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User Manual AC Servo Controller YukonDrive® PROFIBUS

1. Machines for domestic use Medical equipment which comes into direct contact with the human body Machines or equipment for transporting or lifting people Special devices for use in annual markets or leisure parks 2 4 Declaration of Conformity The Harmonic Drive servo actuators and motors described in the engineering data comply with the Low Voltage Directive A copy of the EC conformity declaration is supplied in the appendix In accordance with the Machinery Directive Harmonic Drive servo actuators and servo motors are electrical equip ment for the use within certain voltage limits as covered by the Low Voltage Directive and thus excluded from the scope of the Machinery Directive Commissioning is prohibited until the final product conforms to the Machinery Directive 3 Introduction PROFIBUS based on standards and its modular interfaces Thanks to its use of a single standardised non application dependent communication protocol PROFIBUS provides solutions for the process industry as well as in a wide range of motion control applications PROFINET permits enhanced system wide connectivity adding to tried and proven PROFIBUS technology for appli cations specifying fast data communication in combination with industrial IT functionality Thanks to its Ethernet based communication PROFINET meets a wide range of requirements from data intensive parameter assignments to synchronised data transfer Communication for all
2. Table 451 Watchdog Parameter no Name Meaning P 0300 CON CfeCon Set control mode P 0301 CON REF Mode Set reference profiles 06 2015 1003375 45 71 1 Speed control circuit and associated control parameters Speed control loop Illustration 46 1 s peadsiov ad No 1751v5S NOD 15604 Wo 40 0W pajjosju03 anbioy ii LOW 09 0 4 NO2S NOD 1z 0 d BaNxeus 025 NO2 E EOd dl Woo YAO 338 29 LO d XeWL NOJS NOD 6ZE0 d dx NODS NOD 020 4 4 NODS NOD v Od LLEO d ad Wo 6 1 4 2129SxeW1 NODS NOD ZEEO d NODS NOD 82604 aq Wo 8 21 4 sodxeWI7NOOS NOO LEEO d 4 2 NOD 27604 ras No2S 2 uous LOW 85704 BaNxeWL NODS NOD 4 Isv1934NO2S NOD 97 0 026 NOD sz Od 1 NODS NOD NODS NOD 10904 ZOvOd 46 Table 471 Control parameters Parameter no Parameter name Meaning P 0167 P 0320 P 0321 P 0325 P 0326 P 0327 P 0328 P 0330 P 0331 P 0332 P 0333 P 0334 P 0339 0351 0371 0401 0402 0417 0458 P 0460 P 1270 1278 P 1279 MPRO REF OVR CON SCON Kp CON SCON Tn CON SCONFilterFreq CON SCONFilterAssi CON SCONFilterPara CON SCON SMax CON SCON TMaxNeg CON SCON TMaxPos CON SCON TMa
3. state machine This parameter permits storage of data in the non volatile memory This parameter describes the defined parameters in the drive controller This parameter describes all the parameters in the drive controller that are not set to the default values This parameter describes the function of each bits in the control word parameter 967 This parameter contains the reference velocity 1 in jog mode This parameter contains the reference velocity 2 in jog mode Speed reference value written via PROFIBUS 71 Table721 PROFIBUS and PROFINET parameters continuation Parameter name COM DP ActSpeed COM DP RefTorque COM DP ActTorque COM DP RefPos COM DP TargetPos COM DP ActPos1 COM DP PosVelocity COM DP Acc COM DP Dec COM DP Controlword2 COM DP Statusword2 COM DP Bus Timeout COM DP SignalList write COM DP SignalList Read COM DP TMaxsScale COM DP TMaxPos COM DP TMaxNeg 72 Number P1271 P1272 P1273 P1274 P1275 P1276 P1277 P1278 P1279 P1280 P1281 P1283 P1284 P1285 P1286 P1287 P1288 Value range 32768 32767 32768 32767 32768 32767 2147483648 2147483647 2147483648 2147483647 2147483648 2147483647 2147483648 2147483647 0 OxFFFF 0 OxFFFF 0 OxFFFF 0 OxFFFF 0 4294967295 0 65535 155595 0 2000 0 2000 0
4. 200 m 1 5 MBaud 100 m 3 to 12 Mbaud The specified PROFIBUS cables should be used see chapter 2 1 3 Line without repeater Line and tree with repeater Via addressing parameter Yes via DPVO Yes via DPV1 Ves via PKW channel or DPV1 Yes Slave Standard Ethernet patch cable e g 5 FTP Cat 5e 100 MBaud Fixed 100 m when using the specified PROFI NET cable see chapter 2 2 3 When using standard commercially available Ethernet cables a max cable length of 40 m is possible Tree star and line Yes up to 64 bytes Yes Yes 10 device with real time RT and synchronous IRT isochronous real time communication PROFINET Version 2 2 October 2007 75 Harmonic Drive AG Hoenbergstrafte 14 65555 Limburg Lahn T 49 6431 5008 0 F 49 6431 5008 19 info harmonicdrive de www harmonicdrive de Subject to technical changes 1003375 06 2015
5. User Manual AC Servo Controller YukonDrive PROFIBUS PROFINET QUICKLINK www harmonicdrive de 1100 This document describes the functionality of the following devices YukonDrive 10xx xEx xx PROFIBUS YukonDrive 10xx xFx xx PROFINET Content 1 nz m TT 11 Description of Safety Alert Symbols 1 2 Disclaimer and Copyrisht 2 Safety and Installation Instructions 24 Hazards 2 2 Intended Purpose 23 Intended Purpose 2 4 Declaration of Conformity 3 Introduction 31 System requirements 32 IR rthepdocitrerntetio s eee tois o FU Perl etis 9 4 Commissioning 41 PROFIBUS 411 Connections and status indicators 41 2 Pin assignment of the D Sub socket 413 Specification of the PROFIBUS cable 44 4 Bus termination 41 5 PROFIBUS address setting 4 1 6 PROFIBUS option card displays 417 GSD file PROFIBUS 4 2 PROFINET 4 21 Connection 4 2 2 Pin assignment of the RJ 45 socket 4 2 3 Specification of the PROFINET cable 4 2 4 Meanings of LEDs 4 2 5 PROFINET option card displays 4 2 6 GSDML file PROFINET 5 Cyclic datatransfer e DEM rrr rrt eta aberit itta ti xb rra siad 51 Parameter process data objects 541 Standard PROFIdrive telegrams 5 1 2 User specific PPOs 51 3 Parameter chan
6. 0x00 Reserved 0x01 Request parameter 0x02 Change Parameter 0x03 0x3F Reserved n 0x40 0x7F Manufacturer specific Response ID Unsigned8 0x80 Reserved 0x81 Request parameter 0x82 Change Parameter 0x83 0xBF Reserved 0xC0 0xFF Manufacturer specific 0x00 Device Representative Axis no Unsigned8 0x01 0xFE Axis Number 1 254 Zero single axis Reserved 0x00 Reserved Limited by DPV1 No of Parameters Unsigned8 0 01 0 27 Quantity 1 39 th 0x28 0xFF Reserved 0 00 Reserved 0x10 Value 3 0 20 Description Attribute Unsigned8 0x30 Text 0x40 0x70 Reserved 0x80 0xFO Manufacturer specific 0 00 Special Function fd No of Elements Unsiened8 Ox01 0xEA Quantity 1 234 iud OxEB OxFF Reserved 8 8 Reserved Parameter Number Unsigned16 0 0001 OxFFFF Number 1 65535 0 0000 Subindex Unsigned16 OxFFFF Number 1 65535 0x00 Reserved 0 01 0 36 Data Types 0x37 0x3F Reserved 0x40 Zero Format Unsigned8 0x41 Byte 0x42 Word 0x43 Double Word 0x44 Error 0x45 0xFF Reserved i 0 00 Quantity 0 234 Limited by DPV1 No of Val U d8 DEPTH ES DES OxEB OxFF Reserved Telegram length i 0x0000 Error Numbers Error Number Unsigned16 Ox00FF 40 Table 411 Error numbers Error number Meaning 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x09 0x11 0x14 0x15 0x16 0x17 0x18 0x19 06 2015 Impermis
7. Bit Operation mode Speed control Operation mode Positioning control Bit15 MSB Not used Bit14 0 ENPO or Safe Standstill not set 1 ENPO or Safe Standstill set Bit 13 0 Drive rotating 1 Drive stationary Bit12 0 Not used Driving job confirmation by toggling this bit 1 Not used Driving job confirmation by toggling this bit Bit 11 0 Not used Homing point not yet set 1 Not used Homing point set Bit 10 0 Frequency or speed not reached Target position not reached 1 Frequency or speed reached or exceeded Target position reached Bit9 0 No access rights via PLC 1 Access via PLC allowed Bit8 0 Velocity error out of tolerance band Positioning tracking error out of tolerance band 1 Velocity error within tolerance band Positioning error within tolerance band Bit7 0 No warning 1 Warning issued Bit 6 0 Switch on not prevented 1 Switch on prevented Bit5 0 Quick stop activated Quick stop deactivated 55 Table 561 Drive status word continuation Bit4 Bit2 Bit 0 Coast down deactivated No error Control active in operation drive following reference values Power stage inactive not ready Ready for start Table 56 2 Drive status word 2 Profile generator status 0 Stop 1 Acceleration 3 Deceleration 15001 7 15003 9 Reserved 11 Reserved 2 Positioning with sel velocity Torque limitation with negative direction of travel
8. PKW channel 2 2 0x66 0x166 0xF5 6 words input output data PZD channel consistent overall length 2 words input output data 3 3 OxF1 0x67 0x167 PZD channel consistent overall length 6 words input output data 4 4 0xF5 0x68 0x168 PZD channel consistent overall length 4 words input output data OxF3 consistent overall length PKW channel 5 5 0x69 0 169 OxF9 10 words input output data PZD channel consistent overall length 4 words input output data 6 OxF3 Ox6A 16 PZD channel consistent overall length 4 words input output data OxF3 consistent overall length PKW channel 7 Ox6B Ox16B OxF3 words input output data PZD channel consistent overall length 8 words input output data 8 OxF7 Ox6C Ox16C PZD channel consistent overall length 4 words input output data OxF3 consistent overall length PKW channel g Ox6D 0 160 7 8 words input output data PZD channel consistent overall length 10 words input output data consistent 10 OxF9 Ox6E Ox16E PZD channel overall length OxCO 14 words input output data consistent 11 OxCD Ox6F Ox16F PZD channel overall length OxCD OxF3 4 words input output data OxCO consistent overall length PKW channel 12 0x70 0x170 OxCD 14 words input output data PZD channel OxCD consistent overall length 0xCO 18 words input output data consistent 13 OxD1 0x71 0x171 PZD channel overall length 0xD1 0xF3 4 words input output data OxCO consisten
9. cycles When the master generates the Sign of Life again the error counter is decreased by the value 1 in each cycle 32 1003375 06 2014 4 Sign of Life errors triggered with error reaction Illustration 331 4 Sign of Life errors triggered with error reaction _ _ 40 38 etinm EE ERE 36 3 i 50000 T EE eerie 32 5 28 5 0 01 0 0 01 0 02 Time s CON_DP_Controlword2 COM DP Statusword2 COM PN Sign of life err cnt The value of the master is not increased in four cycles if a value 4 is entered in parameter 925 COM PN Sien of life limit The error counter is increased by the value 10 in these cycles When the error counter reaches the maximum value 40 the error reaction is triggered 06 2015 1003375 33 Acyclic data transfer The PROFidrive profile includes the Mode Parameter Access model for this It is used both PROFIBUS and PROFINET 6 1 PROFIBUS parameter access In addition to cyclic data communication which is intended as the default for quick updating of 1 0 process data acy clic services are offered for one off events They offer the facility to read or write parameters acyclically for example so as not to impede cyclic data traffic Telegram type SD2 as set out in the f
10. Coast down activated FON uL I RCM EN Quick stop activated gt STW Bit 2 0 8 UZK too low Intermediate circuit voltage less than switch on threshold g Quick stop activated Activate quick stop gt STW Bit 2 0 10 Quick stop deactivated Deactivate quick stop gt STW Bit 2 1 T Coast down activated Activate Coast down gt STW Bit1 0 12 Standstill detected Standstill was detected 13 Error Error event occurred can occur in any system state 14 Error reaction ended Error reaction ended e g error stop ramp 15 Error reset Reset error gt STW Bit 7 1 or by arising edge of Enpo 16 Power stage blocked Power stage blocked can occur in any system status Parameter 144 Autostart determines whether control enable is flank triggered 0 or status dependent 1 Parameter List gt Motion Profile gt Basic Settings 50 73 Jog mode 7 31 Jog mode manufacturer specific Bits 8 and 9 of the control word permit jog mode in speed operation When bit 8 of parameter COM DP CtrlConfig is set to 0 the drive acts as follows jog mode manufacturer specific 73 2 Jog mode conforming to profi When bit 8 is changed to 1 the drive adopts the speed in parameter 1268 COM DP RefJosSpeed bit 9 is additionally set to 1 the value of parameter 1269 COM DP RefJoeSpeed 2 is used as the reference set point bit 9 is set to 0 again COM DP RefJosSpeedi is again used as the reference bit 8 is set to 0 while bit 9 is still set to 1 no change
11. PROFIdrive profile In contrast to EasyDrive mode the system states are changed by defined control sequences The system state machine defined in the PROFIBUS stan dard specifies the individual system state transitions PZD Process data The process data channel contains the functions Apply control and status Input reference values and Display actual values Slave A slave is a station on the PROFIBUS DP bus which in contrast to the master responds only to the requests directed toit SPM Spontaneous message State machine This describes the transitions between the various system states A state transition is triggered by a defined event such as a control sequence or the setting of an input 74 06 2014 10 2 Technical data The PROFIBUS PROFINET implementation in ServoOne conforms to the PROFIdrive profile PROFIBUS PROFIdrive Profile Version 4 0 dated August 2005 The profile is not implemented in full however Table 75 1 PROFIBUS PROFINET Data transfer Max transfer rate Automatic baud rate detection Max cable length Network topologies Programmable PROFIBUS address Cyclic exchange of reference and actual value data Acyclic data exchange Writing and reading drive parameters Synchronisation of all connected drives in Freeze and Sync mode Field bus stations Specification Two wire cable RS485 12 MBaud Yes 1000 m 9 6 to 187 5 KBaud 400 m 500 KBaud
12. SHIELDED 06 2 014 414 Bus termination If the drive controller is initially at the end of the bus system a plug with an integral terminating resistor Rt should be used In addition to the cable terminating resistor in accordance with the EIA RS 485 standard a pull down resistor Rd against the data reference potential DGND and a pull up resistor Ru against VP are provided This ensures a defined no load potential of 1 1 Volt between pins 3 and 8 In a made up PROFIBUS cable these resistors are all incorporated as standard in the PROFIBUS plug and the terminating resistor can be activated using a switch on the PROFIBUS plug The following figure shows a Sub D 9 pin plug bus termination Illustration 13 3 Sub D 9 pin plug bus termination Vp 5 Volt 6 390 RxD TxD P 3 n B red Rt 220 Ohm RxD TxD N 8 A green Rd 390 Ohm GND 6 Y 06 2015 1003375 5 PROFIBUS address setting The device address can be set via parameter 918 COM DP Address decimal The new device address will be valid after a 24 VDC OFF ON cycle The bus address can also be set via the console on the device hexadecimal refer to the YukonDrive Operating Manual Select the mode of addressing Table 14 1 1 Bus address parameter P 918 By way of bus address parameter P 918 COM_DP_Adress a valid decimal address between 0 and 125 is set 2 Setting via device console A valid
13. applications is routed through just one cable whether for a simple control task or for highly dynamic motion control of drive axes TCP IP based communication in the PROFINET network enabling extensive system diagnostics in a control station or over the Internet is implemented in parallel with real time communication 31 System requirements PROFIBUS PROFINET configuration program installed PROFIBUS PROFINET device description file for corresponding field device installed 3 2 Further documentation Instructions for commissioning the drive device e PROFIBUS user organisation PROFIdrive PROFIdrive Technology for PROFIBUS and PROFINET Version 4 1 May 2006 Order no 3172 PROFIBUS User Organisation Profile Guidelines Part 1 Identification amp Maintenance Functions 1 2 Oct 2009 Order No 3 502 06 2015 1003375 9 4 Commissioning 4 1 PROFIBUS Connections and status indicators The connections and status indicators of the PROFIBUS interface are shown in table 10 1 LEDs H1 H2 H3 act as status indicators The PROFIBUS cable is connected to the D Sub socket X14 Table 101 Option card PROFIBUS Front panel No Comments H1 H2 H3 x14 10 Status indicator LED yellow Status indicator LED red Status indicator LED green PROFIBUS cable connection 41 2 Pin assignment of the D Sub socket PROFIBUS is connected via a nine pin sub D plug connector The pi
14. error shutdown P0925 COM PN Sien of life limit type U16 0 Oxfffe Oxffff switch off P1296 COM PN Sign of life err cnt Display of current error counter P1280 Control word 2 Bit 12 15 Sign of Life master P1281 Control word 2 Bit 12 15 Sign of Life slave The Sign of Life function can be deactivated with the value OxFFFF in parameter 925 COM PN Sien of life limit factory setting 30 1003375 06 2014 The function is activated when the first cyclic teleeram is received in which bits 12 15 of the second control word 1280 are not equal to When the function is activated the error counter parameter 1296 COM PN Sien of life err cnt is set to 0 With each newly received telegram the counter bits 12 15 in the second status word parameter 1281 COM DP Statusword2 is incremented by the value 1 In each cycle the status counter is compared with the counter in the second control word If that counter is not equal the error counter parameter 1296 COM PN Sign of life err cnt is incremented by the value 10 If the counters in the second control word and second status value are equal the error counter parameter 1296 COM PN Sign of life err cnt is decremented by the value 1 The error counter cannot fall below 0 If the error counter parameter 1296 COM PN Sien of life err cnt is ereater than or equal to 10 parameter 925 COM PN Sien of life limit the error message 32 03 Profinet IRT Sign of Life error is triggered a
15. executed until the feed enable is set again A driving job can be cancelled by resetting control word bit 4 n this case the drive is also braked to a standstill and set to the Control active state Additionally from the initial state 5 homing run be triggered by control word bit 11 06 2015 1003375 57 7 51 Position control circuit and associated control parameters Position control loop Illustration 58 1 J0joui pajjonuoo enbioj LOW 090d xew17NOOS NOD 62604 025 NOI ZEEOd sogxeWL NO2S NOO 1809 026 NOD 0 0d 6 G1751v5S N05 paedspv ad No5 15604 005 NOD LOrO d enbiojeu ad Wo2 99 2 NO2 22204 ias No2s N05 issviepHNOOS NOO 92604 Livod baijje31HNODS NOD 52204 YY ZN BaNxews NO2S NO amp 0 4 soqxews NO2S NO2 v 0 d xeuis NO2S NOI 8z 0 d 10W 8590 4 jeusPPv NO2S NOD vOvO d L NO2S NO 1280 4 d NoDS NOD OZEO d a wnsf aas 9191 4 uc dd Woo 9201 4 ma d NO24 NO 09 04 jtasod NOD 1704 12253457 17 00 51504 25331 747 02 9204 33 uAO 338 29104 6221 4 ad woo 8221 4 VapojeAsod dd WOO 1 4 aa WOO 221 4 1 1 Ajasda ar No2 04 m a144S di NOD
16. occurs When bit 9 is changed to 1 the drive adopts the negated speed in parameter COM DP RefJosSpeed1 The direction of rotation is reversed as a result f bit 8 is additionally set to 1 the negated value of parameter COM DP RefJogsSpeed2 is used as the reference setpoint f bit 8 is set to again COM DP RefJosSpeed 1 is again used as the reference f bit 9 is set to O while bit 8 is still set to 1 no change occurs f negative references are set a negated velocity becomes positive again og mode can only be activated when the motor is stopped gt m When bit 8 of parameter COM DP CtrlConfig is set to 1 the drive acts in conform to the profile profile 4 1 page 84 13 Jog mode can only be activated when the motor is stopped Bits 4 to 6 of the control word are 0 When bit 8 is changed to 1 the drive adopts the velocity in parameter COM DP RefJogSpeedi When bit 9 is changed to 1 the drive adopts the velocity in parameter COM DP RefJosSpeed2 When bits 8 and 9 are set there is no change the old reference value is retained 73 3 Joe mode reference parameters Parameters 1268 COM DP RefJoeSpeed and 1296 COM DP RefJoeSpeed2 are of type Int32 and mappable as process data The acceleration and deceleration are used in jog mode by parameters 1278 COM DP ACC and 1279 COM DP D 06 2015 1003375 51 74 Speed control application class 1 In speed control mode the speed control reference
17. phase The project engineer knows from the GSD file how many bytes are required for the input and output data for PROFIBUS communication between the master and the drive controller and can use this information to make settings in a configuration tool As well as the standard telegrams in accordance with the PROF Idrive profile there are additionally user specific telegram types In addition to the process data channel PZD some user specific telegrams have a parameter channel PKW 20 511 Standard PROFIdrive telegrams The table below firstly lists the standard PROFIdrive telegrams supported by the drive controller The following table explains the abbreviations assigned in the standard telegrams to specific process data channels The process data channel abbreviated as PZD is erouped word by word Table 211 Abbreviation Abbreviation Designation Number of words STWI Control word 1 1 STW2 Control word 2 1 ZsW1 Status word 1 1 ZSW2 Status word 2 1 NSOLL_A Rotation speed reference 1 NIST A Actual rotation speed 1 SATZANW Set selection from driving set table 1 AKTSATZ Current set selection from driving set table 1 XSOLL A Reference position 2 XIST A Actual position 2 TARPOS A Reference target position 2 VELOCITY A Reference velocity 2 E DIGITAL Input 1 A DIGITAL Output 1 Standard telegram 1is a defined telegram type for speed control It consists of two input words and two output words as shown in the following ta
18. response 5F DU DU DU DU SD DSAP SSAP FCS ED Req id Slot Index Length 68H XX 32 30 5F 0 2F n XX 16H Table 35 3 3 Read request 5E DU DU DU DU SD DSAP SSAP FCS ED Reg id Slot Index Length 68H 32 30 0 2F MAX XX 16H Table 35 4 4 Read response 5E DU DU DU DU DU SD DSAP SSAP FCS ED Reg id Slot Index Length User 68H 32 30 5E 0 2 net 16H Each read or write access must first be initiated by a write service on Data Unit Index 47 2F 1 This write request gives the slave the information about the request to execute After this the slave acknowledges with a response teleeram 2 which initially contains no response data This is simply an acknowledgement of the request and contains only the mirrored DPV1 header of the request telegram In the event of an error a negative response is sent To then read the data from the slave the master must present a read request 3 If the response 4 to this is positive the user data can be used by the master In the event of an error a negative response is sent The DPV1 read request diagram shows the telegram sequence for read access This shows the slave sending a negative read response to the first read request This negative read response means that the required data cannot yet be provided 35 Not until the following cycle the slave has executed the request to the extent that it can send a positive read response with the req
19. value can be influenced using 3 bits in the master control word 74 1 Illustration 521 Speed control STW1 bit 4 True Activate ramp generator False Reset ramp generator STW1 bit 5 True Enable ramp generator False Freeze ramp generato STWI bit 6 True Activate reference value False Deactivate reference value Reference value COM DP RefSpeed Speed Ramp Function Generator Reference value for the closed speed control circuit Setting the control word bit 4 allows the speed reference value to be taken over by the ramp generator The ramp generator can be enabled by setting control word bit 5 resetting it freezes the ramp generator again The input of the ramp generator is influenced by control word bit 6 If bit 6 is set the reference value is switched through If bit 6 is not set the reference value zero is transmitted 52 744 Master control word Table 531 Master control word Bit Operation mode Speed control Operation mode Position control Bit15 MSB a Apply relative positioning immediately after start enable 1 Speed mode Bit 14 0 Normal positioning 1 Speed mode Bit 13 0 NORUSEd Mor values activated by toggling master control 1 Notused BM are applied directly Special function Bit 12 0 Not used Positioning reference value absolute Not used Positioning reference value relative Bit 11 0 Not used Stop homing 1 Not used Start homing Bit10 0 No access ri
20. 2000 Default value 100 100 5000 1000 1000 1000 Change able No Mes No Yes Yes No Yes Yes Yes Ves No Mes Yes Yes Yes Data type 16 16 132 132 132 132 016 U16 U16 U16 U32 U16 U16 U16 U16 U16 Meaning Actual speed Torque reference value written via PROFIBUS Actual torque Position reference value ramp mode written via PROFIBUS Position reference value direct mode written via PROFIBUS Actual position of 1st position encoder Velocity reference value ramp mode written via PROFIBUS Acceleration reference value ramp mode written via PROFIBUS Deceleration reference value ramp mode written via PROFIBUS 2nd control value not used at first 2nd control word initially not used Bus timeout List of parameters that can be used as process data reference values List of parameters that can be used as process data actual values Online torque scaling Positive online torque scaling Negative online torque scaling Table 731 PROFIBUS and PROFINET parameters Default Change Data Parameter name Number Value range Meaning value able type Station name of PROFINET COM PN StationName P1289 DRIVE Yes string device IP address of PROFINET COM PN StationIP P1290 0 0 U32 device Subnet mask of PROFINET COM PN StationSubnet P 1291 O FF
21. 6 1003375 06 2014 75 Position control application class 3 In position control mode from operating state 5 the drive can switch to various states in response to defined bits in the master control word These states are illustrated in the diagram 571 Illustration 571 Position control Initial state 5 Control active ZSW1 Bit 10 13 TRUE Start homing STW1 Bit 11 TRUE End homing 3 STW1 Bit 11 FALSE aw STW Bit 11 FALSE Reference point set STW1 Bit 11 TRUE Activate driving set STW1 Bit 6 FALSE Interpolation active ZSW1 Bit 10 13 FALSE and edge at ZSW1 Bit 12 A positioning command is activated by setting control word bit 4 feed hold via control word bit 5 and an edge at control word bit 6 Further positioning commands can then be controlled via control word bit 13 bit 13 is set changes to the reference position positioning velocity or positioning acceleration lead directly to a new driving job bit 13 is not set a new driving job is activated only by means of a positive or negative edge of control word bit 6 bit 6 in parameter 1267 COM DP CtrlConfig is set the driving job is only activated on a positive edge This corres ponds to the last PROFIDrive profile 4 1 feed enable is reset while a positioning command is active the drive is braked to a standstill on a ramp and switches o the Intermediate Stop state The current driving job is not
22. BUS Once these settings have been made communication can be established between the master and drive 06 2015 63 8 2 Control based homing The touchprobe function enables a control based homing of an axis In this variant the drive remains in interpolating mode The touchprobe function is used to record the position of the reference pulse For more information on the touchprobe function refer to the Device Help in the Touchprobe chapter 8 3 Conversion of reference and actual values via he factor group parameters In positioning applications the input of reference values and the return of actual values is usually performed in application specific user units mm deerees so called factor eroup parameters Parameter list between three different groups of parameters Al The reference and actual values of the drive are converted with the c Motion profile Standardisation units Users can choose three groups have the same task which is to convert the user units to the fixed internal variables of the servocontroller The first factor group is based on the DSP402 standard The pa rameters of this group are described in detail in the CANopen specification DSP402 The second factor group is under the heading Sercos The parameters of this grou p refer to the Sercos specification SERCOS interface Version 2 4 February 2005 The parameters of this group are also described in detail in the cited specification The t
23. FFFFFF 0 U32 device Station MAC address of COM PN StationMAc P1292 0 5 0 FF 0 PROFINET device Station MAC address of COM PN StationMAc P1292 6 1 0 0 PROFINET device Station MAC address of COM PN StationMAc P1292 12 17 0 0 PROFINET device COM PN ProductFamily P1293 DRIVE No string Product family Identification and mainte COM_PN_IM P1294 O FFFF 0 016 nance data IM COM PN DefaultGateway P1295 O FFFFFFFF 0 U32 Gateway factory setting Display of current error COM PN Sign of life err cnt P1296 0 65535 0 U16 counter Parameter 1294 is based on the description of the standard Profile Guidelines Part 1 Identification amp Maintenance Functions 1 2 Oct 2009 Order no 3 502 or amp M record 0 73 10 Appendix 101 General AK Request identifier Application data set Factory pre defined data set for solution of typical applications Diagnostic data The master reads the diagnostic data from the slave and so permits a centralised response to slave malfunctions DP Distributed peripherals Master The master controller which handles communication MW Flag word Parameter data The PKW parameter channel is used to transfer parameters cyclically to and from the drive device PKW Parameter identifier value PNU Parameter number ProfiDrive Mode Configuration of the process data channel conforming to the
24. FINET cable PROFINET cable 6GK1901 1BB10 2AA0 IE FC RJ45 PLUG 180 2X2 RJ45 CONNECTOR 10 100MBIT S WITH ROBUST METAL HOUSING amp FC CONNECTION Siemens order number Siemens article description 4 2 4 Meanings of LEDs 6XV1840 2AH10 SIMATIC NET IE FC TP STANDARD CABLE GP 2X2 PROFINET TYP A The two LEDs at the RJ 45 sockets have the following meanings Table 18 3 Meanings of LEDs LED Function Meaning gr n Link Activity gelb RUN 18 Off no link No link to another device On Link gt Linked to another device no data exchange Blinking Activity c Data exchange active Off Initialisation gt Device in initialisation phase Blinking Pre Operational gt Device in pre operational phase Single Flash Safe Operational gt Device in safe operational phase On Operational gt Device operational 06 2014 4 2 5 PROFINET option card displays Two LEDs are mounted on the PROFINET option card indicating the current operating status of the module The fol lowing tables set out the operating states of the PROFINET option card based on the various illumination sequences Table 191 Self test during diagnostics LED H1 green LED H2 red Status Reset after power on PROFINET test and initialisation End of PROFINET test and initialisation Table 19 2 Operational diagnostics LED H1 green LED H2 red Status PROFINET ready
25. L IST SOLL IST SOLL IST SOLL IST PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD 5 6 PZD PZD 5 6 PZD PZD 5 6 PZD PZD 5 6 PZD PZD 5 6 PZD PZD 5 6 PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD PZD 10 PZD 10 23 In the drive parameter list there are two signal tables containing all the process data that can be cyclically read and written for the PROFIBUS communication DPVO All possible writeable process data signals can be found in signal table 1284 COM DP SienalLlist Write and all possible readable process data signals can be found in signal table 1285 COM DP SignalList Read The most important readable and writeable parameters are also documented in chapter 8 The writeable process data signals can be configured in signal table 915 COM DP PZDGSelectionWrite The available number of writeable process data items is determined by the selected PPO type The readable process data signals can be configured in signal table 916 COM DP PZDSelectionRead The available number of readable process data items is likewise determined by the selected PPO type When using standard telegrams the process data signals in the signal tables are automatically configured by the firmware NOTE The content of this column applies only to PROFIBUS A maximum of 15 process data signals can be mapped Both s
26. Response identifier AK Slave gt Master Error Statement 0 Impermissible 1 Parameter cannot be changed 2 Lower or upper parameter value limit transgressed 3 Defective sub index 4 Not an array 5 Incorrect data type 17 Request cannot be executed because of the operating status 18 Other error Request identifier 4 can additionally be used to read a parameter description The parameter description contains re levant information on the parameter concerned The following table shows the subindices that can be used to access the individual parameter structure elements The subindex is preset only by byte 3 28 Table 291 Param eter description Sub index Meaning Datatype 1 Identifier ID v2 2 Number of field elements or string length Unsigned 16 3 Standardisation factor Floating Point 4 Variable attributes OctetString 2 5 Reserved OctetString 4 6 Name only the first four bytes are sent VisibleString 16 7 Lower limit value OctetString 4 8 Upper limit value OctetString 4 9 Reserved OctetString 2 10 ID extension extension V2 T PZD reference parameter Unsigned 16 12 PZD standardisation v2 The identifier subindex 1 in the parameter description identifies additional characteristics of the parameter concer ned Table 27 2 sets out the meaning of the identifier Table 29 2 Identifier syntax Bit Meaning Explanation 15 Reserved 14 Array If this bit is set the relevant parameter value can be 13 Pa
27. T eS ds roars ee rit a ode i hua natal ei 70 Glosa e m 72 General Technical Data 1003375 3 1 About this documentation This document contains safety instructions technical data and operation rules for products of Harmonic Drive AC The documentation is aimed at planners project engineers commissioning engineers and machine manufacturers offering support during selection and calculation of the servo actuators servo motors and accessories Rules for storage Please keep this document for the entire life of the product up to its disposal Please hand over the documentation when re selling the product Additional documentation For the configuration of drive systems using the products of Harmonic Drive AG you may require additional docu ments Documentation is provided for all products offered by Harmonic Drive AG and can be found in pdf format on the website www harmonicdrive de Third party systems Documentation for parts supplied by third party suppliers associated with Harmonic Drive components is not inclu ded in our standard documentation and should be requested directly from the manufacturers Before commissioning products from Harmonic Drive AG with servo drives we advise you to obtain the relevant documents for each device Your feedback Your experiences are important to us Please send suggestions and comments about the products and documen tati
28. ZLEOd m 58 Table 591 Control parameters Parameter no Parameter name Meaning P 0167 P 0320 P 0321 20825 P 0326 P 0327 P 0328 P 0330 P 0331 P 0332 P 0333 P 0334 P 0339 P 0351 P 0360 P2 0372 P 0374 P 0375 P 0376 P 0379 P 0401 P 0402 P 0414 P 0417 P 0460 P 0458 P 1270 P 1271 P 1272 P1274 P 1275 P 1276 P 1277 P 1278 P 1279 P 1516 MPRO_REF_OVR CON_SCON_Kp CON_SCON_Tn CON_SCONFilterFreq CON_SCONFilterAssi CON_SCONFilterPara CON_SCON_Smax CON_SCON_TMaxNeg CON_SCON_TMaxPos CON_SCON_TMaxScale CON_SCON_SMaxNeg CON SCON SMaxPos CON SCON Tmax CON SCALC TF CON PCON Kp CON IP EpsDly CON IP SFFScale CON IP TFFScale CON IP FFMode CON SCON AddTRef CON SCON AddSRef CON PCON PosDiff CON SCON SDiff MOT TNom MOT Snom COM DP RefSpeed COM DP ActSpeed COM DP RefTorque COM DP RefPos COM DP TargetPos COM DP ActPos1 COM DP PosVelocity COM DP Acc COM DP Dec SCD Jsum Velocity override PI speed controller gain PI speed controller integral action time Limit frequencies for torque reference value filter Torque reference value filter parameter Torque reference value filter parameter Speed limitation Negative torque limit reference variable nominal torque Positive torque limit reference variable nominal torque Torque scaling factor Negative speed l
29. ability for mistakes which may have occurred Notification of any mistake or suggestions for improvements will be gratefully received and any necessary correction will be included in subsequent editions 2 Safety and Installation Instructions Please take note of the information and instructions in this document Specialy designed models may differ in tech nical detail If in doubt we strong recommend that you contact the manufacturer giving the type designation and serial number for clarification 2 1 Hazards DANGER Electric servo actuators and motors have dangerous live and redating parts All work during connection operation repair and disposal must be carried out by qualified personnel as described in the standards EN50110 1 and IEC 60364 Before startingany work and especially before opening covers the actuator must be properly isolated In addition to the main circuits the user also has to pay attention to any auxilliary circuits Observing the five safety rules Disconnect mains Prevent reconnection Test for absence of harmful voltages Ground and short circuit Cover or close off nearby live parts The measures taken above must only be withdrawn when the work has been completed and the device is fully assem bled Improper handling can cause damage to persons and property The respective national local and factory specific regulations must be adhered to The surface temperature of gears motors and actuat
30. ble Table 21 2 Standard telegram 1 PZD number 1 2 Reference values 5 NSOLL A PZD number 1 2 Actual values ZSW1 NIST_A 1003375 21 Standard telegram 7 is a defined telegram type for driving set selection There are a total of 16 driving sets available for selection in the drive This telegram type consists of two input words and two output words as shown in the following table Table 221 Standard telegram 7 PZD number 1 2 Reference values STWI SATZANW PZD number 1 2 Actual values 75 1 AKTSATZ Standard telegram 8 is a defined telegram pe for positioning with the option to preset a positioning velocity It consists of five input words and five output words as shown in the following table Table 22 2 Standard telegram 8 PZD number 1 2 3 4 5 Reference values XSOLL A STW2 NSOLL A PZD number 1 2 3 4 5 Actual values ZSW1 XIST A ZSW2 NIST A Standard telegram 9 is a defined telegram type for positioning It consists of six input words and five output words as shown in the following table Table 22 3 Standard telegram 9 PZD number 1 2 3 4 5 6 Reference values STW1 TARPOS_A STW2 VELOCITY A PZD number 1 2 3 4 5 Actual values ZSW1 XIST A ZSW2 NIST_A Every standard telegram in the device is described in the GSD or GSDML file as appropriate by a configuration identifier ID based on the PROFIdrive profile telegrams Table224 Identi
31. d of ASIC RAM test and initialisation Status ATTE Table15 3 Data exchange LED 1 yellow Seeking baud rate after power on without bus connection Seeking baud rate after bus connection has already been made Waiting for parameterisation data Communication Data exchange without acyclic master class 2 connection Vellow LED lit Communication Data exchange clear state Incorrect parameterisation data Incorrect configuration data Communication Data exchange with acyclic master class 2 connection Status 06 2015 1003375 Device is exchanging data 15 41 7 GSD file PROFIBUS The device master data file contains the summary of the device features in a standardised form The device features include the device name the bus timing the available extended services and the selectable modules telegram types In order to use the various telegram types the GSD file must be integrated in the configuration phase of the PROFIBUS network As well as the standard Profidrive profile this file also contains manufacturer specific telegram types 4 2 PROFINET 4 21 Connections The connections of the PROFINET interface are shown in table 16 1 LEDs H17 H17 act as status indicators The PROFI NET cable is connected to the RJ 45 sockets X47 X48 The two PROFINET connecting sockets are freely configurable in their communication direction The PROFINET interface features a 2 port Multiport PHY Physical La
32. ditions satisfied e g homing run quick stop inactive Power stage enabled Power supplied to motor operation active Quick stop active Error reaction is active reference values from the PROFIBUS master are ignored Drive in error state reference values from the PROFIBUS master are ignored Quick stop can be triggered by various circumstances The parameter 2218 MP_QuickStopOC allows the type of quick stop to be selected Table 49 2 Quick stop option codes Quick stop option oe Meaning 0 Disable drive function 1 Slow down on slow down ramp 2 Slow down on quick stop ramp 3 Slow down on the current limit 4 Slow down on the voltage limit 5 Slow down on slow down ramp and stay in quick stop 6 Slow down on quick stop ramp and stay in quick stop gi Slow down on the current limit and stay in quick stop 8 Slow down on the voltage limit and stay in quick stop 49 Table 501 System state transitions avem neus Designation Description sition 0 Start Initialisation after boot up complete 1 UZK OK DC link voltage greater than switch on threshold 2 Quick stop and Coast down Coast down deactivated STW Bit 1 1 deactivated Quick stop deactivated STW Bit 2 1 g Power stage switched on Switch power stage on STW Bit 1 4 Control enabled Enable control gt STW Bit3 1 5 Control disabled Disable control gt STWBit3 0 5 Power stage blocked Disable power stage gt STW Bit 0 0 y Quick stop or
33. e subindex IND 1 word sub index 0 in the parameter must be addressed with 1 and the parameter identifier value which occupies the data range PKW1 1 word to PKW2 1 word The parameter identifier is represented bit by bit in the following table Table 272 Parameter identifier AK PNU 15 14 13 12 10 9 8 7 6 5 4 3 2 1 0 Request or response identifier value range 0 15 PNU Parameter number value range 1 4095 The following tables list the request master and response slave identifiers Table 273 Request identifier AK Master Slave Request identifier Function 0 No request il Request parameter value 2 Change parameter value word 3 Change parameter value double word 4 Read parameter description 5 6 Request parameter value array 7 Change parameter value array word 8 Change parameter value array double word 06 2015 27 Table 281 Response identifier AK Slave gt Master Response identifier Function 0 No response 1 Parameter value sent word 2 Parameter value sent double word 3 Parameter description sent 4 Parameter value array sent word 5 Parameter value array sent double word 6 D Request not executable see error no In the case of response identifier 7 the error number sent to the drive from the master is shown in the range PKW1 to PKW2 The following table explains these error numbers Table 28 2
34. eters can be entered Subindex 0 contains the first process data word PZDI etc Station address of the inverter Selection of process data telegram This parameter lists all mappable parameters and signals for parameters 915 and 916 Number of approved SOL Sign of Life errors until error shutdown Type U16 0x0000 OXFFE OxFFFF switched off This parameter returns warning messages from PROFIBUS These include bus timeout and PLC stop mode Current Baud rate for bus communication This parameter is for device identification Profile number not sup ported in the first step Table 711 Parameter name PROFIBUS and PROFINET parameters Number continuation Value range Default value Change able Data type Meaning 06 COM_DP_Controlword COM_DP_Statusword COM_DP_DataStore COM_DP_DefinedParameter COM_DP_ModifiedParameter COM DP CtriConfig COM DP RefJosSpeed1 COM DP RefJosSpeed2 COM DP RefSpeed 2015 P 0967 P 0968 P0971 P0980 P 0990 P1267 P1268 P1269 P1270 0 OxFFFF 0 OxFFFF 0 255 02165585 0 65535 165595 4294967296 4294967295 4294967296 4294967295 32768 32767 Yes No Yes No No yes Yes Yes Yes U16 U16 U16 U16 U16 U16 132 132 16 Control word for the internal state machine Status word for the internal
35. fiers Telegram type The following table lists these identifiers for the selected standard Standard telegram 1 Standard telegram 7 Standard telegram 8 Standard telegram 9 PROFIBUS PROFINET Data range Identifier ID Module ID IRT module ID 2 output words and OxC3 OxC1 OxC1 0x01 0x0101 2input words OxFD 0x00 0x01 2 output words and OxC3 OxC1 OxC1 0 07 0 0107 2 input words OxFD 0x00 0x07 5 output words and OxC3 0 4 OxC4 0x08 0 0108 5 input words OxFD 0x00 0x08 6 output words and OxC3 0 5 OxC4 0x09 0x0109 5 input words OxFD 0x00 0x09 22 51 2 User specific PPOs As well as the supported standard telegrams there are additional user specific parameter process data objects PPOs The following PPOs are also transmitted cyclically and in addition to the process data channel PZD in some instances contain a parameter channel PKW enabling access to the drive parameter values Table 231 User specific parameter process data objects No PPO 1 1 p 2 3 3 4 4 5 5 6 7 8 9 10 PKW PKW IND 1 PKW IND il PKW IND 1 PKW IND 1 PKW IND 1 PPO3 is the standard telegram 1 PKW PKW PKW PKW PKW STW ZSW ZSW STW ZSW STW ZSW STW ZSW ZSW STW ZSW STW ZSW STW ZSW STW ZSW SOLL IST SOLL IST SOLL IST SOLL IST SOLL IST SOLL IST SOL
36. gh Pnu Low Sub high Sub low ID Param 0 2 0 1 0x10 5 3 0x93 0 0 Value 0 Value 0 Value4 Value 4 Format Values high high low 0x42 5 3 0 0 Parameter values 0x03C7 OxO4F6 OxO4F6 Ox04F6 0 OK response Req No Refer Axis ID Param 0 2 0 1 Parameter 915 now contains the entries for the parameter values No standard telegram smaller than 10 may set up in the device because then it could not be overwritten as a remedy set PPO5 Read parameter values array Table 44 2 1D 1 Attr 0x10 Pnu 915 0x393 Read assigned process data reference values Req No Value 0 Value 0 Value 4 Value 4 Refer Axis Attr No Ele ID Param high Low high low 0 2 0 1 0x10 5 3 07 0 0 OK Antwort Table 44 3 ID 1 Format 0x42 Req No No Value 0 Value 0 Value 1 Value 1 Refer Axis Format 1 Values high low high Low 0 0 1 0x42 5 3 OxC7 4 OxF6 Value 2 Value 2 Value 3 Value 3 Value4 Value4 high Low high Low high low 4 OxF6 5 0 0 0 44 7 Profidrive operation modes 71 Operation modes The YukonDrive support the following operation modes Speed control jog mode Position control jos mode Speed control application class 1 Position control application class 3 Position control interpolating mode Operation modes are selected by standard telegram selection in the master or by using free telegrams and configu ring the following parameters
37. ghts via PLC 1 Access rights via PLC Bit9 0 Jog mode 2 off Jog mode 2 off 1 Jog mode 2 on Jog mode 2 Bit 8 0 Jog mode 1 off Jog mode 1 off 1 Jog mode 1 on Jog mode 1 on Bit7 0 06 2015 Error reset on rising edge 0 1 53 Table 541 Master control word Bit Operation mode Speed control Operation mode Position control Bit6 0 Deactivate reference value Activate driving set via rising and falling edge Activate reference value 0 gt 1and12 0 Bit 5 0 Freeze ramp generator No feed hold 1 Unfreeze ramp generator Feed hold Bit4 0 Reset ramp generator Abort driving set 1 Activate ramp generator Do not abort driving set Bit3 0 Controller not enabled 1 Controller enabled operation enabled Bit2 0 Quick stop active 1 Quick stop inactive Bit1 0 Coast down active 1 Coast down inactive Bit 0 0 Switch power stage OFF 1 Switch power stage ON Table 54 2 Master control word 2 Bit Meaning Bit 0 11 Not used Bit 12 15 Master Sign of Life SOL With parameter 1267 COM DP CtrlConfig bits 6 and 8 can be configured Table 54 3 Master control word Bit Value 0 default Value 1 The driving job can be started with the negative and The driving job can be started only with the positive edge Bit 6 positive edge profile 4 0 profile 4 1 Jog mode is manufacturer specific Jog mode acts as described in profile 4 1 Bit 8 74 2 Drive status word Table 551 Drive status word
38. he length of the user data that follow In the case of a read access the length must be sufficiently large or the data to be read max 240 bytes UserData 1 byte n bytes Contains the user data to be processed Table 371 Data unit assignment Data Unit DU Data Unit Byte Value Value 0 Req id 48H Idle REQ RES Idle REQ RES 51H Data Transport REQ RES Data transport REQ ANTW 56H Resource Manager REQ Resource manager REQ 57H Initiate REQ RES Initiate REQ RES 58H Abort REQ Abort REQ 5CH Alarm REQ RES Alarm REQ RES 5EH Read REQ RES Read REQ RES 5FH Write REQ RES Write REQ RES D1H Data Transport NEG RES Data transport negative RES D7H Initiate NEG RES Initiate negative RES DCH Alarm NEG RES Alarm negative RES DEH Read NEG RES Read negative RES DFH Write NEG RES Write negative RES 1 Slot OOH FEH Slot number 2 Index 2FH Index 3 Length Length of user data max 240 bytes 4 UserData xx User data 06 2015 Alarms are not currently supported 37 6 11 PROFINET parameter access In the case of PROFINET the acyclic services are executed by way of the Record Data CR connection relations ship There are read and write commands for the purpose Table 381 Master control word 2 Master Slave Parameter request Write Data Record with index OXBO2E Read response OK or error message 0xDF Parameter request Read Data Record with index OXBO2E Write response or error mes
39. hexadecimal address between 0 and 125 is set using the device console on the submenu Fb The preset value is written to bus address parameter P 918 Instructions for use of the device console are given in the YukonDrive Operation Manual NOTE All setting modes require the device to be restarted in order to activate the new address The following functions and displays are available Display of device state The device state is displayed when the control supply is switched on If no input is made via the console for 60 seconds the display switches back to the device state Display of device error state If a device error occurs the display immediately switches to show the error code Parameter setting display Reset device parameters to their factory setting Ethernet IP address setting display IP Set Ethernet IP address and subnet mask Field bus settings display Fb Set field bus address for example 14 1003375 06 2014 41 6 PROFIBUS option card displays Three LEDs are mounted on the PROFIBUS option card indicating the current operating status of the module The fol lowing tables set out the operating states of the PROFIBUS option card based on the various illumination sequences Table 151 Self test during diagnostics LED 3 green LED 2 red Status Table 15 2 Operational diagnostics LED 3 green LED 2 red Reset after power on ASIC RAM test and initialisation En
40. hird factor eroup is called user spec and is user specific eroup Since this factor eroup is not described in detail elsewhere use of parameters of this eroup is illustrated in the fo Table 641 Parameter owing by means of an example Parameter no Parameter name Meaning Factor group selection 283 MPRO FG Type 1 SERCOS 2 USER The user can select the factor group using the parameter MPRO FG Type Table 64 2 Factor group USER Parameter no Parameter name Meaning Unit 270 MPRO_FG_PosNorm Sensor resolution incr rev 271 MPRO FG Num Numerator position rev 272 MPRO FG Den Denominator position POS 274 MPRO FG SpeedFac Velocity factor rev min SPEED 275 MPRO FG AccFac Acceleration factor rev sec sec ACC 284 MPRO FG PosUnit Position unit String 285 MPRO FG PosExp Position exponent 286 MPRO FG PosScaleFac Position factor 287 MPRO FG SpeedUnit Velocity unit String 288 MPRO FG SpeedExp Velocity exponent 289 MPRO FG SpeedScaleFac Velocity factor 64 1003375 06 2014 Table 651 Factor group USER continuation Parameter no Parameter name Meaning Unit 290 MPRO FG AccUnit Acceleration unit String 291 MPRO FG AccExp Acceleration exponent 292 MPRO FG AccScaleFac Acceleration factor 293 MPRO FG TorqueUnit Torque unit String 294 MPRO FG TorqueExp Torque exponent 295 MPRO FG TorqueScaleFac Torque factor These define the internal resolution of
41. ical areas of application are robotics and handling machine tools packaging and food machines and similar machines The servo actuators and motors may only be operated within the operating ranges and environmental conditions shown in the documentation altitude degree of predection temperature range etc Before plant and machinery which have Harmonic Drive servo actuators and motors built into them are commissi thecompliance must be established with the Machinery Directive Low Voltage Directive and EMC guidelines Plant and machinery with inverter driven motors must satisfy the predection requirements in the EMC euidelines It is the responsibility of the installer to ensure that installation is undertaken correctly Signal and power lines must be shielded The EMC instructions from the inverter manufacturer must be observed in order that installation meets the EMC regulations 06 2015 1003375 7 2 3 Non Intended Purpose The use of servo actuators and motors outside the areas of application mentioned above or inter alia other than in the operating areas or environmental conditions described in the documentation is considered as non intended purpose The following areas of application are inter alia those considered as non intended purpose Aerospace Areas at risk of explosion Machines specially constructed or used for a nuclear purpose whose breakdown might lead to the emission of radio activity Vacuum
42. imitation reference value motor nominal speed Positive speed limitation reference value motor nominal speed Torque limitation reference value nominal torque Actual speed filter time constant Position controller gain Speed pre control filter time constant Position reference delay Speed pre control scaling Acceleration pre control scaling Configuration of pre control Additive torque reference Additive velocity reference Position controller control difference tracking error Speed controller differential Motor nominal torque Motor nominal speed Velocity reference Actual speed Torque reference Reference position Target position Current actual position Positioning velocity Acceleration ramp Deceleration ramp Overall mass moment of inertia 59 7 6 Homing 7 6 1 Drive controlled homing Drive controlled homing is activated with a rising edge of bit 11 in the master control word A falling edge aborts an incomplete homing run The completed homing is indicated in the status word by bit 11 being set Homing is executed according to the settings as described in the following subsections If the drive is run in interpolating mode parameter 300 CON_CfgCon is switched from interpolating mode IP to profile generating mode 7 6 2 Homing velocity The homing velocity is specified by parameter 2262 MPRO_402_HomingSpeeds in the parameter editor Parameter list Motion Profile Homing The user can specify
43. in dices in list 915 are assigned the stated parameter numbers for the purpose Table 621 Example of assignment of the master slave process data channel Signal table PZD Parameter Datatype Parameter name 915 Subindex area number value range 0 1 967 Control word COM DP Controlword 016 0 65535 1 2 1275 Target position COM_DP_TargetPos 132 2147483648 2 3 1275 Target position COM DP TargetPos 2147483647 Control word 2 3 4 1280 U16 0 65535 COM DP Controlword2 Positioning velocity 4 5 1277 132 COM_DP_PosVelocity 2147483648 Positioning velocit 5 6 1277 E Y 2147483647 COM DP PosVelocity 7 1278 Acceleration COM DP Acc 016 0 65535 8 1279 Braking deceleration COM DP Dec 016 0 65535 8 9 0 9 10 0 62 Each subindex represents a 16 bit process data channel For this reason the target position transferred as Int32 for example is mapped to subindices 1 and 2 in order to transfer a real 32 bits The configuration of the process data channels can be freely selected by the user in the sequence of the signal assign ments Compliance with the data type format must be ensured however The following table shows an example of the process data area from the drive to the master The subindices in list 916 are assigned the desired parameter numbers for the purpose Table 631 Example of assignment of the slave master process data channels Signaltab PZD Parameter Data
44. ing acceleration 06 2015 1003375 65 8 4 Examples for setting the user factor group The positioning instructions should be input in degrees so that 360 corresponds to one revolution of the motor 655 36 increments per revolution of the motor The velocity should be preset in revs per minute rev and the acceleration in rev sec This gives the following values P00270 Encoder resolution 65536 incr rev P00271 Position numerator 1 rev P00272 Position denominator 360 POS P00274 Velocity factor 1 rev min SPEED P00275 Acceleration factor 1 60 rev sec sec ACC P00284 Position unit string Degree P00287 Velocity unit string 1 min P00290 Acceleration unit string 1 min sec pOS User unit for position SPEED User unit for velocity ACC User unit for acceleration 8 5 Speed control with PPO 2 The following section describes how the drive can be quickly and easily commissioned in speed control mode First embed GSD file LUSTOA33 gsd in the PROFIBUS configuration phase and then select PPO type 2 PPO type 2 consists of a PKW channel 8 bytes and six process data channels 12 bytes The process data area can be freely configured using this manufacturer specific telegram That means that the desired reference and actual values can be mapped to a defined process data area All mappable signals are listed in two signal tables which can be accessed using the
45. ingle and double words can be used The user specific drive telegram types are described by a configuration identifier ID in the GSD file This describes the structure of the cyclic user data based on a special identifier format shown in the diagram below Illustration 241 Identifier format LI Ll Length of the data 0000 1 byte word 1111 16 bytes words Input Output 00 specific identification format 01 input 10 output 11 input output 0 byte 1 word 0 consistency over byte word 1 consistency over the overall length After the parameterisation phase the master sends the drive a configuration telegram containing this special iden tifier ID On receipt of this the drive compares the data in the configuration telegram with the configuration held in the drive The identifier determined by the PPO type can be found in the GSD file under the heading Modules The following table shows these identifiers for the user specific telegrams 24 1003375 06 2014 Table 251 Listing of identifiers ve x Referred to No PPO PROFIBUS PROFINET PROFINET IRT Evaluation by special identifier abes able type identifier ID module ID module ID format table 27 2 Slave Master 4 words input output data OxF3 consistent overall length PKW channel 1 1 0x65 0x165 0xF1 2 words input output data PZD channel consistent overall length 4 words input output data OxF3 consistent overall length
46. n assignment is shown in the diagram below and described in the following table Illustration 111 Pin assignment of D SUB connector RxD TxD P DGND 1 2 3 4 5 X14 6 7 8 9 1 1 VP RxD 5 Volt TxD N Table 11 2 Description of pin assignment PIN RS 485 Signal Description 1 SHIELD Earthed shield E RP Reserved for power supply via bus 3 B B rot RxD TxD P Send and receive data 4 CNTR P Control signal for repeater 5 c c DGND Data reference potential and power supply to terminating resistor 6 Power supply for terminating resistor 7 RP Reserved for power supply via bus 8 gr n RxD TxD N Send and receive data 9 CNTR N Control signal for repeater The pin assignments highlighted in table 2 2 are necessary from the user s viewpoint The control signals used for the repeaters are optional and the power supply for the terminating resistors is provided by the device 06 2015 1003375 T 41 3 Specification of the PROFIBUS cable The following hardware is recommended for wiring Table 121 Recommended PROFIBUS connector PROFIBUS D Sub bus connector Siemens order number Siemens article description Table 12 2 Recommended PROFIBUS cable PROFIBUS cable 6XV1 830 PB FC RS485 PLUG 180 AXIAL CABLE OUTLET Siemens order number Siemens article description 12 6GK1 500 SIMATIC FC STANDARD CABLE GP 2 WIRE
47. nd bit 4 in parameter 953 COM DP Warning is set If cyclic transfer is interrupted and then re established the error counter parameter 1296 COM PN Sien of life err cnt is cleared and the warning bit 4 in parameter 953 COM DP Warning is reset Normal operation Sign of Life Illustration 311 Normal operation Sign of Life 60000 55000 3 8 50000 lt i 5 8 8 s o e t 3 109 Nd WOD COM DP 2 COM DP Statusword2 5000 0 0 01 0 02 Time 5 COM DP Controlword2 COM DP Statusword2 COM PN Sign of life err cnt 06 2015 1003375 31 Sign of Life errors triggered Illustration 321 Sign of Life errors triggered 015 Nd WOO E COM DP Controvord2 COM DP Statusword2 oN o 0 001 0 02 0 03 0 04 Time COM DP Controlword2 COM DP Statusword2 COM PN Sign of life err cnt The value of the master is not increased in three cycles The error counter is increased by the value 10 in each of these
48. nel PKW 5 2 Monitoring 5 21 Watchdog 5 2 2 Sign of Life 6 Acyclic a eee ad 32 6 1 Parameter access PROFIBUS 32 611 Parameter access PROFINET 38 6 1 2 Base Mode Parameter Access data format 38 6 2 Examples of request and response telegrams 42 1003375 06 2014 7 2 73 74 75 7 6 81 8 2 8 3 8 4 8 5 8 6 10 10 1 10 2 06 2015 Operation modes PROFIDRIVE Operation modes 711 Speed control circuit and associated control parameters Drive state machine Jog mode 731 Jog mode manufacturer specific 73 2 Jog mode conforming to profile 7 3 3 Jog mode reference parameters Speed control application class 1 7 41 Master control word 7 4 2 Drive status word Position control application class 3 7543 Position control circuit and associated control parameters Homing 7 614 Drive controlled homing 7 6 2 Homing velocity 7 6 3 Homing acceleration 7 6 4 Zero point offset 7 6 5 Homing method 76 6 Reference cam limit switch 2 SS TU ELO scis vases ausa paquete E REOR pened 62 Position control with PPO 5 Control based homing Conversion of reference and actual values via the factor eroup parameters Examples for setting the user factor eroup Speed control with PPO 2 8 51 Speed input Mappable parameters PROFIBUS PROFINE
49. no cyclic data exchange with PROFINET master PROFINET ready cyclic data exchange with PROFINET master taking place PROFINET software being loaded PROFINET master flash function 3 seconds flashing 3 seconds lit steadily Ell 4 2 6 GSDML file PROFINET Description of file name File name GSDML Vx xx HD YukonDrive date xml Vx xx GSDML version Date Date of creation of the GSDML file Example GSDML V2 3 HD YukonDrive 20140625 xml NOTE The GSDML file contains the data for the YukonDrive DAP3 The required DAP Data Access Point must be selected during configuration The GSDML file is available for downloading from the website and is included in the firmware package for the relevant device 06 2015 1003375 19 5 Cyclic data transfer DPVO 5 1 Parameter process data objects PPOs Communication between a class 1 master and the YukonDrive controller is essentially established in three phases Firstly theYukonDrive is parameterised with the current bus parameters monitoring times and drive specific parameters phase 1 In the configuration phase a configuration sent by the master is compared with the actual YukonDrive configuration phase 2 Once these two phases have been completed successfully the cyclic user data traffic starts phase 3 The various telegram types parameter process data objects PPOs are made available in the GSD file These PPOs form the basis of the configuration
50. ollowing table is used for the PROFIBUS DP extension DPV1 Table 341 PROFIBUS 502 telegram for services SD LE LEr SD DA SA DSAP SSAP DU FCS ED Start Length Length Start Destination Source Destination Source Data Frame End Delimiter repeat Delimiter Address Address Service Service Unit Check Delimiter Access Access Sequence Point Point 68H x X 68H xx xx xx xx X The acyclic services can be used by a class 1 master PLC etc and by a class 2 master PC tool The following table gives an overview of the acyclic services available in relation to the respective master class Table 34 2 Overview of acyclic services offered Acyclic services Mastar Meaning DSAP SSAP class Initiate request 2 Establish an acyclic connection 32H 31H Abort request 2 Break off acyclic connection 32H 0 30H Read request 2 Read request via DPV1 32H 0 30H Write request 2 Write request via DPV1 32H 0 30H Data request 2 Data transfer 32H 0 30H Read request 1 Read request via DPV1 33 33H Write request 1 Write request via DPV1 33 33H Alarm 1 Interrupt handling 33 33H 06 2014 34 is always accessed according to a fixed mechanism Table 35 1 1 Write request 5F DU DU DU DU DU SD DSAP SSAP FCS ED Reg id Slot Index Length User 68H 32 30 0 2F n 0 n XX 16H Table 35 2 2 Write
51. on to Harmonic Drive AG Marketing and Communications Hoenberestrafie 14 65555 Limburg Lahn Germany E Mail info harmonicdrive de 11 Description of Safety Alert Symbols u lt 3 Meaning DANGER ADVICE INFORMATION AT 1 2 Disclaimer and Copyright Indicates an imminent hazardous situation If this is not avoided death or serious injury could occur Indicates a possible hazard Care should be taken or death or serious injury may result Indicates a possible hazard Care should be taken or slight or minor injury may result Describes a possibly harmful situation Care should be taken to avoid damage to the system and surroundings This is not a safety symbol This symbol indicates important information Warning of a general hazard The type of hazard is determined by the specific warning text Warning of dangerous electrical voltage and its effects Beware of hot surfaces Beware of suspended loads Precautions when handling electrostatic sensitive components The contents images and graphics contained in this document are predected by copyright In addition to the copy right logos fonts company and product names can also be predected by brand law or trademark law The use of text extracts or graphics requires the permission of the publisher or rights holder We have checked the contents of this document Since errors cannot be ruled out entirely we do not accept li
52. ormation on the origin of a request If a request is executed correctly the response ID matches the request ID If a request cannot be executed an identifier from the User data table is generated Axis no This value allows single axes in a multi axis system to be addressed selectively Axis no c 0 single axis No of Parameters Number of parameters processed in a request Attribute Describes the individual access to a parameter structure For example whether access to the actual numerical value or to the parameter description text is desired Further information can be found in the User data table Number of Elements When accessing an array or a string this area contains the field size or string length as appropriate Parameter Number Contains the parameter number PNU Subindex Addresses the first array element of a parameter or the beginning of a character string This also allows addressing of description texts and text arrays Format Specifies the relevant parameter and ensures unique assignment of the parameter value in the telegram Number of values Number of following values Values Parameter values 06 2015 39 Table 40 1 User data Field name Data type Value Meaning Comments 0x00 Request reference Unsigned8 0x01 0xFF Reserved 0x00 Reserved 0x01 Request parameter n 0x02 Change Parameter 0x03 0x03F Reserved 0x40 0x7F Manufacturer specific 0x80 0xFF Reserved
53. ors can exceed 55 degrees Celsius The hot surfaces should not be touched VICE Cables must not come into direct contact with hot surfaces A DANGER Electric magnetic and electromagnetic fields are dangerous in particular for persons with pacemakers implants or similiar Vulnerable groups must not be in the immediate vicinity of the products themselves A DANGER Built in holding brakes alone are not functional safe Particularly with unsupported vertical axes the functional safety and security can only be achieved with additional external mechanical brakes The successful and safe operation of gears servo actuators and motors requires proper transport storage and assembly as well as correct operation and maintenance A Use suitable lifting equipment to move and lift gears servo actuators and motors with a weight gt 20 kg INFORMATION Special versions of products may differ in the specification from the standard Further applicable data from data sheets catalogues and offers of the special version have to be considered 2 2 Intended Purpose The Harmonic Drive servo actuators and motors are intended for industrial or commercial applications They com ply with the relevant parts of the harmonised EN 60034 standards series If in special cases for example in non industrial or non commercial applications more stringent requirements are demanded these requirements are to be achieved by the customer Typ
54. parameter editor under the folder Parameter list gt Fieldbus PROFIBUS DP in the left hand tree structure of the user interface In this folder signal list 1284 COM DP SienalList Write contains all possible writeab le process data signals and signal list 1285 DP Sienallist Read contains all possible readable process data signals The user can freely assign the process data area The actual assignment takes place in signal tables 915 and 916 Parameter list gt Fieldbus gt PROFIBUSDP Signal table 915 COM DP PZDSelectionWrite contains all signals that can be sent by the control master to the drive Signal table 916 COM DP PZDGSelectionRead contains all signals that can be sent by the drive to the control master The following table shows an example of the process data area from the master to the drive The subindices in list 915 are assigned the desired parameter numbers for the purpose 66 1003375 06 2014 Table 671 Assignment of the master slave process data channels Signaltable PZD 915 Subindex area 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 Each subindex represents a 16 bi mapped to two subindices The configuration of the process signments The only requiremen accordingly requires two process are assigned the desired parame Parameter number 967 1270 1278 1279 data channels Parameter name Control word COM DP Controlword Reference speed COM DP RefSpeed Accele
55. r mappable parameters can be found in signal tables 1284 COM DP Sienal List Write and 1285 DP_Sig nalList Read Parameter List gt Fieldbus PROFIBUS DP 06 2015 69 9 PROFIBUS PROFINET parameters The following table describes the available parameters Table 70 1 PROFIBUS and PROFIN Parameter name Number ET parameters Value range Default value Change able Data type Meaning COM DP PZDSelectionWrite COM DP PZDSelectionRead COM DP Address COM DP TelegramSelection COM DP SignalList COM PN sien of life limit COM DP Warning COM DP Baudrate COM DP Deviceld COM DP Profile No PROFIBUS parameters only 70 P 0915 P 0916 P 0918 P 0922 P 0923 P 0925 P 0953 P 0963 P 0964 P 0965 0 65535 0 65535 0 126 05585 0 65535 0 65535 0 OxFFFF 9 6 45 45 kbits s 0 65535 0 6 5535 967 968 126 9 6 kbit s Yes BS Yes Yes No Mes No No No No U16 U16 U16 U16 U16 U16 U16 U16 U16 U16 This parameter allows incoming process data to be linked to specific device parameters Parameter 1284 indicates which parameters can be entered Subindex 0 contains the first process data word PZD1 etc This parameter allows outgoing process data to be linked to specific device parameters Parameter 1285 indicates which param
56. rameter value can only be reset varied externally only so as to be to zero ij Parameter value was changed to a value different from If this bitis set the parameter value is different from the factory settings the factory setting 11 Reserved 10 Additional text array can be called up 9 Parameter cannot be written m This bit is set if the parameter is of a data type that Standardisation factor and variable attributes not 8 cannot be used to calculate any physical values e g relevant M data type string y Data type of the parameter value value table 9 29 5 2 Monitoring The YukonDrive provides two options for monitoring cyclic communication 5 21 Watchdog Parameter 1283 COM DP BUS Timeout can be used to configure a watchdog Table 301 Watchdog Parameter no Name Meaning Datatype Unit COM DP BUS Timeout Watchdog for cyclic P1283 communication INT32 0 4294967295 ms The watchdog is activated after the first cyclic telegram and in the event of an error triggers error 32 1 if no cyclic telegrams are received in the time defined by parameter 1283 COM DP BUS Timeout The value 0 in parameter 1283 COM DP BUS Timeout deactivates the function 5 2 2 Sign of Life The Sign of Life function is implemented as per Profidrive profile 4 1 Table 30 2 Sign of live Parameter no Name Meaning Number of approved SOL Sign of Life errors until
57. ration COM DP Acc Braking deceleration COM DP Dec able 672 Assignment of the slave master process data channels Datatype value range 016 0 65535 116 32768 32767 016 0 65535 016 0 65535 process data channel For this reason an Int32 parameter for example must be data areas can be freely selected by the user in the sequence of the signal as is compliance with the data type format That means that a 32 bit variable also The following table shows an example of the process data area from the drive to the master The subindices in list 916 er numbers for the purpose Signaltab PZD Parameter Datatype 915 Subindex area number Farimetername value range 0 1 968 Status word COM DP Statuswort U16 0 655 35 1 2 1271 Actual speed COM DP ActSpeed 116 32768 32767 2 3 2 3 4 5 4 5 z 5 6 E E 6 7 5 5 7 8 5 8 g 9 10 67 The following parameters must then be set for speed control mode 1 CON CfeCon 300 SCON 2 Parameter list control This parameter is used to change operation mode The setting SCON Speed Control Mode means that the drive is in speed control mode 2 CON REF Mode 301 RFG 0 Parameter list c Motion Profile Basic settings This parameter determines the mode of reference input The position reference value can be preset directly or via a ramp generator The setting RFG Ramp Function Generator means tha
58. sage OxDE 61 2 Mode Parameter Access data format The following table shows the telegram format of parameter access for a parameter request and response Table 38 2 Data unit assignment Base mode parameter request Byte address Request reference Request identification 0 Request header Axis no No of Parameters n 7 Attribute No of elements 3 1st parameter address Paramter Number PNU Subindex 4 6 n 1 nth parameter address Format No of values 4 6 n Values 4 6 n format n amount n Table 38 3 Parameter response Base mode parameter response Byte address Request reference mirror Response identification 0 Response header Axis no mirror No of Parameters n 2 Format No of values 4 1st parameter value Value error code nth parameter value Att format_n amount_n 38 The user data are structured as follows Request reference The request reference is specified by the master and mirrored back by the slave in the response telegram Based on this reference the master can uniquely assign each response telegram to a request telegram A master changes the request reference with each new request Request ID This identifier essentially describes how the parameter is handled Currently two different identifiers are defined Request parameter Change parameter For more details on the identifier refer to the User data table Response ID This identifier contains inf
59. sible parameter number Parameter value cannot be changed Value area of the parameter transgressed Defective parameter sub index Parameter is not an array Incorrect parameter data type Change access with value not equal to zero which is not permitted Change access on a descriptive element which cannot be changed No descriptive text available Request cannot be performed in the present system status Impermissible value Reply telegram is too long Impermissible parameter address Illegal format Number of parameter values is inconsistent Request for a non existent axis 41 6 2 Examples of request and response telegrams Table 421 10 2 Change Parameter Attr 0x10 Value Pnu 918 0x396 Format word 0x42 Write word Req No No Value Value Refer Axis Attr No Ele Pnu high Pnu Low Sub high Sub low Format ID Param Values high Low 0 2 0 1 0 10 3 0x96 0 0 0 42 1 0 Ji Table 42 2 10 2 Change Parameter Positive response Req Refer 0 2 0 1 Parameter 918 now has the value 7 Table 42 3 10 2 Change Parameter 0x10 Value Pnu 1274 Ox4FA Format word 0x43 Write double word Reg No Refer Axis Attr No Ele Pnu high Pnu Low ID Param 0 2 0 1 0 10 0 1 4 Sub high Sub low Format No Values Value high Value Low Value high Value low 0 0 0x43 1 1 B 3 4 Table 424 10 2 Change Parameter Req Refer D Axis No Param 0 2 0 1 Parame
60. t overall length PKW channel 14 0x72 0x172 OxD1 18 words input output data PZD channel 0 01 consistent overall length OxCO 22 words input output data consi 15 0 05 0x73 0x173 PZD channel USE stent overall length x 25 Table 261 Listing of identifiers Referred to No PPO PROFIBUS PROFINET PROFINET Evaluation by special able type identifier ID module ID IRT module ID identifier format table 27 2 Slave Master 26 words input output data 16 OxD9 0x75 0x175 PZD channel consistent overall length 0xD9 0xF3 4 words input output data OxCO consistent overall length PKW channel 17 0x76 0x176 0 09 26 words input output data PZD channel 0 09 consistent overall length OxF3 4 words input output data OxCO consistent overall length PKW channel 18 0x78 0 178 OxDD 32 words input output data PZD channel OxDD consistent overall length OxCO 32 words input output data 19 OxDD 0x77 0x177 PZD channel consistent overall length OxDD 26 5 1 3 Parameter channel PKW Some PPOs offer an additional cyclic parameter channel This channel allows drive parameters to be read and written Table 271 Parameter channel PKW PKW 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 5 Byte 7 Byte 8 Byte PKE 1 word IND 1 word 1 word PKW 2 1 word The parameter consists of a total of four words the parameter identifier PKE 1 word th
61. t the speed reference value is preset via a ramp generator 3 MPRO SEL 159 PROFIBUS 7 Parameter list c Motion Profile Basic settings This parameter is used to set the control location In this instance the control location is PROFIBUS 4 MPRO REF SEL 165 PROFI 9 Parameter list Motion Profile Basic settings This parameter is used to configure the reference selector In this instance the reference values are taken from PROFIBUS 8 5 1 Speed input All factor eroup parameters are set to default values The speed reference value can then be preset scaled to the motor rated speed So a value of 16384 corresponds to a speed reference value of 100 96 of the motor rated speed The drive can then be operated in speed control mode using the control word 68 1003375 06 2014 8 6 Mappable parameters Table 691 Mappable parameters Parameter no Parameter name Beas 1284 1285 Length 967 COM DP Controlword x x 1 968 COM DP Statusword Xx 1 1280 COM DP Controlword2 Xx x 1 1281 COM DP Statusword2 Xx 1 1270 COM DP RefSpeed X X 1 1271 COM DP ActSpeed X 1 121 MPRO Input State x 1 143 MPRO Output State Xx 1 1274 COM DP RefPos X X 2 1276 COM DP ActPos1 X 2 207 MPRO TAB Actldx X X 1 1275 COM DP TargetPos Xx X 2 1277 COM DP PosVelocity x x 2 1278 COM DP Acc Xx X 1 1279 COM DP Dec X X 1 1287 COM DP TMaxPos Xx X 1 1288 COM DP TMaxNeg X X 1 Furthe
62. tatus 6 9 Quick stop 10 Quick stop activated deactivated Control active System status 5 Error 4 Controller enabled 6 13 Error AE Pd Switched on gt response System status 4 System status 7 6 Power stage blocked 12 Standstill detected 3 Power stage 6 Power stage 14 Error response switched on n a ix On 7 Spin out of true oi leady to switch Error quick stop activated k System status 3 27200 status 8 11 Spin out of true activated Hardware enable 2 Quick stop and spin 7 x stop or spin out of true deactivated out of true activated 15 Error acknow E ledgement Switch on blocked System status 2 1 UZK OK 8 UZK too low D Not ready to switch on System status 0 Start System re running System status 0 1003375 06 2014 Table 491 System states System state Designation System initialisation in progress start Not ready to switch on Switch on disabled Ready to switch on Switched on Operation enabled Quick stop active Error reaction active Error Description Initialisation after device reset e e hardware parameter list controller Initialisation completed but no power supply or intermediate circuit voltage less than switch on threshold DClink voltage greater than switch on threshold Optional con
63. ter 884 now has the value 165909060 Read simple parameter value Table 42 5 10 1 Request Parameter Attr 0x10 Value Pnu 922 0x39A Read word Req No No Pnu Pnu Sub Sub Refer Axis Attr ID Param Ele high Low high low 0 1 0 1 0 10 0 1 3 0x9A 0 0 Read simple parameter value 42 Table 431 Format word 0x42 Parameter value 9 Positive response Req No Value Value Refer Axis Format ID Param values high low 0 1 0 1 0 42 1 0 9 Table 43 2 10 1 Request Parameter Attr 0x10 Value Pnu 1274 Ox4FA Read double word Req No No Pnu Pnu Sub Sub Refer Axis Attr ID Param Ele high Low high low 0 1 0 1 0 10 0 1 4 OxFA 0 0 Table 43 3 Format dword 0x43 Parameter value 0x01020304 16909060 Positive response Req 3 No No Value Value Value Value Refer Axis Format ID Param values H high HLow high low 0 1 0 1 0x43 1 1 2 3 4 Error access Table 43 4 107 Request Parameter Attr 0x10 Value Pnu 9 Erroneous parameter number Req No No Pnu Pnu Sub Sub Refer Axis Attr ID Param Ele high Low high low 0 1 0 1 0 10 0 1 0 9 0 0 Negative response Table 43 5 Format error 0x44 parameter value 0 incorrect parameter number Req No No Value Value Refer Axis Format ID Param values high low 0 0 81 0 1 0 44 1 0 0 43 Write parameter values array Table 441 10 2 Change Parameter 0x10 value PNU 918 0x396 format word 0x42 Req No Refer Axis Attr No Ele Pnu hi
64. the unit for Position rev Velocity rev min Acceleration rev sec sec The units are automatically defined by the profiles themselves when selecting DSP402 or Sercos When selecting USER the units can be defined manually The parameters for unit and exponent refer to the display and have no effect on the standardisation of the variables themselves The following three formulae describe the conversion of user units into the units used internally in positioning mode They refer to reference position velocity and acceleration Reference postion MPRO FG Num rev Reference position rev COM DP REFPos Userunit Intern MPRO FG Den User unit The quotient of parameters MPRO FG Num and MPRO FG Den describes the ratio of user unit to motor revolutions It also allows any gear ratios or feed constants to be incorporated Positioning velocity rev COM DP REFSpeed User unit MPRO FG SpeedFac Min User unit Positioning speed intern min The parameter MPRO FG SpeedFac offers the facility to change the number of decimal points for the positioning velocity or the unit of positioning velocity Positioning acceleration rev rev COM DP Acc User unit MPRO FG AccFac Positioning speed sec sec User unit Intern The parameter MPRO FG AccFac offers the facility to change the number of decimal points for the positioning acce leration or the unit of position
65. tion control with PPO 5 The following section describes how the drive can be quickly and easily commissioned in position control mode First embed GSD file LUSTOA33 gsd in the PROFIBUS configuration phase and then select PPO type 5 PPO type 5 consists of a PKW channel 8 bytes and 10 process data channels 20 bytes The process data area can be freely configured using this manufacturer specific teleeram That means that the desired reference and actual values can be mapped to a defined process data area All mappable signals are listed in two signal tables which can be accessed using the parameter editor under the folder Parameter list gt Fieldbus PROFIBUS DP in the left hand tree struc ture of the user interface In this folder signal list 1284 COM DP SignalList Write contains all possible writeable process data signals and signal list 1285 DP Sienallist Read contains all possible readable process data signals The user can assign the process data channels freely as required The actual assignment takes place in signal tables 915 and 916 Parameter list Fieldbus PROFIBUS DP Signal table 915 COM DP PZDSelectionWrite contains all signals that can be sent by the control master to the drive Signal table 916 COM DP PZDSelectionRead contains all signals that can be sent by the drive to the control master The following table shows an example configuration of the process data area from the master to the drive The sub
66. two different homing velocities 1 SpeedSwitch Velocity when moving to the limit switch 2 SpeedZero Velocity when moving to the zero point 7 6 3 Homine acceleration Homing acceleration is set via parameter 2263 MPRO_402_Homing Acc in the parameter editor Parameter list Motion Profile Homing 7 6 4 Zero point offset Absolute encoders e g SSI Multiturn encoders are a special feature in homing because they establish the absolute position reference directly Homing with these encoders therefore requires no movement and under certain conditions no current to the drive Furthermore the zero point must be balanced Type 5 is particularly suitable for this A zero point offset can be set via parameter 525 ENC_HomingOff Parameter list gt Motion Profile Homing 60 06 2014 7 6 5 Homing method The reference cam signal can be optionally linked to one of the digital inputs Inputs 15000 to 15006 are available For homing to a limit switch the digital input must be set with the available selection parameter LCW 5 for a positive or LCCW 6 negative limit switch For homing to a cam the selection parameter HOMSW 10 must be chosen see parameters P 0101 P 0107 7 6 6 Reference cam limit switch The homing method is selected by parameter 2261 MPRO 402 HomingMethod Parameter list Motion Profile Homing 06 2015 1003375 61 8 Examples of commissioning with manufacturer specific teleerams 8 1 Posi
67. type Parameter name 915 Subindex area number value range 0 1 968 Status word COM DP Statuswort U16 0 65535 1 2 1276 Actual position COM DP ActPos1 132 2147483648 2 3 1276 Actual position COM DP ActPos1 2147483647 Status word 2 4 1281 016 0 65535 COM DP Statusword2 Actual velocity 4 5 1271 116 32768 32767 COM DP ActSpeed 5 6 6 7 7 8 8 9 9 10 The following parameters must then be set for position control mode 1 CON CfeCon 300 PCON 3 Parameter list Motor control This parameter is used to change operation mode The setting PCON Position Control Mode means that the drive is in position control mode 2 CON REF Mode 301 RFG 0 Parameter list Motion Profile Basic settings This parameter is used to set the position reference input mode The position reference value can be preset directly or via a ramp generator The setting RFG Ramp Function Generator means that the position reference value is preset via a ramp generator 3 MPRO CTRL SEL 159 PROFIBUS 7 Parameter List Motion Profile Basic settings This parameter is used to set the control location In this instance the control location is selected as PROFIBUS 4 MPRO REF SEL 165 PROFI 9 Parameter list c Motion Profile gt Basic settings This parameter is used to configure the reference selector In this instance the reference values are taken from PROFI
68. uested data Illustration 361 read request Master Parameter Request Write req DB47 Slave with data parameter request Write res without data Read req DB47 without data Read res without data Read req DB47 without data Read res Parameter Processing with data parameter response This transfer format is Big Endian Motorola the highest byte is transmitted first Table 36 2 Word format 0 Byte High Byte Table 36 3 Double word format 1 Byte Low Byte 0 Byte High Byte High Word 36 1 Byte Low Byte High Word 2 Byte High Byte Low Word 3 Byte Low Byte Low Word The data unit in the table PROFIBUS SD2 telegram for DPV1 services of telegram type SD2 can be split into five areas Req id 1 byte This is the function number of the DPV1 service This describes for example whether a parameter is to be read or written More detailed information can be found in the table headed Data unit assignment Slot 1 byte DPV1 slaves consist of a number of physical or virtual slots The drive is triggered by addressine a slot following which the slot address is not evaluated Index 1 byte The index contains the address of the data area in which the slave makes available the data for parameter access n accordance with ProfiDrive this is specified with the fixed data area number 47 Leneth 1byte ndicates t
69. xsScale CON SCON SMaxNeg CON SCON SMaxPos CON SCON Tmax CON SCALC TF CON IP RefTF CON SCON AddTRef CON SCON AddSRef CON SCON SDiff MOT Snom MOT TNom COM DP RefSpeed COM DP ActSpeed COM DP Acc COM DP Dec Velocity override PI speed controller gain PI speed controller integral action time Limit frequencies for torque reference value filter Torque reference value filter draft parameter Torque reference filter parameter Speed limit reference variable motor nominal speed Negative torque limit reference variable nominal torque Positive torque limit reference variable nominal torque Torque scaling factor Negative speed limitation reference value motor nominal speed Positive speed limitation reference value motor nominal speed Torque limitation reference value nominal torque Actual speed filter time constant Speed reference filter time constant Additive torque reference Additive velocity reference Speed controller differential Motor nominal speed Motor nominal torque Velocity reference Actual speed Acceleration ramp Deceleration ramp 47 7 2 Drive state machine 48 Illustration 481 General system state machine control via PROFIBUS and PROFINET 6 to perform changes to the control word STW bit 10 must be set gt from system status 2 the Safe Standstill must first be set and then a positive flank of the ENPO occur m Quick stop active k System s
70. yer Transceiver supporting the following func tionality Autonegotiation automatic detection of the functionality of the opposite interface Auto Crossing no cross over cables are required so through eoine wiring is assured Auto Polarity the polarity of the Receive cable is automatically adjusted in the event of a wiring error RecvData and RecvData Table 16 1 PROFINET option card Front panel No Comments YukonDrive H17 Status indicator LED green H16 Status indicator LED red X47 X48 PROFINET cable connection 16 4 2 2 Pin assignment of the RJ 45 socket The contacting of eight pin RJA5 sockets is subject to the EIA TIA 568A B standards Table 171 below shows the pin assignment with the corresponding colour code for the EIA TIA 568B standard The two standards differ only in that the two wire pairs 2 and 3 are interchanged Table 171 Pin assignment of the RJ 45 socket Pin Colour Cable wire pair Function 1 white orange 2 TxData 2 orange 2 TxData d 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 lllustration 172 RJ 45 socket 12345678 17 4 2 3 Specification of the PROFINET cable The following hardware is recommended for wiring Table 18 1 Recommended PROFINET connector PROFINET RJ 45 connector Siemens order number Siemens article description Table 18 2 Recommended PRO

User Manual AC Servo Controller YukonDrive® PROFIBUS

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User Manual AC Servo Controller YukonDrive&reg; PROFIBUS

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User Manual AC Servo Controller YukonDrive® PROFIBUS