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User Manual - Harmonic Drive AG

1. 21 Parameter setting SERCOS III IP adress Scaling and weighting Weighting of position dat Weighting of translatory position data Weighting of rotary position data Modulo weighting Position polarity Weighting of velocity data Weighting of translatory velocity data Weighting of rotary velocity data Speed polari Weighting of acceleration data iz Weighting of translatory acceleration data 29 Weighting of rotary acceleration data 30 64 6 4 1 6 4 2 6 4 3 6 4 4 6 5 6 5 1 6 5 2 6 5 3 6 5 4 71 741 74 2 74 3 714 ZIS 7 1 6 TIZ 74 8 7 2 81 8 1 1 8 1 2 8 1 3 8 1 4 8 2 8 2 1 8 2 2 8 3 9 1 9 1 1 9 1 2 Weighting of torque and force data 31 Percentage weighting of torque and force data Weighting of force data Weighting of torque data Torque polarity Scaling using the scaling wizard Scaling of position data Scaling of velocity data Scaling of torque data Scaling of acceleration data Functionality Drive controlled homing command Setting of SERCOS encoders 1 2 Homing velocity Homing acceleration Homing method Reference distance 1 2 Reference distance offset 1 2 Reference cam limit switch Function selector digital inputs and outputs 38 Touchprobe function Error messages and diagnosis Stand
2. 10 2012 1003378 YukonDrive Harmonic Drive AG 3 Commissioning and configuration 3 1 Commissioning The DriveManacer 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 32 Commissioning sequence Preconditions u The drive unit is wired as specified in the Operating Manual and initial commissioning is complete If 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 Step Action Comment 1 Check the wiring Make sure hardware enable ENPO X4 is not con nected 2 Switch on the mains supply voltage 3 Configure the drive unit using the Application Manual Inputs outputs software functions 4 Test the control quality and optimize the controller settings as neces sary using the Operation Manual 5 Set the communication parameters for the SERCOS III 6 Test the drive on the higher order controller see Application Manual 2 Finally save the setting Save device setting Non volatile in device Note On the
3. 10 2012 1003378 YukonDrive Harmonic Drive 39 The parameters of the touchprobe function are listed in the table below Table 30 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 15 9 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 to CP4 not supported 7 Reserved 6 ouchprobe mode 1 0 Single measurement Continuous measurement 5 0 0169 5 ouchprobe mode 2 0 Single measurement Continuous measurement 4 Reserved 3 ouchprobe 2 negative edge 0 Negative edge not active Negative edge active 2 ouchprobe 2 negative edge 0 Negative edge not active Negative edge active 1 ouchprobe 1 negative edge 0 Negative edge not active Negative edge active 0 ouchprobe 1 negative edge 0 Negative edge not active 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 S 0 0170 Touchprobe 1 2 enable S 0 0405 00406 and Touchprobe 1 2 S 0 0401 00402 as programmed in touchprobe control parameter S 0
4. CP3 CP4 CP3 CP4 CP3 CP4 CP3 CP4 CP2 CP4 CP2 CP4 CP3 CP4 CP2 CP4 CP3 CP4 0 Harmonic Drive YukonDrive 1003378 10 2012 Table 42 Supported SERCOS standard parameters S 0 0123 S 0 0125 S 0 0127 S 0 0130 S 0 0132 S 0 0134 S 0 0144 S 0 0147 S 0 0150 S 0 0152 S 0 0154 S 0 0157 S 0 0160 S 0 0162 5 0 0170 5 0 0180 5 0 0192 5 0 0201 5 0 0216 Feed constant Velocity threshold CP3 transition check Probe value 1 positive edge Probe value 2 positive edge Drive control word Signal status word Homing parameter Reference offset 1 Position spindle procedure command Spindle positioning parameter Velocity window Acceleration data scaling type Acceleration data scaling exponent Probing cycle procedure command Spindle relative offset IDN list of all backup operation data Motor warning temperature Switch parameter set procedure command Um rev CP3 CP4 Speed CP3 CP4 Pos CP2 CP4 Pos CP2 CP4 CP2 CP4 Speed CP3 CP4 CP3 CP4 Pos 2 CP4 C CP3 CP4 10 2012 1003378 YukonDrive Harmonic Drive AG 51 Table 42 Supported SERCOS standard parameters 5 0 0217 Parameter set preselection CP3 CP4 5 0 0256 Multiplication factor 1 2 5 0 0258 Target position Pos 5 0 0260 Positioning ac
5. S 0 0078 8 6 1 3 Modulo Weighting If modulo weighting is preset via parameter S 0 0076 Position weighting parameters S 0 0103 Modulo value and S 0 0294 Modulo value divisor determine the value range modulo range within which the actual position may lie If the travel distance exceeds the modulo range an overshoot of the actual position occurs Table 15 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 If the modulo value S 0 0103 does not match the physical modulo value it can be corrected by the divisor S 0 0294 5 0 0294 The effective modulo value is the product of S 0 0103 and S 0 0294 A value of 1 renders the modulo value divisor parameter ineffective 24 Harmonic Drive AG YukonDrive 1003378 10 2012 6 1 4 Position polarity In parameter S 0 0055 the polarities preceding signs of the specified position data can be inverted according to the application The polarities are not inverted within a controlled system but outside of it at the input and output A positive torque setpoint difference with non inverted polarity means the direction of rotation is clockwise looking at the motor s
6. Device Status Word DN 1050 0 8 Connection Control m DN 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 34 Device Control Bit no Description 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 11 Reserved 11 0 Reserved 10 2012 1003378 YukonDrive Harmonic DriveAG 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 35 Device Status 15 Communication warning Topology status 00 Fast forward at both ports 13 12 e 01 Loop back amp forward of P telegrams 10 Loop back amp forward of
7. Harmonic Drive AG rr User Manual AC Servo Controller YukonDrive SECOS the automation bus SERCOS II Harmonic Drive AG 1003378 10 2012 Content 1 11 12 13 2 2 1 2 2 2 3 24 2 5 3 3 1 3 2 3 3 4 41 4 1 1 4 1 2 4 2 4 3 5 5 1 5 2 5 2 1 5 2 2 5 2 3 5 2 4 5 2 5 5 3 54 5 4 1 5 4 2 6 1 6 1 1 6 1 2 6 1 3 6 1 4 6 2 6 2 1 6 2 2 6 2 3 6 3 6 3 1 6 3 2 Safet inniinn 4 Measures for your safety ntroduction SERCOS interface Assembly and connectio nstallation and wiring Pin assignment of the RJ 45 socket Meaning of LEDs ndication of operating states on 7 segment display es 9 Hardware enable Commissioning and configuration Commissioning Commissioning sequence Setting the slave bus adress Parameter setting Format of SERCOS III parameters Sa Standard parameters 5 Manufacturer specific parameters P xxxx 11 Operation modes Real time bits Data transfer Communication phases Cyclic data 5 Mapping of configurable real time data Drive control word S 0 0134 0 0 Description of bits 3 15 Drive status word S 0 0135 0 0 Non configurable real time data Data transfer via the service channel SVO 20 555252
8. P0419 Actual torque Nm x x x P 0430 Weighting of voltage path in field model P0431 Voltage limit for current controllers 0432 Select current control limitation mode 0450 Motor type x x 0455 Motor rated frequency Hz x x P 0456 Motor rated voltage V x x 0457 Motor rated current A x x 0458 Motor rated speed rpm x x P 0459 Motor rated power kw X x P 0460 Motor rated torque Nm x x P 0461 Motor inertia kg m m x x 0462 Motor rated flux Vs x x P 0463 Motor number of pole pairs 0470 Motor stator resistance Ohm x P0471 Motor stray stator inductance mH x x P0472 Q stator inductance variation in of MOT_Lsig x x P0473 Main inductancs vs 154 0 1 Index LmagldMax mH x x P0474 LmagTable max magnetization current eff A x x P0475 Motor main inductance scaling factor 90 x X P0476 Motor rotor resistance Ohm x x P0477 Motor rotor resistance scaling factor x x P0500 ENC CH1 Actual value SingleTurn O MultiTurn 1 x x x P 0501 ENC CH2 Actual value SingleTurn 0 MultiTurn 1 x X x 0502 ENC CH3 Actual value SingleTurn 0 MultiTurn 1 x x x 0505 ENC 1 Encoder type selection X X P 0506 ENC CH2 Encoder type selection x P 0507 ENC CH3 Encoder type selection x x P0510 ENC CH1 Gear nominator 0511 ENC CHI Gear denominator x x 10 2012 1003378 YukonDrive Harmonic DriveAG 59 Table 43 List of supported SERCOS parameters 6 Write protection IDN
9. POSITIVE EDGE With an external encoder the drive stores the actual position value 2 to this parameter with the positive edge of touchprobe 1 5 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 1 is 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 1 is 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 0401 during the measurement cycle If there is no external encoder actual position value 1 is stored OUCHPROBE 1 ENABLE With this parameter the touchprobe 1 enable is assigned an IDN As a result the touc be assigned to a real time control bit 5 0 0301 probe 1 enable can he 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 to
10. inputs can also be filtered against bounce or inverted For more information on the digital and analog 105 please refer to the Application Manual m P0100 Function selector ENPO m P0101 Function selector 15000 m P0102 Function selector 15001 m P0103 Function selector 15002 m P0104 Function selector 15003 m POIO5 Function selector 15004 m P0106 Function selector 15005 m P0107 Function selector 15006 m P0108 Function selector ISDSH m P0109 Function selector 15 00 m P0110 Function selector 15 01 m P0118 Filter for digital inputs m P0120 Inversion of digital Inputs m P0122 Function selector 05000 m P0123 Function selector 05001 m P0124 Function selector 05002 m P0125 Function selector motor brake m P0126 Function selector RELOUTI m P0142 Inversion of digital outputs 38 Harmonic Drive AG YukonDrive 1003378 10 2012 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 15005 and 15006 can be configured as triggers for a position measurement To activate the Measurement with touchprobe function Touchprobe cycle S 0 0170 0 0 is used Parameter S 0 0169 0 0 Touchprobe 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
11. ndex 10 COM SERIII 5 5 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 follow ing meanings Table 40 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 11 8 Current Communication phase port 2 0 4 Phase change bit port 1 7 0 Phase change active 1 Phase change active 6 4 Reserved not displayed 3 0 Current Communication phase port 1 Index 11 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 41 Communication status register Bit no Description 31 2 Reserved not displayed Current topology 00 Loop back port 1 and forward to port 2 1 0 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 b
12. to be found under device parameter 21050 in DriveManacer 5 Bit 14 of that parameter defines the connection method If for example in parameter S 0 1050 0 1 bit 14 O structure instance O is the consumer instance So bit 14 in parameter S 0 1050 1 1 must be 1 meaning structure instance 1 would be the producer instance So according to this example the parameter structure 5 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 Standard parameters 5 0 All standard parameters supported by the YukonDrive are mapped as HDAG parameters However the expan sion in SERCOS parameter numbers mentioned previously means that consecutive addressing of the HDAG parameters could not be retained Only the parameters already existing previously in the parameter set as SERCOS II parameters retain their addressing SERCOS Idn HDAG ID 10000 All SERCOS Ill specific parameters as from HDAG parameter number 11000 and 20000 are stored in the param eter set of the YukonDrive 4 2 Manufacturerspecific parameters P 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 O 1017 0 0 under number 32875 This paramet
13. 0 0170 Touchprobe command m 50 019 Clear reference point command m 390 0216 Switch parameter set command 5 0 0262 Parameter initialization to default values command S 0 0263 Parameter initialization to backup values command m 5 0 0264 Save current parameter values command m 5 0 0447 Set absolute position command 5S 0 1024 Measure synchronous delay command 20 Harmonic Drive AG YukonDrive 1003378 10 2012 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 III 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 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 10 Parameter setting Parameter Description S 0 1017 NRT channel transmission time 5 0 1019 MAC address 5 0 1020 SERCOS III IP adress 5 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 transmission time Only if valid values are entered there for the times t6 and t7
14. Harmonic Drive AG YukonDrive 1003378 10 2012 Fig 7 Diagram of velocity weighting methods Accelaration data scaling type IDNOO160 IDN 00160 bit 0 2 Rotational IDN 00160 bit 6 Parameter scaling Preferred Parameter Preferred IDN 00160 bit 3 scaling scaling scaling IDN 00160 bit 5 IDN 00160 i i LSB 10 Variable LSB 103 Variable m s LSB weight 52 3 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 Table26 Skalierungsparameter f r Drehmoment Kraft Wichtung IDN Description 5 0 0086 Weighting method for torque force data 5 0 0093 Weighting factor for torque force data 5 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 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 defined by the foll
15. The unit and the number of decimal places correspond to the acceleration weighting in S 0 0160 7 1 5 Homing method The homing method is selected via P 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 7 1 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 homing 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 parameters relate to SERCOS encoders 1 and 2 respectively 71 7 Reference offset 1 2 The reference distance offset 1 2 S 0 0150 S 0 0151 describes the distance between the reference mark of the position encoder and the reference point The two parameters relate to SERCOS encoders 1 and 2 respectively 7 1 8 Reference cam limit switch The signal of the reference cam can be optionally linked to one of the digital inputs Inputs 15000 15006 are available Depending on the method the limit switches can also be optionally used for homing 10 2012 1003378 YukonDrive Harmonic Drive 37 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
16. any time Please visit www harmonicdrive de for details of the latest versions 10 2012 1003378 YukonDrive Harmonic Drive AG 3 1 Safety 11 Measures for your safety The instructions set out below should be read through prior to initial commissioning in order to prevent injury and or damage to property The safety instructions must be followed at all times Read the Operation Manual first Follow the safety instructions m Refer to the user information Electric drives are dangerous m Electric voltages of 230 V to 480 V Dangerously high voltages of 2 50 V may still be present 10 minutes after the power is cut capacitor charge So check that the power has been cut Rotating parts m Hot surfaces 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 m In order to prevent personal injury or damage to property only personnel with electrical engineering qualifications may work on the device m said qualified personnel must be famili
17. factor for application of last torque 96 P0218 Motor brake constant initial torque Nm P0219 Motor brake torque sampled at last closing time Nm x x x P 0220 lock brake 0239 Functional states of digital inputs x x x 0283 Factor group Type selection 05402 0 SERCOS 1 USER 2 x x P0284 Unit for position values x x P 0287 Unit for speed values X X Harmonic Drive AG YukonDrive 1003378 10 2012 Table 43 List of supported SERCOS parameters Write protection IDN Description Unit Spy CP3 CP4 0290 Unit for acceleration and deceleration values x 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 P 0303 Current control sampling time ms x x x P 0304 Speed control sampling time ms x x P 0305 Position control sampling time ms x P 0306 Sampling time for interpolation ms pd P0307 Voltage supply mode must be set correctly x x P0310 Current control gain VA P 0311 Current control integration time constant ms P 0312 Actual motor voltage rms phase to phase V y P0313 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 P0322 Speed control gain scaling factor 90 P 0323 Advanced control structure gains P 0324 Advan
18. 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 Travel unit STs URI S 0 0161 1050162 LSB significance When translatory preferential weighting is selected the weighting as per the following table applies Table 23 Preferential weighting of translatory acceleration data Weighting method Unit Weighting factor Weighting exponent Preferential weighting from 5 0 0160 from 5 0 0160 5 0 0161 5 0 0162 Translatory m s 2 1 6 0 001 mm s 2 10 2012 1003378 YukonDrive Harmonic Drive 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 Travel unit Time unit 5 0 0161 10590162 LSB significance When rotary preferential weighting is selected the weighting as per the following table applies Table 24 Preferential weighting of rotary position data Rotary rad s 2 1 3 0 001 rad s 2 Table 25 Bit fields in the acceleration data weighting method parameter S 0 0160 000 No weighting 010 Rotary weighting 0 Preferential weighting Bit4 Distance unit 1 Reserved for rotary weighting Inches for translatory weighting 0 Seconds Bit 6 Data source 1 On the load side w 0
19. minil ost 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 output A positive velocity setpoint difference with non inverted polarity means the direction of rotation is clockwise looking at the motor shaft 28 Harmonic Drive AG YukonDrive 1003378 10 2012 Table 21 Einstellung der Geschwindigkeitspolarit t ber Parameter S 0 0043 Bit 0 Velocity setpoint 0 Not inverted 1 Inverted Bit 1 Additive velocity setpoint 0 Not inverted 1 Inverted Bit 2 Actual velocity 1 0 Not inverted 1 Inverted Bit 3 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 selected via parameter S 0 0160 the weighting factor and weighting exponent are irrelevant The acceleration data is then subject to a differently defined weighting Table22 Scaling parameters for acceleration weighting IDN Description S 0 0160 Weighting method for acceleration data S 0 0161 Weighting factor for acceleration data 5 0 0162 Weighting exponent
20. 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 Linear interpolation Calculation of position and rotation speed 2 Spline interpolation with external pre control Should only be used when the master control system also calculates and transmits the pre control signals for speed P 3055 and torque P 3056 3 Spline Interpolation Calculation of position rotation speed and torque 4 Spline Interpolation Calculation of position rotation speed and torque To attain a higher resolution of the pre control signals an additional 16 bit decimal place component P 3100 for the position S 0
21. 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 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 n 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 5 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 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 u
22. 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 Drive Mawnacer 5 The address setting must be unique meaning each address may be used only once a SERCOS loop SERCOS also supports automatic slave addressing If you enter the address 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 Harmonic Drive AG YukonDrive 1003378 10 2012 4 Parameter setting 4 1 Format of SERCOS III parameters The SERCOS III parameter numbers have been extended from SERCOS II to a length of 32 bits A standard parameter now has the following format S DataSet IdNr SI SE Key to abbreviations S Standard parameter DataSet Number of the Data set currently only data set O is supported IdNr SERCOS Ident number SI Structure instance SE Structure element In a connection between master and slave there is always a producer and at least one consumer The producer connection is the one from the master to the slave and the consumer from the slave to the master The connections are represented within the parameter numbers by SI structure instance Which instance is configured as the producer and which as the consumer is indicated by parameter S 0 1050 x 1
23. using relative encoder systems command S 0 0148 Drive controlled homing must be used As soon as this command has been set and enabled by the master the drive moves in position control mode with an internal profile generator taking into account S 0 0041 Homing velocity 1 Move and wait for reference cam and PA 0 3031 Homing velocity 2 Find zero point in zero approach run as well as S 0 0042 Homing acceleration according to the strategy defined in PA 0 2261 Homing method The status Encoder system home in parameter S 0 0403 Actual position status is cleared when homing starts if previously set and is reset once homing has completed successfully For more information on homing and the available methods please refer to the YukonDrive Application Manual 7 1 2 Setting of SERCOS encoders 1 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 homing 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 0 0042
24. 0 0045 60 0046 IMS 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 Travel unit 5 0 0045 10590046 Time unit When rotary preferential weighting is selected the weighting as per the following table applies Table 19 Preferential weighting of rotary position data Weighting method Unit Weighting factor Weighting exponent from S0 0045 from 50 0045 5 0 0045 5 0 0046 DIE Rotary l min 1 4 0 001 1 Rotary Ys 1 6 0 000001 1 5 26 Harmonic Drive AG YukonDrive 1003378 10 2012 Table20 fields in the velocity data weighting method parameter 5 0 0045 000 No weighting 010 Rotatory weighting 0 Preferential weighting Bit4 Distance unit 1 Reserved for rotary weighting Inches for translatory weighting 0 Minutes min Bit 6 Data source 1 On the load side 10 2012 1003378 YukonDrive M Harmonic Drive AG 2 The following diagram shows the various velocity weighting options Fig 6 Diagram of velocity weighting methods Velocity data weighting method S 0 0044 S 0 0044 bit 0 2 S 0 0044 bit 6 Load Motor Load Motor Load Motor S 0 0044 Preferred Parameter Preferred Parameter bit 3 weighting weighting weighting weighting S E pm EE s mimin Variable
25. 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 10 2012 1003378 YukonDrive Harmonic Drive AG 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 5 0 1050 20 IDN assignment to real time bit IDN of the parameter to be assigned to the real time bit concerned m 5 0 1050 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 the following tables Table 6 Configurable real time control bits P 3003 Parameter Description 5 0 0405 Enable touchprobe 1 5 0 0406 Enable touchprobe 2 141 Open loop control of digital outputs via COM option Table 7 Configurable real time status bits P
26. 0169 While the command is active the master control system can perform multiple measurements The com mand is cleared by the control system if no further measurements are required 40 Harmonic Drive AG YukonDrive 1003378 10 2012 Table 30 Parameter 5 0 0179 5 0 0130 5 0 0131 5 0 0132 5 0 0133 5 0 0405 5 0 0406 5 0 0409 Description of parameters for the touchprobe function Description MEASURED VALUE STATUS If the drive stores one or more measured values while the touchprobe cycle command S 0 0170 is active it simultaneously also sets the associated bit in the measured value status If the Touchprobe 1 enable S 0 0405 is cleared by the control system the drive clears bits O and 1 in 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 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 5 0 0409 0 Not recorded 1 Recorded Bit 1 Measured value 1 recorded positive S O 0409 0 Not recorded 1 Recorded Bit 2 Measured value 2 recorded positive S 0 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
27. 1 Table 30 Description of parameters for the touchprobe function Parameter S 0 0410 S 0 0411 S 0 0412 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 0 0305 Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 1 enable signal 5 0 0405 is set to 1 and the negative edge of touchprobe 1 S 0 0401 is signalled At the same time the drive stores the actual position value to measured value 1 negatively S 0 0131 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 1 enable is set to 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 recorded positive can be assigned to a real time status bit S 0 0305 Bit O in this parameter is only set by the drive when the touchprobe cycle command 5 0 0170 is active the touchprobe 2 enable signal 5 0 0406 is set to 1 and the positive edge of touchprobe 2 S 0 0402 is signalled At the same time the drive stores the actual position value to measured value 2 positively S 0 0132 The drive clears this
28. 144 P 0159 and P 0165 Under these preconditions the drive shows device state 3 on the display The drive is activated by the change of state from O to 1 of bit 15 controller enable in the drive control word If the enable is successfully executed the display readout changes to 5 and the relevant bits in the drive status word The readiness of the control drive follows setpoints is mapped in the status word via bit 15 bit 14 and bit 3 Ideally the master control system reads the actual value while control is starting and presets it as the setpoint until the closed loop controller signals readiness in the status word If the drive moves while control is starting such as due to motor commutation finding by linear drives whereby the drive does not yet signal readiness drive state 4 the position changes are automatically adopted by the master control system Control systems which retrieve the current actual position only once prior to start of closed loop control and preset it as the setpoint and also do not update it even after commutation finding no 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 drive control with parameter P 0156 Enable operation option code set to 1 This aims to exclude the possibility of a shut off or
29. 242 Quick stop This is applied in the event of an error depending on the configuration P0168 Jog index 0 Jog rate rapid index 1 Jog 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 0 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 Harmonic Drive AG YukonDrive 1003378 10 2012 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 9 Drive status word S 0 0135 Bit no Description Ready to start 00 Drive not ready to power up as internal checks have not yet completed successfully 15 14 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 13 0 No error 1 Drive is locked due to an error Change bit of C2D S 0 0012 0 0 12 0 Noenable 1 Change Toggle Bit New actuals n The bit is valid in communication phases 3 4
30. 3002 Parameter Description 5 0 0011 State class 1 C1D 5 0 0012 State class 2 C2D S 0 0014 Interface status S 0 0144 Signal status word 5 0 0179 Touchprobes 1 2 status S 0 0310 Warning threshold 12t motor exceeded 5 0 0311 Warning threshold heat sink temperature exceeded S 0 0312 Warning threshold motor temperature exceeded 5 0 0330 Status speed setpoint reached S 0 0331 Standstill message 5 0 0332 Speed threshold undershot 5 0 0333 Speed threshold exceeded 5 0 0334 Torque limit reached exceeded S 0 0335 Speed limit reached or exceeded 5 0 0336 Target position reached S 0 0341 Status in track position 5 0 0401 Status touchprobe 1 5 0 0402 Status touchprobe 2 5 0 0403 Status actual position 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 Harmonic Drive AG YukonDrive 1003378 10 2012 5 Data transfer 5 1 Communication phases Communication over the SERCOS bus between the master and slaves is divided into six phases As long as the slave is receiving no SERCOS telegram it is in the NRT Non Realtime phase Communication phases 0 and 1 identify he stations on the bus In communication phase 2 the time and data
31. Description Unit CP2 CP3 CP4 P0512 ENC CH2 Gear nominator x x P0513 ENC CH2 Gear denominator x x P0514 ENC CH3 Gear nominator X X P0515 ENC CH3 Gear denominator x x 0520 ENC Channel selection for motor commutation pa x P0521 ENC Channel selection for speed control x x P0522 ENC Channel selection for position control x x P0523 ENC Channel selection for master input x x 0530 ENC Channel selection as SERCOS encoder 1 X x 0531 ENC Channel selection as SERCOS encoder 2 x x P0540 ENC 1 Absolute position interface selection X D P0541 ENC 1 Index pulse signal test mode x x P0542 CH1 Number of lines SinCos TTL encoders X X P0543 ENC Number of MultiTurn bits SSI absolute x x P0544 ENC CH1 Number of SingleTurn bits SSI absolute X x P0545 ENC Code selection SSI absolute position interface x x P0546 ENC 1 Mode selection SSI absolute position interface x X P0547 ENC Lowest allowable MultiTurn position SSI absolute x x P0548 ENC CH1 Enable MultiTurn information 551 absolute x x 0549 ENC Signal correction type x x 0550 ENC 1 Signal correction values D 0551 ENC 1 Encoder observation minimum sqrt a 2 b 2 x 0552 CHI Error and status codes of absolute encoders x x x 0553 ENC Length of an analog signal period linear SinCos nm x x P0554 ENC Length of an digital increment linear absolute nm xX X 0560 CH2
32. Number of pole pairs Resolver x x 0561 CH2 Signal correction type X X 0562 CH2 Signal correction values x x 0563 ENC CH2 Encoder observation minimum sqrt a 2 b 2 x X P0570 ENC CH3 Absolute position interface selection x x P0571 ENC CH3 Index pulse signal test mode x X P0572 ENC CH3 Number of lines SinCos TTL encoders x x 0573 ENC CH3 Number of MultiTurn bits SSI absolute X x P0574 ENC CH3 Number of SingleTurn bits SSI absolute x x P0575 ENC CH3 Code selection SSI absolute position interface Di 60 Harmonic Drive AG YukonDrive 1003378 10 2012 Table 43 List of supported SERCOS parameters Write protection IDN Description Unit CE2 CP3 CP4 P0577 ENC CH3 Encoder observation minimum sqrt a 2 b 2 K x P 0590 ENC Axis correction selection type x x P 0591 ENC Axis correction start position x x P 0592 ENC Axis correction end position x x P0593 ENC Axis correction delta position x x P0594 ENC Axis correction actual position value x x P 0595 ENC Axis correction position table for negative speed X X P0596 ENC Axis correction position table for positive speed x x P0610 ENC CH1 Nominal increment of reference marks Signal per x x 0630 ENC CH3 Nominal increment of reference marks Signal per X x P0742 Monitoring maximum position difference POS P0744 Monitoring speed difference threshold rpm P 1500 estsignal generator control wo
33. S telegrams 11 NRT mode Parameterization level 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 36 Connection Control 15 8 Reserved 6 Real time bit 2 3 Synchronous with cycle time 1 Toggle bit new data available toggles with each bus cycle 46 Harmonic Drive AG YukonDrive 1003378 10 2012 8 2 2 Addditional scope parameters In addition to the standard parameters for the oscilloscope another field parameter COM SERIII ScopeVars is available containing 10 indices important for diagnosis This parameter has the number 22000 Using the parameter indices the following variables can be displayed on the oscilloscope ndex 0 COM SERIII State Status of the internal state machine on successful initialization the status should be 3 ndex 1 COM 5 ActComPhase Current communication phase of the slave 0 4 4 5 NRT a ndex 2 COM_SERII _INT1_Cnt Counter for the low priority interrupt INT1 of the SERCOS III option board a ndex 3 COM SERIII SVC Cnt Counter for access via the service channel ndex 4 COM SERIII SVC Control Control word of the service channel corresponding to SVCC1 in the Service Channel Control Container The individual bits have the following meanings Table 37 Bit no u
34. Service Channe Table 38 Bit no each bus cycle Table 39 Bit no Control word of the service channel Description Reserved Data element in the MDT End bit in the MDT Read Write in the MDT Handshake bit in the MDT Index 5 COM SERIII SVC State Status word of the service channel corresponding to SVCCO in the Control Container The individual bits have the following meanings Status word of the service channel Description Reserved not displayed Process bit in the DT Error bit in the DT Busy bit in the DT Handshake bit in the DT Index 6 COM SERIII TG Status PO Telegram status register at port PO The register is updated with The individual bits have the following meanings Telegram status Description Reserved not displayed One off MST failure MST outside time window Not displayed Valid MST Valid DT3 Bit 7 ATO Bit 4 Valid MDT3 Bit 3 MDTO Bit 0 10 2012 1003378 YukonDrive Harmonic Drive 47 ndex 7 COM SERIII TG Status Telegram status register at port P1 The register is updated with each bus cycle Meanings of the individual bits as for index 6 m ndex 8 COM SERIII Cnt Counter for all received MDTs must be incremented by 1 with each bus cycle and have the same value as index 9 u ndex 9 COM 5 AT Cnt Counter for all sent DTs must be incremented by 1 with each bus cycle and have the same value as index 8
35. 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 10 2012 1003378 YukonDrive Harmonic Drive AG 7 2 2 Pinassignment of the RJ 45 socket The pins on the RJ 45 socket are assigned as follows Table2 Pin assignment PIN Colour Cable with pair 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 Fig 4 RJ 45 socket 12345678 2 3 of LEDs There are two LEDs on each RJ 45 socket They signify the following Table 3 Meanings of LEDs LED Meaning Link LED e OFF connection to another station 1 green Link activ Connection to another bus station active Activity 2 orange Off No activity No data transfer is taking place Flashing Activity Data transfer active 8 Harmonic Drive AG YukonDrive 1003378 2 4 Indication of operating states on 7 segment display D2 Meaning Parameter System states Device in reset state Self initialization on device startup Start Not ready no DC link voltage NotReadyToSwitchOn Ni disabled DC link OK power stage SwitchOnDisabled Ready power stage ready ReadyToSwitchOn On device powered up Driv
36. Velocity polarity parameter CP3 CP4 S 0 0044 Velocity data scaling type CP3 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 5 0 0051 Position feedback value 1 CP3 CP4 S 0 0052 Reference distance 1 Torque 5 0 0053 Position feedback value 2 Torque 10 2012 1003378 YukonDrive Harmonic Drive AG 49 Table 42 Supported SERCOS standard parameters S 0 0054 S 0 0057 S 0 0077 S 0 0079 S 0 0081 S 0 0083 5 0 0085 5 0 0091 5 0 0093 5 0 0095 5 0 0099 5 0 0101 5 0 0104 5 0 0107 5 0 0110 5 0 0113 5 0 0115 5 0 0117 5 0 0122 Reference distance 2 Position window for target reached status Linear position data scaling factor Rotational position resolution Additive torque command value Negative torque limit value Torque polarity parameter Bipolar velocity limit value Torque force data scaling factor Diagnostic message Reset class 1 diagnostic Velocity loop integral action time Position loop KV factor Current loop integral action time Amplifier peak current Maximum motor speed Position feedback 2 type Resolution of feedback 2 Output revolutions of load gear Pos POS Torque Torque Speed ms 1000 min us mA Rev min
37. a jerky approach to the target position at start of control because of a setpoint difference in the axis 10 2012 1003378 YukonDrive Harmonic Drive AG 17 This function also depends on the configuration of P 0743 maximum tracking error m 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 m P 0743 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 greater 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 the system accesses must also be set correctly and to reasonable values This involves the parameters m P2
38. ameter 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 1 the original function is resumed If the master control system has not updated the position setpoint jumps may occur resulting in shut off due to tracking error 12 Reserved Toggle bit New setpoints n 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 5 0 0032 0 0 001 Secondary mode defined in S 0 0033 0 0 010 Secondary mode 2 defined in S 0 0034 0 0 10 8 011 Secondary mode 3 defined in 5 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 22 ISDSH The logic for this function High edge at digital input ENPO X4 10 with a High signal required at the digital input ISDSH X4 22 at the time the ed
39. ar with the contents of the Operation Manual see IEC364 DIN VDEO100 m Knowledge of national accident prevention regulations e g formerly 4 in Germany During installation observe the following instructions m Always comply with the connection conditions and technical specifications m Comply with the standards for electrical installations such as regarding cable cross section PE conductor and ground connections m touch electronic components and contacts electrostatic discharge may destroy components 4 Harmonic Drive AG YukonDrive 1003378 10 2012 1 2 Introduction to the SERCOS III interface 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 The SERCOS 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 implementation in the YukonDrive is th
40. ard parameters for error diagnosis Error messages in state class 1 C1D Warning messages in state class 2 C2D Interface diagnosis Telegram failure and error counter 44 Diagnosis using the internal oscilloscope 4 Standard parameters Additional scope parameters Internal error list Appendix Glossary Appendix A Parameterlist SERCOS III standard parameters T Manufacturer specific 55 Harmonic Drive AG YukonDrive 1003378 10 2012 This manual is intended for you as a project engineer commissioning engineer or programmer of drive and automa tion solutions on the SERCOS III field bus It is assumed that you are already familiar with this field bus on the basis of appropriate training and reading of the relevant literature We assume your drive is already in 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 information available to us We should nevertheless point out that this document cannot always be updated in line with ongoing technical developments in our products Information and specifications may be subject to change at
41. bit when the master control system clears the touchprobe cycle command or the touchprobe 2 enable is set to 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 0 0305 Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 2 enable signal S O 0406 is set to 1 and the negative edge of touchprobe 2 5 0 0402 is signalled At the same time the drive stores the actual position value to measured value 2 negatively S 0 0133 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 2 enable is set to O In the operation datum only bit O 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 oscilloscope 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 1 1 Error messages in state class 1 C1D Error messages are displayed using standard parameter S 0 0011 state class 1 If an error is set in state class 1 the drive is shut down im
42. ce name product name x x x P 0003 Application specific device name alias Dd 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 P0034 Device warnings status word d X P 0039 Device Error ID low word and Error Location high word x x x P 0040 Reset firmware 0041 Reset firmware and activate loader x x P0050 D hardware print x 2 x P 0051 Sub ID hardware print x X x 0052 D hardware option on X11 x x 0053 D hardware option on X12 x x x P0054 D hardware CPLD x x x 0055 Chip and redesign tracing identification x x x P 0060 D software option on X12 x Dd X P 0080 Bootloader information version and checksum x x P 0081 Checksum of firmware in flash x x x 0100 Function of digital input ENPO x x P 0101 Function of digital input ISDOO x x P0102 Function of digital input ISDOT x x 0103 Function of digital input 15002 X x 0104 Function of digital input 15003 x x P0105 Function of digital input 15004 x x 0106 Function of digital input 15005 x x P0107 Function of digital input 15006 0108 Function of digital input ISDSH x x P0109 Function of analog input ISAOO 0110 Function of analog input ISAOT x x P0118 Digital inputs Filter time ms x x P0120 nput inversion 0 ISDOO 05 1 6 SH 7 ISDO6 16 x x P0121 States of digital in
43. ced control structure filtering P 0325 Filter frequencies of digital filter Hz x x P0326 Digital filter design assistant P0327 Coefficients of digital filter P0328 Speed control maximum speed 90 P 0329 Motor torque scaling of limits P 0330 Motor torque scaling of negative limit P 0331 Motor torque scaling of positive limit P 0332 Motor torque scaling online factor P 0333 Motor speed scaling of negative limit P 0334 Motor speed scaling of positive limit P 0335 Direction lock for speed reference value P 0336 Adaptation of speed control gain at zero speed K X P 0337 Motor speed scaling P 0340 Magnetization current r m s A 10 2012 1003378 YukonDrive Harmonic Drive AG 57 Table 43 List of supported SERCOS parameters phe Write protection IDN Description Unit ep CP3 CP4 P0341 Speed where field weakening starts forces 1 n character P0342 Speed values for mag current scaling P0343 Mag current scaling vs speed 90 P0344 Voltage control filter time constant ms P0345 Voltage control gain A N 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 P 0351 Actual speed calculation filter time ms P 0352 Observer parameter meaning depends on CON_SCALC P 0353 Observer design parameters ms P 0354 Observer des
44. celeration Acc S 0 0262 Load defaults procedure command CP3 CP4 5 0 0264 Backup working memory procedure command 5 0 0278 Maximum travel range 2 5 0 0292 List of supported operation modes 2 CP4 95 0 0310 Overload warning 2 CP4 5 0 0312 Motor overtemperature warning 2 CP4 5 0 0329 Bit number allocation word for signal control word S 0 0331 Status n feedack 0 2 5 0 0333 Status gt Tx 2 5 0 0335 Status n cmd n lim CP2 CP4 S 0 0341 Status In coarse position 2 5 0 0347 Velocity error Speed 2 5 0 0359 Position deceleration 5 0 0380 DC bus voltage V 2 CP4 S 0 0384 Amplifier temperature 2 CP4 52 Drive YukonDrive 1003378 10 2012 Table 42 Supported SERCOS standard parameters S 0 0387 Power overload 5 0 0390 Diagnostic number 5 0 0393 Command value mode S 0 0401 Probe 1 status S 0 0403 Position feedback value status S 0 0406 Probe 2 enable S 0 0408 Reference marker pulse registered S 0 0410 Probe 1 negative latched 5 0 0412 Probe 2 negative latched 5 0 0418 Target position window in modulo mode S 0 0430 Active target position S 0 0448 Set absolute position control word 5 0 1002 Communication cycle time 5 0 1006 ATO transmission starting time t1 S 0 1009 Device contro
45. changes synchronously to the Producer cycle time 5 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 0 0033 0 0 010 Secondary mode 2 defined in S 0 0034 0 0 10 8 010 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 11 Secondary mode 7 not supported 7 6 Reserved 5 Status of actual position value bit O of S 0 0403 0 0 Drive halt 4 0 Drive halt not active 1 Drive halt active Status of setpoint transfer 0 drive ignores the setpoints of the master such as during drive controlled motion homing or param eterizable delay times The drive follows the setpoints of the master control system 2 0 Reserved 10 2012 1003378 YukonDrive Harmonic Drive AG 19 5 2 5 Non configurable real time data In addition to the mapped data The MDT and AT each contain fixed configured contnt In the MDT m 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 m Connection control The connection control word includes the real time control bits It is mapped for diagnostic purposes into param
46. e 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 DriveMAnacer 5 48 Harmonic Drive AG YukonDrive 1003378 10 2012 9 Appendix Glossary 9 1 Appendix A Parameterlist 9 1 1 SERCOS standard parameters List of all device parameters which can be transferred via SERCOS III Table 42 Supported SERCOS standard parameters IDN Description Unit Write protection S 0 0011 Class 1 diagnostic 10 CP2 CP4 S 0 0012 Class 2 diagnostic C2D 2 5 0 0014 Interface status CP2 CP4 5 0 0015 Telegram type CP3 CP4 S 0 0017 IDN list of all operation data CP2 CP4 5 0 0021 IDN list of invalid operation data for 2 2 5 0 0022 IDN list of invalid operation data for CP3 CP2 CP4 5 0 0026 Configuration list for signal status word 5 0 0027 Configuration list for signal control word S 0 0032 Primary operation mode 5 0 0033 Secondary operation model 5 0 0034 Secondary operation mode2 5 0 0035 Secondary operation mode3 5 0 0036 Velocity command value Speed S 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 2 5 0 0041 Homing velocity Speed 5 0 0042 Homing acceleration ACC S 0 0043
47. e 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 DriveManacer 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 to a differently defined weighting 11 Scaling parameters for position weighting IDN Description 5 0 0076 Weighting method for position data S 0 0077 Weighting factor for translatory position data 0 0078 Weighting exponent for translatory position data 5 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 5 0 0077 100 0078 When translatory preferential weighting is selected the weighting as per the following table applies Table 12 Preferential weighting of translatory position data Weighting method Unit Weighting factor Weighting ex
48. e ready power applied to drive and drive ready or setpoint input Quick stop Error response activ Errors see below Display for errors or non resettable errors Error number decimal Description of error SwitchedOn OperationEnable QuickStopActive FaultReactionActive Fault 1 S flashes when the STO Safe Torque Off function is active no display when function is inactive Not a safe indication as specified in EN 61800 5 2 2 The dot flashes when the power stage is active Example of flash sequence m ER gt 02 gt 05 ER gt 02 gt 05 2 5 Hardware enable The YukonDrive has a control input to the hardware enable ENPO on the control terminal This input must be configured for operation of the power stage at 24 V The device additionally features the STO Safe Torque Off function Documentation Nr 1007417 category 3 control terminal ISDSH On these devices the logic for this function must be provided by the higher order controller as detailed in the Application Manual Note If the ENPO and ISDSH inputs are not configured the device remains in state 1 Not Ready to Switch On or 2 Switch On Disabled Only when the configuration has been correctly wired the state can be quit by way of a Shutdown command over bus mm Error ER Error HE Error name 02 Error in parameter list HA Description of error 05 Function to check current parameter list
49. e specification V1 1 1 from SERCOS International Further documentation m Operating Manual YukonDrive m X YukonDrive Application Manual General Overview and architecture V1 1 1 1 SERCOS International m Generic Device profile V1 1 0 6 SERCOS International m SERCOS Communication V1 1 1 5 SERCOS International Function specific profile drives V1 1 2 11 SERCOS International SERCOS Parameter V1 1 1 0 SERCOS International Fig 1 SERCOS III communication module for YukonDrive The power supply to the communication module is provided by the YukonDrive Real time capability permits highly dynamic drive engineering applications with NC cycle times of 125ys to 65 ms multiples of 12515 The data to be transferred is defined in the SERCOS driver in numerous preference telegrams and parameters They are specially tailored to the high demands of electric drive systems A freely configurable telegram permits optimum utilization of all the 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 10 2012 1003378 YukonDrive Harmonic Drive AG 5 1 3 Key features Cyclic data exchange of references and actual values with exact time equidistance SERCOS cycle time of 125ys to 65 ms multiples of 125us programmable Multi axis synchronization between reference action
50. er is addressed by way of its parameter number in this case P 0107 10 2012 1003378 YukonDrive Harmonic Drive AG 11 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 4 Operation Mode coding Bit Explanation 15 0 SERCOS default note 1 Manufacturer specific mode 14 10 Reserved 9 0 Without axis control word S 0 0520 0 0 1 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 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 Table5 Supported operation modes Operation mode Description 0000 0000 0000 0001 orque control 0000 0000 0000 0010 Speed control drive controlled profile generation 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 Po
51. eters 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 m Devicestatus 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 W 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 segments in the MDT and in the DT and may extend over several bus cycles for each transferred element The SVC is controlled by way of the SVC control word The status of the SVC is displayed in the SVC status word Both status words can be displayed on the internal oscilloscope for diagnostic purposes For a detailed description refer to section 8 2 2 The command functions are also transferred via the service channel At present the following commands are supported m 5 0 0099 Reset state class 1 reset error m S 0 0127 Switchover preparation phase 3 m 5 0 0128 Switchover preparation phase 4 m 5 0 0139 Park axis command S 0 0148 Drive guided homing S 0 0152 Position spindle command m S
52. ge occurs must be fulfilled by the higher level control system according to Application 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 ST or S2 as appropriate 16 Harmonic Drive AG YukonDrive 1003378 10 2012 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 m Open loop control setting of drive via SERCOS interface Set P 0159 to SERCOS III 9 m Setpoints SERCOS profile Set P 0159 to SERCOS III 8 m 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 W SERCOS interface ready and in communication phase 4 m Enable power pack via hardware ENPO and ISDSH and bit 14 in drive control word Drive not in error state m Settings of relevant parameters P 0
53. gram shows the various torque force weighting options Fig 8 Diagram of torque force weighting methods Force torque weighting method S 0 0086 S 0 0086 bit 0 2 Percentage Translational force Rotary torque 0 1 S 0 0086 bit 6 Load Motor Load Motor Load Motor S 0 0086 Preferred Parameter Preferred Parameter bit 3 weighting weighting weighting weighting S 0 0086 N N Nm Nm bit 4 LSB LSB m LSB 1 0 N Variable 105 Variable S 0 0093 S 0 0093 S 0 0094 S 0 0094 6 4 4 Torque polarity Preferential weighting 0 01 Nm 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 out put A positive torque setpoint difference with non inverted polarity means the direction of rotation is clockwise looking at the motor shaft 32 Harmonic D rive AG YukonDrive 1003378 10 2012 6 5 Scaling using the scaling wizard The scaling wizard integrated into the DriveManacer 5 enables large numbers of parameters to be set in 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 Fig 9 Scaling wizard start window Normalization assistant sta
54. haft Table 16 Setting of position polarity via parameter S 0 0055 0 Not inverted Bit 1 Additive position setpoint 1 Inverted 0 Not inverted Bit 3 Actual position 2 1 Inverted 0 Not inverted Bit 5 15 Reserved 10 2012 1003378 YukonDrive Harmonic Drive AG 2 6 2 Weighting of velocity data The velocity weighting is defined by the parameters listed in the following table All velocity data of the drive e g setpoint actual and limit values are subject to the preset weighting If No weighting is selected via parameter S 0 0044 the weighting factor and weighting exponent are irrelevant The velocity data is then subject to a differently defined weighting Table 17 Scaling parameters for position weighting IDN Description 5 0 0044 Weighting method for velocity data S 0 0045 Weighting factor for velocity data 5 0 0046 Weighting exponent for velocity data 6 2 1 Weighting of translatory velocity data Translatory weighting is selected via S 0 0044 The significance of the LSB of the translatory velocity data is defined by the following equation LSB significance Travel 5 0 0045 10500046 Time unit When translatory preferential weighting is selected the weighting as per the following table applies Table 18 Preferential weighting of translatory velocity data Weighting method Unit Weighting factor Weighting exponent preferential 5 0 0045 5 0 0045 6
55. ign assistant P 0360 Position control gain 1 min P 0370 Interpolation type control word P0371 Speed reference filter time for speed control mode ms P0372 Speed feedforward filter time for position control ms P0374 Position delay in position control cycles CON PConTS ms P0375 Speed feedforward scaling factor P0376 Torque Force feedforward scaling factor P 0377 Feedforward signals enabled x x x P 0379 Feedforward calculation mode P 0386 Friction compensation scaling factor P 0400 Additional d current reference value A P 0401 Additional torque force reference value Nm N P0402 Additional speed reference value without ramp l min P0404 Additional speed reference value with ramp l min P0405 Analog input 0 filter time ms P 0406 Analog input 1 filter time ms P 0407 Analog input values filtered 10V gives 1 0 P 0409 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 36 x X P 0413 Reference position incr x x x 58 Harmonic Drive AG YukonDrive 1003378 10 2012 Table 43 List of supported SERCOS parameters ro Write protection IDN Description Unit CP2 CP3 CP4 P0414 Actual position difference RefPosition ActPosition incr x x x 0415 Actual speed l min x x x 0416 Reference speed l min x x x P0417 Actual speed difference RefSpeed ActSpeed l min x x x P0418 Reference torque Nm x x
56. is the IP channel active in the YukonDrive If the settings are t6 O 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 10 2012 1003378 YukonDrive Harmonic Drive 21 6 Scaling and weighting The weighting describes the physical unit and number of decimal places with which the numerical values of the parameters exchanged between the master control system and the drives are to be interpreted Th
57. l offset in MDT Device status offset in AT SVC offset in MDT Ring delay S 0 1017 NRT transmission time Pos Pos us us us us CP2 CP2 CP4 CP3 CP4 CP2 CP4 CP2 CP4 2 4 2 CP4 2 4 2 CP4 CP3 CP4 CP3 CP4 10 2012 1003378 YukonDrive Harmonic Drive AG 53 Table 42 Supported SERCOS standard parameters S 0 1019 5 0 1021 5 0 1023 5 0 1026 5 0 1035 5 0 1044 S 0 1050 x 1 5 0 1050 3 5 0 1050 5 5 0 1050 8 5 0 1050 11 S 0 1051 S 0 1300 x 2 S 0 1300 x 4 S 0 1300 x 8 S 0 1300 x 12 S 0 1302 x 1 MAC adress Subnet mask Sync jitter Version of communication hardware Error counter port 1 amp 2 Device control word Connection setup Telegram assignment Actual length of connection Connection control Allowed data losses S 0 1050 x 20 IDN allocation of realtime bit Image of Connection control Vendor name Device name Hardware revision Serial number FSP type and version us CP3 CP4 CP3 CP4 2 CP4 4 Harmonic Drive YukonDrive 1003378 10 2012 9 1 2 Manufacturer specific parameters Tabele 43 List of supported SERCOS parameters m4 Write protection IDN Description Unit CPZ CP3 CP4 P 0001 Id of device familiy series x x x P 0002 Devi
58. mediately The drive signals the error by setting bit 13 in the drive status word see section 5 2 4 42 Harmonic Drive AG YukonDrive 1003378 10 2012 The following errors are defined in state class 1 Table 31 State class 15 User specific error 13 Position limit value exceeded Excessive control deviation 9 Undervoltage error 7 Overcurrent 5 Encoder error 3 Cooling error shut off not supported 1 Amplifier overheating shut off Bit O error not active Bit 1 error active 8 1 2 Warning messages in state class 2 C2D Warning messages are displayed using standard parameter S 0 0012 state class 2 The drive signals the warning by altering bit 12 in the drive status word see section 5 2 4 The following warnings are defined in state class 2 Table 32 State class 2 15 Manufacturer specific warning 13 Target position outside positioning range 11 Excessive velocity deviation 9 Bus undervoltage warning 5 Positioning velocity gt nLimit 3 Cooling error warning 1 Amplifier overheating warning Bit 0 warning not active Bit 1 warning active 10 2012 1003378 YukonDrive Harmonic Drive 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 S 0 0011 is reset Setting bits 2 0 causes no error If there 15 no c
59. ng 2 Preferred scaling Parameter scaling LSBweghingg v X E 4 x Choose Preferential scaling to set the scaling to that defined by SERCOS and described in section 6 Choose Parameter scaling to set a custom scaling of the velocity data The scaling shown in figure 6 would mean for example that the velocity data of is transferred with a resolution of 0 0001 rpm 6 5 3 Scaling of torque data Click on the Torque power unit button see figure 13 to access the torque and power data scaling In the first torque unit scaling window you must first select the scaling method and the data reference see figure 10 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 Next button to move on to the next window Here the scaling of the torque data is specified 10 2012 1003378 YukonDrive Harmonic Drive 35 Fig 14 Scaling of torque power data Normalization assistant Sercos torque unit 2 rotational Torque unit 2 SERCOS interface Torque Force data scaling 2 Preferred scaling 9 Parameter scaling LSB weighting 1 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
60. of the torque data The scaling shown in figure 13 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 figure 14 to access the acceleration data scaling In the first acceleration unit scaling window you must first select the scaling method and the data reference see figure 10 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 Abb 14 Scaling of acceleration data lormalization assistant Sercos acceleration unit 2 rotat X Acceleration unit 2 Ill SERCOS interface Acceleration Jerk data scaling 2 Preferred scaling 9 Parameter scaling LSB weightings v X E 3 rad s 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 figure 14 would mean for example that the acceleration data of is transferred with a resolution of 0 001 rad s 36 Harmonic Drive AG YukonDrive 1003378 10 2012 7 Functionality 74 Homing 71 Drive controlled homing command To create the distance setpoint when
61. ommunication 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 when there are more interface errors occurring and the Reset state class 1 command 5 0 099 has been received by the drive over the service channel Table 33 Interface satus Bit no Description 15 14 Reserved 13 Phase change without CPS bit only SERCOS III 12 imeout on phase change only SERCOS III n PO sync error only SERCOS II 10 Drives with same address in loop only SERCOS II 9 Switch to non initialized mode 8 Phase change without ready message ii Error in phase fallback not phase 0 6 Error in phase sequencing invalid sequence 5 nvalid phase phase gt 4 4 MDT failure only SERCOS II 3 MST failure S 0 1003 exceeded Communication phase 000 Phase O 001 Phase 1 2 0 010 Phase 2 011 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 W the agreed telegram length the correct 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 c
62. on to move on to the next window Here the scaling of the position data is specified Fig 12 Scaling of position data Normalization assistant Sercos position unit 2 rotational Position unit 2 III SERCOS interface Position data scaling 2 Preferred scaling Parameter scaling 360 degree 3600000 LSB weighting 34 Harmonic Drive AG YukonDrive 1003378 10 2012 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 figure 6 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 figure 9 to access the velocity data scaling In the first velocity unit scaling window you must first select the scaling method and the data reference see figure 10 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 Fig 13 Scaling of velocity data Normalization assistant Sercos velocity unit rotationa nears SERCOs interface Velocity data scali
63. ounter S 0 1028 0 0 is incremented whenever no valid MST has been received at port 1 or at port 2 The maximum value which the counter can reach is 65535 When this value has been reached the counter is not incremented further The counter is reset to zero at the transition from communication phase 2 to phase 3 44 Harmonic Drive AG YukonDrive 1003378 10 2012 Parameter S 0 1035 0 0 indicates whether the telegrams received at ports 1 2 were valid If the length of a received telegram is incorrect or its CRC checksum invalid the value of the parameter is incremented The bottom 16 bits of the parameter display the erroneous telegrams at port 1 and the top 16 bits the erroneous telegrams at port 2 The maximum value for each port is 65535 When this value has been reached the counter is not incremented further The value of the parameter can be reset by writing it via the service channel or the DriveMANAGER Parameter S 0 1003 defines the maximum number of telegram failures after which the drive is to trigger an error If the maximum value is exceeded the communication error bit in state class 1 is set the drive reverts to the NRT phase 8 2 Diagnosis using the internal oscilloscope 8 2 Standard parameters In addition to the standard parameters also available in conjunction with the SERCOS II option board on the oscil loscope SERCOS III also offers the following standard parameters m IDN S 1044 0 0 Device Control Word m IDN S 1045 0 0
64. owing equation LSB significance Unit S 0 0093 1050009 When preferential force weighting is selected the weighting as per the following table applies Table 27 Preferential weighting of force data Weighting method Unit Weighting factor Weighting exponent Preferential weighting from 50 0086 from 50 0086 5 0 0093 5 0 0094 linear N 1 0 1 6 4 8 Weighting of torque data The weighting of force data is set via parameter 5 0 0086 The significance of the LSB of the force data is defined by the following equation LSB significance Unit S 0 0093 10590094 When preferential force weighting is selected the weighting as per the following table applies 10 2012 1003378 YukonDrive Harmonic Drive 31 Table 28 Preferential weighting of force data from S 0 0086 Weighting method Unit Weighting factor Weighting exponent from S 0 0086 5 0 0093 5 0 0094 Nm 1 2 Rotary Table 29 Bit fields in the torque force data weighting method parameter S 0 0086 Bits 2 0 000 001 010 Bit 3 0 1 Bit4 0 1 Bit5 Bit 6 0 1 Bits 7 17 Weighting method o weighting ranslatory weighting Rotary weighting Weighting method Preferential weighting Parameter weighting Distance unit Nm for rotary weighting for translatory weighting n Ibf for rotary weighting Ibf for translatory weighting Reserved Data source On the motor shaft On the load side Reserved The following dia
65. ponent Preferential weighting from 5 0 0076 from 50 0076 5 0 0077 50 0078 Linear m 1 7 0 1 pm 22 Harmonic Drive AG YukonDrive 1003378 10 2012 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 5 5 0079 When rotary preferential weighting is selected the weighting as per the following table applies Table 13 Preferential weighting of rotary position data Rotary Degrees 3 600 000 0 0001 degrees Table 14 Bit fields in the position data weighting method parameter S 0 0076 000 No weighting 010 Rotatory weighting 0 Preferential weighting Bit4 Unit Reserved for rotary weighting Inches for translatory weighting Bit 6 Data source 1 On the load side 0 Absolute format Bits 8 15 Reserved 10 2012 1003378 YukonDrive Harmonic Drive AG 23 The following diagram shows the various position weighting options Fig 5 Diagram of position weighting methods Position data weighting method S 0 0076 S 0 0076 bit 0 2 Translational S 0 0076 bit 6 Load Motor Load Motor Load Motor S 0 0076 Preferred Parameter Preferred Parameter bit 3 weighting weighting weighting weighting uo i ge LSB Resolution LSB LSB 10 m Variable 3600000 Variable LSB 0 0001 S 0 0077 Dedrees S 0 0079
66. puts x Do X 10 2012 1003378 YukonDrive Harmonic Drive 55 Table 43 List of supported SERCOS parameters 56 En Write protection IDN Description Unit 2 CP3 CP4 P0122 Function of digital output 05000 x x P0123 Function of digital output 05001 x x P0124 Function of digital output 05002 X x P0125 Function of motor break X13 x x P0126 Function of digital output RELOUT1 x 127 Function of dig output RELOUT2 is fixed on Safety Hold x X P0141 Control value of dig outputs via COM access P0142 Output inversion OSDO 1 2 0 1 2 MBRK 6 RELI 2 7 15 x x P0143 States of digital outputs x D P0144 DriveCom Auto start of system P0145 DriveCom Quick stop check in shut down command P0146 DriveCom Quick stop check in ReadyToSwitchOn P0147 DriveCom Check EnablePower false for ENPO over ENMO P0148 DriveCom Timeout in RdyToSwitchOn to enable motor switch ms P0149 DriveCom Start initialisisation of system parameter P0152 DriveCom actual state description x x x 0153 DrvCom fault reset command 0154 DriveCom Timeout motor standstill ms 0159 Motion control selection P0165 Motion profile selection P0166 Motion profile jerk time ms P0167 Motion profile speed override factor 96 P0168 Motion profile jogging speeds P0213 Motor brake lift time ms P0214 Motor brake close time ms P0215 Motor brake torque rise time ms P0216 Motor brake torque fade time ms P0217 Motor brake
67. ransmission power P 3006 Speed deceleration ACC P 3030 Drive controlled homing offset procedure command 3054 Gain external feed forward signals x x P 3056 External acceleration feed forward signal pod 62 Harmonic Drive AG YukonDrive 1003378 10 2012 10 2012 1003378 YukonDrive Harmonic Drive AG 63
68. rd P 1501 estsignal generator output signal selector 1502 estsignal generator number of cycles 1503 estsignal generator offsets for rectangular wave var 1504 estsignal generator times for rectangular waves 5 1505 estsignal generator amplitude of sinusoidal wave var 1506 estsignal generator frequency of sinusoidal wave Hz 1507 estsignal generator Initial phase for rotating current vector degree 1508 estsignal generator PRBS mininum toggle time ms P 1509 estsignal generator PRBS signal amplitude var P1515 Speed and position control dynamic stiffness 1516 otal inertia of motor and plant kg m m 1517 Autotuning for Jsum estimation control word 1518 Autotuning Jsum hysteresis speed control speed limit rpm P 1519 Autotuning for Jsum speed hysteresis control torque limit Nm N P 1520 Autotuning parameters for control and results P 1521 Mechanical system parameters Hz P 1522 Self commissioning and correlation results P 1530 Determination of default motor control settings P 1531 Selfcommissiong action selection P 2218 605AH DS402 quickstop option code P 2219 605BH DS402 shutdown option code P 2220 605CH DS402 disable operation option code 10 2012 1003378 YukonDrive Harmonic Drive AG 61 Table 43 List of supported SERCOS parameters 605EH DS402 fault reaction option code SERCOS Address P 3002 IDN list of all data with real time status support x x x P 3004 Maximum t
69. rt Normalization profile Standard DS 402 Sercos User From the start window select the Sercos option In the window which then appears you can select which parameters to scale Fig 10 Scaling wizard selection of scaling data Normalization assistant Sercos 1 JJ SERCOS interface Units Velocity unit degree s Torque force unit Nm Acceleration unit degree s s lt lt Back Continue gt gt Help 10 2012 1003378 YukonDrive Harmonic Drive 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 figure 9 to access the position data scaling Fig 11 Scaling wizard definition of scaling method and data reference Normalization assistant Sercos position unit 1 Position uni 1 J SERCOS interface Position data scaling 1 Scaling method no scaling Q linear scaling rotational scaling Data reference atthe motor shaft atthe load Continue gt gt Close In the first position unit scaling window you must first select the scaling method and the data reference figure 9 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 butt
70. sing 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 O 0135 0 0 into the DT In contrast to SERCOS II they are no longer a fixed component of the MDT or DT respectively 10 2012 1003378 YukonDrive Harmonic Drive AG 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 8 Drive control word S 0 0134 Bit no Description Drive On Off Drive OFF On switching from 1 to O the drive is shut down as best as possible according to the setting 15 of P 2219 then the torque is shut off as necessary at standstill the power stage can remain active only possible if bit 14 1 and with corresponding setting of P 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 0 No enable On switching from 1 to the torque is shut off and the power stage disabled with no delay 14 regardless 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 settings On switching from 1 to O the drive stops according to the setting of P 2221 and taking into account the last active acceleration by default ac 13 cording to acceleration par
71. sition 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 0001 0100 Position control with position controller 2 e g external encoder drive controlled profile genera tion 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 0001 1100 Position control with position controller 2 e g external encoder drive controlled profile generation with use of pre control signals without tracking error 12 Harmonic Drive AG YukonDrive 1003378 10 2012 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
72. tes scaling and names can be sequentially transferred Transfers can also be effected in parallel with the time critical cyclic data MDT DT in phases 3 and 4 SVC service channel The service channel provides services for operation mode recording parameter setting configuration and diagnosis Cyclic data Time synchronized transfer of MDT DT as from phase 3 valid as from phase 4 6 Harmonic Drive AG YukonDrive 1003378 10 2012 2 Assembly and connection 2 1 Installation and wiring In contrast to the SERCOS II which used a fibre optic cable the connection between the master and slave with SERCOS 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 Fig 2 SERCOS III linear structure Master YukonDrive YukonDrive YukonDrive P1 P2 P1 P2 P1 P2 Fig 3 SERCOS III loop structure Loop YukonDrive YukonDrive YukonDrive P1 P2 P1 P2 P2 P1 The loop structure should be selected whenever possible as in it the master sends the telegrams in both direction so enabling redundant communication This means breaks in the loop between two slaves or between the master and a slave are detected and within a bus cycle the switch is made to a linear structure with two lines so communication is not interrupted
73. times and actual value measurement times of all drives in the loop u Full synchronization of all connected drives with the master control system Free configuration of telegram content u Maximum configurable data volume in MDT 20 bytes u Maximum configurable data volume in DT 20 bytes u Programmable parameter weighting and polarity for position velocity acceleration and torque u Additive velocity and torque references Fine interpolation linear or cubic inside the drive Optionally master control side external or in drive generation of rotation speed and acceleration pre control Service channel for parameter setting and diagnosis Support for touch probes 1 and 2 Support for spindle commands Support for configurable real time status and control bits m Support for configurable signal status and control word 1 4 Abbreviations Table 1 Abbreviations Abbreviation d DT Drive Telegram Data from drive to master status actual values Ident number S x yyyy or yyyy IDN 32 bits are available to display a SERCOS III ident number MDT Master Data Telegram Data from the master to the drives control word setpoints MST Master Sync Telegram Provides data synchronization of the drives by the time slot method SERCOS Standardized method of real time communication between master control systems and drives to DIN EN 61491 Subsidiary protocol in the telegrams Parameter values attribu
74. 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 5 0 0405 0 0 S 0 0406 0 0 When the selected edge occurs on the touchprobe the drive stores the actual position value to the relevant parameter S 0 0130 to S 0 0133 measured value 1 or 2 positive or negative edge and sets the associated bit in the measured value status S 0 0179 The status bits in the measured value status are addressable separately via the ident numbers S 0 0409 0 0 to S 0 0412 0 0 and so can be assigned to the real time status bits in fast measurements or be transferred as real time parameters in the DT Two different measurement methods are supported a Single measurement When an active measurement edge occurs the effect of the same edge is disabled This block is cleared by resetting the touchprobe 1 2 enable 5 0 0405 0 0 S 0 0406 0 0 The measurement is re enabled by then setting the touchprobe 1 2 enable a Continuous measurement If continuous measurement was configured in parameter S 0 0169 0 0 the current position is stored on every occurrence of an active measurement edge The touchprobe is then immediately re enabled for further measurement Continuous measurement is cancelled by resetting S 0 0405 0 0 or S 0 0406 0 0 or by deleting command S 0 0170 0 0 Touchprobe cycle
75. uchprobe 1 enable to 0 and back to 1 In the operation datum only bit 0 is defined For more information see S 0 0179 OUCHPROBE 2 ENABLE With this parameter the touchprobe 2 enable is assigned an IDN As a result the touchprobe 2 enable can e assigned to a real time control bit S O 0301 he 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 and back to 1 In the operation datum only bit O 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 recorded positive can be assigned to a real time status bit 5 0 0305 In the operation datum only bit O is defined Bit O in this parameter is only set by the drive when the touchprobe cycle command 5 0 0170 is active the touchprobe 1 enable signal S 0 0405 is set to 1 and the positive edge of touchprobe 1 5 0 0401 is signalled At the same time the drive stores the actual position value to measured value 1 positively 5 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 For more information see S 0 0179 10 2012 1003378 YukonDrive Harmonic Drive 4

User Manual - Harmonic Drive AG

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