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1. The parameter consists of a total of four words the parameter identifier PKE 1 word the subindex IND 1 word subindex O in the parameter must be addressed with 1 and the parameter identifier value which occupies the data range PKW1 1 word to PKW2 1 word The parameter identifier is represented bit by bit in the following table Request or response identifier value range 0 15 Parameter number value range 1 4095 Table 3 6 Parameter identifier PKE The following tables list the request master and response slave identifiers Request identifier Function 0 No request Request parameter value Change parameter value word Change parameter value double word Read parameter description Request parameter value array Change parameter value array word GO N OD Oy BR WY N Change parameter value array double word Request identifier AK Master gt Slave Table 3 7 j T IS l ID no 1108 27B 3 00 Date 05 2014 Cyclic data transfer Request identifier Function 0 No response 1 Parameter value sent word Parameter value sent double word Parameter description sent Parameter value array sent word Parameter value array sent double word SN OD oO BR WwW NY Request not executable see error no Table 3 8 Response identifier AK Slave gt Master In the case of re
2. eessiiiieessrineea 36 Speed control PRO EE 56 Sais ee 58 Stanoard be e crearne nE AEAEE ENEN 17 18 US CUS ie ee 9 SD G E E EE EEEE EE 30 Z Fe OUT IMOVIE escran anaE E seno rAr 7 ER EE 37 Sys lam EE cn le EE 38 T E ee ale e RR ERR DR RR E N E EE E A E 61 TO DONO TT 9 U EE 9 Bs die jts PARAN EDER DO RR RN RR E PR 31 LIES DECO PPO mascine ad a Rd 19 V TEE 30 MVOC FAG OM eege 56 eeh Ca 56 W Watchdog Word format Zero point offset ServoOne User Manual PROFIBUS PROFINET 66 a LI i ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET LSZ LTi DRIVES LTi DRIVES GmbH Gewerbestrasse 5 9 35633 Lahnau Germany Phone 49 0 6441 966 0 Fax 49 0 6441 966 137 www lt i com info lt i com Subject to technical change without notice The content of our documentation was compiled with the greatest care and attention and based on the latest information available to us We should nevertheless point out that this document cannot always be updated in line with ongoing technical developments in our products Information and specifications may be subject to change at any time For information on the latest version please visit http drives lt i com ID no 1108 27B 3 00 Date 05 2014 Applicable from firmware version V2 20 01 The German version is the original of this Operation Manual
3. Referred to Table AK Slave Master 0x165 4 words input output data consistent overall length PKW channel 2 words input output data consistent overall length PZD channel 0x166 4 words input output data consistent overall length PKW channel 6 words input output data consistent overall length PZD channel 0x167 2 words input output data consistent overall length PZD channel 0x168 6 words input output data consistent overall length PZD channel 0x169 4 words input output data consistent overall length PKW channel 10 words input output data consistent overall length PZD channel 0x16A 4 words input output data consistent overall length PZD channel Ox16B 4 words input output data consistent overall length PKW channel 4 words input output data consistent overall length PZD channel Ox16C 8 words input output data consistent overall length PZD channel Ox16D 4 words input output data consistent overall length PKW channel 8 words input output data consistent overall length PZD channel Ox16E 10 words input output data consistent overall length PZD channel Ox16F 14 words input output data consistent overall length PZD channel 0x170 4 words input output data consistent overall length PKW channel 14 words input output data consistent overall length PZD channel 0x171 18 words input output data consistent overall length PZD channel 0x172 4 words input output data con
4. 1 Controller enabled operation enabled Bit 2 0 Quick stop active 1 Quick stop inactive Bit 1 0 Spin out of true active 1 Spin out of true inactive Bit 0 0 Switch power stage OFF 1 Switch power stage ON Table 5 6 Master control word Not used Bit 0 11 Bit 12 15 Table 5 7 Master Sign of Life SOL Master control word 2 With parameter 1267 COM DP CtrlConfig bits 6 and 8 can be configured Bi A Value 0 default number Bit 6 The driving job can be started with The driving job can be started only with the positive the negative and positive edge edge profile 4 1 profile 4 0 Bit 8 Jog mode is manufacturer specific Jog mode acts as described in profile 4 1 Table 5 8 Parameter 1267 COM DP CtrlConfig 5 4 2 Drive status word Operation mode Speed control Operation mode Positioning control Bit 15 Not used MSB Bit 14 0 ENPO or Safe Standstill not set 1 ENPO or Safe Standstill set Bit 13 0 Drive rotating 1 Drive stationary Bit 12 0 Not used Driving job confirmation by toggling this bit 1 Not used Bit 11 0 Not used Homing point not yet set 1 Not used Homing point set Bit 10 0 Frequency or speed not reached Target position not reached 1 Frequency or speed reached or Target position reached exceeded Bit 9 0 No access rights via PLC 1 Access via PLC allowed l T L l ID no 1108 27B 3 00 Date 05 2014 Protidrive o
5. 3 HOMSW 20 with continuous i reference cam reference 2 No homing mode act No homing only an offset position homing offset adjustment is made Reference position 1 homing offset parameter Actual position Zero HOOFF 0 Not defined No homing 1 LCCW Neg end switch zero Homing negative limit switch and pulse zero pulse 2 LCW Pos end switch zero Homing positive limit switch and pulse zero pulse Pos reference cams zero Homing to cam negative edge 3 abe pulse at RefNock Low positive direction zero pulse Pos reference cams zero Homing to cam positive edge 4 GEESS pulse at RefNock High positive direction zero pulse MPRO_402_ te P2261 HomingMethod Digital inputs Neg reterence Homing to cam negative edge 9 ae GE negative direction zero pulse RefNock Low Neg reference Homing to cam positive edge 6 auat S L negative direction zero pulse RefNock High Left reference cam 7 to 14 HOMSW polarity zero pulse at Various homing runs to cam RefNock Low 15 16 not defined Reserved 17 LCCW Neg end switch Homing negative limit switch 18 LCW Pos end switch Homing positive limit switch Pos reference cams Stop Homing to cam negative edge 19 SES at RefNock Low positive direction 20 HOMSW Pos reference cams Stop Homing to cam positive edge at RefNock High positive direction Neg reference cams Homing to cam negative edge 21 SES Stop at RefNock Low negative direction
6. Neg reference cams Homing to cam positive edge 22 POD Stop at RefNock High negative direction 23 to Left reference cam HOMSW polarity Stop at Various homing runs to cam 30 RefNock Low 31 32 Not defined Reserved 33 Next left zero pulse Zero pulse in negative direction Table 6 1 Parameters for limit switch homing Parameter name setting Designation in DM 5 Function MPRO_402_ P2261 HomingMethod Digital inputs Left reference cam 34 polarity Stop at Zero pulse in positive direction RefNock High 35 E Actual position ca Zero is current position Reference position Table 6 1 Parameters for limit switch homing The signal for the homing cams can optionally be linked to one of the digital inputs tor which the inputs ISDOO to ISDO6 are available The limit switches can also be used for homing The assignments of the digital inputs can be found under the parameters 101 to 107 Parameter list gt 1 O configuration gt Digital inputs When homing to limit switches the digital input must be selected as a positive limit switch using selection parameter LCW 5 or a negative limit switch using selection parameter LCW 6 When homing to cams the parameter HOMSW 10 must be selected The following table shows the necessary assignment of the digital inputs for the respective homing methods 6 6 Reference cam limit switch The homing method is selected by parameter 2261 MPR
7. O LI ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET 59 PROFIBUS PROFINET parameters PROFIBUS PROFINET parameters Parameter name Number Value range Default value Change able Data type ServoOne User Manual PROFIBUS PROFINET 60 Meaning COM DP RefTorque R1272 E 3 Jo 0 Yes 116 Torque reference value written via PROFIBUS COM DP ActTorque P1273 347 08 32767 0 No 116 Actual torque COM_DP_RefPos P1274 2147483648 2147483647 0 Yes ER Position reference value ramp mode written via PROFIBUS COM_DP_TargetPos P1275 2147483648 2147483647 0 Yes ER Position reference value direct mode written via PROFIBUS COM_DP_ActPos1 P1276 2147483648 2147483647 0 No 152 Actual position of 1st position encoder COM DP PosVelocity P1277 2147483648 2147483647 0 Yes ES Velocity reference value ramp mode written via PROFIBUS COM_DP_Acc P1278 O OxFFFF 100 Yes U16 Acceleration reference value ramp mode written via PROFIBUS COM_DP_Dec P1279 O OXFFFF 100 Yes U16 Deceleration reference value ramp mode written via PROFIBUS COM DP Controlword P1280 O OxFFFF 0 Yes U16 2nd control value not used at first COM DP Statusword P1281 O OxFFFF 0 No U16 2nd control word initially not used COM_DP_Bus_Timeout P1283 0 4294967295 5000 Yes U32 Bus timeout COM_DP_SignalList_write P1284 O 65535 0 No U16 List of param
8. REFERENCE PZD PZD PZD PZD PZD PZD PZD PZD 1 2 ZSW ACTUAL 3 4 5 6 7 8 9 10 STW REFERENCE PZD PZD ZSW ACTUAL 3 4 PKE IND PKW PKW STW REFERENCE PZD PZD 1 2 ZSW ACTUAL 3 4 STW REFERENCE PZD PZD PZD PZD PZD PZD ZSW AGIUAL 3 4 5 6 7 8 PKE IND PKW PKW STW REFERENCE PZD PZD PZD PZD PZD PZD 1 2 ZSW ACTUAL 3 4 5 6 7 8 STW REFERENCE PZD PZD PZD RAD PZD PZD PZD PZD ZSW ACTUAL 3 4 5 6 7 8 9 10 PPO3 is the standard telegram 1 Table 3 4 User specific parameter process data objects LI l ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET t9 Cyclic data transfer Cyclic data transfer l T L l ID no 1108 27B 3 00 Date 05 2014 In the drive parameter list there are two signal tables containing all the process data that can be cyclically read and written for the PROFIBUS communication DPVO All possible writeable process data signals can be found in signal table 1284 COM_DP_SignalList_ Write and all possible readable process data signals can be found in signal table 1285 COM_DP_SignalList_Read The most important readable and writeable parameters are also documented in chapter 6 The writeable process data signals can be configured in signal table 915 COM_DP_PZDSelectionWrite The available number of writeable process data items Is determined by the selected PPO type The readable process data signals can be contigured in signal table 916 COM_DP_PZDSelectionRead The available number of readable process dat
9. Technical data 9 Appendix 9 2 The PROFIBUS PROFINET implementation in ServoOne conforms to the PROFIdrive profile PROFIBUS PROFIdrive Profile Version 4 0 dated August 2005 The profile is not implemented in full however Po PROFIBUS 9 1 Glossary AK Application data set Request identifier Factory pre defined data set for solution of typical applications Data transfer Two wire cable RS485 Standard Ethernet patch cable e g S FTP Cat 5e Diagnostic data The master reads the diagnostic data from the slave and so permits a centralised HE Roger de inato WEE response to slave malfunctions Automatic baud rate as Fixed DP Distributed peripherals EE Master The master controller which handles communication HEIL a O os lee 100 m when using the specified l 400 m 500 KBaud PROFINET cable see chapter 2 2 3 MW Flag word 200 m 1 5 MBaud When using standard commer Parameter data The PKW parameter channel is used to transfer parameters cyclically to and from the drive device Max cable length 100 m 3 to 12 Mbaud The specified PROFIBUS cables should be used see chapter 2 1 3 cially available Ethernet cables a max cable length of 40 m is possible Go EREM EN TE S D s Line without repeater Tree star and line PNU Parameter number ae Line and tree with repeater PROFldrive mode Configuration of the process data channel conforming to the PROFldrive profile ServoOne via rotary coding switch In co
10. The PROFINET cable is connected to the RJ 45 sockets X47 X48 SE Fi The two PROFINET connecting sockets are freely configurable in their communication 3 White green 3 RecvData direction 4 Blue 1 Unused The PROFINET interface features a 2 port Multiport PHY Physical Layer Transceiver 7 White blue l Unused supporting the following functionality 6 Green 3 RecvData Autonegotiation automatic detection of the functionality of the opposite 7 White brown 4 Unused interface 8 Brown 4 Unused Auto Crossing no cross over cables are required so through going wiring is Table 2 9 Pin assignment of the RJ 45 sockets assured Auto Polarity the polarity of the Receive cable is automatically adjusted in the event of a wiring error RecvData and RecvData 3 4 Front panel Comments ServoOne ServoOne junior H17 Status indicator LED green H16 Status indicator LED red 12345678 X47 X48 PROFINET cable connection Figure 2 4 RJ 45 socket Table 2 8 PROFINET option card LT D ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET E Commissioning Commissioning 8 LT ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET 14 2 2 3 Specification of the PROFINET cable 2 2 4 Meanings of LEDs For the cabling LTi DRIVES recommends using the following hardware The two LEDs at the RJ 45 sockets have the following meanings PROFINET RJ 45 connector LED Function Meaning Siemens order num
11. gt Basic settings This parameter is used to set the control location In this instance the control location is PROFIBUS 3 MPRO_REF_SEL 165 PROFI 9 Parameter list gt Motion Profile gt Basic settings This parameter is used to configure the reference selector In this instance the reference values are taken from PROFIBUS Once these settings have been made communication can be established between the master and drive 7 5 1 Speed input All factor group parameters are set to default values The speed reference value can then be preset scaled to the motor rated speed So a value of 16384 corresponds to a speed reference value of 100 of the motor rated speed The drive can then be operated in speed control mode using the control word section 3 2 ServoOne User Manual PROFIBUS PROFINET 58 7 6 Mappable parameters Parameter number Parameter name W e e 1284 12851 Length 967 COM_DP_Controlword X X 1 968 COM_DP_Statusword X 1 1280 COM_DP_Controlword2 X X 1 1281 COM DP Statusword X 1 1270 COM DP RefSpeed X X 1 1271 COM DP ActSpeed X 1 121 MPRO Input State X 1 143 MPRO Output State X 1 1274 COM DP RefPos X X 2 1276 COM DP AciPos1 X 4 207 MPRO TAB Actldx X X 1 1275 COM DP TargetPos X X 2 1277 COM_DP_PosVelocity X X 2 1278 COM_DP_Acc X X 1 1279 COM_DP_Dec X X 1 1287 COM DP TMaxPos X X 1 1288 COM DP TMaxNeg X X 1 Table 7 7 Mappable parameters Further mapp
12. position rev 272 MPRO_FG_Den Denominator position POS 274 MPRO_FG_SpeedFac Velocity factor rev min SPEED 215 MPRO_FG_AccFac Acceleration factor rev sec sec ACC 284 MPRO FG PosUnit Position unit String 285 MPRO FG PosExp Position exponent 286 MPRO FG PosScaleFac Position factor 287 MPRO_FG_SpeedUnit Velocity unit String 288 MPRO_FG_SpeedExp Velocity exponent 289 MPRO_FG_SpeedScaleFac Velocity factor 290 MPRO_FG_AccUnit Acceleration unit String 291 MPRO_FG_AccExp Acceleration exponent 292 MPRO_FG_AccScaleFac Acceleration factor 293 MPRO_FG_TorqueUnit Torque unit String 294 MPRO_FG_TorqueExp Torque exponent 295 MPRO_FG_TorqueScaleFac Torque factor Table 7 4 Factor group USER j T IS l ID no 1108 27B 3 00 Date 05 2014 Examples of commissioning with manufacturer specific telegrams ServoOne User Manual PROFIBUS PROFINET 59 Examples of commissioning with manufacturer specific telegrams l T D ID no 1108 27B 3 00 Date 05 2014 These define the internal resolution of the unit for Position rev Velocity rev min Acceleration rev sec sec The units are automatically defined by the profiles themselves according to DSP402 or Sercos The units can be assigned manually in the User setup The parameters for unit and exponent refer to the display and have no effect on the standardisation of the variables themselves The following three formulae describe the conversion of user units into the units used intern
13. Fieldbus gt PROFIBUSDP Signal table 915 COM_DP_PZDSelectionWrite contains all signals that can be sent by the control master to the drive Signal table 916 COM_DP_PZDSelectionRead contains all signals that can be sent by the drive to the control master The following table shows an example of the process data area from the master to the drive The subindices tn list 915 are assigned the desired parameter numbers for the purpose Signal table NAU Parameter Data type value range 915 Parameter name area number Subindex 0 1 967 Control word U16 0 65535 COM_DP_Controlword 1 2 1270 Reference speed 116 COM DP RefSpeed 32768 32767 2 3 1278 Acceleration COM DP Acc U16 0 65535 3 4 1279 Braking deceleration U16 0 65535 COM_DP_Dec 4 5 5 6 6 7 7 8 8 9 9 10 Table 7 5 Assignment of the master slave process data channels Each subindex represents a 16 bit process data channel For this reason an Int32 parameter for example must be mapped to two subindices The selectable parameters and their data types are set out in the table Assignment of master slave process data channels j T IS l ID no 1108 27B 3 00 Date 05 2014 The configuration of the process data areas can be freely selected by the user in the sequence of the signal assignments The only requirement is compliance with the data type format That means that a 32 bit variable also acc
14. Trouble Ticket If you need further assistance our specialists at the Service amp Support Center will be happy to help Support amp Service You can reach us Mon Fri 8 00 a m 5 p m CET Phone 49 6441 966 888 E mail service lt i com NOTE D If you need more detailed assistance and advice you will find all the services we offer in the Support amp Service order catalogue You can download the order catalogue from the Support amp Service section of our website at http drives lt i com ServoOne User Manual PROFIBUS PROFINET 8 2 Commissioning 2 1 PROFIBUS Note For technical data and information on topologies and maximum cable lengths see chapter 9 2 2 1 1 Connections and user controls The connections and user controls of the PROFIBUS interface are shown in table 2 1 LEDs H1 H2 H3 act as status indicators The rotary coding switches S1 and S2 ServoOne only can be used to set the PROFIBUS address of the drive The PROFIBUS cable is connected to the D Sub socket X14 Front panel No Comments ServoOne ServoOne junior H1 Status indicator LED yellow H2 Status indicator LED red H3 Status indicator LED green Rotary coding switch to set the SI PROFIBUS address for the drive Ox S2 S1 Rotary coding switch to set the 2 PROFIBUS address for the drive 0x S2 S1 X14 PROFIBUS cable connection 1 ServoOne only Table 2 1 PROFIBUS option ca
15. cyclic telegrams are received in the time defined by parameter 1283 COM DP BUS Timeout The value O in parameter 1283 COM DP BUS Timeout deactivates the function 3 2 2 Sign of Life The Sign of Life function is implemented as per Profidrive profile 4 1 Parameter No Name Meaning Number of approved SOL Sign of Life errors P0925 COM_PN_Sign_of_life_limit until error shutdown type U16 0 Oxfffe Oxffff switch off P1296 COM_PN_Sign_of_life_err_cnt Display of current error counter P1280 Control word 2 Bit 12 15 Sign of Life master P1281 Status word 2 Bit 12 15 Sign of Life slave Table 3 13 Sign of Life The Sign of Life function can be deactivated with the value OxFFFF in parameter 925 COM_PN_Sign_of_life_limit factory setting The function is activated when the first cyclic telegram is received in which bits 12 15 of the second control word 1280 are not equal to 0 When the function Is activated the error counter parameter 1296 COM PN Sign of lre err cnt is set to O With each newly received telegram the counter bits 12 15 in the second status word parameter 1281 COM DP Statusword2 is incremented by the value 1 In each cycle the status counter is compared with the counter in the second control word If that counter is not equal the error counter parameter 1296 COM PN Sign of life err cnt Is incremented by the value 10 If the counters in the second control word and second stat
16. description The identifier subindex 1 in the parameter description identifies additional characteristics of the parameter concerned Table 3 8 sets out the meaning of the identifier Meaning Explanation 15 Reserved 14 Array 13 Parameter value can only be reset If this bit is set the relevant parameter value can be varied externally only so as to be set to zero 12 Parameter value was changed to a value If this bit is set the parameter value is different from the factory settings different from the factory setting 11 Reserved 10 Additional text array can be called up 9 Parameter cannot be written 8 Standardisation factor and variable This bit is set if the parameter is of a data attributes not relevant type that cannot be used to calculate any physical values e g data type string 0 7 Data type of the parameter value value Profi Drive table 9 Table 3 11 Identifier syntax ServoOne User Manual PROFIBUS PROFINET 3 2 Monitoring The ServoOne provides two options for monitoring cyclic communication 32 Watchdog Parameter 1283 COM_DP_BUS_Timeout can be used to configure a watchdog Parameter No P1283 COM_DP_BUS_Timeout communication Meaning Watchdog for cyclic Data type INT32 0 4294967295 24 ms Table 3 12 Watchdog The watchdog is activated after the first cyclic telegram and in the event of an error triggers error 32 1 If no
17. reference parameters 5 4 Speed control application class 1 Parameters 1268 COM_DP_RefJogSpeed1 and 1296 COM_DP_RefJogSpeed2 are of type Int32 and mappable as process data In speed control mode the speed control reference value can be influenced using 3 bits The acceleration and deceleration are used in jog mode by parameters 1278 in the master control word 3 2 COM_DP_ACC and 1279 COM_DP_DEC These parameters are of type uint16 and mappable in the process data STW1 bit 4 True Activate ramp generator False Reset ramp generator STW1 bit 5 True Enable ramp generator False Freeze ramp generator STW1 bit 6 True Activate reference False Deactivate reference 0 W 0 Reference value R circuit eference RFG COM_DP_RefSpeed speed RFG Ramp Function Generator Figure 5 3 Speed control Setting the control word bit 4 allows the speed reference value to be taken over by the ramp generator The ramp generator can be enabled by setting control word bit 5 resetting it freezes the ramp generator again The input of the ramp generator is influenced by control word bit 6 If bit 6 is set the reference value is switched through If bit 6 is not set the reference value zero Is transmitted EB LI ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET 39 Profidrive operation modes Protidrive operation modes LT ID no 1108 27B 3 00 Date 05 2014 Master control word ServoOne User M
18. standstill on a ramp and switches to the Intermediate Stop state The current driving job is not executed until the feed hold is set again A driving job can be cancelled by resetting control word bit 4 In this case the drive is also braked to a standstill and set to the Control active state Additionally from the initial state 5 a homing run can be triggered by control word bit 11 l T IS l ID no 1108 27B 3 00 Date 05 2014 Protidrive operation modes ServoOne User Manual PROFIBUS PROFINET 43 Protidrive operation modes d T L ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET 44 cE Position control circuit and associated control parameters P 0329 Index 2 P 0378 P 0376 P 1516 IA CON IP FFMode Torque CON_IP_ACCFFTF ICONLIPLTFFScaley 2n SCO surm Ce LS era Mert COM_DP_RefSpeed Bey P1272 P 0320 CON SCONLKph P 0379 Index 1 P 0372 P 0375 COM_DP_RefTorque Er CON IP FFMode Speed CON_JPLSFFTF CON_IP_SFFScale R P 0321 CON_SCONL Tr efFF P 0402 CON_SCON_AddSRef DS p 1272 CON SCON AddTRef P 0325 CON SCONFilterF rea COM_DP_RefTorque Rus P 0326ICON SCONFilterAssy S CON scon som PO327ICON_SCONFilterPara P 0330 CON SCONL TMaxNegh MOT_Snom P 0331 CON SCONL TMaxPosh PDM ACON POON Bes Dip P0328 CON_SCON_Sman P0952 CON_SCON TMaxScaleh P 0374 P0360 R399 CONLSCONTEMaxogh poet oink vi o am CON_ P_EpsDlys ICON PCON Kp aids S B M HAT TNom Pref N li L Gis T
19. 00272 Position denominator 360 POS P00274 Velocity factor 1 rev min SPEED P00275 Acceleration factor 1 60 rev sectsec ACC P00284 Position unit string Degree P00287 Velocity unit string rev P00290 Acceleration unit string rev sec PE POS User unit for position SPEED User unit for velocity ACC User unit for acceleration 7 5 Speed control with PPO 2 The following section describes how the drive can be quickly and easily commissioned in speed control mode First embed GSD file LUSTOA33 gsd in the PROFIBUS configuration phase and then select PPO type 2 PPO type 2 consists of a PKW channel 8 bytes and six process data channels 12 bytes The process data area can be freely configured using this manufacturer specific telegram That means that the desired reference and actual values can be mapped to a defined process data area All mappable signals are listed in two signal tables which can be accessed using the parameter editor under the folder Parameter list gt Fieldbus gt PROFIBUS DP in the left hand tree structure of the user interface In this folder signal list 1284 COM DP SignalList Write contains all possible writeable process data signals and Signal list 1285 DP_SignalList_Read contains all possible readable process data signals The user can freely assign the process data area The actual assignment takes place in signal tables 915 and 916 Parameter list gt
20. 1 3 Power stage switched on Switch power stage on gt STW Bit 0 1 4 Controller enable Controller enable gt STW Bit 3 1 7 Control disabled Disable control gt STW Bit 3 0 6 Power stage blocked Disable power stage gt STW Bit 0 0 i Quick stop or spin out of true Spin out of true activated gt STW Bit 1 0 activated Quick stop activated gt STW Bit 2 0 8 UZK too low Intermediate circuit voltage less than switch on threshold 9 Quick stop activated Activate quick stop gt STW Bit 2 0 10 Quick stop deactivated Deactivate quick stop gt STW Bit 2 1 11 Spin out of true activated Activate spin out of true gt STW Bit 1 0 l2 Standstill detected Standstill was detected is Error Error event occurred can occur in any system state 14 Error reaction ended Error reaction ended e g error stop ramp 15 Error reset Reset error gt STW Bit 7 1 or by a rising edge of Enpo 16 Power stage blocked Power stage blocked can occur in any system status Parameter 144 Autostart determines whether controller enable is flank triggered 0 or status dependent 1 Parameter List gt Motion Profile gt Basic Settings Table 5 5 System state transitions 5 3 al ServoOne User Manual PROFIBUS PROFINET 38 Jog mode Jog mode manufacturer specific Bits 8 and 9 of the control word permit jog mode in speed operation When bit 8 of parameter COM_DP_CtrlConfig is set to 0 the drive acts as follows jog mode manufacturer specific Wh
21. 2 CONRO aa TT 13 22 2 Pin assignment of the RJ 45 socket 13 EE Specification of the PROFINET Cable 14 2 2 4 Meanings OF LEDS abad ZERO e taints 14 220 PROFINET option card GISOIAYS sicviciisaiiasiccadnoatedievardutiat nedsunbndnsunauieladad aside 15 220 GSDIMIL TIE PRORINEM ireira 15 T E ID no 1108 27B 3 00 Date 05 2014 CI e EE EE 17 3 1 Parameter process data objects PPOS suma ttndgee tet Eege 17 3 1 1 Standard PROFIdrive teledrams 17 ab Beet PPO Socera oaa a a a 19 ENR Parameter channel 9 A 23 3a MOON HT 24 3 2 1 DA EMC EE 24 322 le 24 Acydic data WAIST Ee 27 AN PROPIBUS parameter aC0ess E 27 42 PROFINET parameter ACCESS iesse Eeer deeg 29 4 3 Base Mode Parameter Access datatommat irei 29 4 4 Examples of request and response telegrams cece ccc ccccccccccceceeeeeeeeeeeeeeeueueaes 32 Profidrive operation modes 35 5 1 Proln i operation H teis sua sic 29 5 11 Speed control circuit and associated control parameters 36 na LHES ele ES OTN T 38 5 3 1 Jog Mode Manufacturer SPECITIC sesessseeeseeeeeeeeerereeeererereeeeeeeereeeeen 38 53 2 Jog mode conforming to Mere UE 38 oe me Jog mode reference parameters cc ececececeeeseeeeeeeeteteteeeeteteteteeeteteeeeees EG Sd Speedo control application class KE 39 5 4 1 Master control WONG cassia perito nda di id 40 5 4 2 Drive status WONG sismo fa 41 5 5 Position control application class 21 42 5 9 1 Position control
22. FFScale Acceleration pre control scaling P 0379 CON IP FFMode Configuration of pre control P 0401 CON_SCON_AddTRef Additive torque reference P 0402 CON SCON AddSRef Additive velocity reference i T 8 l ID no 1108 27B 3 00 Date 05 2014 Protidrive operation modes P 0414 CON PCON PosDiff Position controller control difference tracking error P 0417 CON SCON SDiff Speed controller differential P 0460 MOT_TNom Motor nominal torque P 0458 MOT Snom Motor nominal speed P 1270 COM DP RefSpeed Velocity reference P 1271 COM_DP_ActSpeed Actual speed P 1272 COM_DP_RefTorque Torque reference P 1274 COM_DP_RefPos Reference position P 1275 COM DP TargetPos Target position P 1276 COM_DP_ActPos1 Current actual position P 1277 COM_DP_PosVelocity Positioning velocity P 1278 COM_DP_Acc Acceleration ramp P 1279 COM_DP_Dec Deceleration ramp P 1516 SCD_Jsum Overall mass moment of inertia Table 5 11 Control parameters ServoOne User Manual PROFIBUS PROFINET a LI E ee ServoOne User Manual PROFIBUS PROFINET 40 6 Homing 6 1 Drive controlled homing Drive controlled homing is activated with a rising edge of bit 11 in the master control word A falling edge aborts an incomplete homing run The completed homing is indicated in the status word by bit 11 being set Homing is executed according to the settings as described in the following subsections If the drive is run in interpolating mode parameter 300 CON_CfgCon Is switched f
23. FIBUS D Sub bus termination plug PROFIBUS cable Siemens order number 6GK1 500 0FC10 Siemens article description SIMATIC NET PB FC STANDARD CABLE GP 2 WIRE SHIELDED Table 2 4 Recommended PROFIBUS cable 2 1 4 Bus termination If the drive controller is initially at the end of the bus system a plug with an integral terminating resistor Rt should be used In addition to the cable terminating resistor in accordance with the EIA RS 485 standard a pull down resistor Rd against the data reference potential DGND and a pull up resistor Ru against VP are provided This ensures a defined no load potential of 1 1 Volt between pins 3 and 8 In a made up PROFIBUS cable these resistors are all incorporated as standard in the PROFIBUS plug and the terminating resistor can be activated using a switch on the PROFIBUS plug The following figure shows a Sub D 9 pin plug bus termination ServoOne User Manual PROFIBUS PROFINET Vp 5 Volt 6 Ru 390 Ohm RxD TxD P 3 Rt 220 Ohm RxD TxD N 8 Rd 390 Ohm GND 6 EH Figure 2 2 Sub D 9 pin plug bus termination B red A green PROFIBUScabel 2 1 5 PROFIBUS address setting ServoOne Select the mode of addressing 1 Coding switches S1 and S2 By way of the two coding switches a hexadecimal address between O and 125 Is set Figure 2 3 Coding switches for PROFIBUS address 2 Bus address parameter P 918 By way of bus address par
24. LCT DRIVES ServoOne User Manual PROFIBUS PROFINET 4 e e mm meo CET AE FBI j Ka d d d 2 j O KM Ke L DT Di H 5 Single axis system Multi axis system junior RE E RE x a E rr bRO Ka Wan Hz Han Rat G HA 3 x X ERY l T C l ID no 1108 27B 3 00 Date 05 2014 This document details the functionality of the following devices ServoOne single axis system ServoOne multi axis system ServoOne junior PROFIBUS PROFINET User Manual for ServoOne ID no 1108 27B 3 00 Date 05 2014 Subject to technical change without notice ServoOne User Manual PROFIBUS PROFINET EEF Subject to technical change without notice The contents of our User Manuals were compiled with the greatest care and attention and based on the latest information available to us We should nevertheless point out that this document cannot always be updated in line with ongoing technical developments in our products Information and specifications may be subject to change at any time Please visit www lt i com for details of the latest versions How to use this document Dear user This manual is intended for use by project engineers commissioning engineers and programmers of drives and automation solutions involving the PROFIBUS PROFINET field bus It is assumed that you are already familiar with at least one of these field buses on the basis of appropriate training and reading of
25. Manual PROFIBUS PROFINET 42 5 5 Position control application class 3 In position control mode from operating state 5 the drive can switch to various states in response to defined bits in the master control word These states are illustrated in the following diagram Initial state 5 Control active ZSW1 Bit 10 13 TRUE Start homing STW1 Bit 11 TRUE End homing STW1 Bit 11 FALSE in progress Activate driving set Homing STW1 Bit 6 TRUE STW1 Bit 11 FALSE Reference point set Done STW1 Bit 11 TRUE Activate driving set STW1 Bit 6 FALSE Interpolation active ZSW1 Bit 10 13 FALSE and edge at ZSW1 Bit 12 Figure 5 4 Position control A positioning command is activated by setting control word bit 4 feed hold via control word bit 5 and an edge at control word bit 6 Further positioning commands can then be controlled via control word bit 13 If bit 13 is set changes to the reference position positioning velocity or positioning acceleration lead directly to a new driving job If bit 13 is not set a new driving job is activated only by means of a positive or negative edge of control word bit 6 If bit 6 in parameter 1267 COM DP CtrlConfig is set the driving job is only activated on a positive edge This corresponds to the last PROFIDrive profile 4 1 If feed hold is reset while a positioning command is active the drive is braked to a
26. O_402_HomingMethod Parameter list gt Motion Protile gt Homing For more information refer to the ServoOne Device Help on our product CD l T S l ID no 1108 27B 3 00 Date 05 2014 Homing ServoOne User Manual PROFIBUS PROFINET sil LI Mme ServoOne User Manual PROFIBUS PROFINET 52 7 Examples of commissioning with manufacturer specific telegrams 7 1 Position control with PPO 5 The following section describes how the drive can be quickly and easily commissioned in position control mode First embed GSD file LUSTOA33 gsd in the PROFIBUS configuration phase and then select PPO type 5 PPO type 5 consists of a PKW channel 8 bytes and 10 process data channels 20 bytes The process data area can be freely configured using this manufacturer specific telegram That means that the desired reference and actual values can be mapped to a defined process data area All mappable signals are listed in two signal tables which can be accessed using the parameter editor under the folder Parameter list gt Fieldbus gt PROFIBUS DP in the left hand tree structure of the user interface In this folder signal list 1284 COM_DP_SignalList_Write contains all possible writeable process data signals and signal list 1285 DP_SignalList_Read contains all possible readable process data signals The user can assign the process data channels freely as required The actual assignment takes place in signal tables 915 and 916 Parameter li
27. a items is likewise determined by the selected PPO type When using standard telegrams the process data signals in the signal tables are automatically configured by the firmware Note 3 The content of this column applies only to PROFIBUS A maximum of 15 process data signals can be mapped Both single and double words can be used The user specific drive telegram types are described by a configuration identifier ID in the GSD file This describes the structure of the cyclic user data based on a special identifier format shown in the diagram below ServoOne User Manual PROFIBUS PROFINET 20 Data length 00 1 byte words 15 16 bytes words Input output 00 Spec identifier format 01 Input 10 Output 11 Input output O Byte 1 Word O Consistency over byte word 1 Consistency over entire length Figure 3 1 Identifier format After the parameterisation phase the master sends the drive a configuration telegram containing this special identifier ID On receipt of this the drive compares the data in the configuration telegram with the configuration held in the drive The identifier determined by the PPO type can be found in the GSD file under the heading Modules The following table shows these identifiers for the user specific telegrams PPO type PROFIBUS identifier ID Hex PROFINET module ID PROFINET IRT module ID Evaluation by special identifier format figure 3 6
28. able parameters can be found in signal tables 1284 COM DP Signal List Write and 1285 DP SignalList Read Parameter List gt Fieldbus gt PROFIBUS DP 8 PROFIBUS PROFINET parameters The following table describes the available parameters Parameter name Number Value range Default value Ge Data type Meaning PROFIBUS PROFINET parameters COM_DP_PZDSelectionWrite P0915 U 65535 967 Yes U16 This parameter allows incoming process data to be linked to specific device parameters Parameter 1284 indicates which parameters can be entered Subindex O contains the first process data word PZD1 etc COM DP PZDSelectionRead P 0916 O 65535 968 Yes U16 This parameter allows outgoing process data to be linked to specific device parameters Parameter 1285 indicates which parameters can be entered Subindex O contains the first process data word PZD1 etc COM DP Address P 0918 0 126 126 Yes U16 Station address of the inverter COM_DP_TelegramSelection P 0922 0 65535 0 Yes U16 COM_DP_SignalList R0925 0 65535 0 No U16 This parameter lists all mappable parameters and signals for parameters 915 and 916 COM PN sign of life limit P 0925 0 65535 0 Yes U16 Number of approved SOL Sign of Life errors until error shutdown Type U16 0 Oxfffe Oxffff switch off COM_DP_Warning P 0953 O OxFFFF 0 No U16 This parameter returns warning messages from PROFIBUS These include bus timeout
29. age enabled 5 Operation enabled Power supplied to motor operation active 6 Quick stop active Quick stop active 7 Error reaction active Error reaction is active reference values from the PROFIBUS master are ignored 8 Error Drive in error state reference values from the PROFIBUS master are ignored S Quick stop can be triggered by various circumstances The parameter 2218 MP_QuickStopOC allows the type of quick stop to be selected Table 5 3 System states Quick stop option code Meaning 0 Disable drive function Slow down on slow down ramp Slow down on quick stop ramp Slow down on the current limit Slow down on the voltage limit Slow down on slow down ramp and stay in quick stop Slow down on quick stop ramp and stay in quick stop Slow down on the current limit and stay in quick stop CO EI O ROM E eum MO Slow down on the voltage limit and stay in quick stop Table 5 4 Quick stop option codes ServoOne User Manual PROFIBUS PROFINET 37 Protidrive operation d T L l ID no 1108 27B 3 00 Date 05 2014 System state modes EE Designation Description 0 Start Initialisation after boot up complete 1 UZK OK DClink voltage greater than switch on threshold 2 Quick stop and spin out of true Spin out of true deactivated gt STW Bit 1 1 deactivated Quick stop deactivated gt STW Bit 2
30. ally in positioning mode They refer to reference position velocity and acceleration MPRO_FG_Num rev Sollposition rev COM DP REFPos UserEinheit Intern MPRO_FG_Den UserEinheit The quotient of parameters MPRO_FG_Num and MPRO_FG_Den describes the ratio of user unit to motor revolutions It also allows any gear ratios or feed constants to be incorporated Positioning velocity rev rev Positioniergeschwindigkeit rev COM DP REFSpeed UserEinheit MPRO FG SpeedFac i mtem min Min UserEinheit The parameter MPRO_FG_SpeedFac offers the facility to change the number of decimal points for the positioning velocity or the unit of positioning velocity Positioning acceleration rev rev Positionierbeschleunigung ntem COM DP Acc UserEinheit MPRO_FG_AccFac The parameter MPRO FG AccFac offers the facility to change the number of decimal points for the positioning acceleration or the unit of positioning acceleration sec sec UserEinheit ServoOne User Manual PROFIBUS PROFINET 56 74 Examples for setting the user factor group The positioning Instructions should be input in degrees so that 360 corresponds to one revolution of the motor 655 36 increments per revolution of the motor The velocity should be preset in revs per minute rev and the acceleration in rev sec This gives the following values P00270 Encoder resolution 655 36 incr rev P00271 Position numerator 1 rev P
31. ameter P 918 COM_DP_Adress a valid decimal address between O and 125 is set A setting via this parameter is only valid if an address above 125 is set via the coding switches e g OxFF Le S1 S2 F 3 Setting via device keypad A valid hexadecimal address between O and 125 is set using the device keypad on the submenu Fb The preset value is written to bus address parameter P 918 Instructions for use of the device keypad are given in the ServoOne Operation Manual A setting via the device keypad is only valid if an address above 125 is set via the coding switches e g OxFF i e S1 S2 F Note All setting modes require the device to be restarted in order to activate the new address l T IS l ID no 1108 27B 3 00 Date 05 2014 Commissioning ServoOne junior Select the mode of addressing 4 Bus address parameter P 918 By way of bus address parameter P 918 COM_DP_Adress a valid decimal address between O and 125 is set 5 Setting via device keypad A valid hexadecimal address between O and 125 is set using the device keypad on the submenu Fb The preset value is written to bus address parameter P 918 Instructions for use of the device keypad are given in the ServoOne junior Operation Manual Note All setting modes require the device to be restarted in order to activate the new address The following functions and displays are available e Display of device state The device state is displayed when the control supply
32. and PLC stop mode COM DP Baudrate P 0963 9 6 45 45 kbits s 9 6 kbit s No U16 Current Baud rate for bus communication COM_DP_Deviceld P 0964 0 65535 0 No U16 This parameter is for device identification COM_DP_ProfileNo P 0965 O 65535 0 No U16 Profile number not supported in the first step COM_DP_Controlword P 0967 O OxFFFF 0 Yes U16 Control word for the internal state machine COM_DP_Statusword P 0968 O OxFFFF 0 No U16 Status word for the internal state machine COM_DP_DataStore Poy 0 255 0 Yes U16 This parameter permits storage of data in the non volatile memory COM_DP_DefinedParameter P 0980 O 65535 0 No U16 This parameter describes the defined parameters in the drive controller COM DP ModifiedParameter P 0990 0 65535 0 No U16 Gm parameter describes all the parameters in the drive controller that are not set to the default values COM DP CtrlConfig P1267 0 65535 0 Yes U16 This parameter describes the function of each bits in the control word parameter 967 COM_DP_RefJogSpeed1 P1268 4294967296 to 4294967295 0 Yes 32 This parameter contains the reference velocity 1 in jog mode COM_DP_RefJogSpeed2 P1269 4294967296 to 4294967295 0 Yes ER This parameter contains the reference velocity 2 in jog mode COM_DP_RefSpeed P1270 32768 32767 0 Yes 116 Speed reference value written via PROFIBUS COM DP ActSpeed P1271 32768 32767 0 No 116 Actual speed Table 8 1 PROFIBUS and PROFINET parameters
33. ange Parameter 0x83 0xBF Reserved opaco io dd Manufacturer specific Axis No Unsig 0x00 Device Representative Zero single axis ned8 0x01 0xFE Axis Number 1 254 OxFF Reserved No of Parame Unsig 0x00 Reserved Limited ters ned8 0x01 0x27 Quantity 1 39 by DPV1 0x28 0xFF Reserved Telegram length Attribute Unsig 0x00 Reserved ned8 0x10 Value 0x20 Description 0x30 Text 0x40 0x70 Reserved 0x80 0xFO Manufacturer specific No of Elements Unsig 0x00 Special Function Limited ned8 0x01 0xEA Quantity 1 234 by DPV1 OXEB OE Reserved Telegram length Parameter Unsig 0x0000 Reserved Number ned16 0x0001 Number 1 65535 OXFFFF Subindex Unsig 0x0000 Number 1 65535 ned16 ORE Table 4 6 User data l T IS l ID no 1108 27B 3 00 Date 05 2014 Acyclic data transter Field name Data type Value Meaning Comments Format Unsig 0x00 Reserved ned8 0x01 0x36 Data Types 0x37 0x3F Reserved 0x40 Zero 0x41 Byte 0x42 Word 0x43 Double Word 0x44 Error 0x45 0xFF Reserved No of Values Unsig 0x00 0xEA Quantity 0 234 Limited ned8 OxEB 0xFF Reserved by DPV1 Telegram length Error Number Unsig 0x0000 Error Numbers ned16 OxOOFF see table below Table 4 6 User data Error number Meaning Error number Meaning 0x00 Impermissible parameter number 0x01 Parameter value cannot be changed 0x02 Value area of the parameter transgressed 0x03 Defective para
34. anual PROFIBUS PROFINET 40 Operation mode Operation mode Position control Operation mode Speed control Operation mode Position control 0 Apply relative positioning immediately after start enable 1 Speed mode Bit 14 0 Normal positioning 1 Speed mode Bit 13 0 Not used New reference values activated by toggling master control word bit 6 1 Not used New reference values are applied directly Special function Feed hold is disabled Bit 12 0 Not used Positioning reference value absolute 1 Not used Positioning reference value relative Bit 11 0 Not used Stop homing 1 Not used Start homing Bit 10 0 No access rights via PLC 1 Access rights via PLC Bit 9 0 Jog mode 2 off Jog mode 2 off 1 Jog mode 2 on Jog mode 2 on Bit 8 0 Jog mode 1 off Jog mode 1 off 1 Jog mode 1 on Jog mode 1 on Bit 7 Table 5 6 Master control word Speed control 0 Error reset on rising edge 0 gt 1 1 Bit 6 0 Deactivate reference value Activate driving set via rising and falling 1 Activate reference value GC sa ang a in interpolating modes enable interpolation Bit 5 0 Freeze ramp generator No feed hold 1 Unfreeze ramp generator Feed hold Bit 4 0 Reset ramp generator Abort driving set 1 Activate ramp generator Do not abort driving set Bit 3 0 Controller not enabled
35. arameters for limit switch bommg sss usssssiinuuessriinuessrrrrrrsrrrrrrersrrrrererrrrrn 49 FPS eege 17 Da 17 PRECE EE 17 ETE E A EE E E A EEE EE E E 4 PWN AS SI OSI EE 9 Pin assignment of the RJ 45 sockets teen 13 NA eben 17 FO TT 23 Position eena 42 49 POSITION ee h 44 POSTOM CONTO K d O SR PENN E RR 53 Positioning accelera UON esi TR RR 56 Bechtte liegen nesvesni EEE dino niadescors 56 SEIE ol RD ire pect a RD octet eee PR T 56 FE E 17 PROCESS ge DEE 20 Process data el EE 20 Neal teen 9 Wel Ree ae en O 9 PROFIBUS eie el 11 l T IS l ID no 1108 27B 3 00 Date 05 2014 PROFIBUS T 10 PROFIBUS cable pin assignment eessen ae 9 PRORIBUS OO OI e EE 9 PRORIBUS parameter Access E Zi PR ARBUS ee a sas SR E 59 PROFIBUS SD2 telegram for DPV1 services 27 Sele 17 WEIEN 13 EE Eege ie E E EEE 14 Profinet operation nee 35 PRORNET ODON CARO EE 13 PO CCL ENG TT 8 S ETT 17 Q UIE SOD OD MIC OCS aren RR RR E 37 R AL ONC CAM eerren E E E n rn nanei 51 PS CGS EW RR RED a o RR DR RR 30 Request reference reter renas e near eeee aeee renas 30 RES DON EE 30 Response identifier AK Slave gt Master 23 S Eege 56 SERVO CIS JUNIO a a GE E E 11 e eg Rio E 24 Oro LHE ctf ie E 26 ServoOne User Manual PROFIBUS PROFINET 65 d T D l ID no 1108 27B 3 00 Date 05 2014 Sign of Life errors with error reaction erre 26 SSC NON PPA RR RC DDR 39 49 Speed control circuit and associated control parameters
36. at_n amount_n Table 4 4 Data unit assignment Li D ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET 29 Acyclic data transter Acyclic data transfer LT Base mode parameter ID no 1108 27B 3 00 Date 05 2014 Byte address response Request reference Response identification 0 Response mirror header Axis No mirror No of Parameters n 7 Format No of values 4 1st parameter value Value error code nth parameter value dr A format_n amount_n Table 4 5 Parameter response The user data are structured as follows Request reference The request reference is specified by the master and mirrored back by the slave in the response telegram Based on this reference the master can uniquely assign each response telegram to a request telegram A master changes the request reference with each new request Request ID This identifier essentially describes how the parameter is handled Currently two different identifiers are defined Request parameter Change parameter For more details on the identifier refer to the User data table Response ID This identifier contains information on the origin of a request If a request Is executed correctly the response ID matches the request ID If a request cannot be executed an identifier from the User data table is generated Axis No This value allows single axes in a multi axis system to be addressed selecti
37. ber 6GK1901 1BB10 2AA0 Off no link IE FC RJ45 PLUG 180 2X2 RJ45 CONNECTOR gt No link to another device Siemens article description 10 100MBIT S WITH ROBUST METAL HOUSING amp G Link Activit On Link FC CONNECTION ES ee Linked to another device no data exchange Table 2 10 Recommended PROFINET connector Blinking Activity gt Data exchange active Off Initialisation gt Device in initialisation phase PROFINET cable Blinking Pre Operational Siemens order number 6XV1840 2AH10 a gt Device in pre operational phase Yellow E ee SIMATIC NET IE FC TP STANDARD CABLE GP 2X2 Single Flash Safe Operational Siemens article description PROFINET TYPE A gt Device in safe operational phase Table 2 11 Recommended PROFINET cable On Operational gt Device operational Table 2 12 Meanings of LEDs 2 2 5 PROFINET option card displays Two LEDs are mounted on the PROFINET option card indicating the current operating Status of the module The following tables set out the operating states of the PROFINET option card based on the various illumination sequences LED H2 red Status LED H1 green Reset after power on PROFINET test and initialisation End of PROFINET test and initialisation Table 2 13 Self test during diagnostics LED H1 green LED H2 red Status PROFINET ready no cyclic data exchange with PROFINET master PROFINET rea
38. circuit and associated control parameters 44 ServoOne User Manual PROFIBUS PROFINET 5 d T C l ID no 1108 27B 3 00 Date 05 2014 Sai sie PRESS DEE RD RE DDR E OR PR UND RE 49 61 Drive conmroled NOMINO EE 49 6A Homing VEIO CI EE 49 Gs Homing acc EE WEE 49 LC PORTON ested ent tec EE E e 49 CS Romn meho EE 49 6 6 Reference cam limit switch arara aaa 51 Examples of commissioning with manufacturer specific TE e EE SE FA Position control WITT PPO 5 sccscccncmasennncoarececcoasdossmmnenasdusmiasedocawnnnstannadnewsdansedeednnwent 53 Za e s te 7 Eeer 54 7 3 Conversion of reference and actual values via the factor group parameters 54 7 4 Examples for setting the user factor QrOUD 56 mo Speed COMO WNN PPO A sarna id tedlsamcanes 56 Zu OO MI T RR RN RT RR 58 76 Mappable parameters car Arm e guest denge alan 58 PROFIBUS PROFINET parameters e 59 PDDE paT 61 NSS O PR TENS DNA PREMENTE DR DO DR RD MR E 61 9 2 Technical data EE 61 ServoOne User Manual PROFIBUS PROFINET 1 General Il Measures for your safety Drive controllers of the ServoOne family are quick and easy to handle For your own safety and for the safe functioning of your device please be sure to observe the following points Read the Operation Manual first Follow the safety instructions Electric drives are dangerous Electrical voltages gt 230 V 460 V Dangerously high voltages may still be present 10
39. data LEME FEINE Communication Data exchange with acyclic master class 2 connection D oO D No on LED 1 yellow Operational diagnostics Status Device is exchanging data Table 2 7 Data exchange ServoOne User Manual PROFIBUS PROFINET 2 2 1 GSD file PROFIBUS The device master data file contains the summary of the device features In a standardised form The device features include the device name the bus timing the available extended services and the selectable modules telegram types In order to use the various telegram types the GSD file must be integrated in the configuration phase of the PROFIBUS network As well as the standard Profidrive profile this file also contains manufacturer specific telegram types 2 2 PROFINET 2 2 2 Pin assignment of the RJ 45 socket The contacting of eight pin RJ45 sockets is subject to the EIA TIA 568A B standards Note Table 2 9 below shows the pin assignment with the corresponding colour code for the For technical data and information on topologies and maximum cable lengths see EIA TIA 568B standard chapter 9 2 The two standards differ only in that the two wire pairs 2 and 3 are interchanged 2 2 1 Connections i Colour Cable wire pair Function 1 White orange 2 TxData The connections of the PROFINET interface are shown in table 2 8 LEDs H17 H17 act as status indicators
40. dy cyclic data exchange with PROFINET master taking place PROFINET software being loaded PROFINET master flash function 3 seconds flashing 3 seconds lit steadily ial Table 2 14 Operational diagnostics l T S l ID no 1108 27B 3 00 Date 05 2014 Commissioning 2 2 6 GSDML file PROFINET Description of file name e File name GSDML Vx xx LT i ServoOne date xml Vx xx GSDML version Date Date of creation of the GSDML file Example GSDML V2 25 LT i ServoOne 20120523 xml 0 NOTE The GSDML file contains the data for the ServoOne DAP2 and the ServoOne junior DAP3 The required DAP Data Access Point must be selected during configuration The GSDML file is available for downloading from the website and is included in the firmware package for the relevant device ServoOne User Manual PROFIBUS PROFINET 15 l LI H ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET ee 3 Cyclic data transfer 3 1 Parameter process data objects PPOs Communication between a class 1 master and the ServoOne drive controller is essentially established in three phases Firstly the ServoOne Is parameterised with the current bus parameters monitoring times and drive specific parameters phase 1 In the configuration phase a configuration sent by the master is compared with the actual ServoOne configuration phase 2 Once these two phases have been completed successfu
41. en bit 8 is changed to 1 the drive adopts the speed in parameter 1268 COM_DP_RetJogSpeed1 If bit 9 is additionally set to 1 the value of parameter 1269 COM_DP_ RefJogSpeed2 is used as the reference setpoint If bit 9 is set to O again COM DP RefJogSpeed1 is again used as the reference If bit 8 is set to O while bit 9 is still set to 1 no change occurs When bit 9 is changed to 1 the drive adopts the negated speed in parameter COM DP RefjogSpeed1 The direction of rotation is reversed as a result If bit 8 is additionally set to 1 the negated value of parameter COM DP RefJogSpeed2 is used as the reference setpoint If bit 8 is set to O again COM_DP_RetJogSpeed1 is again used as the reference If bit 9 is set to O while bit 8 is still set to 1 no change occurs If negative references are set a negated velocity becomes positive again Jog mode can only be activated when the motor is stopped Jog mode conforming to profile When bit 8 of parameter COM DP CtrlConfig is set to 1 the drive acts in conform to the profile profile 4 1 page 84 13 Jog mode can only be activated when the motor is stopped Bits 4 to 6 of the control word are 0 When bit 8 is changed to 1 the drive adopts the velocity in parameter COM_DP_RetJogSpeed1 When bit 9 is changed to 1 the drive adopts the velocity in parameter COM_DP_RetJogSpeed2 When bits 8 and 9 are set there is no change the old reference value is retained 9 3 3 Jog mode
42. ese cycles When the master generates the Sign of Life again the error counter is decreased by the value 1 in each cycle ServoOne User Manual PROFIBUS PROFINET 26 4 Sign of Life errors triggered with error reaction COM DP Controword COM DP Statusword EEE Time sl COM DP Controlword2 COM D I Statusword2 COM PN Sim of lrfe er cnt Figure 3 4 4 Sign of Life errors triggered with error reaction The value of the master is not increased in four cycles if a value 4 is entered in parameter 925 COM PN Sign of life limit The error counter is increased by the value 10 in these cycles When the error counter reaches the maximum value 40 the error reaction Is triggered 4 Acyclic data transfer The PROFldrive profile includes the Base Mode Parameter Access model for this It is used for both PROFIBUS and PROFINET 4 1 PROFIBUS parameter access In addition to cyclic data communication which is intended as the default for quick updating of I O process data acyclic services are offered for one off events They offer the facility to read or write parameters acyclically for example so as not to impede cyclic data traffic Telegram type SD2 as set out in the following table is used for the PROFIBUS DP extension DPV1 SD DA SA DSAP SSAP DU FCS Start Length Length Start Desti Source Desti Source Data Frame End Delimi repeat Delimi nation Address nation Serv
43. eters that can be used as process data reference values COM_DP_SignalList_Read P1285 O 65535 0 No U16 List of parameters that can be used as process data actual values COM_DP_TMaxScale P1286 0 2000 1000 Yes U16 Online torque scaling COM_DP_TMaxPos P1287 0 2000 1000 Yes U16 Positive online torque scaling COM_DP_TMaxNeg P1288 0 2000 1000 Yes U16 Negative online torque scaling PROFINET parameters COM PN StationName P1289 DRIVE YES string Station name of PROFINET device COM PN StationlP P1290 O FFFFFFFF 0 No DE IP address of PROFINET device COM_PN_StationSubnet P1291 O FFFFFFFF 0 No U32 Subnet mask of PROFINET device COM_PN_StationMAc P1292 0 5 O FF 0 No U8 Station MAC address of PROFINET device COM_PN_StationMAc P1292 6 11 O FF 0 No U8 Station MAC address of PROFINET device COM_PN_StationMAc P1292 12 17 O FF 0 No U8 Station MAC address of PROFINET device COM_PN_ProductFamily P1293 DRIVE No string Product family COM_PN_IM P1294 O FFFF 0 No U16 Identification and maintenance data IM COM PN DefaultGateway P1295 0 FFFFFFFF 0 No U32 Gateway factory setting COM_PN_Sign_of_life_err_cnt P1296 0 65535 0 No U16 Display of current error counter PROFIBUS parameters only Table 8 1 PROFIBUS and PROFINET parameters Parameter 1994 is based on the description of the standard Profile Guidelines Part 1 Identification amp Maintenance Functions 1 2 Oct 2009 Order No 3 502 for amp M record 0
44. files Table 5 1 Watchdog e LI ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET 35 Protidrive operation modes Protidrive operation modes l T D l ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET 36 SA Speed control circuit and associated control parameters P 0402 CON SCON AddSRef P 9401 P4325 CON SCONFilterFre CON SCON AddTRef P 326 CON_SCONFilterAssi PO327 CON_SCOMF ilterPara P0330 CON SCON TMaxNeg P 0331 CON SCON TMaxPos P 0332 CON_SCON_TMaxScale F 0329 CON SCON Tmax P 0460 MOT_TNom P0417 P 0458 MOT_Snom CON SCON Sp P 0328 CON SCON Smax P 0334 CON SCON SMaxPos P 0333 CON SCON SMaxNeg P 1278 COM DP Acc P 1275 COM DP Dec P 0167 MPRO REF OVR P 0320 CON SCON Kp P 0371 CON IP Bett P 0321 CON_SCON_Tn P 1270 COM_DP_RefSpeed Figure 5 1 Speed control loop Parameter name VY L Meaning P 127 COM DP AciSpeed 1 P 0351 CON_SCALC_TF Grpn S Parameter name VY o Ke Torque controlled motor Meaning P 0167 MPRO_REF_OVR Velocity override OSSI CON_SCALC_TF Actual speed filter time constant P 0320 CON_SCON_Kp PI speed controller gain P 0371 CON IP RefTF Speed reference filter time constant P 0321 CON SCON Tn Pl speed controller integral action time P 0401 CON SCON AddTRef Addit
45. first ServoOne User Manual PROFIBUS PROFINET 28 Word format 0 Byte 1 Byte High byte Low byte Double word format High byte Low byte High byte Low byte High word High word Low word Low word The data unit in the table PROFIBUS SD2 telegram for DPV1 services of telegram type SD2 can be split into five areas Req id 1 byte This is the function number of the DPV1 service This describes for example whether a parameter is to be read or written More detailed information can be found in the table headed Data unit assignment e Slot 1 byte DPV1 slaves consist of a number of physical or virtual slots The drive is triggered by addressing a slot following which the slot address is not evaluated e Index 1 byte The index contains the address of the data area in which the slave makes available the data for parameter access In accordance with ProfiDrive this is specified with the fixed data area number 47 Length 1 byte Indicates the length of the user data that follow In the case of a read access the length must be sufficiently large for the data to be read max 240 bytes User 1 byte N bytes Contains the user data to be processed Data Unit DU Data Unit 4 2 PROFINET parameter access Meani Byte Param Ri 0 Req id 48H Idle REQ RES Idle REQ RES In the case of PROFINET the acyclic services are executed by way of the Record Data CR 51H Data Transport REQ Data transport REQ connectio
46. ice Unit Check Delimi ter ter Address Service Access Se ter Access Point quence Point 68H X X 68H XX XX XX XX Ka Table 4 1 PROFIBUS SD2 telegram for DPV1 services The acyclic services can be used by a class 1 master PLC etc and by a class 2 master PC tool The following table gives an overview of the acyclic services available in relation to the respective master class SECH E Meaning DSAP SSAP Initiate request 2 Establish an acyclic connection 32H 31H Abort request 2 Break off an acyclic connection 32H 0 30H Read request 2 Read request via DPV1 32H 0 30H Write request 2 Write request via DPV1 52h 0 30H Data request 2 Data transfer 32H 0 30H Read request 1 Read request via DPV1 33 33H l T S l ID no 1108 27B 3 00 Date 05 2014 Acyclic data transter Acyclic services Meet Write request 1 Write request via DPV1 33 33H Alarm 1 Interrupt handling 33 Sen Table 4 2 Overview of acyclic services offered DPV1 is always accessed according to a fixed mechanism 1 Write request 5F DU DU DU DU DU Slot 68H XX 32 30 ab 0 2F n 1 Un XX 16H 2 Write response 5F 68H XX 32 30 aF 0 2F n 1 XX 16H 3 Read request 5E 68H XX 32 30 DE 0 2F MAX XX 16H 4 Read response 5E 68H XX 32 30 DE 0 ZF n 1 Un XX 16H Each read or write access must first be initiated by a write service on Data Unit Index 47 2Fhex 1 This write reques
47. is switched on If no input is made via the keypad for 60 seconds the display switches back to the device state Display of device error state If a device error occurs the display immediately switches to show the error code Parameter setting display PA Reset device parameters to their factory setting Ethernet IP address setting display IP Set Ethernet IP address and subnet mask Field bus settings display Fb Set field bus address for example 2 1 6 PROFIBUS option card displays Three LEDs are mounted on the PROFIBUS option card indicating the current operating status of the module The following tables set out the operating states of the PROFIBUS option card based on the various illumination sequences ServoOne User Manual PROFIBUS PROFINET 11 Commissioning l T 8 ID no 1108 27B 3 00 Date 05 2014 LED 3 green LED 2 red Status Reset after power on ASIC RAM test and initialisation End of ASIC RAM test and initialisation Table 2 5 Self test during diagnostics LED 3 green LED 2 red Status Seeking baud rate after power on without bus connection Seeking baud rate after bus connection has already been made Waiting for parameterisation data Communication Data exchange without acyclic master class 2 connection Yellow LED lit Communication Data exchange clear state Incorrect parameterisation data Incorrect configuration
48. ive Errar System state 5 4 Controller 5 Control EI enable disabled J Wa 6 Power stage Stans k Error reaction active disabled System state 4 System state 7 12 Standstill detected 3 Power 6 Power 14 Error ties t of t 11 er nile stage on stage disabled reaction ended 7 Spin out of true S 4 Ready Error Quick Stop activated System state 3 System state 8 ENPO disabled gt uick Stop and spin 7 Quick Stop or spin out out true deactivated of true activated 15 Error reset 16 ENPO disabled a prevented a k Systemstate2 7 q A dj 1 DC link OK 8 DC link too low F T Not ready System state 1 qu J x 0 Start System initialisation in progress System state U d Figure 5 2 General system state machine control via PROFIBUS and PROFINET l T S l ID no 1108 27B 3 00 Date 05 2014 Protidrive operation modes System state Designation Description 0 System initialisation in progress start Initialisation after device reset e g hard ware parameter list controller 1 Not ready to switch on Initialisation completed but no power supply or intermediate circuit voltage less than switch on threshold 2 Switch on disabled DC link voltage greater than switch on threshold 3 Ready to switch on Optional conditions satisfied e g homing run quick stop inactive 4 Switched on Power st
49. ive torque reference P 0325 CON SCONFilterFreg Limit frequencies for torque reference value filter P 0402 CON SCON AddSRef Additive velocity reference P 0326 CON SCONFilterAssi Torque reference value filter draft parameter P 0417 CON SCON SDIT Speed controller differential E CON_SCONFilterPara Torque reference filter parameter P 0458 MOT_Snom Motor nominal speed P 0328 CON SCON SMax Speed limit reference variable motor nominal speed P 0460 MOT_TNom Motor nominal torque P 0330 CON_SCON_TMaxNeg Negative torque limit reference variable nominal torque P 1270 COM_DP_RefSpeed Velocity reference P 0331 CON SCON TMaxPos Positive torque limit reference variable nominal torque P 1271 COM_DP_ActSpeed Actual speed P 0332 CON_SCON_TMaxScale Torque scaling factor P 1278 COM_DP_Acc Acceleration ramp P 0333 CON_SCON_SMaxNeg Negative speed limitation reference value motor Ska COM DP Dec Deceleration ramp nominal speed Table 5 2 Control parameters P 0334 CON SCON SMaxPos Positive speed limitation reference value motor nominal speed P 0339 CON SCON Tmax Torque limitation reference value nominal torque 5 2 Drive state machine a To make changes via the control word STY bit 10 must be set gt gt As from system state 2 Safe Standstill must first be set followed by a positive edge of ENPO Quick Stop active System state 6 9 Quick Stop 10 Quick Stop activated deactivated en Control act
50. legram 9 Every standard telegram in the device is described in the GSD or GSDML file as appropriate by a configuration identifier ID based on the PROFIdrive profile The following table lists these identifiers for the selected standard telegrams PROFIBUS PROFINET Telegram type Data range Identifier ID Module ID IRT module ID 2 output words 0xC3 OxC1 0xC1 Standard telegram 1 and 2 input words OxED 0x00 0x01 0x01 0x0101 2 output words 0xC3 OXCTOXCI Standard telegram 7 and 2 input words OxFD 0x00 0x07 0x07 0x0107 5 output words 0xC3 OxC4 OxC4 Standard telegram 8 and 5 input words OxFD 0x00 0x03 0x08 0x0108 6 output words 0xC3 OxC5 OxC4 Standard telegram 9 and 5 input words OxED 0x00 0x09 0x09 0x0109 Table 3 3 Identifiers ServoOne User Manual PROFIBUS PROFINET 18 3 1 2 User specitic PPOs As well as the supported standard telegrams there are additional user specific parameter process data objects PPOs The following PPOs are also transmitted cyclically and in addition to the process data channel PZD in some instances contain a parameter channel PKW enabling access to the drive parameter values 1 PKE IND PKW PKW STW REFERENCE 1 2 ZSW ACTUAL 2 PKE IND PKW PKW STW REFERENCE PZD PZD PZD PZD 1 2 ZSW ACTUAL 3 4 5 6 Ee STW REFERENCE ZSW ACTUAL 4 STW REFERENCE PZD PZD PZD PZD ZSW ACTUAL 3 4 5 6 5 PKE IND PKW PKW STW
51. listed in chapter 4 The configuration of the process data channels can be freely selected by the user in the sequence of the signal assignments Compliance with the data type format must be ensured however The following table shows an example of the process data area from the drive to the master The subindices in list 916 are assigned the desired parameter numbers for the purpose ServoOne User Manual PROFIBUS PROFINET 53 Examples of commissioning with manufacturer specific telegrams Examples of commissioning with manufacturer specific telegrams d T L l ID no 1108 27B 3 00 Date 05 2014 Signal table 3 Parameter Data type 915 DEE Parameter name E Subindex g Status word 0 1 968 COM DP Statuswort U16 0 65535 Actual position 132 2 127 6 COM_DP_ActPos1 2147483648 Actual position E i i wala COM DP ActPos1 2147483647 Status word 2 3 4 1281 COM DP SE U16 065535 4 5 1271 Actual velocity 16 COM DP ActSpeed 32768 32767 5 6 6 7 7 8 8 9 9 10 Table 7 2 Example of assignment of the slave master process data channels The following parameters must then be set for position control mode 1 CON_CfgCon 300 PCON 3 Parameter list Motor control This parameter is used to change operation mode The setting PCON Position Control Mode means that the drive is in position control mode 2 CON REF Mode 301 RFG O Basic settings This parameter is u
52. lly the cyclic user data traffic starts phase 3 The various telegram types parameter process data objects PPOs are made available in the GSD file These PPOs form the basis of the configuration phase The project engineer knows from the GSD file how many bytes are required for the input and output data for PROFIBUS communication between the master and the drive controller and can use this information to make settings in a configuration tool As well as the standard telegrams in accordance with the PROFldrive profile there are additionally user specific telegram types In addition to the process data channel PZD some user specific telegrams have a parameter channel PKW 3 1 1 Standard PROFldrive telegrams The table below firstly lists the standard PROFldrive telegrams supported by the drive controller The following table explains the abbreviations assigned in the standard telegrams to specific process data channels The process data channel abbreviated as PZD is grouped word by word j T IS l ID no 1108 27B 3 00 Date 05 2014 Cyclic data transfer Abbreviation Designation Number of words STW1 Control word 1 1 STW2 Control word 2 1 ZSW1 Status word 1 1 ZSW2 Status word 2 1 NSOLL_A Rotation speed reference 1 NIST_A Actual rotation speed 1 SATZANW Set selection from driving set table 1 AKTSATZ Current set selection from driving set table 1 XSOLL_A Reference position 2 XIST_A Act
53. meter e Parameter 884 now has the value 16909060 ServoOne User Manual PROFIBUS PROFINET Read simple parameter value Read word Pnu Pnu Sub high Low high 0 1 0 1 0x10 0 1 3 0x9A 0 SS Table 4 12 ID 1 Request Parameter Attr 0x10 value PNU 922 Ox39A Positive response No Value Value Format values high low 0 1 0 1 0x42 1 0 9 Table 4 13 Format word 0x42 parameter value 9 Read double word 0 1 0 1 0x10 Hi 4 OxFA 0 Table 4 14 ID 1 Request Parameter Attr 0x10 value PNU 1274 Ox4FA Positive response carat No Value Value Value values H high HLow Ihigh 0 1 0 1 0x43 Table 4 15 Format dword 0x43 parameter value 0x01020304 16909060 Error access Erroneous parameter number 0 1 0 1 0x10 0 1 0 9 0 Table 4 16 ID 1 Request Parameter Attr 0x10 value PNU 9 Negative response No Value Value Format values high low 0 0x81 0 1 0x44 1 0 0 Table 4 17 Format error 0x44 parameter value O incorrect parameter number Write parameter values array No No ValueO Value 0 Value4 Value 4 Refer ii Axis S Attr No Ele PNU high PNUlow Subhigh Sublow Format 3 Gees Ro R NA ID Param Values high Low high low po o 1 w 5 3 o o o 5 3 g 0 o Table 4 18 ID 2 Change Parameter Attr 0x10 value PNU 918 0x396 format word 0x42 e Parameter values 0x03C7 OxO4F6 0x04F6 0x04F6 O OK response Parameter 915 now contai
54. meter sub index 0x04 Parameter is not an array 0x05 Incorrect parameter data type 0x06 Change access with value not equal to zero which is not permitted 0x07 Change access on a descriptive element which cannot be changed 0x09 No descriptive text available 0x11 Request cannot be performed in the present system status 0x14 Impermissible value 0x15 Reply telegram is too long 0x16 Impermissible parameter address 0x17 Illegal format 0x18 Number of parameter values is inconsistent 0x19 Request for a non existent axis Table 4 7 Error numbers ServoOne User Manual PROFIBUS PROFINET Bil Acyclic data transfer d T L l ID no 1108 27B 3 00 Date 05 2014 4 4 Examples of request and response telegrams Write word No Axis Pa Attr No PNU PNU Sub Sub ee No Value Value Ele high low high low Values high low 0 Z U 1 0x10 0 1 3 0x96 0 0 Table 4 8 ID 2 Change Parameter Attr 0x10 value PNU 918 0x396 format word 0x42 Positive response Axis No Param 0 2 0 1 Table 4 9 ID 2 Change Parameter o Parameter 918 now has the value 7 Write double word Refer Req Axis No Pa Attr No Ele PNU high PNU low ID ram EC EO O RR O O H Sub high Sub low Format No Value Value Value Value Values high low high low 0 0 0x43 1 1 2 3 4 Table 4 10 ID 2 Change Parameter Attr 0x10 value PNU 918 0x396 format word 0x42 Axis No Param 0 2 0 1 Table 4 11 ID 2 Change Para
55. minutes after the power is cut So check that the power has been cut Rotating parts Hot surfaces Your qualification In order to prevent personal injury and damage to property only personnel with electrical engineering qualifications may work on the device Knowledge of the national accident prevention regulations such as VBG4 in Germany Knowledge of layout and interconnection of field buses During installation observe the following instructions Always comply with the connection conditions and technical specifications Electrical installation standards such as cable cross section shielding etc Do not touch electronic components and contacts electrostatic discharge may destroy components l T S l ID no 1108 27B 3 00 Date 05 2014 General 1 2 Introduction PROFIBUS based on standards and its modular interfaces Thanks to its use of a single standardised non application dependent communication protocol PROFIBUS provides solutions for the process industry as well as in a wide range of motion control applications PROFINET permits enhanced system wide connectivity adding to tried and proven PROFIBUS technology for applications specifying fast data communication in combination with industrial IT functionality Thanks to its Ethernet based communication PROFINET meets a wide range of requirements from data intensive parameter assignments to synchronised data transfer Communication f
56. mm degrees The reference and actual values of the drive are converted with the so called factor group parameters Parameter list gt Motion profile gt Standardisation units Users can choose between three different groups of parameters All three groups have the same task which is to convert the user units to the fixed internal variables of the servocontroller The first factor group is based on the DSP402 standard The parameters of this group are described in detail in the CANopen specification DSP402 The second factor group Is under the heading Sercos The parameters of this group refer to the Sercos specification SERCOS interface Version 2 4 February 2005 The parameters of this group are also described in detail in the cited specification The third factor group is called user spec and is user specific group Since this factor group is not described in detail elsewhere use of parameters of this group is illustrated in the following by means of an example The user can select the factor group using the parameter MPRO FG Type Parameter number 283 MPRO_FG_Type Parameter name Meaning Factor group selection 0 STD 402 1 SERCOS 2 USER Table 7 3 The parameters of the USER factor group are listed in the table below Parameter Ge Parameter name Meaning Unit 270 MPRO_FG_PosNorm Sensor resolution incr rev 2 MPRO_FG_Num Numerator
57. n see parameters P 0101 P 0107 Parameter i E Designation in DM 5 Function name setting MPRO_402_ ee P2261 HomingMethod Digital inputs 12 Setting the machine Move motor axis to machine reference point reference point 11 Approach block left with Approach block direction of travel zero pulse left with zero pulse Approach block right Approach block direction of travel 10 with zero pulse right with zero pulse 9 Approach block left Approach block direction left Table 6 1 Parameters for limit switch homing ServoOne User Manual PROFIBUS PROFINET 49 Homing d T L ID no 1108 27B 3 00 Date 05 2014 Parameter name setting Designation in DM 5 Function Parameter name setting ServoOne User Manual PROFIBUS PROFINET 50 Designation in DM 5 Function MPRO_402_ ee P2261 HomingMethod Digital inputs 8 SE EEN Approach block direction right 7 move pos direction for Homing method for increment coded distance coded encoder encoder for positive direction 6 move pos direction for Homing method for increment coded distance coded encoder encoder for negative direction Act position homing 5 oficet mili tui encodel Homing absolute value encoder pong mes E Continuous homing negative edge 4 HOMSW 22 with continuous of reference cam reference oming ode ype Continuous homing positive edge of
58. n relationsship There are read and write commands for the purpose RES Master Slave RES Parameter request Write Data Record with index Read response OK or error message OxDE 56H Resource Manager Resource manager REQ OxBO2E RE Parameter request Read Data Record with index Writ OK OxDE 57H Initiate REQ RES Initiate REQ RES 0xB02E E ga 58H Abort REQ Abort REQ 5CH Alarm REQ RES Alarm REQ RES lI H SEH Read REQ RES Read REQ RES 4 3 Base Mode Parameter Access data format 5FH Write REQ RES Write REQ RES D1H Data Transport NEG Data transport negative The following table sets out the telegram format of parameter access for a parameter RES RES request and response D H Initiate NEG RES Initiate negative RES Base mode parameter DCH Alarm NEG RES Alarm negative RES Byte address request DEH Read NEG RES Read negative RES TE Request Request reference Request identification 0 DFH Write NEG RES Write negative RES header Axis No No of Parameters n 2 1 Slot OOH FEH Slot number Attribute No of elements 3 2 Index 2FH Index 1st parameter address Parameter Number PNU 3 Length XX Length of user data max 240 bytes Subindex dn UserData XX User data Ger 4 6 n 1 Alarms are not currently supported nth parameter address Format No of values 4 6 n Table 4 3 Data unit assignment Values 4 6 n form
59. ns the entries for the parameter values No standard telegram smaller than 10 may set up in the device because then it could not be overwritten as a remedy set PPOS e LI l ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET 35 Acyclic data transfer Acyclic data transter e LI L ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET 34 Read parameter values array Read assigned process data reference values Req Axis No Attr No Ele Value 0 Value0 Value4 Value 4 ID Param l high Low high low Refer REENEN Table 4 19 ID 1 Attr 0x10 PNU 915 0x395 OK response Req No No Value 0 Value0 Value 1 Value 1 Value2 Value2 Value3 Value3 Value d Value 4 ID ane Param dei Values high low high Low high Low high Low high low Refer 0 1 0 1 0x42 5 3 OxC7 4 OxF6 4 OxF6 5 0 0 0 Table 4 20 ID 1 Format 0x42 D Profidrive operation modes 5 1 Profinet operation modes The devices of the ServoOne families support the following operation modes Speed control jog mode Position control jog mode Speed control application class 1 Position control application class 3 Position control interpolating mode Operation modes are selected by standard telegram selection in the master or by using free telegrams and configuring the following parameters Parameter No Meaning P300 CON_CfgCon Set control mode P301 CON_REF_Mode Set reference pro
60. ntrast to EasyDrive mode the system states are changed by defined control Programmable PROFIBUS addressing parameter sequences The system state machine defined in the PROFIBUS standard specifies address ServoOne junior via addressing the individual system state transitions parameter PZD Process data The process data channel contains the functions Apply control and Cyclic exchange of reference ve via DPVO Yes up to 64 bytes status Input reference values and Display actual values and actual value data Slave A slave is a station on the PROFIBUS DP bus which in contrast to the master Acyclic data exchange Yes via DPV1 Yes responds only to the requests directed to it d i Writing and reading drive Yes via PKW channel or DPV Yes SPM Spontaneous message parameters State machine This describes the transitions between the various system states A state transition Synchronisation of all con is triggered by a defined event such as a control sequence or the setting of an input nected drives in Freeze and Yes Sync mode IO device with real time RT and Field bus stations Slave one Specification IRT isochronous real time communication PROFINET Version 2 2 October 2007 Table 9 1 Technical data LT i ID no 1108 27B 3 00 Date 05 2014 Appendix ServoOne User Manual PROFIBUS PROFINET 61 LI E ee ServoOne User Manual PROFIBUS PROFINET 62 Index Symbole 3 SCO E aeniei e E 26 4 Sign of Life er
61. or all applications is routed through just one cable Whether for a simple control task or for highly dynamic motion control of drive axes TCP IP based communication in the PROFINET network enabling extensive system diagnostics in a control station or over the Internet is implemented in parallel with real time communication 1 3 System requirements PROFIBUS PROFINET configuration program installed PROFIBUS PROFINET device description file for corresponding field device installed 1 4 Further documentation Instructions for commissioning the drive device PROFIBUS user organisation PROFIdrive PROFIDrive Technology for PROFIBUS and PROFINET Version 4 1 May 2006 Order no 3 172 PROFIBUS User Organisation Profile Guidelines Part 1 Identification amp Maintenance Functions 1 2 Oct 2009 Order No 3 502 http ldrives It i com deutsch downloads downloadbereich offen html ServoOne User Manual PROFIBUS PROFINET 7 General l T 8 l ID no 1108 27B 3 00 Date 05 2014 1 5 Helpline Support amp Service Our Helpline can provide you with fast targeted assistance if you have any technical queries relating to project planning or commissioning of the drive controller The Helpline is available Monday to Friday trom 8 a m to 5 p m CET and can be accessed by telephone e mail or over the Internet Phone 49 6441 966 180 E mail helpline lIt i com Internet http drives lt i com Support amp Service
62. ordingly requires two process data channels The following table shows an example of the process data area from the drive to the master The subindices in list 916 are assigned the desired parameter numbers for the purpose Signal table 915 PZD Parameter EPT oN Data type Subindex area number value range 0 1 968 Status word U16 0 655 35 COM_DP_Statuswort 1 2 1271 Actual speed COM_DP_ActSpeed 116 32768 32767 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 Table 7 6 Assignment of the slave master process data channels The following parameters must then be set for speed control mode L CON_CtgCon 300 SCON 2 Parameter list gt control This parameter is used to change operation mode The setting SCON Speed Control Mode means that the drive is in soeed control mode 1 CON REF Mode 301 RFG O Parameter list gt Motion Profile gt Basic settings This parameter determines the mode of reference input The position reference value can be preset directly or via a ramp generator The setting RFG Ramp Function Generator means that the speed reference value Is preset via a ramp generator ServoOne User Manual PROFIBUS PROFINET 57 Examples of commissioning with manufacturer specific telegrams Examples of commissioning with manufacturer specific telegrams l T D ID no 1108 27B 3 00 Date 05 2014 2 MPRO_CTRL_SEL 159 PROFIBUS 7 Parameter list gt Motion Profile
63. orque controlled motor P0351 Reeg CON SCALG Thy P 1276 27 COM DP APust COM_DP_ActSpeeds Figure 5 5 Position control loop Parameter name Meaning Parameter name Meaning P 0167 MPRO_REF_OVR Velocity override P 0320 CON_SCON_Kp PI speed controller gain P 0321 CON_SCON_Tn Pl speed controller integral action time P 0325 CON_SCONFilterFreq Limit frequencies for torque reference value filter P 0326 CON_SCONFilterAssi Torque reference value filter parameter P 0327 CON_SCONFilterPara Torque reference value filter parameter P 0328 CON_SCON_Smax Speed limitation P 0330 CON_SCON_TMaxNeg Negative torque limit reference variable nominal torque P 0331 CON_SCON_TMaxPos Positive torque limit reference variable nominal torque P 0332 CON_SCON_TMaxScale Torque scaling factor P 0333 CON_SCON_SMaxNeg Negative speed limitation reference value motor nominal speed P 0334 CON_SCON_SMaxPos Positive speed limitation reference value motor nominal speed P 0339 CON_SCON_Tmax Torque limitation reference value nominal torque P 0351 CON_SCALC_TF Actual speed filter time constant P 0360 CON PCON Kp P position controller gain P 0372 CONRIPAS EEN Speed pre control filter time constant P 0374 CON_IP_EpsDly Position reference delay P 0375 CON_IP_SFFScale Speed pre control scaling P 0376 CON IP T
64. peration modes Operation mode Speed control Operation mode Positioning control 0 Velocity error out of tolerance band Positioning tracking error out of tolerance band 1 Velocity error within tolerance band Positioning error within tolerance band Bit 7 0 No warning 1 Warning issued Bit 6 0 Switch on not prevented 1 Switch on prevented Bit 5 0 Quick stop activated 1 Quick stop deactivated Bit 4 0 Spin out of true activated 1 Spin out of true deactivated Bit 3 0 No error 1 Error reported Bit 2 0 Control disabled 1 Control active in operation drive following reference values Bit 1 0 Power stage inactive not ready 1 Power stage active ready Bit 0 0 Not ready for start 1 Ready for start Table 5 9 Drive status word ServoOne User Manual PROFIBUS PROFINET 41 Protidrive operation modes d T L H ID no 1108 27B 3 00 Date 05 2014 Meaning 0 1 Profile generator status 0 Stop 1 Acceleration 2 Positioning with sel velocity 3 Deceleration 2 Torque limitation with positive direction of travel 3 Torque limitation with negative direction of travel 4 ISDOO 5 ISDO1 6 ISDO2 7 ISDO3 8 Reserved 9 Reserved 10 Reserved 11 Reserved 12 15 Slave Sign of Life SOL Table 5 10 Drive status word 2 NOTE For more information refer to chapter 6 Homing ServoOne User
65. rOUD 56 ServoOne User Manual PROFIBUS PROFINET 63 d T D l ID no 1108 27B 3 00 Date 05 2014 F Factor group parameters esse eee ereer renee 54 pel Ste OU O ER PERDAS eee O SERRA eat E ere eee eye 55 Bert A E EAE E E E E A E A A E E E E E E 30 SEI eT eier aere EE 7 G ES H 7 Ee a A E E RO E AASE 61 E EE 12 15 Ee ET la H Helpline Support amp S EE 8 a SA T 49 Homing acceler o EE 49 AONO at Nee 49 FONIO T G 49 PHOT TO ise T lh aise reese ED RR DDR ec ne ae 3 HEV PTE tee 18 21 Ie TO Md sacseccecceneeacinavenesacenp 20 REENEN A4 merna e ONO E 56 Jategeie O TOM GE 7 ServoOne User Manual PROFIBUS PROFINET 64 J eebe 38 Jog mode COMTONMING LO eee EEN 38 Jog mode manufacturer specific eee 38 Jog mode reference parameters reter 39 L BEE MECA asno og SE suena sepcaneneetyasonts 14 Eege 11 15 EE SAI CGM EEE E EAA EE 51 M Mappable parameters eee eee enterra 58 Master CONTO MORO ME 40 PANGS OR EE 14 leede Ee 7 BEEEUEIE deeg 24 N IG PANN E 30 Normal operation Let 25 VIES aed E 30 Number of VS RD NR RD PDD RR CR 30 O Operating eree 11 15 Operational Ee Tee 12 15 KEEN 35 P ESCHER RD RD RD EE OU e ermen 29 SITE Oh 23 Parameter descriphON soccessedenicnsosesauscececbeaucnassddetunantasdesmeneds EAE A EE ESERSE 24 Parameter Identifier PRE tee ege eet EAEAN EE RAE iA EREE ANS 23 SEI 30 Parameter process data Objects vcs ekedesciefe stenge Eege Ae eheEd ee 17 19 FA EE 30 P
66. rd l T S l ID no 1108 27B 3 00 Date 05 2014 Commissioning 21 2 Pin assignment of the D Sub socket PROFIBUS is connected via a nine pin sub D plug connector The pin assignment Is shown in the diagram below and described in the following table RxD TxD P DGND 1 2 3 4 5 X14 6 7 8 9 VP RxD 5 Volt TxD N Figure 2 1 Pin assignment of D SUB connector Pin RS 485 Signal Description 1 SHIELD Earthed shield 2 RP Reserved for power supply via bus 3 B B red RxD TxD P Send and receive data 4 CNTR P Control signal for repeater Jee jae eee 6 VP Power supply for terminating resistor 7 RP Reserved for power supply via bus 8 AIA RxD TxD N Send and receive data green 9 CNTR N Control signal for repeater Table 2 2 Description of pin assignment The pin assignments highlighted in table 2 2 are necessary from the user s viewpoint The control signals used for the repeaters are optional and the power supply for the terminating resistors is provided by the device ServoOne User Manual PROFIBUS PROFINET 9 Commissioning d T 8 ID no 1108 27B 3 00 Date 05 2014 21 3 Specification of the PROFIBUS cable For the wiring LTi DRIVES recommends using the following hardware PROFIBUS D Sub bus termination plug Siemens order number 6XV1 830 0EH10 Siemens article description PB FC RS485 PLUG 180 AXIAL CABLE OUTLET Table 2 3 Recommended PRO
67. rom interpolating mode IP to profile generating mode 6 2 Homing velocity The homing velocity is specified by parameter 2262 MPRO 402 HomingSpeeds in the parameter editor Parameter list gt Motion Profile gt Homing The user can specify two different homing velocities 1 SpeedSwitch Velocity when moving to the limit switch 2 SpeedZero Velocity when moving to the zero point 6 3 Homing acceleration Homing acceleration is set via parameter 2263 MPRO_402_Homing Acc in the parameter editor Parameter list gt Motion Profile gt Homing l T S l ID no 1108 27B 3 00 Date 05 2014 Homing 6 4 Zero point offset Absolute encoders e g SSl Multiturn encoders are a special feature in homing because they establish the absolute position reference directly Homing with these encoders therefore requires no movement and under certain conditions no current to the drive Furthermore the zero point must be balanced Type 5 is particularly suitable for this A zero point offset can be set via parameter 525 ENC HomingOff Parameter list gt Motion Profile gt Homing 6 5 Homing method The reference cam signal can be optionally linked to one of the digital inputs Inputs ISDOO to ISDO6 are available In homing to a limit switch the digital input must be selected with the available selection parameter LCW 5 for a positive or LCCW 6 negative limit switch In homing to a cam the selection parameter HOMSW 10 must be chose
68. rors triggered with error reaction sieesiieesrirresrrrreerin 26 A ADOR e 17 Acceleration Toachor eesseesrnseerrrererrrirerrrrrerrrirearrutesrrttrsnrrtesaritennrutesrrreeenrrerns 56 PCG e en E AONDE ERR RREO UNR PO 56 EE SS Laes DEE E A EE 21 Address EE NS Neer toca cece RA RO IR RR OD 11 APD el 61 AV o 6 1 6 Le Fe o eee eee E ee ee eee eee ee 39 A eT 30 AKE NNO EE 30 B Base Mode Parameter Access data format 29 BUS terminating TOSISTOr EE 10 BOS UCM OM ears ste ecco eee tetas eet tone ae oes E RR 10 C E DIC en E EEE ETEA EA NEA E AENT 9 cla Eeer EE 17 Seil Ei e A RN RR 11 T E l ID no 1108 27B 3 00 Date 05 2014 COMMISSIONING serae krei EAEE EEE EREE SA EERENS 8 9 53 COMIC SION e eU e ETN AER 17 ein el gel Reie 12 CIO ONS RR RR RR PDR RREO DINA RD O OR 9 13 Connections and user COT OS E 9 Mo jp go cio Bajo aqi E 54 Go pio Nes tS EIS AND ND RE RR RR ER RE 36 44 45 Conversion of reference and actual Values 54 CNS Gaara A UR E 17 Cydic data transter DRV beet 17 D Data CA ANOS ras N E E T NEE E A AT T 12 DEIC Eiai deai sen ee 29 R 2 Relec Re deel e ao RR RDNS RR 9 DOUBTS word TO d aspas sq USED 28 DEN read CCST eesse re aaa recente EEEE R ndonanis 28 ASC eeh gel NOMINO EE 49 Drive state nel 37 Big isso e WEE 41 E Or DUNDE aae E A EE E 31 Example Ol e ale TE 53 S E E RR A tahoe ts AEE TEASEE E 32 Examples Tor COMMISSIONING DR RR o 53 Examples for setting the user factor Q
69. sed to set the position reference input mode The position reference value can be preset directly or via a ramp generator The setting RFG Ramp Function Generator means that the position reference value is preset via a ramp generator 3 MPRO CTRL SEL 159 PROFIBUS 7 Basic settings This parameter is used to set the control location In this instance the control location is selected as PROFIBUS Parameter list gt Motion Profile Parameter List gt Motion Profile ServoOne User Manual PROFIBUS PROFINET 54 4 MPRO REF SEL 165 PROFI 9 Parameter list gt Motion Profile gt Basic settings This parameter is used to configure the reference selector In this instance the reference values are taken from PROFIBUS Once these settings have been made communication can be established between the master and drive 7 2 Controlled homing The touchprobe function enables controlled homing of an axis In this variant the drive remains in interpolating mode The touchprobe function is used to record the position of the reference pulse For more information on the touchprobe function refer to the Device Help in the Touchprobe chapter 7 3 Conversion of reference and actual values via the factor group parameters Conversion of reference values and actual values via the factor group parameters In positioning applications the input of reference values and the return of actual values is usually performed in application specific user units
70. sistent overall length PKW channel 18 words input output data consistent overall length PZD channel 0x173 22 words input output data consistent overall length PZD channel Table 3 5 Listing of identifiers NIL i ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET 21 Cyclic data transfer Cyclic data transfer d T L l ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET PROFIBUS Referred to PPO ES PROFINET PROFINET oar identifier Evaluation by special identifier format figure 3 6 Table AK type module ID IRT module ID ID Hex Slave Master DC 0xD9 0x75 0x175 26 words input output data consistent overall length PZD channel OxD9 OxF3 OxC0 0x76 0x176 4 words input output data consistent overall length PKW channel 0xD9 26 words input output data consistent overall length PZD channel 0xD9 OxF3 OxC0 0x78 0x178 4 words input output data consistent overall length PKW channel OxDD 32 words input output data consistent overall length PZD channel OxDD DC OxDD 0x77 0x177 32 words input output data consistent overall length PZD channel OxDD Table 3 5 Listing of identifiers 22 31 3 Parameter channel PKW Some PPOs offer an additional cyclic parameter channel This channel allows drive parameters to be read and written 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte PKE 1 word IND 1 word PKW1 1 word PKW2 1 word
71. sponse identifier 7 the error number sent to the drive from the master is shown in the range PKW1 to PKW2 The following table explains these error numbers Error Statement 0 Impermissible PNU 1 Parameter cannot be changed 2 Lower or upper parameter value limit transgressed 3 Defective sub index 4 Not an array 5 Incorrect data type IE Request cannot be executed because of the operating status 18 Other error Table 3 9 Response identifier AK Slave gt Master Request identifier 4 can additionally be used to read a parameter description The parameter description contains relevant information on the parameter concerned The following table shows the subindices that can be used to access the individual parameter structure elements The subindex Is preset only by byte 3 ServoOne User Manual PROFIBUS PROFINET 23 Cyclic data transfer d T L l ID no 1108 27B 3 00 Date 05 2014 Sub index Meaning Data may ey 1 Identifier ID V2 2 Number of field elements or string length Unsigned 16 3 Standardisation factor Floating point 4 Variable attributes Octet string 2 5 Reserved Octet string 4 6 Name only the first four bytes are sent Visible string 16 7 Lower limit value Octet string 4 8 Upper limit value Octet string 4 9 Reserved Octet string 2 10 ID extension Extension V2 11 PZD reference parameter Unsigned 16 2 PZD standardisation V2 Table 3 10 Parameter
72. st gt Fieldbus gt PROFIBUS DP Signal table 915 COM_DP_PZDSelectionWrite contains all signals that can be sent by the control master to the drive Signal table 916 COM_DP_PZDSelectionRead contains all signals that can be sent by the drive to the control master The following table shows an example configuration of the process data area from the master to the drive The subindices in list 915 are assigned the stated parameter numbers for the purpose j T IS l ID no 1108 27B 3 00 Date 05 2014 Signal table PZD Parameter Data type Parameter name value range 915 area number Subindex 0 1 967 Control word COM_DP_Controlword U16 0 65535 1 2 1275 Target position COM_DP_TargetPos ER S 2147483648 2 3 1275 Target position COM_DP_TargetPos 2147483647 Control word 2 pe COM_DP_Controlword2 GE Positioning velocity x i KS COM_DP_PosVelocity 132 GEN E 2147483648 ositioning velocity 2147483647 ee COM_DP_PosVelocity 6 7 1278 Acceleration COM_DP_Acc U16 0 65535 7 8 1279 Braking deceleration COM_DP_Dec U16 0 65535 8 9 0 9 10 0 Table 7 1 Example of assignment of the master slave process data channel Each subindex represents a 16 bit process data channel For this reason the target position transferred as Int32 for example is mapped to subindices 1 and 2 in order to transfer a real 32 bits The parameters available for selection and their data types are
73. t gives the slave the information about the request it is to execute After this the slave acknowledges with a response telegram 2 which initially contains no response data ServoOne User Manual PROFIBUS PROFINET Die Acyclic data transter d T L ID no 1108 27B 3 00 Date 05 2014 This is simply an acknowledgement of the request and contains only the mirrored DPV1 header of the request telegram In the event of an error a negative response is sent To then read the data from the slave the master must present a read request 3 If the response 4 to this is positive the user data can be used by the master In the event of an error a negative response is sent The DPV1 read request diagram shows the telegram sequence for read access This shows the slave sending a negative read response to the first read request This negative read response means that the required data cannot yet be provided Not until the following cycle has the slave executed the request to the extent that it can send a positive read response with the requested data Master DPV1 Parameter Request Write req DB47 with data parameter request Write res without data Read req DB47 without data Parameter Processing Read r es without data Read req DB47 without data Read res with data parameter response Figure 4 1 DPV1 read request This transfer format is Big Endian Motorola the highest byte is transmitted
74. the relevant literature We assume that your drive has already been commissioned if not please first refer to the user manual _ 1 General introduction 1 This manual relates to the ServoOne and ServoOne junior positioning drive systems referred to below in the abbreviated forms SO and GOUT 2 Commissioning 3 Cyclic data transfer 4 Acyclic data transfer 5 Operation modes 5 6 Homing 6 7 Examples of commissioning T 8 PROFIBUS PROFINET parameters 8 Appendix Glossary Index e LI ID no 1108 27B 3 00 Date 05 2014 ServoOne User Manual PROFIBUS PROFINET l T C ID no 1108 27B 3 00 Date 05 2014 Pictograms Attention Misoperation may result in damage to the drive or malfunctions Danger from rotating parts Drive may start up automatically ServoOne User Manual PROFIBUS PROFINET Table of contents COM EEN 7 1 1 Measures for your Safety 7 te re e ren e EE 7 UE Me EE 7 L Further Genesis AAA EE 7 1 5 Helpline Support amp ServiGa 8 A el ONN e a E si shad anne REE E EERE 9 2 e E 9 2 11 Connections and user CONTIONS 0 siic sesasdecdsteaciecseevardnaransdesasseceveecediness 9 21 2 Pin assignment of the D Sub socket eeeeeeeeeeeeeesrsrsesesrsrsressssssn 9 E Specification of the PROFIBUS Cable 10 2 1 4 STT eT 10 SL W ll Oe elen WEE 11 2 1 6 PROFIBUS Option cala Re Ee EC 11 2 1 7 GD Tle PROFIBUS RD DER a EEEN O 12 De Le ET E A E E E dd Un 13 2
75. ual position 2 TARPOS_A Reference target position 2 VELOCITY_A Reference velocity 2 E_DIGITAL Input 1 A_DIGITAL Output 1 Table 3 1 Abbreviations Standard telegram 1 is a defined telegram type for speed control It consists of two input words and two output words as shown in the following table PZD number 1 2 Reference values STW1 NSOLL_A Actual values ZSW1 NIST_A Standard telegram 7 is a defined telegram type for driving set selection There are a total of 16 driving sets available for selection in the drive This telegram type consists of two input words and two output words as shown in the following table PZD number 1 2 Reference values STW1 SATZANW Actual values ZSW1 AKTSATZ ServoOne User Manual PROFIBUS PROFINET I Cyclic data transfer d T L ID no 1108 27B 3 00 Date 05 2014 Standard telegram 8 is a defined telegram type for positioning with the option to preset a positioning velocity It consists of five input words and five output words as shown in the following table PZD number Reference values XSOLL_A STW2 NSOLL_A Actual values XIST A ZSW2 NIST_A Standard telegram 9 is a defined telegram type for positioning It consists of six input words and five output words as shown in the following table PZD number 1 2 3 4 5 6 Reference values STW1 TARPOS_A STW2 VELOCITY_A PZD number 1 2 3 4 5 ZSW1 XIST_A ZSW2 NIST_A Table 3 2 Standard te
76. us value are equal the error counter parameter 1296 COM PN Sign of life err cnt is decremented by the value 1 The error counter cannot fall below O If the error counter parameter 1296 COM PN Sign of life err cnt is greater than or equal to 10 parameter 925 COM PN Sign of life limit the error message 32 03 Profinet IRT Sign of Life error is triggered and bit 4 in parameter 953 COM DP Warning is set If cyclic transfer is interrupted and then re established the error counter parameter 1296 COM PN Sign of life err cnt is cleared and the warning bit 4 in parameter 953 COM DP Warning is reset j T E l ID no 1108 27B 3 00 Date 05 2014 Cyclic data transfer Normal operation Sign of Life DP Controword COM DP Statusword 3 A L C E 15000 Q Figure 3 2 COM DP Controlword COM DP Statusword COM PN Sign of life em cnt Normal operation Sign of Life ServoOne User Manual PROFIBUS PROFINET co Co qm K IU3 An ayy jo UBS Nd WOD ty om DI 25 Cyclic data transfer l T o l ID no 1108 27B 3 00 Date 05 2014 3 Sign of Life errors triggered g S COM DP Controkeord 2 COM DP Statusword La D 0 01 0 02 0 03 0 04 Time ls COM_DP_Controlword2 COM DP Statusword COM PN Sign of life em og Figure 3 3 3 Sign of Life errors triggered The value of the master is not increased in three cycles The error counter is increased by the value 10 in each of th
77. vely Axis No gt O single axis No of Parameters Number of parameters processed in a request ServoOne User Manual PROFIBUS PROFINET 30 Attribute Describes the individual access to a parameter structure For example whether access to the actual numerical value or to the parameter description text is desired Further information can be found in the User data table Number of Elements When accessing an array or a string this area contains the field size or string length as appropriate Parameter Number Contains the parameter number PNU Subindex Addresses the first array element of a parameter or the beginning of a character string This also allows addressing of description texts and text arrays Format Specifies the relevant parameter and ensures unique assignment of the parameter value in the telegram Number of values Number of following values Values Parameter values Field name Data type Value Meaning Comments Field name Data type Value Meaning Comments Request refe Unsig 0x00 Reserved rence ned8 0x01 0xFF Request ID Unsig 0x00 Reserved ned8 0x01 Request parameter 0x02 Change Parameter 0x03 0x03F Reserved 0x40 0x7F Manufacturer specific 0x80 0xFF Reserved Response ID Unsig 0x00 Reserved ned8 0x01 Request parameter 0x02 Change Parameter 0x03 0x3F Reserved 0x40 0x7F Manufacturer specific 0x80 Reserved 0x81 Request parameter 0x82 Ch

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