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TN20_63 SERCOS Registration and Homing(1)

1. 2 SERCOS Telegram Configuration For the TrioBASIC mark regist reg_pos keywords to work with SERCOS it is necessary to configure the SERCOS network telegrams to include the latched value in the drive telegram AT and to set an appropriate axis atype The AT is set as an application telegram enabling the contents to be user defined The first parameter in this telegram must be the position feedback and the second is the positive or negative latched value as required Active high positive edge latched values are written to SERCOS parameter IDN 00130 and active low negative edge latched values to IDN 00131 by the drive The axis atype will depend upon the drive control mode SERCOS Interface Commands from Trio BASIC Page 9 of 12 TN20_53 Issue 1 0 09 09 04 AType Control Mode AT Telegram Contents 22 Velocity Position and latched value 23 Position Position and latched value SERCOS initialisation program snippet slave drive configured in velocity control mode with positive latched registration SERCOS 5 nslot ndrive1 15 2 7 IDN 00015 application telegrams SERCOS 5 nslot ndrive1 32 2 2 IDN 00032 Velocity control mode SERCOS 5 nslot ndrive1 16 6 51 130 drive telegram position amp positive latch values SERCOS 5 nslot ndrive1 24 6 36 master telegram velocity command SERCOS initialisation program snippet slave drive configured in velocity control mode with positive latched
2. drives of several different manufacturers SERCOS Interface Commands from Trio BASIC Page 1 of 12 TN20_53 Issue 1 0 09 09 04 Rockwell Kinetix and Ultra Drives Homing Rockwell drives support the SERCOS control unit controlled homing procedure command The drive latches the z mark which the SERCOS master uses to determine the required move to the home position The TrioBASIC regist mark reg_pos keywords are used to perform the homing procedure along with several sercos lt gt commands which are required to initialise the drive The example program below illustrates this procedure The drive will latch the encoder value the z mark in the Marker Position A IDN 00173 after a homing procedure command has been started IDN 00146 and both the home enable z mark IDN 00407 and home switch if necessary IDN 00400 have been triggered The control unit must then move the drive based on this latched position to the required home position If Bit 5 of the homing parameter IDN 00147 is set meaning do not evaluate the home switch the drive is homed on the z mark If Bit 5 is cleared meaning evaluate the home switch the drive is homed on the z mark only after the home switch has been set Although the SERCOS specification defines various homing configuration parameters in the Homing Parameter IDN 00147 the Kinetix drives tested in the Trio lab would only latch the encoder value on the z mark
3. registration ATYPE AXIS drivelaxis 22 velocity latch position 3 Example drive registration program Registration shall be possible after having configured the drive parameters and SERCOS telegrams brought the SERCOS ring into communications phase 4 normal operations and setup the SERCOS axis on the Trio controller The SERCOS Real Time Control RTC and Real Time Status RTS bits within the master and drive telegrams are configured to enable disable registration and to provide latch status feedback respectively The drive is informed of the registration mode via IDNs 00169 Probe Control Parameter and the product specific P IDN 49252 SERCOS IDN Name Notes 00301 Allocation of Real Time Control Bit 1 405 IDN 00405 Probe 1 Enable Hence RTC1 controls registration enable disable 00305 Allocation of Real Time Status Bit 1 409 IDN 00409 Probe 1 positive latched or 410 IDN 00410 Probe 1 negative latched Hence RTS1 reflects status of latch 00169 Probe Control Parameter Positive edge is latched Negative edge is latched 49252 Probe Latch Input Z mark EXT1 EXT2 EXT3 WNF OIN The Regist command initialises the registration mode on the drive at run time After the regist mark has been seen the mark flag will be set and reg_pos will contain the latched regist position SERCOS Interface Commands from Trio BASIC Page 10 of 12 TN20_53 Issue 1 0 0
4. 9 09 04 TKK K K K K K K K OK 2K OK OK K K OK K K OK K 2K K K 2K OK K K K OK K K K K K 2K K OK OK K K K K OK 2K OK OK K K K K K K K OK 2K K OK K K K K K OK K K K K K K K K P730 Regist datum Support Notes 1 must have initialised drive parameters Pn511 Pn50A amp Pn50B and cycled power to the drive before running this program 2 Active High positive edge latch requires IDN 00130 in cyclic data telegram configured in main startup program and IDN 00305 409 amp IDN 00169 1 configured below 3 Active low negative edge latch requires IDN 00131 in telegram and IDN 00305 410 amp IDN 00169 2 4 you must be running in VELOCITY POSITION and REG telegram mode program constants high 0 low 1 Program data nslot 0 ndrive 1 ndriveaxis 6 Trig mode 0 origin Z mark 1 ext1 2 ext2 3 ext3 trig_mode 0 trig_edge high Begin RTC1 to update IDN 405 Probe 1 enable disable Hence controller regist function controls SERCOS probe enable disable IDN405 SERCOS 5 nslot ndrive 301 2 405 IDN 305 RTS Bit 1 to trigger on probe 1 latch either high 409 probe 1 positive latched or low 410 probe 1 negative latched status IDN 169 Probe Control Parameter Set active edge which determines which idn the recorded probe value will be stored in either 130 high or 131 low IF trig_edge high THEN SERCOS 5 nslot ndrive 305 2 409 SERCOS 5 nslot ndrive 169 2 1 ens
5. ED datum_speed REGIST 1 Move until mark seen FORWARD WHILE NOT MARK WEND CANCEL WAIT IDLE DEFPOS 0 Marker Position A now contains latched z mark position SPEED old_speed end homing in drive SERCOS 6 nslot ndrive 146 10000 0 PRINT Homing procedure completed SERCOS Interface Commands from Trio BASIC Page 3 of 12 TN20_53 Issue 1 0 09 09 04 Rockwell Kinetix and Ultra Drives Registration Rockwell drives support the SERCOS probe procedure command which is used with the TrioBASIC regist mark reg_pos commands to perform registration Please see the Yaskawa Section for a detailed discussion of the SERCOS parameters used Example Program TKK DK OK 3K K OK K K OK K K K OK K K OK K OK K K OK K OK K K K OK K XK OK K K OK OK OK K AB Kinetix Datum program constants high 0 low 1 Program data nslot 0 ndrive 81 ndriveaxis 7 datum_speed 0 25 Trig Config trig_edge high Begin RTC1 to update IDN 405 Probe 1 enable disable Hence controller regist function controls SERCOS probe enable disable IDN405 SERCOS 5 nslot ndrive 301 2 405 IDN 305 RTS Bit 1 to trigger on probe 1 latch either high 409 probe 1 positive latched or low 410 probe 1 negative latched status IDN 169 Probe Control Parameter Set active edge which determines which idn the recorded probe value will be stored in either 130 high or 131 low IF trig_edg
6. It could not be configured to latch the encoder value on the home switch The drive telegram s Real Time Status bit 1 RTS1 reflects the state of the marker pulse hence the value 408 the Reference Marker Pulse Registered SERCOS parameter is IDN 00408 is written to IDN 00305 The Allocation of Real Time Status Bit 1 The master telegram s Real Time Control bit 1 RTC1 determines whether homing is enabled hence value 407 the Homing enable is SERCOS parameter IDN 00407 is written to IDN 00301 the Allocation of Real Time Control bit 1 Example Homing program nslot 0 ndrive 81 ndriveaxis 7 datum_speed 0 25 home_switch 0 PRINT Homing Drive Initialise SERCOS 5 nslot ndrive 408 2 0 Reference Marker Pulse Registered Reference Marker Pulse Registered connected to RTS1 SERCOS 5 nslot ndrive 305 2 408 SERCOS Interface Commands from Trio BASIC Page 2 of 12 TN20_53 Issue 1 0 09 09 04 Homing parameter IF home_switch THEN Drive evaluates homing switch amp enable and homes to z mark AFTER switch has been seen IDN 174 will latch encoder value when home switch triggered SERCOS 5 nslot ndrive 147 2 04 ELSE Drive homes to z mark SERCOS 5 nslot ndrive 147 2 34 ENDIF Homing enable 407 connected to RTC1 SERCOS 5 nslot ndrive 301 2 407 Homing procedure command Start homing in drive SERCOS 6 nslot ndrive 146 10000 1 BASE ndriveaxis old_speed SPEED SPE
7. Page 6 of 12 TN20_53 Issue 1 0 09 09 04 Yaskawa Drives High speed registration is performed by the Sigmall drive Registration is achieved using the TrioBASIC mark regist reg_pos keywords on the z mark or an external input However before this is possible certain drive parameters have had to be initialised and the SERCOS telegrams configured appropriately The three example programs below illustrate how the drive can be configured to perform registration on the encoder z mark 1 Registration Initialisation The drive parameter Pn511 is configured to assign a CN1 input to the EXT1 EXT2 EXT3 channel Parameter Digit Name Setting Description Default Place Pn511 0 DEC 0 to F DEC origin search signal mapping 8 8 Disabled 1 EXT1 0 to F 4 Assigned to SI4 active high 8 8 Disabled 2 EXT2 0 to F 5 Assigned to SI5 active high 8 8 Disabled 3 EXT3 0 to F 6 Assigned to S16 active low falling edge 8 F Assigned to SI6 active high rising edge 8 Disabled The Input Signal Allocation parameters Pn50A and Pn50B are configured as appropriate see Ref 1 and the power cycled to the drive before these changes are effective Parameter Digit Place Name Setting Description Default Pn50A 0 I O Signal Allocation Mode 0 1 Signals may be assigned freely O input signal allocation as per servo amplifier sequence 0 S ON Inp
8. Trio Motion Technology Ltd 1000 Gamma Drive Shannon Way Tewkesbury Suite 206 Gloucestershire GL20 8ND Pittsburgh PA 15238 United Kingdom United States of America MOTIONITECHNOLOGY Tel 44 0 1684 292333 Ph 1 412 968 9744 Fax 44 0 1684 297929 Fx 1 412 968 9746 www triomotion com Doc No TN20 63 Version 1 0 Date 3 February 2004 Subject SERCOS Registration and Homing Application Information Contents CONTENTS pane neta Cer eRe ne rE ee Re ati Sue ree Ee Pee N eee re mE eee 1 Referentes aimiienn eniinn a E EA E E E Ra 1 AGONYMS eee OT ee E E er ne eee nee 1 Introduction pee cdearasn cose vec ecaletuncrtnonstasssousnect beaten aapaesbaseneddvsouiucoatioeceed omdedtnbedivues 1 Rockwell Kinetix and Ultra Drives HOMING sesser 2 Rockwell Kinetix and Ultra Drives Registration 4 Sanyodenki Drives PVSercoS s ssssssssesisssesesiererisrsresrsrsrerisreresesrerinrsreresrss 6 Yaskawa OI VSS sesesesiiczycsicicsvu es svteanveusiacedoaneauahasunininncasioessnscusdubdacnamaneaataneienstiess 7 References 1 SigmalII User s Manual Design and Maintenance Manual No SIE S800 32 2 Acronyms RTS Real Time Status bit flag in the drive telegram status word RTC Real Time Control bit flag in the master telegram control word Introduction This application note describes how to perform registration and homing procedures over a SERCOS ring when using a Trio Controller master and the slave
9. e high THEN SERCOS 5 nslot ndrive 305 2 409 SERCOS 5 nslot ndrive 169 2 1 ensure idn 130 is in AT telegram ELSE SERCOS 5 nslot ndrive 305 2 410 SERCOS 5 nslot ndrive 169 2 2 ensure idn 131 is in AT telegram ENDIF Initialise registration BASE ndriveaxis old_speed SPEED SPEED datum_speed REGIST 1 Move until mark seen SERCOS Interface Commands from Trio BASIC Page 4 of 12 TN20_53 Issue 1 0 09 09 04 FORWARD WHILE NOT MARK WEND CANCEL WAIT IDLE Move back to datum position MOVEABS REG_POS WAIT IDLE SPEED old_speed SERCOS Interface Commands from Trio BASIC Page 5 of 12 TN20_53 Issue 1 0 09 09 04 Sanyodenki Drives PVSercos The following program illustrates how to datum a SERCOS axis to the motor Z mark using the drive controlled homing procedure command It is also possible to datum to a homing switch or the master can control the homing procedure see the drive Installation and Operation manual for details TKK KK KK K K K OK 2K OK K OK OK K 2K K K 2K K K 2K K OK K K K K K K K K K OK OK K K K K OK K Datum sequence BASE naxis SERVO OFF WA 500 Run homing procedure command home on z mark SERCOS 6 nslot ndrive1 148 8000 1 WA 500 Cancel homing procedure command SERCOS 6 nslot ndrive1 148 8000 1 SERVO ON WA 200 Now move from z mark to home position MOVE 0 037 WAIT IDLE DEFPOS 0 SERCOS Interface Commands from Trio BASIC
10. tialise Drive ready for registration NB power to drive must be cycled after setting these values program constants high 0 low 1 nslot 0 ndrive 1 Required trigger mode and signal edge Trig mode O origin Z mark 1 ext1 2 ext2 3 ext3 trig_mode 0 trig_edge high Z mark registration IF trig_mode 0 THEN SERCOS 5 nslot ndrive 32768 511 2 8888 SERCOS 5 nslot ndrive 32768 50A 2 8100 Pn50A Input Selections 1 SERCOS 5 nslot ndrive 32768 50B 2 6548 Pn50B Input Selections 2 ELSE SERCOS 5 nslot ndrive 32768 50A 2 8881 Pn50A Input Selections 1 SERCOS Interface Commands from Trio BASIC Page 8 of 12 TN20_53 Issue 1 0 09 09 04 SERCOS 5 nslot ndrive 32768 50B 2 8888 Pn50B Input Selections 2 External input 1 IF trig_mode 1 THEN IF trig_edge high THEN Active high rising edge SERCOS 5 nslot ndrive 32768 511 2 88F8 ELSE Active low falling edge SERCOS 5 nslot ndrive 32768 511 2 8848 ENDIF External input 2 ELSEIF trig_mode 2 THEN IF trig_edge high THEN Active high rising edge SERCOS 5 nslot ndrive 32768 511 2 8F88 ELSE Active low falling edge SERCOS 5 nslot ndrive 32768 511 2 8588 ENDIF External input 3 ELSEIF trig_mode 3 THEN IF trig_edge high THEN Active high rising edge SERCOS 5 nslot ndrive 32768 511 2 F888 ELSE Active low falling edge SERCOS 5 nslot ndrive 32768 511 2 6888 ENDIF ELSE Error ENDIF ENDIF
11. ure idn 130 is in AT telegram ELSE SERCOS 5 nslot ndrive 305 2 410 SERCOS 5 nslot ndrive 169 2 2 ensure idn 131 is in AT telegram ENDIF Configure drive latch input using a P IDN SERCOS 5 nslot ndrive 49252 2 trig_mode Initialise registration BASE ndriveaxis SERCOS Interface Commands from Trio BASIC Page 11 of 12 TN20_53 Issue 1 0 09 09 04 old_speed SPEED SPEED 1 REGIST 1 Move until mark seen FORWARD WHILE NOT MARK WEND CANCEL WAIT IDLE Move back to datum position MOVEABS REG_POS 0 09 WAIT IDLE DEFPOS 0 SPEED old_speed SERCOS Interface Commands from Trio BASIC Page 12 of 12 TN20_53 Issue 1 0 09 09 04
12. uts from the SIO CN1 40 input terminal Inputs from the SI1 CN1 41 input terminal Inputs from the SI2 CN1 42 input terminal Inputs from the SI3 CN1 43 input terminal Inputs from the SI4 CN1 44 input terminal Inputs from the SI5 CN1 45 input terminal Inputs from the SI6 CN1 46 input terminal Sets signal ON Sets signal OFF Inputs the reverse signal from SIO PIONI AIWwWIN O Inputs the reverse signal from SI1 0 SIO SERCOS Interface Commands from Trio BASIC Page 7 of 12 TN20_53 Issue 1 0 09 09 04 B Inputs the reverse signal from SI2 C Inputs the reverse signal from SI3 D Inputs the reverse signal from S14 E Inputs the reverse signal from SI5 F Inputs the reverse signal from SI6 2 P CON 0 to F As above 1 SI1 3 P OT 0 to F As above 2 SI2 Parameter Digit Name Setting Description Default Place Pn50B 0 N OT Oto F As above 3 SI3 1 ALM RST 0 to F As above 4 SI4 2 P CL Oto F As above 5 SI5 3 N CL Oto F As above 6 SI6 The example registration initialisation program below illustrates how to configure these parameters for registration on the z mark or external inputs This program need only be run once and then the drive power cycled to enable the parameter values since the parameters are stored in EEPROM in the drive Initialisation Example Program Ini

TN20_63 SERCOS Registration and Homing(1)

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