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User Manual - Harmonic Drive AG

1. ON ACTIVATE Power stage activate power stage motor commutation brake management LOOP CONTROL ACTIVE n loop control support or bit 3 Drive following setpoints QUICK STOP ACTIVE e g triggered via terminal drive no longer following setpoints FAULT RESPONSE ACTIVE Drive no longer following setpoints FAULT FAULT Number and location alternately displayed motor torque free Harmonic Drive AG 19 45 Drive state machine The system states and the possible state transitions are shown in the following diagram and described in the following tables Fig 6 General system state machine control via SERCOS 4 Drive halt Command execution System state 5b System state 5c A Start Command A Halt Bit 13 1 start antl Bit 13 0 Active mode System state 5a Fault response active Q System state 5 I a 3 Enable operation 4 ard Bit 15 1 amp Phase 4 Bi 5 Disable Voltage ee Bit14 0 ENPO 0 7 Fault g 6 UZK off o m response active eke state 3 S System state 7 8 Fault Reaction 2 enable Voltage 5 Disable Voltage completed 6 UZK of Bit14 1 amp ENPO 1 Bit14 0 ENPO 0 Fault System state 8 Starting lockout System state 2 9 Fault Reset 1 UZK OK 6 UZK off r4 6 UZK off Not ready for start Pe System state 1 0 Start N System initialization Y in progress a Sy
2. 1 2 Read the Operation Manual first m Follow the safety instructions m Refer to the user information A Electriv drives are dangerous m Electrical voltages 230 V to 480 V Dangerously high voltages of 50 V capacitor charge may still be present even 10 minutes after the power is cut So always make sure the system is no longer live m Rotating parts m Hot surfaces A Protection against magnetic and or electromagnetic fields during installation and operation Persons fitted with heart pacemakers metallic implants and hearing aids etc must not be allowed access to the following areas Areas where drive systems are installed repaired and operated Areas where motors are installed repaired and operated Motors with permanent magnets pose a particular hazard DANGER If it is necessary to access such areas suitability to do so must be determined beforehand by a doctor Your qualification m In order to prevent personal injury or damage to property only personnel with electrical engineering qualifications may work on the device m The said qualified personnel must be familiar with the contents of the Operation Manual cf IEC364 DIN VDEO100 m Knowledge of national accident prevention regulations e g BGV A3 formerly VBG 4 in Germany During installation observe the following instructions m Always comply with the connection conditions and technical specifications Comply with electrical installation stan
3. Rotary weighting is selected via S 0 0076 The significance of the LSB of the rotary position data is defined by the rotary position resolution S 0 0079 LSB significance Unit e Motation 5 0 0079 When rotary preferential weighting is selected the weighting as per the following table applies Table 27 Preferential weighting of rotary position data Rotary position Weighting method Unit i Pee resolution Prefential weighting fi 0 0076 from S 0 0076 from S from 5 0 0079 Rotary Degrees 3 600 000 0 0001 degrees 36 Harmonic Drive AG YukonDrive 1003377 07 2011 Table 28 Bit fields in the position data weighting method parameter S 0 0076 Bits 2 0 Weighting method 000 o weighting 001 ranslatory weighting 010 Rotary weighting Bit 3 Parameter weighting 0 Preferential weighting 1 Preferential weighting Bit 4 Unit 0 Degrees for rotary weighting Metres for translatory weighting 1 Reserved for rotary weighting Inches for translatory weighting Bit 5 Reserved Bit 6 Data source 0 On the motor shaft 1 On the load side Bit 7 Processing format 0 Absolute format 1 Modulo format Bit 8 15 Reserved The following diagram shows the various position weighting options Fig 12 Diagram of position weighting methods Weighting method position data S 0 0076 S 0 0076 bit 0 2 Transitory S 0 0076 bit 6 S 0 0076 Preferential Parameter Preferential Parameter bit 3 weighting wei
4. User Manual AC Servo Controller YukonDrive Sercos the automation bus Harmonic Drive AG 1003377 07 2011 Table of contents 11 2 13 1 4 1 5 2 1 2 2 2 3 2 4 2 4 1 2 4 2 2 4 3 2 9 23l 29 2 31 3 2 3 3 3 4 3 5 4 1 4 1 1 4 2 4 3 4 3 1 44 45 46 47 471 47 2 5 1 5 2 5 3 5 4 5 4 1 5 4 2 6 1 6 2 6 3 6 4 Sabet fiiis 4 Measures for your safety Read the Operation Manual first Introduction to the SERCOS interface Commissioning of the SERCOS interface 8 Connections and controls hardware Variant liscasecsssronmansasuss 8 Connections and controls hardware variant 2 Connection of fibre optic cable Hardware Setting csccsssssssssseeseeseeesesensenets 9 Setting the transmission power of the SERCOS interface Setting the drive address via paramete Transfer rate of SERCOS interface Diagnostic LEDs Use of the distortion LED Checking fibre optic cables SERCOS communication phases Communication phase 0 Communication phase 1 Communication phase 2 Communication phase 3 Communication phase 4 Parameter interface Profile parameters S O xxxx k Manufacturer specific jarameters P DO iat 3 Cyclic data transfer Master control word Description of bits 13 15 Drive status word Drive state machine Real time control bits and real time Status DIts sce Signal control and status words Signal control word S 0 0145
5. P 0080 Bootloader information version and checksum x X X P 0081 Checksum of firmware in flash x x x P0100 Function of digital input ENPO x X P 0101 Function of digital input ISDOO x x P 0102 Function of digital input ISDO1 a X P 0103 Function of digital input ISD02 x x P0104 Function of digital input ISDO3 x x P0105 Function of digital input ISD04 x x P0106 Function of digital input ISDOS x x P 0107 Function of digital input ISD06 x x P 0108 Function of digital input ISDSH x x P0109 Function of analog input ISA00 x x 07 2011 1003377 YukonDrive Harmonic DriveAG 57 Table 46 List of supported SERCOS parameters ont A Write protection DN Description Unit CP2 CP3 CP4 P0110 Function of analog input ISA01 x x P 0118 Digital inputs Filter time ms x x P0120 nput inversion ENPO OJ ISD00 05 1 6 SH 7 ISD06 16 x x P 0121 States of digital inputs x x X P 0122 Function of digital output OSDOO x x P0123 Function of digital output OSDO1 x x P 0124 Function of digital output OSD02 x x P0125 Function of motor break X13 x x P0126 Function of digital output RELOUT1 x x P 0127 Function of dig output RELOUT2 is fixed on Safety Hold x x x P 0141 Control value of dig outputs via COM access P 0142 Output inversion OSD0 1 2 0 1 2 MBRK 6 REL1 2 7 15 x x P0143 States of digital outputs x K x P0144 DriveCom Auto start of system P 0145 DriveCom Quick stop check in shut down command P 0146 DriveCom Q
6. Tmin_pos MIN P 0332 P 331 P 0329 P 0460 07 2011 1003377 YukonDrive Harmonic Drive AG 31 6 2 Flux Control In this operation mode the master specifies a speed setpoint S O 0036 Fig 8 Schematic diagram of torque control P 0458 P 0320 P 0329 S 0 0037 P 0333 alternatively P 0325 S 0 0081 i ret P 3005 Swn i aes s0 0100 S008322 p 032 P 0332 P 3006 0 0101 t P 0327 P 0460 S 0 0036 gt lan 4 gt gt a ais E gt gt ee GnFF s Grufs GmFF s Su po a Table 23 Speed control parameter Number Description Unit S 0 0036 Velocity setpoint VEL P 3005 Maximum positive acceleration ACC P 3006 Maximum negative acceleration ACC S 0 0037 Additive velocity setpoint VEL P 0371 Speed setpoint filter time constant ms P 0458 Motor nominal speed 1 min P 0328 Speed limit reference variable motor nominal speed P0333 Negative speed limit reference variable motor nominal speed P 0334 Positive speed limit reference variable motor nominal speed P 0167 Velocity override P 0320 PI speed controller gain Nm min P 0321 PI speed controller integral action time ms Alternatively S 0 0100 PI speed controller gain Nm min S 0 0101 PI speed controller integral action time ms P 0322 PI speed controller gain scaling factor P0325 Digital filter P 0326 Digital filter P 0327 Digital filter P 0329 Absolute torque limit referen
7. note that the bit number must first be assigned S 0 0413 S 0 0414 S 0 0415 S 0 0416 before a corresponding IDN is assigned as the real time bit S O 0301 S 0 0303 S 0 0305 S 0 0307 A faulty configuration e g unknown IDN is refused when writing to S 0 0301 S 0 0303 S 0 0305 or S 0 0307 Only the parameters listed in P 3003 Real time control bits or P 3002 Real time status bits are permissible Lists P 3002 and P 3003 are described in the following tables Table 12 List of parameters configurable as real time control bits P 3003 Parameter Description S 0 0405 Enable touchprobe 1 S 0 0406 Enable touchprobe 2 P0141 Open loop control of digital outputs via COM option Table 13 List of parameters configurable as real time status bits P 3002 Parameter Description S 0 0011 State class 1 device fault S 0 0012 State class 2 device warnings S 0 0013 State class 3 device state messages S 0 0014 Status word SERCOS interface P0121 Status of the digital inputs P0143 Status of the digital outputs S 0 0144 Signal status word S 0 0179 Touchprobes 1 amp 2 status P 0239 Functional status of the digital inputs S 0 0310 Warning threshold t motor exceeded S 0 0311 Warning threshold heat sink temperature exceeded S 0 0312 Warning threshold motor temperature exceeded S 0 0330 Status speed setpoint reached 22 Harmonic Drive AG YukonDrive 1003377 07 2011 Table 13 List of parameters configurable as real time stat
8. Drive status word parameter S 0 0135 110 Secondary mode 6 defined by operation datum S 0 0286 Bit7 Real time status bit 2 S 0 0306 Bit 5 Command change bit 1 Change of command acknowledgement Bit 3 Status of setpoint transfer 1 The drive follows the setpoints of the master control system 0 No fault Bits 1 Busy bit 1 Step being processed new step not permitted 0 1 Service transport handshake of drive The system state of the drive is indicated on the display on the front panel of the unit Bits 15 14 13 and 3 of the SERCOS status word are mapped onto one of eight possible system states according the following table The drive state machine SERCOS is described in the following section 18 Harmonic Drive AG YukonDrive 1003377 07 2011 Table 9 Mapping of bits 3 13 14 and 15 onto system state Bit 15 Bit 14 Bit 13 Bit 3 Display readout System state designation 1 0 07 2011 1003377 YukonDrive START Drive in initialization phase NOT READY FOR START Power stage without power no DC link voltage input STO requested NOT READY FOR START Power stage without power no DC link voltage STARTING LOCKOUT POWER Not enabled DC link voltage present starting Lockout power Input STO requested STARTING LOCKOUT Power stage without power not enabled DC link voltage present READY FOR START Power stage without power enabled DC link voltage present
9. S 0 0127 Prepare switch to communication phase 3 must be executed During this preparatory phase the drive checks criteria including the validity of the parameters required for communication phase 3 When the prepare to switch command has been successfully executed the drive is switched to communication phase 3 by the master In the event of a fault plausibility of the setting concerned the switch to communication phase 3 is refused with a relevant fault message NOTE On switching to phase 3 the drive controller performs all the necessary initializations If it is not possible to switch to phase 3 because of faulty parameter setting the controller generates a relevant fault message The meanings of the fault numbers are listed in the YukonDrive Application Manual The parameter listing in section 10 1 sets out the parameters that can be written in the various phases Table 4 Flash code Communication phase 2 LED H5 flash code Status Indication of communication phase 2 i m_m __ E 3 4 Communication phase 3 Communication phase 3 signifies that the drive is in restricted parameter setting mode In this mode as in parameter setting mode phase 2 you can write to many parameters which are no longer editable in communication phase 4 operation mode No communication parameters can be written in phase 3 During communication phase 3 the green LED H5 on the drive unit cyclically displays the flash code set out in the following t
10. can also be optionally used for homing 8 8 1 Function selector digital inputs and outputs The inputs and outputs of the drive can be assigned various functions by way of so called function selectors The inputs can also be filtered against bounce or inverted For more information on the digital and analog lOs please refer to the Application Manual section 4 m P0100 Function selector ENPO m P0101 Function selector ISDOO m P0102 Function selector ISDO1 m P0103 Function selector ISDO2 m P0104 Function selector ISDO3 m P0105 Function selector ISD04 m P0106 Function selector ISDO5 m P0107 Function selector ISDO6 m P0108 Function selector ISDSH m P0109 Function selector ISAOO m P0110 Function selector ISAO1 m P0118 Filter for digital inputs m P0120 Inversion of digital inputs m P0122 Function selector OSDOO m P0123 Function selector OSDO1 m P0124 Function selector OSDO2 m P0125 Function selector motor brake m P0126 Function selector RELOUT1 m P0142 Inversion of digital inputs 07 2011 1003377 YukonDrive Harmonic DriveAG 47 9 Touchprobe function The touchprobe function permits event controlled position measurement Positive and negative signal edges at the two fast digital inputs ISDO5 and ISDO6 can be configured as triggers for a position measurement To activate the Measurement with touchprobe function the Touchprobe cycle command S 0 0170 is used This command permits both single and
11. control and results P1521 Mechanical system parameters Hz P1522 Self commissioning and correlation results P 1530 Determination of default motor control settings P 1531 Selfcommissiong action selection P 2218 605AH DS402 quickstop option code 07 2011 1003377 YukonDrive Harmonic Drive AG 63 Table 46 P 2220 P2222 P 3000 P 3002 P 3004 P 3006 P 3030 P 3054 P 3056 List of supported SERCOS parameters 605CH DS402 disable operation option code 605EH DS402 fault reaction option code SERCOS Address IDN list of all data with real time status support Maximum transmission power Speed deceleration Drive controlled homing offset procedure command Gain external feed forward signals External acceleration feed forward signal a a Pscale 216 x x x 64 Harmonic Drive AG YukonDrive 1003377 07 2011 07 2011 1003377 YukonDrive Harmonic Drive AG 65 Harmonic Drive AG Harmonic Drive
12. control with position encoder 2 e g external encoder drive controlled profile generation 0000 0000 0001 1100 i h using pre control signals Which of the three possible encoder interfaces of the YukonDrive Channel 1 Channel 2 Channel 3 are designated as position encoder 1 and 2 respectively is specified by parameters P 0530 Selection of position encoder 1 and P 0531 Selection of position encoder 2 The position encoder for position control specified by the operation mode must also be selected via parameter P 0522 as the position encoder for position control Otherwise a fault will be triggered in response to the control ler enable and the switch from phase 2 to phase 3 For further details on encoder configuration please refer to the YukonDrive Operation Manual A valid interpolation method P 0370 must be configured for the position controlled operation mode The follow ing settings are possible 1 Linear interpolation Calculation of position and rotation speed 2 Spline Interpolation with external pre control Should only be used when the master control system also calculates and transmits the pre control signals for speed P 3055 and torque P 3056 3 Spline Interpolation Calculation of position rotation speed and torque 4 Spline Il Interpolation Calculation of position rotation speed and torque To attain a higher resolution of the pre control signals an additional 16 bit decimal place component P 3100 for the position
13. input of the next drive and so on The output of the last drive is connected to the optical input of the master The SERCOS slave addresses are assigned independently of their positions in the loop 2 4 Hardware settings 2 4 1 Setting the transmission power of the SERCOS interface By way of parameter P 3004 the transmission power of the fibre optic transmitter can be set Entering a O corresponds to the lowest power and a 3 the highest The following values are intended as a guide 0 lt 15m 1 15 30m 2 30 45m 3 gt 45 or HCS 2 4 2 Setting the drive address via parameter The drive address is set in parameter P 3000 Drive address A drive address setting or change made in this parameter only takes effect the next time the communication phase changes from 0 to 1 The drive address is independent of the position of the drive in the SERCOS loop Drive address programming using pushbuttons and a display is in preparation 07 2011 1003377 YukonDrive Harmonic Drive AG 9 2 4 3 Transfer rate of SERCOS interface The transfer rate specified by the master is automatically detected by the drive set accordingly and indicated in parameter S 0 0376 Baud rate SERCOS interface NOTE Baud rates of 2 4 8 and 16 MBaud are supported Automatic baud rate detection in the drive is implemented according to SERCOS Application Note AN15 dated 2002 08 22 2 5 Diagnostic LEDs Hardware variant 1 LED Colour Meaning H4 Red Dist
14. is preset via S O 0041 and P 3031 Find zero point The unit and the number of decimal places corresponds to the velocity weighting in S 0 0044 8 4 Homing acceleration The homing acceleration is preset via S O 0042 The unit and the number of decimal places corresponds to the acceleration weighting in S O 0160 8 5 Homing method The homing method is selected via P 2261 The various methods are detailed in the YukonDrive Application Manual SERCOS profile parameter S 0 0147 defining the homing method is not yet supported 8 6 Reference distance 1 2 The reference distance 1 2 S O 0052 S 0 0054 describes the distance between the machine zero point and the reference point referred to the motor measurement system After homing the actual position is calculated from the reference distance and the reference distance offset The weighting is preset according to S 0 0076 The two parameters relate to SERCOS encoders 1 and 2 respectively 8 7 Reference distance offset 1 2 The reference distance offset 1 2 S O 0150 S O 0151 describes the distance between the reference mark of the position encoder and the reference point The two parameters relate to SERCOS encoders 1 and 2 respectively 46 Harmonic Drive AG YukonDrive 1003377 07 2011 8 8 Reference cam limit switches The signal of the reference cam can be optionally linked to one of the digital inputs Inputs ISDOO ISDO6 are available Depending on the method the limit switches
15. multiple measurements use of real time bits Setting and enabling the command activates the Measurement function in the drive The drive signals this by setting the command acknowledgement data status to set enabled not yet executed No Command correctly executed acknowledgement is made This means that the command change bit is only set in the event of a fault By way of the Touchprobe control parameter S O 0169 specific edges of touchprobe 1 or 2 can be activated The measurement is enabled by the Touchprobe 1 2 enable signals S O 0405 S 0 0406 When the selected edge occurs on the touchprobe the drive stores the actual position value to the relevant para meter S 0 0130 to S 0 0133 measured value 1 or 2 positive or negative edge and sets the associated bit in the measured value status S 0 0179 The status bits in the measured value status are addressable separately via the ident numbers S 0 0409 to S 0 0412 and so can be assigned to the real time status bits in fast measurements When an active measurement edge occurs the effect of the same edge is disabled This block is cleared by resetting the touchprobe 1 2 enable S 0 0405 S 0 0406 The measurement is re enabled by then setting the touchprobe 1 2 enable The parameters of the touchprobe function are explained in the following table Table 45 Description of parameters for the touchprobe function Parameter Description TOUCHPROBE CONTROL PARAMET
16. prior to start of closed loop control and preset it as the setpoint and also do not update it even after commutation finding no evaluation of status word will feed forward a setpoint difference Shut off due to tracking error may be the consequence To avoid this the drive can be moved to the position specified by the master control system at start of control under drive control with parameter P 0156 Enable operation option code set to MOVE_COMMAND 1 This aims to exclude the possibility of a shut off or a jerky approach to the target position at start of control because of a setpoint difference in the axis This function also depends on the configuration of P 0743 maximum tracking error m P0743 equal to 0 Position tracking error off The drive switches on without correction and feeds the position setpoint of the NC directly onto the controller The drive moves to the target position with a jerk as necessary Major differences end in a speed tracking error depending on the parameter setting A jerky axis motion is the consequence m P0743 not equal to 0 Position tracking error on The drive reads the target position of the master control system and moves under drive control to that position position correction If the difference between the position specified by the control system and the actual position is greater than the tracking error P 0743 the drive switches to a fault state now without moving no major axis motion Otherwise th
17. 0 0041 Homing velocity for drive controlled homing SPEED S 0 0042 Homing acceleration for drive controlled homing ACC S 0 0043 Speed polarity parameter x x S 0 0044 Velocity data scaling type x x S 0 0045 Velocity data scaling factor x x S 0 0046 Velocity data scaling exponent x X S 0 0047 Position command value POS S 0 0049 Positive position limit value x X S 0 0050 egative position limit value x x S 0 0051 Position feedback value 1 POS x X x S 0 0052 Reference distance 1 POS S 0 0053 Position feedback value 2 POS Xx X x S 0 0054 Reference distance 2 POS S 0 0055 Position polarity parameter x x S 0 0057 position window for target reached status POS S 0 0076 Position data scaling type x x S 0 0077 Linear position data scaling factor x x S 0 0078 Linear position data scaling exponent x X S 0 0079 Rotational position resolution x x S 0 0080 orque command value TORQUE S 0 0081 Additive torque command value TORQUE S 0 0082 Positive torque limit value TORQUE S 0 0083 egative torque limit value TORQUE S 0 0084 orque feedback value TORQUE x x k S 0 0085 orque polarity parameter x x 52 Harmonic Drive AG YukonDrive 1003377 07 2011 Table 46 List of supported SERCOS parameters Write protection IDN Description Unit CP2 CP3 CP4 S 0 0086 Torque force data scaling type x x S 0 0087 Transmit to transmit recovery time TATAT us x x x S 0 0088 Receive to receive recovery
18. 09 Position of data record in MDT x x S 0 0010 Length of MDT x x S 0 0011 Class 1 diagnostic x xX x S 0 0012 Class 2 diagnostic x x x S 0 0013 Class 3 diagnostic x x x S 0 0014 Interface status x x x S 0 0015 Telegram type x x S 0 0016 Configuration list of AT x x S 0 0017 DN list of all operation data x x x S 0 0018 DN list of operation data for CP2 x x x S 0 0019 DN list of operation data for CP3 X x x S 0 0021 DN list of invalid operation data for CP2 x x x S 0 0022 DN list of invalid operation data for CP3 x x x S 0 0023 DN list of invalid operation data for CP4 x x x S 0 0024 Configuration list of MDT x x S 0 0025 DN list of all procedure commands x x x S 0 0026 Configuration list for signal status word S 0 0027 Configuration list for signal control word S 0 0028 MST error counter x x x 07 2011 1003377 YukonDrive Harmonic Drive AG 51 Table 46 List of supported SERCOS parameters Fe Write protection IDN Description Unit CP2 CP3 CPA S 0 0029 MDT error counter x x x S 0 0030 Firmware version of device x x x S 0 0032 Primary operation mode x S 0 0033 Secondary operation mode 1 x S 0 0034 Secondary operation mode 2 X S 0 0035 Secondary operation mode 3 x S 0 0036 Velocity command value SPEED S 0 0037 Additive velocity command value SPEED S 0 0038 Positive velocity limit value SPEED S 0 0039 Negative velocity limit value SPEED S 0 0040 Velocity feedback value 1 SPEED x x x S
19. 11 1003377 YukonDrive Harmonic Drive AG 53 Table 46 List of supported SERCOS parameters Write protection IDN Description Unit CE2 CP3 CP4 S 0 0130 Probe value 1 positive edge POS x x x S 0 0131 Probe value 1 negative edge POS x x x S 0 0132 Probe value 1 positive edge POS x x x S 0 0133 Probe value 1 negative edge POS x x x S 0 0134 Master control word S 0 0135 Drive status word x x x S 0 0140 Controller Type a X x S 0 0141 ame of motor parameter set x x S 0 0143 Sercos version x x X S 0 0144 Signal status word x x x S 0 0145 Signal control word S 0 0147 Homing parameter for defining the homing procedure sequence X S 0 0148 Drive controlled homing procedure command S 0 0150 Distance between the reference marker pulse of position FB1 POS S 0 0151 Distance between the reference marker pulse of position FB2 POS S 0 0152 Position spindle procedure command S 0 0153 Spindle angle position POS S 0 0154 Spindle positioning parameter x x S 0 0156 Velocity feedback value 2 SPEED ie X X S 0 0157 Velocity window SPEED S 0 0159 monitoring position difference threshold POS S 0 0160 Acceleration data scaling type x x S 0 0161 Acceleration data scaling factor x Xs S 0 0162 Acceleration data scaling exponent x x S 0 0169 Probe control parameter S 0 0170 Probing cycle procedure command S 0 0179 Probe status x x x S 0 0180 Spindle relative offset POS S 0 0185 Length of the configurable da
20. 292 Operation mode Description 0000 0000 0000 0001 Torque control 0000 0000 0000 0010 Speed control drive controlled profile generation with parameterized ramps 0000 0000 0000 0110 Speed control master control system controlled profile generation no tracking error Position control with position encoder 1 e g motor encoder master control system controlled profile 0000 0000 0000 0011 ft i generation no use of pre control signals Position control with position encoder 2 e g external encoder master control system controlled 0000 0000 0000 0100 i profile generation no use of pre control signals Position control with position encoder 1 e g motor encoder master control system controlled profile 0000 0000 0000 1011 3 a k generation with use of pre control signals Position control with position encoder 2 e g external encoder master control system controlled 0000 0000 0000 1100 rofile generation with use of pre control signals Position control with position encoder 1 e g motor encoder drive controlled profile generation no use of pre control signals 0000 0000 0001 0011 Position control with position encoder 2 e g external encoder drive controlled profile generation no 0000 0000 0001 0100 use of pre control signals Position control with position encoder 1 e g motor encoder drive controlled profile generation with use of pre control signals 0000 0000 0001 1011 Position
21. 4 Note If bit 14 and bit 15 in the MDT are set simultaneously P 0144 must be set to LEVEL 1 In summary For the controller enable signal bit 15 to be accepted that is for the drive to switch from the unpowered to the powered state the following conditions must be met SERCOS interface ready and in communication phase 4 Enable power pack via hardware ENPO and ISDSH and bit 14 in MDT Drive not in fault state Settings of relevant parameters P 0144 P 0159 and P 0165 07 2011 1003377 YukonDrive Harmonic Drive AG 15 Under these preconditions the drive shows device state 3 on the display The drive is activated by the change of state from O to 1 of bit 15 controller enable in the MDT If the enable is successfully executed the display readout changes to 5 and the relevant bits in the drive telegram DT are operated The readiness of the control drive follows setpoints is mapped in the status word via bit 15 bit 14 and bit 3 Ideally the master control system reads the actual value while control is starting and presets it as the setpoint until the closed loop controller signals readiness in the status word If the drive moves while control is starting such as due to motor commutation finding by linear drives whereby the drive does not yet signal readiness drive state 4 the position changes are automatically adopted by the master control system Control systems which retrieve the current actual position only once
22. ER The settings in this parameter define which touchprobes and edges are active for the touchprobe cycle Structure of touchprobe control parameter Bit 0 Touchprobe 1 positive edge Positive edge not active Positive edge active S 0 0169 Bit 1 Touchprobe 1 negative edge 0 Negative edge not active 1 Negative edge active Bit 2 Touchprobe 2 positive edge Positive edge not active Positive edge active o0 Bit 3 Touchprobe 2 negative edge Negative edge not active Negative edge active o0 TOUCHPROBE CYCLE COMMAND If the touchprobe cycle command is set and enabled by the master the drive responds to the following parameters 5 0 0170 Touchprobe 1 2 enable S 0 0405 00406 and Touchprobe 1 2 S 0 0401 00402 as programmed in touchprobe control parameter S 0 0169 While the command is active the master control system can perform multiple measurements The command is cleared by the control system if no further measurements are required 48 Harmonic Drive AG YukonDrive 1003377 07 2011 Table 45 Description of parameters for the touchprobe function Parameter S 0 0179 S 0 0130 S 0 0131 S 0 0132 S 0 0133 S 0 0405 S 0 0406 S 0 0409 Description MEASURED VALUE STATUS If the drive stores one or more measured values while the touchprobe cycle command S 0 0170 is active it simultaneously also sets the associated bit in the measured value status If th
23. OPERATION Communication phase 4 active bit 15 in SERCOS control word 1 4 DISABLE OPERATION Communication phase 4 active input ENPO 0 and or bit 14 in SERCOS control word 0 5 DISABLE VOLTAGE Communication phase 4 active input ENPO 0 and or bit 14 in SERCOS control word 0 6 UZK OFF DC link voltage less than switch off threshold 7 FAULT Fault event occurred can occur in any system state 8 FAULT REACTION ACTIVE The response configured for the fault is active e g fault stop ramp 9 FAULT RESET Fault reset by command S 0 0099 07 2011 1003377 YukonDrive Harmonic Drive AG 21 4 6 Real time control bits and real time status bits There are two configurable real time bits in the MDT and the DT respectively For configuration of these binary signals the following parameters are provided S 0 0301 Assignment IDN real time control bit 1 S 0 0413 IDN bit number real time control bit 1 S 0 0303 Assignment IDN real time control bit 2 S 0 0414 IDN bit number real time control bit 2 S 0 0305 Assignment IDN real time status bit 1 S 0 0415 IDN bit number real time status bit 1 S 0 0307 Assignment IDN real time status bit 2 S 0 0416 IDN bit number real time status bit 2 The real time control bits and real time status bits can be configured in phases 2 3 and 4 The assignment parameters contain the number of the parameter to configure for the respective real time bit With regard to configuration
24. Probe 2 positive latched Bit number allocation of real time control bit 1 Bit number allocation of real time status bit 1 ACC MBit s x x x TEMP x x x us ul 6 Harmonic Drive AG YukonDrive 1003377 07 2011 Table 46 List of supported SERCOS parameters oe Write protection IDN Description Unit CP2 CP3 CP4 S 0 0416 Bit number allocation of real time status bit 2 S 0 0417 Positioning velocity threshold in modulo mode SPEED S 0 0418 Target position window in modulo mode POS S 0 0419 Positioning acknowledge POS x X x S 0 0430 Active target position POS x Xx K P 0001 Id of device familiy series x x x P 0002 Device name product name X J x P 0003 Application specific device name alias x x P 0004 Total software version of device plain text x x X P 0005 Device family name x x x P 0006 Total version number of device software X x x P 0008 Vendor name x x X P 0030 Programmable reaction in case of failure P 0034 Device warnings status word x xX xX P 0039 Device Error ID low word and Error Location high word x x x P 0040 Reset firmware x x P 0041 Reset firmware and activate loader Xx x P 0050 D hardware print x x x P 0051 Sub ID hardware print x x x P 0052 D hardware option on X11 x x x P 0053 D hardware option on X12 Xs x x P 0054 D hardware CPLD x x x P 0055 Chip and redesign tracing identification x x X P 0060 D software option on X12 x x x
25. S 0 0047 can be transferred To use the higher resolution the advanced pre control mode P 0379 1 must be selected The advanced pre control mode P 0379 can deliver an improvement in pre control signals even without calcula ting P 3100 though this depends heavily on the scaling position resolution and must be checked on the line in each individual case For more information on scaling and interpolation please refer to the YukonDrive Operation Manual 30 Harmonic Drive AG YukonDrive 1003377 07 2011 6 1 Torque control In this operation mode the master specifies a torque setpoint S 0O 0080 To protect against overspeed when the maximum rotation speed is reached a speed governor is activated which limits the speed to the configured maximum Fig 7 Simplified schematic diagram of torque control P 0329 P 0330 P 0331 S 0 0084 P 0332 P 0460 S 0 0081 S 0 0080 Torque controlled motor Table 22 Torque control parameter Number Description Unit S 0 0080 Torque reference TORQ S 0 0081 Additive torque setpoint TORQ S 0 0084 Actual torque TORQ P 0329 Absolute torque limit reference variable motor nominal torque P 0330 Negative torque limit reference variable motor nominal torque P 0331 Positive torque limit reference variable motor nominal torque P 0332 Online torque limit reference variable motor nominal torque P 0460 Motor nominal torque Nm Rule Tmin_neg MIN P 0332 P 330 P 0329 P 0460
26. Signal status word S 0 0144 Fault warning and status messages Fault messages Warning messages Status messages nterface faults and diagnostic options Diagnosis of interface status Fault counter for telegram failures Operation modes Torque control Flux control Position control with drive controlled position profile generation Position control without tracking erro ee wWwwNnn 6 4 6 4 1 6 5 71 711 71 2 TANZ 7 1 4 7 2 724 T22 7 2 3 73 7 3 1 7 3 2 74 7 41 7 4 2 7 4 3 7 4 4 8 1 8 2 8 3 8 4 8 5 8 6 8 7 8 8 8 8 1 Position control without tracking errot In drive generation of pre control signals External generationof pre control signals Weighting iscssissscsasiccasscoseasseasctetscaaiceascasiztcasersenee Weighting of position data Weighting of translatory position data Weighting of rotary position data Modulo weighting Position polarity Weighting of velocity data Weighting of translatory velocity data Weighting of rotary velocity data Velocity polarit Weighting of acceleration data Weighting of translatory acceleration data bes 41 Weighting of rotary acceleration data Weighting of torque and force data Percentage weighting of torque ANG FONG OA at a saa sessaasssstsdsvisanssestbbovrectsctnictuonegs Weighting of force data Weighting of torque data Torque polarity Drive controlled homin
27. able Table 5 Flash code Communication phase 3 LED H5 flash code Status a g E PE E E ae eto H4 ea Indication of communication phase 3 3 5 Communication phase 4 Before the system can switch to communication phase 4 command S 0 0128 Prepare switch to communication phase 4 must be executed During this preparatory phase the drive checks criteria including the validity of the parameters required for communication phase 4 When the prepare to switch command has been successfully executed the drive is switched to communication phase 4 by the master During communication phase 4 the green LED H5 on the drive unit cyclically displays the flash code set out in the following table The drive can only be enabled via the control word in communication phase 4 12 Harmonic Drive AG YukonDrive 1003377 07 2011 Table 6 Flash code Communication phase 4 LED H5 flash code Status fs H__E H4 ea Indication of communication phase 4 4 Parameter interface 41 Profile parameters S 0 xxxx The SERCOS specific profile parameters S 0 0001 S 0 4095 are mapped as parameters P 10001 to P 14095 The corresponding addressing is ID 10000 dec 4 1 1 Manufacturer specific parameters P xxxx The manufacturer specific parameters P 0001 P 4095 are addressed as follows as P parameters ID 8000 hex Example P 0101 function selector ISDO1 is to be found in the IDN listing S 0 0017 as P 0101 Currently only r
28. ameter Number Description Unit S 0 0047 Position setpoint open loop control POS S 0 0051 Actual position 1 POS S 0 0053 Actual position 2 POS S 0 0258 Target position POS P 3055 External velocity pre control VEL P 3056 External acceleration pre control ACC S 0 0259 Positioning velocity VEL S 0 0260 Positioning acceleration ACC Interpolation method 11 Linear interpolation 2 External pre control signals from SERCOS master only with P 3055 P 3056 P 0370 not with drive controlled positioning 3 Cubic spline interpolation 4 Cubic spline interpolation II P 0374 Position setpoint delay ms P 0372 Speed pre control filter time constant ms P 0378 Speed pre control filter time constant ms S 0 0296 Speed pre control scaling Alternatively S 0 0348 Acceleration pre control scaling P 0375 Speed pre control scaling Alternatively P 0376 Acceleration pre control scaling P0377 Pre control ON OFF set automatically by operation mode P1516 Overall mass moment of inertia kgm 2 P 0279 Position controller control difference tracking error POS S 0 0104 P position controller gain 1 min Alternatively P 0360 P position controller gain 1 min 34 Harmonic Drive AG YukonDrive 1003377 07 2011 6 4 Position control without tracking error 6 4 1 In drive generation of pre control signals In this operation mode the master cyclically dictates position setpoints The drive performs a fine interpolation between the position setpoints and also ca
29. ce variable motor nominal torque P 0330 Negative torque limit reference variable motor nominal torque P 0331 Positive torque limit reference variable motor nominal torque P 0332 Online torque limit reference variable motor nominal torque P 0460 Motor nominal torque Nm P 0351 Actual speed filter time ms S 0 0040 Actual speed 1 VEL S 0 0156 Actual speed 2 VEL 32 Harmonic Drive AG YukonDrive 1003377 07 2011 6 3 Position control with drive controlled position profile generation In this operation mode the target position specified in S O 0258 is approached in time optimized mode adhering to the maximum positioning velocity S O 0259 and maximum positioning acceleration S 0 0260 In drive controlled positioning the position specified in S O 0282 is approached in time optimized mode at the velocity preset in S O 0259 and the acceleration configured under S 0 0260 The positioning commands are executed in accordance with S 0 0346 positioning control word and in modulo mode also S 0 0393 positioning command word Modulo mode is defined according to the weighting in S O 0076 bit 7 see section 7 Applicable parameters S 0 0282 Target position not S 0 0258 S 0 0259 Positioning velocity S 0 0260 Acceleration and deceleration S 0 0346 Positioning control word and for modulo mode additionally a S 0 0393 Positioning command word a S 0 0103 Modulo value a S 0 0294 Modulo divisor S 0 0346 is defined as follo
30. communication phase O the green LED H5 on the drive unit remains unlit Table 2 Flash code Communication phase 0 LED H5 flash code Status H4 o o Indication of communication phase O A A A eee 3 2 Communication phase 1 If communication phase 1 is active the drive is in phase 1 The master has not yet triggered a switch from phase 1 to 2 During communication phase 1 the green LED H5 on the drive unit cyclically displays the flash code set out in the following table Table 3 Flash code Communication phase 1 LED H5 flash code Status igi E H4 ewi Indication of communication phase 1 m lt e 07 2011 1003377 YukonDrive Harmonic Drive AG 11 3 3 Communication phase 2 Communication phase 2 signifies that the drive is in parameter setting mode In this mode you can write to many parameters which are no longer editable in communication phase 4 operation mode In communication phase 2 the communication parameters are usually transferred from the master to the drive All parameters influencing the switching frequency or the sampling times of the loop control system can likewise be written only in communication phase 2 During communication phase 2 the green LED H5 on the drive unit cyclically displays the flash code set out in the following table To enter communication phase 2 the master specifies Communication phase 2 in the Master Sync Telegram Before the system can switch to communication phase 3 command
31. d B to the correct CRC checksum Failure of a telegram is registered by incrementing a fault counter The two parameters S 0 0028 MST fault counter and S 0 0029 MDT fault counter exist for the purpose The content of parameter S 0 0028 is cleared on the transition from communication phase 2 to 3 the content of parameter S 0 0029 is cleared on the transition from phase 3 to 4 28 Harmonic Drive AG YukonDrive 1003377 07 2011 bai Operation modes The operation modes selectable in the master control word and displayed in the drive status word conforming to the SERCOS specification are coded according to the scheme set out in the following table Table 20 Operation mode coding Bit 15 1 Manufacturer specific mode 0 Cyclic setpoints for all modes Bit 13 10 reserved 00 0000 0000 No mode defined 00 0000 0010 Flux Control XX XXXX X100 Position control with position encoder 2 external encoder 00 0000 0110 reserved Bit3 1 Position control without tracking error 00 0000 Simple mode 1x 0001 Drive controlled positioning 00 0011 reserved xx 1000 Electronic gearing not supported Loop control with absolute setpoint input Activation of positioning with IPOSYNC Bit 8 1 With drive controlled mode switching wo 07 2011 1003377 YukonDrive Harmonic Drive AG 2 The operation modes supported by the YukonDrive are listed in parameter S O0 0292 Table 21 Supported operation modes S 0 0
32. dards e g B Cable cross section PE conductor and earth connection Do not touch electronic components and contacts electrostatic discharge may destroy components Harmonic Drive AG YukonDrive 1003377 07 2011 13 Introduction to the SERCOS interface SERCOS stands for SErial Realtime COmmunication System and is a globally standardized IEC 61491 and EN61491 digital interface for communication between master control systems drive units and other distributed peripherals The real time critical transfer of setpoints and actual values enables numerically controlled high performance drive applications to be implemented in the engineering industry Services are also provided for operation mode recording parameter setting configuration and diagnosis Fig 1 SERCOS communication module for YukonDrive The SERCOS communication module for the YukonDrive is implemented as a SERCOS II interface with a plastic optical fibre POF or hard clad silica HCS cable loop with F SMA connectors There are currently two hardware variants though in future only the variant detailed under 2 2 will be manufactured The hardware and software have as far as possible been developed in conformance to DIN EN 61491 The basis for implementing SERCOS II is the document titled Specifi cation SERCOS Interface Rev 2 4 issued Feb 2005 The power supply to the communication module is provided by the YukonDrive Baud rates of 2 4 8 and 16Mbit s are possibl
33. de of it at the input and output A positive position setpoint difference with non inverted polarity means the direction of rotation is clockwise looking at the motor shaft Table 30 Setting of position polarity via parameter S 0 0055 Bit 0 Bit 5 15 Position reference Not inverted Inverted Additive position setpoint Not inverted Inverted Actual position 1 Not inverted Inverted Actual position 2 Not inverted Inverted Postion limit values Not inverted Inverted Reserved 38 Harmonic Drive AG YukonDrive 1003377 07 2011 7 2 Weighting of rotary velocity data The velocity weighting is defined by the parameters listed in the following table All velocity data of the drive e g setpoint actual and limit values are subject to the preset weighting If No weighting is selected via para meter S 0 0044 the weighting factor and weighting exponent are irrelevant The velocity data is then subject to a differently defined weighting Table 31 Scaling parameter for position weighting IDN Description S 0 0044 Weighting method for velocity data S 0 0045 Weighting factor for velocity data S 0 0046 Weighting exponent for velocity data 7 2 1 Weighting of translatory velocity data Translatory weighting is selected via S O 0044 The significance of the LSB of the translatory velocity data is defined by the following equation LSB significance stance unit Soog4s 10500045 time unit When translatory prefere
34. drive status word is mapped in parameter S 0 0135 The precise structure of this parameter is shown in the following table The drive status word is transferred cyclically to the control system with each drive telegram in the SERCOS cycle see S 0 0002 SERCOS cycle time TScyc For diagnostic purposes the drive status word can be read via parameter S 0 0135 Drive status word Table 8 Drive status word parameter S 0 0135 Bit Explanation Bits 15 14 Ready 00 Drive not ready to power up as internal checks have not yet completed successfully 01 Drive ready to power up 10 Drive control unit ready and power supply on drive is torque free and power stage is disabled 11 Drive ready Drive enable set and effective power stage active Bit 13 Drive lockout fault in C1D operation datum S 0 0011 0 No fault 1 Drive locked due to a fault situation Bit 12 Change bit of C2D operation datum S 0 0012 0 No change 1 Change Bit 11 Change bit of C3D operation datum S 0 0013 0 No change 1 Change Bits 10 9 8 Current mode 000 Primary mode defined by operation datum S 0 0032 001 Secondary mode 1 defined by operation datum S 0 0033 010 Secondary mode 2 defined by operation datum S 0 0034 011 Secondary mode 3 defined by operation datum S 0 0035 100 Secondary mode 4 defined by operation datum S 0 0284 101 Secondary mode 5 defined by operation datum S 0 0285 07 2011 1003377 YukonDrive Harmonic Drive AG 17 Table 8
35. e Touchprobe 1 enable S 0 0405 is cleared by the control system the drive clears bits O and 1 in the measured value status If the Touchprobe 2 enable S 0 0406 is cleared by the control system the drive clears bits 2 and 3 in the measured value status The drive clears all bits in the measured value status when the touchprobe cycle command S 0 0170 is cleared by the control system Structure of measured value status Bit 0 Measured value 1 recorded positive S O 0409 0 Not recorded 1 Recorded Bit 1 Measured value 1 recorded negative S 0 0410 0 Not recorded 1 Recorded Bit 2 Measured value 2 recorded positive S O 0411 0 Not recorded 1 Recorded Bit 3 Measured value 2 recorded negative S 0 0412 0 Not recorded 1 Recorded Bit 15 reserved Bit 15 4 reserved MEASURED VALUE 1 POSITIVE EDGE With an external encoder the drive stores the actual position value 2 to this parameter with the positive edge of touchprobe 1 S 0 0401 during the measurement cycle If there is no external encoder actual position value 1 is stored MEASURED VALUE 1 NEGATIVE EDGE With an external encoder the drive stores the actual position value 2 to this parameter with the negative edge of touchprobe 1 S 0 0401 during the measurement cycle If there is no external encoder actual position value 1 is stored MEASURED VALUE 2 POSITIVE EDGE With an external encoder the drive stores the actual position value 2 to this parame
36. e and are detected automatically by the module This means there is no need to preset the baud rate Real time capability permits highly dynamic drive engineering applications with NC cycle times of 125s to 65 ms multiples of 125us The data to be transferred is defined in the SERCOS driver in numerous preference telegrams and parameters They are specially tailored to the high demands of electric drive systems A freely configurable telegram permits optimum utilization of all the possibilities offered by the line based on additional setpoint and actual value parameters such as increasing the transferred position resolution use of the inputs and outputs in the drive in the NC cycle and much more 07 2011 1003377 YukonDrive Harmonic Drive AG 5 1 4 Key features Data transfer via plastic optical fibre POF or hard clad silica HCS cable with F SMA connectors Transfer rate Optionally 2 4 8 or 16 MBaud Automatic baud rate detection Transmission power programmable via DIP switches hardware variant 1 only otherwise via parameters Setup using pushbuttons and display in preparation Programmable SERCOS address via parameters Setup using pushbuttons and display in preparation Cyclic data exchange of setpoints and actual values with exact time equidistance SERCOS cycle time of 125ps to 65 ms multiples of 125ys programmable Multi axis synchronization between setpoint action times and actual value measurement times of all drives in the l
37. e applies Table 38 Preferential weighting of rotary position data Weighting method Unit Weighting factor Weighting exponent from 5 0 0160 from 5 0 0160 5 0 0161 5 0 0162 HSE STEN Rotary rad s 2 1 3 0 001 rad s 2 Table 39 Bit fields in the acceleration data weighting method parameter S 0 0160 Bit 2 0 Weighting method 000 No weighting 001 ranslatory weighting 010 Rotary weighting Bit 3 Weighting method 0 Preferential weighting 1 Parameter weighting Bit 4 Distance unit 0 rad for rotary weighting Metres for translatory weighting 1 Reserved for rotary weighting Inches for translatory weighting Bit 5 ime unit 0 Seconds 1 Reserved Bit 6 Data source 0 On the motor shaft 1 On the load site Bit 7 15 Reserved 42 Harmonic Drive AG YukonDrive 1003377 07 2011 Fig 14 Diagram of acceleration weighting methods Accelaration data scaling type IDN00160 IDN 00160 bit 0 2 Rotational IDN 00160 bit 6 Load or motor Load or motor IDN 00160 Preferred Parameter Preferred Parameter bit 3 scaling scaling scaling scaling ey s ors s or s bit 5 s or s LSB 108 Variable LSB 10 Variable m s2 3 LSB weight rad s 3 LSB weight IDN 00161 IDN 00161 IDN 00162 IDN 00162 7 4 Weighting of torque and force data The torque force weighting is defined by the parameters listed in the following table All torque force data of the drive e g setpoint actual and limit value
38. e cancelled The bits defined in C2D are additionally defined by the single parameters in brackets Structure of the C2D Bit 0 Overload warning S 0 310 Bit 1 Amplifier overheating warning S 0 0311 Bit 2 Motor overheating warning S 0 0312 Bit 3 Cooling fault warning S 0 0313 Bit 4 Reserved Bit 5 Positioning speed gt n limit S O 0315 Bit 6 Reserved Bit 7 Reserved Bit 8 Reserved Bit 9 Undervoltage message DC link Bit 10 Reserved Bit 11 Excessive speed deviation S 0 0377 Bit 12 Reserved Bit 13 Target position outside travel range see S 0 0323 Bit 14 Reserved Bit 15 Manufacturer specific warning S 0 0181 S 0 0012 Bit 0 Warning not active Bit 1 Warning active 26 Harmonic Drive AG YukonDrive 1003377 07 2011 5 3 Status messages The key status messages of the drive are displayed in parameter S 0 0013 state class 3 The status messages in square brackets are defined in the SERCOS specification but are not supported by the YukonDrive Table 18 Structure of parameter S 0 0013 state class 3 Parameter Description Class 3 diagnostic C3D Operating status messages If a state in the drive changes the assigned bit in C3D is also changed accordingly and the change bit for C3D Bit 11 in the drive status is set to 1 By reading C3D over the service channel the C3D change bit in the drive status is reset to O By way of the C3D form S 0 0098 the effect of the opera
39. e drive corrects the difference with the slow jog rate P 0168 1 and the acceleration from P 2242 quick stop When the position has been reached the drive switches to state 5 and the drive follows the setpoints of the master control system only now is readiness signalled in the control word IMPORTANT With the scaling the ramp setting which the system accesses must also be set correctly and to reasonable values This involves the parameters m P 2242 Quick stop This is applied in the event of a fault depending on the configuration m P0168 Jog index O Jog rate rapid index 1 Jog rate slow The position correction described above may take a very long time at a very slow jog rate or may even not take place at all such as if P 0168 1 0 In this case the drive would remain in system state 4 as the setpoint cannot be attained Bit 13 Drive HALT free hold The Drive halt signal is state controlled and low active meaning in response to a Drive halt 0 signal the drive is in the Drive halt state The input signal is mapped in the master control word bit 13 16 Harmonic Drive AG YukonDrive 1003377 07 2011 44 Drive status word The drive status word is part of the drive telegram It contains all the key status information of the drive e g Readiness of control and power pack Drive fault Change bits state class 2 and 3 Current mode Real time status bits land 2 Status information for service channel The
40. ecord O is supported SERCOS currently does not support language switching English is installed by default 4 2 Cyclic data transfer To synchronize the drives in the loop at the start of each SERCOS cycle cycle time t S O 0002 the master sync telegram MST is sent see diagram below Its only information content is the communication phase dictated by the master The contents of the master data telegram MDT and the drive telegram DT are confi gurable The control sends a common master data telegram for all drives to the drives once per SERCOS cycle It contains the master control word the service channel parameter channel and a configurable data block This data block usually contains setpoints and limit values which the master control system wants to send to the drive to run the desired operation mode The content of this data block can be configured by the telegram setting The master data telegram is received simultaneously by all the drives in the loop Likewise once per SERCOS cycle each drive sends a separate drive telegram to the master control It contains the drive status word extracts from the service channel and a configurable data block This data block usually contains actual and status values which the master control system needs to run the desired operation mode Fig 5 SERCOS cycle timing diagram rg m TAT r MDT I 07 2011 1003377 YukonDrive Harmonic Drive AG 13 4 3 Master control word The maste
41. ection type x x P 0591 ENC Axis correction start position x x P 0592 ENC Axis correction end position x x P 0593 ENC Axis correction delta position x x P 0594 ENC Axis correction actual position value x x P 0595 ENC Axis correction position table for negative speed x x P 0596 ENC Axis correction position table for positive speed x x P0610 ENC CH1 Nominal increment of reference marks Signal per a K P 0630 ENC CH3 Nominal increment of reference marks Signal per x x P0742 Monitoring maximum position difference POS P0744 Monitoring speed difference threshold rpm P 1500 Testsignal generator control word P 1501 estsignal generator output signal selector P 1502 Testsignal generator number of cycles P 1503 estsignal generator offsets for rectangular wave var P 1504 Testsignal generator times for rectangular waves s P 1505 estsignal generator amplitude of sinusoidal wave var P 1506 Testsignal generator frequency of sinusoidal wave Hz P 1507 estsignal generator Initial phase for rotating current vector degree P 1508 Testsignal generator PRBS mininum toggle time ms P 1509 estsignal generator PRBS signal amplitude var P 1515 Speed and position control dynamic stiffness P1516 otal inertia of motor and plant kg m m P 1517 Autotuning for Jsum estimation control word P 1518 Autotuning Jsum hysteresis speed control speed limit rpm PIE Autotuning for Jsum speed hysteresis control torque limit Nm N P 1520 Autotuning parameters for
42. efines bit 15 Parameter S 0 0328 defines the bit number to be inserted into the signal status word from the relevant parameter S 0 0328 Bit number assignment list signal status word In this configuration list the bit numbers of the parameters from S 0 0026 copied into the signal status word S 0 0144 are programmed The sequence of the bit numbers in the list corresponds to the sequence of the signals in the signal status word For configuration of the signal status word the list of configurable parameters of the real time status bit P 3002 applies 24 Harmonic Drive AG YukonDrive 1003377 07 2011 5 Fault warning and status messages 5 1 Fault messages The key fault messages of the drive are displayed in parameter S 0 0011 state class 1 The fault messages in square brackets are defined in the SERCOS specification but are not supported by the YukonDrive Table 16 Structure of parameter S 0 0011 state class 1 Parameter Description State class 1 C1D Drive lockout A fault situation of state class 1 in the drive leads to il Best possible shutdown and subsequent torque enable at speed n min 25 b The drive lockout bit bit 13 in the drive status is set to 1 The fault bit is only cleared by the drive and reset to O when there are no more faults of state class 1 occurring and the Reset state class 1 command S 0 0099 has been received by the drive over the service channel The bits defined in C1D are additio
43. g comand Settings of SERCOS encoders 1 2 Homing velocity Homing acceleration Homing method Reference distance 1 2 Reference distance offset 1 2 Reference cam limit switches Function selector digital inputs and outputs Touchprobe function Parameter access via the service channel 51 SERCOS parameter list ssssssscseceeeeseeeneeeeee 51 Harmonic Drive AG YukonDrive 1003377 07 2011 Dear user This manual is intended for you as a project engineer commissioning engineer or programmer of drive and automation solutions on the SERCOS II field bus It is assumed that you are already familiar with this field bus on the basis of appropriate training and reading of the relevant literature We assume your drive is already in operation If it is not you should put it into operation as described in the YukonDrive Operation Manual This manual applies to the YukonDrive position controller system with the SERCOS II option card The basis for implementing SERCOS in the YukonDrive is the document titled Specification SERCOS Interface Version 2 4 issued in February 2005 for more details visit http www sercos de 07 2011 1003377 YukonDrive Harmonic Drive AG 3 1 Safety 1 Measures for your safety The instructions set out below should be read through prior to initial commissioning in order to prevent injury and or damage to property The safety instructions must be followed at all times
44. ghting weighting weighting soar i pack LSB Resolution LSB LSB 10 m variable 3600000 varabal LSB 0 0001 S 0 0077 Meares S 0 0079 S 0 0078 9 07 2011 1003377 YukonDrive Harmonic Drive AG 37 7 1 3 Modulo weighting If modulo weighting is preset via parameter S 0 0076 Position weighting parameters S 0 0103 Modulo value and S 0 0294 Modulo value divisor determine the value range modulo range within which the actual position may lie If the travel distance exceeds the modulo range an overshoot of the actual position occurs Table 29 Scaling parameter for position weighting Parameter Description S 0 0103 S 0 0294 Modulo Value When modulo format is preset in the position weighting method S 0 0076 the modulo value S 0 0103 defines the number range of all position data If the modulo value is exceeded the drive and the master control system perform the modulo calculation Modulo Value Divisor If the modulo value S 0 0103 does not match the physical modulo value the modulo value can be cor rected by the divisor S O 0294 The effective modulo value is the product of S O 0103 and S 0 0294 A value of 1 renders the modulo value divisor parameter ineffective 7 1 4 Position polarity In parameter S 0 0055 the polarities preceding signs of the specified position data can be inverted according to the application The polarities are not inverted within a controlled system but outsi
45. in the signal status word The first parameter number in the list defines bit 0 the last parameter number defines bit 15 Parameter S 0 0328 defines the bit number to be inserted into the signal status word from the relevant parameter S 0 0329 Bit number assignment list signal control word In this configuration list the bit numbers of the parameters from S 0 0027 copied into the signal control word S 0 0145 are programmed The sequence of the bit numbers in the list corresponds to the sequence of the signals in the signal control word 07 2011 1003377 YukonDrive Harmonic DriveAG 23 4 7 2 Signal status word S 0 0144 In signal status word S 0 0144 a user configurable drive status can be mapped The signal status word can be configured for cyclic transfer in the drive telegram DT The signal status word is configured in phase 2 and is activated at the transition to phase 3 A faulty configuration results in a device fault and a refusal to switch to phase 3 The configuration parameters for the signal status word are described in the following table Table 15 Configuration parameters for the signal status word S 0 0026 Configuration list signal status word This list contains all the parameter numbers included in the signal status word The sequence of parameter numbers in the list determines the significance of the bits in the signal status word The first parameter number in the list defines bit 0 the last parameter number d
46. ing factor x x P 0476 Motor rotor resistance Ohm X x P 0477 Motor rotor resistance scaling factor X A P 0500 ENC CH1 Actual value SingleTurn 0 MultiTurn 1 x x x P 0501 ENC CH2 Actual value SingleTurn 0 MultiTurn 1 X X Xx P 0502 ENC CH3 Actual value SingleTurn 0 MultiTurn 1 x x x P0505 ENC CH1 Encoder type selection x x P 0506 ENC CH2 Encoder type selection x x P 0507 ENC CH3 Encoder type selection x x 07 2011 1003377 YukonDrive Harmonic Drive AG 61 Table 46 List of supported SERCOS parameters e Write protection IDN Description Unit CEZ CP3 CP4 P0510 ENC CH1 Gear nominator x X P 0511 ENC CH1 Gear denominator x x P0512 ENC CH2 Gear nominator x x P0513 ENC CH2 Gear denominator x X P 0514 ENC CH3 Gear nominator x x P 0515 ENC CH3 Gear denominator x x P 0520 ENC Channel selection for motor commutation X x P 0521 ENC Channel selection for speed control x x P0522 ENC Channel selection for position control x P0523 ENC Channel selection for master input x x P 0530 ENC Channel selection as SERCOS encoder 1 x x P 0531 ENC Channel selection as SERCOS encoder 2 x x P0540 ENC CH1 Absolute position interface selection X x P0541 ENC CH1 Index pulse signal test mode x x P0542 ENC CH1 Number of lines SinCos TTL encoders x x P 0543 ENC CH1 Number of MultiTurn bits SSI absolute x x P0544 ENC CH1 Number of SingleTurn bits SSI absolute x x P0545 ENC CH1 Code selection SSI absol
47. ition value to measured value 1 negatively S 0 0131 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchpro be 1 enable is set to 0 In the operation datum only bit 0 is defined For more information see S 0 0179 MEASURED VALUE 2 RECORDED POSITIVE With this parameter Measured value 2 recorded positive is assigned an IDN As a result Measured value 2 recorded positive can be assigned to a real time status bit S 0 0305 Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 2 enable signal S 0 0406 is set to 1 and the positive edge of touchprobe 2 S 0 0402 is signalled At the same time the drive stores the actual position value to measured value 2 positively S 0 0132 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchpro be 2 enable is set to 0 In the operation datum only bit 0 is defined MEASURED VALUE 2 RECORDED NEGATIVE With this parameter Measured value 2 recorded negative is assigned an IDN As a result Measured value 2 recorded negative can be assigned to a real time status bit S O 0305 Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 2 enable signal S 0 0406 is set to 1 and the negative edge of touchprobe 2 S 0 0402 is signalled At the same time the drive sto
48. lculates the speed and acceleration pre control signals The position setpoint can be delayed for a configurable number of position controller cycles P 0558 The amplitudes of the delay signals can be scaled via parameters S 0 0296 speed pre control and S 0 0348 acceleration pre control The speed pre control signal is smoothed by way of a P T1 element with the filter time constant P 0555 and overlaid on the speed setpoint generated by the position controller The acceleration pre control signal is converted via the mass moment of inertia of the drive set in parameter P 0314 into a torque pre control signal which is overlaid on the torque setpoint generated by the speed controller Fig 10 Schematic diagram of position control without tracking error with internal pre control signals S 0 0348 alternatively 1 Poss 5 0 0376 P 0378 P1516 1 C Merr l k 7 j L_ 0 0296 altemativel 0 0047 p Pi 0575 i NotFF gt 5 a Al eel ead P 0320 P 0329 a i roaa P 0321 P 0330 S i P 0334 alternatively lt 0 0322 P 0325 S 0 0081 P0331 i poga S0004 Bo pe 8 0 0100 P 0326 P 0332 Posa B ahematively 8 0 0101 P 0327 P 0460 l rer ae L l 7 Torque controlled a i LCA L O A Axm aor ij gt GnFF s Grats GmFF S l P 0351 s 0 0051 29 0040 0 0053 soss Jj Ly 6 5 E
49. ling time ms X x x P 0304 Speed control sampling time ms x x x P 0305 Position control sampling time ms x x X P 0306 Sampling time for interpolation ms x x x P 0307 Voltage supply mode must be set correctly x x P 0310 Current control gain V A P 0311 Current control integration time constant ms P0312 Actual motor voltage rms phase to phase v x x x P 0313 VF control boost voltage at zero frequency v P0314 VF control nominal frequency Hz P0315 VF control voltage at nominal frequency Vv P 0320 Speed control gain Nm rpm P 0321 Speed control integration time constant ms P 0322 Speed control gain scaling factor P 0323 Advanced control structure gains P 0324 Advanced control structure filtering P0325 Filter frequencies of digital filter Hz x X P 0326 Digital filter design assistant P 0327 Coefficients of digital filter P 0328 Speed control maximum speed P 0329 Motor torque scaling of limits P 0330 Motor torque scaling of negative limit P 0331 Motor torque scaling of positive limit P 0332 Motor torque scaling online factor P 0333 Motor speed scaling of negative limit P 0334 Motor speed scaling of positive limit P 0335 Direction lock for speed reference value P 0336 Adaptation of speed control gain at zero speed x x 07 2011 1003377 YukonDrive Harmonic Drive AG 59 Table 46 List of supported SERCOS parameters Write protection IDN Description Unit CPZ CP3 CP4 P 0337 Motor speed scaling P 0340 Magnetization cu
50. m and the drives are to be interpreted The method of weighting is defined by the parameters for position velocity acceleration and torque weighting 71 Weighting of position data The translatory position weighting is defined by the parameters listed in the following table All position data of the drive e g setpoint actual and limit values are subject to the preset weighting If No weighting is selected via parameter S 0 0076 the weighting factor and weighting exponent are irrelevant The position data is then subject to a differently defined weighting Table 25 Scaling parameter for position weighting IDN Description S 0 0076 Weighting method for position data S 0 0077 Weighting factor for translatory position data S 0 0078 Weighting exponent for translatory position data S 0 0079 Rotary position resolution S 0 0103 Modulo value 7 1 1 Weighting of translatory position data Translatory weighting is selected via S O 0076 The significance of the LSB of the translatory position data is defined by the following equation LSB significance Unit S 0 0077 10502078 When rotary preferential weighting is selected the weighting as per the following table applies Table 26 Preferential weighting of translatory position data Weighting method Unit Weighting factor Weighting exponent A A from 5 0 0076 from 5 0 0076 5 0 0077 s 0 0078 Fretentialweighting Linear m 1 7 0 1 ym 7 1 2 Weighting of rotary position data
51. n LED is lit Check the fibre optic cable with its connectors from its physical predecessor in the loop to the affected drive see below Compare the transfer rate of the master with the supported drive baud rates On the physical predecessor of the affected drive check the transmission power setting and adjust it as necessary by the DIP switches HW variant 1 or via parameter P 3004 HW variant 2 In HW variant 1 parameter P 3004 only has an influence if a higher transmission power is set on the DIP switches That is to say the lowest transmission power set via the parameter or the DIP switches determines the actual effective transmission power It is not possible to upscale by way of the other channel 10 Harmonic Drive AG YukonDrive 1003377 07 2011 2 5 2 Checking fibre optic cables f the specified transfer rate is supported and the transmission power is correctly set but still no communication akes place the fibre optic cable may be defective In this case the distortion LED will light The cause of a defect in a fibre optic cable may be mechanical damage or poor assembly bad connector fitting or the like Defective fibre optic cables must be replaced NOTE Fibre optic transmission is sensitive to dirt contamination Make sure no dirt particles can penetrate the ransmitter or receiver elements This may lead to transmission power and distortion problems which are difficult o localize Protect the elements during installation using
52. n feed forward speed signal S 0 0300 Real time control bit 1 x x x S 0 0301 Allocation of real time control bit 1 S 0 0302 Real time control bit 2 x x x S 0 0303 Allocation of real time control bit 2 S 0 0304 Real time status bit 1 X x x S 0 0305 Allocation of real time status bit 1 S 0 0306 Real time status bit 2 x Xx Xx S 0 0307 Allocation of real time status bit 2 S 0 0310 Overload warning Motor x x x S 0 0311 Amplifier overtemperature warning x x x S 0 0312 Motor overtemperature warning x x x S 0 0328 Bit number allocation list for signal status word S 0 0329 Bit number allocation list for signal control word S 0 0330 Status n_feedback n_cmd x x x S 0 0331 Status n_feedback 0 x i K S 0 0332 Status n_feedback lt nx x x x 07 2011 1003377 YukonDrive Harmonic DriveAG 55 Table 46 S 0 0334 S 0 0336 S 0 0346 S 0 0348 S 0 0372 S 0 0374 S 0 0376 S 0 0383 S 0 0387 S 0 0392 S 0 0400 S 0 0402 S 0 0405 S 0 0407 S 0 0409 S 0 0411 S 0 0413 S 0 0415 List of supported SERCOS parameters Status T gt Tlim Status in position Position control word Gain feed forward acceleration signal Drive halt acceleration bipolar Procedure command error list Baudrate Motor temperature Power overload Velocity feedback filter Status home switch Probe 2 status Probe 1 enable Homing enable real time control bit Probe 1 positive latched
53. n of bits 13 15 Bit 14 Drive ENABLE power stage enable The YukonDrive has a control input X4 10 ENPO Enable Power for hardware enable This input must be confi gured for operation of the power stage at 24 V The device additionally features the STO Safe Torque Off function category 3 see YukonDrive Operation Manual and Application Manual via control input X4 22 ISDSH The logic for this function High edge at digital input ENPO X4 10 with a High signal required at the digital input ISDSH X4 22 at the time the edge occurs must be fulfilled by the higher level control system according to Application Manual NOTE If the ENPO and ISDSH inputs are not configured the device remains in state 1 Not Ready to Switch On or 2 Switch On Disabled In the STO state the status indicator flashes S1 or S2 as appropriate Only after correct configuration of ENPO X4 10 and ISDSH X4 22 can the hardware be enabled by bit 14 in the SERCOS control word MDT Master Data Telegram It is only possible to enable the drive via bit 14 in communication phase 4 Bit 15 Control ON OFF controller enable Control of the drive via the SERCOS interface requires just a few parameter settings m Open loop control setting of drive via SERCOS interface Set P 0159 to SERCOS 6 m Setpoints via SERCOS profile Set P 0165 to SERCOS 8 m Evaluation of bit 15 in MDT state controlled 1 LEVEL or edge controlled 0 EDGE via P 014
54. nally defined by the single parameters in brackets Structure of the C1D parameter Bit 0 Overload shut off S 0 0114 Bit 1 Amplifier overheating shut off S O 0203 Bit 2 Motor overheating shut off S 0 0204 Bit 3 Cooling fault shut off S O 0205 S 0 0011 Bit 4 control voltage fault Bit 5 Feedback fault encoder fault Bit 6 Fault in commutation system Bit 7 Overcurrent Bit 8 Overvoltage Bit 9 Undervoltage fault Bit 10 Phase fault in power supply Bit 11 Excessive control deviation S 0 0159 Bit 12 Communication fault S 0 0014 Bit 13 Position limit value exceeded shut off S O 0049 00050 Bit 14 reserved Bit 15 Manufacturer specific fault S O 0129 Bit 0 No fault Bit 1 Fault 07 2011 1003377 YukonDrive Harmonic Drive AG 25 5 2 Warning messages The key warning messages of the drive are displayed in parameter S 0 0012 state class 2 The warning messages in square brackets are defined in the SERCOS specification but are not supported by the YukonDrive Table 17 Structure of parameter S 0 0012 state class 2 Parameter Description State class 2 C2D Shut off warning Activating or clearing a warning in C2D sets the C2D change bit bit 12 in the drive status By reading C2D over the service channel the C2D change bit in the drive status is reset to 0 By way of the C2D form S 0 0097 the effect of the shut off warnings on the change bit in the drive status can b
55. nformation see S 0 0179 MEASURED VALUE 1 RECORDED POSITIVE With this parameter Measured value 1 recorded positive is assigned an IDN As a result Measured value 1 recorded positive can be assigned to a real time status bit S O 0305 In the operation datum only bit 0 is de fined Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 1 enable signal S 0 0405 is set to 1 and the positive edge of touchprobe 1 S 0 0401 is signalled At the same time the drive stores the actual position value to measured value 1 positively S O 0130 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchpro be 1 enable is set to 0 For more information see S 0 0179 07 2011 1003377 YukonDrive Harmonic DriveAG 49 Table 45 Description of parameters for the touchprobe function Parameter S 0 0410 S 0 0411 S 0 0412 Beschreibung MEASURED VALUE 1 RECORDED NEGATIVE With this parameter Measured value 1 recorded negative is assigned an IDN As a result Measured value 1 recorded negative can be assigned to a real time status bit S O 0305 Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 1 enable signal S 0 0405 is set to 1 and the negative edge of touchprobe 1 S 0 0401 is signalled At the same time the drive stores the actual pos
56. ntial weighting is selected the weighting as per the following table applies Table 32 Preferential weighting of translatory velocity data Weighting method Unit Weighting factor Weighting exponent NER from 5 0 0045 from 5 0 0045 5 0 0045 5 0 0046 Hreterentalyegnting Linear m min 1 6 0 001 mm min 7 2 2 Weighting of rotary velocity data Rotary weighting is selected via S 0 0044 The significance of the LSB of the rotary velocity data is defined by the following equation LSB significance revolutions 5 0 0045 1050 0046 When rotary preferential weighting is selected the weighting as per the following table applies Table 33 Preferential weighting of rotary position data Weighting method Unit Weighting factor Weighting exponent 2 ag from 5 0 0045 from 5 0 0045 5 0 0045 5 0 0046 Pererennalweigning Rotary 1 min 1 4 1 min 0 0001 Rotary Ys 1 6 0 000 001 1 s 07 2011 1003377 YukonDrive Harmonic Drive AG 39 Table 34 Bit 2 0 000 001 010 Bit 3 Bit 7 17 The foll Fig 13 40 Bit fields in the velocity data weighting method parameter S 0 0045 Weighting method No weighting Translatory weighting Rotary Weighting Weighting method Preferential weighting Parameter weighting Distance unit Revolutions for rotary weighting Metres for translatory weighting Reserved for rotary weighting Inches for translatory weighting Time unit Minutes min Seconds s Data s
57. oop Full synchronization of all connected drives with the master control system Free configuration of telegram content Maximum configurable data volume in MDT 20 bytes Maximum configurable data volume in DT 20 bytes Programmable parameter weighting and polarity for position velocity acceleration and torque Additive velocity and torque setpoints Fine interpolation linear or cubic inside the drive Optionally master control side external or in drive generation of rotation speed and acceleration pre control Service channel for parameter setting and diagnosis Support for touchprobes 1 and 2 Support for spindle commands Support for configurable real time status and control bits Support for configurable signal status and control word Supported commands S 0 0099 Reset state class 1 S 0 0127 Prepare switch to phase 3 S 0 0128 Prepare switch to phase 4 S 0 0148 Drive controlled homing S 0 0152 Position spindle command S 0 0170 Touchprobe command S 0 0262 Parameter initialization to defaults command S 0 0263 Parameter initialization to backup values command S 0 0264 Save current parameter values command 6 Harmonic Drive AG YukonDrive 1003377 07 2011 15 Terms Table 1 Terms SERCOS MST Cyclic data IDN Master Sync Telegram Provides precise data synchronization of the drives in the fibre optic loop by the time slot method Standardized method of real
58. orque setpoint 0 Not inverted 1 Inverted Bit 2 Actual torque 0 Not inverted 1 Inverted Bit 3 15 Reserved 07 2011 1003377 YukonDrive Harmonic DriveAG 45 8 Homing 8 1 Drive controlled homing command To create the distance reference when using relative encoder systems command S 0 0148 Drive controlled homing must be used As soon as this command has been set and enabled by the master the drive moves in position control mode with an internal profile generator taking into account S 0 0041 Homing velocity 1 Move and wait for reference cam and P 3031 Homing velocity 2 Find zero point in zero approach run as well as S O 0042 Homing acceleration according to the strategy defined in P 2261 Homing method The status Encoder system home in parameter S 0 0403 Actual position status is cleared when homing starts if previously set and is reset once homing has completed successfully For more information on homing and the available methods please refer to the YukonDrive Application Manual 8 2 Setting of SERCOS encoders 1 2 The YukonDrives features a maximum of 3 independent encoder interfaces These encoder interfaces are assigned to the logical SERCOS position encoder interfaces 1 and 2 via parameters P 0530 Selection of SERCOS encoder 1 and P 0531 Selection of SERCOS encoder 2 Homing is executed to the position encoder determined by the active operation mode see also section 6 8 3 Homing velocity The homing velocity
59. ortion LED fault on bus H4 H5 H5 Green Status of SERCOS communication phase flash code H6 Ra H6 Yellow Receiver LED telegrams being received H7 Yellow Transmitter LED telegrams being sent Hardware variant 2 LED Colour Meaning H4 Red Distortion LED fault on bus H4 e gt E zr H5 Green Status of SERCOS communication phase flash code 2 5 1 Use of the distortion LED When you have set the drive address you should check that there is an adequate optical signal level at each station in the loop that is that the receiver is not being underloaded or overloaded The optical level is checked by way of the distortion LED on the front panel of the ServoOne LED H4 Normally the distortion LED is unlit To check the optical level check the distortion LEDs of all the drives in the loop starting from the transmitter output of the master in the direction of the signal flow see diagram under Connection of fibre optic cables Check the distortion LEDs in the direction of the light signal flow that is starting with the first drive in the loop If its distortion LED is unlit move on to the next drive Continue doing this until you reach the last drive and then the master control NOTE The distortion LED must not be lit or flashing A distortion LED lights up in the following cases E Defective fibre optic cable to predecessor E Unsupported transfer rate E Incorrectly set transmission power Procedure if disortio
60. ount the last active acceleration by default according to acceleration parame ter P 2242 and remains under control only possible if bits 14 and 15 1 and with an appropriate setting of P 2221 1 Drive start On switching from 0 gt 1 the original function is resumed If the master control system has not upda ted the position setpoint jumps may occur resulting in shut off due to tracking error Bit 12 Reserved Bit 10 IPOSYNC Not suppported Bit 11 9 8 Specified operation mode 000 Primary mode defined by operation datum S 0 0032 001 Secondary mode 1 defined by operation datum S 0 0033 010 Secondary mode 2 defined by operation datum S 0 0034 011 Secondary mode 3 defined by operation datum S 0 0035 Bit 7 Real time control bit 2 S O 0302 Bit 6 Real time control bit 1 S O 0300 Bit5 43 Data block element 000 Service channel not activated close the service channel or abort an ongoing transfer 001 IDN of operation datum The service channel is closed for the preceding IDN and opened for a new one 010 Name of operation datum 011 Attribute of operation datum 100 Units of operation datum 101 Minimum input value 14 Harmonic Drive AG YukonDrive 1003377 07 2011 Bit Explanation 10 Maximum input value 11 Operation datum Bit 2 0 Ongoing transfer Last transfer Bit 1 R W Read Write 0 Read service INFO Write service INFO Bit 0 MHS 0 1 Service transport handshake of master 4 3 1 Descriptio
61. ource On the motor shaft On the load site Reserved owing diagram shows the various velocity weighting options Diagram of velocity weighting methods Weighting method velocity data S 0 0044 S 0 0044 bit 0 2 Translatory S 0 0044 bit 6 s 0 0044 Preferential Parameter Preferential Parameter bit 3 weighting weighting weighting weighting S minors S 0 0044 bit 4 Metre Metre min awe LSB P erg LSB m min variable miril sa variable S 0 0045 S 0 0045 S 0 0046 S 0 0046 Harmonic Drive AG YukonDrive 1003377 07 2011 7 2 3 Velocity polarity In parameter S 0 0043 the polarities preceding signs of the specified velocity data can be inverted according to the application The polarities are not inverted within a controlled system but outside of it at the input and output A positive velocity setpoint difference with non inverted polarity means the direction of rotation is clockwise looking at the motor shaft Table 35 Setting of velocity polarity via parameter S 0 0043 BitO Velocity setpoint 0 Not inverted 1 Inverted Bit 1 Additive velocity setpoint 0 Not inverted 1 Inverted Bit 2 Actual velocity 1 0 Not inverted 1 Inverted Bit 3 Actual velocity 2 0 Not inverted 1 Inverted Bit 4 15 Reserved 7 3 Weighting of acceleration data The acceleration weighting is defined by the parameters listed in table 36 All acceleration data of the drive e g setpoint actual and limit val
62. put values filtered 10V gives 1 0 P 0409 DC voltage filter time ms x x P0410 Actual DC link voltage Vv a x X P0411 Actual values of ADC channels bit x x x 60 Harmonic Drive AG YukonDrive 1003377 07 2011 Table 46 List of supported SERCOS parameters Write protection IDN Description Unit CP2 CP3 CP4 P0412 Actual position incr x x P0413 Reference position incr x x x P0414 Actual position difference RefPosition ActPosition incr X X X P0415 Actual speed 1 min x x x P0416 Reference speed 1 min X X X P 0417 Actual speed difference RefSpeed ActSpeed V min x x x P0418 Reference torque Nm x x x P0419 Actual torque Nm x x Xx P 0430 Weighting of voltage path in field model P0431 Voltage limit for current controllers P 0432 Select current control limitation mode P 0450 Motor type x X P 0455 Motor rated frequency Hz x x P 0456 Motor rated voltage v x x P 0457 Motor rated current A x x P 0458 Motor rated speed rpm x x P 0459 Motor rated power kw X X P 0460 Motor rated torque Nm x X P0461 Motor inertia kg m m x x P 0462 Motor rated flux Vs x Xx P 0463 Motor number of pole pairs x X P 0470 Motor stator resistance Ohm x x P0471 Motor stray stator inductance mH X X P 0472 Q stator inductance variation in of MOT_Lsig x x P 0473 Main inductancs vs Isd 0 1 Index LmagldMax mH x x P 0474 LmagTable max magnetization current eff A x x P 0475 Motor main inductance scal
63. r control word is part of the master data telegram It contains all the key control information for the drive The master control word is mapped in parameter S 0 0134 The precise structure of this parameter is shown in the following table The master control word is transferred cyclically to the drive with each master data telegram in the SERCOS cycle see SERCOS cycle time For diagnostic purposes the master control word can be read via parameter S 0 0134 Master control word Table 7 Master control word parameter S 0 0134 Bit Explanation Bits 15 13 wild Drive to follow setpoints Bit 15 MSB Drive ON OFF 0 Drive OFF On switching from 1 gt 0 the drive is shut down as best as possible according to the setting of P 2219 then the torque is shut off as necessary at standstill the power stage can remain active only possible if bit 14 1 and with corresponding setting of P 2219 then the torque is shut off at speed nmin the power stage can remain active only possible if bit 14 1 1 Drive ON Bit 14 Drive enable 0 No enable On switching 1 gt O the torque is shut off and the power stage disabled with no delay regardless of bits 15 and 13 1 Drive enable Bit 13 Drive HALT can be used to stop the drive without reference to the current active control function 0 Drive stop The drive is no longer following the setpoints On switching from 1 gt O the drive stops according to the setting of P 2221 and taking into acc
64. res the actual position value to measured value 2 negatively S 0 0133 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchpro be 2 enable is set to 0 In the operation datum only bit 0 is defined 50 Harmonic Drive AG YukonDrive 1003377 07 2011 10 Parameter access via the service channel The service channel is used for parameter setting and diagnosis Transfer via the service channel is handled bit by bit in segments in the MDT and in the DT and may extend over several SERCOS cycles for each transferred element The following tables contain the list of parameters implemented in the drive operational data NOTE The functional descriptions of the manufacturer specific parameters where not given here are to be found in the Operating Manual YukonDrive 10 1 SERCOS parameter list Table 46 List of supported SERCOS parameters w r Write protection IDN Description Unit CP2 CP3 CP4 S 0 0001 Control unit cycle time t_Ncyc us x x S 0 0002 Communication cycle time t_Scyc us x X S 0 0003 Shortest AT transmission starting time t1min us x x x S 0 0004 Transmit receive transition time tATMT us x x x S 0 0005 Minimum feedback processing time t5 us X x x S 0 0006 AT transmission starting time t1 us x x S 0 0007 Feedback acquisition capture point t4 us a x S 0 0008 Command value valid time t3 us x x S 0 00
65. rrent r m s A P 0341 Speed where field weakening starts forces 1 n character P 0342 Speed values for mag current scaling P 0343 Mag current scaling vs speed P 0344 Voltage control filter time constant ms P 0345 Voltage control gain A V P 0346 Voltage control integration time constant ms P 0347 Voltage control reference scaling of max voltage P 0348 Slip control gain for field weakening P 0349 Comutation offset of resp encoder deg P 0350 Selection of speed calculation method P 0351 Actual speed calculation filter time ms P 0352 Observer parameter meaning depends on CON_SCALC P 0353 Observer design parameters ms P 0354 Observer design assistant P 0360 Position control gain 1 min P 0370 Interpolation type control word P 0371 Speed reference filter time for speed control mode ms P 0372 Speed feedforward filter time for position control ms P 0374 Position delay in position control cycles CON_PConTS ms P 0375 Speed feedforward scaling factor P 0376 Torque Force feedforward scaling factor P0377 Feedforward signals enabled x x x P0379 Feedforward calculation mode P 0386 Friction compensation scaling factor P 0400 Additional d current reference value A P 0401 Additional torque force reference value Nm N P0402 Additional speed reference value without ramp 1 min P 0404 Additional speed reference value with ramp 1 min P 0405 Analog input 0 filter time ms P 0406 Analog input 1 filter time ms P 0407 Analog in
66. s are subject to the preset weighting Table 40 Scaling parameter for torque force weighting IDN Description S 0 0086 Weighting method for torque force data S 0 0093 Weighting factor for torque force data S 0 0094 Weighting exponent for torque force data 7 4 1 Percentage weighting of torque and force data The percentage weighting is set via the weighting method S 0 0086 No other parameters are required In per centage weighting the permanently permissible standstill torque of the motor S 0 0111 is used as the reference value All torque force data is given in with one decimal place 7 4 2 Weighting of force data The weighting of force data is set via parameter S 0 0086 The significance of the LSB of the force data is defined by the following equation LSB significance Unit S 0 0093 10500094 When preferential force weighting is selected the weighting as per the following table applies Table 41 Preferential weighting of force data Weigthing method Unit Weighting factor Weighting exponent from 5 0 0086 from 5 0 0086 5 0 0093 5 0 0094 referential weaned linear N 1 0 1N 07 2011 1003377 YukonDrive Harmonic Drive AG 43 7 4 3 Weighting of torque data The weighting of torque data is set via parameter S 0 0086 The significance of the LSB of the torque data is defined by the following equation LSB significance Unit S 0 0093 1052 0094 When preferential torque weighting is selected the weigh
67. stem state 0 20 Harmonic Drive AG YukonDrive 1003377 07 2011 Table 10 Description of system state System 3 a TONE R Designation Description 0 System initialization in nitialization after device reset e g hardware parameter list controller progress nitialization complete no mains power or DC link voltage less than switch on 1 Not ready for start threshold 2 Starting lockout DC link voltage greater than switch on threshold 3 Ready for start Power stage enabled via hardware ENPO and ISDSH and bit 14 in MDT 4 h Power stage is enabled bit 15 in MDT 1 state is automatically run through in open loop control mode via SERCOS 5 Loop control active Current applied to motor loop control active 5a Active mode he selected operation mode is active 5b Drive halt Drive halt active shutdown via stop ramp s A command with a movement sequence is active setpoints from the SERCOS master 5c Command execution ea are being ignored 7 Fault reaction active Fault reaction active setpoints from the SERCOS master are being ignored 8 Fault Drive in fault state setpoints from SERCOS master being ignored drive torque free Table 11 Description of system state transitions System state Designation Description transition 0 START Initialization after boot up complete 1 UZK OK DC link voltage greater than switch on threshold 2 ENABLE VOLTAGE Communication phase 4 active bit 15 in SERCOS control word 1 3 ENABLE
68. ta record in the AT Xx x x S 0 0186 Length of the configurable data record in the MDT x x x S 0 0187 DN list of configurable data in the AT x X x S 0 0188 DN list of configurable data in the MDT x x x S 0 0189 Position tracking error in user units POS x x x S 0 0192 DN list of all backup operation data x x x S 0 0200 Amplifier warning temperature TEMP S 0 0201 Motor warning temperature TEMP 54 Harmonic Drive AG YukonDrive 1003377 07 2011 Table 46 List of supported SERCOS parameters ee Write protection IDN Description Unit CP2 CP3 CP4 S 0 0208 Temperature data scaling type S 0 0216 Switch parameter set procedure command x x S 0 0217 Parameter set preselection xX x S 0 0222 Spindle positioning speed SPEED S 0 0256 Multiplication factor motor feedback encoder 1 x x x S 0 0257 Multiplication factor external feedback encoder 2 x x x S 0 0258 Target position POS S 0 0259 Positioning velocity SPEED S 0 0260 Positioning acceleration ACC S 0 0261 Coarse position window x x S 0 0262 Load defaults procedure command a x S 0 0263 Load working memory procedure command x x S 0 0264 Backup working memory procedure command S 0 0274 Received drive addresses x x x S 0 0277 Position feedback 2 type x x S 0 0278 Maximum travel range x x x S 0 0282 Drive based position command value POS S 0 0292 List of supported operation modes x x x S 0 0294 Divider modulo value x x S 0 0296 Gai
69. ter with the positive edge of touchprobe 2 S 0 0402 during the measurement cycle If there is no external encoder actual position value 1 is stored MEASURED VALUE 2 NEGATIVE EDGE With an external encoder the drive stores the actual position value 2 to this parameter with the negative edge of touchprobe 2 S 0 0402 during the measurement cycle If there is no external encoder actual position value 1 is stored TOUCHPROBE 1 ENABLE With this parameter the touchprobe 1 enable is assigned an IDN As a result the touchprobe 1 enable can be assigned to a real time control bit S 0 0301 The touchprobe 1 enable is only polled by the drive as long as the touchprobe cycle command S 0 0170 is active For a repeat measurement with the same edge of touchprobe 1 the master control system must set the touchprobe 1 enable to 0 and back to 1 In the operation datum only bit O is defined For more information see S 0 0179 TOUCHPROBE 2 ENABLE With this parameter the touchprobe 2 enable is assigned an IDN As a result the touchprobe 2 enable can be assigned to a real time control bit S O 0301 The touchprobe 2 enable is only polled by the drive as long as the touchprobe cycle command S 0 0170 is active For a repeat measurement with the same edge of touchprobe 2 the master control system must set the touchprobe 2 enable to 0 and back to 1 In the operation datum only bit 0 is defined For more i
70. the supplied sheaths until the fibre optic cables have been assembled 3 SERCOS communication phases Communication over the SERCOS bus between the master and slaves is divided into five phases Communication phases O and 1 identify the stations on the bus In communication phase 2 the time and data structure of the protocols for phases 3 and 4 are prepared and the drive is configured At the transition to communication phase 3 the drive parameter settings relating to the SERCOS profile are checked for plausibility In the event of a fault the switch to communication phase 3 is refused with a relevant fault message The phases are run through in ascending order It is only possible to drop back a phase by way of communication phase 0 The communication phase is dictated by the master On switching to communication phase 4 the initialization is completed and power up is enabled If the phase sequence is interrupted the status indicator remains stuck at the last communication phase reached The current communication phase is indicated by way of a flash code by LED H5 Intervals of about one second unlit are followed by LED H5 flashing briefly n times n being the number of the current communication phase 3 1 Communication phase 0 When communication phase 0 is active automatic baud rate detection in the drive has completed successfully The drive is in communication phase O and is waiting for the master to switch from phase 0 to 1 During
71. time tMTSY us x x x S 0 0089 MDT transmission starting time t2 us x x S 0 0090 Command value proceeding time tMTSG us K x x S 0 0091 Bipolar speed limit value SPEED S 0 0092 Bipolar torque limit value TORQUE S 0 0093 Torque force data scaling factor x x S 0 0094 Torque force data scaling exponent x x S 0 0095 Diagnostic message x x x S 0 0096 Slave arrangement SLKN x i S 0 0097 Mask class 2 diagnostic S 0 0098 Mask class 3 diagnostic S 0 0099 Reset class 1 diagnostic S 0 0100 Velocity loop proportional gain Nm min S 0 0101 Velocity loop integral action time ms S 0 0103 Modulo value POS x x S 0 0104 Position loop KV factor 1000 min S 0 0106 Current loop proportional gain 1 V A S 0 0107 Current loop integral action time 1 us S 0 0108 Feedrate Override S 0 0112 Amplifier rated current A x x x S 0 0113 Maximum motor speed rev min S 0 0114 Load limit of the motor S 0 0115 Position feedback 1 type x x S 0 0116 Sercos encoder 1 resolution x xX X S 0 0117 Sercos encoder 2 resolution x xX xX S 0 0118 Resolution of linear feedback mm x Xx S 0 0121 Input revolutions of load gear x x S 0 0122 Output revolutions of load gear x x S 0 0123 Feed constant um rev x x S 0 0124 Standstill window SPEED S 0 0125 Variable velocity threshold SPEED S 0 0126 Variable torque threshold TORQUE S 0 0127 CP3 transition check xX Xx S 0 0128 CP4 transition check x x 07 20
72. time communication between master control systems and drives to DIN EN 61491 Drive Telegram Data from drive to master status actual values Time synchronized transfer of MDT DT as from phase 3 valid as from phase 4 Ident Number S x yyyy or P yyyy 16 bits are available to represent a SERCOS ident number Structure of IDN 15 14 1312 1109876543210 S P 0 1 x 0 7 yyy 0 4095 S SERCOS profile specific parameter bit 15 0 P SERCOS manufacturer specific parameter bit 15 1 x Record number 0 7 bits 14 12 yyy Data block number 0 4095 bits 11 0 Note Only record 0 is supported in the drive 07 2011 1003377 YukonDrive Harmonic Drive AG 7 2 Commissioning of the SERCOS interface 2 1 Connections and controls hardware variant 1 The connections and controls of the SERCOS interface hardware variant 1 are shown schematically in figure 2 LEDs H4 and H5 are status indicators H4 signals a distortion distortion LED meaning the fibre optic power is defective or there is a break in the loop H5 indicates the current communication phase 0 4 H6 and H7 signal RX TX communication The fibre optic cables are connected to connectors X17 transmitter and X18 receiver The drive address is programmed by way of the corresponding parameter using the service tool Drive address programming using pushbuttons and a display is in preparation Fig 2 Controls and displays of the SERCOS interface hard
73. ting as per the following table applies Table 42 Preferential weighting of force data Rotary Nm 1 2 0 01 Nm Table 43 Bit fields in the torque force data weighting method parameter 5 0 0086 000 No weighting 010 Rotary weighting 0 Preferential weighting Bit 4 Distance unit 1 In Ibf for rotary weighting Ibf for translatory weighting Bit6 Data source 1 On the load site A 4 Harmonic Drive AG YukonDrive 1003377 07 2011 The following diagram shows the various torque force weighting options Fig 15 Diagram of torque force weighting methods Weighting method force torque S 0 0086 S 0 0086 bit 0 2 Rotary torque Percentage Translatory force 0 1 S 0 0086 bit 6 s 0 0086 Preferential Parameter Preferential Parameter bit 3 weighting weighting weighting weighting S 0 0086 bit 4 0 0093 S 0 0093 0 0094 S 0 0094 7 4 4 Torque polarity In parameter S 0 0085 the polarities preceding signs of the specified torque data can be inverted according to the application The polarities are not inverted within a controlled system but outside of it at the input and out put A positive torque setpoint difference with non inverted polarity means the direction of rotation is clockwise looking at the motor shaft Table 44 Setting of torque polarity via parameter S 0 0043 Bit 0 Torque reference 0 Not inverted 1 Inverted Bit 1 Additive t
74. ting status messages on the change bit in the drive status can be cancelled The bits defined in C3D are additionally defined by the parameter numbers in brackets Structure of the C3D Bit 0 n actual n setpoint see S 0 0330 Bit 1 n actual 0 see S 0 0331 Bit 2 n actual lt nx see S 0 0332 Bit 3 T gt Tx see S 0 0333 5 0 0013 Bit 4 T gt T limit see S 0 0334 Bit 5 n setpoint gt n limit see S O 0335 Bit 6 Target position reached see S 0 0336 Bit 7 P gt Px see S 0 0337 Bit 8 Actual position value active target position 5 0 0430 S 0 0051 0053 lt S 0 0057 see S 0 0338 Bit 9 n feedback lt Minimum spindle speed see S 0 0339 Bit 10 n feedback gt Maximum spindle speed see S 0 0340 Bit 11 Preliminary position reached see S 0 0341 S 0 0261 Bit 12 Position setpoint target position see S 0 0342 Bit 13 Positioning interrupted see S 0 0343 Bit 14 reserved Bit 15 Manufacturer specific status message set see S 0 0182 Bit 0 Status not active Bit 1 Status active 07 2011 1003377 YukonDrive Harmonic Drive AG 27 5 4 Interface faults and diagnostic options If states are identified in the drive which no longer permit correct operation of the interface or if faulty inputs are detected during the initialization phase the drive responds by falling back to communication phase 0 No more drive telegrams are sent the drive autonomo
75. ues are subject to the preset weighting If No weighting is selected via parameter S 0 0160 the weighting factor and weighting exponent are irrelevant The acceleration data is then subject to a differently defined weighting Table 36 Scaling parameter for acceleration weighting IDN Description S 0 0160 Weighting method for acceleration data S 0 0161 Weighting factor for acceleration data S 0 0162 Weighting exponent for acceleration data 7 3 1 Weighting of translatory acceleration data Translatory weighting is selected via S 0 0160 The significance of the LSB of the translatory acceleration data is defined by the following equation es distance unit lt p a 1050 0162 LSB significance time unit S 0 0161 10 07 2011 1003377 YukonDrive Harmonic Drive AG 41 When translatory preferential weighting is selected the weighting as per the following table applies Table 37 Preferential weighting of translatory acceleration data Weighting method Unit Weighting factor Weighting exponent 3 e from 50 0160 from 5 0 0160 5 0 0161 5 0 0162 Preeren awe gnund Translatory m s 2 1 6 0 001 mm s 2 7 3 2 Weighting of rotary acceleration data Rotary weighting is selected via S 0 0160 The significance of the LSB of the rotary acceleration data is defined by the following equation LSB significance onz S 0 0161 10520162 When rotary preferential weighting is selected the weighting as per the following tabl
76. uick stop check in ReadyToSwitchOn P 0147 DriveCom Check EnablePower false for ENPO over ENMO P0148 DriveCom Timeout in RdyToSwitchOn to enable motor switch ms P 0149 DriveCom Start initialisisation of system parameter P 0152 DriveCom actual state description x x x P 0153 DriveCom fault reset command P 0154 DriveCom Timeout motor standstill ms P 0159 Motion control selection P0165 Motion profile selection P0166 Motion profile jerk time ms P 0167 Motion profile speed override factor P 0168 Motion profile jogging speeds P 0213 Motor brake lift time ms P 0214 Motor brake close time ms P 0215 Motor brake torque rise time ms P 0216 Motor brake torque fade time ms P 0217 Motor brake factor for application of last torque P 0218 Motor brake constant initial torque Nm P 0219 Motor brake torque sampled at last closing time Nm x x x P0220 lock brake P 0239 Functional states of digital inputs x x x 58 Harmonic Drive AG YukonDrive 1003377 07 2011 Table 46 List of supported SERCOS parameters IE Write protection IDN Description Unit CP2 CP3 CP4 P 0283 Factor group Type selection DS402 0 SERCOS 1 USER 2 x x P 0284 Unit for position values x x P 0287 Unit for speed values x X P 0290 Unit for acceleration and deceleration values x P 0293 Unit for torque values pi x P 0300 Select control mode P 0301 Mode selection of setpoint profiling P 0302 Switching frequency x x P 0303 Current control samp
77. us bits P 3002 Parameter Description S 0 0331 Standstill message S 0 0332 Speed threshold undershot S 0 0333 Torque threshold exceeded S 0 0334 Torque limit reached or exceeded S 0 0335 Speed limit reached or exceeded S 0 0336 Target position reached S 0 0341 Status in track position S 0 0401 Status touchprobe 1 S 0 0402 Status touchprobe 2 S 0 0403 Status actual position S 0 0409 Touchprobe 1 positive edge recorded S 0 0410 Touchprobe 1 negative edge recorded S 0 0411 Touchprobe 2 positive edge recorded S 0 0412 Touchprobe 2 negative edge recorded S 0 0419 Status of setpoint transfer 4 7 Signal control and status words 4 7 1 Signal control word S 0 0145 In the signal control word 0 0145 signals can be transferred from the master control system to the drive in real time The signal control word can be configured for cyclic transfer in the master data telegram MDT The signal control word is configured in phase 2 and is activated at the transition to phase 3 A faulty configuration results in a device fault and a refusal to switch to phase 3 The configuration parameters for the signal control word are described in the following table Table 14 Configuration parameters for the signal control word S 0 0027 Configuration list signal control word This list contains all the parameter numbers included in the signal status word The sequence of parameter numbers in the list determines the significance of the bits
78. usly executes the programmed fault reaction and waits for re initialization of the SERCOS loop by the master 5 4 1 Diagnosis of interface status To diagnose interface faults and identify the current communication phase parameter S 0 0014 Interface status is used If a fault is set in the interface status the communication fault in C1D S 0 0011 is reset Setting bits 0 2 causes no fault If there is no communication fault the interface status in bits 0 2 contains the current communication phase If there is a communication fault the fault and the communication phase are saved The communication fault is only cleared by the drive and reset to O when there are no more interface faults occurring and the Reset state class 1 command S 0 099 has been received by the drive over the service channel Table 19 Coding of parameter S 0 0014 interface status Bit Explanation Bit 0 2 Communication phase Bit 3 MST failure Bit 4 MDT failure Bit 5 nvalid communication phase phase gt 4 Bit 6 Fault in phase sequencing invalid sequence Bit 7 Fault in phase fallback not to phase 0 Bit 8 Phase change without ready message Bit 9 Change to non initialized operation mode Bit 10 Drive with same address in loop Bit 11 15 Reserved 5 4 2 Fault counter for telegram failures In the drive each received master sync and master data telegram is monitored for conformance C to the correct reception time E to the agreed telegram length an
79. ute position interface x x P0546 ENC CH1 Mode selection SSI absolute position interface x x P 0547 ENC CH1 Lowest allowable MultiTurn position SSI absolute x X P 0548 ENC CH1 Enable MultiTurn information SSI absolute x x P 0549 ENC CH1 Signal correction type x x P 0550 ENC CH1 Signal correction values x x P 0551 ENC CH1 Encoder observation minimum sqrt a 2 b 2 x x P0552 ENC CH1 Error and status codes of absolute encoders x X x P 0553 ENC CH1 Length of an analog signal period linear SinCos nm x x P0554 ENC CH1 Length of an digital increment linear absolute nm X X P 0560 ENC CH2 Number of pole pairs Resolver x x P 0561 ENC CH2 Signal correction type x x P 0562 ENC CH2 Signal correction values x x P 0563 ENC CH2 Encoder observation minimum sqrt a 2 b 2 X x P 0570 ENC CH3 Absolute position interface selection x x P 0571 ENC CH3 Index pulse signal test mode x x P0572 ENC CH3 Number of lines SinCos TTL encoders x X P 0573 ENC CH3 Number of MultiTurn bits SSI absolute x X 62 Harmonic Drive AG YukonDrive 1003377 07 2011 Table 46 List of supported SERCOS parameters Mi Write protection IDN Description Unit CP2 CP3 CP4 P 0574 ENC CH3 Number of SingleTurn bits SSI absolute x xe P0575 ENC CH3 Code selection SSI absolute position interface x x P 0577 ENC CH3 Encoder observation minimum sqrt a 2 b 2 x x P 0590 ENC Axis correction sel
80. ware variant 1 H4 H5 H6 uy X17 TXD X18 RXD 2 2 Connections and controls hardware variant 2 The connections and controls of the SERCOS interface hardware variant 2 are shown schematically in figure 3 LEDs H4 and H5 are status indicators H4 signals a distortion distortion LED meaning the fibre optic power is defective or there is a break in the loop H5 indicates the current communication phase 0 4 The fibre optic cables are connected to connectors X30 transmitter and X31 receiver In hardware variant 2 the connectors are of an angled design to reduce the overall depth of the drive The drive address is programmed by way of the corresponding parameters using the service tool Drive address programming using pushbuttons and a display is in preparation Fig 3 Controls and displays of the SERCOS interface hardware variant 2 H4 H5 A ME gt 30 TxD X31 RXD 8 Harmonic Drive AG YukonDrive 1003377 07 2011 2 3 Connection of fibre optic cables The connection between the master control and the drive controllers is made by fibre optic cables This requires a loop architecture to be constructed as illustrated in the following diagram for three drive axes Fig 4 Connection of fibre optic cables The fibre optic loop starts and ends at the SERCOS master control The optical output of the master is connected to the optical input of the first drive X31 Its optical output X30 is connected to the
81. ws BitO Change from 0 gt 1 Adopt new position Bit 1 2 00 Position mode 01 Jog 10 Jog 11 Halt Bit 3 0 Absolute 1 Relative only where bits 1 2 00 Bit 4 O Referred to target position relative jobs are totalized 1 Referred to actual position only where bit 3 1 and bits 1 2 00 Confirmation of import into S 0 0419 Position Acknowledge S 0 0419 Position Acknowledge is cleared when S 0 0346 bit O changes from 1 gt O or when the mode is switched Modulo mode In modulo mode the rotation distance is calculated by way of the SERCOS scaling from S 0 0103 S 0 0294 S 0 0393 is defined as follows only with the modulo function configured Bit 1 0 Direction of rotation with modulo function 00 Positive direction 01 Negative direction 10 Shortest distance distance optimized 11 Reserved 07 2011 1003377 YukonDrive Harmonic Drive AG 33 Fig 9 Schematic diagram of position control with position profile generation 0 0348 2 Posts ae MorF H gt gt gt 20258 poz 8 00206 ne ee Baa pe pos posa ros So ost poset P0344 P0613 s o 0104 Pos7t rover S 0 0101 P0327 P0460 o EMR EH 12 gt a Gels GnFF s T Gufs GmFF s P0351 S 0 0051 S 0 0040 8 0 0053 5 0 0156 a Table 24 Speed control par
82. xternal generation of pre control signals In this operation mode the master cyclically dictates position setpoints and pre control signals for speed and acceleration The drive performs a fine interpolation for the position setpoints and the pre control signals The scaled pre control signals are de scaled via parameters P 1507 rotation speed and P 1508 acceleration Further influencing of the position setpoint and pre control signals is effected as in the operation mode detailed in 6 4 1 Fig 11 Schematic diagram of position control without tracking error with external pre control signals 8 0 0348 P 1508 aeoare P 0378 P1516 P 3056 MeF H gt pr Shermatve alternativel P 1507 Erke g A P3055 ref g P 0828 0320 P 0329 P 0333 F032 P 0330 castle Baa alternatively 5 0 0322 P0325 0 0081 P 0331 0 0100 P 0326 P 0332 0 0414 P 0371 sinu atematiely Eis 0 0101 P 0327 P 0460 s i Z Torque controlled i gt gt le gt N gt i ai oe gt Z gt motor a GnFF s Gru sy GmFF s P 0351 S 0 0051 0 0040 0 0083 S 0 0156 a 07 2011 1003377 YukonDrive Harmonic Drive AG 35 7 Weighting The weighting describes the physical unit and number of decimal places with which the numerical values of the parameters exchanged between the master control syste

User Manual - Harmonic Drive AG

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