Third generation sercos bus interface for SG5 and SG6
Contents
1. 6 3 CONNECTING TO THE SERCOS NETWORK 7 3 1 Pin ASSIGNMENT OF THE X17 X18 7 3 2 SETTING THE SERCOS ADDRESS 7 T 5 4 SERCOS PARAMETERS AND VARIABLES IN 8 4 1 PARAMETERS 8 re 4 2 VARIABLES 10 9 5 SUPPORTED PROFILES AND TELEGRAM 11 o 5 1 Function ProFile Drive FSP_Drive 11 ONERE D uEQO mA 11 5 2 Function PRorite FSP_IO 12 5 2 1 Drive Interface C1250 SC xx E1250 SC xx and E1450 SC xx 12 5 2 2 Drive Interface IM B8050 ML SC 13 5 2 3 Special Axis Errors for M B8050 ML SC Systems 14 6 MAPPING OF ERRORS AND WARNINGS C1D AND 20 15 6 1 Crass 1 C1D S 0 0011 15 6 2 Crass 2 C2D S 0 0012 16 7 READ WRITE UPIDS VIA 1 0 nnnm nnn r nien nnn ann 17 8 REALTIME IO CONFIGURATION MODUIE 18 9 DRIVE HOMING U U U 19 9 1 UsiNG THE Drive CoNTRoLLED PRocEDURE COMMAND 19 9 2 UsiNG THE ContRoL StatusWorps 20 10 COMMISSIONING WITH ELAU PACDRIVE 3 CONTROLLERS2. 21 10 1 GENERAL 21 10 2 MoroR MECHANIC 21 10 2 1 EGRE 22 10 2 2 J TOCA eter Ue ee 22 10 2 3 Torque Nee a 22 10 3 REALTIMECHANNEL 23 10 3 1 Standard Telegram 4 23 10 3 2 Configuration List including the IO Configuration Module 23 10 3 3 Configuration List including motor feedback parameters 24 10 4 IDENTIFICATION 24 10 5 CopE EXAMPLES 25 10 9 1 HOMMIIN o estan E oat ons ved lenge eden 25 10 5 2 Write DPID RAM vali iit ro r 25 10 5 3 Read UPID RAM value apa 26 10 6 PLC PROGRAMMING EXAMPLE 26 11 COMMISSIONING WITH BOSCH INDRALOGIC INDRAMOTION PLCS 27 LinMot com J Page 3 36 sercos Interface Manual i LinMot 11 1 INTEGRATION AS A SERCOS I O DEVICE 2 11 1 1 Importing the SDDMI File a 27 11 1 2 PLC programming example 28 11 2 INTEGRATION AS A SERCOS DRIVE 28 12 LIST OF SUPPORTED IDNS 29 12 1 IDNs 29 12 2 MANUFACTURER SPECIFIC IDNs 33 12 3 IDN STRUCTURE AND R
3. IDN Description Mord FSP Drive S 0 0095 Diagnostic message Both S 0 0099 Reset class 1 diagnostic Both S 0 0127 CP3 transition check Both E 5 0 0128 4 transition check Both S 0 0129 Manufacturer class 1 diagnostic Both S 0 0134 Drive control FSP_Drive 6 S 0 0135 Drive status FSP_Drive S 0 0147 Homing parameter FSP_Drive S 0 0148 Drive controlled homing procedure command FSP_Drive S 0 0160 Acceleration data scaling type Both S 0 0161 Acceleration data scaling factor Both S 0 0162 Acceleration data scaling exponent Both S 0 0181 Manufacturer class 2 diagnostic Both S 0 0389 Effective current FSP_Drive S 0 0390 Diagnostic number Both S 0 0398 IDN list of configurable real time bits as producer Both S 0 0399 IDN list of configurable real time bits as consumer Both S 0 0403 Position feedback value status FSP_Drive S 0 0420 Activate parameterization level procedure command Both S 0 0422 Exit parameterization level procedure command Both S 0 0423 IDN list of invalid data for parameterization level Both S 0 0434 Serial number motor Both S 0 1000 SCP type amp version Both S 0 1002 Communication cycle time tScyc Both S 0 1003 Allowed MST losses in CP3 CP4 Both S 0 1009 Device control C Dev offset in MDT Both S 0 1010 Lengths of MDTs Both NTI AG LinMot www LinMot com Page 30 36 sercos Interface Manual IDN Description y FSP_Drive S 0 1011 Device status S
4. E 2 i sercos Application Type S 0 1302 0 3 Default Value Contains the type of the sub device application as a string LinMot Axis sercos Dis Enable With the Dis Enable parameter the LinMot device can be run without the sercos bus going online So in a first step the system can be configured and run without any bus connection sercos Dis Enable Default Value Disable Device runs without sercos interface Enable Device runs with sercos interface IMPORTANT If the sercos bus interface is disabled the integrated communication hardware is not powered No messages will be sent to other devices connected to the sercos network via the LinMot device sercos sercos Address In this section the sercos address can be configured sercos sercos Address Default Value sercos Address Shows which source is selected to provide the EU Switches Source Select sercos address 1 and 52 NTIAG LinMot 8 36 sercos Interface Manual E LinMot sercos Address Value of the sercos address if By Parameter is Parameter Value selected sercos sercos Address sercos Address Source Select In this section the source of the sercos address can be configured sercos sercos Address sercos Address Source Select Default Value By ID Switches S1 and S2 The sercos address is determined by the switches S1 ID HIGH and S2 ID LOW
5. The sercos address is determined by the parameter sercos Address Parameter Value in the LinMot Talk software By Parameter E 0 2 i sercos sercos Homing Mode In this section the sercos homing mode can be configured sercos Homing Mode Default Value Initiated Shows which homing mode is selected by user PLC or I O sercos Homing Mode Select sercos sercos Homing Mode sercos Homing Mode Select In this section the sercos homing mode can be configured sercos sercos Homing Mode sercos Homing Mode Default Value Select Initiated by user PLC or I O The user has to initiate the homing procedure either via digital I Os or via PLC commands The drive automatically initiates the configured homing procedure as soon as it is enabled via the sercos drive control word AutoHoming Automatic homing can damage equipment and or injure people The user has to make sure that homing is safely possible i e no mechanical obstruction when enabling the drive 2 This parameter is only valid and in effect when the FSP_DRIVE profile is active NTIAG LinMot www LinMot com B Page 9 36 sercos Interface Manual 4 2 Variables Definition Validity FSP_IO FSP_Drive sercos Address Ulnt16 Current sercos address Both sercos Topology Address Ulnt16 Current sercos topology add
6. Error Codes RT Bus Error Description On Drive in CP 4 Off Drive not in CP 4 Flashing Drive in CP4 and in Loopback Mode Drive is at the end of a line and one of the ports is in loopback mode On C1D Error One or more of the error bits in the C1D S 0 0011 are set Flashing Flashing Communication Warning Number of missed MST S 0 1003 NTI AG LinMot www LinMot com Page 34 36 sercos Interface Manual LinMot 14 Troubleshootino 14 1 Analyzing Traffic in sercos Networks To analyze the data traffic in a sercos network the use of a network protocol analyzer is strongly recommended Wireshark is one of the most used analyzers and can be downloaded free of charge from http www wireshark org When using a network interface from a personal computer make sure that any other protocols such as TCP IP etc are disabled for this interface Transmission of any unwanted data frames from the personal computers operating system may lead to unpredictable behavior and or errors in a connected sercos node E 0 2 i 14 2 Frequent Problems Solutions Problem Possible Solution Drive was not found Make sure that all the wiring is done correctly Afterwards power by PLC down all devices including the PLC and start them up again Make sure that all connected sercos devices have unique addresses when using this address
7. sercos the automation bus E Third generation sercos bus interface for SG5 and SG6 User Manual This document applies to the following devices E1250 SC xx SG5 E1450 SC xx xS SG5 B8050 ML SC xxx SG5 MB8050 ML SC xxx SG5 C1250 SC xx xS xxx SG6 with sercos Interface SW installed sercos Interface Manual LinMot 5 E i 2014 NTI AG This work is protected by copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording microfilm storing in an information retrieval system not even for didactical use or translating in whole or in part without the prior written consent of NTI AG LinMot is a registered trademark of NTI AG Any other trademarks mentioned in this document are the property of their respective owners Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement Document version 1 5 mk July 2014 Mot com Page 2 36 sercos Interface Manual E o LinMot Table of Contents 1 SYSTEM OVERVIEVW N U u 5 2 PLC COMPATIBILITY
8. Dev offset in AT Both S 0 1012 Lengths of ATs Both S 0 1013 SVC offset in MDT Both S 0 1014 SVC offset in AT Both S 0 1017 NRT transmission time Both S 0 1019 MAC address Both S 0 1026 Version of communication hardware Both S 0 1035 Error counter port1 and port2 Both S 0 1040 sercos address Both S 0 1044 Device control C Dev Both S 0 1045 Device status S Dev Both S 0 1046 List of sercos addresses in device Both S 0 1050 x 01 Connection setup Both S 0 1050 x 02 Connection number Both S 0 1050 x 03 Telegram assignment Both S 0 1050 x 04 Max length of connection Both S 0 1050 x 05 Current length of connection Both S 0 1050 x 06 Configuration list Both S 0 1050 x 08 Connection control Both S 0 1050 x 10 Producer cycle time Both S 0 1050 x 11 Allowed data losses Both S 0 1050 x 20 IDN allocation of real time bit Both S 0 1050 x 21 Bit allocation of real time bit Both S 0 1051 Image of connection setups Both 5 0 1300 0 1 Component Both S 0 1300 0 2 Vendor name Both S 0 1300 0 3 Vendor code Both S 0 1300 0 4 Device name Both NTI AG LinMot www LinMot com Page 31 36 5 E 2 i sercos Interface Manual LinMot IDN Description Mord FSP Drive S 0 1300 0 5 Vendor device ID Both S 0 1300 0 7 Function revision Both 5 0 1300 0 8 Hardware revision Both 5 S 0 1300 0 9 Software revision Both 5 0 1300 0 11 Order number Both 5 0 1300 0
9. Function Specific Profile FSP 5 2 1 Drive Interface C1250 SC xx E1250 SC xx and E1450 SC xx When using the C1250 SC xx E1250 SC xx or the E1450 SC xx with the function specific IO profile the following interface is configured as cyclic real time data Drive Interface Data UPID Type 5 E 2 i ControlWord Ulnt16 1D52h MC Cmd Header Ulnt16 1DB0h MC Cmd Parameter Word 0 Ulnt16 1E40h low 16Bit MC Cmd Parameter Word 1 Ulnt16 1E40h high 16Bit MC Cmd Parameter Word 2 Ulnt16 1E41h low 16Bit MC Cmd Parameter Word 3 Ulnt16 1E41h high 16Bit MC Cmd Parameter Word 4 Ulnt16 1E42h low 16Bit MDT MC Cmd Parameter Word 5 Ulnt16 1E42h high 16Bit MC Cmd Parameter Word 6 Ulnt16 1E43h low 16Bit MC Cmd Parameter Word 7 Ulnt16 1E43h high 16Bit MC Cmd Parameter Word 8 Ulnt16 1E44h low 16Bit MC Cmd Parameter Word 9 Ulnt16 1E44h high 16Bit Config Module Control Ulnt16 211Bh Config Module Index Out Ulnt16 211Ch Config Module Value Out Ulnt32 211Dh Reserved Ulnt32 StateVar Ulnt16 1B62h StatusWord Ulnt16 1D51h WarnWord Ulnt16 1D8Eh Config Module Status Ulnt16 211Eh E Config Module Index In Ulnt16 211Fh Config Module Value In UInt32 2120h DemandPosition SInt32 1B8Ah ActualPosition SInt32 1B8Dh DemandCurrent SInt32 1B93h Reserved UInt32 With this interface an axis can be completely controlled and operated For a detailed description on how the Li
10. With this interface an axis can be completely controlled and operated For a detailed description on how the LinMot motion command interface is used how the LinMot state machine works etc please consult the following user manuals Usermanual MotionCtrlSW Drive Configuration over Fieldbus SG4 NTIAG LinMot www LinMot com Ei Page 13 36 sercos Interface Manual LinMot 5 2 3 Special Axis Errors for M B8050 ML SC S In some special cases the MC Link controller modifies the status word and error codes in the process data to the PLC Error Codes Description 1 1 10 O Axis not present OxA1 Connection to axis has been lost These errors are not logged in the ErrorLog of the M B8050 since they are not errors generated by that device The M B8050 merely modifies the data sent to the PLC to indicate these errors there 5 E 2 i No Connection A connection has never been established with the device e g because no device is present or because of faulty cabling Process Data from the MC Link Device to the PLC Despeription Axis x RX StateVar 0x04A0 Error OxAO is indicated Axis x RX StatusWord 0x0088 Error and warning flags are set Axis x RX WarnWord 0x4080 i Axis DemandCurrent 0 0000 Demand current is indicated as 0 Connection Lost A connection has once been established but the device doesn t communicate a
11. 116 0016 RALB 53 2 AO4 SSI IN4 RJLB 53 A02 d Valveunit 5 E i Function Modules Simulation PLC Objects CamBuilder Information E1250_SC_UC xml LinMot linear drive system with SERCOS III FSP IO interface Library ES Properties ToolBox 11 1 2 PLC programming example An example project for Bosch Rexroth PLCs including a library with basic functions for LinMot drives is available Please contact our support department for further information E Mail support linmot com Phone 41 0 56 544 71 00 Skype support linmot 11 2 Integration as a sercos drive The LinMot E1250 SC xx and E1450 SC xx drives can also be integrated in an IndraLogic IndraMotion system with the use of the SercosDrive object This object uses the FSP_DRIVE profile and conforms to the sercos Pack Profile The drive is completely controlled using the the integrated functions and libraries from Bosch Rexroth which can be used with the SercosDrive object For further information on using this object please consult the according manuals from Bosch Rexroth NTI AG LinMot LinMot com Page 28 36 sercos Interface Manual B 12 List of supported IDNs 12 1 sercos IDNs IDN Description Validity E FSP_Drive NTIAG LinMot www LinMot com l Page 29 36 sercos Interface Manual LinMot
12. 12 Serial number Both 3 S 0 1300 0 13 Manufacturing date Both S 0 1300 0 20 Operational hours Both 5 0 1301 List of GDP classes amp version Both S 0 1302 0 1 FSP type amp version Both 5 0 1302 0 3 Application Both S 0 1500 0 1 IO control FSP IO S 0 1500 0 2 IO status S 0 1500 0 3 List of module type codes FSP IO S 0 1500 0 32 IO Diagnostic message FSP IO NTI AG LinMot www LinMot com Page 32 36 sercos Interface Manual gt LinMot 12 2 Manufacturer specific IDNs Validity FSP_IO FSP_Drive Description P 0 0100 P 0 0101 P 0 0210 P 0 0211 P 0 0212 gt i 0 P 0 0220 P 0 0221 P 0 0222 P 0 1000 P 0 1234 sercos Interface Manual LinMot 12 3 IDN Structure and representation BitNo Value Description Comments 31 24 0 255 Structure instance SI 0 127 Standard Structure element SE Bits 31 to 0 determined Product specific IDN P 0 nnnn by manufacturer 23 16 128 255 Product specific Structure element SE SE 0 127 Sl and Standard IDN S 0 nnnn data block number 3 5 determined by sercos o o i o 14 12 0 7 Parameter Set Et e Data block number if SI SE 0 11 0 0 4095 F unction group if SI or SE is not 0 Examples S 0 0047 0000002Fh 5 0 1302 0 3 00030516h P 0 0211 000080D3h 13 RT LEDs
13. 1359 g 1 359 kg Input value for J total 1 359 kg cm 2 10 2 3 Torque constant For linear motors the force constant of the linear motor unit N A is used instead of the torque constant since a torque constant is not applicable for a linear system Example Linear guide LMO1 23x80 160 with a mass of 610 g and 749 g of additional load mass Force constant 11 N A Input value for torque constant 11000 0 001 Nm A AG LinMot v LinMot com Page 22 36 sercos Interface Manual E LinMot 10 3 Realtimechannel 10 3 1 Standard Telegram 4 Parameter Value TelegramType 4 PrimaryOperationMode 3 ConfigurationListAT ConfigurationListATLength PositionFeedbackValueOffset ConfigurationListMDT ConfigurationListMDTLength 2 PositionCommandValueOffset 0 O hN 10 3 2 Configuration List including the Configuration Module If the Realtimechannel is configured with a list of IDNs the LinMot StatusWord StateVar and the Realtime IO Configuration Module see chapter 8 Realtime IO Configuration Module can be mapped directly as part of the real time process data Parameter Value TelegramType 7 PrimaryOperationMode 3 ConfigurationListAT S 0 0051 0 0 P 0 0100 0 0 P 0 0101 0 0 P 0 0220 0 0 P 0 0221 0 0 P 0 0222 0 0 ConfigurationListATLength 8 PositionFeedbackValueOffset 0 ConfigurationListMDT S 0 0047 0 0 P 0 0210 0 0 P 0 021 1 0 0 P 0 0212 0 0 ConfigurationListMD
14. EPRESENTATION 34 RT EDS uu ull l l uuu uuu S ks 34 14 TROUBLESHOOTING 35 5 14 1 ANALYZING TRAFFIC IN SERCOS NETWORKS 35 14 2 FREQUENT PROBLEMS AND SOLUTIONS 35 15 CONTACT ADDRESSES 36 4 36 sercos Interface Manual E LinMot 1 System Overview The LinMot C1250 SC xx xS xxx E1250 SC xx E1450 SC xx xS and M B8050 ML SC devices are sercos slaves with the following parameters Device Property Value Supported profiles and telegram types FSP DRIVE FSP_IO Minimal sercos cycle time 250 us 0150 1764 E1250 SC UC 0150 1785 E1450 SC QN 0S 0150 2357 E1450 SC QN 1S Vendor Device ID 0150 1881 B8050 ML SC 0150 2032 MB8050 ML SC 0150 1887 C1250 SC XC 0S 000 0150 2349 C1250 SC XC 1S 000 Vendor Code 342 0156h For further information on sercos please visit http www sercos org 5 2 i Note The LinMot sercos drives always operate in position control mode when using the FSP DRIVE profile thus it is NOT recommended to use additional functionality like the command table motion commands triggered by I O etc as this can lead to unpredictable system behavior When using the FSP IO profile everything can be used in combination as the user has complete cont
15. LU GRN WHT BRN BRN gt Q N wiring Assignment 100BASE TX Use standard patch cables twisted pair S UTP AWG26 for This type of cable is usually referred to as a Cat5e Cable 3 2 Setting the sercos Address E 0 2 i The sercos address is set via the two ID switches 51 52 where 51 sets the high digit and S2 the low digit The address can have a value between 1 01h and 255 FFh S1 S2 E12x0 C12x0 Address Selectors 51 Bus ID High Oh Fh S2 Bus ID Low Oh Fh Note The sercos address has no use with some identification modes like topology based addressing Consult the manuals of your sercos master for further details NTI AG LinMot www LinMot com Page 7 36 sercos Interface Manual EB LinMot 4 sercos Parameters and Variables in LinMot Talk 4 1 Parameters The sercos interface has its own parameter tree branch Parameters sercos which can be configured with the distributed LinMot Talk software The LinMot Talk software can be downloaded from http Awww linmot com from the section Download Software and Manuals sercos Application Type S 0 1302 0 3 This parameter contains the type of the drive application e g main linear drive pusher 001 X axis etc The user can write this parameter if desired It is used for identification purposes
16. Mc1 Device Database g IM Library Repository Real Axes Vitual Aves Create Library Encoder Axes Converting Previous Libraries B Link Axes Annliratinnc 101 2 Add the LinMot device to the device database oe Available devices Vendor lt All vendors gt Vendor Version Miscellaneous J Fieldbusses a Function modules Install Device Descriptions J Motion Controls ee lt Inf S3 Intf S3 SDDML JA r rJ ad Name Anderungsdatum El Zuletzt besuchte Orte BB E1450 SC QN xml Computer Weitere gt Ordner Ji FPGA Display all versions for expet k Intf_S3 Je settings d Bin js Ctrl d Debug Doc SDDML M cre Dateiname E1250 SC UCxml gt SERCOS Ill XML Device Anche The SDDML files are part of the LinMot Talk installation The default paths are C Program Files LinMot LinMot Talk Build xxxxxxxx Firmware Interfaces SERCOSIINSDDML C Program Files LinMot LinMot Talk Build xxxxxxxx Firmware Interfaces SERCOSIII_ML SDDML NTI AG LinMot Motcom 27 36 sercos Interface Manual LinMot 3 The device is now available in the IndraWorks library Drive and Control Visualization Periphery 4 Inline E Profibus DP Profinet IO SERCOS III fj E1450 SC QN fg RAL 53 BK 018 DO4 PAC RALB 53 24 0
17. ROM value of a UPID is accessed Y 2 2 RAM and ROM value of a UPID is accessed only applicable when writing UPIDs Note Not every UPID has a RAM and a ROM Value Supported UPID functions via IDN access over the sercos service channel UPID Access IDN Access Read UPID value RAM or ROM value Write UPID value RAM and or ROM value Get minimum value of UPID Get maximum value of UPID Read IDN Element 7 structure of operation data Write IDN Element 7 structure of operation data Read IDN Element 5 structure of minimum value Read IDN Element 6 structure of maximum value NTI AG LinMot vw LinMot com 17 36 E 0 2 i sercos Interface Manual LinMot 8 Realtime IO Configuration Module This software module can be used to access parameters by UPID setting their values to default read the error log and much more For a detailed description of the whole functionality please refer to the manual Drive Configuration over Fieldbus 565 The following IDNs are used for the configuration module IDN Description Data Direction LinMot Config Module Value Out PLC Drive PLC Drive 5 E 2 i Drive Drive PLC Drive PLC Drive PLC These IDNs are accessible over the sercos service channel or they can be d
18. TLength 6 PositionCommandValueOffset 0 Note The order of the list s objects and its content have to be exactly as stated in the table above to work properly TI AG LinMot www LinMot com Page 23 36 E 0 2 i sercos Interface Manual E LinMot 10 3 3 Configuration List including motor feedback parameters If the Realtimechannel is configured with a list of IDNs the LinMot StatusWord StateVar the velocity feedback S 0 0040 torque force feedback S 0 0084 and the effective current 5 0 0389 can also be mapped directly as part of the real time process data 0 0084 0 0 S 0 0389 0 0 ConfigurationListATLength 9 PositionFeedbackValueOffset 0 ConfigurationListMDT S 0 0047 0 0 ConfigurationListMDTLength 2 PositionCommandValueOffset 0 gt Parameter Value TelegramType 5 PrimaryOperationMode 3 7 S 0 0051 0 0 P 0 0100 0 0 P 0 0101 0 0 S 0 0040 0 0 S 2 ConfigurationListAT o o i Note The order of the list s objects and its content have to be exactly as stated the table above to work properly 10 4 Identification Identification of the LinMot drive is possible with all modes 0 4 Vendor Information VendorCode 342 0156h 0150 1764 E1250 SC UC 0150 1785 E1450 SC QN NTIAG LinMot vw LinMot com Page 24 36 sercos Interface Manual f LinMot 10 5 Code exam
19. elegram Types LinMot drives support the sercos standard telegram 4 in basic operation mode 3 Position control using position feedback value 1 motor feedback The IDN S 0 0015 configures the telegram type where bits 2 0 with the value 100 indicate the use of standard telegram 4 Standard telegram 4 Telegram Type 4 MDT S 0 0134 Drive control S 0 0047 Position command value AT S 0 0135 Drive status S 0 0051 Position feedback value 1 motor feedback Configuration with an IDN list is also possible telegram type 7 Configuration with an IDN list Telegram Type 7 Drive control S 0 0047 Position command value MDT P 0 0210 LinMot Configuration Module Control P 0 0211 LinMot Configuration Module Index In LinMot Configuration Module Value In S 0 0135 Drive status S 0 0051 Position feedback value 1 motor feedback P 0 0100 LinMot StatusWord AT P 0 0101 LinMot StateVar P 0 0220 LinMot Configuration Module Status P 0 0221 LinMot Configuration Module Index Out P 0 0222 LinMot Configuration Module Value Out Note The order of the list s objects and its content have to be exactly as stated in the table above to work properly Note For more information on the configuration module see chapter 8 Realtime IO Configuration Module TI AG LinMot vw LinMot com Page 11 36 E 0 2 i sorcos interface LinMot 5 2
20. inMot ControlWord 4 Modify read value by setting bit 11 Home bit 5 Initiate the homing procedure by writing the LinMot ControlWord back to the drive 6 Check if homing is finished by reading the bit bit 11 of the LinMot StatusWord 7 Reset bit 11 of the LinMot ControlWord AG LinMot y LinMot com Page 20 36 sercos Interface Manual E LinMot 10 Commissioning with ELAU PacDrive 3 controllers The LinMot E1250 SC xx and E1450 SC xx drives can be integrated in an ELAU PacDrive 3 system with the use of the SercDrv object This object uses the FSP_DRIVE profile For additional information consult the corresponding manuals from ELAU This chapter describes how to configure this object for use with a LinMot system The subchapters cover the different parameter groups as they are presented in the EPAS configuration window for the SercDrv object 10 1 General 5 E 2 i Parameter Value Motor peak current Maximum input current of the motor Maximum output current the drive is Drive peak current ire to deliver The required values can be found in the LinMot data book Example Linear guide LM01 23x80 160 with a mass of 610g and 749g of additional load mass Input value for motor peak current 4000 mA 72VDC Input value for drive peak current 32000 mA 10 2 Motor Mechanic As the LinMot motors are linear systems the pa
21. ing mode Make sure that the topological addresses are configured correctly when using this addressing mode Drive does not start up to CP4 Make sure that the application type Strings S 0 1302 0 3 are unique on all devices when using this addressing mode Make sure that the drive serial numbers are configured correctly on all devices when using this addressing mode NTI AG LinMot www LinMot com Page 35 36 sercos Interface Manual f LinMot 15 Contact Addresses SWITZERLAND NTI AG LinMot Haerdlistr 15 CH 8957 Spreitenbach gt Sales and Administration 41 0 56 419 91 91 office linmot com Tech Support 41 0 56 544 71 00 3 support linmot com a Tech Support Skype skype support linmot Fax 41 0 56 419 91 92 Web http www linmot com USA LinMot Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration 877 546 3270 262 743 2555 Tech Support 877 804 0718 262 743 1284 Fax 800 463 8708 262 723 6688 E Mail us sales linmot com Web http www linmot usa com Please visit http www linmot com to find the distributor closest to you Smart solutions are www LinMot com Page 36 36 LinMot LinMot com
22. irectly mapped to the real time process data see chapter 5 1 1 Telegram Types and 10 3 2 Configuration List including the IO Configuration Module Example Read the RAM value of a parameter 1 Write UPID of parameter to IDN P 0 0211 2 Write Config Module Control Command 110xh to IDN P 0 0210 3 Read IDN P 0 0222 to get the RAM value of the parameter Example Write the RAM value of a parameter 1 Write UPID of parameter to IDN P 0 0211 2 Write value of parameter to IDN P 0 0212 3 Write Config Module Control Command 130xh to IDN P 0 0210 N A G LinMot v LinMot com Page 18 36 sercos Interface Manual LinMot 9 Drive Homing The homing mode can be configured with the LinMot Talk software All the different possibilities to start the homing procedure will trigger this configured homing mode Even though it is possible to use a LinMot motor without being referenced to the machine zero point it is strongly advised not to as this can lead to unpredictable system behavior E 0 2 i It is recommended to use the drive controlled homing procedure command IDN S 0 0148 when possible 9 1 Using the Drive Controlled Homing Procedure Command Relevant parameters IDN Description S 0 0148 Drive Controlled Homing Procedure Command S 0 0147 Homing Parameter By executing IDN S 0 0148 as a procedure command the drive controlled ho
23. ming is started The procedure can only be executed successfully when the drive is already enabled Drive Control Word S 0 0134 E000h Executing this command while the drive is not enabled will result in an error Note Configured homing modes by IDN S 0 0147 will be ignored the drive always executes the homing procedure which was configured with LinMot Talk The start inhibitor will be overridden automatically if necessary Note Using this procedure function command is only possible when using the drive with the FSP DRIVE profile LinMot y LinMot com 19 36 sercos Interface Manual LinMot 9 2 Using the LinMot Control StatusWords When using the FSP IO profile all of the necessary parameters are part of the real time process data When using the FSP DRIVE profile all of the necessary parameters can be accessed via the sercos service channel Relevant parameters Description IDN 0 0000 29 82 1D528000h 0 0000 29 81 1D518000h P 0 0000 27 98 1B628000h LinMot ControlWord accessed via interface 1D52h 5 E 2 i 1D51h LinMot StatusWord 1B62h LinMot StateVar 1 Check if the drive is in operational state Operation Enabled StateVar 08xxh 2 If drive is in state 00xxh Not ready to Switch On toggle bit 0 of the LinMot ControlWord to override the start inhibitor 3 Read L
24. nMot motion command interface is used how the LinMot state machine works etc please consult the following user manuals Usermanual MotionCtrlSW 565 Drive Configuration over Fieldbus SG5 NTIAG LinMot www LinMot com FH Page 12 36 sercos interface Manual J LinMot 5 2 2 Drive Interface M B8050 ML SC When using the B8050 ML SC the following interface is configured as cyclic real time data per axis Drive Interface gt Axis x TX ControlWord Ulnt16 Ulnt16 Axis x TX_MC_Par_Word_0 Ulnt16 5 Axis x TX MC Par Word 1 Ulnt16 2 Axis x TX MC Par Word 2 Ulnt16 6 Axis x TX MC Par Word 3 Ulnt16 9 Axis x TX MC Par Word 4 Ulnt16 2 Axis x TX MC Par Word 5 Ulnt16 Axis x TX MC Par Word 6 Ulnt16 Axis x TX MC Par Word 7 Ulnt16 Axis x TX MC Par Word 8 Ulnt16 Axis x TX MC Par Word 9 Ulnt16 Axis x TX Cfg Module Control Ulnt16 Axis x TX Cfg Module Index Out Ulnt16 Axis x TX Cfg Module Value Out UInt32 Axis x RX StateVar Ulnt16 Axis x RX StatusWord Ulnt16 Axis x RX WarnWord Ulnt16 Axis x RX DemandCurrent SInt16 Axis x RX ActualPosition SInt32 Axis x RX DemandPosition SInt32 AT Axis x RX Reserved Word 1 Ulnt16 Axis x RX Reserved Word 2 Ulnt16 Axis x RX Reserved Word 3 Ulnt16 Axis x RX Reserved Word 4 UInt16 Axis_x_RX_Cfg_Module_Status Ulnt16 Axis x RX Cfg Module Index In Ulnt16 Axis x RX Cfg Module Value In UInt32
25. nymore Process Data from the MC Link Device to the PLC es na Axis x RX StateVar 0x04A1 Error is indicated Last valid value is preserved Axis x RX StatusWord OxXXXX 0x0008 and error flag is forced Last valid value is preserved Axis x RX WarnWord OxXXXX 0x4000 and Intf Warn flag is forced Axis x RX DemandCurrent OxXXXX Last valid value is preserved NTI AG LinMot www LinMot com Page 14 36 sercos Interface Manual LinMot 6 Mapping Errors Warnings to C1D 20 6 1 Class 1 diagnostic C1D 85 0 0011 The IDN S 0 0129 Manufacturer class 1 diagnostic always contains the LinMot error number of the most recent error If a LinMot error is mapped to one of the C1D bits this bit is in case of that error If another error occurs bit 15 is set and error code can be read via IDN S 0 0129 5 C1D sercos C1D errors LinMot error description LinMot Drive i E12x0 E14x0 Bit error E12x0 E14x0 o Bit 15 manufacturer specific error See S 0 0129 Both o Bit 14 reserved Both EXE over travel limit is exceeded Err Min Pos Undershot 0007h Both miei ME Err Max Pos Overshot 0008h Both Bit 12 reserved Both T ar Err Pos Lag Always Too Big 000Bh Both Bit 11 excessive position deviation Pos Lag Standing Too Big 000Ch Both Bit 10 power supply phase error Both Bit9 under v
26. oltage error Err X1 Pwr Voltage Too Low 0003h Both Bit8 over voltage error Err X1 Pwr Voltage Too High 0004h Both Bit 7 over current error Fatal Err X1 Pwr Over Current 000Dh E12x0 Bite error in the commutation Fatal Err X13 Signals Missing 000Ah Both system Fatal Err X3 Hall Sig Missing 0021h Both Bit5 feedback error Err Sensor Alarm On X13 0025h Both Err X4 Logic Supply Too Low 0001h Both Control voltage error Err X4 Logic Supply Too High 0002h Both Bit3 cooling error shut down Err Fan Driver Error 0043h Both Bit 2 Weisel ever Err Motor Sensor 0020h Both shut down Err Drive Ph1 Too Hot 0010h E12x0 Err Power Module Too Hot 0010h E14x0 Err Drive Ph1 Too Hot 0011h E12x0 Err Motor Supply Too Hot 0011h E14x0 Bit 1 amplifier over temperature Err Drive Ph2 Too Hot 0012h E12x0 shut down Err Sensor Supply Too Hot 0012h E14x0 Err Drive Ph2 Too Hot 0013h E12x0 Err Drive Pwr Too Hot 0014h E12x0 Err Drive X3 Too Hot 0016h E12x0 Err Drive Core Too Hot 0017h Both Bit 0 overload shut down Err Motor Short Time Overload 0023h Both Note If an error is fatal the error cannot be acknowledged In that case power cycling is required to clear the error NTI AG LinMot www LinMot com Page 15 36 sercos Interface Manual LinMot 6 2 Class 2 diagnostic C2D S 0 0012 The IDN S 0 0181 Manufacturer class 2 diagnostic always contains the LinMot WarnWord If a bit of the LinMot WarnW
27. ord is set that is not matched to a sercos C2D warning bit 15 is set to indicate a manufacturer specific warning sercos C2D warning LinMot warning Bit of LinMot WarnWord E 0 2 i Bit 15 Manufacturer specific See S 0 0181 _ warning Bit 14 Reserved Bit 13 Reserved Bit 12 Communication warning Bit 11 Excessive velocity deviation Bit 10 Reserved Bit 9 warning Motor Supply Voltage Low 2 voltage Bit 8 Reserved Bit 7 Reserved z Bit 6 Reserved gt Bit 5 Reserved Bit 4 Reserved Bit 3 cooling error warning Bit 2 metar NN ro Motor Hot Sensor 0 warning Bit 1 amplifier over temperature Drive Hot 6 warning Bit 0 overload warning Motor Short Time Overload 1 NTI AG LinMot www LinMot com Page 16 36 sercos Interface Manual E LinMot 7 Read Write UPIDs via IDNs Every parameter and variable in a LinMot system has its own UPID Unique Parameter ID Every UPID is mapped to its own manufacturer specific IDN to access it via the sercos service channel UPIDs are mapped according to the following table UPID IDNaec IDNhex OxHBLB 0000 OxHBLB0000 0 00008000 0x0000Y000 HB High Byte hexadecimal High Byte decimal LB Low Byte hexadecimal LBuec Low Byte decimal Y 0 RAM value of a UPID is accessed Y 1
28. ples This chapter provides sample code snippets in structured text for use with a PacDrive 3 system 10 5 1 Homing 5 If startHoming is set to 1 the homing procedure will be executed PROGRAM SR_Main VAR 2 i_stAxisId DRV_SercDrv stLogicalAddress 5 IDNDataOUT DWORD StartHoming_PFC BOOL 0 e RetVAL DINT 9 END VAR N Start Homing via PFC IF StartHoming PFC THEN FC ControllerEnableSet i stAxisId RetVAL SercosWriteServiceData i stAxisld 148 7 ADR IDNDataOUT The Value of IDNDataOUT is not of importance and can be of arbitrary value 4 StartHoming PFC 0 END_IF 10 5 2 Write UPID RAM value If startwritetpN is set to 1 the UPID will be written once PROGRAM SR Main VAR StartWriteIDN BOOL 0 RetVAL DINT 1 stAxisld SercDrv stLogicalAddress IDN DWORD 16 13A68000 UPID 13A6h Maximal Current IDNDataOUT DWORD 3000 Set Maximal Current to 3A NumBytetoWrite WORD 4 write 4 bytes of data END VAR WriteIDN IF StartWriteIDN THEN RetVAL FC_SercosWriteServiceData i stAxisld IDN 5 ADR IDNDataOUT NumBytetoWrite StartWriteIDN 0 END IF NTIAG LinMot www LinMotcom 25 36 sercos Interface Manual o LinMot 10 5 3 Read UPID RAM value If startReadIDNiS set to 1 the UPID will be read once PROGRAM SR Main VAR StartReadIDN BOOL 0 RetVAL DINT i
29. rameters of the SercDrv rotative system have to be chosen in a way that approximately maps this rotative system to a linear one With the following values for the parameters a unit of position FeedbackResolution FeedConstant is equivalent to 0 1mm Parameter Value Unit FeedbackResolution 10000 Inc 0 1 um Direction right vw LinMot com 21 36 TI AG LinMot sercos Interface Manual LinMot 10 2 1 MaxRPM This value has direct influence on the maximum velocity It has to be set in a way that the resulting maximum velocity matches the value in the LinMot data book for max speed Example Linear guide LMO1 23x80 160 with a mass of 610 g and 749 g of additional load mass Max Speed 72VDC 6 0 m s 360 m min Input value for MaxRPM 360 m min FeedbackResolution 360 m min 10 mm 36000 1 min 10 2 2 J total As the moment of inertia J is not applicable in a linear system one has to input the total moving mass of the linear system in kg considering the similarities of the following equations 5 E 2 i Rotational movement M Torque J moment of inertia a angular acceleration Linear movement F m a force m mass a acceleration Example Linear guide LM01 23x80 160 with a mass of 610 g 749 g of additional load mass Total moving mass 610 g 749 g
30. ress Both sercos Communication Phase E Ape CP4 Both avert viel Cyce Time Ulnt32 sercos cycle time in milliseconds Both ETT Ulnt16 sercos IO control word FSP_IO S 0 15600 0102 Ulnt16 sercos IO status word FSP_IO ee Ulnt16 sercos drive control word FSP_Drive cU S UInt16 sercos drive status word FSP_Drive O valug SInt32 Demand position FSP_Drive SInt32 Actual position FSP_Drive Ulnt32 sercos errors Both Lao Ulnt32 Manufacturer specific erros Both Cun DU UInt32 sercos warnings Both tu Y r Ulnt32 Manufacturer specific warnings Both Config Module Control Ulnt16 Control word of the config module Both Config Module Index In Ulnt16 Input index of the config module Both Config Module Value In Ulnt32 Input value of the config module Both Config Module Status Ulnt16 Status word of the config module Both Config Module Index Out Ulnt16 Output index of the config module Both Config Module Value Out Ulnt32 Output value of the config module Both NTI AG LinMot www LinMot com Page 10 36 E 0 2 i sercos Interface Manual 5 Supported Profiles and Telegram Types The C1250 SC xx E1250 SC xx and E1450 SC xx can be operated either as standard sercos drives utilizing the sercos drive profile or with the sercos IO profile using a LinMot custom drive interface for drive communication 5 1 Function Specific Profile Drive FSP Drive 5 1 1 T
31. rol over the system 1 See chapter 5 Supported Profiles and Telegram Types for details NTIAG LinMot yw LinMot com Page 5 36 sercos interface Manual LinMot 2 PLC Compatibilit X o gt ELAU PacDrive 3 SW Version 3 0 higher required FSP IO with LinMot drive interface FSP DRIVE with sercos drive profile o x o Bosch Rexroth IndraControl IndraMotion 3 FSP IO with LinMot drive interface e o o fe FSP DRIVE with sercos drive profile o x o CoDeSys with AUTOMATA SIII Mastercard ES FSP IO with LinMot drive interface FSP DRIVE with sercos drive profile Schleicher Electronic XCx FSP IO with LinMot drive interface FSP DRIVE with sercos drive profile KEBA sercos communication modules FSP IO with LinMot drive interface FSP DRIVE with sercos drive profile Hilscher sercos PCI master cards FSP IO with LinMot drive interface FSP DRIVE with sercos drive profile e Working x Not Working Untested AG LinMot nMot com 6 36 sercos Interface Manual 3 Connecting to the sercos Network 3 1 Pin Assignment of the Connectors X17 X18 The sercos connector is a standard RJ45 female connector with a pin assignment as defined by EIA TIA T568B X17 X18 sercos connector Wire color code WHT ORG ORG WHT GRN BLU WHT B
32. stAxisld SercDrv stLogicalAddress IDN DWORD 16 13 68000 UPID 13A6h Maximal Current IDNDataIN DWORD read data value NumBytetoRead WORD 4 read 4 bytes of data ReadDataLen UINT actual length of read data MaxReadDataLen UINT actual maximum length of read data i e max possible length of a string END VAR 4 7 ReadIDN IF StartReadIDN THEN o o RetVAL FC_SercosReadServiceData i_stAxisld IDN 5 ADR IDNDataIN NumBytetoRead ReadDataLen MaxReadDataLen StartReadIDN 0 END IF An example project for ELAU PLCs including a library with basic functions for LinMot drives is available Please contact our support department for further information E Mail support linmot com Phone 41 0 56 544 71 00 Skype support linmot LinMot com Page 26 36 sercos Interface Manual LinMot 11 Commissioning with Bosch IndraLogic IndraMotion PLCs 11 1 Integration as a sercos I O device 11 1 1 Importing the SDDML File D 1 Open the device database 9 IndraWorks Engineering lt TEST LICENSE ACTIVE gt 1250 SC_UC i Edit View Project E1250 SC UC Build Debug Diagnostics Tools Window Help I mm p Pas t BBN ale 5 2 Update DTM Catalog D Clear Error 3 Project Explorer v 46 Compare linmot Drive General Module Folder lon IndraMotion
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