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Motion Control PMC

1. 39 parameter channel 16 parameter description 22 parameterID 16 parameter numbers 19 parameter value 18 parameterization of the amplifier 18 PNU list 2s ooo ooo ko RR Eon 19 position data 27 process data channel 18 PROFIDRIVE profile number 24 read actual values 53 read write amplifier parameter 19 response IDS 16 safety instructions 5 sample telegram 48 SAVING ds us 6d ad uode ELA A 24 set reference point 49 SOW oh So a ee e EE 13 setup software 4 45 speed a es 30 standard function blocks 13 start delay 29 status machine 36 status register 26 status word 6k ke o ww ee we 39 SUDINGGX amp amp 349 ox ox RO ew 17 VEICI s s s eue P dm d odd Mu P ES 27 velocity multiplier 27 User manual PROFIBUS DP PMCtendo DD4 Page 61 PLE gt www In many countries we are www pilz com represented by our subsidiaries and sales partners Technical support Please refer to our Homepage 49 711 3409 444 for further details or contact our headquarters Pilz GmbH amp Co KG Sichere Automation Felix Wankel StraBe 2 73760 Ostfildern Germany Eo Telephone 49 711 3409
2. Byte9 10 n 12 0000 0100 OF 11 1111 0000 0000 0000 1010 STW HSW F stands for a transition edge the state of Bit 6 STW also depends on the previous state By setting Bit 5 in the manufacturer specific status the amplifier indicates that it has accepted the motion task and is carrying it out Start a direct motion task If the motion task data are to be freely defined then a direct motion task must be used In this case the target position velocity and type of motion task are transferred to the process data together with the call of the motion task If required further parameters for this motion task e g ramps can be transferred previously by parameter tasks Target position 135000 um Velocity 20000 2 S Motion task type relative to actual position with following motion task without pause setpoint velocity for the following task should already be reached at the target position only makes sense if there is no change of direction use Sl units 0100 0100 OF 111111 0000 0000 0000 0000 0100 1110 0010 0000 PZD1 PZD2 PZD3 Vsetp 0000 0000 0000 0010 0000 1111 0101 1000 0010 0001 0001 1101 PZD4 PZD5 PZD6 Sseto motion block type F stands for a transition edge the state of Bit 6 STW also depends on the previous state Polling a warning or error message If a warning or error message is present then parameter 1001 or 1002 can be interrogated to find out the number of the warning
3. 6 PSTOP NSTOP MLow active 7 P Nstop Intg Off WLow active J x 8 SWI SW2 High Low 2 etr BL a 10 ngOf 2 Pat ife Hates 12 Reference 2 a3 RoDss HgMow x x x x 14 S feh der A 3 15 FStart Folge adjustable x x x x 16 EStat Nex A Tesknumber f x x x x 7 FSttlO a o e L8 eaa a omea o E 20 FStart TIPPx A vimm x 27 UMonot a J x 22 FRestat a o o A x x x x 28 FStart2 Nx 2 Tekmmbr x x x x 24 Demede A A OpmodeNo f x x x 25 Zerolatch a 26 Zeoplse AE 27 Emergenystopp Wlow x 32 Brake a p x dH HE X x X px il i i t i X qx X px X px x 1 X X X 1 th au Heer X qx X l X X User manual PROFIBUS DP PMCtendo DD4 Page 31 5 Using the parameter channel 9 2 8 2 9 2 9 5 2 9 1 5 2 9 2 PNU 1458 1459 function of the digital outputs These parameters can be used to configure the two digital outputs individually PWE Function PWE Function 0 for 14 PoskEG3 1 nats 15 PosREG4 2 nactx 16 Next InPos 3 MansBTB 17 EmoMWam 4 Ballast 18 Eror 5 Error 19 DC Link gt x 6 Pos gt x 8 19 21 l
4. For all others software enable will be set to the value of AENA The variable AENA has also a function when resetting the amplifier after an error by digital input 1 or the CLRFAULT command If an error can be reset by the software the software enable is set to the value of AENA after the error was cleared In this way the behavior of the amplifier after a software reset is similar to the switch on reaction 4 INPT PNU 1904 With this parameter a delay for the in position message can be set With the start of a motion task the in position message is deleted and the monitoring of the position is acti vated after expiration of the adjusted time This function is particularly important for positioning pro cedures within the in position window In this case it is guaranteed that the in position message is suppressed back for a defined time User manual PROFIBUS DP PMCtendo DD4 Page 47 8 2 8 3 Page 48 8 Sample telegrams Zero telegram At the beginning of communication via the parameter channel and after communication errors a zero telegram should be sent Byei 2 3 4 5 6 7 a PKE PWE The PMCtendo DD4 answers by likewise setting the first 8 byte of the telegram to zero Setting the operating mode After switch on or a reset the PMCtendo DD4 is in the operating mode 126 in which it cannot per form any motion functions To be able to carry out positioning operations motion tasks jogging homing it
5. STAT same flag word as parameterized for FC100 STAT Page 60 User manual PROFIBUS DP PMCtendo DD4 10 Index 10 Index abbreviations 7 acceleration time 28 actual position value incremental 30 Sl units lll rn 30 analoginputs 32 analog outputs 2 ooo 32 Antwortkennungen 16 axis type ee dowcarde deoa Er ad de ede rue om 27 baud rate xx eee ee eo a Sw G 24 control word gaye oe RK X Xo we ee la SO 38 COPYUQUME s e s sas owe PS Oe E oS 2 data format parameter 18 deceleration time 28 default parameters 24 digital inputs 31 digital outputs 32 error numbers 17 error register ln 25 Gesamtdokumentation 9 a ANNIE 50 homing direction 30 homing type o 30 incremental position 27 installation uxo ox R X x x sr 11 instrument control 39 instrument ID uuo e e moo Ro oe ewe eG 25 instrument profile 15 interface modules 12 jog M de s s a EE e ou ARDOR RE A 49 jolt limiting acceleration 29 deceleration 29 motion task CODY A gee a e A A 29 start adios brasas 52 O DUDO ea Gs oe eee e EA 28 next motiontask 29 operating modes
6. that with effect from this moment valid data must have been entered into the PZD transmission section PZD 2 PZD 6 by the control system Status word The PMCtendo DD4 confirms that it has accepted the ASCII data by a transition edge on this bit Bit 13 Status word The PMCtendo DD4 uses a 1 in this bit to signal that the ASCII buffer now contains valid data A transition edge of Bit 14 in the control word STW can be used to make the PMCtendo DD4 write the buffer contents to the PZD reception section of the bus master Bit 14 Control word Any transition edge on this bit requests the PMCtendo DD4 to write the contents of its filled ASCII buffer to the receive process data of the bus master Status word The PMCtendo DD4 uses a transition edge on this bit to signal that the ASCII buffer data have been written to the process data When transmitting ASCII data the following must be observed 1 Every ASCII command must be terminated by the CR LF character sequence 2 If the ASCII command with CR LF is shorter than the 10 characters that are available then the rest of the telegram must be filled up with bytes with a content 0x00 3 ASCII commands that are longer than 10 characters must be divided into more than one telegram whereby a maximum of 30 characters can be sent before the buffer must be read out once When evaluating the responses to the transmitted ASCII command the following must be observed 1 The ASCII resp
7. 0 more than automation Am S Telefax 449 711 3409 133 e E Mail pilz gmbhOpilz de safe automation 21 522 02 2005 10 Printed in Germany
8. PRBASE determines through the equation n 2 the number of increments per motor turn The value of PRBASE can only be 16 or 20 PGEARO contains the number of increments that must be traversed when the distance to be moved is PGEARI The default values for PGEARO are 1048576 PRBASE 20 or 65536 PRBASE 16 and correspond to one turn The number of turns that can be covered are given as follows 2048 2047 for PRBASE 16 and 32768 32767 for PRBASE 20 The sensibly usable position range is derived as follows _gats PGEARE 931 aj PGEARI or PGEARI lt PGEARO or PGEARO PGEARO ADAN for PGEARI gt PGEARO or as an incremental value from in each case with Nmax in revs sec Motion block type The various types of motion block are described in Chapter 5 2 5 3 User manual PROFIBUS DP PMCtendo DD4 6 Process data channel 6 2 2 6 2 3 Digital speed operating mode 1 MIT J 9 incremental actual position 32 bit manui T status NSetp 32 bit Nact 32 bit incremental actual position 32 bit is iia Actual speed nact 16 bit The representation of the 16 bit actual speed value is normalized to the parameter for the n act et overspeed VOSPD Nns VOSPD Actual position 32 bit The range for the incremental position covers values from als TO 2 Here one turn corresponds to QPRBASE increments Manufacturer specific status In the process data the upper 16 bits of the manu
9. Since the PMCtendo DD4 calculates all positioning operations internally only on an incremental basis there are limitations on the usable range of values for distances that are given in SI units The range for the incremental position covers the values from 2 46 2 The resolution that is determined by the PGEARO PNU1258 and PGEARI PNU1259 parameters and the variable PRBASE fix the sensibly usable range for positioning operations The variable PRBASE determines through the equation n 2 the number of increments per motor turn The value of PRBASE can only be 16 or 20 PGEARO contains the number of increments that must be traversed when the distance to be moved is PGEARI The default values for PGEARO correspond to one turn The number of turns that can be covered are given as follows 2048 2047 for PRBASE 16 and 32768 32767 for PRBASE 20 The sensibly usable position range is derived as follows SS E e ed oa for PGEARI lt PGEARO or PGEARO PGEARO 2 ode for PGEARI gt PGEARO PNU 1301 velocity The usable range for the velocity is not limited by the available data area It is limited by the maxi mum applicable speed nmax which is given by the speed parameter VLIM as the final limit speed for the motor The maximum velocity is thus given by PGEARI gI PBBASE n m with n in turns second V SI max max PGEARO max or in incremental units as V BLISS yes max gPRBASE with Nmax in turns second sec 4000
10. a heaps 53 0 12 Reagqacihual ValuBS uai anig ideri Rd d temor coron ed eee ae dae bak woe E Gia wd ee dnd desc oe A os dd dicetis 59 8 13 Write a parameter via the ASCII channel 54 9 Appendix 10 Index Page4 User manual PROFIBUS DP PMCtendo DD4 Safety instructions Safety instru N ctions Only properly qualified personnel is permitted to carry out activities such as transport installation setup and maintenance Properly qualified persons are those who are familiar with transport installation assembly setup and operation of the products and who have the appropriate qualifications for their job The qualified personnel must know and observe the following directives and standards IEC 364 and CENELEC HD 384 or DIN VDE 0100 IEC Report 664 or DIN VDE 0110 national accident prevention regulations or BGV A2 Read all the documentation for the servo amplifier before carrying out installation and setup Incorrect handling of the servo amplifier can lead to injury to persons or material damage It is vital that you keep to the technical data and information on connection requirements nameplate and documentation The manufacturer of the machine must generate a hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property The servo amplifiers contain electrostatically sensitive components that may be damaged by incorrect han
11. commands STOPMODE and DECDIS 2 Fast stop switch on inhibited 3 Operationenabled ooo O 5 Mode dependent 1 gt 0 stops motion 6 Setpointenable_____kb mode dependent only effective with errors only effective with errors 8 Jogging on off _ mode dependent OOOO reserved S e 10 PZD enableinibit J ooo o acknowledge warnings only position mode Bit14 1 PZD section is interpreted as direct 14 Manufacturer specific motion block velocity 32 bit position 32 bit motion block type 16 bit Bit14 0 PZD section HSW is interpreted as motion block number Manufacturer specific mode dependent digital speed Depending on the bit combination in the control word a corresponding control command is defined The following table shows the bit combinations and also determines the priorities of the individual bits in case several bits are altered in one telegram cycle Command Bit 13 Bit7 Bit4 Bit3 Bit2 Bit1 Bito Transitions Shutdown Switch on Inhibit volage x x AAA Faststop disable X X X X 0 1 X 1011 12 Faststop enable Pa X 0 1 1 3 i Inhibitoperation X X X 0 1 1 1 5 X 1 Reetemr o X 1 X X X X X t5 Acknowledge warnings 1 X X X X X xX Bits labeled with X are irrelevant Mode dependent bits in the control word Motion block de parameter that is set in the mo E PEENE T E E T tion block
12. data block DB101 DB102 with the following design is needed for each axis Nam Comment MEN reseved Parameter ID Parameter Value 1 PKW Send Panel Parameter Value 2 Control Word Main Setpoint PZD3S BEDS VEU PZD45 NENNEN mius PZD5S O PZD6S PEE PKEE Parameter ID PKWE BEDS VEU PKEJE DEM PKW Receive Panel PWE2E p User manual PROFIBUS DP PMCtendo DD4 Page 55 Page 56 9 Appendix Status Word Main Actual Value n 50 JPZDE O oO Js ui PZD Receive Panel PZD4E p PZD5E SS PZD6E DE n 2 4 6 Begin of user data There can be parameters for several drives in one user data block The number is limited by the maximum possible block size and by the max number for the parameter NUDB of FC 100 The low byte of this parameter is the number of the actual drive s data begin inside the user data block It s max value therefore is FFh The Parameter Data Block example for 2 axes DB100 Comment System Parameters per DP Master ppo typ Telegram type PPO2 fixed S Slave address of the drive ADDR DB_Nutzdaten Number of User Data Block 101 Begin of user data for slave 1 inside the user 14 K t wort Startadress of PKW peripheral range a W 16 0100 Startadress PZD peripheral range 1 Peri PZD ppo typ2 Telegram type PP02 DB Nutzdaten2 Number of User Data Block 102 Kom st wort2 Begin of user data W 16 C Start adr
13. example above it means n for the parameter Kom st wort inside the parameter data block and n 2 for the right byte of the paramter NUDB s a description of the FC100 The FC22 must be called before the FC21 The FC22 and FC21 should be called directly after the calls oft the handling blocks and within the same function block FC FB OB User manual PROFIBUS DP PMCtendo DD4 9 Appendix Description of the Handling Blocks FC21 Send na _ _ _ __ DBPA Number of the Pe data block SYPA reserved eee SLPA Start adress of the current drive parameters inside the parameter data block The FC21 must at least be called once per drive in every PLC cycle FC22 Receive CA O DBPA Number of the parameter data block SYPA reserved SLPA Start adress of the current drive parameters inside the parameter data block The FC22 must at least be called once per drive in every PLC cycle FC21 and FC22 access the same parameter set and must be parametrized identically for one axis FC22 must be called before FC21 FC100 DRVSTAT The FC100 establishes the communication beteween the user data block and the other handling blocks of the package for the parametrized axis Furthermore it does transmit the control word except bit 6 and bit 14 provide the status word of the drive display the Profibus communication status Technical Data PON Block Name DRVSTAT Flags Used MW200 MW254 DB User Data Function of the parameters
14. in Chapter 5 2 3 3 Digital current values 16 bit The digital current values are converted as follows I A eee No Analog torque operating mode 3 in preparation Electronic gearing operating mode 4 actual position 32 bit Actual speed 16 bit The representation of the 16 bit actual speed value is normalized to the parameter for the overspeed VOSPD n Joep x2 Actual position 32 bit The range for the actual position covers values from 223 to p Here one turn corresponds to 2PRBASE increments Manufacturer specific status In the process data the upper 16 bits of the manufacturer specific status register PNU 1002 are made available The numbering starts again from O The significance of the status register bits can be seen in the table in Chapter 5 2 3 3 User manual PROFIBUS DP PMCtendo DD4 6 Process data channel 6 2 7 6 2 8 ASCII channel operating mode 16 10 bytes of ASCII data 10 bytes of ASCII data The operating mode ASCII channel is used for parameterizing the PMCtendo DD4 With this channel just as with any terminal program ASCII data can be exchanged with the servo amplifier via the RS232 interface The control of the communication is performed by handshake bits in the control and status words The assignment is as follows Bit 12 Control word Any transition edge on this bit informs the PMCtendo DD4 that valid ASCII data are available in its process data input section i e
15. incr max User manual PROFIBUS DP PMCtendo DD4 Page 2 5 Using the parameter channel 5 2 5 3 PNU 1302 motion task type Bit Value Meaning O The position value Subindex 1 that is given is evaluated as an absolute position The position value that is given is evaluated as a relative traversing distance The two following bits then determine the type of relative motion If Bit 1and Bit 2 are set to O and Bit O set to 1 then the relative motion task is performed according to the InPosition bit The new target position is given by the old target position plus the traversing distance Bit 1 has priority over Bit 2 If Bit 1and Bit 2 are set to O and Bit O set to 1 then the relative motion task is performed according to the InPosition bit The new target position is given by the actual position plus the traversing distance no following task available There is a following task but it must be defined through Subindex OAH Change over to next motion task with braking to O at the target position Change over to next motion task without standstill at the target position The type of velocity transition is determined by Bit 8 Change over to next motion task without evaluating inputs A following motion task is started by a correspondingly configured input Start the next motion task by Input State low or if bit 7 1after the delay set in PNU 1309 Start the next motion task by Input State high or if bit 7 1af
16. is used Pa Start Position f ery transition edge Start homing Setup operation toggle bit jogging The parameter that is set as a ramp 99 for homing and jogging is used Digital spead Drive brakes using the preset Setpoint enable ee ramp i ooo reserved Priority of the Bits 6 8 11 in position control mode 6 high 11 8 low User manual PROFIBUS DP PMCtendo DD4 6 Process data channel 6 1 2 6 2 Status word ZSW With the aid of the status word the instrument state can be represented and the transmitted control word can be verified If an unexpected condition is reported as the result of a transmitted control word then first of all the boundary conditions for the expected instrument state must be clarified e g enable of the output stage hardware software application of the DC link voltage The bits in the status word can be mode dependent or mode independent The following table describes the bit assignment in the status word Bit Nam Commentary 0 0 0 Reaforswith on fm 1 JSwitchedon fe 2 Operatiomemabled ss 4 jVolageinibted J SO 5 Faststop O 6 Switch on inhibit 8 Setpoint actual value monitoring only in position control mode contouring errorindicator States of the status machine mess t x x foo oo Po fe SACHE on Swich oninibit 1 X ATA ARI ICI ER AE E SEDE Ready for operation o 1 X o o 1 1 Operation enab
17. limiting acceleration 1307 r w Jolt limiting deceleration Number of next motion task 1309 r w Start delay for next motion task 1310 Copy a motion task Position set up mode 1352 iw 1354 rw ro UINT32 WJOG O u c 1356 UINT32 O ogging velocity VJOG Page 20 User manual PROFIBUS DP PMCtendo DD4 5 Using the parameter channel Lx PMCtendo DD4 mf mmm ERES 1400 INTEGER32 ro Actualposiion20bitstum PRD 1401 INTEGER32 ro Speed J 1402 INTEGER32 ro _ Incremental position actual value CS 1408 INTEGER32 ro _ Sl position actual value PFB 1404 INTEGER32 ro Sivelocity actualvalue PV O 1405 INTEGER32 ro Sicontouringerror PE 1406 INTEGER22 ro RMScurrent DC bus DC link voltage I2T Digital I O configuration IN3MODE INTTRIG 2 digital outputs Analog configuration Manufacturer specific object channel 21600 gt p 33 and description of the ASCIl commands on the CD rom 4th quarter 2002 Abbreviations in the Access column The Access column shows which type of access e g read write is possible via the bus WO write only access read only access r w read write access User manual PROFIBUS DP PMCtendo DD4 Page 21 5 Using the parameter channel 5 2 2 Profile parameters 5 2 2 1 PNU 904 911 PPO type write read These parameters describe the numbers of the supported PPO types write und read S
18. must be set to the position control mode The procedure to do this is as follows a Set the control word Bit 10 PZD1 Bit 10 to 0 This invalidates the process data for the PMCtendo DD4 Bytes 10 11 172 XXXX XOXX XXXX XXXX XXXX XXXX XXXX XXXX E PWE The bits in the PKE section have the following significance Bit O to 10 PNU 930 Bit 12 to 15 AK 3 see also Chapter 4 1 1 The PMCtendo DD4 sends a response telegram with AK 2 and mirrors identical the values for PNU and PWE C Switch on the new operating mode by setting the control word Bit 10 to 1 This validates the process data If for example point a is not observed the PMCtendo DD4 transmits a negative answer response ID 7 PKE PWE The number that is transferred in the PWE section represents the error number and can be looked up in the table in Chapter 4 1 1 2 In this case error no 17 Task impossible because of operating state will be signaled User manual PROFIBUS DP PMCtendo DD4 8 Sample telegrams 8 4 8 5 8 6 Enable the PMCtendo DD4 The hardware enable signal must be applied as a precondition for enabling the PMCtendo DD4 via the PROFIBUS The enable can be made by setting the bit combination for the Operation enabled state in the con trol word Bytes 10 n 12 STW HSW The PMCtendo DD4 then reports back the corresponding state in its status word or indicates a warning or error messag
19. of the electronics Because of the internal representation of the position control parameters the position controller can only be operated if the final limit speed of the drive at sinusoidal commutation is not more than 7500 rpm At trapezoidal commutation the permitted maximum speed is 12000 rpm All the data on resolution step size positioning accuracy etc refer to calculatory values Non linearities in the mechanism backlash flexing etc are not taken into account If the final limit speed of the motor has to be altered then all the parameters that were previ ously entered for position control and motion blocks must be adapted User manual PROFIBUS DP PMCtendo DD4 Page 11 3 1 1 1 Page 12 3 Installation Setup Parameterization of the master interface modules Configuration of the control The graphics interface makes it very easy to configure the Siemens S7 for the PROFIBUS network After you have set up the control layout configure the interface module that is used as follows Use our library file DD4_045D GSD for the planning Open the Hardware catalog and drag the symbol for the corresponding field unit onto the representation of the bus system A window opens auto matically for the general parameterization of the field unit Enter the address of the participant here Hardware Katalog Hardware Auswahl EHI SIMOREG BHL SIMOVERT RM SIPOS EHE Weitere FELDGERATE E Sonstige EL DIGI
20. series have been tested by an authorized testing laboratory in a defined configura tion with the system components which are described in this documentation Any divergence from the configuration and installation described in this documentation means that you will be responsible for the perfor mance of new measurements to ensure that the regulatory requirements are met UL and cUL Conformance Page 6 UL cUL certified servo amplifiers Underwriters Laboratories Inc fulfil the relevant U S and Canadian stan dard in this case UL 840 and UL 508C This standard describes the fulfilment by design of minimum requirements for electrically operated power con version equipment such as frequency converters and servo amplifiers which is intended to eliminate the risk of fire electric shock or injury to persons being caused by such equipment The technical conformance with the U S and Canadian standard is determined by an independent UL cUL inspector through the type testing and regular check ups Apart from the notes on installation and safety in the documentation the customer does not have to observe any other points in direct connection with the UL cUL certification of the equipment UL 508C UL 508C describes the fulfilment by design of minimum requirements for electrically operated power conver sion equipment such as frequency converters and servo amplifiers which is intended to eliminate the risk of fire being caused by such equip
21. this parameter the observation time watch dog for the fieldbus slot communication can be set The observation is only active if a value higher than 0 is assigned to EXTWD EXTWD 0 observation switched off and the output stage is enabled If the set time ran off without the timer being triggered newly then the warning n04 response monitoring is gener ated and the drive is stopped The amplifier remains ready for operation and the output stage enabled Before a new driving command setpoint is accepted this warning must be deleted func tion CLRFAULT or INXMODE 14 2 ADDR PNU 918 With this command the node address of the amplifier is set When the address has been changed all parameters should be saved to the EEPROM and the amplifier switched off and on again Since the modular structure of the PMCtendo DD4 400 as a multi axis system requires its own addressing there is the additional parameter ADDRFB PNU 2012 for this series with which a field bus address deviating from the internal device address can be defined The setting takes place exactly as with ADDR 3 AENA PNU 1606 With this parameter the state of the software enable after switch on can be defined The software enable allows an external control to enable disable the output stage For amplifiers with analog setpoints OPMODE 1 3 the software enable is set automatically after switch on and the devices are ready for operation immediately if hardware enable is present
22. ATCH16 LATCH32 E B Position 1 reached is set if the configured condition for this signal SWCNFG SWE1 SWE1N is met 22 Depending on the configuration this bit is set on exceeding SWE1 or going below SWE1 on reaching the InPosition window SWE1 SWE1N or on leaving the InPosition window SWE1 SWE1N 23 Position 2 reached see above 24 Position 3 reached see above 25 Position 4 reached see above 26 Initialization completed is set if the internal initialization of the amplifier is completed Can 28 In the process data Bits 16 to 31 of the manufacturer specific status register are given out Warnings 3 and 4 can be reset through Bit 13 in the control word User manual PROFIBUS DP PMCtendo DD4 5 Using the parameter channel 9 2 4 5 2 4 1 5 2 4 2 9 2 9 5 2 5 1 5 2 5 2 Position controller parameters PNU 1250 velocity multiplier This parameter is used to enter a multiplier for the jogging homing velocity The velocity for jog ging homing is given through PZD2 in the control word when jogging homing is started The actual jog velocity is calculated according to the following formula Viog ve S2Bit Vog pzp2 16Bit xmultiplier 16Bit The defaultvalue is 1 PNU 1251 axis type This parameter is used to define to which type the axis belongs If a 0 is given as the parameter value it is a linear axis 1 means a rotary axis Position data for the position control mode PNU 1300 position
23. D PWE lll faz fod oooo coat zz foro ono Device Control 8 Actual Values Errors Ejea ajaja OF Abbrechen Ubemetmen On the menu page Amplifier the PROFIBUS screen will appear Beyond this is a screen page that displays the PROFIBUS specific parameters the bus status and the data words in the transmit and receive directions as seen by the bus master This page is helpful when searching for errors and commissioning the bus communication Baudrate PNO Identno Address PPO type Interface states Input Output The baud rate that is given by the PROFIBUS master is shown here The PNO identification is the number for PMCtendo DDA in the list of ID numbers of the PROFIBUS user organization Station address of the amplifier The address is set up on the screen page Basic setup see function descriptions in the setup Software PMCtendo DD4 only supports PPO type 2 of the PROFIDRIVE profile Shows the present status of the bus communication Data can only be transferred across the PROFIBUS when the Communication OK message appears The last bus object that was received by the master Here PKE Response to write parameter operating mode PWE Operating mode 2 OK message The last bus object that was sent by the master Here PKE write parameter operating mode PNU 930 PWE Word2 The data for input output are only transferred if the threshold monitoring for the PMCte
24. DB User Data Instance Data Block Function of the Parameters of FB102 position for motion task BitO in WAHL word typeofmotiontask Bit2in WAHL jerk limitation for deceleration Bit6 in WAHL Since firmware version 2 00 times are discretionary If different from O the drive will follow a sin ramp s curve if the configuration allows it delay time for the next motion task Bit7 in WAHL number of the next motion task Bit8 in WAHL number of the source motion task is used when Bit15 of WAHL 1 number of target motion task start transmission AKTI bol FB 102 is running Static Parameters PO STFB Statusdisplay for this function block binary word to select parameters to be written for interpretation see above Bit 15 selects if a motion task is completely overwritten by the di rect motion task 0 or changed 1 choice is done by setting the corresponding bit Status for all function blocks same as FC100 STAT boo writing motion block finished bol error occured error position gt change of bits in WAHL User manual PROFIBUS DP PMCtendo DD4 9 Appendix FC 106 DRIVEFS FC 106 selects a motion task and starts its execution This is done either with data from the drive s memory no s 1 180 EEPROM 192 255 RAM or as a direct motion task In the latter case data for the direct drive parameters is needed With linear axes this function will not be executed before a homing sequenc
25. E BIT 15114 113 12 11101918 7 16 MSW LSW The data for the PNU variable is contained in the PWE and is placed flush right 4 byte data double word PWE 5 8 PWE 8 LSB Commands are transferred with task ID 3 If a command cannot be executed the response identifi cation AK 7 signals the error and an error number is given out The error numbers are described on page 17 4 2 The process data channel Cyclical data are exchanged across the PROFIBUS through the process data section of the 20 byte telegram Each PROFIBUS cycle triggers an interrupt in the PMCtendo DD4 This has the effect that new process data are exchanged and processed The interpretation of these process data depends on the operating mode that is set The operating mode is set through a PROFIBUS param eter PNU 930 gt p 23 In all operating modes the data word 1 of the process data PZD1 in the direction from control sys tem gt PMCtendo DD4 is used for instrument control and in the direction from PMCtendo DD4 gt control system it has the function of a status indicator for the drive The interpretation of the process data PZD2 PZD6 changes depending on the operating mode as can be seen in Chapter 6 2 Caution When the PMCtendo DD4 is switched on the operating mode that is set is always 126 safe state Before changing the operating mode bit 10 of the control word STW must always be set to 0 The new operating mode only becomes active whe
26. FAS EHE S500 ga 4 Wort AE JAA Ko Bee ul b wart AE AA Eo mM A Universalmodul k Next use the same method as above to drag the module from the Hardware catalog into the box for the field unit whereby the 4 word module must lie in Cell 0 and the 6 word module in Cell 1 D P h astersystem 1 Hardware Katalog Hardware Auswahl OP Mastersystem 1 2 H E SIMOREG OY SIMOVERT pg SIPOS EMO Weitere FELDGERATE ga 10 DP Slave EE Sonstige po INE o H E DIGIFAS i ce EC 5600 2 a d WotAE AA Kol 3 Eg 6 Wort AE AA Ko 4 b ES Universalmodul 7 a c Adresse Kennung Ausgang Adresse Anfang 256 Ende Prozeh abbild Eingang Adresse Anfang 1256 Ende 63 Frazel abbild Abbrechen Hilfe User manual PROFIBUS DP PMCtendo DD4 3 Installation Setup 3 1 2 Standard functions for data exchange with PMCtendo DD4 Pilz supplies a function block package DRIVE_FC The function block package includes a number of function blocks that make it possible to handle PMCtendo DD4 control functions very simply A description of the individual function blocks can be found as a pdf file on the CD ROM 3 2 Setup 3 2 1 Setup of the basic functions of the servo amplifier Only properly qualified personnel with professional expertise in control and drive technol ogy are permitted to setup the servo amplifier AN Check that all the safety instructions which are included in bo
27. FIBUS DP PMCtendo DD4 4 Profile of PMCtendo DD4 4 1 1 2 4 1 2 Profile specific error numbers with response ID 7 0 jlegalPNU i NEN oarameter value cannot be changed a Lower or upper limit violated E Erroneous sub index 4 AA 5 Incorrectdatatyye 5 setting not allowed can only be reset Pra ne ral os descriptive data not available access group incorrect AA No parameter change rights 13 Textcamnotbe read in cyclic data transmission 18 lothererror 1 other error reserved 101 fauitytaskID 102 software error command table 103 only possible in disabled state 104 only possible in enabled state 105 BCC errorinthe EEPROM data 106 only possible after task is stopped 107 wrong value 16 20 100 wrong parameter PTEACH x 111 EEPROMwriteerror gt gt gt 1122 jwrongvaue 113 BCC errorinmotionblock 114 Objectis read only or write only 115 Incompatible object SDO channel only 115 reserve iC Subindex IND 3 BYTE 4 BYTE BIT 15 114 113 112 1 11110 918 7 16 1514 13 2 1 l I I I I I l I I I I I l 0 IND reserved User manual PROFIBUS DP PMCtendo DD4 Page 17 4 Profile of PMCtendo DD4 4 1 3 Parameter value PWE 5 BYTE 6 BYTE 7 BYTE 8 BYT
28. I ESTE ENTE E EC ECC E TE ET TT ETT T TET EET I TOL tO COLE T POLT EO CO COLTS 22 5 2 2 1 PNU 904 911 PPO type write read llli RRIRIRIRRRRRRI RR 4333 22 5 2 2 2 PNU 918 PROFIBUS node addresse ers 22 5 2 2 3 PNU 930 selector for operating motd6eS asas x wx RAE Rx GOR Y mx doe os SEES Pk e xc cR d n 29 5 2 2 4 USOS DESC TOIE oie rd ie eT pedcs a 309 med eee E desc dd a BOR ee ee ee ee Puto SURE dc oput 24 5 2 2 5 PNU 965 PROFIDRIVE prolile Number 23 ruta batata cite dle iaa Saec Sw tits do dedi tt toi e a 24 5 2 2 6 PNU 970 default parameterSi less cctns 6h cesto ir EAREN to ld daria to d dew d 24 5 2 2 7 PNU 971 non volatile saving of parameters llle 24 59 2 9 General Darariglef S socorro aro dud qoe Sup a arene Sb dug qud 25 5 2 9 4 PNU 71000 instrument IDs e esco c wan ne ead e dS cn RO Os 904 Seed ae ona do acts doors 25 5 2 3 2 PNU 1001 manufacturer specific error register llli 25 9 23 93 PNU 1002 manufacturer specific status register aaa aaea 26 5 2 4 Position controller parameters aaeeea aa e A DA a A Re Bda Ea a 27 5 2 4 1 PNU 1250 velocity EnllltlDIIBE 4 eci taie aiaa a 6 are e ed ductae P d e REA OA D a ER P T6 EE 27 5 2 4 2 PINO 120 eS DID eu vara A VEREOR acu ad ded d LARUM de Med ratae d d DM do NC RR Ge Ua ee 27 5 2 5 Position data for the position control MOde les 27 9 2 5 1 PNU 1300 POSION erse ha dae ero eto dens Biles P P eto de
29. Page 8 User manual PROFIBUS DP PMCtendo DD4 1 General 2 1 General Important About this manual This manual describes the wiring setup range of functions and software protocol for the PMCtendo DD4 It is part of the complete documentation of the PMCtendo DD4 family of digital servo ampli fiers The installation and setup of the servo amplifier as well as all the standard functions are described in the corresponding manuals Further documentation for the PMCtendo DD4 series Installation manual PMCtendo DD4 User manual PDrive This manual is intended for the use of qualified personnel with the following knowledge Wiring trained electro technical personnel Programming experienced PLC programmers with PROFIBUS DP expertise The required files for the drive handling blocks can be found in the folder fieldbus Profibus Profibus for tendo DD4 of the Motion Control Tools CD ROM User manual PROFIBUS DP PMCtendo DD4 Page 9 2 Important This page is deliberately left blank Page 10 User manual PROFIBUS DP PMCtendo DD4 3 Installation Setup 3 3 1 Installation Setup Hard and Software installation Install and wire up the equipment only while it is electrically dead Make sure that the switchgear cabinet is safely isolated lock out warning signs etc The individual supply voltages will not be switched on until setup is carried out Residual charges in the capacitors can still have dangerous levels se
30. age remains enabled Setpoints are Action a E canceled e g motion block number digital setpoint Bit 1 is canceled fast stop gt switch on inhibited Output stage is switched off disabled motor loses torque Event Error response active jt u Een ER ooo Acknowledge error depending on error with without reset oe Action eve Bit 2 is canceled Switch on inhibited output stage disabled The state transitions are affected by internal events e g switching off the DC link voltage and by the flags in the control word Bits O 1 2 3 7 User manual PROFIBUS DP PMCtendo DD4 Page 37 6 1 1 Page 38 6 Process data channel Control word STW With the aid of the control word you can switch from one instrument state to another In the dia gram for the state machine you can see which instrument states can be reached by which transi tions The momentary instrument state can be taken from the status word Several states may be passed through during a telegram cycle e g Ready for switch on gt Ready for operation Operation enabled The bits in the control word can be operating mode dependent or mode independent The following table describes the bit assignment in the control word Bit Name Commentary _ __ _ _ _ _ _ _ _ _ _ _ _ ___ 0 Swthon SS e Inhibit voltage E 1 gt 0 drive brakes using emergency ramp axis is disabled See also ASCIl
31. ber of response telegrams User manual PROFIBUS DP PMCtendo DD4 9 Appendix 9 Appendix Drive Handling Blocks for Communication between PMCtendo DD4 with PROFIBUS DP Option and SIMATIC S7 The package consists of the following handling blocks FC21 Send data to the drive FC22 Receive data from drive FC100 DRVSTAT STATUS information of the Profibus communication transmission of status ZSW and control STW information to the servodrive jogging and homing FB102 DRIVEFSS Function to store motion tasks to the servo drive FC106 DRIVEFS Call and process motion tasks FC110 DRIVEPAR Transfer of parameters actual and setpoint values between the PLC and the servodrive System requirements S7 315 2 DP or other S7 Controller with DP Operation Simatic Step 7 Version 2 1 or higher How it works The function blocks FC21 Send and FC22 Receive do the communication with the drives by using the user data block and the parameter data block They use the parameters of the actual drive from the parameter data block to transfer data from the user data block to the output peripherie of the CPU and to read data from the input peripherie and transfer it to the user data block In doing so they use the S7 system function SFC15 to send and the S7 system function SFC14 to receive data The function blocks FC100 FB102 FC106 and FC110 also access the user data block and provide interfaces for the user program The User Data Block A user
32. column PMCtendo DD4 ASCII command in the user manual for the Setup Software PDrive This section deals only with parameters that refer to the PROFIBUS expansion card and have not already been described in the setup software manual The attachment runs via the ASCII com mands List of the parameter numbers PMCtendo DD4 PNU Datatype Access Desin Recon 904 UINT32 ro Numberofthesupported PPO write aways2 911 UINT32 ro Numberofthesupported PPO read always2 930 UINT32 rw Selectorforoperatingmode CS 963 UINT32 ro PROFIBUSbaudrate Ce 965 Octet String2 ro Numberofthe PROFIDRIVE profile 0302H Setpoint ramp speed controller 1208 UINT32 rw jCoutdrecion CSR O User manual PROFIBUS DP PMCtendo DD4 Page 19 5 Using the parameter channel NM PMCtendo DD4 m payee ASCII command Manufacturer specific parameters PMCtendo DD4 General parameters 1000 Visible String4 ro InstrumentID 1002 UINT32 ro Manufacturer specific status register 1202 PID T2 time constant for speed controller Setpoint ramp speed controller ACC 1208 UINT33 rw jCoutdrecin IR Position controller parameters 1250 1252 INTEGER32 iw INTEGER32 INTEGER32 INTEGER32 INTEGER32 1259 1261 rw Position data for the position control mode 1300 INTEGER32 rw Position OP 1301 Braking time deceleration Jolt
33. d ace den doo RON eo dr S dup a RT BU 27 5 2 9 2 autres C 27 5 2 5 3 PNU 1302 motion task type AMA 28 5 2 5 4 PNU 1304 acceleration ME e uns Boni peterem BES ee EN EREDE A aa ia Se 28 5 2 5 5 PN lao deceleration MGs AA E CEET Bur e pee eaters date eee ee d und 28 5 2 5 6 PNU 1395 acceleration Jolt Iming ease a ecd ded ctn iet td ortae dik EROR de t in et a cita oie Bi ERR HE B PER a 29 5 2 9 7 PNU 1307 deceleration jolt MIUNO e uva tas tesirini dsk niii baked ek ee ds n REEERE 29 5 2 5 8 PNU 1308 next motion task usado naaa 29 5 2 5 9 PNU ISO Stay delay ni darias doa A arg cado di Enc Oed i a o Ata d do dr Ad ar 29 AA PNU 1310 Cony Molon TASK AAA Doce doa QU 8E OE 325 we de be od kee d 29 5 2 5 11 PNU 1311 Position 32 Bit floating decimal point format 0 0 0 0 aaaea 29 5 2 5 12 PNU 1312 Velocity 32 Bit floating decimal point format nanasa aaae 29 5 2 6 Selup made DOSIBO s a acces oid 33 eea ec bes e Oo OE e quic o E a d deg ae dod dos eds 30 5 2 6 1 PNU 1350 homing amine 1i 3 9 oce s ote But P doc dedo XE UE A SEES 30 5 2 6 2 PNU 1351 homing direcion s s deant o choc ne alo chee a RT d a aet Goce D GE mah we ee a 30 5 2 7 Acta VAS 6 ters sx ados Ew PERENNE SNO RS ee eo WEE ESI PEN EN EN INIM REESE E ES OE HO 30 5 2 7 1 PNO a PPP I T 30 User manual PROFIBUS DP PMCtendo DD4 Page 3 Contents Page 5 2 7 2 PNU 1402 incremental pos
34. dling Discharge your body before touching the servo amplifier Avoid contact with highly insulating materials artificial fabrics plastic films etc Place the servo amplifier on a conductive surface Do not open the units Keep all covers and switchgear cabinet doors closed during operation Otherwise there are deadly hazards with the possibility of severe damage to health or property Depending on the degree of enclosure protection servo amplifiers can have hot surfaces and bare components that are live Control and power cables may carry a high voltage even when the motor is not rotating Servo amplifiers may have hot surfaces during operation Since the front panel is used for cooling it can reach temperatures above 80 C 176 F Never undo the electrical connections of the servo amplifier when it is live In unfavorable circumstances this can produce electrical arcing that is damaging both to persons and the equipment Wait at least two minutes after disconnecting the servo amplifier from the supply voltage before touching any normally live sections of the equipment e g contacts screwed connections or undoing connections Capacitors can have dangerous voltages present up to two minutes after switching off the supply voltages To be sure measure the voltage in the intermediate circuit DC link and wait until it has fallen below 40V User manual PROFIBUS DP PMCtendo DD4 Page 5 Directives and standards Eurpoean direc
35. e Bytes 410 n 12 ZSW HSW Start jog mode Jog mode is started in a similar manner to homing To start Bit 8 STW must be set The jog velocity is given by the product of the 16 bit main setpoint in PZD2 and the multiplier defined by parameter 1250 The sign of the main setpoint determines the direction of movement It is not necessary to have a reference point set for jogging Set reference point Warning Take care that the position of the reference point permits the following positioning opera tions The parameterized software limit switches in the PMCtendo DD4 may not be effective The axis could then drive up to the hardware limit switch or the mechanical stop There is a danger of damage being caused The control word Bit 12 1 defines the momentary position as being the reference point The post tioning functions are enabled The shifting of the zero point Nl offset is ineffective The replay Reference point set is made through Bit 17 in the manufacturer specific status register PNU 1002 or Bit 1 manufacturer status of the process data Conditions PNU930 16 No motion function active manufacturer specific status process data 5 bit O User manual PROFIBUS DP PMCtendo DD4 Page 49 8 7 Page 50 8 Sample telegrams Start homing run After switching on the 24V auxiliary voltage the system must first of all carry out a homing run Take care that the position of the machine zero point reference
36. e from the data format identical PNU 1403 Use Controls that support only 16 Bit integer and 32 Bit floating decimal point User manual PROFIBUS DP PMCtendo DD4 5 Using the parameter channel 9 2 7 5 9 2 8 9 2 8 1 PNU 1415 Actual velocity 32 Bit floating decimal point format from SW Version 0 07 With this object the actual velocity see ASCIl command PV can be read in 32 Bit Floating decimal point format IEEE Right of comma positions will not be shown This objekt is aside from the data format identical PNU 1404 Use Controls that support only 16 Bit integer and 32 Bit floating decimal point Digital l O configuration All settings for the digital inputs and outputs only become effective after being saved in the EEPROM and then switching off and on again or making a cold start of the PMCtendo DD4 The significance of the functions can be seen in the user manual for the setup Software PNU 1450 1453 function of the digital inputs This parameter can be used to configure the digital inputs 1 to 4 individually The column flank describes the required signal at the digital input to actuate the corresponding function Function n be employed with 1454 1457 a psoe wwame l1 x 3 NSTOP jMLowatie 0 j x 4 PSTOP Intg Off WLowactive T x 5 NSTOP Intg Off MLowactive
37. e is finished successfully i e the reference point is set To be able to run any motion task the drive must be switched to position mode PNU 930 2 Technical Data SS DRIVEFS Flags used MW200 MW254 Function of the Parameters of FC106 Inputs gt number of motion task 0 direct motion task 1 180 EEPROM 192 255 RAM motion task Direkt FSart type of direct motion task Direkt vsoll 32 Bit Speed setpoint for direct motion task Direkt ssoll 32 Bit Position setpoint of direct motion task start of a motion task with 0 21 edge 0 signal before the motion task is finished will interrupt it Speed 16 Bit for jogging and homing is directly copied to PZD2 The VELO resulting velocity depends from a multiplication with the value of PNU 1250 Fahrsatznummer word Start 1 The source codes of the handling block package include a version of the FC 106 fc106 t that starts a motion task with every falling and rising edge of the start signal When using this version bit 4 Fast Stop or bit 5 Pause of the control word must be used to interrupt a motion task The control word except bits 6 and 14 is controlled by FC100 Outputs o o a Static Parameters DUU Operating mode of servodrive as per PROFIDRIVE profile This MODUS Word parameter has to be provided with data by the user If this value Is unequal to 2 no motion can be started through this function block and no actual values can be read fr
38. e o dieu a OUO ROC ENTIER 9 3 Installation Setup dl Hard and Software installation 4 anm hx retten OS e ti bee oe RR 11 ale Parameterization of the master interface modules 0 0 0 ee ee ee ees 12 3 1 1 1 Configuration Of the Control cuir sisas aa e a a a a ee es 12 3 1 2 Standard functions for data exchange with PMCtendo DD4 o oooocococoooco n 13 3 2 SCD ETTE ATES EEEE o E T ooo EE O E ETE E E EE EE a 13 92 1 Setup of the basic functions of the servo amplifier o o ooooooooooro eee eee eee 13 4 Profile of PMCtendo DD4 4 1 Parameter channel xs uas uuo Mo eos 9 08 RR es ba rc gU Dod oA io Ea aw Era dedos dE M E rA de ba 16 4 1 1 Parameter ID PRES t1 08 Sas deers Gate ey eer ene hee FECT Re Rh Pepe nl eee OTe eee ees bow hers een ee ees 16 4 1 1 1 Interpretation of the response IDS ee eee ee eee eens 16 4 1 1 2 Profile specific error numbers with response ID 7 0 0 ee ee eee eee 17 4 1 2 SUBIR IND sacarosa doo rap eee hoe See aout as 17 4 1 3 Parameter Valle PIVE ssa ers oix ee es pon Ra ara ica cR es eee 18 4 2 The process data channel 4 2 62 464 0461 404 erre A a oe ROS 18 5 Using the parameter channel 5 1 Read write an amplifier parameter naana aaaea ehh 19 5 2 Summary Of the parameter numbers 0 dcbct ox C e E co ad ae iba e Eee esed ee Cw ee eee CHE 19 5 2 1 List of the parameter numbers 2 05 200 ie REOR CR Rs Ree edu RP REOR dos REOR RU A dos Ros 19 5 2 2 iio Ner Z2 RI
39. ess PKW peripheral range aa W 16 0114 Start adress PZD peripheral range dci W 16 011C Profibus slave number ADDR How to Handle To use one of the functions it is mandatory to call the FC100 FC100 must be called first Out of the functions FC101 to FC110 only those FCs FBs must be called that are used If FB102 is used make sure that the call of FC110 that axis is skipped since FC110 is used by FB102 All calls of FCs FBs are made absolutely Between the call of the FC100 and the calls of FC101 to FC110 no other function block is allowed to use the scratch flags MW200 MW254 When processing alarms the scratch flag area MW200 MW254 bust be saved and reloaded Seperate function block calls beginning with the FC100 are required for each drive Only one task ata time can be started per drive The next task can not be started before the previous one is finished and BUSY 0 If data words are declared as parameters to the FCs they are placed in the parameterized user data block FC100 NUDB Please notice that due to the change of the data address system of the S7 byte wise instead of word wise as for S5 the right byte of the parameter NUDB of FC100 must be interpreted differently Here half the value of the start data word is required However in the parameter data block the start data word is required Start data word means that address where the data for the particular drive starts inside the user data block For the
40. eter channel Setup mode position PNU 1350 homing This parameter can be used to determine which type of homing run should be applied The assign ment can be seen in the following table PWE j Typeofhomingrun 0 Reference point at the present position 2 Hardware limit switch resolver zero mark Zero mark feedback unit MIES Reference point at the actual position Hardware limit switch with resolver zero mark Absolute SSI position 2 Hardware limit switch without resolver zero mark 5 PNU 1351 homing direction This parameter can be used to determine the direction of motion for homing runs If a O is presented as the parameter value then the direction of motion is negative for a value 1 it is positive and for a 2 it depends on the distance to the reference point in the direction in which the homing run started Actual values PNU 1401 speed The parameter value is the actual speed of the motor in increments 250 usec PNU 1402 incremental position actual value The parameter value is the actual position value in increments PNU 1403 Sl position actual value The parameter value is the actual Sl position value PNU 1414 Actual position 32 Bit floating decimal point format from SW Version 0 07 With this object the actual position see ASCIl command PFB can be read in 32 Bit Floating deci mal point format IEEE Right of comma positions will not be shown This objekt is asid
41. facturer specific status register PNU 1002 are made available The numbering starts again from O The significance of the status register bits can be seen in the table in Chapter 5 2 3 3 Speed setpoint Nsetp 16 bit The 16 bit speed setpoint is normalized to the parameter for the overspeed VOSPD n setp x 2 5 sew VOSPD Position The actual position value is an incremental value with a resolution of 24 bits Her one turn corresponds to 2PRBASE increments So 22 PRBASE turns can be represented Speed values Nact 32 bit The digital speed values are converted according to the formula 60 x4000 Necip act IN rpm B Asetp act dig 32 I PERSE Increments per Motor turn 60s min 4000 Number of position controller cycles sec with 2PRBASE Analog speed operating mode 1 in preparation User manual PROFIBUS DP PMCtendo DD4 Page 41 6 2 4 6 2 5 6 2 6 Page 42 6 Process data channel Digital torque operating mode 2 incremental actual position manuf specific 32 bit value range 24 bit status The range for the incremental position covers values from E Eo a4 Actual position 32 bit yPRBASE Here one turn corresponds to increments Manufacturer specific status In the process data the upper 16 bits of the manufacturer specific status register PNU 1002 are made available The numbering starts again from 0 The significance of the status register bits can be seen in the table
42. igital torque operating mode 2 2 cess RR oe SESS EG EE CROCO EO a RRS EE A 42 6 2 5 Analog torque operating mode 3 in preparation llllleell RII 42 6 2 6 Electronic gearing Operating mote comics erede hace e ne Be he A dom ER UR HU nO Ru oe IRR 42 6 2 7 ASClil channel operating Mode T6 ri adora e enc e A a wet dd AA asilo eee don 43 6 2 8 Initial setting after switch on operating mode 126 o oooocoooorr rs 43 7 Setup software 7 1 Screen page PROFIBUS 45 2534 od Ceo A A a ye Re Rak ed 45 17 2 Screen page PROFIBUS instrument control iius esa xu naaa 46 8 Sample telegrams 8 1 important communication parameter evisos Ie Erba dendo se dp da ot on a de jas dio 47 8 2 P4 oNi ie MEET TETTE TESTI TETTE TTL T Eb eee ee ino labo AP er oe ree 48 8 3 Selling tie operating Mode xa yg d n dique moe odo HOG a a a a AA e dedica d 4E S dr d PE qnd d 48 8 4 Enable the PMGtendo DD4 uua nucis rre a dcn s sue ach EE go Gwe dock BS Re nca ELE p hee s Ron aci Re ca 49 8 5 Slan jog ModS iom 49 8 6 Serrciclence POM E ies TTL A ETT A ed Se ds ETET 49 8 7 SLO erae a A he dup d ee A a dape da E T 50 8 8 tarta MOON TASK aeaaeai ea a ajeno e e tias i EE EEEE doa a dre a Sark date A aaa dd rea i ali ara arenes 52 8 9 Sana drec SUNT REC RTT ds CT TIT A AE s ae TII eee ER El eee es 52 8 10 Polling a warning or error message iuter le nananana 52 SAT Wunga pParamel r escoria era ra IDA ERAS oa Mee e
43. ince only PPO type 2 is supported see Chapter 4 this parameter is always set to 2 5 2 2 2 PNU 918 PROFIBUS node addresse With this parameter the PROFIBUS node address of the drive can be read You can alter the node address station addres in a PROFIBUS network in different ways O With the keys in the front panel see installation manual O With the setup software PDrive on the screen page Basic setup e Via the serial interface with the sequence of ASCII commands ADDR nn gt SAVE gt COLDSTART mit nn Adresse The range of addresses can be extended from 1 63 to 1 127 with the ASCII command MDRV Page 22 User manual PROFIBUS DP PMCtendo DD4 5 Using the parameter channel 9 2 2 3 A PNU 930 selector for operating modes The Selector for operating modes is defined by the drive profile and mirrors the operating modes of the drive profile to the operating modes of the PMCtendo DD4 The following table shows a sum mary of the operating modes Caution If process data are exchanged across the PROFIBUS then the operating modes of the drive profile must only be selected with PNU 930 end Operating mode PMCtendo DD4 i ASCII command OPMODE p drive profile a 8 Positonig mode according to PROFIDRIVE profile 1 0 jpigialspeed control according t PROFIDRIVE profile 0 esed 4 J F Initial settings when instrument is switched on The individual
44. indexes is shown short description Number of entries UNSIGNED8 Access Data type short description read write a parameter Unt seecorresponding ASCII command see corresponding ASCII command Data type see corresponding ASCll command see corresponding ASCII command Defaultvalue Ee EEPROM see corresponding ASCII command short description read lower limit Unit see corresponding ASCII command Access Defaultvalue gt AAA EA oO read upper limit Unt see corresponding ASCII command Read only Data type see corresponding ASCII command short description EEPROM Subindex Unt see corresponding ASCiI command Defaultvalue A DA User manual PROFIBUS DP PMCtendo DD4 Page 33 Page 34 5 Using the parameter channel short description read object format Access Read only Data type see corresponding ASCII command Value range see corresponding ASCII command Defaultvalue Desription The following object formats are possible Function no parameters write only Function 32 Bit parameter Function 32 Bit parameter with weighting 3 8 Bit integer 8 Bit unsigned integer 16 Bit integer 16 Bit unsigned integer 32 Bit integer 32 Bit unsigned integer 32 Bit integer weighting 3 00 YJ OOdOAaAO0DN O short description read object control data Access Defaultvalue o e EEPROM De
45. ist lt x 22 9 j isPx 23 Reserve 10 Sfat 24 Pt 28 12 PosREG1 29 13 jPosREE2 Analog configuration All settings for the analog inputs and outputs only become effective after being saved in the EEPROM and then switching off and on again or making a cold start of the PMCtendo DD4 The significance of the functions can be seen in the user manual for the setup Software PNU 1500 configuration of the analog input functions This parameter can be used to configure the two analog inputs together PWE Function 0 j XsepcSWi 2 Electr gearing 8 Pemd SWi 9 jXcmd SW1 Ferraris SW2 PNU 1501 1506 configuration of the analog outputs This parameter can be used to configure the two analog outputs individually User manual PROFIBUS DP PMCtendo DD4 Page 32 5 Using the parameter channel 9 2 10 Manufacturer specific object channel from PNU 1600 The object catalogue was expanded by all existing parameters and commands from PNU 1600 on reserved object range PNU 1600 PNU 2000 This object range is called SDO channel SDO Service Data Object The SDO channel is expansible dynamically new parameters will be added to the table automatically The PNU is cal culated by 1600 ASCII object number Each of the object in the SDO channel is described by 8 subindexes octet 3 In the following the structure of the sub
46. ition actual value 1 a 30 5 2 7 9 PNU 1403 Sl position actual value 3 uc ras ns A HECTORE RR e ls 30 5 2 7 4 PNU 1414 Actual position 32 Bit floating decimal point format lille 30 9 2 1 9 PNU 1415 Actual velocity 32 Bit floating decimal point format llli 21 5 2 8 Duiaital sODIQDESU OE eae dc Res be E CR a Ree REOR b BA ee Dac cur oce arb LR De tao io on T v 31 5 2 8 1 PNU 1450 1453 function of the digital inputs naaa naaa aaa 31 5 2 8 2 PNU 1458 1459 function of the digital outputs 0 0 0 cc eee ee eee nes 32 5 2 9 Analog CONMQUTAMON ses seeretari a aa a are Gh pw le a oo pus Ba aS a rada Edo 32 5 2 9 1 PNU 1500 configuration of the analog input functions 0 0 0 0 0 eee eee 32 5 2 9 2 PNU 1501 1506 configuration of the analog outputs 0 eens 32 5 2 10 Manufacturer specific object channel from PNU 1600 sisse e o ERR o ee RE RR RR Cy xs 33 6 Process data channel 6 1 INSUUIMENL COMMNG AAA ae a E E Ea E E E Ea 35 6 1 1 Conrorword OTW sicer onr o debes es o AVES EE d BAIE Rit 38 6 1 2 Salus WOU ZS Wi D 39 6 2 Operating MOdES 3 4 cg et mie OR oie bi AARAA EE oh aby by Be dh e bond E bod debile db bi 39 6 2 1 Positioning operating mode Z dpa deba dc do ep Reg tp e E 8 A tiene d ES ES oo Pu E acd 40 6 2 2 Digital speed operating mode 1 o 41 6 2 3 Analog speed operating mode 1 in preparation llli 41 6 2 4 D
47. led 0 1 Emr J 0 X Error response 0 X Fast stop active 0 0 x lt m Oo 1 1 Poa X x topo o CS TT 77 Operating modes The selection of a new operating mode is described in detail in the chapter on the parameter chan nel This procedure must be observed and adhered to WARNING Appropriate precautionary measures against damage caused by faulty presentation of data formats or normalization of the setpoints must be taken by the user The possible operating modes are described below Operating modes with a positive number 1 2 are defined in the drive profile Operating modes with a negative number 1 2 are labeled in the drive profile as being manufacturer specific modes User manual PROFIBUS DP PMCtendo DD4 Page 39 6 2 1 Page 40 6 Process data channel Positioning operating mode 2 sw a e e o o J o OF Vsetp Nact 16 bit actual position 32 bit Meis i MEA for jogging homing Deviating assignment of the process data sections with STW Bit 1421 STW direct motion task Vsetp 32 bit direct motion task Vsetp 32 bit position setpoint position setpoint 32 bit bit motion motion block type type ZSW Nact 16 bit actual position 32 bit oen CRUS Motion task number The motion task number of the motion task to be started can lie in the range 1 to 180 motion tasks in EEPROM or 192 to 255 motion tasks in RAM Actual
48. lowing table Bit Description OOOO 0 Warning 1 t threshold exceeded set as long as lrms is above the threshold 2 3 Warning 4 Threshold monitoring field bus active Warning 5 Mains supply phase missing o Warning 6 Software limit switch 1 has been activated 6 Warning 7 Software limit switch 2 has been activated Warning 8 Faulty motion task has been started Warning 9 No reference point was set at the start of the motion task EON Warning 10 PSTOP active Warning 11 NSTOP active Warning 12 Motor default values were loaded HIPERFACE only 12 Warning 13 Expansion card is not working properly Warning 14 SinCos commutation not carried out Warning 15 Speed current table error INXMODE 35 Warning 16 Reserve 16 Motion task active is set as long as a position control task is active motion task jogging homing Reference point set is set after a homing run or when an absolute position multi turn encoder is used This is canceled when the amplifier is switched on or when a homing run is started InPosition is set as long as the difference between the target position for a motion task and the actual position is smaller than PEINPOS The InPosition signal is suppressed if a following task is started at the target position Position latch set positive edge this is set if a rising edge is detected on the INPUT2 IN2MODE 26 that is configured as a latch This is canceled if the latched position is read out L
49. ment UL 840 UL 840 describes the fulfilment by design of air and insulation creepage spacings for electrical equipment and printed circuit boards User manual PROFIBUS DP PMCtendo DD4 K rzel Symbole Abbreviations used in this manual The abbreviations used in this manual are explained in the table below Abbrev Meaning Abbrv Meanng NI Fieldbus CANopen COM DGND EMC EMI EEPROM Electrically erasable programmable memory Internal regen resistor Electromagnetic compatibility Electromagnetic interference ROD 426 A quad B encoder European standard Programmable logic controller SI Disk Magnetic storage diskette hard disk External regen resistor ESD SRAM j SteicRAM 00000000 Synchronous serial interface IGBT INC LED Verein deutscher Elektrotechniker MS DOS Operating system for PC AT Ground for the 24V supply general warning general instructions mechanical hazard danger to personnel from electricity and its effects Keys on the servo amplifier panel press once move up one menu item increase number by one press twice in rapid succession increase number by ten A press once move down one menu item decrease number by one press twice in rapid succession decrease number by ten hold right key pressed and then press left key as well to enter number Return function User manual PROFIBUS DP PMCtendo DD4 Page 7 This page is deliberately left blank
50. mode is switched on PNU 930 16 Bit 13 STW 0 if necessary toggle Bit 14 STW until Bit 13 ZSW 0 Procedure 1 Write data to PZD 2 6 and invert Bit 12 STW 0001 0000 0000 0000 0100 1101 0100 1100 0100 0111 0101 0001 PZD1 PZD2 PZD3 STW z 0010 0000 0011 0000 0010 1110 0011 1001 0011 1000 0011 0101 PZD4 ERE E ll po 2 Wait for the transition edge on Bit 12 ZSW d Continue writing data to PZD 2 6 and invert Bit 12 STW 0000 0000 0000 0000 0000 1101 0000 1010 0000 0000 PZDA PZD2 PZD3 6 STW Low o e 1 4 Wait for the transition edge on Bit 12 ZSW 5 Wait until Bit 13 ZSW 1 6 Invert Bit 14 STW 7 Wait until Bit 14 ZSW 1 8 The servo amplifier sends a response telegram 0110 0010 0000 0000 0100 1101 0100 1100 0100 0111 0101 0001 PZD1 PZD2 PZD3 Zw E 0010 0000 0011 0000 0010 1110 0011 1001 0011 1000 0011 0101 PZD4 PZD5 PZD6 ov ww teo o 9 Repeat steps 5 to 8 until a response telegram indicates EOT Bytes 2 3 4 5 6 712 00000010 00000000 00001101 00001010 00000100 00000000 00000000 PZD1 PZD2 PZD3 PZD4 6 Note The sequence of response telegrams shown above is only one of many possibilities for the same response from the servo amplifier Because of the transmission rate and the internal synchronization mechanism it can happen that process data sections remain empty and so the response is broken into segments This could possibly alter the num
51. n bit 10 of the control word is set to 1 Page 18 User manual PROFIBUS DP PMCtendo DD4 5 Using the parameter channel 5 5 1 5 2 5 2 1 Using the parameter channel The digital servo amplifiers of the PMCtendo DD4 series have to be adapted to the circumstances of your machine The parameters for the controllers are set using either the setup Software PDrive or via the PROFIBUS Read write an amplifier parameter Read AK 1 or write AK 3 amplifier parameters To read or write an amplifier parameter which is recognized by the parameter number PNU to the volatile memory of the PMCtendo DD4 The parameters that are stored in the PMCtendo DD4 can be transferred to the non volatile memory by using the command non volatile parameter save PNU 971 Telegram layout Request OOOO Responses o PKE AK 1 read 3 write 2 OK 7 error PKE PNU as transmitted PWE for AK 3 see 5 2 1 for data type for AK 3 returns the PWE of the request for AK 1 data type irrelevant for AK 1 see 5 2 1 for data type Summary of the parameter numbers All the parameter numbers for PMCtendo DD4 are listed in numerical order in the table in Chapter 5 2 1 with a short description The parameter numbers in the range 900 999 are profile specific for the PROFIBUS drive profile PROFIDRIVE Parameter numbers 999 are manufacturer spe cific For better understanding you can look up the ASCII commands which are in the
52. ndo DD4 has been activated in the master s hardware configuration User manual PROFIBUS DP PMCtendo DD4 Page 45 7 2 Page 46 7 Setup software Screen page PROFIBUS instrument control Profibus Device Control X Control ward S T Status ward Z5 Ww 0 Switch on Error response Wo Ready for switch on 1 Inhibit voltage iiis 1 Switched on 2 Fast stop switch on i 2 Operation enabled 3 Operation enabled 3 Error 4 Fast stop inh ramp 4 Voltage inhibited 5 1 Pause stop rig 5 Fast stop B Setpoint enable B Switch an inhibit D Reset Fault 7 n Warning B Jogging on off 8 Setpoint actual value m q reserved Remote 1 PZD amp enable inhibit Setpoint reached Limit active Made dependent Mode dependent M anufacturer specific Start homing run e Manufacturer specific Manufacturer specific M anufacturer specific Manufacturer specific Manufacturer specific On this screen page the single bits of the control word SZT and the status word ZSW are shown The device status resulting from the status word is visualized in the status machine The current status is shown as black all other are grey Additionally the previous status is visualized by empha sis of the number of the appropriate arrow User manual PROFIBUS DP PMCtendo DD4 8 Sample telegrams 8 8 1 Sample telegrams Important communication parameter 1 EXTWD PNU 1658 With
53. nual PROFIBUS DP PMCtendo DD4 4 Profile of PMCtendo DD4 4 Profile of PMCtendo DD4 The PROFIBUS profile PROFIDRIVE includes the following parameter process data objects PPO BYTE 1 2 3 4 5 6 7 8 9 1011 p12113 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 PM STW HSW im PKE IND PWE ai HW os pz PZD5 PZD6 PZD7 pzpal Pzpe PZD10 E dor rog si d rs Typ 1 Octet String 12 Abbreviations PKW Parameter ID value Ej EME S eee IND Index with PPO 3rd octet Typ 2 Octet String 20 4th octet reserved PWE Parameter value 5th to 8th octet PZD Process data STW Control word ZSW Status word HSW Main setpoint HIW Main actaul value Typ 3 Octet String 4 Typ 5 Octet String 28 PMCtendo DD4 only uses the PPO type 2 with 4 words PKW section and 6 words PZD section The PKW section is used mainly for the transmission of parameters for the servo amplifier the PZD section is used principally for handling motion functions The instrument profile can be divided into two sections or data channels 1 PKW section 4 words 2 PZD section 6 words The PKW data channel can also be termed the service channel The service channel only uses confirmed communication services and is used by PMCtendo DD4 as a parameter channel This channel has no real time capability The PZD data channel can also be termed the process data channel The process data channel uses unconfirmed communication services The res
54. o 255 motion tasks in RAM PNU 1309 start delay This parameter is used to set a delay time before the start of a motion task PNU 1310 copy motion task This parameter can be used to copy motion tasks The source motion task must be entered in the high value portion of PWE PZD 3 amp 4 and the target motion task must be entered in the low value portion of PWE PZD 5 amp 6 PNU 1311 Position 32 Bit floating decimal point format from SW Version 0 07 With this object the target position for motion task O direct motion task see ASCII command O P can be set in 32 Bit Floating decimal point format IEEE Right of comma positions will be truncated This objekt is aside from the data format identical PNU 1300 The defaults are indicated in micrometers Use Controls that support only 16 Bit integer and 32 Bit floating decimal point PNU 1312 Velocity 32 Bit floating decimal point format from SW Version 0 07 With this object the velocity for motion task O direct motion task see ASCII command O V can be set in 32 Bit Floating decimal point format IEEE Right of comma positions will be truncated This objekt is aside from the data format identical PNU 1301 Use Controls that support only 16 Bit integer and 32 Bit floating decimal point User manual PROFIBUS DP PMCtendo DD4 Page 29 9 2 6 9 2 6 1 9 2 6 2 5 2 7 5 2 7 1 5 2 7 2 5 2 7 3 5 2 7 4 Page 30 5 Using the param
55. of FC100 wl E M NUDB left byte Number of the user data block for the PROFIBUS communication right byte Start data word of the user data of the corresponding drive ES word to the drive except Bit6 and Bit14 which are controlled by Outputs BENE A Status Word as defined by PROFIDRIVE Profile KFEH boo nofuncton SSS y O BUSY bool nofuction OOOO OFEH boo nofuncton SS O MFEH o no function 000 otatic Parameter EE STAT internal FC flag word for functions of the package DRIVE FC User manual PROFIBUS DP PMCtendo DD4 Page 57 Page 58 9 Appendix FB102 DRIVEFSS Together with an instance data block the FB102 is used to transfer motion task data for the PMCtendo DD4 The method is as follows Bit 15 of the select parameter WAHL determines if a sample motion task is transferred to the local motion task no 0 Inside this motion task individual motion parameters can be changed After the changes the complete motion task is transferred to motion task with the number FSNrZ in the drive If this transfer is not successful bit 15 of the parameter WAHL will be set The bits of WAHL not set back to O will show which parameter could not be written Please note When FB102 is started SEND 1 the call of FC110 must be skipped in the program sequence since FC110 is used by FB102 FC110 must not be used to read or write parameters before the SEND bit of FB102 is set back Technical Data DRIVEFS Flags used MW200 MW254
56. om this function block STAT same flag word as parameterized for FC100 STAT User manual PROFIBUS DP PMCtendo DD4 Page 59 9 Appendix FC110 DRVPAR The FC110 is used to read and write the parameters of the servodrive according to the documented list of parameter numbers PNUS Technical Data DRVPAR Flags used MW200 MW254 e o PANR Parameter number according to parameter number table PNUS starting at PNU 1600 otherwise O REWR boa Read Write Flag O read a parameter 1 write a parameter STRT bol 1 Start a read write task O cancels a task Outputs none Static Parameters OOOO AKTV bol Active display for task 1 active FERT bol Return message 1 parameter could be processed Fault error display 1 Parameter could not be read or written In this FEHL case there is an error number in PALO for evaluation see the documentation When an error occurs a NULL telegram must be Parametertype 2 double word parameter all parameters in the servodrive the parameter number is coming from PANR 3 7 write only write a NULL telegram i e all data for the PKW Channel are set to 0 and transmitted to the SERVOSTAR A NULL telegram should be written when starting the communication to drive after an error occured gt FEHL when changing between read and write of one parameter PAHI more significant word of the parameter value PALO less significant word of the parameter value
57. onse is always terminated by an End of Text EOT 0x04 character 2 Response telegrams can include less than 10 bytes of user data without the response being concluded The telegram must then be filled up with bytes with the value 0x00 B After reading out the buffer Bit 13 of the status word is reset to 0 until the buffer is filled again The designation of the end of the ASCII response is in all cases End of Text Initial setting after switch on operating mode 126 In this state it is indeed possible to control the state machine but motion functions cannot be initi ated User manual PROFIBUS DP PMCtendo DD4 Page 43 6 Process data channel This page is deliberately left blank Page 44 User manual PROFIBUS DP PMCtendo DD4 7 Setup software 7 Setup software 7 1 Parameters Screen page PROFIBUS xi 1 0 Analog Position Speed Current Motor Feedback Encoder Digital 1 0 Basic Setup Expansion Card Prafibus Baudrate lo KB aud Address lo Watchdog State DP State Input Output Buffer Output Input PROFIBUS Interface States PHO Identno P a HO45D E onl cna l Interface Dutpul ih LIF Control mE Data Esch ire m STW HSW PZD4 PZD5 PZD6 for rooo oooo fan roo foo PZD4 PZD5 PZD6 s563 sanc 5402 t Profibus PPO T 2 Baud Search Feud Wait Faam EOmmunicatorn LIK PRW FKE IN
58. operating modes are described in Chapter 6 2 A change of operating mode can only be undertaken in connection with the control word Torque control analog setpoint provision in preparation The operating mode must be changed according to the following sequence iP Inhibit setpoints and process data Bit 10 in the control word is set to 0 so that no new setpoints will be accepted by the servo amplifier and no new control functions can be initiated A new operating mode can however be selected while a motion function is being performed The control word is only inhibited to the extent that the servo amplifier can always be switched into a safe state 2 Select the new operating mode with PNU 930 The new operating mode is selected with parameter 930 through the parameter channel but not yet accepted 3 Set receive the setpoints and actual values Enter the corresponding setpoints in the setpoint area of the process data Here you must take note that the normalization and data formats depend on the operating mode that is selected The interpretation of the actual values is also altered see Chapter 5 2 2 3 The user program must respond accordingly 4 Enable the setpoints Bit 10 of STW is set to 1 The setpoints are immediately accepted and processed The new actual values are output with the appropriate normalization and data format Caution In the safe operating mode 126 no motion functions can be initiated via the PROFIBUS However i
59. or error User manual PROFIBUS DP PMCtendo DD4 8 Sample telegrams 8 11 8 12 Writing a parameter Parameter v_max is used as an example to show how control parameters are transmitted from the master to the PMCtendo DDA Parameter number 1265 100 1111 0001 Parameter value 350000 um s 0000 0000 0000 0101 0101 0111 0011 0000 PWE Note after an error has occurred in parameter transmission AK 7 a Zero telegram should be transmitted i e the first 8 bytes of the transmit telegram from the PLC should be kept at O until the PMCtendo DD4 has responded with a zero telegram Read actual values Cyclical actual value request This PKW task switches on the reading of an actual value The actual value will now be transmitted with each cyclical telegram until a new PKW task is presented Telegram layout seor E A EI NU Parameter number of the actual values 1400 1413 as 2z ___ IND 0 read Ars User manual PROFIBUS DP PMCtendo DD4 Page 53 8 13 Page 54 8 Sample telegrams Write a parameter via the ASCII channel The KP value for the current controller is to be set through the ASCII channel The command is then MLGO 0 985 Here the understroke stands for an empty character Since every telegram only has 10 positions available for the transmission of ASCII characters the termi nation of the line CR LF must be transmitted in a second telegram Conditions ASCII
60. pilz more than automation safe automation Communication profile PROFIBUS DP for PMCtendo DD4 Copyright Copyright 2005 Pilz GmbH amp Co KG All rights reserved No part of this document may be reproduced in any form print photocopy microfilm or any other for mat or modified duplicated by electronic means without written authorization by Pilz GmbH amp Co KG Notes Pilz GmbH amp Co KG reserves the right to make amendments to this document at any time The examples given serve only as illustrations No guarantee is given for their suitability in particular applications Alt hough the utmost care has been taken in the production of this document no liability can be accepted for any mistakes that it may contain We welcome any suggestions for the improvement of our products or documentation We reserve the right to make technical changes which lead to the improvement of the product PMCtendo is a registered trademark of the Pilz GmbH amp Co KG Previous editions Edition Comments 01 2004 First edition 10 2005 Appendix added some changes Revision Page 2 User manual PROFIBUS DP PMCtendo DD4 Contents Page GONnteniS gt cr ee eee ee ebb osos rea ad ros E 3 Safety instructions oll sss 5 Directives and standards oo leen 6 CE conformance 00 0c ee 6 Contents 1 General 2 Important 2 1 ADOU Tals THEOD rescato a wae dopa E SUR S abc bati ate Sle ee
61. point permits the following positioning operations The parameterized software limit switches in the PMCtendo DD4 may not be effective The axis could then drive up to the hardware limit switch or the me chanical stop There is a danger of damage being caused If the reference point machine zero point is approached too fast with high moments of in ertia in the system then it might be overrun and the axis could then drive up to the hard ware limit switch or the mechanical stop There is a danger of damage being caused The homing run is started by STW Bit 11 1 The start of the homing run is detected by a positive transition edge for Bit 11 If Bit 11 is set to O again before the reference point has been reached then the homing run is can celed Bit 12 ZSW remains at O reference point not set A set reference point is a precondition for all the positioning functions of the linear axis The reference point switch is wired up to a digital input on the PMCtendo DD4 Depending on the type of homing run you can freely shift the zero crossing point of the motor shaft within one turn by using the parameter Zero point offset Nl offset Furthermore you can fix the position value to be the reference point by using the reference offset After the homing run the drive signals InPosition thereby enabling the position controller The velocity for the homing run is transmitted with the main setpoint as a 16 bit value Multiplying this b
62. ponse of the servo amplifier to an unconfirmed service can only be seen in the reaction of the instrument status word actual values This channel has real time capability User manual PROFIBUS DP PMCtendo DD4 Page 15 4 1 4 1 1 4 1 1 1 Page 16 4 Profile of PMCtendo DD4 Parameter channel Parameter ID PKE 1 BYTE 2 BYTE Abbreviations BIT AK task response ID 15 14 13 12 11 10 9 8 b 6 s E 2 1 0 SPM Toggle Bit for spontaneous message not implemented at present PNU Parameter number Bold lines in the table are valid for PMCtendo DD4 Master gt Slave Slave gt Master Task ID Function Response ID positive Response ID negative 1 request parameter value 3 alter parameter value DW 2 B 6 jrequstpaametrvaue A 45 7 8 alterparametervalwe BB 9 jrequesnumberofamayelements 7 10 15 reserved SS Interpretation of the response IDs Response ID Interpretation transmit parameter value a 2 transmit parameter value 3 transmit description element transmit parameter value ransmit parameter value t transmit number of array elements task not possible with error no no operating authority for PKW interface spontaneous message W spontaneous message DW 11 spontaneous message A W spontaneous message A DW Abbreviatoins in the tables A Array W Word DW Double word User manual PRO
63. s described first and then the significance and functioning of the operating modes Instrument control The control of the instrument is described with the aid of a status machine The status machine is defined in the drive profile by a flow diagram for all operating modes The following diagram shows the possible instrument states for the PMCtendo DDA Output stage not switched on Eror response Error 13 14 0 switch on 1 i 15 Switch on inhibited 2 7 Ready for switch on Output stage switched on 4 5 Operation enabled Fast stop User manual PROFIBUS DP PMCtendo DD4 Page 35 6 Process data channel The following table describes the instrument states and the transitions States of the status machine T l STB is sio obrador switchen PMCtendo DD4 is not ready for switch on No operation readiness is sig i naled from the amplifier software aes PMCtendo DD4 is ready for switch on Parameters can be transferred DC link Switch on inhibited DC bus can be switched on motion functions cannot be carried out yet DC link voltage must be applied Parameters can be transferred motion Ready for switch on E functions cannot be carried out yet Resan tor operation DC link voltage must be switched on Parameters can be transferred motion y p functions cannot be carried out yet Output stage is switched on enabled Operation enabled No error present Output s
64. scription 0x00010000 when altered the variable has to be saved and the amplifier reset 0x00020000 variable will be saved in the serial EEPROM 0x00200000 variable is read only must not be written via PROFIBUS Suindx ss short description Read only Data type UNSIGNED32 Defaultvalue Caution Objects with format 0 subindex 5 must not be accessed reading response identification 1 User manual PROFIBUS DP PMCtendo DD4 6 Process data channel 6 1 Process data channel The process data channel is used for real time communication This channel can effectively be divided into two telegram portions PZDT Control word STW Status word ZSW instrument control The control word and the status word are used to control the instrument and monitor the status of the instrument PZD2 6 Setpoint actual values depending on the operating mode Setpoints and actual values such as position velocity and current are exchanged in this section The availability of a process data channel is determined in the PROFIDRIVE drive profile The sig nificance of the process data is defined according to the operating mode The process data that are used are determined in such a way that the real time capability of this channel is optimally used A central role is played by the parameter Selector for operating modes see Chapter 5 2 2 3 that is used to choose between individual operating modes In the following the instrument control i
65. speed 16 bit The representation of the 16 bit actual speed value is normalized to the parameter for overspeed VOSPD n VOS 7 x2 Actual position 32 bit The range for the incremental position covers values from 28 Pad y whereby one turn corresponds to QPRBASE increments Manufacturer specific status In the process data the upper 16 bits of the manufacturer specific status register PNU 1002 are made available The numbering starts again from 0 The significance of the status register bits can be seen in the table in Chapter 5 2 3 3 Speed setpoint for a direct motion task The usable range for the speed is not limited by the available data area It is limited by the maximum achievable speed nmax which is given by the speed parameter VLIM as the final limit speed for the motor The maximum speed is derived from the following formula Ve N max PGEARI SO FRBASE PGEARO 7 m_ xQPRBASE 25048 n 2 PRBASE incr max max tec 4000 Position setpoint for a direct motion task The PMCtendo DD4 calculates all positioning operations internally only on an incremental basis so there are limitations on the usable range of values for distances that are given in SI units The range for the incremental position covers the values from O16 2 54 The resolution that is determined by the PGEARO PNU1258 and PGEARI PNU1259 parameters and the variable PRBASE fix the sensibly usable range for positioning operations The variable
66. t is possible to perform motion functions with the aid of the setup Software If the operating mode is changed then motion functions can only be operated via the PROFIBUS If the operating mode is changed via another communication channel then the drive is emergency braked and the error F21 Handling error plug in card is signaled User manual PROFIBUS DP PMCtendo DD4 Page 23 9 2 2 4 5 2 2 5 5 2 2 6 5 2 2 7 Page 24 5 Using the parameter channel PNU 963 baud rate This parameter defines the index of the baud rate that is used for PROFIBUS communication and can only be read The baud rate is given out by the PROFIBUS master The table below shows the indices with the according baud rates PNU 965 PROFIDRIVE profile number This parameter can be used to read out the number of the PROFIDRIVE profile Profile Number 3 Version 2 is used PNU 970 default parametersr With this parameter you can reject all the parameters that are set and load the manufacturers default values PNU 971 non volatile saving of parameters With this parameter you can save all the parameter settings to the EEPROM To do this the param eter must have the value PWE 1 when the transfer takes place User manual PROFIBUS DP PMCtendo DD4 5 Using the parameter channel 9 2 3 9 2 3 1 9 2 9 2 General parameters PNU 1000 instrument ID The instrument ID consists of four ASCII characters with the contents S6xx whereby
67. tage is switched on motion functions are enabled switched on enabled motion functions are enabled If an instrument error occurs the PMCtendo DD4 changes to the instrument state Error response active In this state the power stage is switched off immediately After this error response has taken place it changes to the state Error This state can only be terminated by the bit command Error reset To do this the cause of the error must have been removed see ASCII command ERRCODE Error response active error Page 36 User manual PROFIBUS DP PMCtendo DD4 6 Process data channel Transitions of the status machine Transition Description ss Reset 24V supply is switched on Action Initialization started Initialization successfully completed PMCtendo DD4 switch on inhibit Bit 1 inhibit voltage and Bit 2 fast stop are set in the control word command shutdown DC link voltage is present Hd oo E Ho oo o I Action Motion functions are disabled Drive is braked using the relevant ramp depends on operating mode Event Bit 0 is canceled ready for switch on Output stage is switched off disabled Drive has no torque Event Bit 1 or Bit 2 is canceled Command Fast stop or Inhibit voltage Bit O is canceled operation enabled gt ready for switch on y Even Bil canceled operation enabled swten on eL BI roro s m Drive is stopped using the emergency ramp The output st
68. ter the delay set in PNU 1309 The next motion task is started immediately The next motion task is started after the delay time set by PNU 1309 or if Bit 6 1 previ ously by a corresponding input signal The velocity for the motion task is determined by the voltage present on analog input SW1 at the start of the motion task reserved 5 2 5 4 PNU 1304 acceleration time This parameter defines the total time to reach the target velocity for the motion task 5 2 5 5 PNU 1305 deceleration time This parameter defines the total time to reduce the velocity to O at the target position Page 28 User manual PROFIBUS DP PMCtendo DD4 5 Using the parameter channel 5 2 5 6 5 2 5 7 5 2 5 8 5 2 5 9 9 2 9 10 9 2 9 11 9 2 9 12 PNU 1306 acceleration jolt limiting This parameter defines the form of the acceleration ramp If a value O is entered here then a sin ramp S curve is used to reach the target velocity To employ sine ramps the configuration variable SPSET has to be set to 1 via the ASCII channel or the ASCII terminal in the setup software and to be saved PNU 1307 deceleration jolt limiting This parameter defines the form of the braking deceleration ramp If a value 0 is entered here then a sin ramp S curve is used for braking deceleration PNU 1308 next motion task The motion task number of the motion task to be started can lie in the range 1 to 180 motion tasks in EEPROM or 192 t
69. th the installation manual for the servo amplifier and in this manual have been observed and implemented Check assembly installation Use the setup Software PDrive for setting the parameters for the servo amplifier Connect PC start PDrive Canon f Make sure that any unintended movement of the drive cannot cre ate a danger to personnel or machinery Now setup the basic functions of the servo amplifier and optimize the current and speed controllers This part of setup is described in the Quickstart setup manual Setup the When the optimization is finished save the controller parameters in the basic functions servo amplifier Save Remove the Enable signal Terminal X3 16 and switch off the power parameters supply for the servo amplifier The 24V DC auxiliary voltage remains switched on Test the Test the installation of the PROFIBUS connection and the interface for bus connection the PROFIBUS master Check the PROFIBUS DP parameter settings and the station configu ration Test the Check the parameter settings for the PROFIBUS interface module communication Check the PLC user program and the parameter settings for the func tion block packages Setup the position controller as described in the Quickstart setup manual Setup the position controller E HRS C User manual PROFIBUS DP PMCtendo DD4 Page 13 3 Installation Setup This page is deliberately left blank Page 14 User ma
70. tives and standards Servo amplifiers are components that are intended to be incorporated into electrical machines and plant When the servo amplifiers are incorporated into machines or plant the intended operation of the servo ampli fier is forbidden until it has been established that the machine or plant fulfills the requirements of the EC Machinery Directive 98 37 EEC and the EC EMC Directive 89 336 EEC EN 60204 and EN 292 must also be observed The manufacturer of the machine must generate a hazard analysis for the machine and take appropri ate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property In connection with the Low Voltage Directive 73 23 EEC the harmonized standards of the EN 50178 series are applied to the servo amplifiers together with EN 60439 1 EN 60146 and EN 60204 The manufacturer of the machine or plant is responsible for ensuring that the machine or plant meets the lim its that are laid down by the EMC regulations Advice on the correct installation for EMC such as shielding grounding arrangement of filters handling of connectors and laying out the cabling can be found in the as sembly and installation instructions for the servo amplifier C conformance Conformance with the EC Directive on EMC 89 336 EEC and the Low Voltage Directive 73 23 EEC is manda tory for the supply of servo amplifiers within the European Community The servo amplifiers of the
71. veral minutes after switching off the supply voltage Measure the voltage in the intermediate DC link circuit and wait until it has fallen below 40V Power and control connections can still be live even though the motor is not rotating Electronic equipment is basically not failure proof The user is responsible for ensuring that in the event of a failure of the servo amplifier the drive is set to a state that is safe for both machinery and personnel for instance with the aid of a mechanical brake Drives with servo amplifiers and PROFIBUS expansion cards are remote controlled ma chines They can start to move at any time without previous warning Take appropriate mea sures to ensure that the operating and service personnel is aware of this danger Implement appropriate protective measures to ensure that any unintended start up of the machines cannot result in dangerous situations for personnel or machinery Software limit switches are not a substitute for the hardware limit switches in the machine Install the servo amplifier as described in the installation manual The wiring for the analog setpoint input and the positioning interface as shown in the wiring diagram in the installa tion manual is not required Use the valid connection diagram in the amplifier installation manual for the connection to a PROFIBUS network Never break any of the electrical connections to the servo amplifier while it is live This could result in destruction
72. xx stands for the current level of the output stage e g 9606 PNU 1001 manufacturer specific error register The assignment of the error register can be seen in the following table The explanation of the indi vidual errors can be found in the assembly amp installation instructions for the servo amplifier Bit Descripion 0O 0 jEmorF0t Heatsinktemperature 6 8 EmoF09 EEPROM O 9 jEmorFi05 gt FlasBEPROM When the cause of the error has been cleared the error state can be canceled by setting Bit 7 in the control word The error response of the PMCtendo DDA to the reset will differ depending on the error that has occurred For errors that are marked by an asterisk setting the reset bit initiates a cold start of the drive whereby the PROFIBUS communication to this instrument will also be interrupted for several sec onds Depending on the circumstances this break in communication may have to be separately handled by the PLC For the other errors the reset leads to a warm start during which the communication will not be interrupted A description of the individual errors and recommendations for removing them can be found in the installation manual User manual PROFIBUS DP PMCtendo DD4 Page 25 9 2 3 3 Page 26 5 Using the parameter channel PNU 1002 manufacturer specific status register The assignment of the bits for the status register can be seen in the fol
73. y the value of parameter 1250 determines the 32 bit speed The sign is not evaluated Conditions State of the state machine Operation enabled No warning message ZSW Bit 7 0 The following diagram uses the homing run Type 1 negative direction of motion positive rotation starting point in negative direction relative to the reference switch as an example to illustrate the signal sequence of the relevant bits in the manufacturer specific state User manual PROFIBUS DP PMCtendo DD4 8 Sample telegrams Resolver zero mark NSTOP Warning NSTOP Act Pos Homepos speed 0 Reference point set INPOS Motion task active After the homing run has been completed Bit 11 STW must be set to 0 again Alternatively the reference point can also be set at the actual position This can be achieved by setting Bit 12 STW or by setting the homing run Type O with parameter 1350 and subsequent start of the homing run by Bit 11 STW User manual PROFIBUS DP PMCtendo DD4 Page 51 8 8 8 9 8 10 Page 52 8 Sample telegrams Start a motion task Motion tasks are started by a transition edge positive or negative at Bit 6 STW Bit 14 STW is used to decide whether a stored motion task or a direct motion task should be carried out Conditions Hardware enable is present Amplifier is in the Operation enabled state For linear axis reference point is set Example start the EEPROM motion task number 10

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