Home

P730 user manual

1. IDN S 0 0015 Telegram Type Data Length 2 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value 7 Scaling Unit Read CP2 4 Write CP2 Default This parameter identifies the MDT AT telegram types and hence the contents of their cyclic data fields used during CP3 amp CP4 IDN Telegram Type MDT master AT drive Available 15 command value feedback value 0 Standard Telegram 0 None None Yes 1 Standard Telegram 1 Torque IDN80 None Yes 2 Standard Telegram 2 Velocity IDN36 Velocity IDN40 No 3 Standard Telegram 3 Velocity IDN36 Position IDN51 Yes 4 Standard Telegram 4 Position IDN47 Position IDN51 Yes 5 Standard Telegram 5 Pos Vel Pos Vel No 6 Standard Telegram 6 Velocity IDN36 None Yes 7 Application Custom Defined by Defined by Yes Telegrams IDN24 IDN16 IDN S 0 0016 AT Configuration List Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 Default This parameter list contains the IDNs whose operation data will be transmitted cyclically in the AT in an application telegram see IDN 15 Only operation data present in the IDN list of configuration data in the AT IDN 187 are allowed as cyclic data Users Guide SERCOS Interface Adapter P730 Page 34
2. Scaling Unit Read Write CP3 Default 0 This procedure command identifies whether the drive is ready to switch from CP3 to CP4 and must be executed before the transition can occur When this procedure command is executed the drive will check whether the master has transferred all necessary parameters for transition into CP4 If the drive believes any parameters are invalid or have not been configured it will return a failure result and store the list of invalid parameter IDNs in the CP3 IDN list of invalid operation data IDN 22 After the procedure command has been executed the master must cancel the procedure IDN S 0 0129 Manufacturer Class 1 Diagnostics Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OXxFFFF Scaling Unit Read CP2 4 Write N A Default None This parameter is used to identify additional to the C1D IDN 11 drive shutdown faults If an error is set in this parameter the manufacturer specific error bit is set in the C1D as well The error is latched in this parameter and only cleared when the reset class 1 Users Guide Page 54 SERCOS Interface Adapter P730 diagnostic IDN 99 is executed via the service channel after the manufacturer C1D has been eliminated Description Parameter Breakdown SDGH Alarm Code 0x002 Main Circuit Error SDGH Alarm Code 0x003 Parameter Setting Error SDGH A
3. Indicator CPO CP1 CP2 CP3 CP4 Enable ERROR Top right green LED ON OFF ON OFF ON blink ON X Top left green LED OFF ON ON OFF ON blink ON X Bottom right green LED OFF OFF OFF ON ON blink ON X Bottom left red LED X X X X X X ON SERCOS Loop Error LED The RED LED is ON if there is a distortion problem or if the fibre optic loop is open Users Guide SERCOS Interface Adapter P730 Page 10 SERCOS Interface Specification The SERCOS Specification defines a real time optical serial communication standard between a single master and one or more slave drives on a network ring transmitting periodic and non periodic control and status information During initialisation the operation of the network is defined by the master according to the performance capabilities of itself and that of the slaves on the network Following power on the network passes through several states communication phases CP before reaching the normal operating state phase 4 Default timing parameters are used in the first 3 states during which the master transmits configuration information to each slave drive The communication phases are CPO The master starts to transmit the periodic synchronization clock telegram MST which is repeated by each drive in the ring after it has successfully completed its power on initialisation The master is able to determine the network ring has been closed when it simult
4. IDN S 0 0017 IDN List of all Operation Data Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains a list of the IDNs of all operation data supported by the drive IDN S 0 0018 IDN List of Operation Data for CP2 Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains a list of the IDNs of all data that must be written by the master during CP2 The drive s CP2 to CP3 transition procedure IDN 127 will fail if this data is not supplied by the master IDN S 0 0019 IDN List of Operation Data for CP3 Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains a list of the IDNs of all data that must be written by the master during CP3 The drive s CP3 to CP4 transition procedure IDN 128 will fail if this data is not supplied by the master IDN S 0 0021 IDN List of Invalid Operation Data for CP2 Data Length 2 byte elements variable length array Data Type IDN List
5. IDN S 0 0097 Mask for Class 2 Diagnostics ccccccecscsseesseeeseeeseeeseeeseeenees IDN S 0 0098 Mask for Class 3 Diagnostics ccccccccseesseeesceseeeeseeeseeeneeenees IDN S 0 0099 Reset Class Diagnostics IDN S 0 0103 Modulo value c IDN S 0 0104 Position Loop K factor IDN S 0 0123 Feed Constant 000 00 IDN S 0 0124 Standstill Window IDN S 0 0125 Velocity Threshold n IDN S 0 0127 CP3 Transition Check IDN S 0 0128 CP4 Transition Check IDN S 0 0129 Manufacturer Class 1 Diagnostics ccccseeseesseesseeeeeeeteeeees IDN S 0 0130 Probe 1 Positive Edge Value Users Guide SERCOS Interface Adapter P730 IDN S 0 0131 Probe 1 Negative Edge Value cccccecsccsseeseeseeesteesteeenees 56 IDN 8 0 0134 Master Control Word ccscsscssssrsenrcsrseessesoneeeresnnsonseerses 56 IDN S 0 0135 Drive Status Word ic ccscescscssasstevveveccestbeeces niveasonrstohceandaneateverntes 57 IDN S 0 0138 Bipolar Acceleration limit valle ee eeeeeeceeeeenseeeeeeeesees 57 IDN S 0 0140 Controller Type ccccccccccssscsssesssceescessecseeceeseneeenseeeseeeeesenees 58 IDN S 0 0141 Motor Type irere i e E e a ooe eat 58 IDN S 0 0142 Application Type s ssssssssesseseesessesessessesessesrtsesseseesesresessesessese 58 IDN S 0 0143 SERCOS Interface Version ccecesessceseeseceeeeseceseeseeeneeneees 58 IDN S 0 0147 Homing Param
6. Maximum Value 216 4 Scaling Unit 0 1 msec Read CP2 4 Write CP2 Default When the drive on and drive enable bits of the master control word are set torque is activated at once but the drive follows the command values after this waiting time has elapsed IDN S 0 0207 Drive off delay time Data Length 2 bytes Data Type unsigned Integer Minimum Value 0 Maximum Value 2t6 1 Scaling Unit 0 1 msec Read CP2 4 Write CP2 Default The torque remains activated in the drive until this drive off delay time has elapsed after the drive off bit of the master control word has been reset IDN S 0 0300 Real Time Control RTC Bit 1 Data Length 2 bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter defines the value of the IDN assigned to the real time control bit 1 of the master control word Bit Description 0 0 bit reset 1 bit set 1 15 Reserved Users Guide SERCOS Interface Adapter P730 Page 67 IDN S 0 0301 Allocation of Real Time Control RTC Bit 1 Data Length 2 bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter defines the IDN assigned to the real time c
7. IDN S 0 0125 Velocity Threshold n Data Length 4 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value 231 1 Scaling Unit Read CP2 4 Write CP2 4 Default 0 If the velocity feedback falls below this parameter value the drive sets the C3D status bit Nfeedback lt Nx see IDN 13 Scaling Type IDN 44 Scaling Factor IDN 45 Scaling Exponent IDN 46 Users Guide SERCOS Interface Adapter P730 IDN S 0 0127 CP3 Transition Check Data Length 2 bytes Data Type Binary Procedure Command Minimum Value Maximum Value Scaling Unit Read Write CP2 Default 0 This procedure command identifies whether the drive is ready to switch from CP2 to CP3 and must be executed before the transition can occur When this procedure command is executed the drive will check whether the master has transferred all necessary parameters for transition into CP3 If the drive believes any parameters are invalid or have not been configured it will return a failure result and store the list of invalid parameter IDNs in the CP2 IDN list of invalid operation data IDN 21 After the procedure command has been executed the master must cancel the procedure IDN S 0 0128 CP4 Transition Check Data Length 2 bytes Data Type Binary Procedure Command Minimum Value Maximum Value
8. IDN S 0 0043 Velocity Polarity Parameter IDN S 0 0044 Velocity Data Scaling Type IDN S 0 0045 Velocity Data Scaling Factor ceceeseeseeseeeeseeeeeeeeeeeesees IDN S 0 0046 Velocity Data Scaling exponent ccccceseessessecesseeseeeseeeeees IDN S 0 0047 Position Command Value IDN S 0 0051 Position Feedback Value 1 IDN S 0 0052 Reference Distance 1 IDN S 0 0054 Reference Distance 2 IDN S 0 0055 Position Polarity Parameter IDN S 0 0057 Position Window 0 IDN S 0 0058 Reversal Clearance IDN S 0 0076 Position Data Scaling Type IDN S 0 0077 Linear Position Data Scaling Factor cccccccccccssseeteeereeenees IDN S 0 0078 Linear Position Data Scaling Exponent cccceeceeseeteeenees IDN S 0 0080 Torque Command Value IDN S 0 0084 Torque Feedback Value IDN S 0 0085 Torque Polarity Parameter IDN S 0 0086 Torque force Data Scaling Type ccccccceccescesssessseeneeeeeeeeees IDN S 0 0087 Transmit to Transmit Recovery Time taTAr ceccccsceeseeeeeeees IDN S 0 0088 Receive to Receive Recovery Time tmrsy read only IDN S 0 0089 MDT Transmission Starting TINE O seeds verted ie Bek IDN S 0 0090 Command Value Proceeding processing Time tytsc IDN S 0 0091 Bipolar velocity limit value IDN S 0 0092 Bipolar torque limit value IDN S 0 0095 Diagnostic Message IDN S 0 0096 Slave Arrangement
9. IDN S 0 0025 IDN List of all Procedure Commands Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains a list of the IDNs of all procedure commands supported by the drive Users Guide Page 36 SERCOS Interface Adapter P730 IDN S 0 0028 MST Error Counter Data Length 2 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value 65535 Scaling Unit Read CP2 4 Write N A Default This parameter records the count of all invalid MST s in CP3 and CP4 In cases where more than 2 consecutive MSTs are invalid any further consecutive invalid MSTs are not counted The counter increments to 2 1 IDN S 0 0029 MDT Error Counter Data Length 2 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value 65535 Scaling Unit Read CP2 4 Write N A Default This parameter records the count of all invalid MDT s in CP4 In cases where more than 2 consecutive MDTs are invalid any further consecutive invalid MDTs are not counted The counter increments to 216 1 IDN S 0 0030 Manufacturer Version Data Length 1 byte elements variable length array Data Type Text Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Def
10. Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter enables the home switch to be allocated to a real time status bit see IDN S305 307 The parameter is cleared when homing is started and latched high when the home switch has been seen It is only valid whilst the homing procedure command is being executed Bit Description 0 0 bit reset 1 bit set 1 15 Reserved IDN S 0 0401 Probe 1 Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 This parameter contains the status of the Probe 1 input It enables probe 1 to be assigned to the Real Time Status bit IDN 00305 This parameter is checked and updated by the drive only if the probing cycle procedure command IDN 00170 is active and the probe 1 enable signal IDN 00405 is set Bit Description 0 0 inactive probe 1 active probe 1 15 Reserved IDN S 0 0403 Position value Feedback status Data Length 2 bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 When the drive switches the position feedback values to the coordinates referred to the machine zero point it also sets bit 0 of this parameter This enables the master to Users Guide Page 71 SERCOS Int
11. IDN S 0 0305 Real Time Status RTS Bit 1 Allocation Data Length 2 bytes Data Type Integer Minimum Value 0 Maximum Value 65535 Scaling Unit Read CP2 4 Write CP2 4 Default O the RTS Bit 1 is undefined This parameter defines the IDN assigned to the real time status bit of the drive status AT status word bit 6 Only certain status IDN s of type binary can be assigned to this parameter The master will stop evaluating the drive s RTS bit after it has written a new IDN to this parameter The previously assigned RTS bit will remain valid until the drive s service channel busy bit has been set and the master will not start evaluating the new RTS bit until the busy bit has been reset low by the drive IDN S 0 0306 Real Time Status RTS Bit 2 Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter defines the value of the IDN assigned to the real time status bit of the drive status The drive shall maintain this bit during CP4 Users Guide Page 69 SERCOS Interface Adapter P730 Bit Description 0 0 bit reset 1 bit set 1 15 Reserved IDN S 0 0307 Real Time Status RTS Bit 2 Allocation Data Length 2 bytes Data Type Integer Minimum Value 0 Maximum Value 65535 Scaling Unit Read CP2 4
12. This parameter holds the offset in bytes of the drive s data record within the MDT It starts with 1 for the initial data byte after the address field within the MDT The master informs each drive in the ring this value during CP2 and it becomes active during CP3 Users Guide Page 30 SERCOS Interface Adapter P730 IDN S 0 0010 Length of MDT Data Length 2 Bytes Data Type Unsigned integer Minimum Value 4 one drive Maximum Value 65 534 number of bytes of 254 drives Scaling Unit Bytes Read CP2 4 Write CP2 Default None This parameter holds the offset in bytes of the drive s data record within the MDT It starts with 1 for the initial data byte after the address field within the MDT The master informs each drive of this value during CP2 and it becomes active during CP3 IDN S 0 0011 Class 1 Diagnostics Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OxFFFF Scaling Unit Read CP2 4 Write N A Default None The C1D identifies the current shutdown fault status of the drive These errors are latched into the C1D and the C1D status bit bit 13 is set in the drive status word These error flags are only cleared after the error has been eliminated and the Reset Class 1 Diagnostics procedure command IDN 99 has been executed via the service channel When a fault occurs the drive decelerates to a stop and rele
13. Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default Users Guide SERCOS Interface Adapter P730 Page 35 This parameter contains a list of the IDNs of parameters which are in the IDN list of operation data for CP2 IDN 18 but considered to be invalid by the drive ie the master has not written to these parameters or the values written by the master were not accepted IDN S 0 0022 IDN List of Invalid Operation Data for CP3 Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains a list of the IDNs of parameters which are in the IDN list of operation data for CP3 IDN 19 but which are considered to be invalid by the drive ie the master has not written to these parameters or the values written by the master were not accepted IDN S 0 0024 MDT Configuration List Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 Default This list parameter contains the IDNs whose operation data will be transmitted cyclically in the MDT in an application telegram see IDN 15 Only operation data present in the IDN list of configuration data in the MDT IDN 188 are allowed as cyclic data
14. 1 Enable procedure command execution Bit 0 0 Cancel procedure command 1 Set procedure command This procedure command runs the drive controlled homing routine during which the drive enters an internal position control mode and homes the drive Whilst the command is running and until the command is cancelled the drive will not respond to position control commands issued by the control unit The following conditions must be met prior to executing this command 1 The drive must be configured in position control mode 2 The SERCOS homing IDNs must be set as required including Homing Velocity IDN 00041 Homing Acceleration IDN 00042 and the Homing Parameter IDN 00147 2 The proprietary SERCOS homing IDNs must be set as required including Homing Mode IDN 49408 Homing Trigger Input IDN 49409 and Homing Creep Velocity IDN 49410 3 The drive must be enabled 4 The probe procedure command must not be run until the homing procedure command has completed and been cancelled The drive shall set the procedure command change bit bit 5 of the status word when homing has been completed The control unit must then read the position feedback update the position command accordingly before cancelling the procedure command When the command is cancelled position control will return to the control unit Whilst the procedure command is running the Home Switch IDN 00400 shall be set when the home switch is recognized and
15. Data Length 4 bytes Data Type Integer Minimum Value 231 Maximum Value 2 t 1 Scaling Unit 256 encoder edges per msec Read CP2 4 Write CP2 4 Default 0 This parameter defines the homing creep velocity of the drive used whilst running the Drive Controlled Homing Procedure Command IDN 00148 Scaling Type IDN 00044 Scaling Factor IDN 00045 Scaling Exponent IDN 00046 Only the no scaling option is supported IDN P 4 0259 49411 Homing Time Constant Data Length 2 bytes Data Type Unsigned decimal Minimum Value 0 Maximum Value 65535 Scaling Unit 500usec per increment Read CP2 4 Write CP2 4 Default 100 This parameter defines the time which the drive waits for the position control loop of the drive to settle after having homed Users Guide Page 78 SERCOS Interface Adapter P730 IDN P 4 0512 49664 Linear position data scaling numerator Data Length 4 bytes Data Type Unsigned decimal Minimum Value 1 Maximum Value 232 1 Scaling Unit Read CP2 4 Write CP2 3 Default 8192 This parameter defines the number of encoder edges input to the scaling function for all position data in the drive when in linear data scaling mode IDN P 4 0513 49665 Linear position data scaling denominator Data Length 4 bytes Data Type Unsigned decimal Minimum Value 1 Ma
16. IDN S 0 0012 Class 2 Diagnostics ccccccscessesssceescesseceesceseceeeeeseeeeseeeneeeees 32 IDN S 0 0013 Class 3 Diagnostics ccccceseesseesseeescessecssscesecenecenseeeseeenseeees 32 IDN S 0 0014 Tint eriacesS tats a ctcartentesserenoratamacataneorsetetass tnqsncotocaneestasverecces 33 IDN S 0 0015 Telegram Type ccccccccsscsseessscessecesceseecseceeeseneseeseeeseeeneeenees 34 IDN S 0 0016 AT Configuration List ccccccccecssecseesssesssceseceseceeseeeseeeneeennes 34 IDN S 0 0017 IDN List of all Operation Data cece cecceeeeceeeeeteeeeeeeeees 35 IDN S 0 0018 IDN List of Operation Data for CP2 cccceseesseesseeseeeeteeeees 35 IDN S 0 0019 IDN List of Operation Data for CP3 0 0 ces eeeeseesecneeteeeteeeees 35 IDN S 0 0021 IDN List of Invalid Operation Data for CP2 cc eeeeseeeee 35 Users Guide Page 4 SERCOS Interface Adapter P730 IDN S 0 0022 IDN List of Invalid Operation Data for CP3 cceeeeeeeeee IDN S 0 0024 MDT Configuration List IDN S 0 0025 IDN List of all Procedure Commands 00 0 0 cceeceeeeseeeceees IDN S 0 0028 MST Error Counter IDN S 0 0029 MDT Error Counter IDN S 0 0030 Manufacturer Version IDN S 0 0032 Primary Operation Mode IDN S 0 0033 Secondary Operation Mode IDN S 0 0036 Velocity Command Value IDN S 0 0040 Velocity Feedback Value 1 IDN S 0 0041 Homing Velocity IDN S 0 0042 Homing Acceleration
17. Reserved Reserved ojl ojiNlolal aone low Reserved 10 Reserved 11 Reserved 12 Reserved 13 Reserved 14 Reserved 15 Reserved Where 0 no shutdown warning 1 shutdown warning IDN S 0 0185 Max length of configurable data in the AT Data Length 2 bytes Data Type unsigned Integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter defines the maximum length in bytes which the drive can support for the configurable section of the AT IDN S 0 0186 Max length of configurable data in the MDT Data Length 2 bytes Data Type unsigned Integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter defines the maximum length in bytes which the drive can support for the configurable section of the MDT Users Guide Page 65 SERCOS Interface Adapter P730 IDN S 0 0187 IDN List of Configurable Data in the AT Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains a list of the IDNs of operation data which can be processed by the drive cyclically as feedback values The selected values are written to the AT Configuration List IDN 16 by the master during C
18. and the Homing Parameter IDN 00147 The latter defines whether the drive evaluates a home switch and or the z mark There are currently two homing profiles defined within the module and selected using Homing Mode IDN 49408 In the Standard Mode the drive moves at the homing velocity until it hits the external switch and then slows to the creep velocity and continues to move in the same direction until it hits the z mark This profile can be modified to use only the external switch or only the z mark as defined by the appropriate flags in the homing parameter IDN S 00147 Bits 6 and 5 in IDN 0147 define whether the external switch and z mark respectively are used during the homing sequence In the second mode called Special 1 the drive moves at the homing velocity until it hits the external switch It then changes direction and reverses off the switch at the creep velocity and then changes direction again and moves forward until it sees the z mark The homing velocity is a standard SERCOS IDN S 00041 whose units are defined as 256th encoder edge per msec The creep velocity is a proprietary IDN number 49410 IDN P 4 258 which uses the same units The drive shall set the Home Switch IDN 00400 when this switch is recognized and the Position Value Feedback Status IDN 00403 when the origin z mark is recognized Drive controlled homing requirements 1 For the drive to run this homing procedure command i
19. 2 8100 SERCOS 5 slt drv 32768 50B 2 6548 Pn50A Input Selections 1 Pn50B Input Selections 2 ELSEIF trig _mode 1 THEN IF trig edge ETOF ELSE ENDIF wn n ELSEIF trig _mode 2 THEN IF trig edge PTOP ELSE ENDIF n ELSEIF trig_mode 3 THEN IF trig edge Active high PTOP ELSE Active low SERCOS 5 s1 ENDIF wn ERCOS 5 slt drv 327684 ERCOS 5 slt drv 327684 wn high THEN Active high rising edge SERCOS 5 slt drv 327684 511 2 S 88F8 Active low falling edge SERCOS 5 slt drv 327684 ERCOS 5 slt drv 32768 50A 2 8881 ERCOS 5 slt drv 32768 50B 2 8888 high THEN Active high rising edge SERCOS 5 slt drv 327684 ERCOS 5 slt drv 32768 50A 2 8881 SERCOS 5 slt drv 32768 50B 2 8888 high THEN rising edge SERCOS 5 slt drv 32768 511 2 F888 50A 2 8881 50B 2 8888 511 2 8848 511 2 S8F88 Active low falling edge SERCOS 5 slt drv 327684 511 2 8588 falling edge t drv 32768 511 2 6888 Pn50A Input Selections 1 Pn50B Input Selections 1 Pn50A Input Selections 1 Pn50B Input Selections 1 Pn50A Input Selections 1 Pn50B Input Selections 1 ELSE ENDIF Error All theses settings are stored in the servodrive s Flash EPROM Therefore
20. 78 Rotational Position Resolution IDN 79 IDN S 0 0157 Velocity Window Data Length 4 bytes Data Type Unsigned Integer Minimum Value 0 Maximum Value 271 1 Scaling Unit Read CP2 4 Write CP2 4 Default 2 t 1 If the current velocity feedback value is within the velocity window the drive sets the C3D status Nfeedback Ncommana see IDN 11 Users Guide Page 61 SERCOS Interface Adapter P730 Scaling Type IDN 44 Scaling Factor IDN 45 Scaling Exponent IDN 46 IDN S 0 0159 Monitoring Window Data Length 4 bytes Data Type Unsigned Integer Minimum Value 0 Maximum Value 2 t 1 Scaling Unit Read CP2 4 Write CP2 4 Default 274 1 This parameter defines the maximum position error When the absolute distance between the position command and the active position feedback value exceeds this value the drive sets an error for excessive position deviation in C1D see IDN 11 Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 IDN S 0 0160 Acceleration Data Scaling Type Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter defines the acceleration data scaling Currently
21. N A Default This parameter holds a diagnostic message describing the current drive operating status Users Guide SERCOS Interface Adapter P730 IDN S 0 0096 Slave Arrangement Data Length 2 bytes Data Type Unsigned integer Minimum Value 1 if O is used the drive acts only as a repeater on the network and does not participate in any master slave communications Maximum Value 254 Scaling Unit Read CP2 4 Write N A Default The drives SERCOS network address is contained in both the upper and lower bytes of this parameter If a slave can control more than one drive then this parameter is used by the master during initialisation to recognize which physical slaves are their associated drives are present in the network in order to optimize the automatic timeslot computation IDN S 0 0097 Mask for Class 2 Diagnostics Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OXffff Scaling Unit Read CP2 4 Write CP2 4 Default OxFFFF This mask is used to prevent the change in state of class 2 diagnostic flags see IDN 12 from effecting the C2D change bit in the drive status The structure is as per the C2D and the mask bit is cleared to 0 to prevent the C2D flag from affecting the change bit The mask does not affect the operation data of the C2D IDN S 0 0098 Mas
22. Reserved Where 0 not inverted 1 inverted IDN S 0 0044 Velocity Data Scaling Type Data Length 2 bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 This IDN defines the scaling options for all velocity data in the drive The no scaling and preferred scaling options are supported Users Guide Page 40 SERCOS Interface Adapter P730 Value Description Ob 0000 0000 0000 0000 No scaling Ob 0000 0000 0000 0010 Preferred scaling Rotational scaling Preferred scaling 107 Revolutions Minutes At the motor shaft Bit field Definition Bit Description 2 0 Scaling Method 000 no scaling 001 reserved linear scaling 010 rotational scaling 3 Reserved 0 preferred scaling 1 parameter scaling 4 Reserved Units for linear scaling 0 metres 1 inches Units for rotational scaling 0 revolutions 1 reserved 5 Reserved Time units 0 minutes 1 seconds 6 Reserved Data reference for rotational scaling 0 at the motor shaft 1 reserved 7 15 Reserved IDN S 0 0045 Velocity Data Scaling Factor Data Length 2 bytes Data Type Unsigned integer Minimum Value 1 Maximum Value 216 1 Scaling Unit Read CP2 4 Write N A Default 0 This IDN defines the scal
23. Write CP2 4 Default O the RTS Bit 2 is undefined This parameter defines the IDN assigned to the real time status bit 2 of the drive status AT status word bit 7 Only certain status IDN s of type binary can be assigned to this parameter The master will stop evaluating the drive s RTS bit after it has written a new IDN to this parameter The previously assigned RTS bit will remain valid until the drive s service channel busy bit has been set and the master will not start evaluating the new RTS bit until the busy bit has been reset low by the drive IDN S 0 0376 Baud Rate Data Length 2 bytes Data Type Usigned Integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter defines the SERCOS baud rates supported by the drive IDN S 0 0390 Diagnostic Number Data Length Data Type 1 byte variable length array Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter records the last recorded drive SGDH alarm code The error is latched in this parameter and only cleared when the reset class 1 diagnostic IDN 99 is executed via the service channel after the manufacturer C1D has been eliminated Users Guide Page 70 SERCOS Interface Adapter P730 IDN S 0 0400 Home Switch Data Length 2 bytes Data Type Unsigned integer Minimum Value
24. been defined see IDN 15 or via the service channel The position units depend upon the Control Unit Cycle Time IDN 2 Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 Users Guide Page 42 SERCOS Interface Adapter P730 IDN S 0 0052 Reference Distance 1 Data Length 4 bytes Data Type Integer Minimum Value 231 Maximum Value 231 1 Scaling Unit Read CP2 4 Write CP2 4 Default This parameter describes the distance between the machine zero point and the home position referenced through the motor feedback Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 IDN S 0 0054 Reference Distance 2 Data Length 4 bytes Data Type Integer Minimum Value 231 Maximum Value 2 t 1 Scaling Unit Read CP2 4 Write CP2 4 Default This parameter describes the distance between the machine zero point and the reference point referenced through the motor feedback Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 IDN S 0 0055 Position Polarity Parameter Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter
25. command value 2 Torque feedback value 3 15 Reserved Where 0 not inverted 1 inverted IDN S 0 0086 Torque force Data Scaling Type Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 Users Guide Page 47 SERCOS Interface Adapter P730 This IDN defines the scaling options for all torque data Only the percentage scaling is supported Value Description Ob 0000 0000 0000 0000 Percentage scaling Preferred scaling 0 1 At the motor shaft Bit Description 2 0 Reserved Scaling Method 000 percentage scaling 001 linear scaling force 010 rotational scaling torque 3 Reserved 0 preferred scaling 1 parameter scaling 4 Reserved Units for force scaling 0 metres 1 inches 4 Reserved Units for rotation scaling 0 Newton N 1 pound force lbf 5 Reserved 6 Reserved Data reference O at the motor shaft 1 at the load 7 15 Reserved IDN S 0 0087 Transmit to Transmit Recovery Time tartar Data Length 2 bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit Usec Read CP2 4 Write N A Default 0 This parameter defines the time required between two ATs when sent by the same slave This time is read by the master during CP2 in or
26. it is only necessary to run the above program once after installing a new drive 2 Drive initialisation Users Guide SERCOS Interface Adapter P730 Page 21 At each power up the following file must then be run to configure the SERCOS parameters This file must agree with the drive settings above as regards rising falling edge Subsequently the TrioBASIC REGIST 1 command can be used to set and enable the latch MARK used to identify when the latch has triggered and REG_POS to read the latched value These commands use the SERCOS cyclic data RTC1 to update IDN 405 Probe 1 enable disable SERCOS 5 nslot ndrive 301 2 405 IDN 305 RTS Bit 1 to trigger on probe 1 latch either high or low status IDN 169 Probe Control Parameter Set active edge which determines which IDN the recorded probe value will be stored in either 130 high or 131 low IF trig edge high THEN SERCOS 5 nslot ndrive 305 2 409 SERCOS 5 nslot ndrive 169 2 1 ensure idn 130 is second parameter in AT telegram ELSE SERCOS 5 nslot ndrive 305 2 410 SERCOS 5 nslot ndrive 169 2 2 ensure idn 131 is second parameter in AT telegram ENDIF He Set probe trigger input on drive SERCOS 5 nslot ndrive 49252 2 trig_mode 3 Registration process The TrioBASIC registration functions can be used in the usual way except that the mode cannot be changed from the one initialised I e if external in
27. the probe 1 positive edge latched status to a Real Time Status RTS bit IDN S 0 0410 Probe 1 Negative Edge Latched Status Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 This parameter indicates whether captured position data has been latched within IDN 00131 after the falling edge of the probe 1 input signal IDN 00401 The position data is only stored after the probing cycle procedure command IDN 00170 has been activated the probe control parameter IDN 00169 configured to trigger the probe on a falling edge and the probe has been armed by setting the probe 1 enable IDN 00405 The next falling edge seen after arming the probe will trigger the probe causing the motor position to be stored in IDN 00131 and this negative edge latched status parameter to be set Any successive falling edges seen on the probe input are ignored until the master re arms the probe by clearing and setting the probe 1 enable IDN 00405 Users Guide Page 73 SERCOS Interface Adapter P730 This parameter is reset when the probing cycle procedure command is cancelled or the probe is disabled IDN 00405 This parameter duplicates information found in the probe status IDN 00179 bit 1 but is useful for assigning the probe 1 negative edge latched status to a Real Time Status RTS bit Users Guide Page 74 SERCOS Interface Adapter
28. 0004 Transmit Receive transition time Tatmt Read only Data Length 2 Bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit usec Read CP2 4 Write N A Default 10 The time the drive requires after completion of the AT transmission before receiving the MDT The master reads this parameter for all drives on the ring during CP2 in order to calculate an appropriate MDT transmission starting time IDN 89 IDN S 0 0005 Minimum Feedback Processing Time t5 Read only Data Length 2 Bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit usec Read CP2 4 Write N A Default 150 The time required by the drive between the start of the feedback acquisition and the end of the next MST required for acquiring and processing cyclic feedback The master reads this value during CP2 in order to synchronize the measurement times of the feedback acquisition capture point t4 IDN 7 appropriately for all drives IDN S 0 0006 AT Transmission Starting Time t1 Data Length 2 Bytes Data Type Unsigned integer Minimum Value IDN 3 Maximum Value IDN 2 Scaling Unit usec Read CP2 4 Write CP2 Default 50 This value determines when the drive sends its AT during CP3 amp CP4 the time interval after the MST The value must be greater than or equal to the shortest AT transmis
29. 0189 and is the following distance in number of edges Homing now responds to bit 1 of IDN S 0 0148 by ramping down to zero speed Primitive backlash compensation added This uses IDN S 0 0058 reversal clearance and simply adds or subtracts the value held by this IDN onto the setpoint when there is a change in direction The value is scaled if rotational or linear scaling is being used This compensation only works in position mode and not during homing New drive enable disable algorithm Drive will only be enabled when bits 15 drive on powered and 14 drive enabled of the MDT are set If either bit is cleared to zero the drive will be disabled Page 80 SERCOS Interface Adapter P730 00 00 28 1 Oct 2007 00 00 27 26 Sep 2007 00 00 26 4 May 2007 00 00 25 13 Apr 2007 Users Guide Initial support for linear position data scaling with preferred units ALPHA version only Bugs to be reported to Trio Motion Technology Development department Support for new homing profile requested by Omron Search for the switch at homing velocity when seen or if started on the switch use creep velocity and change direction back off change direction again and move back onto switch Set IDN 49408 to 2 for this profile BUGFIX corrected support for IDN390 This is now of type 4 byte and will return the current drive alarm code EG if the drive has raised the encoder feedback error A C9 the IDN will hold 201 decimal value for
30. 0xC9 If the drive has raised the overspeed error A 51 the drive will return 81 decimal value for 0x51 Added dummy read write support for IDNs requested by TrioUS customer These include IDN Description Size Notes 34 co operation mode 2 2 1 35 fae operation mode 3 2 1 79 pee position resolution 4 2 93 lea scaling factor 2 2 og Tormeforescaing e ako eee 162 Acceleration force scaling 2 2 exponent Class C 1 IDNs 34 and 35 reflect the value of IDN 33 2 IDN is initialised to zero but will reflect whatever is written to it Improved support for Diagnostic Message IDN Diagnostic Drive State Message Drive not yet in CP4 and hence not able to control Drive not ready a motor yet Drive in CP4 but main Drive logic ready power not applied and main power not drive not enabled applied Drive in CP4 main power Drive ready but applied but drive not yet not enabled main enabled power applied Drive ready enabled and power is active Drive in CP4 main power applied and drive enabled If the main power is applied whilst in above Drive in error state drive will raise C1D If C1D is cleared by executing IDN 99 the drive will return to the appropriate state Page 81 SERCOS Interface Adapter P730 00 00 24 5 Mar 2007 00 00 23 2 Feb 2007 00 00 22 31 Jan 2007 00 00 21 11 Dec 2006 00 00 20 24 Oct 2006 00 00 19 27 Sep Users Guide BUGFIX It was possible
31. 200usec now 4 usec to 8 usec Use SERCON ASIC s NMSTERR data value for the MST error counter IDN S 0 0028 Previously we had used our own counter Use SERCON ASIC s INT_MSTMISS to identify MST error and INT_RERR to identify MDT errors Previously had checked several flags BUGFIX Absolute encoders corrected use of multi turn register when initially caculating encoder feedback position from poweron Page 83 SERCOS Interface Adapter P730 00 00 15 23 May 1 BUGFIX zero following difference error S 0 0189 whilst running drive 2006 controlled homing 00 00 14 01 Jul 1 Initial support for drive controlled homing added 2005 00 00 13 14 Mar 1 First production release 2005 Users Guide Page 84 SERCOS Interface Adapter P730
32. 4 0256 49408 Homing Mode Data Length 2 bytes Data Type Binary Minimum Value 0 Maximum Value 1 Scaling Unit N A Read CP2 4 Write CP2 4 Default 0 This parameter defines the homing mode used whilst the Drive Controlled Homing Procedure Command IDN 00148 is activated Homing Mode Table Value Description 0 Homing routine as defined by the SERCOS specification default 1 Special Profile 1 Search for home switch at Homing Velocity After recognising the home switch decelerate to zero turn direction and move back off the home switch at the Homing Creep Velocity Turn direction again and move to the z mark at the Homing Creep Velocity After recognising the z mark decelerate to a standstill and signal the homing procedure command has been completed IDN P 4 0257 49409 Homing Home Switch Input Data Length 2 bytes Data Type Binary Minimum Value 0 Maximum Value 6 Scaling Unit N A Read CP2 4 Write CP2 4 Default 0 This parameter defines which of the CN1 input signals to use as the home switch trigger whilst the Drive Controlled Homing Procedure Command IDN 00148 is activated Users Guide Page 77 SERCOS Interface Adapter P730 Home Switch Table Value Description SIO SI1 S12 SI3 SI4 SIS Alal eAJwIN O SI6 IDN P 4 0258 49410 Homing Creep Velocity
33. Allocation of RTC1 B position RW 00302 Real Time Control bit 2 R 00303 Allocation of RTC2 B position RW 00304 Real Time Status bit 1 R 00305 Allocation of RTS1 B position RW 00306 Real Time Status bit 2 R 00307 Allocation of RTS2 B position RW 00376 Baud Rate R Users Guide Page 15 SERCOS Interface Adapter P730 00390 Diagnostic Number N A R 00400 Home Switch B position R 00401 Probe 1 State R 00403 Position value feedback B position R status 00405 Probe 1 enable RW 00407 Home Enable option RW 00409 Probe 1 Pos edge latched option R status 00410 Probe 1 Neg edge latched option R status Notes 1 Only for slaves with several drive addresses Users Guide Page 16 SERCOS Interface Adapter P730 Reading and Writing Yaskawa Drive Parameters The Yaskawa drive parameters and monitor modes are accessible via the SERCOS network Drive parameter numbers PnXXX map directly to the base of the product specific SERCOS parameter number range which starts at address 32768 Ox8000 The monitor modes UnXXX map within the product specific SERCOS parameter number range starting at address 53248 OxDOOO Please refer to your Yaskawa drive User s Manual Ref 2 for further information about these drive parameters and monitor modes and to Appendix A for further details of how they map to the SERCOS IDNs From Trio BASIC the parameters can be read using the
34. F 9 Inputs the reverse signal from SIO A Inputs the reverse signal from SI1 B Inputs the reverse signal from SI2 C Inputs the reverse signal from SI3 D Inputs the reverse signal from SI4 E Inputs the reverse signal from SI5 F Inputs the reverse signal from SI6 2 P CON Oto F As above 1 SI1 3 P OT 0 to F As above 2 SI2 Parameter Digit Name Setting Description Default Place Pn50B 0 N OT Oto F As above 3 SI3 1 ALM RST 0 to F As above 4 SI4 2 P CL 0 to F As above 5 SI5 3 N CL Oto F As above 6 SI6 P730 Parameters IDN Value Description 49252 0 3 Configures the latch input either the z mark 0 or external input 1 2 3 Example TrioBASIC programs 1 Drive Configuration The following file can be run to configure the drive parameters Note that power must be cycled to the drive after setting these parameters Notes EXT1 tied to CN4 EXT2 tied to CN5 EXT3 tied to CN6 Initialise Drive ready for registration NB power to drive must be cycled after setting these values Users Guide Page 20 SERCOS Interface Adapter P730 program constants high 0 low 1 slt 0 drv 1 Trig mode O origin Z mark 1l extl 2 ext2 3 ext3 trig mode 3 trig edge high 0 THEN IF trig mode Reset SERCOS 5 s1t drv 32768 511 2 8888 SERCOS 5 slt drv 32768 50A
35. Latched Status cic eeeeseereeeeeeeees 73 IDN P 4 0000 49152 Encoder Type ccccccccccssecescesseesssceseceseseseeenseeeseeenaes 76 IDN P 4 0001 49153 DIP Switch Status ccccecceeesceccesceseeceeseeseeeeeeeesees 76 IDN P 4 0002 49154 Software Reset cececcesesseseeseceeceseceeeeseeeeeneeeeeeeeees 76 IDN P 4 0100 49252 Probe 1 Trigger Input cece ceecceessceseceseeesteeeteeenees 76 IDN P 4 0256 49408 Homing Mode ccceccecesecsscesseessseeeeceseeeeseeeseeeeeeeees 77 IDN P 4 0257 49409 Homing Home Switch Input eee eeeeeereeneeenees 77 IDN P 4 0258 49410 Homing Creep Velocity ccccccccccecscescesteesteeeneeenees 78 Users Guide Page 6 SERCOS Interface Adapter P730 IDN P 4 0259 49411 Homing Time Constant 0 0 ceceeceeseeeeceseeneeeeeeneeeeees 78 IDN P 4 0512 49664 Linear position data scaling numerator 79 IDN P 4 0513 49665 Linear position data scaling denominator 79 Drive Monitor Modes 22 tosis actresses enrecoastnesiteceen Svonaunes ese pie beled v tatmiereanenioventasies 79 SOftware History hak wees ieee es RE Anes E eee eae 80 Users Guide Page 7 SERCOS Interface Adapter P730 Introduction This document describes the specification of the P730 Sigma II SERCOS Interface its compliance with the SERCOS specification and the procedures for commissioning the module The SERCOS interface uses optical data transmission between control units and drives Th
36. P2 and are only valid when the custom telegram type is selected IDN 15 IDN S 0 0188 IDN List of Configurable Data in the MDT Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 Default This parameter contains a list of the IDNs of operation data which can be processed by the drive cyclically as command values The selected values are written to the MDT Configuration List IDN 24 by the master during CP2 and are only valid when the custom telegram type is selected IDN 15 IDN S 0 0189 Following Distance Data Length 4 bytes Data Type Signed Integer Minimum Value 231 Maximum Value 2 t 1 Scaling Unit Counts Encoder edges Read CP2 4 Write N A Default The P730 fetches the value of Analogue Monitor 1 from the drive and writes the value to this parameter To enable the drive for monitoring the position error value the drive parameter Pn003 0 must be set to 4 Version 0 0 30 software Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 Only the no scaling option is supported Users Guide Page 66 SERCOS Interface Adapter P730 IDN S 0 0206 Drive on delay time Data Length 2 bytes Data Type unsigned Integer Minimum Value 0
37. P730 Section 2 Proprietary Product Specific SERCOS IDNs Note that proprietary or product specific IDNs are often displayed in the format P Z YYYY where the absolute SERCOS number is defined as 0x8000 hex 0xZ000 hex YYYY dec Drive PnXXX Parameters The Drive PnXXX parameter numbers map directly to the base of the product specific SERCOS IDN range SERCOS IDN Drive Notes Identification 32768 Pn000 Function Selection Basic Switches 32769 PnOO1 Function Selection Application Switches 1 32770 Pn002 Function Selection Application Switches 2 32771 Pn003 Function Selection Application Switches 3 32772 Pn004 Fixed Constants 32773 Pn005 Fixed Constants 33024 Pni00 Speed Loop Gain 33025 Pni01 See Ref 2 33059 Pn123 33280 Pn200 Position Control Reference Selection Switches 33281 Pn201 See Ref 2 33288 Pn208 33536 Pn300 See Ref 2 33544 Pn308 33792 Pn400 See Ref 2 33801 Pn409 34048 Pn500 See Ref 2 34066 Pn512 34304 Pn600 Regenerative Resistor Capacity 34305 Pn601 Fixed Constant Drive Functions Certain drive functions map to the product specific SERCOS IDN range starting at address 40960 OxA000 SERCOS IDN Drive Notes Identification 40960 Users Guide Page 75 SERCOS Interface Adapter P730 IDN P 4 0000 49152 Encoder Type Data Length 2 b
38. Position Attained NYS Interpolator Halted NYS Reserved Manufacturer specific warning see IDN 182 Where 0 condition does not exist 1 condition exists IDN S 0 0014 Interface Status Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OxFFFF Scaling Unit Read CP2 4 Write N A Default 0 If a communication interface error occurs the appropriate error bit will be latched in the interface status along with the communication phase CP in which the error occurred The communication error flag is also set in C1D see IDN 11 If there are no communication errors present the actual network communication phase CP is identified by Bits 2 0 The drive cancels a communication error and resets to 0 only if the error at the interface has been eliminated and on executing the procedure command reset class 1 diagnostics Description MST failure MDT failure Invalid phase CP gt 4 Error during phase advance Error during phase regression Phase switch without proper acknowledgement Wla N alUjAlWIN H o w Switching to an un initialized operation mode Duplicate drive address Reserved Reserved 13 Reserved Users Guide SERCOS Interface Adapter P730 Page 33 14 Reserved 15 Reserved Where 0 no error 1 error exists for bits 15 3
39. RCOS 5 slt drv 42 4 home_accel Homing Parameter ERCOS 5 slt drv 147 2 parameter Ref Dist 1 ERCOS 5 slt drv 52 4 ref dist_1 Ref Offset 1 ERCOS 5 slt drv 150 4 ref_offset_1 n wn Propietary Homing IDNs Homing Mode ERCOS 5 slt drv c100 2 homing_mode Homing Input NB Options 4 S14 5 S15 6 SI6 SERCOS 5 slt drv c101 2 6 Users Guide Page 26 SERCOS Interface Adapter P730 wn Homing Creep velocity SERCOS 5 slt drv c102 4 creep_ vel Homing Time Constant default is 100 SERCOS 5 slt drv c103 2 100 Configure drive latch input using a P IDN required if homing only to the switch and not the z mark using the standard profile SERCOS 5 slt drv 49252 2 trig_input Inform user PRINT 5 Starting homing routine Run homing command SERCOS 6 slt drv 148 6000 1 nstatus SERCOS 4 slt drv 403 WHILE nstatus lt gt 1 nstatus SERCOS 4 slt drv 403 WA 10 IF nstatus lt gt 0 AND nstatus lt gt 1 THEN PRINT 5 Eh status is nstatus ENDIF WEND Cancel homing command SERCOS 6 slt drv 148 6000 0 Users Guide SERCOS Interface Adapter P730 Page 27 Appendix A SERCOS IDN Specification IDNs 0 32767 are the standard SERCOS Interface Specification parameters IDNs 32768 and above are the Product specific manufacturer parameters Yaskawa drive parameters are mapped from this base number hence drive parameter 0 is SERCOS param
40. Reset class 1 diagnostic A RW 00103 Modulo value C position RW 00104 Position loop Kv factor B position RW 00123 Feed Constant C position RW 00124 Standstill window B velocity RW 00125 Velocity threshold ny B velocity RW 00127 CP3 transition check A RW 00128 CP4 transition check A RW 00129 Manufacturer Class 1 R diagnostic 00130 Probe value 1 positive option R edge 00131 Probe value 1 negative option R edge 00134 Master Control Word R 00135 Drive Status Word R 00138 Bipolar accel limit value B RW 00140 Controller type N A R 00141 Motor type N A R 00142 Application type A R 00143 SERCOS Interface version A R 00147 Homing Parameter B position RW 00148 Drive controlled homing B position RW procedure command 00150 Reference offset 1 B position RW 00151 Reference offset 2 option RW 00157 Velocity window B velocity RW 00159 Monitoring window B position RW 00160 Acceleration data scaling B RW type 00169 Probe control parameter Option RW 00170 Probe procedure Option RW command 00179 Probe position latch Option R status 00181 Manufacturer Class 1 N A R Diagnostics 00185 Max length of AT C R configurable data 00186 Max length of MDT C R configurable data 00187 IDN List of Configurable C R Data in the AT 00188 IDN List of Configurable C R Data in the MDT 00189 Following Distance B position R 00206 Drive on delay time B RW 00207 Drive off delay time B RW 00300 Real Time Control bit 1 R 00301
41. S 0 0131 Probe 1 Negative Edge Value Data Length 4 bytes Data Type Integer Minimum Value 231 Maximum Value 231 1 Scaling Unit Read CP2 4 Write N A Default 0 The Probing Cycle Procedure IDN 00170 is used to capture the motor position when an external input changes This Probe 1 Negative Edge Value parameter holds that captured position value when the probe procedure is configured through the probe control parameter IDN 00169 to capture the position on a falling edge Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 IDN S 0 0134 Master Control Word Data Length 2 Bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter enables the master control word to be read over the service channel The structure of this control word is Bit Description 0 Service channel handshake 1 Service channel read write flag 2 Service channel transmission in progress 3 4 5 Service channel data block element 6 Real time control bit 1 7 Real time control bit 2 8 9 11 Operation mode 10 IPOSYNC control unit synchronisation 12 Reserved 13 14 15 Drive command values Users Guide Page 56 SERCOS Interface Adapter P730 IDN S 0 0135 Drive Status Word Data Length 2 Bytes D
42. SERCOS command once the SERCOS ring has been initialised to phase 2 Read a drive parameter SERCOS 4 slot drive address parameter number Write a drive parameter SERCOS 5 slot drive address parameter number format parameter value Users Guide Page 17 SERCOS Interface Adapter P730 Registration Probe Support Requires firmware 0 0 8 and above and Motion Coordinator V1 6223 and above Functionality provided by the drive and the SERCOS interface board are combined to support high speed registration To enable this support it is necessary to configure both parameters on the drive and also specific SERCOS IDNs The TrioBASIC language mark regist reg_pos keywords are then used in the application program The drive has the ability to latch a position either on the motor z mark or a rising or falling edge received via an external input The SERCOS and drive parameters must be configured as shown in the tables below to enable this functionality on the drive SERCOS IDNs are used to set and reset the latch and read the latched position These IDNs are reflected in the MDT Real Time Control Bit AT Real Time Status Bit and the second parameter in the AT data record hence the latch functionality is controlled via cyclic SERCOS data To enable the cyclic data response the AT telegram must be configured as an application custom telegram with two parameters the second being the probe latched position IDN either 130 for a rising e
43. Scaling Unit 0 1 of motor Ic Read CP2 4 Write CP2 4 Default The master writes the torque command to this IDN either cyclically in the MDT if the appropriate telegram type has been defined see IDN 15 or via the service channel Scaling Type IDN 86 Scaling Factor IDN 93 Scaling Exponent IDN 94 Users Guide SERCOS Interface Adapter P730 Page 46 IDN S 0 0084 Torque Feedback Value Data Length 2 bytes Data Type Integer Minimum Value 21 gt Maximum Value 21 gt 1 Scaling Unit 0 1 of motor Ic Read CP2 4 Write N A Default This parameter is used to retrieve the torque feedback from the drive either cyclically in the AT if the appropriate telegram type has been defined see IDN 15 or via the service channel Scaling Type IDN 86 Scaling Factor IDN 93 Scaling Exponent IDN 94 IDN S 0 0085 Torque Polarity Parameter Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter is used to switch polarities of torque data These are switched externally not internally on the input and output of the closed loop system The motor shaft turns clockwise when there is a positive torque command difference and no inversion is programmed Bit Description 0 Torque command value 1 Reserved Additive torque
44. TRIO This parameter contains the company name of the manufacturer and the controller type IDN S 0 0141 Motor Type Data Length Data Type 1 byte variable length array Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default MOTOR TYPE This parameter contains the motor type IDN S 0 0142 Application Type Data Length Data Type 1 byte variable length array Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default APP TYPE This parameter contains the type of the drive application IDN S 0 0143 SERCOS Interface Version Data Length Data Type 1 byte variable length array Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains the version of the SERCOS interface specification supported Users Guide SERCOS Interface Adapter P730 Page 58 IDN S 0 0147 Homing Parameter Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OXxFFFF Scaling Unit Read CP2 4 Write N A Default None This parameter is used to configure the homing procedure Bit Description 0 Homing Direction 0 positive motor shaft turns clockwise 1 negative motor shaft turns counter clockwi
45. Trio Motion Technology Sigma II SERCOS Interface Users Manual Trio Product Code P730 Users Guide Page 1 SERCOS Interface Adapter P730 References 1 Specification SERCOS Interface version 2 2 November 2001 2 Sigma II Series Servo System User s Manual manual number YEA SIA S800 32 2D February 2002 Definitions and Abbreviations AT Amplifier slave drive Telegram CPO 1 2 3 4 SERCOS Communication Phase 0 1 2 3 4 FO Fibre Optic MDT Master Data Telegram MST Master Synchronisation Telegram RTC MDT Real Time Control Bit RTS AT Real Time Status Bit SERCOS SErial Real time COmmunication System Interface Telegram communication message Users Guide Page 2 SERCOS Interface Adapter P730 Modification Status Date Description Manual Version 4th Mar 2009 Rotational and linear preferred scaling use new control algorithm Linear Data Scaling calibration Manufacturer IDN 49664 P 4 0512 defines the number of encoder edges IDN 49665 P 4 0513 defines the number of preferred units The ratio is encoder edges preferred units The default is 8192 8192 which is the same as no data scaling 1 1 ratio Firmware release v00 00 33 1 8 18th Dec 2007 The Velocity Feedback IDN S 0 0040 now returns the change in the number of edges per msec Changed IDN S 0 0189 to show use of the drive s FE value instead of calculating from the setpoint feedback difference Homing proced
46. a Type Integer Minimum Value 231 Maximum Value 271 1 Scaling Unit 256 encoder edges per msec Read CP2 4 Write CP2 4 Default 0 This parameter defines the homing velocity of the drive used whilst running the Drive Controlled Homing Pro Scaling is as indicated Users Guide SERCOS Interface Ada cedure Command IDN 00148 pter P730 Page 39 IDN S 0 0042 Homing Acceleration Data Length 4 bytes Data Type Integer Minimum Value 221 Maximum Value 2 t 1 Scaling Unit 256 encoder edges per msec Read CP2 4 Write CP2 4 Default 0 This parameter defines the homing acceleration and deceleration of the drive used whilst running the Drive Controlled Homing Procedure Command IDN 00148 Scaling is as indicated IDN S 0 0043 Velocity Polarity Parameter Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter is used to switch polarities of velocity data These are switched externally not internally on the input and output of the closed loop system The motor shaft turns clockwise when there is a positive velocity command difference and no inversion is programmed Bit Description 0 Velocity command value 1 Reserved Additive velocity command value 2 Velocity feedback value 1 3 Reserved Velocity feedback value 2 4 15
47. aneously receives its transmitted MST message The master moves the ring to phase 1 after ensuring the ring has been successfully closed Each SERCOS communication cycle starts with the MST which is received by all slave drives concurrently This message is used to synchronize the telegram transmission times within the cycle and the slave drives internal processing and control loops The MST also identifies the required ring phase CP1 During CP1 and CP2 the master addresses each drive individually via a telegram MDT message containing a single data record with control information for the slave being addressed The slave will transmit a telegram AT message containing status information in reply only when it is ready to move to phase 2 Hence the master addresses each drive in the ring until it has a valid response and is able to determine the ring is ready to move to phase 2 CP2 In this phase the master transmits communication telegram transmission times and timeslots and the cyclic transmission configuration parameters used in phases 3 and 4 The drive configuration parameters may be transmitted during this or phase 3 Having configured all the drive communication parameters the master sends the procedure command CP3 transition check to each drive The drives run internal checks to ensure they have received all the information required to operate in phase 3 After each drive has responded with the procedure command correctly
48. ases torque Description Overload fault Amplifier over temperature fault Motor over temperature fault Cooling error Control voltage fault Feedback loss fault Commutation fault Over current fault Over voltage fault wW o N a u Alw NA low Under voltage fault 10 Power supply phase fault 11 Excessive velocity deviation 12 Communication interface fault 13 Software limit switch fault 14 Reserved 15 Manufacturer specific warning see IDN 129 Where 0 no fault 1 fault Users Guide Page 31 SERCOS Interface Adapter P730 IDN S 0 0012 Class 2 Diagnostics Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OxFFFF Scaling Unit Read CP2 4 Write N A Default 0 The C2D identifies warnings of an impending drive shutdown error When an unmasked see IDN 97 warning is activated or cancelled in the C2D this sets to 1 the C2D change bit in the drive status When the C2D is read via the service channel the C2D change bit is reset to 0 The warning bits in the C2D are not latched and hence are automatically reset when the warning condition is no longer valid Bit Description 0 Overload warning 1 Reserved Amplifier over temperature warning 2 Reserved Motor over temperature warning 3 Reserved Cooling erro
49. ata Type Unsigned integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter enables the drive status word word to be read over the service channel The structure of this status word is Bit Description 0 Service channel handshake Service channel busy flag 2 Error in service channel flag 3 Status of command values processing 0 drive will ignore command values 1 drive will follow command values 4 Reserved 5 Procedure command change bit 6 Real time status bit 1 7 Real time status bit 2 8 9 10 Actual operation mode 11 Change bit for Class 3 diagnostics 12 Change bit for Class 2 diagnostics 13 Drive shutdown error flag in Class 1 diagnostics 14 15 Drive status IDN S 0 0138 Bipolar Acceleration limit value Data Length 4 bytes Data Type Unsigned Integer Minimum Value 0 Maximum Value 274 1 Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter defines the maximum acceleration of the drive Scaling Type IDN 160 Scaling Factor IDN 161 Scaling Exponent IDN 162 Users Guide Page 57 SERCOS Interface Adapter P730 IDN S 0 0140 Controller Type Data Length Data Type 1 byte variable length array Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default
50. ata is used The master reads this value from all the slaves in the ring during CP2 in order to correctly calculate the command value valid time IDN 8 to be used by the ring during CP3 and CP4 Users Guide SERCOS Interface Adapter P730 Page 49 IDN S 0 0091 Bipolar velocity limit value Data Length 4 bytes Data Type Unsigned Integer Minimum Value 0 Maximum Value 271 1 Scaling Unit Read CP2 4 Write CP2 4 Default 271 1 This parameter defines the maximum allowable velocity in both directions If this limit is exceeded the drive sets the status Noommang gt Nimit in C3D See IDN 13 Scaling Type IDN 44 Scaling Factor IDN 45 Scaling Exponent IDN 46 IDN S 0 0092 Bipolar torque limit value Data Length 2 bytes Data Type Unsiged Integer Minimum Value 0 Maximum Value 22 1 Scaling Unit Read CP2 4 Write CP2 4 Default 2 1 This parameter defines the maximum allowable torque in both directions If this limit is exceeded the drive sets the status T gt Tjimit in C3D See IDN 13 Scaling Type IDN 86 Scaling Factor IDN 93 Scaling Exponent IDN 94 IDN S 0 0095 Diagnostic Message Data Length 1 byte elements variable length array Data Type Text Minimum Value Maximum Value Scaling Unit Read CP2 4 Write
51. ault This parameter holds a text string of the firmware version IDN S 0 0032 Primary Operation Mode Data Length 2 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value Scaling Unit Read CP2 4 Write CP2 Default Users Guide Page 37 SERCOS Interface Adapter P730 This parameter defines the drive s operation mode when the AT status word bits 8 and 9 are both zero The master requests a particular operation mode by setting the MDT control words bits 8 amp 9 Bit Value Description 0 2 000 No mode of operation 001 Reserved Torque control 010 Velocity Control 011 Position control 100 Reserved 101 Reserved 3 0 Position Control with following error IDN159 1 Position Control without following error 4 Reserved 5 Reserved 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 Reserved 12 Reserved 13 Reserved 14 0 Command values are issued as cyclic data 1 Reserved command values are issued through the service channel 15 0 Bits 0 14 are as defined above 1 Reserved Bits 0 14 are defined by the manufacturer Note that when the velocity control with torque feed forward mode is required this parameter must be set to the velocity control mode IDN S 0 0033 Secondary Operation Mode Data Length 2 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value Scal
52. cs led RA cE Berio dil deed dete ete 23 Drive controlled homing requirements lt cccsaeseocseaosecesssetees rantececontsesdevnseacsncedes 23 Drive controlled homing Notes cccccccscessseesssesssessseeeeceeseceeceeeceneeenseeeseeeneeenees 24 Drive controlled homing Fault Finding iss j sccsccessvecterssesdeisentsesapehtedeabesseyanton tees 24 Drive controlled homing example program cccccccccssesssesseceseeeseceseeeseeeseeenees 24 Appendix A SERCOS IDN Specification cessscsssssceecceseeeeecesssesceeneceeees 28 IDN S 0 0001 Control Unit NC Cycle Time tNCyc oo ececceesseeteeeeeeeeees 28 IDN S 0 0002 SERCOS Communication Cycle Time tScyc ceceeeeeeees 28 IDN S 0 0003 Shortest AT Transmission Start Time tl min Read only 28 IDN S 0 0004 Transmit Receive transition time Tatmt Read only 29 IDN S 0 0005 Minimum Feedback Processing Time t5 Read only 29 IDN S 0 0006 AT Transmission Starting Time t1 ccceeeccceesseeseeeeeeeeees 29 IDN S 0 0007 Feedback Acquisition Capture Point t4 cccceecesseeteenees 30 IDN S 0 0008 Command Value Valid Time t3 0 ccc ceccecsceessceseeeneeenseeneees 30 IDN S 0 0009 Position of Data Record in MDT 0 ce ceccesceseceseesteeeseeenees 30 IDN S 0 0010 Length of MDT ou cc cccccecccescceeeeeceeeeeseeeseceseceseecnseseseeenees 31 IDN S 0 0011 Class 1 Diagnostics cccccceescesseeescessecessceseceneeeeseeeseeeeeeeees 31
53. der to calculate correctly the AT transmission starting time IDN 6 This parameter is only required for slaves capable of controlling several drives and hence is not supported Users Guide Page 48 SERCOS Interface Adapter P730 IDN S 0 0088 Receive to Receive Recovery Time tmrsy read only Data Length 2 bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit usec Read CP2 4 Write N A Default 150 This parameter defines the time the slave drive requires between the MDT and the next MST The master reads this parameter during CP2 in order to calculate the MDT transmission time IDN S 0 0089 MDT Transmission Starting Time t2 Data Length 2 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value IDN 2 Scaling Unit usec Read CP2 4 Write CP2 Default 500 This parameter defines when the master shall send its MDT during CP3 and CP4 the time interval after the MST The master writes this value to all the slaves in the ring during CP2 IDN S 0 0090 Command Value Proceeding processing Time tmrtse Data Length 2 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value IDN 2 Scaling Unit usec Read CP2 4 Write N A Default 10 This parameter defines the time required by the drive from the end of the MDT to the point at which the command d
54. deviation bit 11 error is raised via the drive s A DO error This bug was introduced when the firmware started to use the drive s FE in v00 00 30 and occured because this error is considered to be a C1D and not a MC1D BUGFIX The unit now correctly homes when using 17bit encoders and a modulo Previously if the drive moved more than one turn whilst searching for the home switch it would jump a half turn on completing the homing routine This error was discovered when running with the Fagor CNC8070 master Previously there were two methods of raising the position error C1D either by our own following distance GT monitoring window check or if the drive raises an A DO error However our own check has been removed and we now rely on the drive s own position error check based on parameter Pn505 Values written to IDN S 0 00159 monitoring window are now scaled and written directly in drive parameter Pn505 This enables the master to define the size of the position monitoring window which is then checked by the drive The drive will raise the error A DO if the monitoring window size is exceeded by the FE This error is tracked by the P730 and raised as a excessive position deviation error bit 11 of the C1D s BUGFIX the modulo IDN S 0 0103 was incorrectly being applied to the following distance IDN S 0 0189 The following distance is still scaled according to the data scaling IDN S 0 0076 but the modulo is no longer appli
55. dge or 131 for a falling edge On a Motion Coordinator the axis type must be set to 22 to operate in velocity control mode with latch functionality or 23 to operate in position control mode with latch functionality When the latch has triggered the AT RTS1 and IDN401 are set and the latched value will be stored in IDN 130 or 131 depending upon the trigger edge The z mark does not have a trigger edge but is configured as per the external rising edge Note that drive parameter Pn511 is accessed by using SERCOS IDN 32768 0x511 since it is classed as a proprietary or product specific IDN SERCOS Parameters IDN Value Description 301 405 Master Telegram s Real Time Control Bit 1 to be reflected into IDN405 the Probe 1 Enable Disable control IDN 305 409 or 410 The Drive Telegram s Real Time Status Bit 1 to reflect the status of either the Probe 1 rising edge or falling edge latch status IDN 169 1or2 The probe control parameter is set to trigger the probe on either a rising 1 or falling 2 edge This will determine in which IDN the latched value is stored either IDN 130 for a rising edge or 131 for a falling edge Drive Parameters Z mark trigger Parameter Digit Name Setting Description Default Place Pn51i1 0 3 Ox8888 Use only the z mark and 8 not any external inputs to trigger the latch Users Guide Page 18 SERCOS Interface Ada
56. e P730 SERCOS Interface provides a SERCOS network interface for the Yaskawa Sigma II drives Please see reference 1 for further information concerning the SERCOS Interface Specification Please see reference 2 for further information about the Sigma II drives Users Guide Page 8 SERCOS Interface Adapter P730 Front Panel Specification The front panel contains the SERCOS communication phase and error status LEDs the network baud rate and intensity switches the drive address rotary switches the SERCOS network loop error LED and the SERCOS FO connectors It is necessary to cycle power to the drive after changing any switch positions before the new values will be used Phase and drive status LEDs Drive baudrate and optical output adjust gt gt a Drive address rotary switches Loop error LED Fibre optic transmitter Fibre optic receiver Drive SERCOS Baud Rate DIP switches 1 and 2 are used to select the SERCOS baud rate and should be set according to the following table Switch 1 Switch 2 Baud rate OFF OFF 2 Mbps default ON OFF 4 Mbps OFF ON 8 Mbps ON ON 16 Mbps Drive SERCOS optical output adjust DIP switches 3 4 and 5 are used to select the fibre optic light intensity level and should be set according to the following table Users Guide Page 9 SERCOS Interface Adapter P730 Switch 3 Switch 4 Switch 5 Intensity leve
57. e edge and the assigned bit in the probe status is set The probe status is cleared to zero when the master resets the probe enable IDN 00405 or cancels the probing cycle procedure command IDN 00170 Bit Description 0 Probe 1 positive edge latched see IDN 00409 1 Probe 1 negative edge latched see IDN 00410 2 Reserved Probe 2 positive edge latched see IDN 00411 3 Reserved Probe 2 negative edge latched see IDN 00412 4 15 Reserved Where 0 not latched 1 latched IDN S 0 0181 Manufacturer Class 2 Diagnostics Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default The Manufacturer C2D identifies warnings of an impending drive shutdown error When a warning is activated in the Manufacturer C2D this sets to 1 and latches the Manufacturer specific warning bit in C2D IDN 12 and the change bit in the drive status When the Manufacturer C2D is read via the service channel the Manufacturer specific warning bit is reset to 0 in the C2D The warning bits in the Manufacturer C2D are not latched and hence are automatically reset when the warning condition is no longer valid Users Guide Page 64 SERCOS Interface Adapter P730 Description Regenerative Overload warning Reserved Reserved Reserved Reserved Reserved Reserved
58. e motor shaft Absolute format x 0 or modulo format x 1 Bit Field Definitions Bit Description 2 0 000 no scaling 010 rotational scaling 3 Scaling for rotational scaling O preferred scaling of 3600000 rev 1 reserved 4 Units for rotation scaling 0 degrees 1 reserved 5 Reserved 6 Data reference for rotational scaling 0 at the motor shaft 1 reserved 7 Processing Format 0 absolute format 1 modulo format 8 15 Reserved Users Guide Page 45 SERCOS Interface Adapter P730 IDN S 0 0077 Linear Position Data Scaling Factor Data Length 2 bytes Data Type Unsigned integer Minimum Value 1 Maximum Value 2t6 1 Scaling Unit Read CP2 4 Write N A Default 0 This IDN defines the scaling factor for all position data in the drive IDN S 0 0078 Linear Position Data Scaling Exponent Data Length 2 bytes Data Type Unsigned integer Minimum Value 21 Maximum Value 21 1 Scaling Unit Read CP2 4 Write N A Default 0 This IDN defines the scaling exponent for all position data in the drive The MSBit signifies the sign of the exponent 0 positive 1 negative and bits 0 14 represent the exponent value IDN S 0 0080 Torque Command Value Data Length 2 bytes Data Type Integer Minimum Value 21 gt Maximum Value 2 1
59. ed BUGFIX the polarity inversion IDN IDN S 0 0055 was incorrectly being applied to the position cmd feedback when used with a modulo This has been corrected for this configuration The polarity inversion is not correctly applied to Rot pref scaled data BUGFIX homing now reads a 32bit latched value because we were incorrectly calculating the command offset after homing when used with 17bit encoders since we were only including the ls 16 bits Backlash compensation reversal clearance has been addded The backlash value is instantly added to the setpoint and subtracted from the feedback whenever there is a change in the direction of motion BUGFIX corrected support for linear preferred scaling modulo BUGFIX corrected preferred scaling support for ref distance S 0 0052 and ref offset S 0 0150 IDNs used when homing Linear data scaling calibration changed see notes and manual description of IDNs 49664 P 4 0512 and 49665 P 4 0513 BUGFIX The invert position feedback value flag in the Position Polarity Parameters IDN S 0 0055 was obeyed by the Position Feedback IDN S 0 0051 in the cyclic data but not when read over the service channel This has been fixed The Velocity Feedback IDN S 0 0040 now returns the change in the number of edges per msec This firmware build now uses the drive s FE value and does not calculate its own from the setpoint feedback difference This value is returned in IDN S 0
60. ed by the drive via the service channel it will start to monitor the probe input and record the motor external position when a change occurs on this input The drive will continue to monitor the probe input until either this procedure command is cancelled or an error occurs One probe input is available which will trigger a position capture when either a rising or falling edge is seen on the input After the master has armed the probe by setting the Probe 1 Enable Signal IDN 00405 the next rising or falling edge as defined by the Probe Control Parameter IDN Users Guide Page 63 SERCOS Interface Adapter P730 00169 will trigger the probe 1 input IDN 00401 and set a bit in the Probe Status Parameter IDN 00179 The master is then able to read the latched motor position from either the Probe 1 positive edge value IDN 00130 or Probe 1 negative edge value IDN 00131 Any further changes on the probe input will be ignored until the master has re armed the probe trigger by clearing and setting the probe enable signal IDN S 0 0179 Probe Status Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 This parameter identifies when a position has been captured whilst the probing cycle command is activated If the required edge arrives on the input the position is captured and stored in IDN 00130 or 00131 depending upon th
61. efines the range the drive and controller must implement Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 IDN S 0 0104 Position Loop K factor Data Length 2 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value 655 35 Scaling Unit 0 01 m min mm Read CP2 4 Write CP2 Default This parameter defines the proportional gain of the position loop controller Users Guide Page 52 SERCOS Interface Adapter P730 IDN S 0 0123 Feed Constant Data Length 4 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value 272 1 Scaling Unit Read CP2 4 Write CP2 4 Default This parameter defines the conversion between a rotational motion into a linear motion indicating the linear distance moved during one revolution of the feed spindle IDN S 0 0124 Standstill Window Data Length 4 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value 271 1 Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter defines a velocity threshold below which the motor is not considered to be moving If the velocity feedback value is within this window the drive sets the C3D status bit Nfeedback O0 See IDN 13 Scaling Type IDN 44 Scaling Factor IDN 45 Scaling Exponent IDN 46
62. elay time c ccc ccccecsccescesseesseeeeeceneeeeseeeseeeeeeenees 67 IDN S 0 0300 Real Time Control RTC Bit 1 oo ce cceceesseeteeeteeeeeeeeees 67 IDN S 0 0301 Allocation of Real Time Control RTC Bit 1 68 IDN S 0 0302 Real Time Control RTC Bit 2 oo cece cecceccceceeeeeteeeeeeenees 68 IDN S 0 0303 Allocation of Real Time Control RTC Bit 2 0 68 IDN S 0 0304 Real Time Status RTS Bit 1 oo cc ecceeseceseeeeeeeeeeeneeenees 69 IDN S 0 0305 Real Time Status RTS Bit 1 Allocation cee eeeeeereeeees 69 IDN S 0 0306 Real Time Status RTS Bit 2 0 cceccccsceseceseceeeeeeeeeneeenees 69 IDN S 0 0307 Real Time Status RTS Bit 2 Allocation eceeeeeeeeeeeees 70 LDN 50 037 BAU RAL ci vecaapsitslelorerstapesvaag ells dectaneentvameghonerudanaetlonarendtiens 70 IDN S 0 0390 Diagnostic Number 0 0 0 ccceceeseeceeseeseeeeeceeceaeeeeeeaeeaeeeneeeeeeaees 70 IDN S 0 0400 Home Sw ttle ois oosececidae gecteioodeis srcacaerevkeycneseruatvertsaeiatooreanens 71 IDN S 0 0401 Probe 1 cat sbrstostakelctceputnuieueihshcevaseciiolh bid unite esbalon unssiegbub psc iebanveds 71 IDN S 0 0403 Position value Feedback status ccccccceceseesecessceeeeeeeeeseeeeees 71 IDN S 0 0405 Probe 1 Enable yc sccestpusst sewodvauawapons ontorgrotesabenntne corecaneentenmontors 72 IDN S 0 0407 Home Enable i t vinietsaaseniatsion neem neineewen 72 IDN S 0 0409 Probe 1 Positive Edge Latched Status ccccccessesseeseeenees 73 IDN S 0 0410 Probe 1 Negative Edge
63. erface Adapter P730 determine when the actual position value is based on the zero point of the machine and homing has been completed This parameter is reset when the drive controlled homing IDN S148 is started This IDN can be assigned to a real time status bit and can therefore be signalled to the master in the drive status word Bit Description 0 0 position feedback value not referenced to machine zero point 1 position feedback value referenced to machine zero point 1 15 Reserved IDN S 0 0405 Probe 1 Enable Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter arms the position capture whilst the probing cycle procedure command IDN 00170 is activated The next required rising or falling edge on the probe input will trigger the probe and store the motor position in the appropriate parameter IDN 00130 or 00131 depending upon the required edge IDN S 0 0407 Home Enable Data Length 2 bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter defines the home enable and hence allows it to be allocated to a real time control bit see IDN S301 This enables the master to control the homing status using the master control word The drive interprets the h
64. eter ccccccceesseesseeeseeeseeeseeeseeesesseceseeesseenses 59 IDN S 0 0148 Drive Controlled Homing Procedure Comman4d 05 60 IDN S 0 0150 Reference offset 1 seicrssyeensaissegiesethenintceeGabeenavinas beteeesstenaete 6l IDN S 0 0151 Reference offset 2 iisci psccsecae suliarcasrde Revleepeadaerdaven ial pheweerons 6l IDN S 0 0157 Velocity Window cccccecccesseesseesseeesecessessseeeeceseeeeseeeseeenesenses 61 IDN S 0 0159 Monitoring Window ccccccccccsccesscesecesseeeseceseceseeeeseeeseeeneeeees 62 IDN S 0 0160 Acceleration Data Scaling Type cccccceseesesssesteeeneeeseeenees 62 IDN S 0 0169 Probe Control Parameter ccccccccescessecesseeeecesecessecsseesteeenees 63 IDN S 0 0170 Probing Cycle Procedure Command cccccecceessseseeesteeeeees 63 IDN S 0 0179 Probe Stats lt ashi pales tn ate neha eines 64 IDN S 0 0181 Manufacturer Class 2 Diagnostics ccceseeseesseesseeeeeeeteeeses 64 IDN S 0 0185 Max length of configurable data in the AT eeeeeeeeeeees 65 IDN S 0 0186 Max length of configurable data in the MDT cece 65 IDN S 0 0187 IDN List of Configurable Data in the AT eceeceeeeeeees 66 IDN S 0 0188 IDN List of Configurable Data in the MDT cece 66 IDN S 0 0189 Following Distance cccccecssessseessceeseceseceeeceseeeeseeeseeeseeeaes 66 IDN S 0 0206 Drive on delay time ccccccccccssesssceescesseesseceeeceseceseeenseseeeenees 67 IDN S 0 0207 Drive off d
65. eter 32768 and drive parameter 0x50A is SERCOS parameter 34058 for example Sigmall Interface parameters are mapped from address 49152 Section 1 Standard IDNs IDN S 0 0001 Control Unit NC Cycle Time tNcyc Data Length 2 Bytes Data Type Unsigned integer Minimum Value 500 Maximum Value 2000 Scaling Unit usec Read CP2 4 Write CP2 Default 1000 The period at which the master control unit updates commands to the drive The drive automatically overrides this value with that of the Communication Cycle Time IDN 2 in CP3 IDN S 0 0002 SERCOS Communication Cycle Time tScyc Data Length 2 Bytes Data Type Unsigned integer Minimum Value 500 Maximum Value 32000 Scaling Unit usec Read CP2 4 Write CP2 Default 1000 The SERCOS system interface communication cycle time defines the period at which the MST AT amp MDT telegrams are transmitted Allowable cycle times are 500usec and from 1000usec to 32000 usec in 1000usec increments IDN S 0 0003 Shortest AT Transmission Start Time timin Read only Data Length 2 Bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit usec Read CP2 4 Write N A Default 10 The minimum time the drive requires after receipt of the MST before it can send its AT Users Guide Page 28 SERCOS Interface Adapter P730 IDN S 0
66. executed the master moves the ring into phase 3 CP3 In phase 3 the master and all the slaves in the ring transmit their respective telegram messages every cycle time using the timeslot information received in the previous phase The master telegram MDT now contains a data record for each slave in the ring enabling the master to exchange information with each drive simultaneously Hence it is possible to configure all the drives in the ring in a more time efficient manner Before moving the phase 4 the master sends the procedure command CP4 transition check to each drive which runs internal checks to ensure it has received all the information it requires to operate in phase 4 After every drive has responded with the procedure command correctly executed the master moves the ring into phase 4 CP4 Phase 4 is the normal operating state of the ring Every cycle time the master transmits control information to each drive in the ring which responds with its status including motion feedback information The master is now free to enable the drives and send positioning information See ref 1 for further information about the SERCOS Interface Specification Users Guide Page 11 SERCOS Interface Adapter P730 Installation and Commissioning Set the required SERCOS network drive address baud rate and intensity using the front panel switches refer to Front Panel Specification section During CP2 the SERCOS network master
67. for the unit to raise a false out of position C1D when run in position control mode with a modulo This might occur if the following error was calculated at a point in time when either the setpoint or feedback wrapped but not both hence producing an apparent large FE The drive shall now be disabled whenever a C1D is raised Previously it was possible for a C1D to be raised whilst the drive was enabled and for the drive not to be automatically disabled When reading the position feedback IDN 51 over the service channel when there was a position modulo IDN 103 enabled by setting bit 7 in the pos data scaling IDN 76 the unit was returning an absolute and not a modulo d value This has been corrected so the modulo d value is now returned The handling of the position setpoint when there is a modulo has been re worked to fix the problems listed above and so is quite different from earlier versions This version was tested with the Beckhoff TwinCAT and Trio and conformizer AT Application telegrams can now include any 2 or 4 byte IDNs in the cyclic data It should be noted that IDN 187 does not list all these IDNS but only those for which cyclic support has been is optimised BUGFIX it is now possible to read procedure commands at any time as per normal data IDNs and they will return the status of the procedure command ie o Bit 0 1 proc cmd set 0 proc cmd not set o Bit 1 1 execution enabled 0 execution interr
68. ing Unit Read CP2 4 Write CP2 Default This parameter defines the drive s secondary operation mode IDN S 0 0036 Velocity Command Value Data Length 4 bytes Data Type Integer Minimum Value 231 Maximum Value 2 t 1 Scaling Unit Read CP2 4 Write CP2 4 Default Users Guide Page 38 SERCOS Interface Adapter P730 The master writes the command velocity to this IDN either cyclically in the MDT if the appropriate telegram type has been defined see IDN 15 or via the service channel The units will depend upon the control unit cycle time IDN 1 Scaling Type IDN 44 Scaling Factor IDN 45 Scaling Exponent IDN 46 IDN S 0 0040 Velocity Feedback Value 1 Data Length 4 bytes Data Type Integer Minimum Value 231 Maximum Value 271 1 Scaling Unit Counts msec Read CP2 4 Write N A Default This parameter is used to retrieve the velocity feedback from the drive either cyclically in the AT if the appropriate telegram type has been defined see IDN 15 or via the service channel The velocity unit is always counts millisecond and is not affected by the Control Unit Cycle Time IDN 2 Scaling Type IDN 44 Scaling Factor IDN 45 Scaling Exponent IDN 46 Only the no scaling option is supported IDN S 0 0041 Homing Velocity Data Length 4 bytes Dat
69. ing creep speed in revs per sec algorithm below enables us to use home_creep 0 2 Homing Parameters Motion direction clockwise 0 cclockwise 1 no_home_switch no z mark 40 20 Users Guide SERCOS Interface Adapter P730 this multiplier in revs per sec ve enc count direction on my motor Page 25 Homing Mode default 0 profilel 1 special profile 1 switch and z mark Trigger Input z_mark 0 extl 1 ext2 2 ext3 3 Program and Drive Parameters slt 0 sercos daughterboard slot number drv 1 drive address drv_axis 5 enc_resolution 8192 The following parameter is or d with the required configuration values such as OR no z_ mark OR no home switch parameter clockwise homing _mode default trig input ext3 z mark SERCOS Homing Parameter ref dist_1 000 ref offset_1 000 Begin Units are 256th enc edge per msec homing velocity home_vel home_speed enc_resolution 1000 256 home_accel home_vel 100 creep velosity 1 rev per sec creep vel home _creep enc_resolution 1000 256 BASE drv_axis Check drive in correct control mode VR 0 SERCOS 4 s1t drv 32768 2 IF VR 0 lt gt 10 THEN PRINT Error drive not in correct mod set Pn0000 to 10 PRINT amp cycle power to drive STOP ENDIF Standard SERCOS Homing IDNs homing velocity ERCOS 5 slt drv 41 4 home_vel homing accel E
70. ing factor for all velocity data in the drive Users Guide Page 41 SERCOS Interface Adapter P730 IDN S 0 0046 Velocity Data Scaling exponent Data Length 2 bytes Data Type Unsigned integer Minimum Value 215 Maximum Value 21 gt 1 Scaling Unit Read CP2 4 Write N A Default 0 This IDN defines the scaling exponent for all velocity data in the drive The MSBit signifies the sign of the exponent 0 positive 1 negative and bits 0 14 represent the exponent value IDN S 0 0047 Position Command Value Data Length 4 bytes Data Type Integer Minimum Value 231 Maximum Value 2 t 1 Scaling Unit Read CP2 4 Write CP2 4 Default The master writes the position command to this IDN either cyclically in the MDT if the appropriate telegram type has been defined see IDN 15 or via the service channel The units will depend upon the control unit cycle time IDN 2 Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 IDN S 0 0051 Position Feedback Value 1 Data Length 4 bytes Data Type Integer Minimum Value 231 Maximum Value 2 1 1 Scaling Unit Read CP2 4 Write N A Default This parameter is used to retrieve the position feedback from the drive either cyclically in the AT if the appropriate telegram type has
71. is used to switch polarities of reported position data for specific applications Polarities are switched outside i e on the input and output of a closed loop system When there is a positive position command difference AND no inversion is programmed the motor shaft turns clockwise Users Guide Page 43 SERCOS Interface Adapter P730 Bit Description 0 Position command value 1 Reserved Additive position command value 2 Position feedback value 1 3 Reserved Position feedback value 2 4 Reserved Position limit values 5 Reserved Underflow overflow threshold 6 15 Reserved Where 0 not inverted 1 inverted for bits 0 3 0 disabled 1 enabled for bits 4 amp 5 IDN S 0 0057 Position Window Data Length 4 bytes Data Type Integer Minimum Value 0 Maximum Value 2 t 1 Scaling Unit Read CP2 4 Write CP2 4 Default 100 This parameter holds a threshold value which is used to determine when the drive is considered to be in position When the difference between the accumulated position command value and the position feedback value is within the range of the position window then the drive sets the C3D status in position Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 IDN S 0 0058 Reversal Clearance Data Length 4 bytes Data Type I
72. isfies SERCOS Interface Specification compliance class B in velocity or position control mode and can run at SERCOS cycle times of 500usec and above SERCOS data transmissions occur in regular cycles The cycle timing is controlled by the SERCOS master which transmits a Master Synchronization Telegram MST at the start of each cycle When the ring is up and running the drives will each transmit an Amplifier Telegram AT to the master and finally the Master will transmit its Data Telegram MDT which contains information for each drive MST AT is t1 IDN6 MST MDT is t2 IDN89 MST MST is tscyc IDN2 After MDT to MST is tmtsy IDN88 A summary of the Standard SERCOS IDNs supported by the P730 is shown in the table below and a more complete discussion of these IDNs appears in Appendix A Not all IDNs in the list have a function in the P730 some are provided for easy integration with the SERCOS master but are not used within the P730 The compliance column indicates which SERCOS interface specification compliance class the parameter belongs and the control mode position velocity or torque where appropriate The comments indicate whether the network master has read only R or read write RW access IDN Description Abbreviation Compliance Comment 00001 Control Unit Cycle Time tyeye B position 00002 Communication Cycle tscyc A RW Time 00003 Shor
73. ive update interpolator was not working properly This is the mechanism used to interpolate the setpoints received from the master at the SERCOS cycle time rate and written to the drive every 500usec This produced a visible ripple on the speed profile viewed using SigmaWin software or a scope attached to the monitor points on the front of the drive next to the battery Note that the 500usec 1msec 2msec update rates were fine before and still are BUGFIX several signed 4byte IDNs were reporting their data type in the IDN attribute element 3 in the IDN data block structure as unsigned data type 1 This was corrected to signed int data type 2 Added support for the decimal point bits 27 24 in the IDN attribute element 3 in the IDN data block This is used as additional display information This value will not change from O to 4 for various position and velocity IDNs when data scaling is used with preferred scaling and 1 for torque IDNs BUGFIX corrected response from slave when the name and units elements of the IDN data block are read by the master drive replies with error code because we do not support these optional element types Additional support for drive controlled homing After drive has homed moved from the switch to the z mark and decelerated to zero it sets the encoder feedback value to be equal to the refdist refoffset distance between the latched z mark and current stop position It al
74. k for Class 3 Diagnostics Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OXxFFFF Scaling Unit Read CP2 4 Write CP2 4 Default OxFFFF This mask is used to prevent the change in state of class 3 diagnostic flags see IDN 13 from effecting the C3D change bit in the drive status The structure is as per the C3D and the mask bit is cleared to 0 to prevent the C3D flag from affecting the change bit The mask does not affect the operation data of the C3D Users Guide Page 51 SERCOS Interface Adapter P730 IDN S 0 0099 Reset Class 1 Diagnostics Data Length 2 bytes Data Type Binary Procedure Command Minimum Value Maximum Value Scaling Unit Read Write CP2 4 Default 0 When this procedure command is received by the drive via the service channel any latched faults which have now been removed in C1D IDN 11 the interface status IDN 14 and the manufacturer s C1D IDN 129 will be cleared If all faults have been cleared the drive shut down error flag drive status bit 13 and the drive shut down mechanism in the drive will be reset IDN S 0 0103 Modulo value Data Length 4 bytes Data Type Unsigned Integer Minimum Value gt 1 Maximum Value lt 21 Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter is selected in the position data scaling parameter IDN 00076 and d
75. l OFF OFF OFF 0 HZ TX output ON OFF OFF 1 low OFF ON OFF 2 ON ON OFF 3 default OFF OFF ON 4 ON OFF ON 5 OFF ON ON 6 high ON ON ON 7 not used Test Mode DIP switch 6 is used to select a test mode If this switch is set to on when the drive is powered on the SERCOS Interface module will enter the zero bit stream test mode Whilst the module is in this test mode the red fault LED will flash To return to normal operating mode switch 6 must be set to the off position and the drive power cycled Drive Address Rotary Switches The two hexadecimal rotary switches are used to set the drive SERCOS network address 0 to 254 The most significant hex digit is set by the 16x switch and the least significant by the 1x switch Each drive on the SERCOS network must have a unique address MS Switch LS Switch SERCOS address 0 0 o 0 1 1 0 2 2 F D 253 F E 254 F F 255 Reserved for repeater use only Not allowed for SERCOS drive address Phase and Drive Status LEDs The communication phase and error status LEDs indicate in which phase the drive is operating and whether it has identified an error The drive phase shall be the same as the network phase unless the drive has identified an error and reset to CPO All three green LEDs shall be illuminated when in CP4 and shall remain on permanently if the drive is enabled or flash if the drive is not enabled
76. larm Code 0x004 Servomotor amplifier mismatch SDGH Alarm Code 0x005 Regeneration Error SDGH Alarm Code 0x030 Regeneration Overload SDGH Alarm Code 0x032 Overspeed SDGH Alarm Code 0x051 Dynamic Brake Overload SDGH Alarm Code 0x073 Surge Current Resistor overload SDGH Alarm Code 0x074 WfoO N H UjAlWIN H o Motor Runaway SDGH Alarm Code 0x0C1 10 Watchdog Error SDGH Alarm Code 0x0E2 11 Operation mode setting error SDGH Alarm Code Ox0E5 12 Reserved 13 Reserved 14 Reserved 15 Reserved Where 0 no fault 1 fault Refer to the Sigma II Series Users Manual for alarm causes and remedies IDN S 0 0130 Probe 1 Positive Edge Value Data Length 4 bytes Data Type Integer Minimum Value 21 Maximum Value 271 1 Scaling Unit Read CP2 4 Write N A Default 0 The Probing Cycle Procedure IDN 00170 is used to capture the motor position when an external input changes This Probe 1 Positive Edge Value parameter holds that captured position value when the probe procedure is configured through the probe control parameter IDN 00169 to capture the position on a rising edge Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 Users Guide SERCOS Interface Adapter P730 Page 55 IDN
77. must write the timing parameter IDNs for the cyclic phases CP3 amp CP4 to the drive SERCOS IDN Description 00002 SERCOS interface cycle time 00006 AT transmission starting time 00089 MDT transmission starting time 00009 Position of data record in MDT 00010 Length of MDT 00015 Telegram Type Parameter If all the parameters in the above table are not configured during CP2 the Sigma II Interface will not pass the CP3 transition check IDN 127 Drive Configuration The drive will operate in position velocity torque or velocity with torque feed forward control modes using the standard or appropriately defined application telegrams To use the velocity V REF with torque feed forward T REF control mode the drive s operation mode and telegram configuration SERCOS parameters should be configured as given in the table below IDN IDN Description Value Notes 00015 Telegram type 7 Application Telegram 00024 MDT Configuration List 36 80 Velocity amp torque command values 00032 Primary Mode of 2 Velocity control mode Operation The drive parameters Pn000 1 should be set to 9 speed control method Pn002 0 should be set to 2 T REF used for torque feed forward and Pn400 torque feed forward gain should be a non zero value Users Guide Page 12 SERCOS Interface Adapter P730 SERCOS Interface Specification Conformance The Sigma II Interface module sat
78. nitial support for torque control mode with no data scaling hence setpoints must be in 0 1 units Enabled the modulo S 0 0103 to work with position values BUGFIX fixed a bug introduced after v0 0 13 which stopped registration from working If a drive error arises the firmware records the error as before but does not now reset into CPO Added support for bits 5 and 6 of the homing parameter S 0 0147 These bits determine whether an external home switch and z mark respectively are evaluated during drive controlled homing Hence the drive can now be homed to only the z mark or only the external switch No longer maintain the in position C3D bit 6 and excessive position Page 82 SERCOS Interface Adapter P730 2006 00 00 18 5 Sep 2006 00 00 17 25 Aug 2006 00 00 16 04 Aug 2006 Users Guide deviation flags C1D bit 11 when not in position control mode Added initial support for the preferred position data scaling Used when in the position control mode using position command with position feedback Design Note Now read the encoder resolution from the drive during startup and use this value for the preferred scaling calculations Design Note Removed the m_ndebug structures to retrieve memory BUGFIX 4 byte IDNs will correctly return the not supported error response when master attempts to read their name or units data elements BUGFIX when running with SERCOS cycle times of 4 8 16msec the dr
79. nteger Minimum Value 0 Maximum Value 231 1 Scaling Unit Read CP2 4 Write CP2 4 Default 0 The reversal clearance describes the amount of backlash between motor and load during reversal relative to the position data When this parameter is set to zero no reversal clearance move will occur V0 0 30 and later Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 Note that all the reversal clearance distance is applied in one drive cycle Avoid large values to prevent damage to the motor and mechanical parts of the system Users Guide Page 44 SERCOS Interface Adapter P730 Reversal clearance does not operate with the drive in velocity control mode It is not operational while the homing procedure is running IDN S 0 0076 Position Data Scaling Type Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 Default 0 This IDN defines the scaling options for all position data The no scaling or preferred data scaling options are available The Processing Format bit which determines whether the feedback value has a modulo is also supported see IDN 103 Value Description Ob 0000 0000 0000 0000 No scaling Ob 0000 0000 x000 0010 Preferred scaling Rotational scaling Preferred scaling 3600000 rev Degrees At th
80. of Contents isn eteesi teense riren riea troy TA EEEE EE EA CIETE Ea KE eee 4 WMO UC HOT nna ee a E R R a I a 8 Front Panel Specification cccccsccssccsscesscessseeeseceeeceseceseceseeceseceseeeseecsseseseeeseeensees 9 Drive SERCOS BaudiRate ssc acshuieeuusesscncnetaiesacetunaneriee tus AE Eea 9 Drive SERCOS optical output adjust ccccccecccscescecesscesscesecceseeeseceseceneeesseeeseeens 9 TestMod s nansa 8 ech r e a a O EE A E aiee 10 Drive Address Rotary Switches cccccccccccssecsseesseceseceseseeccseecsseceseeseseeeteeeeeeags 10 Phase and Drive Status LEDS wands ictdneleaeniraan non omen 10 SERCOS Loop Error LED innsiscre ran nenie e oaae o E E anaa 10 SERCOS Interface Specification cccccccsseessecssceesseeseeesseeeteeeseesseeseeesesseeessees 11 Installation and COMMISSIONING cccecsseesseeesseesceesseesseeeeceseeceseeesceeeeseeeseeeneeenees 12 Drive Configuration eei eaa a ies to se I as 12 SERCOS Interface Specification Conformance cccccecsceesseeeseeessesseceessesseeeeees 13 Abbreviation enics esio eela iei meena NeeL EEEE EAER 13 COMP ANCE eisa an oa a aa e a tl aara a a a an a a ereina n 13 Reading and Writing Yaskawa Drive Parameters ccsseeseeseeeeeeseeeeeneeeneeneens 17 Registration Probe Supports terena ee A rE rE EEEN 18 Example TrioBASIC programs cccccccccecsscessseesseeseceseceseeeeseceseceseceseeesseeeseeenees 20 Drive Controlled Homing Sistr niia se
81. olled homing Notes 1 IDN 0403 is reset to 0 when drive controlled homing is started and set high when the drive has been homed IDN 0400 is set high when the home switch has been seen during homing Drive controlled homing Fault Finding 1 The required homing profile is to move to the external switch and then onto the z mark However the drive moves to the external switch but then stops and remains stationary it does not move onto the z mark Check that both the evaluation of the home switch bit 5 and evaluation of the position feedback marker pulse bit 6 in the homing parameter IDN s 00147 are both zero Check that the creep velocity IDN number 49410 IDN P 4 258 is not zero Drive controlled homing example program Example TrioBASIC program for controlling drive controlled homing Program Homing Test Program Date 6th Dec 2006 Description Drive controlled homing to be used with the P730 v0 0 21 firmware and above S41 homing velocity 256th encoder edge per msec hence if home speed is in revs per sec use algorithm S41 home_speed enc_resolution 1000 256 1 1 1 1 1 1 1 Standard Homing IDNs 1 1 1 1 1 1 hj 1 S42 home accel 256th encoder edge per msec msec S147 Homing Parameter 0x00 clockwise homing direction 0x01 ccw homing direction Users Guide Page 24 SERCOS Interface Adapter P730 k 0x20 do not evaluate the h
82. ome switch 0x40 do not evaluate the z mark 52 Ref Dist 1 150 Ref Offset 1 S403 homing status 0 homing 7 all homed 148 drive controlled homing procedure command Propietary Homing IDNs S0xC100 Homing Mode i 0 standard sr special profile 1 S0xC101 Homing input 1 Options 0 SI10 1 S12 6 SI6 S0xC102 Homing Creep velocity units as above S0xC103 Time constant Homing modes Standard Drive moves until hits switch and then slows to creep velocity and continues to move in the same direction until it hits the z mark Note that whether the z mark and or switch are evaluated is defined by the homing parameter S147 Special 1 Drive moves until hits switch at homing velocity direction and reverses off at creep velocity direction and moves forward until Drive Notes CN1 Connector Input Default Terminal Terminal symbol Numbers Name i 40 SIO n a S ON y 41 STI n a P ON y 42 S12 n a P OT 43 SI3 n a N OT 44 S14 ALM RST 1 45 SI5 P CL 46 SI6 N CL Program Constants homing speed in revs per sec was algorithm below enables us to use home _speed 1 It then changes and then changes it sees the z mark Name Servo on Proportional control ref forward run limit reverse run limit alarm reset foward current limit reverse current limit 10 this multiplier in revs per sec was 0 1 hom
83. oming enable only while the procedure command control unit controlled homing IDN S146 is active Bit Description 0 0 homing not enabled 1 homing enabled 1 15 Reserved Users Guide Page 72 SERCOS Interface Adapter P730 IDN S 0 0409 Probe 1 Positive Edge Latched Status Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 This parameter indicates whether captured position data has been latched within IDN 00130 after the rising edge of the probe 1 input signal IDN 00401 The position data is only stored after the probing cycle procedure command IDN 00170 has been activated the probe control parameter IDN 00169 configured to trigger the probe on a rising edge and the probe has been armed by setting the probe 1 enable IDN 00405 The next rising edge seen after arming the probe will trigger the probe causing the motor position to be stored in IDN 00130 and this positive edge latched status parameter to be set Any successive rising edges seen on the probe input are ignored until the master re arms the probe by clearing and setting the probe 1 enable IDN 00405 This parameter is reset when the probing cycle procedure command is cancelled or the probe is disabled IDN 00405 This parameter duplicates information found in the probe status IDN 00179 bit 0 but is useful for assigning
84. only no scaling is supported Scaling Method 000 no scaling 001 reserved linear scaling 010 reserved rotational scaling Reserved 0 preferred scaling 1 parameter scaling Reserved Units for linear scaling 0 metres 1 inches Units for rotational scaling 0 radian 1 reserved 5 Reserved Users Guide SERCOS Interface Adapter P730 Page 62 Time Units 0 seconds 1 reserved 6 Reserved Data Reference 0 at the motor shaft 1 at the load 15 7 Reserved IDN S 0 0169 Probe Control Parameter Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter defines the probe and signal edge that will trigger a position capture whilst the probing cycle procedure command IDN 00170 is activated Bit Description 0 Probe 1 capture on positive edge 1 Probe 1 capture on negative edge 2 Reserved Probe 2 capture on positive edge 3 Reserved Probe 2 capture on negative edge 4 15 Reserved Where 0 inactive 1 active IDN S 0 0170 Probing Cycle Procedure Command Data Length 2 bytes Data Type Binary Procedure Command Minimum Value Maximum Value Scaling Unit Read Write CP4 Default 0 When this procedure command is receiv
85. ontrol bit 1 of the master control word After configuring this parameter the value of the RTC1 will reflect the status of this IDN IDN S 0 0302 Real Time Control RTC Bit 2 Data Length 2 bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter defines the value of the IDN assigned to the real time control bit 2 of the master control word Bit Description 0 0 bit reset 1 bit set 1 15 Reserved IDN S 0 0303 Allocation of Real Time Control RTC Bit 2 Data Length 2 bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter defines the IDN assigned to the real time control bit 2 of the master control word After configuring this parameter the value of the RTC2 will reflect the status of this IDN Users Guide Page 68 SERCOS Interface Adapter P730 IDN S 0 0304 Real Time Status RTS Bit 1 Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter defines the value of the IDN assigned to the real time status bit of the drive status The drive shall maintain this bit during CP4 Bit Description 0 0 bit reset 1 bit set 1 15 Reserved
86. pter P730 Drive Parameters External Input The drive parameter Pn511 is configured to assign a CN1 input to the EXT1 EXT2 EXT3 channel Parameter Digit Name Setting Description Default Place Pn511 0 DEC Oto F DEC origin search signal 8 mapping 8 disabled 1 EXT1 Oto F 4 assigned to SI4 active 8 high 8 disabled 2 EXT2 Oto F 5 assigned to SI5 active 8 high 8 disabled 3 EXT3 0 to F 6 assigned to SI6 active 8 low falling edge F assigned to SI6 active high rising edge 8 disabled The Input Signal Allocation parameters Pn50A and Pn50B are configured as appropriate see Ref 1 and the power cycled to the drive before these changes are effective Parameter Digit Name Setting Description Default Place Pn50A 0 IO Signal 1 1 Signals maybe 0 Allocation freely assigned mode 0 input signal allocation as per servo amplifier sequence 1 S ON 0 to F O Inputs from the SIO 0 SIO CN1 40 input terminal 1 Inputs from the SI1 CN1 41 input terminal 2 Inputs from the SI2 CN1 42 input terminal 3 Inputs from the SI3 CN1 43 input terminal 4 Inputs from the SI4 CN1 44 input terminal 5 Inputs from the SI5 CN1 45 input terminal 6 Inputs from the SI6 CN1 46 input terminal Users Guide Page 19 SERCOS Interface Adapter P730 7 Sets signal ON 8 Sets signal OF
87. put falling edge was selected and set up in the drive this will always be the registration mode for the axis The actual value of n placed in the REGIST n command therefore does not matter it is not used by the function Here is a typical TrioBASIC registration sequence Arm the registration function REGIST 1 wait for active registration event WAIT UNTIL MARK obtain the captured probe position captured_posn REG POS Users Guide Page 22 SERCOS Interface Adapter P730 Drive Controlled Homing Requires firmware 0 0 21 and above The drive supports drive controlled homing profiles according to the SERCOS specification however there are deviations from the standard with respect to IDN scaling and also specific configuration requirements These are discussed below During drive controlled homing the drive enters an internal position control mode and homes the drive Whilst the command is running and until the command is cancelled the drive will not respond to position control commands issued by the control unit The drive shall set the procedure command change bit bit 5 of the status word when homing has been completed The control unit must then read the position feedback and update the position command accordingly before cancelling the procedure command When the command is cancelled position control will return to the control unit The exact homing profile followed is determined by the Homing Mode IDN 49408
88. r warning 4 Reserved 5 Reserved Positioning velocity exceeds limit 6 Reserved 7 Reserved 8 Reserved 9 Reserved Under voltage warning bus voltage 10 Reserved 11 Reserved Excessive velocity deviation 12 Reserved 13 Reserved Target Position outside of travel range 14 Reserved 15 Manufacturer specific warning see IDN 181 Where 0 no shutdown warning 1 shutdown warning IDN S 0 0013 Class 3 Diagnostics Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OxFFFF Scaling Unit Read CP2 4 Write N A Default 0 This parameter contains the drive operation status flags When a condition changes in the drive the corresponding bit changes in the C3D and provided the flag is not masked see IDN 98 the C3D change bit in the drive status is set to 1 When the C3D is read via the service channel the C3D change bit is reset to 0 These flags are not latched and will be reset to 0 when the condition no longer exists Users Guide Page 32 SERCOS Interface Adapter P730 Description Nfeedback ncommand Nfeedback 0 Nfeedback lt nx T gt Tx NYS T gt Tlimit Ncommand gt nlimit In position P gt Px NYS Reserved Wlo N H UjAlWIN H o m Nfeedback lt minimum spindle speed NYS Nfeedback gt maximum spindle speed NYS In coarse position NYS Target
89. rameter 00044 Velocity data scaling type B velocity RW 00045 Velocity data scaling C RW factor 00046 Velocity data scaling C RW exponent 00047 Position command value B position RW 00051 Position feedback value B position R 00052 Reference distance 1 B position RW 00054 Reference distance 2 Option RW 00055 Position Polarity B position RW parameter 00057 Position window B position RW 00058 Reversal Clearance B position RW 00076 Position data scaling type B position RW 00077 Linear position data C RW scaling factor 00078 Linear position data C RW scaling exponent 00080 Torque command value B torque RW 00084 Torque feedback value B torque R 00085 Torque polarity parameter B torque RW 00086 Torque force data scaling B torque RW type 00087 Transmit to transmit SLKN A 1 R recovery time 00088 Receive to receive tmtsy A R recovery time 00089 MDT transmission starting t2 A RW time 00090 Command value tutse B R proceeding time 00091 Bipolar velocity limit value B velocity RW 00092 Bipolar torque limit value B torque RW 00095 Diagnostic Message A R 00096 Slave Arrangement A R 00097 Mask Class 2 diagnostic B RW 00098 Mask Class 3 diagnostic B RW Users Guide Page 14 SERCOS Interface Adapter P730 00099
90. se 1 Reserved Position Feedback Marker Pulse 0 first marker pulse after the positive edge of the home switch 1 first marker pulse after the negative edge of the home switch 2 Reserved Home Switch 00400 0 connected to the control unit 1 connected to the drive 3 Reserved Homing 0 using motor feedback 1 using external feedback 4 Reserved Interpretation in the drive 0 home switch and homing enabled IDN 00407 1 homing enable only 5 Evaluation of home switch 0 home switch is evaluated 1 home switch is not evaluated 6 Evaluation of position feedback marker pulse 0 position feedback marker pulse is evaluated 1 position feedback marker pulse is not evaluated 7 Reserved Position after drive controlled homing 0 drive is positioned at an arbitrary position 1 drive is positioned at the ref position IDN 00052 00054 8 Reserved Drive controlled homing with homing distance 0 homing distance is selected IDN 00297 1 homing distance is not selected 9 Reserved 10 Reserved 11 Reserved 12 Reserved 13 Reserved 14 Reserved 15 Reserved Users Guide Page 59 SERCOS Interface Adapter P730 IDN S 0 0148 Drive Controlled Homing Procedure Command Data Length 2 bytes Data Type Binary Procedure Command Minimum Value Maximum Value Scaling Unit Read Write CP4 Default 0 Bits 15 2 Reserved Bit 1 0 Interrupt procedure command execution
91. sion starting time IDN 3 Users Guide Page 29 SERCOS Interface Adapter P730 IDN S 0 0007 Feedback Acquisition Capture Point t4 Data Length 2 Bytes Data Type Unsigned integer Minimum Value 0 Maximum Value IDN 2 Scaling Unit usec Read CP2 4 Write CP2 Default See notes This value determined by the master is the time at which the drive feedback must be acquired In this way the master declares a default acquisition capture point enabling synchronization of the feedback for all drives that work in coordination with each other The drive enables this point during CP3 This value is automatically set to IDN 8 IDN S 0 0008 Command Value Valid Time t3 Data Length 2 Bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit usec Read CP2 4 Write CP2 Default See notes The time the drive accesses the new command values after the completion of an MST In this way the master provides the command value valid time to enable synchronization of command values among all coordinated drives The drive enables this time during CP3 This value is automatically set to Tscyc 150 usec in CP3 IDN S 0 0009 Position of Data Record in MDT Data Length 2 Bytes Data Type Unsigned integer Minimum Value 1 one drive Maximum Value 65 531 Scaling Unit Bytes Read CP2 4 Write CP2 Default None
92. so sets the position cmd to be equal to this value and calculates a setpoint offset used between the drive and P730 to be added to all subsequent setpoint cmds from the master Changes required to support the Pack Profile Specification 1 Changed IDNs 11 12 13 14 reported data type from unsigned int to binary 2 Changed status of IDN 32 in CP3 and CP4 from read only to read write It does not make sense to change the operation mode in these phases since you will have to cycle power to the drive if you change the drives control mode before it takes affect but was required by the Pack Profile Specification 3 Firmware now calculates the demanded speed when in position and velocity control modes and monitors this value If the demanded velocity value exceeds the bipolar velocity limit value IDN S 0 0091 the firmware will set C3D IDN S 0 0013 bit 5 n command greater than n limit BUGFIX Absolute encoders corrected use of encoders with more than 16 bits from power on It was found that a 17bit absolute encoder would occasionally return a position a half turn out from the last recorded value before the power was cycled Correctly reset to CPO when drive C1D occurs and reset to show CPO on the green leds Correct error information recorded by the interface status IDN S 0 0014 Reset required operation data list IDN S 0 0021 when unit returns to CPO Tightened MDT timing tolerance checked when in CP3 and CP4 was
93. t must have been configured in position control mode The SERCOS ring must have been raised into the normal operations CP4 mode and the drive enabled 2 The drive s parameter Pn511 must be configured to support the required trigger input s z mark and or external input Drive Parameters Pn50A and Pn50B must be configured if an external input is required Refer to the Registration section for details about these parameters 3 The standard SERCOS homing IDNs must be set as required including the Homing Parameter IDN 00147 Homing Velocity IDN 00041 and Homing Acceleration IDN 00042 The Reference Distance 1 IDN 00052 and Reference Offset 1 IDN 00152 should also be set if non zero values are required The Homing Procedure Command IDN Users Guide Page 23 SERCOS Interface Adapter P730 00148 is then run to execute the homing See Appendix A for further details of these IDNs 4 The proprietary SERCOS homing IDNs must be set as required including the Homing Mode IDN 49408 Homing Trigger Input IDN 49409 and Homing Creep Velocity IDN 49410 See Appendix A for further details of these IDNs 5 The SERCOS Homing Velocity IDN 00041 and Homing Creep Velocity IDN 49410 employ units of in 256 encoder edges per msec and Homing Acceleration IDN 00042 of 256 encoder edges per msec 6 The probe procedure command must not be run simultaneously with the drive controlled homing procedure command Drive contr
94. test AT transmission timin A R starting time 00004 Transmit receive tatmt A R transition time 00005 Minimum feedback ts B R processing time 00006 AT transmission starting ti A RW time 00007 Feedback acquisition t4 B RW capture point 00008 Command value valid ts B RW time 00009 Position of data record in A RW MDT 00010 Length of MDT A RW 00011 Class 1 Diagnostic C1D A R 00012 Class 2 Diagnostic C2D B 00013 Class 3 Diagnostic C3D B 00014 Interface Status A R 00015 Telegram Type A RW 00016 AT Configuration List C RW 00017 IDN list of all operation A R data 00018 IDN list of operation data A R for CP2 00019 IDN list of operation data A R Users Guide Page 13 SERCOS Interface Adapter P730 for CP3 00021 IDN list of invalid A R operation data CP2 00022 IDN list of invalid A R operation data CP3 00024 MDT Configuration List C RW 00025 IDN list of all procedure A R commands 00028 MST error counter A R 00029 MDT error counter A R 00030 Manufacturer Version C R 00032 Primary operation mode A RW 00033 Secondary operation B RW mode 1 00036 Velocity command value B velocity RW 00040 Velocity feedback value B velocity R 00041 Homing Velocity B velocity RW 00042 Homing Acceleration B position RW 00043 Velocity polarity B velocity RW pa
95. the Position Value Feedback Status IDN 00403 is set when the origin z mark is recognized If Bit 1 is set to O during the homing the motor speed will be ramped down to zero at the programmed acceleration rate When Bit 1 is set to 1 again the homing procedure will continue at the programmed speeds V 0 0 30 and later Users Guide Page 60 SERCOS Interface Adapter P730 IDN S 0 0150 Reference offset 1 Data Length 4 bytes Data Type Minimum Value Signed Integer 231 Maximum Value 231 1 Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter is used during homing to determine the motor s position feedback relative to the machine zero point It is the distance between the home marker to the home position Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 IDN S 0 0151 Reference offset 2 Data Length 4 bytes Data Type Signed Integer Minimum Value Maximum Value 271 1 Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter is used during homing to determine the motor s position feedback relative to the machine zero point when the motor s position is defined by reference feedback 2 It is the distance between the home marker to the home position Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN
96. upted o Bit 2 1 proc cmd not yet executed 0 proc cmd executed correctly o Bit 3 1 error proc cmd execution not possible 0 no proc cmd error o Bit 7 4 reserved o Bit 8 1 operation data is invalid 0 operation data is valid o Bit 15 9 reserved Drive will now monitor the power stage and raise a C1D undervoltage error if the master attempts to enable the drive when the power stage is not powered or if the power is removed when the drive is enabled Added more complete support for the drive s ready to operate bits of the AT status word These bits identify when the drive is ready to be enabled by reflecting the status of the drive logic and whether power has been applied to the drives power stage Drive controlled homing added support for homing only to the home switch when using the default profile Note that the drive must be configured to evaluate an external input by writing the appropriate values to drive parameters Pn50A Pn50B Pn511 and cycling power to the drive and the drive homing proprietary IDNs must be configured before the homing procedure command is executed Added support for torque control mode with no data scaling hence setpoints must be in 0 1 units BUGFIX drive controlled homing was using the latched position and not the final stop position after decelerating to a standstill as the machine zero point Added initial support for velocity data scaling with preferred scaling Added i
97. ure can now be interrupted by clearing bit 1 of the command control IDN S 0 0148 Added IDN S 0 0058 reversal clearance Firmware release v00 00 30 1 7 1 Oct 2007 Added Proprietary parameters IDN P 4 0512 and IDN P 4 0513 for support of ALPHA release Linear Preferred Scaling Firmware release v0 0 28 1 7 26 Jan 2007 Corrected IDN 00076 parameters support for the pack profile including preferred data scaling and further support for drive controlled homing New IDNs S41 S42 S147 S148 and proprietary IDNs 0xC100 0xC103 Firmware release v0 0 21 1 6 23 Jan 2006 Description of the support for drive controlled homing added in firmware version 0 0 14 12 Mar 2004 Modulo value added firmware v0 0 10 8 Sept 2003 Absolute encoder support added firmware version 0 0 9 m ALU 6 Aug 2003 Registration Support added 14 Feb 2003 Brief SERCOS Interface Specification description added 10 Feb 2003 Support for Probe IDNs added 14 Nov 2002 Initial Issue as Oje IN Users Guide Page 3 SERCOS Interface Adapter P730 Table of Contents Trio Motion Technology Sigma II SERCOS Interface Users Manual e cesses 1 Referent Srenocunrenaon i aa a e a a a aE 2 Definitions and Abbreviations s sssssssessesessesessesresessesesetsresessestesesssseseessesessestese 2 Modification Statuses us neon a a a a ees ecard 3 Table
98. ximum Value 232 1 Scaling Unit Read CP2 4 Write CP2 3 Default 8192 This parameter defines the preferred units output from the scaling function for all position data in the drive when in linear data scaling mode Drive Monitor Modes The Drive monitor modes map to the product specific SERCOS IDN range starting at address 53248 0xD000 SERCOS IDN Drive Notes Identification 53248 Un000 Speed Feedback 53249 Un001 Speed Command 53250 Un002 Torque Command 53251 Un003 Rotation Angle 1 53252 Un004 Rotation Angle 2 53253 Un005 Input Signal Monitor 53254 Un006 Output Signal Monitor 53255 Un007 Command Pulse Speed 53256 Un008 Deviation error counter 53257 Un009 Accumulated load rate 53258 Un00A Regenerative load rate 53259 Un00B Power consumed by DB resistance 53260 Un00C Command Pulse Counter LSB 53261 Un00C Command Pulse Counter MSB 53262 Un00D Feedback Pulse Counter LSB 53263 Un00D Feedback Pulse Counter MSB 54550 Fn011 E Encoder Type Resolution Users Guide SERCOS Interface Adapter P730 Software History Version Date 00 00 33 22 Oct 2008 00 00 32 10 Apl 2008 00 00 31 25 Jan 2008 00 00 30 18 Dec 2007 00 00 29 26 Nov 2007 Users Guide Changes f 11 12 13 14 15 16 BUGFIX The reset C1D procedure command IDN 00099 will now correctly run the drive reset process when an excessive position
99. ytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 This parameter defines the encoder type where 0 incremental and 1 absolute IDN P 4 0001 49153 DIP Switch Status Data Length 2 bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter returns the status of the drive DIP switches IDN P 4 0002 49154 Software Reset Data Length 2 bytes Data Type Binary Procedure Command Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This procedure command performs a software reset of the drive IDN P 4 0100 49252 Probe 1 Trigger Input Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter determines which trigger input is used to latch probe 1 Users Guide Page 76 SERCOS Interface Adapter P730 Bit Description 0 1 See Probel trigger input table below 2 15 Reserved Probe 1 Trigger Input Table Value Description 0 Origin Z mark 1 EXT1 connection CN1 44 2 EXT2 connection CN1 45 3 EXT3 Reserved IDN P

P730 user manual

Contents

Download Pdf Manuals

Related Search

Related Contents