SUCOnet K
Contents
1. ee eee eee ee eee 9 4 1 1 2 byte hexadecimal values WORD sese 9 4 1 2 4byte hexadecimal values LWORD nn 9 4 2 Parameter scaling nia alia ra ati 9 4 3 Gontents of the controlwordl carncranii eek ae 10 5 Datateleglami gialli ail eda 11 5 1 Host login logout 1 2 4 2 2222 elena ia ai 11 5 2 Control word start absolute 3 and start incremental 4 iii 11 5 3 Control word start reference un BI sees eee eee eee 11 5 4 Gontrol word Stop 6 iaia io iaia 11 5 5 Control word Stop with breaking ramp 7 ui 12 5 6 Control word preset counter 8 iii 12 5 7 Control word set BIAS processing pointer ISI sss eee eee eee 12 5 8 Control word move 10 and move 11 sse 13 5 9 Control word move synchronous 12 ii 13 5 10 Control word synchronous setting 13 i 13 5 11 Control word eyemark control 1 14 nn 14 5 12 Control word eyemark control 2 15 sese eee 14 5 13 Control word virtual axis 16 i 14 5 14 Control word read data block 17 teen eeeeaeeeeeeeceaeeeeeaeeseaee senses seaeeeeaeseeeeseneeess 14 5 14 1 Inputdata z sa logie ae iaia 15 5 15 Control word write data block 18 sese 16 5 16 Control word reserved 19 iii 16 5 17 Control worde 635 637 series disable enable 20 21 RESET 22 save data 23 17 5 18 Control word operating mode2. a maximum of 126 slaves The transmission rate depends on the bus cable length and is configurable over the programming software SUCOsoft S 30 S 4 200 The configuration is as follows without repeater 187 5 kBit s up to 600 m cable length 375 kBit s up to 300 m cable length For the bus cable you shoud use a twisted pair cable with shield F r die Kommunikation muss auf dem Bus ein definierter Ruhepegel gew hrleistet werden Dazu verf gt It is necessary for the bus signals to use bus resistors at the first master and at the last slave On the SUCOnet K bus interface card mounted on the 635 637 there are jumpers which you have to close for the last slave You can program this identification number in the programming software SUCOsoft S 30 S 4 200 appliance configuration For the 635 637 series the following appliance type will be used SIS TYP AOEF Note Knowledge of the PLC PS 4 series 200 and the programming software DOK 9026 x is requested In the programming software SUCOsoft S 30 S 4 200 appliance configuration each participant on the bus has to have an appliance type as well as an amount of used data bytes This information must be transferred to the master For the 635 637 series you have to fill in 16 bytes for the receive and transmit data length In this configuration file the participant will automatically get a participant number 1 126 This number appears in the upper left hand corner of the config
3. min 1 s x 5 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K Definitions of the data field 4 3 Contents of the control word PO te de de 0 0 0 0 0 0 0 0 0 status 0 0 0 0 0 0 0 1 1 host login 0 0 0 0 0 0 1 0 2 host logout 0 0 0 0 0 0 1 1 3 start absolute 0 0 0 0 0 1 0 0 4 start incremental dimension 0 0 0 0 0 1 0 1 5 start reference run Byte 15 reference mode see chapter 9 0 0 0 0 O 1 1 0 6 stop abrupt 0 0 0 0 0 1 1 1 7 stop with braking ramp 0 0 0 0 1 0 0 0 8 preset counter 0 0 0 O 1 0 0 1 9 set BIAS processing pointer byte 2 3 block pointer 0 1499 only in operating mode position control with BIAS 0 0 0 0 1 0 1 0 10 move 0 0 0 0 1 0 1 1 11 move 0 0 0 0 1 1 0 0 12 move synchronous 0 0 0 0 1 1 0 1 13 synchronous adjustment 0 0 0 0 1 1 1 0 14 eyemark control 1 0 0 0 0 1 1 1 1 15 eyemarkcontrol2 0 0 0 1 0 0 0 0 16 virtualaxis1 0 0 0 1 0 0 0 1 17 read data block 0 0 O 1 0 0 1 0 18 writedatablock 0 0 0 1 0 0 1 1 19 0 0 0 1 0 1 0 0 20 disable 635 637 series 0 0 0 1 0 1 0 1 21 enable 635 637 series 0 0 0 1 0 1 1 0 22 635 637 series RESET 0 0 0 1 O 1 1 1 23 save data in 635 637 Serie 0 0 0 1 1 0 0 0 24 operating mode speed loop serial 0 0 0 1 1 0 0 1 25 write variable flag command no decimal only after host login only after host login and 635 637 is disabled Status O 0 0 0 00 Byte 2 5 a
4. 1 new format registration COM 1 COM 1 active distance ok disabled started error hostlogin dynamically 2 total warning without T1 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 21 6 Pin assignment COM 2 bus interface SUCOnet K via RS485 The 635 637 series can communicate via the option module RP SUC with a PLC PS 4 series 200 The SUCOnet K interface is galvanically isolated which makes the physical transmission free of interference Provided module RP SUC 635 637 series COM 2 Connection plug SUB D 9 pin 1 e e no matessonee TA RA Transmit Receive not assigned not assigned not assigned Transmit Receive not assigned not assigned 22 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc 7 Example for operating the 635 637 series via the SUCOnet K field bus system 1 Step Host login via the SUCOnet K bus once after power on or always after host logout necessary E E send control telegram with 01h Host login in the control word byte 0 to the 635 637 series 12 14 oop e e e eee e eT 2 Step Check host login read response telegram data byte xx don t care After host login in the response telegram in the data byte 14 the bit 1 COM2 host login will be set 0 n 14 di Mata byla eT e COM2 host login 3 Step Position with start absolute E send control telegram which the control word start absolute and the
5. 252 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc Data telegram Control word write read variable flags 25 Notice After a write command byte 2 0 3 the Input buffer explained in chapter 5 21 will be received read requirement Byte 2 d read 2 variables successive actual position 1 not analyzed variable no 0 254 Input buffer Byte 2 4 read 2 variables successive actual position 1 12 13 14 15 value value actual position 1 no no 1 variable no 0 254 requirement Byte 2 5 read 8 flags successive TET 15 2 3 4 not analyzed flag no 0 248 Input buffer Byte 2 5 read 8 flags successive 0 1 2 3 4 5 6 7 8 9 10 AW 12 cca 15 lst EEE state reserved no 1 2 3 4 5 6 7 flag no 0 248 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 19 Data telegram 5 20 Receive buffer 635 637 series gt PLC except by read data block see 5 14 16 byte data unit Ree ka ll 0 1 10 11 12 18 14 15 status word 2 status word 1 error status 635 637 series I O status actual speed position 1 position 2 variable 2 3 4 5 6 7 B 9 2 2 byte status word 20 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc Data telegram 5 21 Data contents of the receive buffers Byte 0 copy of the control word byte 0 the last command w
6. 7 not analyzed osition reached window a oO eceleration ramp not analyzed control word 5 6 Control word preset counter 8 Di dA di a amp 10o 1t 12 13 2 2 FE om nwo 2 21 2 e byte 14 15 not analyzed byte 6 1 counter 1 2 counter 2 p osition control word 5 7 Control word set BIAS processing pointer 9 not analyzed B ontrol word IAS pointer C 12 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc Data telegram 5 8 Control word move 10 and move 11 not analyzed v cceleration ramp not analyzed control word 5 9 Control word move synchronous 12 14 15 0 1 byte 2 3 4 5 6 7 8 9 10 11 12 18 2 2 ET aed 2 2 e not analyzed il Byte 7 0 apply immediately 1 apply after form length master synchronous program no 1 16 0 no profile al En orm length master control word 5 10 Control word synchronous setting 13 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 2 2 2 2 tow high word ow highnord 2 2 2 pnd not analyzed Byte 10 input profile l 0 no profile 1 ramp down 4 2 rampup offset master gear factor master control word 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 13 Data telegram 5 11 Co
7. 91 44 2496 1129 Fax 91 44 2496 1831 KOREA SSD Korea Co Ltd 1308 Daeryung Techno Town 8th Bldg 481 11 Gasan Dong Geumcheon Gu Seoul 153 803 Tel 82 2 2163 6677 Fax 82 2 2163 8982 SCHWEDEN SSD Drives AB Mont rgatan 7 S 30260 Halmstad Tel 46 35 177300 Fax 46 35 108407 U S A SSD Drives Inc 9225 Forsyth Park Drive Charlotte North Carolina 28273 3884 Tel 1 704 588 3246 Fax 1 704 588 3249 Argentina Austria Bangladesh Brazil Chile Colombia Costa Rica Cyprus Czech Republic Ecuador Greece Hungary Indonesia Iceland Israel Kuwait Lithuania Malaysia Marocco Mexico New Zealand Nigeria Peru Philippines Portugal Saudi Arabia Singapore Slovenia Sri Lanka South Africa Taiwan Thailand Turkey United Arab Emirates Vietnam Head Office SSD Drives GmbH Von Humboldt Stra e 10 D 64646 Heppenheim Telefon 49 0 6252 7982 00 Fax 49 0 6252 7982 05 www SSDdrives com Plant Servosystems Im Sand 14 D 76669 Bad Sch nborn Telefon 49 0 7253 9404 0 Fax 49 0 7253 9404 99 ssd ssddrives de
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9. representative Improper application of the product in combination with dangerous voltage can lead to injuries In addition damage can also occur to motors or other products Therefore please observe our safety precautions strictly Safety precautions We assume that as an expert you are familiar with the relevant safety regulations especially in accordance with VDE 0100 VDE 0113 VDE 0160 EN 50178 the accident prevention regulations of the employers liability insurance company and the DIN regulations and that you are able to use and apply them As well relevant European Directives must be observed Depending on the kind of application additional regulations e g UL DIN are subject to be observed If our products are operated in connection with components from other manufacturers their operating instructions are also subject to be observed strictly 4 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc 1 Appendix for user manual 635 and 637 series for the bus system SUCOnet K The SUCOnet K Bus interface Option RP_SUC can be integrated in the digital drives 635 or 637 series as an option board The option get the supply voltage via the terminal strip With this option the bus connection with SUCOnet K Kl ckner Moeller is possible with the 635 or 637 series as a slave via the physical interface RS 485 2 Principle function The SUCOnet K system works on the master slave mode A master can communicate with
10. speed loop 24 i 17 5 19 Control word write read variable flags 25 eee eee 18 5 20 Receive buffer 635 637 series gt PLC 20 5 21 Data contents of the receive buffers i 21 6 Pin assignment COM 2 bus interface SUCOnet K via RS485 22 7 Example for operating the 635 637 series via the SUCOnet K field bus SYStem rrcciriee iii 23 8 Table of the block NUMbDEFS srrenniii eee rene ereenn eee 25 9 Standard reference modes overvieW rrccriiiiie 30 9 1 Reference run and Modes 30 9 2 Reference run to the resolver zero position i 31 9 3 Reference run to the reference SEnSor iii 32 9 4 Reference run to the reference sensor and the resolver zero position nn 33 9 5 Reference run with automatic selection of direction ii 33 9 6 Reference run with shifting of reference point i 34 10 App ndix ail ai 35 11 Update tata 36 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K The most important thing first Thanks for your confidence choosing our product These operating instructions present themselves as an overview of the technical data and features Please read the operating instructions before operating the product If you have any questions please contact your nearest SSD Drives
11. the control word byte 0 14 15 data byte i 12 xx don t care 24 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc 8 Table of the block numbers Note The marked block numbers may only be changed in the deactivated state of the regulator Block no Value range Byte X in telegram frame Axis identification with networking 1 255 Byte 4 Function identification for ISP function 0 3 0 Output 1 Input 2 Stepper motor pulse direction 3 Stepper motor pos negative Output increments 635 637 operating modes 0 5 0 torque speed control 1 speed control 2 torque control 3 position speed control 4 position control 5 position control BIAS reserved reserved 1 analog input for external current limiting aktive Bit 0 in Byte 6 Bit 1 in Byte 6 Bit 2 in Byte 6 Bit 3 in Byte 6 Bit 4 in Byte 6 Bit 5 in Byte 6 Bit 6 in Byte 6 1 internal ballast present and active Bit 7 in Byte 6 0 1 De Te dEi esi Bit 6 in Byte 7 Bit 7 in Byte 7 reserved 1 counter direction actual position 2 positive position reached low time 0 255 ms Byte 5 UCC low threshold 15 350 V Byte 4 5 ballast resistor in 1100 10 999 ohm Byte 4 5 pese yes fesened pes 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 25 Table of the block numbers continuation Block no Value range Byte X in telegram frame rr Emerson T_T ses Motor inductance terminal inductanc
12. 0 1499 blocks of 8 bytes see EASYRIDER help 2FFFh set number 0 adress 2C000H 2C007h BUS command 2000h and 2001h 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 29 9 Standard reference modes overview Ref reference sensor positive direction negative direction Auto automatic direction selection Ao reference point shifting 9 1 Reference run and modes The reference run of the axis is always necessary when there must be a fixed relationship between the electrical and the mechanical zero point of the axis e g with a rotary axis with a tool or a linear axis In order to be able to solve this task flexibly 24 standard reference modes are offered These are explained in the following text 30 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc Standard reference modes overview 9 2 Reference run to the resolver zero position eD o The resolver located in the motor represents an absolute position registering system The zero position of this system can be used to create a zero point with high repeat accuracy Figure 1 showes a typical application The axis to be referenced is connected directly with the motor so that a clear coordination between the motor and output position results Process The axis executes a counter preset according to the resolver zero position and moves to the zero point in the specified direction Fig 1 Reference run to the resolv
13. 9 18088 969 1925 PB 149 O na l 11 14 1 1 31 18 58 1 2 46 32 37 1 2 78 o 80o___ 1113 Assignment of the transmitted parameters to the physical values P gain physicalic value 8 gain physicalic value 150 V gain percentage 2 56 17 71 1 5 07 WI WIN N N N N N N N N N 0 0 0 N D9 U1 A W N Oo WO 0o0 N D 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 35 11 Update list Version Amendment Chapter Date Name Remas VO4 31HM97__ none 16 03 1999 K Stadler V05 22HM99 chapter re worked 4 4 3 text addition 5 1 text addition 5 18 chapter re worked 5 19 31 05 1999 H Mund V0605 separate German English SSD Drives 36 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc AUSTRALIA Eurotherm Pty Ltd Unit 1 20 22 Foundry Road Seven Hills New South Wales 2147 Tel 61 2 9838 0099 Fax 61 2 9838 9288 FRANCE SSD Drives SAS 15 Avenue de Norv ge Villebon sur Yvette 91953 Courtaboeuf Cedex Paris Tel 33 1 69 185151 Fax 33 1 69 185159 IRELAND SSD Drives 2004 4 Orchard Ave Citywest Business Park Naas Rd Dublin 24 Tel 353 1 4691800 Fax 353 1 4691300 NETHERLANDS Eurotherm BV Genielaan 4 2404CH Alphen aan den Rijn Tel 31 172 411 752 Fax 31 172 417 260 SPAN Eurotherm Espana S A Pol Ind Alcobendas C La Granja 74 28108 Madrid Tel 34 91 661 60 01 Fax 34 91 661 90 93 CANADA SSD Drives Inc 880
14. SUCOnet K Bus interface for servo drive 635 637 series MASTER always 1 participant Product Manual 07 05 02 03 E V0605 doc Further descriptions that relate to this document UL 07 01 05 06 635 Product Manual UL 07 02 08 03 637 Product Manual UL 07 02 09 01 637 Product Manual UL 07 02 10 01 637f Product Manual UL 10 06 03 Serial transfer protocol EASY serial Product Manual SSD Drives GmbH All rights reserved No portion of this description may be produced or processed in any form without the consent of the company Changes are subject to change without notice SSD Drives has registered in part trademark protection and legal protection of designs The handing over of the descriptions may not be construed as the transfer of any rights Made in Germany 2005 2 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc CONTENTS page The most important thing first rrcciiicie iii 4 1 Appendix for user manual 635 and 637 series for the bus system 5 2 Principle lunellon zzenn ee ee 5 2 2 B s Watchingi a Rio ire 5 2 3 Participant a0dl ess c iii eil 6 3 ShorL descriplioN stile enter 7 3 1 SChematic diagram laziali Ea lai 7 3 2 BUS terminationi auareie ai aa 8 4 Definitions of the data field rrrrciizeee eee ee eeeiiennnnee 9 4 1 Numbers representation in the serial COMMANOS
15. active the axis is stopped see figure 4 Subsequently the reference sensor is moved to in the specified reference direction and the reference run is ended according to the reference mode Sensor X10 24 Figure 4 6 With rotary axes the gearbox ratio must however allowa clear position assignment 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 33 Standard reference modes overview 9 6 Reference run with shifting of reference point FAO The previous reference modes can also be combined with the reference point shifting With this the actual position 0 is shifted by the amount specified in the path parameter from the zero point found according to the reference modes see figure 5 Note 1 ls the actual position 0 is not reached in the specified direction after stopping the axis the actual position 0 is not moved to actual position 0 after ref run Figure 5 Reference point shifting 34 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc 10 Appendix Assignment of the table positions for P and I gain in the current and speed controller to the physical value current controller speed controller Index P gain l gain in 1 ms Index P gain I Anteil in 1 ms o 077 HB0 o 05 10 O Pot og 1696 1 08 11032 09 16055 2 10 1887 3 12 15268 f 3 1 7633 e NA N NA I e a mm 1 44 1 39 87 1 58 1 56 45 Pp 8 21 W2626 8 249 1859 9 24 12285 9 2
16. articipant address switch the supply voltage on and off again 1 up to EASYRIDER version 4 05 is valid settings configuration axis number 6 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc oo 3 1 Short description The resistor jumper must be closed on the interface card as last participant on the bus SUCOsoft configurator software SUCOsoft S 30 S 4 200 For the 635 637 series select the appliance type SIS Type A0EF The receive and transmit data length is 16 bytes EASYRIDER program You must add one to the participant address for the slave and enter it in the 635 637 series via the EASYRIDER software For example participant no 2 in the PLC configurator is axis no in the 635 637 series Store the data with button rp in the EEPROM Switch the supply voltage 24V of the 635 637 series on and off again to take over the valid participant address Connect the 635 637 series with the bus cable Programming software SUCOsoft S 30 S 4 200 Itis possible to make a first function check in the menu APPLIANCE IQ STATUS Schematic diagram SUCOnet K fieldbus SSD Drives SSD Drives actuator sensor servo drive servo drive H drive drive MASTER SLAVE SLAVE a ee Gaeta ee SLAVE always 1 participant last participant 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K Sho
17. ata block function 0 synchronous data control word 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 15 Data telegram 5 15 Control word write data block 18 Changing parameters on the 635 637 series is only possible if there has been a login through the master Host login COM 2 If parameters are to be changed on the 635 637 series all 8 bytes of the parameter data must always be entered during write data block to the selected block number The table of block numbers is located in the appendix In this connection the marked areas can only be changed in the deactivated state of the drive 0 Ts 2 8 4 amp 6 7 8 9 10 11 12 13 14 15 L _ not analyzed data block 1 data block data block no 100h see chapter 8 reserve control word Special function Oo 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 block no 0 37 synchronous program no 1 16 data block function 0 synchronous data control word 5 16 Control word reserved 19 16 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc Data telegram 5 17 Control worde 635 637 series disable enable 20 21 RESET 22 save data 23 not analyzed control word 5 18 Control word operating mode speed loop 24 With this telegram you can send new speed values to the digital drive With byte 15 you can switch between rated value via the Profibus DP and analog r
18. ated value Caution If the the speed loop is switched off via the Profibus DP byte 15 0 an analog value possibly applied to connector X10 pin 18 and 5 can be used byte 15 0 off 1 on not analyzed current limit value x 0 1A max drive example 104 1A integrator speed min control word A negative speed is created through the 2 complement e g 2000 0x7D0 2000 OxF82F U In order to use this function the operating mode speed control must selected in the digital drive This can be done either with the help of EASYRIDER or with the telegram write data block The operating mode is preselected for the digital drive in block number 0x101 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 17 Data telegram 5 19 Control word write read variable flags 25 0 1 2 3 4 5 6 7 8 15 low word high word VE SI low byte high low byte high nun byte Write control word value variable flag no Byte 2 0 write variable value no not analyzed variable no 0 255 Byte 2 1 write flag state not analyzed flag no 0 255 Byte 2 2 write 3 variables successive 2 3 4 5 6 7 8 9 10 11 12 13 14 15 value value value no no 1 no 2 variable no 0 253 Byte 2 3 write 4 flags successive 2 3 4 5 6 7 8 15 ee el state reserved no 1 2 3 flag no 0
19. ctual position 1 O 0 0 1 01 Byte 2 5 actual position 2 O 0 1 0 02 BIAS variable variable no must be entered in the control word byte 2 10 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc 5 Data telegram 5 1 Host login logout 1 2 The most data frames are accepted by the Digital drive only after a host registration The host registration must only be sent uniquely to connecting the control voltage 24V For Host login logout only the control word from the Digital drive 635 637 series will be evaluated The 2nd to 15th bytes can containe any data only one interface will be have a login COM1 or COM2 5 2 Control word start absolute 3 and start incremental 4 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 2 2 tom eed 2 2 2 2 2 Tnne not assigned position reached window deceleration ramp acceleration ramp position control word 5 3 Control word start reference run 5 0 1 2 3 4 5 6 7 8 amp 9 10 11 2 2 tow hignword Z 2 2 12 13 14 15 byte 15 reference mode see chapter 9 position reached window deceleration ramp acceleration ramp position control word 5 4 Control word Stop 6 not analyzed y osition reached window ot analyzed control word 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 11 Data telegram 5 5 Control word Stop with breaking ramp
20. e Motor resistance termina esistano T ms fat monionngim eo Fositance veve NOT mo resstancevauenton seo resistance va mo lt BE See motor name ASCII Ie Do PSST tet see I Byteas i see I Byteas i see I Byteas i pese ses Maximum current limit grade value grade I_max 32 P oan orade value tor ne current oomroner3 99 es O H grade value forthe curent contee os ser H rade value forthe speed contoter ow mes H postioncomoler HH eyes 7 V ganpostioncontole ao eyes Bo Default braking ramp for position controller value x 5 sj 0 64000 Byte 6 7 114h Default acceleration ramp for position controller value x 5 0 64000 Byte 4 5 E Default position reached for position controller in increments 0 32767 Byte 6 7 115h Trailing window in increments 0 32767 Byte 4 5 Trailing reaction Byte 6 0 without reaction 1 stop abrupt 2 stop 3 deactivate regulator 3 see appendix 26 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc Table of the block numbers continuation Block no Value range Byte X in telegram frame 116h window for 0 V setpoint 150 mV Byte 4 5 Setpoint integrator steepness 10000 off without integrator Seipointeveluton win raue conio moa ee Seipointvaluenomingtestpom2eumen mimoa 2 si0 imx Byeo Speeg0ctsetstoragevave wt wee weer 11Ah Offset re
21. er zero position 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 31 Standard reference modes overview 9 3 Reference run to the reference sensor Ref I Reference runs to an external reference sensor are necessary wherever no exact assignment at the motor to output position can be made Typical application examples are systems with gearboxes as shown in figure 2 Process The axis starts the refernce run in the specified direction The actual position is zeroed upon detection of the low high slope of the external reference sensor At the same time the axis is stopped via the active deceleration ramp Note 1 If input X10 24 not configured 4 as reference sensor a start fault occurs upon execution of a reference run 2 If the zero position is not reachable in the specified direction after stopping the axis the zero point is not moved to Sensor X10 24 Fig 2 reference run to an external reference sensor 4 5 Configuration in outputs function 1 reference sensor in combination with the automatic selection of direction this limitation does not apply 32 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc Standard reference modes overview 9 4 Reference run to the reference sensor and the resolver zero position Ref ARES S O e The reference modes with reference sensor and resolver zero position represent a combination of the induvidual modes They are always required wherever no clea
22. ill be stored if gt 0 Byte1 copy of the control word byte 0 for one data cycle then 0 Byte 2 5 actual position 1 2 or BIAS variable byte2 see contents of the control word byte 1 Byte 6 7 actual speed in rpm Byte 8 Input status bg ee WS eB a wi X10 4 X10 11 X10 25 X10 2 X10 14 X10 15 X10 24 X10 22 Byte 9 Output status rer i MEERE 072 AAE AEn vus X10 8 a 10 m status 1 Lae t motor ne Hai r ai ia used active a el of the output temperature error ready Software stage too high too high Byte 11 Error status 2 a dedi ei ee ee ee ee H Watchdog Internal stop Overcurrent not used not used EEPROM Ballast power 1 t regulator Reset Hardware check total exceeded Byte 12 Status word 1 Byte 1 Setpoint Warning Warning I t Warning Warning Ballast active Undervoltage Output stage within output stage regulator motor I lt t motor passive setpoint zero temperature temperature window Byte 13 Status word 1 Byte 2 ci gt addi ed ee aes H E Limit switch Warning Speed internal used EEPROM Warning reached regulator storage runs ballast power switchover without I gain Byte 14 Status word 2 Byte 1 I 6 5 4 3 2 1 0 Position internal used internal used COM 2 internal used internal used COM 2 COM 2 active reached disabled host login Byte 15 Status word 2 Byte 2 7 6 5 a 3 2 1 o Trailing internal used referenced COM
23. ntrol word eyemark control 1 14 Ooo 1 22 3 4 5 6 7o 8 9 10 11 12 13 14 15 2 2 byte 15 0 off 1 on eyemark window close eyemark window open form length control word 5 12 Control word eyemark control 2 15 0 1 2 3 4 5 6 7 8 amp 9 10 11 12 13 14 15 2 2 lownordhighword Z 2 2 2 2 ome not analyzed correction time ms max correction sensor position control word 5 13 Control word virtual axis 16 byte 15 0 off 1 on 5 control word ot analyzed 5 14 Control word read data block 17 With read data block the parameters of the requested data block and the following data block in the input data are returned Only even data block numbers are accepted not analyzed data block no 100h see chapter 8 reserve control word 14 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc Data telegram 5 14 1 Input data 2 1 2 3 4 5 6 7 8 09 10 11 12 13 14 15 le ee not analyzed data block 1 data block data block no 100h see chapter 8 reserve control word If an invalid block number is requested the data contents of the input data of bytes 2 15 is FFn Special function Oo 1 2 3 4 5 6 7 8 amp 9 10 11 12 13 14 15 not analyzed block no 0 37 synchronous program no 1 16 d
24. parameters for position and speed 1 Example position 500 000 increments 500 000d 0007A120h speed 2000 7DOh 1 rpm acceleration 1000 3E8 value x 5 deceleration 1500 5DC value x 5 position reached window 100 64h 0 1 2 3 4 5 6 GESTO oe Ones ee E 8 9 14 15 data byte 7 12 EXCISE en reached window deceleration acceleration speed position start absolute 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 23 Example for operating the 635 637 series via the SUCOnet K field bus system 2 Example position 0 increments 00d 00h speed 2000 7DOh 1 rpm acceleration 1000 3E8 value x 5 e deceleration 1500 5DC position reached window 100 64h vi 3 aine r pees A data byte 11 12 14 peee e eT L 265 reached window deceleration acceleration speed position start absolute 4 Step check position reached Ss read response telegram When position reached in the response telegram in the data byte 15 the bit 5 position reached will be set or you must compare the position value byte 2 5 with the set value 0 2 3 4 5 ta 14 sa COOCOO position reached position 0 data byte 5 Step host logout via the SUCOnet K bus send control telegram to the 635 637 series with 02h host logout in
25. r coordination of motor position to output position can be made on the one hand On the other hand however the high repeat accuracy of the resolver zero point is required Typical applications are also on the other hand systems with gearboxes see figure 2 Process The axis starts the reference run in the specified directions A counter preset is executed according to the following resolver zero position selection of the high low slope of the external reference sensor At the same time the axis is stopped via the active deceleration ramp If the zero point can be reached in the specified direction this is subsequently moved to Note 1 If input X10 24 is not configured as reference sensor a start fault will occur upon execution of a reference run 2 If the zero position is not reachable in the specified direction after stopping the axis the zero point will not be moved to 9 5 Reference run with automatic selection of direction Auto The previous reference types can be combined with the automatic selection of direction If the automatic selection of direction is active there are 2 differences 1 The axis can use both reference directions As a result the zero point can always be moved to 2 With reference modes with reference sensor the reference run is started in the opposite direction if the reference sensor is already activeat the start of the reference run see figure 3 After the reference sensor becomes free in
26. rt description 3 2 Bus termination If an drive from SSD Drives used as the last participant on the SUCOnet K bus system the terminating resistors must be closed switch on jumper 9 and 10 a 635 top view RE ail S Option RP_SUC S front of drive a Fe 72727757 _ ON com2 DDUH 9 10 b 637 series top view HHE front of drive COMI COM2 8 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc 4 Definitions of the data field Definition of the data field in the SUCOnet K fieldbus system for the 635 637 series Output data master Digital drive 635 637 series 16 byte data unit control word parameter 4 1 Numbers representation in the serial commands 4 1 1 2 byte hexadecimal values WORD Number range 215 signed integer Example The hexadecimal value 0123h represents itself as follows 01 High Byte Byte 1 23 Low Byte Byte 2 Precedence within the serial command Bit 7 0 15 8 o dr om ow B amp 01 4 1 2 4 byte hexadecimal values LWORD Number range 231 signed long Example The hexadecimal value 01234567h represents itself as follows 01 High Byte Byte 1 23 Low Byte Byte 2 45 High Byte Byte 3 67 Low Byte Byte 4 Precedence within the serial command Bit7 015 8 23 16 31 24 PE aes bee ome fom ows 67 45 23 01 4 2 Parameter scaling acceleration deceleration value a
27. solver position Byte 4 5 e EEE i 7 Bh 136h 800h 8FFh Reserved for EASYRIDER extra info 900h 9FFh Initializing data for the 16 possible synchronous profiles Input definition input X 10 2 function 0 3 see operating instructions Byte 4 Byte 5 Byte 6 Byte 7 Byte 4 Byte 5 Byte 6 Byte 7 ojojlojo jol jo 1 N 1 1 G lG lG ow S Byte 4 Path frese T_T ir fropostiensese e T_T I DES t 0 255 boo EASYRIDER ojojo r la POF PM Ww WwW CG N N 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 27 Table of the block numbers continuation Block no Value range Byte X in telegram frame mom spec tunkton Converson 48 w teen spec tunkton s Conversion ae H wa OSS ON I 1 HS e S Ce e SSS SS C T_T son fassas O O ow SSS O BEE VE EEE aan esse oe H T T_T eee BET TEE BEE C ma program name sa DJ Coe 10 EEE ESG e n Gli iti Asan es progamasa Beta T_T ens progeamesa ves T_T sah JBins programa eve SSCS ASSI BIAS program version ea TTT Assn BIAS program version Byles 6 resewe H sm reserved unta TTT A80h ABFh BUS module data ABOh__ until A amp 3h reserve ni A84h SUCOnet_K BUS Axis number 1 255 SUCOnet_K BUS Bus interruption 0 without Be 1 stop abrupt 2 stop 3 deactivate regulator uu SUCOnet_K BUS braking ramp value x 5 0 64000 Byte 6 7 A85h until A87h reser
28. uration screen 2 2 Bus watching The 635 637 series makes it possible to detect a bus break and to execute a definition reaction For that the bus watching must be activated by the master Follow reaction can activate after detected a bus break no reaction stop abrupt stop with braking ramp disable 635 637 series 07 05 02 03 E V0605 doc Product Manual Type SUCOnet K 5 Principle function 2 3 Participant address The selection and the setting made by the EASYRIDER software in the menu gt commissioning fieldbusmodule gt mode The station address will be set 635 637 via DIP switches see page 10 on the interface card or via the EASYRIDER software valid address range 1 126 If the station address should be set by the EASYRIDER software the DIL switches must set smaller than 2 By the EASYRIDER software you have to program the address in the menu 1 commissioning fieldbusmodule participant address Attention The participant address must be one more than the participant number After programming store this with button p in the EEPROM Table participant participant number address PLC 635 637 series i 127 126 Slave Make sure that the setting of a bus address is always transferred to the communication program on the interface board only during initialization of the 635 637 series that is after switching on the supply voltage 24V i e For taking over the valid p
29. ve A88h PROFIBUS axis number 1 255 Byte 4 0 3 PROFIBUS bus interruption Byte 5 0 without reaction 1 stop abrupt 2 stop 3 deactivate regulator PROFIBUS braking ramp value x 5 0 64000 Byte 6 7 A89h until A8Bh reserved Po A8Ch CAN BUS Node number 1 255 Byte 4 CAN BUS Bus interruption Byte 5 0 without a 1 stop abrupt 2 stop 3 deactivate regulator CAN BUS braking ramp value x 5 sei 0 64000 Byte 6 7 28 Product Manual Type SUCOnet K 07 05 02 03 E V0605 doc Table of the block numbers continuation Block no Value range Byte X in telegram frame mon fones HT 6 Ses feaneuSbiemode Euronen GAL T_T mes caneUSetendedidentife ai H no o feaneussengstaus automaticaly Im __ Ser C C A92h C IID Message 2 C 3 BD men fen ID messe T_T noah GAN ID Messages SSS est GAN ID Messages T_T ose GAN IDMessages SSS Rom GAN messe SSS san fean ID Message H HS son GAN ID messe T_T Avan fean ID Wengen T_T Asn GAN ID message TC T_T Asch fean ID message T_T Aeon GAN ID Message TT _ seen GAN ID messe T_T CAN _IID Message F AAOh INTERBUS Eurotherm profile 0 profile 22 1 INTERBUS bus interruption 0 3 0 without reaction 1 stop abrupt 2 stop 3 deactivate regulator INTERBUS braking ramp value x 5 0 64000 Byte 6 7 AAth until ABFh ACOh FFFh res 1000h Synchronous profiles according to EASYRIDER calculation 1FFFh 2000h BIAS program
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