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User Manual AC Servo Controller YukonDrive® Sercos II and III

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1. IDN Description Unit Write protection S 0 0011 Class 1 diagnostic C1D CP2 CP4 5 0 0012 Class 2 diagnostic C2D CP2 CP4 S 0 0014 Interface status CP2 CP4 5 0 0015 Telegram type CP3 CP4 5 0 0017 IDN list of all operation data CP2 CP4 S 0 0021 IDN list of invalid operation data for CP2 CP2 CP4 5 0 0022 IDN list of invalid operation data for CP3 CP2 CP4 S 0 0026 Configuration list for signal status word S 0 0027 Configuration list for signal control word 5 0 0032 Primary operation mode CP4 S 0 0033 Secondary operation model CPA 5 0 0034 Secondary operation mode2 CP4 S 0 0035 Secondary operation mode3 cP4 5 0 0036 Velocity command value Speed 5 0 0037 Additive velocity command value Speed 5 0 0038 Positive velocity limit value Speed S 0 0039 Negative velocity limit value Speed S 0 0040 Velocity feedback value 1 Speed CP2 CP4 S 0 0041 Homing velocity Speed 5 0 0042 Homing acceleration ACC S 0 0043 Velocity polarity parameter CP3 CP4 S 0 0044 Velocity data scaling type CP3 CP4 S 0 0045 Velocity data scaling factor CP3 CP4 S 0 0046 Velocity data scaling exponent CP3 CP4 5 0 0047 Position command value Pos S 0 0049 Positive position limit value CP3 CP4 S 0 0050 Negative position limit value CP3 CP4 S 0 0051 Position feedback value 1 CP3 CP4 5 0 0052 Reference distance 1 Torque S 0 0053 Position feedback value 2 Torque 49 Table 50 1 Supported SERCOS standard parameters
2. S 0 0076 bit 3 S 0 0076 bit 4 S 0 0076 bit 0 2 S 0 0076 bit 6 Load motor Weighting position data S 0 0076 Rotational Load motor Preferrential Parameter weighting weighting Load motor Parameter weighting Preferrential weighting IST LSB Resolution LSB LSB 10 m Variable 3600000 Variable 5 0 0077 L98 0 0001 S 0 0078 Degree S 0 0079 6 1 3 Modulo Weighting If modulo weighting is preset via parameter S 0 0076 Position weighting parameters S 0 0103 Modulo va lue 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 Table 24 2 Scaling parameters for position weighting Parameter Description MODULO VALUE 5 0 0103 When modulo format is preset in the position weighting method S 0 0076 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 5 0 0294 If the modulo value S 0 0103 does not match the physical modulo value it can be corrected by the divisor 24 S 0 0294 The effective modulo value is the product of S O 0103 and S 0 0294 A value of 1 renders the modulo value divisor parameter ineffective 5 1 4 Position polarity
3. 8 In event of an error alternating display 8 Device in reset state 0 Self initialization on device startup Start ji Not ready no DC link voltage NotReadyToSwitchOn Switch on disabled DC link OK power stage not 2 SwitchOnDisabled ready 3 Ready power stage ready ReadyToSwitchOn 4 On device powered up SwitchedOn Drive ready power applied to drive and drive ready Es OperationEnable for setpoint input 6 Quick stop QuickStopActive y Error response activ FaultReactionActive R Errors see below Fault X R Display for errors or non resettable errors Y Error number decimal Y Description of error decimal S flashes when the STO Safe Torque Off function is active no display when function is inactive Nota The di Examp Safe indication as specified in EN 61800 5 2 ot flashes when the power stage is active Table 9 2 le of flash sequence ER gt 02 gt 05 ER gt 02 gt 05 Error ER Error Error name 02 Error in parameter list Description of error 05 Check of current parameter list values 2 5 Hardware enable The Yu figured konDrive has a control input to the hardware enable ENPO on the control terminal This input must be con for operation of the power stage at 24 V The device additionally features the STO Safe Torque Off function for details refer to documentation no 100 7417 category
4. 81 3 Interface diagnosis Telegram failure and error counter Diagnosis using the internal oscilloscope 8 21 Standard parameters 8 2 2 Standard parameters Internal errorlisty cos eia ib EOSDEBET DEGREE tlc tek tnn REGE PHA RARI td I eh cdd Appendix Glossary Appendix A Parameterlist 911 SERCOS III standard parameters 93 2 Manufacturer specific parameters This manual is intended for you as a project engineer commissioning engineer or programmer 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 re levant literature We assume your drive is already in operation If it is not you should put it into operation as described in the YukonDrive Operation Manual This manual applies to the YukonDrive position controller system with the SERCOS III option board 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 infor mation 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 harmonicdrive de for details of the latest versions 06 2015 1003378 3 1 Safety 11 Measures for yo
5. 06 2015 1003378 NJ N The following diagram shows the various velocity weighting options Illustration 281 Diagram of velocity weighting methods Weighting velocity data S 0 0044 S 0 0044 bit 0 2 Rotational S 0 0044 bit 6 Load motor Load motor Load motor S 0 0044 Preferred Parameter Preferred Parameter bit 3 weighting weighting weighting weighting ewe wes Mc CH LSB pras Pal ei LSB RM Variable a Variable S 0 0045 S 0 0045 S 0 0046 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 controlled system but outside of it at the input and out put A positive velocity setpoint difference with non inverted polarity means the direction of rotation is clockwise looking at the motor shaft 28 Table 291 Setting of speed polarity via parameter 5 0 0043 Bit 0 Velocity setpoint 0 Not inverted 1 Inverted Bit1 Additive velocity setpoint 0 Not inverted 1 Inverted Bit 2 Actual velocity 1 0 Not inverted 1 Inverted Bit3 Actual velocity 2 0 Not inverted 1 Inverted Bit4 15 Reserved 6 3 Weighting of acceleration data The acceleration weighting is defined by the parameters listed in 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 sel
6. Warning Manufacturer specific warning Reserved Target position outside positioning range Communication warning Excessive velocity deviation Reserved Bus undervoltage warning Reserved Overcurrent Positioning velocity gt nLimit Reserved Cooling error warning Motor overheating warning Amplifier overheating warning Overload warning Bit 0 warning not active Bit 1 warning active 06 2015 10 43 8 1 3 Interface diagnosis Using parameter S 0 0014 0 0 the status of the interface and the current communication phase can be monitored If an error is set in the interface status the communication error in C1D 5 0 0011 is reset Setting 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 O when there are no more interface errors occurring and the Reset state class 1 command S 0 099 has been received by the drive over the service channel Table 441 Interface status Bit no Description 15 14 Reserved 13 Phase change without CPS bit only SERCOS III 12 Timeout on phase change only SERCOS III T IPO sync error only SERCOS II 10 Drives with same address in loop only SERCOS II is Switch to non initialized mode 8 Phase change without ready message 7 Error in phase fa
7. IDN Description Unit Write protection S 0 0054 Reference distance 2 Pos 5 0 0055 Position polarity parameter CP3 CP4 S 0 0057 Position window for target reached status POS 5 0 0076 Position data scaling type CP3 CP4 5 0 0077 Linear position data scaling factor CP3 CP4 5 0 0078 Linear position data scaling exponent CP3 CP4 5 0 0079 Rotational position resolution CP3 CP4 S 0 0080 Torque command value Torque 5 0 0081 Additive torque command value Torque 5 0 0082 Positive torque limit value Torque 5 0 0083 Negative torque limit value Torque S 0 0084 Torque feedback value Torque CP2 CP4 5 0 0085 Torque polarity parameter CP3 CP4 S 0 0086 Torque force data scaling type CP3 CP4 S 0 0091 Bipolar velocity limit value Speed 5 0 0092 Bipolar torque limit value Torque S 0 0093 Torque force data scaling factor CP3 CP4 5 0 0094 Torque force data scaling exponent CP3 CP4 5 0 0095 Diagnostic message CP2 CP4 5 0 0097 Mask class 2 diagnostic 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 CP4 S 0 0104 Position loop KV factor 1000 min 5 0 0106 Current loop proportional gain 1 V A S 0 0107 Current loop integral action time us S 0 0108 Feedrate overridev S 0 0110 Amplifier peak current mA CP2 CP4 S 0 0112 Amplifier rated current A CP2 CP4 S 0 0113 Maximum motor speed Rev min S 0 0114 Load
8. Park axis command S 0 0148 Drive guided homing 5 0 0152 Position spindle command 5 0 0170 Iouchprobe command S 0 0191 Clear reference point command 5 0 0216 Switch parameter set command S 0 0262 Parameter initialization to default values command 5 0 0263 Parameter initialization to backup values command S 0 0264 Save current parameter values command 5 0 0447 Set absolute position command 5 0 1024 Measure synchronous delay 20 1003378 06 2015 5 4 IP channel The IP or NRT channel is used primarily for diagnostic purposes By way of the IP channel it is possible to access all the slaves in a SERCOS Ill loop using Drive Manager This can be done in NRT mode directly with a notebook or PC connected to the free port of the last slave In cyclic mode CP3 CP4 a notebook or PC in a SERCOS loop or line is not permitted In this case IP communication is only possible via the master provided it supports the IP channel The preconditions for this are that the IP channel has been correctly parameterized by the master and the correct IP address has been set on all slaves 5 4 1 Parameter setting Table 211 Parameter setting Parameter Description 5 0 1017 NRT channel transmission time 5 0 1019 MAC address S 0 1020 SERCOS III IP adress S 0 1021 Subnet mask 5 0 1022 Gateway To be able to use the IP channel the master must write to parameter S x 1017 NRT transmissi
9. User Manual AC Servo Controller YukonDrive Sercos Il and II QUICKLINK www harmonicdrive de 1100 Inhalt f 11 12 24 2 2 2 3 2 4 2 5 341 3 2 3 3 41 4 2 4 3 51 5 2 5 4 6 2 6 3 Ed Sector ete te va tres E res cence caplet ale A veda taconite Uncen een ee easures for your safety Introduction SERCOS interface 123 Intendend use 12 2 Detailed documentation eyfeatures Assemb ANG COMMGCTIO Ml er M 7 Installation and wiring Pin assignment of the RJ 45 socket Meaning of LEDs Indication of operating states on 7 segment display sia Fea eA I u lul eom 9 Commissioning and configuration Commissioning Commissioning sequence Setting the slave bus adress Parameter setting Format of SERCOS Ill parameters 411 Standard parameters S O xxxx x x 41 2 Manufacturer specific parameters P xxxx Operation modes Real time bits Baraan NI E EOS Communication phases Cyclic data transfer 5 21 Mapping of configurable real time data 5 2 2 Drive control word S 0 0134 0 0 5 2 3 Description of bits 3 15 5 2 4 Drive status word S 0 0135 0 0 5 2 5 Non configurable real time data IP channel 5 41 Parameter setting m 547 SERCOS M IP adress e tI eR po EE E OA A AA Scaling and weighting Weighting of position data 6 11 Weighting of translatory position data 6 1 2 Weighting of rotary ve
10. force weighting IDN Description S 0 0086 Weighting method for torque force data S 0 0093 Weighting factor for torque force data S 0 0094 Weighting exponent for torque force data 6 4 1 Percentage weighting of torque and force data The percentage weighting is set via the weighting method S 0 0086 No other parameters are required In per centage weighting the permanently permissible standstill torque of the motor S 0 0111 is used as the reference value All torque force data is given in 9o with one decimal place 6 4 2 Weighting of force data The weighting of force data is set via parameter S 0 0086 The significance of the LSB of the force data is defi ned by the following equation LSB significance Unit S 0 0093 1057054 When preferential force weighting is selected the weighting as per the following table applies Table 31 3 Preferential weighting of force data Weighting method Unit Weighting factor Weighting exponent Preferential weighting from S 0 0086 from S 0 0086 5 0 0093 5 0 0094 t N 1 0 1N 6 4 3 Weighting of torque data 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 105 0 2094 When preferential force weighting is selected the weighting as per the following table applies 06 2015 1003378 31 Table 321 Preferential weighting of force data Weig
11. 0 Handshake bit in the DT Index 6 COM_SER cycle The individua l TG Status PO Telegram status register at port P bits have the following meanings Table 473 Telegram status Bit no Description 31 12 Reserved not displayed n One off MST failure 10 MST outside time window 9 Not displayed 8 Valid MST zie Valid DT3 Bit7 ATO Bit 4 3 0 Valid MDT3 Bit 3 MDTO Bit 0 06 2015 1003378 Rill_ScopeVars is e status should P4 5 NRT ion board 1 in the Service in the Service 0 The register is updated with each bus 47 ndex7 COM SERIII TG Status P1 Telegram status register at port P1 The register is updated with each bus cycle Meanings of the individual bits as for index 6 Index 8 COM SERIII MDT Cnt Counter for all received MDTs must be incremented by 1 with each bus cycle and have the same value as index 9 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 Index10 COM SERIII PHASESR Status register of the communication phases The register is used to control the phase run up The register is updated with each bus cycle The individual bits have the following meanings Table 481 Communication status register Bit no Description 31 16 Reserved Phase change bit Port 2 15 0 No Phase change active 1 Phase change active 14 12 Reserved not displayed 171 8 Cur
12. Next button to move on to the next window Here the scaling of the torque data is specified 06 2015 1003378 35 Illustration 361 Scaling of torque power data Normalization assistant Sercos torque unit 2 rotational amp Torque unit 2 lil SERCOS interface Torque Force data scaling 2 Preferred scaling 9 Parameter scaling LSBweighting 1 v X E 2 v X Nm lt lt Back Continue gt gt Close 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 torque data The scaling shown in illustration 36 1 would mean for example that the torque data of is transferred with a resolution of 0 01 Nm 6 5 4 Scaling of acceleration data Click on the Acceleration unit button see illustration 33 2 to access the acceleration data scaling In the first acceleration unit scaling window you must first select the scaling method and the data reference That is to say you must specify whether the application relates to a linear or rotary axis and whether the accelera tion 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 Illustration 36 2 Scaling of acceleration data Normalization assistant Sercos acceleration unit 2 rotat iE Acceleration unit 2 SERCOS i
13. P 0303 Current control sampling time ms x x x P0304 Speed control sampling time ms x x x P 0305 Position control sampling time ms x x x P 0306 Sampling time for interpolation ms x x x P 0307 Voltage supply mode must be set correctly x x P0310 Current control gain V A P0311 Current control integration time constant ms P 0312 Actual motor voltage rms phase to phase V x x x P 0313 VF control boost voltage at zero frequency V P0314 VF control nominal frequency Hz P 0315 VF control voltage at nominal frequency V P 0320 Speed control gain Nm rpm P 0321 Speed control integration time constant ms P 0322 Speed control gain scaling factor P 0323 Advanced control structure gains P 0324 Advanced control structure filtering P 0325 Filter frequencies of digital filter Hz x x P 0326 Digital filter design assistant P 0327 Coefficients of digital filter P 0328 Speed control maximum speed 96 P 0329 Motor torque scaling of limits 96 P 0330 Motor torque scaling of negative limit 96 P 0331 Motor torque scaling of positive limit 96 P 0332 Motor torque scaling online factor 96 P 0333 Motor speed scaling of negative limit 96 P0334 Motor speed scaling of positive limit P0335 Direction lock for speed reference value P 0336 Adaptation of speed control gain at zero speed x Do P 0337 Motor speed scaling 96 P0340 Magnetization current r m s A 57 Table 581 List of supported SERCOS parameters Write protection IDN Description Unit
14. 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 Note If the E Swi Shutd NPO and ISDSH inputs are not configured the device remains in state 1 Not Ready to Switch On or 2 ch On Disabled Only when the configuration has been correctly wired the state can be quit by way of a own command over bus 3 Commissionine and confieuration 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 commissioning via the user interface as described in the device Application Manual 3 2 Commissioning sequence Preconditions The drive unit is wired as specified in the Operating Manual and initial commissioning is complete 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 functions and control circuits refer to the device application manual Table 10 1 Step Action Comment 1 Check the wiring Make sure hardware enable ENPO X4 is not connected 2 Switch on the mains supply voltage 3 Configure the drive unit usin
15. 3056 3 Spline Interpolation Calculation of position rotation speed and torque 4 Splinell 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 3100 for the position S 0 0047 can be transferred To use the higher resolution the advanced pre control mode P 0379 1 must be selected The advanced pre control mode P 0379 can deliver an improvement in pre control signals even without calculating P 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 YukonDrive Operation Manual 06 2015 1003378 13 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 configurable part of the real time data These real time bits are configured using parameters S 0 1050 x 20 IDN assignment to real time bit IDN of the parameter to be assigned to the real time bit concerned 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 3003 Real time control bits or P 3002 Real time status bits can be assigned Lists P 3002 and P 3003 are described in th
16. Auto start of system P 0145 DriveCom Quick stop check in shut down command P0146 DriveCom Quick stop check in ReadyToSwitchOn P 0147 DriveCom Check EnablePower false for ENPO over ENMO P0148 DriveCom Timeout in RdyToSwitchOn to enable motor switch ms P 0149 DriveCom Start initialisisation of system parameter P 0152 DriveCom actual state description x x x P 0153 DrvCom fault reset command P0154 DriveCom Timeout motor standstill ms P 0159 Motion control selection P 0165 Motion profile selection P 0166 Motion profile jerk time ms P 0167 Motion profile speed override factor 96 P 0168 Motion profile jogging speeds P 0213 Motor brake lift time ms P0214 Motor brake close time ms P 0215 Motor brake torque rise time ms P 0216 Motor brake torque fade time ms P0217 Motor brake factor for application of last torque 96 P 0218 Motor brake constant initial torque Nm P 0219 Motor brake torque sampled at last closing time Nm x x x P0220 lock brake P0239 Functional states of digital inputs x x ie P0283 Factor group Type selection DS402 0 SERCOS 1 USER 2 x x P0284 Unit for position values x x P 0287 Unit for speed values x X 56 Table 571 List of supported SERCOS parameters Write protection IDN Description Unit CP2 CP3 CP4 P 0290 Unit for acceleration and deceleration values k x P 0293 Unit for torque values x x P 0300 Select control mode P 0301 Mode selection of setpoint profiling P 0302 Switching frequency x x
17. control side external or in drive generation of rotation speed and acceleration pre control Service channel for parameter setting and diagnosis Support for touch probes 1 and 2 Support for spindle commands Support for configurable real time status and control bits Support for configurable signal status and control word The SERCOS IIl communication module for the YukonDrive 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 III implementation in the YukonDrive is the specification V1 1 1 from SERCOS International 2 Assembly and connection 24 Installation and wiring In contrast to the SERCOS II which used a fibre optic cable the connection between the master and slave with SERCOS III is made using standard Ethernet cables with RJ45 connectors The SERCOS III 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 connecting cables Illustration 71 SERCOS III linear structure Line YukonDrive YukonDrive YukonDrive P1 P2 P1 P2 P1 P2 Illustration 72 SERCOS III Ringstruktur Master P1 P2 Loop YukonDrive YukonDrive YukonDrive P1 P2 P1 P2 P2 P1 The loop structure should be selected whenever possible as i
18. disable operation option code 61 Table 621 List of supported SERCOS parameters Write protection IDN Description Unit CP2 CP3 CPA P2221 605DH DS402 halt option code P2222 605EH DS402 fault reaction option code P 2261 6098H DS402 homing method P 3000 SERCOS Address P 3001 IDN list with logon errors at SERCOS parameter manager x Do D P 3002 IDN list of all data with real time status support x x x P 3003 IDN list of all data with real time control support De x x P3004 Maximum transmission power P 3005 Speed acceleration ACC P 3006 Speed deceleration ACC P 3007 Actual value of I2t integrator for motor protection x x x P 3030 Drive controlled homing offset procedure command P 3031 Homing velocity in search of index pulse SPEED P3054 Gain external feed forward signals x x P3055 External speed feed forward signal puc P 3056 External acceleration feed forward signal bond P 3100 Expanded position command value for Pico Interpolation 62 00 6 2015 Germany Harmonic Drive AG Hoenbergstrafe 14 65555 Limburg Lahn T 49 6431 5008 0 F 49 6431 5008 119 info harmonicdrive de www harmonicdrive de Subject to technical changes 1003378 06 2015
19. divided into six phases As long as the slave is receiving no SERCOS telegram it is in the NRT Non Realtime phase Communication phases 0 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 ScopeVars index 1 5 2 Cyclic data transfers 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 parameters have been mapped into the MDT and DT Generally not all parameters can be transferred as real time
20. drive control with parameter P 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 06 2015 1003378 7 This function also depends on the configuration of P 0743 maximum tracking error P0743 equal to 0 Position tracking error OFF The drive switches on without correction and feeds the position setpoint of the NC directly onto the controller The drive moves to the target position with a jerk as necessary Major differences end in a speed tracking error depending on the parameter setting A jerky axis motion is the consequence P0743 not equal to 0 Position tracking error ON The drive reads the target position of the master control system and moves under drive control to that position position correction If the difference between the position specified by the control system and the actual position is ereater than the tracking error P 0743 the drive switches to an error state now without moving no major axis motion Otherwise the drive corrects the difference with the slow jog rate P 0168 1 and the acceleration from P 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 Important With the scaling the ramp setting which
21. hardware ENPO and ISDSH and bit 14 in drive control word Drive not in error state Settings of relevant parameters P 0144 P 0159 and P 0165 c nder these preconditions the drive shows device state 3 on the display The drive is activated by the change of tate from 0 to 1 of bit 15 controller enable in the drive control word If the enable is successfully executed the isplay readout changes to 5 and the relevant bits in the drive status word aun 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 pre set it as the setpoint and also do not update it even after commutation finding no evaluation of status word will feed forward a setpoint difference 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 system at start of control under
22. settings On switching from 1to O the drive stops according to the setting of P 2221 and taking into account the last active acceleration by default according to acceleration 13 parameter P 2242 and remains under control only possible if bits 14 and 15 1 and with an appropriate setting of P 2221 1 Drive start On switching from 0 to 1the 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 Toggle bit New setpoints nN 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 Specified operation mode 000 Primary mode defined in S 0 0032 0 0 001 Secondary mode defined in S O 0033 0 0 010 Secondary mode 2 defined in S 0 0034 0 0 10 8 011 Secondary mode 3 defined in S 0 0035 0 0 100 Secondary mode 4 not supported 101 Secondary mode 5 not supported 110 Secondary mode 6 not supported 111 Secondary mode 7 not supported 7 0 Reserved 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 operation of the power stage at 24 V The device additionally features the STO Safe Torque Off function category 3 via control input X4 2
23. the system accesses must also be set correctly and to reasonable values This involves the parameters P2242 Quick stop This is applied in the event of an error depending on the configuration P 0168 Jog index 0 Joe rate rapid index 1 Joe rate slow The position correction described above may take a very long time at a very slow jog rate or may even not take place at all such as if P 0168 1 O In this case the drive would remain in system state 4 as the setpoint cannot be attained Bit 13 Drive HALT feed hold 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 18 1003378 06 2015 5 2 4 Drive status word S 0 0135 0 0 The drive status word contains all the key status information of the drive and must be mapped into the cyclic part of the DT Table 191 Drive status word S 0 0135 Bit no Description 15 14 13 12 1 10 8 06 2015 100 Ready to start 00 Drive not ready to power up as internal checks have not yet completed successfully 01 Drive ready to power up 10 Drive control unit ready and power supply on drive is torque free and power stage is disabled 11 Drive ready Drive enable set and effective power stage active Error in C1D S 0 0011 0 0 0 Noerror 1 Drive is locked due to an er
24. 0 Status n_feedback n cmd CP2 CP4 S 0 0331 Status n feedack 0 CP2 CP4 S 0 0332 Status n feedback nx Pos CP2 CP4 5 0 0333 Status T gt Tx CP2 CP4 S 0 0334 Status T TLim CP2 CP4 5 0 0335 Status n cmd n lim CP2 CP4 5 0 0336 Status In position CP2 CP4 S 0 0341 Status In coarse position CP2 CP4 S 0 0346 Position control word 5 0 0347 Velocity error Speed CP2 CP4 S 0 0348 Acceleration feed forward gain S 0 0359 Position deceleration Acc S 0 0372 Drive halt acceleration bipolar Acc 5 0 0380 DC bus voltage V CP2 CP4 S 0 0383 Motor temperature E CP2 CP4 5 0 0384 Amplifier temperature C CP2 CP4 52 0033 Table 53 1 Supported SERCOS standard parameters IDN Description Unit Write protection S 0 0387 Power overload CP2 CP4 S 0 0389 Effective current A CP2 CP4 5 0 0390 Diagnostic number CP2 CP4 S 0 0392 Velocity feedback filter us S 0 0393 Command value mode CP3 CP4 S 0 0400 Home switch CP2 CP4 S 0 0401 Probe 1 status CP2 CP4 S 0 0402 Probe 2 status CP2 CP4 S 0 0403 Position feedback value status CP2 CP4 S 0 0405 Probe1enable S 0 0406 Probe 2 enable S 0 0407 Homing enable S 0 0408 Reference marker pulse registered CP2 CP4 S 0 0409 Probe positive latched CP2 CP4 S 0 0410 Probe 1 negative latched CP2 CP4 S 0 0411 Probe 2 positive latched CP2 CP4 S 0 0412 Probe 2 negative latched CP2 CP4 S 0 0417
25. 01 during the measurement cycle If there is no external encoder actual position value 1is stored 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 O 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 0 is defined For more information see S 0 0179 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 0 is defined For more information see S 0 0179 MEASURED VALUE 1 POSITIVE RECORDED With this parameter the Measured value 1 positive recorded is assigned an IDN As a result Measured value 1 re corded positive can be assigned to a real time status bit S 0 0305 In the operation datum only bit 0 is defined Bit Oin this parameter is only set by the drive when the touchprob
26. 011100 Position control with position controller 2 e g external encoder drive controlled profile generation with use of pre control signals without tracking error 12 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 configured mode in which the drive is to run Which of the three possible encoder interfaces of the YukonDrive Channel 1 Channel 2 Channel 3 are designated as position encoder 1 and 2 respectively is specified by parameters P 0530 Selection of position encoder 1 and P 0531 Selection of position encoder 2 The position encoder for position control specified by the operation mode must also be selected via parameter P 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 YukonDrive Operation Manual A valid interpolation method P 0370 must be configured for the position controlled operation mode The following settings are possible 1 Linearinterpolation 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 3055 and torque P
27. 03378 06 2015 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 ISDOS and ISDO6 can be configured as triggers for a position measu rement To activate the Measurement with touchprobe function Touchprobe cycle S 0 0170 0 0 is used Parameter S 0 0169 0 0 Touchprobe control 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 O 0405 0 0 S 0 0406 0 0 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 real time status bits in fast measurements or be transferred as real time parameters in the DT Two different measurement methods are supported Single measurement When an active measurement edge occurs the effect of the same edge is
28. 2 The YukonDrive features a maximum of 3 independent encoder interfaces These encoder interfaces are assigned to the logical SERCOS position encoder interfaces 1 and 2 via parameters P 0530 Selection of SERCOS encoder 1 and P 0531 Selection of SERCOS encoder 2 Homing is executed to the position encoder determined by the active operation mode see also section 4 2 71 3 Homing velocity The homine velocity is preset via S 0 0041 find reference cam and P 3031 find zero point The unit and the number of decimal places correspond to the velocity weighting in S 0 0044 71 4 Homing acceleration The homing acceleration is preset via S O 0042 The unit and the number of decimal places correspond to the accel eration weighting in S 0 0160 71 5 Homing method The homing method is selected via P 2261 The various methods are detailed in the YukonDrive Application Manual SERCOS profile parameter S 0 0147 defining the homing method is not yet currently supported 71 6 Reference distance 1 2 The reference distance 1 2 5 0 0052 S 0 0054 describes the distance between the machine zero point and the reference point referred to the motor measurement system After homine the actual position is calculated from the reference distance and the reference distance offset The weighting is preset according to S 0 0076 The two param eters relate to SERCOS encoders 1 and 2 respectively 71 7 Reference offset 1 2 The reference distanc
29. 2 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 Applica tion Manual 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 In the STO state the status indicator flashes S1 or S2 as appropriate 16 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 Bit 15 Control ON OFF controller enable Control of the drive via the SERCOS interface requires just a few parameter settings Open loop control setting of drive via SERCOS interface Set P 0159 to SERCOS III 9 Setpoints via SERCOS profile Set P 0159 to SERCOS III 8 Evaluation of bit 15 in drive control word state controlled 1 LEVEL or edge controlled 0 EDGE via P 0144 Note If bits 14 and 15 in the drive control word are set simultaneously P 0144 should be set to LEVEL 1 For the controller 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 SERCOS interface ready and in communication phase 4 Enable power pack via
30. Axis correction position table for positive speed x x P 0610 ENC CH1 Nominal increment of reference marks Signal per x x P 0630 ENC CH3 Nominal increment of reference marks Signal per x x P0742 Monitoring maximum position difference POS P0744 Monitoring speed difference threshold rpm P1500 Testsignal generator control word P1501 Testsignal generator output signal selector P1502 Testsignal generator number of cycles P1503 Testsignal generator offsets for rectangular wave var P1504 Testsignal generator times for rectangular waves s P1505 Testsignal generator amplitude of sinusoidal wave var P1506 Testsignal generator frequency of sinusoidal wave Hz P1507 Testsignal generator Initial phase for rotating current vector degree P1508 Testsignal generator PRBS mininum toggle time ms P1509 Testsignal generator PRBS signal amplitude var P1515 Speed and position control dynamic stiffness P1516 Total inertia of motor and plant kg m m P1517 Autotuning for Jsum estimation control word P1518 Autotuning Jsum hysteresis speed control speed limit rpm P1519 Autotuning for Jsum speed hysteresis control torque limit Nm N P1520 Autotuning parameters for control and results P1521 Mechanical system parameters Hz P1522 Self commissioning and correlation results P1530 Determination of default motor control settings P1531 Selfcommissiong action selection P2218 605AH DS402 quickstop option code P2219 605BH DS402 shutdown option code P2220 605CH DS402
31. CP2 CP3 CP4 P0341 Speed where field weakening starts forces 1 n character P0342 Speed values for mag current scaling P 0343 Mag current scaling vs speed 96 P0344 Voltage control filter time constant ms P 0345 Voltage control gain A V P 0346 Voltage control integration time constant ms P 0347 Voltage control reference scaling of max voltage P 0348 Slip control gain for field weakening P 0349 Comutation offset of resp encoder deg P 0350 Selection of speed calculation method P0351 Actual speed calculation filter time ms P 0352 Observer parameter meaning depends on CON_SCALC P 0353 Observer design parameters ms P 0354 Observer design assistant P 0360 Position control gain 1 min P 0370 Interpolation type control word P 0371 Speed reference filter time for speed control mode ms P 0372 Speed feedforward filter time for position control ms P 0374 Position delay in position control cycles CON_PConTS ms P 0375 Speed feedforward scaling factor P 0376 Torque Force feedforward scaling factor P 0377 Feedforward signals enabled x x x P 0379 Feedforward calculation mode P0386 Friction compensation scaling factor P0400 Additional d current reference value A P0401 Additional torque force reference value Nm N P0402 Additional speed reference value without ramp 1 min P0404 Additional speed reference value with ramp 1 min P0405 Analog input 0 filter time ms P0406 Analog input 1 filter time ms P0407 Analog input values filtered 10V gi
32. In parameter S 0 0055 the polarities preceding siens of the specified position data can be inverted according to the application The polarities are not inverted within a controlled system but outside of it at the input and out put A positive torque setpoint difference with non inverted polarity means the direction of rotation is clockwise looking at the motor shaft Table 251 Setting of position polarity via parameter S 0 0055 Bit 0 Position reference 0 Not inverted 1 Inverted Bit1 Additive position setpoint 0 Not inverted 1 Inverted Bit 2 Actual position 1 0 Not inverted 1 Inverted Bit3 Actual position 2 0 Not inverted 1 Inverted Bit4 Position limit values 0 Not inverted 1 Inverted Bit 5 15 Reserved 06 2015 1003378 25 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 dif ferently defined weighting Table 261 Scaling parameters for position weighting IDN Description 5 0 0044 Weighting method for velocity data 5 0 0045 Weighting factor for velocity data S 0 0046 Weighting exponent for velocity data 6 2 1 Weighting of translatory velocity data Translatory weighting i
33. Negative edge active 2 Touchprobe 2 negative edge 0 Negative edge not active 1 Negative edge active 1 Touchprobe 1 negative edge 0 Negative edge not active 1 Negative edge active 0 Touchprobe 1 negative edge 0 Negative edge not active 1 Negative edge active TOUCHPROBE CYCLE COMMAND If the touchprobe cycle command is set and enabled by the master the drive responds to the following parameters Touchprobe 1 2 enable S 0 0405 00406 and S 0 0170 Touchprobe 1 2 S 0 0401 00402 as programmed in touchprobe control parameter S 0 0169 While the command is active the master control system can perform multiple measurements The command is cleared by the control system if no further measurements are required 40 0033 Table 411 Description of parameters for the touchprobe function Parameter S 0 0179 S 0 0130 S 0 0131 S 0 0132 S 0 0133 S 0 0405 S 0 0406 S 0 0409 Description MEASURED VALUE STATUS If the drive stores one or more measured values while the touchprobe cycle command S 0 0170 is active it simultane ously also sets the associated bit in the measured value status If the Touchprobe 1 enable S 0 0405 is cleared by the control system the drive clears bits 0 and 1in the measured value status If the Touchprobe 2 enable S 0 0406 is cleared by the control system the drive clears bits 2 and 3 in the measured value status The drive clears all bits in the measured value status
34. Positioning velocity threshold in modulo mode Speed 5 0 0418 Target position window in modulo mode Pos S 0 0419 Positioning acknowledgement Pos CP2 CP4 S 0 0430 Active target position Pos CP2 CP4 S 0 0447 Set absolute position procedure command S 0 0448 Set absolute position control word S 0 1000 SCP type amp version S 0 1002 Communication cycle time us CP3 CP4 S 0 1003 Communication timeout for CP3 CP4 S 0 1006 ATO transmission starting time t1 us S 0 1007 Feedback acquisition capture point t4 us S 0 1009 Device control offset in MDT S 0 1010 Lengths of MDTs S 0 1011 Device status offset in AT S 0 1012 Lengths of ATs S 0 1013 SVC offset in MDT S 0 1014 SVC offset in AT S 0 1015 Ring delay us S 0 1016 Slave delay 5 0 1017 NRT transmission time us CP3 CP4 53 Table 541 Supported SERCOS standard parameters IDN Description Unit UR protection S 0 1019 MAC adress S 0 1020 IP adress S 0 1021 Subnet mask S 0 1022 Gateway adress S 0 1023 Sync jitter us S 0 1024 Sync delay measuring procedure command S 0 1026 Version of communication hardware S 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 5 0 1050 x 1 Connection setup CP3 CP4 S 0 1050 x 2 Connection number CP3 CP4 5 0 1050 x 3 Telegram assignment CP3 CP4 5 0 1050 x 4 Max length of connection CP2 CP4 5 0 1050 x 5 Actual length of con
35. X bd x P0053 ID hardware option on X12 x x x P0054 ID hardware CPLD x x x P 0055 Chip and redesign tracing identification x x x P0060 ID software option on X12 Do x A P 0080 Bootloader information version and checksum x x x P0081 Checksum of firmware in flash x x x P 0100 Function of digital input ENPO x x P 0101 Function of digital input ISDOO x x P0102 Function of digital input ISDO1 x x P 0103 Function of digital input ISD02 x X P0104 Function of digital input ISD03 x x P 0105 Function of digital input ISD04 X i P0106 Function of digital input ISDOS x x P 0107 Function of digital input SDO6 x X P 0108 Function of digital input ISDSH x x P 0109 Function of analog input ISA00 x x P 0110 Function of analog input ISA01 x x P 0118 Digital inputs Filter time ms x x P 0120 Input inversion ENPO O ISDOO 05 1 6 sH 7 ISDO6 16 x x P0121 States of digital inputs x x x 55 Table 5611 List of supported SERCOS parameters Write protection IDN Description Unit CP2 cl CPA P 0122 Function of digital output OSDOO x x P0123 Function of digital output OSDO1 x x P0124 Function of digital output OSDO2 x x P0125 Function of motor break X13 x x P0126 Function of digital output RELOUT1 X x P0127 Function of dig output RELOUT2 is fixed on Safety Hold x x x P0141 Control value of dig outputs via COM access P0142 Output inversion OSDO 1 2 0 1 2 MBRK 6 REL1 2 7 15 x x P0143 States of digital outputs x x x P0144 DriveCom
36. 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 DriveManager 5 Bit 14 of that parameter defines the connection method If for example in parameter S 0 1050 0 1 bit 14 0 structure instance 0 is the consumer instance So bit 14 in parameter S 0 1050 1 1 must 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 YukonDrive supports a connection with one producer and a maximum of one consumer 444 Standard parameters S 0 xxxx x x All standard parameters supported by theYukonDrive are mapped as HDAG parameters However the expansion in SERCOS Ill parameter numbers mentioned previously means that consecutive addressing of the HDAG para meters could not be retained Only the parameters already existing previously in the parameter set as SERCOS Il parameters retain their addressing SERCOS Idn HDAG ID 10000 All SERCOS IlI specific parameters as from HDAG parameter number 11000 and 20000 are stored in th
37. ata Weighting method Unit Weighting factor Weighting exponent Preferential weighting from S 0 0076 from S 0 0076 S 0 0077 5 0 0078 linear m 1 7 0 1 um 22 1003378 06 2015 6 1 2 Weighting of rotary position data Rotary weighting is selected via S 0 0076 The significance of the LSB of the rotary position data is defined by the rotary position resolution S 0 0079 revolution LSB significance Unit gt 7 55s When rotary preferential weighting is selected the weighting as per the following table applies Table 231 Preferential weighting of rotary position data Rotary position Weighting method Unit i Preferential weighting resolution from S 0 0076 from S 0 0076 S O 0079 Rotary Degrees 3600 000 0 0001 degrees Table 23 2 Bit fields in the position data weighting method parameter S 0 0076 Bits 2 0 Weighting method 000 No weighting 001 Translatory weighting 010 Rotatory weighting Bit3 Weighting method 0 Preferential weighting 1 Parameter weighting Bit 4 Unit 0 Degrees for rotary weighting Metres for translatory weighting 1 Reserved for rotary weighting Inches for translatory weighting Bit5 Reserved Bit6 Data source 0 On the motor shaft 1 On the load side Bit7 Processing format 0 Absolute format 1 Modulo format Bits 8 15 Reserved 06 2015 1003378 23 The following diagram shows the various position weighting options Illustration 241 Diagram of position weighting methods
38. cilloscope of the YukonDrive 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 11 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 42 1003378 06 2015 The following errors are defined in state class 1 Table 43 1 Bit no 15 14 0 State class Error User specific error Reserved Position limit value exceeded Communication error Excessive control deviation Phase error in power supply not supported Undervoltage error Overvoltage Overcurrent Error in autocommutation Encoder error Control voltage error not supported Cooling error shut off not supported Motor overheating shut off Amplifier overheating shut off Overload shut off Bit 0 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 Table 43 2 State class 2 Bit no 15 14 0
39. cycle 0 Producer ready 46 1003378 8 2 2 Addditional scope parameters In addition to the standard parameters for the oscilloscope another field parameter COM S 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 oscilloscope R h I State Status of the internal state machine on successful initialization t Index 0 COM SE be 3 Index 1 COM SERIII ActComPhase Current communication phase of the slave 0 4 CPO C Index 2 COM SERIII INT1 Cnt Counter for the low priority interrupt INT1 of the SERCOS III op Index 3 COM SE R R I SVC Cnt Counter for access via the service channel SVC Control Control word of the service channel corresponding to SVCC ainer The individual bits have the following meanings Index 4 COM SERII Channel Control Con Table 471 Control word of the service channel Bit no Description 15 6 Reserved 5 3 Data element in the MDT 2 End bit in the MDT 1 Read Write in the MDT 0 Handshake bit in the MDT l SVC State Status word of the service channel corresponding to SVCCO ntainer The individual bits have the following meanings Index 5 COM SER Channel Control Co Table 472 Status word of the service channel Bit no Description 15 4 Reserved not displayed B Process bit in the DT 2 Error bit in the DT 1 Busy bit in the DT
40. data The parameters which can be transferred 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 Note To operate a drive controller using SERCOS III 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 ll they are no longer a fixed component of the MDT or DT respectively 06 2015 1003378 15 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 Table 16 1 Drive control word S 0 0134 Bit no Description Drive On Off Drive OFF On switching from 1to 0 the drive is shut down as best as possible according to the setting of P 2219 T then the torque is shut off as necessary at standstill the power stage can remain active only possible if bit 14 1and with corresponding setting of P 2219 then the torque is shut off at speed nmin the power stage can remain active only possible if bit 14 1 1 Drive On Drive enable m 0 No enable On switching from 1to 0 the torque is shut off and the power stage disabled with no delay regard less of bits 15 and 13 1 Drive enable Drive Halt can be used to stop the drive without reference to the current active control function 0 Drive stop The drive is no longer following the
41. 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 Continuous measurement If continuous measurement was confieured in parameter S 0 0169 0 0 the current posi tion 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 06 2015 1003378 39 The parameters of the touchprobe function are listed in the table below Table 40 1 Description of parameters for the touchprobe function Parameter Description TOUCHPROBE CONTROL PARAMETER Touchprobe control parameter The settings in this parameter define which touchprobes and edges are active in the touchprobe cycle Meanings of the individual bits Bit no Description 1559 Reserved 8 Auto activation 0 Touchprobe function is activated by command S 0 0170 0 0 Touchprobe cycle 1 Automatic activation of the touchprobe function on phase change from CP3 to CP4 not supported 7 Reserved 6 Touchprobe mode 1 0 Single measurement 1 Continuous measurement 5 Touchprobe mode 2 5 0 0163 0 Single measurement 1 Continuous measurement 4 Reserved 3 Touchprobe 2 negative edge 0 Negative edge not active 1
42. e 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 information see S 0 0179 41 Table 421 Description of parameters for the touchprobe function Parameter Description MEASURED VALUE 1 NEGATIVE RECORDED With this parameter the Measured value 1 negative recorded is assigned an IDN As a result Measured value 1 recorded negative can be assigned to a real time status bit S O 0305 Bit 0 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 5 0 0410 the negative edge of touchprobe 1 5 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 touchprobe 1 enable is set to 0 In the operation datum only bit 0 is defined For more information see S 0 0179 MEASURED VALUE 2 POSITIVE RECORDED With this parameter the Measured value 2 positive recorded is assigned an IDN As a result Measured value 2 re corded positi
43. e first velocity unit scaling window you must first select the scaling method and the data reference 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 Illustration 35 1 Scaling of velocity data Normalization assistant Sercos velocity unit 2 rotational Velocity unit 2 SERCOS interface Velocity data scaling 2 Preferred scaling Parameter scaling LSB weighting 1 v x E SERCOS offers two options for scaling of the position 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 illustration 35 1 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 force unit button see illustration 33 2 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 That is to say you must specify whether the application relates to a linear or rotary axis and whether the torque data refers to the motor axis or directly to the load Click on the
44. e following tables Table 141 Configurable real time control bits P 3003 Parameter Description S 0 0405 Enable touchprobe 1 S 0 0406 Enable touchprobe 2 P0141 Open loop control of digital outputs via COM option Table 14 2 Configurable real time status bits P 3002 Parameter Description S 0 0011 State class 1 C1D S 0 0012 State class 2 C2D S 0 0014 Interface status S 0 0144 Signal status word S 0 0179 Touchprobes 1 2 status S 0 0310 Warning threshold I2t motor exceeded 5 0 0311 Warning threshold heat sink temperature exceeded 5 0 0312 Warning threshold motor temperature exceeded 5 0 0330 Status speed setpoint reached 5 0 0331 Standstill message 5 0 0332 Speed threshold undershot 5 0 0333 Speed threshold exceeded 5 0 0334 Torque limit reached or exceeded 5 0 0335 Speed limit reached or exceeded 5 0 0336 Target position reached S 0 0341 Status in track position S 0 0401 Status touchprobe 1 5 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 5 0 0412 Touchprobe 2 negative edge recorded S 0 0419 Status of setpoint transfer P0121 Status of the digital inputs P 0143 Status of the digital outputs P0239 Functional status of the digital inputs 14 5 Data transfer 5 1 Communication phases Communication over the SERCOS bus between the master and slaves is
45. e 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 06 2015 1003378 37 71 8 Reference cam limit switch The signal of the reference cam can be optionally linked to one of the digital inputs Inputs ISDOO ISDO6 are available Depending on the method the limit switches can also be optionally used for homing 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 IOs please refer tothe Application Manual P0100 Function selector ENPO P0101 Function selector ISDOO P0102 Function selector ISDO1 P0103 Function selector ISD02 P0104 Function selector ISD03 P0105 Function selector ISD04 P0106 Function selector ISD05 P0107 Function selector ISD06 P0108 Function selector ISDSH P0109 Function selector ISAOO P0110 Function selector ISA01 P0118 Filter for digital inputs P0120 Inversion of digital Inputs P0122 Function selector OSDOO P0123 Function selector OSDO1 P0124 Function selector O5D02 P0125 Function selector motor brake P0126 Function selector RELOUT1 P0142 Inversion of digital outputs 38 10
46. e parameter set of the YukonDrive 4 1 2 Manufacturer specific parameters P xxxx All manufacturer specific parameters are to be found in list S 0 1017 0 0 with an offset of 8000 hex from the parameter number So parameter 107 function selector ISDO6 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 parameter number in this case P 0107 06 2015 1003378 71 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 coded according to the scheme set out in the following table Table 121 Operation Mode coding Bit Explanation 15 0 SERCOS default mode 1 Manufacturer specific mode 14 10 Reserved 9 0 Without axis control word S 0 0520 0 0 1 With axis control word S 0 0520 0 0 not supported 8 0 Without transition 1 With transition 7 4 Advanced mode 0000 No advanced mode 0001 Interpolation 0010 Positioning 0011 Block mode not supported 0100 Synchronous mode not supported 3 0 with tracking error 1 without tracking error 2 0 Operation mode The operation modes supported by the YukonDrive are listed in parameter S 0 0292 Table 12 2 Supported operation modes Operation mode Description 0000 0000 0000 0001 Torque control 0000 0000 0000 0010 Speed control drive controlled profile ge
47. eached the counter is not incremented urther 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 f the maximum value is exceeded the communication error bit in state class 1is 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 oscillo scope SERCOS III also offers the following standard parameters IDN S 1044 0 0 Device Control Word IDN S 1045 0 0 Device Status Word DN S 1050 0 8 Connection Control IDN S 1050 1 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 element 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 Table 451 Device Control Bit no Descrip
48. ected via parameter S 0 0160 the weighting factor and weighting exponent are irrelevant The acceleration data is then subject to a differently defined weighting Table 29 2 Scaling parameters for acceleration 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 6 3 1 Weighting of translatory acceleration data Translatory weighting is selected via S 0 0160 The significance of the LSB of the translatory acceleration data is defined by the following equation Distance unit LSB significance S 0 0161 1050 062 Time unit When translatory preferential weighting is selected the weighting as per the following table applies Table 29 3 Preferential weighting of translatory acceleration data Weighting method Unit Weighting factor Weighting exponent Preferential weighting from S 0 0160 from S 0 0160 S 0 0161 S 0 0162 Translatory m s 2 1 6 0 001 mm s 2 06 2015 1003378 29 6 3 2 Weighting of rotary acceleration data Rotary weighting is selected via S 0 0160 The significance of the LSB of the rotary acceleration data is defined by the following equation Distance unit LSB significance S 0 0161 1059 062 Time unit When rotary preferential weighting is selected the weighting as per the following table applies Table 301 Preferential weighting of rotary position data Weightin
49. ems A freely configurable telegram permits optimum utilization of all the possibilities offered by the line based on additional setpoint and actual value parameters such as increasing the transferred position resolution use of the inputs and outputs in the drive in the NC cycle and much more 1 2 2 Detailed documentation Operating Manual YukonDrive YukonDrive Application Manual General Overview and architecture V1 11 1 SERCOS International Generic Device profile V11 0 6 SERCOS International SERCOS Communication V1 11 5 SERCOS International Function specific profile drives V1 1 2 11 SERCOS International SERCOS Parameter V111 0 SERCOS International 06 2015 1003378 5 1 3 Key features Cyclic data exchange of references and actual values with exact time equidistance SERCOS cycle time of 125us to 65 ms multiples of 1254s programmable Multi axis synchronization between reference action times and actual value measurement times of all drives in the loop Full synchronization of all connected drives with the master control system Free configuration of telegram content Maximum configurable data volume in MDT 20 bytes Maximum configurable data volume in DT 20 bytes 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
50. ference 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 DriveManager 5 enables large numbers of parameters 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 Illustration 331 Scaling wizard start window Normalization assistant start Normalization profile Standard D5402 Sercos User From the start window select the Sercos option In the window which then appears you can select which parameters to scale Illustration 33 2 Scaling wizard selection of scaling data Normalization assistant Sercos 1 JJSERCOS interface Units E egre Velocity unit degree s Torque force unit Nm Acceleration unit degree s s 06 2015 1003378 33 The inputs described in the following made using the wizard directly influence the parameters described in section 6 to define the scaling of the drive 6 5 1 Scalling of position data Click on the Position unit button see illustration 33 2 to access the position data scaling Illustration 341 Scaling wizard definition of scaling method and data reference Normalization assistant Sercos position unit 1 X Position unit 1 SECOS interface Position data scaling 1 Scalin
51. g method O no scaling Q linear scaling rotational scaling Data reference atthe motor shaft atthe load lt lt Back Continue gt gt Close In the first position unit scaling window you must first select the scaling method and the data reference Illustration 34 1 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 Illustration 34 2 Scaling of position data Normalization assistant Sercos position unit 2 rotational E Position unit 2 SECOS interface Position data scaling 2 O Preferred scaling Parameter scaling 360 degree 3600000 LSB weighting lt lt Back Continue gt gt J Close 34 1003378 06 2015 SERCOS offers two options for scaling of the position 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 position data The scaling shown in illustration 34 2 would mean for example that the position data of this rotary axis has a resolution of 360 3600000 0 0001 6 5 2 Scaling of velocity data Click on the Velocity unit button see illustration 33 2 to access the velocity data scaling In th
52. g method Unit Weighting factor Weighting exponent Preferential weighting from S 0 0160 from S 0 0160 S 0 0161 S 0 0162 Rotary rad s 2 1 3 0 001rad s 2 Table30 2 Bit fields in the acceleration data weighting method parameter S 0 0160 Bits2 0 Weighting method 000 No weighting 001 Translatory weighting 010 Rotary weighting Bit3 Weighting method 0 Preferential weighting 1 Parameter weighting Bit 4 Distance unit 0 Rad for rotary weighting Meter for translatory weighting 1 Reserved for rotary weighting Inches for translatory weighting Bit5 Time unit 0 Seconds 1 Reserved Bit6 Data source 0 On the motor shaft 1 On the load side Bits 7 15 Reserved 30 1003378 06 2015 Illustration 311 Diagram of acceleration weighting methods Acceleration data scaling type IDN00160 IDN 00160 bit 0 2 Rotational IDN 00160 bit 6 Load or molor IDN 00160 Preferred Parameter Preferred Parameter bit 3 scaling scaling scaling scaling IDN 00160 bit 5 IDN 00160 Radian Radian bit 4 LSB 106 Variable LSB 103 Variable m s 3 LSB weight rad s2 LSB weight IDN 00161 IDN 00161 IDN 00162 IDN 00162 6 4 Weighting of torque and force data The torque force weighting is defined by the parameters listed in the following table All torque force data of the drive e g setpoint actual and limit values are subject to the preset weighting Table 31 2 Scaling parameters for torque
53. g the Application Manual Inputs outputs software functions 4 Test the control quality and optimize the controller settings as necessary using the Operation Manual 5 Set the communication parameters for the SERCOS Ill 6 Test the drive on the higher order controller see Application Manual 7 Finally save the setting Save device setting Non volatile in device Note On the subject of Units and scalings refer to Section 6 3 3 Setting the slave bus adress SERCOS parameter IDN S 0 1040 0 0 is used to set the bus address This parameter can be written using Dri veManager 5 The address setting must be unique meaning each address may be used only once in a SERCOS loop SERCOS IIl 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 10 1003378 4 Parameter setting 4 1 Format of SERCOS IIl parameters The SERCOS IIl parameter numbers have been extended from SERCOS II to a length of 32 bits A standard parameter now has the following format S DataSet ldNr SI SE Key to abbreviations S Standard parameter DataSet Number of the Data set currently only data set 0 is supported IdNr SERCOS Ident number SI Structure instance SE Structure element In a connection between master and slave there is
54. hting method Unit Weighting factor Weighting exponent from S 0 0086 from S 0 0086 S 0 0093 S 0 0094 Rotary Nm 1 2 Table 32 2 Bit fields in the torque force data weighting method parameter S 0 0086 Bits 2 0 Weighting method 000 No weighting 001 Translatory weighting 010 Rotary weighting Bit3 Weighting method 0 Preferential weighting 1 Parameter weighting Bit4 Distance unit 0 Nm for rotary weighting N for translatory weighting 1 In Ibf for rotary weighting Ibf for translatory weighting Bit5 Reserved Bit6 Data source 0 On the motor shaft 1 On the load side Bits 7 17 Reserved The following diagram shows the various torque force weighting options llustration 32 3 Diagram of torque force weighting methods Preferential weighting 0 01Nm Force torque weighting method S 0 0086 S 0 0086 bit 0 2 Per cent 0 1 96 S 0 0086 bit 6 Load motor Load motor Linear force S 0 0086 Preferrential Parameter Preferrential bit 3 weighting weighting weighting S 0 0086 bit 4 32 Load motor Parameter weighting LSB Variable 3 S 0 0093 4 S 0 0094 6 4 4 Torque polarity In parameter S 0 0085 the polarities preceding signs of the specified torque data can be inverted according to the application The polarities are not inverted within a controlled system but outside of it at the input and output A positive torque setpoint dif
55. 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 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 Connection status Includes the real time status bits 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 seements 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 description refer to section 8 2 2 The command functions are also transferred via the service channel At present the following commands are sup ported S 0 0099 Reset state class 1 reset error 5 0 0127 Switchover preparation phase 3 5 0 0128 Switchover preparation phase 4 S 0 0139
56. l 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 YukonDrive 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 DriveManager 5 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 setpoint actual and limit values are subject to the preset weighting If No weighting is selected via parameter S 0 0076 the weighting factor and weighting exponent are irrelevant The position data is then subject toa differently defined weighting Table 221 Scaling parameters for position 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 6 1 1 Weighting of translatory position data Translatory weighting is selected via S 0 0076 The significance of the LSB of the translatory position data is defined by the following equation LSB significance Unit S 0 0077 1059 0078 When translatory preferential weighting is selected the weighting as per the following table applies Table 22 2 Preferential weighting of translatory position d
57. le MultiTurn information SSI absolute x x P0549 ENC CH1 Signal correction type x x P0550 ENC CH1 Signal correction values x x P 0551 ENC CH1 Encoder observation minimum sqrt a 2 b 2 x x P0552 ENC CH1 Error and status codes of absolute encoders x x x P 0553 ENC CH1 Length of an analog signal period linear SinCos nm x x P0554 ENC CH1 Length of an digital increment linear absolute nm x x P0560 ENC CH2 Number of pole pairs Resolver x x P 0561 ENC CH2 Signal correction type x X P0562 ENC CH2 Signal correction values x x P 0563 ENC CH2 Encoder observation minimum sqrt a 2 b 2 x x P0570 ENC CH3 Absolute position interface selection x x P 0571 ENC CH3 Index pulse signal test mode x x P0572 ENC CH3 Number of lines SinCos TTL encoders x x P 0573 ENC CH3 Number of MultiTurn bits SSI absolute x x P 0574 ENC CH3 Number of SingleTurn bits SSI absolute x x P0575 ENC CH3 Code selection SSI absolute position interface x x 60 Table 611 List of supported SERCOS parameters Write protection IDN Description Unit CP2 CP3 CP4 P 0577 ENC CH3 Encoder observation minimum sqrt a 2 b 2 x x P0590 ENC Axis correction selection type x x P0591 ENC Axis correction start position x x P0592 ENC Axis correction end position x x P0593 ENC Axis correction delta position x x P0594 ENC Axis correction actual position value x x P0595 ENC Axis correction position table for negative speed x x P0596 ENC
58. limit of the motor 96 5 0 0115 Position feedback 2 type CP3 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 CP4 S 0 0122 Output revolutions of load gear CP3 CP4 50 Table 51 1 Supported SERCOS standard parameters IDN Description Unit Write protection S 0 0123 Feed constant Um rev CP3 CP4 S 0 0124 Standstill window Speed 5 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 negativ 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 S 0 0147 Homing parameter CPA S 0 0148 Drive controlled homing procedure command S 0 0150 Reference offset 1 Pos S 0 0151 Reference offset 2 Pos 5 0 0152 Position spindle procedure command 5 0 0153 Spindle angle position Pos S 0 0154 Spindle positioning parameter CP3 CP4 5 0 0156 Velocity feedback value 2 Speed CP2 CP4 5 0 0157 Velocity window Speed 5 0 0159 Monitoring window Pos S 0 0160 Acceleration data scaling type CP3 CP4 S 0 0161 Acceleration data scaling factor CP3 CP4 S 0 0162 Acceleration data scaling exponent CP3 CP4 S 0 0169 Probe con
59. llback not phase 0 6 Error in phase sequencing invalid sequence 5 Invalid phase phase gt 4 4 MDT failure only SERCOS II 3 MST failure S 0 1003 exceeded Communication phase 000 Phase 0 001 Phase1 2 0 010 Phase2 011 Phase 3 100 Phase 4 101 NRT Bit 0 error not active Bit 1 error active 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 the correct reception time the agreed telegram length thecorrect CRC checksum Parameters S 0 1028 0 0 error counter MST ports 1 2 and S 0 1035 0 0 error counter 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 1or at port 2 The maxi mum 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 44 1003378 06 2015 Parameter S 0 1035 0 0 indicates whether the telegrams received at ports 1 2 were valid If the length of a re ceived 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 r
60. locity data 6 1 3 Modulo weighting 51 4 Position polarity Weighting of velocity data 6 21 Weighting of translatory velocity data 6 2 2 Weighting of rotary velocity data 6 2 3 Speed polarity Weighting of acceleration data 6 31 Weighting of translatory acceleration data 63 2 Weighting of rotary acceleration data entente ht tet tel intei GERE It HERR OR thun RE enda inia 1003378 06 2015 6 4 6 5 7 2 81 81 4 8 2 8 3 91 Weighting of torque amd farce data ox ae espe eed eor xp rne ipae sansiatbeddedetes a 5 41 Percentage weighting of torque and force data 5 4 2 Weighting of force data 6 4 3 Weighting of torque data 6 4 4 Torque polarity Scaling using the scaling wizard 6 51 Scaling of position data 6 5 2 Scaling of velocity data 6 5 3 Scaling of torque data 6 5 4 Scaling of acceleration data uode deme e EET E Seacoast EE S 37 Homing 711 Drive controlled homing command 71 2 Setting of SERCOS encoders 1 2 71 3 Homing velocity 71 4 Homing acceleration 71 5 Homing method 71 6 Reference distance1 2 717 Referenzma Offset 1 und 2 71 8 Reference cam limit switch 71 9 Function selector digital inputs and outputs TOWCMPRODE TU EIOE esee reb hee ta Het beea kenn ae a Baa Gada a a aaa aa TRONI Error messages and diagnosis Standard parameters for error diagnosis 811 Error messages in state class 1 C1D 8 1 2 Warning messages in state class 2 C2D
61. n 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 commu nication 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 06 2015 1003378 7 2 2 Pin assignment of the RJ 45 socket The pins on the RJ 45 socket are assigned as follows Table 81 Pin assignment PIN Colour Cable with 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 Illustration 8 2 RJ 45 socket 12345678 2 3 Meanings of LEDs There are two LEDs on each RJ 45 socket They signify the following Table 8 3 Meanings of LEDs LED Meaning Link LED 1 green OFF No link No connection to another station On Link activ Connection to another bus station active Activity LED 2 orange Off No activity No data transfer is taking place Flashing Activity gt Data transfer active 2 4 Indi cation of operating states on 7 segment display Table 9 1 D1 D2 Meaning Device status System states
62. nection CP2 CP4 5 0 1050 x 6 Configuration list CP3 CP4 S 0 1050 x 8 Connection control S 0 1050 x 10 Producer cycle time us CP3 CP4 S 0 1050 x 11 Allowed data losses S 0 1050 x 12 Error counter data losses 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 1300 x 8 Hardware revision S 0 1300 x 9 Software revision S 0 1300 x 12 Serial number S 0 1301 CDP type and version 5 0 1302 x 1 FSP type and version 5 0 1302 x 2 Function groups 54 91 2 Manufacturer specific parameters Table 551 List of supported SERCOS parameters Write protection IDN Description Unit CP2 CP3 CP4 P 0001 Id of device familiy series x x x P0002 Device name product name x x x P 0003 Application specific device name alias x x P0004 Total software version of device plain text x x x P 0005 Device family name X x x P 0006 Total version number of device software x x x P 0008 Vendor name X x x P 0030 Programmable reaction in case of failure P 0034 Device warnings status word x x x P0039 Device Error ID low word and Error Location high word x x x P0040 Reset firmware x x P0041 Reset firmware and activate loader x x P 0050 ID hardware print x x x P0051 Sub ID hardware print x x x P 0052 ID hardware option on X11
63. neration with parameterized ramps 0000 0000 0100 0010 Speed control master control system controlled profile generation no tracking error 0000 0000 0000 0011 Position control with position encoder 1 e g motor encoder master control system 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 system controlled profile generation no use of pre control signals with 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 controlled profile generation no use of pre control signals with tracking error 0000 0000 00010100 Position control with position controller 2 e g external encoder drive controlled 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 controlled profile generation with use of pre control signals without tracking error 0000 0000 00
64. nterface Acceleration Jerk data scaling 2 Preferred scaling 9 Parameter scaling LSBweighting v X E 3 rag rad g Back Continue gt gt Close 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 acceleration data The scaling shown in illustration 36 2 would mean for example that the acceleration data of is transferred with a resolution of 0 001 rad s 36 1003378 06 2015 7 Functionality Z1Homing 711 Drive controlled homing command To create the distance setpoint when using relative encoder systems command S 0 0148 Drive controlled ho ming 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 or 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 homine 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 YukonDrive Application Manual 74 2 Setting of SERCOS encoders 1
65. on time Only if valid values are entered there for the times t6 and t7 is the IP channel active in the YukonDrive If the settings are t6 0 and t7 0 the IP channel is not active The IDN S 0 1019 IDN S 0 1020 and IDN S 0 1021 must also be correctly parameterized For the IDN S 0 1019 MAC address and the IDN S 0 1021 Subnet mask the factory default settings should be used Correct setting of IDN S 0 1020 IP address is detailed in section 5 4 2 5 4 2 SERCOS III IP adress The IP address of the SERCOS III option board is set using IDN S 0 1020 In doing so it must be ensured that the SERCOS III IP address is not the same as the default IP address of the YukonDrive parameter 671 The two IP addresses must differ at least in their third segment as stipulated in the factory setting for example Default IP 192 168 39 5 SERCOS III IP 192 168 38 5 Subnet Mask 255 255 255 0 If both addresses are the same at any time when the YukonDrive is then restarted an error message is activated To enable communication via TCP IP even in such a case the last address changed is reset to its old value When the default or SERCOS III IP address has been changed the new value is only applied after restarting the YukonDrive 06 2015 1003378 21 5 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 contro
66. rent Communication phase port 2 0 4 Phase change bit port 1 7 0 No Phase change active 1 Phase change active 6 4 Reserved not displayed 3 0 Current Communication phase port 1 Index 1 COM SERIII DFCSR Data flow control and status register Displays the current topology of the slave The register is updated with each bus cycle The individual bits have the following meanings Table 48 2 Communication status register Bit no Description 31 2 Reserved not displayed Current topology 00 Loop back port 1 and forward to port 2 10 01 Loop back port 2 and forward to port 1 10 Forward port 1 port 2 and port 2 port 1 real time mode 11 Forward port 1 port 2 and port 2 port 1 non real time mode 8 3 Internal error list A complete list of all possible error messages in the drive can be found in the YukonDrive 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 parameter can be read via the service channel or using the DRIVEMANAGER 5 48 9 Appendix Glossary 9 1 Appendix A Parameterlist List of all device parameters which can be transferred via SERCOS III 9 1 1 SERCOS III standard parameters Table 491 Supported SERCOS standard parameters
67. ror Change bit of C2D S 0 0012 0 0 0 No enable 1 Change Toggle Bit New actual values 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 actual values for the master Current mode 000 Primary mode defined in S 0 0032 0 0 001 Secondary mode 1 defined in S O 0033 0 0 010 Secondary mode 2 defined in S 0 0034 0 0 011 Secondary mode 3 defined in S 0 0035 0 0 100 Secondary mode 4 not supported 101 Secondary mode 5 not supported 110 Secondary mode 6 not supported 111 Secondary mode 7 not supported Reserved Status of actual position value bit 0 of S 0 0403 0 0 Drive halt O Drive halt not active 1 Drive halt active Status of setpoint transfer 0 The drive ignores the setpoints of the master such as during drive controlled motion homing or parame terizable delay times 1 The drive follows the setpoints of the master control system Reserved 19 5 2 5 Non confieurable real time data In addition to the mapped data The MDT and AT each contain fixed configured content In the MDT Device control With the aid of this control word the master monitors the topology 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 Connection control The connection control word
68. s selected via S 0 0044 The significance of the LSB of the translatory velocity data is defined by the following equation Distance unit LSB significance S 0 0045 10570 0045 Time unit When translatory preferential weighting is selected the weighting as per the following table applies Table 26 2 Preferential weighting of translatory velocity data Weighting method Unit Weighting factor Weighting exponent Preferential weighting from S 0 0045 from S 0 0045 S 0 0045 S 0 0046 Linear m min 1 6 0 001 mm min 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 LSB significance distance unit S 0 0045 1059 0046 Time unit When rotary preferential weighting is selected the weighting as per the following table applies Table 26 3 Preferential weighting of rotary position data Weighting method Unit Weighting factor Weighting exponent Preferential weighting from S 0 0045 from S 0 0045 5 0 0045 S 0 0046 Rotary 1 min 1 4 0 001 1 min Rotary 1 s 1 0 000001 1 s 26 1003378 Table 271 Bit fields in the velocity data weighting method parameter S 0 0045 Bit4 Bit6 No weighting Rotatory weighting Preferential weighting Distance unit Reserved for rotary weighting Inches for translatory weighting Minutes min Data source On the load side
69. said qualified personnel must be familiar with the contents of the Operation Manual see IEC364 DIN VDE0100 Knowledge of national accident prevention regulations e g BGV A3 formerly VBG 4 in Germany During installation observe the following instructions Always comply with the connection conditions and technical specifications Comply with the standards for electrical installations such as regarding cable cross section PE conductor and ground connections Do not touch electronic components and contacts electrostatic discharge may destroy components 1 2 Introduction to the SERCOS III interface 1 2 1 Intendend use SERCOS stands for SErial Realtime COmmunication System and is a globally standardized IEC 61491 and EN61491 digital interface for communication between master control systems drive 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 configuration and diagnosis 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 syst
70. tion 15 Identification 14 Toggle bit master sends new topology Topology specified by master 00 Fast forward at both ports 13 12 01 Loop back amp forward of P telegrams 10 Loop back amp forward of S telegrams T1 Reserved Ti 0 Reserved 06 2015 1003378 45 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 Table 46 1 Device Status Bit no Description 15 Communication warning 14 Toggle bit slave has adopted new topology Topology status 00 Fast forward at both ports 13 12 01 Loop back amp forward of P telegrams 10 Loop back amp forward of S telegrams TI NRT mode Status at inactive port 00 Nolinkat inactive port 11 10 01 Link at inactive port 10 P telegram at inactive port 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 The Connection Control Word is also a fixed element of the MDT The parameter described here is a map of the Connection Control Word and is used only for diagnostic purposes Table 46 2 Connection Control 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
71. trol 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 list of all backup operation data CP2 CP4 5 0 0200 Amplifier warning temperature au 5 0 0201 Motor warning temperature iC S 0 0208 Temperature data scaling type S 0 0216 Switch parameter set procedure command CP3 CP4 51 Table 521 Supported SERCOS standard parameters IDN Description Unit Write protection S 0 0217 Parameter set preselection CP3 CP4 5 0 0222 Spindle positioning speed Speed 5 0 0256 Multiplication factor 1 CP2 CP4 5 0 0257 Multiplication factor 2 CP2 CP4 5 0 0258 Target position Pos S 0 0259 Positioning velocity Speed S 0 0260 Positioning acceleration Acc S 0 0261 Coarse position window CP3 CP4 5 0 0262 Load defaults procedure command CP3 CP4 S 0 0263 Load working memory procedure command CP3 CP4 5 0 0264 Backup working memory procedure command 5 0 0277 Position feedback 1type CP3 CP4 5 0 0278 Maximum travel range CP2 CP4 S 0 0282 Positioning command value Pos S 0 0292 List of supported operation modes CP2 CP4 S 0 0296 Velocity feed forward gain 5 0 0310 Overload warning CP2 CP4 S 0 0311 Amplifier overtemperature warning CP2 CP4 5 0 0312 Motor overtemperature warning CP2 CP4 S 0 0328 Bit number allocation list for signal status word S 0 0329 Bit number allocation word for signal control word S 0 033
72. ual value SingleTurn 0 MultiTurn 1 x x x P0501 ENC CH2 Actual value SingleTurn 0 MultiTurn 1 x x x P0502 ENC CH3 Actual value SingleTurn 0 MultiTurn 1 x x x P 0505 ENC CH1 Encoder type selection x x P0506 ENC CH2 Encoder type selection x x P0507 ENC CH3 Encoder type selection x x P 0510 ENC CH1 Gear nominator x x P0511 ENC CH1 Gear denominator x x 59 Table 60 1 List of supported SERCOS parameters Write protection IDN Description Unit sp cls CP4 P 0512 ENC CH2 Gear nominator x x P 0513 ENC CH2 Gear denominator x x P0514 ENC CH3 Gear nominator x x P 0515 ENC CH3 Gear denominator X x P 0520 ENC Channel selection for motor commutation x x P 0521 ENC Channel selection for speed control x x P 0522 ENC Channel selection for position control x x P 0523 ENC Channel selection for master input x x P0530 ENC Channel selection as SERCOS encoder 1 x x P 0531 ENC Channel selection as SERCOS encoder 2 x x P0540 ENC CH1 Absolute position interface selection x x P0541 ENC CH1 Index pulse signal test mode x x P0542 ENC CH1 Number of lines SinCos TTL encoders x x P0543 ENC CH1 Number of MultiTurn bits SSI absolute x x P0544 ENC CH1 Number of SingleTurn bits SSI absolute x x P0545 ENC CH1 Code selection SSI absolute position interface x x P0546 ENC CH1 Mode selection SSI absolute position interface x x P0547 ENC CH1 Lowest allowable MultiTurn position SSI absolute x x P0548 ENC CH1 Enab
73. ur 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 followed at all times Read the Operation Manual first Follow the safety instructions Referto the user information A Electric drives are dangerous 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 A Rotating parts are dangerous Drive may start automatically Incorrect controlling may endanger human life A Hot surfaces are dangerous People can get significant burn injuries Also adjacent modules could get high heat damages A Protection against magnetic and or electromagnetic fields during installation and operation 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 permanent magnets pose a particular hazard If it is necessary to access such areas suitability to do so must be determined beforehand by a doctor Your qualification Inorder to prevent personal injury or damage to property only personnel with electrical engineering qualifications may work on the device The
74. ve can be assigned to a real time status bit S 0 0305 Bit 0 in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 2 enable signal 5 0 0406 is set to 1 S 0 0411 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 0 is defined 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 O 0305 Bit 0 in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 2 enable signal 5 0 0406 is set to 1 and 5 0 0412 the negative edge of touchprobe 2 S 0 0402 is signalled At the same time the drive stores the actual position value to measured value 2 negatively 5 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 0 is defined 8 Error messages and diagnosis SERCOS III offers a number of diagnostic options by way of state classes and status control words The internal os
75. ves 1 0 P0409 DC voltage filter time ms x x P0410 Actual DC link voltage V x x x P0411 Actual values of ADC channels bit x x x P0412 Actual position incr x x x P0413 Reference position incr x x x 58 Table 59 1 List of supported SERCOS parameters Write protection IDN Description Unit sp CP3 cP4 P0414 Actual position difference RefPosition ActPosition incr x x x P0415 Actual speed 1 min x s x P 0416 Reference speed 1 min x x x P0417 Actual speed difference RefSpeed ActSpeed 1 min x x x P 0418 Reference torque Nm x x x P0419 Actual torque Nm x x x P0430 Weighting of voltage path in field model P0431 Voltage limit for current controllers P0432 Select current control limitation mode P0450 Motortype x x P 0455 Motor rated frequency Hz x Do P 0456 Motor rated voltage V x P 0457 Motor rated current A x x P0458 Motor rated speed rpm x x P0459 Motor rated power kw x x P 0460 Motor rated torque Nm x x P 0461 Motorinertia kg m m x x P0462 Motor rated flux Vs x x P 0463 Motor number of pole pairs x x P0470 Motor stator resistance Ohm x x P0471 Motor stray stator inductance mH x x P0472 Q stator inductance variation in of MOT Lsig 96 x x P0473 Main inductancs vs Isd 0 1 Index LmagldMax mH x xX P0474 LmagTable max magnetization current eff A x x P0475 Motor main inductance scaling factor 96 x x P0476 Motor rotor resistance Ohm x x P0477 Motor rotor resistance scaling factor 96 x po P 0500 ENC CH1 Act
76. when the touchprobe cycle command S 0 0170 is cleared by the control system Structure of measured value status Bit 0 Measured value 1 recorded positive S O 0409 0 Not recorded 1 Recorded Bit 1 Measured value 1 recorded positive S 0 0409 0 Not recorded 1 Recorded Bit 2 Measured value 2 recorded positive S O 0409 0 Not recorded 1 Recorded Bit 3 Measured value 2 recorded positive 5 0 0409 0 Not recorded 1 Recorded Bit 15 4 reserved Bit 15 4 reserved MEASURED VALUE 1 POSITIVE EDGE With an external encoder the drive stores the actual position value 2 to this parameter with the positive edge of touchprobe 1 S 0 0401 during the measurement cycle If there is no external encoder actual position value 1 is stored 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 1is stored 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 1is stored MEASURED VALUE 2 NEGATIVE EDGE With an external encoder the drive stores the actual position value 2 to this parameter with the negative edge of touchprobe 2 S 0 04

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