Home

User Manual - Harmonic Drive AG

1. 1 General 2 Commissioning the Profibus interface 2 ssion DPV 5 Operating modes 5 6 Homing 7 Commissioning examples 8 PROFIBUS parameters Appendix Key words directory 06 2012 YukonDrive 1003375 Harmonic Drive AG 1 11 Measures for your Safety Drive controllers of the YukonDrive family are quick and easy to handle For your own safety and for the safe functioning of your device please be sure to observe the following points Follow the safety instructions Electric drives are subject to certain hazards Electric voltages gt 230 V 460 V Dangerously high voltages may still be present 10 minutes after the power is switched off So always make sure the system is no longer live Rotating parts Hot surfaces Your qualification norder to prevent personal injury or damage to property only personnel with electrical engineering qualifications may work on the device Knowledge of the national accident prevention regulations such as VBG4 in Germany Knowledge of structure and networking using the CAN field bus During installation observe the following instructions Always comply with the connection conditions and technical specifications Standards for electrical installation e g cable cross sections screening etc Do not touch electronic components and contacts electrostatic discharge may destroy components 8 Harmonic Dr
2. 0351 0401 0330 0331 0332 P 0339 P 0460 Speed control circuit and associated control parameters Speed control circuit Parameter name COM DP RefSpeed COM DP Acc COM DP Dec MPRO REF OVR CON IP RefTF CON 5 AddSRef MOT Snom CON SCON SMax CON SCON SMaxPos 5 SMaxNeg 5 SDiff COM DP ActSpeed CON SCON Kp CON SCON Tn CON SCONFIlterFreq CON SCONFilterAssi CON SCONFilterPara CON_SCALC_TF CON_SCON_AddTRef CON_SCON_TMaxNeg SCON TMaxPos CON SCON CON SCON Tmax MOT TNom 06 2012 YukonDrive 1003375 Meaning Speed reference value Acceleration ramp Deceleration ramp Speed override Filter time constant speed reference value Additive speed reference value Nominal speed of motor Speed limitation reference value nominal speed of motor Positive speed limitation reference value nominal speed of motor Negative speed limitation reference value nominal speed of motor Speed controller differential Actual speed PI speed controller amplification speed controller lag time Limit frequencies for torque reference value filter Torque reference value filter draft parameter Torque reference value filter parameter Actual speed filter time constant Additive torque reference value Negative torque limitation reference value nominal torque Positive torque limitation re
3. DP Acc X X 1 1279 COM DP Dec X X 1 1287 COM DP TMaxPos X X 1288 DP TMaxNeg X X 1 Further mappable parameters can be found in the signal tables 1284 DP Signal List Write and 1285 DP SignalList Read Parameter List Fieldbus PROFIBUS DP EI 06 2012 YukonDrive 1003375 Harmonic Drive AG 65 8 PROFIBUS parameters The following table describes the PROFIBUS parameters that are available Table 81 PROFIBUS parameters Parameter name number COM DP CtrlConfig 1267 COM DP RefJogSpeedl 1268 COM DP 5 2 1269 COM DP RefSpeed 1270 COM DP ActSpeed 1271 COM DP RefTorque COM DP ActTorque 1273 COM DP RefPos 1274 COM DP TargetPos 1275 COM_DP_ActPos1 1276 COM_DP_PosVelocity 1277 COM DP Acc 1278 COM DP Dec 1279 COM DP Controlword2 1280 COM DP Statusword2 1281 COM DP Bus Timeout 1283 DP 5ignallist 1284 write 66 Harmonic Drive Value range 0 65535 4294967296 4294967295 4294967296 4294967295 552758 32767 32768 32767 55275832157 32768 32767 2147483648 2147483647 2147483648 2147483647 2147483648 2147483647 2147483648 2147483647 0 0 OxFFFF 0 0 OxFFFF 0 4294967295 0 65535 Default Can be value changed 100 100 0 5000 0 Ja Ja Ja Ja Nein Ja
4. If bit 13 is set changes to the reference position positioning speed or positioning acceleration lead directly to a new movement request If bit 13 is not set a new movement request is activated only by means of a positive or negative flank of control word bit 6 If bit 6 is set in parameter 1267 COM DP CtrlConfig the positioning task is only activated on the positive flank This corresponds to the last PROFIDrive profile 4 1 If the feed hold is reset whilst a movement command is active the drive will be braked via a ramp to a standstill and is set to the status intermediate stop The current movement request will not be executed until the feed hold is set again A movement request can be interrupted by resetting control word bit 4 In this case the drive will also be braked to a standstill and set to the status Control active In the initial status 5 additionally a homing run can be triggered by the control word bit 11 Figure 5 3 Position control Initial status 5 Control active ZSW1 bits 10 13 TRUE Do not interrupt positioning set End homing STW1 bit 4 TRUE STW1 bit 11 FALSE Feed hold set STW1 bit 5 TRUE Activate positioning set STW1 bit 6 Flank Start homing STW1 bit 11 TRUE Speed zero Homing running ZSW1 bits 11 13 FALSE Homing point set Braking with ramp ZSW bits 10 13 FALSE Interrupt positioning set STW1 bit 4 FALSE ZSW1 bits 11 13 TRUE Automati
5. PROFI 9 Parameter list gt Motion Profile Basic settings This parameter allows configuration of the reference value selector In this instance the reference values are taken from the PROFIBUS Once these settings have been performed communication can be established between the master and drive 7 4 1 Speed input All factor group parameters are set to default values The speed reference value can then be input scaled to the motor nominal speed So a value of 16384 corresponds to a speed reference value of 100 of the motor nomi nal speed By using the control word section 3 2 the drive can then be operated in speed control mode 7 5 Mappable parameters All factor group parameters are set to default values The speed reference value can then be input scaled to the motor nominal speed So a value of 16384 corresponds to a speed reference value of 10096 of the motor nominal speed 64 Harmonic Drive AG YukonDrive 1003375 06 2012 Table 7 7 Mappable parameters Parameter number Parameter name 1284 1285 Length 967 DP Controlword X X 968 COM DP Statusword X 1280 DP Controlword2 X X 1281 COM DP Statusword2 X 1 1270 RefSpeed 1271 ActSpeed 1 121 MPRO Input State X 1 143 Output State X 1 1274 COM DP RefPos X X 2 1276 COM DP ActPosl X 207 TAB Actldx X X 1 1275 DP TargetPos X X 2 1277 DP PosVelocity X X 2 1278
6. 0 40 0 41 0 42 0x43 0x44 0x45 0xFF 0x00 0xEA OxEB OxFF 0 0000 OxOOFF Meaning Reserved Reserved Request parameter Change Parameter Reserved Manufacturer specific Reserved Reserved Request parameter Change Parameter Reserved Manufacturer specific Reserved Request parameter Change Parameter Reserved Manufacturer specific Device Representative Axis Number 1 254 Reserved Reserved Quantity 1 39 Reserved Reserved Value Description Text Reserved Manufacturer specific Special Function Quantity 1 234 Reserved Reserved Number 1 65535 Number 1 65535 Reserved Data Types Reserved Zero Byte Word Double Word Error Reserved Quantity 0 234 Reserved Error Numbers see table below Comments Zero single axis Limited by DPV1 telegram length Limited by DPV1 telegram length Limited by DPV1 telegram length YukonDrive 1003375 06 2012 Table 4 7 Error number Impermissible value Impermissible parameter address No descriptive text available O18 Number of parameter values is inconsistent 06 2012 YukonDrive 1003375 Harmonic Drive AG 43 Chapter 3 Chapter 2 Chapter 1 S C 8 Chapter 7 Chapter 6 Chapter 5 4 2 Examples of request and reply telegrams Table 4 8 10 2 Change Parameter Attr Ox10 Value 918 0x396 Format word 0x42 Write word T
7. 68H XX 52 30 5E 0 XX 16H E 4 Read reply 5E DU DU DU DU DU 68H XX 92 30 0 n 0 Xx 16H Each read or write access must first be initiated by a write service on Data Unit Index 47 2Fhex 1 This write request gives the slave the information about the request it should execute After this the slave acknowledges with a reply telegram 2 which initially contains no reply data This is simply an acknowledgement of the request and contains only the mirrored DPV1 header of the request telegram In the event of an error a negative reply is sent To then read the data from the slave the master must present a read request 3 If the reply 4 to this is positive the user data can be used by the master In the event of an error a negative reply is sent Figure Read Request shows the telegram sequence for a read access This shows the slave sending a negative read reply to the first read request This negative read reply means that the required data cannot yet be provided 06 2012 YukonDrive 1003375 Harmonic Drive AG 37 Not until the following cycle has the slave executed the request to the extent that it can send positive read reply with the requested data Figure 4 1 Read request Master DPV1 Parameter Request Write req DB47 with data parameter request Write res without data Read req DB47 without data Parameter Processing Read res withou
8. Harmonic Drive AG User Manual YukonDrive Harmonic Drive AG 1803375 0622012 Harmonic Drive AG YukonDrive 1003375 06 2012 This document details the functionality of the following equipment variants YukonDrive 10xx xEx xx PROFIBUS for YukonDrive user manual Date 06 2012 We reserve the right to make technical changes Technical alterations reserved The contents of our documentation have been compiled with greatest care and in compliance with our present status of information Nevertheless we would like to point out that this document cannot always be updated parallel to the technical further development of our products Information and specifcations may be changed at any time For information on the latest version please refer to www harmonicdrive de 06 2012 YukonDrive 1003375 Harmonic Drive AG Table of contents How to use this 4 002 seen 6 wear 8 1 1 Measures Tor your Sare adactus update 8 9 1 9 9 2 Commissioning the PROFIBUS 1 10 Aal Connections and user Conio 10 22 Flug configuration forthe PROFIBUS 11 2 12 AA 15 25 14 26 GSD fle 15 3 data transmission DPVO ssssssssssssssssssssssssssssssssssssnsssrnnss
9. 220 8 UZK too low Intermediate circuit voltage less than switch on threshold 9 Quick stop activated Activate quick stop STW bit 2 0 10 Quick stop deactivated Deactivate quick stop STW bit 2 1 11 Spin out of true activated Activate spin out of true STW bit 1 0 12 Standstill detected Standstill was detected 13 Fault Fault event occurred can occur in any system status 14 Fault reaction ended Fault reaction has ended e g fault stop ramp gt 15 EM Acknowledgement of the reported fault gt STW bit 7 1 or by a rising flank of the power stage enable 16 Power stage blocked Power stage blocked can occur in any system status Parameter 144 Autostart determines whether the control of the operation enable is flank triggered 0 or status dependent 1 erfolgt Parameter List gt Motion Profile gt Basic Settings 34 Harmonic Drive AG YukonDrive 1003375 06 2012 1914 5 19142 5 1914 5 370 19142 45 9 191deu 4 1914 5 8 EM 35 Harmonic Drive AG 06 2012 YukonDrive 1003375 4 Acyclic data transmission DPV1 4 1 Telegram type 502 used for services In addition to DPVO cyclic data communications which are intended as standard for quick updates of process data 1 services are available as one off events They offer the facility for instance to read or write parameters acyclically and thus without interfering with cyclic data traffic Telegram typ
10. Nein Ja Ja Nein Ja Ja Ja Ja Nein Ja Nein Data type 016 132 132 16 16 16 16 152 132 52 132 016 016 016 016 U32 016 Meaning This parameter describes the func tion of each bit in the control word parameter 967 This parameter contains homing speed 1 in the jog mode This parameter contains homing speed 2 in the jog mode Speed reference value written by the PROFIBUS Actual speed Torque reference value written by the PROFIBUS Actual torque Position reference value ramp mode written by the PROFIBUS Position reference value direct mode written by the PROFIBUS Actual position from 1st position sensor Speed reference value ramp mode written by the PROFIBUS Acceleration reference value ramp mode written by the PROFIBUS Deceleration reference value ramp mode written by the PROFIBUS 2nd Control value not used at first 2nd status value not used at first Bus timeout List of parameters that can be used as process data reference values YukonDrive 1003375 06 2012 Table 81 PROFIBUS parameters prosecution Default Can Data Parameter name number Value range value changed type Meaning COM DP 1286 0 2000 1000 Ja U16 Online torque scaling COM DP SignalList _ 1285 0 65535 0 ae U16 List of parameters that can be used Read as process data reference values COM DP TMax
11. They refer to reference position speed and acceleration MPRO_FG_Num rev MPRO_FG_Den User unit Reference position rev COM DP REFPos User unit Intern The quotient of parameters MPRO_FG_Num and MPRO_FG_Den describes the ratio of user unit to motor revolutions Furthermore is allows any gearing ratios or advance constants to be incorporated Positioning speed The parameter MPRO_FG_SpeedFac offers the facility to change the number of decimal points for the position 5 s N ing speed or the unit of the positioning speed 5 Y ev rev S Positioning speed COM_DP_REFSpeed User unit _ _5 5 min Min Userunit Positioning acceleration The parameter FG AccFac offers the facility to change the number of decimal points for the positioning acceleration or the unit of the positioning acceleration ev rev Positioning speed DP Acc User unit e MPRO_FG_AccFac User unit 06 2012 YukonDrive 1003375 Harmonic Drive AG 61 7 3 Examples for setting the user factor group The positioning instructions should be input in degrees so that 360 corresponds to one revolution of the motor 65536 increments per revolution of the motor The speed should be input in rpm and the acceleration in rpm sec This gives the following values P00270 Sensor resolution 655 36 incr rev P00271 Position numerat
12. are ignored Drive in fault condition reference values from the 8 Fault PROFIBUS master are ignored Quick stop can be triggered by various circumstances The parameter 2218 MP QuickStopOC allows the type of quick stop to be selected Table 3 21 Quickstop Option Code buon pr Meaning 0 Disable drive function 1 Slow down on slow down ramp 2 Slow down on quick stop ramp 3 Slow down on the current limit 4 Slow down on the voltage limit 5 Slow down on slow down ramp and stay in quick stop 6 Slow down on quick stop ramp and stay in quick stop 7 Slow down on the current limit and stay in quick stop 8 Slow down on the voltage limit and stay in quick stop 06 2012 YukonDrive 1003375 Harmonic Drive AG 33 Table 3 22 System status changeovers System status changeover Designation Description 0 Start Initialisation after boot up completed Intermediate circuit voltage greater than switchon 1 UZK OK ge g threshold gt Quick stop and spin out of Spin out of true deactivated STW 1 true deactivated Quick stop deactivated gt STW bit 2 1 3 Power stage switched on Power stage switched gt STW 1 4 Controller enabled Controller enabled STW bit 3 1 5 Control blocked Control blocked gt STW bit 3 0 6 Power stage blocked Power stage blocked gt STW bit 0 0 Quick stop or spin out of true Spin out of true activated gt STW bit 1 0 activated Quick stop activated gt STW bit
13. as well as the standard Profidrive Profile telegrams additional manufacturer specific telegram types 06 2012 YukonDrive 1003367 Harmonic Drive AG 15 N EI E 3 Cyclic data transmission DPVO 3 1 Parameter process data objects PPO The establishment of communications between a class 1 master and the YukonDrive drive controller is essential ly performed in three phases Firstly the YukonDrive is parameterised with the current bus parameters monitor ing times and drive specific parameters phase1 In the configuration phase a configuration sent by the master is compared with the actual YukonDrive configuration phase 2 Once these two phases have been completed successfully the cyclic user data traffic starts phase 3 The various telegram types Parameter Process Data Objects PPO are prepared in the GSD file These PPOs form the basis of the configuration phase The project engineer knows from the 050 file how many bytes are required for the input and output data for PROFIBUS communication between the master and the drive control ler and can use this information to perform his settings in the configuration tool As well as the standard telegrams in accordance with the PROFIdrive Profile there are additional userspecific telegram types In addition to the PZD process data channel the user specific telegram make partial use of a PKW parameter channel 3 1 1 Standard PROFIdrive telegrams The ta
14. configuration gt Digital inputs When homing to the limit switches the digital input must be selected as a positive limit switch using selection parameter LCW 5 or a negative limit switch using selection parameter LCW 6 When homing to cams the parameter HOMSW 10 must be selected The following table shows the necessary assignment of the digital inputs for the respective homing run methods Table 6 1 P No P 2261 7 bis 14 15 16 17 Homing run methods Parameter identifier Setting HOMSW HOMSW LCCW LCW HOMSW HOMSW HOMSW HOMSW HOMSW LCCW 06 2012 YukonDrive 1003375 Identifier at DM 5 MPRO_402_HomingMethod move pos direction for distance coded encoder move pos direction for distance coded encoder Act position homing offset multiturn encoder Homing mode type 22 with continuous reference Homing mode type 20 with continuous reference No homing mode act position homing offset Reference position homing offset parameter HOOFF Not defined Neg end switch zero pulse Pos end switch zero pulse Pos reference cams zero pulse at RefNock Low Pos reference cams zero pulse at RefNock High Neg reference cams zero pulse at RefNock Low Neg reference cams zero pulse at RefNock High Left reference cam polarity zero pulse at RefNock Low not defined Neg end switch Function Digital inputs Homing run
15. input output data OxD9 consistent overall length OxF3 OxCO 26 words input output data PKW channel OxD9 consistent overall length OxD9 s 30 words input output data OxDD consistent overall length OxF3 OxCO 30 words input output data PKW channel OxDD consistent overall length OxDD 22 Harmonic Drive AG YukonDrive 1003375 06 2012 3 1 3 PKW parameter channel Some PPOs offer an additional cyclic parameter channel This channel allows drive parameters to the read and written Table 3 9 parameter identification PKW Ist byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte PKE 1 word IND 1 word PKW1 1 word PKW 2 1 word The parameter consists of a total of 4 words the parameter identifier PKE 1 word the sub index IND 1 word and the parameter identification word which occupies the data area 1 word to PKW2 1 word The parameter identification is shown by bits in the following table AK Request or reply identification value range O 15 PNU Parameter number value range 1 4095 The following tables list the request identification master and the reply identification slave Table 3 10 Request identification AK master slave Auftragskennung Funktion 0 No request 1 Request parameter value 2 Change parameter value word 3 Change parameter value double word 4 Read parameter description 5 6 Request parameter value array 7 Change parameter value array
16. machine 06 2012 YukonDrive 1003375 Harmonic Drive AG 67 Table 81 PROFIBUS parameters prosecution Default can be Data Parameter name Number Value range value changed type Meaning COM DP Statusword 968 0 machine DP DataStore 971 5255 0 data in the non volatile memory This parameter describes the 980 0 65535 0 Nein 016 defined parameters in the drive controller COM DP DefinedPara meter This parameter describes all the COM DP ModifiedPa parameters in the drive controller rameter Nem that are not set to the default values 68 Harmonic Drive AG YukonDrive 1003375 06 2012 1914 5 1914245 19142 5 y 193deuj 19142 45 9 5 1 1914 5 8 Jaydeuy E M 69 Harmonic Drive AG 06 2012 YukonDrive 1003375 Appendix Glossary AK Request identification Application dat set Factory pre defined data set for solution of typical applications Diagnostic data DP Master MW Parameter data PKW PNU ProfiDrive Mode PZD Slave SPM Status machine 70 Harmonic Drive AG The master reads the diagnostic data from the slave and thus permits a central response to slave malfunctions Distributed 1 0 The supervisory controller which provides communications Flag word The PKW parameter channel is used to transmit parameters cyclically to and from the d
17. o 26 HamoncDnveAG YukonDrive 1003375 06 2012 Table 315 Master control word prosecution Bit Operating mode Speed Control Operating mode Positioning control 0 Deactivate reference value Activate positioning set at rising and falling Activate reference value flank 0 gt 1 und 1 0 Bit 5 0 Freeze ramp generator No feed hold Unfreeze ramp generator Feed hold m Bit 4 D 0 Reset ramp generator Interrupt positioning set 5 Activate ramp generator Do not interrupt positioning set Bit 3 0 Controller not enabled Controller enabled operation enabled Bit 2 0 Quick stop active 1 Quick stop inactive Bit 1 0 Spin out of true active Spin out of true inactive Bit O 0 Switch off power stage OFF 1 Switch on power stage ON T Start Homing Procedure Stop Homing Procedure 12 Relative positioning Immediate start on changing the position speed 13 or the acceleration 14 Speed mode 15 Apply relative positioning immediately after start enable 06 2012 YukonDrive 1003375 Harmonic Drive AG 27 Using parameter COM DP CtrlConfig bits 6 and 8 can be configured Table 3 16 Master control word Bit number Value 0 Default value Value 1 The positioning task can be started The positioning task can only be started with the with the negative and positive flank positive flank profile 4 1 profile 4 0 The jog mode is manufacturerspecific The jog mode beh
18. reset of the device For all devices the bus address can be set via the buttons on the device refer to the Operating Manual YukonDrive Via the devices operating panel a diagnosis of the YukonDrive is possible The control unit comprises the following elements that are all positioned on the front N D E E 2 digit 7 segment display 1 2 5 2 buttons 3 4 Figure 2 3 Integrated control unit YukonDrive 2 OS 06 2012 YukonDrive 1003367 Harmonic Drive 13 The following functions and indications are available Indication of the device status The device status is indicated after switching on the control supply If an entry is not made using the buttons for 60 seconds the display returns to the display of the device status B Indication of the device error status On the occurrence of an error in the device the display is immediately switched to the indication of the error code m Parameter setting indication Reset the device parameter settings to the factory setting B Ethernet IP address setting indication IP Setting for the Ethernet IP address as well as the subnet mask Fieldbus settings indication Setting e g for the fieldbus address 2 5 Operating displays Options module Three LEDs are mounted on the options card these give indications regarding the current opera ting status of the module In Tables 2 2 and 2 3 the operating statuses of the PROFIBUS module are lis
19. the actual numerical value or use the parameter description text Further information can be found in the table User data m Number of Elements When accessing an array or a string this area contains the filed size or the string length B Parameter Number Contains the parameter number PNU B Subindex Addresses the first array element of a parameter or the beginning of a character string This also allows access to descriptive texts and text arrays Format Specifies the respective parameter and ensures a unique assignment of the parameter value in the telegram B Number of values Number of following values Values Parameter values 06 2012 YukonDrive 1003375 Harmonic Drive AG 4 Table 4 6 User data Field name Data type Request reference Unsigned8 Request ID Unsigned8 Response ID Unsigned8 Axis No Unsigned8 No of Parameters Unsigned8 Attribute Unsigned8 No of Elements Unsigned8 Parameter Number Unsigned16 Subindex Unsigned16 Format Unsigned8 No of Values Unsigned8 Error Number Unsigned16 42 Harmonic Drive AG Value 0x00 1 0x00 0x01 0x02 0x03 0x03F 0x40 0x7F 0x80 0xFF 0x00 0x01 0x02 0x03 0x3F 0x40 0x7F 0x80 0x8 0x82 0x83 0xBF 0x00 OXFF 0x00 0x01 0x27 0x28 0xFF 0x00 0x10 0x20 0x30 0x40 0x70 0x80 0xFO 0x00 0 01 OxEB OxFF 0x0000 0x0001 OxFFFF 0x0000 OxFFFF 0x00 0x01 0x36 0x37 0x3F
20. type for distance coded encoder for positive direction Homing run type for distance coded encoder for negative direction Homing absolute encoder Homing in progress negative flank of the homing cam Homing in progress positive flank of the homing cam No homing run positioning is only by offset Current position Zero No homing run Homing run negative limit switch and zero impuls Homing run positive limit switch and zero impuls Homing run to cams negative flank posi tive direction of trave zero impuls Homing run to cams positive flank posi tive direction of trave zero impuls Homing run to cams negative flank nega tive direction of trave zero impuls Homing run to cams positive flank nega tive direction of trave zero impuls Various homing runs to cams Reserved Homing run negative limit switch Harmonic Drive AG 55 S Tabelle 6 1 Homing run methods prosecution Parameter identifier P No Identifier at DM 5 Function Setting 18 LCW Pos end switch Homing run positive limit switch Pos reference cams Homing run to cams negative 1 HOMSW 12 pus Stop at RefNock Low flank positive direction of travel Pos reference cams Homing run to cams positive 2 HOMSW d Stop at RefNock High flank positive direction of travel Neg reference cams Homing run to cams negative 21 HOMSW E e ee Stop at RefNock Low flank negative
21. 10 1 Request Parameter Attr Ox10 Value Pnu 9 Defective parameter numbers eq No No Pnu Pnu Sub Sub eie ID S Ele high Low high low 0 1 0 1 0 10 0 0 9 0 0 Table 4 17 Format 0 44 Parameter value 0 incorrect parameter number TEM Req No No 0 0x81 0 06 2012 YukonDrive 1003375 Harmonic Drive AG 45 Write parameter values array Table 4 18 10 2 Change Parameter 0x10 Value Pnu 918 0x396 Format word 0x42 Refer Dew Axis b Attr No Ele Pnu high Pnu Low Sub high Sub low ID Param 0 2 0 0x10 5 3 0x93 0 0 EET No ValueO Value 0 Value4 Value4 Values high Low high low 0x42 5 3 C7 0 0 m Parameter values 0x03C7 0 04 6 Ox04F6 0 04 6 0 OK reply Refer B Parameter 915 now contains the entries for the parameter values B Nostandard telegram smaller than 10 is set up in the device since then it could not be overwritten Use remedy PPO5 Read parameter values array Table 4 19 10 1 0x10 Pnu 915 0x393 Zugeordnete Prozessdaten Sollwerte lesen 0 0 4 4 Refer ID Axis Bann Attr No Ele high bou high Ios 0 2 0 1 0x10 5 3 C7 0 0 OK reply Table 4 20 ID Format 0x42 Dea No 0 ValueO Valuel Value 1 ID Param Values high low high Low Refer 0 0 0x42 3 OxC7 4 OxF6 Value2 Value2 Value3 V
22. 47 Status word 2 3 4 1281 DP 0160065535 16 4 5 1271 Actual speed COM DP ActSpeed 32768 32767 6 6 7 7 8 8 9 9 10 The following parameters must then be set for position control mode CON CfgCon 300 PCON 3 Parameter list gt Motor control This parameter allows the control mode to be changed The setting PCON PositionControl Mode means that the drive is in position control mode CON REF Mode 301 RFG 0 Parameter list gt Motion Profile gt Basic settings This parameter allows the mode of the position reference value to be input The position reference value can be input directly or via a ramp generator The setting RFG Ramp Function Generator means that the position reference value is input via a ramp generator MPRO CTRL SEL 159 PROFIBUS 7 Parameter List Motion Profile Basic settings ber diesen Parameter wird der Steuerort eingestellt In diesem Fall ist der Steuerort PROFIBUS auszuw hlen MPRO_CTRL_SEL 159 PROFIBUS 7 Parameter List gt Motion Profile gt Basic settings This parameter allows the control location to be set In this instance the control location is selected as PROFIBUS 06 2012 YukonDrive 1003375 Harmonic Drive AG 59 EI 7 2 Conversion of reference values and actual values using factor group parameters In positioning applications the inputting of reference values and the return of actual values are generally p
23. 8 is set to 1 the drive applies the speed that is given in parameter COM If bit 8 and 9 are set there is no change the old reference value is retained 28 Harmonic Drive AG YukonDrive 1003375 06 2012 3 22 Jog mode positioning mode The jog mode for the positioning mode behaves as for the speed mode Bit 4 and 5 of the control word must be set 3 2 3 mode reference value parameter The parameters COM DP RefJogSpeed and COM RefJogSpeed 2 are of type Int32 and can be mapped as process data Table 3 17 Master control word 2 Bit number Value 1 D BitO 11 Not used Bit 12 15 Master sign of life If no synchronous application is implemented the master sign of life need not be transmitted allowing the entire second status word to be freely assigned 06 2012 YukonDrive 1003375 Harmonic Drive AG 29 3 3 Drive status word Table 3 18 Drive status word Motion request confirmation by toggling this bit Frequency or speed reached Target position reached or exceeded Bit 9 Access rights over the PLC granted Positioning slippage error outside Speed error outside the tolerance band T the tolerance band m 30 HamoncDnveAG YukonDrive 1003375 06 2012 Table 318 Drive status word prosecution Operating mode Speed Control Operating mode Positioning control 0 Spin out of true activated Spin out of
24. Drive AG 17 6 Le Standard telegram 8 is a defined telegram type for positioning with the facility for specifying a positioning speed It consists of 5 input words and 5 output words as shown in the following table Table 34 Standard telegram 8 PZD Nummer 2 3 4 5 Reference values STW1 XSOLL_A STW2 NSOLL_A PZD Nummer 2 3 4 5 Actual values ZSW1 XIST_A ZSW2 NIST_A Standard telegram 9 Is a defined telegram type for positioning It consists of 6 input words and five output words as shown in the following table Table 3 5 Standard telegram 9 PZD Nummer 2 3 4 5 6 Reference values STW1 TARPOS_A STW2 VELOCITY_A PZD Nummer 2 3 4 5 Actual values ZSW1 XIST_A ZSW2 NIST_A Every standard telegram in the device is described in the GSD file by a PROFldrive Profile configuration identifier ID The following table shows these identifiers for the selected standard telegrams Table 3 6 Identifier Telegrammtyp Datenbereich Identifier ID Standard telegram 1 2 output words and 2 input words OxC3 1 OxC1 0x00 0x01 Standard telegram 7 2 output words and 2 input words OxC3 1 OxC1 OxFD 0 00 0x07 Standard telegram 8 5 output words and 5 input words OxC3 OxC4 OxC4 OxFD 0 00 0x08 Standard telegram 9 6 output words and 5 input words OxC3 5 OxC4 OxFD 0 00 0x09 18 Harmonic Drive AG YukonDrive 1003375 06 2012 3 1 2 User specific PPOs As well as th
25. ON Tn speed controller lag time P 0325 CON SCONFilterFreq Limit frequencies for torque reference value filter P 0326 CON SCONFIlterAssi Torque reference value filter parameter P 0327 CON SCONFilterPara Torque reference value filter parameter 0351 CON SCALC TF Actual speed filter time constant P 0401 5 AddTRef Additive torque reference value P 0330 CON SCON TMaxNeg limitation reference value iud MA ere torque P 0332 CON_SCON_TMaxScale Torque scaling factor 0339 gt CONT Tmax torque P 0460 MOT TNom Motor nominal torque P 0372 GODS Filter time constant speed pre control P 0375 CON IP SFFScale Scaling for pre control of speed P 0414 PosDiff Position controller differential tracking error P 0360 CON PCON Kp Position controller amplification 52 Harmonic Drive AG YukonDrive 1003375 06 2012 Position control c Figure 5 4 s 9 549ldeU7 1010 2 LOW 09 0 xeWL NODS NOD 6Z80 d ale SxeWNI NOOS NOD ZEEO d sodxeINL NODS NOD LEEO d NODS NOD 0 0 4 025 NOD LOvO d dd WOD 41721 25 NOD 1980 4 peeds1 v da NOD 11 eledlelljJNODS NOD 22804 NODS NOD Issw183 14NODS NOD 9ZE0 d 1170 4 4 025 NOD SZEO d 5 NODS NOD 0 d sogx
26. Pos 1287 0 2000 1000 Ja 016 Positive online torque scaling COM DP TMaxNeg 1288 0 2000 1000 Ja 016 Negative online torque scaling This parameter allows incoming process data to be linked to specific device parameters The parameters 915 0 65535 967 Ja Ul6 thatcan be entered are listed in parameter 1284 The sub index 0 contains the first process data value PZD1 and so on COM DP PZDSelection Write This parameter allows outgoing process data to be linked to specific device parameters The parameters SOIL 916 0 65535 968 016 that can be entered are listed in R eae parameter 1285 The sub index O contains the first process data value PZD1 and so on COM DP Address 918 0 126 126 Ja U16 Station address of the inverter COM DP TelegramSe 922 0 65535 0 Ja U16 lection This parameter lists all mappable COM DP SignalList 923 0 65535 0 Nein U16 parameters and signals for param eters 915 and 916 This parameter forwards warning messages from the PROFIBUS DP Warning 953 0 Nein 016 PLC stop mode COM DP Baudrate 963 9 6 E 45 45 9 6 Nein U16 Current Baud rate for bus kbits s kbit s communication COM DP Deviceld SM OPENS ror device 5 identification DP 965 0 65535 a wen the first step DP Controlword 967 0 OxFFFF 0 urs Re eO Dra Ion the internalstatius
27. a The actual assignment can be found in the signal tables 915 and 916 Parameter list P Fieldbus PROFIBUSDP Signal table 915 DP PZDSelectionWrite contains all signals that can be sent by the control master to the drive Signal table 916 DP PZDSelectionRead contains all signals that can be sent by the drive to the control master The following table shows an example of the process data area from the control master to the drive For this purpose the sub indexes in list 915 are assigned the desired parameter numbers 62 Harmonic Drive AG YukonDrive 1003375 06 2012 Table 7 5 Assignment of the master slave process data channels PZD Parameter Data type 915 Parameter name number value range 0 967 Control word COM DP Controlword U16 0 65535 1 2 1270 Reference speed COM DP RefSpeed 116 32768 32767 2 3 1278 Acceleration COM DP Acc U16 0 65535 3 4 1279 Braking deceleration COM DP Dec U16 0 65535 4 5 5 6 6 7 7 8 8 9 9 10 Each sub index represents a 16 bit wide process data channel For this reason for instance an Int32 must be mapped to two sub indices The parameters available for selection and their data types are listed in table Assignment of the master slave process data channels The configuration of the process data areas can be freely selected by the user in the sequence of the signal assignments The only requirement is that the data type format must be c
28. able 4 9 10 2 Change Parameter Positive reply Refer Axis 0 2 0 m Parameter 918 now has the value 7 Table 4 10 10 2 Change Parameter Attr Ox10 Value Pnu 918 0x396 Format word 0x42 Write double word Refer pa Axis is Attr No Ele Pnu high Pnu Low ID Param 0 2 0 1 0x10 om 4 OxFA Sub high Sub low Format Values Value high Value Low Value high Value low 0 0 0x43 1 1 2 2 4 Table 4 11 1D 2 Change Parameter Axis No Param Refer B Parameter 884 now has the value 16909060 Read simple parameter value Table 4 12 10 1 Request Parameter 0x10 Value Pnu 922 0x39A Read word Req Pnu Pnu Sub Sub REIR ID au Param 2a Ele high Low high low 0 1 0 1 0 10 0 1 3 Ox9A 0 0 44 Harmonic Drive AG YukonDrive 1003375 06 2012 Table 413 Format word 0x42 Parameter value 9 Positive reply Refer n Axis Wii Format No Value Value ID Param values high low 0 0 1 0x42 1 0 9 Table 414 10 1 Request Parameter Attr Ox10 Value Pnu 922 0x39A Read double word Pnu Pnu Sub Sub ID du Param Ele high Low high low 0 1 0 1 Ox10 OF 4 OxFA 0 0 Table 4 15 Format dword 0x43 Parameter value 0x01020304 16909060 Positive reply Refer Axis No No Value Value Value Value T ID Param values H high H Low high low 0 1 0 1 0x43 gt Defective accesses Table 4 16
29. alue3 Value4 Value 4 high Low high Low high low 4 OxF6 5 0 0 0 46 Harmonic Drive AG YukonDrive 1003375 06 2012 1914 5 1914245 19142 5 G Jajdeuy 9 Jaydeuy 1 1914 5 EM 47 Harmonic Drive AG 06 2012 YukonDrive 1003375 5 Operating modes 5 Speed Control In speed control mode the speed control reference value can be influenced using 3 bits in the master control word 3 2 Figure 5 1 Speed control STWI bit4 True Activate ramp generator False Reset ramp generator STW1 bit5 True Enable ramp generator False Freeze ramp generator STWI bit6 Activate reference value False Deactivate reference value 0 zm 0 LEM Reference value FA for the closed Reference value ss speed control COM DP RefSpeed circuit Ramp Function Generator Setting the control word bit 4 allows the speed reference value to be taken over by the ramp generator The control word bit 5 releases the ramp generator resetting it freezes the ramp generator again The input of the ramp generator is influenced by the control word bit 6 If bit 6 is set the reference value is forwarded If bit 6 is not set the reference value zero is forwarded 48 Harmonic Drive AG YukonDrive 1003375 06 2012 5 2 Table 5 1 P no P 1270 P 1278 P 1279 P 0167 P 0371 P 0402 P 0458 P 0328 P 0334 P0333 0417 PAZZI P 0320 03521 0525 150526 P 0327
30. aves as described in profile 4 1 3 2 1 Jog mode speed mode Bit 8 and 9 of the control word provide a jog mode in the speed mode If bit 8 of the parameter DP CtrlConfig is set to 0 the drive behaves as follows jog mode manufacturer specific If bit 8 is set to 1 the drive applies the speed that is given in parameter DP If bit 9 is also set to 1 the value in the parameter DP RefJogSpeed2 is used as the reference value If bit 9 is set again COM DP RefJogSpeed is used as the reference again If bit 8 is set to O while bit 9 is still set to 1 there is no change If bit 9 is set to 1 the drive applies the negated speed that is given in parameter DP RefJogSpeedi The direction of rotation is therefore inverted If bit 8 is also set to 1 the negated value in the parameter COM DP RefJogSpeed2 is used as the reference value If bit 8 is set to again DP RefJogSpeed is used as the reference again If bit 9 is set to O while bit 8 is still set to 1 there is no change In case of negative reference values a negated speed is positive again The jog mode can only be activated if the motor is at standstill If bit 8 of the parameter DP CtriConfig is set to 1 the drive behaves in accordance with the profile profile 4 1 page 84 13 The jog mode can only be activated if the motor is at standstill Bits 4 to 6 of the control word are O If bit
31. ble below lists firstly the standard Profidrive telegrams that are supported by the drive controller Table 3 1 explains the abbreviations used to assign standard telegrams to a specific process data channel The process data channel abbreviated to PZD is grouped by words 16 Harmonic Drive AG YukonDrive 1003375 06 2012 Table 3 1 Abbreviations Abbreviation Name Number of words STWI Control word 1 1 STW2 Control word 2 ZSW1 Status word 1 1 ZSW2 Status word 2 1 NSOLL A Speed reference NIST A Actual speed 1 SATZANW Set selection from the driving set table 1 AKTSATZ Current set selection from the driving set table XSOLL A Reference position 2 XIST A Actual position p TARPOS A Reference destination position 2 VELOCITY A Reference speed 2 Standard telegram 1 is a defined telegram type for speed control It consists of two input words and two output words as shown in the following table Table 3 2 Standard telegram 1 PZD number 2 Reference values STW1 NSOLL_A PZD number 1 2 Actual values ZSW1 NIST_A Standard telegram 7 15 a defined telegram type for selecting the driving set In total 16 driving sets saved in the drive can be selected The telegram type comprises 2 input words and two output words as in the following table Table 3 3 Standard telegram 7 PZD number 2 Reference values STW SATZANW PZD number 2 Actual values ZSW1 AKTSATZ 06 2012 YukonDrive 1003375 Harmonic
32. c position Flank controlled updating inactive updating of Positioning command active STW1 bit 13 positioning set ZSW1 bits 10 13 FALSE FALSE and flank on ZSW1 bit 12 Automatic Activate positioning updating of set by flank No hold set EcL positioning set STW1 Bit 6 STW1 bit FALSE updating active 0 1 oder 1 0 STW1 bit 13 TRUE Hold set STW1 bit 1 TRUE Braking with ramp ZSW bits 10 13 FALSE Updating Intermediate stop 06 2012 YukonDrive 1003375 Harmonic Drive AG 5 Speed zero Lr EI gt 5 4 Control parameters P Nr Parameter name Meaning P 1270 COM DP RefSpeed Speed reference value P 1278 COM DP Acc Acceleration ramp P 1279 COM DP Dec Deceleration ramp P 0167 MPRO REF Speed override P 1276 DP ActPos Current actual position P 0402 5 AddSRef Additive speed reference value P 0458 MOT Snom Nominal speed of motor P 0328 5 Smax Speed limitation CON CON ares en an speed of motor UE nin of motor P 0417 CON SCON SDiff Speed controller differential P 1271 DP ActSpeed Actual speed P 1516 SCD Jsum Overall moment of inertia P 0376 CON IP TFFScale Scaling for pre control of acceleration P 1275 COM DP TargetPos Target position P 1277 DP PosVelocity Positioning speed P 0374 CON IP EpsDly Position reference delay P 0320 CON 5 Kp PI speed controller amplification P 0321 CON SC
33. direction of travel Neg reference cams Homing run to cams positive 22 HOMSW 22 Stop at RefNock High flank negative direction of travel Left reference cam polarity 2 HOMSW V h t 23 bis 30 OMS Stop at RefNock Low arious homing runs to cams 31 32 Not defined Reserved 33 Next left zero pulse Zero impulse in negative direction of travel 34 Left reference cam polarity Zero impulse in positive direction Stop at RefNock High of travel 35 Actual position The instantaneous position is the Reference position zero position 6 6 Homing run methods The type of homing run is selected by the parameter 2261 MPRO 402 HomingMethod Parameter list gt Motion Profile Homing Further information can be found in the YukonDrive user manual 56 Harmonic Drive AG YukonDrive 1003375 06 2012 1914 5 1914245 19142 5 y 193deuj 19142 45 9 1914 5 4 1914 5 EM 57 Harmonic Drive 06 2012 YukonDrive 1003375 7 Examples of commissioning using manufacturer specific telegrams 7 Position control using PPO 5 The following section describes how the drive can be simply and quickly commissionend in the position control mode Firstly the 050 file LUSTOA33 gsd must be linked in during the PROFIBUS configuration phase and then the PPO type 5 selected PPO type 5 consists of a PKW channel 8 byte and 10 process data channels 20 byte The process data area can be freely configur
34. e SD2 in accord ance with the following table is used for the DPV1 PROFIBUS DP extension Table 4 1 PROFIBUS 502 telegram for services SD LE LEr SD DA SA DSAP SSAP DU FCS ED Start Length Length Start Destina Source Destina Source Data Frame End Delimiter repeat Delimiter tion Address tion Service Unit Check Delimiter Address Service Access Sequence Access Point Point 68H X X 68H XX XX XX XX The services can be used equally well by a class 1 master PLC etc and by a class 2 master PC tool The following table gives and overview of the acyclic services available in relation to the respective master class Table 4 2 overview of the acyclic services offered ae Bedeutung DSAP SSAP Initiate request 2 Establish an acyclic connection 32H 31H Abort request 2 Break off an acyclic connection 32H 0 30H Read request 2 Read request DPV 1 32H 0 30H Write request 2 Write request via DPV1 32H 0 30H Data request 2 Data transfer 32H 0 30H Read request 1 Read request DPV1 33 33H Write request Write request via DPV1 ad 33H Alarm Alarm handling BB 33H 36 Harmonic Drive AG YukonDrive 1003375 06 2012 The access mechanism on DPV1 is always performed according to a fixed layout 1 Write request 5F DU DU DU DU DU 68H XX 5 30 0 Pis n 0 16H 2 Write reply DU DU DU DU 68H XX 32 30 0 2 n XX 16H 3 Read request 5E DU DU DU DU
35. e standard telegrams that are supported there are in addition further userspecific PPOs Parameter Process data Objects The following PPOs are also transmitted cyclically and in addition to the PZD process data channel partially contain a PKW parameter channel thereby allowing access to the drive parameter values Table 3 6 Userspecific Parameter Process data Objects PPO PKW PZD Pkw Pkw srw Ref 1 PKE IND gt 7SW Actual m Value 5 5 se qwe SY ne DES Pao E 1 2 ZSW 3 4 5 6 5 Value 3 uf id Value STW j 20 PZD ZSW 3 4 5 6 Value Ref s pee inp PAW STW PZD PZD PZD PZD PZD PZD 1 2 ZSW 3 4 5 6 7 8 9 10 Value STW d 20 ZSW 3 4 Value Ref PKW PKW STW PZD PZD PKE IND 2 7SW Actual 3 Value STW j 20 PZD PZD ZSW 3 4 5 6 7 8 Value Ref ee inp PKW PKW STW PZD PZD PZD PZD PZD PZD 1 2 ZSW 3 4 5 6 7 8 Value Ref Sm 20 ZSW 3 4 5 6 7 8 9 10 Value PPO3 is the standard telegram 1 06 2012 YukonDrive 1003375 Harmonic Drive AG 19 In the drive parameter list there exist two signal tables which contain all the process data that can be cyclically read and written for the PROFIBUS communications DPVO All possible process data signals that can be written can be found in the
36. eWS NODS NOD vEEOd NODS NOD 8ZE0d 5 10 1 8570 095 NOD 17 025 NOD LZ80d 44 NODS NOD 02604 qos 91514 dd WOD dy NOOd NOD 09 0d 0504 NOD yly0 d 9 21 4 256445 dl 07 GLEOd 25441 dl NOD 9 0d YAO 438 9104 4 WO2 62214 dd WOO 8 1 4 4 4 WOO 22214 ad WOO 6 21 4 1 1 414544 ai No vLEOd D 3143 dl ZL480 d T 53 Harmonic Drive AG 06 2012 YukonDrive 1003375 6 Homing 6 1 Homing runs performed by the drive Since relative sensor systems are used the drive must be homed triggered by bit 11 in control word 1 As soon as this bit is set by the master the drive performs a positioncontrolled homing run using an internal profile generator and determined by homing run speed homing run acceleration and employing the strategy saved in the homing run method 6 2 Homing run speed The homing run speed is specified by parameter 2262 402 HomingSpeeds in the parameter editor Parameter list gt Motion Profile gt Homing The user has the facility here to specify two different homing run speeds 1 SpeedSwitch Speed when moving to the limit switch 2 SpeedZero Speed when moving to the zero point 6 3 Homing run acceleration The homing run acc
37. ed using this manufacturer specific telegram That means that the desired reference values and actual values can be mapped to a defined process data area All mappable signals are listed in two signal tables which can be accessed using the parameter editor under the folder Parameter list 6 Fieldbus PROFIBUS DP in the left tree structure of the operating tool Within this folder directory the signal list 1284 DP Signal List Write contains all possible process data signals that can be written and the signal list 1285 DP SignalList Read contains all possible process data signals that can be read The user can assign the process data channels freely as required The actual assignment can be found in the signal tables 915 and 916 Parameter list 6 Fieldbus PROFIBUSDP Signal table 915 DP PZDSelec tionWrite contains all signals that can be sent by the control master to the drive Signal table 916 COM PZDSelectionRead contains all signals that can be sent by the drive to the control master The following table shows an example of the process data area from the control master to the drive For this purpose the sub indexes in list 915 are assigned the stated parameter numbers Table 71 Example of assignment of the master slave process data channel Signal table 915 karamele Parameter name Pes type Sub index AB number value range 0 967 Control word COM DP Controlword U16 0 65535 2 1275 Target positi
38. eleration is specified by parameter 2263 MPRO 402 HomingAcc in the parameter editor Parameter list gt Motion Profile gt Homing 6 4 Zeroing offset Absolute encoders such as SSI multiturn encoders present a special case for the homing run since they directly generate the absolute position reference For homing using these encoders it follows that no movement Is required and in some circumstances even no power to the drive Furthermore the zeroing offset must be determined The type 5 is particularly suitable for this A zeroing offset can be set using the parameter 525 HomingOff Parameter list gt Motion Profile gt Homing 6 5 Homing cams limit switches The signal for the homing cams can optionally be linked to one of the digital inputs for which the inputs ISDOO to ISDO6 are available When homing to the limit switches the digital input must be selected as a positive limit switch using selection parameter LCW 5 or a negative limit switch using selection parameter LCW 6 When homing to cams the parameter HOMSW 10 must be selected see parameter P 0101 P 0107 54 Harmonic Drive AG YukonDrive 1003375 06 2012 The signal the homing cams can optionally be linked to one of the digital inputs for which the inputs ISDOO to ISDO6 are available Furthermore the limit switches can also be used for homing The assignment of the digital inputs can be found under the parameter 101 to 107 Parameter list gt 1 0
39. er 270 PosNorm Sensor resolution incr rev 271 MPRO Num Numerator position rev 272 MPRO Den Denominator position POS 274 SpeedFac Speed factor rev min SPEED 275 AccFac Acceleration factor rev sec sec ACC 284 MPRO PosUnit Position unit String 285 PosExp Position exponent 286 MPRO PosScaleFac Position factor 287 MPRO FG SpeedUnit Speed unit String 288 FG SpeedExp Speed exponent 289 FG SpeedScaleFac Speed factor 60 Harmonic Drive AG YukonDrive 1003375 06 2012 Table 7 4 USER factor group prosecution Parameter number Parameter name Meaning Unit 290 MPRO FG AccUnit Acceleration unit String 29 MPRO FG AccExp Acceleration exponent 292 MPRO FG AccScaleFac Acceleration factor 293 TorqueUnit Torque unit String 294 MPRO TorqueExp Torque exponent 295 MPRO FG TorqueScaleFac Torque factor These define the internal resolution of the unit for Position rev Speed rev min Acceleration rev sec sec The units are automatically defined by the profiles themselves according to DSP402 or Sercos The units can be input manually in User setting The parameters for unit and exponent refer to the display and have no effect on the standardisation of the variables themselves The following three formulae describe the conversion of user units into the units used internally in positioning mode
40. erformed using application specific user units mm degrees The reference values and actual values of the drive are converted using what are called factor group parameters Parameter list Motion profile Standardisati on units For these the user has the facility to differentiate between 3 different groups of parameters All 3 groups have the same task which is to convert the user units to the fixed internal variables used by the servocontroller The first factor group is based on the DSP402 standard The parameters of this group are descri bed in detail in the CANopen specification DSP402 The second factor group goes under the heading Sercos The parameters of this group refer to the Sercos specification SERCOS interface Version 2 4 February 2005 The parameters of this group are also described in detail in the respective specification The third factor group is called user spec and is userspecific group Since this factor group is not described in detail elsewhere the use of parameters of this group is illustrated by means of an example The user can select the factor group using the parameter FG Type Table 7 3 Parameters Parameter number Parameter name Meaning Selection of the factor group 0 STD 402 1 SERCOS 2 USER 283 Type The parameters of the USER factor group are listed in the table below Table 7 4 USER factor group Parameter name Meaning Unit numb
41. et Version 4 1 May 2006 Order no 3 172 06 2012 YukonDrive 1003375 Harmonic Drive AG 9 2 Commissioning the PROFIBUS Interface 2 1 Connections and user controls The connections and user controls for the PROFIBUS interface are shown schematically in Figure 2 1 The LEDs H2 H3 act as status indicators The rotary coding switches S1 and S2 can be used to set the PROFIBUS address for the drive The PROFIBUS cable is connected to the plug X14 Table 2 1 PROFIBUS options card Front plate No Comments H1 LED for status indication yellow H2 LED for status indication red H3 LED for status indication green X14 PROFIBUS cable connection 10 Harmonic Drive AG YukonDrive 1003375 06 2012 2 2 Plug configuration for the PROFIBUS cable The PROFIBUS is connected using a nine pin sub D plug The pin assignment is shown in Fig 2 2 and described in Table 2 1 Figure 2 1 Pin assignment of sub D plug connector RxD TxD P 12 3 4 5 14 6 7 8 9 RxD 5 Volt TxD N Table 2 2 Description of pin assignment PIN RS 485 Signal Beschreibung 1 SHIELD Earthed shield 2 RP Reserved for power supply via the bus 3 B B rot RxD TxD P Send and receive data 4 Control signal repeater 6 Power supply for terminating resistor 7 Reserved power supply the bus 8 gr n RxD TxD N Send and receive data 9 CNTR N Co
42. ference value nominal torque Torque scaling factor Torque limitation reference value nominal torque Motor nominal torque Harmonic Drive AG 49 Lr EI C Figure 5 2 Speed control s 5 peedsiv dd NOD 41 91V9S NOD 16 0 4 1010 pej o31uoo enbio 9 A 41494 dl WOO YAO 334 Z910 d peedsjeu Wo OLZI d WONL LOW 09 0 UL NOJS NOD 1250 Banxews NODS NOD 0d xeWL NODS NOD 6ZE0 d dx NODS NOD 02604 4 NODS NOD vVEEOd LLEO d dd WOD 627 1 a e9sxeWL NODS NOD ZEEO d 025 NOD 82804 WOO 8 21 sogxeW1 NODS NOD LEEO d 2 NOD LZ7EOd 025 NOD 10 8670 NODS NOD 080 4 15519 4 025 NOD 92604 LLvO d ba14493 I4NODS NOD 5260 4 025 NOD NOIS NOD LOvO d Harmonic Drive AG YukonDrive 1003375 06 2012 50 5 3 Position control In position control operating mode based on operating status 5 see section 3 4 the drive can change over into various statuses in response to defined bits in the master control word 3 2 These statuses are explained in Figure 5 2 A positioning command is activated if the control word bit 4 the feed hold is set via bit 5 and a flank is set on control word bit 6 Further positioning commands can then be activated via the control word bit 13
43. he parameterisation phase the master sends the drive a configuration telegram containing this special identification ID On receipt of this the drive compares the data in the configuration telegram with the con figuration held in the drive The identifier determined by the PPO type be found in the GSD file under the heading Modules The following table shows these identifiers for the user specific telegrams 20 Harmonic Drive AG YukonDrive 1003375 06 2012 Table 3 8 PPO 1 06 2012 YukonDrive 1003375 Listing of identifiers Identi OxF3 1 OxF5 OxF5 9 OxF3 OxF7 7 9 OxCO OxCD OxCD OxF3 OxCO OxCD OxCD OxCO OxD1 OxD1 OxF3 OxCO 1 1 OxCO OxD5 OxD5 Identifier ID Bin 1111 0011 1111 0001 111 0071 1111 0001 1111 0101 1111 0011 1111 1001 1111 0011 1111 0011 1111 0011 1111 0111 1111 0011 1111 0111 1111 1001 Evaluation using the special identification format Figure 3 6 4 words input output data consistent overall length 2 words input output data consistent overall length 4 words input output data consistent overall length 6 words input output data consistent overall length 2 words input output data consistent overall length 6 words input output data consistent overall length 4 words input outp
44. ive AG YukonDrive 1003375 06 2012 1 2 Introduction to PROFIBUS The PROFIBUS implementation in YukonDrive is based on the PROFIdrive profile PROFIBUS PROFdrive profile version 4 0 dated August 2005 E Performance features in key words B Data transmission using two wire twisted pair cable RS 485 B Transmission rate optionally 9 6 19 2 45 45 93 75 187 5 500 1 5 3 6M or 12 MBaud B Automatic Baud rate detection PROFIBUS address can be set using the rotary coding switches or alternatively using the addressing parameters Cyclic data exchange reference and actual values using DPVO Acyclic data exchange using DPV1 Synchronisation of all connected drives using freeze mode and sync mode Reading and writing drive parameters using the PKW channel or DPV 1 1 3 System requirements It is assumed that you have access to a standard PROFIBUS set up program or a PROFIBUS interface driver 1 4 Further documentation User manual for commissioning the drive device User manual for further parameterisation to customise the application The user manual can be downloaded as a PDF file from the Service area on our Homepage www harmonicdrive de B DS 301 Rev 4 0 Application Layer and Communication Profile DSP 402 Rev 2 0 Device Profile Drives and Motion Control Profibus User Organisation Profidrive Profil Drive Technology for Profibus and Profin
45. ntrol signal for repeater The signals shown with cursive letters in the table have to be provided by the user if requested The control signals used for the repeaters are optional and the power supply for the terminating resistors is provided by the device 06 2012 YukonDrive 1003375 Harmonic Drive AG 11 N 6 2 3 Bus termination If the drive controller is initially at the end of the bus system a plug with an integral terminating resistor Rt should be used In addition to the cable terminating resistor in accordance with the EIA RS 485 standard a pull down resistor Rd against the data reference potential DGND and a pull up resistor Ru against VP are provided This ensures a defined no load potential of 1 1 Volt between pins 3 and 8 In a made up PROFIBUS cable these resistors are all incorporated as standard in the PROFIBUS plug and the terminating resistor can be activated using a switch on the PROFIBUS plug The following figure shows a Sub D 9 pin plug bus termination Figure 2 2 Sub D 9 pin plug bus termination Vp 5 Volt 6 Ru 390 Ohm RxD TxD P 3 B rot Rt 220 Ohm RxD TxD N 8 A gr n Rd 390 Ohm GND 6 PROFIBUSkabel 12 Harmonic Drive AG YukonDrive 1003367 06 2012 2 4 Setting the drive address The drive address can be assigned using parameter 918 DP Address The drive address is set only after a 24V
46. omplied with That means that a 32 bit variable also requires 2 process data channels The following table shows an example of the process data area from the drive to the master For this purpose the sub indexes in list 916 are assigned the desired parameter numbers Table 7 6 Assignment of the slave master process data channels Signal table 915 parameter Parameter name Sub index M namber value range 0 968 Status word DP Statuswort U16 0 655 35 1 2 1271 Actual speed DP ActSpeed 116 32768 32767 8 3 4 4 5 E 6 6 7 8 8 9 9 10 06 2012 YukonDrive 1003375 Harmonic Drive AG 63 The following parameters must then be set for speed control mode 1 CON CfgCon 300 SCON 2 Parameter list control This parameter allows the operating mode to be changed The setting SCON Speed Control Mode means that the drive is in speed control mode 2 CON REF Mode 301 RFG 0 Parameter list Motion Profile Basic settings This parameter determines the mode of reference value input The position reference value can be input directly or via a ramp generator The setting RFG Ramp Function Generator means that the speed reference value is input via a ramp generator 3 MPRO CTRL SEL 159 PROFIBUS 7 Parameter list Motion Profile Basic settings This parameter allows the control location to be set In this instance the control location is PROFIBUS 4 MPRO REF SEL 165
47. on COM DP TargetPos 132 2147483648 2 3 1275 Target position COM DP TargetPos 2147483647 Control word 2 3 4 1280 E 016 0265535 4 5 1277 Positioning velocity COM_DP_PosVelocity 132 ne 2147483648 5 a 6 7 1278 Acceleration COM DP Acc U16 0 65535 7 8 1279 Braking deceleration COM Dec U16 0 65535 8 9 0 9 10 0 58 Harmonic Drive AG YukonDrive 1003375 06 2012 Each sub index represents a 16 bit wide process data channel For this reason for instance the target position that is sent as Int32 is mapped to sub indices 1 and 2 in order to transmit a real 32 bits The parameters availa ble for selection and their data types are listed in chapter 6 The configuration of the process data channels can be freely selected by the user in the sequence of the signal assignments However the data type format must be complied with The following table shows an example of the process data area from the drive to the master For this purpose the sub indexes in list 916 are assigned the desired parameter numbers Table 7 2 Example of assignment of the slave master process data channels Signal table 915 PZD Parameter Data type Parameter name Sub index area number value range 0 968 Status word COM DP Statuswort U16 0 65535 m 132 1 2 127 DP Act Posl 6 ctual position 51 2147483648 2 3 1276 Actual position COM DP Act Posl 21474836
48. or 1 rev P00272 Position denominator 360 POS P00274 Speed factor 1 rev min SPEED P00275 Acceleration factor 1 60 rev sec sec ACC P00284 Position unit string Degree P00287 Speed unit string l min P00290 Acceleration unit string 1 min sec FOS User unit for position SPEED User unit for speed User unit for acceleration 7 4 Speed control using PPO 2 The following section describes how the drive can be simply and quickly commissioning in the speed control mode Firstly the GSD file LUSTOA33 gsd must be linked in during the PROFIBUS configuration phase and then the PPO type 2 selected PPO type 2 consists of a PKW channel 8 byte and six process data channels 12 byte The process data area can be freely configured using this manufacturer specific telegram That means that the desired reference values and actual values can be mapped to a defined process data area All mappable signals are listed in two signal tables which can be accessed using the parameter editor under the folder Parameter list 6 Fieldbus 6 PROFIBUS DP in the left tree structure of the operating tool Within this folder directory the signal list 1284 COM DP Sig nallist Write contains all possible process data signals that can be written and the signal list 1285 DP Signal List Read contains all possible process data signals that can be read The user can freely assign the process data are
49. r specific i m 58 7 PPO o NN _ _ ______ 6__ 58 7 2 Conversion of reference values and actual values using factor group parameters 60 73 Examples for setting the user factor neces iki terne rii nre 62 Z4 5660 COMMON using PPO CUERO EVE Rer 62 e 64 745 _ 64 8 FRORBUS 66 0 70 06 2012 YukonDrive 1003375 Harmonic Drive AG How to use this manual Dear user This manual is intended for use by project engineers commissioning engineers and programmers of drives and automation solutions involving the PROFIBUS field bus It assumes that you have received appropriate training on PROFIBUS and that you have access to relevant reference books We assume that your drive has already been commissioned if not please first refer to the user manual Note This manual relates to the YukonDrive positioning drive system Pictograms Attention Incorrect operation may damage the drive or cause it to malfunction Danger from electrical tension Improper conduct may endanger human life Danger from rotating parts The drive may start up automatically LE Note Useful information M 6 1003375 06 2012
50. r string length Unsigned 16 3 Standardisation factor Floating Point 4 Variable attributes OctetString 2 5 Reserved OctetString 4 6 Name only the first four bytes are sent VisibleString 16 7 Lower limit value OctetString 4 8 Upper limit value OctetString 4 9 Reserved OctetString 2 5 10 ID extension extension V2 11 PZD reference parameter Unsigned 16 12 PZD standardisation V2 The identifier sub index 1 in the parameter description identifies additional characteristics of the respective parameter Table 3 8 describes the meaning of the identifier Table 3 14 Structure of the identifier Bit Meaning Explanation 15 Reserved 14 Array If this bit is set the respective parameter 13 Parameter value can only be reset value can be varied externally only so as to be set to zero 12 Parameter value was changed to value If this bit is set the parameter value is different from the factory settings different from the factory settings 11 Reserved 10 Additional text array can be called up 9 Parameter cannot be written This bit is set if the parameter is of a data Standardisation factor and variable attributes 8 type that cannot be used to calculate any not relevant physical values e g data type string Data type of the parameter value value Profi Drive table 9 06 2012 YukonDrive 1003375 Harmonic Drive AG 25 3 2 Master control word Table 3 15 Master control word m
51. rive device Parameter identification value Parameter number Configuration of the process data channel compatible with the ProfiDrive profile In contrast to EasyDrive mode the system statuses are changed by defined series of control sequences The system status machine defined in the PROFIBUS standard specifies the individual system status transitions Process data The process data channel contains the functions Load control and Hn status Input reference values and Display actual values A slave is a bus participant on the PROFIBUS DP which in contrast to the master responds exclusively to the requests directed to it Spontaneous message This describes the transitions between the various systems statuses A status transitions 15 triggered by a defined event such as a control sequence or the setting of an input YukonDrive 1003375 06 2012 1914 5 1914245 19142 5 376 19142 45 9 191deu 4 1914 5 8 19142 5 EM 71 Harmonic Drive AG 06 2012 YukonDrive 1003375 Harmonic Drive AG
52. rnnenns 16 3 1 Parameter process data objects PPO residen trenes oct 16 oL Standard PROF dive telegra S mirari rund 16 19 31 3 PPKW parameter SI 23 32 COU ON 26 pl Jogmodespsed 28 2 2 2 JOG mode positioning MODE 29 3 2 3 Jog mode reference value 2 seen 29 33 30 22 mmm 22 4 Acyclic data transmission DPV 36 41 Telegram type 502 used for DPV1 1 6 36 4 2 Examples of request and reply telegrams e sssssssssssessesesssesessesessessessesessesesssssessesessnsesssesess 44 4 Harmonic Drive AG YukonDrive 1003375 06 2012 5 THO E 48 SN Ben MT 48 5 2 Speed control circuit and associated control 5 49 S ergo mE 5 5 4 Position control circuit and associated control 92 6 54 6 1 Homing rins performed by The ssepe tinis 54 D2 oi NR 54 03 ALIO Eaedem 54 di NO SR 54 5 Homing camne tet MODE E 54 DR 56 7 Examples of commissioning using manufacture
53. signal table 1284 COM DP SignalList Write and all possible process data signals that can be read can be found in the signal table 1285 DP SignalList Read The most important param eters that can be read and written are also documented in Chapter 6 The process data signals that can be written can be configured in the signal table 915 COM DP PZDSelection Write The number of process data available to be written are determined by the PPO type that is selected The process data signals that can be read can be configured in the signal table 916 COM DP PZDSelection Read The number of process data available to be read are also determined by the PPO type that is selected When using standard telegrams the process data signals in the signal tables are automatically configured by the firmware A maximum of 15 process data signals can be mapped both words and double words be used The user specific drive telegram types are described by a configuration identifier ID in the GSD file This describes the structure of the cyclic report data using a special identification format shown in the figure below Figure 3 1 Identification format Identifier Length of the data 00 1 byte word 15 16 bytes words Input Output 00 specific identification format 01 input 10 output 11 input output byte 1 word 0 consistency over byte word 1 consistency over the overall length After t
54. signment of data unit Data Unit Data Unit DU byte Value Meaning 0 Req id 48H Idle REQ RES Idle REQ RESP Data Transport REQ RES Data transport RESP RESP 56H Resource Manager REQ Resource manager REQ 57H Initiate REQ RES Initiate REQ RESP 58H Abort Abort REQ 5CH Alarm REQ RES Alarm REQ RESP 5EH Read RES Read REQ RESP 5FH Write REQ RES Write REQ RESP Data Transport NEG RES Data transport RESP D7H Initiate NEG RES Initiate negative RESP DCH Alarm NEG RES Interrupt negative RESP DEH Read NEG RES Read negative RESP DFH Write NEG RES Write negative RESP Slot OOH FEH Slot number 2 Index 2FH Index 3 Length XX Length of the user data max 240 bytes 4 n UserData XX User data Alarms are not currently supported 06 2012 YukonDrive 1003375 Harmonic Drive AG 39 In the following table the telegram format for the user data Data Unit User Data for a DPV1 parameter request and a DPV1 parameter reply are shown Table 4 4 Assignment of the data unit Request Header 1 Parameter adress n Parameter adress DPV1 Parameter Request Byte address Request reference Request identification 0 Axis No No of Parameters n 2 Attribute No of elements 3 Paramter Number PNU Subindex 4 6 n 1 Format No of values 4 6 n Values 4 6 n format_n amount_n Table 4 5 DPV1 Parameter reply Reply header 1 Parameter address No of parameter addre
55. ss DPV1 Parameter Reply Byte address Request reference mirror Response identification 0 Axis No mirror No of Parameters n 2 Format No of values 4 Value error code 4 format_n amount n 40 Harmonic Drive AG YukonDrive 1003375 06 2012 The user data are structured as follows B Request reference The Request Reference is specified by the master and mirrored back by the slave in the reply telegram Based on this reference the master can uniquely assign each reply telegram to a request telegram A master changes the request reference with each new request m Request ID This identifier has essentially the task of describing the type of parameter treatment Currently two different identifiers are defined Requesting for a parameter Changing a parameter Further details on identifiers can be found in the table User data m Response ID This identifier contains information on the origin of a request If a request Is executed correctly the response ID matches the request ID If a request cannot be executed an identifier in accordance with table User data is generated B Axis No This value allows an individual axis in a multi axis system to be addressed selectively Axis gt 0 single axis M No of Parameters 6 A Number of parameters that are processed in a request B Attributes Describes the individual access to a parameter structure For instance whether one may access
56. t data Read req DB47 without data Read res with data parameter response This transmission format is in Big Endian Motorola the highest byte is transmitted first Word format 0 Byte 1 Byte High Byte Low Byte Double word format 0 byte 1 byte 2 byte 3 byte High byte Low byte High byte Low byte High word High word Low word Low word 38 Harmonic Drive AG YukonDrive 1003375 06 2012 The data unit in the table PROFIBUS 502 telegram for DPV1 services of telegram type SD2 can be split into five areas Req id 1 byte This is the function number of the DPV1 service This describes for instance whether a parameter should be read or should be written More detailed information can be found in the table Assignment of the Data Unit Slot 1 byte DPV1 slaves consist of a number of physical or virtual slots The drive is triggered by addressing a slot following which the slot address is not evaluated Index 1 byte The index contains the address of the data area in which the slave makes available the data for a parameter access In accordance with ProfiDrive this is specified with the fixed data area number 47 a Length 1 byte Gives the length of the user data that follow In the case of a read access the length must be sufficiently large for the data to be read max 240 byte User 1 byte n byte Contains the user data to be processed 6 A Table 4 3 As
57. ted based on the various LED illumination combinations Table 2 3 Self test after power LED 3 green LED 2 red Status n n s Y ASIC RAM test and initialisation 1 Hn End of ASIC RAM test and initialisation Table 2 4 Operation diagnostics LED 3 gr n LED 2 rot Status 1 Seeking Baud rate after switching on without bus m MT connection E Seeking Baud rate after the bus connection has already been established 1 Awaiting parameterisation data 14 Harmonic Drive AG YukonDrive 1003367 06 2012 Table 2 4 Operation diagnostics LED 3 green LED 2 red Status Communication Data exchange without acyclic master class 2 connection Yellow LED lights up Communication Data exchange clear state Incorrect parameterisation data Incorrect configuration data Communication Data exchange with acyclic master class 2 connection I Table 2 5 Data exchange LED 1 yellow Status 2 6 GSD file Device 15 exchanging data The device master data file contains the summary of the device features in a standardised form The device features include for instance the device name the bus timing the extended services available and the modules that can be selected telegram types In order to use different telegram types the GSD file must be linked in at the configuration phase of the PROFIBUS network This file contains
58. true deactivated Bit 3 0 No error 1 Error reported Bit 2 0 Control blocked Control active in operation drive responding to reference values Bit 1 0 Power stage inactive not ready Power stage active ready Bit 0 0 Not ready to start Ready to start Table 3 19 Drive status word 2 Bit Meaning Profile generator status 0 Stop 0 1 1 Acceleration 2 Positioning with allowable speed 3 Delay 2 Torque limitation with positive direction of travel 3 Torque limitation with negative direction of travel 4 ISDOO 5 15001 6 ISDO2 7 15003 8 Reserved 9 Reserved 10 Reserved 11 Reserved 12 15 Reserved for Profidrive If no synchronous application is implemented the slave sign of life need not be transmitted allowing the entire second status word to be freely assigned 06 2012 YukonDrive 1003375 Harmonic Drive AG 31 6 Le 3 4 Figure 3 2 32 Drive status machine GeneralSystem status machine control via PROFIBUS C to perform changes to the control word STW bit 10 must be set C from system status 2 the Safe Standstill must first be set and then posltive flank of the ENPO occur Quick stop active System status 6 4 9 Quick stop 10 Quick stop activated deactivated Control active System status 5 4 Controller 5 Controller blocked 13 Error 6 Power Switched on Error response active stage blocked System status 4 System sta
59. tus 7 12 Standstill detected 3 Power stage 6 Power stage 14 Error response 11 Spin out of switched on blocked ended true activated Ready to switch on Error activated System status 3 System status 8 2 Quick stop and spin 7 Quick stop or spin out of true deactivated out of true activated 16 Hardware 15 Error acknowledgement enable blocked Switch on blocked lt Harmonic Drive AG System status 2 1 Nd 8 UZK too low y Not ready to switch on System status 1 0 Start System initialisation running System status O YukonDrive 1003375 06 2012 Table 3 20 System statuses System status Designation Description Initialisation after device reset e g hardware 0 System initialisation running start y 9 parameter list controller Initialisation completed but no power supply or 1 Not ready to switch on intermediate circuit voltage less than switch on threshold Intermediate circuit voltage greater than 2 Switch on inhibit switch on disabled switch on threshold Optional conditions satisfied e g homin 3 Ready to switch on dn d 9 run quick stop inactive 4 Switched on Power stage enabled Y 5 Operation enabled Power supplied to motor operation active 5 6 Quick stop active Quick stop active 5 Fault reaction is active reference values from the 7 Fault reaction active i PROFIBUS master
60. ut data consistent overall length 10 words input output data consistent overall length 4 words input output data consistent overall length 4 words input output data consistent overall length 4 words input output data consistent overall length 8 words input output data consistent overall length 4 words input output data consistent overall length 8 words input output data consistent overall length 10 words input output data consistent overall length 14 words input output data consistent overall length 14 words input output data consistent overall length 18 words input output data consistent overall length 18 words input output data consistent overall length 22 words input output data consistent overall length Reference to Table AK slave master PKW PZD PKW PZD RADE PKW PZD BADE PKW channel PZD KADE PKW PZD BRADE PKW PKW Harmonic Drive AG channel channel channel channel channel channel channel channel channel channel channel channel channel channel channel channel 21 E E Table 3 8 Listing of identifiers prosecution Ref PPO centi Identifier Evaluation using the special identification format SE type ID Hex slave master OxF3 OxCO 26 words input output data PKW channel OxD5 consistent overall length OxD5 26 words
61. word 8 Change parameter value array double word 06 2012 YukonDrive 1003375 Harmonic Drive AG 23 E E Table 311 Reply identification AK Slave Master Reply identification Function 0 No reply Parameter value sent word 2 Parameter value sent double word 3 Parameter description sent 4 Parameter value array sent word 5 Parameter value array sent double word 6 7 Request not executable see error no On reply identification 7 the error number sent to the drive from the master is shown in the area to PKW2 The following table lists these error numbers Table 3 12 Reply identification AK Slave Master Error Statement 0 Impermissible PNU 1 Parameter cannot be changed 2 Lower or upper parameter value limit transgressed 3 Defective sub index 4 Not an array 5 Incorrect data type 177 Request cannot be executed because of the operating status 18 Other error In addition request identification 4 can be used to read a parameter description The parameter description receives relevant information regarding the respective parameter The following table shows the sub indexes that can be used to access the individual parameter structure elements The sub index is indicated only by byte 3 24 Harmonic Drive AG YukonDrive 1003375 06 2012 Table 313 Parameter description Sub index Meaning Data type 1 Identifier ID V2 2 Number of field elements o

User Manual - Harmonic Drive AG

Contents

Download Pdf Manuals

Related Search

Related Contents