Home

ServoOne User Manual SERCOS III

1. Tabelle 10 2 List of supported SERCOS parameters Description CP2 CP4 P 0 0329 Motor torque scaling of limits P 0 0330 Motor torque scaling of negative limit P 0 0331 Motor torque scaling of positive limit P 0 0332 Motor torque scaling online factor P 0 0333 Motor speed scaling of negative limit P 0 0334 Motor speed scaling of positive limit P 0 0335 Direction lock for speed reference value P 0 0336 Adaptation of speed control gain zero speed X Xx P 0 0337 Motor speed scaling P 0 0340 Magnetization current r m s A P 0 0341 Speed where field weakening starts forces 1 n character P 0 0342 Speed values for mag current scaling P 0 0343 Mag current scaling vs speed P 0 0344 Voltage control filter time constant ms P 0 0345 Voltage control gain A V P 0 0346 Voltage control integration time constant ms P 0 0347 Voltage control reference scaling of max voltage P 0 0348 Slip control gain for field weakening P 0 0349 Comutation offset of resp encoder deg P 0 0350 Selection of speed calculation method P 0 0351 Actual speed calculation filter time ms P 0 0352 Observer parameter meaning depends on CON_SCALC P 0 0353 Observer design parameters ms P 0 0354 Observer design assistant P 0 0360 Position control gain 1 min P 0 0370 Interpolation type control word P 0 0371 Speed reference filter time for speed control mode ms P 0 0372 Speed feedforward filter time for position control ms P 0 0374 P
2. 6 5 2 Scaling of velocity data Click on the Velocity unit button see figure 6 6 to access the velocity data scaling In the first velocity unit scaling window you must first select the scaling method and the data reference see figure 6 7 That is to say you must specify whether the application relates to a linear or rotary axis and whether the velocity data refers to the motor axis or directly to the load Click on the Next button to move on to the next window Here the scaling of the velocity data is specified User Manual SERCOS lll ServoOne 34 Normalization assistant Sercos velocity unit 2 rotational E Velocity unit 2 J SERCOS interface Velocity data scaling 2 Preferred scaling Parameter scaling LSB weighting x E x Figure 6 9 Scaling of velocity data Choose Preferential scaling to set the scaling to that defined by SERCOS and described in section 6 Choose Parameter scaling to set a custom scaling of the velocity data The scaling shown in figure 6 would mean for example that the velocity data of is transferred with a resolution of 0 0001 rpm 6 5 3 Scaling of torque data Click on the Torque power unit button see figure 6 6 to access the torque and power data scaling In the first torque unit scaling window you must first select the scaling method and the data reference see figure 6 7 That is to say you must specify whether the application relates to a li
3. P PIO GIN PO A E R A EE EAE 27 Pin assignment of the RJ 45 socket ooooooccccnncccnocccnnnnnonoconennncnnnnnnnnnnnons 29 power stage enable ooocccccnccoconcccconcnonoconnnnnnnnoconnnnnnnnnoronennncnnnnnnnnnnnnns 33 Preferential weighting of force data ooooccccnncccocccccnnncnoocenennnconononnnnncons Zi Preferential weighting of rotary position data cccccccnoocccncnnncconcnnnnnncoos 30 R Read the Operation Manual first ooooocnccccccccoccncnnnccnnoconnnnnnnnononnnnninoss 7 so E EE A EE S E E E TEE 19 Reference cam limit SWItCH cccccecceccecceccccceceecceceessucceceeceteeeeuteees 39 Reference distance Zone dis da 39 Reference distance offset 1 2 ooooccccccocconcccnoncnonocnnnnnononorenennncnnononnnnncnns 39 S SS 7 E O eea A 7 Sealing and weighting sessen econ al Scala ol acceleration data epocas 37 Scaling OT POSON Oatesin E EE EAER EENES 39 SANG OF trge da aese ste Ai 36 Sang or velodty dala seeren E Ea TEREE aE 36 Scaling parameter for position welghtINQ cccccccccconncncnnncnnono 29 30 27 Scaling using the scaling wizard ooocccccnncccoccnnnnncononcnnnnnncnonononnnnnnnonon 55 SERCOS II TU Vee SN UN Shes 38 cee train reir ae SERCOS Miele SUECO enero Nene ane eee ene oe ern 29 SERCOS Ilstandard Parametels castros 39 Standard parameters for error dIagNosIS ooocccccnnccccoconnnnncnnnonnnnnnnononos 53 T legra STATUS errre een eect fee Er aAA ARS EEE EAEE 34 V User Ma
4. 7 1 2 Setting of SERCOS encoders 1 2 The ServoOne features a maximum of 3 independent encoder interfaces These encoder interfaces are assigned to the logical SERCOS position encoder interfaces 1 and 2 via pa rameters P 0 0530 Selection of SERCOS encoder 1 and P 0 0531 Selection of SERCOS encoder 2 Homing is executed to the position encoder determined by the active opera tion mode see also section 4 2 LT LUST 7 1 3 Homing velocity The homing velocity is preset via S 0 0041 Find reference cam and P 0 3031 Find zero point The unit and the number of decimal places correspond to the velocity weighting in S 0 0044 7 1 4 Homing acceleration The homing acceleration is preset via S 0 0042 The unit and the number of decimal places correspond to the acceleration weighting in S 0 0160 7 1 5 Homing method The homing method is selected via P 0 2261 The various methods are detailed in the ServoOne Application Manual SERCOS profile parameter S 0 0147 defining the homing method is not yet currently supported 7 1 6 Reference distance 1 2 The reference distance 1 2 S O 0052 S 0 0054 describes the distance between the machine zero point and the reference point referred to the motor measurement system After homing the actual position is calculated from the reference distance and the refer ence distance offset The weighting is preset according to S 0 0076 The two param eters relate to SERCOS encoders 1 and 2 res
5. Error messages and diagnosis 9 Bibliography 10 Appendix Glossary p User Manual SERCOS lll ServoOne IET Pictograms To provide clear guidance this Operation Manual uses pictograms Their meanings are set out in the following table The pictograms always have the same meanings even where they are placed without text such as next to a connection diagram ATTENTION Misoperation may result in damage to the drive or malfunctions DANGER FROM ROTATING PARTS Drive may start up automatically User Manual SERCOS lll ServoOne Table of contents 1 1 1 1 2 1 3 1 4 1 5 Zi 2a 2d 2 4 Za 3 1 3 2 See 4 1 4 2 4 3 LUST Oe nn 7 Measures for your SOTO tY oococccncccocccnccnonononnnononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnninnnnnns 7 Read the Operation Manual firStl ooococcccncccccccccoconinocononnnnnnnnnononononnnnnnnnnnnnnnnnnos 7 Introduction to the SERCOS lll interface occcccccicnnnnoooonononnnnnnnnnonononcnnnonanannnnnnnoos 7 Key features c ccneveeiseincivescsersevseiuadaususneusnanvietiacecasaseneagvendaiedsaaaneeatenanatanntacatandaseannds 8 A ONE erosen N E a EE EE SEAS E SENA E 9 Assembly and COnnection sicrosieetensctorscsciventidmsadensbdeosivenondes ven 11 imstalaton and ras 11 Pin assignmentof the RJ 45 SOCKET ninas 11 Meanings OLEDE ata ii id 12 Indication of operating states on 7 segment display ccccccccccncncnnnnnnnnnnnn
6. LT DRIVES ServoOne User Manual SERCOS III lil SERCOS interface LT E u pan User Manual SERCOS lll ServoOne ID no 1108 26B 0 00 Date 10 2009 We reserve the right to make technical changes User Manual SERCOS lll ServoOne We reserve the right to make technical changes 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 you as a project engineer commissioning engineer or pro grammer of drive and automation solutions on the SERCOS III field bus It is assumed that you are already familiar with this field bus on the basis of appropriate training and reading of the relevant literature We assume your drive is already in opera tion If it is not you should put It into operation as described in the ServoOne Operation Manual This manual applies to the ServoOne position controller system with the SERCOS Ill op tion board In the following we merely refer to it by the abbreviation SO LT LUST Data transfer 6 Scaling and weighting 7 Functionality
7. Time unit When rotary preferential weighting is selected the weighting as per the following table applies Weighting method Unit from S 0 Weighting fac en expo Preferential n from S 0 0076 0076 tor S 0 0161 nent S 0 0162 weighting 0 001 rad s42 Table 6 14 Preferential weighting of rotary position data Weighting method 0 No weighting 1 Translatory weighting Rotary weighting 0 Preferential weighting 1 Parameter weighting Distance unit 0 rad for rotary weighting Metres for translatory weighting 1 Reserved for rotary weighting Inches for translatory weighting 0 Seconds 1 Reserved Data source 0 On the motor shaft 1 On the load side Reserved Table 6 15 Bit fields in the acceleration data weighting method parameter S 0 0160 Accelaration data scaling type IDN00160 6 4 Weighting of torque and force data IDN 00160 bit 0 2 The torque force weighting is defined by the parameters listed in the following table All Rotational torque force data of the drive e g setpoint actual and limit values are subject to the IDN 00160 bit 6 preset weighting Load or motor Load or motor Load or motor IDN Description S 0 0086 Weighting method for torque force data IDN 00160 Preferred Parameter Preferred Parameter S 0 0093 Weighting factor for torque force data bit 3 scaling scaling scaling scaling ae S 0 0094 Weight
8. Displays the current topology of the slave The register is updated with each bus cycle The individual bits have the following meanings Description Reserved not displayed 1 0 Current topology e 00 Loop back port 1 and forward to port 2 e 01 Loop back port 2 and forward to port 1 e 10 Forward port 1 port 2 and port 2 port 1 real time mode e 11 Forward port 1 port 2 and port 2 port 1 non real time mode Tabelle 8 11 Communication status register LT LUST 3 3 Internal error list A complete list of all possible error messages in the drive can be found in the ServoOne user manual The occurrence of a manufacturer specific error causes bit number 15 in state class 1 to be set see section 5 2 4 provided the error cannot be assigned to a different bit of state class 1 In addition the corresponding error text is entered in parameter S 0 0095 The param eter can be read via the service channel or using the DriveMANAGER 5 User Manual SERCOS Ill ServoOne 47 LUST LTi User Manual SERCOS lll ServoOne 48 9 Bibliography Being revised E o u 3 LI User Manual SERCOS III ServoOne 455 LUST LTi User Manual SERCOS lll ServoOne ow 1 O A D De N q IX 5 OSSd ry IDN Description Unit Write prot
9. Effective current A CP2 CP4 mae S 0 0392 Velocity feedback filter Us S 0 0277 Position feedback 1 type CP3 CP4 S 0 0393 A CP3 CPA S 0 0278 Maximum travel range CP2 CP4 5 0 0400 mentar CP2 CPA S 0 0282 Positioning command value Pos S 0 0401 E CP2 CP4 S 0 0292 List of supported operation modes CP2 CP4 5 0 0402 Probe d ciiu CP2 CP4 a e gain ie S 0 0403 Position feedback value status CP2 CP4 S 0 0310 Overload warning CP2 CP4 5 0 0405 Broad anacle S 0 0311 Amplifier overtemperature warning CP2 CP4 5 0 0406 E S 0 0312 Motor overtemperature warning CP2 CP4 S 0 0407 Homing enable da ad AS S 0 0408 Reference marker pulse registered CP2 CP4 S 0 0329 Bit number allocation word for signal control Ed MOB PO Nai Sines word S 0 0410 Probe 1 negative latched CP2 CP4 S 0 0330 Status n_feedback n cmd CP2 CP4 S 0 0411 Probe 2 positive latched CP2 CP4 S 0 0331 Status n_feedback 0 CP2 CP4 S 0 0412 Probe 2 negative latched CP2 CP4 S 0 0332 Status n_feedback lt nx CP2 CP4 S 0 0417 Positioning velocity threshold in modulo Speed S 0 0333 Status T gt Tx CP2 CP4 mes 5 0 0334 Status T gt TLim CP2 CPA S 0 0418 Target position window in modulo mode Pos 5 0 0335 Ste oad See CP2 CPA S 0 0419 Positioning acknowledgement Pos CP2 CP4 5 0 0336 Situs in postion CP2 CPA S 0 0430 Active target position Pos CP2 CP4 5 0 0341 E CP2 CPA S 0 0447 Set absolute position procedure command 5 0 0346 er anny ee S 0 0448 Set absolute position contr
10. S 0 0409 MEASURED VALUE 1 POSITIVE RECORDED With this parameter the Measured value 1 positive recorded is assigned an IDN As a result Measured value 1 recorded positive can be assigned to a real time status bit S 0 0305 In the operation datum only bit O is defined Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 1 enable signal S 0 0405 is set to 1 and the positive edge of touchprobe 1 S 0 0401 is signalled At the same time the drive stores the actual position value to measured value 1 positively S 0 0130 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 1 enable is set to 0 For more informa tion see S 0 0179 S 0 0410 MEASURED VALUE 1 NEGATIVE RECORDED With this parameter the Measured value 1 negative recorded is assigned an IDN As aresult Measured value 1 recorded negative can be assigned to a real time status bit S 0 0305 Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 Is active the touchprobe 1 enable signal S 0 0405 is set to 1 and the negative edge of touchprobe 1 S 0 0401 is signalled At the same time the drive stores the actual position value to measured value 1 negatively S 0 0131 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchp
11. The command is cleared by the control system if no further 8 INU OAC NE OR measurements are required 0 Touchprobe function is activated by command S 0 MEASURED VALUE STATUS 0170 0 0 Touchprobe cycle 1 l l 1 Automatic activation of the touchprobe function on If the drive stores one or more measured values while the touchprobe cycle phase change from CP3 to CP4 not supported command S 0 0170 is active it simultaneously also sets the associated bit in the measured value status If the Touchprobe 1 enable S 0 0405 is 7 Reserved cleared by the control system the drive clears bits O and 1 in the measured 6 Touchprobe mode 1 value status O Single measurement If the Touchprobe 2 enable S 0 0406 is cleared by the control system 1 Continuous measurement the drive clears bits 2 and 3 in the measured value status The drive clears all S 0 0169 5 Touchprobe mode 2 bits in the measured value status when the touchprobe cycle command S 0 ee 0170 is cleared by the control system O Single measurement S 0 0179 1 Continuous measurement Structure of measured value status 4 Reserved Bit 0 Measured value 1 recorded positive S 0 0409 O Not recorded 1 Recorded 3 Touchprobe 2 negative edge Bit 1 Measured value 1 recorded positive S 0 0409 O Not recorded 1 0 Negative edge not active Recorded 1 Negative edge active Bit 2 Measured value 2 recorded positive S 0 0409 O Not recorded 1 2 Touchprobe 2 negative edge Recorded
12. User Manual SERCOS Ill ServoOne 5 E ul m 6 5 7 7 1 72 8 8 1 8 2 8 3 LT Scaling Using the scaling Wizard sencilla 35 e51 Scaling OF DOS MOM dIa earna aaa Eea o di 35 652 Scaling OF VEO CA Y AA stan ii 36 6 5 3 Scaling OF TOQUE erratas O ii 36 654 Scaling OF Accelerator i 37 OS EEE E E EN EE 39 E A AQ ne 39 7 1 1 Drive controlled homing command ccoccccncnnnnccnnnnnnnnnnnnnnnnnnnocnnnnnnnnnnninonons 39 7A Setting f SERCOS encoders 17 Lia iii aie 39 Llo HOMINIS aa AE E E 39 PNA Homing acceleration ossis A EAr E 39 A O a AE E R 39 FAS Referencedistance 1 2 ies 39 7 1 7 Reference distance offset 1 2 acia 39 71 8 Reference camy Ia ii 39 7 1 9 Function selector digital inputs and Outputs oocccccnccnnnncccnnoncccnnnnnnnonnninonons 40 ToucAprobe TACO sra lirica eiii 40 Error messages and dIaQgNoSIS oooocccccccoconcnccnconencnnconnnccononoss 45 Standard parameters for error diagnosis ocoocooocncncncocoonnnnonononononnnnononononononnnnnnanono 45 8 1 1 Error messages in state class 1 C1D ooononncicncncononccccnononocnnnnnnnnnncnnnnnnoncnnnns A5 8 1 2 Warning messages in state class 2 C2D ooncccccccccnccccconooocnnnnnnnnononcnnnnonononos A5 38 13 Interface DANOS caainica icini oasis 46 8 1 4 Telegram failure and error COUNT T ooocccccnncccnnnnnnononnnnnnonononononnononononononnnnnnnns 46 Diagnosis using the internal OSCINllOSCOPE cccoooccoconococnnocncononcnnnnonononononnnn
13. following diagram shows the various velocity weighting options Translational Load Motor Load Motor Velocity data weighting method S 0 0044 S 0 0044 bit 0 2 S 0 0044 bit 6 S 0 0044 Preferred Parameter Preferred bit 3 weighting weighting weighting S 0 0044 ain z D come LSB LSB LSB LSB 10 6 Variable 10 jjo m min min 1 s 1 S 0 0045 S 0 0046 Figure 6 2 Diagram of velocity weighting methods LUST LT Load Motor Parameter weighting LSB Variable S 0 0045 S 0 0046 6 2 3 Speed polarity In parameter S 0 0043 the polarities preceding signs of the specified velocity data can be inverted according to the application The polarities are not inverted within a control led system but outside of it at the input and output A positive velocity setpoint differ ence with non inverted polarity means the direction of rotation is clockwise looking at the motor shaft Bit O Velocity setpoint Not inverted Inverted Bit 1 Additive velocity setpoint Not inverted Inverted Bit 2 Actual velocity 1 Not inverted Inverted Actual velocity 2 Not inverted 0 1 0 1 0 1 0 1 Inverted Reserved Table 6 11 Setting of velocity polarity via parameter S 0 0043 User Manual SERCOS Ill ServoOne 29 LT LUST 6 3 Weighting of acceleration data The acceleration weighting is defined by the parameters listed i
14. inverted Inverted Bit 1 Additive position setpoint Not inverted Inverted Bit 2 Actual position 1 Not inverted Inverted Bit 3 Actual position 2 Not inverted Inverted Bit 4 Position limit values Not inverted Inverted Reserved is o i Table 6 6 Setting of position polarity via parameter S 0 0055 User Manual SERCOS Ill ServoOne Ui LT LUST 6 2 Weighting of velocity data The velocity weighting is defined by the parameters listed in the following table All velocity data of the drive e g setpoint actual and limit values are subject to the preset weighting If No weighting is selected via parameter S 0 0044 the weighting factor and weighting exponent are irrelevant The velocity data is then subject to a differently defined weighting IDN Description S 0 0044 Weighting method for velocity data S 0 0045 Weighting factor for velocity data S 0 0046 Weighting exponent for velocity data Table 6 7 Scaling parameters for position weighting 6 2 1 Weighting of translatory velocity data Translatory weighting is selected via S 0 0044 The significance of the LSB of the transla tory velocity data is defined by the following equation Travel unit S 0 0045 105 0 0046 LSB significance Time unit When translatory preferential weighting is selected the weighting as per the following table applies Weightin
15. receiving no SERCOS telegram it is in the NRT Non Realtime phase Communication phases O and 1 identify the stations on the bus In communication phase 2 the time and data structure of the protocols for phases 3 and 4 are prepared and the drive is configured At the transition to communication phase 3 the drive parameter settings relating to the SERCOS profile are checked for plausibility In the event of an error the switch to communication phase 3 Is refused with a relevant fault message The phases are run through in ascending order It is only possible to drop back a phase by way of communication phase 0 The communication phase is dictated by the master On switching to communication phase 4 the initialization is completed and power up is enabled The current communication phase is displayed by parameter 22000 COM_SERIII_Scope Vars index 1 5 2 Cyclic data transfer In cyclic data transfer parameters are transferred with every cycle of the bus The cycle time is configured using IDN S 0 1002 0 0 Which parameters are cyclically transferred is defined by the mapping 5 2 1 Mapping of configurable real time data Mapping of real time data is usually performed in the master that is the higher level control Parameters S 0 1050 0 6 and S 0 1050 1 6 can be used to check which param eters have been mapped into the MDT and DT Generally not all parameters can be transferred as real time data The parameters which can be transf
16. signs of the specified torque data can be inverted according to the application The polarities are not inverted within a control led system but outside of it at the input and output A positive torque setpoint differ ence with non inverted polarity means the direction of rotation is clockwise looking at the motor shaft 6 5 Scaling using the scaling wizard The scaling wizard integrated into the DriveManacer 5 enables large numbers of param eters to be set in a user friendly way To launch the scaling wizard double click on the Motion profile Scaling Units subject area in the project tree The following window then appears Normalization assistant start Normalization profile O Standarnd DS 402 e Sero User Figure 6 5 Scaling wizard start window From the start window select the Sercos option In the window which then appears you can select which parameters to scale Normalization assistant Sercos 1 iil SERCOS interface Units Eire Welocity unit degrees Torque force unit Nm Acceleration unit degree s s lt lt Back Continue gt gt Help Figure 6 6 Scaling wizard selection of scaling data LT LUST The inputs described in the following made using the wizard directly influence the pa rameters described in section 6 to define the scaling of the drive 6 5 1 Scaling of position data Click on the Position unit button see figure 6 6 to access the position data s
17. successful initialization the status should be 3 e Index 1 COM_SERIII_ActComPhase Current communication phase of the slave 0 4 CPO CP4 5 NRT e Index 2 COM_SERIII_INT1_Cnt Counter for the low priority interrupt INT1 of the SERCOS lll option board e Index 3 COM_SERIIL SVC_Cnt Counter for access via the service channel e Index 4 COM_SERIII_SVC_Control Control word of the service channel corre sponding to SVCC1 in the Service Channel Control Container The individual bits have the following meanings Description Reserved 5 3 Data element in the MDT 2 End bit in the MDT 1 Read write in the MDT Handshake bit in the MDT Tabelle 8 7 Control word of the service channel e Index 5 COM_SERIIl_SVC_State Status word of the service channel correspond ing to SVCCO in the Service Channel Control Container The individual bits have the following meanings Description Reserved not displayed 3 Process bit in the DT Error bit in the DT Tabelle 8 8 Status word of the service channel User Manual SERCOS lll ServoOne 46 Description Busy bit in the DT Handshake bit in the DT Tabelle 8 8 Status word of the service channel e Index 6 COM_SERIII_TG_Status_PO Telegram status register at port PO The register is updated with each bus cycle The individual bits have the following meanings Description Reserved not
18. to power up as internal checks have not yet completed system and moves under drive control to that position position correction If the successfully difference between the position specified by the control system and the actual e Drive ready to power up position is greater than the tracking error P 0 0743 the drive switches to an error e 10 Drive control unit ready and power supply on drive is torque free and power stage is disabled e 11 Drive ready Drive enable set and effective power stage active 13 Error in C1D S 0 0011 0 0 e 0 No error e 1 Drive is locked due to en error state now without moving no major axis motion Otherwise the drive corrects the difference with the slow jog rate P O 0168 1 and the acceleration from P 0 2242 quick stop When the position has been reached the drive switches to state 5 and the drive follows the setpoints of the master control system only now is readiness signalled in the control word 12 Change bit of C2D S 0 0012 0 0 IMPORTANT e 0 No enable e 1 Change With the scaling the ramp setting which the system accesses must also be set correctly 11 Toggle bit New actuals and to reasonable values This involves the parameters The bit is valid in communication phases 3 4 changes synchronously to the e P 0 2242 Quick stop This is applied in the event of an error depending on the Producer cycle time S 0 1050 0 10 and indicates the availability of t
19. tracking error 0000 0000 0000 1011 Position control with position controller 1 e g motor controller master control system controlled profile generation with use of pre control signals without tracking error 0000 0000 0000 1100 Position control with position controller 2 e g external encoder master control system controlled profile generation with use of pre control signals without tracking error 0000 0000 0001 0011 Position control with position controller 1 e g motor encoder drive control led profile generation no use of pre control signals with tracking error 0000 0000 0001 0100 Position control with position controller 2 e g external encoder drive con trolled profile generation no use of pre control signals with tracking error 0000 0000 0001 1011 Position control with position controller 1 e g motor encoder drive control led profile generation with use of pre control signals without tracking error 0000 0000 0001 1100 Table 4 2 Position control with position controller 2 e g external encoder drive control led profile generation with use of pre control signals without tracking error Supported operation modes User Manual SERCOS lll ServoOne 18 Using parameters S 0 0032 0 0 to S 0 0035 0 0 up to four different operation modes can be configured The mode is selected by parameter S 0 0134 0 0 Drive control word see section 5 2 1 1 This defines the
20. ul 2 3 Meanings of LEDs There are two LEDs on each RJ 45 socket They signify the following Meaning Link LED e Off No link No connection to another station e On Link active Connection to another bus station active Activity e Off No activity No data transfer is taking place e Flashing Activity Data transfer active 2 orange Table 2 2 Meanings of LEDs 2 4 Indication of operating states on 7 segment display Meaning Parameter System states Device in reset state Self initialization on device startup Start 1 Not ready no DC link voltage NotReadyToSwitchOn 1 Switch on disabled DClink OK power stage not SwitchOnDisabled ready Ready power stage ready ReadyToSwitchOn On device powered up SwitchedOn Drive ready power applied to drive and drive ready aaa iaa for setpoint input Quick stop QuickStopActive Error response active FaultReactionActive User Manual SERCOS lll ServoOne 12 Meaning Parameter Errors see below In event of an error alternating display Display for errors or non resettable errors Error number decimal Error localization decimal 1 S flashes when the STO Safe Torque Off function is active no display when function is inactive Not a safe indication as specified in EN 61800 5 2 The dot flashes when the power stage
21. 2 e P 0 0125 Function selector motor brake e P 0 0126 Function selector RELOUT1 e P 0 0142 Inversion of digital outputs User Manual SERCOS lll ServoOne 38 7 2 Touchprobe function The touchprobe function permits event controlled or continuous position measurement Positive and negative signal edges at the two fast digital inputs ISDO5 and ISDO6 can be configured as triggers for a position measurement To activate the Measurement with touchprobe function Touchprobe cycle S 0 0170 0 0 is used Parameter S 0 0169 0 0 Touchprobe con trol parameter is used for configuration Setting and enabling the command activates the Measurement function in the drive The drive signals this by setting the command acknowledgement data status to set enabled not yet executed No Command correctly executed acknowledgement is made This means that the command change bit is only set in the event of a fault The measurement is enabled by the Touchprobe 1 2 enable signals S 0 0405 0 0 S 0 0406 0 0 When the selected edge occurs on the touchprobe the drive stores the actual position value to the relevant parameter S 0 0130 to S 0 0133 measured value 1 or 2 positive or negative edge and sets the associated bit in the measured value status S 0 0179 The status bits in the measured value status are addressable separately via the ident numbers S 0 0409 0 0 to S 0 0412 0 0 and so can be assigned to the rea
22. 2 C2D Interface status Signal status word Touchprobes 1 2 status Warning threshold 12t motor exceeded Warning threshold heat sink temperature exceeded Table 4 4 Configurable real time status bits P 0 3002 LT LUST Parameter Description S 0 0312 Warning threshold motor temperature exceeded S 0 0330 Status speed setpoint reached S 0 0331 Standstill message S 0 0332 Speed threshold undershot S 0 0333 Speed threshold exceeded S 0 0334 Torque limit reached or exceeded S 0 0335 Speed limit reached or exceeded S 0 0336 Target position reached S 0 0341 Status in track position S 0 0401 Status touchprobe 1 S 0 0402 Status touchprobe 2 S 0 0403 Status actual position S 0 0409 Touchprobe 1 positive edge recorded S 0 0410 Touchprobe 1 negative edge recorded S 0 0411 Touchprobe 2 positive edge recorded S 0 0412 Touchprobe 2 negative edge recorded S 0 0419 Status of setpoint transfer P 0 0121 Status of the digital inputs P 0 0143 Status of the digital outputs P 0 0239 Functional status of the digital inputs Table 4 4 Configurable real time status bits P 0 3002 User Manual SERCOS Ill ServoOne 19 LUST LTi User Manual SERCOS lll ServoOne 204 5 Data transfer 5 1 Communication phases Communication over the SERCOS bus between the master and slaves is divided into six phases As long as the slave is
23. 7 0 Negative edge not active Bit 3 Measured value 2 recorded positive S 0 0409 O Not recorded 1 1 Negative edge active Recorded Bit 15 4 reserved 1 Touchprobe 1 negative edge Bit 15 4 reserved 0 Negative edge not active 1 Negative edge active MEASURED VALUE 1 POSITIVE EDGE 0 Touchprobe 1 negative edge With an external encoder the drive stores the actual position value 2 to this 0 Negative edge not active 5 0 0130 parameter with the positive edge of touchprobe 1 5 0 0401 during the l 1 Negative edge active measurement cycle If there is no external encoder actual position value 1 is stored Tabelle 7 1 Description of parameters for the touchprobe function Tabelle 7 1 Description of parameters for the touchprobe function LT User Manual SERCOS Ill ServoOne 39 LUST LT LUST Parameter 9 0 0131 Description MEASURED VALUE 1 NEGATIVE EDGE With an external encoder the drive stores the actual position value 2 to this parameter with the negative edge of touchprobe 1 S 0 0401 during the measurement cycle If there is no external encoder actual position value 1 is Stored 0 0132 MEASURED VALUE 2 POSITIVE EDGE With an external encoder the drive stores the actual position value 2 to this parameter with the positive edge of touchprobe 2 S 0 0401 during the measurement cycle If there is no external encoder actual position value 1 is stored S 0 0133 MEASURED VALUE 2 NEGATIVE EDG
24. E With an external encoder the drive stores the actual position value 2 to this parameter with the negative edge of touchprobe 2 S 0 0401 during the measurement cycle If there is no external encoder actual position value 1 is Stored S 0 0405 TOUCHPROBE 1 ENABLE With this parameter the touchprobe 1 enable is assigned an IDN As a result the touchprobe 1 enable can be assigned to a real time control bit S 0 0301 The touchprobe 1 enable is only polled by the drive as long as the touchprobe cycle command S 0 0170 is active For a repeat measurement with the same edge of touchprobe 1 the master control system must set the touchprobe 1 enable to 0 and back to 1 In the operation datum only bit O is defined For more information see S 0 0179 S 0 0406 TOUCHPROBE 2 ENABLE With this parameter the touchprobe 2 enable is assigned an IDN As a result the touchprobe 2 enable can be assigned to a real time control bit S 0 0301 The touchprobe 2 enable is only polled by the drive as long as the touchprobe cycle command S 0 0170 is active For a repeat measurement with the same edge of touchprobe 2 the master control system must set the touchprobe 2 enable to 0 and back to 1 In the operation datum only bit O is defined For more information see S O 0179 Tabelle 7 1 Description of parameters for the touchprobe function User Manual SERCOS lll ServoOne 40 Parameter Description
25. N 47 OO OI OME apt icioe 21 Control word of the service Channel ooccccoonnccncccccccnccocccnncconcnnnncnnnononoos 48 D Data CAINS e iseer adorno teta 21 Data transfer via the service channel SVC cccccccecccecceeeeeeeeeceeeeeees 24 Descripionof Dits Tolo ereenn conciso trote ico 22 Description of parameters for the touchprobe function s 41 DECS COMO PE EEE EE EEE EEE E 47 DEMOS LIS A T EE E N E EET E 47 Diagnosis using the internal oscillOSCOpe ooocccccccoooccncnnnccoocnnnnnocos 46 Diagram of position weighting Methods cccccccccccooccccnnnnnnnccccnonocnnnns 23 F O vu SILT E Error messages anq CIAQIOS IS vocsesecnennncdisunacsiezendan near enesvunedidatandgiwieeuns 45 F o 23 FUNCION eee E E EN 39 Function selector digital inputs and Outputs occcccccccncocccncnccnnoconnnnnnnos 40 H Hardware ASS 13 A A E E 39 Homing acelea O eeaeee E EEEE EE NESE 39 POTIN O A 39 Homing YONG CIs eers DoU AVDDP EEEE 39 Dno 1100 A 2 Indication of operating states on 7 segment display ooooocccccnc o 12 Nterace tU raro lit N Eai 49 K CAS A o 8 M Manufacturer specific parameters ooooooooccccnnnnnnnccconononcnnnnnnnnnnnnnnnnicnnnos 17 Mapping of configurable real time data ccccccccononnccncnnncnnccconononenonos 21 O Opera ton mode Codin eee S 17 operation Modes A A 18 Se EAE E TE EES E E EA ESE TTEA 17 User Manual SERCOS lll ServoOne 61 LT LUST
26. Overcurrent 6 Error in autocommutation 5 Encoder error Tabelle 8 1 State class LT LUST 4 Control voltage error not supported 3 Cooling error shut off not supported 2 Motor overheating shut off 1 Amplifier overheating shut off 0 Overload shut off Tabelle 8 1 State class Bit O error not active Bit 1 error active 8 1 2 Warning messages in state class 2 C2D Warning messages are displayed using standard parameter S 0 0012 state class 2 The drive signals the warning by altering bit 12 in the drive status word see section 5 2 4 The following warnings are defined in state class 2 Bit no Warning 15 Manufacturer specific warning 14 Reserved 13 Target position outside positioning range 12 Communication warning 11 Excessive velocity deviation 10 Reserved 9 Bus undervoltage warning 8 6 Reserved 5 Positioning velocity gt nLimit 4 Reserved 3 Cooling error warning 2 Motor overheating warning 1 Amplifier overheating warning 0 Overload warning Tabelle 8 2 State class 2 Bit O warning not active Bit 1 warning active User Manual SERCOS Ill ServoOne 43 LT LUST 8 1 3 Interface diagnosis Using parameter S 0 0014 0 0 the status of the interface and the current communica tion phase can be monitored If an error is set in the interface status the communication error in C1D S 0 0011 is reset Sett
27. Reset firmware and activate loader List of supported SERCOS parameters Write protection Write protection IDN Description Unit Description CP2 CP3 CP4 P 0 0050 ID hardware print x X X P 0 0127 Function of dig output RELOUT2 is fixed on Safety X X x P 0 0051 Sub ID hardware print X X X Aa P 0 0052 ib hardwareoption on XT q a F P 0 0141 Control value of dig outputs via COM access P 0 0053 Dice cion em Se 7 7 7 P 0 0142 Output inversion OSD0 1 2 0 1 2 MBRK 6 REL1 2 7 15 X X P 0 0054 io hardware COLD 7 p y P 0 0143 States of digital outputs X X X P 0 0055 Chip and redesign tracing identification x x x EIA ve reek P 0 0060 econ cap a F F P 0 0145 DriveCom Quick stop check in shut down command P 0 0080 Bootloader information version and checksum X X X eee PHN IC SHOP Cede ll P 0 0081 rare iaa y 3 3 P 0 0147 Toh Check EnablePower false for ENPO over USEN Function ot digitalinput ENPO P 0 0148 DriveCom Timeout in RdyToSwitchOn to enable motor ms P 0 0101 Function of digital input ISDOO X X switch P 0 0102 Function of digital input ISD01 X X P 0 0149 DriveCom Start initialization of system parameter P 0 0103 Function of digital input ISD02 X X P 0 0152 DriveCom actual state description X X X P 0 0104 Function of digital input ISD03 X X P 0 0153 DrvCom fault reset comma
28. The SERCOS Ill option board features two RJ45 sockets X36 X37 enabling a loop or linear structure Ethernet patch cables or crossover cables to the CAT5e specification are suitable as con necting cables Figure 2 1 SERCOS Ill linear structure Master P1 P2 Loop Servo One P1 P2 Servo One P2 P1 Servo One P1 P2 Figure 2 2 SERCOS Ill loop structure The loop structure should be selected whenever possible as in it the master sends the telegrams in both direction so enabling redundant communication This means breaks in the loop between two slaves or between the master and a slave are detected and within a bus cycle the switch is made to a linear structure with two lines so communica tion Is not interrupted This redundancy is not possible with a linear structure The individual ports between the bus stations can be connected in any way meaning there is no specification of which port is the input and which the output 2 2 Pin assignment of the RJ 45 socket The pins on the RJ 45 socket are assigned as follows Cable wire pair Function 1 White orange 2 TxData 2 Orange 2 TxData 3 White green 3 RecvData 4 Blue 1 Unused 5 White blue 1 Unused 6 Green 3 RecvData 7 White brown 4 Unused 8 Brown 4 Unused Table 2 1 Pin assignment 12345678 Figure 2 3 RJ 45 socket User Manual SERCOS Ill ServoOne 11 LT e
29. al torque weighting is selected the weighting as per the following table applies Weighting method Unit from S 0 Weighting fac E expo Preferential n from S 0 0076 0076 tor S 0 0093 Rotary Nm 1 2 0 01 Nm ent S 0 0094 weighting Table 6 18 Preferential weighting of force data Bit 2 0 Weighting method 000 No weighting 001 Translatory weighting OREO Rotary weighting Bit 3 Weighting method 0 Preferential weighting 1 Parameter weighting Distance unit Nm for rotary weighting NB for translatory weighting In lbf for rotary weighting lbf for translatory weighting Reserved Data source 0 On the motor shaft On the load side Bit 7 17 Reserved Table 6 19 Bit fields in the torque force data weighting method parameter S 0 0086 The following diagram shows the various torque force weighting options User Manual SERCOS lll ServoOne 32 Force torque weighting method S 0 0086 S 0 0086 bit 0 2 Percentage Translational force Rotary torque 0 1 S 0 0086 bit 6 Load Motor Load Motor Load Motor S 0 0086 Preferred Parameter Preferred Parameter bit 3 weighting weighting weighting weighting bit 4 LSB LSB ee LSB 1 0 N Variable i Variable S 0 0093 S 0 0093 S 0 0094 S 0 0094 Figure 6 4 Diagram of torque force weighting methods 6 4 4 Torque polarity In parameter S 0 0085 the polarities preceding
30. anced pre control mode P 0 0379 1 must be selected The advanced pre control mode P 0 0379 can deliver an improvement in pre control signals even without calculating P 0 3100 though this depends heavily on the scaling position resolution and must be checked on the line in each individual case For more information on scaling and interpolation please refer to the ServoOne Opera tion Manual 4 3 Real time bits There are two configurable real time bits in the MDT and the DT respectively They are located in the connection control word bit numbers 6 7 and so in the non config urable part of the real time data These real time bits are configured using parameters e S 0 1050 x 20 IDN assignment to real time bit IDN of the parameter to be as signed to the real time bit concerned e S 0 1050 x 21 Bit assignment to real time bit Definition of which bit number of the assigned parameter is to be mapped Only the parameters listed in P 0 3003 Real time control bits or P 0 3002 Real time status bits can be assigned Lists P O 3002 and P 0 3003 are described in the following tables Parameter Description S 0 0405 Enable touchprobe 1 S 0 0406 Enable touchprobe 2 P 0 0141 Open loop control of digital outputs via COM option Table 4 3 Configurable real time control bits P 0 3003 P 0 3002 Configurable real time status bits Parameter Description State class 1 C1D State class
31. ation of status word will feed forward a setpoint differ ence Shut off due to tracking error may be the consequence To avoid this the drive can be moved to the position specified by the master control Bit 13 Drive HALT feed hold system at start of control under drive control with parameter P 0 0156 Enable operation option code set to MOVE_COMMAND 1 This aims to exclude the possibility of a shut off or a jerky approach to the target position at start of control because of a setpoint difference in the axis The Drive halt signal is state controlled and low active meaning in response to a Drive halt 0 signal the drive is in the Drive halt state The input signal is mapped in the master control word bit 13 This function also depends on the configuration of P 0 0743 maximum tracking error P 0 0743 equal to O 24 Dri 7 2 riv word S 0 0135 0 0 Position tracking error off The drive switches on without correction and feeds the posi gt e status tion setpoint of the NC directly onto the controller The drive moves to the target posi The drive status word contains all the key status information of the drive and must be tion with a jerk as necessary Major differences end in a speed tracking error depending mapped into the cyclic part of the DT AA i P 0 0743 not equal to 0 o 15 14 Ready to start Position tracking error off The drive reads the target position of the master control e 00 Drive not ready
32. ault reaction option code P 0 2261 6098H DS402 homing method P 0 3000 Sercos Address P 0 3001 IDN list with logon errors at sercos parameter manager P 0 3002 IDN list of all data with real time status support P 0 3003 IDN list of all data with real time control support P 0 3004 Maximum transmission power P 0 3005 Speed acceleration ACC P 0 3006 Speed deceleration ACC P 0 3007 Actual value of 2t integrator for motor protection P 0 3030 Drive controlled homing offset procedure command P 0 3031 Homing velocity in search of index pulse SPEED P 0 3054 Gain external feed forward signals P 0 3055 External speed feed forward signal Psca le 2416 P 0 3056 External acceleration feed forward signal Psca le 2416 P 0 3100 Expanded position command value for Pico Interpolation Tabelle 10 2 List of supported SERCOS parameters LUST LT User Manual SERCOS Ill ServoOne 59 LUST LTi User Manual SERCOS lll ServoOne PN Index A ADO UIOINS diles 9 Additional scope ParaMetels ococoooonncnnnnnconocnnnnnnncnnnnnnnnnccnnnnnonnnncnnncnnnnnss 48 B A P e 32 Bit fields in the acceleration data weighting method parameter 34 Bit fields in the position data weighting method parameter 30 C A E e o ET EEEN 15 Communicator PA otos 19 Communication status TEOIST curo dbia e 49 48 Configurable real time control ONS citon irritado 19 CORMCGU ONGC OMI Ol AN eninin eian EA
33. caling Normalization assistant Sercos position unit 1 Ed Position unit 1 JI SERCOS interface Position data scaling 1 Scaling method no scaling linear scaling rotational scaling Data reference at the motor shaft atthe load Figure 6 7 Scaling wizard definition of scaling method and data reference In the first position unit scaling window you must first select the scaling method and the data reference figure 6 7 That is to say you must specify whether the application relates to a linear or rotary axis and whether the position data refers to the motor axis or directly to the load Click on the Next button to move on to the next window Here the scaling of the position data is specified User Manual SERCOS Ill ServoOne Bo LT LUST Normalization assistant Sercos position unit 2 rotational E Position unit 2 J SERCOS interface Position data scaling 2 Preferred scaling Parameter scaling 360 degree 3600000 LSB weighting Figure 6 8 Scaling of position data SERCOS offers two options for scaling of the position data Choose Preferential scal ing to set the scaling to that defined by SERCOS and described in section 6 Choose Parameter scaling to set a custom scaling of the position data The scaling shown in figure 6 would mean for example that the position data of this rotary axis has a resolution of 360 3600000 0 0001
34. configured mode in which the drive is to run Which of the three possible encoder interfaces of the ServoOne Channel 1 Channel 2 Channel 3 are designated as position encoder 1 and 2 respectively is specified by parameters P 0 0530 Selection of position encoder 1 and P 0 0531 Selection of position encoder 2 The position encoder for position control specified by the operation mode must also be selected via parameter P 0 0522 as the position encoder for position control Otherwise an error will be triggered in response to the controller enable and the switch from phase 2 to phase 3 For further details on encoder configuration please refer to the ServoOne Operation Manual A valid interpolation method P 0 0370 must be configured for the position controlled operation mode The following settings are possible 1 Linear interpolation Calculation of position and rotation speed 2 Spline interpolation with external pre control Should only be used when the master control system also calculates and transmits the pre control signals for speed P 0 3055 and torque PO 03056 3 Spline Interpolation Calculation of position rotation speed and torque 4 Spline Interpolation Calculation of position rotation speed and torque To attain a higher resolution of the pre control signals an additional 16 bit decimal place component P 0 3100 for the position S 0 0047 can be transferred To use the higher resolution the adv
35. cts Information and specifications may be subject to change at any time Please visit www lt 1 com for details of the latest versions ID No 1108 26B 0 00 e 10 2009
36. d according to the scheme set out in the following table Bit Explanation 15 0 SERCOS default mode 1 Manufacturer specific mode 14 10 Reserved 9 O Without axis control word S 0 0520 0 0 1 1 With axis control word S 0 0520 0 0 not supported 8 O Without transition 1 With transition Table 4 1 Operation mode coding User Manual SERCOS Ill ServoOne 17 LT LUST Advanced mode 0000 No advanced mode 0001 Interpolation 0010 Positioning 0011 Block mode not supported 0100 0100 Synchronous mode not supported Explanation 3 O with tracking error 1 without tracking error Table 4 1 Operation mode Operation mode coding The operation modes supported by the ServoOne are listed in parameter S 0 0292 Operation mode 0000 0000 0000 0001 Description Torque control 0000 0000 0000 0010 Speed control drive controlled profile generation with parameterized ramps 0000 0000 0100 0010 0000 0000 0000 0011 Speed control master control system controlled profile generation no tracking error Position control with position encoder 1 e g motor encoder master control sys tem controlled profile generation no use of pre control signals with tracking error 0000 0000 0000 0100 Position control with position controller 2 e g external encoder master control sys tem controlled profile generation no use of pre control signals with
37. displayed One off MST failure 10 MST outside time window 9 Not displayed 8 Valid MST 7 4 Valid DT3 Bit 7 ATO Bit 4 Valid MDT3 Bit 3 MDTO Bit 0 Tabelle 8 9 Telegram status e Index 7 COM_SERIII_TG_Status_P1 Telegram status register at port P1 The reg ister is updated with each bus cycle Meanings of the individual bits as for index 6 e Index 8 COM_SERIIl_MDT_Cnt Counter for all received MDTs must be incre mented by 1 with each bus cycle and have the same value as index 9 e Index 9 COM_SERIII_AT_Cnt Counter for all sent DTs must be incremented by 1 with each bus cycle and have the same value as index 8 e Index 10 COM_SERIII_PHASESR Status register of the communication phases The register is used to control the phase run up The register is uodated with each bus cycle The individual bits have the following meanings Description Reserved 15 Phase change bit Port 2 e 0 No phase change active e 1 Phase change active Tabelle 8 10 Communication status register Description Reserved not displayed 11 8 Current communication phase port 2 0 4 7 Phase change bit port 1 e 0 No phase change active e 1 Phase change active 6 4 Reserved not displayed Current communication phase port 1 Tabelle 8 10 Communication status register e Index 11 COM_SERIII_DFCSR Data flow control and status register
38. ection S 0 0043 Velocity polarity parameter CP3 CP4 CP3 CP4 S 0 0044 Velocity data scaling type CROMERA GPs Gra S 0 0045 Velocity data scaling factor CP3 CP4 CP3 CP4 S 0 0046 Velocity data scaling exponent GPs GPa Ges Gr4 1 0 1 Ap pendix A Pa rameter list S 0 0047 Position command value S 0 0049 Positive position limit value EPS EPA GPS CPA List of all device parameters which can be transferred via SERCOS III 5 0 0050 Neat venostiion N CP3 CPA erry 5 0 0051 Position feedback value 1 CP2 CP4 CP2 CP4 10 1 1 SERCOS Ill standard parameters rs nr EERE IDN Description Write protection 50 0055 Position feedback value 2 CP2 CP4 CP2 CP4 S 0 0011 Class 1 diagnostic C1D CP2 CP4 2 0 0004 Reference distance 2 Pos lt 0 0012 Class 2 diagnostic C2D CP2 CPA S 0 0055 Position polarity parameter CP3 CP4 S 0 0014 interface statue CP2 CPA S 0 0057 Position window for target reached status Pos 5 0 0015 Telegram type CP3 CPA S 0 0076 Position data scaling type CP3 CP4 5 0 0017 IDN list of all operation data CP2 CPA S 0 0077 Linear position data scaling factor CP3 CP4 S 0 0021 IDN list of invalid operation data for CP2 CP2 CP4 ZONE SES In CP3 CP4 S 0 0022 IDN list of invalid operation data for CP3 CP2 CPA ae AUD DOi resolution CP3 CP4 S 0 0026 Configuration list for signal status word PA lua cara ele Torque S 0 0027 Configuration list for signal control word pila Additive torque command value Torque 00037 Primary operation mode CP4 S 0 0082 Positive torque
39. ength e the correct CRC checksum Parameters S 0 1028 0 0 error counter MST ports 1 2 and S 0 1035 0 0 error coun ter port 1 2 are used for diagnosis Error counter S 0 1028 0 0 Is incremented whenever no valid MST has been received at port 1 or at port 2 The maximum value which the counter can reach is 65535 When this value has been reached the counter is not incremented further The counter is reset to zero at the transition from communication phase 2 to phase 3 Parameter S 0 1035 0 0 indicates whether the telegrams received at ports 1 2 were valid If the length of a received telegram is incorrect or its CRC checksum invalid the value of the parameter is incremented The bottom 16 bits of the parameter display the erroneous telegrams at port 1 and the top 16 bits the erroneous telegrams at port 2 The maximum value for each port is 65535 When this value has been reached the counter is not incremented further The value of the parameter can be reset by writing it via the service channel or the DriveMANAGER Parameter S 0 1003 defines the maximum number of telegram failures after which the drive is to trigger an error If the maximum value is exceeded the communication error bit in state class 1 Is set the drive reverts to the NRT phase 8 2 Diagnosis using the internal oscilloscope 8 2 1 Standard parameters In addition to the standard parameters also available in conjunction with the SERCOS II option board on the osci
40. erred in the MDT are entered under IDN S 0 0188 0 0 All the parameters which can be transferred in the DT are entered under IDN S 0 0187 0 0 LT LUST NOTE To operate a drive controller using SERCOS Ill the drive control word S 0 0134 0 0 must always be mapped into the MDT and the drive system status word S 0 0135 0 0 into the DT In contrast to SERCOS Il they are no longer a fixed component of the MDT or DT respectively 5 2 2 Drive control word S 0 0134 0 0 The drive control word contains all the key control information for the drive and must be mapped into the cyclic part of the MDT Bit no Description 15 Drive On Off e Drive OFF On switching from 1 0 the drive is shut down as best as pos sible according to the setting of P 0 2219 then the torque is shut off as necessary at standstill the power stage can remain active only possible if bit 14 1 and with corresponding setting of P 0 2219 then the torque is shut off at speed nmin the power stage can remain active only possible if bit 14 1 e 1 Drive On 14 Drive enable e 0 No enable On switching 1 O the torque is shut off and the power stage disabled with no delay regardless of bits 15 and 13 e 1 Drive enable 13 Drive Halt can be used to stop the drive without reference to the current active control function e 0 Drive stop The drive is no longer following the settings On switching from 1 O the drive stops according to the s
41. ervoOne 57 LUST User Manual SERCOS lll ServoOne 58 LT LUST Write protection Write protection IDN Description Unit CP2 CP3 CP4 P 0 0522 ENC Channel selection for position control X X P 0 0523 ENC Channel selection for master input X X P 0 0530 ENC Channel selection as SERCOS encoder 1 X X P 0 0531 ENC Channel selection as SERCOS encoder 2 X X P 0 0540 ENC CH1 Absolute position interface selection Xx X P 0 0541 ENC CH1 Index pulse signal test mode X X P 0 0542 ENC CH1 Number of lines SinCos TTL encoders X x P 0 0543 ENC CH1 Number of MultiTurn bits SSI absolute X X P 0 0544 ENC CH1 Number of SingleTurn bits SSI absolute X Xx P 0 0545 ENC CH1 Code selection SSI absolute position interface X X P 0 0546 ENC CH1 Mode selection SSI absolute position interface Xx X P 0 0547 ENC CH1 Lowest allowable MultiTurn position SSI X X absolute P 0 0548 ENC CH1 Enable MultiTurn information SSI absolute x X P 0 0549 ENC CH1 Signal correction type X X P 0 0550 ENC CH1 Signal correction values X X P 0 0551 ENC CH1 Encoder observation minimum sqrt a 2 b 2 X X P 0 0552 ENC CH1 Error and status codes of absolute encoders X X X P 0 0553 ENC CH1 Length of an analog signal period linear SinCos nm X X P 0 0554 ENC CH1 Length of an digital increment linear absolute
42. etting of P 0 2221 and taking into account the last active acceleration by default according to accelera tion parameter P 0 2242 and remains under control only possible if bits 14 and 15 1 and with an appropriate setting of P 0 2221 e 1 Drive start On switching from O 1 the original function is resumed If the master control system has not updated the position setpoint jumps may occur resulting in shut off due to tracking error 12 Reserved 11 Toggle bit New setpoints The bit is valid in communication phases 3 4 changes synchronously to the Producer cycle time S 0 1050 0 10 and indicates the availability of the new setpoints for the slave Drive control word S 0 0134 Table 5 1 User Manual SERCOS Ill ServoOne 21 LT e Ul Description Specified operation mode e 000 Primary mode defined in S 0 0032 0 0 e 001 Secondary mode defined in S 0 0033 0 0 e 010 Secondary mode 2 defined in S 0 0034 0 0 e 011 Secondary mode 3 defined in S 0 0035 0 0 e 100 Secondary mode 4 not supported e 101 Secondary mode 5 not supported e 110 Secondary mode 6 not supported e 111 Secondary mode 7 not supported Reserved Drive control word S 0 0134 Table 5 1 5 2 3 Description of bits 13 15 Bit 14 Drive ENABLE power stage enable The servo has a control input X4 10 ENPO Enable Power for hardware enable This input must be configured for operat
43. g method Unit from S 0 Weighting fac po expo Preferential n from S 0 0076 0076 tor S 0 0045 nent S 0 0046 weighting Linear m min 1 0 001 mm min Table 6 8 Preferential weighting of translatory velocity data User Manual SERCOS lll ServoOne 28 6 2 2 Weighting of rotary velocity data Rotary weighting is selected via S 0 0044 The significance of the LSB of the rotary velocity data is defined by the following equation Travel unit S 0 0045 105 0 0046 LSB significance Time unit When rotary preferential weighting is selected the weighting as per the following table applies Weighting method Unit from S 0 Weighting fac ka expo Preferential n from S 0 0076 0076 tor S 0 0045 nent S 0 0046 weighting Rotary rom 1 4 0 001 rem Rotary 1 s 1 6 0 000 001 1 s Table 6 9 Preferential weighting of rotary position data Weighting method 000 No weighting 001 Translatory weighting 010 Rotary weighting Bits Weighting method 0 Preferential weighting 1 Parameter weighting Distance unit 0 Revolutions for rotary weighting Metres for translatory weighting 1 Reserved for rotary weighting Inches for translatory weighting EX Time unit 0 Minutes min 1 Seconds s Data source 0 On the motor shaft 1 On the load side EXA Reserved Table 6 10 Bit fields in the velocity data weighting method parameter S 0 0045 The
44. he configuration new actual values for the master l ijs 10 8 Current mode e P 0 0168 Jog index 0 Jog rate rapid index 1 Jog rate slow O ea 0 008 6 The position correction described above may take a very long time at a very slow jog e 001 Secondary mode defined in S 0 0033 0 0 rate or may even not take place at all such as if P 0 0168 1 O In this case the drive e 010 Secondary mode 2 defined in S 0 0034 0 0 e 011 Secondary mode 3 defined in S 0 0035 0 0 would remain in system state 4 as the setpoint cannot be attained e 100 Secondary mode 4 not supported Sa A e 101 Secondary mode 5 not supported e 110 Secondary mode 6 not supported oo e 111 Secondary mode 7 not supported Table 5 2 Drive status word S 0 0135 LT User Manual SERCOS Ill ServoOne 2S LUST IET Description Reserved 5 Status of actual position value bit O of S 0 0403 0 0 4 Drive halt e 0 Drive halt not active e 1 Drive halt active 3 Status of setpoint transfer e 0 The drive ignores the setpoints of the master such as during drive controlled motion homing or parameterizable delay times e 1 The drive follows the setpoints of the master control system Reserved Drive status word S 0 0135 Table 5 2 5 2 5 Non configurable real time data In addition to the mapped data the MDT and AT each contain fixed configured content In the MDT e Device cont
45. hting Is selected the weighting as per the following table applies Rotary position resolution Preferential weighting S 0 0079 3 600 000 Weighting method from S 0 0076 Unit from S 0 0076 Rotary 0 0001 degrees Table 6 3 Degrees Preferential weighting of rotary position data User Manual SERCOS Ill ServoOne 25 Weighting method No weighting Translatory weighting Rotary weighting Weighting method Preferential weighting Parameter weighting Unit Degrees for rotary weighting Metres for translatory weighting Reserved for rotary weighting Inches for translatory weighting Reserved Data source On the motor shaft On the load side Processing format 0 Absolute format 1 Modulo format Bit 8 15 Reserved Table 6 4 Bit fields in the position data weighting method parameter S 0 0076 User Manual SERCOS lll ServoOne 26 The following diagram shows the various position weighting options Position data weighting method S 0 0076 S 0 0076 bit 0 2 Translational S 0 0076 bit 6 Load Motor Load Motor Load Motor S 0 0076 Preferred Parameter Preferred Parameter bit 3 weighting weighting weighting weighting soar i E LSB Resolution LSB LSB 10 m variable 3600000 Variable am 0007 LSB 0 0001 Degrees Figure 6 1 Diagram of position weighting methods 6 1 3 Modulo weighting If modu
46. ing bits 2 0 causes no error If there is no communication error the interface status in bits 0 2 contains the current communication phase If there is a communication error the error and the communication phase are saved The communication error is only cleared by the drive and reset to 0 when there are no more interface errors oc curring and the Reset state class 1 command S 0 099 has been received by the drive over the service channel Bit no Description 15 14 Reserved 13 Phase change without CPS bit only SERCOS III 12 Timeout on phase change only SERCOS III 11 IPO sync error only SERCOS ll 10 Drives with same address in loop only SERCOS II Switch to non initialized mode Phase change without ready message Error in phase fallback not phase 0 Invalid phase phase gt 4 MDT failure only SERCOS II 9 8 7 6 Error in phase sequencing invalid sequence 5 4 3 MST failure S 0 1003 exceeded 2 0 Communication phase 000 Phase O 001 Phase 1 010 Phase 2 011 Phase 3 100 Phase 4 101 NRT Tabelle 8 3 Interface status Bit 0 error not active Bit 1 error active User Manual SERCOS lll ServoOne 44 8 1 4 Telegram failure and error counter The drive monitors whether a valid MST MDT has been received in each bus cycle Also each MST and MDT is monitored for compliance with e the correct reception time e the agreed telegram l
47. ing exponent for torque force data Table 6 16 Scaling parameters for torque force weighting ie s or s IDN 00160 Radian 6 4 1 Percentage weighting of torque and force data The percentage weighting is set via the weighting method S 0 0086 No other param eters are required In percentage weighting the permanently permissible standstill torque e i LSB weicht Po LSB weight of the motor S 0 0111 is used as the reference value All torque force data is given in with one decimal place IDN 00161 IDN 00161 IDN 00162 IDN 00162 6 4 2 Weighting of force data Figure 6 3 Diagram of velocity weighting methods The weighting of force data is set via parameter S 0 0086 The significance of the LSB of the force data is defined by the following equation LSB significance Unit S 0 0093 10 0 0094 When preferential force weighting is selected the weighting as per the following table applies Weighting method Unit from S 0 Weighting fac K expo Preferential n from S 0 0076 0076 tor S 0 0093 linear NB 1 1 NB ent S 0 0094 weighting Table 6 17 Preferential weighting of force data LT User Manual SERCOS Ill ServoOne z1 LUST LT LUST 6 4 3 Weighting of torque data The weighting of torque data Is set via parameter S 0 0086 The significance of the LSB of the torque data is defined by the following equation LSB significance Unit S 0 0093 10 gt 0 0094 When preferenti
48. ink voltage V P 0 0476 Motor rotor resistance Ohm P 0 0411 Actual values of ADC channels bit P 0 0477 Motor rotor resistance scaling factor P 0 0412 Actual position incr P 0 0500 ENC CH1 Actual value SingleTurn 0 MultiTurn 1 P 0 0413 Reference position incr P 0 0501 ENC CH2 Actual value SingleTurn 0 MultiTurn 1 P 0 0414 Actual position diffence RefPosition ActPosition incr P 0 0502 ENC CH3 Actual value SingleTurn 0 MultiTurn 1 P 0 0415 Actual speed 1 min P 0 0505 ENC CH1 Encoder type selection P 0 0416 Reference speed 1 min P 0 0506 ENC CH2 Encoder type selection P 0 0417 Actual speed difference RefSpeed ActSpeed 1 min P 0 0507 ENC CH3 Encoder type selection P 0 0418 Reference torque Nm P 0 0510 ENC CH1 Gear nominator P 0 0419 Actual torque Nm P 0 0511 ENC CH1 Gear denominator P 0 0430 Weighting of voltage path in field model P 0 0512 ENC CH2 Gear nominator P 0 0431 Voltage limit for current controllers P 0 0513 ENC CH2 Gear denominator P 0 0432 Select current control limitation mode P 0 0514 ENC CH3 Gear nominator P 0 0450 Motor type P 0 0515 ENC CH3 Gear denominator P 0 0455 Motor rated frequency Hz P 0 0520 ENC Channel selection for motor commutation P 0 0456 Motor rated voltage V P 0 0521 ENC Channel selection for speed control Write protection Tabelle 10 2 List of supported SERCOS parameters Tabelle 10 2 List of supported SERCOS parameters LT User Manual SERCOS Ill S
49. ion of the power stage at 24 V The device additionally features the STO Safe Torque Off function category 3 see ServoOne Operation Manual and Application Manual via control input X4 22 ISDSH The logic for this function High edge at digital input ENPO X4 10 with a High signal required at the digital input ISDSH X4 22 at the time the edge occurs must be fulfilled by the higher level control system according to Application Manual in state 1 Not Ready to Switch On or 2 Switch On Disabled In the STO state the status indicator flashes S1 or S2 as appropriate P NOTE If the ENPO and ISDSH inputs are not configured the device remains 9 Only after correct configuration of ENPO X4 10 and ISDSH X4 22 can the hardware be enabled by bit 14 in the drive control word It is only possible to enable the drive via bit 14 in communication phase 4 User Manual SERCOS lll ServoOne DD Bit 15 Control ON OFF controller enable Control of the drive via the SERCOS interface requires just a few parameter settings e Open loop control setting of drive via SERCOS interface Set P 0 0159 to SERCOS III 9 Setpoints via SERCOS profile Set P 0 0159 to SERCOS III 8 Evaluation of bit 15 in drive control word state controlled 1 LEVEL or edge controlled O EDGE via P 0 0144 Note If bits 14 and 15 in the drive control word are set simultaneously PO 0 144 should be set to LEVEL 1 For the co
50. is active Example of flash sequence gt ERS gt O2 gt 05 ER 02 gt 05 Error ER Error Error name 02 Error in parameter list Description of error 05 Function to check current parameter list 2 5 Hardware enable The ServoOne has a control input to the hardware enable ENPO on the control terminal This input must be configured for operation of the power stage at 24 V The device additionally features the STO Safe Torque Off function see ServoOne User Manual or Application Manual category 3 control terminal ISDSH On these devices the logic for this function must be provided by the higher order controller as detailed in the Application Manual P Note If the ENPO and ISDSH inputs are not configured the device remains in state 1 Not Ready to Switch On or 2 Switch On Disabled Only when the configuration has been correctly wired can the state be quit by way of a Shutdown command over bus 9 LT LUST User Manual SERCOS Ill ServoOne 13 LUST LTi User Manual SERCOS lll ServoOne 14 3 Commissioning and configuration 3 1 Commissioning The DriveMANAGER User interface is a program for general commissioning of the drive system The DriveMAnaGER package includes tools for identification of motor data for servomotor access to a motor database and for general device configuration A separate section is devoted to initial commissioni
51. l time status bits in fast measurements or be transferred as real time parameters in the DT Two different measurement methods are supported e Single measurement When an active measurement edge occurs the effect of the same edge is disabled This block is cleared by resetting the touchprobe 1 2 enable S 0 0405 0 0 S 0 0406 0 0 The measurement is re enabled by then setting the touchprobe 1 2 enable e Continuous measurement If continuous measurement was configured in param eter S 0 0169 0 0 the current position is stored on every occurrence of an active measurement edge The touchprobe is then immediately re enabled for further measurement Continuous measurement is cancelled by resetting S 0 0405 0 0 or S 0 0406 0 0 or by deleting command S 0 0170 0 0 Touchprobe cycle The parameters of the touchprobe function are listed in the table below Parameter Description Parameter Description P TOUCHPROBE CYCLE COMMAND Touchprobe control parameter If the touchprobe cycle command is set and enabled by the master the drive touchprobes and edges are active in the touchprobe cycle ta 9 panned Touchprobe 1 2 enable S 0 0405 00406 and Meanings of the individual bits S 0 0170 Touchprobe 1 2 S 0 0401 00402 as Description programmed in touchprobe control parameter S 0 0169 While the command is active the master control system can perform multiple Reserved measurements
52. limit value Torque S 0 0033 Secondary operation mode CP4 S 0 0083 Negative torque limit value Torque S 0 0034 Secondary operation mode2 CP4 ES Torque feedback value Torque aaa S 0 0035 Secondary operation mode3 CP4 aisla Torque polarity parameter CP3 EPA 50 0026 Velocity command value Speed S 0 0086 Torque force data scaling type CP3 CP4 S 0 0037 Additive velocity command value Speed ee Bipolar velocity limit value Speed 5 0 0038 Positive velocity limit value Speed A Apo aries Umit veldi Torque S 0 0039 Negative velocity limit value Speed S 0 0093 Torque force data scaling factor CP3 CP4 S 0 0040 Velocity feedback value 1 Speed CP2 CPA S 0 0094 Torque force data scaling exponent CP3 CP4 S 0 0041 Homing velocity Speed S 0 0095 Diagnostic message CP2 CP4 S 0 0042 Homing acceleration mee 5 0 0097 Mask class 2 diagnostic Tabelle 10 1 Supported SERCOS standard parameters Tabelle 10 1 Supported SERCOS standard parameters LT LUST User Manual SERCOS Ill ServoOne 51 LUST LT User Manual SERCOS lll ServoOne 32 IDN Description Unit Write protection S 0 0099 Reset class 1 diagnostic S 0 0100 Velocity loop proportional gain Nm min S 0 0101 Velocity loop integral action time ms S 0 0103 Modulo value Pos CP3 CPA S 0 0104 Position loop KV factor 1000
53. lled At the same time the drive stores the actual position value to measured value 2 negatively S 0 0133 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 2 enable is set to 0 In the operation datum only bit O is defined Description of parameters for the touchprobe function User Manual SERCOS Ill ServoOne 41 LUST LTi User Manual SERCOS lll ServoOne 42 8 Error messages and diagnosis SERCOS lll offers a number of diagnostic options by way of state classes and status control words The internal oscilloscope of the ServoOne can also be used to display and observe more diagnostic parameters 8 1 Standard parameters for error diagnosis Various standard parameters are available for diagnosis of bus specific and drive specific errors 8 1 1 Error messages in state class 1 C1D Error messages are displayed using standard parameter S 0 0011 state class 1 If an error is set in state class 1 the drive is shut down immediately The drive signals the error by setting bit 13 in the drive status word see section 5 2 4 The following errors are defined in state class 1 Bit no Error 15 User specific error 14 Reserved 13 Position limit value exceeded Ja Communication error 11 Excessive control deviation 10 Phase error in power supply not supported 9 Undervoltage error 8 Overvoltage 7
54. lloscope SERCOS lll also offers the following standard param eters e IDN S 1044 0 0 Device Control Word e IDN S 1045 0 0 Device Status Word e IDN S 1050 00 8 Connection Control e IDN S 1050 10 8 Connection Control The Device Control Status Word parameters are used for handling of the bus topology The Device Control Status Word Is transferred with each bus cycle and is a fixed ele ment of the MDT or AT The two parameters described here are just a map of the Device Status Control Word and are used for diagnostic purposes With the aid of the Device Control Word the master can alter the topology in a slave This is necessary for example when a new slave is to be inserted into the bus Hot Plug or when the master wants to close the loop again after a detecting a loop break The individual bits have the following meanings Description Identification 14 Toggle bit master sends new topology 13 12 Topology specified by master e 00 Fast forward at both ports e 01 Loop back amp forward of P telegrams e 10 Loop back amp forward of S telegrams e 11 Reserved Reserved Tabelle 8 4 Device Control With the aid of the Device Status Word the slave signals its current topology as well as communication errors such as a loop break The individual bits have the following meanings LT LUST Bit no Description 15 Communication warning 14 Toggle bit slave has adopted new
55. lo weighting is preset via parameter S 0 0076 Position weighting parameters S 0 0103 Modulo value and S 0 0294 Modulo value divisor determine the value range modulo range within which the actual position may lie If the travel distance exceeds the modulo range an overshoot of the actual position occurs Parameter Description MODULO VALUE When modulo format is preset in the position weighting method S 0 0076 5 0 0103 the modulo value S 0 0103 defines the number range of all position data If the modulo value is exceeded the drive and the master control system perform the modulo calculation MODULO VALUE DIVISOR If the modulo value S 0 0103 does not match the physical modulo value it can be corrected by the divisor S 0 0294 The effective modulo value is the product of S 0 0103 and S 0 0294 A value of 1 renders the modulo value divisor parameter ineffective S 0 0294 Table 6 5 Scaling parameters for position weighting LT LUST 6 1 4 Position polarity In parameter S 0 0055 the polarities preceding signs of the specified position data can be inverted according to the application The polarities are not inverted within a control led system but outside of it at the input and output A positive torque setpoint difference with non inverted polarity means the direction of rotation is clockwise looking at the motor shaft Bit O Position reference Not
56. min S 0 0106 Current loop proportional gain 1 V A S 0 0107 Current loop integral action time us S 0 0108 Feedrate override S 0 0112 Amplifier rated current A CP2 CP4 S 0 0113 Maximum motor speed Rev min S 0 0114 Load limit of the motor S 0 0115 Position feedback 2 type EPS CP4 S 0 0116 Resolution of feedback 1 CP2 CP4 S 0 0117 Resolution of feedback 2 CP2 CP4 S 0 0121 Input revolutions of load gear CP3 CPA S 0 0122 Output revolutions of load gear GPs Gre S 0 0123 Feed constant Um rev CP3 CP4 S 0 0124 Standstill window Speed S 0 0125 Velocity threshold Speed S 0 0126 Torque threshold Torque S 0 0127 CP3 transition check CP3 CP4 S 0 0128 CP4 transition check CP4 S 0 0130 Probe value 1 positive edge Pos CP2 CP4 S 0 0131 Probe value 1 negative edge Pos CP2 CP4 S 0 0132 Probe value 2 positive edge Pos CP2 CP4 S 0 0133 Probe value 2 negative edge Pos CP2 CP4 S 0 0134 Drive control word S 0 0135 Drive status word CP2 CP4 S 0 0144 Signal status word CP2 CP4 S 0 0145 Signal control word Tabelle 10 1 Supported SERCOS standard parameters IDN Description Unit Write protection S 0 0147 Homing parameter CP4 S 0 0148 Drive controlled homing procedure command S 0 0150 Reference offset 1 Pos S 0 0151 Reference offset 2 Pos S 0 0152 Position spindle procedure command S 0 0153 Spindle angle position Pos S 0 0154 Spindle positioning parameter CP3 CP4 S 0 0156 Velocity feedback value 2 Speed CP2 CP4 S 0 0157 Velocity window S
57. n refer to section 8 2 2 The command functions are also transferred via the service channel At present the fol lowing commands are supported S 0 0099 Reset state class 1 reset error S 0 0127 Switchover preparation phase 3 S 0 0128 Switchover preparation phase 4 S 0 0139 Park axis command S 0 0148 Drive guided homing S 0 0152 Position spindle command S 0 0170 Touchprobe command e S 0 0191 Clear reference point command e S 0 0216 Switch parameter set command e S 0 0262 Parameter initialization to default values command e S 0 0263 Parameter initialization to backup values command e S 0 0264 Save current parameter values command e S 0 0447 Set absolute position command e S 0 1024 Measure synchronous delay command 6 Scaling and weighting The weighting describes the physical unit and number of decimal places with which the numerical values of the parameters exchanged between the master control system and the drives are to be interpreted The method of weighting is defined by the parameters for position velocity acceleration and torque weighting The ServoOne can be scaled either by the higher level control writing the relevant parameters over the SERCOS bus or using the scaling wizard integrated into the DriveMa NAGER D 6 1 Weighting of position data The translatory position weighting is defined by the parameters listed in the following table All position data of the drive e g set
58. n the following table All acceleration data of the drive e g setpoint actual and limit values are subject to the preset weighting If No weighting is selected via parameter S 0 0160 the weighting tactor and weighting exponent are irrelevant The acceleration data is then subject to a differently defined weighting IDN Description S 0 0160 Weighting method for acceleration data S 0 0161 Weighting factor for acceleration data S 0 0162 Weighting exponent for acceleration data Table 6 12 Scaling parameters for acceleration weighting 6 3 1 Weighting of translatory acceleration data Translatory weighting is selected via S 0 0160 The significance of the LSB of the transla tory acceleration data is defined by the following equation LSB significance Travel unit 5 0 0161 10709162 Time unit When translatory preferential weighting is selected the weighting as per the following table applies Weighting method Unit from S 0 0076 from S 0 0076 tor S 0 0161 ent S 0 0162 Weighting fac Weighting expo Preferential n weighting Translatory m s 2 1 0 001 mm s 2 Table 6 13 Preferential weighting of translatory acceleration data User Manual SERCOS lll ServoOne 30 6 3 2 Weighting of rotary acceleration data Rotary weighting is selected via S 0 0160 The significance of the LSB of the rotary ac celeration data is defined by the following equation Travel unit TTT LSB significance
59. nal generator output signal selector P 0 1502 Test signal generator number of cycles P 0 1503 Test signal generator offsets for rectangular wave var P 0 1504 Test signal generator times for rectangular waves S P 0 1505 Test signal generator amplitude of sinusoidal wave var P 0 1506 Test signal generator frequency of sinusoidal wave Hz P 0 1507 Test signal gen Initial phase for rotating current vector degree P 0 1508 Test signal generator PRBS minimum toggle time ms P 0 1509 Test signal generator PRBS signal amplitude var P 0 1515 Speed and position control dynamic stiffness P 0 1516 Total inertia of motor and plant kg m m P 0 1517 Autotuning for Jsum estimation control word P 0 1518 Autotuning Jsum hysteresis speed control speed limit rom P 0 1519 Autotuning for Jsum speed hysteresis control torque limit Nm N Tabelle 10 2 List of supported SERCOS parameters IDN Description Unit Write protection P 0 1520 Autotuning parameters for control and results P 0 1521 Mechanical system parameters Hz P 0 1522 Self commissioning and correlation results P 0 1530 Determination of default motor control settings P 0 1531 Self commissioning action selection P 0 2218 605AH DS402 quickstop option code P 0 2219 605BH DS402 shutdown option code P 0 2220 605CH DS402 disable operation option code P 0 2221 605DH DS402 halt option code P 0 2222 605EH DS402 f
60. naninnnono 46 8 2 1 Standard parameters ooooooococococcnnnnnnnnncnnnnnnoncnnnnnnnnnnnonononnnnnnnnnnnnnnnnnninonannnonos 46 8 2 2 Additional scope parameters oococccccnnnnccccncooncnnnnnnnnnnnnnonononnnnnnnnnnnnncnnonononononos 48 Internal o PPP taigisaetileddiones 49 User Manual SERCOS III ServoOne 6 PIO AIA N E E S E 51 A A A 53 10 1 Appendix A Parameter liSt oooocccccnnncccccccconncnnnncnnnnnnnononnnnnonononnnnnononononenoninenanans 53 10 1 1 SERCOS lll standard paraMeters ccccccncccnccnoocccnnnnnnnnnnnononnnnnnnnnnnnnanannnnnnnnninos 53 10 1 2 Manufacturer specific parameter ooocococcncncncncnnnnnnnnnnnononononononnnnnnonononononnnnos 56 l Safety 1 1 Measures for your safety The instructions set out below should be read through prior to initial commissioning in order to prevent injury and or damage to property The safety instructions must be fol lowed at all times 1 2 Read the Operation Manual first Read the Operation Manual first e Follow the safety instructions e Refer to the user information DANGER If it is necessary to access such areas suitability to do so must be determined beforehand by a doctor Your qualification e In order to prevent personal injury or damage to property only personnel with 0 electrical engineering qualifications may work on the device e The said qualified personnel must be familiar with the contents of the Operation Manual see IEC364 DIN VDEO100 e Kn
61. nd P 0 0105 Function of digital input ISD04 x X P 0 0154 DriveCom Timeout motor standstill ms P 0 0106 Function of digital input ISD05 X X P 0 0159 Motion control selection P 0 0107 Function of digital input ISDO6 X X P 0 0165 Motion profile selection P 0 0108 Function of digital input ISDSH X X P 0 0166 Motion profile jerk time ms P 0 0109 Function of analog input ISA00 x x P 0 0167 Motion profile speed override factor P 0 0110 Function of analog input ISAO1 x X P 0 0168 Motion profile jogging speeds P 0 0118 Digital inputs Filter time ms X X P 0 0213 Motor brake lift time ms P 0 0120 Input inversion ENPO O ISD00 05 1 6 SH 7 X X P 0 0214 Motor brake close time ms Brees P 0 0215 Motor brake torque rise time ms ieee tates or digital inputs i P 0 0216 Motor brake torque fade time ms eS JE oll eh ef el cu Can P 0 0217 Motor brake factor for application of last torque Ce A EAS a P 0 0218 Motor brake constant initial torque Nm ees sine On Gi eile Mel CLL suit SEE 2 P 0 0219 Motor brake torque sampled at last closing time Nm X X X P 0 0125 Function of motor break X13 X X P 0 0220 E ica A EE eDOCS SNL P 0 0239 Functional states of digital inputs X X X TOENE LOA LET OFSUDPONEA SENCO dei Tabelle 10 2 List of supported SERCOS parameters LT LUST User Manual SERCOS Ill ServoOne 55 User Manual SERCOS lll ServoOne 56 LT LUST Write protection Write protec
62. near or rotary axis and whether the torque data refers to the motor axis or directly to the load Click on the Next button to move on to the next window Here the scaling of the torque data is specified Normalization assistant Sercos acceleration unit 2 rotat E Accelesation unit 2 JJSERCOS Normalization assistant Sercos torque unit 2 rotational Torque unit 2 iil SERCOS interface interface Torque Force data scaling 2 Acceleration Jerk data scaling 2 Preferred scaling Preferred scaling Parameter scaling LSB weighting 1 v x E x Parameter scaling LSB weighting KE rad s rad s Figure 6 10 Scaling of torque power data Figure 6 11 Scaling of acceleration data Choose Preferential scaling to set the scaling to that defined by SERCOS and described Choose Preferential scaling to set the scaling to that defined by SERCOS and described in section 6 in section 6 Choose Parameter scaling to set a custom scaling of the torque data The scaling Choose Parameter scaling to set a custom scaling of the acceleration data The scaling shown in figure 6 10 would mean for example that the torque data of is transferred shown in figure 6 11 would mean for example that the acceleration data of is trans with a resolution of 0 01 Nm ferred with a resolution of 0 001 rad s 6 5 4 Scaling of acceleration data Click on the Acceleration unit button see figure 6 6 to access the accelera
63. ng via the user interface as described in the device Application Manual 3 2 Preconditions Commissioning sequence e The drive unit is wired as specified in the Operation Manual and initial commission ing is complete e f the motor is to be powered the hardware enable ENPO and STO Safe Torque Off must also be correctly configured NOTE For more detailed information on optimization of the software func gt tions and control circuits refer to the device application manual LT j ul m Action Check the wiring Make sure hardware en able ENPO X4 is not connected Comment Switch on the mains supply voltage Configure the drive unit using the Applica tion Manual Inputs outputs software functions Test the control quality and optimize the controller settings as necessary using the Operation Manual Set the communication parameters for the SERCOS III Test the drive on the higher order control ler see Application Manual Finally save the setting Save device setting Non volatile in device YUI NOTE On the subject of Units and scalings refer to Section 6 User Manual SERCOS Ill ServoOne 5 IET 3 3 Setting the slave bus address SERCOS parameter IDN S 0 1040 0 0 is used to set the bus address This parameter can be written using DriveMANAGER 5 The address setting must be unique meaning each ad dress may be
64. ngth of connection CP2 CP4 S 0 1050 x 6 Configuration list cles CPA S 0 1050 x 8 Connection control S 0 1050 x 10 Producer cycle time us CPs EPA S 0 1050 x 11 Allowed data losses S 0 1050 x 12 Error counter data losses Tabelle 10 1 Supported SERCOS standard parameters User Manual SERCOS III ServoOne 54 IDN Description Unit Write protection S 0 1050 x 20 IDN allocation of realtime bit S 0 1050 x 21 Bit allocation of realtime bit S 0 1051 Image of Connection control S 0 1300 x 1 Component name S 0 1300 x 2 Vendor name S 0 1300 x 3 Vendor code S 0 1300 x 4 Device name S 0 1300 x 5 Vendor device ID S 0 1301 GDP type and version S 0 1302 x 1 FSP type and version S 0 1302 x 2 Function groups Tabelle 10 1 10 1 2 Manufacturer specific parameters Supported SERCOS standard parameters Description Id of device family series Write protection P 0 0002 Device name product name P 0 0003 Application specific device name alias Total software version of device plain text P 0 0005 Device family name X X X P 0 0006 Total version number of device software X X X P 0 0008 Vendor name X X X P 0 0030 Programmable reaction in case of failure P 0 0034 Device warnings status word x x x P 0 0039 Device Error ID low word and Error Location high X X X word P 0 0040 Reset firmware X X Tabelle 10 2
65. nm xX X P 0 0560 ENC CH2 Number of pole pairs Resolver X X P 0 0561 ENC CH2 Signal correction type X X P 0 0562 ENC CH2 Signal correction values X X P 0 0563 ENC CH2 Encoder observation minimum sqrt a 2 b 2 x x P 0 0570 ENC CH3 Absolute position interface selection X X P 0 0571 ENC CH3 Index pulse signal test mode X X P 0 0572 ENC CH3 Number of lines SinCos TTL encoders X X P 0 0573 ENC CH3 Number of MultiTurn bits SSI absolute X X P 0 0574 ENC CH3 Number of SingleTurn bits SSI absolute x X Tabelle 10 2 List of supported SERCOS parameters Description CP2 CP4 P 0 0575 ENC CH3 Code selection SSI absolute position interface X X P 0 0577 ENC CH3 Encoder observation minimum sqrt a 2 b 2 X X P 0 0590 ENC Axis correction selection type X X P 0 0591 ENC Axis correction start position X X P 0 0592 ENC Axis correction end position x X P 0 0593 ENC Axis correction delta position X X P 0 0594 ENC Axis correction actual position value X X P 0 0595 ENC Axis correction position table for negative speed X X P 0 0596 ENC Axis correction position table for positive speed Xx X P 0 0610 ENC CH1 Nominal increment of reference marks Signal X X per P 0 0630 ENC CH3 Nominal increment of reference marks Signal X X per P 0 0742 Monitoring maximum position difference POS P 0 0744 Monitoring speed difference threshold rom P 0 1500 Test signal generator control word P 0 1501 Test sig
66. nnncocoss 12 Hardware enaDlE id 13 COMMISSIONING and CONTIQUratiON ooocccccnncccnonnnnnncccnonennnnnss 15 COMAMISSIONINO saeia a a ea a iaeei 15 COMMISSIONING SOQUENCB oooccccnnnccooocnnnnnnnnnonnnnnnnnnnonnnnnnonnnncnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnns 15 Setting the slave bus address ococcccccccnococcnncnnnnoncnnnnonnnnnononnnnnnnnnnnonnnnnnnnnnnnnnnnnnncnnnnons 16 Parameter A 17 Format of SERCOS parame tel rra a 17 41 1 Standard parameters S U XXKX XX nadia 17 4 1 2 Manufacturer specific parameters P O XXXX ooccccccccococonooocococonononononononinonnos 17 UT NN COS aot cists cele ttre tactics e OO ie tharsdeedadiaahaeebietactestsaanedakie 17 REE A enn eee ee eee ee eee ee 19 LT 5 5 1 52 5 3 6 1 6 2 6 3 6 4 DATO MAS ienaa a E E E E 21 COMICO AS rita iia N E FE iS E 21 Ea e EE E EE EEA 00 E A EE 21 5 2 1 Mapping of configurable real time data ooooncnncccccccccnononcnononononnncnnnnnnonononos 21 52 Dive control word 50201540 O oossoo nre i ii iaae 21 Bite DESCAPUON or Dits 1 Dresens ia td 22 D2 Drive status Word 5 0 0135 0 0 esca aos 23 5 259 Non contigurable real time data ooonocnnnncncccocococcncccnoncnononononononnnnnennnnnoninanon 24 Data transfer via the service channel SVC coooconccccnccconccnncccnnoncnononarcnnacinnononacinncnnns 24 Scaling and ClO WAG rre toa 27 Weighting Of position data ooooococccccconononononononoanana nono n rn nononnnnnannnnnnnnnnnn cnn nnnnnannnnnnno
67. ntroller enable signal bit 15 to be accepted that is for the drive to switch from the unpowered to the powered state the following conditions must be met e SERCOS interface ready and in communication phase 4 e Enable power pack via hardware ENPO and ISDSH and bit 14 in drive control word e Drive not in error state e Settings of relevant parameters P 0 0144 P 0 0159 and P 0 0165 Under these preconditions the drive shows device state 3 on the display The drive is activated by the change of state from O to 1 of bit 15 controller enable in the drive control word If the enable is successfully executed the display readout changes to 5 and the relevant bits in the drive status word The readiness of the control drive follows setpoints is mapped in the status word via bit 15 bit 14 and bit 3 Ideally the master control system reads the actual value while control is starting and presets it as the setpoint until the closed loop controller signals readiness in the status word If the drive moves while control is starting such as due to motor commutation finding by linear drives whereby the drive does not yet signal readiness drive state 4 the position changes are automatically adopted by the master control system Control systems which retrieve the current actual position only once prior to start of closed loop control and preset it as the setpoint and also do not update it even after commutation finding no evalu
68. nual SERCOS lll ServoOne velocity weighting Meth ooooooonccccnncccnoccnnnnncnnononnnnnconononnnnnncononenenoss 31 W Warning messages in state class 2 02D ooooonccccccncccnnccoccncncnococnncnononoss 33 Weighting of acceleration data cies desecincinindsidvehacdhslieicantatiedetaioataaetadadadss 2 Weighting of Torce dataci n inoa 30 Weighting OT poSon Galderse ninin ine AE ikonas tinai 33 Weighting of rotary acceleration data ooccccncccooncncnnncconoonnnnnnconononnnoss 34 Weighting OF rotary position data icsniossoaice silos cristo aicrddinadis 32 Weighting of rotary velocity data ccooooonnccccnnncooconnnnncononennnnnncnnonononoss 27 Weighting of torque and force data oooonnccccnncccoconcnnncnnnnennnnnncnnonnnnnnss 30 Weighting of tOrQque data ceases csncecionsicaseanmarah aamcingssednoncaceigabasacsieseonntents 30 62 LTi DRIVES LTI DRIVES GMBH LUST Gewerbestrasse 5 9 35633 Lahnau Germany Phone 49 0 6441 96 6 0 Fax 49 0 6441 96 6 137 Heinrich Hertz Strasse 18 59423 Unna Germany Phone 49 0 2303 77 9 0 Fax 49 0 2303 77 9 397 www t i com info It i com WE RESERVE THE RIGHT TO MAKE TECHNICAL CHANGES The content of our Operation Manual 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 produ
69. ol word S 0 0347 Velocity error Speed CP2 CP4 a o EIA S 0 0348 o a of S 0 1002 Communication cycle time us GPS ERA S 0 0359 A ne S 0 1003 Communication timeout for CP3 CP4 S 0 0372 Drive halt acceleration bipolar Acc See eS ign US ene ES 5 0 0380 monte V CP2 CP4 S 0 1007 Feedback acquisition capture point t4 Us Tabelle 10 1 Supported SERCOS standard parameters lapene 10 1 Supported SERCOS standard parameters LT LUST User Manual SERCOS Ill ServoOne 53 E o ET IDN Description Unit Write protection S 0 1009 Device control offset in MDT S 0 1010 Lengths of MDTs S 0 1011 Device status offset in DT S 0 1012 Lengths of DTs S 0 1013 SVC offset in MDT S 0 1014 SVC offset in DT S 0 1015 Ring delay us S 0 1016 Slave delay S 0 1017 NRT transmission time US Era pal S 0 1019 MAC address S 0 1020 IP address S 0 1021 Subnet mask S 0 1022 Gateway address S 0 1023 Sync jitter US S 0 1024 Sync delay measuring procedure command S 0 1026 Version of communication hardware 5 0 1028 Error counter MST P S S 0 1035 Error counter port 1 amp 2 S 0 1040 SERCOS address S 0 1044 Device control word S 0 1045 Device status word CP2 CP4 S 0 1050 x 1 Connection setup CPS CP4 S 0 1050 x 2 Connection number EPS EPA S 0 1050 x 3 Telegram assignment CP3 CP4 S 0 1050 x 4 Max length of connection CP2 CP4 S 0 1050 x 5 Actual le
70. osition delay in position control cycles CON_PConTS ms Tabelle 10 2 List of supported SERCOS parameters Write protection IDN Description Description P 0 0375 Speed feedforward scaling factor P 0 0457 Motor rated current A P 0 0376 Torque Force feedforward scaling factor P 0 0458 Motor rated speed rom P 0 0377 Feedforward signals enabled P 0 0459 Motor rated power kW P 0 0379 Feedforward calculation mode P 0 0460 Motor rated torque Nm P 0 0386 Friction compensation scaling factor P 0 0461 Motor inertia kg m m P 0 0400 Additional d current reference value A P 0 0462 Motor rated flux Vs P 0 0401 Additional torque force reference value Nm N P 0 0463 Motor number of pole pairs P 0 0402 Additional speed reference value without ramp 1 min P 0 0470 Motor stator resistance Ohm P 0 0404 Additional speed reference value with ramp 1 min P 0 0471 Motor stray stator inductance mH P 0 0405 Analog input O filter time ms P 0 0472 Q stator inductance variation in of MOT_Lsig P 0 0406 Analog input 1 filter time ms P 0 0473 Main inductancs vs Isd 0 1 Index LmagldMax mH P 0 0407 Analog input values filtered 10V gives 1 0 P 0 0474 LmagTable max magnetization current eff A P 0 0409 DC voltage filter time ms P 0 0475 Motor main inductance scaling factor P 0 0410 Actual DC l
71. owledge of national accident prevention regulations e g BGV A3 formerly VBG 4 in Germany Electric drives are dangerous e Electric voltages of 230 V to 480 V Dangerously high voltages of gt 50 V may still be present 10 minutes after the power is cut capacitor charge So check that the power has been cut Rotating parts Hot surfaces Protection against magnetic and or electromagnetic fields during installation and operation e Persons fitted with heart pacemakers metallic implants and hearing aids etc must not be allowed access to the following areas Areas where drive systems are installed repaired and operated Areas where motors are installed repaired and operated Motors with perma nent magnets pose a particular hazard Table 1 1 Safety instructions LT LUST During installation observe the following instructions e Always comply with the connection conditions and technical specifications e Comply with the standards for electrical installations such as regarding cable cross section PE conductor and ground connections e Do not touch electronic components and contacts electrostatic discharge may destroy components Table 1 1 Safety instructions 1 3 Introduction to the SERCOS lll interface SERCOS stands for SErial Realtime COmmunication System and is a globally standard ized IEC 61491 and EN61491 digital interface for communication between master con trol systems drive
72. pectively 7 1 7 Reference distance offset 1 2 The reference distance offset 1 2 S 0 0150 S 0 0151 describes the distance between the reference mark of the position encoder and the reference point The two parameters relate to SERCOS encoders 1 and 2 respectively 7 1 8 Reference cam limit switch The signal of the reference cam can be optionally linked to one of the digital inputs In puts ISDOO ISDO6 are available Depending on the method the limit switches can also be optionally used for homing User Manual SERCOS Ill ServoOne 3 LT LUST 7 1 9 Function selector digital inputs and outputs The inputs and outputs of the drive can be assigned various functions by way of so Called function selectors The inputs can also be filtered against bounce or inverted For more information on the digital and analog lOs please refer to the Application Manual e P 0 0100 Function selector ENPO e P 0 0101 Function selector ISDOO e P 0 0102 Function selector ISDO1 e P 0 0103 Function selector ISDO2 e P 0 0104 Function selector ISD03 e P 0 0105 Function selector ISDO4 e P 0 0106 Function selector ISDO5 e P 0 0107 Function selector ISDO6 e P 0 0108 Function selector ISDSH e P 0 0109 Function selector ISAOO e P 0 0110 Function selector ISAO1 e P 0 0118 Filter for digital inputs e P 0 0120 Inversion of digital inputs e P 0 0122 Function selector OSDOO e P 0 0123 Function selector OSDO1 e P 0 0124 Function selector OSDO
73. peed S 0 0159 Monitoring window Pos S 0 0160 Acceleration data scaling type CP3 CP4 S 0 0161 Acceleration data scaling factor GPS Cra S 0 0162 Acceleration data scaling exponent CP3 CP4 S 0 0169 Probe control S 0 0170 Probing cycle procedure command S 0 0179 Probe status CP2 CP4 S 0 0180 Spindle relative offset Pos S 0 0189 Following error Pos CP2 CP4 S 0 0192 IDN ist of all backup operation data CP2 CP4 S 0 0200 Amplifier warning temperature Temp S 0 0201 Motor warning temperature Temp S 0 0208 Temperature data scaling type S 0 0216 Switch parameter set procedure command CP3 CP4 S 0 0217 Parameter set preselection CP3 CP4 S 0 0222 Spindle positioning speed Speed S 0 0256 Multiplication factor 1 CP2 CP4 S 0 0257 Multiplication factor 2 CP2 CP4 S 0 0258 Target position Pos S 0 0259 Positioning velocity Speed S 0 0260 Positioning acceleration Acc Tabelle 10 1 Supported SERCOS standard parameters IDN Description Unit Write protection IDN Description Unit Write protection S 0 0261 Coarse position window CP3 CP4 S 0 0383 Motor temperature Temp CP2 CP4 S 0 0262 Load defaults procedure command Crs Cr S 0 0384 Amplifier temperature Temp CP2 CP4 S 0 0263 Load working memory procedure command CP3 CP4 S 0 0387 Power overload CP2 CP4 S 0 0264 Backup working memory procedure com S 0 0389
74. point actual and limit values are subject to the preset weighting If No weighting is selected via parameter S 0 0076 the weight ing factor and weighting exponent are irrelevant The position data is then subject to a differently defined weighting IDN Description S 0 0076 Weighting method for position data S 0 0077 Weighting factor for translatory position data S 0 0078 Weighting exponent for translatory position data S 0 0079 Rotary position resolution S 0 0103 Modulo value Table 6 1 Scaling parameters for position weighting LT LUST 6 1 1 Weighting of translatory position data Translatory weighting is selected via S 0 0076 The significance of the LSB of the transla tory position data is defined by the following equation LSB significance Unit S 0 0077 10 0 0078 When translatory preferential weighting is selected the weighting as per the following table applies Unit Unit from S 0 0076 Preferential weighting Weighting method from S 0 0076 Weighting fac Weighting expo tor S 0 0077 nent S 0 0078 Linear m 1 7 0 1 MD Table 6 2 Preferential weighting of translatory position data 6 1 2 Rotary weighting is selected via S 0 0076 The significance of the LSB of the rotary posi tion data is defined by the rotary position resolution S 0 0079 1 revolution 5 0 0079 Weighting of rotary position data LSB significance Unit When rotary preferential weig
75. possibilities offered by the line based on additional 1 Abbreviation 5 Abbreviations Explanation DT Drive Telegram Data from drive to master status actual values IDN Ident number S x yyyy or P x yyyy 32 bits are available to display a SERCOS III ident number MDT Master Data Telegram Data from the master to the drives control word setpoints MST Master Sync Telegram Provides us precise data synchronization of the drives by the time slot method SERCOS Standardized method of real time communication between master control systems and drives to DIN EN 61491 SVC service channel Subsidiary protocol in the telegrams Parameter values attributes scaling and names can be sequentially trans ferred Transfers can also be effected in parallel with the time critical cyclic data MDT DT in phases 3 and 4 The service channel provides services for operation mode recording param eter setting configuration and diagnosis Table 1 2 LUST Cyclic data LT Time synchronized transter of MDT DT as from phase 3 valid as from phase 4 Abbreviations User Manual SERCOS Ill ServoOne LUST LTi User Manual SERCOS lll ServoOne oy 2 Assembly and connection 2 1 Installation and wiring In contrast to the SERCOS II which used a fibre optic cable the connection between the master and slave with SERCOS Ill is made using standard Ethernet cables with RJ45 connectors
76. robe 1 enable is set to 0 In the operation datum only bit O is defined For more information see S O 0179 S 0 0411 Tabelle 7 1 MEASURED VALUE 2 POSITIVE RECORDED With this parameter the Measured value 2 positive recorded is assigned an IDN As a result Measured value 2 recorded positive can be assigned to a real time status bit S 0 0305 Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 2 enable signal S 0 0406 is set to 1 and the positive edge of touchprobe 2 S 0 0402 Is signalled At the same time the drive stores the actual position value to measured value 2 positively S 0 0132 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 2 enable is set to 0 In the operation datum only bit O is defined Description of parameters for the touchprobe function S 0 0412 Tabelle 7 1 LT LUST Parameter Description MEASURED VALUE 2 NEGATIVE RECORDED With this parameter the Measured value 2 negative recorded is assigned an IDN As a result Measured value 2 recorded negative can be assigned to a real time status bit S 0 0305 Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 2 enable signal S 0 0406 is set to 1 and the negative edge of touchprobe 2 S 0 0402 is signa
77. rol With the aid of this control word the master monitors the topol ogy of the slave and the loop The control word is mapped into parameter S 0 1044 0 0 For a detailed description refer to section 8 2 1 e Connection control The connection control word includes the real time control bits It is mapped for diagnostic purposes into parameters S 0 1050 0 8 and S 0 1050 1 8 which are described in more detail in section 8 2 1 The following data items are fixed components of the AT e Device status Here the slave reports its current topology or a detected loop break This status word is mapped into parameter S 0 1045 0 0 and is described in section 8 2 1 e Connection status Includes the real time status bits User Manual SERCOS lll ServoOne 24 5 3 Data transfer via the service channel SVC All S and P parameters can in principle be read via the service channel write access is possible only to non write protected parameters The service channel is initialized during the communication phase 1 CP1 and is active after the transition to CP2 Transfer via the service channel is handled bit by bit in segments in the MDT and in the DT and may extend over several bus cycles for each transferred element The SVC is controlled by way of the SVC control word The status of the SVC is displayed in the SVC status word Both status words can be displayed on the internal oscilloscope for diagnostic purposes For a detailed descriptio
78. s 27 6 1 1 Weighting of translatory position data ccccccccccccccccccncnnninnnnnnnnnnnnnoninononos 27 6 1 2 Weighting of rotary position Uata cccccccccccccccncnnnononononnnennnoninnnnnnnnnnininnnos 27 61 3 Modulo weighting ruscicroiia iii 29 GAA Position Polary sidonia da EEEE ANEREN a 29 Weighting of velocity data ooooooncniniconcnononccoccconnnnnnnnononnnnnnnnononnnnnnnnnnnnnnnnnnnnnnnnninenenos 30 6 2 1 Weighting of translatory velocity data ccccccccccccccococononononnnonennnnnnnininoos 30 6 2 2 Weighting of rotary velocity data ooccccccccccccocccinononenonenenenenononeninininininess 30 6 2 3 Speed polarity rociar idad eats shentdnenhelvabdonnsiimadene 31 Weighting of acceleration data oooncncniconococcnonononnnnnnnnnonononononnnnnnnnnnnnnininnnonininineninos 32 6 3 1 Weighting of translatory acceleration data ccccccccccccccccnccnccnnnncnnnineninnnoos 32 6 3 2 Weighting of rotary acceleration data cccccccccccccccnnconononnnnnnnnnonnnnnnninnnoos 32 Weighting of torque and force data ooocccococicococinnnnnononononononnnnnininininininnnonininininenenos 33 6 4 1 Percentage weighting of torque and force data ccccccccccccococoncccncncnnnanononos 33 6 4 2 Weig ting of forc Da reaciaiaicia iia adyataodisote 33 6 4 3 Weighting Of torque data cocccccncnccccnoconnnnnnnnnnnnninininenonnnonnnonnnininininininininnss 34 64A Torgue Oa PPOOOOUOO 0O0ODDUXEMPIES A nis asieusaanttiooles 34
79. st be 1 meaning structure instance 1 would be the producer instance So according to this example the parameter structure S 0 1050 0 20 is a consumer instance Multiple consumers per connection are permitted The ServoOne supports a connection with one producer and a maximum of one consumer LT LUST 4 1 1 Standard parameters S 0 xxxx x x All standard parameters supported by the ServoOne are mapped as LTi parameters However the expansion in SERCOS lll parameter numbers mentioned previously means that consecutive addressing of the LTi parameters could not be retained Only the pa rameters already existing previously in the parameter set as SERCOS II parameters retain their addressing SERCOS Idn LTi ID 10000 All SERCOS Ill specitic parameters as from LTi parameter number 11000 and 20000 are Stored in the parameter set of the ServoOne 4 1 2 Manufacturer specific parameters P 0 xxxx All manufacturer specific parameters are to be found in list S O 1017 0 0 with an offset of 8000 hex from the LTi parameter number So LTi parameter 107 function selector ISD06 for example is to be found in the list of all available parameters S 0 1017 0 0 under number 32875 This parameter is addressed by way of its LTi parameter number in this case P 0 0107 4 2 Operation modes The operation modes selectable in the master control word and displayed in the drive status word conforming to the SERCOS specification are code
80. tion IDN Description CP2 CP3 CP4 P 0 0283 Factor group Type selection DS402 0 SERCOS 1 x X USER 2 P 0 0284 Unit for position values Xx X P 0 0287 Unit for speed values X X P 0 0290 Unit for acceleration and deceleration values X X P 0 0293 Unit for torque values X X P 0 0300 Select control mode P 0 0301 Mode selection of setpoint profiling P 0 0302 Switching frequency x x P 0 0303 Current control sampling time ms X X X P 0 0304 Speed control sampling time ms X X X P 0 0305 Position control sampling time ms X X X P 0 0306 Sampling time for interpolation ms X X X P 0 0307 Voltage supply mode must be set correctly X X P 0 0310 Current control gain V A P 0 0311 Current control integration time constant ms P 0 0312 Actual motor voltage rms phase to phase x X x P 0 0313 VF control boost voltage at zero frequency P 0 0314 VF control nominal frequency HZ P 0 0315 VF control voltage at nominal frequency V P 0 0320 Speed control gain Nm rpm P 0 0321 Speed control integration time constant ms P 0 0322 Speed control gain scaling factor P 0 0323 Advanced control structure gains P 0 0324 Advanced control structure filtering P 0 0325 Filter frequencies of digital filter Hz X X P 0 0326 Digital filter design assistant P 0 0327 Coefficients of digital filter P 0 0328 Speed control maximum speed
81. tion data scaling In the first acceleration unit scaling window you must first select the scaling method and the data reference see figure 6 7 That is to say you must specify whether the application relates to a linear or rotary axis and whether the acceleration data refers to the motor axis or directly to the load Click on the Next button to move on to the next window Here the scaling of the acceleration data is specified LT User Manual SERCOS Ill ServoOne 55 LUST LUST LTi User Manual SERCOS lll ServoOne eH 7 Functionality 71 Homing 7 1 1 Drive controlled homing command To create the distance setpoint when using relative encoder systems command S 0 0148 Drive controlled homing must be used As soon as this command has been set and enabled by the master the drive moves in position control mode with an internal profile generator taking into account S 0 0041 Homing velocity 1 Move and wait for reference cam and PA 0 3031 Homing velocity 2 Find zero point in zero approach run as well as S 0 0042 Homing acceleration according to the strategy defined in PA 0 2261 Homing method The status Encoder system home in parameter S 0 0403 Actual position status is cleared when homing starts if previously set and is reset once homing has completed successfully For more information on homing and the available methods please refer to the Ser voOne Application Manual
82. topology 13 12 Topology status e 00 Fast forward at both ports e 01 Loop back amp forward of P telegrams e 10 Loop back amp forward of S telegrams e 11 NRT mode 11 10 Status at inactive port e 00 No link at inactive port e 01 Link at inactive port e 10 P telegram at inactive port e 11 S telegram at inactive port 9 Connection error 8 Slave data valid 0 during phase change 7 6 Reserved 5 Bit status command 4 Parameterization level 3 0 Reserved Tabelle 8 5 Device Status The Connection Control Word Is also a fixed element of the MDT The parameter de scribed here is a map of the Connection Control Word and is used only for diagnostic purposes Bit no Description 15 8 Reserved 7 Real time bit 1 6 Real time bit 2 5 4 Reserved 3 Synchronous with cycle time 2 Delayed data transfer 1 Toggle bit new data available toggles with each bus cycle 0 Producer ready Tabelle 8 6 Connection Control User Manual SERCOS Ill ServoOne 45 LT LUST 8 2 2 Additional scope parameters In addition to the standard parameters for the oscilloscope another field parameter COM_SERIII_ScopeVars is available containing 10 indices important for diagnosis This parameter has the number 22000 Using the parameter indices the following variables can be displayed on the oscillo scope e Index 0 COM_SERIIl State Status of the internal state machine on
83. ulti axis synchronization between reference action times and actual value meas e SERCOS Parameter V1 1 1 0 SERCOS International urement times of all drives in the loop Full synchronization of all connected drives with the master control system Free configuration of telegram content e Maximum configurable data volume in MDT 20 bytes e Maximum configurable data volume in DT 20 bytes e Programmable parameter weighting and polarity for position velocity acceleration and torque Additive velocity and torque references Fine interpolation linear or cubic inside the drive Optionally master control side external or in drive generation of rotation speed and acceleration pre control Service channel for parameter setting and diagnosis e Support for touch probes 1 and 2 e Support for spindle commands e Support for configurable real time status and control bits Figure 1 1 LTi SERCOS Ill communication module for ServoOne e Support for configurable signal status and control word The power supply to the communication module is provided by the ServoOne Real time capability permits highly dynamic drive engineering applications with NC cycle times of 125us to 65 ms multiples of 125us The data to be transferred is defined in the SERCOS driver in numerous preference telegrams and parameters They are specially tailored to the high demands of electric drive systems A freely configurable telegram permits optimum utilization of all the
84. units and other distributed peripherals The real time critical transfer of setpoints and actual values enables numerically controlled high performance drive applications to be implemented in the engineering industry Services are also provided for operation mode recording parameter setting configura tion and diagnosis The SERCOS lll communication module for the ServoOne is executed as an interface with two RJ45 sockets and so permits a loop or linear structure The hardware and software have as far as possible been developed in conformance to DIN EN 61491 The basis for SERCOS Ill implementation in the ServoOne is the specifica tion V1 1 1 from SERCOS International User Manual SERCOS Ill ServoOne 7 in LT User Manual SERCOS III ServoOne 8 3 fl Further documentation setpoint and actual value parameters such as increasing the transferred position resolu tion use of the inouts and outputs in the drive in the NC cycle and much more e ServoOne User Manual p p y e ServoOne Application Manual e General Overview and architecture V1 1 1 1 SERCOS International 1 4 Key features e Generic Device profile V1 1 0 6 SERCOS International e SERCOS Communication V1 1 1 5 SERCOS International e Function specific profile drives V1 1 2 11 SERCOS International e Cyclic data exchange of references and actual values with exact time equidistance SERCOS cycle time of 125us to 65 ms multiples of 125us programmable M
85. used only once in a SERCOS loop SERCOS lll also supports automatic slave addressing If you enter the address 0 for all the slaves in a loop in IDN S 1040 0 0 the addressing is executed automatically by the master on bus startup provided the master supports that mode of addressing User Manual SERCOS lll ServoOne 4 Parameter setting 4 1 Format of SERCOS lll parameters The SERCOS Ill parameter numbers have been extended from SERCOS ll to a length of 32 bits A standard parameter now has the following format S lt DataSet gt lt IdNr gt lt Sl gt lt SE gt Key to abbreviations e S Standard parameter e DataSet Number of the data set currently only data set O is supported IdNr SERCOS ident number e Sl Structure instance e SE Structure element In a connection between master and slave there Is always a producer and at least one consumer The producer connection is the one from the master to the slave and the consumer from the slave to the master The connections are represented within the parameter numbers by SI structure instance Which instance is configured as the producer and which as the consumer is indicated by parameter S 0 1050 x 1 to be found under device parameter 21050 in DriveMa NAGER 5 Bit 14 of that parameter defines the connection method If for example in parameter S 0 1050 0 1 bit 14 O structure instance O Is the consumer instance So bit 14 in parameter S 0 1050 1 1 mu

ServoOne User Manual SERCOS III

Contents

Download Pdf Manuals

Related Search

Related Contents