used The current module number of an axis module is displayed on the LED s as the unit is switched on For a MiniPTS 3 SERVOnet Axis module the module number will be either Nxx or nxx where xx is the module number For a Q Drive SERVOnet the same display uses a single LED with the Nxx or nxx cycling round A capital N indicates that the module number being used is stored in NVM non volatile memory memory that remembers its settings whether or not the Axis Module is provided with electricity this module will always use this number A lowercase n indicates that a temporary module number is being used NVM does not contain a module number this temporary number could be different every time the unit is switched on For the SRV300 the node number and other configuration settings are available via the ABB front panel in parameter group 51 Comm Mod data Param 51 02 Axis module number If the number is greater than 100 this indicates a temporary module number i e module 100 For example 102 is temporary module number 2 Page 14 Copyright 2004 Quin Systems Ltd Issue 6 SERVOnet for PTS 4 1 1 Module number clashing No two modules can have the same module number so the Axis Modules communicate their module number over CANbus when they are switched on and any module number clashes are sorted out usin
73. ween trace data mailboxes within SERVOnet map data transferring to SynchroLink and other host activity The SynchroLink clock is enabled with the CK command A 5 Additional Modified PTS Instructions for SynchroLink A 5 1 CK lt val gt Configure Clock Value 0 default or 1 SynchroLink requires clock synchronisation between nodes for position mapping to work Therefore one node must be a clock master CK 1 and all other nodes must be clock slaves CKO The clock signal uses up approximately 3 5 of the available CANbus bandwidth When bus off CNO changing CK has no effect The value of CK is applied when CN is set to a non zero number and the node attempts to go CANbus on If another clock master is detected on the bus then an error message error 132 will be displayed and CK will revert to zero When bus on CN non zero changing CK will have immediate effect CK1 will attempt to make the node a clock master If no other node is clock master then this will be successful otherwise an error message error 132 will be printed CKO will turn the node into a clock slave ABC CK will place either a zero or one in variable ABC to indicate clock slave and clock master respectively NOTE there must always be a clock master for SynchroLink to work Clock slave nodes check for the presence of a clock master and will not perform mapping across CANbus unless the clock signal is present error 133 followed by map update timeout errors error 1
74. wiring problems Module n is not responding Axis module n is not responding to CANbus messages check its power and cabling Module n has suffered power failure This error code will be received when an Axis Module is switched back on after being switched off Use for recovery from Hot swapping Module n SERVOnet hardware detected When the SERVOnet hardware error line enters the error state all motors stop Each module that detects this will also report this error code Copyright 2004 Quin Systems Ltd RN Module n has wrong number of channels The RN function checks that the Axis Module you are trying to restart has the same number of channels as when it was first detected during startup This error indicates that either the Axis Module is the wrong type a MiniPTS 3 SERVOnet rather than a Q Drive SERVOnet or the virtual channel is enabled disabled when it shouldn t be Table 10 SERVOnet Error codes and descriptions Page 33 SERVOnet for PTS Issue 6 10 SERVOnet LED Displays 10 1 MiniPTS 3 SERVOnet Axis Module Mini Machine Manager and QManager The MiniPTS 3 SERVOnet Axis Modules and Mini Machine Manager have three 7 segment LED displays mounted on the front panel The QManager has four 7 segment LED displays mounted on the front panel These are used to display SERVOnet CANbus status as well as motor error status M

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