PROFIBUS Communications - GE Intelligent Platforms: Support Home
Contents
1. Bit Value Meaning Remarks 0 1 Ready for Drive ready to be enabled switch on 0 Not ready for Drive disabled switch on 1 1 Ready for Refer to control word bit 0 operation 0 Not ready for Drive disabled operation 2 1 Operation Refer to control word bit 3 enabled 0 Operation Drive disabled inhibited 3 1 Fault Drive faulted and thus not operational Goes into the switch on inhibit status after acknowledgement if the fault has been removed Fault numbers are returned in the fault parameters 0 No Fault No unacknowledged faults exist Chapter 10 PROFIBUS Communications 10 25 Bit Value Meaning Remarks 4 1 No OFF2 See control word bit 1 0 OFF2 OFF2 command present 5 1 No OFF3 See control word bit 2 0 OFF3 OFF3 command present 6 1 Switch on Re close only with OFF1 and then ON Inhibit 0 No switch on Drive ready to be enabled Inhibit 7 1 Alarm Drive still operational Alarm in service parameter No acknowledge See PNU 953 0 No Alarm Alarm not present or alarm has disappeared again See PNU 953 8 1 No No following error faults Contouring error 0 Contouring Following error faults exist error 9 1 Control The automation system is requested to accept control always requested true 0 Operation on Control only possible on the device itself site 10 1 Set point in The actual position valu2. Status Switch on inhibit ZSW input bit 6 is set to 1 Command Acknowledge Set STW output bit 7 to 0 Command Drive OFF 1 Set STW output bit 0 to 0 Status Switch on inhibit ZSW input bit 6 is set to 0 Command ON Set STW output bit 0 to 1 Drive reset amp enabled Figure 10 6 Acknowledging and Resetting Faults Enabling To drop the enable on the drive set bit 3 of the control word to zero Disabling the drive does not set the fault bit bit 3 of the status word When bit 3 is set to 1 the drive goes to the enable state Bit 2 of the status word indicates the state of the drive enable 1 enabled 0 inhibited e disabled Note that control word bits 0 through 3 must be true in order to keep the controller in the enabled state S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B 10 3 7 Referencing PROFIBUS Communications Prior to activating a drive task in position mode the drive must have a reference point set The PNU s 29 33 are used for the reference task The signed value in the reference velocity parameter PNU 30 determines the direction of referencing for reference position types 0 home input and 2 OT input The signed value in the marker velocity parameter PNU 31 determines the direction of referencing for reference position type 1 marker input The value in the reference position type parameter PNU 33 determines the reference
3. RW Boolean Determines whether hardware overtravel inputs are enabled FFhex enabled 0 disable 54 Forward Software Overtravel OTF RW integer32 Defines forward software overtravel limit for the axis in pulses 55 Reverse Software Overtravel OTR RW integer32 Defines reverse software overtravel limit for the axis in pulses 56 Following Error Bound FEB RW unsigned16 Limit set on the following error in pulses System faults when limit is exceeded 57 In position Band IPB RW unsigned16 Defines maximum amount of position error in pulses that the axis can have and still be in position 58 Motor Feedback Resolution FR RW unsigned32 Number of actual position feedback pulses in one revolution of the motor Set value to a positive number only 59 Commutation Ratio CMR RW unsigned16 Motor poles to resolver poles commutation ratio One of the motor constants needed to operate a resolver feedback servo motor This value along with the value of CMO can be set automatically by the MOTORSET command 60 Commutation Offset CMO RW integer16 Commutation angle offset Set by the motor manufacturer This value along with the value of CMR can be set automatically by the MOTORSET command 61 Continuous Current CURC RW unsigned16 Continuous current limits the current that the drive will continuously
4. parameter processing to the slave When the data are read the master retrieves process data status word and actual values and responses from parameter processing S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B 10 3 2 10 3 3 PROFIBUS Communications Global Control for PROFIBUS DP The PROFIBUS DP global control mechanism can be used when slave coordination requirements are high For example when setpoints must be switched or specified simultaneously In addition to the node related user data communication the masters can send control commands simultaneously to one slave a group of slaves Multicast or all slaves Broadcast These global control commands can be used for event controlled synchronization of the slaves The master establishes the global commands to use and assigns the global group number to the slaves during the configuration message Typical global commands are clear data to establish a known output state on fault the freeze message to coordinate the reading of the inputs and the sync message to coordinate switching of outputs There is additionally an unfreeze and unsync command to restore the station to normal messaging The S2K Motion Controller supports global messages clear data auto baud freeze unfreeze and sync unsync The global message change address is not supported The S2K station address is set via DIP switches Output Data Words The format fo
5. OFF 3 command present 6 1 Switch on Re close only with OFF 1 and then ON Inhibit 0 No switch on Drive ready to be enabled Inhibit 7 1 Alarm Drive still operational Alarm in service parameter No acknowledge See PNU 953 0 No Alarm Alarm not present or alarm has disappeared again See PNU 953 8 1 Setpoint in Drive running at velocity setpoint range 0 Setpoint out Drive not running at velocity setpoint Equivalent to S2K FE of range fault S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B 10 3 4 2 2 GFK 1848B PROFIBUS Communications Bit Value Meaning Remarks 9 1 Control The automation system is requested to accept control always requested true 0 Operation on Control only possible on the device itself site 10 1 Setpoint Actual value comparison value velocity setpoint set via reached PNU 21 0 Setpoint not Drive has not yet reached the setpoint reached 11 13 Reserved 14 1 Torque Limit Drive at torque limit specified by PNU 34 Torque limit must be enabled via PNU 35 0 No torque Drive not at torque limit specified by PNU 34 limit 15 Heartbeat Bit turns on and off every 100 milliseconds to validate that the edge drive remains functional Position Control Mode Descriptions of Status Word Bits Table10 15 Detailed allocation of status word ZSW bits for position control mode
6. The class 2 master is provided for configuration purposes and may briefly take over control of a given slave device Commonly only a class master mono master is used for configuration and data messaging During startup the master sets up the communication connections to the configured slave list and begins the cyclic polling process A monitoring time is established and if communication is not possible an error in communications is reported This monitoring time is reset on each successful message transfer Slave stations are configured and added to the messaging sequence from lowest address to highest address Slaves act neutrally with respect to medium access and respond to requests from master stations only within a message cycle All slaves have the same priority for bus access When a slave detects a loss of communication it sets outputs to a known state and waits for a configuration message from a master station S2K motion controllers serve as slaves on a PROFIBUS DP network Figure 10 5 PROFIBUS Master Slave Network Architecture PROFIBUS Communication S2K s communicate via cyclic data transfer the process by which process data PZD and parameters PKW are transferred from master to slave and from slave to master GE Fanuc S2K motion controllers use the PROFIBUS profile s Type 2 Octet String 20 the 20 byte data string When writing data the master transfers process data control word and setpoints and tasks for
7. The command field Task ID should be set to one when the message is executed This will return the value of the index selected PROFIBUS fault code parameter Subsequent messages may increment the Index value to get the next fault code value stored in the S2K A returned value of zero indicates the end of the fault code list for that fault condition The fault codes for the most recent fault condition will always be in index one through eight S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B PROFIBUS Communications Table 10 16 PROFIBUS S2K Fault Number Codes Fault Message Fault Message Code Code 1 Power Failure 20 Network Power Failure 2 Reserved 21 Duplicate Network Address 3 Software Fault 22 Excessive Following Error 4 Lost Enable 23 Excessive Command Increment 5 Digital Output Fault 24 Position Register Overflow 6 Invalid Command in String 25 IMJ Position Feedback Lost 7 Transmit Buffer Overflow 8 Resource Not Available 26 Motor Power Over Voltage 9 Invalid Variable Pointer 2 3 4 3 Amp Motor Power Clamp Excessive Duty Cycle 10 Mathematical Overflow 7 2 Amp Motor Power Clamp Excessive Duty Cycle Under Voltage 11 Mathematical Data Error 12 28 Amp Motor Power Under Voltage 12 Value Out of Range 28 3 4 3 Amp Reserved 13 String Too Long 7 2 Amp Motor Power Clamp Over Current Fault 14 Nonexisten
8. Value from 2 147 483 648 to 2 147 483 647 for integer32 integer variables 301 through 400 94 Integer variables 401 500 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for integer32 integer variables 401 through 500 95 Integer variables 501 600 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for integer32 integer variables 501 through 600 96 Integer variables 601 700 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for integer32 integer variables 601 through 700 97 Integer variables 701 800 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for integer32 integer variables 701 through 800 98 Integer variables 801 900 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for integer32 integer variables 801 through 900 99 Integer variables 901 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for 1000 integer32 integer variables 901 through 1000 100 Integer variables 1001 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for 1100 integer32 integer variables 1001 through 1100 101 Integer variables 1101 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for 1200 integer32 integer variables 1101 through 1200 102 Integer variables 1201 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for 1300 integer32 integer variables 1200 through 1300 103 Integer variables 1301 VI RW array 1
9. inhibited 3 Fault No fault 4 No OFF 2 Off 2 5 No OFF 3 Off 3 6 Switch on inhibit No switch on inhibit 7 Alarm No alarm 8 Setpoint in range Setpoint out of range No contouring error Contouring error 9 Control requested Operation on site 10 Setpoint reached Setpoint not reached Setpoint in range Setpoint out of range 11 Reserved Reference point set No reference point set 12 Reserved Setpoint acknowledge edge 13 Reserved Drive stationary Drive moving 14 Torque limit No torque limit 15 Heartbeat edge 100ms GFK 1848B Chapter 10 PROFIBUS Communications 10 23 10 3 4 2 1 Speed Control Mode Descriptions of Status Word ZSW Bits Table10 14 Detailed allocation of status word ZSW bits for speed control mode Bit Value Meaning Remarks 0 1 Ready for Drive ready to be enabled switch on 0 Not ready for Drive disabled switch on 1 1 Ready for Refer to control word bit 0 operation 0 Not ready for Drive disabled operation 2 1 Operation Refer to control word bit 3 enabled 0 Operation Drive disabled inhibited 3 1 Fault Drive faulted and thus not operational Goes into the switch on inhibit status after acknowledgement if the fault has been removed Fault numbers are returned in the fault parameters 0 No Fault No unacknowledged faults exist 4 1 No OFF 2 See control word bit 1 0 OFF 2 OFF 2 command present 5 1 No OFF 3 See control word bit 2 0 OFF 3
10. is available at http www profibus com GFK 1848B 10 2 10 1 1 10 1 2 Bus Communication The PROFIBUS specification defines the technical characteristics of a serial field bus system that links distributed digital controllers on the network from field level to cell level PROFIBUS is a multi master system that allows the joint operation of several automation engineering or visualization systems with their distributed peripherals on one bus PROFIBUS distinguishes between the following types of devices e Master devices determine the data communication on the bus A master can send messages without an external request when it holds the bus access rights the token Masters are also called active stations e Slave devices include motion controllers drives I O devices valves and transducers Slaves do not have bus access rights and can only acknowledge received messages or send messages to the master when requested to do so Slave devices are passive stations and require only small portions of the bus protocol The majority of PROFIBUS DP applications are located at the field level The field level typically includes slave devices i e the S2K motion controller station and host devices such as PLC or PC control systems for the PROFIBUS DP master station Operator interfaces and DCS type systems usually operate at the cell level Table 10 1 Data bandwidth demands on PROFIBUS communications systems Level Am
11. supply to the motor It is a percentage of the maximum continuous current rating of the drive times ten 62 Peak Current CURP RW unsigned16 Limits the peak value of the current that the drive will supply to the motor It is a percentage of the maximum peak current rating of the drive times ten Servo motor controllers only 63 Power Save Current CURS RW unsigned16 The power save current is used to reduce motor heating when the axis is stopped While the axis is in position the continuous current value CURC is reduced to the percentage loaded into CURS The percentage is times ten Stepping motor controllers only 64 Proportional Gain KP RW unsigned16 The position loop proportional control gain is used to multiply the following error to control the position of the axis Set automatically by the AUTOTUNE command 65 Integral Gain KI RW unsigned16 The position loop integral control gain is used to multiply the time integral of the following error to control the position of the axis Set automatically by the AUTOTUNE command 66 Derivative Gain KD RW unsigned16 The position loop derivative control gain is used to multiply the time derivative of the following error to control the position of the axis Set automatically by the AUTOTUNE command 67 Acceleration Feed Forward RW unsigned16 The acceleration feedforward constant is used to redu
12. 0 full continuous current setting 6 19 Reserved 20 Position Setpoint MPA MPI RW integer32 Profile move position defined in pulses 21 Velocity Setpoint MVL RW integer32 Defines motion velocity of the axis Signed quantity in speed control mode automatically determines the direction of the move 22 Acceleration MAC RW unsigned32 Profile acceleration rate defined in pulses second 23 Deceleration MDC RW unsigned32 Profile deceleration rate defined in pulses second 24 Jerk MJK RW unsigned16 Percentage of acceleration deceleration time that the axis will jerk limit 25 Jog Velocity One MVL RW integer32 Defines motion velocity of the axis while jogging one Signed quantity automatically determines the direction of the jog 26 Jog MAC RW unsigned32 Defines acceleration deceleration rate in pulses second Acceleration Deceleration MDC while jogging one One 27 Jog Velocity Two MVL RW integer32 Defines motion velocity of the axis while jogging two Signed quantity automatically determines the direction of the jog 28 Jog MAC RW unsigned32 Defines acceleration deceleration rate in pulses second Acceleration Deceleration MDC while jogging two Two 29 Reference Position RW integer32 Set actual position PSA to this value when Referencing finishes 30 Reference Velocity RW integer32 Set velocity MVL to this value during Referencing while in position control mode Signed quantity automatically determines the directi
13. 00 Value from 2 147 483 648 to 2 147 483 647 for 1400 integer32 integer variables 1301 through 1400 104 Integer variables 1401 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for 1500 integer32 integer variables 1401 through 1500 105 Integer variables 1501 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for 1600 integer32 integer variables 1601 through 1700 106 Integer variables 1601 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for 1700 integer32 integer variables 1601 through 1700 107 Integer variables 1701 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for 1800 integer32 integer variables 1701 through 1800 108 Integer variables 1801 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for 1900 integer32 integer variables 1801 through 1900 109 Integer variables 1901 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for 2000 integer32 integer variables 1901 through 200 110 Floating point variables 1 VF RW array 100 Absolute value from 1 5 x 10 to 1 7 x 10 for floating 100 floating point variables 1 through 100 point 111 Floating point variables VF RW array 100 Absolute value from 1 5 x 10 to 1 7 x 10 for floating 101 200 floating point variables 101 through 200 point 112 Floating point variables VF RW array 100 Absolute value from 1 5 x 10 to 1 7 x 10 for floating 201 300 floating poin
14. 10 9 8 7 6 5 4 3 2 1 0 1 Task ID Res Parameter Number PNU z 2 Index Reserved lt 3 Parameter Value MSW 4 Parameter Value LSW 5 Control Word STW 6 Digital Outputs Res Res i4 13 12 TI 10 9 Motion Block to Execute N 7 Velocity Setpoint MSW 8 Velocity Setpoint LSW 9 Position Setpoint MSW 10 Position Setpoint LSW Res Reserved GFK 1848B Chapter 10 PROFIBUS Communications 10 11 10 3 3 1 Parameter Channel Task ID The Task ID defines the functions available in the parameter channel PKW and sets behavior for the PKW messaging Setting Task ID equal to zero effectively shuts down the parameter channel and causes the remainder of the channel to be void Table 10 3 Available Output Word Task ID s Task ID_ Function 0 No task 1 Request parameter value 2 Change parameter value word 3 Change parameter value double word 4 Reserved 5 Reserved 6 7 8 9 1 Request parameter value array Change parameter value array word Change parameter value array double word Request number of array elements 0 15 Reserved 10 3 3 2 Parameter Number PNU The Parameter Number PNU allows you to read and write specific registers and variables of the S2K controller PROFIBUS DP parameters fit into two data classes cyclic and acyclic Cyclic data communicate set points and actual values for parameters that frequently change such as speed and position Cyclic data is cont
15. 2K ST command 7 1 Acknowledge Group signal is acknowledged at a positive edge converter is in the fault status until the fault has been removed and then goes into switch on inhibit 0 No Meaning 8 1 Jogging 1 Prerequisite Operation is enabled and setpoint inhibited Drive ON accelerates to jogging velocity See PNU s 25 and 26 0 Jogging 1 Drive stops if jogging 1 was previously on OFF 9 1 Jogging 2 Prerequisite Operation is enabled and setpoint inhibited Drive ON accelerates to jogging 2 velocity See PNU s 27 and 28 0 Jogging 2 Drive stops if jogging 2 was previously on OFF S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B PROFIBUS Communications Bit Value Meaning Remarks 10 1 Control by Control via interface process data valid Automation 0 No Control Process data invalid 11 15 Reserved 10 3 3 6 2 Position Control Mode Descriptions of Control Word STW Bits The following table describes the operation of the STW Control Word bits when the operating mode selected is position PNU 930 in the parameter channel sets the mode of operation Table 10 9 Detailed allocation of control word STW bits for position control mode Bit Value Meaning Remarks 0 1 ON Drive ready Must be set to operate 0 OFF1 Drive disabled Returns to status ready to switch on 1 1 Op
16. Chapter PROFIBUS Communications 10 10 1 PROFIBUS Network Overview PROFIBUS is an open vendor independent fieldbus standard for a wide range of applications in industrial automation including motion control PROFIBUS is a dynamic technology that grows functionally while complying with the European Fieldbus Standard EN 50 170 PROFIBUS Guidelines and Profiles provide the means for further technical development based on the ever changing communication requirements of the networks systems and devices used in today s industrial automation applications PROFIBUS specifications reference three different protocols to cover a range of industrial requirements PROFIBUS DP High speed data communication DP stands for Decentralized Periphery In practice the majority of slave applications are DP applications The GE Fanuc S2K Motion Controller is a PROFIBUS DP Slave device PROFIBUS FMS Object oriented general purpose data communication FMS stands for Fieldbus Message Specification FMS protocol devices may exchange data on the same bus used for DP devices PROFIBUS PA Meets requirements for intrinsical safety and non intrinsical safety areas and includes bus powered field devices The PROFIBUS logo is a trademark of the PROFIBUS International Organization Membership in the organization is open to all individuals companies and organizations More information about the organization and the protocol
17. PROFIBUS fault number code 04 FC21 bit21 excessive following error would be PROFIBUS fault number code 22 The S2K PROFIBUS controller internally maintains a 64 place data table 1 64 to store a series of PROFIBUS fault number codes The S2K fault code data is organized in an 8x8 array table where each of the possible eight fault conditions each time the S2K sensed a fault may contain up to eight fault causes fault code descriptions This data is volatile and will be lost or reset to zero if the S2K is power cycled Each element of the fault history array will contain one of the fault number codes in the following table or the value zero A maximum of eight fault codes are stored when a fault condition occurs A maximum of eight fault conditions representing the most recent faults are saved The PROFIBUS acknowledge reset fault sequence described in the next section or other methods may be used to place the S2K back into operation This does not clear the fault history data in the S2K Only a power cycle clears the table When a new fault condition occurs the number of faults PNU 952 parameter is increased by one The previous fault condition data if present is relocated eight places lower in the S2K fault history table The new fault number data is placed in the first eight locations The PNU 947 command will use the Index field of the PKW command parameter channel to select which element 1 64 of the fault data history to read
18. ROFIBUS Communications Network addresses for the GE Fanuc S2K products are established using the DIP switches located on the bottom of the controller The GE Fanuc S2K controllers accommodate addresses 0 99 Repeater Connecting Segments Remote Repeater Participant Participant Participant i i Link Segment No Participants i Participant Branch Segment Remote Participant Repeater To additional participants Figure 10 1 Repeaters and bus termination Network Segment Length PROFIBUS uses either fiber optic or RS 485 copper media The copper bus line specified in EN 50 170 is Line Type A and is the recommended cable type A more economical copper cable Line Type B is commonly used for smaller installations however is not specified in EN 50 170 It is extremely important to use cable rated to PROFIBUS specifications The higher the baud rate selected and the longer the distances involved the more critical cable selection becomes You will recognize the distinctive purple color of PROFIBUS cable Stub or T type branch connections are supported if the total stub branch lengths do not exceed 6 6 meters Do not use stubs at all on 12 Mbaud networks The data rates for network communication with maximum segment trunk length per cable type are provided below Multiple segments may be connected via repeater stations to extend the total bus length Table 10 2 Network Data Rat
19. Tsdr_12M 800 Redundancy 0 S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B PROFIBUS Communications Repeater_Ctrl_Sig 2 24V_Pins 0 Implementation_Type DPC31 Slave Specification Freeze_Mode_supp 1 Sync_Mode_supp 1 Auto_Baud_supp 1 Set_Slave_Add_Supp 0 User_Prm_Data_Len 3 3 bytes for DPV1 User_Prm_Data 0x00 0x00 0x00 Fail_Safe 1 Min_Slave_Intervall 1 Max_Diag Data_Len 6 Modul_ Offset 0 Slave_Family 1 Drive Family Modular_Station 1 Max_Module 1 Only one module at a time Max_Input_Len 20 20 bytes input data Max_Output_Len 20 20 bytes output data Max_Data_Len 40 40 bytes I O data Module Definition List PPO Type 1 PKW 4 words PZD 2 words Module PPO Type 1 OxF3 OxF1 EndModule PPO Type 2 PKW 4 words PZD 6 words Module PPO Type 2 0xF3 OxF5 EndModule PPO Type 3 PZD 2 words Module PPO Type 3 OxF1 EndModule PPO Type 4 PZD 6 words Module PPO Type 4 OxF5 EndModule GFK 1848B Chapter 10 PROFIBUS Communications 10 9 10 10 10 3 10 3 1 Overview of Master Slave Station Types The PROFIBUS DP protocol defines two station types Masters and Slaves Masters form the logical token ring and may access the medium while holding the token Masters initiate message cycles to other stations There are two classes of master devices The class 1 master handles the data exchange with slaves assigned to it
20. accessed The parameter channel PKW returns data because of the active command words Task ID and specified PNU This data will vary as the command word task changes The Process Data channel PZD reflects cyclic status information The actual position and velocity values are always represented in feedback pulses encoder counts and feedback pulses per second respectively Table 10 10 PROFIBUS DP Input Data Words for S2K Motion Controllers Input Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 Response ID Res Parameter Number PNU 2 Index Reserved x 3 Parameter Value MSW 4 Parameter Value LSW 5 Status Word ZSW 6 3 7 6 Digital Hips 3 z i Motion Block Executing N 7 Actual Velocity MSW 8 Actual Velocity LSW 9 Actual Position MSW 10 Actual Position LSW 10 22 10 3 4 1 Res Reserved Response ID Defines the responses available Table 10 11 Available Input Word Response ID s Response Function ID 0 No response 1 Transfer parameter value word 2 Transfer parameter value double word 3 Reserved 4 Transfer parameter value array word 5 Transfer parameter value array double word 6 Transfer number of array elements 7 Task cannot be executed with error number in PKW4 see tabl
21. ained in the process data channel PZD Cyclic parameters use low quantities of data from 16 to 32 bits and require a short cycle time of a few milliseconds Cyclic data exchange is efficient and has the following characteristics e Devices produce data at a user configured rate e Devices that need more bandwidth can get it e Data are sampled at precise intervals for better determinism Acyclic data are those parameters that seldom change like minimum and maximum speed limits Acyclic data is transferred over the parameter channel PKW Parameters that require higher quantities of data use acyclic data exchange 10 12 S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B PROFIBUS Communications Table 10 4 PROFIBUS Parameter Number PNU List for S2K S2K Valid PNU Parameter Equivalent Access Data Type Description Register Modes 1 Command Position PSC RO integer32 Command position of the axis 2 Actual Position PSA RW integer32 Real position in pulses Set to redefine actual position 3 Actual Velocity VLA RO integer32 Actual velocity in pulses sec 4 Following Error FE RO integer 16 Axis following error is the difference between the axis position PSA and the command position PSC 5 Current Command CMD RO integer 16 Position controller command output used to control the position of the axis where 100
22. ata array for PNU 90 through 120 variables and PNU 947 fault array Parameter Value The data to be sent to the slave station MSW Parameter value most significant word LSW Parameter value least significant word Process Data Channel Control Word STW The bits set in this word control the axis operation The Control Word STW is always active to the motion controller and the status of the bits must be constantly maintained in the host PLC or PC control application logic Speed Control Mode or Position Control Mode is selected via the parameter channel PNU 930 The default is for Position mode See PNU 967 in a previous table for an alternate way to acquire this data Table10 7 Allocation of Control Word Bits STW Bit Meaning Speed Control Mode Position Control Mode 0 ON OFF 1 1 Operating condition OFF 2 2 Operating condition OFF 3 3 Enable operation Inhibit operation 4 Operating condition Inhibit ramp Operating condition Reject traversing 5 Enable ramp Stop ramp Operating condition Intermediate stop 6 Enable setpoint Inhibit setpoint Activate traversing task edge 7 Acknowledge No meaning 8 Jogging 1 ON JJogging 1 OFF 9 Jogging 2 ON Jogging 2 OFF 10 Control by automation No control 11 Reserved Start Referencing Terminate Referencing 12 Reserved Relative Absolute 13 Reserved 14 Reserved 15 Reserved 10 3 3 6 1 Speed Control Mode Descripti
23. ce following error during acceleration or deceleration Set automatically by the AUTOTUNE command 68 Filter Time Constant KT RW unsigned16 Filter time constant is used to eliminate dither Set automatically by the AUTOTUNE command 69 Motor Inductance RW unsigned16 Tunes the digital current controller to the attached S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B PROFIBUS Communications S2K Valid PNU Parameter Equivalent Access Data Type Description Register Modes motor 70 Stepping Motor Number KM RW unsigned16 Tunes the controller to provide optimum performance for the attached stepper motor 71 Output Control RW v2 0 output is not under Profibus control 1 output is under Profibus control Bit wise control for each of outputs 9 14 72 89 Reserved 90 Integer variables 1 100 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for integer32 integer variables 1 through 100 91 Integer variables 101 200 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for integer32 integer variables 101 through 200 92 Integer variables 201 300 VI RW array 100 Value from 2 147 483 648 to 2 147 483 647 for integer32 integer variables 201 through 300 93 Integer variables 301 400 VI RW array 100
24. e 10 4 Location of DIP Switches on Bottom Figure 10 3 S2K DIP Switch Profibus Address of S2K Controller Settings GFK 1848B Chapter 10 PROFIBUS Communications 10 7 Step 2 Configure Master to Add Slave to the Network 10 8 10 2 3 PROFIBUS DP systems accept S2K controllers as slaves to a network master The network master automatically sets the network data rate for the S2K controllers that have been properly configured and connected to the network A device electronic data sheet or GSD file for the S2K Motion Controller is available from GE Fanuc to expedite the master configuration A GSD file contains information to specify methods of communication and types of messaging available Most PROFIBUS master configuration tools require the GSD file in order to operate The GSD File Data for the S2K Motion Controller GSD File Standalone Motion Controller Version V1 0 Profibus_DP GSD_Revision 1 General parameters Vendor_Name Whedco Inc Model_Name Standalone Motion Controller Revision V1 0 Ident_Number 0x05E9 Protocol_Ident 0 Station_Type 0 FMS_supp 0 Hardware_Release D Software_Release V1 0 9 6_supp 1 19 2_supp 1 45 45_supp 1 93 75_supp 1 187 5_supp 1 500_supp 1 1 5M_supp 1 3M_supp 1 6M_supp 1 12M_supp 1 MaxTsdr_9 6 60 MaxTsdr_19 2 60 MaxTsdr_45 45 250 MaxTsdr_93 75 60 MaxTsdr_187 5 60 MaxTsdr_500 100 MaxTsdr_1 5M 150 MaxTsdr_3M 250 MaxTsdr_6M 450 Max
25. e below 8 15 Reserved S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B PROFIBUS Communications 10 3 4 1 1 PKW4 Word Error Numbers Possible error numbers reported in the PKW4 word are listed below when the task response ID 7 Displays information about the status and signals of the position controller See PNU 968 ina previous table Table 10 12 Reply message ID 7 Error Numbers PK W4 Explanation Illegal parameter number PNU Parameter value cannot be changed Lower or upper limit violated Erroneous array index No array Incorrect data type Reserved Descriptive element cannot be changed Reserved Descriptive data not available 10 16 Reserved 17 Task cannot be executed due to operating status 18 Reserved 19 Data cannot be read in cyclic data transfer ics z S s SININ A SIN o Ke Process Data Channel Status Word ZSW The bits in this word report status of the drive Speed Control mode or Position Control Mode is selected via command word PNU 930 See PNU 967 in a previous table for alternate ways to acquire this data Table 10 13 Allocation of Status Word Bits ZSW Bit Meaning Speed Control Mode Position Control Mode 0 Ready for switch on Not ready for switch on 1 Ready for operation Not ready for operation 2 Operation enabled Operation
26. e is located at the end of a drive task in range the positioning window 0 Set point out Drive task active or actual position outside positioning window of range 11 1 Reference Referencing was preformed and is valid Point Set 0 No reference No valid reference present point set 12 edge Set point An edge was used to acknowledge that a new drive task was acknowledge accepted Same level as bit 6 of the control word 13 1 Drive Signals the conclusion of a drive task or stand still during stationary intermediate stop and stop 0 Drive Drive task is being executed moving 10 26 S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B 10 3 4 3 10 3 4 4 10 3 4 5 10 3 5 GFK 1848B PROFIBUS Communications Bit Value Meaning Remarks 14 1 Torque Limit Drive at torque limit specified by PNU 34 Torque limit must be enabled via PNU 35 0 No torque Drive not at torque limit specified by PNU 34 Torque limit limit must be enabled via PNU 35 15 edge Heartbeat Bit turns on and off every 100 milliseconds to validate that the drive remains functional Digital Inputs 1 through 8 Status level of the S2K digital inputs DIO1 DIO8 available on the controller Actual Velocity MSW Actual velocity value most significant word See PNU 3 LSW Actual velocity value least significant word See PNU 3 Actual Position MSW Actual position value most signi
27. ends of the trunk line Commercially available plug connectors may have built in terminating resistors or you may build your own Figure 10 2 Bus Termination for Type A cable in accordance to PROFIBUS specifications 10 4 S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B PROFIBUS Communications 10 1 6 Network Baud Rate The master configures the appropriate network baud for each station on the network Allowed values for S2K network baud rates are 9 600 19 200 45 450 93 750 187 500 500 000 1 500 000 3 000 000 6 000 000 or 12 000 000 GFK 1848B Chapter 10 PROFIBUS Communications 10 5 10 6 10 2 10 2 1 10 2 2 Getting Started The following information is intended to outline the steps required to commission a S2K and incorporate it into a PROFIBUS network segment Connection Checklist GE Fanuc Supplied Components 1 S2K controller with PROFIBUS per axis 1 motor per axis Cables CIMPLICITY Motion Developer software User Supplied Components DC power to digital I O 16 gauge wire to jumper I O connectors PROFIBUS network hardware Complete Basic Set up Procedure Before you connect and use your S2K controller on PROFIBUS take a few minutes to complete the Process for Basic Set up located in Chapter 4 The set up process takes you systematically through each of the following items e Install software e Connect cables e Jumper dedicated I O if applicable e Establish commun
28. erating All OFF2 commands are withdrawn Must be set to operate Condition 0 OFF2 Drive disabled Drive at switch on inhibit status 2 1 Operating All OFF3 commands are withdrawn Must be set to operate Condition 0 OFF3 Drive disabled Drive at switch on inhibit status Fast Stop 3 1 Enable Enable drive Then acceleration to the entered set point Operation 0 Inhibit Drive disabled Motor coasts down and into the ready status Operation refer to control word bit 0 4 1 Operating Condition 0 Reject Speed set to zero Drive remains enabled Same functionality as Traversing the S2K HT command 5 1 Operating Must be continuously available for execution of a drive task Condition 0 Intermediate Speed ramps down to zero Same functionality as the S2K ST Stop command The drive task is not cancelled The drive task continues when a change to bit 5 1 occurs GFK 1848B Chapter 10 PROFIBUS Communications 10 19 10 20 Bit Value Meaning Remarks 6 edge Activate Each edge transition enables a drive task toggle bit A change Traversing in edge may occur only when the following conditions exist 1 Task Drive must be enabled 2 Reference point has been set by status bit 11 3 Bit 12 has acknowledged the previous change in edge 7 1 Acknowledge Group signal is acknowledged at a positive edge converter is in the fault
29. es and segment distance limitations Data Rates 9600 baud 187 5 Kbaud 500 Kbaud 1 500 Kbaud 3 000 Kbaud 19 2 Kbaud 6 000 Kbaud 93 75 Kbaud 12 Mbaud Trunk distance 1 2 km 1 000 m 400 m 200 m 100 m Line Type A 3 937 ft 3 280 ft 1 312 ft 656 ft 328 ft RS 485 Copper Trunk distance 1 2 km 600 m 200 m N A N A Line Type B 3 937 ft 1 968 ft 656 ft RS 485 Copper Trunk Distance 6km glass Fiber 19 685 ft Chapter 10 PROFIBUS Communications 10 3 10 1 4 Network connectors PROFIBUS connections are created with a 9 pin sub D connector A minimum connection is to use a shielded pair of wires Pins 1 3 and 8 with terminating connections in the appropriate bus plugs The pin to signal conventions are described below Table 10 2 Plug Connector Pin Allocation of the PROFIBUS Bus Plug Connector Pin No Signal Designation 1 Shield Shield Protective Ground 2 M24 Ground Common of the 24 V output voltage 3 RxD TxD P Receive data transmission data plus 4 CNTR P Control signal for repeaters direction control 5 DGND Data transmission potential ground to 5V 6 VP Supply voltage of the terminating resistance 5 V 7 P24 Output voltage 24 V 8 RxD TxD N Receive data transmission data negative 9 CNTR N Control signal for repeaters direction control 10 1 5 Network Termination The bus must be terminated at both
30. ficant word See PNU 2 LSW Actual position value least significant word See PNU 2 Fault History and Fault Cause Codes Parameter PNU 952 number of faults stores fault conditions a maximum of 65 535 that have occurred since the last power cycle or since the last time the number of faults parameter PNU 952 was reset by writing a zero The fault number parameter PNU 947 can return up to eight fault causes for each of the eight fault conditions the S2K can store Fault condition Any of the various severe faults that may occur to cause the S2K Motion Controller to immediately stop motion and internally execute motion program four The S2K maintains a specific 32 bit register FC of which the transition to on state of one or multiple bits is considered a fault condition Chapter 10 PROFIBUS Communications 10 27 10 28 Fault cause In S2K terms this is any one of the possible thirty two fatal errors constantly monitored and listed in the FC register This is represented by a specific bit in the FC register Parameter PNU 947 fault number identifies a single fault cause of a fault condition by returning a PROFIBUS fault number code The PROFIBUS fault number codes are derived from the Fault Code FC register in the S2K controller and are represented by the FC register bit position plus one For example the S2K fault code register bit FC03 bit 3 lost enable fault would be represented as
31. ication with the controller e Complete basic equipment configuration e Run the motor to verify correct set up If you are using multiple S2K controllers repeat the set up for each controller When you have completed the set up leave your connections and jumpers in place you re ready to configure your PROFIBUS system To operate S2K Controllers for PROFIBUS the S2K controller requires some simple network configuration before being used S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B PROFIBUS Communications Step 1 Set the PROFIBUS Address DIP Switch Positions 2 The PROFIBUS address provides a unique A network address from 0 through 99 for each S2K node S2K controllers ship from the factory with the PROFIBUS address set to one Caution Ensure that controller power is off before you handle DIP switches Use the DIP switches located on the bottom of the controller to set the PROFIBUS address to a network address indicated in figure 10 4 Figure 10 3 shows the location of the controller switches and the proper orientation for left and right switch settings AN 390 ME RR WARNING aN R RLE IAZARDOUS 42 RLRLRL VOLTAGES 43 X i 44 RRLLRL I 45 LRLELRL I l a EEL Pi R O LoL Be l ee 2 I LL L1 l E E Profibus address BOTTOM VIEW Figur
32. ine which digital outputs are under PROFIBUS control O not under PROFIBUS control 1 under PROFIBUS control Bit wise control for each of outputs 9 14 10 3 3 8 Velocity Setpoint MSW Velocity setpoint value most significant word See PNU 21 LSW Velocity setpoint value least significant word See PNU 21 10 3 3 9 Position Setpoint MSW Position setpoint value most significant word See PNU 20 LSW Position setpoint value least significant word See PNU 20 10 3 3 10 Motion Block to Execute The Motion Block to Execute portion of the command words allow the master device to initiate operation of any of the stored motion blocks in the S2K Stored S2K motion blocks 0 99 are available to be executed however they must be created and stored in the S2K memory The commanded value of the Motion Block to Execute references the S2K internal motion blocks with block numbers 1 100 For example to execute S2K motion block 0 set Motion Block to Execute equal to one Setting Motion Block to Execute 0 is a command to execute no internal S2K motion blocks Other portions of this manual detail operation of S2K motion blocks and provide example programs Commanding a motion block to execute will immediately terminate any previously operating motion block GFK 1848B Chapter 10 PROFIBUS Communications 10 21 10 3 4 Input Data Words The PROFIBUS master reads this reply data from the S2K slave each time the slave is
33. is executing Relative Positioning in Motion Blocks Do not use incremental commands such as MPI for relative positioning within a motion block executed via a PROFIBUS drive task Instead use offset commands e g MPO for relative positioning To allow the offset commands to be used for relative positioning set PSO 0 at the beginning of a motion block Chapter 10 PROFIBUS Communications 10 31 10 4 Diagnostics ae S2K controllers provide a Network Mosu Status LED on the front of the unit to Figure 10 7 Location of Network Status oa Ae Network Status LED on indicate three possible network states the S2K nye OFF no connection RED baud rate found not in data exchange e GREEN Data exchange 12v0C 12VCom PROFIBUS g T 5 gei NGO cat rye FRONT VIEW 10 32 S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B
34. on of the move 31 Marker Velocity RW integer 16 Defines the motion velocity MVM of the axis when running to a marker input RMF or RMR Signed quantity automatically determines the direction of the move Maximum value 4096 pulses sec 32 Reference RW unsigned32 Defines acceleration deceleration rate in pulses sec Acceleration Deceleration while referencing 33 Reference Position Type RMF RMR RW unsigned16_ Establishes the type of homing move to execute Home RHF RAR to ROF ROR 0 Home input 1 Marker input 2 OT input 34 Torque Limit TLC RW unsigned16 Output torque limit set value to limit torque when torque limit is enabled 1000 100 full continuous current setting 35 Torque Limit Enable TLE RW Boolean Set to FFhex to enable torque limit set to 0 to disable torque limit 36 49 Reserved 50 Motor Direction for DIR RW unsigned16 Defines direction 0 CW forward direction 1 CCW Forward moves forward direction as viewed from the load end of the motor shaft 51 Position Length PLA RW unsigned32 Defines axis position length value is half the axis position register length GFK 1848B Chapter 10 PROFIBUS Communications 10 13 10 14 PNU Parameter S2K Equivalent Register Valid Access Modes Data Type Description 52 Position Wrap Enable PWE RW Boolean Determines whether position register wrap is enabled FFhex enabled 0 disabled 53 Overtravel Input Enable OTE
35. ons of Control Word STW Bits The following table describes the operation of the STW Control Word when the mode selected is Speed PNU 930 in the parameter channel sets the mode of operation GFK 1848B Chapter 10 PROFIBUS Communications 10 17 10 18 Table 10 8 Detailed allocation of control word STW bits for speed control mode Bit Value Meaning Remarks 0 1 ON Drive ready Must be set for operation 0 OFF 1 Drive disabled Returns to status ready to switch on 1 1 Operating All OFF2 commands are withdrawn Must be set for Condition operation 0 OFF2 Drive disabled Drive at switch on inhibit status 2 1 Operating All OFF3 commands are withdrawn Must be set for Condition operation 0 OFF3 Drive disabled Drive at switch on inhibit status Fast Stop 3 1 Enable Enable drive Then acceleration to the entered setpoint Operation 0 Inhibit Drive disabled Motor coasts down and into the ready status Operation refer to control word bit 0 4 1 Operating Condition 0 Inhibit Ramp Speed set to zero Drive remains enabled Same functionality as the S2K HT command 5 1 Enable Ramp 0 Stop Ramp Speed ramps down to zero Same functionality as the S2K ST command 6 1 Enable Velocity setpoint input is switched on Setpoint 0 Inhibit Speed ramps to zero Velocity setpoint set to zero Same Setpoint functionality as the S
36. ount of Data Transmission Transmission Duration Frequency Management level Mbytes Hours Minutes Day Shift Cell level Kbytes Seconds Hours Minutes Field Level Bytes Several 100 useconds 10 to 100 milliseconds to 100 milliseconds Actuator sensor level Bits usec to milliseconds Milliseconds Network Topology A PROFIBUS DP network may have up to 127 stations address 0 126 however address 126 is reserved for commissioning purposes The bus system must be sub divided into individual segments to handle this many participants These segments are linked by repeaters The function of a repeater is to condition the serial signal to allow connection of segments In practice both regenerating and non regenerating repeaters may be used Regenerating repeaters actually condition the signal to allow increased range of the bus Up to 32 stations are allowed per segment and the repeater counts as a station address A specialized link segment consisting only of optical fiber modem repeaters may be used to span long distances Plastic fiber optic segments are typically 50 meters or less while glass fiber optic segments may extend several kilometers The user assigns a unique PROFIBUS station address to identify each master slave or repeater in the entire network Each participant on the bus must have a unique station address S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B 10 1 3 GFK 1848B P
37. r the 20 bytes of data the PROFIBUS DP master will write to the S2K motion controller is described in the following table This format conforms to the user profile group PROFIDrive 0302hex indicates Version 2 Application Class 3 User profile groups promote operability between products created by different vendors and allow users to interchange products The Parameter Channel PKW composed of the first four data words eight bytes is used with the appropriate Task ID and Parameter Number PNU to access variable and register data in the S2K on an as needed basis The Process Data Channel PZD composed of two to six words is used to operate the axis and is always active The message telegram actually transmitted to the S2K will take one of the following supported message forms depending on the settings in the Task ID and Control Word STW PPO Type 1 message consisting of 4 PKW words and 2 PZD words PZD words 5 and 6 PPO Type 2 message consisting of 4 PKW words and 6 PZD words PPO Type 3 message consisting of 0 PKW words and 2 PZD words PZD words 5 and 6 PPO Type 4 message consisting of 0 PKW words and 6 PZD words Table 10 4 PROFIBUS DP Output Data Words for S2K Motion Controllers Output Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Word 15 14 13 12 11
38. status until the fault has been removed and then goes into switch on inhibit 0 No Meaning 8 1 Jogging1 Prerequisite Operation is enabled and setpoint inhibited Drive ON accelerates to jogging velocity See PNU s 25 and 26 0 Jogging1 Drive stops if Jogging1 was previously on OFF 9 1 Jogging2 Prerequisite Operation is enabled and set point inhibited Drive ON accelerates to Jogging2 velocity See PNU s 27 and 28 0 Jogging2 Drive stops if Jogging2 was previously on OFF 10 1 Control by Control via interface process data valid Automation 0 No Control Process data invalid 11 1 Start Referencing is started with a change from 0 to 1 Bit 11 of the Referencing status word is set to 0 Prerequisite Operation is enabled and no positioning procedure is active 0 Terminate A running reference procedure is terminated Drive ramps to a Referencing stop 12 1 Relative Position set point is relative to drives current position 0 Absolute Position set point is absolute to drives reference position 13 15 Reserved S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B PROFIBUS Communications 10 3 3 7 Digital Outputs 9 through 14 Digital outputs 9 through 14 DO09 DO14 are available on the S2Kcontroller These 24V DC outputs may be operated by the motion program operating in the S2K or may be controlled by the PROFIBUS master station Use PNU 71 output control to determ
39. t Label 12 28 Amp Motor Power Clamp Excessive Duty Cycle 15 Gosub Stack Underflow 29 Motor Over Current Fault 16 Gosub Stack Overflow 30 Motor Over Temperature 17 Invalid Motion 31 Controller Over Temperature 18 Reserved 32 Network Communication Error 19 Reserved Table 10 17 Example Fault Number Parameters Number of faults Index Fault Number Fault Code Register Message n PNU 952 cause PNU 947 n 1 22 Excessive following error 29 Motor Over current Fault The is the most 3 0 Indicates no more fault causes exist for recent fault this fault condition Query until you condition reach zero to ensure you have reviewed all faults n 1 9 Up to 8 fault Tah causes 16 n 7 57 Up to 8 fault PETI causes 64 GFK 1848B Chapter 10 PROFIBUS Communications 10 29 10 30 10 3 5 1 Acknowledging and Resetting Faults 10 3 6 Faults disable the drive When a fault condition occurs examine the fault numbers see the previous section and determine the fault cause Once the condition that triggered the fault is removed you are ready to reset the fault The fault must be acknowledged and cleared before the drive can be enabled Use the following procedure to reset faults and re enable the axis The bits referenced are in the PKZ channel within the ZSW input and STW output words Command Acknowledge Set STW output bit 7 to 1 Status No Fault ZSW input bit 3 is set to 0
40. t variables 201 through 300 GFK 1848B Chapter 10 PROFIBUS Communications 10 15 S2K Valid PNU Parameter Equivalent Access Data Type Description Register Modes point 113 Floating point variables VF RW array 100 Absolute value from 1 5 x 10 to 1 7 x 10 for floating 301 400 floating point variables 301 through 400 point 114 Floating point variables VF RW array 100 Absolute value from 1 5 x 10 to 1 7 x 10 for floating 401 500 floating point variables 401 through 500 point 115 Floating point variables VF RW array 100 Absolute value from 1 5 x 10 to 1 7 x 10 for floating 501 600 floating point variables 501 through 600 point 116 Floating point variables VF RW array 100 Absolute value from 1 5 x 10 to 1 7 x 10 for floating 601 700 floating point variables 601 through 700 point 117 Floating point variables VF RW array 100 Absolute value from 1 5 x 10 to 1 7 x 10 for floating 701 800 floating point variables 701 through 800 point 118 Floating point variables VF RW array 100 Absolute value from 1 5 x 10 to 1 7 x 10 for floating 801 900 floating point variables 801 through 900 point 119 Floating point variables VF RW array 100 Absolute value from 1 5 x 10 to 1 7 x 10 for floating 901 1000 floating point variables 901 through 1000 point 120 Boolean variables 1 100 VB RW array 100 Val
41. type 0 Home input DI1 1 Marker input Resolver position zero or encoder index 2 OT input DI2 forward DI3 reverse Table 10 18 Excerpt from Data Word Parameters PNU Table PNU Parameter Data Type Description Generation D RTOS Equivalent 29 Reference position integer32 Set actual position PSA to this value when Referencing finishes 30 Reference velocity integer32 Set velocity MVL to this value during Referencing while in position control mode Signed quantity automatically determines the direction of the move 31 Marker velocity integer16 Defines the motion velocity MVL of the axis when running to a marker input RMF or RMR Signed quantity automatically determines the direction of the move 32 Reference acceleration deceleration unsigned32 Defines acceleration deceleration rate in pulses sec while referencing 33 Reference position type RMF unsigned16 0 Home input 1 Marker input 2 OT input RMR RHF RHR ROF ROR 10 3 8 10 3 9 GFK 1848B Performing a Drive Task The user may perform a drive task by either running at a velocity setpoint to a position setpoint or by executing a motion block To run to a position setpoint set the byte Motion Block to Execute to zero To execute a motion block set the byte Motion Block to Execute to the number of the motion block from to 100 The status byte Motion Block Executing indicates whether a motion block
42. ue 0 or FFhex for Boolean variables 1 through 100 Boolean 904 Current PPO Write RO unsigned16 PPO data word type 1 through 4 911 Current PPO Read RO unsigned16 PPO data word type 1 through 4 918 Node address RO unsigned16 Network address for the motion controller 930 Operating mode RW unsigned16 1 Speed control 2 Position control 947 Fault Number FC RO array 64 Identifies up to 64 types of system faults that have taken unsigned16 place Stores the numerical equivalent of each FC register bit that would be set 1 952 Number of Faults RW unsigned16_ Identifies the number of faults up to 65 535 that have occurred since the last power cycle Set to zero to clear 953 Alarm Parameter RO v2 Bit 0 forward hardware overtravel bit 1 reverse hardware overtravel bit 2 forward software overtravel OTF bit 3 reverse software overtravel OTR 963 Current baud rate BAUDN RO unsigned16 Rate at which bit transfer takes place to and from the PROFIBUS port 965 Profile Number RO octet string2 0302hex indicates Application Class 3 version 2 967 Control word RO v2 Bits O through 15 control the drive See figure 3 8 968 Status word RO v2 Displays information about the status and signals of the motion controller See figure 3 9 Note RW Read Write RO Read Only 10 16 S2K Series Standalone Motion Controller User s Manual April 2002 GFK 1848B 10 3 3 4 Index 10 3 3 5 10 3 3 6 PROFIBUS Communications Index into the d
Download Pdf Manuals
Related Search