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user manual communications profile profibus dp ba

1. PKW 1 2 3 4 5 6 7 8 BYTE 15 12 11 10 8 TERY 0 Verne 8 TARERE 0 Verne 8 ER 0 Verne 8 ES 0 BIT 0011 0 101 00011000 00000000 00000000 00000000 00000000 00100011 00101000 PKE IND PWE PKE is made up of PNU bit 0 to 10 1304 dec 101 00011000 bin SPM bit 11 0 AK bit 12 to 15 3 dec write parameter value 11 bin This results in PKE AK amp SPM amp PNU 0011 amp 0 amp 101 00011000 or 00110101 00011000 which are entered in bytes 1 and 2 IND is always 0 for PNU less than 1600 PWE is the area where the value is entered with the value always being entered so as to be right aligned or starting with byte 8 The servo amplifier sends a reply telegram with AK 2 and identical values for PNU and PWE The reply telegram then has the following appearance PKW 1 2 3 4 5 6 7 8 BYTE 0010 0 101 00011000 00000000 00000000 00000000 00000000 00100011 00101000 PKE IND PWE A negative reply from the servo amplifier AK 7 has the following appearance PKW 1 2 3 4 5 6 7 8 BYTE 0111 0 101 00011000 00000000 00000000 00000000 00000000 00000000 00010001 PKE IND PWE PWE now contains the error number which has been described in detail in Chapter 4 3 1 In the present case this is error number 17 Task cannot be executed due to operating status 4 20 Communications profile PROFIBUS DP Edition 07 02 5
2. cccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaes 6 31 6 1 Setting the operating mode uunzesnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannennnnnnnnnnnnn nenn 6 31 6 1 1 Locking the setpoint values and process datta cccccceeeeeeeeeeteeeeeeteneeeeetieeeertneeeeee 6 31 6 1 2 Resetting PKW ne 00er crocs cctesreadaeanseveoegeecadaasanssittisntaetes dice seadeuaeade ET 6 32 Communications profile PROFIBUS DP Edition 07 02 6 1 3 Selecting the new operating mode with PNU 930 uursnnesensnnennennnnnnnnennnnnnnennnnnnnnnn 6 32 6 1 4 Releasing the setpoint Values ccccccccsevesecqetesectaetescccdeevedecceetsensdaevedenensdiaetecaeeseendoeties 6 33 6 1 5 EO ner rA e e a A a eaea a A A E 6 33 6 2 Homerun referencing acraea a a R AA E A 6 34 6 2 1 Starting the home run referencing 4eennnnnnnnnennnnnnnennnnnnnnnennnnnnnnnnnnnnn nn 6 34 6 3 Starting a direct motion task with saved next motion task unnnnnensnnnnnnnnnnnnnnnnnnnnnnnnnnn 6 35 6 3 1 Number of the motion task only the saved motion task ceeceeeeeeeeeeeeeeeeeeeteeeeee 6 35 6 3 2 Starting a direct motion task ageer cece eeceeeee AE E A a 6 35 7 Program description for Siemens S7 unuuuuuusssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 7 36 7 1 Hardware configuration of the CPU uuensessnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn anne 7 36 7 2 Program overview
3. The new target position is given by the actual position plus the traversing distance No following task available There is a following task but it must be defined through PNU 1308 Change over to next motion task with braking to 0 at the target position O 0O Change over to next motion task without standstill at the target position The type of velocity transition is determined by bit 8 Change over to next motion task without evaluating inputs A following motion task is started by a correspondingly configured input Start the next motion task via Input state Low O O Start the next motion task via Input state High or if bit 7 1 in any case after the delay time set via PNU 1309 Next motion task The next motion task starts immediately 3 0 The next motion task starts after the delay time set via PNU 1309 or if bit 6 1 prior to that in response to a respective input signal Only for following motion tasks and bit 4 1 from the target position for the previous motion task onwards the velocity is altered to the value for the following motion task The setpoint speed of the next motion task should already be reached in the target position Only sensible if no change in direction occurs 10 Reserved 12 Accelerations are taken from the data record alternatively the limit values of accelerations are used The limit
4. no error Equipment specific settings None 7 Note For each servo amplifier FC2 must be called up at least once in the cycle FC1 and FC2 access the same parameter record and must be parameterised identically for each drive FC2 must be called up before FC1 7 41 Communications profile PROFIBUS DP Edition 07 02 7 2 4 5 FC3 Setting of the operating mode as well as the home run are controlled in this module Network 2 At the start of communication a zero telegram is sent If the zero telegram is acknowledged by the servo amplifier the network is skipped during subsequent program passes Network 3 By calling up FC5 setting of the operating mode is carried out Thus the operating mode is set to 2 or to positioning If setting the operating mode has been carried out successfully the flag BEA_OK_ X Y or Z is set in DB2 Network 4 After network 3 has been blocked the program jumps to network 4 In this part the home run referencing is carried out If the home run has been carried out successfully the flag REF_OK_ X Y or Z is set in DB2 FC3 Functions Call up the module FC5 which carries out transfer of the parameter data PNU Set the operating mode and home run Technical data Module name OpModRef Bit setting OpModS_OK X Y or Z in DB2 REF_OK X Y or Z in DB2 CommsStart X Y or Z in DB2 REF_0 X Y or Z in DB2 Access to FC5 DB2 DB101 Function of parameters Inpu
5. MONECH Handling Components SERVOLINE USER MANUAL COMMUNICATIONS PROFILE PROFIBUS DP BA 100041 Edition 02 06 17 10 2002 Communications profile PROFIBUS DP Edition 07 02 Change index Editions issued so far Edition Comments Article number English version 02 01 First edition valid from software version 2 00 507113 04 02 Completely reworked 507805 07 02 Kapitel 5 4 1 Aufnahme von SHA 340 SHX 340 und SHY 340 507805 Kapitel 5 4 1 Faktor Kn korrigiert Kapitel 7 2 Anderung der Programmnamen Kapitel 7 2 4 Anderung der Programmnamen Kapitel 8 4 Immer BIT 02 06 New item number BA 100041 Communications profile PROFIBUS DP Edition 07 02 1 Gene n sn ee 1 1 1 1 IntrodUCti N sis enaar terie eaa eaa eei erae aA AEE aaa AE Ra AE AE EErEE Eaa aA NE Earne a Eaa daear 1 1 1 2 Software package aoina a a A EE EE E Aa 1 2 1 3 Use as directed 22er Ra E AEAEE Aa EA EAKA KEE ET K E LEI hinges 1 2 2 Overview of work reqQuired cccceeeeeeeeeeeeneeeeeeeeeeeeeeeeeeaeesseeeeeeeeeeeneaeeeeeeeeees 2 3 2 1 PO a a a R a r ra a a A r aa aaae a aaae 2 3 2 1 1 e e a P EE ERT T SETAE EE A EET TAT 2 3 2 1 2 SOMINGS A E E ass cacaeala deans as sch E E E T 2 3 2 2 E aa E A A E teen dees 2 3 2 2 1 Cabling Mall PEA A A E ee E T T E TEES 2 3 2 2 2 SEHINGS 3 eee ET E AE E EE A E S AE E E E E EEST 2 3 2 3 E E A A E T 2 4 2 3 1 a EEA A E E E AE rrr A A E A T
6. error If an instrument error occurs the servo amplifier changes to the instrument state Error response active In this state the power stage is switched off immediately After this error response has taken place it changes to the state Error This state can only be terminated by the bit command Error reset To do this the cause of the error must have been removed see Chapter 4 2 3 PNU1001 5 24 Communications profile PROFIBUS DP Edition 07 02 5 2 2 Transitions of the state machine Transition 0 Event Reset 24 V supply is switched on Action Initialisation started Transition 1 Event Initialisation successfully completed the servo amplifier switch on inhibited Action None Transition 2 Event Bit 1 inhibit voltage and bit 2 fast stop are set in the control word command shutdown DC link voltage is present Action None Transition 3 Event Bit 0 switch on is also set command switch on Action Output stage is switched on enabled Drive has torque Transition 4 Event Bit 3 operation enabled is also set command operation enable Action Motion functions are enabled depending on the operating mode that is set Transition 5 Event Bit 3 is cancelled command inhibit Action Motion functions are disabled Brake is applied to drive using the relevant ramp depends on operating mo
7. existing motion task This is cancelled when a valid motion task is started Warning 9 No reference point was set at the start of the motion task is set if a motion block is started without a previous homing run This is cancelled after completion of a homing run Warning 10 PSTOP active is set as long as the hardware limit switch PSTOP is active In the default setting PSTOP is not used Warning 11 NSTOP active is set as long as the hardware limit switch NSTOP is active In the default setting NSTOP is not used Warning 12 Motor default values were loaded is set at switch on of the amplifier if the motor number from the serial EEPROM and the motor number from the SINCOS encoder are different If a valid motor number is entered and the data is stored in the encoder and in the internal EEPROM the warning will no longer be issued from the next switch on of the encoder Is not used in the default setting Warning 13 Reserved Warning 14 Reserve Warning 15 Reserve Warning 16 Reserve Warnings 3 and 4 can be reset via bit 13 in the control word 4 14 Communications profile PROFIBUS DP Edition 07 02 PWE Byte 7 and 8 Bit Description 16 Motion task active is set as long as a position control task is active motion task jogging homing Reference point set is set after a homing run is cancelled when the amplifier is swit
8. 17 Task cannot be executed due to operating status 18 Other error 19 100 Reserved 101 Faulty task ID 102 Software error command table 103 Only possible in disabled state 104 Only possible in enabled state 105 BCC error in the EEPROM data 106 Only possible after motion task has been stopped 107 Incorrect value 16 20 108 Incorrect parameter OCOPY x y z 109 Incorrect motion block no 0 1 180 192 255 110 Incorrect parameter PTEACH x y 111 EEPROM write error 112 Incorrect value 113 BCC error in the motion block gt 113 Reserved 4 11 Communications profile PROFIBUS DP Edition 07 02 4 3 2 Parameter values PWE with associated PNU numbers in decimal PNU 904 Description Number of the PPO Write supported Number of the supported PPO type Since exclusively PPO type 2 is supported see Chapter 3 this parameter is always set to 2 PNU 911 Description Number of the PPO Write supported Number of the supported PPO type Since exclusively PPO type 2 is supported see Chapter 3 this parameter is always set to 2 PNU 918 Description Participant address on PROFIBUS PNU 930 Description Setting the operating mode Always set the operating mode to 2 This is the positioning mode according to the PROFIDRIVE profile After it has been switched on the servo amplifier is in operating mode 126 While in this state the state machine can be controlled no moti
9. 5 2 Servo amplifier control Control of the servo amplifier is described by means of a state machine The state machine is defined in the drive profile in a flow diagram for all operating modes The following diagram shows the possible instrument states of servo amplifier Output stage not i Error switched on Error response Start active 14 for switch on 1 15 inhibited 7 Je 2 Ready for switch on Output stage switched on 4 5 2 11 ae 5 2 1 States of the state machine Not ready for switch on The servo amplifier is not ready for switch on No operation readiness BTB RTO is signalled from the amplifier software Switch on inhibited The servo amplifier is ready for switch on Parameters can be transferred DC link DC bus can be switched on motion functions cannot be carried out yet Ready for switch on DC link voltage must be applied Parameters can be transferred motion functions cannot be carried out yet Ready for operation DC link voltage must be switched on Parameters can be transferred motion functions cannot be carried out yet Output stage is switched on enabled Operation enabled No error present Output stage is switched on motion functions are enabled Fast stop activated The drive has been stopped using the emergency stop ramp Output stage is switched on enabled motion functions are enabled Error response active
10. Action Motion function is enabled again The state transitions are affected by internal events e g switching off the DC link voltage and by the flags in the control word bits 0 1 2 3 7 5 25 Communications profile PROFIBUS DP Edition 07 02 5 3 Process data PZD2 to PZD6 BYTE 11 12 13 14 15 16 17 18 19 20 PZD HSW HIW PZD2 PZD3 PZD4 PZD5 PZD6 The designation of the data word of the process data PZD2 is as follows e HSW or Main setpoint value if the data flow is from the SPS to the servo amplifier In this case this value is used to control the servo amplifier e HIW or Main actual value if the data flow is from the servo amplifier to the SPS In this case this value is used to monitor the servo amplifier The significance of process data PZD2 to PZD6 varies this is explained in the next Chapter 5 26 Communications profile PROFIBUS DP Edition 07 02 5 4 Using the process data channel 5 4 1 Standard allocation of the process data compartments The standard allocation is used in the following cases e Home run referencing e Jogging e Saved motion task STW bit 14 0 PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 STW Motion task number or E Vso jogging homing ZSW Nist 16 bit Actual position 32 Manuf spec bit status register PNU 1002 Motion task number The motion task number of the motion tas
11. in DB101 Outputs None Transit parameters PKW ARRAY 1 4 WORD PZD ARRAY 1 6 WORD ResPKW INT Result of processing PZD 0 no error ResPZD INT Result of processing PZD 0 no error Equipment specific settings None 7 7 Note For each servo amplifier FC1 must be called up at least once in the cycle FC1 and FC2 access the same parameter record and must be parameterised identically for each drive FC2 must be called up before FC1 7 40 Communications profile PROFIBUS DP Edition 07 02 7 2 4 4 FC2 In this module the data from the CPU periphery is stored in the temporary memory of FC1 by means of SFC14 From there it is loaded to the data module DB101 Network 2 Read from PKW part Network 3 Read from PZD part FC2 Function Send data from the servo amplifier to the CPU Technical data Module name Read Data Bit setting None Access to DB101 SFC14 Function of parameters Inputs PKWPeriStart2 WORD Start address PKW area in the periphery PZDPeriStart2 WORD Start address PZD area in the periphery DataDBStart2 WORD Start address of the data PKW PZD in DB101 Outputs None Transit parameters PKW ARRAY 1 4 WORD PZD ARRAY 1 6 WORD ResPKW INT Result of processing PZD 0 no error ResPZD INT Result of processing PZD 0
12. motion task no Example PKW IND PWE1 PWE2 0000 0000 0001 IND PWE1 PWE2 0000 0000 0001 Input e PKE input is set to 251C hex This means that the parameter value was transferred without any errors e PWE2 input 1 next motion task no The amplifier has confirmed the data transfer the direct motion task can be started 6 3 2 Starting a direct motion task Prerequisites Hardware enable is present terminal X3 terminal 15 Amplifier is in the state operation enabled Operating mode PNU 930 is set to 2 Home run successfully carried out Output e STW 447F hex bit 14 1 starting with rising flank in bit 6 e Vsoll HSW PZD3 1 500 000 um s dec 16E360 hex e Ssoll PZD4 PZD5 1 000 000 um dec F4240 hex e Type of motion task PZD6 2008 hex or motion task absolute with next motion task and SI units Example PKW PZD IND PWE1 PZD3 PZD4 0000 0000 E360 OOOF IND PWE1 PZD3 PZD4 0000 0000 VAR VAR 6 35 Communications profile PROFIBUS DP Edition 07 02 7 Program description for Siemens S7 7 1 Hardware configuration of the CPU The graphical interface makes it very easy to configure the Siemens S7 for the PROFIBUS network After the control layout has been set up the interface module used can be configured as follows Open the hardware catalogue and drag the symbol for the corresponding field unit onto the
13. from one servo amplifier state to another The diagram for the state machine Chapter 5 2 shows which servo amplifier states can be reached via which transitions The momentary servo amplifier state can be taken from the status word Several states may be passed through during a telegram cycle e g from Ready for switch on via Ready for operation to Operation enabled The bits in the control word can be operating mode dependent or mode independent The following table describes the bit assignment in the control word Bit Name Comment 0 Switch on 1 Inhibit voltage 2 Fast stop switch on inhibited 1 gt 0 the drive brakes using emergency ramp axis is disabled 3 Operation enabled 4 Fast stop inhibit ramp 1 gt 0 the drive brakes using emergency ramp function generator 5 Pause stop RFG Position mode e Motion block the parameter that is set in the motion block is used e Setup operation the parameter that is set as a ramp for homing and jogging is used 6 Start_MT transition edge Position mode Start a motion task with every change of transition edge toggle bit 7 Reset Fault Only effective with errors in PNU 1001 8 Jogging On Off Start jogging 9 Reserved 10 PZD enable inhibit 11 Start homing run transition Position mode Start homing edge 12 Manufacturer specific Reset the position 13 Ma
14. ne n 7 37 7 2 1 Generally pes u eh ald url wel ene neh ee nani 7 37 7 2 2 Description ofthe modules u 224 ide ei kannten 7 37 7 2 3 Program SUCIU E Sea dante aa a te ital au HB aueh alt ects 7 38 7 2 4 Programs 1DEMO_D E 2DEMOi_D E and 3DEMOIi_D E een 7 38 Cor 1 0 2121 1 2 a E EAE TEA TEET 8 46 8 1 Abbreviations and acronymsS nunnssnresnnnennnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnsnnnennnsnnnnnrnnnnennnsnnnrnrnnn nen 8 46 8 2 GIOSSAry 2 a ra debe cece ace a LE ste aah tet eed eeabeanesabeaettence 8 47 8 3 Number systems 2 2 erneuern red anEe er EeTHEeFHRe er nnmnnn 8 48 8 4 D ta types 22 ara at dee hae AANE 8 48 Communications profile PROFIBUS DP Edition 07 02 1 General 1 1 Introduction This manual deals with the range of functions and the software protocol of the PROFIBUS DP expansion card for the SERVOSTAR 600 Information is arranged as follows Chapter 1 General information Chapter 2 Overview of work required Chapter 3 Overview of the equipment profile Chapter 4 Service channel PKW Chapter 5 Process data channel PZD Chapter 6 Steps necessary to perform motion tasks Chapter 7 Program description for Siemens S7 Chapter 8 Appendix This manual forms part of the complete documentation of the SERVOLINE products The complete documentation consists of the following documents Communications profile PROFIBUS DP Setup software version Profib
15. representation of the bus system drag amp drop A window automatically opens for general parameterisation of the field unit Enter the participant s address here Hardware Katalog Hardware Auswahl C SIMOREG a SIMOVERT 3 SIPOS J amp A Weitere FELDGERATE B A Sonstige H DIGIFAS 5600 ma 4 Wort AE AA Kor 5 6 Wort AE AA Kor Universalmodul Ww gt J E DP Mastersystem 1 Next using the same method as above drag the modules from the hardware catalogue into the box for the field unit Note that the 4 word module must be placed into cell O and the 6 word module into cell 1 Hardware Katalog J SIMOREG a SIMOVERT a SIPOS Weitere FELDGER TE a Sonstige H DIGIFAS LQ 5600 ga 4 Wort AE AA Kor ga 6 Wort AE AA K DP Mastersystem 1 10 DP Slave Another window opens where you can set the parameters for the modules 7 36 Communications profile PROFIBUS DP Edition 07 02 7 2 Program overview The supplied 3 5 diskette contains 3 demonstration programs e 1xDEMO_D in German or 1xDEMO_E in English It controls 1 axis This program has been prepared with absolute symbolic addresses e 2xDEMi_D in German or 2xDEMi_E in English It controls 2 axes This program has been prepared with register indirect area internal addresses e 3xDEMi_D in German or 3xDEMi_E in English It controls 1 servo cartesian system 3 axe
16. 3 WORD _ Start address of the data PKW 1 4 PZD in DB101 BitDBStart3 WORD Start address of the bits in DB2 Network 2 2 5 FC4 DataDBStart4 WORD _ Start address of the data PKW PZD in DB101 Ssoll DINT Only for direct motion task Stroke in um 32 bit Vsoll DINT Only for direct motion task Speed in um s 32 bit Netwok 2 2 6 FC2 PKWPeriStart2 WORD Start address PKW area in the periphery PZDPeriStart2 WORD Start address PZD area in the periphery DataDBStart2 WORD _ Start address of the data PKW PZD in DB101 Network 2 2 6 FC1 PKWPeriStart1 WORD Start address PKW area in the periphery PZDPeriStart1 WORD Start address PZD area in the periphery DataDBStart1 WORD Start address of the data PKW PZD in DB101 7 39 Communications profile PROFIBUS DP Edition 07 02 7 2 4 3 FC1 In this module the data from module DB101 is loaded stored in the temporary memory of FC1 from which it is transmitted to the periphery of the CPU by means of SFC15 Network 2 Write from PKW part Network 3 Write from PZD part FC1 Function Send data from the CPU to the servo amplifier Technical data Module name Send Data Bit setting None Access to DB101 SFC15 Function of parameters Inputs PKWPeriStart1 WORD Start address PKW area in the periphery PZDPeriStart1 WORD Start address PZD area in the periphery DataDBStart1 WORD Start address of the data PKW PZD
17. 6 words PZD section according to PROFIBUS profile PROFIDRIVE The instrument profile can be divided into two sections or data channels 1 PKW section 4 words 2 PZD section 6 words PKW Service channel The PKW data channel can also be called a service channel The service channel only uses confirmed communication services it is used by servo amplifier as a parameter channel This channel has no real time capability This channel is primarily used for settings and status inquiries in connection with the servo amplifier or for transmitting parameters PZD process data channel The PZD data channel can also be called a process data channel The process data channel uses unconfirmed communication services The response of the servo amplifier to an unconfirmed service can only be seen in the reaction of the servo amplifier status word actual values This channel has real time capability A 4 016 3 3 This channel is used for the transmission of data during the home run during jogging and during motion tasks Communications profile PROFIBUS DP Edition 07 02 4 Service channel PKW This channel can be divided into three segments PKE Parameter identification This is where the type of execution AK parameter read or write and the identification number PNU parameter number are transmitted to the servo amplifier IND Subindex An additional identification number for PNU greater than 1600 is possible here PWE Pa
18. EE 2 4 2 3 2 SD CUINGS sss eos a ee a Ee T EE Te aE Aa T a OTA es 2 4 3 Overview of the equipment profile uussu0000000000nnnnnnn nn nnnnnnnnnnen nenn 3 5 4 Service channel PKW cco u 4 6 4 1 Parameter ID PKE in PKW 2 2 22 arg 4 6 4 1 1 Task Response ID AK in PKE sesssssnnnsnnsnennnnnsnnnnnnnnnnennnnnnnennennnennnnr rennen 4 7 4 1 2 Significance of the toggle bit for spontaneous message SPM in PKE Master lt lave 4 8 4 1 3 Significance of the parameter number PNU in PKE Master gt Slave 4 8 4 2 Sub inde IND 2 osc ee nennen ae nee secs y cute seueestasve cued nscueyenctie 4 10 4 3 Parameter value PWE sisi scccccccce coches sich ea sede EE Aa Pan aia aiK 4 10 4 3 1 Error numbers in PWE byte 8 with response identification AK 7 in PKE 4 11 4 3 2 Parameter values PWE with associated PNU numbers in decimal 4 12 4 4 Using the parameter channel unnursssnnsenrennnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrnnnnnnnrnnnnnnenrnnn nennen 4 19 4 4 1 Writing reading an amplifier parameter aeussseesriesisireserrresirrnisetnrnaairnneannnuaaiiandetenaaarenaa 4 19 4 5 Example telegram in PKW uunsssnnsenrennnnennnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnrnnnnnennnnnnnenrnsnnnnnrnsnnnenrnnnne 4 20 4 5 1 Seting the acceleration aeeie eier irre 4 20 5 Process data channel PZD 52 3 cesses cities cies
19. NU 1411 Description Ballast power The parameter value is the actual ballast power in W PNU 1412 Description I t load The parameter value is the actual loading in PNU 1413 Description Running time The parameter value is the actual running time in Min PNU 1462 Description State of the digital I Os Bit O corresponds to DIGITAL OUT2 Bit 1 corresponds to DIGITAL OUT1 Bit 2 corresponds to ENABLE Bit 3 corresponds to NSTOP Bit 4 corresponds to PSTOP Bit 5 corresponds to DIGITAL IN2 Bit 6 corresponds to DIGITAL IN1 4 18 Communications profile PROFIBUS DP Edition 07 02 4 4 Using the parameter channel The controller can be parameterised via the operator software or via the PROFIBUS 4 4 1 Writing reading an amplifier parameter The amplifier parameter PKW contains 3 parts PKE IND and PWE e PKE again contains 3 parts e AK determines whether the parameter is written to the amplifier AK 3 or read from the amplifier AK 1 e SPM not implemented at present it is always set to 0 e PNU the parameter number indicates the identification of the amplifier parameter e IND is not relevant it is always set to 0 e PWE contains the desired value With the command AK write AK 3 or read AK 1 the amplifier parameter is transferred to the volatile memory of the servo amplifier With PNU 971 this amplifier parameter can also be transferred to the nonvola
20. Process data channel PZD 13 14 15 16 17 18 19 20 BYTE 9 10 11 12 STW HSW ZSW HIW PZD1 PZD2 PZD3 PZD PZD4 PZD5 PZD6 The process data region of the 20 byte telegram is used for exchanging cyclical data via the PROFIBUS At each PROFIBUS cycle an interrupt is triggered in the servo amplifier with the interrupt causing new process data to be exchanged and processed The process data channel is used for real time communication This channel can effectively be divided into two telegram portions PZD1 Control word STW status word ZSW The control word is used to control the status word is used to supervise the status of the servoamplifier PZD2 6 Setpoints actual values depending on the operating modes Setpoints and actual values such as position velocity etc are exchanged in this section 5 1 Process data PZD1 BYTE 9 10 STW ZSW PZD1 PZD The designation of the data word of the process data PZD1 is as follows e STW or Control word if the data flow is from the SPS to the servo amplifier In this case the data is used to control the servo amplifier e ZSW or Status word if the data flow is from the servo amplifier to the SPS In this case the data is used to monitor the servo amplifier 5 21 Communications profile PROFIBUS DP Edition 07 02 5 1 1 The control word STW By means of the control word you can switch
21. WE2E n 28 ZSW Status word n 30 HIW Main actual value n 32 PZD3E PZD Input n 34 PZD4E n 36 PZD5E n 38 PZD6E 40 0 END_STRUCT Note n 0 2 4 6 start address of the data A new structure must be created for each axis 7 45 Communications profile PROFIBUS DP Edition 07 02 8 Appendix 8 1 Abbreviations and acronyms The table below shows abbreviations and acronyms used in this manual Abbreviation acronym Explanation AGND Analog mass ground Bin Binary BTB RTO Ready for operation CE Communaut Europ enne CENELEC Comit Europ en de Normalisation Electronique CLK Clock timing signal COM Serial interface of a PC AT Dec Decimal DGND Digital mass ground DIN Deutsches Institut fur Normung Disk Magnetic storage diskette hard disk EEPROM Electrically erasable and programmable read only memory EMV Electromagnetic compatibility EN European standard ESD Electrostatic discharge Hex Hexadecimal IDC Analog current monitor IEC International Electrotechnical Commission IGBT Insulated Gate Bipolar Transistor INC Incremental interface ISO International Standardization Organization LED Light Emitting Diode MB Megabyte MS DOS Operating system for PC AT NI Zero impulse NSTOP Limit switch input anticlockwise rotation PELV Protective low volta
22. a exchange between the CPU DB and the servo amplifier e FC2 Prepares to read the data from the servo amplifier calls SFC14 e SFC14 Reads consistent data from the servo amplifier e FC1 Prepares to write the data to the servo amplifier calls SFC15 e SFC15 Writes data consistently to the servo amplifier These modules are the program memory e DB2 Flag database e DB101 Database of the useful data or PKW data and PZD data 7 37 Communications profile PROFIBUS DP Edition 07 02 7 2 3 Program structure 167 FCO DB2 DB101 DB101 Fin meer 3 BEE FGJ oo FCS 5 4 DB101 FC4 lt 7 DB101 aS 9 10 CPU Output gt FEIR To the servo amplifier 11 DB101 2e SFC15 15 From the servo ampl Note The program sequence follows the numbering system OB100 is called up only at program start 7 2 4 Programs 1xDEMO_D E 2xDEMi_D E and 3xDEMi_D E Equipment specific settings Before switching the CPU to RUN settings must be entered in the following modules e FCO see Chapter 7 2 4 2 e FC4see Chapter 7 2 4 6 7 2 4 1 OB100 At each program start CPU switch from STOP to RUN the organisation module OB100 is called up by OB1 In this module flags are programmed which are deleted at each start This ensures that at startup the operating mode is always set and the home run referencing is always carried out 7 38 Communications profile PROFIBUS DP Edition 07 02 7 2 4 2 FCO This is t
23. alue of parameter PNU 1250 the 32 bit speed is determined from it The operational sign is not evaluated Note If the result 16 bit speed multiplied by parameter PNU 1250 is very much larger than 32 bits a very low actual reference speed may result Only the first 32 bits are used 6 2 1 Starting the home run referencing Prerequisites Hardware enable is present terminal X3 terminal 15 Amplifier is in the state operation enabled Operating mode PNU 930 is set to 2 Example PZD PZD3 PZD4 Output 0000 0000 PZD3 PZD4 VAR VAR Note No multiplication value was entered in the parameter PNU 1250 dec multiplication of the reference speed 6 34 Communications profile PROFIBUS DP Edition 07 02 6 3 Starting a direct motion task with saved next motion task If the motion record data is to be specified freely then a direct motion task must be used This is where target position speed and type of motion task are transferred to the process data together with calling up the motion task If required further parameters e g acceleration etc of this motion task can be entered beforehand as parameter tasks First the number of the next motion task is entered via parameter PNU 1308 dec 6 3 1 Number of the motion task only the saved motion task Output e PKE output AK 3 write amp SPM 0 amp PNU 1308 dec 001 1 amp 08 amp 1010001 1100 bin 351C hex e PWE2 output 1
24. always on 0 4 1 3 Significance of the parameter number PNU in PKE Master lt gt Slave BYTE 112 PKE PKE BYTE 1 BYTE2 10 9 8 7 6 5 4 3 2 1 0 BIT Communications profile PROFIBUS DP Edition 07 02 List of parameter numbers PNU PNU Data type Access no hex Description Dec Hex Write Read AK 3 AK 1 Profile parameter 904 388 UINT32 1388 Number of the supported PPO Write always 2 911 38F UINT32 138F Number of the supported PPO Read always 2 918 396 UINT32 1396 Participant address on PROFIBUS 930 3A2_ UINT32 33A2 13A2 Selector for operating mode 963 13C3 UINT32 13C3 PROFIBUS baud rate 965 13C5 Octet String2 13C5 Number of the PROFIDRIVE profile 0302H 971 3CB_ UINT32 33CB Non volatile parameter save Manufacturer specific parameters SERVOSTAR General parameters 1000 3E8 Visible String4 13E8 Instrument ID 1001 3E9 UINT32 13E9 Manufacturer specific error register 1002 3EA UINT32 13EA Manufacturer specific status register Position controller parameters 1250 4E2 UINT32 34E2 14E2 Multiplier for speeds jogging homing ref 1252 4E4 INTEGER32 34E4 14E4 In position window 1253 4E5 INTEGER32 34E5 14E5 Following error window 1254 4E6 INTEGER32 34E6 14E6 Position regi
25. ched on or when a homing run is started Actual position home position is set as long as the reference switch is activated InPosition is set as long as the difference between the target position for a motion task and the actual position is smaller than PNU 1252 The InPosition signal is suppressed if a following task is started at the target position 20 21 22 Software limit switch 1 has been triggered See User Manual Setup Software Version PROFIBUS Chapter 2 16 1 23 Software limit switch 2 has been triggered See User Manual Setup Software Version PROFIBUS Chapter 2 16 1 24 Position index 1 See User Manual Setup Software Version PROFIBUS Chapter 2 5 25 Position index 2 See User Manual Setup Software Version PROFIBUS Chapter 2 5 26 Initialisation completed is set if the internal initialisation of the amplifier has been completed 27 28 29 Safety relay has been triggered is set as long as the safety relay is open AS option 30 Output stage enabled is set when software and hardware enabling are set 31 Error present is cancelled when the amplifier is switched on or if the function Cancel error is called In the process data PZD5 Input bits 16 to 31 of the manufacturer specific status registers are issued Warnings 3 and 4 can be reset through bit 13 in the control word PNU 1250 Description Velocity multip
26. de Transition 6 Event Bit 0 is cancelled ready for switch on Action Output stage is switched off disabled Drive has no torque Transition 7 Event Bit 1 or bit 2 is cancelled Action Command Fast stop or Inhibit voltage Transition 8 Event Bit 0 is cancelled operation enabled gt ready for switch on Action Output stage is switched off disabled motor loses torque Transition 9 Event Bit 1 is cancelled operation enabled gt switch on inhibited Action Output stage is switched off disabled motor loses torque Transition 10 Event Bit 1 or 2 is cancelled ready for operation gt switch on inhibited Action Output stage is switched off disabled motor loses torque Transition 11 Event Bit 2 is cancelled operation enabled gt fast stop Action Drive is stopped using the emergency ramp The output stage remains enabled Setpoints are cancelled e g motion block number digital setpoint Transition 12 Event Bit 1 is cancelled fast stop gt switch on inhibited Action Output stage is switched off disabled motor loses torque Transition 13 Event Error response active Action Output stage is switched off disabled motor loses torque Transition 14 Event Error Action None Transition 15 Event Bit 7 is set error gt switch on inhibited Action Acknowledge error depending on error with without reset Transition 16 Event Bit 2 is set fast stop gt operation enabled
27. dition 07 02 PNU 1000 Description The instrument ID consists of four ASCII characters together with the characters S601 T PNU 1001 Description Manufacturer specific error register The assignment of the error register is shown in the following table System Bit behaviour Number Description Explanation 0 F01 Heat sink temperature Heat sink temperature too high 1 F02 Overvoltage Overvoltage in the DC bus DC link 2 F03 Contouring error Message from the position controller 3 Cold start F04 Feedback Cable break short circuit short circuit to earth 4 F05 Undervoltage Undervoltage in the DC link limit value 100V 5 Cold start F06 Motor temperature Temperature sensor defective or motor temp too high 6 Cold start F07 Auxiliary voltage Internal auxiliary voltage not OK 7 F08 Overspeed Motor races speed excessive 8 Cold start F09 EEPROM Checksum error 9 Cold start F10 Flash EPROM Checksum error 10 Cold start F11 Brake Cable break short circuit short circuit to earth SVA only 11 Cold start F12 Motor phase Motor phase missing broken cable or similar 12 F13 Internal temperature Amplifier internal temperature too high 13 Cold start F14 Output stage Error in the output stage 14 F15 t max I t maximum value exceeded 15 F16 Mains supply BTB 2 or 3 mains supply phases are missing 16 Cold start F17 A D converter Error in the analog digital conversion 17 Cold start F18 Ballast Ballast circuit defective or setting not OK 18 F19 Mains s
28. fier in the display page lt lt Settings gt gt see BMIS Chapter 2 17 1 Communications profile PROFIBUS DP Edition 07 02 2 3 SPS 2 3 1 Cabling e Connect the mains supply 3 PH 240 VAC to the SPS 2 3 2 Settings e Hardware configuration See Chapter 7 1 e Generate an application program 3 demonstration programs are available see Chapter 7 2 Essentially the following three steps are to be carried out with the program e Setting the operating mode After switching on the auxiliary voltage 24 VDC or after a RESET of the servo amplifier e The homing reference traverse After switching on the auxiliary voltage 24 VDC e The motion task It is absolutely essential that the above steps be carried out in the order indicated Communications profile PROFIBUS DP Edition 07 02 3 Overview of the equipment profile Type 2 Octet String 20 1 2 3 4 5 6 7 8 9 ao 14 12 13 14 15 16 17 18 19 20 BYTE 1 2 314 5 6 718 9 10 11 12 13 14 15 16 17 18 19 20 PKW PZD STW HSW zsw HIW PKE IND PWE PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 Abbreviations PKW Parameter ID value PKE Parameter ID IND Sub index PWE Parameter value PZD Process data PZD1 6 Process data STW Control word ZSW Status word HSW Main setpoint HIW Main actual value Servo amplifier only uses the PPO type 2 with 4 words PKW section and
29. g time 1462 5B6 UINT32 15B6 State of the digital I Os See Chapter 4 3 for a detailed description of the PNU Communications profile PROFIBUS DP Edition 07 02 4 2 Sub index IND IND BYTE 3 BYTE 4 15 14 13 12 11 10 9 8 7 6 5 47 3 f 2 1 0 Br 0 0 Reserved For PNU numbers smaller than 1600 the subindex is always set to 0 4 3 Parameter value PWE BYTE PWE BYTE 5 15 14 13 12 41 PWE BYTE 6 BYTE 7 BYTE 8 Inlslsirjejsjalsf2l lo ashual st ziujnjoje j7rleisialsj2j jo jer MSB LSB LSW MSW The value of the PNU variable is in PWE it is filed so as to be right aligned start byte 8 Length 4 byte data double word PWE 5 8 PWE 8 LSB 4 10 Communications profile PROFIBUS DP Edition 07 02 4 3 1 Error numbers in PWE byte 8 with response identification AK 7 in PKE Commands are transferred with task ID 3 AK in PKE If a command cannot be executed the error is signalled by response identification AK 7 and an error number in PWE Byte 8 is issued Error no Description Decimal 0 Illegal PNU 1 Parameter value cannot be altered 2 Lower or upper limit exceeded 3 Not used 4 No array 5 Incorrect data type 6 Setting not allowed can only be reset 7 16 Not valid for servo amplifier
30. ge PGND Mass ground of the interface used PSTOP Limit switch input clockwise rotation PWM Pulse width modulation RAM Volatile memory Rballast Ballast resistor Rbext External ballast resistor Rbint Internal ballast resistor RES Resolver SPS Programmable logic controller PLC SRAM Static RAM SSI Synchronous serial interface SW SETP Setpoint UL Underwriter s Laboratories USA fire VAC Alternating voltage VDC Direct voltage VDE Association of German electrical engineers VGA Graphics standard with at least 640x480 pixels VTA Analog rotation monitor XGND Mass ground of the 24V supply voltage 8 46 Communications profile PROFIBUS DP Edition 07 02 8 2 Glossary C Current controller Controls the difference between current setpoint and actual value of the current to 0 E E PROM See EEPROM EEPROM Electrically Erasable and Programable Read Only Memory Electrically erasable memory in the servo amplifier Data stored in the EEPROM is not lost when the auxiliary voltage is switched off Enable Enable signal for the servo amplifier 24 G GRAY format Special form of binary code with only one bit changing between sequential numbers GSD Datei Gerate Stamm Daten Datei The GSD file for the servo amplifier is included in the 3 5 diskette supplied H Holding brake Motor brake which must only be applied with the motor at a standstill HLG Hoch Lauf Geber Speed up pr
31. he central module in the program Network 1 axes is carried out Network 2 After network 1 has been blocked the program jumps to network 2 In a first step basic settings are made or the axes are prepared for movement On completion of the basic settings the program enters the logic part where a determination is made as to which axis is to move At the end FC4 or move axis is called up as are FC2 as well as FC1 which are responsible for the data flow between the CPU and the servo amplifier This is where all FC3s are called up or the operating mode is set and the home run for all FCO Functions Call up the modules which set the operating mode FC3 perform the home run FC3 as well as the motion tasks FC4 Logic select the axis which is to move Call up the modules which carry out the data flow FC1 FC2 Open DB2 and DB101 Technical data Module name Drive XYZ Bit setting None Access to FC1 FC2 FC3 FC4 DB2 DB101 Function of parameters Inputs None Outputs None Transit parameters AX_GO BOOL Enable movement of axis X AY_GO BOOL Enable movement of axis Y AZ_GO BOOL Enable movement of axis Z YMove BOOL YMove 1 Y axis moves YMove 0 Y axis at standstill ZHome Z axis is in the home position reference position Equipment specific settings Network 1 1 2 amp 1 3 amp FC3 DataDBStart
32. he servo amplifier indicates that it has taken over the motion task and is carrying it out 5 30 Communications profile PROFIBUS DP Edition 07 02 6 Steps necessary to perform motion tasks This chapter describes all the important stages for successful setup The following three steps are required e Operating mode setting e Home run referencing e Motion task It is absolutely essential that the above steps be carried out in the order indicated The following table illustrates the data exchange with the servo amplifier The table shows the display page lt lt PROFIBUS gt gt see Montech User Manual Setup Software Version Profibus Chapter 2 6 or the above mentioned display page in the Montech software 2 0 PKW IND PWE1 XXXX XXXX IND PWE1 XXXX XXXX Note e Values shown are hexadecimal e Output refers to data which is sent by the control system SPS e Input refers to data which is read by the control system SPS e PWE 32 bit is divided into PWE1 16 bit and PWE2 16 bit This division also applies to the program in the next chapter e Inthe above mentioned table all data fields are set to XXXX This means that there is no Profibus communication with the SPS 6 1 Setting the operating mode After switching it on or after a RESET the servo amplifier is in the operating mode 126 in which it cannot carry out any motion functions In order to carry out position
33. in bit 6 in STW A saved motion task is selected via bit 14 0 in STW In this case the parameters have to be input to the amplifier via the Montech software display page lt lt Positioning data gt gt Chapter 2 4 User Manual Setup Software Version Profibus Note Motion tasks from number 1 to 255 can be selected with motion tasks 181 to 255 being resident in the volatile memory RAM Motion task 0 is reserved for the direct motion task Prerequisites Hardware enable is present terminal X3 terminal 15 Amplifier is in the state operation enabled Operating mode PNU 930 is set to 2 Home run has been carried out or reference point has been set HSW motion task number 1 00000000 0000001 bin The process data telegram then has the following appearance PZD 9 10 11 12 BYTE 47F 0001 Hex 00000100 OF 1111111 00000000 00000001 Bin STW HSW STW Motion task number PZD BYTE Hex Bin 47F hex In this case a rising flank is used to give the start signal F represents a flank change the state of bit 6 in STW thus depends on the previous state By setting bit 16 in the manufacturer specific status register PNU 1002 or bit 0 in PZD5 Input the servo amplifier indicates that it has taken over the motion task and is carrying it out 5 29 Communications profile PROFIBUS DP Edition 07 02 5 5 3 Starting a direct motion task Motion tasks are started via a flank posi
34. ing processes home run jogging motion tasks it must first be brought into the positioning mode operating mode 2 Changing the operating mode is carried out in the following order 6 1 1 Locking the setpoint values and process data Bit 10 in the control word is set to 0 so that no new setpoint values can be taken over from the servo amplifier and no new control functions can be triggered Prerequisites Hardware enable is present terminal X3 terminal 15 Amplifier is in the state operation enabled Example PKW PZD IND PWE1 PWE2 PZD3 PZD4 0000 0000 0000 0000 0000 IND PWE1 PWE2 PZD3 PZD4 0000 0000 0000 0000 0000 Note In this case the entire STW was set to 0 6 31 Communications profile PROFIBUS DP Edition 07 02 6 1 2 Resetting PKW In the following cases PKW should be reset zero telegram e Atthe start of communicating with the amplifier e When changing between writing AK 3 and reading AK 1 a parameter e After an error has occurred AK 7 The zero telegram should be present until the servo amplifier replies with a zero telegram Prerequisites Hardware enable is present terminal X3 terminal 15 Amplifier is in the state operation enabled Example PKW PKE IND PWE1 PWE2 0000 0000 0000 0000 PKE IND PWE1 PWE2 0000 0000 6 1 3 Selecting the new operating mode with PNU 930 With parameter 930 the new opera
35. ion tasks Prerequisite bit 3 1 in PNU1302 PNU 1309 Description Start delay for the next motion task This parameter is used to set a delay time specified in ms before the start of a motion task Prerequisite bit 6 1 and or bit 7 1 in PNU1302 PNU 1310 Description Copy a motion task This parameter can be used to copy motion tasks The source motion task must be entered The MSW of PWE bytes 5 amp 6 and the target motion task in LSW of PWE bytes 7 amp 8 must be entered PNU 1403 Description Position actual value The parameter value is the actual position value in um PNU 1404 Description Velocity actual value The parameter value is the actual velocity value in um s PNU 1405 Description Contouring error The parameter value is the actual contouring error in um PNU 1406 Description Active current The parameter value is the actual active current in mA 4 17 Communications profile PROFIBUS DP Edition 07 02 PNU 1407 Description SI speed actual value The parameter value is the actual speed value in min PNU 1408 Description Heat sink temperature The parameter value is the actual heat sink temperature in C PNU 1409 Description Internal temperature The parameter value is the actual internal temperature in C PNU 1410 Description Intermediate circuit voltage The parameter value is the actual intermediate circuit voltage in V P
36. is above the threshold 1 Warning 2 Ballast power exceeded is set as long as the set ballast power is exceeded 2 Warning 3 Contouring error is set as soon as the difference between the actual position and the position control trajectory exceeds the set value for PEMAX This is cancelled by the command CLRFAULT or by activating the function Cancel error contouring error Warning 4 Threshold monitoring active is set when the threshold monitoring time is exceeded This is cancelled by the command CLRFAULT or by activating the function Cancel error contouring error Warning 5 Mains supply phase missing is set as long as the three mains supply phases cannot be detected By default monitoring for mains phase failure is deactivated Emergency Off function Warning 6 Software limit switch 1 has been activated is set as soon as the position goes below the set position of software limit switch 1 or if a motion task is started with a target position that is below SWE1 at the same time bit 8 Faulty motion task started is set This is cancelled when the position SWE1 is exceeded and a positive speed velocity setpoint is applied or if a motion task is started with a target position within the valid range of movement Warning 7 Software limit switch 2 has been activated see above Warning 8 Faulty motion task has been started is set if an attempt is made to start a non
37. is means that an error has occurred PWE2 input indicates the type of error In this case it is 11 hex or 17 dec Task cannot be executed due to operating status This error occurs for example if the STW is not locked right from the start 6 33 Communications profile PROFIBUS DP Edition 07 02 6 2 Home run referencing Important AN After switching on the 24V auxiliary voltage a home run referencing must first be carried out If for example the reference point mechanical zero point is approached at too high a speed overshooting may occur and in the most unfavourable case the axis can move against the hardware limit switch or the mechanical end stop There is a danger of damage occurring e The home run is started by setting bit 11 1 in STW e In PZD5 Input manufacturer specific status register PNU 1002 bit 0 the servo amplifier reports the start of the home run by setting bit 0 1 e When the reference point has been reached the servo amplifier sets bit 1 1 in PZD5 Input thus reporting that the reference point has been set and it then enables the position controller e After completion of the home run bit 11 has to be reset to 0 e Ifbit 11 is set to 0 before the reference point has been reached then the home run is interrupted and bit 1 0 is set in PZD5 Input reference point not set The speed of the home run is transmitted with the main setpoint value HSW as a16 bit value By multiplying it with the v
38. k to be started can range from 1 to 180 EEPROM motion tasks or from 192 to 255 RAM motion tasks Vso jogging homing The speed is specified in um s and is transferred as a 16 bit value The 32 bit speed is determined from it through multiplication with the value of the parameter PNU1250 Nist 16 bit actual speed Note The actual speed in min is directly displayed in PNU 1407 The 16 bit actual speed value is standardised and shown in increments Positive and negative directions of rotation are shown The actual motor speed is determined as follows Motor speed 1 min Nis 16 bit Ink x Kn where Kn Axis type SHA 340 SHA 470 SHE 130 SVA 130 SHX 340 SHX 470 SVE 130 SHY 340 SHY 470 Factor Kn 0 18005 0 10986 0 14648 0 14648 Actual position 32 bit Note The actual position in um is directly displayed in PNU 1403 The 32 bit actual position value is shown in increments Conversion of the actual position to SI units is as follows Actual position SI unit um actual position 32 bit Ink x Kv where Kv Axis type SHA 340 SHA 470 SHE 130 SVA 130 SHX 340 SHX 470 SVE 130 SHY 340 SHY 470 Factor Kv 0 02622604 0 04450142 0 01525879 0 01901318 Manufacturer specific status register The process data provide the upper 16 bits of the manufacturer specific status register PNU 1002 with numbering starting at 0 again The significance of the status register bits is
39. lier This parameter is used to enter a multiplier for the jogging homing velocity The velocity for jogging homing is given through PZD2 in the control word when jogging homing is started The actual jogging velocity is calculated according to the following formula Viipp ges 32bit Viipp pz2 1 bit x multiplier 16bit PNU 1300 Description Position Position values are specified in um Condition bit13 1 PNU 1302 4 15 Communications profile PROFIBUS DP Edition 07 02 PNU 1301 Description Velocity Velocity values are specified in um s Condition bit13 1 PNU 1302 PNU 1302 Description Type of motion task See table below and PZD6 output Chapter 5 4 2 A er Bit Value Significance 0 The position value that is given is evaluated as an absolute position 1 The position value that is given is evaluated as a relative traversing distance The two following bits then determine the type of relative motion 0 If bits 1 and 2 are set to 0 and bit 0 is set to 1 then the relative motion task is performed according to the InPosition bit The new target position is given by the old target position plus the traversing distance Bit 1 has priority over bit 2 Type of motion task ABS or rel If bits 1 and 2 are set to 0 and bit O is set to 1 then the relative motion task is performed according to the InPosition bit
40. nufacturer specific Acknowledge warnings in PNU 1002 14 Manufacturer specific direct Only in position mode or EEPROM MT e Bit14 1 PZD section is interpreted as a direct motion block velocity 32 bit position 32 bit type of motion block 16 bit e Bit14 0 PZD section HSW is interpreted as a motion block number 15 Manufacturer specific Reserved Priority of the bits 6 8 11 in position control mode standard 6 high 11 8 low Depending on the bit combination in the control word a corresponding control command is defined The following table shows the bit combinations and also determines the priorities of the individual bits in case several bits are altered in one telegram cycle Transitions Bit 13 Bit7 Bit4 Bit3 Bit2 Bit1 BitO Transitions Shutdown X xX X xX 1 1 0 2 6 8 Switch on xX xX X xX 1 1 1 3 Inhibit voltage xX xX X xX X 0 X 7 9 10 12 Fast stop disable X xX X xX 0 1 X 7 10 11312 Fast stop enable x x 0 1 1 1 1 11 Inhibit operation x x x 0 1 1 1 5 Release operation x x 1 1 1 1 1 4 16 Reset error X 1 X xX X xX xX 15 Acknowledge warnings 1 X X x x x x Bits marked x are irrelevant 5 22 Communications profile PROFIBUS DP Edition 07 02 5 1 2 The status word ZSW By means of the status word the servo amplifier state can be represented and the transmitted control word can be verified If an unexpected conditi
41. obe of the frequency converter according to Profidrive standard 1 it Monitoring of the effectively required root mean square RMS current Intermediate circuit Rectified and smoothed output voltage Ipeak peak current Effective value of peak current Irms effective current Effective value of continuous current L LSB Lower Significant Byte Byte is right aligned LSW Lower Significant Word Word is right aligned M Motion block Data packet with all position control parameters which are required for a motion task MSB Most Significant Byte Byte is left aligned MSW Most Significant Word Word is left aligned O Optical coupler Optical connection between two electrically independent systems P Position controller Controls the difference between position setpoint and actual value to 0 PPO Typ Parameter Process data Object type Communication with the servo amplifier takes place exclusively with PPO type 2 R RAM Random Access Memory Volatile memory in the servo amplifier Data stored in RAM are lost if the auxiliary voltage is switched off Reset Restart of the micro processor ROD interface Incremental position output S SI Einheiten Syst me International d Unit s or International System of Units which among others comprises the following base units metre m kilogram kg second s ampere A etc SSI interface Cyclically absolute serial posi
42. on functions can be initiated A Caution In the safe operating mode 126 no motion functions can be initiated via the PROFIBUS However it is possible to perform motion functions by means of the setup software If the operating mode is changed then motion functions can only be operated via the PROFIBUS If the operating mode is changed via another communication channel then the emergency brake is applied to the drive and the error F21 handling error plug in card is signalled PNU 963 Description PROFIBUS baud rate See description below This parameter shows the index of the baud rate used for PROFIBUS communication it is read only The baud rate is defined by the PROFIBUS master CPU The following table shows the allocation of numbers to the individual baud rates in Kbaud Index 0 1 2 3 4 5 6 7 8 9 Baud rate 12000 6000 3000 1500 500 187 5 93 75 45 45 19 2 9 6 PNU 965 Description Number of the PROFIDRIVE profile 0302H The number of the PROFIDRIVE profile can be read out via this parameter Profile number 3 version 2 is used PNU 971 Description Non volatile parameter save With this parameter you can save all parameter settings in the EEPROM non volatile save To do so the value of the parameter must be PWE 1 during transmission 4 12 Communications profile PROFIBUS DP E
43. on is reported as the result of a transmitted control word then the boundary conditions for the expected servo amplifier state must first be clarified e g enable the output stage hardware software application of the DC link voltage The bits in the status word can be operating mode dependent or mode independent The following table describes the bit assignment in the status word Bit Nam Comment 0 Ready for switch on 1 Switched on 2 Operation enabled 3 Error 4 Voltage inhibited 5 Fast stop 6 Switch on inhibited 7 Warning 8 Setpoint actual value Contouring error indicator monitoring 9 Remote Not supported fixed to 1 10 Setpoint reached In position 11 Limit active Not supported at present 12 Mode dependent Reserved 13 Mode dependent Reserved 14 Manufacturer specific Reserved 15 Manufacturer specific Reserved States of the state machine State Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bito Not ready for switch on 0 x X 0 0 0 0 Switch on inhibited 1 x x 0 0 0 0 Ready for switch on 0 1 x 0 0 0 1 Ready for operation 0 1 x 0 0 1 1 Operation enabled 0 1 x 0 1 1 1 Error 0 x x 1 0 0 0 Error response 0 x x 1 0 0 0 Fast stop active 0 0 x 0 1 1 1 Acknowledge warnings 1 x x x X x x 5 23 Communications profile PROFIBUS DP Edition 07 02
44. rameter value The value of the corresponding PNU is indicated here 4 1 Parameter ID PKE in PKW PKE BYTE 1 BYTE 2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 BIT AK SPM PNU Abbreviations AK Task response ID SPM Toggle bit for spontaneous message not implemented at present PNU Parameter number Communications profile PROFIBUS DP Edition 07 02 4 1 1 Task Response ID AK in PKE BIT Significance of the task identification AK in PKE Master gt Slave Master gt Slave Task ID Function in decimal 0 No task 1 Request parameter value 2 Not valid for servo amplifier 3 Alter parameter value DW 4 9 Not valid for servo amplifier 10 15 Reserved Significance of the response IDs AK in PKE Slave gt Master Slave gt Master Response IDs __ Significance in decimal 0 No task 1 Not valid for servo amplifier 2 Transmit parameter value 3 6 Not valid for servo amplifier 7 Task not possible with error number The error number is indicated in PWE See Chapter 4 1 3 8 12 Not valid for servo amplifier Communications profile PROFIBUS DP Edition 07 02 4 1 2 Significance of the toggle bit for spontaneous message SPM in PKE Master lt Slave BYTE PKE BYTE 1 BIT sem Not implemented at present SPM is
45. rred to as BMIS 2 1 PC 2 1 1 Cabling e 1 Cable for communication between the servo amplifier and the PC See also BMS Chapter 4 8 e 1 Cable for communication between the SPS and the PC 2 1 2 Settings e Load the supplied Montech software 2 0 CD ROM on the PC e Load the Siemens S7 software 2 2 Amplifier 2 2 1 Cabling minimal e Connect the reference switch Wire the black cable of the reference switch to connector X3 terminal 11 to 14 select one See also BMS Chapter 4 2 and BMIS Chapter 2 8 Connect the mains connection 3 PH 400 VAC See also BMS Chapter 4 3 1 Connect the 24VDC auxiliary connection See also BMS Chapter 4 3 2 Connect the supplied motor cables See also BMS Chapter 4 4 Connect the supplied resolver or encoder cable See also BMS Chapter 4 5 1 and 2 Connect the enable signal See also BMS Chapter 4 6 1 1 Wire DGND connector X3 terminal 18 to the auxiliary voltage GND See also BMS Chapter 4 6 1 Profibus cable between the servo amplifier and the SPS See also BMS Chapter 4 6 3 This is the minimum cabling required to operate an axis 2 2 2 Settings Servo amplifier settings are entered via Montech Software 2 0 e Enter positioning data if you work with stored motion tasks See also BMIS Chapter 2 4 For limit values of positioning data refer to BMIS Chapter 2 16 2 e Set the reference switch to the wired input See also BMIS Chapter 2 8 e Enter the field bus address of the servo ampli
46. s This program has been prepared with register indirect area internal addresses All 3 programs are structured in a similar way the following description thus applies to all 3 programs System requirements S7 315 2 DP or other S7 control systems with DP operation Simatic Step 7 version 2 1 or later 7 2 1 Generally Important AN The program always starts immediately when the key switch on the CPU is switched from STOP to RUN in other words setting the operating mode carrying out the home run as well as motion tasks are performed immediately Always ensure that no personal injury or damage to property can occur before switching the key switch to RUN e Neither input nor output modules are used e After switching the program on key switch on the CPU from STOP to RUN the following steps always occur the operating mode is set a home run referencing is carried out and then the motion task is carried out 7 2 2 Description of the modules The program comprises the following modules These modules monitor the program sequence e OB1 Calls FCO e OB100 Is called up by OB1 at program start These modules contain the program logic e FCO Contains the logic for moving the axes Calls FC3 FC4 FC1 and FC2 e FC3 Setting of the operating mode calls FC5 and the home run are carried out e FC5 Reading and writing of the parameter PNU are carried out e FC4 The motion task is carried out These modules are responsible for dat
47. shown in the table in Chapter 4 3 2 PNU 1002 bits 16 32 5 27 Communications profile PROFIBUS DP Edition 07 02 5 4 2 Deviating allocation of the process data compartments The deviating allocation is used in the following case e Direct motion task STW bit 14 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 Vsoll 32 bit Setpoint position 32 bit Type of motion task PNU 1302 Vsoll Vsetpoint 32 bit Speed values are specified in um s Condition Bit13 1 in PNU 1302 or type of motion task Setpoint position 32 bit Specification of position values is in um Condition Bit13 1 in PNU 1302 or type of motion task Type of motion task the type of motion task is set here according to PNU 1302 Chapter 4 3 2 5 5 Example telegram in PZD 5 5 1 Starting the home run referencing The home run is started via bit 11 1 in STW Prerequisites Hardware enable is active connector X3 terminal 15 Amplifier is in the state operation enabled Operating mode PNU 930 is set to 2 HSW speed in um s 32768 dec 10000000 0000000 bin The process data telegram now has the following appearance PZD 9 10 11 12 BYTE C3F 8000 Hex 00001100 00111111 10000000 0000000 Bin STW HSW STW V son BYTE Hex Bin 5 28 Communications profile PROFIBUS DP Edition 07 02 5 5 2 Starting a saved motion task Motion tasks are started via a flank positive or negative
48. ss of the Bit in DB2 Outputs PKW_OK BOOL Transfer of parameters carried out successfully Transit parameters None Equipment specific settings None 7 44 Communications profile PROFIBUS DP Edition 07 02 7 2 4 8 DB2 BitDB This data module contains the bits which are necessary for controlling the operating mode setting and the home run in FC3 Address Name Data type Comment 0 0 X_axis STRUCT Bit for the X axis n 0 0 OpModS_OK_ BOOL Operating mode setting done n 0 1 REF_OK BOOL Home reference run done n 0 2 PKW_0O BOOL PKW 0 done n 0 3 CommsStart BOOL PKW 0 at communication start done n 0 4 REF_O BOOL Home position reference_0 must be left n 0 5 Reserve BOOL Reserve 2 0 END_STRUCT Note n 0 2 4 6 start address of the Bit data A new structure must be created for each axis 7 2 4 9 DB101 DataDB This data module contains all parameter data and process data in other words the useful data Address Name Comment 0 0 X_axis STRUCT n 0 PKES Parameter identification n 2 INDS PKW Output n 4 PWE1S Parameter value 1 n 6 PWE2S Parameter value 2 n 8 STW Control word n 10 HSW Main setpoint n 12 PZD3S PZD Output n 14 PZD4S n 16 PZD5S n 18 PZD6S n 20 PKEE Parameter identification n 22 PKWE PKW Input n 24 PWE1E n 26 P
49. ster 1 1255 4E7 INTEGER32 34E7 14E7 Position register 2 1256 4E8 INTEGER32 34E8 14E8 Position register 3 1257 4E9 INTEGER32 34E9 14E9 Position register 4 1265 4F1 UINT32 34F1 14F 1 Maximum velocity for positioning mode Position data for the position control mode 1300 514 INTEGER32 3514 1514 Position 1301 515 INTEGER16 3515 1515 Velocity 1302 516 UINT32 3516 1516 Motion task type 1304 518 UINT32 3518 1518 Starting time acceleration 1305 519 UINT32 3519 1519 Braking time deceleration 1306 51A UINT32 351A 151A Jolt limiting acceleration 1307 51B UINT32 351B 151B Jolt limiting deceleration 1308 51C UINT32 351C 151C Number of the next motion task 1309 51D UINT32 351D 151D Start delay for next motion task 1310 51E 2 UINT16 251E Copy a motion task Position set up mode 1354 54A UINT32 354A 154A Reference offset 1356 54C UINT32 154C Jogging velocity Actual values 1403 57B INTEGER32 157B SI position actual value 1404 57C INTEGER32 157C SI velocity actual value 1405 57D INTEGER32 157D SI contouring error 1406 57E INTEGER32 157E RMS current 1407 57F INTEGER32 157F SI speed actual value 1408 580 INTEGER32 1580 Heat sink temperature 1409 581 INTEGER32 1581 Internal temperature 1410 582 INTEGER32 1582 DC bus DC link voltage 1411 583 INTEGER32 1583 Ballast power 1412 584 INTEGER32 1584 It loading 1413 585 INTEGER32 1585 Runnin
50. teases 5 21 5 1 Process data PAD U JRPPRBEPFFBPFERERPFERLPPFEEIFEFEFERFFEREPLEFFTFEFEEDFTFEFERFETFPFFERFEFELFFFFLTPFFEUFRTFEFFERFEFELFFFRTEEFEFFTTR 5 21 5 1 1 The control wOrd STW nalen tar RR Ran ger nid 5 22 5 1 2 The status word ZSW air Ri ei 5 23 5 2 Servo amplifier control nnesnnnennennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnn nn 5 24 5 2 1 States of the state machine nosine e a a a ae e aa E 5 24 5 2 2 Transitions of the state machine 24444444400Hnnnnnnnnnnnnnnennnnnnnnennnnnnnennnnrnnnnnenn 5 25 5 3 Process data PZD2 10 PZD6 2 H Bari 5 26 5 4 Using the process data channel nmnnssnresnnnennnnnnnennnnnnnnnnnnnnnnennnnnnnennnnnnnenrnnn nenn nennen 5 27 5 4 1 Standard allocation of the process data compartment 244440snnenn nennen 5 27 5 4 2 Deviating allocation of the process data compartment 44sssr nn ennennnnennnnen 5 28 5 5 Example telegram in PZD unsssnnssrsesnnsennnnnneennnnnnennnnnnnnennnnnnnnnnnnnnnnnnnnsnnnnnnnsnnennnnsnnnnn nn 5 28 5 5 1 Starting the home run referencing 4esnnnnnnnnnennennnnennnnnnnnnnnnnnnnnnnnnnnnnn nn 5 28 5 5 2 Starting a saved motion taskis ai A AARAA RN EA Ai AA 5 29 5 5 3 Starting a direct motion task araar eeeee ee eeeeee ee teeeeeeeeeeeeeeeeeeeeaeeeseeeaeeeseeeaeeeeeeaeeeeeeeaeees 5 30 6 Steps necessary to perform motion tasks
51. tile memory Telegram structure BYTE 1 2 3 4 5 6 7 8 Ve aT PKW PZD STW HSW ZSW HIW PKE IND PWE PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 Telegram Send Telegram Reply from the SPS to the servo amplifier from the servo amplifier to the SPS PKE PKE PKE is made up from AK amp SPM amp PNU PKE is made up from AK amp SPM amp PNU AK 3 write or AK 1 read AK 2 transmission OK or AK 7 error SPM 0 SPM 0 PNU 904 to 1462 see Chapter 4 1 3 PNU as sent IND 0 IND 0 PWE PWE With AK 3 the desired value is stated here For With AK 2 as sent significance see Chapter 4 3 2 With AK 7 the error number is stated here See With AK 1 no entry or 0 Chapter 4 3 1 4 19 Communications profile PROFIBUS DP Edition 07 02 4 5 Example telegram in PKW 4 5 1 Setting the acceleration If acceleration other than the limit value acceleration maximum permissible acceleration see Montech operating instructions Setup Software Version PROFIBUS Chapter 2 16 2 is desired it can be conveyed to the servo amplifier via the PKW channel Prerequisite PNU 1302 bit 12 1 so that the servo amplifier carries out the motion task with the following acceleration 1304 dec 9000 dec 101 00011000 bin 100011 00101000 bin Parameter number PNU Parameter value acceleration in mm s The parameterising telegram then has the following appearance
52. ting mode is selected via the parameter channel but not taken over yet Prerequisites Hardware enable is present terminal X3 terminal 15 Amplifier is in the state operation enabled Example PKW IND PWE1 PWE2 0000 0000 IND PWE1 PWE2 0000 0000 Operating mode number 2 is set PWE2 PKE input is set to 23A2 hex This means that the parameter value operating mode 2 has been transferred VAR in PZD Input values vary this indicates that the operating mode has been set 6 32 Communications profile PROFIBUS DP Edition 07 02 6 1 4 Releasing the setpoint values Bit 10 STW is set to 1 The setpoint values are immediately taken over and processed The new actual values with the respective standardisation and data format are issued Prerequisites Hardware enable is present terminal X3 terminal 15 Amplifier is in the state operation enabled Example PKW PZD IND PWE1 PWE2 PZD3 PZD4 0000 0000 0002 0000 0000 IND PWE1 PWE2 PZD3 PZD4 0000 0000 0002 0000 VAR Note PKE was reset to 0 VAR values vary this indicates that the operating mode has been set 6 1 5 Error If an error occurs the amplifier responds as follows Example PKW PZD IND PWE1 PWE2 PZD3 PZD4A 0000 0000 0002 0000 0000 IND PWE1 PWE2 PZD3 PZD4 0000 0000 0011 0000 0000 Operating mode number 2 is set PKE input is set to 73A2 hex Th
53. tion output Z Zero pulse Is issued once per revolution by incremental transmitters it is used for zeroing the machine 8 47 Communications profile PROFIBUS DP Edition 07 02 8 3 Number systems Bin 0 1 Bin 11010 dec 26 hex 1A Dez 0 1 2 3 4 5 7 8 9 Dec 8 hex 8 bin 1000 Hex 0 1 2 3 4 5 7 8 9 A B C D E F Hex FF bin 11111111 dec 255 8 4 Data types ARRAY ARRAYT1 4 WORD Composite data types or 4 WORD ARRAYT1 6 WORD Composite data types or 6 WORD BIT Can have a value of 0 or 1 BOOL Equals bit Siemens S7 format BYTE 1 Byte 8 Bit INT INTEGER Integer gt 0 or 0 or lt 0 INTEGER16 Integer length 16 Bit INTEGER32 Integer length 32 Bit 2 UINT16 Integer gt 0 length 2 x 16 Bit UINT32 Integer gt 0 length 32 Bit Octet String Octet String Octet String 2 Octet String 20 1 octet string 1 Octet 8 Bit 2 octet strings 16 Bit 20 octet strings 160 Bit Visible String Visible String 4 4 ASCII characters 4 Byte WORD WORD DWORD 1 WORD 2 Byte 16 Bit DoubleWORD DWORD 4 Byte 32 Bit 8 48 MONAECH more than technology MONTECH AG Gewerbestrasse 12 CH 4552 Derendingen Fon 41 32 681 55 00 Fax 41 32 682 19 77 info montech com www montech com
54. tive or negative in bit 6 in STW A direct motion task is started via bit 14 1 in STW Prerequisites Hardware enable is present terminal X3 terminal 15 Amplifier is in the state operation enabled Operating mode PNU 930 is set to 2 Home run has been carried out or reference point has been set HSW PZD3 speed V in um s PZD4 PZD5 position Sson in um PZD6 type of motion task PNU 1302 1 500 000 dec 10110 11100011 01100000 bin 800 000 dec 1100 00110101 0000000 bin 1000000 0000000 bin Significance of PZD6 In this case in the saved motion task with absolute positioning bit 0 0 without motion task bit 3 0 the factory default acceleration bit 12 0 with values in metric units bit 13 1 is selected The process data telegram then has the following appearance PZD 9 10 11 12 13 14 BYTE 447F 16 E360 Hex 01000100 OF 1111111 00000000 00010110 11100011 01100000 Bin STW HSW PZD3 STW Vsou 32 bit PZD 15 16 17 18 19 20 BYTE c 3500 2000 Hex 0000000 0001100 00110101 0000000 00100000 00000000 Bin PZD4 PZD5 PZD6 Sson 32 bit Type of motion task PNU 1302 447F In this case a rising flank is used to give the start signal F represents a flank change the state of bit 6 in STW thus depends on the previous state By setting bit 16 in the manufacturer specific status register PNU 1002 or bit 0 in PZD5 Input t
55. ts DataDBStart3 WORD Start address of the data PKW PZD in DB101 BitDBStart3 WORD Start address of the Bit in DB2 Outputs None Transit parameters PKW_OpModS_OK BOOL Change of the operating mode settings has been carried out successfully Equipment specific settings None 7 42 Communications profile PROFIBUS DP Edition 07 02 7 2 4 6 FC4 The motion tasks are carried out in this module Network 1 This is where a selection is made whether a saved motion task or a direct motion task is to be carried out Network 2 This part carries out a saved motion task In this case it is not necessary to set Ssoll Ssetpoint and Vsoll Vsetpoint in FCO Network 3 This part carries out a direct motion task In this case Ssoll Ssetpoint and Vsoll Vsetpoint must be set in FCO FC4 Function Perform motion tasks Technical data Module name Move Allocated flags None Access to DB101 Function of parameters Inputs Start BOOL Start a motion task by setting to 1 Stop by setting to 0 DataDBStart4 WORD Start address of the data PKW PZD in DB101 Ssoll DINT Only for direct motion task Stroke in um 32 bit Vsoll DINT Only for direct motion task Speed in um s 32 bit Outputs None Transit parameters NbrMoTasBlo _ INT Motion task number for the saved motion task Ssollvar DINT Computed stroke in um 32 bit Eq
56. uipment specific settings Network 1 1 2 JU MveD Absolute jump to MveD in order to perform a direct motion task JU MveB Absolute jump to MveB in order to perform a motion task block Network 2 1st line MveB Jump target to perform a motion task block Network 3 1st line MveD Jump target to perform a direct motion task 7 43 Communications profile PROFIBUS DP Edition 07 02 7 2 4 7 FC5 The parameter data of the servo amplifier is read or written in this module Network 2 This is where a determination is made as to whether a change between AK of PKES DB101 and AK of PKE input has taken place If no change has taken place network 3 is skipped A change takes place at the time of Start of communication with the service channel PKW Change between read and write Network 3 This is where the reset from PKW to 0 is carried out Network 4 This is where the new parameter data is transferred Each time the reply is checked by the servo amplifier FC5 Function Carry out transfer of parameter data Technical data Module name R amp W_parameters Bit setting PKW_0 X Y or Z in DB2 Access to DB2 DB101 Function of parameters Inputs PKE WORD Parameter identification IND WORD Subindex PWE1 WORD Parameter value 1 PWE2 WORD Parameter value 2 DataDBStart5 WORD Start address of the data PKW PZD in DB101 BitDBStart5 WORD Start addre
57. unications profile is used to change and store the operation parameters of the servo amplifier of the SERVOLINE products The connected servo amplifier is operated using the communications profile The equipment manufacturer is obliged to prepare a hazard analysis of the equipment and is also responsible for functional mechanical and personal safety of the equipment Servo amplifiers are installed as components in electrical equipment or machinery They must only be operated as integrated components of the equipment The BTB contact must be wired into the safety loop of the electrical equipment The safety loop as well as the stop and emergency stop functions must comply with the requirements of EN60204 EN292 and VDI2853 Before operating the servo axes all work is to be carried out as specified in the operator manuals of the servo amplifier and the Servoline axes Observe all safety regulations e Assembly installation wiring and final check according to the operator manual of the servo amplifier have been carried out Communications profile PROFIBUS DP Edition 07 02 2 Overview of work required This chapter provides a step by step description of all the stages required for initial operation Please refer to the following chapters for detailed information Reference documents User manual Montech Servo Amplifier PROFIBUS DP hereinafter referred to as BMS User manual Montech Setup Software Version PROFIBUS hereinafter refe
58. upply phase One mains supply phase is missing 19 Cold start F20 Slot error Hardware error of the expansion card PROFIBUS 20 Cold start F21 Handling error Software error of the expansion card PROFIBUS 21 Cold start F22 Short circuit to earth Inactive 22 Cold start F23 CAN Bus inactive Communication interruption CAN Bus 23 30 Cold start F24 F31 Reserved Reserved 31 Cold start F32 System error System software does not react properly When the cause control word In the case of a r occurred of the error has been cleared the error state can be cancelled by setting bit 7 in the eset the error response of the servo amplifier will differ depending on the error that has e For errors marked Cold start setting the reset bit initiates a cold start of the drive whereby the PROFIBUS communication to the servo amplifier will also be interrupted for several seconds This break in com munication may have to be handled separately by the PLC program e Inthe case of all other error messages a reset leads to a warm start during which communication will not be interrupted 4 13 Communications profile PROFIBUS DP Edition 07 02 PNU 1002 Description Manufacturer specific status register The assignment of the bits for the status register is shown in the following table PWE Byte 5 and 6 Bit Description 0 Warning 1 I t threshold exceeded is set as long as rms
59. us DP Servo amplifier version Profibus DP Mechanical design of the SERVOLINE products The documentation is available in the following language versions German English French Italian Spanish and Swedish Please refer to the spare parts list for the respective order number UN e Please read this documentation before carrying out installation and wiring Incorrect handling of the servo amplifier can lead to personal injury or material damage and render the warranty void It is vital that you keep to the technical data and information on connection requirements e Only properly qualified SPS programmers who are familiar with PROFIBUS DP are permitted to perform programming tasks e Only properly qualified personnel are permitted to perform activities such as installation commissioning and maintenance Properly qualified persons are those who are familiar with the assembly installation commissioning and operation of the product and who have the appropriate qualifications for their job The qualified personnel must know and observe the following standards or guidelines IEC 364 and CENELEC HD 384 or DIN VDE 0100 IEC report 664 or DIN VDE 0110 National accident prevention regulations or VBG4 Communications profile PROFIBUS DP Edition 07 02 1 2 Software package e MONTECH setup software e GSD library file e Programs for Siemens S7 for controlling up to three axes servo cartesian system 1 3 Use as directed The comm
60. values are specified in the user manual Setup Software Version PROFIBUS Chapter 2 16 2 Accelerations are specified via PNU 1304 and or PNU 1305 13 Target position and target speed are entered in SI units T14 The programmed speed is used for the motion task speed 15 Reserved PNU 1304 Description Acceleration time This parameter defines acceleration time of the motion task specified in mmis Prerequisite Bit 12 1 in PNU1302 4 16 Communications profile PROFIBUS DP Edition 07 02 PNU 1305 Description Deceleration Via this parameter the delay of the motion task is indicated in mm s Prerequisite Bit 12 1 in PNU1302 PNU 1306 Description Acceleration jolt limiting This parameter defines the form of the acceleration ramp Generally linear axes need to be operated via the sin ramp The sin ramp is used if the input value is of the acceleration time PNU 1307 Description Deceleration jolt limiting This parameter defines the form of the deceleration ramp Generally linear axes need to be operated via the sin ramp The sin ramp is used if the input value is of the acceleration time PNU 1308 Description Number of the saved next motion task The motion block no of the motion task to be started can range from 1 to 180 EEPROM motion tasks or from 192 to 255 RAM mot

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