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Drive System SD2 - SIEB & MEYER AG

1. 2 147 483 647 These data types are equivalent to the C data types unsigned int and signed int 3 4 3 Byte Data Types The devices of the series SD2 partly use 3 byte data items for internal processes The PC can not process this data type Since some of the DNC commands use 3 byte data items they must be represented by the existing PC data types One 3 byte data item for example can be made up of 3 bytes of the type 736_S36_SHORTCARD Two 3 byte data items can be replaced by three words of the type 736_S36_CARDINAL And four 3 Byte data items can be represented by three double words of the type T36 S36 LONGCARD 14 Drive System SD2 DNC 8 Byte Telegram gt s 4 1 4 1 1 4 1 2 DNC Commands DNC Commands In general the DNC communication with the Drive is established by the exchange of data blocks between the DNC master PC or PLC and the slave Drive A DNC command has the following structure Command block sent from the master to the Drive Response block sent from the Drive to the master A DNC command is always started by the master The Drive only can react to the DNC command The command and response blocks have a different structure and meaning for each DNC command The command block describes the actual DNC command and may contain so called sub commands General Structure of the Command Interface Below the general structure of the command and reply telegram is described Command Block
2. T36 S36 SHORTCARD Start signal for a command transmission It is always set to zero 0x01 T36 S36 SHORTCARD Length Protocol length in bytes It is calculated by the number of the transmitted data but except of the leading zero the checksum and the length specification The smallest length is 3 0x02 T36 S36 SHORTCARD Dest Destination of the command block It contains the de sired module number plus 2 0x03 T36_S36_SHORTCARD Src Transmitter of the commands Here the value 1 is en tered for the PC or PLC md T36_S36_SHORTCARD Command number of the actual DNC command 0x05 T36 S36 SHORTCARD Data User data of the command Depending on the command array with a maximum up to 48 bytes 24 words or 16 3 byte words can be length of 48 bytes transmitted 0x05 T36 S36 SHORTCARD Check Check sum It consists of the ones complement of the length 3 sum of the complete data block except of the check sum Reply Block T36 S36 SHORTCARD Start signal for the reply transmission It is always set to zero 0x01 T36 S36 SHORTCARD Length Protocol length in bytes It is calculated by the number of the transmitted data but except of the leading zero the checksum and the length specification The smallest length is 3 0x02 T36 S36 SHORTCARD Dest Destination of the reply block Here the value 1 is en tered for the PC or PLC Drive System SD2 DNC 8 Byte Telegram 15 16 DNC Commands me me ir pm 0x03 T36 S36 SHORTCA
3. byte with the lowest address gt byte n 1 word n 1 three byte n 1 gt byte with the highest address That means During sequential transmission of the blocks the byte 0 must be trans mitted first and the byte n 1 gt must be transmitted last The following sections describe the data types known by the SD2 and their bytewise organization 1 Byte Data Types One byte is the smallest data format that can be transmitted with an DNC command A distinction is drawn between unsigned and signed 1 byte data types T36 S36 SHORT unsigned 8 bit number 0 255 CARD T36 S36 SHORT signed 8 bit number 128 127 INT These data types are equivalent to the C data types unsigned char and signed char 2 Byte Data Types 2 byte data types are coded as below e I MM Bit0 7 Bits 15 EE A distinction is drawn between unsigned and signed data types T36 S36 CARDI unsigned 16 bit number 0 65535 NAL T36 S36 INTEGER signed 16 bit number 32768 32767 These data types are equivalent to the C data types unsigned short and signed short 4 Byte Data Types 4 byte data types are coded as below BitO 7 Bit 8 15 Bit 16 23 bit 24 31 A distinction is drawn between unsigned and signed data types Drive System SD2 DNC 8 Byte Telegram 13 Data Types T36_S36_LONG unsigned 32 bit number 0 4 294 967 295 CARD T36_S36_LONGINT signed 32 bit number 2 147 483 647
4. The DNC ad dresses 0 and 1 are reserved for the master For this reason the numbering starts with the DNC address 2 The DNC address of a drive can be calculated from the position of the address selec tion switch on the module by means of the following formula DNC address drive A address selection switch x 2 2 DNC address drive B address selection switch x 2 3 The following figure illustrates the relation of the drive address used in drivemaster2 and the drive address used in the DNC protocol SD2 SD2 SD2 FC2 03621xx 03621xx 03621xx 02190xx qi IDO ID1 ID2 ID3 RS232 to RS485 converter x4 Power 0 drivemaster drivemaster drivemaster drivemaster 0B DA 2B 2A 3A DNC address DNC address DNC address DNC address 2 5 4 7 6 8 3 Fig 1 Drive addresses in drivemaster2 and in the DNC protocol Drive System SD2 DNC 8 Byte Telegram 17 Addressing the Devices Drive System SD2 DNC 8 Byte Telegram o E 6 1 6 2 Parameterization Parameterization The DNC 8 Byte protocol can be configured via the parameterizing software drivemas ter2 Drive Control In order to position via the serial interface RS232 or RS485 you must select the con trol channel and the setpoint channel DNC 8 Byte Telegram Thus the drive amplifier expects to be supplied cyclically by reference values PDOs process data object via
5. Data Communication The following example shows a simple control of the drive at a speed of 50 of the drive scaling Start communication Set communication state machine to operational gt Enable voltage gt Set toggle bit to 0 gt Set speed reference value to 50 Send zero len dest Source cmd header header PDO PDO PDO PDO PDO 0 1 Data 0 Data 1 Data2 Data3 Data 4 PDO PDO PDO psum Data5 Data6 Data 7 Reply zero len dest Source cmd header header PDO PDO PDO PDO PDO 0 1 Data 0 Data 1 Data2 Data 3 Data 4 PDO PDO PDO psum Data 5 Data 6 Data 7 Activate controller Send zero len dest Source cmd header header PDO PDO PDO PDO PDO 0 1 Data 0 Data 1 Data2 Data 3 Data 4 PDO PDO PDO psum Data 5 Data 6 Data 7 Drive System SD2 DNC 8 Byte Telegram 31 8 A 8 A Appendix Reply PDO zero len dest Source cmd header header PDO PDO PDO PDO 0 1 Data 0 Data 1 Data2 Data3 Data 4 PDO PDO PDO psum Data 5 Data 6 Data 7 Operation enable gt Toggle bit has been toggled Send PDO zero len dest Source cmd header header PDO PDO PDO PDO 0 1 Data 0 Data 1 Data2 Data 3 Data 4 PDO PDO PDO psum Data 5 Data 6 Data 7 Reply PDO zero len dest Source cmd header header PDO PDO PDO PDO 0 1 Data 0 Data 1 Data2 Data 3 Data 4 PDO PDO PD
6. data int checksummoffset length 2 index in the array where the checksum is saved if receiveBuffer checksummoffset CheckSumm amp receiveBuffer 0 return true JU compare received checksum with calculated checksum else return false Drive System SD2 DNC 8 Byte Telegram 35 8 A 8 A Appendix 36 Drive System SD2 DNC 8 Byte Telegram
7. finite state automaton connected with these please refer to the documentation SD2 DeviceControl pdf The normalized reference speed corresponds to the object SPG TARGET VELOCI TY VL and is a 16 bit value The value Ox3FFF corresponds to the speed that is en tered in the software drivemaster2 in Configuration Motor measurement system Velocity scaling Status telegram PDO data 0 Status word PDO data 1 PDO data 2 Normalized actual speed PDO data 3 PDO data 4 Drive error PDO data 5 PDO data 6 Normalized actual current PDO data 7 Status word byte 8 and 9 Ready to switch on 9 9 en gaa SSCS s 2 s Rmi EO 11 Internal limit active ma man T For detailed information on the individual control bits and the finite state automaton connected with these please refer to the documentation SD2_DeviceControl pdf Drive System SD2 DNC 8 Byte Telegram 25 Telegram Structure TI 7 4 26 The actual speed value corresponds to the object VCTRL_VELOCITY_ACTUAL_VA LUE and is a 16 bit value The value Ox3FFF corresponds to the speed that is entered in the software drivemaster2 in Configuration Motor measurement system Ve locity scaling A drive error corresponds to the object DEV CTRL ERROR CODE LATCHED and is a 16 bit value A list comprising the error messages of the drive is to find in the hard ware documentation of your used hardware The normalized actual current corresponds to
8. the communication state machine NMT state machine The state machine can be controlled via the network manage ment NMT protocol The following commands are supported Goma bera EO A pea LL Switches NMT to the state operational Switches NMT to the state pre operational Heartbeat monitoring is only executed in the state NMT operational If so the PDO data can be exchanged Drive System SD2 DNC 8 Byte Telegram 23 Telegram Structure 7 3 2 24 Toggle bit The bit must be toggled switched over inverted during the parameterized monitoring time Watchdog timeout otherwise an error is triggered Then the axis adapts the tog gled bit again Thus it can be toggled again PDO selection The PDO selection defines the way in which the user data will be interpreted Via the 3 bits you can select PDO 0 to PDO 7 Since currently only PDO 0 is used the bits Bits 3 4 and 5 in the PDO Header must be 0 Cyclic process data PDO Data PDO Data contains the user data according to the selected PDO currently only PDO 0 PDO 0 cyclic exchange of process data Control telegram Description me Mme Control Word PDO data 2 Normalized reference speed PDO data 4 cue p een sr a Control word byte 8 and 9 Name Fault Reset Drive System SD2 DNC 8 Byte Telegram Telegram Structure o8 je LLL Pe Rene T For detailed information on the individual control bits and the
9. the object ICTRL IQ REFERENCE and is a 16 bit value The value Ox3FFF corresponds to the peak current of the drive Acyclic Service Data In addition to the process data channel PDO 0 the acyclic channel can be used as service data channel to access all objects in the drive This service channel is only available in the DNC 16 Byte telegram The following accesses are available Reading an object The read access is controlled in the service data channel via ServiceFunction 0 byte 17 Via Index low high the corresponding object is selected The result of the read access is returned in the response service data channel Via array in dex 0 3 a subindex can be transmitted gt Setting an array index The setting of an array index is controlled in the service data channel Service Function 1 byte 17 Via Index low high the corresponding object is selected Via array index 0 3 the array index is transmitted gt Writing an object The write access is controlled in the service data channel via ServiceFunc tion 2 Via Index low high the corresponding object is selected and byte 20 byte 23 contain the according value Via ServiceLastValidBytelndex the number of valid bytes minus 1 in this telegram must be defined Writing of arrays There are max 32 bit user data available in the service data channel For this reason only objects with a maximum size of 32 bit can be written If objects of a larger size shall b
10. 9 pole female submin D connector 9 pole female 9 pole female Submin D connector Submin D connector Pin assignment on the device 9 pole male submin D connector 9 pole male submin D connector Description eap o n Were ZE IL NN IE Tot me emee A EN Poe de eg Parameters of the Serial Interface The following settings are required for the serial interface gt E E E E Baud rate 57600 bit s Data bits 8 Parity None Stop bits One Protocol none Time Response When a DNC command block has been transmitted the Drive will respond max 250 us after having received the last byte of the command block Drive System SD2 DNC 8 Byte Telegram Characteristics of the RS232 Communication Please note that the transmission time depends on the quantity of data Therefore the PC software arivemaster2 uses a timeout of 1 s to make sure that the serial connection is definitely interrupted Drive System SD2 DNC 8 Byte Telegram 11 Characteristics of the RS232 Communication Drive System SD2 DNC 8 Byte Telegram o sm 3 1 3 2 3 3 Data Types Data Types The communication with the SD2 is carried out by means of DNC commands These commands allow data exchange with the device via memory blocks Depending on the DNC command memory blocks are organized bytewise wordwise or 3 bytewise The following applies for a memory block of the length n byte 0 word O three byte 0
11. O psum Data 5 Data 6 Data 7 Deactivate controller gt Toggle bit has been toggled Send PDO zero len dest Source cmd header header PDO PDO PDO PDO 0 1 Data 0 Data 1 Data2 Data3 Data 4 PDO PDO PDO psum Data5 Data6 Data7 32 Drive System SD2 DNC 8 Byte Telegram Appendix Reply zero dest Source cmd en bede PDO PDO PDO PDO PDO Data 0 Data1 Data2 Data3 Data 4 PDO PDO PDO psum Data5 Data6 Data7 8 A 2 Acyclic Data Communication In addition to the cyclic data there are acyclic data attached to the data protocol The content of the cyclic part of the data must still be set according to the current operating status of the drive For this example we consider the drive in the status ready for oper ation but not switched on Read out of object 33 voltage of the bus Send zero dest Source cmd beda drai PDO PDO PDO PDO PDO Data 0 Data1 Data2 Data3 Data 4 pen oxts 5 o2 pen peu 0 pen pen 0x06 0x00 pe foa pen PDO PDO PDO ctrl pes de data E data 5 data A data psum Data 5 Data6 Data 7 Reply zero len dest Source cmd header header PDO PDO PDO PDO PDO 0 1 DataO Data1 Data2 Data3 Data4 PDO PDO PDO ctrl index index s data s data s data s data psum Data5 Data6 Data7 0 1 0 1 2 3 Drive System SD2 DNC 8 Byte Telegram 33 8 A 8 A Appendix Writing of objec
12. RD Src Transmitter the reply block It contains the module num ber of the transmitter plus 2 0x04 T36 S36 SHORTCARD cmd Number of the executed command Note that the most significant bit is additionally set to 1 0x05 T36 S36 SHORTCARD Data User data of the reply block Depending on the com array with a maximum mand up to 48 bytes 24 words or 16 3 byte words can length of 48 bytes be transmitted 0x05 T36 S36 SHORTCARD Check Check sum It consists of the ones complement of the length 3 sum of the complete data block except of the check sum Drive System SD2 DNC 8 Byte Telegram o s Addressing the Devices Addressing the Devices In order to control the drives via PLC or an appropriate PC program the DNC address es used in the DNC protocol must be known The DNC drive addresses are derived from the module addresses that are set by means of the address selection switch on each device Via the module address the software drivemaster2 communicates with the devices ES For more information on proper addressing of the modules refer to the docu mentation drivemaster2 User Manual chapter Communication In the DNC protocol each device double axis devices and single axis devices has al ways two DNC addresses that means the master communicates with drive A via the lower DNC address and with drive B via the higher DNC address Single axis devices do not have a drive B Therefore the higher DNC address is not used
13. SIEB amp MEYER Drive System SD2 DNC 8 Byte Telegram P TD 0000147 2 2012 11 02 Copyright Copyright 2012 SIEB amp MEYER AG All rights reserved This manual or extracts thereof may only be copied with the explicit authorization of SIEB amp MEYER AG Trademarks All product font and company names mentioned in this manual may be trademarks or registered trademarks of their respective companies SIEB amp MEYER worldwide For questions regarding our products and technical problems please contact us SIEB amp MEYER AG Auf dem Schmaarkamp 21 D 21339 L neburg Germany Phone 49 4131 203 0 Fax 49 4131 203 2000 support sieb meyer de http www sieb meyer com SIEB amp MEYER Asia Co Ltd 4 Fl No 532 Sec 1 Min Sheng N Road Kwei Shan Hsiang 333 Tao Yuan Hsien Taiwan Phone 886 3 311 5560 Fax 886 3 322 1224 smasia ms42 hinet net http www sieb meyer com SIEB amp MEYER Shenzhen Trading Co Ltd 1st floor B room of D1 block DongNan GongMao Building Dongjiaotou Shekou Houhai Ave Nanshan District Shenzhen City 518067 P R China Phone 86 755 2681 1417 86 755 2681 2487 Fax 86 755 2681 2967 sma china umail hinet net http www sieb meyer com SIEB amp MEYER USA LLC 3975 Port Union Road Fairfield OH 45014 USA Phone 1 513 563 0860 Fax 1 513 563 7576 info sieb meyerusa com http www sieb meyer com Drive System SD2 DNC 8 Byte T
14. ansmission type Byte 2 3 Speed act value Disabled Byte 4 5 Drive error Byte 6 7 Current act value There is only this one PDO in the DNC 8 Byte Telegram Receive PDO The Receive PDO displays the received data The data can not be changed Transmit PDO The Transmit PDO displays the transmitted data Here you can set when and in which form the data are sent The following settings are available gt Disabled No data are sent gt At receive of RPDO 0 The drive sends the adjacent data when it is requested for them by a Re ceive PDO from the master 20 Drive System SD2 DNC 8 Byte Telegram a T 1 T 1 1 Telegram Structure Telegram Structure Description of the DNC 8 Byte Telegram Via the command 16 0x10 Write CAN Message of the serial DNC communication PDOs process data object are exchanged between master and drive The user data correspond to the data of the SD2 CAN connection The telegram has the following structure gt Header 5 bytes gt CAN Header 2 bytes gt Data area 8 bytes Check sum 1 byte DNC 8 Byte Prompt Telegram E NC NC NC NC NC NC PDO Data PDO Data 0 Cyclic channel PDO Data PDO Data 7 Cyclic channel 1 Check OxFF sum of the bytes 2 to 15 For an example of the check sum calculation see Appendix p 35 DNC 8 Byte Response Telegram Protocol en EO Popma EO E Drive System SD2 DNC 8 Byte Tele
15. ded object is not writable etc this error is indicated in the actual value telegram via the signal ServiceFault In addition the detailed error number is returned via Service Return Service Control Byte 17 Service Control m pemn O ServiceFunction bit 0 ServiceFunction bit 1 ZTO Servicel astValidBytelndex bit 0 ServiceLastValidBytelndex bit 1 ServiceFunction bit 1 2 Dz Read Object 1 Set Array Index 2 Write Object gt dz free gt fault ServiceLastValidBytelndex bit 3 4 Number of valid bytes gt Dz byte gt 1 2bytes gt 2 3 bytes gt 3 4bytes Depending on the service function the bytes are interpreted differently in the control telegram The following table indicates the structure of the data in dependance on the service function Control telegram oe queues CC CHE 23 Service Data 1 Array Index 1 Byte 1 Array Index 1 Service Data 2 Array Index 2 Byte 2 Array Index 2 23 Service Data 3 Array Index 3 Byte 3 Array Index 3 Service Index Byte 18 19 The Service Index is the object index of the object to be accessed Drive System SD2 DNC 8 Byte Telegram 27 Telegram Structure 7 4 3 7 4 4 7 4 5 28 m Service Data Byte 20 23 Service Data contains either the data bytes to be written in an object or the subindex for the object access Service State Byte 17 Service State COO w pesi I OE BE A BEA AAA AAA Depending o
16. e written e g arrays an additional mechanism is nec essary In order to write arrays at first the corresponding array index must be ad dressed The array index is addressed in the service data channel via ServiceFunc tion 1 Set Array Index The drive acknowledges the telegram by returning the re ceived array index in the actual value telegram In one of the following reference value telegrams 1 to 4 bytes can be written into the array via the command ServiceFunc tion 2 Write Object The array index saved in the device is automatically increased by the written number of bytes Thus it is possible to write the array consecutively with a new command ServiceFunction 2 Write Object in one of the following telegrams Since there is only one variable available in the drive to save the actual array index a nested access to two arrays is not possible e g write array A write array B write array A etc Reading of arrays During the reading of array objects the array index is transmitted in each reference va lue telegram For this reason setting an array index is not necessary The variable saved in the drive is not increased by read access Therefore the read access to an array does not interrupt the incremental writing of the array Drive System SD2 DNC 8 Byte Telegram 7 4 1 7 4 2 Telegram Structure Error during object access When the access to a drive object is faulty index is not valid range of values is excee
17. ed response times For this rea son it should only be used for parameterization and diagnosis purposes of the drive General Information Drive System SD2 DNC 8 Byte Telegram N E 2 1 2 1 1 Characteristics of the RS232 Communication Characteristics of the RS232 Communication Consider the following descriptions for serial communication with the SD2 Serial Connection By means of customary PC data can be exchanged with the drive via the serial inter face For this purpose a free serial interface of the PC must be connected to the RS232 RS485 interface of the drive The type of connection depends on the used drive RS232 Connection with SD2 Connect the female RJ45 connector X3 at the front panel of the SD2 drive via an RS232 to RS485 converter to a free serial interface of the PC Connecting cable gt shielded round cable gt twisted pair gt 8 pole male RJ45 connector open end Eee EE ea e Converter Pin assignment on SD2 gt 8 pole female RJ45 connector RS485 interface Drive System SD2 DNC 8 Byte Telegram 9 Characteristics of the RS232 Communication 2 1 2 2 2 2 3 RS232 Connection with SD2S Connect X19 9 pole male submin D connector at the front panel of the SD2S drive to a free serial interface of the PC 9 pole male submin D connector Connecting cable gt gt gt shielded round cable twisted pair 9 pole female submin D connector
18. elegram General Information Characteristics of the RS232 Communication Data Types DNC Commands Addressing the Devices Parameterization Telegram Structure Appendix Drive System SD2 DNC 8 Byte Telegram Chapter Overview Chapter Overview Drive System SD2 DNC 8 Byte Telegram 2 1 2 1 1 2 1 2 2 2 2 3 3 1 3 2 3 3 3 4 4 1 4 1 1 4 1 2 6 1 6 2 7 1 7 1 1 7 1 2 7 2 7 2 1 722 7 3 7 3 1 7 3 2 7 4 7 4 1 7 4 2 7 4 3 7 4 4 7 4 5 8 A 8 A 1 8 A 2 8 A 3 Content General Information asa 7 Characteristics of the RS232 Communication 9 Serial Conheclion AA 9 RS232 Connection with SD2 aaa 9 RS232 Connection with SD2S aa 10 Parameters of the Serial Interface sua 10 Time Gg elaia 10 Dala TYDES M X X 13 1 Byte SRA AENA 13 VA UIIDICERUII ACC A aiii 13 4 Byte Data TYPES c E iae 13 3 Byte Data Types PN 14 DNC Commands assa aa 15 General Structure of the Command Interface rrua 15 Re 15 Reply Galea 15 Addressing the Devices rss 17 Parameterization aaa 19 Drive GConltol ANE 19 Bus System ee esta ii a e ee 19 Telegram Structure ccccccsssssseeeeceeesseeeeecesesseeeeesees 21 Description of the DNC 8 Byte Telegram ccccccccssssssssseeeeeesessseees 21 DNC 8 Byte Prompt Telegram rra 21 DNC 8 Byte Response Telegram rss 21 Description of DNC 16 Byte Telegram rra 22 DNC 16 Byte Prompt Telegram rrura 22 DNC 16 Byte Re
19. gram 21 Telegram Structure 7 2 7 2 1 7 2 2 22 re quas Vae Pe Check 1 Check OxFF sum of the bytes 2 to 15 For an example of the check sum calculation see Appendix p 35 Description of DNC 16 Byte Telegram The DNC 16 Byte telegram is an extended DNC 8 Byte telegram in which 8 bytes non cyclic data are added The protocol structure corresponds to the DNC 8 Byte telegram The acyclic data are recognized via the length of the protocol length byte In the following the telegram structure is described DNC 16 Byte Prompt Telegram mi que EE Te Pt ee fei ETE ENE OEE ETE E ETE E EE EEE EEE EE 1 Check OxFF sum of the bytes 2 to 23 For an example of the check sum calculation see Appendix p 35 DNC 16 Byte Response Telegram se Tram Vae Pe Fs ee e ez Drive System SD2 DNC 8 Byte Telegram 0x90 const PDO Header 0 PDO Header 1 PDO Data 0 PDO Data 7 Not used 0 Service Index 0 Service Index 1 Telegram Structure Acyclic service data Acyclic service data 1 Check OxFF sum of the bytes 2 to 23 For an example of the check sum calculation see Appendix p 35 7 3 Cyclic Data 7 3 1 PDO Header Byte 6 and 7 Control telegram Status telegram NMT command bit 0 NMT command bit 0 AAA NMT command The communication of the drive is controlled by
20. n the executed service function and the service status the bytes in the sta tus telegram have different meanings The following table indicates the structure of the data in dependance on the service function and the service status Status telegram pe wu Service Index 0 Index low 20 Service Data 0 Byte 0 error code Array Index 0 error Array Index 0 code Service Data 1 Byte 1 error code Array Index 1 error Array Index 1 code Service Data 2 Byte 2 error code Array Index 2 Array Index 2 Service Data 3 Byte 3 error code Array Index 3 Array Index 3 N N Error Codes in the Service Data Channel o x o o Drive System SD2 DNC 8 Byte Telegram Error code Ox8E or OxOE Ox8F or OxOF 0x90 or 0x10 0x91 or 0x11 0x92 or 0x12 0x93 or 0x13 0x94 or 0x14 0x95 or 0x15 0x96 or 0x16 0x97 or 0x17 0x98 or 0x18 0x99 or 0x19 Ox9A or Ox1A Ox9B or Ox1B Ox9C or Ox1C Ox9D or Ox1D Ox9E or Ox1E Ox9F or Ox1F Telegram Structure Data can not be transmitted or saved in the application due to the status of the control Data can not be transmitted or saved in the application due to the reset device Dynamic generation of the object directory not possible or no object directory existing Read access denied Write access denied Drive System SD2 DNC 8 Byte Telegram 29 Telegram Structure 30 Drive System SD2 DNC 8 Byte Telegram Appendix ool Appendix 8 A Examples 8 A 1 Cyclic
21. sponse Telegram rrua 22 Cyclic ST GA 23 PDO Header Byte 6 and 7 rra 23 eB Data tia o da 24 Acyclic Service Data sa 26 Service Control Byte 17 rra 27 Service Index Byte 18 19 u 2 202 27 Service Data Byte 20 23 rrun 28 Service EAE ka KAE 28 Error Codes in the Service Data Channel rss 28 A PP _ o e 31 A Se ee ae Seer er er eee ee 31 Cyclic Data Communication ra 21 Acyclic Data Communication rss 33 Calculation of Check Sum e nennen a a 35 Drive System SD2 DNC 8 Byte Telegram 5 Content Drive System SD2 DNC 8 Byte Telegram Drive System SD2 DNC 8 Byte Telegram General Information General Information The DNC 8 Byte protocol is used for diagnosis and parameterization of SD2 drives A PC can be used for the diagnosis and as parameter interface interchanging data with the drive via the DNC 8 Byte protocol The following bus systems are supported for the connection of the drive gt RS232 gt RS485 The communication with the SD2 drive is established according to the master slave method The PC acts as master and the drive acts as slave Thus the drive is only ac tive on request of the master The data are exchanged as data telegrams The master sends a command telegram to the slave When this is received the slave returns a response telegram to the master The data are only exchanged via the bus system when the master initiates the ex change ES The DNC 8 Byte protocol does not have fix
22. t 352 parameter set selection Send zero len dest Source cmd header header PDO PDO PDO PDO see 0 1 Data 0 Data 1 Data2 Data 3 PDO PDO PDO ctrl index index s data s data s data s data psum Data5 Data6 Data7 0 1 0 1 2 3 PDO Data 4 Reply PDO zero len dest Source cmd header header PDO PDO PDO PDO 0 1 Data 0 Data 1 Data2 Data3 Data 4 PDO PDO PDO ctrl index index s data s data s data s data psum Data5 Data6 Data7 0 1 0 1 2 3 34 Drive System SD2 DNC 8 Byte Telegram i EO Appendix 8 A 3 Calculation of Check Sum Example code I example receive buffer filled with data from communication example 1 char receiveBuffer 0x00 0x0d 0x01 0x02 0x90 0x01 0x00 0x31 0x72 0x00 0x00 0x00 0x00 0x00 0x00 0xbb this function creates the checksum unsigned char CheckSumm char receiveBuffer unsigned char Summ 0 start value for the checksum int i loop counter int length receiveBuffer 1 amount of bytes to create checksum int lastIndex length 2 II last valid index for checksum loop for i21 i lt lastIndex i 1 loop run from length byte to last data byte Summ receiveBuffer i add new value to last result return Oxff Summ this function compares calculated checksum with received checksum from receive buffer bool CompareCheckSumm void int length receiveBuffer 1 JU length of checksum
23. the serial interface Acyclic communication is independent of the setpoint channel and works always Bus System When the control channel DNC 8 Byte Telegram is parameterized you can set the properties of the protocol on the page Bus system DNC Via this tab page the DNC telegram is parameterized DNC DNC Baud rate Heartbeat Baud rate The baud rate of the DNC 8 byte telegram has a fixed value of 57 600 kBaud Heartbeat When the check box is activated the communication via the DNC 8 Byte telegram is monitored During operation the drive now expects to receive prompt telegrams heart beat messages from the host periodically Via the parameter Heartbeat time you can enter the time interval between two prompt telegrams Drive System SD2 DNC 8 Byte Telegram 19 Parameterization PEU Heartbeat time The parameter indicates the maximum length of time in milliseconds in which a heart beat message must be sent to the drive during operation If the drive does not receive a message within this time an error is triggered PDO 0 The tab pages PDO 0 and PDO 1 display the assignment of the individual drive ob jects functions in the DNC telegram PDO 0 Receive PDO COB ID 0x200 Node ID Byte 0 1 Control word Byte 2 3 Speed ref value Byte 4 5 Free Byte 6 7 Free Transmit PDO COB ID 0x180 Node ID Byte 0 1 Status word Tr

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Drive System SD2 - SIEB & MEYER AG