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Servo
One
User Manual
SERCOS III
User Manual – SERCOS III Servo One
User Manual – SERCOS III Servo One
ID no.: 1108.26B.0-00
Date: 10/2009
We reserve the right to make technical changes.
We reserve the right to make technical changes.
The contents of our User Manuals were compiled with the greatest care and attention, and based on the latest information available to us.
We should nevertheless point out that this document cannot always be updated in line with ongoing technical developments in our products.
Information and specifications may be subject to change at any time.
Please visit www.lt-i.com for details of the latest versions.
How to use this document
Dear user,
This manual is intended for you as a project engineer, commissioning engineer or programmer of drive and automation solutions on the SERCOS III field bus.
It is assumed that you are already familiar with this field bus on the basis of appropriate training and reading of the relevant literature. We assume your drive is already in operation. If it is not, you should put it into operation as described in the ServoOne Operation
Manual.
This manual applies to the ServoOne position controller system with the SERCOS III option board. In the following we merely refer to it by the abbreviation SO.
1
2
Safety
Assembly and connection
8
9
10
5
6
7
Data transfer
Scaling and weighting
Functionality
Error messages and diagnosis
Bibliography
Appendix, Glossary
8
9
10
5
6
7
1
2
User Manual – SERCOS III Servo One
3
Pictograms
To provide clear guidance, this Operation Manual uses pictograms. Their meanings are set out in the following table. The pictograms always have the same meanings, even where they are placed without text, such as next to a connection diagram.
!
Attention!
Misoperation may result in damage to the drive or malfunctions.
DAnger from electricAl tension!
Improper behaviour may endanger human life.
DAnger from rotAting pArts!
Drive may start up automatically.
note:
Useful information
User Manual – SERCOS III Servo One
4
Table of contents
1 Safety ...................................................................................... 7
2 Assembly and connection .......................................................11
3 Commissioning and configuration .......................................... 15
4 Parameter setting................................................................... 17
4.1.2 Manufacturer-specific parameters (P-0-xxxx) ...............................................17
5 Data transfer ......................................................................... 21
6 Scaling and weighting ........................................................... 27
6.4.1 Percentage weighting of torque and force data ...........................................33
User Manual - SERCOS III Servo One 5
User Manual - SERCOS III Servo One
6
7 Functionality .......................................................................... 39
7.1.1 “Drive-controlled homing” command .........................................................39
8 Error messages and diagnosis ................................................. 45
9 Bibliography........................................................................... 51
10 Appendix, Glossary ................................................................ 53
[ Chapter 1 ]
1 Safety
1.1 Measures for your safety
The instructions set out below should be read through prior to initial commissioning in order to prevent injury and/or damage to property. The safety instructions must be followed at all times.
1.2 Read the Operation Manual first!
1.
Read the Operation Manual first!
• Follow the safety instructions!
• Refer to the user information!
•
•
Electric drives are dangerous:
• Electric voltages of 230 V to 480 V
Dangerously high voltages of
≥ 50 V may still be present 10 minutes after the power is cut (capacitor charge). so check that the power has been cut!
Rotating parts
Hot surfaces
Protection against magnetic and/or electromagnetic fields during installation and operation.
• Persons fitted with heart pacemakers, metallic implants and hearing aids etc. must not be allowed access to the following areas:
– Areas where drive systems are installed, repaired and operated.
– Areas where motors are installed, repaired and operated. Motors with permanent magnets pose a particular hazard.
Safety instructions Table 1.1
DAnger:
If it is necessary to access such areas, suitability to do so must be determined beforehand by a doctor
U
V
N
N
U
V
L+
RB
L-
L3
L2
L1
L1
L3
L2
L+
RB
L-
Table 1.1
Your qualification:
• In order to prevent personal injury or damage to property, only personnel with electrical engineering qualifications may work on the device.
•
•
The said qualified personnel must be familiar with the contents of the Operation
Manual (see IEC364, DIN VDE0100).
Knowledge of national accident prevention regulations (e.g. BGV A3, formerly
VBG 4, in Germany)
During installation observe the following instructions:
• Always comply with the connection conditions and technical specifications.
• Comply with the standards for electrical installations, such as regarding cable cross-section, PE conductor and ground connections.
• Do not touch electronic components and contacts (electrostatic discharge may destroy components).
Safety instructions
1.3 Introduction to the SERCOS III interface
SERCOS stands for SErial Realtime COmmunication System, and is a globally standardized (IEC 61491 and EN61491) digital interface for communication between master control systems, drive units and other distributed peripherals. The real time-critical transfer of setpoints and actual values enables numerically controlled high-performance drive applications to be implemented in the engineering industry.
Services are also provided for operation mode recording, parameter setting, configuration and diagnosis.
The SERCOS III communication module for the ServoOne is executed as an interface with two RJ45 sockets, and so permits a loop or linear structure.
The hardware and software have, as far as possible, been developed in conformance to
DIN/EN 61491. The basis for SERCOS III implementation in the ServoOne is the specification V1.1.1 from SERCOS International.
User Manual – SERCOS III Servo One 7
User Manual – SERCOS III Servo One
8
further documentation
• ServoOne User Manual
• ServoOne Application Manual
•
General Overview and architecture (V1.1.1.1) (SERCOS International)
• Generic Device profile (V1.1.0.6) (SERCOS International)
• SERCOS Communication (V1.1.1.5) (SERCOS International)
• Function specific profile drives (V1.1.2.11) (SERCOS International)
• SERCOS Parameter (V1.1.1.0) (SERCOS International)
Figure 1.1 LTi SERCOS III communication module for ServoOne
The power supply to the communication module is provided by the ServoOne.
Real-time capability permits highly dynamic drive engineering applications with NC cycle times of 125µs to 65 ms (multiples of 125µs). The data to be transferred is defined in the SERCOS driver in numerous preference telegrams and parameters. They are specially tailored to the high demands of electric drive systems. A freely configurable telegram permits optimum utilization of all the possibilities offered by the line based on additional setpoint and actual value parameters such as increasing the transferred position resolution, use of the inputs and outputs in the drive in the NC cycle, and much more.
1.4 Key features
•
Cyclic data exchange of references and actual values with exact time equidistance
• SERCOS cycle time of 125µs to 65 ms (multiples of 125µs programmable)
• Multi-axis synchronization between reference action times and actual value measurement times of all drives in the loop
•
Full synchronization of all connected drives with the master control system
• Free configuration of telegram content
• Maximum configurable data volume in MDT: 20 bytes
•
Maximum configurable data volume in DT: 20 bytes
• Programmable parameter weighting and polarity for position, velocity, acceleration and torque
• Additive velocity and torque references
•
Fine-interpolation (linear or cubic) inside the drive
• Optionally master control-side (external) or in-drive generation of rotation speed and acceleration pre-control
• Service channel for parameter setting and diagnosis
• Support for touch probes 1 and 2
• Support for spindle commands
• Support for configurable real-time status and control bits
•
Support for configurable signal status and control word
1.5 Abbreviations
Abbreviation explanation
DT
IDN
MDT
MST
SERCOS
SVC service channel
Cyclic data
Table 1.2 Abbreviations
Drive Telegram. Data from drive to master (status, actual values)
Ident number S-x-yyyy or P-x-yyyy
32 bits are available to display a SERCOS III ident number.
Master Data Telegram. Data from the master to the drives (control word, setpoints)
Master Sync Telegram. Provides µs-precise data synchronization of the drives by the time-slot method
Standardized method of real-time communication between master control systems and drives to DIN/EN 61491
Subsidiary protocol in the telegrams
Parameter values, attributes, scaling and names can be sequentially transferred.
Transfers can also be effected in parallel with the time-critical cyclic data
(MDT, DT) in phases 3 and 4.
The service channel provides services for operation mode recording, parameter setting, configuration and diagnosis
Time-synchronized transfer of MDT, DT as from phase 3, valid as from phase 4
[ Chapter 1 ]
User Manual – SERCOS III Servo One 9
User Manual – SERCOS III Servo One
10
2 Assembly and connection
2.1 Installation and wiring
In contrast to the SERCOS II (which used a fibre-optic cable), the connection between the master and slave with SERCOS III is made using standard Ethernet cables with RJ45 connectors. The SERCOS III option board features two RJ45 sockets (X36, X37), enabling a loop or linear structure.
Ethernet patch cables or crossover cables to the CAT5e-specification are suitable as connecting cables.
Master
P1 P2
Line
Servo One
P1 P2
Servo One
P1 P2
Servo One
P1 P2
Figure 2.1 SERCOS III linear structure
Master
P1 P2
Loop
The loop structure should be selected whenever possible, as in it the master sends the telegrams in both direction, so enabling redundant communication. This means breaks in the loop between two slaves, or between the master and a slave, are detected and within a bus cycle the switch is made to a linear structure with two lines, so communication is not interrupted.
This redundancy is not possible with a linear structure.
The individual ports between the bus stations can be connected in any way, meaning there is no specification of which port is the input and which the output.
2.2 Pin assignment of the RJ-45 socket
The pins on the RJ-45 socket are assigned as follows: pin colour cable wire pair
3
4
5
6
1
2
7
8
Table 2.1
White/orange
Orange
White/green
Blue
White/blue
Green
White/brown
Brown
Pin assignment
3
1
1
3
2
2
4
4
TxData +
TxData -
RecvData +
Unused
Unused
RecvData -
Unused
Unused
Pair #
2
3
1
4
function
1 2 3 4 5 6 7 8
Servo One
P1 P2
Servo One
P1 P2
Figure 2.2 SERCOS III loop structure
Servo One
P2 P1
Figure 2.3 RJ-45 socket
User Manual – SERCOS III Servo One 11
[ Chapter 2 ]
User Manual – SERCOS III Servo One
12
2.3 Meanings of LEDs
There are two LEDs on each RJ-45 socket. They signify the following.
1 (green) leD meaning
Link LED:
• Off: No link No connection to another station
• On: Link active Connection to another (bus) station active
2 (orange)
Table 2.2
Activity:
• Off: No activity No data transfer is taking place
• Flashing: Activity Data transfer active
Meanings of LEDs
2.4 Indication of operating states on 7-segment display
D1
System states
8.
S.
S.
*)
*)
D2 meaning parameter
8.
Device in reset state
0.
Self-initialization on device startup
1.
1) Not ready (no DC-link voltage)
2.
1) Switch-on disabled (DC-link OK, power stage not ready)
3.
Ready (power stage ready)
4.
On (device powered up)
2)
5.
Drive ready (power applied to drive and drive ready for setpoint input)
2)
6.
Quick stop
2)
7.
Error response active
2)
(Start)
(NotReadyToSwitchOn)
(SwitchOnDisabled)
(ReadyToSwitchOn)
(SwitchedOn)
(OperationEnable)
(QuickStopActive)
(FaultReactionActive)
D1 D2 meaning
E R
Errors (see below)
In event of an error, alternating display
E
X
X
R.
Display for errors, or non-resettable errors
Y
Y
Error number (decimal)
Error localization (decimal)
1) S.
flashes when the STO (Safe Torque Off) function is active; no display when function is inactive.
*) Not a "safe indication" as specified in EN 61800-5-2.
2) The dot flashes when the power stage is active.
(Fault) parameter
Example of flash sequence:
ER > 02 > 05 * ER > 02 > 05 ...
Error: ER = Error
Error name: 02 = Error in parameter list
Description of error: 05 = Function to check current parameter list
2.5 Hardware enable
The ServoOne has a control input to the hardware enable ENPO on the control terminal.
This input must be configured for operation of the power stage at 24 V.
The device additionally features the STO (Safe Torque Off) function (see ServoOne User
Manual or Application Manual), category 3, control terminal ISDSH. On these devices the logic for this function must be provided by the higher-order controller as detailed in the
Application Manual.
Note: If the ENPO and ISDSH inputs are not configured, the device remains in state 1 = “Not Ready to Switch On” or 2 = “Switch On Disabled”). Only when the configuration has been correctly wired can the state be quit by way of a “Shutdown” command over bus.
[ Chapter 2 ]
User Manual – SERCOS III Servo One 13
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14
3 Commissioning and configuration
3.1 Commissioning
The D rive
M anager
user interface is a program for general commissioning of the drive system. The D rive
M anager
package includes tools for identification of motor data, for servomotor access to a motor database, and for general device configuration.
A separate section is devoted to initial commissioning via the user interface as described in the device Application Manual.
3.2 Commissioning sequence
Preconditions:
• The drive unit is wired as specified in the Operation Manual and initial commissioning is complete.
• If the motor is to be powered, the hardware enable (ENPO) and STO (Safe Torque
Off) must also be correctly configured.
NOTE: For more detailed information on optimization of the software functions and control circuits refer to the device application manual.
comment step Action
1.
Check the wiring. Make sure hardware enable ENPO (X4) is not connected.
2.
Switch on the mains supply voltage.
3.
Configure the drive unit using the Application Manual.
4.
Test the control quality and optimize the controller settings as necessary using the
Operation Manual.
5.
Set the communication parameters for the
SERCOS III.
6.
Test the drive on the higher-order controller, see Application Manual.
7.
Finally save the setting.
(Inputs/outputs, software functions, ...)
Save device setting
Non volatile in device
NOTE : On the subject of “Units and scalings" refer to Section 6
User Manual – SERCOS III Servo One 15
[ Chapter 3 ]
3.3 Setting the slave bus address
SERCOS parameter IDN/S-0-1040.0.0 is used to set the bus address. This parameter can be written using D rive
M anager
5. The address setting must be unique, meaning each address may be used only once in a SERCOS loop.
SERCOS III also supports automatic slave addressing. If you enter the address 0 for all the slaves in a loop in IDN/S-1040-0-0, the addressing is executed automatically by the master on bus startup, provided the master supports that mode of addressing.
User Manual – SERCOS III Servo One
16
4 Parameter setting
4.1 Format of SERCOS III parameters
The SERCOS III parameter numbers have been extended from SERCOS II, to a length of
32 bits. A standard parameter now has the following format:
S-<DataSet>-<IdNr>.<SI>.<SE>
Key to abbreviations:
• S: Standard parameter
• DataSet: Number of the data set (currently only data set 0 is supported)
• IdNr: SERCOS ident number
• SI: Structure instance
•
SE: Structure element
In a connection between master and slave there is always a "producer" and at least one
"consumer". The "producer" connection is the one from the master to the slave, and the
"consumer" from the slave to the master. The connections are represented within the parameter numbers by "SI" (structure instance).
Which instance is configured as the producer and which as the consumer is indicated by parameter S-0-1050.x.1 (to be found under device parameter 21050) in D rive
M a
nager
5. Bit 14 of that parameter defines the connection method. If, for example, in parameter S-0-1050.0.1 bit 14 = 0, structure instance 0 is the consumer instance. So bit
14 in parameter S-0-1050.1.1 must be = 1, meaning structure instance 1 would be the producer instance. So according to this example the parameter structure S-0-1050.0.20 is a consumer instance.
Multiple consumers per connection are permitted. The ServoOne supports a connection with one producer and a maximum of one consumer.
4.1.1 standard parameters (s-0-xxxx.x.x)
All standard parameters supported by the ServoOne are mapped as LTi parameters.
However, the expansion in SERCOS III parameter numbers mentioned previously means that consecutive addressing of the LTi parameters could not be retained. Only the parameters already existing previously in the parameter set as SERCOS II parameters retain their addressing:
SERCOS Idn = LTi ID – 10000
All SERCOS III-specific parameters as from LTi parameter number 11000 and 20000 are stored in the parameter set of the ServoOne.
4.1.2 manufacturer-specific parameters (p-0-xxxx)
All manufacturer-specific parameters are to be found in list S-0-1017.0.0 with an offset of 8000(hex) from the LTi parameter number.
So LTi parameter 107 (function selector ISD06), for example, is to be found in the list of all available parameters (S-0-1017.0.0) under number 32875. This parameter is addressed by way of its LTi parameter number – in this case P-0-0107.
4.2 Operation modes
The operation modes selectable in the master control word and displayed in the drive status word conforming to the SERCOS specification are coded according to the scheme set out in the following table.
Bit explanation
15
14 - 10
9
8
0: SERCOS default mode
1: Manufacturer-specific mode
Reserved
0: Without axis control word (S-0-0520.0.0)1:
1: With axis control word (S-0-0520.0.0) (not supported)
0: Without transition
1: With transition
Table 4.1 Operation mode coding
User Manual – SERCOS III Servo One 17
[ Chapter 4 ]
User Manual – SERCOS III Servo One
18
Bit explanation
7 - 4
3
2 - 0
Advanced mode
0000: No advanced mode
0001: Interpolation
0010: Positioning
0011: Block mode (not supported)0100:
0100: Synchronous mode (not supported)
0: with tracking error
1: without tracking error
Operation mode
Table 4.1 Operation mode coding
The operation modes supported by the ServoOne are listed in parameter S-0-0292.
operation mode Description
0000 0000 0000 0001
0000 0000 0000 0010
0000 0000 0100 0010
0000 0000 0000 0011
0000 0000 0000 0100
0000 0000 0000 1011
0000 0000 0000 1100
0000 0000 0001 0011
0000 0000 0001 0100
0000 0000 0001 1011
0000 0000 0001 1100
Torque control
Speed control, drive-controlled profile generation with parameterized ramps
Speed control, master control system-controlled profile generation, no tracking error
Position control with position encoder 1 (e.g. motor encoder), master control system- controlled profile generation, no use of pre-control signals, with tracking error
Position control with position controller 2 (e.g. external encoder), master control system- controlled profile generation, no use of pre-control signals, with tracking error
Position control with position controller 1 (e.g. motor controller), master control system-controlled profile generation, with use of pre-control signals, without tracking error
Position control with position controller 2 (e.g. external encoder), master control system-controlled profile generation, with use of pre-control signals, without tracking error
Position control with position controller 1 (e.g. motor encoder), drive-controlled profile generation, no use of pre-control signals, with tracking error
Position control with position controller 2 (e.g. external encoder), drive-controlled profile generation, no use of pre-control signals, with tracking error
Position control with position controller 1 (e.g. motor encoder), drive-controlled profile generation, with use of pre-control signals, without tracking error
Position control with position controller 2 (e.g. external encoder), drive-controlled profile generation, with use of pre-control signals, without tracking error
Table 4.2 Supported operation modes
Using parameters S-0-0032.0.0 to S-0-0035.0.0, up to four different operation modes can be configured. The mode is selected by parameter S-0-0134.0.0 "Drive control word" (see section 5.2.1.1). This defines the configured mode in which the drive is to run.
Which of the three possible encoder interfaces of the ServoOne (Channel 1, Channel
2, Channel 3) are designated as position encoder 1 and 2 respectively is specified by parameters P-0-0530, “Selection of position encoder 1“, and P-0-0531, “Selection of position encoder 2“.
The position encoder for position control specified by the operation mode must also be selected via parameter P-0-0522 as the position encoder for position control. Otherwise an error will be triggered in response to the controller enable and the switch from phase
2 to phase 3.
For further details on encoder configuration please refer to the ServoOne Operation
Manual.
A valid interpolation method (P-0-0370) must be configured for the position-controlled operation mode. The following settings are possible:
1. Linear interpolation
Calculation of position and rotation speed
2. Spline interpolation with external pre-control.
Should only be used when the master control system also calculates and transmits the pre-control signals for speed (P-0-3055) and torque (P0-03056).
3. Spline Interpolation
Calculation of position, rotation speed and torque
4. Spline Interpolation
Calculation of position, rotation speed and torque
To attain a higher resolution of the pre-control signals, an additional 16-bit decimal place component (P-0-3100) for the position (S-0-0047) can be transferred.
To use the higher resolution, the advanced pre-control mode (P-0-0379=1) must be selected.
The advanced pre-control mode (P-0-0379) can deliver an improvement in pre-control signals even without calculating P-0-3100, though this depends heavily on the scaling
(position resolution) and must be checked on the line in each individual case.
For more information on scaling and interpolation please refer to the ServoOne Operation Manual.
4.3 Real-time bits
There are two configurable real-time bits in the MDT and the DT respectively. They are located in the "connection control word“ (bit numbers 6 + 7) and so in the non-configurable part of the real-time data. These real-time bits are configured using parameters:
•
S-0-1050.x.20 "IDN assignment to real-time bit": IDN of the parameter to be assigned to the real-time bit concerned.
• S-0-1050.x.21 "Bit assignment to real-time bit": Definition of which bit number of the assigned parameter is to be mapped.
Only the parameters listed in P-0-3003 “Real-time control bits” or P-0-3002 “Real-time status bits“ can be assigned. Lists P-0-3002 and P-0-3003 are described in the following tables.
parameter Description
S-0-0405
S-0-0406
Enable touchprobe 1
Enable touchprobe 2
P-0-0141 Open-loop control of digital outputs via COM option
Table 4.3 Configurable real-time control bits (P-0-3003)
p-0-3002: configurable real-time status bits
parameter Description
S-0-0011
S-0-0012
S-0-0014
S-0-0144
S-0-0179
S-0-0310
State class 1 (C1D)
State class 2 (C2D)
Interface status
Signal status word
Touchprobes 1 + 2 status
Warning threshold I2t motor exceeded
S-0-0311 Warning threshold heat sink temperature exceeded
Table 4.4 Configurable real-time status bits (P-0-3002)
parameter Description
S-0-0312
S-0-0330
S-0-0331
S-0-0332
S-0-0333
S-0-0334
S-0-0335
S-0-0336
S-0-0341
S-0-0401
S-0-0402
S-0-0403
S-0-0409
S-0-0410
S-0-0411
S-0-0412
S-0-0419
P-0-0121
P-0-0143
Warning threshold motor temperature exceeded
Status speed setpoint reached
Standstill message
Speed threshold undershot
Speed threshold exceeded
Torque limit reached or exceeded
Speed limit reached or exceeded
Target position reached
Status in track position
Status touchprobe 1
Status touchprobe 2
Status actual position
Touchprobe 1 positive edge recorded
Touchprobe 1, negative edge recorded
Touchprobe 2, positive edge recorded
Touchprobe 2, negative edge recorded
Status of setpoint transfer
Status of the digital inputs
Status of the digital outputs
P-0-0239 Functional status of the digital inputs
Table 4.4 Configurable real-time status bits (P-0-3002)
User Manual – SERCOS III Servo One
[ Chapter 4 ]
19
User Manual – SERCOS III Servo One
20
5 Data transfer
5.1 Communication phases
Communication over the SERCOS bus between the master and slaves is divided into six phases. As long as the slave is receiving no SERCOS telegram it is in the "NRT (Non-
Realtime)" phase. Communication phases 0 and 1 identify the stations on the bus. In communication phase 2 the time and data structure of the protocols for phases 3 and 4 are prepared and the drive is configured. At the transition to communication phase 3 the drive parameter settings relating to the SERCOS profile are checked for plausibility. In the event of an error, the switch to communication phase 3 is refused with a relevant fault message. The phases are run through in ascending order. It is only possible to drop back a phase by way of communication phase 0. The communication phase is dictated by the master. On switching to communication phase 4, the initialization is completed and power-up is enabled.
The current communication phase is displayed by parameter 22000 "COM_SERIII_Scope-
Vars“, index 1.
5.2 Cyclic data transfer
In cyclic data transfer, parameters are transferred with every cycle of the bus. The cycle time is configured using IDN S-0-1002.0.0. Which parameters are cyclically transferred is defined by the mapping.
5.2.1 mapping of configurable real-time data
Mapping of real-time data is usually performed in the master (that is, the higher-level control). Parameters S-0-1050.0.6 and S-0-1050.1.6 can be used to check which parameters have been mapped into the MDT and DT.
Generally, not all parameters can be transferred as real-time data. The parameters which can be transferred in the MDT are entered under IDN S-0-0188.0.0. All the parameters which can be transferred in the DT are entered under IDN S 0 0187.0.0.
NOTE: To operate a drive controller using SERCOS III, the drive control word
(S-0-0134.0.0) must always be mapped into the MDT and the drive system status word (S 0 0135.0.0) into the DT. In contrast to SERCOS II, they are no longer a fixed component of the MDT or DT respectively.
5.2.2 Drive control word s-0-0134.0.0
The drive control word contains all the key control information for the drive, and must be mapped into the cyclic part of the MDT.
Bit no.
Description
15
14
13
Drive On / Off
• Drive OFF: On switching from 1 0 the drive is shut down as best as possible (according to the setting of P-0-2219), then the torque is shut off as necessary at standstill; the power stage can remain active (only possible if bit 14 = 1 and with corresponding setting of P-0-2219), then the torque is shut off at speed nmin; the power stage can remain active (only possible if bit 14 = 1).
• 1: Drive On
Drive enable
• 0: No enable. On switching 1 0 the torque is shut off and the power stage disabled with no delay (regardless of bits 15 and 13).
• 1: Drive enable
Drive Halt (can be used to stop the drive without reference to the current active control function)
• 0: Drive stop: The drive is no longer following the settings. On switching from 1 0 the drive stops according to the setting of P-0-2221 and taking into account the last active acceleration (by default according to acceleration parameter P-0-2242) and remains under control (only possible if bits
14 and 15 = 1 and with an appropriate setting of P-0-2221).
• 1: Drive start: On switching from 0 1 the original function is resumed. If the master control system has not updated the position, setpoint jumps may occur, resulting in shut-off due to tracking error.
Reserved 12
Table 5.1
11 Toggle bit: New setpoints
The bit is valid in communication phases 3 + 4, changes synchronously to the
"Producer cycle time" (S-0-1050.0.10) and indicates the availability of the new setpoints for the slave.
Drive control word S-0-0134
User Manual – SERCOS III Servo One 21
[ Chapter 5 ]
User Manual – SERCOS III Servo One
22
Bit no.
Description
10 – 8
•
•
•
•
•
•
Specified operation mode
• 000: Primary mode (defined in S-0-0032.0.0)
• 001: Secondary mode (defined in S-0-0033.0.0)
010: Secondary mode 2 (defined in S-0-0034.0.0)
011: Secondary mode 3 (defined in S-0-0035.0.0)
100: Secondary mode 4 (not supported)
101: Secondary mode 5 (not supported)
110: Secondary mode 6 (not supported)
111: Secondary mode 7 (not supported)
Table 5.1
7 – 0 Reserved
Drive control word S-0-0134
5.2.3 Description of bits 13-15
Bit 14: Drive enABle (power stage enable)
The servo has a control input (X4.10) ENPO (Enable Power) for hardware enable. This input must be configured for operation of the power stage at 24 V.
The device additionally features the “STO” (Safe Torque Off) function, category 3 (see
ServoOne Operation Manual and Application Manual) via control input (X4.22) ISDSH.
The logic for this function (High edge at digital input ENPO (X4.10), with a High signal required at the digital input ISDSH (X4.22) at the time the edge occurs) must be fulfilled by the higher-level control system according to Application Manual.
NOTE: If the ENPO and ISDSH inputs are not configured, the device remains in state 1 = “Not Ready to Switch On” or 2 = “Switch On Disabled”). In the
STO state the status indicator flashes "
S1
" or "
S2
" as appropriate.
Only after correct configuration of ENPO (X4.10) and ISDSH (X4.22) can the hardware be enabled by bit 14 in the drive control word. It is only possible to enable the drive via bit
14 in communication phase 4.
Bit 15: control on/off (controller enable)
Control of the drive via the SERCOS interface requires just a few parameter settings:
• Open-loop control setting of drive via SERCOS interface:
Set P-0-0159 to SERCOS III (9).
• Setpoints via SERCOS profile:
Set P-0-0159 to SERCOS III (8).
•
Evaluation of bit 15 in drive control word state-controlled (1 = LEVEL) or edgecontrolled (0 = EDGE) via P-0-0144.
Note:
If bits 14 and 15 in the drive control word are set simultaneously, P0-0-144 should be set to LEVEL (1).
For the controller enable signal (bit 15) to be accepted - that is, for the drive to switch from the unpowered to the powered state - the following conditions must be met:
• SERCOS interface ready and in communication phase 4
• Enable power pack via hardware (ENPO and ISDSH) and bit 14 in drive control word
•
Drive not in error state
• Settings of relevant parameters P-0-0144, P-0-0159 and P-0-0165
Under these preconditions the drive shows device state “3” on the display. The drive is activated by the change of state from 0 to 1 of bit 15 (controller enable) in the drive control word. If the enable is successfully executed, the display readout changes to 5 and the relevant bits in the drive status word.
The readiness of the control (drive follows setpoints) is mapped in the status word via bit
15, bit 14 and bit 3.
Ideally, the master control system reads the actual value while control is starting and presets it as the setpoint until the closed-loop controller signals readiness in the status word. If the drive moves while control is starting (such as due to motor commutation finding by linear drives, whereby the drive does not yet signal readiness - drive state 4), the position changes are automatically adopted by the master control system.
Control systems which retrieve the current actual position “only once“ prior to start of closed-loop control and preset it as the setpoint, and also do not update it even after commutation finding (no evaluation of status word) will feed forward a setpoint difference. Shut-off due to tracking error may be the consequence.
To avoid this, the drive can be moved to the position specified by the master control system at start of control under drive control with parameter P-0-0156 (Enable operation option code) set to MOVE_COMMAND(1). This aims to exclude the possibility of a shutoff or a jerky approach to the target position at start of control because of a setpoint difference in the axis.
This function also depends on the configuration of P-0-0743 (maximum tracking error).
P-0-0743 equal to 0
Position tracking error off. The drive switches on without correction and feeds the position setpoint of the NC directly onto the controller. The drive moves to the target position with a jerk as necessary. Major differences end in a speed tracking error, depending on the parameter setting. A jerky axis motion is the consequence.
• P-0-0743 not equal to 0
Position tracking error off. The drive reads the target position of the master control system and moves under drive control to that position (position correction). If the difference between the position specified by the control system and the actual position is greater than the tracking error (P-0-0743), the drive switches to an error state, now without moving (no major axis motion). Otherwise the drive corrects the difference with the slow jog rate (P-0-0168[1]) and the acceleration from P-0-
2242 (quick-stop). When the position has been reached, the drive switches to state
5 and the drive follows the setpoints of the master control system (only now is readiness signalled in the control word).
IMPORTANT:
With the scaling, the ramp setting which the system accesses must also be set correctly and to reasonable values. This involves the parameters:
•
P-0-2242 (Quick-stop). This is applied in the event of an error, depending on the configuration
• P-0-0168 (Jog, index 0: Jog rate rapid, index 1: Jog rate slow)
The position correction described above may take a very long time at a very slow jog rate, or may even not take place at all, such as if P-0-0168[1] = 0. In this case the drive would remain in system state 4, as the setpoint cannot be attained.
Bit 13: Drive HAlt (feed hold)
The “Drive halt“ signal is state-controlled and low-active, meaning in response to a
“Drive halt = 0“ signal the drive is in the ““Drive halt” state. The input signal is mapped in the master control word, bit 13.
5.2.4 Drive status word s-0-0135.0.0
The drive status word contains all the key status information of the drive, and must be mapped into the cyclic part of the DT.
Bit no.
Description
15 – 14
13
12
11
•
•
Ready to start
• 00: Drive not ready to power up, as internal checks have not yet completed successfully.
•
Drive ready to power up.
10: Drive control unit ready and power supply on, drive is torque-free and power stage is disabled.
11: Drive ready, “Drive enable“ set and effective, power stage active.
Error in C1D (S-0-0011.0.0)
• 0: No error
• 1: Drive is locked due to en error
Change bit of C2D (S-0-0012.0.0)
• 0: No enable.
• 1: Change
Toggle bit: New actuals
The bit is valid in communication phases 3 + 4, changes synchronously to the
"Producer cycle time" (S-0-1050.0.10) and indicates the availability of the new actual values for the master.
10 – 8
•
•
•
•
•
•
Current mode
• 000: Primary mode (defined in S-0-0032.0.0)
• 001: Secondary mode (defined in S-0-0033.0.0)
010: Secondary mode 2 (defined in S-0-0034.0.0)
011: Secondary mode 3 (defined in S-0-0035.0.0)
100: Secondary mode 4 (not supported)
101: Secondary mode 5 (not supported)
110: Secondary mode 6 (not supported)
111: Secondary mode 7 (not supported)
Table 5.2 Drive status word S-0-0135
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24
Bit no.
Description
7 – 6
5
4
3
Reserved
Status of actual position value (bit 0 of S-0-0403.0.0)
Drive halt:
• 0: Drive halt not active
• 1: Drive halt active
Status of setpoint transfer
• 0: The drive ignores the setpoints of the master, such as during drivecontrolled motion (homing, ..) or parameterizable delay times.
• 1: The drive follows the setpoints of the master control system
2 – 0 Reserved
Table 5.2 Drive status word S-0-0135
5.2.5 non-configurable real-time data
In addition to the mapped data, the MDT and AT each contain fixed configured content.
In the MDT:
•
Device control: With the aid of this control word the master monitors the topology of the slave and the loop. The control word is mapped into parameter S-0-
1044.0.0. For a detailed description refer to section 8.2.1.
•
Connection control: The connection control word includes the real-time control bits. It is mapped for diagnostic purposes into parameters S-0-1050.0.8 and S-0-
1050.1.8, which are described in more detail in section 8.2.1.
The following data items are fixed components of the AT:
• Device status: Here the slave reports its current topology or a detected loop break.
This status word is mapped into parameter "S-0-1045.0.0", and is described in section 8.2.1.
•
Connection status: Includes the real-time status bits.
5.3 Data transfer via the service channel (SVC)
All S and P parameters can in principle be read via the service channel; write access is possible only to non-write-protected parameters.
The service channel is initialized during the communication phase 1 (CP1) and is active after the transition to CP2.
Transfer via the service channel is handled bit-by-bit in segments in the MDT and in the
DT, and may extend over several bus cycles for each transferred element.
The SVC is controlled by way of the SVC control word. The status of the SVC is displayed in the SVC status word. Both status words can be displayed on the internal oscilloscope for diagnostic purposes. For a detailed description refer to section 8.2.2.
The command functions are also transferred via the service channel. At present the following commands are supported:
• S-0-0099: Reset state class 1 (reset error)
• S-0-0127: Switchover preparation phase 3
• S-0-0128: Switchover preparation phase 4
• S-0-0139: "Park axis" command
•
S-0-0148: Drive-guided homing
• S-0-0152: "Position spindle" command
• S-0-0170: "Touchprobe" command
•
S-0-0191: "Clear reference point" command
• S-0-0216: "Switch parameter set" command
• S-0-0262: "Parameter initialization to default values" command
• S-0-0263: "Parameter initialization to backup values" command
• S-0-0264: "Save current parameter values" command
•
S-0-0447: "Set absolute position" command
• S-0-1024: "Measure synchronous delay" command
6 Scaling and weighting
The weighting describes the physical unit and number of decimal places with which the numerical values of the parameters exchanged between the master control system and the drives are to be interpreted. The method of weighting is defined by the parameters for position, velocity, acceleration and torque weighting.
The ServoOne can be scaled either by the higher-level control writing the relevant parameters over the SERCOS bus or using the scaling wizard integrated into the D rive
M a
nager
5.
6.1 Weighting of position data
The translatory position weighting is defined by the parameters listed in the following table. All position data of the drive (e.g.: setpoint, actual and limit values) are subject to the preset weighting. If “No weighting“ is selected via parameter S-0-0076, the weighting factor and weighting exponent are irrelevant. The position data is then subject to a differently defined weighting.
iDn Description
S-0-0076
S-0-0077
S-0-0078
S-0-0079
S-0-0103
Weighting method for position data
Weighting factor for translatory position data
Weighting exponent for translatory position data
Rotary position resolution
Modulo value
Table 6.1 Scaling parameters for position weighting
6.1.1 Weighting of translatory position data
Translatory weighting is selected via S-0-0076. The significance of the LSB of the translatory position data is defined by the following equation:
LSB significance = Unit · S-0-0077 · 10
S-0-0078
When translatory preferential weighting is selected, the weighting as per the following table applies.
Weighting method
(from s-0-0076)
Unit
Unit (from s-0-
0076)
Weighting factor (s-0-0077)
Weighting exponent (s-0-0078) preferential weighting
Linear m 1
Table 6.2 Preferential weighting of translatory position data
-7 0.1 MD
6.1.2 Weighting of rotary position data
Rotary weighting is selected via S-0-0076. The significance of the LSB of the rotary position data is defined by the rotary position resolution (S-0-0079).
LSB significance = Unit ·
1 revolution
S 0 0079
When rotary preferential weighting is selected, the weighting as per the following table applies.
Weighting method
(from s-0-0076)
Unit (from s-0-0076) rotary position resolution
(s-0-0079) preferential weighting
Rotary Degrees 3 600 000
Table 6.3 Preferential weighting of rotary position data
0.0001 degrees
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User Manual – SERCOS III Servo One 25
Bits 2-0
0 0 0
0 0 1
0 1 0
Bit 3
0
Weighting method
No weighting
Translatory weighting
Rotary weighting
Weighting method
1
Bit 4
0
Preferential weighting
Parameter weighting
Unit
1
Degrees (for rotary weighting) / Metres (for translatory weighting)
Reserved (for rotary weighting) / Inches (for translatory weighting)
Reserved Bit 5
Bit 6
0
Data source
1
Bit 7
0
On the motor shaft
On the load side
Processing format
1
Bit 8-15
Absolute format
Modulo format
Reserved
Table 6.4 Bit fields in the position data weighting method parameter (S-0-0076)
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26
The following diagram shows the various position weighting options.
Position data weighting method (S-0-0076)
S-0-0076 bit 0–2
None Translational
S-0-0076 bit 6
Load/Motor
Load/Motor
Rotary
Load/Motor
S-0-0076 bit 3
S-0-0076 bit 4
Metres
Metres
Degrees Degrees
LSB
Variable
(S-0-0077)
(S-0-0078)
Resolution
3600000
LSB = 0,0001
Degrees
LSB
Variable
(S-0-0079)
Figure 6.1 Diagram of position weighting methods
6.1.3 modulo weighting
If modulo weighting is preset via parameter S-0-0076 (“Position weighting“), parameters
S-0-0103 (“Modulo value“) and S-0-0294 (“Modulo value divisor“) determine the value range (modulo range) within which the actual position may lie. If the travel distance exceeds the modulo range, an overshoot of the actual position occurs.
parameter Description
S-0-0103
S-0-0294 moDUlo vAlUe
When modulo format is preset in the position weighting method (S-0-0076), the modulo value (S-0-0103) defines the number range of all position data.
If the modulo value is exceeded, the drive and the master control system perform the modulo calculation.
moDUlo vAlUe Divisor
If the modulo value (S-0-0103) does not match the physical modulo value, it can be corrected by the divisor S-0-0294.
The effective modulo value is the product of S-0-0103 and S-0-0294. A value of 1 renders the “modulo value divisor” parameter ineffective.
Table 6.5 Scaling parameters for position weighting
6.1.4 position polarity
In parameter S-0-0055 the polarities (preceding signs) of the specified position data can be inverted according to the application. The polarities are not inverted within a controlled system, but outside of it (at the input and output).
A positive torque setpoint difference with non-inverted polarity means the direction of rotation is clockwise, looking at the motor shaft.
Bit 0
Position reference
0
1
Bit 1
0
1
Bit 2
0
1
Bit 3
0
Not inverted
Inverted
Additive position setpoint
Not inverted
Inverted
Actual position 1
Not inverted
Inverted
Actual position 2
1
Bit 4
Not inverted
Inverted
Position limit values
0
1
Bit 5-15
Not inverted
Inverted
Reserved
Table 6.6 Setting of position polarity via parameter S-0-0055
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6.2 Weighting of velocity data
The velocity weighting is defined by the parameters listed in the following table. All velocity data of the drive (e.g.: setpoint, actual and limit values) are subject to the preset weighting. If “No weighting“ is selected via parameter S-0-0044, the weighting factor and weighting exponent are irrelevant. The velocity data is then subject to a differently defined weighting.
iDn Description
S-0-0044
S-0-0045
S-0-0046
Weighting method for velocity data
Weighting factor for velocity data
Weighting exponent for velocity data
Table 6.7 Scaling parameters for position weighting
6.2.1 Weighting of translatory velocity data
Translatory weighting is selected via S-0-0044. The significance of the LSB of the translatory velocity data is defined by the following equation:
LSB significance =
Travel unit
Time unit
· S-0-0045 · 10
S-0-0046
When translatory preferential weighting is selected, the weighting as per the following table applies.
Weighting method
(from s-0-0076)
Unit (from s-0-
0076)
Weighting factor (s-0-0045)
Weighting exponent (s-0-0046) preferential weighting
Linear m/min 1
Table 6.8 Preferential weighting of translatory velocity data
-6 0.001 mm/min
6.2.2 Weighting of rotary velocity data
Rotary weighting is selected via S-0-0044. The significance of the LSB of the rotary velocity data is defined by the following equation:
LSB significance =
Travel unit
Time unit
· S-0-0045 · 10
S-0-0046
When rotary preferential weighting is selected, the weighting as per the following table applies.
Weighting method
(from s-0-0076)
Unit (from s-0-
0076)
Weighting factor (s-0-0045)
Weighting exponent (s-0-0046) preferential weighting
Rotary
Rotary rpm
1/s
1
1
Table 6.9 Preferential weighting of rotary position data
-4
-6
0.001 rpm
0.000 001 1/s
Bit 2-0
0 0 0
0 0 1
0 1 0
Bit 3
0
Weighting method
No weighting
Translatory weighting
Rotary weighting
Weighting method
1
Bit 4
0
1
Preferential weighting
Parameter weighting
Distance unit
Revolutions (for rotary weighting) / Metres (for translatory weighting)
Reserved (for rotary weighting) / Inches (for translatory weighting)
Time unit Bit 5
0
1
Bit 6
0
1
Bit 7-17
Minutes (min)
Seconds (s)
Data source
On the motor shaft
On the load side
Reserved
Table 6.10 Bit fields in the velocity data weighting method parameter (S-0-0045)
The following diagram shows the various velocity weighting options.
Velocity data weighting method (S-0-0044)
S-0-0044 bit 0 – 2
None
Translational
S-0-0044 bit 6
Load/Motor Load/Motor
Rotary
Load/Motor
S-0-0044 bit 3
S-0-0044 bit 5 min min or s min s
S-0-0044 bit 4
Metres
Metres
LSB=
10 m/min
LSB
Variable
(S-0-0045)
(S-0-0046)
LSB =
10 min
LSB = s
-6
–1
Figure 6.2 Diagram of velocity weighting methods
min or s
LSB
Variable
(S-0-0045)
(S-0-0046)
6.2.3 speed polarity
In parameter S-0-0043 the polarities (preceding signs) of the specified velocity data can be inverted according to the application. The polarities are not inverted within a controlled system, but outside of it (at the input and output). A positive velocity setpoint difference with non-inverted polarity means the direction of rotation is clockwise, looking at the motor shaft.
Bit 0
Velocity setpoint
0
1
Bit 1
0
1
Bit 2
0
1
Bit 3
0
Not inverted
Inverted
Additive velocity setpoint
Not inverted
Inverted
Actual velocity 1
Not inverted
Inverted
Actual velocity 2
1
Bit 4-15
Not inverted
Inverted
Reserved
Table 6.11 Setting of velocity polarity via parameter S-0-0043
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6.3 Weighting of acceleration data
The acceleration weighting is defined by the parameters listed in the following table. All acceleration data of the drive (e.g.: setpoint, actual and limit values) are subject to the preset weighting. If “No weighting“ is selected via parameter S-0-0160, the weighting factor and weighting exponent are irrelevant. The acceleration data is then subject to a differently defined weighting.
iDn Description
S-0-0160
S-0-0161
S-0-0162
Table 6.12
Weighting method for acceleration data
Weighting factor for acceleration data
Weighting exponent for acceleration data
Scaling parameters for acceleration weighting
6.3.1 Weighting of translatory acceleration data
Translatory weighting is selected via S-0-0160. The significance of the LSB of the translatory acceleration data is defined by the following equation:
LSB significance =
Travel unit
· S-0-0161 · 10
S-0-0162
Time unit
2
When translatory preferential weighting is selected, the weighting as per the following table applies.
Weighting method
(from s-0-0076)
Unit
(from s-0-0076)
Weighting factor (s-0-0161)
Weighting exponent (s-0-0162) preferential weighting
Translatory m/s^2 1
Table 6.13 Preferential weighting of translatory acceleration data
-6 0.001 mm/s^2
6.3.2 Weighting of rotary acceleration data
Rotary weighting is selected via S-0-0160. The significance of the LSB of the rotary acceleration data is defined by the following equation:
LSB significance =
Travel unit
· S-0-0161 · 10
S-0-0162
Time unit
2
When rotary preferential weighting is selected, the weighting as per the following table applies.
Weighting method
(from s-0-0076)
Unit (from s-0-
0076)
Weighting factor (s-0-0161)
Weighting exponent (s-0-0162) preferential weighting
Rotary
Table 6.14
rad/s^2 1
Preferential weighting of rotary position data
-3 0.001 rad/s^2
Bits 2-0
0
1
Weighting method
No weighting
Translatory weighting
Rotary weighting
Weighting method
Bit 3
0
1
Bit 4
0
Preferential weighting
Parameter weighting
Distance unit
1
Bit 5
0 rad (for rotary weighting) / Metres (for translatory weighting)
Reserved (for rotary weighting) / Inches (for translatory weighting)
Time unit
1
Bit 6
0
Seconds
Reserved
Data source
1
Bit 7-15
On the motor shaft
On the load side
Reserved
Table 6.15 Bit fields in the acceleration data weighting method parameter (S-0-0160)
Accelaration data scaling type (IDN00160)
IDN 00160 bit 0-2
None
Linear
IDN 00160 bit 6
Load or motor Load or motor
Rotational
Load or motor
Parameter scaling
Preferred scaling
Parameter scaling
IDN 00160 bit 3
IDN 00160 bit 5
IDN 00160 bit 4
Preferred scaling s 2 or s
Metre
3 s 2 or s
Metre
3 s 2 or s 3
Radian s 2 or s 3
Radian
LSB = 10
-6 m/s
2(3)
Variable
LSB weight
(IDN 00161)
(IDN 00162)
Figure 6.3 Diagram of velocity weighting methods
LSB = 10
-3 rad/s
2(3)
Variable
LSB weight
(IDN 00161)
(IDN 00162)
6.4 Weighting of torque and force data
The torque/force weighting is defined by the parameters listed in the following table. All torque/force data of the drive (e.g.: setpoint, actual and limit values) are subject to the preset weighting.
iDn Description
S-0-0086
S-0-0093
S-0-0094
Table 6.16
Weighting method for torque/force data
Weighting factor for torque/force data
Weighting exponent for torque/force data
Scaling parameters for torque/force weighting
6.4.1 percentage weighting of torque and force data
The percentage weighting is set via the weighting method (S-0-0086). No other parameters are required. In percentage weighting the permanently permissible standstill torque of the motor (S-0-0111) is used as the reference value. All torque/force data is given in
% with one decimal place.
6.4.2 Weighting of force data
The weighting of force data is set via parameter S-0-0086. The significance of the LSB of the force data is defined by the following equation:
LSB significance = Unit · S-0-0093 · 10
S-0-0094
When preferential force weighting is selected, the weighting as per the following table applies.
Weighting method
(from s-0-0076)
Unit (from s-0-
0076)
Weighting factor (s-0-0093)
Weighting exponent (s-0-0094) preferential weighting linear NB
Table 6.17 Preferential weighting of force data
1 0 1 NB
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6.4.3 Weighting of torque data
The weighting of torque data is set via parameter S-0-0086. The significance of the LSB of the torque data is defined by the following equation:
LSB significance = Unit · S-0-0093 · 10
S-0-0094
When preferential torque weighting is selected, the weighting as per the following table applies.
Weighting method
(from s-0-0076)
Unit (from s-0-
0076)
Weighting factor (s-0-0093)
Weighting exponent (s-0-0094) preferential weighting
Rotary
Table 6.18
Nm
Preferential weighting of force data
1 -2 0.01 Nm
Bit 2-0
0 0 0
0 0 1
0 1 0
Bit 3
0
1
Bit 4
0
1
Bit 5
Bit 6
Weighting method
No weighting
Translatory weighting
Rotary weighting
Weighting method
Preferential weighting
Parameter weighting
Distance unit
Nm (for rotary weighting) / NB (for translatory weighting)
In lbf (for rotary weighting) / lbf (for translatory weighting)
Reserved
Data source
0
1
Bit 7-17
On the motor shaft
On the load side
Reserved
Table 6.19 Bit fields in the torque/force data weighting method parameter (S-0-0086)
The following diagram shows the various torque/force weighting options.
Force/torque weighting method (S-0-0086)
S-0-0086 bit 0 – 2
Percentage
(0.1 %)
Translational (force)
S-0-0086 bit 6
Load/Motor Load/Motor
Rotary (torque)
Load/Motor
S-0-0086 bit 3
S-0-0086 bit 4
N
N
Nm
LSB =
1.0 N
LSB
Variable
(S-0-0093)
(S-0-0094)
Figure 6.4 Diagram of torque/force weighting methods
LSB =
10
Nm
LSB
Variable
(S-0-0093)
(S-0-0094)
6.4.4 torque polarity
In parameter S-0-0085 the polarities (preceding signs) of the specified torque data can be inverted according to the application. The polarities are not inverted within a controlled system, but outside of it (at the input and output). A positive torque setpoint difference with non-inverted polarity means the direction of rotation is clockwise, looking at the motor shaft.
6.5 Scaling using the scaling wizard
The scaling wizard integrated into the D rive
M anager
5 enables large numbers of parameters to be set in a user-friendly way.
To launch the scaling wizard, double-click on the "Motion profile Scaling / Units" subject area in the project tree. The following window then appears:
The inputs described in the following made using the wizard directly influence the parameters described in section 6 to define the scaling of the drive.
6.5.1 scaling of position data
Click on the "Position unit" button (see figure 6.6) to access the position data scaling.
Figure 6.5 Scaling wizard start window
From the start window select the "Sercos" option.
In the window which then appears you can select which parameters to scale:
Figure 6.7 Scaling wizard, definition of scaling method and data reference
In the first position unit scaling window you must first select the scaling method and the data reference (figure 6.7).
That is to say, you must specify whether the application relates to a linear or rotary axis and whether the position data refers to the motor axis or directly to the load.
Click on the "Next" button to move on to the next window.
Here the scaling of the position data is specified.
Figure 6.6 Scaling wizard, selection of scaling data
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34
Figure 6.8 Scaling of position data
SERCOS offers two options for scaling of the position data. Choose "Preferential scaling" to set the scaling to that defined by SERCOS and described in section 6.
Choose "Parameter scaling" to set a custom scaling of the position data. The scaling shown in figure 6 would mean, for example, that the position data of this rotary axis has a resolution of 360° / 3600000 = 0.0001°.
6.5.2 scaling of velocity data
Click on the "Velocity unit" button (see figure 6.6) to access the velocity data scaling.
In the first velocity unit scaling window you must first select the scaling method and the data reference (see figure 6.7).
That is to say, you must specify whether the application relates to a linear or rotary axis and whether the velocity data refers to the motor axis or directly to the load.
Click on the "Next" button to move on to the next window.
Here the scaling of the velocity data is specified.
Figure 6.9 Scaling of velocity data
Choose "Preferential scaling" to set the scaling to that defined by SERCOS and described in section 6.
Choose "Parameter scaling" to set a custom scaling of the velocity data. The scaling shown in figure 6 would mean, for example, that the velocity data of is transferred with a resolution of 0.0001 rpm.
6.5.3 scaling of torque data
click on the "torque/power unit" button (see figure 6.6) to access the torque and power data scaling.
In the first torque unit scaling window you must first select the scaling method and the data reference (see figure 6.7).
That is to say, you must specify whether the application relates to a linear or rotary axis and whether the torque data refers to the motor axis or directly to the load.
Click on the "Next" button to move on to the next window.
Here the scaling of the torque data is specified.
Figure 6.10 Scaling of torque/power data
Choose "Preferential scaling" to set the scaling to that defined by SERCOS and described in section 6.
Choose "Parameter scaling" to set a custom scaling of the torque data. The scaling shown in figure 6.10 would mean, for example, that the torque data of is transferred with a resolution of 0.01 Nm.
6.5.4 scaling of acceleration data
Click on the "Acceleration unit" button (see figure 6.6) to access the acceleration data scaling.
In the first acceleration unit scaling window you must first select the scaling method and the data reference (see figure 6.7).
That is to say, you must specify whether the application relates to a linear or rotary axis and whether the acceleration data refers to the motor axis or directly to the load.
Click on the "Next" button to move on to the next window.
Here the scaling of the acceleration data is specified.
Figure 6.11 Scaling of acceleration data
Choose "Preferential scaling" to set the scaling to that defined by SERCOS and described in section 6.
Choose "Parameter scaling" to set a custom scaling of the acceleration data. The scaling shown in figure 6.11 would mean, for example, that the acceleration data of is transferred with a resolution of 0.001 rad / s².
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7 Functionality
7.1 Homing
7.1.1 “ Drive-controlled homing” command
To create the distance setpoint when using relative encoder systems, command S-0-
0148, “Drive-controlled homing”, must be used. As soon as this command has been set and enabled by the master, the drive moves in position control mode with an internal profile generator, taking into account S-0-0041: Homing velocity 1 (Move and wait for reference cam) and PA-0-3031: Homing velocity 2 (Find zero point in zero approach run) as well as S-0-0042: Homing acceleration, according to the strategy defined in PA-0-
2261: Homing method. The status “Encoder system home” in parameter S-0-0403
(Actual position status) is cleared when homing starts (if previously set) and is reset once homing has completed successfully.
For more information on homing and the available methods please refer to the ServoOne Application Manual.
7.1.2 setting of sercos encoders 1 / 2
The ServoOne features a maximum of 3 independent encoder interfaces. These encoder interfaces are assigned to the logical SERCOS position encoder interfaces 1 and 2 via parameters P-0-0530 (Selection of SERCOS encoder 1) and P-0-0531 (Selection of SERCOS encoder 2). Homing is executed to the position encoder determined by the active operation mode (see also section 4.2).
7.1.3 Homing velocity
The homing velocity is preset via S-0-0041 (Find reference cam) and P-0-3031 (Find zero point). The unit and the number of decimal places correspond to the velocity weighting in S-0-0044.
7.1.4 Homing acceleration
The homing acceleration is preset via S-0-0042. The unit and the number of decimal places correspond to the acceleration weighting in S-0-0160.
7.1.5 Homing method
The homing method is selected via P-0-2261. The various methods are detailed in the
ServoOne Application Manual.
SERCOS profile parameter S-0-0147 defining the homing method is not yet currently supported.
7.1.6 reference distance 1/2
The reference distance 1(2) (S-0-0052, S-0-0054) describes the distance between the machine zero point and the reference point referred to the motor measurement system.
After homing, the actual position is calculated from the reference distance and the reference distance offset. The weighting is preset according to S-0-0076. The two parameters relate to SERCOS encoders 1 and 2 respectively.
7.1.7 reference distance offset 1/2
The reference distance offset 1(2) (S-0-0150, S-0-0151) describes the distance between the reference mark of the position encoder and the reference point. The two parameters relate to SERCOS encoders 1 and 2 respectively.
7.1.8 reference cam, limit switch
The signal of the reference cam can be optionally linked to one of the digital inputs. Inputs ISD00…ISD06 are available. Depending on the method, the limit switches can also be optionally used for homing.
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7.1.9 function selector - digital inputs and outputs
The inputs and outputs of the drive can be assigned various functions by way of socalled function selectors. The inputs can also be filtered against bounce or inverted.
For more information on the digital and analog IOs please refer to the Application
Manual.
• P-0-0100 Function selector ENPO
• P-0-0101 Function selector ISD00
•
P-0-0102 Function selector ISD01
• P-0-0103 Function selector ISD02
• P-0-0104 Function selector ISD03
• P-0-0105 Function selector ISD04
• P-0-0106 Function selector ISD05
•
P-0-0107 Function selector ISD06
• P-0-0108 Function selector ISDSH
• P-0-0109 Function selector ISA00
•
P-0-0110 Function selector ISA01
• P-0-0118 Filter for digital inputs
• P-0-0120 Inversion of digital inputs
• P-0-0122 Function selector OSD00
•
P-0-0123 Function selector OSD01
• P-0-0124 Function selector OSD02
• P-0-0125 Function selector - motor brake
•
P-0-0126 Function selector - RELOUT1
• P-0-0142 Inversion of digital outputs
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7.2 Touchprobe function
The touchprobe function permits event-controlled or continuous position measurement.
Positive and negative signal edges at the two “fast“ digital inputs ISD05 and ISD06 can be configured as triggers for a position measurement.
To activate the "Measurement with touchprobe" function
"Touchprobe cycle" (S-0-0170.0.0) is used. Parameter S-0-0169.0.0 "Touchprobe control parameter" is used for configuration.
Setting and enabling the command activates the “Measurement” function in the drive.
The drive signals this by setting the command acknowledgement (data status) to “set, enabled, not yet executed”. No “Command correctly executed” acknowledgement is made. This means that the command change bit is only set in the event of a fault.
The measurement is enabled by the “Touchprobe 1/2 enable“ signals (S-0-0405.0.0 /
S-0-0406.0.0).
When the selected edge occurs on the touchprobe, the drive stores the actual position value to the relevant parameter S-0-0130 to S-0-0133 (measured value 1 or 2, positive or negative edge) and sets the associated bit in the measured value status
(S-0-0179). The status bits in the measured value status are addressable separately via the ident numbers S-0-0409.0.0 to S-0-0412.0.0 and so can be assigned to the realtime status bits in fast measurements or be transferred as real-time parameters in the DT.
Two different measurement methods are supported:
• Single measurement: When an active measurement edge occurs the effect of the same edge is disabled. This block is cleared by resetting the touchprobe 1/2 enable
(S-0- 0405.0.0 / S-0-0406.0.0). The measurement is re-enabled by then setting the touchprobe 1/2 enable.
•
Continuous measurement: If continuous measurement was configured in parameter S-0-0169.0.0, the current position is stored on every occurrence of an active measurement edge. The touchprobe is then immediately re-enabled for further measurement. Continuous measurement is cancelled by resetting S-0-0405.0.0 or
S-0-0406.0.0 or by deleting command S-0-0170.0.0 "Touchprobe cycle".
The parameters of the touchprobe function are listed in the table below.
parameter Description
S-0-0169
Touchprobe control parameter
Touchprobe control parameter The settings in this parameter define which touchprobes and edges are active in the touchprobe cycle.
Meanings of the individual bits:
Bit no.
Description
15 – 9
8
4
3
7
6
5
2
1
0
Reserved
Auto-activation
0: Touchprobe function is activated by command S-0-
0170.0.0 "Touchprobe cycle" 1:
1: Automatic activation of the touchprobe function on phase change from CP3 to CP4 (not supported)
Reserved
Touchprobe mode 1
0: Single measurement
1: Continuous measurement
Touchprobe mode 2
0: Single measurement
1: Continuous measurement
Reserved
Touchprobe 2 negative edge
0: Negative edge not active
1: Negative edge active
Touchprobe 2 negative edge
0: Negative edge not active
1: Negative edge active
Touchprobe 1 negative edge
0: Negative edge not active
1: Negative edge active
Touchprobe 1 negative edge
0: Negative edge not active
1: Negative edge active
Tabelle 7.1 Description of parameters for the touchprobe function
parameter Description
S-0-0170
S-0-0179
S-0-0130 toUcHproBe cycle commAnD
If the touchprobe cycle command is set and enabled by the master, the drive responds to the following parameters:
- Touchprobe 1/2 enable (S-0-0405, 00406) and
- Touchprobe 1/2 (S-0-0401, 00402) as programmed in - touchprobe control parameter (S-0-0169) .
While the command is active the master control system can perform multiple measurements. The command is cleared by the control system if no further measurements are required.
meAsUreD vAlUe stAtUs
If the drive stores one or more measured values while the touchprobe cycle command (S-0-0170) is active, it simultaneously also sets the associated bit in the measured value status. If the “Touchprobe 1 enable“ (S-0-0405) is cleared by the control system, the drive clears bits 0 and 1 in the measured value status.
If the “Touchprobe 2 enable“ (S-0-0406) is cleared by the control system, the drive clears bits 2 and 3 in the measured value status. The drive clears all bits in the measured value status when the touchprobe cycle command (S-0-
0170) is cleared by the control system.
Structure of measured value status:
Bit 0: Measured value 1 recorded positive (S-0-0409) 0 - Not recorded 1 -
Recorded
Bit 1: Measured value 1 recorded positive (S-0-0409) 0 - Not recorded 1 -
Recorded
Bit 2: Measured value 2 recorded positive (S-0-0409) 0 - Not recorded 1 -
Recorded
Bit 3: Measured value 2 recorded positive (S-0-0409) 0 - Not recorded 1 -
Recorded
Bit 15-4: (reserved)
Bit 15-4: (reserved) meAsUreD vAlUe 1, positive eDge
With an external encoder, the drive stores the actual position value 2 to this parameter with the positive edge of touchprobe 1 (S-0-0401) during the measurement cycle. If there is no external encoder, actual position value 1 is stored.
Tabelle 7.1 Description of parameters for the touchprobe function
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S-0-0131
S-0-0132 meAsUreD vAlUe 1, negAtive eDge
With an external encoder, the drive stores the actual position value 2 to this parameter with the negative edge of touchprobe 1 (S-0-0401) during the measurement cycle. If there is no external encoder, actual position value 1 is stored.
meAsUreD vAlUe 2, positive eDge
With an external encoder, the drive stores the actual position value 2 to this parameter with the positive edge of touchprobe 2 (S-0-0401) during the measurement cycle. If there is no external encoder, actual position value 1 is stored.
S-0-0133
S-0-0405
S-0-0406 meAsUreD vAlUe 2, negAtive eDge
With an external encoder, the drive stores the actual position value 2 to this parameter with the negative edge of touchprobe 2 (S-0-0401) during the measurement cycle. If there is no external encoder, actual position value 1 is stored.
toUcHproBe 1-enABle
With this parameter the touchprobe 1 enable is assigned an IDN. As a result, the touchprobe 1 enable can be assigned to a real-time control bit (S-0-0301).
The touchprobe 1 enable is only polled by the drive as long as the touchprobe cycle command (S-0-0170) is active. For a repeat measurement with the same edge of touchprobe 1, the master control system must set the touchprobe 1 enable to “0” and back to “1”. In the operation datum only bit 0 is defined.
(For more information see s-0-0179
) toUcHproBe 2-enABle
With this parameter the touchprobe 2 enable is assigned an IDN. As a result, the touchprobe 2 enable can be assigned to a real-time control bit (S-0-0301).
The touchprobe 2 enable is only polled by the drive as long as the touchprobe cycle command (S-0-0170) is active. For a repeat measurement with the same edge of touchprobe 2, the master control system must set the touchprobe 2 enable to “0” and back to “1”. In the operation datum only bit 0 is defined.
(For more information see s-0-0179
).
Tabelle 7.1 Description of parameters for the touchprobe function
parameter Description
S-0-0409
S-0-0410
S-0-0411 meAsUreD vAlUe 1 positive recorDeD
With this parameter the "Measured value 1 positive recorded" is assigned an
IDN. As a result, “Measured value 1 recorded positive” can be assigned to a real-time status bit (S-0-0305). In the operation datum only bit 0 is defined.
Bit 0 in this parameter is only set by the drive when the touchprobe cycle command (S-0-0170) is active, the touchprobe 1 enable signal (S-0-0405) is set to “1” and the positive edge of touchprobe 1 (S-0-0401) is signalled. At the same time, the drive stores the actual position value to measured value 1 positively (S-0-0130).
The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 1 enable is set to "0”. (For more information see s-0-0179
).
meAsUreD vAlUe 1 negAtive recorDeD
With this parameter the "Measured value 1 negative recorded" is assigned an
IDN. As a result, “Measured value 1 recorded negative” can be assigned to a real-time status bit (S-0-0305). Bit 0 in this parameter is only set by the drive when the touchprobe cycle command (S-0-0170) is active, the touchprobe 1 enable signal (S-0-0405) is set to “1” and the negative edge of touchprobe 1
(S-0-0401) is signalled. At the same time, the drive stores the actual position value to measured value 1 negatively (S-0-0131).
The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 1 enable is set to "0”. In the operation datum only bit 0 is defined. (For more information see s-0-0179
).
meAsUreD vAlUe 2 positive recorDeD
With this parameter the "Measured value 2 positive recorded" is assigned an
IDN. As a result, “Measured value 2 recorded positive” can be assigned to a real-time status bit (S-0-0305). Bit 0 in this parameter is only set by the drive when the touchprobe cycle command (S-0-0170) is active, the touchprobe 2 enable signal (S-0-0406) is set to “1” and the positive edge of touchprobe 2
(S-0-0402) is signalled. At the same time, the drive stores the actual position value to measured value 2 positively (S-0-0132).
The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 2 enable is set to "0”. In the operation datum only bit 0 is defined.
Tabelle 7.1 Description of parameters for the touchprobe function
parameter Description
S-0-0412 meAsUreD vAlUe 2 negAtive recorDeD
With this parameter the "Measured value 2 negative recorded" is assigned an
IDN. As a result, “Measured value 2 recorded negative” can be assigned to a real-time status bit (S-0-0305). Bit 0 in this parameter is only set by the drive when the touchprobe cycle command (S-0-0170) is active, the touchprobe 2 enable signal (S-0-0406) is set to “1” and the negative edge of touchprobe 2
(S-0-0402) is signalled. At the same time, the drive stores the actual position value to measured value 2 negatively (S-0-0133).
The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 2 enable is set to "0”. In the operation datum only bit 0 is defined.
Tabelle 7.1 Description of parameters for the touchprobe function
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8 Error messages and diagnosis
SERCOS III offers a number of diagnostic options by way of state classes and status/ control words. The internal oscilloscope of the ServoOne can also be used to display and observe more diagnostic parameters.
8.1 Standard parameters for error diagnosis
Various standard parameters are available for diagnosis of bus-specific and drive-specific errors.
8.1.1 error messages in state class 1 (c1D)
Error messages are displayed using standard parameter S-0-0011 (state class 1).
If an error is set in state class 1, the drive is shut down immediately. The drive signals the error by setting bit 13 in the drive status word (see section 5.2.4).
The following errors are defined in state class 1:
Bit no.
9
8
11
10
7
6
15
14
13
12
5
Tabelle 8.1 State class
error
User-specific error
Reserved
Position limit value exceeded
Communication error
Excessive control deviation
Phase error in power supply (not supported)
Undervoltage error
Overvoltage
Overcurrent
Error in autocommutation
Encoder error
Bit no.
2
1
4
3
0
Tabelle 8.1 State class
error
Control voltage error (not supported)
Cooling error shut-off (not supported)
Motor overheating shut-off
Amplifier overheating shut-off
Overload shut-off
Bit = 0 error not active, Bit = 1 error active
8.1.2 Warning messages in state class 2 (c2D)
Warning messages are displayed using standard parameter S-0-0012 (state class 2).
The drive signals the warning by altering bit 12 in the drive status word (see section 5.2.4).
The following warnings are defined in state class 2:
Bit no.
Warning
4
3
2
1
10
9
8 – 6
5
15
14
13
12
11
Manufacturer-specific warning
Reserved
Target position outside positioning range
Communication warning
Excessive velocity deviation
Reserved
Bus undervoltage warning
Reserved
Positioning velocity > nLimit
Reserved
Cooling error warning
Motor overheating warning
Amplifier overheating warning
0
Tabelle 8.2 State class 2
Overload warning
Bit = 0 warning not active, Bit = 1 warning active
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8.1.3 interface diagnosis
Using parameter S-0-0014.0.0, the status of the interface and the current communication phase can be monitored.
If an error is set in the interface status, the communication error in C1D (S-0-0011) is reset. Setting bits 2-0 causes no error. If there is no communication error, the interface status in bits 0-2 contains the current communication phase. If there is a communication error, the error and the communication phase are saved. The communication error is only cleared by the drive and reset to “0” when there are no more interface errors occurring and the “Reset state class 1” command (S-0-099) has been received by the drive over the service channel.
Bit no.
Description
15 – 14
13
12
11
8
7
6
5
10
9
4
3
Reserved
Phase change without CPS bit (only SERCOS III)
Timeout on phase change (only SERCOS III)
IPO sync error (only SERCOS II)
Drives with same address in loop (only SERCOS II)
Switch to non-initialized mode
Phase change without ready message
Error in phase fallback (not phase 0)
Error in phase sequencing (invalid sequence)
Invalid phase (phase > 4)
MDT failure (only SERCOS II)
MST failure (S-0-1003 exceeded)
2 – 0 Communication phase
000: Phase 0
001: Phase 1
010: Phase 2
011: Phase 3
100: Phase 4
101: NRT
Tabelle 8.3 Interface status
Bit = 0 error not active, Bit = 1 error active
8.1.4 telegram failure and error counter
The drive monitors whether a valid MST / MDT has been received in each bus cycle. Also, each MST and MDT is monitored for compliance with
• the correct reception time;
• the agreed telegram length;
• the correct CRC checksum.
Parameters S-0-1028.0.0 (error counter MST ports 1 + 2) and S-0-1035.0.0 (error counter port 1 + 2) are used for diagnosis.
Error counter S-0-1028.0.0 is incremented whenever no valid MST has been received at port 1 or at port 2. The maximum value which the counter can reach is 65535. When this value has been reached the counter is not incremented further. The counter is reset to zero at the transition from communication phase 2 to phase 3.
Parameter S-0-1035.0.0 indicates whether the telegrams received at ports 1 + 2 were valid. If the length of a received telegram is incorrect or its CRC checksum invalid, the value of the parameter is incremented. The bottom 16 bits of the parameter display the erroneous telegrams at port 1 and the top 16 bits the erroneous telegrams at port 2. The maximum value for each port is 65535. When this value has been reached the counter is not incremented further. The value of the parameter can be reset by writing it via the service channel or the D rive
M anager
.
Parameter S-0-1003 defines the maximum number of telegram failures after which the drive is to trigger an error. If the maximum value is exceeded, the communication error bit in state class 1 is set; the drive reverts to the NRT phase.
8.2 Diagnosis using the internal oscilloscope
8.2.1 standard parameters
In addition to the standard parameters also available in conjunction with the SERCOS II option board on the oscilloscope, SERCOS III also offers the following standard parameters:
• IDN-S-1044.0.0 : Device Control Word
• IDN-S-1045.0.0 : Device Status Word
• IDN-S-1050.00.8 : Connection Control
•
IDN-S-1050.10.8 : Connection Control
The Device Control / Status Word parameters are used for handling of the bus topology.
The Device Control / Status Word is transferred with each bus cycle and is a fixed element of the MDT or AT. The two parameters described here are just a map of the Device
Status / Control Word and are used for diagnostic purposes!
With the aid of the Device Control Word the master can alter the topology in a slave.
This is necessary, for example, when a new slave is to be inserted into the bus (Hot Plug) or when the master wants to close the loop again after a detecting a loop break.
The individual bits have the following meanings:
Bit no.
Description
15
14
Identification
Toggle bit, master sends new topology
13 – 12 Topology specified by master
• 00 : Fast-forward at both ports
• 01 : Loop back & forward of P telegrams
• 10 : Loop back & forward of S telegrams
• 11 : Reserved
11 – 0 Reserved
Tabelle 8.4 Device Control
With the aid of the Device Status Word the slave signals its current topology as well as communication errors such as a loop break.
The individual bits have the following meanings:
Bit no.
Description
15
14
13 – 12
11 – 10
9
8
7 – 6
5
4
Communication warning
Toggle bit, slave has adopted new topology
•
•
Topology status
• 00 : Fast-forward at both ports
• 01 : Loop back & forward of P telegrams
10 : Loop back & forward of S telegrams
11 : NRT mode
•
•
Status at inactive port
• 00 : No link at inactive port
• 01 : Link at inactive port
10 : P telegram at inactive port
11 : S telegram at inactive port
Connection error
Slave data valid (0 during phase change)
Reserved
Bit status command
Parameterization level
3 – 0
Tabelle 8.5 Device Status
Reserved
The Connection Control Word is also a fixed element of the MDT. The parameter described here is a map of the Connection Control Word and is used only for diagnostic purposes.
Bit no.
Description
15 – 8
7
6
5 – 4
3
2
1
Reserved
Real-time bit 1
Real-time bit 2
Reserved
Synchronous with cycle time
Delayed data transfer
Toggle bit, new data available (toggles with each bus cycle)
0 Producer ready
Tabelle 8.6 Connection Control
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8.2.2 Additional scope parameters
In addition to the standard parameters for the oscilloscope, another field parameter
"COM_SERIII_ScopeVars" is available containing 10 indices important for diagnosis. This parameter has the number 22000.
Using the parameter indices, the following variables can be displayed on the oscilloscope:
•
Index 0 "COM_SERIII_State": Status of the internal state machine; on successful initialization the status should be 3.
• Index 1 "COM_SERIII_ActComPhase": Current communication phase of the slave
(0 – 4 = CP0 – CP4, 5 = NRT).
• Index 2 "COM_SERIII_INT1_Cnt": Counter for the low-priority interrupt INT1 of the
SERCOS III option board.
• Index 3 "COM_SERIII_SVC_Cnt": Counter for access via the service channel
• Index 4 "COM_SERIII_SVC_Control": Control word of the service channel, corresponding to "SVCC1" in the Service Channel Control Container. The individual bits have the following meanings:
Bit no.
15 – 6
5 – 3
2
1
Reserved
Data element in the MDT
End bit in the MDT
Read/write in the MDT
0 Handshake bit in the MDT
Tabelle 8.7 Control word of the service channel
Description
•
Index 5 "COM_SERIII_SVC_State": Status word of the service channel, corresponding to “SVCC0” in the Service Channel Control Container. The individual bits have the following meanings:
Description Bit no.
15 - 4
3
Reserved/not displayed
Process bit in the DT
2 Error bit in the DT
Tabelle 8.8 Status word of the service channel
Bit no.
1 Busy bit in the DT
0 Handshake bit in the DT
Tabelle 8.8 Status word of the service channel
Description
• Index 6 "COM_SERIII_TG_Status_P0": Telegram status register at port P0. The register is updated with each bus cycle. The individual bits have the following meanings:
Bit no.
31 – 12
11
10
9
8
7 – 4
Reserved/not displayed
One-off MST failure
MST outside time window
Not displayed
Valid MST
Valid DT3 (Bit 7) – AT0 (Bit 4)
3 – 0 Valid MDT3 (Bit 3) – MDT0 (Bit 0)
Tabelle 8.9 Telegram status
Description
•
Index 7 "COM_SERIII_TG_Status_P1": Telegram status register at port P1. The register is updated with each bus cycle. Meanings of the individual bits as for index 6.
•
Index 8 "COM_SERIII_MDT_Cnt": Counter for all received MDTs (must be incremented by 1 with each bus cycle and have the same value as index 9).
• Index 9 "COM_SERIII_AT_Cnt": Counter for all sent DTs (must be incremented by 1 with each bus cycle and have the same value as index 8).
• Index 10 "COM_SERIII_PHASESR": Status register of the communication phases.
The register is used to control the phase run-up. The register is updated with each bus cycle. The individual bits have the following meanings:
Description Bit no.
31 -16 Reserved
15 Phase change bit: Port 2
• 0: No phase change active
• 1: Phase change active
Tabelle 8.10 Communication status register
Bit no.
Description
14 – 12
11 – 8
7
Reserved/not displayed
Current communication phase, port 2 (0 – 4)
Phase change bit, port 1
• 0: No phase change active
• 1: Phase change active
Reserved/not displayed 6 – 4
3 – 0 Current communication phase, port 1
Tabelle 8.10 Communication status register
•
Index 11 "COM_SERIII_DFCSR": Data flow control and status register. Displays the current topology of the slave. The register is updated with each bus cycle. The individual bits have the following meanings:
Bit no.
Description
31 – 2 Reserved/not displayed
1 – 0
•
•
Current topology:
• 00: Loop back port 1 and forward to port 2
• 01: Loop back port 2 and forward to port 1
10: Forward port 1 – port 2 and port 2 – port 1 (real-time mode)
11: Forward port 1 – port 2 and port 2 – port 1 (non-real-time mode)
Tabelle 8.11 Communication status register
8.3 Internal error list
A complete list of all possible error messages in the drive can be found in the ServoOne user manual.
The occurrence of a manufacturer-specific error causes bit number 15 in state class 1 to be set (see section 5.2.4), provided the error cannot be assigned to a different bit of state class 1.
In addition, the corresponding error text is entered in parameter S-0-0095. The parameter can be read via the service channel or using the D rive
M anager
5.
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9 Bibliography
Being revised!
User Manual – SERCOS III Servo One
[ Chapter 9 ]
49
User Manual – SERCOS III Servo One
50
10 Appendix, Glossary
10.1 Appendix A: Parameter list
List of all device parameters which can be transferred via SERCOS III.
10.1.1 sercos iii standard parameters
iDn Description
S-0-0027
S-0-0032
S-0-0033
S-0-0034
S-0-0035
S-0-0036
S-0-0037
S-0-0038
S-0-0039
S-0-0040
S-0-0041
S-0-0011
S-0-0012
S-0-0014
S-0-0015
S-0-0017
S-0-0021
S-0-0022
S-0-0026
Class 1 diagnostic (C1D)
Class 2 diagnostic (C2D)
Interface status
Telegram type
IDN list of all operation data
IDN list of invalid operation data for CP2
IDN list of invalid operation data for CP3
Configuration list for signal status word
Configuration list for signal control word
Primary operation mode
Secondary operation mode1
Secondary operation mode2
Secondary operation mode3
Velocity command value
Additive velocity command value
Positive velocity limit value
Negative velocity limit value
Velocity feedback value 1
Homing velocity
S-0-0042 Homing acceleration
Tabelle 10.1 Supported SERCOS standard parameters
Speed
Speed
Speed
Speed
Speed
Speed
Acc
Unit Write protection
CP2-CP4
CP2-CP4
CP2-CP4
CP3, CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP4
CP4
CP4
CP4
CP2-CP4 iDn Description
S-0-0078
S-0-0079
S-0-0080
S-0-0081
S-0-0082
S-0-0083
S-0-0084
S-0-0085
S-0-0086
S-0-0091
S-0-0092
S-0-0093
S-0-0094
S-0-0095
S-0-0043
S-0-0044
S-0-0045
S-0-0046
S-0-0047
S-0-0049
S-0-0050
S-0-0051
S-0-0052
S-0-0053
S-0-0054
S-0-0055
S-0-0057
S-0-0076
S-0-0077
Velocity polarity parameter
Velocity data scaling type
Velocity data scaling factor
Velocity data scaling exponent
Position command value
Positive position limit value
Negative position limit value
Position feedback value 1
Reference distance 1
Position feedback value 2
Reference distance 2
Position polarity parameter
Position window (for target reached status)
Position data scaling type
Linear position data scaling factor
Linear position data scaling exponent
Rotational position resolution
Torque command value
Additive torque command value
Positive torque limit value
Negative torque limit value
Torque feedback value
Torque polarity parameter
Torque/force data scaling type
Bipolar velocity limit value
Bipolar torque limit value
Torque/force data scaling factor
Torque/force data scaling exponent
Diagnostic message
S-0-0097 Mask class 2 diagnostic
Tabelle 10.1 Supported SERCOS standard parameters
Unit
CP3, CP4
CP3, CP4
CP3, CP4
CP3, CP4
CP3, CP4
CP3, CP4
CP2-CP4
CP2-CP4
Pos
Pos
Write protection
CP3, CP4
CP3,CP4
CP3, CP4
CP3, CP4
CP3, CP4
CP3, CP4
CP2-CP4
CP2-CP4
CP3, CP4
CP3, CP4
CP3, CP4
CP3, CP4
CP3, CP4
Torque
Torque
Torque
Torque
Torque CP2-CP4
CP3, CP4
CP3, CP4
Speed
Torque
CP3, CP4
CP3, CP4
CP2-CP4
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User Manual – SERCOS III Servo One
52 iDn Description
S-0-0123
S-0-0124
S-0-0125
S-0-0126
S-0-0127
S-0-0128
S-0-0130
S-0-0131
S-0-0132
S-0-0133
S-0-0134
S-0-0135
S-0-0144
S-0-0112
S-0-0113
S-0-0114
S-0-0115
S-0-0116
S-0-0117
S-0-0121
S-0-0122
S-0-0099
S-0-0100
S-0-0101
S-0-0103
S-0-0104
S-0-0106
S-0-0107
S-0-0108
Reset class 1 diagnostic
Velocity loop proportional gain
Velocity loop integral action time
Modulo value
Position loop KV-factor
Current loop proportional gain 1
Current loop integral action time
Feedrate override
Amplifier rated current
Maximum motor speed
Load limit of the motor
Position feedback 2 type
Resolution of feedback 1
Resolution of feedback 2
Input revolutions of load gear
Output revolutions of load gear
Feed constant
Standstill window
Velocity threshold
Torque threshold
CP3 transition check
CP4 transition check
Probe value 1 positive edge
Probe value 1 negative edge
Probe value 2 positive edge
Probe value 2 negative edge
Drive control word
Drive status word
Signal status word
S-0-0145 Signal control word
Tabelle 10.1 Supported SERCOS standard parameters
Pos
Pos
Pos
Pos
Unit
Nm min ms
Pos
1000/min
V/A
µs
%
A
Rev/min
%
Write protection
CP3, CP4
CP2-CP4
CP3, CP4
CP2-CP4
CP2-CP4
CP3, CP4
CP3, CP4
CP3, CP4 Um/rev
Speed
Speed
Torque
CP3, CP4
CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4 iDn Description
S-0-0180
S-0-0189
S-0-0192
S-0-0200
S-0-0201
S-0-0208
S-0-0216
S-0-0217
S-0-0222
S-0-0256
S-0-0257
S-0-0258
S-0-0259
S-0-0157
S-0-0159
S-0-0160
S-0-0161
S-0-0162
S-0-0169
S-0-0170
S-0-0179
S-0-0147
S-0-0148
S-0-0150
S-0-0151
S-0-0152
S-0-0153
S-0-0154
S-0-0156
Homing parameter
Drive controlled homing procedure command
Reference offset 1
Reference offset 2
Position spindle procedure command
Spindle angle position
Spindle positioning parameter
Velocity feedback value 2
Velocity window
Monitoring window
Acceleration data scaling type
Acceleration data scaling factor
Acceleration data scaling exponent
Probe control
Probing cycle procedure command
Probe status
Spindle relative offset
Following error
IDN ist of all backup operation data
Amplifier warning temperature
Motor warning temperature
Temperature data scaling type
Switch parameter set procedure command
Parameter set preselection
Spindle positioning speed
Multiplication factor 1
Multiplication factor 2
Target position
Positioning velocity
S-0-0260 Positioning acceleration
Tabelle 10.1 Supported SERCOS standard parameters
Pos
Pos
Temp
Temp
Unit
Pos
Pos
Pos
Speed
Speed
Pos
Speed
Pos
Speed
Acc
Write protection
CP4
CP3, CP4
CP2-CP4
CP3, CP4
CP3, CP4
CP3, CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP3, CP4
CP3, CP4
CP2-CP4
CP2-CP4
iDn Description
S-0-0261
S-0-0262
S-0-0263
S-0-0264
S-0-0277
S-0-0278
S-0-0282
S-0-0292
S-0-0296
S-0-0310
S-0-0311
S-0-0312
S-0-0328
S-0-0329
S-0-0330
S-0-0331
S-0-0332
S-0-0333
S-0-0334
S-0-0335
S-0-0336
S-0-0341
S-0-0346
S-0-0347
S-0-0348
S-0-0359
S-0-0372
Coarse position window
Load defaults procedure command
Load working memory procedure command
Backup working memory procedure command
Position feedback 1 type
Maximum travel range
Positioning command value
List of supported operation modes
Velocity feed forward gain
Overload warning
Amplifier overtemperature warning
Motor overtemperature warning
Bit number allocation list for signal status word
Bit number allocation word for signal control word
Status “n_feedback” = “n-cmd”
Status “n_feedback = 0”
Status “n_feedback < nx”
Status “T >= Tx”
Status “T >= TLim”
Status “n_cmd >= n_lim”
Status “In position”
Status “In coarse position”
Position control word
Velocity error
Acceleration feed forward gain
Position deceleration
Drive halt acceleration bipolar
S-0-0380 DC bus voltage
Tabelle 10.1 Supported SERCOS standard parameters
Pos
%
Unit
Speed
%
Acc
Acc
V
Write protection
CP3, CP4
CP3, CP4
CP3, CP4
CP3, CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4 iDn Description
S-0-0383
S-0-0384
S-0-0387
S-0-0389
S-0-0392
S-0-0393
S-0-0400
S-0-0401
S-0-0402
S-0-0403
S-0-0405
S-0-0406
S-0-0407
S-0-0408
S-0-0409
S-0-0410
S-0-0411
S-0-0412
S-0-0417
S-0-0418
S-0-0419
S-0-0430
S-0-0447
S-0-0448
S-0-1000
S-0-1002
S-0-1003
S-0-1006
Motor temperature
Amplifier temperature
Power overload
Effective current
Velocity feedback filter
Command value mode
Home switch
Probe 1 status
Probe 2 status
Position feedback value status
Probe 1 enable
Probe 2 enable
Homing enable
Reference marker pulse registered
Probe 1 positive latched
Probe 1 negative latched
Probe 2 positive latched
Probe 2 negative latched
Positioning velocity threshold in modulo mode
Target position window in modulo mode
Positioning acknowledgement
Active target position
Set absolute position procedure command
Set absolute position control word
SCP type & version
Communication cycle time
Communication timeout for CP3/CP4
AT0 transmission starting time (t1)
S-0-1007 Feedback acquisition capture point (t4)
Tabelle 10.1 Supported SERCOS standard parameters
µs
µs
µs
Speed
Pos
Pos
Pos
Temp
Temp
%
A
µs
Unit Write protection
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP3, CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP2-CP4
CP3, CP4
User Manual – SERCOS III Servo One 53
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54 iDn Description
S-0-1028
S-0-1035
S-0-1040
S-0-1044
S-0-1045
S-0-1050.x.1
S-0-1050.x.2
S-0-1050.x.3
S-0-1050.x.4
S-0-1050.x.5
S-0-1050.x.6
S-0-1050.x.8
S-0.1050.x.10
S-0-1050.x.11
S-0-1017
S-0-1019
S-0-1020
S-0-1021
S-0-1022
S-0-1023
S-0-1024
S-0-1026
S-0-1009
S-0-1010
S-0-1011
S-0-1012
S-0-1013
S-0-1014
S-0-1015
S-0-1016
Device control offset in MDT
Lengths of MDTs
Device status offset in DT
Lengths of DTs
SVC offset in MDT
SVC offset in DT
Ring delay
Slave delay
NRT transmission time
MAC address
IP address
Subnet mask
Gateway address
Sync jitter
Sync delay measuring procedure command
Version of communication hardware
Error counter MST P/S
Error counter port 1 & 2
SERCOS address
Device control word
Device status word
Connection setup
Connection number
Telegram assignment
Max. length of connection
Actual length of connection
Configuration list
Connection control
Producer cycle time
Allowed data losses
S-0-1050.x.12
Error counter data losses
Tabelle 10.1 Supported SERCOS standard parameters
µs
µs
µs
µs
Unit Write protection
CP3, CP4
CP2-CP4
CP3, CP4
CP3, CP4
CP3, CP4
CP2-CP4
CP2-CP4
CP3, CP4
CP3, CP4 iDn Description
S-0-1050.x.20
S-0-1050.x.21
S-0-1051
S-0-1300.x.1
S-0-1300.x.2
S-0-1300.x.3
S-0-1300.x.4
S-0-1300.x.5
S-0-1301
S-0-1302.x.1
IDN allocation of realtime bit
Bit allocation of realtime bit
Image of Connection control
Component name
Vendor name
Vendor code
Device name
Vendor device ID
GDP type and version
FSP type and version
S-0-1302.x.2
Function groups
Tabelle 10.1 Supported SERCOS standard parameters
Unit Write protection
10.1.2 manufacturer-specific parameters
iDn Description
P-0-0001
P-0-0002
P-0-0003
P-0-0004
P-0-0005
P-0-0006
P-0-0008
P-0-0030
P-0-0034
P-0-0039
Id of device family/series
Device name / product name
Application specific device name alias
Total software version of device (plain text)
Device family name
Total version number of device software
Vendor name
Programmable reaction in case of failure
Device warnings status word
Device Error-ID (low word) and Error-Location (high word)
Reset firmware P-0-0040
P-0-0041 Reset firmware and activate loader
Tabelle 10.2 List of supported SERCOS parameters
Unit x x x x
Write protection cp2 cp3 cp4 x x x x x x x x x x x x x x x x x x x x x x x x x x
iDn Description
P-0-0100
P-0-0101
P-0-0102
P-0-0103
P-0-0104
P-0-0105
P-0-0106
P-0-0107
P-0-0108
P-0-0109
P-0-0110
P-0-0118
P-0-0120
P-0-0050
P-0-0051
P-0-0052
P-0-0053
P-0-0054
P-0-0055
P-0-0060
P-0-0080
P-0-0081
P-0-0121
P-0-0122
P-0-0123
P-0-0124
P-0-0125
ID hardware print
Sub-ID hardware print
ID hardware option on X11
ID hardware option on X12
ID hardware CPLD
Chip and redesign tracing identification
ID software option on X12
Bootloader information, version and checksum
Checksum of firmware in flash
Function of digital input ENPO
Function of digital input ISD00
Function of digital input ISD01
Function of digital input ISD02
Function of digital input ISD03
Function of digital input ISD04
Function of digital input ISD05
Function of digital input ISD06
Function of digital input ISDSH
Function of analog input ISA00
Function of analog input ISA01
Digital inputs: Filter time
Input inversion: ENPO[0], ISD00..05[1..6], SH[7],
ISD06[16]
States of digital inputs
Function of digital output OSD00
Function of digital output OSD01
Function of digital output OSD02
Function of motor break (X13)
P-0-0126 Function of digital output RELOUT1
Tabelle 10.2 List of supported SERCOS parameters
Unit ms
Write protection cp2 cp3 cp4 x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x iDn Description
P-0-0127
P-0-0141
P-0-0142
P-0-0143
P-0-0144
P-0-0145
P-0-0146
P-0-0147
P-0-0148
P-0-0168
P-0-0213
P-0-0214
P-0-0215
P-0-0216
P-0-0217
P-0-0218
P-0-0219
P-0-0220
P-0-0149
P-0-0152
P-0-0153
P-0-0154
P-0-0159
P-0-0165
P-0-0166
P-0-0167
Function of dig. output RELOUT2 is fixed on ‚Safety
Hold‘
Control value of dig. outputs via COM access
Output inversion OSD0/1/2(0/1/2), MBRK(6), REL1/2(7/15)
States of digital outputs
DriveCom: Auto start of system
DriveCom: Quick stop check in shut down command
DriveCom: Quick stop check in ‚ReadyToSwitchOn‘
DriveCom: Check EnablePower (= false for ENPO over
ENMO)
DriveCom: Timeout in ‚RdyToSwitchOn‘ to enable motor switch
DriveCom: Start initialization of system parameter
DriveCom actual state description
DrvCom fault reset command
DriveCom: Timeout motor standstill
Motion control selection
Motion profile selection
Motion profile jerk time
Motion profile speed override factor
Motion profile jogging speeds
Motor brake lift time
Motor brake close time
Motor brake: torque rise time
Motor brake: torque fade time
Motor brake: factor for application of last torque
Motor brake: constant initial torque
Motor brake: torque sampled at last closing time lock brake
P-0-0239 Functional states of digital inputs
Tabelle 10.2 List of supported SERCOS parameters
Unit
Write protection cp2 cp3 cp4 x x x ms ms ms
% ms
%
Nm
Nm ms ms ms x x x x x x x x x x x x x x
User Manual – SERCOS III Servo One 55
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56 iDn Description
P-0-0283
P-0-0311
P-0-0312
P-0-0313
P-0-0314
P-0-0315
P-0-0320
P-0-0321
P-0-0322
P-0-0323
P-0-0324
P-0-0325
P-0-0326
P-0-0327
P-0-0284
P-0-0287
P-0-0290
P-0-0293
P-0-0300
P-0-0301
P-0-0302
P-0-0303
P-0-0304
P-0-0305
P-0-0306
P-0-0307
P-0-0310
Factor group: Type selection DS402(0), SERCOS(1),
USER(2)
Unit for position values
Unit for speed values
Unit for acceleration and deceleration values
Unit for torque values
Select control mode
Mode selection of setpoint profiling
Switching frequency
Current control sampling time
Speed control sampling time
Position control sampling time
Sampling time for interpolation
Voltage supply mode (must be set correctly!)
Current control gain
Current control integration time constant
Actual motor voltage (rms, phase to phase)
VF control, boost voltage at zero frequency
VF control, nominal frequency
VF control, voltage at nominal frequency
Speed control gain
Speed control integration time constant
Speed control gain scaling factor
Advanced control structure gains
Advanced control structure filtering
Filter frequencies of digital filter
Digital filter design assistant
Coefficients of digital filter
P-0-0328 Speed control maximum speed
Tabelle 10.2 List of supported SERCOS parameters
Unit
Write protection cp2 cp3 cp4 x x x x x x x x x x ms ms ms ms
V/A ms
V
V
Hz
V
Nm/rpm ms
% x x x x x x x x x x x x x x x x x x x x x Hz
% iDn Description
P-0-0341
P-0-0342
P-0-0343
P-0-0344
P-0-0345
P-0-0346
P-0-0347
P-0-0348
P-0-0329
P-0-0330
P-0-0331
P-0-0332
P-0-0333
P-0-0334
P-0-0335
P-0-0336
P-0-0337
P-0-0340
P-0-0349
P-0-0350
P-0-0351
P-0-0352
P-0-0353
P-0-0354
P-0-0360
P-0-0370
P-0-0371
P-0-0372
Motor torque scaling of limits
Motor torque scaling of negative limit
Motor torque scaling of positive limit
Motor torque scaling (online factor)
Motor speed scaling of negative limit
Motor speed scaling of positive limit
Direction lock for speed reference value
Adaptation of speed control gain @ zero speed
Motor speed scaling
Magnetization current (r.m.s)
Speed where field-weakening starts; forces 1/n-character
Speed values for mag. current scaling
Mag. current scaling vs. speed
Voltage control filter time constant
Voltage control gain
Voltage control integration time constant
Voltage control reference (scaling of max. voltage)
Slip control gain for field weakening
Comutation offset of resp. encoder
Selection of speed calculation method
Actual speed calculation filter time
Observer parameter (meaning depends on CON_SCALC)
Observer design parameters
Observer design assistant
Position control gain
Interpolation type control word
Speed reference filter time for speed control mode
Speed feedforward filter time for position control
P-0-0374 Position delay in position control cycles (CON_PConTS)
Tabelle 10.2 List of supported SERCOS parameters
ms ms
1/min ms ms ms
% ms
A/V ms
%
%
A
%
% deg
Unit
Write protection cp2 cp3 cp4
%
%
%
%
%
% x x
iDn Description
P-0-0414
P-0-0415
P-0-0416
P-0-0417
P-0-0418
P-0-0419
P-0-0430
P-0-0431
P-0-0405
P-0-0406
P-0-0407
P-0-0409
P-0-0410
P-0-0411
P-0-0412
P-0-0413
P-0-0432
P-0-0450
P-0-0455
P-0-0375
P-0-0376
P-0-0377
P-0-0379
P-0-0386
P-0-0400
P-0-0401
P-0-0402
P-0-0404
Speed feedforward scaling factor
Torque/Force feedforward scaling factor
Feedforward signals enabled
Feedforward calculation mode
Friction compensation scaling factor
Additional d-current reference value
Additional torque/force reference value
Additional speed reference value without ramp
Additional speed reference value with ramp
Analog input 0, filter time
Analog input 1, filter time
Analog input values, filtered, +10V gives 1.0
DC voltage filter time
Actual DC link voltage
Actual values of ADC channels
Actual position
Reference position
Actual position diffence (RefPosition-ActPosition)
Actual speed
Reference speed
Actual speed difference (RefSpeed-ActSpeed)
Reference torque
Actual torque
Weighting of voltage path in field model
Voltage limit for current controllers
Select current control / limitation mode
Motor type
Motor rated frequency
P-0-0456 Motor rated voltage
Tabelle 10.2 List of supported SERCOS parameters
Unit
%
%
Write protection cp2 cp3 cp4 x x x incr
1/min
1/min
1/min
Nm
Nm ms
V bit incr incr
%
%
A
Nm (N)
1/min
1/min ms ms x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x
Hz
V x x x x x x iDn Description
P-0-0502
P-0-0505
P-0-0506
P-0-0507
P-0-0510
P-0-0511
P-0-0512
P-0-0513
P-0-0472
P-0-0473
P-0-0474
P-0-0475
P-0-0476
P-0-0477
P-0-0500
P-0-0501
P-0-0514
P-0-0515
P-0-0520
P-0-0457
P-0-0458
P-0-0459
P-0-0460
P-0-0461
P-0-0462
P-0-0463
P-0-0470
P-0-0471
Motor rated current
Motor rated speed
Motor rated power
Motor rated torque
Motor inertia
Motor rated flux
Motor number of pole pairs
Motor stator resistance
Motor stray/stator inductance
Q-stator inductance variation in % of MOT_Lsig
Main inductancs vs. Isd (0,1*Index*LmagIdMax)
LmagTable: max. magnetization current (eff.)
Motor main inductance, scaling factor
Motor rotor resistance
Motor rotor resistance, scaling factor
ENC CH1: Actual value: SingleTurn[0], MultiTurn[1]
ENC CH2: Actual value: SingleTurn[0], MultiTurn[1]
ENC CH3: Actual value: SingleTurn[0], MultiTurn[1]
ENC CH1: Encoder type selection
ENC CH2: Encoder type selection
ENC CH3: Encoder type selection
ENC CH1: Gear nominator
ENC CH1: Gear denominator
ENC CH2: Gear nominator
ENC CH2: Gear denominator
ENC CH3: Gear nominator
ENC CH3: Gear denominator
ENC: Channel selection for motor commutation
P-0-0521 ENC: Channel selection for speed control
Tabelle 10.2 List of supported SERCOS parameters
Ohm mH
% mH
A
%
Ohm
%
Unit
A rpm kW
Nm kg m*m
Vs
Write protection cp2 cp3 cp4 x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x
User Manual – SERCOS III Servo One 57
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User Manual – SERCOS III Servo One
58 iDn Description
P-0-0522
P-0-0523
P-0-0530
P-0-0531
P-0-0540
P-0-0541
P-0-0542
P-0-0543
P-0-0544
P-0-0545
P-0-0546
P-0-0547
P-0-0548
P-0-0549
P-0-0550
P-0-0551
P-0-0552
P-0-0553
P-0-0554
P-0-0560
P-0-0561
P-0-0562
P-0-0563
P-0-0570
P-0-0571
P-0-0572
P-0-0573
ENC: Channel selection for position control
ENC: Channel selection for master input
ENC: Channel selection as SERCOS encoder 1
ENC: Channel selection as SERCOS encoder 2
ENC CH1: Absolute position interface selection
ENC CH1: Index pulse signal (test mode)
ENC CH1: Number of lines (SinCos / TTL encoders)
ENC CH1: Number of MultiTurn bits (SSI absolute)
ENC CH1: Number of SingleTurn bits (SSI absolute)
ENC CH1: Code selection (SSI absolute position interface)
ENC CH1: Mode selection (SSI absolute position interface)
ENC CH1: Lowest allowable MultiTurn position (SSI absolute)
ENC CH1: Enable MultiTurn information (SSI absolute)
ENC CH1: Signal correction type
ENC CH1: Signal correction values
ENC CH1: Encoder observation minimum, sqrt(a^2 + b^2)
ENC CH1: Error and status codes of absolute encoders
ENC CH1: Length of an analog signal period (linear SinCos)
ENC CH1: Length of an digital increment (linear absolute)
ENC CH2: Number of pole pairs (Resolver)
ENC CH2: Signal correction type
ENC CH2: Signal correction values
ENC CH2: Encoder observation minimum, sqrt(a^2 + b^2)
ENC CH3: Absolute position interface selection
ENC CH3: Index pulse signal (test mode)
ENC CH3: Number of lines (SinCos / TTL encoders)
ENC CH3: Number of MultiTurn bits (SSI absolute)
P-0-0574 ENC CH3: Number of SingleTurn bits (SSI absolute)
Tabelle 10.2 List of supported SERCOS parameters
Unit
Write protection cp2 cp3 cp4 x x x x x x x x x x x x x x x x x x x x x x x x nm nm x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x iDn Description
P-0-0575
P-0-0577
P-0-0590
P-0-0591
P-0-0592
P-0-0593
P-0-0594
P-0-0595
P-0-0596
P-0-0610
ENC CH3:Code selection (SSI absolute position interface)
ENC CH3: Encoder observation minimum, sqrt(a^2 + b^2)
ENC: Axis correction, selection type
ENC: Axis correction, start position
ENC: Axis correction, end position
ENC: Axis correction, delta position
ENC: Axis correction, actual position value
ENC: Axis correction, position table for negative speed
ENC: Axis correction, position table for positive speed
ENC CH1: Nominal increment of reference marks
P-0-0630 ENC CH3: Nominal increment of reference marks
P-0-0742
P-0-0744
P-0-1500
P-0-1501
P-0-1502
P-0-1503
P-0-1504
P-0-1505
P-0-1506
P-0-1507
P-0-1508
P-0-1509
P-0-1515
P-0-1516
P-0-1517
Monitoring maximum position difference
Monitoring speed difference threshold
Test signal generator: control word
Test signal generator: output signal selector
Test signal generator: number of cycles
Test signal generator: offsets for rectangular wave
Test signal generator: times for rectangular waves
Test signal generator: amplitude of sinusoidal wave
Test signal generator: frequency of sinusoidal wave
Test signal gen.: Initial phase for rotating current vector
Test signal generator: PRBS minimum toggle time
Test signal generator: PRBS signal amplitude
Speed and position control dynamic (stiffness)
Total inertia of motor and plant
Autotuning for Jsum estimation, control word
P-0-1518 Autotuning Jsum, hysteresis speed control, speed limit
P-0-1519 Autotuning for Jsum, speed hysteresis control, torque limit
Tabelle 10.2 List of supported SERCOS parameters
var s var
Hz degree ms var
% kg m*m rpm
Nm (N)
Unit
Signal per.
Signal per.
POS rpm
Write protection cp2 cp3 cp4 x x x x x x x x x x x x x x x x x x x x x x
iDn
P-0-2222
P-0-2261
P-0-3000
P-0-3001
P-0-3002
P-0-3003
P-0-3004
P-0-3005
P-0-3006
P-0-3007
P-0-3030
P-0-3031
P-0-3054
P-0-3055
P-0-1520
P-0-1521
P-0-1522
P-0-1530
P-0-1531
P-0-2218
P-0-2219
P-0-2220
P-0-2221
P-0-3056
Description
Autotuning, parameters for control and results
Mechanical system parameters
Self commissioning and correlation results
Determination of default motor control settings
Self-commissioning action selection
605AH DS402 quickstop option code
605BH DS402 shutdown option code
605CH DS402 disable operation option code
605DH DS402 halt option code
605EH DS402 fault reaction option code
6098H DS402 homing method
Sercos Address
IDN list with logon errors at sercos parameter manager
IDN list of all data with real time status support
IDN list of all data with real time control support
Maximum transmission power
Speed acceleration
Speed deceleration
Actual value of I2t integrator for motor protection
Drive controlled homing offset procedure command
Homing velocity in search of index pulse
Gain external feed-forward signals
External speed feed-forward signal
External acceleration feed-forward signal
P-0-3100 Expanded position command value for Pico-Interpolation
Tabelle 10.2 List of supported SERCOS parameters
Unit
Hz
Write protection cp2 cp3 cp4
ACC
ACC
%
SPEED
Psca- le/2^16
Psca- le/2^16 x x x x x x x x x x x x x x
User Manual – SERCOS III Servo One 59
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User Manual – SERCOS III Servo One
60
Index
A
Additional scope parameters ................................................................ 48
B
Bit fields in the acceleration data weighting method parameter ........... 34
Bit fields in the position data weighting method parameter .................. 30
C
Communication phases ........................................................................ 19
Communication status register ....................................................... 49, 48
Configurable real-time control bits ....................................................... 19
Connection Control ............................................................................. 47
Control word of the service channel ..................................................... 48
D
Data transfer via the service channel (SVC) ........................................... 24
Description of bits 13-15 ...................................................................... 22
Description of parameters for the touchprobe function ........................ 41
Diagnosis using the internal oscilloscope .............................................. 46
Diagram of position weighting methods .............................................. 23
E
Error messages and diagnosis ............................................................... 45
F
Function selector - digital inputs and outputs ....................................... 40
H
Hardware enable ................................................................................. 13
Homing acceleration ............................................................................ 39
Homing method .................................................................................. 39
I
ID no.: 1100.11B0.0-00 ......................................................................... 2
Indication of operating states on 7-segment display ............................. 12
K
M
Manufacturer specific parameters ........................................................ 17
Mapping of configurable real-time data ............................................... 21
O
Operation modes ................................................................................. 17
User Manual – SERCOS III Servo One
61
[
Index
]
P
Preferential weighting of force data ..................................................... 27
Preferential weighting of rotary position data ....................................... 30
R
Read the Operation Manual first ............................................................ 7
Reference cam, limit switch .................................................................. 39
Reference distance 1/2 ......................................................................... 39
Reference distance offset 1/2 ............................................................... 39
S
Scaling and weighting .......................................................................... 27
Scaling of acceleration data ................................................................. 37
Scaling of position data ........................................................................ 35
Scaling of torque data .......................................................................... 36
Scaling of velocity data ........................................................................ 36
Scaling parameter for position weighting ................................. 29, 30, 27
Scaling using the scaling wizard ........................................................... 35
SERCOS III linear structure .................................................................... 53
SERCOS III loop structure ..................................................................... 29
SERCOS III standard parameters ........................................................... 39
Standard parameters for error diagnosis ............................................... 53
T
V
User Manual – SERCOS III Servo One
62
velocity weighting methods ................................................................. 31
W
Warning messages in state class 2 (C2D) .............................................. 33
Weighting of acceleration data ............................................................ 27
Weighting of force data ....................................................................... 30
Weighting of position data .................................................................. 33
Weighting of rotary acceleration data .................................................. 34
Weighting of rotary position data......................................................... 32
Weighting of rotary velocity data ......................................................... 27
Weighting of torque and force data ..................................................... 30
Weighting of torque data .................................................................... 30
lti Drives gmBH
Gewerbestrasse 5-9
35633 Lahnau
Germany
Phone +49 (0) 6441/ 96 6-0
Fax +49 (0) 6441/ 96 6-137
Heinrich-Hertz-Strasse 18
59423 Unna
Germany
Phone +49 (0) 2303/ 77 9-0
Fax +49 (0) 2303/ 77 9-397 www.lt-i.com [email protected]
We reserve tHe rigHt to mAke tecHnicAl cHAnges.
The content of our Operation Manual was compiled with the greatest care and attention, and based on the latest information available to us.
We should nevertheless point out that this document cannot always be updated in line with ongoing technical developments in our products.
Information and specifications may be subject to change at any time. Please visit www.lt-i.com for details of the latest versions.
ID No.: 1108.26B.0-00 • 10/2009
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