Mac drives for Profibus control
Contents
1. Good luck PLC program description Easy Mac The PLC program is split in several sections to make it a more simple to understand The program is constructed using subroutines for driver operations The user should apply new parameters and call the routines For a simple test of program You may use the monitorlists Variable table in the project Common for the project is the word M99 1 collecting error flag from each part of the program Section Main test OB1 To start a drive briefly run the function DoZeroSrc and thereafter positioning using the examples Movel and Move 2 Examples of how to call the different function to control Mac drives The sections necessarily can easily be copied into other User applications with the needed subroutines The section includes 2 calls for examples One for positioning out at x 100000 and one for positioning back to 0 The 2 calls has different positioning profiles To position X using slow Page 3 of 10 Profibus Easy start up using Mac motor and S7 Profibus controller Revision 14 07 2006 acceleration but high speed and return to position 0 using slow speed but fast acceleration and deceleration See also Move below Section Move FB60 Move function examples is an Easy to start function for a simple positioning Drive should be enabled before call Using this function You only have to make one call in your part of the application to transfer a position profile to the drive2. Station Edit Insert PLC View Options Window Help i olele a a Se ia CED 82 el Flijsmatic 300 Station Configuration S7_mac_jvl PROFIBUS 1 DP master system 1 T MACOO c 6 MACOD 4 Tr E 6 MacoorP Slot Module Order number Address Q Address Sy MAIER F MBF Comment fig 3 Profibus configured only with 2 drives and I O via hardware part of Step7 Siemens S7 PLC setup CPU S7 315 2DP GSE GSD file for setting up MAC to profibus in hardware section of project is JVLIO6BC GSD PLC Status and control memory area QB Reserved data area for IO communication control write IB Reserved data area for IO communication status read NB address area depends on mounting position in rack If You choose to change position You also have to choose the addresses in this example NB address of a servo motor must be continous for the indirect addressing to work which means the ability to use these function described here Also I and Q should start at the same number for instance here both start at 0 Addresses can be chosen manually using configurator in fig 3 Device net I O addresser 1 st slot device net Input adr Output adr IBO 3 Mac node 5 Value from motor QBO 3 Mac node 5 Value to motor Page 9 of 10 Profibus Easy start up using Mac motor and S7 Profibus controller Revision 14 07 2006 IB4 Mac node 5 motor sta
3. 2006 Move2 Target pos 0 Velocity 500 Acc 500 While the function is active it will continously return actual position of the drive Activation of MOVE function by setting M0 4 the flag will be reset by the sub when drive becomes InPosition Parameter information Velocity 50 is slow 1 000 is fast Acceleration 10 is slow 300 is quicker counts second 2 Name Text Skala Value interval Target Velocity Counts sec 0 8389 4000 RPM velocity during positioning Acceleration Acc And Counts sec 2 1 399 Dec during counts sek 2 positioning Target Target Counts 67 000 000 position position 67 000 000 Figure 11 Table for values to apply Configuration and setup of network using Step7 Using the Step7 to configure your network You may put the wanted nodes in Your Profibus and download to network Check and correct switch setting on Your nodes Nodenumber shall match the configurator software Also the baudrate setting shall be the same for all units Resistors also called terminators should be either mounted or activated by switch in each physical end of the Profibus To add a MACO0 xx drive to the profibus view insert from hardware catalog under Additional Field devices in the subpoint General Profibus configurator setup Page 8 of 10 Profibus Easy start up using Mac motor and S7 Profibus controller Revision 14 07 2006 HAHW Config SIMATIC 300 Station
4. value 50 Node 1 Attribute set 6 Attribute get 14 return value 256 get attribute 14 means GEARF1 256 For further detail about Registers Parameters and dataformat see 1b048 06GB JVL Technical Manual integrated motors MACS0O for the motor available from JVL For example when problems in MAC you may read ERR_STAT register no 35 dataformat is word DoFastMacCommand In the Profibus interface there is added a facility to send quick and more complicated commands using only a single byte The command is a value between 0 127 Page 5 of 10 Profibus Easy start up using Mac motor and S7 Profibus controller Revision 14 07 2006 Seg Ressources FB64 and DB64 call DoFastMac call sub MO 2 Parameter layout Calling Returning Comment Address for parameter parameter parameter DB64 INT Command DB64 INT Node address first number of motor adr A list of possible FastMac commands are available JVL User manual Example using DoFastMacCommand The function with example parameters will With node 5 enable drive in position mode To activate example Set bit set MO 2 DoFastMacCommand command 64 nodeadr 0 With node 5 disable drive DoFastMacCommand command 0 nodeadr 0 To repeat a command in FlexMac You have to toggle bit 7 in the 6 th byte in command DoZeroSearch In the beginning the drive is disabled then sends the parameters for zerosearching and at las
5. NodeAdr 0 WrValue 10 000 Wr32bitCmd 0 WrReg 3 Set acc To 3000 counts sec 2 Page 4 of 10 Profibus Easy start up using Mac motor and S7 Profibus controller Revision 14 07 2006 To activate example Set bit M0 3 WriteParameter node 1 Value 10000 NB some commands will only be valid when drive is enabled Some parameters are only possible to change when drive is enabled ReadParameter Basic function ReadParameter makes transfers from drives using a relative addressing The function can handle one operation per call The function are relatively addressing drives which means that a drive is addressed using the first address for the drive in the Profibus as the parameter NodeAddress Interval 1 1021 Resources FB63 and DB63 Sub RdParm call sub MO 1 Parameter layout Address for Calling parameter Returning Comment parameter parameter DB63 DINT Parameter value DB63 INT Motor parameter number DB63 BOOL Set when 32 bit parameters DB63 INT Node address first number of motor adr NB For normal position velocity mode it s not necessary to use this function Please notice that the units of the parameters are different from the other functions Example using Read parameter The function with example parameters will With node 5 set value 50 Set attribute 6 V_SOLL and Get attribute 14 GEARF1 To activate example Set bit set MO 1 ReadParameter
6. Profibus Easy start up using Mac motor and S7 Profibus controller Revision 14 07 2006 Mac drives for Profibus control Content List of software tools for this note lt c 32iccissesgatananaestanceiaetnasencdeincosastandesispandeesteaseneteateeiwahecneeraneaeeree 2 List of equipment for making this note esesseeeeesesesessessrserssressererssresstterestersetstestessttstesereseesreseeesreset 2 Short info about communication tO MAC MOtor ceeeseceeseeceeeeceseeeceeneeceeneeceneeceeeeceeeecseeeeseeeenaeeess 2 HOWTO WSS aranense E E E E E E E EES 3 PLC program deseipton Rasy Mae cssticucssccenerrinesinadcaninnesenieaedeaenendniededass 3 Section Main t st OBV s cc2 c tc852 sca ccbetenc eea a a a eaa 3 section Move FBOU irooniana a dsaptnde de a e a aaae a aeiia 4 Section Common Part of program 1 BGG ococcpccteascasiludecayeudascosedannsaeediecaestaceiedaseseegucve eee 4 Section Fault FB69 wc ccceccccccccccsssssscscccccesesssssscscceccssseeesscscesccessesuusssseescessseuuseusessceseseaeueusnss 4 Description of Functions Suto Utie ss seccncsseccyscccaicecesecedpuceeinaviacecscenvedadivcederedancuavenstecaasseuuaevennanses 4 WrteParametet iesenii e aE E aiddaadedasnnaeasasnssddeisbenaconde ERA 4 ReadParameterene eeno va caisson E E E 5 D FastMa cCommand a8 ce cs sca edged EE E T E REO 5 DI ZSTOS CATCH nereis etin oe E A ERR EEE EE R G 6 A KOD A E E T E E EE Suaentenvedetdes 7 Configuration and setup of network using Step7 esssesse
7. and monitoring actual position until operation finished and motor is In position See call examples in section OB1 Set parameters and activate MOVE function Section Common Part of program FB68 Get status flags from drive and set command flags to drives and check whether the calls are Using Direct addressing and shall be changed when net addresses are changed Section Fault FB69 A common section for indicating of errors and faults using profibus drives and communication functions The different timeout flags and other error indicators are collected into one flag M99 1 which will indicate if an error should appear Description of Functions Subroutines WriteParameter Basic function WriteParameter makes transfers to drives using a relative addressing The function can handle one operation per call The function are relatively addressing drives which means that a drive is addressed using the first address for the drive in the Profibus as the parameter NodeAddress Interval 1 1021 Ressources FB62 and DB62 Sub WrParm call function flag M0 0 Parameter layout Address for Calling parameter Returning Comment parameter Parm DB62 0 0 DINT Parameter value DB62 0 4 INT Motor register number DB62 0 5 BOOL Set when 32 bit parameters DB62 0 6 INT Node address first number of motor adr Example using WriteParameter The function with example parameters will With node 5 Wr
8. done via 9 bytes output and 8 byte input having a layout like a telegram It is possible to set get information to and from servo drive The communication is basically like setting specified values in the bytes 0 3 see figure 1 and toggle a command bit and wait for response at the input command bit see figure 2 NB Resetting motor causes busfail at the profibus Adivess Wome oeseri Sd o wesw __ Dataiowiwregaey E Coe ow S Ce ein 88 The register to read Figure 1 Telegram layout for output data setting control bit and word Startadr QB Page 2 of 10 Profibus Easy start up using Mac motor and S7 Profibus controller Revision 14 07 2006 ecw Figure 2 Telegram layout for Input data getting status as bit and word Startadr IB Using profibus the units will be in counts Positioning counts Acceleration counts sec 2 velocity counts sec How to use The idea about this note and program is to have an easy to use program that may give You a possibility for fast setup and test of Your hardware Hopefully You may save some development time using the blocks in Your programming Following steps are necessary 1 set switches on MAC motor as described under configuration 2 If needed change addresses and correct parameter Node addr In function calls 3 Run DoZeroScr M0 3 and try MOVE MO0 5 or MO0 6 to see Your drive is positioning 4 Make modifications and finish Your job
9. ity 3413 and set torque limit 50 To activate example Set bit M0 3 Zerosearch Type 12 Velocity 75 Torque limit 28 No return value Torque limit for zerosearch Notice Torque zerosearch first activates at the next rising enable It is not possible to monitor this parameter in any way Move Move function is an Easy to start function for a simple positioning This section shows how to set parameters Move function Calls WriteParameter 3 times for parameter transferring to driver sending first velocity then acceleration and target position at last Thereafter the actual position will be monitored calling ReadParameter every 2 second requesting actual position until drive is In position again Ressources FB60 and DB60 Sub Move call sub MO 4 Parameter layout Address for parameter Calling Returning Comment parameter parameter DB60 DINT Target position DB60 DINT Velocity DB60 DINT Acceleration DB60 BOOL Set when 32 bit parameters DB60 INT Node address first number of motor adr DB60 DINT Response actual position during run This function will only work if drive is not set into relative positioning Example using Move The function with example parameters will To activate example Set MO 5 and M0 6 Movel Target pos 100000 Velocity 6291 Acc 10 Page 7 of 10 Profibus Easy start up using Mac motor and S7 Profibus controller Revision 14 07
10. ssesrsesisreesrtsrisereserssesrrssresrrserestensesseesresseesresees 8 Siemens S7 ELC BEDI sin csesvsnersesscessenieecacesstensacieutan tenet aceuensaie niece ee eee 9 ITS ghee ctca ati th wastes anait enaa tec e a a a e aE ES 10 In this example Mac drive number 1 has node adr 5 and Mac drive number 2 has node adr 6 NB Project is programmed using mnemonics in English An overview of registers and values are in the manual JVL 1b0048 06GB The manual is accessible at www jvl dk downloads JVL literature User manuals For further detail about Registers Parameters and dataformat see 1b048 06GB JVL Technical Manual integrated motors MACS50 for the motor available from JVL Page 1 of 10 Profibus Easy start up using Mac motor and S7 Profibus controller Revision 14 07 2006 List of project files S7_mac_l PLC program zip for using 1 motor at Profibus S7_mac_2 PLC program zip for using 2 motors at Profibus List of software tools for this note Controlled by S7 315 2DP incl profibus interface PLC program is made in Step7 version 5 1 MacTalk version 1 42 from JVL MacReglO version 1 14 from JVL MAC motor using firmware FP1 7 Mac095 ver 7 5 List of equipment for making this note Siemens PLC S7 315 2DP digital input and digital output 2 pcs Of Mac motor equipped with each a Profibus interface MAC140 MACO0 FP4 and MAC 800 D1 MACO00 FP4 Short info about communication to mac motor All communication is
11. t the drive is re enabled The handling of Enable is caused in the fact that it is the positive transition of Enable which activates the transferred parameters The parameter Zerosearch velocity act now as a double word using signed notation Positive values start zerosearching CW and negative values start zerosearching CCW Ressources FB61 and DB61 Sub DoZeroSrc call MO0 3 Parameter layout DB6l INT Type of zerosearch DB6l DINT PositionOffset DB61 DINT Zerosearch Torque limit DB61 DINT Zerosearch velocity DB61 BOOL IsMAC800 DB61 INT Node address first number of motor adr This function start up disabling the drive and after parameter transfer the drive is reenabled The function call will bee active while searching and until the drive is in position Example using zerosearch set torque limit Page 6 of 10 Profibus Easy start up using Mac motor and S7 Profibus controller Revision 14 07 2006 NB this example will turn motor axis CW until torque limit is reached then motor will change direction and turn on for 0 5 second Finally an offset position will be done Speed 3413 50 RPM Torque limit at the value 50 means that it is possible to stop motor using fingers on motor axis Startmode 2 Register 37 gt Position mode Modereg 12 14 Register 2 The function with example parameters will With node 5 set Type of zerosearch 12 set Zerosearch veloc
12. tus QB4 Mac node 5 register to write IB5 Mac node 5 Input status QBS Mac node 5 register to read IB6 Mac node 5 Last direct register command QB6 Mac node 5 Direct flex command IB7 Mac node 5 Command status QB7 Mac node 5 Command bits QB8 Mac node 5 Input setup bis IB20 Mac node 6 QB20 Mac node 6 IB21 Mac node 6 QB21 Mac node 6 Mac setup Node number should be set at DIP switch SW1 at no 1to 7 addr 0 127 Selection of termination for profibus SW1 no 9 and 10 both ON termination enabled both OFF termination disabled Baudrate 1 5Mbit s Selection of Baudrate for the profibus To set node 5 and termination on last bus module Switch no position on off on off off off off off on on FOmIAMNARWNe Normally Wiring the Profibus to 5 pole connector Green wire to pole 2 Red wire to pole 4 Hint if motor not closed when profibus is working well use should be able to see 2 green LED on the print of the MAC FP00 Page 10 of 10
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