DGV Converters - PROFIBUS Guide
ABB Sace
ABB AC Brushless Servodrives
DGV Converters
PROFIBUS Guide
ABB AC Brushless Servodrives
DGV Converters
PROFIBUS Guide
MANIU20.0507 E
EFFECTIVE: 01.07.2005
SUPERSEDES: 14.04.2005
© 2005 ABB Sace S.p.A. All Rights Reserved.
Safety Instructions
This chapter states the safety instructions that must be followed when
configuring the DGV Converters. The material in this chapter must be
studied before attempting any work on, or with, the device.
General
Since DGV integrates a PROFIBUS adapter module within its
components, the safety instructions to be followed are basically the
same enlisted in Chapter 9 - Standards and Safety of the Installation
Manual.
Warnings and Notes
Warnings
This manual distinguishes two sorts of safety instructions. Warnings
are used to inform of conditions which can, if proper steps are not
taken, lead to a serious fault condition, physical injury and death. Notes
are used when the reader is required to pay special attention or when
there is additional information available on the subject. Notes are less
crucial than Warnings, but should not be disregarded.
Readers are informed of situations that can result in serious physical
injury and/or serious damage to equipment with the following symbols:
WARNING! Dangerous Voltage: warns of situations in
which a high voltage can cause physical injury and/or
damage equipment. The text next to this symbol
describes ways to avoid the danger.
WARNING! General Warning: warns of situations
which can cause physical injury and/or damage
equipment by means other than electrical. The text next
to this symbol describes ways to avoid the danger.
Electrostatic Discharge Warning: warns of situations
in which an electrostatic discharge can damage
equipment. The text next to this symbol describes ways
to avoid the danger.
Notes
Readers are notified of the need for special attention or additional
information available on the subject with the following symbol:
CAUTION!
Note:
PROFIBUS Guide - MANIU20.0507 E
Caution aims to draw special attention to a particular
issue.
Note gives additional information or points out more
information available on the subject.
i
Safety Instructions
General Safety
Instructions
WARNING! The contents of this guide refer to DGV
converters correctly installed as described in the Installation
Manual.
Only properly qualified electricians who are familiar with
operation on converters are allowed to perform the
commissioning and operation activities of the DGV
Converters described in this Guide.
WARNING! For no reason should any person access
the internal part of the converter or the terminals of
the servomotor, before at least four minutes from the
power outage.
Potentially lethal voltages are present on a DC
intermediate circuit and on the associated circuits.
WARNING! The machine manufacturer who commissions
the converter, must install proper additional protection
functions to avoid damages to health or equipment when
the machine is operating.
Neglecting these instructions can cause physical injury and
death.
More Warnings and Notes are printed at appropriate
instances along the text.
ii
PROFIBUS Guide - MANIU20.0507 E
Table of Contents
Safety Instructions ................................................................................. i
General .................................................................................................. i
Warnings and Notes ................................................................................. i
Warnings .............................................................................................. i
Notes ................................................................................................... i
General Safety Instructions ...................................................................... ii
Table of Contents ................................................................................. iii
Chapter 1 - General Information .......................................................... 1-1
Introduction ......................................................................................... 1-1
Before You Start .................................................................................. 1-1
What this Guide contains ...................................................................... 1-1
Related Documentation ........................................................................ 1-2
Conventions used in this Guide ............................................................. 1-2
PROFIBUS Module .......................................................................... 1-2
Parameter ...................................................................................... 1-2
Master – Slave ............................................................................... 1-2
Data Sets and Data Words ............................................................... 1-2
Further Information ......................................................................... 1-2
Chapter 2 - Introduction to PROFIBUS ................................................ 2-1
Introduction ......................................................................................... 2-1
PROFIBUS .......................................................................................... 2-1
The PROFIBUS-DP Interface Module ..................................................... 2-2
Chapter 3 - Electrical Installation ....................................................... 3-1
Introduction ......................................................................................... 3-1
Cabling ............................................................................................... 3-1
Setting the Node Address ..................................................................... 3-2
PROFIBUS Connections ....................................................................... 3-2
DGV700 ........................................................................................... 3-2
DGV300 ........................................................................................... 3-2
Chapter 4 - Programming DGV ............................................................ 4-1
Introduction ......................................................................................... 4-1
Configuring the system ......................................................................... 4-1
Configuring the drive ......................................................................... 4-1
PROFIBUS Profile-Specific Parameters ............................................... 4-2
Chapter 5 - PROFIBUS Communication ............................................... 5-1
Introduction ......................................................................................... 5-1
PPO Message ...................................................................................... 5-1
PROFIBUS Guide - MANIU20.0507 E
iii
Table of Contents
Abbreviations .................................................................................... 5-2
Parameter Identification ..................................................................... 5-3
Request Label ................................................................................ 5-3
Response Label .............................................................................. 5-3
Example: Read ............................................................................... 5-4
Example: Write .............................................................................. 5-5
Process Data .................................................................................... 5-6
Control Word .................................................................................. 5-6
Status Word ................................................................................... 5-6
References and Actual Values .......................................................... 5-6
Speed Mode ........................................................................................ 5-7
Control Word ..................................................................................... 5-7
Status Word ...................................................................................... 5-9
State Machine for Speed Mode ......................................................... 5-11
Positioning Mode ............................................................................... 5-12
Control Word ................................................................................... 5-12
Status Word .................................................................................... 5-14
State Machine for Positioning Mode ................................................... 5-16
Torque Mode ..................................................................................... 5-18
Control Word ................................................................................... 5-18
Status Word .................................................................................... 5-19
Analog Torque Mode .......................................................................... 5-20
Control Word ................................................................................... 5-20
Status Word .................................................................................... 5-21
Analog Speed Mode ........................................................................... 5-22
Control Word ................................................................................... 5-22
Status Word .................................................................................... 5-23
Configuration of Process Data ............................................................. 5-24
Telegram 101 .................................................................................. 5-24
Speed Mode (PNU 930 = 1) ............................................................ 5-24
Positioning Mode (PNU 930 = 2) ..................................................... 5-24
Analog Speed Mode (PNU 930 = -1) ................................................ 5-25
Analog Torque Mode (PNU 930 = -2) ............................................... 5-25
Torque Mode (PNU 930 = -3) .......................................................... 5-25
Telegram 102 .................................................................................. 5-26
Speed Mode (PNU 930 = 1) ............................................................ 5-26
Positioning Mode (PNU 930 = 2) ..................................................... 5-26
Analog Speed Mode (PNU 930 = -1) ................................................ 5-27
Analog Torque Mode (PNU 930 = -2) ............................................... 5-27
Torque Mode (PNU 930 = -3) .......................................................... 5-27
Chapter 6 - Description of Functions ................................................... 6-1
Introduction ......................................................................................... 6-1
Operating Modes .................................................................................. 6-1
“Direct” / “Internal” Commands .............................................................. 6-3
Commands Flowchart for Telegram 101 ............................................... 6-4
Commands Flowchart for Telegram 102 ............................................... 6-5
Analog Torque Mode ............................................................................ 6-6
Basic Settings for Analog Torque Mode ............................................... 6-6
Analog Speed Mode ............................................................................. 6-7
Basic Settings for Analog Speed Mode ................................................ 6-8
Positioning Mode ................................................................................. 6-9
Basic Setting for Positioning ............................................................. 6-10
Positioning Functions ......................................................................... 6-11
iv
PROFIBUS Guide - MANIU20.0507 E
Table of Contents
Absolute Positioning ........................................................................
Relative Positioning .........................................................................
Position Modulo ..............................................................................
…when positive direction ...............................................................
…when negative direction ..............................................................
…running shortest trip to target ......................................................
Single Setpoint ...............................................................................
Change Set Immediately ..................................................................
Positioning Signals ............................................................................
Single Positioning Tasks ..................................................................
Multiple Positioning Tasks ................................................................
Intermediate Stop ............................................................................
Interrupting a Positioning Task .........................................................
Jogging .............................................................................................
Homing .............................................................................................
Homing Methods .............................................................................
Method 1 ......................................................................................
Method 2 ......................................................................................
Method 3 ......................................................................................
Method 4 ......................................................................................
Method 5 ......................................................................................
Method 6 ......................................................................................
Method 17 ....................................................................................
Method 18 ....................................................................................
Method 19 ....................................................................................
Method 20 ....................................................................................
Method 21 ....................................................................................
Method 22 ....................................................................................
Method 33 ....................................................................................
Method 34 ....................................................................................
Method 35 ....................................................................................
Basic Settings for Referencing ..........................................................
Speed Mode ......................................................................................
Basic Settings for Speed Mode .........................................................
Torque Mode .....................................................................................
Basic Settings for Torque Mode ........................................................
Synchronization .................................................................................
Velocity Synchronization ..................................................................
Position Synchronization ..................................................................
Basic Settings for Synchronization ....................................................
Monitoring Functions ..........................................................................
Position Monitoring ..........................................................................
Following Error .............................................................................
Position Standstill Monitoring .........................................................
Speed Monitoring ............................................................................
Speed Standstill Monitoring ...........................................................
Synchronization Monitoring ..............................................................
Axis-Coupling ....................................................................................
Standard Coupling ...........................................................................
Virtual Master-Axis ..........................................................................
Virtual Cams .....................................................................................
Inversion of the Digital I/Os ................................................................
6-11
6-12
6-13
6-13
6-14
6-14
6-14
6-14
6-15
6-15
6-16
6-17
6-18
6-19
6-20
6-20
6-20
6-20
6-21
6-21
6-22
6-22
6-23
6-23
6-24
6-24
6-25
6-25
6-26
6-26
6-26
6-27
6-28
6-28
6-29
6-29
6-30
6-32
6-32
6-33
6-34
6-34
6-34
6-34
6-35
6-35
6-35
6-36
6-36
6-36
6-37
6-38
Appendix A - Parameter List ............................................................... A-1
PROFIBUS Guide - MANIU20.0507 E
v
Table of Contents
Appendix B - Error Codes .................................................................. B-1
Appendix C - Technical Data .............................................................. C-1
PROFIBUS Network .............................................................................
Control Word ......................................................................................
Status Word .......................................................................................
Basic Data Types ................................................................................
Units ..................................................................................................
DGV Internal Units ..............................................................................
PROFIBUS Definitions .........................................................................
PROFIBUS Abbreviations .....................................................................
vi
C-1
C-2
C-3
C-4
C-4
C-5
C-7
C-8
PROFIBUS Guide - MANIU20.0507 E
Chapter 1 - General Information
Introduction
This document PROFIBUS Guide is part of the DGV Converters
manual, code MANIU20.0507 E , provided by ABB Sace S.p.a. The
material in this chapter must be studied before attempting any work on,
or with, the device.
Before You Start
This Guide contains the technical specifications of the PROFIBUS-DP
communication interface module built into DGV Converters.
The reader is expected to have an appropriate knowledge of electrical
fundamentals, electrical wiring practices, the drive, the use of the
drive control panel, and the PROFIBUS protocol family.
What this Guide
contains
This document guides the user to the commissioning and operating of
DGV Converter using the standard communication protocol
PROFIBUS-DP.
It is assumed that the drive is installed and ready for the configuring
procedures. For more information please refer to the Installation
Manual.
Safety Instructions are featured in the first few pages of this Guide.
Safety Instructions describe the formats for various warnings and
notations used within this Guide. This chapter also states the safety
instructions which apply to the operation of the DGV Converters.
Chapter 1 - General Information contains a short description of this
Guide and the conventions adopted for the PROFIBUS profile
description.
Chapter 2 - Introduction to PROFIBUS contains a short description of
the PROFIBUS protocol and the PROFIBUS-DP interface module of
DGV Converters.
Chapter 3 - Electrical Installation shows a schematic example of a
PROFIBUS network with several stations.
Chapter 4 - Programming DGV explains how to configure the drive
before the communication through the interface module can be
started.
Chapter 5 - PROFIBUS Communication contains a description of the
data structure of the PROFIBUS communication standard and the
specifications used on DGV.
Chapter 6 - Description of Functions introduces the operating modes
supported by DGV Converters.
Appendix A presents the PROFIBUS Parameters.
Appendix B presents the error codes.
Appendix C contains Technical Data.
PROFIBUS Guide - MANIU20.0507 E
1-1
Chapter 1 - General Information
Related
Documentation
In addition to the present PROFIBUS Guide, please consult the
complete technical documentation of the DGV, which includes:
•
The Installation Manual of DGV Converters
•
The Firmware Manual of DGV Converters.
Conventions used
in this Guide
PROFIBUS Module
The "PROFIBUS Module" is hardware and software interface
equipment through which a converter can be connected to an external
serial communication network.
DGV is equipped with a built in PROFIBUS-DP interface module for
communication and remote control. The communication through the
interface module is activated with a drive parameter.
Parameter
Master – Slave
Data Sets and
Data Words
Further Information
1-2
A parameter is a coded operating instruction sent to the drive.
Parameters can be read and programmed through the PROFIBUS
Module.
PROFIBUS is a communication protocol conceived to connect up to
127 devices over the same network. It is a master–slave protocol, that
is one or more master stations control and supervise the slave
stations connected to the network. The master station is an external
control system, usually a PLC, with field bus interface modules. DGV is
a slave, or passive, station.
Data sets are clusters of data sent through the PROFIBUS link. Each
data set consists of three 16-bit words, i.e. data words. The Control
Word and the Status Word, References and Actual Values (see
Chapter 5) are types of data words; the contents of some data words
are user-definable.
Further information is available on the worldwide website of the
PROFIBUS association www.profibus.com
PROFIBUS Guide - MANIU20.0507 E
Chapter 2 - Introduction to PROFIBUS
Introduction
This chapter contains a short description of the PROFIBUS standard
communication protocol and the formal reference documents used for
the development of the PROFIBUS-DP interface module of DGV.
PROFIBUS
PROFIBUS is an open serial communication standard that enables
data exchange between all kinds of automation components. There are
three main variations of PROFIBUS: PROFIBUS-FMS (Fieldbus
Message Specification), PROFIBUS-DP (Decentralized Periphery) and
PROFIBUS-PA (Process Automation).
The physical transmission medium of the bus is a twisted pair cable
(according to the RS 485 standard). The maximum length of the bus
cable is 100 to 1200 meters, depending on the selected transmission
rate (see Appendix C). Up to 31 stations can be connected to the
same PROFIBUS system without the use of repeaters. With
repeaters, it is possible to connect 127 stations (including the
repeaters, and the master station) to the system.
In PROFIBUS communication, the master station – usually a
programmable logic controller (PLC) – polls the slaves which respond
and take the actions requested by the master. It is also possible to
send a command to several slaves at the same time; in this case the
slaves send no response message to the master. Communication
between the slaves is not possible on a PROFIBUS link.
The PROFIBUS protocol family is specified in the EN 50170 Standard.
The communication with a drive is discussed in PROFIDRIVE –
PROFIBUS Profile for Adjustable Speed Drives doc. nr. 3.072. For
further information on PROFIBUS, refer to the above-mentioned
standards.
PROFIBUS Guide - MANIU20.0507 E
2-1
Chapter 2 - Introduction to PROFIBUS
The PROFIBUS-DP
Interface Module
DGV Converters are equipped with a PROFIBUS-DP interface module.
The interface module enables the connection of the drive to a
PROFIBUS network. The drive is a slave station. Through this module
it is possible for the DGV to:
•
Receive the control commands, Control Word
•
Receive and execute the speed, position and torque reference
setpoints
•
Send the status information, Status Word, and the process
actual values from the drive to the master station
•
Change the drive parameter values
•
Reset a drive fault
Being this interface module built into the DGV case and ready for
operation, the EMC compatibility of the module is the one related to
the drive itself described in Chapter 9 of the Installation Manual, valid
for DGV in general.
The technical specifications for commissioning the PROFIBUS
communication and the remote control of DGV are explained in
Chapter 4 - Programming DGV and Chapter 5 - PROFIBUS
Communication of the present Guide.
The instructions of the later chapters assume that the drive is
mechanically and electrically installed (see the Installation Manual).
2-2
PROFIBUS Guide - MANIU20.0507 E
Chapter 3 - Electrical Installation
Introduction
This chapter contains the instructions for:
•
cabling
•
field bus connection.
WARNING! Switch off the drive power supply when installing or
cabling the drive. Wait four minutes to ensure that the capacitor bank
of the drive is discharged.
Cabling
Arrange the bus and signals cables physically separated from the
power and motor cables.
Avoid parallel runs.
If necessary, use metal wire channels and metal sheaths.
Power and signals cables must be accurately shielded.
Concerning the maximum length allowed for power and signal cables
please refer to the Installation Manual.
PROFIBUS Guide - MANIU20.0507 E
3-1
Chapter 3 - Electrical Installation
Setting the Node
Address
The selection of node address can be either software or hardware.
Selection of the node address on DGV300 Converters may be only
software, through the Browser or an external controller.
Selection of the node address on DGV700 Converters depends on
the setting of the rotary dip-switches located on the converter front
panel.
•
Setting the switches to FF hex enables to select the node
number by Browser or by a remote controller. In this case
the node address is a read/write parameter.
•
Setting the switches to any value from 0x00 (i.e. 0) to 0x7F
(i.e. 127) makes the hardware selection of the node address,
therefore the node address parameter is read-only.
PROFIBUS
Connections
DGV700
The bus cable is connected to terminals X2 and X3 (sub-D 9 female)
on the converter front panel.
These terminals are internally connected. The installer can use both
terminals (one input and one output), or one terminal only by
preparing an input/output cable.
For pin-out of terminals X2 and X3, and the wiring scheme of the field
bus cable, see Chapter 7 of the Installation Manual.
DGV300
The bus cable is connected to terminals X4 (sub-D 9 female) on the
converter front panel.
For pin-out of terminal X4 and the wiring scheme of the field bus
cable, see Chapter 8 of the Installation Manual.
3-2
PROFIBUS Guide - MANIU20.0507 E
Chapter 4 - Programming DGV
Introduction
This chapter contains the information for configuring the DGV as a
PROFIBUS-DP slave station.
Configuring the
system
Once the drive is mechanically and electrically installed according with
the instructions in the Installation and Start-up Guide and the Firmware
Manual, the user has to configure the system and set up the
communication between the master station and the drives connected
to the PROFIBUS network.
Please refer to the master station documentation for additional
information on configuring the communication with the DGV interface
module.
Configuring the drive
The GSD file provided by ABB Sace for DGV is compatible with master
devices from various manufacturers.
The procedure for activating the communication between the master
and the converters is to configure the PROFIBUS Profile-Specific
Parameters, i.e. the parameters specific of the PROFIBUS profile for
variable speed drives.
To make the communication effective:
•
The master station must send/receive PPO Type 2 telegrams
•
The user must assign the node address to any drive connected
to the PROFIBUS network, either by the converter parameters
(Node Address) or by the switch selectors on the front panel.
•
The parameter Control Mode has to be properly set (see
Chapter 6).
If the node address was assigned using the converter parameters, it
is possible to change the address through parameter PNU 918, Node
Address.
The full list of parameters having read/write access through the
PROFIBUS network is available in Appendix A - Parameter List.
As the communication is established, always check the parameters
before enabling the drive operation.
The value of some parameters may depend on the size of the
converter and/or be peculiar for the application configured (see the
Installation Manual and Firmware Manual).
In order to avoid undesired modifications of parameters, protect the
access to your system data and the source files of the master station.
PROFIBUS Guide - MANIU20.0507 E
4-1
Chapter 4 - Programming DGV
PROFIBUS ProfileSpecific Parameters
These parameters are necessary for the communication, the device
identification and for FMA/FMS protocol compatibility.
PNU
Data Type
Description
900
Octet-String12
PPO-type 1 write (FMS compatibility)
901
Octet-String20
PPO-type 2 write
904
Octet-String4
Current PPO-write
907
Unsigned16
PPO-type 1 read (FMS compatibility)
908
Octet-String12
PPO-type 2 read
911
Octet-String20
Current PPO-read
918
Unsigned16
Node address (1-127)
922
Unsigned16
Telegram Selection. Selection of the structure of telegram:
101
Standard Telegram 101
102
Standard Telegram 102
930
Unsigned16
Modes of Operation. Selection switch for operating mode:
-3
Digital Torque
-2
Analog Torque
-1
Analog Speed
0
N.A.
1
Speed Mode
2
Positioning Mode
945
Array[64]
Unsigned16
Fault Number: index 0 contains the fault code also displayed on
the front panel (see Appendix B - Error Codes)
953
Unsigned16
Alarm.
Bit 0 set to 1 means I⋅t alarm present
Bit 1 set to 1 means I^2⋅t alarm present
Bit 2 set to 1 means axis exceeded SW negative limit switch
Bit 3 set to 1 means axis exceeded SW positive limit switch
Bit 4 set to 1 means axis not referenced
Bit 5 set to 1 means absolute position modulo error
Bit 6 set to 1 means invalid table selection
Bit 7 set to 1 means concurrect activation Jog1-Jog2
964
Visible-String46
Device Identification. Short description of the device.
965
Octet-String2
Software Version
966
Octet-String4
(FMA compatibility)
967
Unsigned16
Control Word
968
Unsigned16
Status Word
971
Unsigned16
Freeze Configuration. Parameter value set to 1 stores the
configuration parameters into the non volatile flash memory.
Note.
4-2
When a Freeze command has been executed, PNU
971 must be reset to value 0.
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
Introduction
This chapter describes the content of the PROFIBUS messages used
for the communication with the drive, and the specifics for the remote
control of DGV.
The PROFIBUS communication protocol allows the cyclic data
transfer and the remote control of a large number of peripherals and
field devices.
For data transferring the PROFIBUS protocol uses the so-called PPO
messages (Parameter/Process Data Object), that is data telegrams
with which the master station commands and controls the distributed
periphery. The content and the meaning of the telegrams are
predefined by the PROFIBUS standard protocol depending on the
device type.
PPO Message
The PROFIBUS profile defines five possible messages of different
lengths. A minimum length of two words for PPO Type 3, to a
maximum length of fourteen words for PPO Type 5.
The PPO telegram consists of
•
the Parameter Identification field, for reading/writing parameters
•
and the Process Data field for transferring process data
information.
DGV Converters equipped with PROFIBUS-DP Modules use PPO
Type 2, for a maximum length of ten words.
PROFIBUS Guide - MANIU20.0507 E
5-1
Chapter 5 - PROFIBUS Communication
Parameter
Identification
ID
IND
VALUE
Process Data
CW
SW
REF
ACT
PD1
PD1
PD2
PD2
PD3
PD3
PD4
PD4
PD5
PD5
PD6
PD6
PD7
PD7
PD8
PD8
Type 1
Type 2
Type 3
Type 4
Type 5
Abbreviations
Parameter Identification
ID – Identification, request/response label and number of the
parameter
IND – parameter Sub-Index for array parameters
VALUE – value of the parameter in double word precision
Process Data
In the master-slave PPO telegram:
CW – Control Word
REF – process digital reference setpoint
PD1 ÷ PD8 – process data manufacturer-specific
In the slave-master PPO telegram:
SW – Status Word
ACT – process actual value
PD1 ÷ PD8 – process data manufacturer-specific
5-2
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
Parameter
Identification
The Parameter Identification area of the PPO telegram is reserved for
transmitting parameter values. It consists of eight bytes, i.e. one word
for the ID area, one word for the IND area, two words for VALUE.
Parameter
Identification
ID
IND
…
VALUE
…
Type 2
15
…
14
13
12
11
10
9
8
Request/Response Not
Label
used
7
6
5
4
3
2
1
0
Parameter Number (PNU)
The ID area contains
-
either the request label when the master is transmitting data to
the slave, or the response label when vice versa the slave is
transmitting,
-
and the parameter number (PNU).
The IND area contains into the high byte the sub-index (0..31) of the
parameter, which is being investigated or modified.
The VALUE area contains the parameter value, which is being
investigated or modified depending on the request/response label.
The tables below show the request/response ID label.
Request Label
Request
Label
Positive Negative
Response Response
0
No task
0
7/8
1
Request parameter value
2
7/8
3
Change parameter value (double word)
2
7/8
…
-
7/8
Other
Response Label
Meaning
Response Meaning
Label
PROFIBUS Guide - MANIU20.0507 E
0
No response
2
Transfer parameter value (double word)
7
Task cannot be executed, followed by the general error code 18 in the
VALUE area.
8
Task not executable: no service of Parameter Identification area
5-3
Chapter 5 - PROFIBUS Communication
Example: Read
The master station transfers the task request “read a parameter value”
to the slave with PPO write. The slave provides the parameter value
with PPO read.
In this example, the master station enquires the parameter value of
PNU 918 (396h), Node Address.
Parameter Identification
Request
ID
IND
1396
0000
…
VALUE
0000
0000
…
Parameter Number PNU 918 (dec)
Request Label: request parameter value
The slave returns the parameter value, i.e. its station number.
Parameter Identification
Response
ID
IND
2396
0000
…
VALUE
0000
0003
…
Parameter value
Parameter Number PNU 918 (dec)
Response Label: transfer parameter value
Note that the converter (slave) constantly observes the master task
request and it responds to any valid request transmitting the status
information.
5-4
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
Example: Write
The master station transfers the task request “change a parameter
value” to the slave with PPO write. The slave executes the task request
and responds with PPO read.
In this example, the parameter PNU 971 (3CBh), Freeze
Configuration, stores the drive configuration into non-volatile flash
memory.
Setting the parameter value from 0 to 1
Parameter Identification
Request
ID
IND
33CB
0000
VALUE
0000
0001
…
…
Parameter Number PNU 971 (dec)
Request label: change parameter value
the drive transfers the configuration data into the non-volatile flash
memory. It responds transmitting the parameter value updated:
Parameter Identification
Response
ID
IND
23CB
0000
VALUE
0000
0001
…
…
Parameter value
Parameter Number PNU 971 (dec)
Response label: parameter value updated
Once you have frozen the configuration, remember to reset the
parameter value of PNU 971 to 0.
PROFIBUS Guide - MANIU20.0507 E
5-5
Chapter 5 - PROFIBUS Communication
Process Data
The Process Data field is used to transfer the process status
information. It consists of six words for PPO Type 2 telegram, which is
adopted with DGV.
In the PPO write from master to slave the Process Data contains
-
-
the Control Word (CW), that is the bit-coded information
for controlling the drive status
and other words (REF, PD1 ÷ PD4) for transferring the
digital reference setpoints of speed, position or torque
depending on the operating mode currently selected (PNU
930, Modes of Operation).
In the PPO read from slave to master the Process Data returns
-
-
the Status Word (SW), that is the bit-coded status
information of the drive
and other words (ACT, PD1 ÷ PD4) with process actual
values.
Process Data
…
CW
SW
REF
ACT
PD1
PD1
PD2
PD2
PD3
PD3
PD4
PD4
…
Control Word
The Control Word (PROFIBUS parameter 967, or PNU 967) is the
principal means for controlling the drive operation. It is sent by the field
bus master station to the drive through the bus link cable.
Status Word
When receiving the PPO message from the master station, the drive
switches between its states according with the bit-coded instructions in
the Control Word, and returns the status bit-coded information to the
master in the Status Word (PROFIBUS parameter 968, or PNU 968).
References and
Actual Values
The digital references (REF, PD1 ÷ PD4) and the process actual
values (ACT, PD1 ÷ PD4) may be a 16-bit word precision or a 32-bit
double word precision. The scaling of these variables as well as the
meaning of the Control Word and Status Word depend on the
operating mode selected.
Content of the Process Data is dependent on the operating mode
(PNU 930 “Operating Mode”) and on the telegram structure (PNU
922 “Telegram Selection”). See Configuration of Process Data.
5-6
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
Speed Mode
Enabling the Speed Mode is achieved by following a proper assigned
sequence of bits commutation in the Control Word. For any bit
commutation in the Control Word the drive switches into the associated
state, hence a bit commutation comes in the Status Word. The State
Machine for Speed Mode represents the proceed conditions for the
drive state switching.
Selection of the Speed Mode is possible by setting parameter PNU
930 to “1 - Speed Mode”. See Appendix A - Parameters List for DGV
specific parameters.
Control Word
The table below shows the detailed allocation of the Control Word bits
for Speed Mode and a short description of the bits meaning. The star
sign denotes that the meaning of that bit is specific for the Speed
Mode, otherwise the bit meaning is common to the Positioning Mode.
The upper case boldface text refers to the states shown in the state
machine.
Bit
0
1
2
3
4
5
6
7
Name
PROFIBUS Guide - MANIU20.0507 E
State
Description
ON / READY
1
READY FOR
OPERATION
Enter the READY FOR OPERATION state.
OFF1
0
OFF1 ACTIVE
Emergency stop by the deceleration ramp Quick
Stop Deceleration, PNU 1205. Proceed READY
TO SWITCH ON unless other interlocks OFF2,
OFF3 are active.
OPERATING
CONDITION
1
READY TO
SWITCH ON
OFF2 not active, operating condition.
OFF2
0
OFF2 ACTIVE
Emergency stop, pulses inhibited, converter
disabled. Enter OFF2 ACTIVE and proceed to
SWITCH-ON INHIBITED
OPERATING
CONDITION
1
READY TO
SWITCH ON
OFF3 not active, operating condition.
OFF3
0
OFF3 ACTIVE
Emergency stop, dynamic braking. Enter OFF3
ACTIVE and proceed to SWITCH-ON INHIBITED
OPERATION
ENABLED
1
OPERATION
ENABLED
Enter OPERATION ENABLED
OPERATION
INHIBITED
0
OPERATION
INHIBITED
Enter OPERATION INHIBITED, dynamic braking
active. Switch to READY FOR OPERATION
OPERATION
ENABLED
1
OPERATION
ENABLED
Operating condition
* INHIBIT
RAMP
0
INHIBIT RAMPFUNCTION
GENERATOR
Inhibit ramp-function generator, ramp set to 0
* RAMP
ENABLE
1
RAMPGENERATOR
ENABLED
Enable the ramp-function generator
* STOP RAMP
0
STOP RAMPGENERATOR
Stop ramp-function generator, freeze current
setpoint from the ramp-function generator
* RAMP_ REF
ENABLE
1
REFERENCE
SETPOINT
ENABLE
Selected value at the ramp-function generator
input is switched in.
* RAMP_ REF
INHIBIT
0
REFERENCE
SETPOINT
INHIBITED
Selected value at the ramp-function generator
input is set to 0.
0!1
SWITCH-ON
INHIBITED
Fault acknowledge with a positive edge. When the
fault is removed, proceed to SWITCH-ON
INHIBITED
ACKNOWLEDGE
OK
8
Value
* Not used
0
(normal operating condition)
--
5-7
Chapter 5 - PROFIBUS Communication
5-8
9
* Not used
--
10
ENABLE
REMOTE
CONTROL
1
Field bus control enabled
INHIBIT
REMOTE
CONTROL
0
Field bus control disabled. Local control via
RS232 enabled.
11
* Not used
--
12
* Not used
--
13
* Not used
--
14
* Not used
--
15
ACTIVATE
DIRECT
MOTION TASK
1
Case “Telegram 102”. The drive applies digital
references from field bus, i.e. “direct” commands.
INTERNAL
MOTION TASK
0
Case “Telegram 102”. The drive applies internal
references programmed into the motion tables,
i.e. “internal” commands.
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
Status Word
In the PPO read telegram the drive returns the Status Word to the
master station. The bit-coded status information represents the drive
current state.
The table below shows the detailed allocation of the Status Word bits
for Speed Mode and a short description of the bits meaning. The star
sign denotes that the meaning of that bit is specific for the Speed
Mode, otherwise the bit meaning is common to the Positioning Mode.
The upper case boldface text refers to the states shown in the state
machine.
Bit
0
1
2
3
4
5
6
7
8
9
10
11
Name
Value
State
Description
READY
1
READY TO
SWITCH ON
Power on, pulses inhibited
NOT READY
0
SWITCH-ON
INHIBITED
Not ready
OPERATING
CONDITION
1
READY FOR
OPERATION
Refer to Control Word bit 0 set to 1
OFF1
0
OFF1 ACTIVE
Not ready
OPERATING
CONDITION
1
OPERATION
ENABLED
Operating condition
DISABLED
0
READY FOR
OPERATION
Drive disabled
FAULT
1
FAULT
Fault. Drive disabled
OK
0
OK
1
OFF2
0
OFF2 ACTIVE
Not ready
OK
1
OFF3
0
OFF3 ACTIVE
Not ready
OPERATION
INHIBITED
1
SWITCH-ON
INHIBITED
SWITCH-ON INHIBITED, drive inhibited, re-close
only with OFF1 ACTIVE then ON / READY, bit 0
of the control word set to 1.
OK
0
ALARM
1
Warning/Alarm. See PNU 953 to investigate the
alarm code.
NO ALARM
0
* AT
SETPOINT
1
Ok
* OUT OF
RANGE
0
Speed actual value out of the range set with
Speed Monitoring Time and Speed Window
REMOTE
1
Field bus control enabled, refer to bit 10 control
word set to 1.
LOCAL
0
Local control enabled
* MIN SPEED
REACHED
1
Actual speed exceeds the supervision limit preset
with parameter Min Speed, PNU 1106.
* MIN SPEED
NOT
REACHED
0
Actual speed is within the supervision limit preset
with parameter Min Speed, PNU 1106.
* REFERENCE
1
Reference point set
* NO
REFERENCE
0
No reference point set
OPERATING
CONDITION
Speed actual value within tolerance range set with
parameters Speed Monitoring Time, PNU 1107,
and Speed Window, PNU 1108.
12
* Not used
--
13
* Not used
--
PROFIBUS Guide - MANIU20.0507 E
5-9
Chapter 5 - PROFIBUS Communication
5-10
14
* Not used
--
15
* Not used
--
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
State Machine for
Speed Mode
S W ITC H -O N
IN H IB ITE D
M A IN S O FF
P ow er O N
A
B
C
C W = C ontrol W ord
S W = S tatus W ord
(S W B it6 = 1)
(C W = xxxx x1xx xxxx x110)
D
R E A D Y TO
S W ITC H -O N
(S W B it0 = 1, B it4 = 1 e B it5 = 1)
(C W B it3 = 0)
(C W = xxxx x1xx xxxx x111)
O P E R A TIO N
IN H IB ITE D
F rom any state
(S W B it2 = 0)
F ault
FA U LT
R E A D Y FO R
O P E R A TIO N
(S W B it1 = 1)
(S W B it3 = 1)
(C W B it7 = 1)
F rom any state
O F F 1 (C W B it0 = 0)
F rom any state
(C W B it3 = 1)
O FF1
A C TIV E
F rom any state
O F F 3 (C W B it2 = 0)
O F F 2 (C W B it1 = 0)
(S W B it1 = 0)
O FF3
A C TIV E
B C D
(SW B it5 = 0)
O FF2
A C TIV E
(S W B it4 = 0)
(C W B it4 = 0)
O P E R A TIO N
E N A B LE D
C D
D
(S W B it2 = 1)
A
B
C
(C W B it4 = 1, B it5 = 1 e B it6 = 1)
(C W B it5 = 0)
(C W B it6 = 0)
O P E R A TIN G
D
PROFIBUS Guide - MANIU20.0507 E
5-11
Chapter 5 - PROFIBUS Communication
Positioning Mode
Enabling the Positioning Mode is possible following a proper assigned
sequence of bits commutation in the Control Word. For any bit
commutation in the Control Word the drive switches in the associated
state, hence a bit commutation comes in the Status Word. The State
Machine for Positioning Mode represents the proceed conditions for
the drive state switching.
Parameter PNU 930 set to “2 - Positioning Mode” selects the
Positioning Mode. See Appendix A - Parameters List for DGV specific
parameters.
Control Word
The table below shows the detailed allocation of the Control Word bits
for Positioning Mode and a short description of the switching states.
The star sign denotes that the meaning of that bit is specific for the
Positioning Mode, otherwise the bit meaning is common to the Speed
Mode. The upper case boldface text refers to the states shown in the
state machine.
Bit
0
1
2
3
4
Meaning
Value
6
7
1
READY FOR
OPERATION
Enter the READY FOR OPERATION state.
OFF1
0
OFF1 ACTIVE
Emergency stop by the deceleration ramp Quick
Stop Deceleration, PNU 1205. Proceed READY
TO SWITCH ON unless other interlocks OFF2,
OFF3 are active.
OPERATING
CONDITION
1
READY TO
SWITCH ON
OFF2 not active, operating condition.
OFF2
0
OFF2 ACTIVE
Emergency stop, pulses inhibited, converter
disabled. Enter OFF2 ACTIVE and proceed to
SWITCH-ON INHIBITED
OPERATING
CONDITION
1
READY TO
SWITCH ON
OFF3 not active, operating condition.
OFF3
0
OFF3 ACTIVE
Emergency stop, dynamic braking. Enter OFF3
ACTIVE and proceed to SWITCH-ON INHIBITED
OPERATION
ENABLED
1
OPERATION
ENABLED
Enter OPERATION ENABLED
OPERATION
INHIBITED
0
OPERATION
INHIBITED
Enter OPERATION INHIBITED, dynamic braking
active. Switch to READY FOR OPERATION
OPERATION
ENABLED
1
OPERATION
ENABLED
Operating condition. A drive task is activated with
edge in bit 6.
STOP
Drive brakes from an active motion task with
maximum acceleration to speed 0. The current
drive task is canceled.
* OPERATION
ENABLED
1
OPERATION
ENABLED
Operating condition for positioning
* INTERMEDIATE
STOP
0
INTERMEDIATE
STOP
Drive brakes from an active task on ramp to 0
speed and remains stationary with the stopping
moment. The drive task is not canceled; it is
continued when a change to bit 5 = 1 occurs.
* ACTIVATE
DRIVE
TASK
1!0
DRIVE TASK
ACTIVE
Each edge enables a drive task or a new setpoint.
A change in edge may only occur when
acknowledgment that the previous drive task was
accepted was performed with bit 12 of the status
word and bit 11 (i.e., reference point) is set.
ACKNOWLEDGE
0!1
SWITCH-ON
INHIBITED
Fault acknowledge with a positive edge. When the
fault is removed, proceed to SWITCH-ON
INHIBITED
OK
5-12
Description
ON / READY
* STOP
5
State
0!1
0
(normal operating condition)
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
8
9
10
11
12
13
14
15
PROFIBUS Guide - MANIU20.0507 E
* INCHING1
ON
1
INCHING
Prerequisite: Operation is enabled and no
positioning procedure is active. Drive travels with
speed setpoint Jogging Speed 1, PNU 1255.
* INCHING1
OFF
0
INCHING
Jogging1 off
* INCHING2
ON
1
INCHING
Prerequisite: Operation is enabled and no
positioning procedure is active. Drive travels with
speed setpoint Jogging Speed 2, PNU 1256.
* INCHING2
OFF
0
INCHING
Jogging2 off
ENABLE
REMOTE
CONTROL
1
Field bus control enabled
INHIBIT
REMOTE
CONTROL
0
Field bus control disabled, local control via RS
232 enabled
* START
REFERENCING
0!1
REFERENCING
When READY FOR OPERATION, referencing is
started with edge from 0 to 1. Bit 11 of the status
word is set to 0 and switches to 1 at referencing
performed. Prerequisite: Operation is enabled.
* STOP
REFERENCING
0
REFERENCING
A running referencing procedure is canceled.
Drive stops on the ramp.
* RELATIVE
POSITIONING
1
OPERATING
STATUS
Relative positioning mode. A drive task is
executed with edge in bit 6, ACTIVATE DRIVE
TASK
* ABSOLUTE
POSITIONING
0
OPERATING
STATUS
Absolute positioning mode. Drive task is executed
when the operation is enabled
* CHANGE
SET
IMMEDIATE
LY
1
OPERATING
STATUS
Apply new setpoint immediately after reaching the
last one.
* SINGLE
SETPOINT
0
OPERATING
STATUS
Complete previous operation before taking in new
setpoint.
* SYNCHRO
NIZE
1
OPERATING
STATUS
Start synchronization instantly and maintain
synchronization. This function is effective when
PNU 304, Encoder Interface Emulation, set to 2Reference Input, or 3- Feedback Input.
* STOP
SYNCHRO
NIZATION
0
OPERATING
STATUS
Stop synchronization.
ACTIVATE
DIRECT
MOTION TASK
1
Case “Telegram 102”. The drive applies digital
references from field bus, i.e. “direct” commands.
INTERNAL
MOTION TASK
0
Case “Telegram 102”. The drive applies internal
references programmed into the motion tables,
i.e. “internal” commands.
5-13
Chapter 5 - PROFIBUS Communication
Status Word
In the PPO read telegram the drive returns the Status Word to the
master station. The bit-coded status information represents the drive
current state.
The table below shows the detailed allocation of the Status Word
bits for Positioning Mode and a short description of the bit meaning.
The star sign denotes that the meaning of that bit is specific for the
Positioning Mode, otherwise the bit meaning is common to the
Speed Mode. The upper case boldface text refers to the states
shown in the state machine.
Bit
0
1
2
3
4
5
6
7
8
9
10
11
5-14
Name
Value
State
Description
READY
1
READY TO
SWITCH ON
Power on, pulses inhibited
NOT READY
0
SWITCH-ON
INHIBITED
Not ready
OPERATING
CONDITION
1
READY FOR
OPERATION
Refer to Control Word bit 0 set to 1
OFF1
0
OFF1 ACTIVE
Not ready
OPERATING
CONDITION
1
OPERATION
ENABLED
Operating condition
DISABLED
0
READY FOR
OPERATION
Drive disabled
FAULT
1
FAULT
Fault. Drive disabled
OK
0
OK
1
OFF2
0
OFF2 ACTIVE
Not ready
OK
1
OFF3
0
OFF3 ACTIVE
Not ready
OPERATION
INHIBITED
1
SWITCH-ON
INHIBITED
Drive inhibited, re-close only with OFF1
ACTIVE then ON / READY, bit 0 of the
Control Word set to 1.
OK
0
ALARM
1
Warning/Alarm. See PNU 953 to
investigate the alarm code.
NO ALARM
0
Ok
* OK
1
The dynamic setpoint/actual position
comparison is within the defined contouring
error window, parameter Following Error
Window, PNU 1209.
* CONTOURING
ERROR
0
REMOTE
1
Field bus control enabled, refer to bit 10
control word set to 1.
LOCAL
0
Local control enabled
* SETPOINT
POSITION
1
OPERATING
Setpoint position reached. The actual
position value is within the positioning
window defined with parameters Position
Monitoring Time, PNU 1215, and Position
Window, PNU 1210.
* POSITION
ERROR
0
FAULT
Outside setpoint position. See parameters
Position Monitoring Time, PNU 1215, and
Position Window, PNU 1210.
* REFERENCE
1
REFERENCING
Reference point set
* NO REFERENCE
0
REFERENCING
No reference point set
FAULT
Contouring error. See parameter Following
Error Window, PNU 1209.
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
12
13
14
15
PROFIBUS Guide - MANIU20.0507 E
* ACKNOWLEDGE
1!0
OPERATING
0!1
Each edge is used to acknowledge that a
drive task or setpoint was accepted. Same
level as bit 6 in the control word.
* DRIVE
STATIONARY
1
Drive stationary. Actual speed is within the
supervision limit set with parameter Min
Speed, PNU 1106.
* DRIVE MOVING
0
Drive moving. Actual speed exceeds the
supervision limit set with parameter Min
Speed, PNU 1106.
* REFERENCING
ERROR
1
* OK
0
* SYNC REACHED
1
* NO SYNC
0
REFERENCING
An error occurred during referencing
procedure.
OPERATING
Axis synchronization reached, speed or
position synchronization depending on
PNU 1240, Synchronization Type.
Synchronization not reached.
5-15
Chapter 5 - PROFIBUS Communication
State Machine for
Positioning Mode
S W ITC H-O N
INHIBITE D
MAINS O FF
Power ON
A
B
C
CW = Co ntro l W o rd
SW = Status W o rd
(S W B it6 = 1)
(C W = xxxx x1xx xxxx x110)
D
R E AD Y TO
S W ITC H-O N
(S W B it0 = 1, B it4 = 1 e Bit5 = 1)
(C W Bit3 = 0)
O P ER A TIO N
INHIB ITED
(C W = xxxx x1xx xxxx x111)
From any state
(S W B it2 = 0)
Fault
FAULT
R EA D Y FO R
O PE R ATIO N
(SW Bit3 = 1)
(SW Bit1 = 1)
(C W Bit7 = 1)
From any state
OFF1 (C W Bit0 = 0)
O FF1
AC TIV E
From any state
(C W Bit3 = 1)
From any state
OFF3 (C W B it2 = 0)
OFF2 (C W Bit1 = 0)
(SW Bit1 = 0)
O FF3
A C TIVE
B C D
(SW Bit5 = 0)
O FF2
AC TIV E
(S W B it4 = 0)
(C W B it4 = 0)
C ontinues in the
next page
5-16
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
C ontinues from
previous page
R eferencing
concluded
(S W B it2 = 1)
O P E R A TIO N
E N A B LE D
R E FE R E N C IN G
(C W Bit11 = 1)
Inching concluded
(C W B it8 e B it9 = 0)
IN C H IN G
(C W B it8 o B it9 = 1)
D rive task
term inated
(C W B it4 = 1, B it5 = 1 e B it6 = 1)
S TO P
A ctivate new
drive task or
setpoint
D R IV E TA S K
A C TIV E
C ontinue drive task
(C W B it5 = 1)
(C W B it4 = 0)
Interm ediate stop
(C W B it5 = 0)
D rive stationary
(S W B it13 = 1)
PROFIBUS Guide - MANIU20.0507 E
IN TE R M E D IA TE
S TO P
R eferencing
Inching
5-17
Chapter 5 - PROFIBUS Communication
Torque Mode
Beside the Speed and Positioning Mode, brushless servo drives
usually have the so-called Torque-Current control function.
This function is hereby named Torque Mode for the PROFIBUS
remote control. As for the previous Speed and Position Mode, the
Torque Mode selection is possible through parameter PNU 930 set to
“-3 - Torque Mode”, in this case.
The state machine of Speed Mode is used here.
Control Word
The table below shows the detailed allocation of the Control Word bits
for Torque Mode and a short description of the bits meaning. The star
sign denotes the meaning of that bit is specific for the Torque Mode,
otherwise the bit meaning is common to Speed and Position Modes as
well.
Bit
0
1
2
3
Meaning
State
Description
ON / READY
1
READY FOR
OPERATION
Enter the READY FOR OPERATION state.
OFF1
0
OFF1 ACTIVE
Emergency stop by the deceleration ramp Quick
Stop Time, PNU 1105. Proceed READY TO
SWITCH ON unless other interlocks OFF2, OFF3
are active.
OPERATING
CONDITION
1
READY TO
SWITCH ON
OFF2 not active, operating condition.
OFF2
0
OFF2 ACTIVE
Emergency stop, pulses inhibited, converter
disabled. Enter OFF2 ACTIVE and proceed to
SWITCH-ON INHIBITED
OPERATING
CONDITION
1
READY TO
SWITCH ON
OFF3 not active, operating condition.
OFF3
0
OFF3 ACTIVE
Emergency stop, dynamic braking. Enter OFF3
ACTIVE and proceed to SWITCH-ON INHIBITED
OPERATION
ENABLED
1
OPERATION
ENABLED
Enter OPERATION ENABLED
OPERATION
INHIBITED
0
OPERATION
INHIBITED
Enter OPERATION INHIBITED, dynamic braking
active. Switch to READY FOR OPERATION
4
* Not used
--
5
* Not used
--
6
* ENABLE
SETPOINT
1
REFERENCE
SETPOINT
ENABLE
Enable torque digital setpoint
* INHIBIT
SETPOINT
0
REFERENCE
SETPOINT
INHIBITED
Torque digital setpoint set to 0.
0!1
SWITCH-ON
INHIBITED
Fault acknowledge with a positive edge. When the
fault is removed, proceed to SWITCH-ON
INHIBITED
7
ACKNOWLEDGE
OK
5-18
Value
0
(normal operating condition)
8
* Not used
--
9
* Not used
--
10
ENABLE
REMOTE
CONTROL
1
Field bus control enabled
INHIBIT
REMOTE
CONTROL
0
Field bus control disabled, local control via RS
232 enabled
11
* Not used
--
12
* Not used
--
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
Status Word
13
* Not used
--
14
* Not used
--
15
ACTIVATE
DIRECT
MOTION TASK
1
Case “Telegram 102”. The drive applies digital
references from field bus, i.e. “direct” commands.
INTERNAL
MOTION TASK
0
Case “Telegram 102”. The drive applies internal
references programmed into the motion tables,
i.e. “internal” commands.
The table below shows the detailed allocation of the Status Word bits
for Torque Mode and a short description of the bit meaning. The star
sign indicating the meaning of that bit is specific for the Torque Mode,
whereas the other states are common to Speed and Position mode.
Bit
0
Name
Value
State
Description
READY
1
READY TO
SWITCH ON
Power on, pulses inhibited
NOT READY
0
SWITCH-ON
INHIBITED
Not ready
OPERATING
CONDITION
1
READY FOR
OPERATION
Refer to Control Word bit 0 set to 1
OFF1
0
OFF1 ACTIVE
Not ready
OPERATING
CONDITION
1
OPERATION
ENABLED
Operating condition
DISABLED
0
READY FOR
OPERATION
Drive disabled
FAULT
1
FAULT
Fault. Drive disabled
OK
0
OK
1
OFF2
0
OFF2 ACTIVE
Not ready
5
OK
1
OFF3
0
OFF3 ACTIVE
Not ready
6
OPERATION
INHIBITED
1
SWITCH-ON
INHIBITED
SWITCH-ON INHIBITED, drive inhibited, re-close
only with OFF1 ACTIVE then ON / READY, bit 0
of the control word set to 1.
OK
0
7
ALARM
1
Warning/Alarm. See PNU 953 to investigate the
alarm code.
NO ALARM
0
Ok
1
Field bus control enabled, refer to Control Word
bit 10 set to 1.
LOCAL
0
Local control enabled
* MIN SPEED
REACHED
1
Actual speed exceeds the supervision limit preset
with parameter Min Speed, PNU 1106.
* MIN SPEED
NOT
REACHED
0
Actual speed is within the supervision limit preset
with parameter Min Speed, PNU 1106.
1
2
3
4
8
* Not used
9
REMOTE
10
--
11
* Not used
--
12
* Not used
--
13
* Not used
--
14
* Not used
--
15
* Not used
--
PROFIBUS Guide - MANIU20.0507 E
5-19
Chapter 5 - PROFIBUS Communication
Analog Torque Mode
The Torque-Current control function is available with the Analog
Torque Mode as well. When this mode is operated (PNU 930 set to
“-2 - Analogue Torque Mode”), DGV is activated by the Control
Word and monitored through the Status Word, whereas the torque
command may only come from the analog input.
The state machine of Speed Mode is used here.
Control Word
The table below shows the detailed allocation of the Control Word bits
for Analog Torque Mode and a short description of the bits meaning.
The star sign denotes the meaning of that bit is specific for this
operating mode.
Bit
0
1
2
3
Meaning
State
Description
ON / READY
1
READY FOR
OPERATION
Enter the READY FOR OPERATION state.
OFF1
0
OFF1 ACTIVE
Emergency stop by the deceleration ramp Quick
Stop Time, PNU 1105. Proceed READY TO
SWITCH ON unless other interlocks OFF2, OFF3
are active.
OPERATING
CONDITION
1
READY TO
SWITCH ON
OFF2 not active, operating condition.
OFF2
0
OFF2 ACTIVE
Emergency stop, pulses inhibited, converter
disabled. Enter OFF2 ACTIVE and proceed to
SWITCH-ON INHIBITED
OPERATING
CONDITION
1
READY TO
SWITCH ON
OFF3 not active, operating condition.
OFF3
0
OFF3 ACTIVE
Emergency stop, dynamic braking. Enter OFF3
ACTIVE and proceed to SWITCH-ON INHIBITED
OPERATION
ENABLED
1
OPERATION
ENABLED
Enter OPERATION ENABLED
OPERATION
INHIBITED
0
OPERATION
INHIBITED
Enter OPERATION INHIBITED, dynamic braking
active. Switch to READY FOR OPERATION
4
* Not used
--
5
* Not used
--
6
* ENABLE
SETPOINT
1
REFERENCE
SETPOINT
ENABLE
Execute the torque command given at analog
input
* INHIBIT
SETPOINT
0
REFERENCE
SETPOINT
INHIBITED
Analog torque setpoint set to 0.
0!1
SWITCH-ON
INHIBITED
Fault acknowledge with a positive edge. When the
fault is removed, proceed to SWITCH-ON
INHIBITED
7
ACKNOWLEDGE
OK
5-20
Value
0
(Normal operating condition)
8
* Not used
--
9
* Not used
--
10
ENABLE
REMOTE
CONTROL
1
Field bus control enabled
INHIBIT
REMOTE
CONTROL
0
Field bus control disabled, local control via RS
232 enabled
11
* Not used
--
12
* Not used
--
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
Status Word
13
* Not used
--
14
* Not used
--
15
* Not used
--
The table below shows the detailed allocation of the Status Word bits
for Analog Torque Mode and a short description of the bit meaning.
The star sign indicating the meaning of that bit is specific for this
operating mode.
Bit
0
Name
Value
State
Description
READY
1
READY TO
SWITCH ON
Power on, pulses inhibited
NOT READY
0
SWITCH-ON
INHIBITED
Not ready
OPERATING
CONDITION
1
READY FOR
OPERATION
Refer to Control Word bit 0 set to 1
OFF1
0
OFF1 ACTIVE
Not ready
OPERATING
CONDITION
1
OPERATION
ENABLED
Operating condition
DISABLED
0
READY FOR
OPERATION
Drive disabled
FAULT
1
FAULT
Fault. Drive disabled
OK
0
OK
1
OFF2
0
OFF2 ACTIVE
Not ready
5
OK
1
OFF3
0
OFF3 ACTIVE
Not ready
6
OPERATION
INHIBITED
1
SWITCH-ON
INHIBITED
SWITCH-ON INHIBITED, drive inhibited, re-close
only with OFF1 ACTIVE then ON / READY, bit 0
of the control word set to 1.
OK
0
7
ALARM
1
Warning/Alarm. See PNU 953 to investigate the
alarm code.
NO ALARM
0
Ok
1
Field bus control enabled, refer to Control Word
bit 10 set to 1.
LOCAL
0
Local control enabled
* MIN SPEED
REACHED
1
Actual speed exceeds the supervision limit preset
with parameter Min Speed, PNU 1106.
* MIN SPEED
NOT
REACHED
0
Actual speed is within the supervision limit preset
with parameter Min Speed, PNU 1106.
1
2
3
4
8
* Not used
9
REMOTE
10
--
11
* Not used
--
12
* Not used
--
13
* Not used
--
14
* Not used
--
15
* Not used
--
PROFIBUS Guide - MANIU20.0507 E
5-21
Chapter 5 - PROFIBUS Communication
Analog Speed Mode
The Speed control function is available with the Analog Speed Mode
as well. When this mode is operated (PNU 930 set to “-1 - Analog
Speed Mode”), DGV is activated by the Control Word and monitored
through the Status Word, whereas the speed command may only come
from the analog input.
The state machine of Speed Mode is used here.
Control Word
The table below shows the detailed allocation of the Control Word bits
for Analog Speed Mode and a short description of the bits meaning.
The star sign denotes the meaning of that bit is specific for this
operating mode.
Bit
0
1
2
3
Meaning
State
Description
ON / READY
1
READY FOR
OPERATION
Enter the READY FOR OPERATION state.
OFF1
0
OFF1 ACTIVE
Emergency stop by the deceleration ramp Quick
Stop Time, PNU 1105. Proceed READY TO
SWITCH ON unless other interlocks OFF2, OFF3
are active.
OPERATING
CONDITION
1
READY TO
SWITCH ON
OFF2 not active, operating condition.
OFF2
0
OFF2 ACTIVE
Emergency stop, pulses inhibited, converter
disabled. Enter OFF2 ACTIVE and proceed to
SWITCH-ON INHIBITED
OPERATING
CONDITION
1
READY TO
SWITCH ON
OFF3 not active, operating condition.
OFF3
0
OFF3 ACTIVE
Emergency stop, dynamic braking. Enter OFF3
ACTIVE and proceed to SWITCH-ON INHIBITED
OPERATION
ENABLED
1
OPERATION
ENABLED
Enter OPERATION ENABLED
OPERATION
INHIBITED
0
OPERATION
INHIBITED
Enter OPERATION INHIBITED, dynamic braking
active. Switch to READY FOR OPERATION
4
* Not used
--
5
* Not used
--
6
* ENABLE
SETPOINT
1
REFERENCE
SETPOINT
ENABLE
Execute the speed command given at analog
input.
* INHIBIT
SETPOINT
0
REFERENCE
SETPOINT
INHIBITED
Analog speed setpoint set to 0.
0!1
SWITCH-ON
INHIBITED
Fault acknowledge with a positive edge. When the
fault is removed, proceed to SWITCH-ON
INHIBITED
7
ACKNOWLEDGE
OK
5-22
Value
0
(Normal operating condition)
8
* Not used
--
9
* Not used
--
10
ENABLE
REMOTE
CONTROL
1
Field bus control enabled
INHIBIT
REMOTE
CONTROL
0
Field bus control disabled, local control via RS
232 enabled
11
* Not used
--
12
* Not used
--
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
Status Word
13
* Not used
--
14
* Not used
--
15
* Not used
--
The table below shows the detailed allocation of the Status Word bits
for Analog Speed Mode and a short description of the bit meaning. The
star sign indicating the meaning of that bit is specific for this operating
mode.
Bit
0
Name
Value
State
Description
READY
1
READY TO
SWITCH ON
Power on, pulses inhibited
NOT READY
0
SWITCH-ON
INHIBITED
Not ready
OPERATING
CONDITION
1
READY FOR
OPERATION
Refer to Control Word bit 0 set to 1
OFF1
0
OFF1 ACTIVE
Not ready
OPERATING
CONDITION
1
OPERATION
ENABLED
Operating condition
DISABLED
0
READY FOR
OPERATION
Drive disabled
FAULT
1
FAULT
Fault. Drive disabled
OK
0
OK
1
OFF2
0
OFF2 ACTIVE
Not ready
5
OK
1
OFF3
0
OFF3 ACTIVE
Not ready
6
OPERATION
INHIBITED
1
SWITCH-ON
INHIBITED
SWITCH-ON INHIBITED, drive inhibited, re-close
only with OFF1 ACTIVE then ON / READY, bit 0
of the control word set to 1.
OK
0
7
ALARM
1
Warning/Alarm. See PNU 953 to investigate the
alarm code.
NO ALARM
0
Ok
1
Field bus control enabled, refer to Control Word
bit 10 set to 1.
LOCAL
0
Local control enabled
* MIN SPEED
REACHED
1
Actual speed exceeds the supervision limit preset
with parameter Min Speed, PNU 1106.
* MIN SPEED
NOT
REACHED
0
Actual speed is within the supervision limit preset
with parameter Min Speed, PNU 1106.
* REFERENCE
1
No reference point set
* NO
REFERENCE
0
Reference point set
1
2
3
4
8
* Not used
9
REMOTE
10
11
--
12
* Not used
--
13
* Not used
--
14
* Not used
--
15
* Not used
--
PROFIBUS Guide - MANIU20.0507 E
5-23
Chapter 5 - PROFIBUS Communication
Configuration of
Process Data
Telegram 101
Structure of Process Data can be selected between two standard
configurations using PNU 922 “Telegram Selection”.
When PNU 922 = 101, control and status Process Data have the
standard structure of “Telegram 101”, predefined for each operating
mode12.
Speed Mode
(PNU 930 = 1)
Process Data
CW
REF
PD1
PD2
PD3
PD4
SW
ACT
PD1
PD2
PD3
PD4
-
-
Control Word 2
PNU 1010
Control Word
PNU 967
Direct Target Velocity
PNU 1111
Status Word
PNU 968
Actual Velocity
PNU 1101
Actual Position
PNU 1201
Status Word 2
PNU 1011
Positioning Mode
(PNU 930 = 2)
Process Data
CW
REF
PD1
PD2
PD3
PD4
SW
ACT
PD1
PD2
PD3
PD4
Control Word
PNU 967
Direct Target Position
PNU 1231
Direct Profile Velocity
PNU 1232
Control Word 2
PNU 1010
Status Word
PNU 968
Actual Position
PNU 1201
Actual Velocity
PNU 1101
Status Word 2
PNU 1011
1
Note that, in any case the drive can be controlled by “direct” commands from field bus (“Direct Target Position”, “Direct
Target Velocity", etc.), or “internal” commands from motion tables (PNU 1200 “Target Position”, PNU 1010 “Target
Velocity”, etc.) selected through Control Word 2. When using “Telegram 101”, PNU 1223 “Motion Type Selection” allows
for switching between direct/internal commands: PNU 1223 set to “1 - Internal", internal data of motion tables are
applied; PNU 1223 set to “2 - Fieldbus", direct digital references are applied. See Chapter 6 – “Direct” / “Internal”
Commands.
2
For all operating modes, units of speed and position depend on PNU 1214 “Axis Type”: [meters/second] and [meters]
for linear axis, [degrees] and [degrees/seconds] for rotational axis.
5-24
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
Analog Speed Mode
(PNU 930 = -1)
Process Data
CW
REF
PD1
PD2
PD3
PD4
SW
ACT
PD1
PD2
PD3
PD4
Control Word
PNU 967
-
-
-
-
Control Word 2
PNU 1010
Status Word
PNU 968
Note.
Actual Velocity
PNU 1101
Actual Position
PNU 1201
Status Word 2
PNU 1011
Telegram 101 provides extra-functions with both “Analog
Torque Mode” and “Torque Mode”. Process data PD3 can
be used for remote control of additional devices by setting
a number of the DGV’s digital I/O as “0 - Disabled” (see
Appendix A, PNU 1400 and PNU 1401).
Analog Torque Mode
(PNU 930 = -2)
Process Data
CW
REF
PD1
PD2
PD3
PD4
SW
ACT
PD1
PD2
PD3
PD4
Control Word
PNU 967
-
-
-
Status Word
PNU 968
Actual Torque
PNU 1301
Actual Velocity
PNU 1101
-
PNU
1401
Control Word 2
PNU 1010
PNU
1400
PNU
1401
Status Word 2
PNU 1011
Torque Mode
(PNU 930 = -3)
Process Data
CW
REF
PD1
PD2
PD3
PD4
SW
ACT
PD1
PD2
PD3
PD4
Control Word
PNU 967
Direct Target
Torque
PNU 1303
-
-
Status Word
PNU 968
Actual Torque
PNU 1301
PROFIBUS Guide - MANIU20.0507 E
Actual Velocity
PNU 1101
-
PNU
1401
Control Word 2
PNU 1010
PNU
1400
PNU
1401
Status Word 2
PNU 1011
5-25
Chapter 5 - PROFIBUS Communication
Telegram 102
When PNU 922 = 102, control and status Process Data have the
standard structure of “Telegram 102”, predefined for each operating
mode 1.
Speed Mode
(PNU 930 = 1)
Process Data
CW
REF
PD1
PD2
PD3
PD4
SW
ACT
PD1
PD2
PD3
PD4
Control Word
PNU 967
Direct Target Velocity
PNU 1111
Direct Acceleration Override
PNU 1233
Torque
Reduction
PNU 1110
Control Word 2
PNU 1010
Status Word
PNU 968
Actual Velocity
PNU 1101
Actual Torque
PNU 1301
Average Torque
PNU 1302
Status Word 2
PNU 1011
Positioning Mode
(PNU 930 = 2)
Process Data
CW
REF
PD1
PD2
PD3
PD4
SW
ACT
PD1
PD2
PD3
PD4
Velocity
Override
PNU 1230
Direct Acceleration Override
PNU 1233
Control Word 2
PNU 1010
Control Word
PNU 967
Direct Target Position
PNU 1231
Status Word
PNU 968
Actual Position
PNU 1201
Actual Velocity
PNU 1101
Status Word 2
PNU 1011
1
Note that, in any case the drive can be controlled by “direct” commands or “internal” commands. When “Telegram
102”, Bit 15 of the Control Word allows for switching between direct/internal commands: Bit 15 set to 0, internal data of
motion tables are applied; Bit 15 set to 1, direct digital references are applied. See Chapter 6 – “Direct” / “Internal”
Commands.
5-26
PROFIBUS Guide - MANIU20.0507 E
Chapter 5 - PROFIBUS Communication
Analog Speed Mode
(PNU 930 = -1)
Process Data
CW
REF
PD1
PD2
PD3
PD4
SW
ACT
PD1
PD2
PD3
PD4
Control Word
PNU 967
Torque
Reduction
PNU 1110
-
-
-
Control Word 2
PNU 1010
Actual Torque
PNU 1301
Average Torque
PNU 1302
Status Word 2
PNU 1011
Status Word
PNU 968
Actual Velocity
PNU 1101
Analog Torque Mode
(PNU 930 = -2)
Process Data
CW
REF
PD1
PD2
PD3
PD4
SW
ACT
PD1
PD2
PD3
PD4
Control Word
PNU 967
-
-
-
-
Control Word 2
PNU 1010
Status Word
PNU 968
Actual Torque
PNU 1301
Average Torque
PNU 1302
Status Word 2
PNU 1011
Actual Velocity
PNU 1101
Torque Mode
(PNU 930 = -3)
Process Data
CW
REF
PD1
PD2
PD3
PD4
SW
ACT
PD1
PD2
PD3
PD4
Control Word
PNU 967
Direct Target
Torque
PNU 1303
-
-
-
Control Word 2
PNU 1010
Status Word
PNU 968
Actual Torque
PNU 1301
Average Torque
PNU 1302
Status Word 2
PNU 1011
PROFIBUS Guide - MANIU20.0507 E
Actual Velocity
PNU 1101
5-27
Chapter 5 - PROFIBUS Communication
This page has been intentionally left blank.
5-28
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Introduction
This chapter introduces functions and features of the operating modes
available with DGV.
Operating Modes
DGV with PROFIBUS-DP interface can operate different modes (PNU
930), each mode suiting a particular application
•
Analog Torque Mode performs torque control using the torque
reference given to the drive through the Analog Input (+VREF,
-VREF) on the converter front panel.
•
Analog Speed Mode performs speed control using the speed
reference given to the drive through the Analog Input (+VREF,
-VREF) on the converter front panel.
•
Positioning Mode performs position control using digital
position targets. The positioning is point-to-point with fixed
targets. Additional positioning functions are available such as
Absolute/Relative Positioning, Position Modulo, and different
methods for targets processing (Single Setpoint, Change Set
Immediately), etc. Homing, Jogging and Synchronization can
be also performed selecting this mode.
•
Speed Mode performs speed control using digital speed
targets.
•
Torque Mode performs torque control using digital torque
targets.
Note.
PROFIBUS Guide - MANIU20.0507 E
Control Mode (PNU 260) must be set to “2 - Field Bus” for
activating field bus external control and afterwards
selecting the operating mode (PNU 930).
6-1
Chapter 6 - Description of Functions
Note.
6-2
Each mode, however, can be operated locally as well by
setting Control Mode to “1 - Local”, selecting the operating
mode with parameter Local Operating Mode (PNU 258)
and in case configuring the motion tables. In details,
-
Analogue Torque Mode can be operated locally setting
PNU 258 to “1 - Analog Torque” and feeding the
Analog Input +VREF, -VREF or activating the
Waveform Generator in the Waveform page of the
Browser application tool (see Firmware Manual);
-
Analogue Speed Mode can be operated locally setting
PNU 258 to “1 - Analog Speed” and feeding the Analog
Input +VREF, -VREF or activating the Waveform
Generator in the Waveform page of the Browser
application tool (see Firmware Manual);
-
Torque Mode can be operated locally setting PNU 258
to “3 - Digital Torque” and setting the torque setpoint
into parameter “Target Torque” (PNU 1300);
-
Speed Mode can be operated locally setting PNU 258
to “4 - Digital Speed” and setting the speed setpoint
into parameter “Target Velocity” (PNU 1100);
-
Positioning Mode can be operated setting PNU 258 to
“5 - Digital Position" and setting the position setpoint
into parameter “Target Position” (PNU 1200). This
mode includes the Homing, Jogging and
Synchronization.
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
“Direct” / “Internal”
Commands
By this function it is possible to manage mixed applications, which
require to control the drive applying digital references from fieldbus,
called “direct”, or “internal” references programmed into the 32 motion
tables.
This function is available in the operating modes Positioning Mode,
Speed Mode and Torque Mode.
As featured in Configuration of the Process Data, it is possible to
choose between two predefined configuration of the telegram
(Telegram 101 and Telegram 102) using PNU 922 “Telegram
Selection”.
Switching among “direct” and “internal” commands is achieved
through:
•
PNU 1223 “Motion Type Selection” when using Telegram 101
•
Bit 15 of the Control Word when using Telegram 102
When using Telegram 101,
-
by setting PNU 1223 to “0 - Internal” internal data of
the motion tables are applied;
-
by setting PNU 1223 to “1 - Fieldbus”, direct digital
references are applied.
When using Telegram 102,
-
by setting Bit 15 to 0, internal data of the motion tables
are applied;
-
by setting Bit 15 to 1, direct digital references are
applied.
Hence, different parameters are employed for “direct” and “internal”
control.
Data
Direct Commands
Internal Commands (32 Tables)
Telegram 101
and PNU 1223=1
Telegram 102
and Bit 15 = 1
• Telegram 101 and PNU1223=0
• Telegram 102 and Bit 15 = 0
Velocity Target
(Speed Mode)
PNU 1111
PNU 1111
PNU 1100
Position Target
(Positioning Mode)
PNU 1231
PNU 1231
PNU 1200
Profile Velocity
(Positioning Mode)
PNU 1232
PNU 1230
(% PNU 1232)
PNU 1202
Profile Acceleration
(Speed and Position. Mode)
PNU 1203
PNU 1233
(% PNU 1222)
PNU 1203
Profile Deceleration
(Speed and Position. Mode)
PNU 1204
PNU 1233
(% PNU 1221)
PNU 1204
Torque Target
(Torque Mode)
PNU 1303
PNU 1303
PNU 1300
PROFIBUS Guide - MANIU20.0507 E
6-3
Chapter 6 - Description of Functions
Commands Flowchart
for Telegram 101
Local
1
2
PNU 260
“Control Mode”
Field Bus
PNU 258
“Local Operating Mode”
PNU 930
“Modes of Operation”
Analogue Torque, Analog Speed,
Digital Torque, Digital Speed, Digital
Position
Profile Position, Profile Speed,
Profile Torque, Homing, Jogging,
Synchronization
“Internal” Commands
(Table Source)
0
PNU 1123
1
“Direct” Commands
(Fieldbus Source)
TARGETS
(position, speed, current)
TARGETS
(position, speed, current)
Via Motion Tables
Via Telegram
CONTROL COMMANDS
CONTROL COMMANDS
ON
Via
DI/O
Digital
Input
OFF
Via
CW / CW2
Halt,
Start Motion Task,
Stop Motion Task
Homing,
Jogging,
Motion Tables
Homing, Jogging, Halt,
Start Motion Task, Stop Motion Task,
Motion Tables
ON
Via
DI/O
Digital
Input
OFF
Via
CW / CW2
ON
Via
CW / CW2
6-4
Digital
Input
OFF
Via
CW / CW2
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Commands Flowchart
for Telegram 102
Local
1
2
PNU 260
“Control Mode”
Field Bus
PNU 258
“Local Operating Mode”
PNU 930
“Modes of Operation”
Analogue Torque, Analog Speed,
Digital Torque, Digital Speed, Digital
Position
Profile Position, Profile Speed,
Profile Torque, Homing, Jogging,
Synchronization
“Internal” Commands
(Table Source)
0
CW Bit 15
1
“Direct” Commands
(Fieldbus Source)
TARGETS
(position, speed, current)
TARGETS
(position, speed, current)
Via Motion Tables
Via Telegram
CONTROL COMMANDS
CONTROL COMMANDS
ON
Via
DI/O
Digital
Input
OFF
Via
CW / CW2
Halt,
Start Motion Task,
Stop Motion Task
Homing,
Jogging,
Motion Tables
Homing, Jogging, Halt,
Start Motion Task, Stop Motion Task,
Motion Tables
ON
Via
DI/O
Digital
Input
OFF
Via
CW / CW2
ON
Via
CW / CW2
PROFIBUS Guide - MANIU20.0507 E
Digital
Input
OFF
Via
CW / CW2
6-5
Chapter 6 - Description of Functions
Analog Torque Mode
Selecting Analog Torque Mode (PNU 930 set to -2) activates torque
control using analog setpoint. The device can only be activated by the
Control Word and monitored through the Status Word.
The current command, which produces torque at the motor shaft, is
the reference signal at Analog Input (+VREF, -VREF). The Analog
Input signal can be scaled adjusting the scaling factors “Torque
Numerator” (PNU 339) and “Torque Denominator” (PNU 363). See
also paragraph Analog I/O of Firmware Manual.
The scaled signal feeds directly the internal control loop of DGV to
provide a PI current control.
WARNING! In order to avoid faults or motor damages,
special care must be taken using this mode.
Basic Settings for
Analog Torque Mode
After first configuration of DGV Servodrives has been performed as
illustrated in Chapter 5 of the Firmware Manual, the following
parameters must be adjusted.
Basic Settings for Analog Torque Mode
6-6
PNU
Name
Value
Comments
930
1106
339
363
343
379
380
Modes of Operation
Min Speed
Torque Numerator
Torque Denominator
Brake Current
Kp Current Gain Level
Tn Current
-2
Custom
Custom
Custom
Custom
Default
Default
Analog Torque Mode
Threshold for bit 10 of SW
Scaling of Analog Input
+VREF -VREF
Current for dynamic braking
Parameters of the current
internal control loop
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Analog Speed Mode
Selecting Analog Speed Mode (PNU 930 set to -1) activates control
of the motor speed. The device can only be activated by the Control
Word and monitored through the Status Word.
The speed command is the reference signal at Analog Input (+VREF,
-VREF). The Analog Input signal can be scaled adjusting the scaling
factors “Speed Numerator” (PNU 336) and “Speed Denominator”
(PNU 338). See also paragraph Analog I/O of Firmware Manual.
The speed command signal goes through the ramp function
generator and then feeds directly the speed control loop of DGV to
provide a PI speed control.
Velocity (t)
Max Speed
PNU 1102
Speed
Command
Min Speed
PNU 1106
t
PNU 1103
Acceleration Time
PNU 1104
Deceleration Time
When the ramp function generator is active,
PROFIBUS Guide - MANIU20.0507 E
•
the speed command is limited by “Max Speed” (PNU 1102)
•
“Acceleration Time” (PNU 1103) and “Deceleration Time”
(PNU 1104) fix ramps for accelerating and decelerating
regardless amplitude of the speed command
•
“Min Speed” (PNU 1106) fixes the minimum speed for bit 10
of the Status Word.
6-7
Chapter 6 - Description of Functions
Basic Settings for
Analog Speed Mode
After first configuration of DGV Servodrives has been performed as
illustrated in Chapter 5 of the Firmware Manual, the following
parameters must be adjusted.
Basic Settings for Analog Speed Mode
6-8
PNU
Name
Value
Comments
930
337
336
338
343
357
373
374
1102
1103
1104
1105
1106
1109
1206
1207
1213
Modes of Operation
Maximum Speed
Speed Numerator
Speed Denominator
Brake Current
Overspeed Threshold Level
Kp Speed Gain Level
Tn Speed
Max Speed
Acceleration Time
Deceleration Time
Quick Stop Time
Min Speed
Ramp Function Generator Enable
Min Software Position Limit
Max Software Position Limit
Limit Switch Enable
1214
Axis Type
-1
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
1 - On
Custom
Custom
0001b
0010b
0100b
1000b
1/2
Analog Speed Mode
Motor maximum speed
Scaling of Analog Input
+VREF -VREF
Current for dynamic braking
Parameters of the PI internal
speed control loop
Limitation of speed command
Ramp for accelerating
Ramp for decelerating
Emergency stop ramp
Threshold for bit 10 of SW
Enable internal ramp generator
Set the positive and negative
software limit switch
Enable HW negative limit switch
Enable HW positive limit switch
Enable SW negative limit switch
Enable SW positive limit switch
1 - Rotary / 2 - Linear Axis
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Positioning Mode
Positioning Mode (PNU 930 set to 2) performs single-axis position
control.
When a position setpoint is applied, the drive is controlled from its
start position to the defined target position using the trajectory
generator, that is, using the speed and position profiles internally
generated. The position target is generally a field bus reference.
However, motion tables previously configured with fixed targets can
be operated, while the drive is externally controlled. For this purpose
Control Word 2 (PNU 1010) and Digital Inputs can be used.
Profile parameters, motion parameters and parameters of the
position and speed control loops must be adjusted depending on the
application.
Note.
When positioning by direct commands, any change of
state (0-1-0…) in Bit 6 of the Control Word enables the
new position target given into the specific field of the
process data (see Configuration of the Process Data).
When positioning by internal commands, positive edges
only (0 ! 1) in Bit 6 of the Control Word enable the
position target set into the motion table currently selected.
PROFIBUS Guide - MANIU20.0507 E
6-9
Chapter 6 - Description of Functions
Basic Setting for
Positioning
After first configuration of DGV Servodrives has been performed as
illustrated in Chapter 5 of the Firmware Manual, the following
parameters must be adjusted.
Note also that axis referencing is necessary before any positioning
can be executed.
Basic Settings for Positioning
6-10
PNU
Name
Value
Comments
930
1010
1106
1200
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
Modes of Operation
Control Word 2
Min Speed
Target Position
Profile Velocity
Profile Acceleration
Profile Deceleration
Quick Stop Deceleration
Min Software Position Limit
Max Software Position Limit
Polarity
Following error window
Position Window
Position Conversion Numerator
Position Conversion Denominator
Limit Switch Enable
1214
1215
1216
1217
Axis Type
Position Monitoring Time
Position Modulo
Positioning Mode
1218
1219
1220
1221
1222
1223
1224
1225
1227
1228
Modulo Conversion Activation
Motion Profile Type
Max Profile Velocity
Max Acceleration
Max Deceleration
Motion Type Selection
Jerk-limiting Time Constant
Enable Table
Next Running Table
Delay before Running Next Table
2
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
65536
Custom
0001b
0010b
0100b
1000b
1/2
Custom
Custom
0000b
0001b
0000b
0010b
0000b
0100b
1000b
1/0
0
Custom
Custom
Custom
0/1
Custom
On / Off
Custom
Custom
Positioning Mode
Selection of motion tables
Threshold for bit 12 of SW
Emergency stop deceleration
Set the positive and negative
software limit switch
See Monitoring Functions
See Monitoring Functions
Conversion of axis position
into internal units
Enable HW negative limit switch
Enable HW positive limit switch
Enable SW negative limit switch
Enable SW positive limit switch
1 - Rotary / 2 - Linear Axis
See Monitoring Functions
For ex. 1000.000 [deg]
Absolute Positioning
Relative Positioning
Single setpoint
Change Set Immediately
Positive direction
Negative direction
Run shortest trip to target
On / Off
Trapezoidal Profile
0 - Table (Internal) / 1- FieldBus
Smooth profile generator
Set On when PNU 1223 = 0
Select when Index 2119 = 0
-
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Positioning Functions
When the drive is position-controlled, the position target is
approached through one of the following positioning methods:
•
Absolute positioning
•
Relative positioning
•
Positioning functions (position modulo, single setpoint, set of
setpoints)
•
Jogging
In addition monitoring functions can be programmed, such as
hardware and software limit switches, following error monitoring,
positioning and speed monitoring, standstill monitoring.
Absolute Positioning
When Positioning Mode is selected, Bit 12 of the Control Word set to
zero specifies that the drive must interpret the position target as
absolute, after the drive has been referenced.
For example:
•
axis zero is point A and position target is 30 degrees, then
the system approaches to absolute position + 30 degrees
(blue arrow); if a second position target were 10 degrees, the
system would drive back to absolute position + 10 degrees
(red arrow).
30°
travel to abs. pos. + 10°
travel to abs. pos. + 30°
A axis zero
PROFIBUS Guide - MANIU20.0507 E
6-11
Chapter 6 - Description of Functions
Relative Positioning
When Positioning Mode is selected, Bit 12 of the Control Word set to
one specifies that the drive must interpret any position target as
referenced to the last position target approached. Therefore motions
are only incremental positions.
For example:
•
axis zero is point A and first position target is + 45 degrees
(blue arrow); if new position target is + 45 degrees, then the
system travels 45 further degrees (red arrow). If new position
target is - 20 degrees, the axis moves 20 degrees back from
last position, whatever it be.
2. travel to incremental position + 45°
3. travel to incremental position - 20°
1. travel to incremental position + 45°
A
Note that in any case of absolute and relative positioning,
approaching direction to the target depends on sign of position
setpoint: clockwise rotation when positive setpoint, counterclockwise
rotation when negative setpoint.
Note.
6-12
Sending incremental position references in one direction
can cause saturation of computation on the actual position.
In this case we recommend to adopt the function Position
Modulo, in order to avoid saturation of the actual position.
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Position Modulo
The Positioning Mode provides also the Position Modulo function for
rotary axis.
Activation of positioning with Position Modulo is possible setting the
following parameters:
•
PNU 1218 “Modulo Conversion Activation” set to 1 activates
the Position Modulo function. Setting to 0, instead, restores
standard positioning.
•
PNU 1216 “Position Modulo” parameterize the position
modulo range.
•
PNU 1217 “Positioning Mode” sets positioning functions.
Note that when position modulo is activated both absolute and
relative positioning methods are available for parameterization, and
direction of approach to target depends on sign of position setpoint.
As further feature, position modulo can be programmed to run the
shortest trip to target.
WARNING! When position modulo is active hardware
and software limit switches are switched off.
…when positive direction
When absolute position modulo in positive direction is selected (PNU
1217, bit 2 = 0), any position target within the position modulo range
(PNU 1216) is approached moving forward clockwise.
For example, assuming that modulo range is equal to 1000 degrees
(PNU 1216 = 1000) and position target is 250 degrees, axis will
approach target moving clockwise.
1000°
0°
PNU 1217
bit 2 = 0
250°
Note that when absolute positioning largest position target is equal to
position modulo.
PROFIBUS Guide - MANIU20.0507 E
6-13
Chapter 6 - Description of Functions
…when negative direction
As for the positive direction, opposite however, when negative
direction is selected (PNU 1217, bit 2 = 1), any position target within
the position modulo range (PNU 1216) is approached moving forward
counterclockwise.
PNU 1217
bit 2 = 1
1000°
0°
250°
…running shortest trip to
target
Single Setpoint
When bit 3 of PNU 1217 is set, the drive approaches the position
target running the shortest trip within the position modulo range (PNU
1216), regardless the direction of motion.
This function is controlled by PNU 1217 “Positioning Mode” (bit 1 =
0) when Control Mode is “1 - Local”, or by bit 13 of the Control Word
when Control Mode is “2 - Field Bus”.
The drive unit is controlled by single setpoints processed one at a
time. The drive unit signals the target was reached (bit 10 of the
Status Word) and then waits for the next position setpoint. Hence
drive speed is reduced to zero before accepting a new setpoint.
Velocity (t)
t0
Change Set Immediately
t1
t3
t2
t
This function is controlled by PNU 1217 “Positioning Mode” (bit 1 =
1) when Control Mode is “1 - Local”, or by bit 13 of the Control Word
when Control Mode is “2 - Field Bus”.
The drive unit applies a set of setpoints, that is setpoints are
processed one by one immediately. The drive speed is not reduced
to zero after reaching targets.
Velocity (t)
t0
6-14
t1
t2
t
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Positioning Signals
In the following, diagrams of control and status signals during
positioning are presented. These diagrams are valid in field bus
control. (Diagrams for local control, see CANopen Manual, Positioning
Signals).
The control signals Start Task, Halt Task and Stop Task refer to the
command bits of the Control Word or to digital inputs configured as
“Start Motion Task”, “Halt” and “Stop Motion Task”.
The status signals Acknowledge, In Position and Drive Stationary
refer to the bits of the Status Word (Acknowledge, Target Reached,
Drive Stationary) or to digital outputs configured as “Positioning Ack”
e “Target Reached”.
Single Positioning
Tasks
Diagram of signals for single positioning tasks (function Single
Setpoint).
Velocity
Setpoint
Start Task
Halt Task
Stop Task
Acknowledge
In Position
Drive stationary
Each transition of command “Start Task” activates a new positioning
task; status signal “Acknowledge” indicates when the unit may accept
a new Start command.
Status signal “In Position” indicates when the positioning is over.
Status signal “Drive Stationary” indicates when axis is stationary.
PROFIBUS Guide - MANIU20.0507 E
6-15
Chapter 6 - Description of Functions
Multiple Positioning
Tasks
Diagram of signals for multiple positioning tasks with on-the-fly change
of the position target (function Change Set Immediately).
Velocity
Setpoint
Start Task
Halt Task
Stop Task
Acknowledge
In Position
Drive stationary
Each transition of command signal “Start Task! activates a new
positioning task; status signal “Acknowledge” indicates that a new
positioning task is being executed.
In this case, status signal “In Position” indicates the beginning and the
end of a sequence of positioning tasks. Status signal “Drive
Stationary” indicates when axis is stationary.
Note.
6-16
Behavior of status signal “Acknowledge” changes if motion
tables are used to program an automatic sequence of
positioning tasks. In this case:
•
command “Start Task” starts the automatic
sequence
•
“Acknowledge” signals only when the automatic
sequence is over; after that, the unit may accept a
start command for a new positioning task or a new
sequence of positioning tasks.
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Intermediate Stop
Diagram of signals for intermediate stop during a positioning task
(Intermediate Stop).
Velocity
Setpoint
Start Task
Halt Task
Stop Task
Acknowledge
In Position
Drive stationary
As a command Halt Task is activated, the unit halts the positioning task
and sets the signal “In Position”. As Halt command is released, the unit
restarts and finishes positioning.
PROFIBUS Guide - MANIU20.0507 E
6-17
Chapter 6 - Description of Functions
Interrupting a
Positioning Task
Diagram of signals when interrupting and aborting a positioning task.
Velocity
Setpoint
Start Task
Halt Task
Stop Task
Acknowledge
In Position
Drive stationary
As a command Stop Task is activated, the positioning task is aborted.
The unit stops and sets the signal “In Position”. As Stop command is
released, the unit may be restarted with a new “Start Task” command.
In this case, status signal “In Position” indicates that a positioning
task is being executed.
Note.
6-18
In case of relative positioning, the residual distance is
retained; i.e. when starting a new positioning task, the unit
executes not only the new distance but also the distance
missing from the previous positioning.
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Jogging
Jogging (called Inching as well) is used for short motion such as
moving out of hardware and software limit switches, adjusting axis
position, etc.
When inching is used, DGV is position-controlled (PNU 930 must be
set to 2).
Parameters Jogging Speed and Jogging Acceleration must be
adjusted.
Note that two inching procedure can be programmed, one for large
moves, for instance, and one for very short moves:
PROFIBUS Guide - MANIU20.0507 E
•
Jogging 1 using Jogging Speed 1 (PNU 1255) and Jogging
Acceleration (PNU 1257), as long as Control Word bit 8 is
high
•
Jogging 2 using Jogging Speed 2 (PNU 1256) and Jogging
Acceleration (PNU 1257), as long as Control Word bit 9 is
high.
6-19
Chapter 6 - Description of Functions
Homing is used for axis referencing. When homing is used, DGV is
position-controlled (PNU 930 must be set to 2).
Homing
Once the homing procedure is over, it is possible to cancel axis zero
by Bit 8 of “Control Word 2”, PNU 1010.
Homing Methods
Method 1
The following homing methods are available for executing the homing
procedure using the limit switches and/or the index pulse.
Homing on the negative limit switch and index pulse
Using this method the initial direction of movement is leftward if the
negative limit switch is inactive (here shown as low). The home
position is at the first index pulse to the right of the position where the
negative limit switch becomes inactive.
PNU 1259
PNU 1252
PNU 1253
PNU 1254
-
+
PNU 1250
Index Pulse
Limit Switch -
Method 2
Homing on the positive limit switch and index pulse
Using this method the initial direction of movement is rightward if the
positive limit switch is inactive (here shown as low). The position of
home is at the first index pulse to the left of the position where the
positive limit switch becomes inactive.
PNU 1259
PNU 1252
PNU 1254
-
PNU 1253
+
PNU 1250
Index Pulse
Limit Switch +
6-20
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Method 3
Homing on the falling edge of the positive home switch and
index pulse
The initial direction of movement is dependent on the state of the
home switch. The home position is at the index pulse to either to the
left or the right of the point where the positive home switch changes
to the low state. If the initial position is sited so that the direction of
movement must reverse during homing, the point at which the
reversal takes place is after the falling edge of the positive home
switch.
PNU 1259
PNU 1252
PNU 1254
PNU 1253
-
+
PNU 1250
Index Pulse
Home Switch
Method 4
Homing on the rising edge of the positive home switch and
index pulse
The initial direction of movement is dependent on the state of the
home switch. The home position is at the index pulse to either to the
left or the right of the point where the positive home switch changes
to the high state. If the initial position is sited so that the direction of
movement must reverse during homing, the point at which the
reversal takes place is after the rising edge of the positive home
switch.
PNU 1259
PNU 1252
PNU 1253
PNU 1254
-
+
PNU 1250
Index Pulse
Home Switch
PROFIBUS Guide - MANIU20.0507 E
6-21
Chapter 6 - Description of Functions
Method 5
Homing on the falling edge of the negative home switch and
index pulse
The initial direction of movement is dependent on the state of the
home switch. The home position is at the index pulse to either to the
left or the right of the point where the negative home switch changes
to the low state. If the initial position is sited so that the direction of
movement must reverse during homing, the point at which the
reversal takes place is after the falling edge of the negative home
switch.
PNU 1259
PNU 1252
PNU 1254
PNU 1253
-
+
PNU 1250
Index Pulse
Home Switch
Method 6
Homing on the rising edge of the negative home switch and
index pulse
The initial direction of movement is dependent on the state of the
home switch. The home position is at the index pulse to either to the
left or the right of the point where the negative home switch changes
to the low state. If the initial position is sited so that the direction of
movement must reverse during homing, the point at which the
reversal takes place is after the rising edge of the negative home
switch.
PNU 1259
PNU 1252
PNU 1254
-
PNU 1253
+
PNU 1250
Index Pulse
Home Switch
6-22
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Method 17
Homing on the negative limit switch
The initial direction of movement is dependent on the state of the limit
switch. The home position is at the negative limit switch transition. If
the initial position is sited so that the direction of movement must
reverse during homing, the reversal takes place after the rising edge
of the negative limit switch and then it references on the negative limit
switch.
PNU 1252
PNU 1254
-
+
PNU 1250
Limit Switch -
Method 18
Homing on the positive limit switch
The initial direction of movement is dependent on the state of the limit
switch. The home position is on the positive limit switch transition. If
the initial position is sited so that the direction of movement must
reverse during homing, the reversal takes place after the falling edge
of the positive limit switch and then it references on the positive limit
switch.
PNU 1252
PNU 1254
-
+
PNU 1250
Limit Switch +
PROFIBUS Guide - MANIU20.0507 E
6-23
Chapter 6 - Description of Functions
Method 19
Homing on the falling edge of the positive home switch
The initial direction of movement is dependent on the state of the
home switch. The home position is on the home switch transition. If
the initial position is sited so that the direction of movement must
reverse during homing, the reversal takes place after the transition of
the positive home switch and then it references on the positive home
switch.
PNU 1252
PNU 1254
-
+
PNU 1250
Home Switch
Method 20
Homing on the rising edge of the positive home switch
The initial direction of movement is dependent on the state of the
home switch. The home position is on the home switch transition. If
the initial position is sited so that the direction of movement must
reverse during homing, the reversal takes place after the transition of
the positive home switch and then it references on the positive home
switch.
PNU 1252
PNU 1254
-
+
PNU 1250
Home Switch
6-24
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Method 21
Homing on the falling edge of the negative home switch
The initial direction of movement is dependent on the state of the
home switch. The home position is on the falling edge of the negative
home switch. If the initial position is sited so that the direction of
movement must reverse during homing, the reversal takes place after
the home switch transition and then it references on the home switch
itself.
PNU 1252
PNU 1254
-
+
PNU 1250
Home Switch
Method 22
Homing on the rising edge of the negative home switch
The initial direction of movement is dependent on the state of the
home switch. The home position is on the rising edge of the negative
home switch. If the initial position is sited so that the direction of
movement must reverse during homing, the reversal takes place after
the home switch transition and then it references on the home switch
itself.
PNU 1252
PNU 1254
-
+
PNU 1250
Home Switch
PROFIBUS Guide - MANIU20.0507 E
6-25
Chapter 6 - Description of Functions
Method 33
Homing on the index pulse in the negative direction
Using this method, the axis references on the first index pulse found
moving in the negative direction.
PNU 1259
PNU 1253
PNU 1254
-
+
PNU 1250
Index Pulse
Method 34
Homing on the index pulse in the positive direction
Using this method, the axis references on the first index pulse found
moving in the positive direction.
PNU 1259
PNU 1253
PNU 1254
-
+
PNU 1250
Index Pulse
Method 35
Homing on the current position
The current position is taken to be the home position.
-
+
PNU1250
6-26
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Basic Settings for
Referencing
Minimal settings for referencing are illustrated below.
Basic Settings for Referencing
PNU
Name
Value
Comments
930
1206
1207
1208
1209
1210
1211
1212
1213
Modes of Operation
Min Software Position Limit
Max Software Position Limit
Polarity
Following error window
Position Window
Position Conversion Numerator
Position Conversion Denominator
Limit Switch Enable
1214
1250
1251
Axis Type
Homing offset
Homing method
1252
1253
1254
1258
1259
Homing speed for Switch
Homing speed for Zero
Homing acceleration
Max Travel for Switch
Max Travel for Zero
2
Custom
Custom
Custom
Custom
Custom
65536
Custom
0001b
0010b
0100b
1000b
1/2
Optional
1
2
3
4
5
6
17
18
19
20
21
22
33
34
35
Custom
Custom
Custom
Custom
Custom
Positioning Mode
Set the positive and negative
software limit switch
See Monitoring Functions
See Monitoring Functions
Conversion of axis position
into internal units
Enable HW negative limit switch
Enable HW positive limit switch
Enable SW negative limit switch
Enable SW positive limit switch
1 - Rotary / 2 - Linear Axis
Neg. Lim. Sw. + Index Pulse
Pos. Lim. Sw. + Index Pulse
Pos. Home Sw. + Index Pulse
Pos. Home Sw. + Index Pulse
Neg. Home Sw. + Index Pulse
Neg. Home Sw. + Index Pulse
Negative Limit Switch
Positive Limit Switch
Positive Home Switch
Positive Home Switch
Negative Home Switch
Negative Home Switch
Index Pulse neg. direction
Index Pulse pos. direction
Reference on current position
-
PROFIBUS Guide - MANIU20.0507 E
6-27
Chapter 6 - Description of Functions
Speed Mode
Speed Mode (PNU 930 set to 1) performs remote control of the motor
speed.
When a speed setpoint is applied, the drive is speed-controlled to
reach and maintain the target speed. “Profile Acceleration” and
“Profile Deceleration” (PNU 1203, 1204) are used to generate a
speed motion profile. The speed setpoint is generally a field bus
reference. However, motion tables externally controlled and
previously configured with fixed targets can be operated. For this
purpose “Control Word 2” (PNU1010) and Digital Inputs can be used.
Profile parameters, motion parameters and parameters of the speed
control loops must be adjusted depending on the application.
Basic Settings for
Speed Mode
After first automatic configuration of DGV using the Browser has been
performed (see Chapter 5 in Firmware Manual), the following
parameters must be adjusted.
Basic Settings for Speed Mode
6-28
PNU
Name
Value
Comments
930
1108
1107
1106
1100
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
Modes of Operation
Speed Window
Speed Monitoring Time
Min Speed
Target Velocity
Profile Velocity
Profile Acceleration
Profile Deceleration
Quick Stop Deceleration
Min Software Position Limit
Max Software Position Limit
Polarity
Following error window
Position Window
Position Conversion Numerator
Position Conversion Denominator
Limit Switch Enable
1214
1220
1221
1222
1223
1224
Axis Type
Max Profile Velocity
Max Acceleration
Max Deceleration
Motion Type Selection
Jerk-limiting Time Constant
1
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
Custom
65536
Custom
0001b
0010b
0100b
1000b
1/2
Custom
Custom
Custom
0/1
Custom
Speed Mode
See Speed Monitoring
See Speed Monitoring
Emergency stop deceleration
Set the positive and negative
software limit switch
See Monitoring Functions
See Monitoring Functions
Conversion of axis position
into internal units
Enable HW negative limit switch
Enable HW positive limit switch
Enable SW negative limit switch
Enable SW positive limit switch
1 - Rotary / 2 - Linear Axis
Limitation of Target Velocity
0 - Table (Internal) / 1- FieldBus
Smooth profile generator
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Torque Mode
Torque Mode (PNU 930 set to -3) performs remote torque control at
the motor shaft.
When a torque setpoint is applied, the drive is current-controlled to
reach and maintain the target torque. Note that measuring unit of the
target torque is Arms, hence target torque is indeed a current
setpoint.
The torque setpoint is a percentage of the Continuous Current (PNU
341). Range of this setpoint is -1000% to 1000% of the Continuous
Current.
WARNING! In order to avoid faults or motor damages,
special care must be taken using this mode.
The torque setpoint is generally a field bus reference. However,
motion tables externally controlled and previously configured with
fixed targets can be operated. For this purpose Control Word 2 (PNU
1010) and Digital Inputs are to be used.
Basic Settings for
Torque Mode
After first configuration of DGV Servodrives has been performed (see
Chapter 5 in Firmware Manual), the following parameters must be
adjusted.
Basic Settings for Torque Mode
PROFIBUS Guide - MANIU20.0507 E
PNU
Name
Value
Comments
930
1106
1300
1208
341
342
343
Modes of Operation
Min Speed
Target Torque
Polarity
Continuous Current
Peak Current
Brake Current
-3
Custom
Custom
Custom
Default
Default
Custom
Torque Mode
-1000 to 1000 % of PNU 341
Sign of the torque target
Current for emergency stop
6-29
Chapter 6 - Description of Functions
Synchronization
The synchronization function performs axes synchronization (PNU
930 must be set to 2), one device acting as master and one or more
devices acting as slaves. Velocity Synchronization and Position
Synchronization are available. The setpoints come from a moving
target. Speed or position targets may come straight from an external
encoder or from the emulated encoder interface of a DGV acting as
the master device.
Profile parameters, motion parameters and parameters of the position
and speed control loops must be adjusted to suit the application.
Accuracy of the synchronization performances can be programmed.
See paragraph Monitoring Functions for details.
For the Control Word, on the positive edge of the Bit 14 (0 ! 1) the
slave device starts performing synchronisation to the moving target.
For the Status Word, Bit 15 is set when synchronization has been
reached, i.e. axes are synchronised;
6-30
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Consider, for example, a system composed of two DGV servodrives.
The cable for connecting master and slave device must be prepared
as illustrated in paragraph Encoder Emulation of the Installation
Manual.
Slave Converter
Master Converter
8.
DGV
8.
DGV
Encoder Emulation
PNU 304 = “1 - Emulation Output”
PNU 305 “Encoder Output Resolution”
PNU 304 = “2 - Reference Input”
PNU 930 = “2 - Positioning Mode”
PNU 1240 “Synchronization Type”
PNU 1270 “Encoder Pulses Input”
PNU 1271 “Encoder Pulses Output”
PNU 1272 “Encoder Input Inversion”
The DGV master converter (PNU 304 = “1 - Emulation Output”)
provides an encoder-emulated output signal. Resolution of this signal
can be parameterized using PNU 305 “Encoder Output Resolution“.
The DGV slave converter (PNU 304 = “2 - Reference Input”) is
supplied with the encoder-emulated input signal from the master
converter.
Position and speed synchronization between master and slaves
devices can be performed setting the “Synchronization Type”: PNU
1240 set to “1 - Speed Sync” for Velocity Synchronization, set to “2 Position Sync” for Position Synchronization.
In the following types of synchronization are described.
PROFIBUS Guide - MANIU20.0507 E
6-31
Chapter 6 - Description of Functions
Velocity
Synchronization
When PNU 1240 is set to “1 - Speed Sync”, Velocity Synchronization
is performed. Therefore as a synchronization command is given, the
drive accelerates with “Profile Acceleration” (PNU 1203) up to the
master velocity. Once the speed synchronism is reached, there will
be a constant position difference between master and slave due to
initial different speeds.
The synchronization command may be bit 4 of the Control Word or
the digital input “Start Sync”.
Velocity (t)
Master-Slave
Synchronism
Velocity
Acceleration
Phase
Synchronization reached
Deceleration
Phase
Following Error
t
Synchronization
Time
Position
Synchronization
When PNU 1240 is set to 2, Position Synchronization is performed.
Therefore when a synchronization input command is given, the drive
accelerates with “Profile Acceleration” (PNU 1203) up to the master
velocity. As the speed synchronization is reached, the following error
between master and slave is reduced to zero by further acceleration
tuning the “Synchronization Offset Position” (PNU 1241) and
“Synchronization Offset Velocity” (PNU 1242).
Velocity (t)
Offset
PNU
1242
Acceleration
Phase
Synchronism
Following Error
+ PNU 1241
Master
Velocity
Deceleration
Phase
Following Error
t
Synchronization Time
“Synchronization Offset Position” (PNU 1241) is a fixed offset
position, which is added to the actual position.
“Synchronization Offset Velocity” (PNU 1242) is an offset velocity,
which allows fast synchronization of the slave to the master device.
Note that in any case state of slave synchronism can be instantly
controlled through configuration of digital I/Os present on DGV front
panel. One digital input D-IN has to be parameterized as “Start
Sync“. One of digital output D-OUT can be parameterized as “Sync
Reached“ when needed.
6-32
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Basic Settings for
Synchronization
Basic settings for Master-Slave synchronization using DGV
Servodrives.
Basic Settings for Master-Slave Synchronization
PROFIBUS Guide - MANIU20.0507 E
PNU
Name
Master DGV
Slave DGV
304
930
1203
1204
1206
1207
1208
1209
1211
1212
1213
1214
1221
1222
1225
1240
Encoder Interface Configuration
Modes of Operation
Profile Acceleration
Profile Deceleration
Min Software Position Limit
Max Software Position Limit
Polarity
Following error window
Position Conversion Numerator
Position Conversion Denominator
Limit Switch Enable
Axis Type
Max Acceleration
Max Deceleration
Enable Table
Synchronization Type
1241
1242
1243
1244
1270
1271
1272
Synchronization Offset Position
Synchronization Offset Velocity
Synchronization Window
Synchronization Monitoring Time
Encoder Pulses Input
Encoder Pulses Output
Encoder Input Inversion
1
2
Custom
Custom
Custom
Custom
Custom
Custom
65536
Custom
Custom
1-Rotary / 2-Linear
Custom
Custom
Custom
Not used
Not used
Not used
Not used
Not used
Not used
Not used
Not used
Not used
2
2
Custom
Custom
Custom
Custom
Custom
65356
Custom
Custom
1-Rotary / 2-Linear
Custom
Custom
Custom
1 - Speed Sync
2 - Position Sync
Custom
Custom
Custom
Custom
65536
Custom
Optional
6-33
Chapter 6 - Description of Functions
Monitoring Functions
Position Monitoring
Monitoring functions for position and speed modes are always active
and can be freely parameterized.
When position-controlled, DGV keeps on monitoring that the position
actual value lies within the Position Window (PNU 1210) before the
Position Monitoring Time expires (PNU 1215).
Position Window defines the maximum error allowed on the position
actual value as to the position target. As the profile generator reaches
the position target, the position monitoring function starts counting
Position Monitoring Time.
Position (t)
Position Target
Position trajectory
by trajectory
generator
PNU 1210
Position Window
Position
Actual
Value
t
dynamic
follow ing
error
PNU 1210
Position
Monitoring
Time
The positioning is successfully completed when the position actual
value lies within the Position Window before the Position Monitoring
Time expires.
Following Error
Position Standstill
Monitoring
Following Error Window (PNU 1209) fixes the maximum dynamic
following error, that is maximum position fluctuation or delay allowed
during positioning dynamics. The dynamic following error is the
difference between the position reference value, provided by the
profile generator, and the position actual value, measured by motor
position transducer.
When the positioning is over, however, the drive keeps on monitoring
displacements. In the Status Word:
•
Bit 8 notifies whenever the motor position exceeds the
Position Window.
•
Bit 10 notifies when axis comes outside the setpoint position.
•
Bit 13 notifies whether axis is stationary or moving according
to parameter Min Speed.
Note.
6-34
Besides mechanical characteristics of the whole system,
following error depends on the stability of the position control
loop, that is, on a proper tuning of the loop gains.
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Speed Monitoring
When speed-controlled, DGV monitors that the speed actual value
lies within the Speed Window before the Speed Monitoring Time
expires.
Speed Window defines the maximum speed error allowed on the
speed actual value as to the speed target. As the profile generator
reaches the speed target, the Speed Monitoring Time function starts
counting. The task is successfully completed when the speed actual
value lies within the Speed Window before the Speed Monitoring
Time expires.
Velocity (t)
PNU 1108
Speed Window
PNU 1106
Min Speed
Speed
trajectory
Speed
feedback
t
PNU 1107
Speed Monitoring
Time
Speed Standstill
Monitoring
When speed target has been reached, the drive keeps on monitoring
speed fluctuations around the speed target at steady state, i.e.
whether the drive speed exceeds Min Speed and Speed Window.
Note.
Synchronization
Monitoring
Besides mechanical characteristics of the whole system,
speed fluctuations depend on the stability of the speed
control loop, i.e. proper tuning of the speed loop gains.
Monitorino of synchronization is performed as for previous cases,
through parameterization of Synchronization Window and
Synchronization Monitoring Time.
Synchronization Window defines the maximum fluctuation of speed
(Velocity Synchronization) or position (Position Synchronization)
allowed for synchronizing. DGV monitors that speed or position
actual value lies within the Synchronization Window before the
Synchronization Monitoring Time expires.
PROFIBUS Guide - MANIU20.0507 E
6-35
Chapter 6 - Description of Functions
Axis-Coupling
PNU 304 “Encoder Interface Configuration” allows configuring the
encoder emulated interface of the converter, in order to perform
master-slave axis coupling (terminal X8 of the frontal panel, see
Installation Manual).
PNU 304 may assume one of the following values:
•
“1 - Emulation Output”, the converter sends out through the
encoder interface the position feedback signal of the internal
control loop;
•
“4 - Reference Output”, the converter sends out through the
encoder interface the position reference signal of the internal
control loop;
•
“2 - Reference Input”, the input signal to the encoder
interface feeds the position loop as position reference signal;
•
“3 - Feedback Input”, the input signal to the encoder interface
feeds the position loop as position feedback signal.
For cases 1 and 4, resolution of the output signal can be adjusted
using PNU 305 “Encoder Output Resolution”.
•
PNU 305 set to 1, resolution 128 pulses/turn
•
PNU 305 set to 2, resolution 256 pulses/turn
•
PNU 305 set to 3, resolution 512 pulses/turn
•
PNU 305 set to 4, resolution 1024 pulses/turn
For cases 2 and 3, it is possible to set the transmission rate of the
input signal using PNU 1270 “Encoder Pulses Input” and PNU 1271
“Encoder Pulses Output”.
Standard Coupling
Standard coupling means that the position feedback of the masteraxis (PNU 304 set to “1 - Emulation Output”) is the position reference
of the slave-axis (PNU 304 set to “2 - Reference Input”).
Virtual Master-Axis
As an alternative to standard coupling, the function Virtual MasterAxis is available. In this case, the position reference signal of the
master-axis (PNU 304 set to “4 - Reference Output”) supplies one or
more slave-axes (PNU 304 set to “2 - Reference Input”).
Note.
Since the position reference is withdrawn downstream the
jerk limiting filter block (PNU 1224), the same value of jerk
limiting filter must be set both on master and slave.
The homing procedure on the master-axis must be always
performed before coupling axes.
6-36
PROFIBUS Guide - MANIU20.0507 E
Chapter 6 - Description of Functions
Virtual Cams
These functions allow simulating cams, i.e. a digital signal which
assumes the value 0 or 1 as a function of the axis position.
There are two functions of simulated or “virtual” cam. For each
function two parameters define the switch-ON position and switchOFF position of the cam:
•
PNU 1235 “Cam 1 Switch-on Position”
•
PNU 1236 “Cam 1 Switch-off Position”
•
PNU 1237 “Cam 2 Switch-on Position”
•
PNU 1238 “Cam 2 Switch-off Position”
Besides, it is possible to combine a function of virtual cam and the
function “4 - Zero Speed” of a digital output. By setting the
configuration register PNU 1239 “Cam Switches Configuration” the
user obtains the logic AND between a function of cam and the
function of “Zero Speed”.
•
Bit 0 = 0: Digital Output = “Cam switch 1”
•
Bit 0 = 1: Digital Output = “Cam switch 1” AND “Zero Speed”
•
Bit 1 = 0: Digital Output = “Cam switch 2”
•
Bit 1 = 1: Digital Output = “Cam switch 2” AND “Zero Speed”
•
Bit 2 … 7: reserved.
Note.
PROFIBUS Guide - MANIU20.0507 E
The condition of the cam outputs depends on the axis
absolute position; therefore the homing procedure must be
performed before using these functions on digital outputs.
6-37
Chapter 6 - Description of Functions
Inversion of the
Digital I/Os
PNU 486 “Digital Input Inversion” and PNU 487 “Digital Output
Inversion” are configuration registers, which allow to invert the
condition of the digital inputs and outputs (D-IN, D-OUT). Each bit
allows the inversion of the corresponding digital I/O (0 = not inverted,
1= inverted).
For digital inputs, PNU 486
•
Bit 0: inversion of D-IN1
•
Bit 1: inversion of D-IN2
•
Bit 2: inversion of D-IN3
•
Bit 3: inversion of D-IN4
•
Bit 4: inversion of D-IN5
•
Bit 5: inversion of D-IN6
•
Bit 6: inversion of D-IN7
•
Bit 7: inversion of D-IN8
•
Bit 8 …15: reserved.
For digital outputs, PNU 487
•
Bit 0: inversion of D-OUT1
•
Bit 1: inversion of D-OUT2
•
Bit 2: inversion of D-OUT3
•
Bit 3 … 7: reserved.
Note.
6-38
Changes to configuration parameters of I/Os are effective
after restart of the converter (see Firmware Manual –
Software re-boot).
PROFIBUS Guide - MANIU20.0507 E
Appendix A - Parameter List
Parameters (PNU) are hereunder enlisted in a numerical sequence as
they appear within Expert Parameters window. See Firmware Manual.
Parameter numbering is compatible with PROFIBUS standard drive
profile.
Brief explication remarks are provided among parameter rows.
PNU
Name
Units
Access
Value Range
Info00
Servodrive Model
-
RO
DGV PRO-DP
Info01
Servodrive Serial Number
-
RO
DGxx..xx-xx
Info06
Firmware Version
-
RO
x.x.xx.. PRO-DP
Info07
Application Description
-
RW
0..2
16
Info08
Last Freeze Date and Time
-
RO
0..2
16
Info09
Motor Code
-
RW
0..2
16
256
Drive Capabilities
-
RO
-
257
Actual Selected Table
-
RO
0..31
258
Local Operating Mode
-
RW
1..5
•
When Control Mode is set to 1 - Local, this parameter sets the local
operating mode
“1 - Analog Current”
“2 - Analog Speed”
“3 - Digital Torque”
“4 - Digital Speed”
“5 - Digital Position”
259
General Enable
•
260
RW
0 - Off / 1 - On
Drive software general enable. Set On/Off the Software Enable button
located within the Browser toolbar .
Control Mode
•
-
-
RW
1/2
Select drive control location, i.e.
“1 - Local“ enables local control of the drive through RS232.
“2 - Field Bus” enables external control through field bus.
261
Number of Motor Poles
•
PROFIBUS Guide - MANIU20.0507 E
-
RW
2..24
Show the number of motor poles automatically detected during autophasing
procedure.
A-1
Appendix A - Parameter List
262
Drive Size Code
•
-
RO
0..1000
Shows the converter size by one of the following size codes
Single-phase DGV300 Converters:
0
1
size 3.00/6.00
size 5.00/10.00
Three-phase DGV300 Converters:
0
1
2
size 3.00/6.00
size 5.00/10.00
size 7.00/14.00
DGV700 Converters:
0
1
2
3
4
5
263
size 3.00/6.00
size 5.00/10.00
size 9.00/18.00
size 13.00/26.00
size 18.00/36.00
size 25.00/50.00
External Reference Enable
•
264
-
0 - Off / 1 - On
Enable of the analog input +/- VREF located on the converter front panel.
Sensor Type
•
RW
-
RW
0..2
Type of the motor position transducer
“1 - Resolver”
“2 - SinCos Encoder”
“3 - TTL Encoder” (Reserved)
266
Encoder Pulses Number
-
RW
1..30000
267
Motor Activ. Threshold Temperature
-
RO
1..1023
268
Motor Disctiv. Threshold Temperature
-
RO
1..1023
269
Drive Activ. Threshold Temperature
-
RO
1..1023
270
Drive Disctiv. Threshold Temperature
-
RO
1..1023
271
Thermal Sensor Type
-
RO
0..3
272
Motor Continuous Current
Arms
RW
•
A-2
0..2
16
PNU 272 to 280 show the servomotors plate ratings as loaded from
servomotor model or entered manually by the user.
273
Motor Maximum Current
Arms
RW
0..2
16
274
Motor Rated Speed
rpm
RW
0..2
16
275
Moment of Inertia
kgm²
RW
0..2
16
276
Torque Constant
Nm/Arms
RW
0..2
16
277
Back EMF Constant
Vrms/krpm
RW
0..2
278
Max Motor Speed
rpm
RW
0..2
16
279
Winding Resistance
ohm
RW
0..2
16
280
Winding Inductance
mH
RW
0..2
16
281
Pole Pair Width
mm
RW
0..2
16
16
PROFIBUS Guide - MANIU20.0507 E
Appendix A - Parameter List
287
Motor Type
•
-
RW
1/2
V
RW
0..1000
Set the motor type:
“1 - Rotative Motor”
“2 - Linear Motor”
289
Bus Overvoltage Level
WARNING! Reserved, for Service Support only. Altering this
parameter can cause serious physical injury.
290
Bus Undervoltage Level
V
RW
0..1000
291
Clamp Voltage Threshold
V
RW
0..1000
•
Set voltage operating threshold for clamp braking resistor.
292
Mains Voltage
•
Vrms
RW
0..1000
Show drive supply mains voltage level. This value has to be strictly
consistent with voltage level of the drive power supply. Usually the following
ac supply voltages are available in the industrial environment:
•
Single-phase DGV300 Converters:
Single-phase 110 ÷ 230 Vac
•
Three-phase DGV300 Converters:
Three-phase 110 ÷ 230 Vac
•
DGV700 Converters (three-phase):
110 Vac
230 Vac
400 Vac
440 Vac
WARNING! Please contact
Customer Service before
using this option.
480 Vac
WARNING! Please contact
Customer Service before
using this option.
293
Drive Max Current
Arms
RO
0..300
294
Drive Peak Current
Arms
RO
0..300
295
Drive Continuous Current
Arms
RO
0..300
296
Maximum Mains Voltage
V
RO
40..480
297
Minimum Mains Voltage
V
RO
40..480
300
Internal Clamp Resistor Value
ohm
RO
1..500
301
Internal Clamp Power Threshold
W
RO
1..10000
302
Internal Clamp Thermal Time Constant
s
RO
1..600
PROFIBUS Guide - MANIU20.0507 E
A-3
Appendix A - Parameter List
304
Encoder Interface Configuration
•
-
RW
1..3
The following functions can be selected:
“1 - Emulation Output”, DGV servodrive sends out its actual position to
a slave device. The slave device may be a DGV servodrive having
PNU 304 set to “2 - Reference Input“.
”2 - Reference Input”, DGV servodrive is slave axis coupled with a
master, from which it receives an encoder signal.
”3 - Feedback Input”, position feedback of DGV internal control loop
comes from a second encoder, which is for example mounted on the
motor shaft.
”4 - Reference Output”, DGV servodrive sends out its internal position
reference to a slave device. The slave device may be a DGV
servodrive having PNU 304 set to “2 - Reference Input“.
305
Encoder Output Resolution
•
-
RW
1..4
Encoder emulation output. DGV servodrive performs the conversion of the
motor position feedback into emulated encoder output.
When using a resolver transducer, DGV provides 1024 pulses/turn. The
output signal can have one of the following resolutions:
PNU 305 = 1
PNU 305 = 2
PNU 305 = 3
PNU 305 = 4
311
Autophasing Current
•
Arms
RW
0..300
Motor current for autophasing. This value is usually lower than Motor
Continuous Current since autophasing procedure should be performed with
no load.
312
RPI
-
RW
0 - Off / 1 - On
313
Encoder Type
-
RW
0..10
314
Fine Synchronization to Index
-
RW
0 - Off / 1 - On
315
Autophasing Time
s
RW
0,1..10
•
Maximum time allowed to complete autophasing procedure.
317
Linear Scale Resolution
µm
RW
0..600
320
Waveform Start Command
-
RW
0 - Off / 1 - On
•
A-4
1024 / 8 , i.e. 128 pulses/turn
1024 / 4 , i.e. 256 pulses/turn
1024 / 2 , i.e. 512 pulses/turn
1024 / 1 , i.e. 1024 pulses/turn
PNU 302 to 330 show settings of the waveform generator and the
oscilloscope function.
321
Waveform Wave Type
-
RW
1..4
322
Waveform Wave Frequency
Hz
RW
0,05..100
323
Waveform Wave Amplitude
A - rpm
RW
-12000.. 12000
324
Oscilloscope Trigger Channel
-
RW
1..8
325
Oscilloscope Show Channel
-
RW
0..8
326
Trigger Threshold Level
A - rpm
RW
-300..300
327
Trigger Slope
-
RW
0/1
328
Trigger Position
-
RW
0..2
329
Time Window Sampling
-
RW
1..4
330
Oscilloscope Command
-
RW
1..4
PROFIBUS Guide - MANIU20.0507 E
Appendix A - Parameter List
336
Speed Command Gain Numerator
•
337
338
339
340
341
342
343
344
345
Arms
RW
-300..300
mV
RW
-500..500
Arms
RW
0..300
Arms
RW
0..300
Arms
RW
0..300
Arms
RO
0..300
Internal protection of the converter against thermal power dissipation.
Clamp Resistor Type
•
1..10
Set current for dynamic braking of the servodrive. See parameter Brake
Current within the Current page of Browser.
Ixt Threshold Level
•
RW
Peak Current of the servodrive current control loop. See parameter Peak
Current within the Current page of Browser.
Brake Current
•
V
Continuous Current of the servodrive current control loop. See parameter
Continuous Current within the Current page of Browser.
Peak Current
•
-12000.. 12000
Gain for offset compensation of the voltage analog reference input +/VREF. See parameter Reference Offset available within the Analog IO
page of Browser.
Continuous Current
•
RW
Gain of the current command entered through the analog reference input
+/- VREF. See also parameter Torque Denominator available within the
Analog IO page of Browser.
Reference Offset Compensation
•
rpm
Scaling of the voltage/speed command entered through the analog
reference input +/- VREF. See also parameter Speed Numerator within the
Analog IO page of Browser.
Torque Numerator
•
-12000.. 12000
Maximum axis speed allowed for your application.
Speed Denominator
•
RW
Gain of the speed command entered through the analog reference input +/VREF. See also parameter Speed Denominator within the Analog IO page
of Browser.
Maximum Speed
•
rpm
-
RW
0..2
Set type of clamp braking resistor.
“0 - Internal”
“1 - External”
“2 - External only”
For all drive sizes 3.00/6.00, 5.00/10.00, 9.00/18.00 and 13.00/26.00,
clamp resistor may be internal or external depending on the load cycle of
the servodrive during operation.
For largest drive size 25.00/50.00, clamp resistor may be external only.
346
I^2xt Threshold Level
•
PROFIBUS Guide - MANIU20.0507 E
Arms
RW
0..300
Protection of the motor against thermal power dissipation on the motor
windings.
A-5
Appendix A - Parameter List
347
Clamp Delta
•
External Clamp Resistor Value
•
0..10
ohm
RW
1..500
Set resistance of external clamp resistor. This parameter is effective when
PNU 345 is set to “1 - External" or “2 - External only”.
349
External Clamp Power Threshold
•
W
RW
1..10000
Set maximum average power allowed for dissipation on external clamp
resistor. This parameter is effective when PNU 345 is set to “1 - External" or
“2 - External only”.
External Clamp Thermal Time Constant
•
s
RW
1..600
Set thermal time constant of external clamp resistor. This parameter is
effective when PNU 345 is set to “1 - External" or “2 - External only”.
351
External Clamp max ON Time
•
ms
RW
1..150
Set maximum time for power dissipation over clamp resistor. This
parameter is effective for both internal and external.
352
Position Proportional Gain
•
1/s
RW
0..1000
Proportional Gain of the position control loop. See also Position
Proportional Gain within Position page of the browser.
353
Speed Feedforward Gain
•
%
RW
0..100
Feedforward Gain of the servodrive position control loop. See also Speed
Feedforward Gain within Position page of the browser.
356
Resolver Phase Offset
•
deg
RW
0..359,99
Show the phase offset stored after the autophasing procedure.
357
Overspeed Threshold Level
•
rpm
RW
0..12000
Show the servodrive overspeed threshold level. This parameter is effective
during drive operation and generates the Overspeed fault displayed on the
browser main page and on the converter front panel.
358
Holding Brakes Delay
ms
RW
360
Resolver Sine Gain
-
RW
•
361
0..10000
0..2
16
Gain for resizing amplitude of the resolver sine signal. For Service Support
only.
Resolver Cosine Gain
•
-
RW
0..2
16
Gain for resizing amplitude of the resolver cosine signal. For Service
Support only.
16
362
Fault Resolver
-
RO
0..2
363
Torque Denominator
V
RW
1..10
•
A-6
RO
Threshold level for deactivation of the clamp braking operation.
348
350
V
Scaling of the voltage/current command entered through the analog
reference input +/- VREF. See also parameter Torque Numerator within the
Analog IO page of Browser.
PROFIBUS Guide - MANIU20.0507 E
Appendix A - Parameter List
368
Motor Thermal Time Constant
•
373
374
379
380
385
389
0..32,767
ms
RW
0..327,67
V/A
RW
0..3276,7
ms
RW
0..32,767
Hz
RW
5..4000
RW
0 - Off / 1 - On
Frequency filter on the speed command of DGV.
Speed Command Filter Enable
•
RW
Integrative time constant gain of the current control loop of DGV.
Speed Command Filter
•
As/rad
Proportional gain of the current control loop of DGV.
Tn Current Integrative Time Constant
•
16
Integrative time constant gain of the speed control loop of DGV.
Kp Current Gain Level
•
0..2
Proportional gain of the speed control loop of DGV.
Tn Speed Integrative Time Constant
•
RW
Thermal time constant of the servomotor. This is a manufacturing
characteristic parameter of the servomotors.
Kp Speed Gain Level
•
s
-
Enable filtering of DGV speed command.
390
Feedforward Speed Filter Enable
-
RW
0 - Off / 1 - On
391
Feedforward Speed Filter
Hz
RW
5..4000
392
Resolver Speed Filter
Hz
RW
100..1000
RW
100..1000
•
393
Frequency filter on the resolver speed feedback.
Encoder Speed Filter
•
Hz
Filtering of the encoder speed feedback.
427
Current Filter 1 Frequency
Hz
RW
0..8000
428
Current Filter 1 Damping
0.0001
RW
1..10000
429
Current Filter 1 Depth
dB
RW
-100..100
430
Current Filter 1 Width
dec
RW
0,0001..3
431
Current Filter 1 Type
-
RW
0..2
•
Enabling Filter 1 on the current command of DGV.
“0 - Off”
“1 - Low Pass”
“2 - Band Reject”
443
Current Filter 2 Frequency
Hz
RW
0..8000
444
Current Filter 2 Damping
0.0001
RW
1..10000
445
Current Filter 2 Depth
0.1 dB
RW
-100..100
446
Current Filter 2 Width
0.01 dec
RW
0,0001..3
447
Current Filter 2 Type
-
RW
0..2
•
Enabling Filter 2 on the current command of DGV.
“0 - Off”
“1 - Low Pass”
“2 - Band Reject”
PROFIBUS Guide - MANIU20.0507 E
A-7
Appendix A - Parameter List
459
Current Filter 3 Frequency
Hz
RW
0..8000
460
Current Filter 3 Damping
0.0001
RW
1..10000
461
Current Filter 3 Depth
0.1 dB
RW
-100..100
462
Current Filter 3 Width
0.01 dec
RW
0,0001..3
463
Current Filter 3 Type
-
RW
0..2
RW
0..17
•
Enabling Filter 3 on the current command of DGV.
“0 - Off”
“1 - Low Pass”
“2 - Band Reject”
480-0
Input 1 Configuration
•
-
Sub-index 0 of PNU 480 is dedicated to configuration of digital input D-IN 1
located on DGV front panel.
“0 - Disabled”
“1 - Table N° [Bit0]”
“2 - Table N° [Bit1]”
“3 - Table N° [Bit2]”
“4 - Table N° [Bit3]”
“5 - Table N° [Bit4]”
“6 - Table Strobe”
“7 - Freeze Position [Input 8 ONLY]”
“8 - Limit Switch +”
“9 - Limit Switch -”
“10 - Home Switch [Input 3 ONLY]”
“11 - Start Sync”
“12 - Halt [Active LOW]”
“13 - Start Homing”
“14 - Start Jog 1”
“15 - Start Jog 2”
“16 - Start Motion Task”
“17 - Break Inhibit”
“18 - Stop Motion Task [Active LOW]”
480-1
Input 2 Configuration
•
480-2
480-3
480-4
480-5
480-6
480-7
A-8
-
RW
0..17
-
RW
0..17
-
RW
0..17
-
RW
0..17
Sub-index 6 of PNU 480 is dedicated to configuration of digital input D-IN 7
located on DGV front panel: same functions as Input 1 Configuration.
Input 8 Configuration
•
0..17
Sub-index 5 of PNU 480 is dedicated to configuration of digital input D-IN 6
located on DGV front panel: same functions as Input 1 Configuration.
Input 7 Configuration
•
RW
Sub-index 4 of PNU 480 is dedicated to configuration of digital input D-IN 5
located on DGV front panel: same functions as Input 1 Configuration.
Input 6 Configuration
•
-
Sub-index 3 of PNU 480 is dedicated to configuration of digital input D-IN 4
located on DGV front panel: same functions as Input 1 Configuration.
Input 5 Configuration
•
0..17
Sub-index 2 of PNU 480 is dedicated to configuration of digital input D-IN 3
located on DGV front panel: same functions as Input 1 Configuration.
Input 4 Configuration
•
RW
Sub-index 1 of PNU 480 is dedicated to configuration of digital input D-IN 2
located on DGV front panel: same functions as Input 1 Configuration.
Input 3 Configuration
•
-
-
RW
0..17
Sub-index 7 of PNU 480 is dedicated to configuration of digital input D-IN 8
located on DGV front panel: same functions as Input 1 Configuration.
PROFIBUS Guide - MANIU20.0507 E
Appendix A - Parameter List
481-0
Output 1 Configuration
•
-
RW
0..9
Sub-index 0 of PNU 481 is dedicated to configuration of digital output DOUT 1 located on DGV front panel.
“0 - Disabled”
“1 - Drive Enable”
“2 - Target Reached”
“3 - Drive Ready”
“4 - Zero Speed”
“5 - Homing OK”
“6 - Motor I2xT”
“7 - Converter IxT”
“8 - Positioning Ack”
“9 - Sync Reached”
481-1
Output 2 Configuration
•
481-2
484
0..9
-
RW
0..9
Sub-index 2 of PNU 481 is dedicated to configuration of digital output DOUT 3 located on DGV front panel: same functions as Output 1
Configuration.
Analog Output Configuration
•
RW
Sub-index 1 of PNU 481 is dedicated to configuration of digital output DOUT 2 located on DGV front panel: same functions as Output 1
Configuration.
Output 3 Configuration
•
-
-
RW
0..22
Show functions for configuration of Analog Configurable Output A-OUT
located on DGV front panel.
“0 - Disabled”
“1 - Phase U Current”
“2 - Phase V Current”
“3 - Phase W Current”
“4 - Iq Command”
“5 - Id Feedback”
“6 - Iq Feedback”
“7 - Ud Command”
“8 - Uq Command”
“9 - Eq Command”
“10 - Vd Command”
“11 - Vq Command”
“12 - Speed Command”
“13 - Speed Feedback”
“14 - Position Reference”
“15 - Speed Reference”
“16 - Position Feedback”
“17 - Position Error”
“18 - Motor Position”
“19 - Resolver Sine”
“20 - Resolver Cosine”
“21 - IxT Current”
“22 - I2xT Current”
PROFIBUS Guide - MANIU20.0507 E
A-9
Appendix A - Parameter List
485
Analog Output Scale
•
RW
0..2
16
inversion of D-IN1
inversion of D-IN2
inversion of D-IN3
inversion of D-IN4
inversion of D-IN5
inversion of D-IN6
inversion of D-IN7
inversion of D-IN8
Digital Output Inversion
•
BIN
Register for inverting the condition of the digital inputs:
“0000_0001”
“0000_0010”
“0000_0100”
“0000_1000”
“0001_0000”
“0010_0000”
“0100_0000”
“1000_0000”
487
0..31
full scale
full scale / 2
full scale / 4
full scale / 8
full scale / 16
full scale / 32
full scale / 2^6
full scale / 2^7
full scale / 2^8
.
.
full scale / 2^29
full scale / 2^30
full scale / 2^31
Digital Input Inversion
•
RW
Scaling function for Analog Configurable Output signal.
“X1”
“X2”
“X4”
“X8”
“X16”
“X32”
“X2^6”
“X2^7”
“X2^8”
.
.
“X2^29”
“X2^30”
“X2^31”
486
-
BIN
RW
0..2
8
Register for inverting the condition of the digital outputs:
“0000_0001”
“0000_0010”
“0000_0100”
inversion of D-OUT1
inversion of D- OUT2
inversion of D- OUT3
900
PPO-type 1 write
-
RW
-
901
PPO-type 2 write
-
RW
-
904
Current PPO-write
-
RW
-
907
PPO-type 1 read
-
RO
-
908
PPO-type 2 read
-
RO
-
911
Current PPO-read
-
RO
-
918
Device Node ID
-
RW
1..127
•
922
Set drive node address on the field bus network. Note that changing node
address is possible only when switch selectors on the converter front panel
are set to FF.
Telegram Selection
•
930
-
0..2
16
Selection of the telegram structure (Telegram 101 or Telegram 102).
Modes of Operation
•
RW
-
RW
-3..2
Selection of the drive operating mode:
“-3 - Torque Mode”
“-2 - Analog Torque Mode”
“-1 - Analog Speed Mode”
“0 - N.A.”
“1 - Speed Mode”
“2 - Positioning Mode”
A-10
PROFIBUS Guide - MANIU20.0507 E
Appendix A - Parameter List
945
Fault Register
•
Alarm Register
965
RO
-
-
RO
-
-
RO
-
Short description of device.
Software Version
•
-
Bit 0 set to 1 means I⋅t alarm present
Bit 1 set to 1 means I^2⋅t alarm present
Bit 2 set to 1 means axis exceeded SW negative limit switch
Bit 3 set to 1 means axis exceeded SW positive limit switch
Bit 4 set to 1 means axis not referenced
Bit 5 set to 1 means absolute position modulo error
Bit 6 set to 1 means invalid table selection
Bit 7 set to 1 means concurrect activation Jog1-Jog2
Device Identification
•
-
Alarm code: parameter value not zero means alarm present.
-
964
RO
Fault code: index 0 contains the fault code displayed on the front panel of
DGV (see Appendix B - Error Codes).
953
•
-
Show firmware version of device.
966
FMA Service
-
RO
-
967
Control Word
-
RW
0..65536
968
Status Word
-
RO
0..65536
969
Drive Option
Bin
RW
0..65536
-
RW
0..1
•
971
Device optional features.
Freeze Configuration
•
Parameter value set to 1 stores the drive configuration into the non-volatile
flash memory.
Note.
1000
Device Communication Speed Rate
•
PROFIBUS Guide - MANIU20.0507 E
When a Freeze command has been executed, PNU 971 must be
reset to value 0.
KBaud
RW
50..12000
Communication speed rates supported: 19,8 to 12000 KBaud. DGV detects
automatically the bus communication speed rate.
A-11
Appendix A - Parameter List
1010
Control Word 2
-
RW
31
31
- 2 .. 2 -1
•
Bit 0 to Bit 4 select motion table 0 to 31.
•
Bit 5 performs Position Modulo
•
Bit 6 performs Position Modulo running shortest trip to target
•
Bit 7 enables the function “Freeze Position” through digital input "Freeze
Position”.
Bit
Meaning
0
1
2
3
4
Select tables:
= 00000bin selects Table 0
⋮
= 11111bin selects Table 31
5
= 0 Absolute Position Modulo,
positive direction
= 1 Absolute Position Modulo,
negative direction
6
= 0 control submitted to bit 5
= 1 when bit 5 = 0, performs
Absolute Position Modulo
running shortest trip to target.
7
= 0 Freeze Position disabled
= 1 Freeze Position enabled, that
is, axis position can be
steadily updated while
operating, on the positive
edge digital input “Freeze
Position”. Position is frozen in
PNU 1229.
8
9
10
11
12
13
14
15
A-12
=0
a new homing procedure and
axis zeroing are carried out
with a positive edge of Bit11
in the Control Word
=1
axis zero is cancelled with a
positive edge of Bit11 in the
Control Word; Bit11 of the
Status Word is reset zero.
Not Used
PROFIBUS Guide - MANIU20.0507 E
Appendix A - Parameter List
1011
Status Word 2
RO
31
31
- 2 .. 2 -1
•
Bits 0 to 4 display the motion table currently selected.
•
Bit 5 set to 1 in response to bit 7 of the Control Word 2 denotes when the
position has been frozen.
Bit
Descrizione
0
1
2
3
4
Display motion table
currently selected
5
Position frozen in PNU
1229.
6
7
8
9
10
11
12
13
14
15
1100
Not Used
Velocity Target
•
1101
1102
1103
1104
1105
1106
deg/s
31
31
31
31
RW
- 2 .. 2 -1
rpm
RW
- 2 .. 2 -1
ms
RW
31
31
31
31
31
31
- 2 .. 2 -1
ms
RW
- 2 .. 2 -1
Deceleration time (ramp) from Max Speed up to 0 rpm.
Quick Stop Time
•
31
Acceleration time (ramp) from 0 rpm up to Max Speed.
Deceleration Time
•
31
- 2 .. 2 -1
Limitation of drive speed command to saturation level Max Speed.
Acceleration Time
•
RW
Instantaneous velocity of the motor shaft.
Max Speed
•
deg/s
Velocity target when using motion tables for local/”internal” control.
Actual Velocity
•
ms
RW
- 2 .. 2 -1
Emergency stop ramp of drive status OFF1 for Torque Mode, Analog
Torque Mode e Analog Speed Mode.
Min Speed
rpm
RW
31
31
- 2 .. 2 -1
•
Set minimum speed for standstill monitoring.
•
When speed mode is active, bit 10 of Status Word set to 1 (min speed
reached) shows that drive is actually moving.
•
When positioning mode is active, bit 13 of Status Word set to 1 (min speed
reached) shows that drive is actually moving.
1107
Speed Monitoring Time
•
PROFIBUS Guide - MANIU20.0507 E
-
ms
RW
31
31
- 2 .. 2 -1
Bit 8 of Status Word set to 1 denotes target reached when velocity actual
value lies within Speed Window before Speed Monitoring Time expires.
A-13
Appendix A - Parameter List
1108
Speed Window
•
1109
rpm
1110
-
1111
%
1200
1201
1202
deg
31
RW
31
- 2 .. 2 -1
31
RW
31
- 2 .. 2 -1
Position target when using motion tables in local/”internal” mode.
31
31
31
31
deg
RW
- 2 .. 2 -1
deg/s
RW
- 2 .. 2 -1
Instantaneous position of the axis.
Profile Velocity
•
0..100
Velocity target for “direct” control when using Telegram 101 and 102.
Actual Position
•
RW
deg/s
Position Target
•
0 - Off / 1 - On
Reduction of the peak current supplied by the drive.
Direct Target Velocity
•
RW
Enable ramp function generator. When ramp function generator is off a step
command is imposed to the motor.
Torque Reduction
•
31
- 2 .. 2 -1
Bit 8 of Status Word set to 1 denotes target reached when velocity actual
value lies within Speed Window before Speed Monitoring Time expires.
Ramp Function Generator Enable
•
31
RW
Set velocity target of trapezoidal motion profile type. Parameterizing this
value will affect the ramp function generator as well.
Trapezoidal Profile
Velocity (t)
PNU 1220
Max Profile Velocity
PNU 1202
Profile Velocity
PNU 1203
Profile Acceleration
t
PNU 1204
Profile Deceleration
1203
Profile Acceleration
•
1204
1205
1206
1207
A-14
deg/s
2
31
31
31
31
RW
- 2 .. 2 -1
deg/s
2
RW
- 2 .. 2 -1
deg
RW
31
31
- 2 .. 2 -1
This parameter defines the absolute position for the software negative limit
switch, acting on both position target and the position actual value. See also
PNU 1213, Limit Switch Enable.
Max Position Limit
•
31
- 2 .. 2 -1
Emergency stop ramp of drive status OFF1 for Speed Mode and
Positioning Mode. As fault occurs, the drive is stopped braking with Quick
Stop Deceleration ramp, when braking is still possible.
Min Position Limit
•
31
RW
Deceleration of trapezoidal motion profile.
Quick Stop Deceleration
•
2
Acceleration of trapezoidal motion profile.
Profile Deceleration
•
deg/s
deg
RW
31
31
- 2 .. 2 -1
This parameter defines the absolute position for the software positive limit
switch, acting on both position target and the position actual value. See also
PNU 1213, Limit Switch Enable.
PROFIBUS Guide - MANIU20.0507 E
Appendix A - Parameter List
1208
Polarity
•
1209
RW
0..255
Invert sign of setpoints. When Speed Mode is active and Polarity is set to
64, then sign of digital speed setpoint is inverted. When Positioning Mode is
active and Polarity is set to 128, then sign of digital position setpoint is
inverted.
Following Error Window
•
-
deg
RW
31
31
- 2 .. 2 -1
Fixes the maximum dynamic following error, that is maximum fluctuation of
position actual value allowed during positioning dynamics. It is obtained as
the difference between the position setpoint, provided by the profile
generator, and the position actual value, measured by motor position
transducer.
This parameters affects Bit 8 of the Status Word. The protection against the
following error is disabled by setting PNU 1209 to zero.
1210
Position Window
•
1211
1212
1213
31
-
RW
31
0.. 2 -1
-
RW
31
0.. 2 -1
Conversion of axis position into DGV internal units.
Limit Switch Enable
•
31
- 2 .. 2 -1
Conversion of axis position into DGV internal units.
Position Conversion Denominator
•
RW
Bit 10 of Status Word set to 1 denotes target position reached when
position actual value lies within Position Window before Position Monitoring
Time expires.
Position Conversion Numerator
•
deg
-
RW
31
31
- 2 .. 2 -1
Enable/disable of limit switches:
-
bit0 =1 enables the HW negative limit switch
bit1 =1 enables the HW positive limit switch
bit2 =1 enables the SW negative limit switch
bit3 =1 enables the SW positive limit switch
Hardware and software limit switches can be programmed in Positioning
Mode, Speed Mode and Analog Speed Mode (see Chapter 5 and 6).
1214
Axis Type
•
1215
1216
PROFIBUS Guide - MANIU20.0507 E
1/2
ms
RW
31
31
- 2 .. 2 -1
Bit 10 of Status Word set to 1 denotes target position reached when
position actual value lies within Position Window before Position Monitoring
Time expires.
Position Modulo
•
RW
Set axis type rotative or linear. Parameterizing this value will affect
conversion of position actual value into DGV internal units. See also
Appendix C.
Position Monitoring Time
•
-
deg
RW
31
31
- 2 .. 2 -1
Set the position modulo range for endless positioning.
A-15
Appendix A - Parameter List
1217
Positioning Mode
•
-
RW
1..15
Configure different positioning functions for local control
Bit
0
Meaning
Select Absolute / Relative Positioning
=0
Absolute Positioning
=1
Relative Positioning
Direction of approach to target depends
on sign of position setpoint.
1
Select Positioning function, Single
Setpoint or Change Set Immediately
=0
Single Setpoint, i.e. complete
previous operation before
running next target.
=1
Change set immediately, i.e.
run immediately any new
setpoint.
See Chapter 6 for more details.
2
3
Select Absolute Position Modulo
=0
Absolute Position Modulo,
positive direction
=1
Absolute Position Modulo,
negative direction
Select Absolute Position Modulo
running the direction closer to target.
=0
control submitted to bit 2
=1
when bit 2 set to 0, performs
Absolute Position Modulo
running the direction closer to
target, i.e. running the shorter
distance between target and
actual axis position.
4
5
6
7
1218
Modulo Conversion Activation
•
1219
1220
1221
1222
-
RO
0
deg/s
RW
31
31
- 2 .. 2 -1
deg/s
2
RW
- 2 .. 2 -1
31
31
deg/s
2
RW
- 2 .. 2 -1
31
31
Limitation of axis acceleration.
Max Deceleration
•
0 - Off / 1 - On
Limitation of axis velocity. This parameter will saturate process velocity and
therefore also trapezoidal profile velocity.
Max Acceleration
•
RW
Trapezoidal profile available at the moment. See PNU 1202, Profile
Velocity, for more details.
Max Profile Velocity
•
-
Parameter set to 1 activates Position Modulo. Parameter set to 0 turns back
to standard positioning mode.
Motion Profile Type
•
A-16
Not used
Limitation of axis deceleration.
PROFIBUS Guide - MANIU20.0507 E
Appendix A - Parameter List
1223
Motion Type Selection
•
-
RW
0/1
Select source for motion command and setpoint, that is
PNU 1223 set to “0 - Table (Internal)" means internal or local source of
setpoints,
PNU 1223 set to “1- Field bus" means that an external controller is source
of setpoints.
1224
Jerk-Limiting Time Constant
•
1225
1226
1227
1229
1230
1231
1232
1233
1235
1236
1237
1238
PROFIBUS Guide - MANIU20.0507 E
RW
-
deg
RO
- 2 .. 2 -1
RW
0..100,0
31
31
%
deg
RW
31
31
- 2 .. 2 -1
deg/s
RW
31
31
- 2 .. 2 -1
%
RW
0..100,00
deg
RW
31
31
- 2 .. 2 -1
deg
RW
31
31
- 2 .. 2 -1
deg
RW
31
31
- 2 .. 2 -1
Switch-on position of the function “Virtual Cam 2”. Limits of the cam range
are +/-2000000,000 deg.
Cam 2 Switch-OFF Position
•
ms
Switch-off position of the function “Virtual Cam 1”. Limits of the cam range
are +/-2000000,000 deg.
Cam 2 Switch-ON Position
•
-1..31
Switch-on position of the function “Virtual Cam 1”. Limits of the cam range
are +/-2000000,000 deg.
Cam 1 Switch-OFF Position
•
RW
31
Acceleration and deceleration, as a percentage of PNU 1221 and 1222, for
“direct” control when using Telegram 102.
Cam 1 Switch-ON Position
•
-
31
Velocity of the trapezoidal motion profile for “direct” control when using
Telegram 101 and 102.
Direct Acceleration Override
•
- 2 .. 2 -1
Position target for “direct” control when using Telegram 101 and 102.
Direct Profile Velocity
•
RO
On-the-fly change of axis speed, as a percentage of PNU 1232, for “direct”
control when using Telegram 102.
Direct Target Position
•
-
Position frozen with digital input “Freeze Position”.
Speed Override
•
0 - Off / 1 - On
Delay time before running next table.
Captured Position
•
RW
Select next table to be executed.
Delay Before Next Running Table
•
-
Number of tables currently enabled.
Next Running Table
•
0..200
Enable/Disable current table.
Active Tables
•
RW
Time constant of a first order filter which operates on speed and position
setpoints when position control is active. Large values of this filter will
dampen the trapezoidal motion profile and lengthen positioning time.
Enable Table
•
1228
ms
deg
RW
31
31
- 2 .. 2 -1
Switch-off position of the function “Virtual Cam 2”. Limits of the cam range
are +/-2000000,000 deg.
A-17
Appendix A - Parameter List
1239
Cam Switches Configuration
•
1242
1243
1250
1251
RW
-
31
31
31
31
31
- 2 .. 2 -1
RW
- 2 .. 2 -1
Monitoring of synchronization function. See Chapter 6.
-
RW
0..60000
Monitoring of synchronization function. See Chapter 6.
31
31
-
RW
- 2 .. 2 -1
-
RW
0..255
Programmable offset for referencing.
Homing Method
•
31
- 2 .. 2 -1
Parameterization of synchronization function. See Chapter 6.
Home Offset
•
RW
-
Synchronization Monitoring Time
•
8
Parameterization of synchronization function. See Chapter 6.
Synchronization Window
•
1244
-
Synchronization Offset Velocity
•
0 .. 2
Digital Output = “Cam Switch 1”
Digital Output = “Cam Switch 1” AND “Zero Speed”
Digital Output = “Cam Switch 2”
Digital Output = “Cam Switch 2” AND “Zero Speed”
Synchronization Offset Position
•
RW
Configuration register for conditioning the function virtual cam with the
function “4 - Zero Speed” of a digital input.
“0000_0000”
“0000_0001”
“0000_0000”
“0000_0010”
1241
BIN
Select referencing method:
“1 - Homing on the negative HW limit switch and index pulse”
“2 - Homing on the positive HW limit switch and index pulse”
“3 - Homing on the falling edge of the positive home switch and index pulse”
“4 - Homing on the rising edge of the positive home switch and index pulse”
“5 - Homing on the falling edge of the negative home switch and index pulse”
“6 - Homing on the rising edge of the negative home switch and index pulse”
“17 - Homing on the negative limit switch”
“18 - Homing on the positive limit switch”
“19 - Homing on the falling edge of the positive home switch”
“20 - Homing on the rising edge of the positive home switch”
“21 - Homing on the falling edge of the negative home switch”
“22 - Homing on the rising edge of the negative home switch”
“33 - Homing on the index pulse in the negative direction”
“34 - Homing on the index pulse in the positive direction”
“35 - Homing on the current position”
1252
Homing Speed For Switch
•
1253
1254
deg/s
1255
deg/s
1256
1257
31
31
31
31
31
31
31
31
31
31
- 2 .. 2 -1
2
RW
- 2 .. 2 -1
deg/s
RW
- 2 .. 2 -1
deg/s
RW
- 2 .. 2 -1
-
RW
- 2 .. 2 -1
Speed for jogging. See Chapter 6.
Jogging Acceleration
•
RW
Speed for jogging. See Chapter 6.
Jogging Speed 2
•
31
Parameterize acceleration and deceleration ramp for referencing
procedure.
Jogging Speed 1
•
31
- 2 .. 2 -1
Parameterize homing speed during search for zero.
Homing Acceleration
•
RW
Parameterize homing speed during search for switch.
Homing Speed For Zero
•
A-18
deg/s
Set acceleration and deceleration ramp for jogging. See Chapter 6.
PROFIBUS Guide - MANIU20.0507 E
Appendix A - Parameter List
1258
Max Travel for Switch
•
1259
deg
31
31
31
31
- 2 .. 2 -1
Max traversing distance while limit switch searching (reserved).
Max Travel for Zero
•
RW
deg
RW
- 2 .. 2 -1
Max traversing distance while zero searching
For example, when referencing with homing method 1
PNU 1259
1
Index Pulse
Negative Limit Sw itch
1270
Encoder Pulses Input
•
-
31
RW
0.. 2 -1
When PNU 304 is equal to 2, i.e. Reference Input, this parameter together
with PNU 1271 has to be properly set using the following formula. Assuming
that the transmission gear ratio is
number of master’s revolutions : number of slave’s revolutions
PNU 1270 = number of master’s rev. * number of input-pulses * 4
16
PNU 1271 = number of slave’s revolutions * 2
For example, the master device provides 1024 encoder pulses per
revolution and the transmission gear ratio is 1 : 5, then
PNU 1270 = 1* 1024 * 4 = 4096
PNU 1271 = 5 * 2
1271
Encoder Pulses Output
•
1272
RW
31
0.. 2 -1
When PNU 304 is equal to 2, i.e. Reference Input, this parameter together
with PNU 1270 has to be properly. See explanation remark of PNU 1270 for
the conversion formula.
Encoder Input Inversion
•
-
16
-
RW
0/1
Invert sign of encoder emulation input when encoder interface of DGV is set
as Reference Input or Feedback Input. See PNU 304 and Appendix C for
more details.
0 = Not Inverted
1 = Inverted
1300
Torque Target
•
1301
1302
1303
PROFIBUS Guide - MANIU20.0507 E
3
%
RO
3
3
-10 ... 10
%
RO
0..10000
Average current supplied by the converter as a percentage of the
continuous current PNU 341.
Direct Target Torque
•
3
-10 ... 10
Instantaneous current supplied by the converter as a percentage of the
continuous current PNU 341.
Torque Average Value
•
RW
Set torque (current) setpoint to be executed using motion tables.
Torque Actual Value
•
%
%
RW
16
16
- 2 .. 2 -1
Current target for “direct” control when using Telegram 101 and 102,
expressed as a percentage of the continuous current PNU 341.
A-19
Appendix A - Parameter List
1400
Digital Input Status
•
1401
A-20
R
-
RW
-
Status of the digital inputs:
0000 0001
! D-IN1 On
0000 0010
! D-IN2 On
0000 0100
! D-IN3 On
0000 1000
! D-IN4 On
0001 0000
! D-IN5 On
0010 0000
! D-IN6 On
0100 0000
! D-IN7 On
1000 0000
! D-IN8 On
Digital Output Status
•
-
-
It allows to change the status of the digital outputs set to “0 - Disabled”:
0000 0001
! D-OUT1 On
0000 0010
! D-OUT2 On
0000 0100
! D-OUT3 On
PROFIBUS Guide - MANIU20.0507 E
Appendix B - Error Codes
The tables below shows respectively alarm and error codes of DGV
Converters.
•
DGV300 display the codes by the status LED (LED Code
Legend: G stands for green, R stands for red, Y stands for
yellow).
•
DGV700 display the code by the display on the front panel (first
digit of fault codes is F, first digit of alarm codes is A).
Note.
Alarm
LED Code
A01
A02
A03
A04
A05
A06
A07
A08
GGGGY
GGGYG
GGGYY
GGYGG
GGYGY
GGYYG
GGYYY
GYGGG
Error
LED Code
F01
F02
F03
F04
F05
F06
F07
F08
F09
F10
F11
F12
F13
F14
F15
F16
F17
F18
F19
F20
F21
F22
F23
F24
F25
F26
F27
F28
F29
F30
F31
F32
GGRGG
GGGGR
GRRGG
GGGRG
GRGGG
GGRRR
GGRGR
GRRGR
GRRRG
GGRRG
GRGRG
GRRRR
RGGGG
RGGGR
GGGRR
RGGRR
RGRGG
GRGGR
RGGRG
GRGRR
RRRRG
RRGGG
Description
IxT Protection
2
I T Protection
Software Negative Limit Switch
Software Positive Limit Switch
Axis not referenced
Absolute Position Modulo error
Invalid table selection
Jog1-Jog2 concurrent activation
Description
Overcurrent of the IGBT module
Overvoltage
Mains
Undervoltage
Converter Thermal Protection
Motor Thermal Protection
Resolver Fault
Sincos Encoder Fault
Sincos Encoder Interpolation Fault
Overspeed
Following Error
Hardware Negative Limit Switch
Hardware Positive Limit Switch
Clamp Overload
Field bus Fault
Max Travel for Switch
Max Travel for Zero
Internal Error
Clamp Ovetime
Computation Overflow
24 V Bake Supply Fault (DGV300 only)
Invalid table
The alarm code can also be detected by PNU 953 “Alarm
Register”.
The fault code can also be detected by PNU 945 “Fault
Code”.
PROFIBUS Guide - MANIU20.0507 E
B-1
Appendix B - Error Codes
This page has been intentionally left blank.
B-2
PROFIBUS Guide - MANIU20.0507 E
Appendix C - Technical Data
PROFIBUS Network
Protocol
PROFIBUS-DP
Profile
PROFIDRIVE, PROFIBUS profile for variable
speed drive
Compatible Masters
Any field bus master-DP device that supports
PROFIBUS-DP communication protocol
PPO Telegram
PPO Type-2
Network Size
Up to 127 stations using repeaters
Medium
•
•
•
Shielded, twisted pair RS 485 cable,
EN 50170
Bus Termination
Bus Cable Parameters:
Parameter
Value
M.U.
Impedance
135 ÷ 165
( 3 ÷ 20 MHz )
max. 30
max. 110
min. 0,64
min. 0,34
Ω
Capacitance
Resistance
Diameter
Cross Section
•
pF/m
Ω /km
mm
2
mm
Bus Cable Length:
Baud rate
[kbit/s]
Max. Length
[m]
12000
6000
3000
1500
500
187,5
93,75
45,45
19,2
9,6
100
100
100
200
400
1000
1200
1200
1200
1200
Fieldbus
Connections
Terminals X2 / X3 on the front panel of DGV.
Switch Settings
Through drive parameter and/or DIP
switches on the drive front panel.
PROFIBUS Guide - MANIU20.0507 E
C-1
Appendix C - Technical Data
Control Word
The following table resumes the detailed bit allocation of the Control
Word for each operating mode.
Analog
Torque
Mode
Bit
0
1
2
3
4
7
1
ON
0
OFF2
1
Operating Condition
0
OFF3
1
Operating Condition
0
Operation Inhibited
1
Operation Enabled
0
0
9
10
11
12
13
Inhibit setpoint
1
Enable setpoint
C-2
Cancel drive task
Operating Condition
Intermediate stop
Operating Condition
Activate drive
task (edge)
Inhibit
setpoint
Enable
setpoint
Acknowledge
0
Inching1 OFF
1
Inching1 ON
0
Inching2 OFF
1
Inching2 ON
0
Inhibit Remote Control
1
Enable Remote Control
0
Stop referencing
1
Start referencing
0
Relative Positioning
1
Absolute Positioning
0
Single Setpoint
0
1
15
Torque
Mode
0
1
14
Inhibit rampfunction generator
Operating
Condition
Stop rampfunction generator
Enable rampfunction generator
0
1
8
Positioning Mode
OFF1
1
6
Speed Mode
0
1
5
Analog
Speed
Mode
Change Set
Immediately
Stop
Synchronization
Perform
Synchronization
0
Internal Motion Task
1
Activate Direct Motion Task
PROFIBUS Guide - MANIU20.0507 E
Appendix C - Technical Data
Status Word
The following table resumes the detailed bit allocation of the Status
Word for each operating mode.
Analog
Torque
Mode
Bit
0
1
2
3
4
5
6
7
8
10
11
12
13
14
15
Positioning Mode
Switch-on inhibited
1
Ready to switch-on
0
OFF1 ACTIVE
1
Operating condition
0
Operation inhibited
1
Operation enabled
0
No fault
1
Fault
0
No OFF2
1
OFF2 ACTIVE
0
No OFF3
1
OFF3 ACTIVE
0
Operating condition
1
Switch-on inhibited
0
No alarm
1
Alarm
0
Actual speed out of
tolerance range
Actual speed within
tolerance range
No contouring
error
Remote Control Inhibited
1
Remote Control Enabled
0
Min Speed not reached
1
Min Speed reached
Torque
Mode
Contouring error
0
Outside setpoint
position
Setpoint position
reached
0
No reference point set
1
Reference point set
Min Speed
not reached
Min Speed
reached
0
1
Setpoint acknowledgment (edge)
0
Drive moving
1
Drive stationary
0
No error
1
Referencing error
0
1
PROFIBUS Guide - MANIU20.0507 E
Speed Mode
0
1
9
Analog
Speed
Mode
No
synchronization
Synchronization
Reached
C-3
Appendix C - Technical Data
Basic Data Types
UNSIGNEDn
n
is a non-negative integer value in the range: 0, …, 2 -1 which is
represented by a sequence of n bits as:
b = b0 b1 … bn-1
the value of an UNSIGNEDn(b) data type is
UNSIGNEDn(b) = bn-1 2
INTEGERn
n-1
1
+ … + b1 2 + b 0 2
n-1
0
n-1
is an integer value in the range -2 , … , 2 -1 which is represented
by a sequence of n bits as:
b = b0 b1 … bn-1
the value of an INTEGERn(b) data type is
INTEGERn(b) = bn-2 2
n-2
1
+ … + b 1 2 + b0 2
0
if bn-1 = 0
and, the two’s complement INTEGERn(b) if bn-1 = 1.
Units
Note that axis variables are Axis Type dependent.
Therefore axis units are for rotary axis:
Position
[mdeg]
Speed
[mdeg/s]
Acceleration [deg/s2]
And for linear axis:
Position
[µm]
Speed
[µm/s]
Acceleration [mm/s2]
Note.
Special regard should be taken when drive configuration
is carried out using the Browser (Control Mode set to
Local) and changes monitored through field bus, or vice
versa (Control Mode set to Field Bus).
When control mode is Field Bus, axis variables which
are Axis Type dependent, such as axis position, velocity
and acceleration, have to be converted into internal units
and set as integers.
C-4
PROFIBUS Guide - MANIU20.0507 E
Appendix C - Technical Data
DGV Internal Units
Process variables in their units can be transformed into DGV internal
units using conversion factors PNU 1211 “Position Conversion
Numerator” and PNU 1212 “Position Conversion Denominator”.
When a resolver transducer with 65536 counts/turn is used, then
conversion factors must be set as follows:
•
when rotary axis
1 rotor-turn = 360000 [mdeg] = 65536 [counts]
and gear ratio is
nr. of axis-turns : nr. of rotor-turns.
Hence, “Position Conversion Numerator” is
PNU 1211 = nr. of rotor-turns * 65536
and “Position Conversion Denominator” is
PNU 1212 = nr. of axis-turns * 360000
For example:
Assuming gear ratio is 3:10, then
PNU 1211 = 10 * 65536
PNU 1212 = 3 * 360000
•
when linear axis, for example using a screw-pitch of 20000 µm
1 rotor-turn = 20000 [µm] = 65536 [counts]
gear ratio is always
nr. of axis-turns : nr. of rotor-turns
Hence “Position Conversion Numerator” is
PNU 1211 = nr. of rotor-turns * 65536
and “Position Conversion Denominator” is
PNU 1212 = nr. of axis-turns * 20000
PROFIBUS Guide - MANIU20.0507 E
C-5
Appendix C - Technical Data
Example.
Extract parameter PNU 1202 “Profile Velocity” from Appendix A - Parameters List.
PNU
Name
Units
Access
Value Range
1202
Profile Velocity
deg/s
RW
- 2 .. 2 -1
31
31
The parameter unit is “mdeg/s“ when rotary axis, and “µm/s“ when linear axis.
•
Would you set a profile speed of 10 deg/s, the conversion in internal units be:
10 deg/s ≡ 10*1000 mdeg/s, that is 10000 dec
i.e. PNU 1202 has to be set to “ 10000 dec “ .
•
If PNU 1202 parameter value were equal to 5000000 dec for a linear axis, the
following conversion returns that:
5000000 dec ≡ 5000000 µm/s
that is 5m/s
i.e. the profile speed is set to 5 m/s.
C-6
PROFIBUS Guide - MANIU20.0507 E
Appendix C - Technical Data
PROFIBUS
Definitions
Technical definitions currently used in this Guide concerning the
PROFIBUS protocol.
Warning
Signal caused by an existing alarm which does not interrupt drive
operation. Internal limitation and protection functions are
automatically activated
Request Label
Coded information specifying the required service for the parameter
part sent from master to slave
Response Label
Coded information specifying the required service for the parameter
part sent from slave to master
Control Word
16-bit word coded information sent from master to slave containing
control and command information
Description
Parameter description: short description of the parameter and its
use
Fault
Error event that leads to interrupting drive operation
GSD File
ASCII-format device description file in a specified form. Each
PROFIBUS device (active and passive station) has its own GSD file
containing the device communication properties. The GSD file of
DGV is suitable for any kind of master-DP device
Master
Control system with bus initiative. In PROFIBUS terminology a
master device is also called active station
Parameter Name
Parameter symbolic name
Parameter Number
In PROFIBUS terminology it indicates the parameter address
Parameter
Value that can be accessed through the PROFIBUS link, e.g.
variable, constant, signal
PPO Telegram
PPO (Parameter/Process Data Object): data set that contains
Parameter and Process Data
Parameter
Identification
Data set within the PPO telegram for transferring parameter
values
Process Data
Data set within the PPO telegram containing the Control Word and
reference values or the Status Word and actual values
Profile
Adaptation of the protocol for certain application field, e.g. drives
Profile-specific
Peculiar of a certain profile
Slave
Passive bus participant. In PROFIBUS terminology, slave stations
are also called passive stations
Status Word
16-bit coded information sent from slave to master containing
status information
PROFIBUS Guide - MANIU20.0507 E
C-7
Appendix C - Technical Data
PROFIBUS
Abbreviations
C-8
Abbreviations used in this Guide.
ACT
Actual Value
CW
Control Word
DP
Decentralized Periphery
FMA
Fieldbus Management
FMS
Fieldbus Message Specification
HW
Hardware
ID
(Request) Identification
IND
Sub-Index
PA
Process Automation
PD
Process Data
PNO
PROFIBUS User Organization (PROFIBUS Nutzerorganisation)
PNU
Parameter Number
PPO
Parameter/Process Data Object
REF
Reference Value
RS 485
(EIA Standard for data transmission)
SW
Status Word
SW
Software
VALUE
(Parameter) Value
PROFIBUS Guide - MANIU20.0507 E
DGV
MANIU20.0507 E
ABB Sace S.p.a.
Linea S (Servomotors & Servodrives)
Headquarters and Offices
Frazione Stazione Portacomaro, 97/C
I - 14100 Asti
ITALY
Telephone: +39 0141 276 111
Fax:
+39 0141 276 294
E-mail:
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Internet:
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Servomotors & Servodrives
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Export
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Fax:
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