Rexroth Ecodrive Cs Drive Controllers Functional Description: MGP

Transcription

Industrial
Hydraulics
Electric Drives
and Controls
Linear Motion and
Assembly Technologies
Pneumatics
Rexroth ECODRIVE Cs
Drive Controllers
MGP 01VRS
Functional Description
Service
Automation
Mobile
Hydraulics
296549
Edition 01
About this Documentation
ECODRIVE Cs
Title
Rexroth Ecodrive Cs
Drive Controllers
Type of Documentation
Document Typecode
Internal File Reference
Functional Description: MGP 01VRS
DOK-ECODR3-MGP-01VRS**-FK01-EN-P
Box 74-01V-EN
Basis: MGP-01VRS
Document Number, 120-1000-B355-01/EN
Purpose of Documentation
Record of Revisions
Copyright
The following documentation describes the functions of the firmware
FWA-ECODR3-MGP-01VRS.
Description
Release
Date
Notes
07.2003
1st Release
 2003 Bosch Rexroth AG
Copying this document, giving it to others and the use or communication
of the contents thereof without express authority, are forbidden. Offenders
are liable for the payment of damages. All rights are reserved in the event
of the grant of a patent or the registration of a utility model or design
(DIN 34-1).
Validity
Published by
The specified data is for product description purposes only and may not
be deemed to be guaranteed unless expressly confirmed in the contract.
All rights are reserved with respect to the content of this documentation
and the availability of the product.
Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main
Telephone +49 (0)93 52/40-0 • Tx 68 94 21 • Fax +49 (0)93 52/40-48 85
http://www.boschrexroth.com/
Dept. EDY1 (ah/bb/hp)
Note
This document has been printed on chlorine-free bleached paper.
ECODRIVE Cs
Summary of Documentation - Overview
Functional Description:
Description of all implemented Function
based on SERCOS-Parameters
FK
Order designation:
282801
Parameter Description:
A description of all parameters
used in the firmware
PA
Order designation:
DOK-ECODR3-MGP-01VRS**-PA01-EN-P
282801
Troubleshooting Guide:
-Explanation of the diagnostic states
-How to proceed when eliminating faults
WA
Order designation:
DOK-ECODR3-MGP-01VRS**-WA01-EN-P
282801
Firmware Version Notes:
Description of new and changed functions
in terms of the derivatives:
FWA-ECODR3-SMT02VRS-MS
FV
Order designation:
DOK-ECODR3-MGP-01VRS**-FV01-EN-P
282801
CD: DRIVEHELP
(6-:),)04
Collection of Windows help systems which
contains documentation on firmware types
Order designation:
DOK-GENERL-DRIVEHELP**-GExx-MS-D0600
Order designation
DOK-ECODR3-MGP-01VRS**-7201-EN-P
ECODRIVE Cs
Notes
ECODRIVE Cs
Contents I
Contents
1
System Overview
1-1
1.1
ECODRIVE Cs – Universal Drive Solutions for Automation .......................................................... 1-1
1.2
The ECODRIVE Cs Range ............................................................................................................ 1-1
1.3
Drive Controllers ............................................................................................................................ 1-2
Command Communication Interface ....................................................................................... 1-2
Supported Motor Types ........................................................................................................... 1-2
Supported Measuring Systems................................................................................................ 1-2
1.4
Overview of Functions: FWA-ECODR3-MGP-01VRS-MS ............................................................ 1-3
Operating Modes ..................................................................................................................... 1-3
Basic Drive Functions .............................................................................................................. 1-4
Optional Drive Functions.......................................................................................................... 1-5
2
Important directions for use
2.1
2-1
Appropriate use.............................................................................................................................. 2-1
Introduction .............................................................................................................................. 2-1
Areas of use and application.................................................................................................... 2-2
2.2
3
Inappropriate use ........................................................................................................................... 2-2
Safety Instructions for Electric Drives and Controls
3-1
3.1
Introduction..................................................................................................................................... 3-1
3.2
Explanations................................................................................................................................... 3-1
3.3
Hazards by Improper Use .............................................................................................................. 3-2
3.4
General Information ....................................................................................................................... 3-3
3.5
Protection Against Contact with Electrical Parts ............................................................................ 3-5
3.6
Protection Against Electric Shock by Protective Low Voltage (PELV)........................................... 3-6
3.7
Protection Against Dangerous Movements.................................................................................... 3-7
3.8
Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting .......... 3-9
3.9
Protection Against Contact with Hot Parts ................................................................................... 3-10
3.10 Protection During Handling and Mounting ................................................................................... 3-10
3.11 Battery Safety............................................................................................................................... 3-11
3.12 Protection Against Pressurized Systems ..................................................................................... 3-11
4
General Notes on Commissioning
4.1
4-1
Definition of Terms, Introduction .................................................................................................... 4-1
Parameters .............................................................................................................................. 4-1
Data Memory............................................................................................................................ 4-2
Password ................................................................................................................................. 4-4
Commands............................................................................................................................... 4-5
Operating Modes ..................................................................................................................... 4-8
Warnings .................................................................................................................................. 4-8
II Contents
ECODRIVE Cs
Errors ....................................................................................................................................... 4-8
IDN Lists of Parameters......................................................................................................... 4-10
4.2
Parameterization Mode - Operating Mode................................................................................... 4-12
Checks in the Transition Check Commands.......................................................................... 4-13
4.3
Commissioning Guidelines........................................................................................................... 4-15
4.4
Diagnostic Possibilities................................................................................................................. 4-21
Overview of Diagnostic Possibilities ...................................................................................... 4-21
Drive-Internal Generation of Diagnostic Messages ............................................................... 4-21
Structure of a Diagnostic Message........................................................................................ 4-23
Permanently-Configured Collective Messages...................................................................... 4-25
5
4.5
Language Selection ..................................................................................................................... 4-29
4.6
Firmware Update with the "Dolfi" Program .................................................................................. 4-30
4.7
What is "Dolfi"?............................................................................................................................. 4-30
4.8
System Requirements.................................................................................................................. 4-30
4.9
How is "Dolfi" Working? ............................................................................................................... 4-30
Command Communication with SERCOS interface
5-1
5.1
Overview of SERCOS interface Communication ........................................................................... 5-1
5.2
Cyclic Data Transfer via SERCOS interface.................................................................................. 5-1
Master Control Word................................................................................................................ 5-2
Drive Enable............................................................................................................................. 5-3
Drive Halt ................................................................................................................................. 5-3
Drive Status Word.................................................................................................................... 5-4
Acknowledging Drive Enable ................................................................................................... 5-5
5.3
Real-Time Control and Status Bits................................................................................................. 5-6
5.4
Transfer of Non-Cyclical Data via SERCOS interface ................................................................... 5-6
5.5
Commissioning the SERCOS interface ......................................................................................... 5-6
Possibilities of Setting the SERCOS interface......................................................................... 5-7
Connecting the Fiber Optic Cables of the SERCOS interface................................................. 5-8
Setting the Drive Address of the SERCOS interface............................................................... 5-8
Checking the Distortion Indicator of the SERCOS interface.................................................... 5-9
Setting the Transmission Rate of the SERCOS interface ..................................................... 5-10
Setting the Optical Transmission Power of the SERCOS interface....................................... 5-10
Checking the Fiber Optic Cables ........................................................................................... 5-10
5.6
SERCOS Telegram Configuration ............................................................................................... 5-11
Configuration of the Telegram Send and Receive Times...................................................... 5-11
Configuring the Telegram Contents ....................................................................................... 5-12
5.7
SERCOS interface Error .............................................................................................................. 5-13
Diagnosing the Interface Status............................................................................................. 5-13
Error Counter for Telegram Failures ...................................................................................... 5-13
6
Command Communication via Field Bus
6.1
6-1
Features Independent of Bus......................................................................................................... 6-1
Profiles ..................................................................................................................................... 6-1
Pertinent Parameters ............................................................................................................... 6-1
Setting the Slave Address........................................................................................................ 6-2
ECODRIVE Cs
Contents III
Object Mapping........................................................................................................................ 6-2
Drive Parameterization via Field Bus....................................................................................... 6-5
6.2
Command Communication with PROFIBUS-DP ........................................................................... 6-8
Overview of Functions ............................................................................................................. 6-8
PROFIBUS Interface................................................................................................................ 6-8
Configuring the PROFIBUS-DP Slave..................................................................................... 6-9
Acyclical Parameter Communication (Parameter Channel) .................................................. 6-11
Object Access with PROFIBUS-DP....................................................................................... 6-15
Device Data Sheet ................................................................................................................. 6-16
Diagnostic LEDs for PROFIBUS............................................................................................ 6-16
Pin Configuration of the PROFIBUS Plug-In Connector........................................................ 6-16
6.3
Command Communication with CANopen .................................................................................. 6-17
Overview of Functions ........................................................................................................... 6-17
CANopen Interface ................................................................................................................ 6-18
Configuring the CANopen Slave ............................................................................................ 6-20
Parameter Communication with CANopen ............................................................................ 6-21
CANopen-Specific Object Directory....................................................................................... 6-23
Electronic Data Sheet ............................................................................................................ 6-24
Diagnostic LEDs for CANopen............................................................................................... 6-25
6.4
Command Communication with DeviceNet ................................................................................. 6-26
General Information ............................................................................................................... 6-26
Overview of Functions ........................................................................................................... 6-26
DeviceNet Interface ............................................................................................................... 6-27
Setting of Slave Address and Transmission Rate (Bus-Specific).......................................... 6-27
Watchdog Function ................................................................................................................ 6-27
Explicit Message .................................................................................................................... 6-27
Electronic Data Sheet ............................................................................................................ 6-28
DeviceNet-Specific Object Directory...................................................................................... 6-28
Configuring the DeviceNet Slave ........................................................................................... 6-31
Number and Length of the Process Data ("Polled I/O") in the Drive Controller .................... 6-32
Diagnostic LEDs for DeviceNet.............................................................................................. 6-33
7
Profile Types
7.1
7-1
General Introduction....................................................................................................................... 7-1
Overview of Supported Profile Types ...................................................................................... 7-1
Explanation of Terms ............................................................................................................... 7-1
Assignment to the Drive-Internal Operating Modes................................................................. 7-2
7.2
I/O Mode......................................................................................................................................... 7-3
Basic Function of I/O Mode...................................................................................................... 7-3
Status Machine in I/O Mode (Field Bus Control and Status Word) ......................................... 7-4
I/O Mode Default Setting.......................................................................................................... 7-7
I/O Mode with Cam (P-0-4084 = 0xFF81)................................................................................ 7-7
I/O Mode Freely Expandable (P-0-4084 = 0xFF82) ................................................................ 7-8
7.3
Rexroth-Specific Profile Types....................................................................................................... 7-8
Basic Function of Rexroth Profiles........................................................................................... 7-8
"Rexroth Status Machine" of the Drive .................................................................................... 7-8
IV Contents
ECODRIVE Cs
Drive-Internal Interpolation (P-0-4084= 0xFF91)................................................................... 7-12
Profile Type Velocity Control (P-0-4084 = 0xFF93)............................................................... 7-14
Freely Configurable Operating Mode (P-0-4084 = 0xFFFE) ................................................. 7-16
7.4
Exemplary Configurations for Rexroth Profiles ............................................................................ 7-17
Setting-Up Mode .................................................................................................................... 7-17
Using the Rexroth Positioning Setting (Drive-Controlled Positioning) ................................... 7-17
Using the Multiplex Channel in Positioning Block Mode........................................................ 7-18
Using the Signal Control Word and Status Word .................................................................. 7-20
7.5
Multiplex Channel......................................................................................................................... 7-21
Overview ................................................................................................................................ 7-21
Pertinent Parameters ............................................................................................................. 7-21
Functional Principle of Multiplex Channel.............................................................................. 7-22
Diagnostic Messages............................................................................................................. 7-25
8
Motor Configuration
8.1
8-1
Characteristics of the Motors ......................................................................................................... 8-1
Motor Feedback Data Memory ................................................................................................ 8-1
Linear Motor – Rotary Motor .................................................................................................... 8-2
Synchronous Motor - Asynchronous Motor ............................................................................. 8-2
Temperature Monitoring........................................................................................................... 8-3
Load Defaults Procedure Function .......................................................................................... 8-3
8.2
Setting the Motor Type................................................................................................................... 8-4
Automatic Setting of Motor Type for Motors with Feedback Memory...................................... 8-4
Setting the Motor Type via P-0-4014, Motor type .................................................................... 8-4
8.3
Motor Holding Brake ...................................................................................................................... 8-5
Setting the Motor Brake Type .................................................................................................. 8-6
Setting the Motor Brake Control Delay .................................................................................... 8-8
Setting Maximum Braking Time............................................................................................... 8-8
Command "Release Motor Holding Brake".............................................................................. 8-9
Monitoring the Motor Holding Brake ........................................................................................ 8-9
Connecting the Motor Holding Brake..................................................................................... 8-10
9
Operating Modes
9-1
9.1
Setting the Operating Mode Parameters ....................................................................................... 9-1
9.2
Determining/Detecting the Active Operating Mode........................................................................ 9-1
9.3
Operating Mode: Torque Control ................................................................................................... 9-1
Torque Controller ..................................................................................................................... 9-2
Diagnostic Messages............................................................................................................... 9-3
9.4
Operating Mode: Velocity Control .................................................................................................. 9-3
Command Value Processing in Velocity Control ..................................................................... 9-4
Velocity Controller .................................................................................................................... 9-5
Current Controller .................................................................................................................... 9-6
Diagnostic Messages............................................................................................................... 9-6
ECODRIVE Cs
9.5
Contents V
Operating Mode: Position Control.................................................................................................. 9-7
Command Value Processing in Position Control ..................................................................... 9-8
Position Command Value Monitoring ...................................................................................... 9-9
Position Command Value Monitoring - Setting ........................................................................ 9-9
9.6
Operating Mode: Drive-Internal Interpolation............................................................................... 9-10
Functional Principle................................................................................................................ 9-10
Monitoring Functions and Diagnostic Messages ................................................................... 9-13
Status Messages During the Operating Mode "Drive-Internal interpolation"......................... 9-13
9.7
Operating Mode: Drive-Controlled Positioning............................................................................. 9-15
Functional Principle................................................................................................................ 9-16
Acknowledging Command Value Acceptance ....................................................................... 9-19
Monitoring Functions and Diagnostic Messages ................................................................... 9-21
Status Messages ................................................................................................................... 9-22
9.8
Operating Mode: Positioning Block Mode.................................................................................... 9-23
Operating Principle ................................................................................................................ 9-24
Activating Positioning Blocks ................................................................................................. 9-26
Positioning Block Modes........................................................................................................ 9-26
Notes on Parameterizing Positioning Blocks ......................................................................... 9-43
Acknowledging Positioning Block Selection .......................................................................... 9-45
Status Messages During the Operating Mode "Positioning Block Mode".............................. 9-47
Hardware Connections .......................................................................................................... 9-47
9.9
Operating Mode: Jogging............................................................................................................. 9-48
Operating Principle ................................................................................................................ 9-48
9.10 Operating Mode: Velocity Synchronization with Virtual Master Axis ........................................... 9-50
Command Value Processing for Velocity Synchronization with Virtual Master Axis ............. 9-51
9.11 Operating Mode: Phase Synchronization with Virtual Master Axis.............................................. 9-53
Command Value Processing with Phase Synchronization with Virtual Master Axis ............. 9-54
9.12 Operating Mode: Electronic Cam Shaft with Virtual Master Axis................................................. 9-59
Command Value Processing for Electronic Cam Shaft ......................................................... 9-60
10 Basic Drive Functions
10-1
10.1 Physical Values Display Format .................................................................................................. 10-1
Adjustable Scaling for Position, Velocity and Acceleration Data ........................................... 10-2
Display Format of Position Data ............................................................................................ 10-4
Velocity Data Display Format ................................................................................................ 10-5
Acceleration Data Display Format ......................................................................................... 10-6
Command Value and Actual Value Polarities ........................................................................ 10-7
VI Contents
ECODRIVE Cs
Mechanical Transmission Elements ...................................................................................... 10-8
Modulo Function .................................................................................................................. 10-10
10.2 Setting the Measuring Systems ................................................................................................. 10-12
Motor Encoder ..................................................................................................................... 10-12
Actual Position Values of Non-Absolute Measuring Systems after Initialization ................. 10-15
Drive-Internal Format of Position Data ................................................................................ 10-15
10.3 Supplementary Settings for Absolute Measuring Systems........................................................ 10-19
Absolute Encoder Monitor.................................................................................................... 10-21
Modulo Evaluation of Absolute Measuring Systems ........................................................... 10-22
Actual Position Values of Absolute Measuring Systems after Initialization ......................... 10-22
10.4 Drive Limitations......................................................................................................................... 10-23
Torque/Force and Current Limits......................................................................................... 10-23
Velocity Limit........................................................................................................................ 10-31
Travel Range Limits ............................................................................................................. 10-32
10.5 Drive Error Reaction................................................................................................................... 10-37
Best Possible Deceleration .................................................................................................. 10-38
Power Off on Error ............................................................................................................... 10-44
NC Reaction on Error........................................................................................................... 10-46
E-Stop Function ................................................................................................................... 10-47
10.6 Control Loop Setting .................................................................................................................. 10-49
General Information on Control Loop Settings .................................................................... 10-49
Load Defaults Procedure ..................................................................................................... 10-51
Setting the Current Controller .............................................................................................. 10-53
Setting the Velocity Controller.............................................................................................. 10-53
Velocity Control Loop Monitoring ......................................................................................... 10-58
Position Controller................................................................................................................ 10-59
Setting the Position Controller ............................................................................................. 10-60
Position Control Loop Monitoring......................................................................................... 10-61
Setting the Acceleration Feedforward.................................................................................. 10-63
10.7 Automatic Control Loop Setting ................................................................................................. 10-65
General Information ............................................................................................................. 10-65
Prerequisites for Starting the Automatic Control Loop Setting ............................................ 10-65
Executing Automatic Control Loop Setting .......................................................................... 10-68
Chronological Sequence of Automatic Control Loop Setting............................................... 10-70
Results of Automatic Control Loop Setting .......................................................................... 10-72
10.8 Drive Halt.................................................................................................................................... 10-73
Pertinent Parameters ........................................................................................................... 10-73
Functional Principle of Drive Halt......................................................................................... 10-74
Connecting the Drive Halt Input ........................................................................................... 10-75
10.9 Drive-Controlled Homing............................................................................................................ 10-76
Setting the Homing Parameter ............................................................................................ 10-77
Overview of the Type and Allocation of Reference Marks of Non-Absolute Measuring
Systems ............................................................................................................................... 10-78
Functional Principle of Drive-Controlled Homing with Non-Absolute Measuring
Systems ............................................................................................................................... 10-78
Functional Principle of Drive-Controlled Homing with Absolute Measuring Systems ......... 10-79
ECODRIVE Cs
Contents VII
Functional Sequence "Drive-Controlled Homing Procedure" .............................................. 10-80
Commissioning with "Evaluation of Reference Mark/Home Switch Edge" .......................... 10-82
Actions of the Control Unit During "Drive-Controlled Homing" ............................................ 10-89
Possible Error Messages During "Drive-Controlled Homing" .............................................. 10-89
Arranging the Home Switch ................................................................................................. 10-90
Connecting the Home Switch............................................................................................... 10-90
10.10Setting Absolute Measuring ....................................................................................................... 10-91
Functional Principle.............................................................................................................. 10-91
Actual Position Values after Setting Absolute Measuring.................................................... 10-96
Diagnostic Messages........................................................................................................... 10-96
Hardware Connections ........................................................................................................ 10-96
11 Optional Drive Functions
11-1
11.1 Configurable Signal Status Word................................................................................................. 11-1
Configuration of the Signal Status Word................................................................................ 11-1
Diagnostic Messages / Error Messages ................................................................................ 11-2
11.2 Configurable Signal Control Word ............................................................................................... 11-3
Configuration of the Signal Control Word .............................................................................. 11-3
Diagnostic Messages / Error Messages ................................................................................ 11-4
11.3 Analog Inputs ............................................................................................................................... 11-5
Functional Principle of Analog Inputs .................................................................................... 11-5
Pin Assignment of Analog Inputs ........................................................................................... 11-6
11.4 Digital Input/Output ...................................................................................................................... 11-7
Brief Description..................................................................................................................... 11-7
Functional Principle of Digital Output..................................................................................... 11-8
Functional Principle of Digital Inputs...................................................................................... 11-9
Notes on Commissioning ..................................................................................................... 11-10
11.5 Oscilloscope Feature ................................................................................................................. 11-15
Functional Principle of Oscilloscope Feature....................................................................... 11-15
Parameterizing the Oscilloscope Feature............................................................................ 11-16
11.6 Probe Function........................................................................................................................... 11-23
Selecting the Edges of the Probe Inputs ............................................................................. 11-26
Selecting the Signals of the Probe Inputs............................................................................ 11-27
Connecting the Probe Inputs ............................................................................................... 11-27
11.7 Positive Stop Drive Procedure ................................................................................................... 11-28
11.8 Determine Marker Position Command....................................................................................... 11-29
Functional Principle of Determine Marker Position Command ............................................ 11-29
11.9 Parking Axis Command.............................................................................................................. 11-30
VIII Contents
ECODRIVE Cs
11.10Programmable Position Switch .................................................................................................. 11-30
Parameterizing the Position Switch ..................................................................................... 11-33
11.11Encoder Emulation..................................................................................................................... 11-34
Activating Encoder Emulation .............................................................................................. 11-35
Functional Principle: Incremental Encoder Emulation ......................................................... 11-35
Diagnostic Messages with Incremental Encoder Emulation................................................ 11-37
Functional Principle: Absolute Encoder Emulation .............................................................. 11-37
12 Serial Communication
12-1
12.1 Overview ...................................................................................................................................... 12-1
12.2 Pertinent Parameters ................................................................................................................... 12-1
12.3 Functional Principle Independent of Protocol .............................................................................. 12-2
Basic State after Applying the Control Voltage...................................................................... 12-2
Setting the Drive Address ...................................................................................................... 12-2
Communication via RS232 Interface ..................................................................................... 12-3
Error Messages...................................................................................................................... 12-4
Transmission Protocols.......................................................................................................... 12-5
12.4 ASCII Protocol.............................................................................................................................. 12-5
Features ................................................................................................................................. 12-5
Structure, Telegram frame ..................................................................................................... 12-5
Communication with ASCII Protocol...................................................................................... 12-6
Example of Application (Changing Positioning Block Data) ................................................ 12-16
Errors in the Case of ASCII Communication ....................................................................... 12-16
12.5 SIS Protocol ............................................................................................................................... 12-17
Features ............................................................................................................................... 12-17
Telegram Structure, Telegram Frame ................................................................................. 12-17
Communication with SIS Protocol ....................................................................................... 12-21
Examples of Application (Sequential Telegrams)................................................................ 12-26
Errors in the Case of SIS Communication ........................................................................... 12-29
12.6 Connection System .................................................................................................................... 12-30
13 Glossary
13-1
14 Index
14-1
15 Service & Support
15-1
15.1 Helpdesk ...................................................................................................................................... 15-1
15.2 Service-Hotline............................................................................................................................. 15-1
15.3 Internet ......................................................................................................................................... 15-1
15.4 Vor der Kontaktaufnahme... - Before contacting us..................................................................... 15-1
15.5 Kundenbetreuungsstellen - Sales & Service Facilities ................................................................ 15-2
System Overview 1-1
ECODRIVE Cs
1
System Overview
1.1
ECODRIVE Cs – Universal Drive Solutions for Automation
The ECODRIVE Cs automation systems for universal use are particularly
efficient solutions for open-loop and closed-loop control tasks.
The characteristics of these systems are their excellent performance
data, wide range of functions and favorable price-performance ratio.
In addition, ECODRIVE Cs features easy mounting and installation, as
well as a high degree of plant availability, and allows saving system
components.
ECODRIVE Cs can be used to realize a multitude of drive tasks in most
diverse applications.
Typical applications are:
• machine tools
• printing and paper converting machines
• handling systems
• packaging and food processing machines
• handling and mounting systems
1.2
The ECODRIVE Cs Range
For the ECODRIVE Cs range there are:
FWA-ECODR3-MGP-01VRS-MS
ECODRIVE Cs drive controllers
This Functional Description refers to the FWA-ECODR3-MGP-01VRS-MS
firmware type.
1-2 System Overview
1.3
ECODRIVE Cs
Drive Controllers
Within the ECODRIVE Cs drive controller range you can choose from
various devices. The differences between the devices are due to different
current ratings and different device concepts (interfaces, supported motor
types and measuring systems).
Command Communication Interface
Interfaces
Apart from a serial interface, there are the following command
communication interfaces available:
SERCOS
ECODRIVE Cs
DKCxx.3-004.3-FW
DKCxx.3-008.3-FW
DKCxx.3-012.3-FW
DKCxx.3-018.3-FW
yes
analog
yes
parallel
planned
PROFIBUS
yes
CANopen
yes
DeviceNet
yes
Command communication
interface
Fig. 1-1:
Command communication interfaces
Note:
With the devices of the ECODRIVE Cs range it is only
possible to operate MSM motors by Bosch Rexroth.
Supported Motor Types
Supported Measuring Systems
• incremental encoder (with serial encoder interface)
• multi-turn absolute encoder (with serial encoder interface)
Note:
It is impossible to connect an optional measuring system to
DKCxx.3-xxx.3-FW devices (please observe the note in the
glossary on devices of the DKCxx.3-xxx.3-FW type)!
System Overview 1-3
ECODRIVE Cs
1.4
Overview of Functions: FWA-ECODR3-MGP-01VRS-MS
Operating Modes
torque/force control
ECODRIVE Cs
DKCxx.3-004.3-FW
DKCxx.3-008.3-FW
DKCxx.3-012.3-FW
DKCxx.3-018.3-FW
yes
velocity control
yes
position control
yes
drive-internal interpolation
yes
jogging
yes
positioning block mode
yes
drive-controlled positioning
yes
stepper motor mode
no
synchronous operating modes with
virtual master axis
yes
synchronous operating modes with
real master axis
no
Operating mode
Fig. 1-2:
Operating modes
1-4 System Overview
ECODRIVE Cs
Basic Drive Functions
The following basic drive functions can be used by all drive controllers of
the ECODRIVE Cs product range:
• diagnostic message: numerous diagnostic possibilities
• basic parameters: basic parameter set can be activated for defined
setting of the drive parameters to default values
• customer password
• error memory and hours-run meter
• support of 5 languages for the parameter names and units, as well as
for the diagnostic messages
• German
• English
• French
• Spanish
• Italian
• drive-internal position resolution can be set
• evaluation of absolute measuring systems by setting absolute
measuring
• modulo function
• torque/force limitation to be parameterized
• current limit
• velocity limit
• travel range limit:
• by means of travel range limit switches and/or
• position limit values
• drive-side error reaction:
• best possible deceleration "Velocity command value set to zero"
• best possible deceleration "torque-free"
• best possible deceleration "Velocity command to zero with ramp
and filter"
• power off on error
• NC reaction on error
• E-Stop function
• control loop setting
• load defaults procedure (read feedback data memory)
• acceleration feedforward
• velocity feedforward
• automatic control loop setting
• velocity control loop monitoring
• position control loop monitoring
System Overview 1-5
ECODRIVE Cs
Optional Drive Functions
• freely configurable system status word
• freely configurable system control word
• oscilloscope feature
• "parking axis" command
• programmable position switch
• "determine marker position" command
The following optional drive functions differ with regard to their availability
for the drive controllers of the ECODRIVE Cs product range:
ECODRIVE Cs
DKCxx.3-004.3-FW
DKCxx.3-008.3-FW
DKCxx.3-012.3-FW
Optional drive function
DKCxx.3-018.3-FW
"drive-controlled homing procedure" command yes *1)
yes *1)
"set absolute measuring" command
probe function
yes *1)
encoder emulation
no
measuring wheel mode
no
analog outputs
no
no
analog inputs
*1):
availability restricted, because optional encoder cannot be connected
Fig. 1-3:
Optional drive functions
1-6 System Overview
ECODRIVE Cs
Notes
Important directions for use 2-1
ECODRIVE Cs
2
Important directions for use
2.1
Appropriate use
Introduction
Rexroth Indramat products represent state-of-the-art developments and
manufacturing. They are tested prior to delivery to ensure operating safety
and reliability.
The products may only be used in the manner that is defined as
appropriate. If they are used in an inappropriate manner, then situations
can develop that may lead to property damage or injury to personnel.
Note:
Rexroth Indramat, as manufacturer, is not liable for any
damages resulting from inappropriate use. In such cases, the
guarantee and the right to payment of damages resulting from
inappropriate use are forfeited. The user alone carries all
responsibility of the risks.
Before using Rexroth Indramat products, make sure that all the prerequisites for an appropriate use of the products are satisfied:
• Personnel that in any way, shape or form uses our products must first
read and understand the relevant safety instructions and be familiar
with appropriate use.
• If the product takes the form of hardware, then they must remain in
their original state, in other words, no structural changes are permitted.
It is not permitted to decompile software products or alter source
codes.
• Do not mount damaged or faulty products or use them in operation.
• Make sure that the products have been installed in the manner
described in the relevant documentation.
2-2 Important directions for use
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Areas of use and application
Drive controllers made by Rexroth Indramat are designed to control
electrical motors and monitor their operation.
Control and monitoring of the motors may require additional sensors and
actors.
Note:
The drive controllers may only be used with the accessories
and parts specified in this document. If a component has not
been specifically named, then it may not be either mounted or
connected. The same applies to cables and lines.
Operation is only permitted in the specified configurations and
combinations of components using the software and firmware
as specified in the relevant function descriptions.
Every drive controller has to be programmed before starting it up, making
it possible for the motor to execute the specific functions of an application.
The drive controllers are designed for use in single or multiple-axis drive
and control applications.
To ensure an application-specific use, the drive controllers are available
with differing drive power and different interfaces.
Typical applications of drive controllers are:
•
handling and mounting systems,
•
packaging and foodstuff machines,
•
printing and paper processing machines and
•
machine tools.
The drive controllers may only be operated under the assembly,
installation and ambient conditions as described here (temperature,
system of protection, humidity, EMC requirements, etc.) and in the
position specified.
2.2
Inappropriate use
Using the drive controllers outside of the above-referenced areas of
application or under operating conditions other than described in the
document and the technical data specified is defined as “inappropriate
use".
Drive controllers may not be used if
•
they are subject to operating conditions that do not meet the above
specified ambient conditions. This includes, for example, operation
under water, in the case of extreme temperature fluctuations or
extremely high maximum temperatures or if
•
Rexroth Indramat has not specifically released them for that intended
purpose. Please note the specifications outlined in the general safety
instructions!
Safety Instructions for Electric Drives and Controls 3-1
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3
Safety Instructions for Electric Drives and Controls
3.1
Introduction
Read these instructions before the initial startup of the equipment in order
to eliminate the risk of bodily harm or material damage. Follow these
safety instructions at all times.
Do not attempt to install or start up this equipment without first reading all
documentation provided with the product. Read and understand these
safety instructions and all user documentation of the equipment prior to
working with the equipment at any time. If you do not have the user
documentation for your equipment, contact your local Bosch Rexroth
representative to send this documentation immediately to the person or
persons responsible for the safe operation of this equipment.
If the equipment is resold, rented or transferred or passed on to others,
then these safety instructions must be delivered with the equipment.
WARNING
3.2
Improper use of this equipment, failure to follow
the safety instructions in this document or
tampering with the product, including disabling
of safety devices, may result in material
damage, bodily harm, electric shock or even
death!
Explanations
The safety instructions describe the following degrees of hazard
seriousness in compliance with ANSI Z535. The degree of hazard
seriousness informs about the consequences resulting from noncompliance with the safety instructions.
Warning symbol with signal
word
Degree of hazard seriousness according
to ANSI
Death or severe bodily harm will occur.
DANGER
Death or severe bodily harm may occur.
WARNING
Bodily harm or material damage may occur.
CAUTION
Fig. 3-1:
Hazard classification (according to ANSI Z535)
3-2 Safety Instructions for Electric Drives and Controls
3.3
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Hazards by Improper Use
High voltage and high discharge current!
Danger to life or severe bodily harm by electric
shock!
DANGER
Dangerous movements! Danger to life, severe
bodily harm or material damage by
unintentional motor movements!
DANGER
High electrical voltage due to wrong
connections! Danger to life or bodily harm by
electric shock!
WARNING
Health hazard for persons with heart
pacemakers, metal implants and hearing aids in
proximity to electrical equipment!
WARNING
Surface of machine housing could be extremely
hot! Danger of injury! Danger of burns!
CAUTION
CAUTION
Risk of injury due to improper handling! Bodily
harm caused by crushing, shearing, cutting and
mechanical shock or incorrect handling of
pressurized systems!
Risk of injury due to incorrect handling of
batteries!
CAUTION
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3.4
General Information
• Bosch Rexroth AG is not liable for damages resulting from failure to
observe the warnings provided in this documentation.
• Read the operating, maintenance and safety instructions in your
language before starting up the machine. If you find that you cannot
completely understand the documentation for your product, please ask
your supplier to clarify.
• Proper and correct transport, storage, assembly and installation as
well as care in operation and maintenance are prerequisites for
optimal and safe operation of this equipment.
• Only persons who are trained and qualified for the use and operation
of the equipment may work on this equipment or within its proximity.
• The persons are qualified if they have sufficient knowledge of the
assembly, installation and operation of the equipment as well as an
understanding of all warnings and precautionary measures noted in
these instructions.
• Furthermore, they must be trained, instructed and qualified to
switch electrical circuits and equipment on and off in accordance
with technical safety regulations, to ground them and to mark them
according to the requirements of safe work practices. They must
have adequate safety equipment and be trained in first aid.
• Only use spare parts and accessories approved by the manufacturer.
• Follow all safety regulations and requirements for the specific
application as practiced in the country of use.
• The equipment is designed for installation in industrial machinery.
• The ambient conditions given in the product documentation must be
observed.
• Use only safety features and applications that are clearly and explicitly
approved in the Project Planning Manual.
For example, the following areas of use are not permitted: construction
cranes, elevators used for people or freight, devices and vehicles to
transport people, medical applications, refinery plants, transport of
hazardous goods, nuclear applications, applications sensitive to high
frequency, mining, food processing, control of protection equipment
(also in a machine).
• The information given in the documentation of the product with regard
to the use of the delivered components contains only examples of
applications and suggestions.
The machine and installation manufacturer must
make sure that the delivered components are suited for his
individual application and check the information given in this
documentation with regard to the use of the components,
make sure that his application complies with the applicable safety
regulations and standards and carry out the required measures,
modifications and complements.
• Startup of the delivered components is only permitted once it is sure
that the machine or installation in which they are installed complies
with the national regulations, safety specifications and standards of the
application.
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• Operation is only permitted if the national EMC regulations for the
application are met.
The instructions for installation in accordance with EMC requirements
can be found in the documentation "EMC in Drive and Control
Systems".
The machine or installation manufacturer is responsible for
compliance with the limiting values as prescribed in the national
regulations.
• Technical data, connections and operational conditions are specified in
the product documentation and must be followed at all times.
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3.5
Protection Against Contact with Electrical Parts
Note:
This section refers to equipment and drive components with
voltages above 50 Volts.
Touching live parts with voltages of 50 Volts and more with bare hands or
conductive tools or touching ungrounded housings can be dangerous and
cause electric shock. In order to operate electrical equipment, certain
parts must unavoidably have dangerous voltages applied to them.
High electrical voltage! Danger to life, severe
bodily harm by electric shock!
DANGER
Only those trained and qualified to work with or on
electrical equipment are permitted to operate, maintain
or repair this equipment.
Follow general construction and safety regulations when
working on high voltage installations.
Before switching on power the ground wire must be
permanently connected to all electrical units according
to the connection diagram.
Do not operate electrical equipment at any time, even for
brief measurements or tests, if the ground wire is not
permanently connected to the points of the components
provided for this purpose.
Before working with electrical parts with voltage higher than
50 V, the equipment must be disconnected from the
mains voltage or power supply. Make sure the
equipment cannot be switched on again unintended.
The following should be observed with electrical drive and
filter components:
Wait five (5) minutes after switching off power to allow
capacitors to discharge before beginning to work.
Measure the voltage on the capacitors before beginning
to work to make sure that the equipment is safe to
touch.
Never touch the electrical connection points of a
component while power is turned on.
Install the covers and guards provided with the equipment
properly before switching the equipment on. Prevent
contact with live parts at any time.
A residual-current-operated protective device (RCD) must
not be used on electric drives! Indirect contact must be
prevented by other means, for example, by an
overcurrent protective device.
Electrical components with exposed live parts and
uncovered high voltage terminals must be installed in a
protective housing, for example, in a control cabinet.
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To be observed with electrical drive and filter components:
High electrical voltage on the housing!
High leakage current! Danger to life, danger of
injury by electric shock!
DANGER
3.6
Connect the electrical equipment, the housings of all
electrical units and motors permanently with the safety
conductor at the ground points before power is
switched on. Look at the connection diagram. This is
even necessary for brief tests.
Connect the safety conductor of the electrical equipment
always permanently and firmly to the supply mains.
Leakage current exceeds 3.5 mA in normal operation.
Use a copper conductor with at least 10 mm² cross
section over its entire course for this safety conductor
connection!
Prior to startups, even for brief tests, always connect the
protective conductor or connect with ground wire.
Otherwise, high voltages can occur on the housing
that lead to electric shock.
Protection Against Electric Shock by Protective Low
Voltage (PELV)
All connections and terminals with voltages between 0 and 50 Volts on
Rexroth products are protective low voltages designed in accordance with
international standards on electrical safety.
High electrical voltage due to wrong
connections! Danger to life, bodily harm by
electric shock!
WARNING
Only connect equipment, electrical components and
cables of the protective low voltage type (PELV =
Protective Extra Low Voltage) to all terminals and
clamps with voltages of 0 to 50 Volts.
Only electrical circuits may be connected which are safely
isolated against high voltage circuits. Safe isolation is
achieved, for example, with an isolating transformer,
an opto-electronic coupler or when battery-operated.
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3.7
Protection Against Dangerous Movements
Dangerous movements can be caused by faulty control of the connected
motors. Some common examples are:
improper or wrong wiring of cable connections
incorrect operation of the equipment components
wrong input of parameters before operation
malfunction of sensors, encoders and monitoring devices
defective components
software or firmware errors
Dangerous movements can occur immediately after equipment is
switched on or even after an unspecified time of trouble-free operation.
The monitoring in the drive components will normally be sufficient to avoid
faulty operation in the connected drives. Regarding personal safety,
especially the danger of bodily injury and material damage, this alone
cannot be relied upon to ensure complete safety. Until the integrated
monitoring functions become effective, it must be assumed in any case
that faulty drive movements will occur. The extent of faulty drive
movements depends upon the type of control and the state of operation.
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Dangerous movements! Danger to life, risk of
injury, severe bodily harm or material damage!
DANGER
Ensure personal safety by means of qualified and tested
higher-level monitoring devices or measures
integrated in the installation. Unintended machine
motion is possible if monitoring devices are disabled,
bypassed or not activated.
Pay attention to unintended machine motion or other
malfunction in any mode of operation.
Keep free and clear of the machine’s range of motion and
moving parts. Possible measures to prevent people
from accidentally entering the machine’s range of
motion:
- use safety fences
- use safety guards
- use protective coverings
- install light curtains or light barriers
Fences and coverings must be strong enough to resist
maximum possible momentum, especially if there is a
possibility of loose parts flying off.
Mount the emergency stop switch in the immediate reach
of the operator. Verify that the emergency stop works
before startup. Don’t operate the machine if the
emergency stop is not working.
Isolate the drive power connection by means of an
emergency stop circuit or use a starting lockout to
prevent unintentional start.
Make sure that the drives are brought to a safe standstill
before accessing or entering the danger zone. Safe
standstill can be achieved by switching off the power
supply contactor or by safe mechanical locking of
moving parts.
Secure vertical axes against falling or dropping after
switching off the motor power by, for example:
- mechanically securing the vertical axes
- adding an external braking/ arrester/ clamping
mechanism
- ensuring sufficient equilibration of the vertical axes
The standard equipment motor brake or an external
brake controlled directly by the drive controller are
not sufficient to guarantee personal safety!
Disconnect electrical power to the equipment using a
master switch and secure the switch against
reconnection for:
- maintenance and repair work
- cleaning of equipment
- long periods of discontinued equipment use
Prevent the operation of high-frequency, remote control
and radio equipment near electronics circuits and
supply leads. If the use of such equipment cannot be
avoided, verify the system and the installation for
possible malfunctions in all possible positions of
normal use before initial startup. If necessary, perform
a special electromagnetic compatibility (EMC) test on
the installation.
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3.8
Protection Against Magnetic and Electromagnetic Fields
During Operation and Mounting
Magnetic and electromagnetic fields generated near current-carrying
conductors and permanent magnets in motors represent a serious health
hazard to persons with heart pacemakers, metal implants and hearing
aids.
Health hazard for persons with heart
pacemakers, metal implants and hearing aids in
proximity to electrical equipment!
WARNING
Persons with heart pacemakers, hearing aids and metal
implants are not permitted to enter the following
areas:
- Areas in which electrical equipment and parts are
mounted, being operated or started up.
- Areas in which parts of motors with permanent
magnets are being stored, operated, repaired or
mounted.
If it is necessary for a person with a heart pacemaker to
enter such an area, then a doctor must be consulted
prior to doing so. Heart pacemakers that are already
implanted or will be implanted in the future, have a
considerable variation in their electrical noise
immunity. Therefore there are no rules with general
validity.
Persons with hearing aids, metal implants or metal
pieces must consult a doctor before they enter the
areas described above. Otherwise, health hazards will
occur.
3.9
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Protection Against Contact with Hot Parts
Housing surfaces could be extremely hot!
Danger of injury! Danger of burns!
CAUTION
Do not touch housing surfaces near sources of heat!
Danger of burns!
After switching the equipment off, wait at least ten (10)
minutes to allow it to cool down before touching it.
Do not touch hot parts of the equipment, such as
housings with integrated heat sinks and resistors.
Danger of burns!
3.10 Protection During Handling and Mounting
Under certain conditions, incorrect handling and mounting of parts and
components may cause injuries.
Risk of injury by incorrect handling! Bodily
harm caused by crushing, shearing, cutting and
mechanical shock!
CAUTION
Observe general installation and safety instructions with
regard to handling and mounting.
Use appropriate mounting and transport equipment.
Take precautions to avoid pinching and crushing.
Use only appropriate tools. If specified by the product
documentation, special tools must be used.
Use lifting devices and tools correctly and safely.
For safe protection wear appropriate protective clothing,
e.g. safety glasses, safety shoes and safety gloves.
Never stand under suspended loads.
Clean up liquids from the floor immediately to prevent
slipping.
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3.11 Battery Safety
Batteries contain reactive chemicals in a solid housing. Inappropriate
handling may result in injuries or material damage.
Risk of injury by incorrect handling!
CAUTION
Note:
Do not attempt to reactivate discharged batteries by
heating or other methods (danger of explosion and
cauterization).
Never charge non-chargeable batteries (danger of
leakage and explosion).
Never throw batteries into a fire.
Do not dismantle batteries.
Do not damage electrical components installed in the
equipment.
Be aware of environmental protection and disposal! The
batteries contained in the product should be considered as
hazardous material for land, air and sea transport in the sense
of the legal requirements (danger of explosion). Dispose
batteries separately from other waste. Observe the legal
requirements in the country of installation.
3.12 Protection Against Pressurized Systems
Certain motors and drive controllers, corresponding to the information in
the respective Project Planning Manual, must be provided with
pressurized media, such as compressed air, hydraulic oil, cooling fluid
and cooling lubricant supplied by external systems. Incorrect handling of
the supply and connections of pressurized systems can lead to injuries or
accidents. In these cases, improper handling of external supply systems,
supply lines or connections can cause injuries or material damage.
Danger of injury by incorrect handling of
pressurized systems !
CAUTION
Note:
Do not attempt to disassemble, to open or to cut a
pressurized system (danger of explosion).
Observe the operation instructions of the respective
manufacturer.
Before disassembling pressurized systems, release
pressure and drain off the fluid or gas.
Use suitable protective clothing (for example safety
glasses, safety shoes and safety gloves)
Remove any fluid that has leaked out onto the floor
immediately.
Environmental protection and disposal! The media used in the
operation of the pressurized system equipment may not be
environmentally compatible. Media that are damaging the
environment must be disposed separately from normal waste.
Observe the legal requirements in the country of installation.
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Notes
General Notes on Commissioning 4-1
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4
General Notes on Commissioning
4.1
Definition of Terms, Introduction
It is helpful to explain the terms used in this document so that they will be
better understood.
Parameters
Communication with the drive takes place, with a few exceptions, by
means of parameters.
They are used for:
• setting the configuration
• parameterizing the controller settings
• handling drive functions and commands and
• cyclic or acyclic (depending on requirements) transmission of
command values and actual values.
Note:
Data Status
All operating data are identified by IDNs.
Each parameter is provided with a data status which can be read. It
serves the following purposes:
• identification of the validity/invalidity of the parameter
• contains the command acknowledgment if the parameter acts as a
command
See also chapter: "Commands"
Parameter Structure
There are 7 different data block elements available for each parameter.
These can be read/write accessed via a non-cyclical data interface by a
higher-level control unit or a parameterization interface.
Element No.
Designation
Notes
1
IDN
2
name
3
attribute
4
unit
5
minimum input value
6
maximum input value
7
operating data
parameter identification /
reading of data status
can be changed by language
selection
contains data length, type and
decimal places
can be changed by language
selection
contains minimum input value of
operating data
contains maximum input value of
operating data
actual parameter value
Fig. 4-1: Data block or parameter structure
Write Access
There is write access only for the operating data, all other elements can
only be read. The operating data can be write-protected either
permanently or temporarily. The write access of the operating data
depends on the relevant communication phase or on whether a password
has been activated.
4-2 General Notes on Commissioning
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Possible Error Messages when Reading and Writing
Operating Data
See also chapter: "Error Messages"
Data Memory
Non-Volatile Parameter Memories
There are several non-volatile parameter memories available in the drive.
They are used to store such operating data that concern the
• setting of the configuration and the
• parameterization of the controller settings.
With each write access of an operating data the data is stored.
The following modules contain non-volatile memories:
• power section
• control section
• motor encoder (optional)
Parameter Memory in the Drive
Controller
All operating data that refer only to the drive controller and that cannot be
changed by the user are stored in the drive controller.
This applies to the following parameters:
• S-0-0110, Amplifier peak current
• S-0-0140, Controller type
• P-0-0190, Operating hours control section
• P-0-0191, Operating hours power section
• P-0-0192, Error memory, diagnosis number
• P-0-0193, Error recorder, operating hours control section
• P-0-0520, Hardware code
• P-0-4000, Current-zero-trim phase U
• P-0-4001, Current-zero-trim phase V
• P-0-4002, Current-amplify-trim phase U
• P-0-4003, Current-amplify-trim phase V
• P-0-4024, Test status
• P-0-4035, Trim-current
• P-0-4053, DC bus voltage gain adjust
• P-0-4058, Amplifier type data
• P-0-4059, Braking resistor data
• P-0-4061, Mains voltage gain adjust
• P-0-4088, Serial number
• P-0-4089, Production index
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Parameter memory in Motor Encoder
For MSM motors all motor-dependent parameters are stored in the motor
encoder. Additionally, parameters for the "load defaults procedure"
function and parameters containing position encoder data are stored in
this encoder.
Parameter Memory in Controller
All application parameters (control loop, mechanical system, interface
parameters ...) are stored in the controller.
All IDNs of the parameters stored in the controller are listed in parameter
S-0-0192, IDN-list of backup operation data. If the drive controller is
exchanged, these application parameters must be read beforehand so
that they can be written to the new controller after the exchange.
Data Backup
Backup & Restore
To save the data of the axis, all important and changeable parameters of
the axis are stored in the list S-0-0192, IDN-List of backup operation
data. By saving the parameters listed there by the control unit or
parameterization interface, you can obtain a complete data backup of this
axis after the initial commissioning (backup & restore function).
Basic Parameter Block
At delivery, the drive parameters contain basic values fixed at the factory.
By executing the command P-0-4094, C800 Command Base-parameter
load it is possible to reproduce this state at any time. The structure of the
basic parameter block is such that
• all optional drive functions are deactivated,
• limit values for position are deactivated,
• limit values for torque/force are set to high values and
• limit values for velocity and acceleration are set to low values.
Velocity control is the mode set.
Note:
The basic parameter block does not guarantee that the drive
matches the machine. Only in certain cases does it guarantee
that the drive matches the connected motors and measuring
systems. The relevant settings must be made during the initial
commissioning of the axis!
See also chapters: "Basic Drive Functions" and "Commissioning
Guidelines"
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Running the "Load Basic Parameter Block" Function
Automatically
The programming module contains the drive firmware. In case firmware is
exchanged for a different firmware version (with a different number of
buffered parameters), the drive controller will detect this the next time the
control voltage is switched on. In this case, the message "PL" appears on
the display. By pressing the "S1" key, the basic parameter block is
activated.
Note:
Any previous parameter settings are lost with the firmware
exchange followed by "load basic parameter block". If this is to
be prevented, the parameters must be stored prior to the
exchange and must be reloaded after the firmware exchange
and basic parameter block load.
Note:
As long as the drive displays "PL" and the command is active,
communication via the serial interface (with DriveTop) is
impossible.
Password
The respective parameters are listed in S-0-0279, IDN-list of passwordprotected operation data. To secure these parameters against unwanted
or non-authorized changes, they can be write-protected by the activation
of a customer password.
By editing S-0-0279, IDN-list of password-protected operation data the
user can select the parameters which are to be write-protected with a
password.
Note:
Accessing the Password
Allowed Characters and Length
The default value of S-0-0279, IDN-list of passwordprotected operation data corresponds to the content of
S-0-0192, IDN-list of backup operation data.
The password function is accessed via parameter S-0-0267, Password.
The password
• has to have at least 3 characters
• must not have more than 10 characters
• can only include the characters a-z and A-Z and the numbers 0-9
Three Different Password States
are Possible
The "password" function can have three different states. Depending on
the sequence of characters entered for S-0-0267, the current password
state can be changed.
The following figure illustrates possible password states and the
sequence of characters to be entered for parameter S-0-0267.
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no customer password active
parameter can be written,
content S-0-0267: "007"(default status)
input string:
007_Kpassw_Kpassw
input string:
Kpassw_007_007
customer password active and unlocked
parameter can be written,
content S-0-0267: "$$$"
input:
any string
without space
or switch off
input:
customer password
customer password active and locked
parameter write-protected,
content S-0-0267: "***"
Kpassw.:customer password
_: space
Master Password
FS0212f1.fh7
Fig. 4-2:
Possible password states
Note:
If the customer password is activated and unlocked (content of
S-0-0267= "$$$"), the drive is locked by switching the drive off
(content of S-0-0267= "***").
Note:
Parameters that are stored in the data memory of the motor
feedback or drive controller cannot be changed by the user.
Bosch Rexroth reserves the right to use a master password function.
Commands
Commands are used to control complex functions in the drive. For
example, the functions "Drive-controlled homing procedure" or "Transition
check for communication phase 4" are defined as commands.
A higher-level control unit can start, interrupt or clear a command. Each
command has a parameter with which the command can be controlled.
While a command is being executed, the diagnostic message "Cx" or "dx"
appears in the display, where x is the number of the command.
Note:
List of all Commands
Each command that is started must be cleared again.
All implemented commands are stored in parameter S-0-0025, IDN-list of
all procedure commands.
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Command Types
There are 3 command types:
• drive control commands
• possibly lead to an automatic drive motion
• can be started only when drive enable has been set
• deactivate the active operating mode during its execution
• monitor commands
• activate or deactivate monitors or features in the drive
• management commands
• execute management tasks; cannot be interrupted
Command Input and Acknowledgment
Control and monitoring of command execution occurs via the command
input and command acknowledgment. The command input tells the drive
if the command should be started, interrupted or completed. The
command input is the operating data of the applicable parameter.
The command input value can be:
• not set and not enabled (0)
• interrupted (1)
• set and enabled (3)
In the acknowledgment, the drive informs about the extent to which a
command has been executed. This is then displayed in the data status of
the command parameter.
See also chapter: "Parameters"
Note:
Data Status
The command status can be obtained by executing a
command to write data to parameter element 1 (data status).
The status can be:
• not set and not enabled (0)
• in process (7)
• error, command execution impossible (0xF)
• command execution interrupted (5)
• command properly executed (3)
Command Change Bit
The command change bit in the drive status word helps the control
recognize a change in the command acknowledgment by the drive. The
bit is set by the drive, if the command acknowledgment changes from the
status in process (7) to the status error, command execution not possible
(0xF) or command properly executed (3). The bit is cleared, if the master
clears the input (0).
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The control unit will recognize, if the drive sets the command change bit.
The control unit can read the corresponding data status of the command
or commands, which it has set sometime but has not yet cleared. The
control unit will recognize from this whether the command ended with or
without an error in the drive. Afterwards this command has to be cleared
by the control unit.
date of
command
parameter
= input
3
0
data status of
the command
parameter
7
=acknow3
ledgment
0
command
change bit
in drive status
message
1
beginning of
command
clearing of command
approx. 64 ms
t
command processed
command finished without error
command cleared
approx. 64 ms
t
t
Sv5021d1.fh5
Fig. 4-3:
date of
command
parameter
= input
Input, acknowledgment and command change bit during proper
execution
beginning of
command
3
clearing of command
0
t
data status of OxF
command finished
the command
command processed
with error
parameter
7
=acknowcommand cleared
3
ledgment
0
t
dommand
approx. 64 ms
approx. 64 ms
change bit in drive
status message
1
t
Sv5022d1.fh5
Fig. 4-4:
Input, acknowledgment and command change bit during erroneous
execution
A delay time of up to 64 ms can occur in the drive between receiving the
command input and setting the command acknowledgment.
ECODRIVE Cs
Operating Modes
Operating modes define which command values will be processed in
which format, in order to lead to the desired drive motion. They do not
define how these command values will be transmitted from a control
system to the drive.
One of the four selectable operating modes (S-0-0032 … S-0-0035) is
active when
• the control and power sections are ready for operation
• the drive enable signal sees a positive edge
The drive displays "AF".
Note:
All implemented operating modes are stored in parameter
S-0-0292, List of all operation modes.
See also chapter: "Operating Modes"
Warnings
Many areas are monitored in connection with operating modes and
parameter settings. A warning will be generated if a state is detected that
allows proper operation for the time being, but will eventually generate an
error and thereby lead to an automatic shutdown of the drive if this state
continues.
Note:
Warnings do not cause automatic shutdown; exception: fatal
warnings.
Warning Classes
Warnings can be divided into 2 classes. They are differentiated by
whether the drive executes an automatic reaction or not when the warning
appears.
Note:
The warning class can be regognized in the diagnostic
message.
Warning class
non fatal
interface
fatal
Diagnostic
message
E2xx
E3xx
E4xx
E8xx
Drive reaction
without drive reaction
without drive reaction
automatic reaction, specifically in
terms of the occurring warning
Fig. 4-5:
Overview of warning classes
Note:
Warnings cannot be cleared. They persist until the condition
that led to the warning is no longer fulfilled.
Errors
Depending on the active operating mode and parameter settings, many
monitoring functions are carried out. An error message is generated by
the drive controller, if a condition is encountered which no longer allows
correct operation.
ECODRIVE Cs
Error Classes
Errors are divided into four different error classes with different drive error
reaction. The error class is evident from the diagnostic message:
Error class
Diagnostic
message
Drive reaction
non fatal
interface
F2xx
F3xx
F4xx
travel range
fatal
F6xx
F8xx
in accordance with best possible deceleration
that was set
in accordance with best possible deceleration
that was set
speed command value to zero
torque disable
Fig. 4-6:
Error class divisions
Drive Error Reaction
If an error state is detected in the drive, the drive error reaction will
automatically be executed as long as the drive is in control. The display
flashes Fx / xx.
The drive’s reaction to interface and non-fatal errors can be
parameterized with P-0-0119, Best possible deceleration. The drive is
torque-free at the end of each error reaction.
Clearing Errors
Errors are not automatically cleared; they have to be cleared externally
by:
• initiating the command S-0-0099, C500 Reset class 1 diagnostic or
• pressing the "S1" key or
• positiv edge at the "clear error" input.
Note:
If the error status is still present, then the error will be
immediately detected again.
Clearing Errors when Drive Enable is Set
If an error is discovered while operating with drive enable being set, the
drive will execute an error reaction. The drive automatically deactivates
itself at the end of each error reaction; in other words, the power stage is
switched off and the drive switches from an energized to a de-energized
state.
To reactivate the drive:
• clear the error and
• again input a positive edge for drive enable.
Note:
In the case of field bus drives (Profibus, DeviceNet, CanOpen)
the state machine must first be initialized, if necessary.
ECODRIVE Cs
Error Memory and Operating Hours Counter
Error Memory
Once errors are cleared, they are stored in an error memory. The last 19
errors are stored in this memory and the times they occurred. Errors
caused by a shutdown of the control voltage (e. g. F870 +24Volt DC
error) are not stored in the error memory.
Operating Hours Counter
In addition, there are operating hours counters for the control and power
sections of the drive controller. For this function the following parameters
are available:
• P-0-0190, Operating hours control section
• P-0-0191, Operating hours power section
• P-0-0192, Error memory, diagnosis number
• P-0-0193, Error memory, operating hours control section
IDN Lists of Parameters
There are some parameters available in the drive that, in turn, contain ID
numbers of drive parameters. These parameters support the handling of
the drive parameters by parameterization programs (e.g. DriveTop).
S-0-0017, IDN-list of all operation data
The IDNs of all parameters available in the drive are stored in this
parameter. This list is used, for example, to provide the parameterization
program in its menu "All drive parameters" the information as to which
IDNs are contained in this drive firmware.
S-0-0192, IDN-list of backup operation data
In parameter S-0-0192, IDN-list of backup operation data the IDNs of all
those parameters are stored, that are stored in the programming module.
These are the parameters that are needed for a proper operation of the
drive. The control unit or the parameterization program use this IDN list to
make a backup copy of the drive parameters.
S-0-0021, IDN-list of invalid op. data for comm. Ph. 2
In the data of this IDN list the drive enters the IDNs out of parameter
S-0-0018, IDN-list of operation data for CP2 which are recognized as
invalid in command S-0-0127, C100 Communication phase 3 transition
check. Parameters are recognized as invalid if:
• their checksum stored together with the operating data in a nonvolatile memory (amplifier or motor feedback data memory) does not
match the operating data,
• their operating data is outside of the minimum/maximum input limits or
• their operating data has violated certain plausibility rules.
In any event, the parameters entered upon negative acknowledgment of
command S-0-0127, C100 Communication phase 3 transition check in S0-0021, IDN-list of invalid op. data for comm. Ph. 2 must be corrected.
ECODRIVE Cs
S-0-0022, IDN-list of invalid op. data for comm. Ph. 3
The drive enters those IDNs out of parameter S-0-0019, IDN-list of
operation data for CP3 into the data of this IDN list which were detected
in command S-0-0128, C200 Communication phase 4 transition check
as invalid. Parameters are detected as invalid if:
• their checksum stored together with the operating data in a nonvolatile memory (programming module, amplifier or motor feedback
data memory) does not match the operating data,
• their operating data is outside of the minimum/maximum input limits or
• their operating data has violated certain plausibility rules.
In any event, the parameters entered upon negative acknowledgment of
command S-0-0128, C100 Communication phase 4 transition check in S0-0022, IDN-list of invalid op. data for comm. Ph. 3 must be corrected.
S-0-0018, IDN-list of operation data for CP2
The IDNs that were checked for validity in command S-0-0127, C100
Communication phase 3 transition check are stored in the data of S-00018, IDN-list of operation data for CP2.
S-0-0019, IDN-list of operation data for CP3
The IDNs that were checked for validity in command S-0-0128, C200
Communication phase 4 transition check are stored in the data of
S-0-0019, IDN-list of operation data for CP3.
S-0-0025, IDN-list of all procedure commands
The IDNs of all the commands available in the drive are stored in this
parameter.
4.2
ECODRIVE Cs
Parameterization Mode - Operating Mode
Note:
A drive controller with field bus interface (Profibus, DeviceNet,
CanOpen) immediately switches to operating mode when the
supply for signal processing is switched on.
Switching from parameterization to operating mode is controlled by
starting and ending the following commands:
• S-0-0127, C100 Communication phase 3 transition check
• P-0-4023, C400 Communication phase 2 transition
To get to the parameterization mode it is necessary to trigger the
transition command P-0-4023, C400 Communication phase 2
transition.
Note:
In order to switch between the parameterization mode and
operating mode, it is only possible to start a transition
command, if the drive is not in control mode or command
communication is not active.
The current status of command communication is contained in parameter
P-0-4086, Command communication status.
If the drive reaches phase 4 without any error, the message (H1) "bb"
appears on the 7-segment display on the front of the drive amplifier. The
corresponding diagnosis is A013 Ready for power on.
operating
mode
communication phase 4
communication
phase 4 transition
check S-0-0128
parameterization
mode
communication
phase 3 transition
check S-0-0127
switching from
phase 4 to 2
P-0-4023
Fig. 4-7:
Communication phases
Note:
The evaluation of the measuring system only takes place in
operating mode. Switching from operating mode to
parameterization mode means that these functions are no
longer active. Switching to operating mode always starts a new
initialization of all the functions available in the drive.
ECODRIVE Cs
Checks in the Transition Check Commands
To switch from communication phases 2 to 3 and 3 to 4, it is necessary to
activate transition check commands in the drive. This includes a number
of checks and parameter conversions.
Note:
The reasons for and assistance with transition check
command errors are specified in the Troubleshooting Guide.
S-0-0127, C100 Communication phase 3 transition check
The timing of command communication is checked in transition command
C1. These checks are irrelevant for those units without command
communication. (Examples of command communication are SERCOS,
Profibus and so on.)
The following checks are conducted with the C100 command.
Checking the Telegram
Configuration of the Command
Communication
A check is run as to whether the parameters selected for the configurable
data block in the master data telegram or drive data telegram may be
configured or not. It is also checked whether the allowed length of the
configurable data blocks has been complied with or not.
The following command errors can occur:
• C104 Config. IDN for MDT not configurable
• C105 Configurated length > max. length for MDT
• C106 Config. IDN for AT not configurable
• C107 Configurated length > max. length for AT
Checking Validity of
Communication Parameters
If the checksum of one of the parameters needed to switch to phase 3 is
faulty, the command error:
• C101 Invalid communication parameter (S-0-0021)
is generated. The IDNs of the faulty parameters are listed in:
• S-0-0021, IDN-list of invalid op. data for comm. phase 2
They have to be made valid by writing data to them.
Extreme Value Check of the
Communication Parameters
If an error occurs during the extreme value check of those parameters
relevant to command communication, the command error
• C102 Limit error communication parameter (S-0-0021)
is generated. The IDNs of the faulty parameters are listed in
and must be corrected.
Checking Plausibility and
Compliance with Requirements
Regarding Command
Communication
Checking the timing parameters for command communication in terms of
plausibility and compliance with the requirements.
The following command errors can occur:
• C112 TNcyc (S-0-0001) or TScyc (S-0-0002) error
• C113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error
• C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)
• C115 T2 too small
ECODRIVE Cs
The following command errors can occur with a SERCOS unit:
• C108 Time slot parameter > Sercos cycle time
• C109 Position of data record in MDT (S-0-0009) even
• C110 Length of MDT (S-0-0010) odd
• C111 ID9 + Record length - 1 > length MDT (S-0-0010)
S-0-0128, C200 Communication phase 4 transition check
During this command, the following checks are run:
Checking Validity
If the checksum of one of the parameters needed to switch to phase 4 is
faulty, the command error:
• C201 Invalid parameter(s) (->S-0-0022)
• S-0-0022, IDN list of invalid op. data for comm. phase 3
and are made valid by writing data to them.
Reading the Controller Memory
The drive controller reads the operating data from the non-volatile
memory (e.g. EEPROM) of the drive controller. If an error occurs during
this process, the command error:
• C212 Invalid amplifier data (->S-0-0022)
is displayed.
The IDNs of the faulty parameters are listed in
• S-0-0022, IDN-list of invalid op. data for comm. phase 3.
Reading Feedback Data Memory
The parameters stored in the memory of motors with feedback data
memory are read. If an error occurs during this process, the command
error
• C211 Invalid feedback data (->S-0-0022)
is generated.
Checking Maximum Travel
Range
Check whether an internal position resolution was set via parameter
S-0-0278, Maximum travel range which guarantees the correct
commutation of the motor. If not, the command error
• C223 Input value for max. range too high
is generated.
Checking Scaling
Check of internal ability to display conversion factors from display format
to an internal one and vice versa for scaling-dependent data. If an error
occurs during this process, one of the following command errors are
generated:
• C213 Position data scaling error
• C214 Velocity data scaling error
• C215 Acceleration data scaling error
• C216 Torque/force data scaling error
Checking all Parameters for
Extreme Values and Possible Bit
Combinations
All parameters are checked for compliance with their extreme values or
allowed bit combinations. If an error occurs during this process, the
command error
• C202 Parameter limit error (->S-0-0022)
ECODRIVE Cs
Checking Modulo Range
Check whether parameter S-0-0103, Modulo value can be processed
with activated modulo scaling of the position data. If this is not the case,
the command error
• C227 Modulo range error
is generated.
Checking the Conversion to
Internal Formats
The physical values of the parameters (input format with decimal places
and units) are converted to internal formats. This conversion is monitored.
If discrepancies are detected during this process, the command error
• C203 Parameter calculation error (->S-0-0022)
Checks During Encoder
Initialization
Encoder initialization is carried out. Errors can occur depending on the
encoder type (e.g. amplitude errors). Then the command error(s)
• C220 Feedback 1 initializing error
is generated.
Absolute Encoder Monitoring
If the actual position of an absolute encoder differs by more than P-00097, Absolute encoder monitoring window from the actual position
prior to the last shutdown of the unit, the error
• F276 Absolute encoder outside of monitoring window
is generated. The acknowledgement of the transition command is not
faulty in this case but the error must be cleared by executing command
S-0-0099, C500 Reset class 1 diagnostics.
See also chapter: "Clearing Errors"
4.3
Commissioning Guidelines
The parameterization interface DriveTop is provided for commissioning
drive controllers.
The procedure for initial start-up of a drive controller with DriveTop can be
divided into 11 commissioning steps (IBS-1...11). The sequence is
illustrated in the figure below.
ECODRIVE Cs
Initial start-up, Establishing the initial state using command P-0-4094, C800
Load base parameters command
Velocity and acceleration values limited to small values / Position and torque limits
not active / Operating mode - velocity control / All optional functions are deactivated
IBS-1, Motor configuration
MDD/MKD/MHD
motor
Set motor type / motor-dependent parameters (from data
sheet) / temperature monitoring / possible asynchronous
parameters / possible motor holding brake
no
yes
IBS-2, Determining the Operating Mode
Selection of the primary and secondary mode / Operating mode-specific
settings
IBS-3, Pre-setting mechanical system of axia and the measuring system
Gears, feed rate constant and maximum travel range / illustrative formats for position,
velocity, acceleration / motor measuring system / possible external measuring system
IBS-4, Setting Error Reations and Emergency Stops
Best possible deceleration / NC reaction / power off with fault / Emergency-stop
function
IBS-5, Pre-setting control loop
Automatic loop tuning / by loading base values / using data sheet
Motor encoder can move axis
IBS-6, Check mechanical system of axis and meauring system
Gears, feed rate constant / polarity of position, velocity and acceleration / motor
measuring system / possible external measuring system
IBS-7, Position, Velocity and Torque Limitations
Position limit values and travel range limit switch / velocity limit values / torque limit
values
IBS8, Possible optimizing the control loop
Velocity and position control loop / possible torque friction compensation / possible
acceleration pre-control
IBS-9, Establishing the absolute referenc dimension
Set absolute dimension or use drive-controlled referencing
IBS-10, Other settings
Drive halt / Status messages / Optional drive functions
IBS-11, Checking Drive Dimensions
Torque/force check / Weight compensation / Regenerated energy
End of Initial Start-Up
Fig. 4-8:
FD5020X1.FLO
Commissioning guidelines
ECODRIVE Cs
IBS-1, Motor Configuration
Motors without Data Memory
This commissioning step is needed in case the motor used does not have
a motor feedback data memory. For these motors it is necessary to
• enter the parameters for motor features (peak current, maximum
velocity, etc.) using a data sheet or, by means of DriveTop, accept the
parameters from the motor data base,
• parameterize the parameters for the motor temperature warning and
switch-off thresholds and
• given a motor holding brake, set these parameters accordingly.
Motors with Data Memory
MHD, MKD, MKE and MSM motors have a data memory and are
recognized by the drive. The respective motor parameters are set
automatically.
See also chapter: "Setting the motor type"
IBS-2, Determining the Operating Mode
In this step, the primary mode of operation and, if required, the secondary
operating modes are selected.
Operating mode-specific settings must be made.
In particular, operating mode-relevant limit values, command value filters
and the available operating modes must be defined.
Note:
The setting of the operating modes for drives with SERCOS
interface is usually carried out automatically by the control unit.
See also chapter: "Operating modes"
IBS-3, Presetting Mechanical System of Axis and
Measuring System
In this step, the parameters needed for detecting and processing position,
velocity and acceleration data are set. These include the parameters for
the following settings:
mechanical gear ratio between motor and load, as well as any existing
feedrate constant of linear drives,
• Scaling setting for displaying all position, velocity and acceleration
parameters of the drive. This determines, for example, whether these
data refer to motor shaft or load and which LSB valence these data
have (e.g. position data with unit 0.0001 degree or 0.00001 inch etc.).
• interface, rotational direction and resolution of the motor encoder and,
where available, optional encoder
See also chapters:
-"Physical values display format",
-"Mechanical transmission elements" and
-"Setting the measurement system"
ECODRIVE Cs
IBS-4, Setting Error Reactions and Emergency Stop
In this step, the reaction of the drive in the event of an error as well as in
the event of activation of the drive’s E-Stop input is set. The following
parameterization processes must be performed:
• type and mode of drive-side error reaction
• selection whether NC reaction (only with SERCOS) is to be carried out
in case of error
• selection whether, and if so when, the power supply is switched off or
whether a package reaction (only with SERCOS) is to be carried out
• configuration of the E-Stop input
See also chapter: "Drive error reaction"
IBS-5, Presetting Control Loops
The parameters for current, velocity and position control loops are set in
this step. This is done either by:
• executing command P-0-0162, D900 Command Automatic control
loop adjust. During the execution of the command, the setting for the
speed controller and the position controller is determined as well as
the load inertia.
• executing command S-0-0262, C700 Load defaults procedure
command
• inputting the controller values by means of a data sheet
Setting the control loop in this way ensures sufficient quality of control for
most applications. Should additional optimization of the control loop
parameters (velocity and position control loop parameters, compensation
functions and precontrol) be necessary, this should be carried out in
commissioning step 8.
See also chapter: "Control loop settings")
IBS-6, Checking Mechanical System of Axis and
Measuring System
In this step, the presettings made in IBS-3 are checked and modified, if
necessary. To do this it is necessary to move the axis by jogging, for
example.
The following checks are made:
• Check of the rotational direction of the motor encoder. With noninverted position polarity (S-0-0055, Position polarities = 0), the
values in parameter S-0-0051, Position feedback 1 value should
have a rising order with a clockwise rotation of the motor shaft (in the
case of linear motors, towards power connector) (this check need not
be performed with MHD and MKD motors!). If this is not the case, bit 3
in S-0-0277, Position feedback 1 type should be inverted.
• By moving the axis and examining the position feedback value of the
motor encoder in parameter S-0-0051, Position feedback 1 value it
is possible to control whether the encoder indicates a traveled distance
correctly. If not, the settings for mechanical gear ratio, feedrate
constant and encoder resolution must be checked.
See also chapters:
-"Physical values display format",
-"Mechanical transmission elements" and
-"Setting the measurement system"
ECODRIVE Cs
IBS-7, Position, Velocity and Torque Limitations
In this step the limits for the travel range are set by setting
• position limit values and/or
• travel range limit switches
and limit values for the axis velocity and maximum drive torque/force are
parameterized.
See also chapters:
-"Torque/force limiting"
-"Travel range limits"
-"Limiting velocity"
IBS-8, Optimizing Control Loops
This step is only necessary if the settings for velocity and position control
loops in IBS-5 did not achieve the required quality of control. In this case,
optimize the control behavior as follows:
• modify the parameters for velocity and position control loops,
• if necessary, activate the acceleration precontrol,
• if necessary, activate the velocity mix function and
• if necessary, activate the notch filter.
See also chapter: "Control loop settings")
IBS-9, Establishing Absolute Position Data Reference
In this step the absolute position data reference is established in terms of
the machine zero point of the actual position values of motor encoder
and, if available, optional encoder. The actual position values first show
any value, without reference to the machine zero point. By carrying out
• set absolute measurement (with absolute encoders) or
• drive-controlled homing
the coordinate systems of the position encoders and the coordinate
system of the machine are made congruent.
See also chapters:
-"Drive-controlled homing"
-"Setting the absolute measurement"
IBS-10, Other Settings
In this step, the following settings are made:
• the drive halt function is parameterized,
• the language is selected,
• general status messages are set and
• optional drive functions are configured.
See also chapters:
-"Drive Halt",
-"S-0-0013, Class 3 diagnostics",
-"S-0-0182, Manufacturer class 3 diagnostics",
-"Optional drive functions" and
-"Language selection"
ECODRIVE Cs
IBS-11, Checking Drive Dimensions
The power-related drive checks are made in this step. It is checked
whether the continuous and peak power of drive amplifier and motor meet
the requirements. The following checks are made for this purpose:
• Motor torque/force to be generated is checked. It should not exceed
60%, at constant speed, and 75%, in rapid traverse, of the continuous
torque at standstill of the motor.
• During the acceleration phase 80% of the maximum torque of the
motor/drive controller combination should not be exceeded.
• The thermal load of the drive amplifier should be a maximum of 80%.
See also chapter: "Current Limit"
With vertical axes, the weight compensation must be set in such a way
that the current consumption with upward and downward motions of the
machine axis has the same minimum value. The regenerative peak
power and regenerative continuous power have to be checked.
ECODRIVE Cs
4.4
Diagnostic Possibilities
Overview of Diagnostic Possibilities
The diagnostic possibilities can be divided into two groups:
• options for recognizing the current drive status by means of the
priority-dependent, drive-internal generation of diagnoses and
• collective messages for diverse status messages
Additionally, there are parameters for all important operating data that can
be transmitted both via master communication (SERCOS, Profibus, ...),
as well as a parameterization interface (RS232 in the ASCII protocol or
SIS serial Bosch Rexroth protocol).
Drive-Internal Generation of Diagnostic Messages
The current operating status of the drive depends on:
• present errors,
• present warnings,
• executed commands,
• the signal "Drive Halt"
• the execution of an error reaction,
• the automatic drive check or self-adjustment,
• the active operating mode.
Whether the drive is ready for operation or in parameter mode also is
displayed.
The operating status can be determined from
• the 2-digit seven-segment display (H1),
• parameter S-0-0095, Diagnostic message,
• parameter S-0-0390, Diagnostic message number,
• parameter P-0-0009, Error message number,
• parameter S-0-0375, List of diagnostic numbers.
The current diagnostic message with the highest priority is always shown
• on the H1 display,
• in parameter S-0-0095, Diagnostic message
• in parameter S-0-0390, Diagnostic message number,
The parameter P-0-0009, Error message number will only contain a
value unequal to 0 if an error is present. The last displayed diagnostic
numbers are displayed in chronological order in parameter S-0-0375, List
of diagnostic numbers. An overview of all diagnostic messages in
contained in the Troubleshooting Guide.
ECODRIVE Cs
P
error
R
I
warning
O
R
command error
I
T
command active
Y
Ready for operation?
yes
ready for
operation
no
communication phase
drive
ready
drive check +
adjustment
drive
shutdown
Drive
Halt
drive is
following
oper. mode
load defaults
procedure
required
parameter
load
jogging: drive
moves backward
jogging: drive
moves forward
Da0003f2.fh7
Fig. 4-9: Priority-dependent display of diagnostic messages on the H1 display
ECODRIVE Cs
Structure of a Diagnostic Message
Each operating status is identified by a diagnostic message. The
diagnostic message consists of:
• diagnostic message number
• diagnostic message text
For example, the diagnostic message for the non-fatal error "Excessive
deviation" is displayed as follows:
F228 Excessive deviation
diagnostic
message text
diagnostic
message number
Fig. 4-10: Structure of a diagnostic message containing a diagnostic message
number and text
The H1 display alternates "F2" and "28". The diagnostic message number
appears in hexadecimal format in the parameter S-0-0390, Diagnostic
message number. In this example, this would be (0x)F228. The
diagnostic message number and the diagnostic message text are
contained as string F228 Excessive deviation in the S-0-0095,
Diagnostic message parameter. The parameter P-0-0009, Error
message number contains 228 (dec).
H1 Display
The diagnostic message number appears on the 2-digit seven-segment
display (H1) in symbolized form. The form of the display can be seen in
the figure "Priority-dependent display of diagnostic messages on the H1
display".
By means of this display it is possible to quickly determine the current
operating status without using a communication interface.
The operating mode cannot be seen on the H1 display. When the drive
follows the preset operating mode and no command was activated, the
display reads "AF".
Diagnostic Messages in Plain Text
The diagnostic message in plain text contains the diagnostic message
number followed by the diagnostic message text. It can be read with
parameter S-0-0095, Diagnostic message and directly displays the drive
status on an operator interface.
The language selection allows changing the language of diagnostic
messages in plain text.
Diagnostic Message Number
The diagnostic message number contains only the diagnostic number
without the text. It can be read with parameter S-0-0390, Diagnostic
message number and is a language-independent possibility of
determining and displaying the drive status on an operator interface.
ECODRIVE Cs
Error Number
The error number contains only the error number without the diagnostic
message text. It can be read with parameter P-0-0009, Error number
and is a language-independent possibility of determining and displaying
an error condition on an operator interface. This parameter only contains
a value unequal to 0 if an error is present in the drive.
The error number is generated from the lowest 3 digits of the diagnostic
message number. For example, the error F228 Excessive deviation with
the diagnostic message number "(0x)F228" would produce the error
number "228."
List of Diagnostic Message Numbers
The last 50 diagnostic message numbers displayed are stored in
chronological order in the S-0-0375, List of diagnostic numbers
parameter. Every change in the content of S-0-0390, Diagnostic message
number means that the old content is transferred to S-0-0375. If S-0-0375
is read, the last replaced diagnostic message number appears in the first
element; the diagnostic number displayed before the first element is
displayed in the second element etc.
The illustration below explains the relationship between S-0-0375, List of
diagnostic numbers and S-0-0390, Diagnostic message number by
means of an example.
S-0-0390, Diagnostic message number
0xA013
0xA012
0xA101
drive ready for operation,
H1 display "bb"
S-0-0390,
Diagnostic message number
is "A013"
power is switched on,
power and control sections ready
for operation,
H1 display "Ab"
S-0-0390, Diagnostic message
number changes to "A012"
time
drive enable is switched on,
operating mode e.g.
velocity control,
H1 display "AF"
S-0-0390, Diagnostic message
number changes to "A101"
XXXX
50.
XXXX
50.
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
50.
XXXX
XXXX
2.
XXXX
2.
A013
2.
XXXX
1.
A013
1.
A012
1.
S-0-0375
S-0-0375
S-0-0375
Tb0208f1.fh7
Fig. 4-11: Example for generating S-0-0375, List of diagnostic numbers
ECODRIVE Cs
Permanently-Configured Collective Messages
The following parameters are used as collective messages for displaying
operating states:
• S-0-0011, Class 1 diagnostics
• S-0-0182, Manufacturer class 3 diagnostics
S-0-0011, Class 1 diagnostics
Parameter S-0-0011, Class 1 diagnostics contains bits for the various
errors. A bit is set in this parameter in the event of a drive error.
Simultaneously, the bit "Drive locked, error in class 1 diagnostics" is set in
the drive status word.
All bits in class 1 diagnostics, are cleared upon execution of the
command S-0-0099, C500 Reset class 1 diagnostics.
See also chapter: "Clear errors"
The following bits are supported in class 1 diagnostics:
Bit 1: Amplifier overtemperature
shutdown
Bit 2: Motor overtemperature
shutdown
(see also S-0-0204)
Bit 4: Control voltage error
Bit 5: Feedback error
Bit 9: Undervoltage error
Bit 11: Excessive deviation
Bit 12: Communication error
Bit 13: Position limit exceeded
Bit 15: Manufacturer-specific error
Fig. 4-12: Structure of parameter S-0-0011, Class 1 diagnostics
ECODRIVE Cs
Parameter S-0-0012, Class 2 diagnostics contains bits for the various
warnings. A bit is set in this parameter in the event of a warning.
Simultaneously, the bit "Change bit class 2 diagnostics“ is set in the drive
status word. This change bit is cleared by reading S-0-0012, Class 2
diagnostics. Via parameter S-0-0097, Mask class 2 diagnostics
warnings can be masked in terms of their effect on the change bit.
Note:
Toggling a bit is signaled with a change bit in the drive status
word.
Bit 0:
Overload warning
Bit 1:
Amplifier overtemperature
warning
Bit 2:
Motor overtemperature
Warnung
Bit 3:
Cooling error warning
Bit 4:
reserved
Bit 5:
Positioning velocity >
nlimit
Bit 6:
reserved
Bit 7:
reserved
Bit 8:
reserved
Bit 9:
reserved
Bit 10: reserved
Bit 11: reserved
Bit 12: reserved
Bit 13: Target position outside of
position limits
Bit 14: reserved
Bit 15: Manufacturer-specific warning
ECODRIVE Cs
Various messages of operating states are stored in parameter S-0-0013,
Class 3 diagnostics. If the state of a message changes, a bit is set in the
drive status word (change bit class 3 diagnostics). This change bit is
cleared again by reading S-0-0013, Class 3 diagnostics. Via parameter
S-0-0098, Mask class 3 diagnostics messages can be masked in terms
of their effect on the change bit.
Bit 0: Actual velocity =
command velocity
|S-0-0040 - S-0-0036 - S-0-0037|
≤ S-0-0157
Bit 1:
| actual velocity | <
standstill window
|S-0-0040| < S-0-0124
Bit 2:
| actual velocity | <
velocity threshold
|S-0-0040| < S-0-0125
Bit 4:
| Md | ≥ MdLIMIT ( S-0-0092 )
Bit 6:
In Position
|lag error (S-0-0189)| <
position window (S-0-0057)
Bit 12: Target position reached
internal pos. command value =
target position (S-0-0258)
ECODRIVE Cs
Change Bits of Class 2 and 3 Diagnostics in the Drive
Status Word (SERCOS)
If the status of a bit changes in S-0-0012, Class 2 diagnostics or
S-0-0013, Class 3 diagnostics, the change bit status class 2 or 3 is set
in the drive status word. A read access to both parameter clears this
change bit. The setting of the change bit as a result of a bit toggling in S0-0012 or S-0-0013 can be masked by means of parameter S-0-0097,
Mask class 2 diagnostics or S-0-0098, Mask class 3 diagnostics.
Note:
In the case of field bus drives, a status bit class 2+3
diagnostics is set. See also "Profile Types".
Profiltypen
=1
S-0-0012 at last read access
&
S-0-0097, Mask class 2 diagnostics
unequal 0 ?
yes
change bit set in drive status word
Fig. 4-15: Generating the change bit of class 2 diagnostics
S-0-0182, Manufacturer class 3 diagnostics
In parameter S-0-0182, Manufacturer class 3 diagnostics various
messages of the operating states are stored. If the status of a message
changes, this is not signaled by a change bit.
The following bits are supported in manufacturer class 3 diagnostics:
ECODRIVE Cs
S-0-0182, Manufacturer class 3 diagnostics
Bit 1: |actual velocity| < S-0-0124, Standstill window
Bit 2: reserved
Bit 3: reserved
Bit 6: IZP
| S-0-0258, Target pos. – act. pos. | < S-0-0057, Pos.window
&&
|S-0-0189, Foll. error| < S-0-0057, Pos.window
&&
|S-0-0040, Act. velocity| < S-0-0124, Standstill window
Bit 7: Message 90% LOAD
amplifier generating 90 % of its present maximum torque
Bit 8: IN_SYNCHRONISATION
primary mode of operation with outer position control
|synch. pos. cmd. val. + Xadditive (S-0-0048)
- Xact (S-0-0051 or S-0-053)|
< S-0-0228, Pos. synchronization window
primary mode of operation velocity synchronization
|synchr. vel. cmd. val. + vel. cmd. val. add. – act. vel. val.|
< S-0-0183, Vel. synchronization window
Bit 9: Synchronization completed
Bit 10: IN_TARGET POSITION
| S-0-0258, Target position - S-0-0051/53 act. pos. val. -1/2 |
< S-0-0057, Position window
Bit 11: AHQ
Drive halt && |actual velocity| < S-0-0124
Bit 12: End position reached
| S-0-0258, Target pos. – act. pos. | < S-0-0057, Pos.window
&&
ende of sequential block sequence reached
(only relevant in "positioning block" mode)
Fig. 4-16: Structure of parameter S-0-0182, Manufacturer class 3 diagnostics
4.5
Language Selection
With the parameter S-0-0265, Language selection you can switch
between several languages for
• parameter names
• diagnostic message texts
The following languages are implemented:
Value of S-0-0265
0
1
2
3
4
Fig. 4-17: Language selection
Language
German
English
French
Spanish
Italian
4.6
ECODRIVE Cs
Firmware Update with the "Dolfi" Program
By means of the "Dolfi" program it is possible to carry out firmware
updates for the drive controller via the serial interface.
The program can be ordered from one of our sales and service facilities
under the designation
SWA-DOL*PC-INB-01VRS-MS-C1,44-COPY
or part number 279804.
Together with the program you will receive a documentation that
describes how to handle the program and how to replace the firmware.
4.7
What is "Dolfi"?
"Dolfi" is a tool for carrying out firmware updates at Rexroth devices. In
version 01VRS the update can only be carried out via the serial interface,
the present version 02VRS additionally supports programming the PC
cards HSM01.1 (DIAX04 drive controllers) and PSM01.1 (PPC control
units). Version 02VRS is only running under Windows NT 4.0. A PC card
drive must be available and Cardware for Windows must have been
installed.
4.8
System Requirements
The following PC equipment is required for using Dolfi 02VRS:
• IBM or IBM-compatible PC Pentium or higher
• Windows NT4.0; Windows 98; Windows 2000
• at least 32 MB RAM
• 2 MB hard disk available
• VGA graphic card
• Cardware 6.0 (contained in scope of supply) for Windows NT4.0
• PC card drive
• one non-assigned serial interface (optional)
4.9
How is "Dolfi" Working?
The firmware update is supplied in the form of an IBF file (IBF = Indramat
Binary Format) or an IBC file (IBC = Indramat Binary Compressed). This
file contains the new firmware and required information.
Each device for which a firmware update is to be carried out contains one
or several modules that can be individually replaced. Normally there are
two modules, a basic module and a firmware module. The basic module
is required in the serial version in order to replace the firmware module. It
is possible that the PC cards only contain one module.
"Dolfi" displays the information on the individual modules in the "Header"
window after a PC card has been plugged or "Serial firmware info" was
carried out.
Command Communication with SERCOS interface 5-1
ECODRIVE Cs
5
Command Communication with SERCOS interface
5.1
Overview of SERCOS interface Communication
The basic features of the SERCOS interface are:
cyclic data exchange of command values and actual values with equal
time intervals
• synchronization of time of measurement and command value input
• overall synchronization of all connected drives to the control unit
• minimum cycle time 2 ms / maximum cycle time 65 ms
• automatic baud rate detection (2, 4, 8, or 16 MBaud)
• service channel for parameterization and diagnosis
• data transfer by means of fiber optic ring
• configuration of the telegram contents
• SERCOS compatibility class C, granularity 1, i.e. a multiple of 1000 µs
can be set as cycle time
For detailed information see the SERCOS interface specification.
Note:
5.2
When SERCOS communication is inactive, the drive can be
put into setting-up mode immediately after the supply was
switched on. To do this, keep the S1 button at the front of the
unit pressed for at least 5 seconds.
Cyclic Data Transfer via SERCOS interface
To synchronize the drives in a ring, the master synchronization telegram
(MST) is sent at the beginning of every SERCOS cycle. The only
information the MST contains is the communication phase preset by the
master.
The contents of the master data and drive telegram can be configured.
Once per SERCOS cycle time, a master data telegram (MDT) is sent
from the control unit to every drive. The master data telegram contains
the master control word, parts of the service channel and a configurable
data block. This data block mostly contains the command and limit values
the control unit wants to transmit to the drive to operate the corresponding
operating mode. The content of this data block can be configured by
means of the telegram settings. The master data telegram is received by
all drives in the ring at the same time. In addition, a drive telegram (AT) is
sent during each SERCOS cycle time from every drive to the control unit.
The drive telegram contains the drive status word, sections of the service
channel and a configurable data block. This data block mostly contains
the actual and status values the control unit needs from the drive to
operate the corresponding operating mode.
5-2 Command Communication with SERCOS interface
ECODRIVE Cs
Master Control Word
The master control word is part of the master data telegram. It contains all
important control information for the drive, such as
• drive on, drive enable, drive halt
• interpolator clock
• command operating mode
• real-time control bits 1 and 2
• control information for the service channel
The master control word is structured as follows:
Master control word
Bits 0 – 5: control information for
service channel
Bits 6, 7: real-time control bits 1 and 2
Bits 8, 9: command operating mode
00 primary mode of oper.
st
01 1 second. oper. mode etc.
Bit 10: IPOSYNC, interpolator clock,
toggles when new command
values are transmitted
Bit 13: Drive HALT,
1-0 change, shutdown of drive
while maintaining maximum
acceleration (S-0-0138)
(only possible, if bits 14 and
15 = 1)
Bit 14: Drive ENABLE,
1-0 change: torque off without
delay (independent of
bit 15 or 13)
Bit 15: Drive ON,
1-0 change: best possible
deceleration
(only possible, if bit 14 = 1)
Fig. 5-1: Structure of the master control word
The master control word is transferred to the drive cyclically with every
master data telegram, synchronously to the SERCOS cycle (see
S-0-0002, SERCOS cycle time TScyc). For diagnostic purposes, the
master control word can be read via the parameter S-0-0134, Master
control word.
ECODRIVE Cs
Drive Enable
The drive is activated by a positive edge of the drive enable signal. For
drive controllers with SERCOS interface, the drive enable signal
corresponds to bit 15 in the master control word of the master data
telegram. The controller enable signal is accepted, i.e. the drive switches
from its de-energized status to its energized status, when the following
conditions have been fulfilled:
SERCOS interface ready for operation (communication phase 4)
no drive error
power section switched on
In this status, the drive displays "Ab" on the seven-segment display, the
diagnostic drive message via parameter S-0-0095, Diagnostic message is
A012 Control and power sections ready for operation. If drive enable is
set, the seven-segment display changes to "AF". After that it displays the
diagnostic drive message for the activated operating mode (e.g. A101
Drive in VELOCITY control). If drive enable is activated without DC bus
voltage available ("Ab" doesn’t appear on the H1 display), the error
message F226 Undervoltage in power section will be output.
Drive Halt
The "Drive Halt" signal is status-controlled and "zero-active"; i.e. when the
signal level is 0 V, the drive is in the "Drive Halt" status. The input signal is
mapped to the master control word (bit 13).
ECODRIVE Cs
Drive Status Word
The drive status word is part of the drive telegram. It contains all
important status information from the drive, such as
• readiness for operation of control and power sections
• drive error
• change bits class 2 and 3 diagnostics
• current operating mode
• real-time status bits 1 and 2
• status information for the service channel
The master control word is structured as follows:
S-0-0135, Drive status word
Bits 0 - 2: control information for
service channel
Bit 3:
status preset command val.
1: drive follows preset cmd. val.
0: drive ignores preset cmd. val.
Bit 5:
change bit commands
Bits 6 - 7: real-time status bits 1 and 2
Bits 8 - 9: actual operating mode,
00: prim. mode of op. active
st
01: 1 secondary operating
mode etc.
Bit 11: change bit class 3 diagnostics
Bit 12: change bit class 2 diagnostics
Bit 13: drive lock,
error in class 1 diagnostics
Bits 14 - 15: ready for operation
00: drive not ready for power
on, because internal checks
not positively completed
01: ready for power on
10: control and power sections ready for operation,
torque-free
11: in operation, with torque
Fig. 5-2: Structure of the drive status word
The drive status word is cyclically transmitted to the control unit with every
drive telegram in the SERCOS clock (see S-0-0002, SERCOS cycle time
(TScyc)). For diagnostic purposes, the drive status word can be read via
the S-0-0135, Drive status word parameter.
ECODRIVE Cs
Acknowledging Drive Enable
The drive acknowledges the drive enable setting in the drive status word
of the drive telegram. Bits 14 and 15 change from "10" (control and power
section ready for operation, torque-free) to "11" (in operation, under
torque) after the drive enable is activated and has been accepted.
The time that passes between the setting of the drive enable and its
acknowledgment is needed by the drive to establish its complete
readiness for operation. For example, in the case of asynchronous motors
this time is used to magnetize the motor.
If drive enable is disabled, the drive performs the reaction parameterized
in parameter P-0-0119, Best possible deceleration. In this case, too,
time passes between resetting and acknowledging the reset. This time
depends on
• the setting of parameter P-0-0119, Best possible deceleration,
• the existence of a motor brake and its parameterization and
• the velocity of the axis at the time drive enable is reset.
1
0
drive enable
1
0
tRFON
tRFOFF
drive enable
acknowledgment
t / ms
release of
motor brake
Sv5024f1.fh7
Fig. 5-3: Acknowledging drive enable
Typical values for tDEON are about 8 ms for synchronous motors or 300 ms
for asynchronous motors.
Note:
During the tDEON time the command value set by the control
unit should be such that the command velocity is zero.
Releasing the possibly available motor holding brake only
takes place at the time drive enable is acknowledged (positive
edge of drive enable acknowledge)!
5.3
ECODRIVE Cs
Real-Time Control and Status Bits
The master control and drive status words contain 2 configurable realtime bits each. The configuration of these binary signals is achieved via
parameters
• S-0-0301, Allocation of real-time control bit 1
• S-0-0303, Allocation of real-time control bit 2
• S-0-0305, Allocation of real-time status bit 1
• S-0-0307, Allocation of real-time status bit 2
These parameters indicate of which parameter bit 0 (LSB) is mapped to
the corresponding real-time status bit and therefore is sent cyclically to
the master, or to which parameters the real-time control bits are mapped.
5.4
Transfer of Non-Cyclical Data via SERCOS interface
Non-cyclical data are parameters that are not transmitted cyclically, but
via the service channel.
The transmission via the service channel is done in sections in the MDT
and AT, and per transmitted element can last several SERCOS cycles.
The service channel is used for
• parameterization and
• diagnosis.
5.5
Commissioning the SERCOS interface
To commission the interface it is basically necessary to
• connect the fiber optic cables,
• set the drive address,
• check the distortion indicator,
• set the transmission rate,
• set the transmission power.
ECODRIVE Cs
Possibilities of Setting the SERCOS interface
All settings have to be made with switches on the front plate of the
interface. The settings should be made before establishing
communication via the fiber optic ring.
TX
X20
fiber optic cable connection
for SERCOS ring
RX
X21
switch for setting the
transmission power
2
1
ON
sercos_front.FH7
Fig. 5-4: View of interface to command communication
See also Troubleshooting Guide for error E410 Slave not scanned or
address 0
Note:
Automatic baud rate detection is supported.
ECODRIVE Cs
Connecting the Fiber Optic Cables of the SERCOS interface
The connection between the control unit and the digital drives is
established with fiber optic cables.
SERCOS interface (IEC 1491)
The topology used is a ring structure according to SERCOS interface
(IEC 1491).
TX
control unit
RX
TX20
TX20
TX21
TX21
2
1
2
1
ECODRIVE Cs
ECODRIVE Cs
Fa5044f1.fh7
Fig. 5-5: Connecting the fiber optic cables
The ring starts and ends at the control unit. The optical output of the
control is connected to the optical input of the first drive (X21). The output
of the latter (X20) is connected to the input of the next drive etc.
The output of the last drive is connected to the input of the control unit.
Setting the Drive Address of the SERCOS interface
The drive address is set via switches S2 and S3 at the controller.
Addresses ranging from 0 to 99 can be set. The drive address is
independent of the sequence of drive connections through the fiber optic
ring. After setting all addresses, you can switch on the installation.
ECODRIVE Cs
Checking the Distortion Indicator of the SERCOS interface
After the drive address was set, it is necessary to check whether every
node gets a sufficient optical signal level, in other words whether the
receiver is not under- or overloaded. The optical signal level is checked by
means of the distortion indicator at the drives (LED "H20").
The distortion indicator LED "H20" normally is inactive. If it is lit, check the
transmission path before this node.
Note:
The distortion indicator must not be lit nor glow!
To check the optical signal level, the distortion indicators of the drives are
checked in signal flow direction starting from the transmitter output of the
master (control unit) (see figure in section "Possibilities of Setting the
SERCOS interface").
Check the distortion indicator in "direction of the light", i. e. first check the
st
1 drive in the ring. If its distortion indicator is inactive, go to the next
drive. Do this up to the last drive and then at the master (control unit).
If one of the indicators is lit, make the following checks:
• Was the transmission rate set correctly?
• Was the transmission power of the preceding drive in the ring set
correctly (too high or toll low)?
• Is the fiber optic cable leading to the preceding drive defective?
The distortion indicator "H20" will be lit in the following cases:
• transmission rate incorrectly set
• transmission power incorrectly set
• defective fiber optic cable
Checks
Therefore, in case a distortion indicator lamp is lit, check the following:
• the transmission rate at the control unit and the affected drive
• the transmission power at the control unit and at the drive physically
preceding the affected drive (see "Setting the Optical Transmission
Power of the SERCOS interface")
• the fiber optic cable with its connectors from the physically preceding
drive to the affected drive
ECODRIVE Cs
Setting the Transmission Rate of the SERCOS interface
The drive automatically recognizes the transmission rate. Baud rates of 2,
4, 8 and 16 MBaud are supported.
Setting the Optical Transmission Power of the SERCOS interface
Transmission power is set via switches S20,2 and S20,3 at the interface
module.
Fiber optic
cable length
Fig. 5-6:
0 .. 15 m
15 m ..30 m
30 m .. 50 m
S20,2 = OFF
S20,2 = ON
S20,2 = ON
S20,3 = OFF
S20,3 = OFF
S20,3 = ON
Setting transmission power with plastic fiber optic cables
Fiber optic cable length
0 .. 500 m
S20,2 = ON / S20,3 = ON
Fig. 5-7:
Setting transmission power with glass fiber optic cables
Checking the Fiber Optic Cables
When the transmission rate and power are correctly set and there is still
no communication, the fiber optic cable might be defective. In this case,
the distortion indicator will be lit, too. The reason for a defective fiber optic
cable can be mechanical damage or bad assembly (connector
mounting, ...). Sometimes it is possible to recognize a defective cable by
the fact that hardly any light comes out at its end or that, for example, the
optical fiber has been drawn back into the connector (check the "face" of
the connector). Further checks cannot be made with simple means.
A defective fiber optic cable must be replaced.
ECODRIVE Cs
5.6
SERCOS Telegram Configuration
To operate the drive properly, the settings of the telegram send and
receive times, their lengths and content have to be transmitted from the
SERCOS master to the drive.
Configuration of the Telegram Send and Receive Times
The requirements to calculate the time slot parameters (telegram send
and receive times) are stored in the following parameters in the drive:
• S-0-0003, Minimum AT transmit starting time (T1min)
• S-0-0004, Transmit/receive transition time (TATMT)
• S-0-0005, Minimum feedback acquisition time(T4min)
• S-0-0088, Receive to receive recovery time (TMTSY)
• S-0-0090, Command value transmit time (TMTSG)
From the information received from all drives the SERCOS master
calculates the time slot parameters for the operation of the interface
starting with communication phase 3. These values are transmitted to the
drive in communication phase 2 via the following parameters:
• S-0-0002, SERCOS cycle time (TScyc)
• S-0-0006, AT transmission starting time (T1)
• S-0-0007, Feedback acquisition starting time (T4)
• S-0-0008, Command valid time (T3)
• S-0-0009, Beginning address in master data telegram
• S-0-0010, Length of master data telegram
• S-0-0089, MDT transmit starting time (T2)
The drive checks these settings while processing the command S-0-0127,
C100 Communication phase 3 transition check. The following
command error messages may appear:
• C101 Invalid communication parameter (S-0-0021)
• C108 Time slot parameter > Sercos cycle time
• C109 Position of data record in MDT (S-0-0009) even
• C110 Length of MDT (S-0-0010) odd
• C111 ID9 + Record length - 1 > length MDT (S-0-0010)
• C112 TNcyc (S-0-0001) or TScyc (S-0-0002) error
• C113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error
• C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)
• C115 T2 too small
ECODRIVE Cs
Configuring the Telegram Contents
The telegram contents are set through these parameters:
• S-0-0015, Telegram type parameter
• S-0-0016, Custom amplifier telegram configuration list
• S-0-0024, Config. list of the master data telegram
However, the drive-side conditions for the type and number of
configurable data must have been complied with. Those data are
provided by the drive in the following parameters:
• S-0-0185, Length of the configurable data record in the AT
• S-0-0186, Length of the configurable data record in the MDT
• S-0-0187, List of configurable data in the AT
• S-0-0188, List of configurable data in the MDT
The drive checks these settings while processing the command S-0-0127,
C100 Communication phase 3 transition check. The following error
messages may appear:
• C105 Configured length > max. length for MDT
• C107 Configured length > max. length for AT
Note:
Parameter S-0-0188, List of configurable data in the MDT is
also used for configuring the multiplex channel. Therefore,
IDNs of such parameters are also determined in parameter
S-0-0188 the values of which have variable data length (list
parameters). These can, however, only be used as multiplex
data. Such IDNs may not be entered in S-0-0024, Config. list
of the master data telegram. If such IDNs are nevertheless
contained in parameter S-0-0024, the message C104 Config.
IDN for MDT not configurable is generated.
ECODRIVE Cs
5.7
SERCOS interface Error
If conditions are detected in the drive that prevent the correct operation of
the interface or if incorrect inputs are detected during the initialization
phase, the drive reacts by resetting to communication phase 0. This
means that no more drive telegrams will be sent, the drive automatically
carries out the programmed error reaction (see parameter P-0-0119,
Best possible deceleration) and waits for the reinitialization of the
SERCOS ring by the master.
Possible errors could be:
• F401 Double MST failure shutdown
• F402 Double MDT failure shutdown
• F403 Invalid communication phase shutdown
• F404 Error during phase progression
• F405 Error during phase regression
• F406 Phase switching without ready signal
Diagnosing the Interface Status
The parameter S-0-0014, Interface status is used to diagnose existing
interface errors and the current communication phase.
Error Counter for Telegram Failures
The drive checks every received master synchronization and master data
telegram for compliance with the
• the correct receive time,
• the assigned telegram length and
• the correct CRC checksum
The failure of a telegram is registered by incrementing an error counter.
For this purpose, the parameters S-0-0028, MST error counter and
S-0-0029, MDT error counter are used.
The contents of these parameters are cancelled by switching the
communication phase from 2 to 3 (S-0-0028) or from 3 to 4 (S-0-0029).
ECODRIVE Cs
Notes
Command Communication via Field Bus 6-1
ECODRIVE Cs
6
Command Communication via Field Bus
6.1
Features Independent of Bus
Profiles
For communication via field bus, drive functionalities are made available
via interfaces that are easy to operate. The functionalities are covered
according to the valid field bus standards, e.g. ProfiDrive (Profibus). In
addition, all operating modes definable in the drive are accessible via the
field bus (see also chapter "Profile Types").
Note:
Apart from SERCOS interface the FWA-ECODR3MGP01VRS firmware supports Profibus, DeviceNet and
CanOpen.
Pertinent Parameters
The following parameters are relevant for communication via field bus:
• P-0-04073, CANopen event mask
• P-0-4074, Field bus data format
• P-0-4075, Field bus watchdog time
• P-0-4076, Field bus container object
• P-0-4077, Field bus control word
• P-0-4078, Field bus status word
• P-0-4079, Field bus baudrate
• P-0-4080, Real-time input object structure
• P-0-4081, Real-time output object structure
• P-0-4082, Length of real-time data channel In
• P-0-4083, Length of parameter channel in DP
• P-0-4084, Profile typ
• P-0-4085, Field bus version
• P-0-4087, Length of real-time data channel Out
The following parameters are relevant for internal data exchange between
drive and command communication card:
• S-0-0001, NC cycle time (TNcyc)
• S-0-0002, SERCOS cycle time (TScyc)
• S-0-0007, Feedback acquisition starting time (T4)
• S-0-0008, Command valid time (T3)
6-2 Command Communication via Field Bus
ECODRIVE Cs
Setting the Slave Address
The slave address is set at the S2 and S3 switches.
Example
S3
7 8
7 8
45 6
ECODRIVE Cs
45 6
H1
S2
90 1
2 3
S3
90 1
2 3
H1
ADDRESS
NODE
Rexroth
S2
LINE ERROR
S1
S1
panel.fh7
Fig. 6-1:
Addresses to be Set
Setting the slave address
The drive controllers support the slave addresses 1 ... 99 (decimal).
Depending on the field bus type, there are the following restrictions:
PROFIBUS-DP:
2 ... 99
DeviceNet:
1 ... 63
CanOpen
1 … 99
Note:
The slave address "0" does not exist and mustn't be used in
applications.
Parameter P-0-4022, Drive address is only valid for the serial
interface X2, for the field bus the valid address is always the
one set at the firmware module. This allows setting different
addresses for the field bus and the serial interface.
The slave address is read when the drive controller is initialized (switching
from parameter mode to operating mode) and used for parameterizing
the field bus connection.
Note:
A change in the slave address only takes effect after
initialization of the drive controller; i.e. the slave address has to
be determined before switching on!
Object Mapping
General Information
Object mapping is the access to drive parameters via an acyclical service
of the respective field bus. It is possible to access all parameters of the
groups S-0-xxxx and P-0-xxxx.
ECODRIVE Cs
Object access to the parameter group P-7-xxxx is not possible, but the
following P-7-xxxx parameters are mirrored to the P-0-xxxx parameters:
• P-7-0004 → P-0-0004, Velocity loop smoothing time constant
• P-7-0018 → P-0-0018, Number of pole pairs/pole pair distance
• P-7-0051 → P-0-0051, Torque/force constant
• P-7-0508 → P-0-0508, Commutation offset
• P-7-0510 → P-0-0510, Rotor inertia
• P-7-0511 → P-0-0511, Brake current
• P-7-0540 → P-0-0540, Torque of motor brake
• P-7-4047 → P-0-4047, Motor inductance
• P-7-4048 → P-0-4048, Stator resistance
If other P-7-xxxx parameters are to be accessed, it is necessary to use
the SIS format (see "SIS Protocol").
The following acyclical services allow accessing the parameters:
• CanOpen:
Service Data Objects (SDO)
• DeviceNet: Explicit Messaging
• PROFIBUS: manufacturer-specific parameter channel
Sub-index and Attribute
Each parameter consists of different elements. These elements are
addressed via the sub-index (CanOpen/PROFIBUS) or via the attribute
(DeviceNet) of the parameter channel. Sub-index/attribute 7 in which the
operating data (parameter value) is stored, is of particular importance.
Sub-index/
attribute
0
1
2
3
4
5
6
7
8
9
10
Data type
Access
UINT8
UINT16
visible
string
UINT16
visible
string
2..32 byte
2..32 byte
2..32 byte
UINT16
UINT16
2..4 byte
R
R/W
R
R
R
highest sub-index (only CANopen)
IDN
name
attribute
unit
minimum input value
maximum input value
operating data (like sub-index 10)
maximum length of a list (elements)
actual length of a list (elements)
operating data single parameters (like
sub-index 7)
10
4..110 byte
W
writing operating data list parameters
(as sub-index 7), starting index + values
10
2..32 byte
R
reading operating data list parameters
(as sub-index 7), values list elements
1-16 for 2-byte parameters, list elements
1-8 for 4-byte parameters
11...137
2...32 byte
R
reading continuation of operating data
for list parameters
Fig. 6-2:
Explanation of sub-index/attribute
R
R
R/W
R
R/W
R/W
Description
ECODRIVE Cs
The operating data of single parameters (parameters of byte, word or
double word type) is addressed by sub-index 10 (or sub-index 7).
Elements of list parameters cannot be directly addressed. Reading subindex 10 (or 7) outputs the first 32 bytes of the list, e.g. 8 values in the
case of double word parameters – provided that the list contains at least
8 elements. The content of the parameters can be read via subindices
2-6.
Data Formats
All values are transmitted in the usual data format for the field bus, i.e. in
the Intel format for DeviceNet, in the Motorola format for PROFIBUS.
Note:
Some field bus masters have problems handling the various
data formats. Parameter P-0-4074, Field bus data format
enables the individual adaptation of the format.
Sub-Index/Attribute 1,
IDN
In the SERCOS specification the sub-index/attribute 1 has a special
relevance. It is not the IDN that is returned (since for reading an IDN it
has to be known) but the status of a command. If the IDN of a parameter
is read that does not represent a command then the value "0" is returned.
Name
In sub-index/attribute 2 the name of SERCOS parameters is returned.
This sub-index is read-only. A field of bytes is returned which contains the
respective characters of the name.
Note:
The returned number can be up to 60 characters long
depending on the name. This might cause memory problems
with some masters.
SERCOS Attribute
With sub-index/attribute 3 the SERCOS attribute is returned. It contains
information about the data type, the number of decimal places and further
information. It is always a 32-bit value and is read-only.
Unit
Sub-index/attribute 4 contains the unit of the respective SERCOS
parameter as a string. A field of bytes is returned which contains the
respective characters of the unit. The field is up to 12 characters long.
Minimum Input Value
Maximum Input Value
Data
Maximum Length of the List
In sub-index/attribute 5 the minimum input value of the respective
SERCOS parameter is returned. Depending on the data type a 16-bit or a
32-bit value will be returned. This value is read-only.
In sub-index/attribute 6 the maximum input value of the respective
SERCOS parameter is returned. Depending on the data type a 16-bit or a
32-bit value will be returned. This value is read-only.
See sub-index 10
Sub-index / attribute 8 exists for every parameter and indicates the
maximum length of the parameter in elements. For single parameters the
returned value is always 1, for lists the maximum allowed length is
indicated in elements. A word is returned which is read-only.
ECODRIVE Cs
Actual Length of the List
Sub-index / attribute 9 exists for every parameter and indicates the actual
length of the parameter in elements. For single parameters the returned
value is always 1, for lists the current actual length is indicated in
elements. A word is returned which can be both read and written.
Sub-Indices/Attributes 10 to 137,
Data
Sub-index/attribute 7 and sub-indices/attributes 10 to 137 contain the data
of the SERCOS parameter. According to the data type of the SERCOS
parameter there are five different possibilities: word, double word, field of
bytes, field of words and field of double words. These subindices/attributes are either read-only, can only be written in specific
states of the drive or can always be written.
If it should not be possible to write elements to a list although the
maximum number of elements has not yet been reached, the actual
length has to be adjusted accordingly. To do this, write data to this subindex and increase the value according to the desired number of list
elements.
Drive Parameterization via Field Bus
Simple Field Bus Independent Parameter Access by
Object Assignment (e.g. Index, Sub-Index)
The parameterization of the drive requires the transmission of a great
number of parameters and lists which are stored in the drive according to
the SERCOS specification.
Parameterization can be carried out by means of:
• serial interface (e. g. DriveTop) or
• the respective acyclical channel of the field bus (e. g. "Explicit
Message"). All parameters of the group 0 (S-0-xxxx, P-0-xxxx) can be
read and written through object accesses.
Reading and Writing "Single Paramters"
For single parameters the sub-index 10 (or 7) can be used both for
reading and writing.
Reading List Parameters
For all list parameters a specified sequence has to be observed for
reading a list or a part of a list. Starting with sub-index 10 each sub-index
returns a data block of up to 32 bytes, independent of the type of the
parameter. One element of the list corresponds to one value of the list
(e. g. one word or double word).
The formula for accessing a specific element is calculated as follows:
sub-index / attribute = 10 + ((element# * data type) DIV 32)
element# number of the desired element within the list (starting with 1)
data type length in bytes of the data type used in the list (e. g. 2 for
words)
DIV
division (for reasons of run time optimization the division can
also be realized as a shift command by 5 decimal places to
the right)
ECODRIVE Cs
When the respective sub-index has been called, a block with 32 bytes is
returned. The exact position of the desired element within this data block
can be calculated as follows:
first byte = ((element# * data type) MOD 32) - data type
MOD
last byte = ((element# * data type) MOD 32) - 1
residual value calculation (for reasons of run time optimization
it should be realized as a masking with AND 31 [AND 0x0F])
The first byte within the data block starts with number 0.
If the list is shorter than 32 bytes, or just filled partially or not at all, the
returned length is correspondingly shorter or equals 0. If the complete list
has to be read, start with sub-index 10 and read out each following subindex until the returned length is smaller than 32 bytes.
Note:
For CANopen there is no possibility of returning a length value
of 0. In this case an error is generated.
Writing List Parameters
The writing of list parameters differs from reading in the fact that the
access is always carried out only to sub-index 10. When trying to write
higher sub-indices an error is generated. As with reading, only a limited
number of values can be written per acyclical access. The first word
determines from which position within the list the data are to be written.
The position specification is done in elements, starting from element 1
(e. g. the value "4" for a list parameter of the data type "word" would start
th
writing from the 4 word in the list).
Then the data are transmitted which are to be entered in the list. The
number of data transmitted must not exceed 108 bytes.
If the list is empty (actual length too small) or if an attempt is made to
write beyond the limits of the list, an error is generated. The actual length
of a list can be changed via sub-index 9.
Note:
The number of the valid useful data for an acyclical
transmission is limited to a maximum length of 112 bytes per
telegram because of an internal buffer (for PROFIBUS
distributed over several communication cycles).
ECODRIVE Cs
Downward Compatible Parameter Access
For downward compatibility with the previous field bus versions
(FGP01VRS, FGP02VRS and FGP03VRS of the ECODRIVE03 range)
the data exchange objects and the option of parameterization according
to the SIS telegram definition are still available.
Abbreviated
format1
Abbreviated
format3
Object accesses
FGP01VRS
FGP02VRS
FGP03VRS
FGP20VRS
only with
PROFIBUS
only with
PROFIBUS
only with
PROFIBUS
only with
PROFIBUS
no
only with
PROFIBUS
only with
PROFIBUS
only with
PROFIBUS
no
no
yes
yes
no
no
yes
no
yes
no
yes
only with
PROFIBUS
(index/sub-index)
SIS format
DPV1
Fig. 6-3:
Table for overview
There are 4 data exchange objects of different lengths provided which are
only accessible through the acyclical services "Read" and "Write" of the
respective field bus:
object 5E70
16 bytes
R/W
object 5E71
32 bytes
R/W
object 5E72
64 bytes
R/W
object 5E73
128 bytes
R/W
Rexroth SIS Protocol
The reading or writing of a parameter is generally carried out according to
the rules specified in the Rexroth SIS protocol (see "SIS Protocol").
6.2
ECODRIVE Cs
Command Communication with PROFIBUS-DP
Drive controllers of the ECODRIVE03 and DURADRIVE ranges with
"PROFIBUS" command communication interface support the PROFIBUSDP (V1) protocol.
Overview of Functions
Drive controllers with "PROFIBUS" command communication interface
provide the following functional features:
• Support of the interfaces according to EN50170, vol. 2. Both wire
types A and B according to EN50170, vol. 2, are supported.
• Support of all data rates according to EN50170, vol. 2, up to 12 Mbps
with exclusive use of PROFIBUS-DP.
• Configurable cyclical data up to max. 18 bytes (incl. control and status
word) in both data transmission directions.
• Downward compatibility with PROFIBUS functions of the DKC3.1 and
with the previous field bus versions for DKC03.3.
• Monitoring of the cyclical data exchange (watchdog function).
• For easy diagnosis of bus functions and the most important
communication channels between drive and field bus: LED diagnosis
array on front panel of command communication interface.
• Upload/download function for all parameters of the drive possible via
DPV1.
• Support of the Set-Param service of PROFIBUS-DP for automated
commissioning of series machines.
• Possibility of synchronization via the PROFIBUS (Freeze and SYNC
telegram).
PROFIBUS Interface
• To ensure EN standards for EMC safety, the PROFIBUS interface is
completely galvanically decoupled.
• As per EN50170, vol. 2, the PROFIBUS interface was designed as a
9-pin D-subminiature plug-in connector for connection to the
PROFIBUS.
• To switch through bus signals to the other bus nodes, the Rexroth
plug-in connector INS 0450, as well as the cable sets IKB 0033 and
IKB 0034, are available.
Note:
The bus uncoupling as spur line occurs directly in the plug-in
connector INS 0450. For transmission rates of >500 kbit/s the
use of this plug-in connector is obligatory. The use of any
further spur lines or additional plug-in connectors is not
permitted.
• To maintain the bus functions, the module into which the connector
with the bus terminator is plugged (end of line) has to be in operation
all the time.
ECODRIVE Cs
Configuring the PROFIBUS-DP Slave
Setting of Slave Address and Transmission Rate
The slave address is set with the switches at the address module. The
range of valid values is 2 to 99. The transmission rate is set in the master
and will automatically be recognized in the slave.
Configuring the Process Data
The PROFIBUS command communication interface can be configured
according to the process requirements in the process data section. The
process data are configured independent of the field bus type. The setting
of P-0-4084, Profile type mostly brings with it a configuration of the
process data (real-time data).
Note:
With profile types P-0-4084=0xFFFE (freely configurable) or
0xFF82 (freely extendable) the configuration is left to the user.
See also chapter "Profile Types"
Parameter Channel
The parameterization can also be performed via the field bus, with the
drive parameters written via the parameter channel. This type of
configuration, however, requires the implementation of the parameter
channel on the master side. For this implementation the use of the
function blocks generated by the manufacturer is recommended (for
Simatic and WIN-PCL). They are available free of charge on request or
on the Intranet. Expert PLC programmers might also try to implement the
channel themselves. This is supported by the available PLC function
blocks and a Technical Note. Further information on request or on the
Intranet.
Note:
P-0-4080, Real-time input object
structure
Both for the process input data and output data, changes in
word length must always lead to modifications in the slave
data stored in the master. So length changes in the cyclical
channel do only become effective when the drive has been
switched on again or with phase switching from parameter
mode to operating mode.
The structure and thus the number of words and their assignment to
objects (indices) for the process input data (slave Å master) are mapped
to this parameter.
The master can use this configuration to get information on the situation
of the individual real-time data on the bus.
P-0-4081, Real-time output
object structure
The structure of the process output data (master Å slave) is stored in
parameter P-0-4081. This enables the read-out via the parameter channel
of the current structure and thus the assignments on the bus.
Note:
Up to 18 bytes in both data directions can be configured on the
bus. Note that P-0-4077, Field bus control word and P-04078, Field bus status word always have to be configured in
the first place.
Data Direction
ECODRIVE Cs
Data direction input
The "data direction input" is the data transmission from slave to master.
Data direction output
The "data direction output" is the data transmission from master to slave.
Length of the Process Data (PD) in the Drive Controller
Within the cyclical data channel there are the parameter channel
(optional) and the range for the process data.
The PROFIBUS slave circuit permits flexible configuration of the process
data.
The length of the process data depends on the profile type which has
been set. User-specific expansions of the process data can cause
individual drive controllers to have varying process data lengths,
depending on the data direction.
Note:
The available profile types are described in chapter "Profile
Types".
The data types of the process data can only be words or double words,
not bytes. Length is specified in bytes for the sake of compatibility to other
bus systems.
Length of the PD Channel
The length of the process data can range between 1 to 9 words or 2 to 18
bytes in either direction.
Length of Process Data in Drive
Controller
The length of the process data is determined by the contents of the
configuration lists P-0-4080, Real-time input object structure or P-0-4081,
Real-time output object structure and can be taken from the following
parameters:
• P-0-4082, Length of real-time data channel In (slave Å master)
• P-0-4087, Length of real-time data channel Out (master Å slave)
The setting becomes effective with the initialization of the drive controller
to the operating mode, so it has to be set before.
Note:
Note that a change in the length of the process data also
requires a change in the master configuration. The length of
the process data that was set has to be in accordance with the
projected length in the master.
ECODRIVE Cs
Configuration via SET_PRM Service of PROFIBUS-DP
When commissioning series machines, for example, it is advisable to
parameterize the drive from the field bus master. The master can, via the
SET_PRM service, set the basic parameters on the slave so that the data
length on the bus and the operating mode of the drive are set. The user
data of the SET_PRM service are generally set menu-driven via the
configuration tool of the DP master by means of the Device Data Sheet.
These data (User_Prm_data) are documented below:
P-0-4083,
Length of
parameter
channel in
DP
HB
LB
Word 1
P-0-4084,
Number of
Profile type elements n in byte
of configuration
list
HB
LB
P-0-4081
Word 2
object structure
P-0-4080 HB1
Word 3
LB1
Word 4
HB2
LB2
Word 5
structure
...
...
HBn
LBn
Word n
HBn+1 LBn+1
...
Word n+1
...
Fig. 6-4: Assignment in User_Prm_data
Note:
Only the specifications of the length of the parameter channel
and of the profile type are necessary, the other specifications
are optional!
Acyclical Parameter Communication (Parameter Channel)
There are basically 2 possibilities for accessing all parameters of the drive
acyclically:
• via the parameter channel defined in the ProfiDrive V3 profile
(standardized Å DPV1)
• via the parameter channel mapped to the cyclical channel of
PROFIBUS-DP (manufacturer-specific)
Parameter Channel in the Cyclical Channel of PROFIBUS-DP
Since not every control unit supports the DPV1 services, a configurable
parameter channel was implemented in the cyclical data of the
ECODRIVE03/DURADRIVE; its length can be set from 0 to max.
12 bytes.
Cyclical Data Channel
The field bus provides data containers in which useful data can be
cyclically transmitted. This section is called cyclical data channel.
This cyclical data channel is divided into:
• a process data channel (real-time channel) and
• an (optional) parameter channel
Process Data Channel
Parameter Channel
The real-time channel (process data channel) contains firmly specified
information. So this information can be directly interpreted by the receiver.
In the parameter channel any parameters can be transmitted. But for
reading parameters the PLC has to write a read request first. So the
parameter channel does not have any "real-time properties".
ECODRIVE Cs
The cyclical data channel can be configured via the following parameters:
Parameter
Definition
I/O mode
Interpolation
P-0-4082
Length of cyclical data channel IN
(slaveÅmaster) in bytes
Length of cyclical data channel OUT
(master Åslave) in bytes
Length of parameter channel in bytes
2
24
2
24
0
12
P-0-4087
P-0-4083
Fig. 6-5: Parameters to configure the cyclical data channel
Parameter channel
Process data channel
real-time data channel
P-0-4082, Lenght of real-time data channel In or
P-0-4087, Lenght of real-time data channel Out
Fp5059f1.FH7
Fig. 6-6:
Structure of the cyclical channel in PROFIBUS-DP
Note:
The parameter channel is always at the beginning of the
cyclical data channel. The length of the parameter channel
and the length of the process data channel used for
exchanging real-time data make up the entire length of the
cyclical data channel.
DPV1 Services
ProfiDrive V3 Telegram Frame
(DPV1)
The parameter exchange described below is executed via DPV1 telegram
frame. The following sequence is run:
MASTER
parameter
request
SLAVE
Write.req + data
parameter
request
Write.res (+)
Read.req
Read.res (-)
parameter
response
Read.req
Read.res (+) + data
parameter
response
The individual parameters are accessed with the services "request
parameter" or "change parameter".
Note:
Multi parameter requests are not supported at the moment!
ECODRIVE Cs
Request Parameter
ProfiDrive V3: parameter request via DPV1
request
header
parameter
address
request reference
1 to 255
axis
0
attribute
16 = value
parameter number
sub-index
request ID
1 = request parameter
number of parameters
1
number of elements
1 to 32
ProfiDrive V3: parameter response
response
header
parameter
value(s)
Change Parameter
request ref. mirrored
1 to 255
axis mirrored
0
format
65 = bytes
66 = word
67 = double word
value(s) or error value
...
response ID
1 = positive acknowledge
129 = negative acknowledge
1
number of values
1 to 32
ProfiDrive V3: parameter request via DPV1
request
header
parameter
address
parameter
value(s)
request reference
1 to 255
axis
0
attribute
16 = value
parameter number
sub-index
format
65 = bytes
66 = word
67 = double word
value(s)
...
request ID
2 = change parameter
1
number of elements
1 to 32
number of values
1 to 32
DPV1: parameter response
response
header
request ref. mirrored
1 to 255
axis mirrored
0
response ID
2 = positive acknowledge
130 = negative acknowledge
1
ECODRIVE Cs
Error Codes
The error values are transmitted in word format.
Number
hex.
0x0000
0x0001
0x0002
0x0003
0x0004
0x0005
0x0006
0x0007
0x0008
0x0009
0x000A
0x000B
0x000C
0x000D
0x000E
0x000F
0x0010
0x0011
0x0012
0x0013
0x0014
0x0015
0x0016
0x0017
0x0018
Number
dec.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
Description
Invalid parameter number
Parameter value not alterable
Lower or upper value limit exceeded
Faulty sub-index
Access to non-indexed parameter
Wrong data type
Value only writable with 0
Value not writable
Reserved
Parameter description does not exist
Reserved
Operating access denied
Reserved
Reserved
Reserved
No text field
Reserviert
Auftrag wegen Betriebszustand nicht ausführbar
Reserved
Reserved
Invalid value
Response too long
Invalid parameter address
Invalid format
Number of elements to write differs from number of
existing elements.
further error codes: see "Manufacturer-Specific Error
Codes"
ECODRIVE Cs
Object Access with PROFIBUS-DP
The data of a parameter are accessed via:
• index
• sub-index
Generating Law for Object Index
S-Parameters
Hexadecimal: indexhex=0x2000+IDN(S-0-xxxx)
Decimal: indexdez=8192+IDN(S-0-xxxx)
P-Parameters
Hexadecimal: indexhex=0x3000+IDN(P-0-xxxx)
Decimal: indexdez=12288+IDN(P-0-xxxx)
Generating Law for Object Sub-Index
Sub-index
Data type
Access
1
2
3
4
5
6
7
8
9
10
11...137
UINT16
visible string
UINT16
visible string
2 or 4 bytes
2 oder 4 Byte
2..32Byte
UINT16
UINT16
2..32 bytes
2...32 bytes
R/W
R
R
R
R
R
R/W
R
R/W
R/W
R
Fig. 6-7:
Description
IDN
Name
Attribute
Unit
Minimum input value
Maximum input value
Operating data (like sub-index 10)
Maximum length of a list (elements)
Actual length of a list (elements)
Continuation of the operational data in
the case of lists
Explanation of the sub-index
Examples of Accessing the Data of an Object
Example 1:
accessing data of S-0-0051
indexdez=8192+51=8243
attribute = 7, since access to data desired
Example 2:
accessing data of P-0-0051
indexdez=12288+51=12339
attribute = 7, since access to data desired
ECODRIVE Cs
Device Data Sheet
For each PROFIBUS-DP device it is necessary to have a device data
sheet (*.GS*) which contains the data required for operating the device on
the bus. This file, when configuring the bus master, is required for each
node.
File Name
The device data sheet for the ECODRIVE03 range is an ASCII file of the
name ECO3100D.GS*, where "*" is a wild card for the language marker
(d=language-independent, g=German, e=English).
The device data sheet also contains the IDENT no. (100D hex) assigned
by the PNO (PROFIBUS user organization) for the ECODRIVE03 device.
Note:
The current device data sheet is stored during the installation
of DriveTop in the directory "Indramat\Device Data Sheets", as
well as on the Intranet.
Diagnostic LEDs for PROFIBUS
For diagnosing the field bus interface there are 4 LEDs available on the
front panel of the field bus module. These LEDs mark the status of the
synchronization between field bus interface and drive, as well as the bus
activity for cyclical data exchange.
LED
designation
LED status
Definition
H30
ON
cyclical exchange of process data
performed within watchdog time
H30
OFF
no data exchange or watchdog time
lapsed
H31
impulse
parameter access
H32/H33
flashing
alternately
field bus module and drive synchronized
H32/H33
flashing
regularly
field bus module and drive not
synchronized
Alle LEDs
flashing
regularly
severe error on field bus module;
switch device off/on
Fig. 6-8:
Diagnostic LEDs for PROFIBUS
Pin Configuration of the PROFIBUS Plug-In Connector
See "ECODRIVE Cs" Project Planning Manual
ECODRIVE Cs
6.3
Command Communication with CANopen
In DKC05.3 drive controllers of the ECODRIVE03 range the protocol
CANopen according to Draft Standard DS301 Version 3.0 is
implemented.
PDO and SDO
These devices can transmit process data via so-called process data
objects (PDO) as well as parameters and data via service data objects
(SDO) of the CANopen services.
Note:
The process data are always transmitted via PDOs.
The CANopen drive controllers have the following features:
• Simple configuration through use of "predefined connection set" and
"minimum boot-up" according to DS301.
• The baud rates specified by CANopen (according to DS301) of 20, 50,
100, 125, 250, 500, 800 kbit/s and 1 Mbit/s are supported.
• Freely configurable process data up to 18 bytes in both data directions
via the drive parameters.
• Downward compatibility with PROFIBUS functions of ECODRIVE01
through profile selection (I/O mode).
• Monitoring of the process data transmission (watchdog function).
• For easy diagnosis of bus functions and of the most important
communication links between drive and field bus: diagnostic LED array
on the front panel of the master communication interface.
• All drive parameters can be read directly via SDO and (if permitted)
written, too.
• Upload/download function available for all drive parameters including
lists over 4 arrays of 16 to 128 bytes data length with SDO services.
• Event-controlled transmission of process data (default = not eventcontrolled) that can be switched off.
• Synchronous data exchange possible (Å cyclical position control
possible!)
ECODRIVE Cs
CANopen Interface
Drive controllers of the ECODRIVE03 range
communication
interface
"CANopen"
support
Specification according to DS301.
with
the
command
CANopen
• To ensure EN standards for EMC safety, the CANopen interface is
• According to DS301 the CANopen interface is implemented as a 9-pin
D-subminiature plug-in connector for coupling to the bus. The
assignment complies with DS301.
Transmitting Process Data
Since with CANopen process data can be transmitted in an eventcontrolled way, a so-called event mask (P-0-4073, CANopen event
mask) is defined for each PDO (process data object). This enables the
masking of individual bits for the status word the changing of which
triggers a COV (Change Of Value).
To prevent too frequent transmission of values, a blocking time can be
assigned to each PDO. If a COV occurs after the transmission of the
PDO, this is retained until the end of the blocking time. How this COV is
evaluated depends on the type of transmission.
Note:
For the event-controlled transmission of analog values an
appropriate hysteresis and/or blocking time should always be
entered to avoid too high bus load.
To enable a synchronized transmission of data a SYNC telegram was
defined. The setting can be such that each telegram is considered or that
nd
th
only every 2 to 240 telegram is considered. The counter for the SYNC
telegrams starts with 0 at transition to the "operational" state. For the
transmitted data this means:
• After the time set in parameter S-0-0008, Command valid time (T3)
the synchronous receive PDOs become effective.
• After the time set in parameter S-0-0007, Feedback acquisition
starting time (T4) the actual values of the synchronous PDOs are
stored.
It is also possible to request the process data via the RTR service
(Remote Transmit Request).
Transmission type
PDO transmission
0
1 – 240
241 - 251
252
253
254
255
With each SYNC if there is a COV
st
th
With each 1 to 240 SYNC
Reserved, corresponds to value 240
With the next SYNC following an RTR
Directly after an RTR
Not supported, corresponds to value 255
Directly after a COV
Data sent to the drive are always accepted. But for transmission types 0
to 240 the data only become effective depending on the SYNC telegram.
In this case, transmission type 0 corresponds to transmission type 1.
Note:
A drive can be activated as a SYNC generator, too. But within
the network there may only one SYNC generator have been
activated.
ECODRIVE Cs
Node Guarding
Node guarding is operated through the identifier 1792 + address. This
telegram contains 1 byte of data.
Data
0
4
5
127
Node status
0
132
133
255
BOOTUP
STOPPED (Bit 7 toggles with each telegram)
OPERATIONAL (Bit 7 toggles with each telegram)
PRE-OPERATIONAL (Bit 7 toggles with each telegram)
After switch-on the drive automatically sends a boot-up protocol. For the
subsequent node guarding there are two different mechanisms:
• Monitoring in the drive via P-0-4075, Field bus watchdog time
• The drive controller has to receive at least one valid PDO1 during the
watchdog time that was set. If this monitoring function is to be
disabled, the value 65535 has to be set in P-0-4075.
Node Guarding Protocol
In the Node Guarding Protocol the master sends an RTR. The drive
responds with his node status and toggles bit 7. This occurs within an
interval defined as "Node Guard Time". If within this interval, multiplied by
the "Life Time Factor", no RTR request is received an error is generated.
If the "Life Time Factor" is 0 the function is switched off.
EMCY Telegram
If an error occurs in the drive or if an error is reset, an EMCY telegram is
sent. Transmission is carried out with 8 bytes of data. For an error the
telegrams are structured as follows:
Byte
0
1
2
3
4
Data
0xFF
0xFF
0x07
error code
5
6
7
error number
The error code corresponds to the error that is shown on the display of
the drive controller.
The error number repeats the number of the error.
Example:
Error code: byte 3=0x09; byte 4=0xF4 (F409 Bus failure)
Error number: byte 5=0x09; byte 6=0x00; byte 7=0x04
If the error is reset, this is confirmed by the sending of the following
telegram:
Byte
0
1
2
3
4
5
6
7
Data
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
The blocking time can be set to avoid that EMCY telegrams are sent too
frequently.
Note:
EMCY telegrams must not be requested via RTR.
ECODRIVE Cs
Configuring the CANopen Slave
Addressing the CANopen Slave
Priorization
The address determines the priority of data sent by of the slave, with the
lowest address having the highest priority. Usually the master has the
highest priority and therefore the lowest address.
Predefined Connection Set
Each CANopen node has to transmit data on the bus unequivocally
assigned to it. According to the Predefined Connection Set of DS301
this means that the slave needs to have an unequivocal address on the
whole bus. This address is set on the plugged-in firmware module.
Note:
According to CANopen the address can be set in the range of
1...127, but for ECODRIVE devices only addresses up to 99
can be set.
Address 0 is not allowed.
Configuring the Process Data (PDO)
The process data are configured independent of the field bus type.
The setting of P-0-4084, Profile type mostly brings with it a configuration
of the process data.
Note:
In this regard, the profile types P-0-4084=0xFFFE or 0xFF82
are exceptions: The configuration of these profile types is left
to the user.
The drive can also be parameterized via the field bus by writing the
relevant values to the parameters via the SDO services. Analogously, the
parameters can be read via SDO services.
The configuration of the process data is contained in the CANopen
objects 1600 (P-0-4081) and 1A00 (P-0-4080).
The configuration entered in parameters P-0-4080, Real-time input object
structure and P-0-4081, Real-time output object structure is taken over to
the operating mode when the drive is initialized.
structure (PDO Mapping Objects
1A00, 1A01, ...)
This object describes the structure of the PDOs sent from slave to master
and therefore the length and the assignment of the PDOs with objects
(indices) for the process input data is mapped.
The user can read the existing structure via the SDO read service.
The master can use this configuration to determine which object in which
PDO is transmitted at which location.
Note:
Up to 3 PDOs of up to 8 bytes length each in both data
directions can be configured.
ECODRIVE Cs
object structure (PDO Mapping
Objects 1600, 1601, ...)
This object contains the structure of the process output data
(master→slave). This allows reading the current structure and thus the
assignment of the PDOs via SDO Read.
Note:
Data Direction
word length must always lead to modifications in the slave
data stored in the master. So PDO changes only become
effective when the drive is switched on anew or the phase is
switched from parameter mode to operating mode.
The "data direction output" indicates the data transmission from master to
slave.
Number and Length of the PDO in the Drive Controller
The CANopen slave circuit permits flexible configuration of the process
data. The process data in CANopen are distributed to the process data
objects (PDOs).
Length and number of PDOs are dependent on the setting of P-0-4084,
Profile type. It is also possible that user-specific expansions of the
process data, for example with the freely-configurable profile types
(P-0-4084=0xFFFE or 0xFF82), cause the drive controllers to be operated
with different PDO configurations.
Since all data of the drive controller are at least 2 bytes long, a PDO can
only contain words or a double words, not bytes as data types. Length,
however, is specified in bytes for the sake of compatibility to other bus
systems.
The configuration of length is generally carried out automatically by the
presetting the respective profile type.
Note:
Length of the Process Data
Note that a double word can never be distributed to 2 PDOs.
The length of the process data (max. 3 PDOs) can be within the range of
2...18 bytes. It can be taken from the parameters P-0-4082, Length of
real-time data channel In and P-0-4087, Length of real-time data channel
Out.
Parameter Communication with CANopen
SDO Services
ECODRIVE devices with CANopen interface support the data defined in
the Predefined Connection Set of CANopen DS301.
So the following data identifiers (COB-ID) are defined:
ECODRIVE Cs
COB-ID (hex.)
COB-ID (dec.)
Meaning
0x000
0x080
0x080 + address
0x180 + address
0x200 + address
0x280 + address
0x300 + address
0x380 + address
0x400 + address
0x580 + address
0x600 + address
0x700 + address
0
128
128 + address
384 + address
512 + address
640 + address
768 + address
896 + address
1024 + address
1408 + address
1536 + address
1792 + address
NMT, master → DKC or HDC
SYNC, master → DKC or HDC
EMCY, DKC or HDC → master
PDO1, DKC or HDC → master
PDO1, master → DKC or HDC
SDO, DKC or HDC → master
SDO, master → DKC or HDC
Node Guarding
For further data of the services see the documentations of the specific
master circuits employed.
Error Code
For the SDO services there are errors caused by the transmission of the
data over the field bus. They have the following error codes:
Error code
Cause
0x0800 0x0000
0x0609 0x0011
0x0601 0x0000
0x0609 0x0031
0x0609 0x0032
0x0607 0x0010
0x0604 0x0043
0x0503 0x0000
0x0602 0x0000
0x0800 0x0021
0x0800 0x0022
General error
Sub-index does not exist
Access to object is not supported
The value of the written parameter is too high
The value of the written parameter is too low
The data type used is unknown, the length of the
transmitted data does not match.
The data type used is wrong, the length of the
transmitted data is too large.
The data type used is wrong, the length of the
transmitted data is too small.
The object cannot be assigned to any PDO
The number and length of the assigned objects
exceeds the length of the PDO.
General incompatibility with parameter access
The toggle bit has not changed
The index does not exist
The drive does not permit data transmission
The drive is in a state where no data exchange is possible.
0x0606 0x0000
Hardware faulty
0x0607 0x0012
0x0607 0x0013
0x0604 0x0041
0x0604 0x0042
Fig. 6-9:
Error codes with CANopen
ECODRIVE Cs
CANopen-Specific Object Directory
To achieve high system flexibility all data are accessible via objects.
These objects can be assigned to the process data and transmitted
cyclically. The communication objects defined by CANopen in DS301 are
provided. Also possible is the acyclical transmission via SDO, but no
process data (see contents of P-0-4081, Real-time output object
structure) may be written by the master via SDO.
Object Definition
To simplify the acyclical access the objects were assigned to drive
parameters (index and sub-index). This is described below.
The data of an object are accessed via
• index
• sub-index
Generating Law for Object Index
S-Parameters
Hexadecimal: indexhex=0x2000+IDN(S-0-xxxx)
Decimal: indexdez=8192+IDN(S-0-xxxx)
P-Parameters
Hexadecimal: indexhex=0x3000+IDN(P-0-xxxx)
Decimal: indexdez=12288+IDN(P-0-xxxx)
Generating Law for Object Sub-Index
Sub-index
Data type
Access
0
1(!)
2
3
4
5
6
7
8
9
10
11...137
UINT8
UINT16
visible string
UINT16
visible string
2 oder 4 bytes
2 oder 4 bytes
2...32 bytes
UINT16
UINT16
2...32 bytes
2...32 bytes
R
R/W
R
R
R
R
R
R/W
R
R/W
R/W
R
!:
Fig. 6-10:
Note:
Description
Number of sub-indices
IDN
Name
Attribute
Unit
Minimum input value
Maximum input value
Betriebsdatum (wie Subindex 7)
Continuation of the operational data with
lists
The FGP20 firmware does not support the sub-index 1. Please
observe the information below.
Explanation of the sub-index
Deviating from the parameter access via object mapping
described, the FGP20 does not support the sub-index 1 any
more. Instead of that the sub-index 0 was implemented to
which a sub-index was mapped as described in the table
below.
ECODRIVE Cs
Parameter type
Read access to
sub-index 0
Write access to
sub-index 0
single parameter
command
list
corresp. to sub-index 7
Sub-indices 7 and 10 can still be accessed. All parameters were included
in the EDS file. The sub-indices were not entered so that the file is not too
big.
Examples of Accessing the Data of an Object
Example 1:
indexdez=8192+51=8243
- or indexhex= 0x2000 OR 0x0033=0x2033
attribute = 0, 7 or 10, since access to data desired
Example 2:
indexdec= 12288+51=12339
- or indexhex= 0x3000 OR 0x0033=0x3033
attribute = 0, 7 or 10, since access to data desired
Electronic Data Sheet
For each CANopen device it is necessary to have an EDS file (*.EDS)
which contains the data required for operating the device on the bus. This
file, when configuring the bus master, is required for each node.
File Name
The EDS file for ECODRIVE03/DURADRIVE is an ASCII file with the
name "DKC05P3.EDS".
In the EDS file all objects available in the device are described.
Note:
The EDS file is stored during the installation of DriveTop in the
directory "Indramat\Device Data Sheets", as well as on the
Intranet.
ECODRIVE Cs
Diagnostic LEDs for CANopen
For diagnosing the field bus interface there are 6 LEDs available at the
front panel of the field bus module. These LEDs mark the status of the
activity for cyclical data exchange.
Each LED has four possible states: "off", "red", "green" and "orange".
When initializing the CANopen module the LEDs are tested. The test is
visible in the LEDs continuously running through color sequences of red,
green and orange.
Description of LEDs during module operation:
LED designation
LED status
Meaning
H50 (Initialization)
Red
Green
Red
Initialization failed. Module defective.
Module OK
Operating error (bus off).
Too many errors detected on bus.
Possible causes:
H51 (Operation
LED)
• wrong baud rate set
• cable faulty
Green
Operation OK
H52 (SDO request) Green (pulse) SDO was received
H53 (SYNC)
Green
SYNC messages are received
For each incoming SYNC the LED is
switched to green for 200 ms. With the
usually high frequencies the LED will be
continuously lit.
Off
No SYNC is received
Flashing red
No synchronization of the field bus
H54 [Internal
module with the drive
synchronization
(Alive LED)]
Flashing
Synchronization of the field bus unit with
green
the drive established
H55 (PDO_data)
Green
Process data transmission (PDO) active.
The green LED is switched on with each
incoming PDO for 20 ms. With the usually
high frequencies the LED will be
continuously lit.
All LEDs
Flashing
Severe error on the field bus module.
regularly
Switch device off/on.
Fig. 6-11:
Diagnostic LEDs for CANopen
6.4
ECODRIVE Cs
Command Communication with DeviceNet
General Information
Drive controllers of the ECODRIVE03 range with "DeviceNet" command
communication interface support the protocol DeviceNet according to
ODVA Specification 2.0.
With these drive controllers process data can be transmitted via so-called
"Polled I/O" (cyclical services), and drive parameters can be transmitted
via "Explicit Message" (acyclical services) of the DeviceNet.
Note:
The process data are always transmitted via "Polled I/O".
To achieve high system flexibility all data are accessible via objects. In
DeviceNet these objects can be addressed through class, instance and
attribute. Some of these objects can be assigned to the "Polled I/O" as
process data and thus be cyclically transmitted. There is also the option of
transmitting via "Explicit Message", but no objects defined as process
data (P-0-4081, Real-time output object structure) may be transmitted
by the master via "Explicit Message".
Drive controllers with "DeviceNet" command communication interface
provide the following functional features:
• DeviceNet General Device according to ODVA specification 2.0
("ODVA" means "Open DeviceNet Vendor Association")
• Easy configuration by implementing Group 2 only Server.
• Support of all data rates:
• 125 kbit/s (up to a distance of 500 m)
• Freely configurable process data up to 9 words in both data directions
via drive parameters P-0-4080, Real-time input object structure and
P-0-4081, Real-time output object structure.
• Monitoring of the process data transmission (watchdog function).
• For easy diagnosis of bus functions and of the most important
communication links between drive and field bus: diagnostic LED array
according to DeviceNet standard on the front panel of the command
communication interface.
• All parameters of the drive can be directly read via "Explicit Message"
and (if permitted) can be written, too.
• Upload/download function available for all drive parameters including
lists over 4 arrays of 16 to 128 bytes data length with "Explicit
Message" services (Rexroth SIS protocol).
ECODRIVE Cs
DeviceNet Interface
Drive controllers with "DeviceNet" command communication interface
support the DeviceNet ODVA Specification 2.0.
• To ensure standards for EMC safety, the DeviceNet interfaces are
• According to ODVA Specification 2.0 drive controllers with "DeviceNet"
command communication interface have a Phoenix COMBICON
connector (Open Screw Connector) for connection to the bus.
Setting of Slave Address and Transmission Rate (Bus-Specific)
The address determines the priority of data sent by of the slave, with the
lowest address having the highest priority. Usually the master has the
highest priority and therefore the lowest address.
MAC ID
Each DeviceNet node has to transmit data on the bus unequivocally
assigned to it. According to the DeviceNet specification this requires a
slave address (MAC ID) that is unequivocal for the whole bus. This
address is set on the plugged-in firmware module.
Note:
According to ODVA Specification 2.0 the address can be set in
the range of 1...63, but for ECODRIVE03 devices only
addresses up to 99 can be set. Invalid addresses are treated
like address 63.
Watchdog Function
The time monitoring of the data exchange of the real-time data is
specified to 4 times the "expected packet rate" (class 5, instance 2,
attribute 9) according to the DeviceNet specification. This data is written
by the master and stored in drive parameter P-0-4075, Field bus
watchdog time.
Explicit Message
Devices of the ECODRIVE03 range are "Group 2 only" servers and
support the acyclical data exchange via "Explicit Message".
For further data of the services see the documentations of the specific
master circuits employed.
Note:
For the ControlLogix the SIS protocol is required for the time
being since otherwise for each parameter used a
communication connection has to be projected.
ECODRIVE Cs
Electronic Data Sheet
For each DeviceNet device it is necessary to have a so-called "Electronic
Data Sheet" in the form of an EDS file (*.EDS). This file contains the data
required for operating the device on the bus. This file, when configuring
the bus master, is required for each node.
File Name
The EDS file for ECODRIVE03 devices with DeviceNet interface
(DKC06.3) is an ASCII file with the name "DKC06P3.EDS".
Note:
The EDS files are stored during the installation of DriveTop in
the directory "Indramat\Device Data Sheets", as well as on the
Intranet.
DeviceNet-Specific Object Directory
The
communication
objects
defined
ODVA Specification 2.0 are provided.
by
DeviceNet
in
By mapping the parameters to objects (class, instance and attribute) all
drive parameters (parameter set 0) can be reade and written via "Explicit
Message". The addressing is carried out through a direct conversion of
the parameter number into an object with:
• class,
• instance and
• attribute
Generating Law for Object Class
The S-parameters are mapped to classes 101 to 117:
•
class = 101 + [IDN(S − 0 − xxxx) − 1]/255
S-parameters
The P-parameters are mapped to classes 118 to 134:
•
class = 118 + [IDN(P − 0 − xxxx) − 1]/255
with S-0-xxxx or P-0-xxxx:
P-parameters
IDN of the parameter.
Generating Law for Object Instance
•
instance = IDN(S − 0 − xxxx) − [(class − 101) ⋅ 255]
S-parameters
•
instance = IDN(P − 0 − xxxx) − [(class − 118 ) ⋅ 255]
P-parameters
with S-0-xxxx bzw. P-0-xxxx:
IDN of the parameter.
ECODRIVE Cs
Generating Law for the Attribute
Generating law for object attribute: By means of the attribute the elements
of the parameters can be addressed:
Attribute Data type
Access
1
2
3
4
5
6
7
8
9
10
11...137
R/W
R
R
R
R
R
R/W
R
R/W
R/W
R
Fig. 6-12:
UINT16
visible string
UINT16
visible string
2 or 4 bytes
2 or 4 bytes
2..32 bytes
UINT16
UINT16
2..32 bytes
2...32 bytes
Description
IDN
Name
Attribute
Unit
Minimum input value
Maximum input value
Continuation of the operational data with
lists
Description of the attribute
Example 1:
class = 101 + [IDN(S − 0 − 0051) − 1]/255 = 101 + 50/255 = 101
instance = IDN(S − 0 − 0051) − [(class − 101) ⋅ 255] = 51− 0 ⋅ 255 = 51
attribute = 7 (or 10), since access to data
Example 2:
class = 118 + [IDN(S − 0 − 0051) − 1]/255 = 118 + 50/255 = 118
instance = IDN(P − 0 − 0051) − [(class − 118 ) ⋅ 255 ] = 51 − 0 ⋅ 255 = 51
attribute = 7 (or 10), since access to data
Data Exchange Objects
The data exchange objects provide access to parameters via the SIS
protocol.
Error Code
When accessing objects via "Explicit Message", errors may occur that are
caused by the transmission of the data via the field bus. They are
specified in the documentation on the respective field bus master and can
also be found in the DeviceNet specification (volume 1, appendix H).
Errors that are caused by a communication problem between the field bus
circuit and the drive are listed below. Sie erscheinen in der "Explicit
Message" als "Additional Error".
ECODRIVE Cs
List of errors caused by incorrect access:
Error code
Additional Error
Cause
0xF0
-
Timeout during the transmission
0xF9
-
The attribute cannot be written
0xFA
-
The data format is invalid
0xFB
-
The specified class / instance does not exist
0xFC
-
The specified attribute does not exist
0xFD
01
Service channel not opened
0xFD
09
Incorrect access to element 0
0xFD
11
Parameter number does not exist
0xFD
19
Incorrect access to element 1
0xFD
21
Name does not exist
0xFD
22
Name transmitted too short
0xFD
23
Name transmitted too long
0xFD
24
Name cannot be altered
0xFD
25
Name is write-protected at present
0xFD
32
Attribute transmitted too short
0xFD
33
Attribute transmitted too long
0xFD
34
Attribute cannot be altered
0xFD
35
Attribute is write-protected at present
0xFD
41
Unit does not exist
0xFD
42
Unit transmitted too short
0xFD
43
Unit transmitted too long
0xFD
44
Unit cannot be altered
0xFD
45
Unit is write-protected at present
0xFD
51
Minimum input value does not exist
0xFD
52
Minimum input value transmitted too short
0xFD
53
Minimum input value transmitted too long
0xFD
54
Minimum input value cannot be altered
0xFD
55
Minimum input value is write-protected at present
0xFD
61
Maximum input value does not exist
0xFD
62
Maximum input value transmitted too short
0xFD
63
Maximum input value transmitted too long
0xFD
64
Maximum input value cannot be altered
0xFD
65
Maximum input value is write-protected at present
0xFD
72
Data transmitted too short
0xFD
73
Data transmitted too long
0xFD
74
Data cannot be altered
0xFD
75
Data is write-protected at present
0xFD
76
Data is smaller than min. input value
0xFD
77
Data is greater than max. input value
0xFD
78
Invalid operation data
0xFD
79
Operation data write protected by a password
0xFD
81
Service channel momentarily busy
0xFD
82
Fault in service channel
0xFD
8B
Transmission interrupted
0xFD
8C
Invalid access
Fig. 6-13:
Error codes with DeviceNet
ECODRIVE Cs
Assembly Object
The data of the "Polled I/O" are exchanged via the "Assembly Object",
with instance 1=Output Object and instance 2=Input Object.
In addition, the attributes 1 and 2 according to ODVA Specification 2.0 are
implemented which provide the possibility of reading the configuration of
the "Assembly Object" through a DeviceNet diagnostic tool.
attribute 1:
UINT16number of data objects in assembly
attribute 2:
ARRAY of STRUCT
list of data objects in assembly
Attribute 3 contains the drive objects configured as process data.
Definition of structure:
UINT16
UINT16
ARRAY of BYTE
Size of the object in bits
Size of the object description in bytes
Symbolic object path class/ instance/attribute
Configuring the DeviceNet Slave
Configuring the Process Data ("Polled I/O")
The process data ("Polled I/O") are configured independent of the field
bus type.
The setting of P-0-4084, Profile type mostly brings with it a configuration
of the "Polled I/O" (cyclical services).
Note:
In this regard, the profile types P-0-4084=0xFFFE or 0xFF82
are exceptions: The configuration of these profile types is left
to the user.
Parameterization can also be carried out via the field bus by writing data
to the drive parameters by means of "Explicit Message". The values set
for these parameters can also be read via "Explicit Message".
Alternatively the assignment of the "Polled I/O" can be read via "Explicit
Message" via the attribute 2 of the respective "Assembly Object"
according to ODVA Specification 2.0.
The configuration entered in the parameters becomes effective with the
initialization of the drive to operating mode.
P-0-4080, Real-time input object structure
Input Assembly Class 4, instance 2, attributes 1+2
In this object the structure of the data sent from slave to master (process
data) is written in "Polled I/O", i.e. the length and the assignment with
objects (class/instance/attributes) for the process input data. The user
can read the existing structure via the Read service of the "Explicit
Message".
The master can use this configuration for determining which object is
transmitted in which location of the "Polled I/O".
ECODRIVE Cs
P-0-4081, Real-time output object structure
Output Assembly Class 4, instance 1, attributes 1+2
In this object the structure of the "Polled I/O" from master to slave is
stored. So via the Read service of the "Explicit Message" the current
structure, i.e. the assignment of the "Polled I/O", can be read.
Note:
Data Direction
data length must always lead to modifications in the slave data
stored in the master. So changes of these values only become
effective when the drive is switched on anew or the phase is
switched from parameter mode to operating mode.
The "data direction output" indicates the data transmission from master to
slave.
Note:
Up to 18 bytes of data (incl. field bus control word, field bus
status word) per data direction can be configured.
Number and Length of the Process Data ("Polled I/O") in the Drive
Controller
The DeviceNet slave circuit allows a flexible configuration of the
"Polled I/O".
The length of the process data ("Polled I/O") is dependent on the setting
of P-0-4084, Profile type. It is also possible that user-specific expansions
of the process data, for example with the freely-configurable profile types
(P-0-4084=0xFFFE or 0xFF82), cause the drive controllers to be operated
with different data lengths for the "Polled I/O".
Since all data of the drive controller are at least 2 bytes long, a
"Polled I/O" can only contain words or a double words, not bytes as data
types. Length, however, is specified in bytes for the sake of compatibility
to other bus systems.
The configuration of length is generally carried out automatically by
presetting the respective operating mode.
Length of the PD Channel
The length of the process data (PD) can be between 2...18 bytes. It can
be specified separately for both directions (P-0-4082, Length of real-time
data channel In or P-0-4087, Length of real-time data channel Out).
The transmission is performed data-consistently over the whole length.
ECODRIVE Cs
Diagnostic LEDs for DeviceNet
For diagnosing the field bus interface there are 6 LEDs available at the
front panel of the DeviceNet module. These LEDs mark the status of the
activity for cyclical data exchange ("Polled I/O").
Each LED has four possible states: "off", "red", "green" and "orange".
When initializing the DeviceNet module the LEDs are tested. The test is
visible in the LEDs continuously running through color sequences of red,
green and orange.
Description of LEDs during unit operation:
LED designation
H60
H61 (Module status)
H62 ("Explicit
Message" request)
H63 (Network status)
LED status
Red
Flashing red
Flashing
green
Green
Green (pulse)
Off
Flashing
green
Green
Flashing red
Red
H64 [(Internal
synchronization)
Alive LED]
Flashing red
Flashing
green
Off
Green
Meaning
Not assigned
Non-recoverable error, replace card
Recoverable error
Configuration error
Operation OK
During Read/Write via "Explicit
Message"
Not online
Online but no connection to master
Online with connection to master
Monitoring time exceeded for I/O
connection
Critical connection error (double
MAC-ID or bus off)
No synchronization of the field bus
module with the drive
Synchronization of field bus module
and drive established
H65 (I/O status)
No I/O connection
I/O connection OK, outputs valid and
inputs active
Flashing
Outputs inactive (are not sent by
green
master)
Flashing red
Monitoring time exceeded for I/O
connection
All LEDs
Flashing
Severe error on the field bus module.
regularly
Switch device off/on.
Fig. 6-14: Diagnostic LEDs for DeviceNet
ECODRIVE Cs
Notes
Profile Types 7-1
ECODRIVE Cs
7
Profile Types
7.1
General Introduction
Overview of Supported Profile Types
P-0-4084,
Profile
type
FF80h
FF81h
DKC
3.3
5.3
6.3
3.3
5.3
6.3
FF82h
3.3
5.3
6.3
FF91h
3.3
5.3
6.3
FF93h
3.3
5.3
6.3
FFFEh
3.3
5.3
6.3
Field bus or drive operating
mode
I/O mode with block
acknowledgment (positioning
block mode)
Description
Guarantees functional compatibility with DKC3.1; control word
and status word have the same structure and significance.
As with 0xFF80 but instead of the travel block
acknowledgment, the cam status bits are applied to the status
word.
As with 0xFF81, but in addition to the control and status
I/O mode freely expandable
words, other real-time data can be configured. The bits in the
(positioning block mode)
field bus status word can be defined via the configurable
+ expandable real-time channel signal status word function.
All real-time data are preconfigured by the lists P-0-4080 and
P-0-4081.
drive-internal interpolation
Control word and status word have the same structure as in
(with absolute and relative
the freely configurable operating mode.
interpolation)
It is possible to switch between absolute and relative
interpolation via bit 3 in the field bus control word.
The real-time data required for velocity control are
velocity control with filter and
preconfigured.
ramp
Control word and status word have the same structure as in
(without profile interpreter)
the freely configurable operating mode.
The user is entirely responsible for the configuration of the
real-time data.
freely configurable operating
Control word and status word have a Rexroth-specific
mode
structure.
(without profile interpreter)
This selection is suitable for using the complete drive
functionality!
Fig. 7-1: Supported profile types: FWA-ECODR3-MGP-01VRS
I/O mode with cam status
(positioning block mode)
Explanation of Terms
Drive Profile
A drive profile defines
• the structure of field bus control and status words (P-0-4077,
P-0-4078),
• the structure and content of real-time channel (P-0-4080, P-0-4081),
• the active operating mode (S-0-0032, S-0-0033, S-0-0034, S-0-0035)
• the behavior of any present status machine (I/O mode or Rexroth
status machine).
By selecting a profile type, the commissioning of field bus drives becomes
very easy for the user. The advantage of a profile is that by selecting a
profile all the important basic settings for the desired drive function can be
made automatically. As profile types are defined independent of the bus,
the transfer of applications from one field bus to the other is also
facilitated.
7-2 Profile Types
ECODRIVE Cs
Status Machine
A status (e.g. Drive Halt, drive error, ...) represents a specific internal and
external behavior. The status can be exited by defined events (e.g. drive
commands, switching of operating modes, ...). Corresponding status
transitions are assigned to the events. The interaction of control and
status bits or the status transitions are called status machine.
Intel/Motorola Format
(See chapter: "Command Communication via Field Bus")
Abbreviations
• i16:
16-bit variable with sign (1 word) in Intel format
• i32:
32-bit variable with sign (2 words) in Intel format
• u16:
16-bit variable without sign (1 word) in Intel format
• u32:
32-bit variable without sign (2 words) in Intel format
• ZKL1: class 1 diagnostics
Assignment to the Drive-Internal Operating Modes
Note:
By setting parameter P-0-4084, Profile type the primary mode
of operation active in the drive is also defined!
Operating Modes Used
There are the following relationships between the parameters P-0-4084,
Profile type and S-0-0032, Primary mode of operation:
• I/O mode with 16-bit status and control word
(P-0-4084=0xFF80 Å functionally compatible with DKC3.1!)
The drive is run in "Positioning block mode without lag error with
encoder 1"!
• Drive-internal interpolation
The drive is run in "Drive-internal interpolation without lag error with
encoder 1".
• Velocity control
The drive is run in "Velocity control" mode.
• Freely configurable mode
• no profile-dependent settings and checks
• free configuration of real-time channel using process data
descriptions in parameters P-0-4080 and P-0-4081
• allows analog operation for initial commissioning
Note:
For all settings, except for the freely configurable mode, the
secondary operating mode 1 is automatically set to "Jogging"!
Profile Types 7-3
ECODRIVE Cs
7.2
I/O Mode
Basic Function of I/O Mode
General Features of I/O Mode
• The drive is run in "positioning block mode, lagless with encoder 1"
(see also "Positioning Block Mode").
• In this mode, up to 64 programmable positioning blocks can be
selected and started via 6 bits in the 16 bit wide control word.
• Via 2 bits in P-0-4077, Field bus control word the jog function can be
st
activated. As the 1 secondary operating mode, "jogging" was set (see
also "Operating Mode: Jogging").
• With Profibus-DP an optional parameter channel with the values in
parameter P-0-4083, Length of parameter channel in DP (maximum
6 words) can be activated (default: P-0-4083 = 0 Å without parameter
channel).
• In I/O mode the real-time channel is made up of one word (16 bits), of
parameter P-0-4077, Field bus control word and parameter
P-0-4078, Field bus status word.
Structure of Real-Time Channel in I/O Mode
Master Å Slave
Slave Å Master
Sequence of Data in Real-Time
Data Channel
In the real-time channel of the field bus the data configured in P-0-4081,
Real-time output object structure are transmitted from master to drive:
Parameter
Format
P-0-4077, Field bus control word
I16 -> (1 word)
Real-time input object structure are transmitted from drive to master:
Parameter
Format
P-0-4078, Field bus status word
I16 -> (1 word)
Word1
Master Å Slave
Slave Å Master
Fig. 7-2:
Content of real-time channel in I/O mode
7-4 Profile Types
ECODRIVE Cs
Status Machine in I/O Mode (Field Bus Control and Status Word)
Structure of P-0-4077, Field bus control word (P-0-4084 =
0xFF8X)
Note:
The structure of P-0-4077, Field bus control word is identical
in all three possible I/O modes (P-0-4084 = 0xFF80, 0xFF81
and 0xFF82).
Bit
Assignment
0
Drive enable
Description
1: drive enable
0: drive lockout
(S-0-0134, bit 14)
1: drive start
1
Drive start
0: Drive Halt
(S-0-0134, bit 13)
1: start command "C6"
(S-0-0148 = 11b)
2
Drive-controlled
going to zero
(homing)
0: complete command "C6" (S-0-0148 = 0b)
3
Strobe
0>1: travel block change
4
Positioning with
limited velocity
5
error reset
(F-Reset)
(S-0-0346)
1: limited velocity with
S-0-0259, Positioning Velocity as
limit
1: start reset error command "C5"
(S-0-0099, C500 Reset class 1 diagnostic)
0: complete command "C5"
6
Jog +
1: jog forward
(P-0-4056, bit 0)
with P-0-4030, Jog velocity
7
Jog -
1: jog backward
(P-0-4056, bit 1)
with P-0-4030, Jog velocity
8 - 13
Travel block select
P-0-4026, Positioning block selection
(bit 0 – bit 6)
14-15
not assigned
Fig. 7-3:
Structure of P-0-4077, Field bus control word in I/O mode
Profile Types 7-5
ECODRIVE Cs
Structure of P-0-4078, Field bus status word (P-0-4084 =
0xFF8X)
• The structure of P-0-4078, Field bus status word in all three possible
I/O modes (P-0-4084 = 0xFF80, 0xFF81 and 0xFF82) corresponds to
S-0-0144, Signal status word. The structure of S-0-0144 (and P-04078) with P-0-4084 = 0xFF80 and P-0-4084=0xFF81 is permanently
pre-configured.
• Only in freely expandable I/O mode (P-0-4084=0xFF82) can the
structure be freely defined via the configuration lists S-0-0026,
Configuration list signal status word and S-0-0328, Assign list
signal status word.
• The profile types for P-0-4084=0xFF80 (I/O mode with block
acknowledge) and P-0-4084=0xFF81 (I/O mode with cam status) only
differ in terms of the definition of bits 0, 1 and bit 8 to bit 15 (see
structure of P-0-4078).
Profile type
Bit
Assignment
Description
0
Active mode
(with 0xFF80)
1: jogging
0: positioning
1
Position switch point
(with 0xFF80)
1: to the right of position switch point
0: to the left of pos. switch point (P-0-0135, bit 0)
0
Warning
(with 0xFF81)
1
E-Stop status
(with 0xFF81)
1: active
0: not active
1: active
0: not active
2
In reference
1: drive homed
(S-0-0403, bit 0)
3
In motion
1: in motion
(S-0-0013, bit 1)
P-0-4084=0xFF80
4
In position
1: drive within positioning window
& no sequential block
(S-0-0182, bit 12)
or
5
Error flag
1: no error
0: error
(S-0-0135, bit 13)
6
Ready for operation
display "bb"
1: ready
(S-0-0135, bit 14)
7
Power
display "Ab"
1: power is on
(S-0-0135, bit 15)
P-0-4084=0xFF80
P-0-4084=0xFF81
P-0-4084=0xFF81
P-0-4084=0xFF80
P-0-4084=0xFF81
8 - 13
Travel block acknowledge
14-15
not assigned
8-15
Cam status
Fig. 7-4:
(S-0-0135, bit 12)
(P-0-0223, bit 0)
P-0-4051, Positioning block acknowledgment
(bit 0 – bit 5)
P-0-0135, Status position switch
(bit 0 – bit 7)
Structure of P-0-4078, Field bus status word in I/O mode with profile
types P-0-4084=0xFF80 and 0xFF81
7-6 Profile Types
ECODRIVE Cs
Interaction of Control and Status Bits (Status Machine)
homing (C6)
status word=
yyyy.yyyy.111x.xxx0
jogging (JF Jb)
status word=
yyyy.yyyy.111x.xxx1
1
00
1
.x
00
xx
.x
01
y. r xx
yy o y.10
.y
yy
yy
.y
yy
yy
yy
*)
yyyy.yyyy.01xx.x001*)
or
yyyy.yyyy.10xx-x001
drive error
(Fxxx)
status word=
yyyy.yyyy.000x.x011
1
01
.x
xx
00
y.
yy
.y
yy
yy
yyyy.yyyy.001x.xx00*)
*)
drive halt (AH)
status word =
yyyy.yyyy.111x.xxx0
yyyy.yyyy.xxxx.x0001*)
drive operation
(AF)
status word =
yyy.yyyy.111x.xxx0
clear error
(C5)
control and power
sections ready (Ab)
status word =
yyyy.yyyy.101x.xxx0
power ON
Attention:
Once operating power is switched on the drive
automatically goes from parameter mode to operating
mode
control section ready (bb)
status word =
yyyy.yyyy.011x.xxx0
Check all drive parametrizations (plausibility, validity)
encoder initialization, computation of conversion
factors,...
S-0-0128, C200 Communication
phase 4 transition check (C2)
Input all write-accessed parameters including the
configuration parameters for command communication
(e.g. profile selection)
parameter mode
(P2)
status word =
yyyy.yyyy.001x.xxx0
P-0-4023,
C400
Communication
phase 2
transition (C4)
control voltage ON
Self-test, hardware initialization, parameter and motor
initialization
initialization mode
yy = positioning block selection or acknowledge bits
*) = control word
Fig. 7-5:
Fd5032f1.fh7
Structure of status machine in I/O Mode
Profile Types 7-7
ECODRIVE Cs
Note:
The data for the field bus status word refer to the I/O mode
with block acknowledge (P-0-4084=0xFF80). For the other two
types (0xFF81 and 0xFF82) only bits 0, 1 and bits 8–15 have a
different definition.
I/O Mode Default Setting
Features of the I/O mode default setting:
• Fixed real-time channel length of 2 bytes. Thus the length of the cyclic
data channel is (P-0-4082 = P-0-4087 = 2 + P-0-4083)!
• Bits 0 to 5 of P-0-4051, Positioning block acknowledgment are
copied to bits 8 to 13 of P-0-4078, Field bus status word (see also
"Fig. 7-4:
Structure of P-0-4078, Field bus status word in I/O mode
with profile types P-0-4084=0xFF80 and 0xFF81").
• In the real-time channel only P-0-4077, Field bus control word and
P-0-4078, Field bus status word are transmitted.
• The structure of P-0-4077, Field bus control word (see also "Fig. 73: Structure of P-0-4077, Field bus control word in I/O mode") is
identical to the structure in the I/O mode with cam status (P-0-4084,
Profile type = 0xFF81)!
Note:
With this profile selection, the functional compatibility to the
DKC3.1 drive controllers is established! Control units that
process the real-time data in Motorola format have the high
and low bytes swapped compared to the DKC3.1!
I/O Mode with Cam (P-0-4084 = 0xFF81)
Features of the I/O mode with cam:
• Fixed real-time channel length of 2 bytes. Thus the length of the cyclic
data channel is (P-0-4082 = P-0-4087 = 2 + P-0-4083)!
• Bits 0 to 7 of P-0-0135, Status position switch are copied to bits 8 to
15 of P-0-4078, Field bus status word.
• Apart from bit 8-bit 15, bit 0 and bit 1 of P-0-4078, Field bus status
word (see also "Fig. 7-4:
Structure of P-0-4078, Field bus status
word in I/O mode with profile types P-0-4084=0xFF80 and 0xFF81")
have a different meaning compared to the downward compatible
profile type (P-0-4084 = 0xFF80)!
• In the real-time channel only P-0-4077, Field bus control word and
P-0-4078, Field bus status word are transmitted.
identical to the structure in the I/O mode with block acknowledgment
(P-0-4084, Profile type = 0xFF80)!
7-8 Profile Types
ECODRIVE Cs
I/O Mode Freely Expandable (P-0-4084 = 0xFF82)
Features of the freely expandable I/O mode:
• The user can freely expand the length of cyclic data channel P-0-4082
or P-0-4087 up to a maximum of 9 words! In addition to the field bus
control and status words, other real-time data can be configured via
the configuration lists P-0-4080, Real-time input object structure
and P-0-4081, Real-time output object structure.
identical to the structure in the I/O mode with block acknowledgment
(P-0-4084 = 0xFF80).
• The content of P-0-4078, Field bus status word corresponds to the
content of S-0-0144, Signal status word and can be freely
parameterized via configuration lists S-0-0026, Configuration list
signal status word and S-0-0328, Assign list signal status word.
7.3
Rexroth-Specific Profile Types
Basic Function of Rexroth Profiles
To use the numerous and extensive functions of a Rexroth field bus drive
it is necessary, in addition to the I/O mode downwards compatible to the
DKC3.1, to define further profiles. This requires a new structure for
P-0-4077, Field bus control word and P-0-4078, Field bus status
word.
In this case it is necessary to distinguish between:
• fixed pre-defined profiles
0xFF93 Å velocity control)
(0xFF91 Å drive-internal
interpolation,
• a completely freely configurable profile type (P-0-4084 = 0xFFFE)
Each field bus drive of Bosch Rexroth, regardless of the command
communication interface, is equipped with a uniform "status machine".
This includes a continuous structure for P-0-4077, Field bus control
word and P-0-4078, Field bus status word. The interaction and the
definition of the individual bits is described in the following section.
"Rexroth Status Machine" of the Drive
Note:
In the case of field bus drives, the parameters S-0-0134,
Master control word and S-0-0135, Drive status word are
only used for diagnostic purposes. The actual control and
status information is contained in P-0-4077, Field bus control
word and P-0-4078, Field bus status word. They are always
inherent part of the real-time channel.
Profile Types 7-9
ECODRIVE Cs
Structure of P-0-4077, Field bus control word (Rexroth
Profiles)
Bit
Name
0
Command value
acceptance
1
Operating mode
setting
2
Going to zero
3
Absolute / relative
(only effective when
using S-0-0282,
Positioning
command value)
4
Immediate block
change
(only effective when
using S-0-0282,
Positioning
command value)
5
Clearing errors
6
7
Jogging forwards
Jogging backwards
8, 9
Command operating
mode
10, 11 reserved
12
IPOSYNC
13
Drive Halt
14
Drive enable
15
Drive ON
Fig. 7-6:
Meaning
at a bit change (S-0-0346, bit 0)
– a positioning block is activated
– or the preset position is accepted
0->1: change to operating mode
1->0: change to parameter mode
0->1: start homing command "C6"
(S-0-0148 = 11b)
1->0: complete homing command "C6"
(S-0-0148 = 0b)
0: S-0-0282, Positioning command value
is processed as abs. target pos. in drive
S-0-0282, Positioning command value
is processed as rel. travel distance in drive
(S-0-0393, bit 3)
0: S-0-0282, Positioning command value
not accepted until last active target
position is reached S-0-0282,
Positioning command value
is immediately accepted when command
value acceptance is toggled
(S-0-0393, bit 4)
0->1: start clear error command "C5"
1->0: complete command "C5"
1: jogging forwards (P-0-4056, bit 0=1)
1: jogging backwards (P-0-4056, bit 1=1)
00: primary mode of oper. S-0-0134, bit 8,9)
st
01: 1 second. operating mode (e.g. jogging)
nd
10: 2 secondary operating mode
rd
-interpolator clock (only in cycl. pos. control):
toggles when new command values
transmitted
1->0: edge causes shutdown of drive
(S-0-0134, bit 13)
1->0: edge causes immediate torque reset
(S-0-0134, bit 14)
1->0: edge causes best possible standstill
as per P-0-0119
(S-0-0134, bit 15)
Structure of P-0-4077 for Rexroth profiles
7-10 Profile Types
ECODRIVE Cs
Structure of P-0-4078, Field bus status word (Rexroth
Profiles)
Note:
Status Word for Freely
Configurable Mode
The definition of bit 4 in P-0-4077, Field bus control word
(command value reached) depends on profile type. In the case
of velocity control, the information "command speed reached"
is displayed in this parameter, in the case of interpolation it is
the information "In position".
Bit
Name
Meaning
0, 1
Operating mode
acknowledgment
10: phase 4 (operating mode)
01: phase 3
00: phase 2 (parameter mode)
2
In reference
1: Drive has been homed (S-0-0403, bit 0)
3
In standstill
1: Drive has stopped
4
Command value
reached
1: Target position reached (S-0-0182, bit 10)
Exceptions:
- profile type velocity control:
1: command speed reached (S-0-0013, bit 0)
1: if command status has changed if
command status has not changed
1: error in transition command no error in
transition command
1: drive does not follow command value
(e.g. if Drive Halt active) drive follows
command value
00: primary mode of operation
st
01: 1 second. operating mode (e.g. jogging)
nd
rd
11: 3 secondary operating mode (S-00135, bit 8,9)
By toggling the bit (S-0-0419, bit 0) the drive
acknowledges the acceptance of S-0-0282,
5
6
7
Command change
bit
Operating mode
error
Status command
value processing
Actual operating
mode
8, 9
10
11
12
13
14, 15
Fig. 7-7:
Command value
acknowledgment
Class 3
diagnostics
message
Class 2
diagnostics
warning
Class 1
diagnostics drive
error
Ready for
operation
(S-0-0013, bit 1)
The bit is set if a class 3 diagnostics message
is present
The bit is set if a class 2 diagnostics warning is
present
The bit is set if a class 1 diagnostics error is
present (drive interlock)
(S-0-0135, bit 13)
00: not ready for power on
01: ready for power on
10: control and power sections ready for oper.
and torque-free
11: in operation, with torque
(S-0-0135, bits 14,15)
Structure of P-0-4078 for Rexroth profiles
Profile Types 7-11
ECODRIVE Cs
Interaction of Control and Status Bits (Status Machine)
1
1x 10x
.
.x
xy xxy
y
y.
xx .xx
xx xx
.x .x0
11
1
x* ) x* )
jogging (JF Jb)
status word =
110x.xx01.xxxx.xx10
drive error
(Fxxx)
status word=
0110.xxyy.100x.xxxx
x*
01
.x
1x )
xx
x0 1x*
10
x.
1. r x x0
x0 o 1.01 xx.
.x
0
00
1x
xx 0.
11
x. xx0
1
.
11 1x
11
11
111x.xx01.10xx.x01x*)
or
111x.xx01.01xx.x01x
homing (C6)
status word=
110x.xxyy.1xxx.xx10
111x.xxyy.xxxx.x01x*)
111x.xxyy.xxxx.x11x*)
xxxx.xxyy.xx1x.xxxx*)
110x.xx00.00xx.x01x*)
)
110x.xxYY.xxxx.xx1x*)
drive halt (AH)
status word =
110x.xxyy.10xx.xx10
)
Error with phase
transition
(C402)
status word =
11xx.xxyy.X1xx.xx10
3rd second. mode
(yy=11)
2nd second. mode
(yy=10)
1st secondary mode
prim. mode of oper. (yy=01)
(yy=00)
drive operation (AF)
status word =
110x.xxyy.10xx.xx10
clear error
(C5)
*
0x
.xx x
)
x
xx 01 111x.xxYY.xxxx.xx1x*
Y.x xxx.x
Y
.xx .x
0x YY
11 x.xx
1
11
control and power
sections ready (Ab)
000x.xxYY.xxxx.x01x*)
status word =
100x.xxyy.10xx.xx10
)
110x.xxYY.xxxx.x01x*
power ON
control section ready (bb)
status word =
010x.xxyy.10xx.xx10
000x.xxyy.xxxx.xx0x*)
Check all drive parameterizations (plausibility,
validity) encoder initialization, computation of
conversion factors,...
Inputting all write-accessed parameters except
for configuration parameters for command
communication
communication phase 3 (P3)
status word=
00xx.xxyy.1Xxx.xx01
PLL initialization
check command communication configuration
(timing, configuration lists,...)
S-0-0127, C100 ommunication
Attention:
Once operating power is switched on the drive
automatically goes from parameter mode to operating
mode
Input all write-accessed parameters including the
configuration parameters for command
communication (e.g., profile selection, parameter
channel etc.)
Self-test, hardware initialization, parameter and motor
initialization
yy = operation mode selection or status bits
*) = control word
Fig. 7-8:
P-0-4023,
C400 Communication
phase 2 transition
(C4)
parameter mode (P2)
status word =
00xx.xxyy.1xxx.xx00
initialization mode
control voltage ON
Fd5033f1.fh7
Rexroth status machine (phase transition via field bus)
7-12 Profile Types
ECODRIVE Cs
Drive-Internal Interpolation (P-0-4084= 0xFF91)
Features
• The primary mode of operation "Drive-internal interpolation lagless
with encoder 1" is set (see also "Operating Mode: Drive Internal
st
Interpolation"). As the 1 secondary operating mode, "jogging" was set
(see also "Operating Mode: Jogging").
• The entire content of the real-time data channel is determined by the
setting of parameter P-0-4084, Profile type. Via the field bus, the
parameters S-0-0258, Target position and S-0-0259, Positioning
Velocity, as well as S-0-0051, Position feedback 1 value and S-00040, Velocity feedback value are cyclically transmitted.
• In this profile type, the Rexroth-specific definitions for field bus control
and status words apply (also see chapter: Rexroth Status Machine of
the Drive"). Bits 0, 3, 4 and 12 in P-0-4077, Field bus control word
and bit 10 in P-0-4078, Field bus status word are not relevant for this
profile type.
• Length of cyclic data channel defined with:
P-0-4082 = P-0-4087 = 12 byte [+ P-0-4083]
• The optional parameter channel in Profibus-DP can be expanded to
six words with P-0-4083, Length of parameter channel in DP
(default: P-0-4083 = 0; without parameter channel).
Note:
To use the functional expansion (transition absolute/relative)
of the drive-internal interpolation, it is necessary to change to
the freely configurable mode (P-0-4084 = 0xFFFE). In
parameter P-0-4081 the target position (S-0-0258) then has to
be replaced by the positioning command value (S-0-0282)!
Profile Types 7-13
ECODRIVE Cs
Structure of the Real-Time Data Channel
Master Å Slave
In the real-time channel of the field bus the travel block data configured in
P-0-4081, Real-time output object structure are transmitted from master
to drive.
Slave Å Master
Parameter
Format
S-0-0258, Target position
S-0-0259, Positioning Velocity
P-0-4076, Field bus container object
i16 -> (1 word)
i32 -> (2 words)
i32 -> (2 words)
i16 -> (1 word)
Real-time input object structure are transmitted from drive to master.
Parameter
Format
S-0-0051, Position feedback 1 value
S-0-0040, Velocity feedback value
i16 -> (1 word)
i32 -> (2 words)
i32 -> (2 words)
u16-> (1 word)
Sequence in Real-Time Data
Channel
MasteÅ Slave
Slave ÅMaster
Word1
Word2
P-0-4077
P-0-4078
S-0-0258,H
S-0-0051,H
Fig. 7-9:
Word3
Word4
Word5
Word6
S-0-0258,L
S-0-0259,H
S-0-0259,L
P-0-4076
S-0-0051,L
S-0-0040,H
S-0-0040,L
S-0-0390
Content of real-time channel for profile type interpolation
7-14 Profile Types
ECODRIVE Cs
Profile Type Velocity Control (P-0-4084 = 0xFF93)
Features
• The primary mode of operation "Velocity control with filter and ramp" is
st
set (see also: "Operating Mode: Velocity Control"). As the 1
secondary operating mode, "jogging" was set (see also "Operating
Mode: Jogging").
• The content of the real-time data channel is defined with P-0-4084,
Profile type. Via the field bus the values of S-0-0036, Velocity
command value and S-0-0040, Velocity feedback value are
transmitted.
• In this profile type the Rexroth-specific definitions for the field bus
control and status words apply. Bits 0, 3, 4 and 12 in parameter P-04077, Field bus control word (see also "Fig. 7-6: Structure of P-04077 for Rexroth profiles"), as well as bit 10 in parameter P-0-4078,
Field bus status word (see also "Fig. 7-7: Structure of P-0-4078 for
Rexroth profiles") are not relevant for this profile type.
• Bit 4 in P-0-4078, Field bus status word (command value reached)
signals in this profile type that the command speed has been reached
(S-0-0013, bit 0).
• The parameter channel in Profibus-DP can be expanded to six words
with P-0-4083, Length of parameter channel in DP (default:
P-0-4083 = 0; without parameter channel).
• Length of cyclic data channel defined with:
P-0-4082 = P-0-4087 = 12 byte + P-0-4083
Profile Types 7-15
ECODRIVE Cs
Structure of Real Time Data Channel
Master Å Slave
Real-time output object structure are transmitted from master to drive.
Parameter
Format
S-0-0036, Velocity command value
i16 -> (1 word)
i32 -> (2 words)
i16 -> (1 word)
i16 -> (1 word)
i16 -> (1 word)
Note:
Slave Å Master
Filling up with P-0-4076, Field bus container object is only
necessary with Interbus-S because of the bus structure, in
order to keep the length of the real time channel constant.
Parameter
Format
i16 -> (1 word)
i32 -> (2 words)
u16-> (1 word)
i32 -> (2 words)
Sequence in Real-Time
Data Channel
Master Å Slave
Slave Å Master
Word1
Word2
Word3
Word4
Word5
Word6
P-0-4077
P-0-4078
S-0-0036,H
S-0-0040,H
S-0-0036,L
S-0-0040,L
P-0-4076
S-0-0390
P-0-4076
S-0-0051,H
P-0-4076
S-0-0051,L
Fig. 7-10:
Structure of real-time channel in velocity control
7-16 Profile Types
ECODRIVE Cs
Freely Configurable Operating Mode (P-0-4084 = 0xFFFE)
Features
• The structure (content) of the real-time data channel must be defined
via the configuration lists P-0-4080 and P-0-4081. No profiledependent settings and checks are carried out!
• In this profile type the Rexroth-specific definitions for the field bus
control and status words apply. Some bits (e.g. bits 0, 3, 4 and 12 in
parameter P-0-4077, Field bus control word (see also "Fig. 7-6:
Structure of P-0-4077 for Rexroth profiles"), as well as bit 10 in
parameter P-0-4078, Field bus status word (see also "Fig. 7-7:
Structure of P-0-4078 for Rexroth profiles") can only be used
together with certain operating modes. This is clarified in the following
examples.
• This profile type allows using the entire drive functionalities (e.g. speed
synchronization, multiplex channel).
• The primary and secondary modes of operation can be freely selected
via S-0-0032, S-0-0033, S-0-0034 and S-0-0035.
Structure of the Real-Time Data Channel
Note:
Master Å Slave
Real-time output object structure are transmitted from master to drive.
Parameter
Format
Object
Optional command values
i16 -> (1 word)
:
6040
Note:
Slave Å Master
The cyclically configurable command values are contained in
parameter S-0-0188, List of configurable data in the MDT.
Parameter
Format
Object
Optional actual values
i16 -> (1 word)
:
6041
Note:
Channel
The parameters P-0-4077, Field bus control word as well as
st
P-0-4078, Field bus status word must always assume 1
place in the configuration lists P-0-4080 and P-0-4081!
The cyclically configurable command values are contained in
parameter S-0-0187, List of configurable data in the AT.
Word1
Word2
...
Master Å Slave
P-0-4077
cmd value1
...
Slave Å Master
P-0-4078
actual value1
...
Fig. 7-11:
Word n
Content of real-time channel in freely configurable mode
Profile Types 7-17
ECODRIVE Cs
7.4
Exemplary Configurations for Rexroth Profiles
All of the following examples relate to the freely configurable mode
(P-0-4084 = 0xFFFE), as this is the most flexible mode in which to use
the complete range of drive functions via the field bus.
Setting-Up Mode
Features
It is possible to move the drive via the available digital inputs. The control
of drive enable or Drive Halt is not carried out via the field bus, but rather
via hardware inputs as long as the field bus communication is not active
(e.g. with bus connector removed). The status of the command
communication can be polled via the P-0-4086, Command
communication status parameter.
Parameterization
To parameterize the setting-up mode
• set profile type to freely configurable mode (P-0-4084 = 0xFFFE)
• select primary mode of operation
• make configurations of inputs
Using the Rexroth Positioning Setting (Drive-Controlled Positioning)
Features
• In this operating mode a drive functionality is achieved which can be
compared with the position target setting of DRIVECOM (function
compatibility).
• By configuring S-0-0282, Positioning command value as a cyclic
command value, bits 0, 3, 4 in P-0-4077, Field bus control word can
be used to directly switch between relative to absolute positioning
(function compatibility with position target setting).
Parameterization
To parameterize the positioning setting the following settings have to be
made:
• set profile type to "freely configurable mode" (P-0-4084 = 0xFFFE)
• set primary mode of operation to "positioning command"
(S-0-0032 = 10 0001 1011b)
See also "Operating Mode: Drive Internal Interpolation""
7-18 Profile Types
ECODRIVE Cs
Master Å Slave
Slave Å Master
In the real-time channel of the field bus the positioning data configured in
P-0-4081, Real-time output object structure are transmitted from master
to drive.
Parameter
Format
I16 -> (1 word)
I32 -> (2 words)
I32 -> (2 words)
I16 -> (1 word)
P-0-4080, Real-time input object structure are transmitted from drive to
master.
Parameter
Format
I16 -> (1 word)
I32 -> (2 words)
I32 -> (2 words)
U16-> (1 word)
Channel
MasteÅ Slave
Slave ÅMaster
Word1
Word2
Word3
Word4
Word5
Word6
P-0-4077
P-0-4078
S-0-0282,H
S-0-0051,H
S-0-0282,L
S-0-0051,L
S-0-0259,H
S-0-0040,H
S-0-0259,L
S-0-0040,L
P-0-4076
S-0-0390
Fig. 7-12:
Content of real-time channel in Rexroth positioning setting
Using the Multiplex Channel in Positioning Block Mode
By using the multiplex channel, the number of cyclically transmitted data
can be increased. In other words, it is reasonable to use the multiplex
channel whenever the real-time channel is insufficient for certain tasks.
See also chapter "Multiplex Channel"
Features
• Number of cyclically transmitted real time data can be increased
• Since S-0-0362, List index, MDT data container A is also configured,
single elements in list parameters (P-0-4006, P-0-4007 and P-0-4009)
can also be changed via the real-time channel (multiplex channel).
• By evaluating S-0-0368, Addressing for data container A and S-00362, List index, MDT data container A in the master, a check
(handshake) for the multiplex channel can be realized.
Note:
The multiplexed real-time data are processed in the drive as is
the rest of the real-time data, i.e. the values are not buffered!
Profile Types 7-19
ECODRIVE Cs
Parametrization
To use the multiplex channel, the following parameterization, for example,
is necessary:
• set profile type to "freely configurable mode" (P-0-4084 = 0xFFFE)
• set parameter S-0-0032, Primary mode of operation to "positioning
block mode, lagless with encoder 1", for example
The configuration lists of the multiplex channel (S-0-0370, S-0-0371) can
be parameterized as follows:
S-0-0370, Configuration list for
the MDT data container
Content of S-0-0370
Index
0
1
2
P-0-4006, Positioning block target position
P-0-4007, Positioning block velocity
P-0-4008, Positioning block acceleration
the AT data container
Content of S-0-0371
Index
0
1
2
3
P-0-4006, Process block target position
P-0-4007, Positioning block velocity
The configuration lists P-0-4080, P-0-4081 can be parameterized as
follows:
Master Å Slave
Parameter
Format
P-0-4026, Positioning block selection
S-0-0368, Addressing for data container A
S-0-0362, List index, MDT data container A
S-0-0360, MDT Data container A
I16 -> (1 word)
I16 -> (1 word)
I16 -> (1 word)
I16 -> (1 word)
I32 -> (2 words)
Slave Å Master
master:
Parameter
Format
P-0-4051, Positioning block acknowledgment
S-0-0364, AT Data Container A
S-0-0362, List index, MDT data container A
Channel Word3
Word1
Word2
MasteÅ
Slave
Slave Å
Master
Word4
Word5
Word6
P-0-4077
P-0-4026
S-0-0368
S-0-0362
S-0-0360,L
S-0-0360,H
P-0-4078
P-0-4051
S-0-0051,H
S-00051,L
S-0-0368,L
S-0-0362,L
Fig. 7-13:
I16 -> (1 word)
I16 -> (1 word)
I32 -> (2 words)
I32 -> (2 words)
I16 -> (1 word)
I16 -> (1 word)
Word7
Word8
S-0-0364,L
S-0-0364,H
Word9
Content of real-time channel in positioning block mode with multiplex
channel
7-20 Profile Types
ECODRIVE Cs
Using the Signal Control Word and Status Word
By using the parameters S-0-0145, Signal control word and S-0-0144,
Signal status word the user has the option to freely configure control and
status bits in the drive himself which are also transmitted along with the
field bus control word and field bus status word in real time via the field
bus.
See also chapters "Configurable Signal Control Word" and "Configurable
Signal Status Word"
Features
• By using S-0-0144 and S-0-0145 there are 16 more freely configurable
control and status bits available.
• Allow, among other things, starting commands entered in list
S-0-0399, IDN list of configurable data in the signal control word
via a bit in the signal control word (cf. signal control word).
• Allow reading any bit in any parameter (cf. signal status word).
Parameterization
The following settings are required:
• To configure the bit lists the configuration lists S-0-0026, S-0-0328 (for
S-0-0144) and S-0-0027, S-0-0329 (for S-0-0145) can be used.
• To use the function, select profile type "freely configurable mode"
(P-0-4084 = 0xFFFE).
• Set parameter S-0-0032, Primary mode of operation to "driveinternal positioning setting, lagless with encoder 1", for example.
The configuration lists P-0-4080 and P-0-4081 have to be parameterized
as follows:
Master Å Slave
Slave Å Master
Parameter
Format
S-0-0145, Signal control word
I16 -> (1 word)
I32 -> (2 words)
I32 -> (2 words)
I16 -> (1 word)
master:
Parameter
Format
S-0-0144, Signal status word
I16 -> (1 word)
I32 -> (2 words)
I32 -> (2 words)
I16 -> (1 word)
I16 -> (1 word)
Channel
MasterÅ
Slave
Slave Å
Master
Word1
Word2
Word3
Word4
Word5
Word6
Word7
P-0-4077
S-0-0282,H
S-0-0282,L
S-0-0259,H
S-0-0259,L
S-0-0145
P-0-4076
P-0-4078
S-0-0051,H
S-0-0051,L
S-0-0040,H
S-0-0040,L
S-0-0390
S-0-0144
Fig. 7-14:
Content of real-time channel in interpolation with signal control word
and status word
Profile Types 7-21
ECODRIVE Cs
7.5
Multiplex Channel
Overview
The multiplex channel allows updating a limited cyclical data channel.
This also enables cyclical list element access by index changes.
Note:
To be able to use the mechanism it is necessary to use
command communication via SERCOS or field bus (e.g.
PROFIBUS) and configure the multiplex parameters in the
cyclical telegrams.
Using the multiplex channel for PROFIBUS, DeviceNet and
CanOpen is only possible when selecting the "freely
configurable operating mode" (P-0-4084 = 0XFFFE).
By means of the multiplex channel it is possible
• to cyclically exchange more parameter contents in spite of limited
maximum number of transmittable bytes in master data telegram and
drive telegram,
• to access individual list elements using the index parameters S-0-0362
and S-0-0366,
• to transmit in each cycle, by incrementing parameter S-0-0368, the
multiplexed data with a cycle time of Tscyc * number of multiplex
data,
• to switch the index in terms of the operating mode and thus to transmit
only those parameters needed for the activated mode.
The following parameters were implemented for the multiplex channel:
• S-0-0360, MDT Data container A
• S-0-0362, List index, MDT data container A
• S-0-0364, AT Data container A
• S-0-0366, List index, AT data container A
• S-0-0368, Addressing for data container A
• S-0-0370, Configuration list for the MDT data container
• S-0-0371, Configuration list for the AT data container
7-22 Profile Types
ECODRIVE Cs
Functional Principle of Multiplex Channel
Configuration
the MDT data container
Those IDNs are entered in parameter S-0-0370, Configuration list for the
MDT data container which, dependent on the index in S-0-0368,
Addressing for data container A, low byte, are transmitted in S-0-0360,
MDT Data container A. Write accessing S-0-0370 is only possible in
communication phase 2.
the AT data container
Those IDNs are entered in parameter S-0-0371, Configuration list for the
AT data container A which, dependent on the index in S-0-0368,
Addressing for data container A, high byte, are transmitted in S-0-0364,
AT Data container A. Write accessing S-0-0371 is only possible in
Note:
A maximum of 32 IDNs can be configured in S-0-0371.
Addressing the Data Containers
Parameter S-0-0368, Addressing for data container A contains the indices
for the selection of the parameters transmitted in the data containers.
The figure below illustrates the configuration lists with the maximum
number of elements (32).
1
Addressing AT
0
Addressing MDT
31
31
S-0-0053
1
S-0-0048
1
S-0-0051
0
S-0-0047
0
S-0-0371, Configuration list
for the AT data container
for MDT data container
Tb0205f2.fh7
Fig. 7-15: Functional principle of addressing data container A
Note:
Only bits 0..5 (for MDT) and bits 8..13 (for AT) are used for
addressing with parameter S-0-0368. The other bits are cut
off. This is why no value exceeding 31 can be set for
addressing.
Note:
Parameter S-0-0368, Addressing for data container A can,
depending on requirements, be configured in the MDT or write
accessed via the non-cyclical data channel or some other
interface.
Profile Types 7-23
ECODRIVE Cs
Using the Data Containers
S-0-0360, MDT Data container A
In parameter S-0-0360, MDT Data container A the master transmits the
data which will be written to the target parameter in the drive.
The target parameter is the parameter addressed via S-0-0368 in the
configuration list (S-0-0370).
Note:
S-0-0364, AT Data Container A
Parameter S-0-0360 cannot be write accessed via the noncyclical data channel. The display format is hexadecimal
without decimal places.
The drive copies the data of the source parameter to parameter
S-0-0364, AT Data container A.
The source parameter is the parameter addressed via S-0-0368 in the
configuration list (S-0-0370).
Note:
Parameter S-0-0364 cannot be write accessed via the noncyclical data channel. The display format is hexadecimal
without decimal places.
Processing Single List Elements
Using both addressing parameters
• S-0-0362, List index, MDT data container A and
• S-0-0366, List index, AT data container A
it is possible to access single elements of list parameters. It is thus
possible to write data to list parameters cyclically and element by element.
The element of a list parameter to be written or read is addressed via both
parameters.
Note:
The parameters become effective if a list parameter has been
addressed in S-0-0368, Addressing for data container A. If
the addressed parameter is not a list parameter, the
evaluation of parameters S-0-0362 and S-0-0366 is prevented.
The following figure illustrates the processing of list elements by means of
the multiplex channel.
7-24 Profile Types
ECODRIVE Cs
0
1
Addressing MDT
Addressing AT
31
31
S-0-0040
1
P-0-4006
S-0-0051
0
S-0-0047
list1 prameter
0
S-0-0366, List index,
AT data container A
S-0-0362, List index,
MDT data container A
X
1
list addressing AT,
is not considered,
because no list
parameter was
addressed by
"Addressing AT"
element n
n-1
element n-1
n-2
element 2
1
element 1
0 list addressing MDT
P-0-4006
Tb0206f2.fh7
Fig. 7-16: Processing list elements with the multiplex channel, in this case for the
MDT data container
Profile Types 7-25
ECODRIVE Cs
Diagnostic Messages
In conjunction with the multiplex channel, various checks are carried out.
Checking the Configured IDN Order
The chronology of the processing of cyclical MDT data in the drive has the
order in which the configured IDNs are entered in parameter S-0-0024,
Config. list of the master data telegram.
If both parameters S-0-0360, MDT Data container A and S-0-0368,
Addressing for data container A were configured in the MDT, the MDT
data container will only be properly processed if the addressing was
previously processed.
To make sure the correct order is followed when configuring the MDT the
drive, in parameter S-0-0127, C100 Communication phase 3 transition
check, checks whether IDN S-0-0368 was configured before S-0-0360. If
this was not the case, the drive generates the C118 Order of MDT
configuration wrong error message.
Checking the Configuration Lists
It must be ensured that the IDNs contained in the configuration lists can
be cyclically configured.
This is why a check is carried out in parameter S-0-0127, C100
Communication phase 3 transition check to find out whether the IDNs are
contained in parameters S-0-0187, List of configurable data in the AT or
S-0-0188, List of configurable data in the MDT.
The following errors are possible:
If the parameter S-0-0370, Configuration list for the MDT data
container contains one or more IDNs which are not available or not
contained in parameter S-0-0188, List of configurable data in the MDT,
the error message
is generated.
If the parameter S-0-0371, Configuration list for the AT data container
contains one or more IDNs which are not available or not contained in
parameter S-0-0187, List of configurable data in the AT, the error
message
is generated.
7-26 Profile Types
ECODRIVE Cs
Checking for Existing IDNs
When inputting S-0-0370 and S-0-0371 the following checks are carried
out:
• Check in terms of whether the entered IDN is available. If not, the noncyclical data channel error message "0x1001, ID number not available"
is generated.
• Check in terms of whether the entered IDN is available in parameter
S-0-0188, List of configurable data in the MDT. If not, the noncyclical data channel error message "0x7008, Data not correct" is
generated.
Checking the Index
During operating time, the drive monitors whether the index points to a
non-initialized location in the parameters S-0-0370, Configuration list for
the MDT data container or S-0-0371, Configuration list for the AT
data container.
If this is the case, the warning
• E408 Invalid addressing of MDT data container A or
• E409 Invalid addressing of AT data container A
is generated.
Note:
The above-mentioned warnings are only generated if the lists
contain fewer IDN entries than is possible at maximum.
E409, Invalid
addressing of AT data
container A
1
0
31
S-0-0051
31
1
S-0-0048
1
0
S-0-0047
0
Tb0207f1.fh7
Fig. 7-17: Invalid addressing of AT data container A
Note:
The values written via the multiplex channel are volatile, i.e.
when the device is switched off the content gets lost!
Motor Configuration 8-1
ECODRIVE Cs
8
Motor Configuration
8.1
Characteristics of the Motors
Note:
At present, only MSM motors can be operated with
ECODRIVE Cs. Operating linear motors requires using the
appropriate measuring system (= serial encoder interface as
for MSM motors).
MSM motors have the following characteristics:
• data memory in motor feedback for all motor-specific parameters
• No temperature sensors available in motor (temperature monitoring
carried out by means of a temperature model in drive controller).
• motor encoder interface with fixed setting (absolute or incremental)
• load defaults procedure function for setting all motor-specific
parameters to useful values
• optional motor brake
See also Parameter Description: "P-0-4014, Motor type"
Motor Feedback Data Memory
A motor feedback data memory in which all motor-dependent parameters
are stored is available for MSM motors. The drive controller recognizes
them automatically and reads the motor-dependent parameters from the
data memory after switching on the device and during the command S-00128, C200 Communication phase 4 transition check.
The motor feedback data memory contains values for the following
parameters:
• S-0-0109, Motor peak current
• S-0-0111, Motor current at standstill
• S-0-0113, Maximum motor speed (nmax)
• S-0-0141, Motor type
• P-0-0018, Number of pole pairs/pole pair distance
• P-0-0051, Torque/force constant
• P-0-0510, Rotor inertia
8-2 Motor Configuration
ECODRIVE Cs
Linear Motor – Rotary Motor
Depending of the motor type (linear or rotary motor), units and number of
decimal places of parameters can be switched. The following table shows
the differences in the scaling of these parameters:
IDN
Rotary motor
Linear motor
S-0-0100
S-0-0113
S-0-0116
P-0-0018
P-0-0051
S-0-0348
20 mAs/rad
0.0001 rpm
TP/rev
pole pairs
Nm/A
mAs²/rad
10 mAs/m
0.0001 mm/min
0.00001 mm
0.1 mm
N/A
mAs²/mm
Fig. 8-1: Scaling for linear and rotary motors
The scaling of position data depends on the selected motor type. For example, it is impossible to set rotary motor reference for linear motors or
linear motor reference for rotary motors. This would cause the command
error C213 Position data scaling error to be generated during the phase
progression.
Synchronous Motor - Asynchronous Motor
Specific parameters are required only for synchronous motors, others
only for asynchronous motors.
There are the following differences in the handling and checking of
parameters in the command S-0-0128, C200 Communication phase 4
transition check:
Synchronous
• P-0-4004, Magnetizing current is set to 0 if need be
• P-0-0508, Commutation offset is checked for validity
• P-0-4047, Motor inductance is initialized
Asynchronous
• P-0-4004, Magnetizing current is initialized
• P-0-0508, Commutation offset is not checked
Note:
At present, ECODRIVE
asynchronous motor!
Cs
does
not
support
any
ECODRIVE Cs
Temperature Monitoring
For monitoring the motor temperature the following parameters are
available:
• S-0-0201, Motor warning temperature
• S-0-0204, Motor shutdown temperature
Note:
For MSM motors, the parameters were set to fixed values (S0-0201 = 145.0 °C and S-0-0204 = 155.0°C) and cannot be
changed!
The two above-mentioned thresholds are monitored in the drive:
•
Motor temperature prewarning
If the temperature of the motor exceeds the value in S-0-0201, Motor
warning temperature, the warning E251 Motor overtemp.
prewarning is generated.
•
Motor temperature shutdown
If the temperature rises up to the motor shutdown temperature, the
error F219 Motor overtemperature shutdown is generated.
Note:
To display the motor temperature, the parameter S-0-0383,
Motor temperature is used, but the display value can only be
used to a limited extent.
The drive controller monitors the proper functioning of the motor
temperature monitoring system. If discrepancies occur (temperature falls
below –10° Celsius), the warning E221 Warning Motor temp. monitor
defective will be output for 30 seconds. After that, the error message
F221 Error Motor temp. monitor defective is generated.
Load Defaults Procedure Function
The feedbacks of MSM motors contain data memories. In addition to all
motor-dependent parameters, these data memories contain a set of
default control parameters. These parameters are activated with the load
defaults procedure function.
(See also chapter "Load Default")
8.2
ECODRIVE Cs
Setting the Motor Type
Depending on the motor used, the motor type is set
• automatically by reading the motor feedback data memory or
• by input in parameter P-0-4014, Motor type.
Note:
For MSM motors it is not necessary to set the motor type!
Automatic Setting of Motor Type for Motors with Feedback Memory
MSM motors have a motor feedback data memory in which the motor
type, among other things, is stored. The drive controller automatically
recognizes these motor types and the following actions are carried out:
• The value of the parameter P-0-4014, Motor type is set to the
corresponding value and write protected.
• The value of the parameter P-0-0074, Feedback 1 type is set to the
value defined for the corresponding motor type.
• All bits except for bit 6 for absolute/not-absolute are set to "0" in the
parameter S-0-0277, Position feedback 1 type.
• All motor-dependent parameters are read from the motor feedback
data memory (see chapter: "Parameter Memory in Motor Feedback").
The parameters in the motor feedback data memory have the
parameter set number 7. They are read and copied to the
corresponding parameters with the parameter set number 0.
• The value of S-0-0201, Motor warning temperature will be set to
145.0°C and the S-0-0204, Motor shutdown temperature will be set
to 155.0°C.
• The value of P-0-0525, Type of motor brake is set to "0". The value
of P-0-0526, Brake control delay is set to 150 ms.
This procedure is carried out immediately after switching on and during
the command S-0-0128, C200 Communication phase 4 transition
check. The command error message C204 Motor type P-0-4014
incorrect is generated, if MSM motor was selected in P-0-4014, Motor
type and the corresponding string cannot be found in the motor feedback
data memory.
Setting the Motor Type via P-0-4014, Motor type
For MSM motors it is not necessary to set the motor type.
ECODRIVE Cs
8.3
Motor Holding Brake
A motor holding brake can be connected via a potential-free contact
installed in the drive controller. The brake prevents unwanted axis
movements when the drive enable signal is off (e.g. for a vertical axis
without counterweight).
Note:
The holding brake of Bosch Rexroth housing motors was not
designed as a service brake.
See also Project Planning Manual "Motor Holding Brake"
Dangerous movements! Danger to personnel
from falling or dropping axes!
DANGER
⇒ The standard equipment motor brake or an external
brake controlled directly by the drive controller are
not sufficient to guarantee the safety of personnel!
⇒ Personnel safety must be achieved using higherranking, fail-safe procedures.
Dangerous areas should be blocked off with fences
or grids.
Additionally secure vertical axes against falling or
sinking after switching off the motor power by, for
example:
- mechanically blocking the vertical axis,
- adding an external braking/catching/clamping
mechanism or
- providing sufficient counterbalance for the axis.
The following parameters are used together with the motor holding brake:
• P-0-0126, Maximum braking time
• P-0-0525, Type of motor brake
• P-0-0526, Brake control delay
• P-0-0538, Motor function parameter 1
• P-0-0540, Torque of motor brake
• P-0-0541, B200 Brake check command
• P-0-0542, B100 Command Release motor holding brake
Note:
Parameter P-0-0126 must be parameterized in accordance
with the machine requirements.
ECODRIVE Cs
Setting the Motor Brake Type
In parameter P-0-0525, Type of motor brake the motor brake tape can
be set.
Parameter structure:
P-0-0525, Type of motor brake
Bit 0 : 0 – self-holding brake
0 V at the brake, brake
applied
1 – self-releasing brake
24 V at the brake, brake
applied
Bit 1 : 0 – servo brake
brake is activated after max.
braking time
1 – main spindle brake
brake is only activated at
< 10 rpm
Fig. 8-2: Setting the motor brake type
Activating the Motor Holding Brake Depending on the
Type of Holding Brake
Spindle Brake
The motor holding brake is always activated with drive enable switched
off, if the actual velocity of the motor is lower than 10 rpm (rotary motor)
or 10 mm/min (linear motor). At the end of maximum braking time (P-00126) the error reaction that was set is completed and the drive goes
torque-free.
start of error reaction
1
0
velocity command value
n= 10min-1
0
1
0
1
0
motor brake released
output stage enabled
motor brake activated
output stage locked
t / ms
P-0-0526, Brake control delay
Sv5078f1.fh5
Fig. 8-3: Chronological diagram for command value reset and P-0-0525, Type of
motor brake, bit 1 = 1 (spindle brake)
ECODRIVE Cs
Servo Brake
The brake is activated
• as soon as the velocity falls below 10 rpm during the error reaction or
• no later than upon completion of the maximum braking time.
Correct braking time (braking time < P-0-0126):
1
0
v = 10 mm/min or
n =10 rpm
0
1
0
1
0
P-0-0126, Maximum braking time
output stage locked
t / ms
Sv5082f1.fh5
Fig. 8-4:
Chronological diagram for command value reset and P-0-0525,
Type of motor brake, bit 1 = 0 (servo brake) and actual braking
time < P-0-0126
Incorrect braking time (braking time > P-0-0126):
1
0
error reaction canceled due to
too small value in P-0-0126
0
1
0
1
0
output stage locked
t / ms
Sv5122f1.fh7
Fig. 8-5:
Chronological diagram for command value reset and P-0-0525,
Type of motor brake, bit 1 = 0 (servo brake) and actual braking
time > P-0-0126
ECODRIVE Cs
Setting the Motor Brake Control Delay
The maximum delay between the control of the holding brake and the
time when the brake has developed its full force is entered in parameter
P-0-0526, Brake control delay.
The standard value set for direct connection of holding brakes at Bosch
Rexroth motors is 150 ms.
1
0
motor brake
activated
motor brake
takes effect
1
0
1
output stage
enabled
0
0
50
100
150
200 t / ms
Sv5027f1.fh5
Fig. 8-6: Setting the motor brake control delay
Setting Maximum Braking Time
Parameter P-0-0126, Maximum braking time is used to monitor the
braking time and activate the motor holding brake, if the theoretical
braking time is considerably exceeded due to an error.
The motor holding brake is activated if the time set in P-0-0126,
Maximum braking time has passed since the start of the error reaction.
Brake damage!
If the value set in P-0-0126, Maximum braking time is
too small, the error reaction is aborted and the motor
ATTENTION holding brake activated at a speed greater than 10 rpm.
⇒ The value in P-0-0126, Maximum braking time must
be set in such a way that the drive can come to a
safe standstill out of maximum velocity, given the
greatest possible inertia and load forces.
ECODRIVE Cs
Command "Release Motor Holding Brake"
The parameter P-0-0542, B100 Command Release motor holding
brake is used to release the holding brake if drive enable has been
switched off.
The command first must be enabled using bit 9 in the P-0-0538, Motor
function parameter 1.
The motor holding brake is released upon activation of the command.
Upon completion of the command, the brake is applied again. If, with
active command, drive enable is switched on and off, the brake is applied
again.
Lethal injuries and/or property damage!
Releasing the holding brake on a vertical axis leads to
axis motion.
DANGER
Monitoring the Motor Holding Brake
The monitoring of the holding brake can be carried out automatically each
time drive enable is switched on or off or by executing the "brake check"
command. For an automatic check bit 10 must be set in the parameter
P-0-0538, Motor function parameter 1.
Automatic Checks
Switching Drive Enable On
When drive enable is switched on, the release of the brake is checked. To
do this, the drive is moved with maximum nominal brake torque.
If it is possible to move the motor with nominal brake torque, the brake
has been released as it should.
If the motor cannot be moved, the brake is considered to be applied. The
error message F269 Error during release of the motor holding brake
is generated.
Switching Drive Enable Off
When switching drive enable off, the holding torque of the brake is
checked. To do this, the nominal brake torque is applied to the motor with
the brake closed.
If the motor cannot be moved, the brake is all right.
If the motor moves during the check, the warning E269 Brake torque too
low is generated.
The warning persists until the monitor recognizes the brake as being all
right.
ECODRIVE Cs
"Brake Check" Command
With the activation of the parameter P-0-0541, B200 Brake check
command, it is first checked whether the motor can be moved with a
torque that is smaller than the nominal brake torque.
If this is not possible, the motor holding brake is applied.
The error message F269 Error during release of the motor holding
brake is generated.
If movement is possible, the nominal brake torque is generated by the
motor with the brake applied.
If the motor does not move, the brake is all right. With movement, the
attempt is made to achieve the holding torque of the brake again by
abrading the brake. After this abrasion procedure, the holding torque is
again checked. If nominal torque is again not achieved, the error
message B203 Brake torque too low is generated.
Property damage!
⇒ The holding brake check leads to axis motion.
ATTENTION
Connecting the Motor Holding Brake
See Project Planning Manual
Operating Modes 9-1
ECODRIVE Cs
9
Operating Modes
9.1
Setting the Operating Mode Parameters
By means of the parameters:
• S-0-0032, Primary mode of operation
• S-0-0033, Secondary operation mode 1
it is possible to preset four different operating modes at the same time.
In the case of a parallel interface, the secondary operating mode 1 must
be set to jogging, in order to guarantee the correct function of the jogging
inputs. When the input "jogging positive" or "jogging negative" is
activated, the drive automatically switches from the primary mode of
operation to the secondary operating mode 1.
The parameter descriptions of the above-listed parameters offer an
overview of possible input values for the parameters.
9.2
Determining/Detecting the Active Operating Mode
Depending on the kind of command communication, parameter S-0-0134,
Master control word has a different significance.
Bits 8 and 9 in the master control word determine which of the four
preselected operating modes will become effective. By configuring the
parameter to the signal control word the operating modes can also be
switched with a parallel interface.
Note:
When the jogging inputs are activated, the drive switches to
the secondary operating mode 1, if the operating mode
"jogging" has been preset in this mode. In this case, the
configured bits in the master control word have no significance
(jogging inputs have priority).
Bits 8 and 9 in master control
word
9.3
Effective operating mode
00
01
10
11
Fig. 9-1:
primary mode of operation
secondary operating mode 1
Determining/detecting the active operating mode in the master
control word
Note:
If "0" was entered in the effective operating mode parameters
and this operating mode is activated, error F207 Switching to
uninitialized operation mode is generated.
Operating Mode: Torque Control
Note:
In the case of field bus drives, torque control is only possible in
conjunction with analog operation (P-0-4084 = 0xFFFE).
9-2 Operating Modes
ECODRIVE Cs
A torque command value is preset for the drive in the operating mode
torque control. When the operating mode is activated, the diagnostic
message reads A100 Drive in TORQUE control.
The command value has two components that are added. They are
specified in parameter S-0-0080, Torque/force command value and in
parameter S-0-0081, Additive torque/force command value.
Torque
controller
Torque
command value
M
Fig. 9-2: Torque control block diagram
• S-0-0080, Torque/force command value
• S-0-0081, Additive torque/force command value
• P-0-4046, Active peak current
• P-0-0176, Torque/force command smoothing time constant
Torque Controller
The sum of S-0-0080, Torque/force command value and S-0-0081,
Additive torque/force command value is limited with the active peak
current P-0-4046, Active peak current. The active peak current is
derived from the current and torque limit.
(See also chapter: "Current Limit" and "Torque/Force Limiting")
st
The limited torque command value is filtered by a 1 order filter. The time
constant of the filter is determined by parameter P-0-0176, Torque/force
command smoothing time constant.
The limiting and filtering process provides the effective torque-generating
command current. It is the command value for the (effective) current
controller.
By means of the "Analog output of predefined signals" the effective
command current can be output in analog form.
S-0-0107, Current loop
integral action time 1
S-0-0081, Additive
torque/force command
value
proportional gain 1
S-0-0080, Torque/force
command value
M
P-0-4046, Active peak
current
P-0-0176, Torque/force
command smoothing time
constant
actual current
value
torque-generating command
current IqCMD
Fig. 9-3: Torque controller
Operating Modes 9-3
ECODRIVE Cs
Diagnostic Messages
Monitoring specific to operating mode:
The actual velocity is monitored with regard to the 1.125-fold value of
parameter S-0-0091, Bipolar velocity limit value. If this value is
exceeded, the error message F879 Velocity limit S-0-0091 exceeded is
generated.
See also chapter: "Limiting to Bipolar Velocity Limit Value"
9.4
Operating Mode: Velocity Control
Note:
For field bus devices, this operating mode takes effect with the
selection of profile P-0-4084 = 0x0003 or P-0-4084 = 0xFF93.
A velocity command value is preset for the drive in the "velocity control"
operating mode. The velocity command value is limited with ramps and
filter. The diagnostic message reads A101 Drive in VELOCITY control
when this operating mode is active.
The velocity command value has two components that are added. The
components have to be specified in the parameters S-0-0036, Velocity
command value and S-0-0037, Additive velocity command value.
The torque/force command value is generated internally by the velocity
controller. An additive component can be added to this command value
by parameter S-0-0081, Additive torque/force command value.
• S-0-0036, Velocity command value
• S-0-0037 Additive velocity command value
• S-0-0081, Additive torque/force command value
• S-0-0091, Bipolar velocity limit value
• P-0-1201, Ramp 1 pitch
• P-0-1202, Final speed of ramp 1
• P-0-1211, Deceleration ramp 1
• P-0-1222, Velocity command filter
Command value
processing
Velocity controller
Velocity command
value
Velocity controller
Torque/force
command value
Fig. 9-4: Velocity control block diagram
Current
controller
M
9-4 Operating Modes
ECODRIVE Cs
Command Value Processing in Velocity Control
The preset S-0-0036, Velocity command value is limited to S-0-0091,
Bipolar velocity limit value. If the command value is higher, the
message E263 Velocity command value > limit S-0-0091 is output. The
command value is then acceleration-limited via P-0-1201, Ramp 1 pitch.
If command velocity exceeds the speed in parameter P-0-1202, Final
speed of ramp 1, the command value is acceleration-limited in terms of
value P-0-1203, Ramp 2 pitch. Parameters P-0-1211, Deceleration
ramp 1 or P-0-1213, Deceleration ramp 2 are used for deceleration. This
means that for acceleration and deceleration procedures various ramps
can be used. The limited velocity command value is jerk-limited by means
st
of a filter of the 1 order (P-0-1222, Velocity command filter).
If parameters P-0-1211, Deceleration ramp 1 or P-0-1213, Deceleration
ramp 2 are equal to zero, the parameters P-0-1201, Ramp 1 pitch or
P-0-1203, Ramp 2 pitch are used.
E263 Velocity command value >
limit S-0-0091
S-0-0036,
Velocity command
value
Effective velocity
command value
P-0-1201,
Ramp 1 pitch
P-0-1222, Velocity
command filter
P-0-1202,
Final speed of ramp 1
P-0-1203,
Ramp 2 pitch
P-0-1213,
Deceleration ramp 2
P-0-1211,
Deceleration ramp 1
Fig. 9-5:
Command value processing in velocity control
See also chapter: "Velocity Controller"
See also chapter: "Current Controller"
Operating Modes 9-5
ECODRIVE Cs
Velocity Controller
The value S-0-0037, Additive velocity command value is added to the
effective velocity command value. In addition, it is limited to S-0-0091,
Bipolar velocity limit value.
(See also chapter: "Limiting to Bipolar Velocity Limit Value")
The velocity control difference is results from subtraction of the actual
velocity value that is used for control. At a mixing point the actual
velocities of the motor and, if available, of the external measuring system
can be mixed to form an actual velocity value that is used for control (see
also chapter: "Setting the Velocity Mix Factor"). Via P-0-0004, Velocity
loop smoothing time constant you can set the low-pass filter that filters
the control difference for the velocity controller. This filtered control
difference is passed to the velocity controller. The output of the velocity
controller is added to S-0-0081, Additive torque/force command value
and then passed to the current and torque/force limitation (see also
chapters "Current Limit" and "Torque/Force Limiting").
To filter mechanical resonance frequencies, a band-stop filter can be
applied to this torque/force command value. Using parameter P-0-0180,
Rejection frequency velocity loop and P-0-0181, Rejection bandwidth
velocity loop the frequency range which must be suppressed can be
parameterized (see also chapter "Setting the velocity controller").
S-0-0101, Velocity loop integral
action time
P-0-4046,Active peak
current
S-0-0100, Velocity loop
proportional gain
P-0-0180, Rejection
frequency velocity loop
P-0-0004, Velocity loop smoothing
time constant
P-0-0181, Rejection
bandwidth velocity loop
S-0-0091, Bipolar velocity value limit
P-0-0181
Effective velocity
command value
S-0-0037, Additive velocity
command value
S-0-0080
Torque/
force
command
value
Actual velocity
P-0-0004, Velocity loop smoothing
time constant
E259 Command velocity limit active
Fig. 9-6: Velocity controller
See also chapter: "Command value processing velocity control"
9-6 Operating Modes
ECODRIVE Cs
Current Controller
The current controller is parameterized with S-0-0106, Current loop
proportional gain 1 and S-0-0107, Current loop integral action time 1 (see
also chapter: "Setting the Current Controller").
integral action tim e-1
proportional gain 1
S-0-0080, T orque/force
com m and
M
Actual current value
Fig. 9-7: Current controller
Diagnostic Messages
• E2059 Velocity command value limit active
If the resulting command value is within the limit, the warning E259
Command velocity limit active is displayed.
• E263 Velocity command value > limit S-0-0091
Parameter S-0-0036, Velocity command value is limited to the value
of parameter S-0-0091, Bipolar velocity limit value, if the value in
S-0-0036 is higher than the value in S-0-0091. In this case the warning
E263 Velocity command value > limit S-0-0091 is generated.
Operating Modes 9-7
ECODRIVE Cs
9.5
Operating Mode: Position Control
Note:
The "Position control" mode is only possible in conjunction
with SERCOS.
In the "Position control" mode, a position command value is preset for the
drive in the NC cycle clock. The time base is defined by S-0-0001, NC
Cycle time (TNcyc).
When this mode is activated, the diagnostic message is one of the
following:
• A102 Position mode with encoder 1
• A103 Position mode with encoder 2,
• A104 Position mode lagless, encoder 1,
• A105 Position mode lagless, encoder 2
The command value is specified in the parameter S-0-0047, Position
command value.
• Monitoring the command velocity versus the value of the parameter
S-0-0091, Bipolar velocity limit value (see chapter: "Position
Command Value Monitoring").
If this value is exceeded, the error F237 Excessive position command
difference is generated.
The position command value specified in S-0-0047, Position command
value first goes through an interpolator to be then preset for the position
controller.
Command value
processing
Position control
Position command
value
Position
controller
Velocity
controller
Velocity command
value
Torque/force
command value
Fig. 9-8: Position control block diagram
Current
controller
M
9-8 Operating Modes
ECODRIVE Cs
Command Value Processing in Position Control
A command velocity is generated from two successive position command
values. The parameter S-0-0001, NC Cycle Time (TNcyc) acts as the
time basis.
The rule for generating the command velocity is as follows:
Vcmd =
pos. command value (k) − pos. command value (k − 1)
S − 0 − 0001
Vcmd:
command velocity
Fig. 9-1: Generating the command velocity
This velocity is monitored to determine whether it exceeds S-0-0091,
Bipolar velocity limit value (see also chapter: "Position Command
Value Monitoring"). If S-0-0091 is exceeded, the error F237 Excessive
position command difference is generated.
The preset position command value profile can be jerk-limited with the
parameter P-0-0099, Position command smoothing time constant.
The position control loop is closed every 1000us. To do this, the position
command value in the NC cycle clock is fine interpolated.
There is a linear and a cubic interpolator available, they can be switched
via bit 0 of P-0-0187, Position command value processing mode. In
general, the cubic interpolator is recommended unless the timing behavior
of the linear interpolator is required (see parameter description of P-00187). In particular with lagless position control, the cubic interpolator is
much better suited than the linear one, because it provides a clearly
higher quality of velocity and acceleration feedforward.
P-0-0099, Position command
smoothing time constant
S-0-0047, Position
command value
See also Pos. Controller
Fine
interpolator
Position
command
value
F237: Excessive position
command difference
S-0-0091, Bipolar velocity limit value
Fig. 9-9: : Command value processing: position control
See also chapter: "Position Controller"
Operating Modes 9-9
ECODRIVE Cs
Position Command Value Monitoring
If the drive is operated in the position control mode with cyclical position
command values, new position command values are transmitted to the
drive every NC cycle (S-0-0001, NC Cycle time (TNcyc)). The difference
between the current and the last position command value is determined
and checked for plausibility.
Reasons why the monitoring function is activated:
• incorrect command values by control unit
• command value transmission error
If the "Position control" operating mode is active, the velocity resulting
from the preset position command values of parameter S-0-0047,
Position command value is compared to
• S-0-0091, Bipolar velocity limit value.
The parameter S-0-0001, NC Cycle Time (TNcyc) acts as the time base
for converting the position command value differences into a velocity.
If the command velocity resulting from the position command value
exceeds S-0-0091, Bipolar velocity limit value, the error
• F237 Excessive position command difference
is generated. For diagnostic purposes, both parameters
• P-0-0010, Excessive position command value
• P-0-0011, Last valid position command value
will be saved. The velocity resulting from the difference of the two values
generated the error.
s
S-0-0047, Position
command value
v
t
resulting velocity=
position command
value difference
t
generating the error F237
excessive position command
difference
Sv5028f1.fh5
Fig. 9-10: Monitoring the position command value differences and generating the
error F237 Excessive position command difference
Position Command Value Monitoring - Setting
The position command value monitor uses the parameter S-0-0091,
Bipolar velocity limit value. S-0-0091 should be set to approximately
5 to 10% above the planned maximum velocity of the axis.
9-10 Operating Modes
9.6
ECODRIVE Cs
Operating Mode: Drive-Internal Interpolation
Note:
The operating mode "Drive internal interpolation" becomes
effective in the drive for Profibus, DeviceNet and CanOpen,
when the profile P-0-4084 = 0xFF91is selected. The target
position must be preset via parameter S-0-0258, Target
position, the target position is immediately accepted.
In the "drive-internal interpolation" mode, a target position (absolute) is
preset for the drive. The drive moves to the preset target position while
maintaining positioning velocity, positioning acceleration and positioning
jerk.
For the travel process:
• S-0-0108, Feedrate override
• S-0-0193, Positioning Jerk
• S-0-0258, Target position
• S-0-0259, Positioning Velocity
• S-0-0260, Positioning Acceleration
• S-0-0359, Positioning Deceleration
• S-0-0393, Command value mode
For the status display:
Drive-internal
interpolation
Target
position
Position
controller
Position
command value
Velocity
controller
Velocity command
value
Current
controller
M
Torque/force
command value
Fig. 9-11: Drive-internal interpolation block diagram
Functional Principle
The target position can be cyclically preset via parameter S-0-0258,
Target position.
Note:
The control bits contained in parameter S-0-0393 (bit 3 and
bit 4) are irrelevant in this operating mode.
Operating Modes 9-11
ECODRIVE Cs
The drive generates the position command value profile necessary to
move to the target position, considering the requirements defined in the
following parameters:
Effective Positioning Velocity
The drive reaches its maximum velocity after an acceleration phase with
the value set in parameter S-0-0260, Positioning Acceleration.
The maximum velocity during a positioning procedure is the result of:
Vmax = S − 0 − 0259, Positioning Velocity *
Effective Acceleration and
Deceleration
S − 0 − 0108, Feedrate override
100 %
The maximum deceleration
Positioning Deceleration.
is
defined
in
parameter
S-0-0359,
If the value in parameter S-0-0359, Positioning Deceleration equals
zero, the drive uses the parameter S-0-0260, Positioning Acceleration
for deceleration, too.
Property damage caused by incorrect
parameterization!
CAUTION
If the values for positioning deceleration and acceleration
equal zero, the drive cannot brake. The preset target is
never reached or is overrun.
⇒ Always enter a value > 0 for positioning acceleration.
Smoothing Filter (or Jerk Filter)
Acceleration and deceleration are smoothed by presetting a jerk limit
value by means of PT1 filtering. Damit wird die Beschleunigung bzw.
Verzögerung erst nach t = 5*TR wirksam.
The time constant TR of the smoothing filter (jerk filter) results from:
TR =
S − 0 − 0260, Positioning Acceleration
S − 0 − 0193, Positioning Jerk
TR =
S − 0 − 0359, Positioning Deceleration
or
Note:
For the acceleration and deceleration process only one time
constant (the bigger one) from the above formulas is used.
ECODRIVE Cs
When S-0-0193, Positioning Jerk = 0 the smoothing filter is switched off,
i.e. the desired acceleration or deceleration is reached immediately.
Operating mode: drive-internal interpolation
E249 E253
position controller
driveXcmd
internal
interpolation
S-0-0258,
Target position
S-0-0259,
Positioning Velocity
S-0-0260,
Positioning Acceleration
S-0-0193,
Positioning Jerk
S-0-0108,
Feedrate override
S-0-0359,
Positioning Deceleration
FP5063F1.FH7
Fig. 9-12: Generating the position command value with drive internal interpolation
S-0-0393, Command value mode
Via bit 0 and bit 1 in parameter S-0-0393, Command value mode it is
possible to determine the processing and operating principle of S-0-0258,
Target position with modulo processing.
Bit 1,0: Mode
00: shortest way
01: positive direction
10: negative direction
Fig. 9-13:
Bit 2:
Target position after
activating operating mode
Not relevant in this operating
mode!
Bit 3:
relative or absolute
mode!
Bit 4:
Acceptance of positioning
command value
mode!
Structure of parameter S-0-0393, Command value mode
See also Parameter Description
modeCommand value mode"
"S-0-0393,
Command
value
ECODRIVE Cs
Monitoring Functions and Diagnostic Messages
The diagnostic message with activated operating mode is one of the
following:
• A106 Drive controlled interpolation, encoder 1
• A108 Drive controlled interpolation, lagless, encoder 1
The following checks are carried out:
E253 Target position out of
travel range
• If position limit value monitoring is activated (bit 4 of S-0-0055,
Position polarities is set) and the measuring system used for the
operating mode has been homed, the parameter S-0-0258, Target
position is monitored for complying with the position limit values
(S-0-0049 or S-0-0050). If these values are exceeded, the warning
E253 Target position out of travel rangeTarget position out of
travel range is generated.
The preset target position will not be accepted.
E247 Interpolation velocity = 0
• If the positioning velocity specified in S-0-0259, Positioning velocity
equals "0", the warning E247 Interpolation velocity = 0 is generated.
This warning is only generated if the content of parameter S-0-0259 is
not cyclically transmitted via command communication (SERCOS,
Profibus, ...) to the drive.
E248 Interpolation
acceleration = 0
• If the positioning acceleration specified in S-0-0260, Positioning
acceleration equals "0", the warning E248 Interpolation
acceleration = 0 is generated.
E249 Positioning
velocity >= S-0-0091
• If the preset positioning velocity (S-0-0259, Positioning Velocity)
exceeds the maximum allowed limit value (S-0-0091, Bipolar velocity
limit value), the E2049 Positioning velocity >= S-0-0091 warning is
generated.
The drive will move to the new target position with the velocity S-0-0091,
Bipolar velocity limit value .
E255 Feedrate override
S-0-0108 = 0
• If the factor of the positioning velocity S-0-0108, Feedrate override
equals "0", the warning E255 Feedrate override S-0-0108 = 0 is
generated.
Status Messages During the Operating Mode "Drive-Internal
interpolation"
In parameters S-0-0013, Class 3 diagnostics and S-0-0182,
Manufacturer class 3 diagnostics there are the following status
messages for the operating mode "Drive controlled positioning":
• "Target position reached", bit 12 of parameter S-0-0013, Class 3
diagnostics
• "IN_TARGET
POSITION";
bit 10
of
parameter
S-0-0182,
Manufacturer class 3 diagnostics for Profibus, DeviceNet and
CanOpen (mapped to bit 4 of parameter P-0-4078, Field bus status
word)
• "IZP"; bit 6 of S-0-0182, Manufacturer class 3 diagnostics
ECODRIVE Cs
The following travel profile explains how the status messages work:
V
positioning
velocity
starting position
target position
X
Sv5051f2.fh7
Fig. 9-14:
Travel profile to explain how the interpolation status messages work
In this example, the drive is at the starting position when the new target
position is preset.
The result is the following time diagram:
V
actual velocity value
0
t
standstill
window
X
target
position
pos. cmd. val.
actual
pos. val.
starting position
t
t
positioning
window
positioning
window
X
following
error
(magnified)
t
S-0-0013, bit 12,
target position
reached
1
0
S-0-0182, bit 10,
In target position
1
0
positioning
window
t
t
S-0-0182, bit 6,
IZP
1
0
t
t0- new target position is preset
Sv5050f2.fh7
Fig. 9-15: Generating the status bits of the operating modes with drive-internal
interpolation
ECODRIVE Cs
9.7
Operating Mode: Drive-Controlled Positioning
Note:
For field bus drives. the operating mode "Drive-controlled
positioning" can only be used in the freely configurable mode
(profile selection P-0-4084 = 0xFFFE). In this case, parameter
S-0-0282, Positioning command value is to be configured in
the real-time channel to transmit the absolute target position or
the travel distance. The control and status bits needed for the
function are contained in the field bus control and status
words.
In the operating mode "Drive-controlled positioning" the drive receives a
positioning command value (absolute or relative). The drive moves to the
specified target position maintaining positioning velocity, positioning
acceleration and positioning jerk.
For the travel process:
• S-0-0258, Target position
• S-0-0282, Positioning command value
• S-0-0346, Positioning command strobe
• S-0-0393, Command value mode
For the status display:
• S-0-0419, Positioning command acknowledge
Drive-controlled
positioning
Positioning
command value
Position
controller
Position
command value
Velocity
controller
Velocity
command value
Current
controller
Torque/force
command value
Fig. 9-16: "Drive controlled positioning" block diagram
M
ECODRIVE Cs
Target position or travel distance is specified in parameter S-0-0282,
Positioning command value. In bit 3 of parameter S-0-0393, Command
value mode it is set whether the positioning command value is to be
traveled in relative or absolute form.
Absolute Positioning Command
Value
(S-0-0393, bit 3=0)
A status change in parameter S-0-0346, Positioning command strobe
means the positioning command value is directly accepted in parameter
S-0-0258, Target position.
Relative Positioning Command
Value
(S-0-0393, bit 3=1)
A status change in parameter S-0-0346, Positioning command strobe
means the positioning command value is added to parameter S-0-0258,
Target position.
Note:
For field bus drives, bit 0 of parameter S-0-0346, Positioning
command strobe is cyclically transmitted in the field bus
control word (bit 0). This means it is not necessary to
configure S-0-0346 in the real-time channel (cf. P-0-4081,
Real-time output object structure).
Note:
The target position can also be directly set in parameter
S-0-0258, Target position. The specified value is always
processed in absolute form and is immediately preset for the
position command value generator, i.e. bits 3 and 4 of
parameter S-0-0393, Command value mode and parameter
S-0-0346, Positioning command strobe are irrelevant in this
case.
The drive generates the position command value profile necessary to
move to the target position considering the requirements of:
Effective Positioning Velocity
The drive reaches its maximum velocity after an acceleration phase with
the value set in S-0-0260, Positioning Acceleration.
The maximum velocity during a positioning procedure is the result of:
Vmax = S − 0 − 0259, Positioning Velocity *
Deceleration
S − 0 − 0108, Feedrate override
100%
The maximum deceleration is fixed in parameter S-0-0359, Positioning
Deceleration.
If parameter S-0-0359, Positioning Deceleration equals zero, the drive
uses parameter S-0-0260, Positioning Acceleration for deceleration, too.
ECODRIVE Cs
parameterization!
CAUTION
If the values for positioning deceleration and acceleration
equal zero, the drive cannot brake. The preset target is
never reached or is overrun.
⇒ Always enter a value > 0 for positioning acceleration.
Smoothing Filter (or Jerk Filter)
Acceleration and deceleration are smoothed by presetting a jerk limit
value by means of PT1 filtering. This means that acceleration or
deceleration only become effective after t= 5*TR.
The time constant TR of the smoothing filter (jerk filter) results from:
TR =
S − 0 − 0260, Positioning Acceleration
TR =
S − 0 − 0359, Positionin g Decelerati on
S − 0 − 0193, Positionin g Jerk
or
Note:
For the acceleration or deceleration process only one time
constant, that is to say the bigger one from the above
formulas, is used.
When S-0-0193, Positioning Jerk = 0 the smoothing filter is switched off;
i.e. the desired acceleration or deceleration is reached immediately.
S-0-0108, Feedrate override
S-0-0193, Positioning Jerk
S-0-0260, Positioning Acceleration
S-0-0359, Positioning Deceleration
S-0-0393,
Command value
mode, bit3
position target
interpreter
0
S-0-0282,
Positioning command
value
1
S-0-0258,
Target position
v
command value
generator
position
command
value
+
t
S-0-0346,
Positioning command
strobe
S-0-0419,
Positioning command
acknowledgment
E248 Interpolation acceleration = 0
E249 Positioning velocity >= S-0-0091
E253 Target position out of travel range
E255 Feedrate override S-0-0108 = 0
E263 Velocity command value > limit S-0-0091
E264 Target position out of num. range
Fp5066f1.fh7
Fig. 9-17: Generating the position command value
S-0-0393, Command value mode
ECODRIVE Cs
The acceptance and relevance of parameter S-0-0282, Positioning
command value depends on the settings in parameter S-0-0393,
Command value mode.
Bit 1,0: Mode
00: shortest way
01: positive direction
10: negative direction
Fig. 9-18:
Bit 2:
Target position after
activating operating mode
0: reference for relative
positioning is S-0-0258
1: reference for relative
positioning is actual pos. value
Bit 3:
relative or absolute
0: positioning command value
is absolute target position
1: positioning command value
is relative position
(travel distance)
Bit 4:
Acceptance of positioning
command value
0: drive first moves to current
target before moving to new
target
1: drive immediately moves to
positioning command value,
previous target is rejected
Structure of parameter S-0-0393, Command value mode
For further information, see also Parameter Description S-0-0393,
Command value mode.
ECODRIVE Cs
Acknowledging Command Value Acceptance
S-0-0419, Positioning command
acknowledgment
Acknowledging the acceptance of S-0-0282 is used to inform the control
unit of whether the preset positioning command value was accepted by
the drive or not.
Note:
For field bus drives, bit 0 of parameter S-0-0419, Positioning
command acknowledgment is cyclically transmitted in the
field bus status word (bit 10). This means it is not necessary to
configure S-0-0419 in the real-time channel.
S-0-0282, Pos.
command value
(k+3)
(k+1)
(k)
(k+2)
S-0-0346,
Positioning command strobe
(k+1)
(k)
accepted positioning
command value
(k+2)
(k+3)
(k+3)
(k+1)
(k)
(k+2)
(k)
(k+1)
S-0-0419,
Pos. command acknowledgment
(k+2)
(k+3)
taccept
Fig. 9-19: Positioning command value acceptance and acknowledgment
Time taccept (see illustration above) defines the time between status
change of the acceptance bit by the control unit and the reception of
acknowledgment in the control unit. The time is made up of the effective
transmission time of the command and actual values and thus depends
on the configuration of the interface to the control unit (e.g.
SERCOS/Fieldbus-Timing-Parameter).
Note:
Acknowledge if Parameter
S-0-0393, Command value mode,
Bit 4 = 0
If the operating mode "Drive-controlled positioning" is not yet
active, the acknowledgment of acceptance of the new
positioning command value does not take place.
By setting bit 4 to the value "0" in parameter S-0-0393, Command value
mode it is ensured that a positioning command value specified once will
always be run to.
The acknowledgment of acceptance takes place when the new
positioning command value is accepted from the intermediate memory in
parameter S-0-0258, Target position and thus in the position command
value generator.
ECODRIVE Cs
S-0-0346, Positioning command strobe
S-0-0282, Pos. command value
(k+2)
taccept
(k)
internal position
command value
(k+1)
S-0-0419, Pos. command acknowledgment
(command value accepted)
message "Target position reached" (S-0-0013, bit 12)
Fig. 9-20:
Acknowledgment with Error
Positioning Command Value
Overflow
Acknowledgment of acceptance of positioning command value in
mode "complete move to positioning command value (k+2)"
If in mode "complete move to positioning command value" the attempt is
made to set a new positioning command value by toggling parameter
S-0-0346, Positioning command strobe, although the previous
positioning command value (k+1) has not yet been accepted (as its
previous positioning command value (k) was not run to yet), the error
F250 Overflow of target position preset memory is generated.
S-0-0346, Positioning
command strobe
command value
(k)
(k+2)
internal position
command value
(k+3)
(k+1)
F250 Overflow of target
position preset memory
positioning command acknowledgment
Fig. 9-21:
Acknowledgment with error positioning command value overflow
ECODRIVE Cs
Monitoring Functions and Diagnostic Messages
The diagnostic message with activated operating mode is one of the
following:
The following checks are carried out:
E253 Target position out of
travel range
•
If position limit value monitoring is activated (bit 4 of S-0-0055,
Position polarities is set) and the measuring system used for the
operating mode has been homed, the parameter S-0-0258, Target
position is monitored for complying with the position limit values
(S-0-0049 or S-0-0050). If these values are exceeded, the warning
E253 Target position out of travel range is generated.
The preset target position will not be accepted.
• If the positioning velocity specified in S-0-0259, Positioning velocity
equals "0", the warning E247 Interpolation velocity = 0 is generated.
This warning is only generated if S-0-0259 is not cyclically transmitted
to the drive via command communication (SERCOS, Profibus, ...).
E248 Interpolation
acceleration = 0
• If the positioning acceleration specified in S-0-0260, Positioning
acceleration equals "0", the warning E248 Interpolation
acceleration = 0 is generated.
E249 Positioning
velocity >= S-0-0091
• If the preset positioning velocity S-0-0259, Positioning Velocity
exceeds the maximum allowed limit value (S-0-0091, Bipolar velocity
limit value), the E249 Positioning velocity >= S-0-0091 warning is
generated.
The drive will move to the new target position with the velocity S-0-0091,
Bipolar velocity limit value.
E255 Feedrate override
S-0-0108 = 0
• If the factor of the positioning velocity S-0-0108, Feedrate override
equals "0", the warning E255 Feedrate override S-0-0108 = 0 is
generated.
E264 Target position out of num.
range
• If the internal numeric range for the position data is exceeded due to
continuous relative positioning, the warning E264 Target position out
of num. range is generated.
ECODRIVE Cs
Status Messages
In parameters S-0-0013, Class 3 diagnostics and S-0-0182,
Manufacturer class 3 diagnostics there are the following status
messages for the operating mode "Drive-controlled positioning":
• "Target position reached"; bit 12 of S-0-0013, Class 3 diagnostics
• "IN_TARGET POSITION"; bit 10 of S-0-0182, Manufacturer class 3
diagnostics
• "IZP"; bit 6 of S-0-0182, Manufacturer class 3 diagnostics
The following travel profile explains how the status messages work.
V
positioning
velocity
starting position
target position
X
Sv5051f2.fh7
Fig. 9-22:
Travel profile to explain how the interpolation status messages work
In this example, the drive is at the starting position when the new target
position is preset. The result is the following time diagram:
V
0
t
standstill
window
X
target
position
pos. cmd. val.
actual
pos. val.
starting position
t
t
positioning
window
positioning
window
X
following
error
(magnified)
t
S-0-0013, bit 12,
target position
reached
1
0
S-0-0182, bit 10,
In target position
1
0
positioning
window
t
t
S-0-0182, bit 6,
IZP
1
0
t
t0- new target position is preset
Sv5050f2.fh7
Fig. 9-23: Generating status bits of operating modes with drive-controlled
positioning
ECODRIVE Cs
9.8
Operating Mode: Positioning Block Mode
Note:
With the following profile types the operating mode
"positioning block mode" is automatically set internally (only
with Profibus, DeviceNet and CanOpen):
-
P-0-4084, Profile type = 0xFF80
-
-
With the operating mode "Positioning block mode" it is possible to run
64 programmed positioning blocks. The drive runs in position control to
the target position, while maintaining velocity, acceleration, deceleration
and jerk limits as defined in each positioning block. The positioning blocks
are addressed via the block selection.
Note:
For the DKC10.3 basic device without plug-in card, digital
inputs (cf. X5) can be used to select the blocks.
Sequential block processing allows executing several positioning blocks
processed in direct sequence without having to give a new start signal
each time.
Typical applications are positioning processes which cover long distances
at high speeds (rapid traverse) and then position at end position at low
speeds without any intermediate stops. For example:
• Taking up or putting down transport goods in handling robots
• Execution of joining processes in assembly facilities
A sequential block chain is made up of a start block and one or more
sequential blocks. The start block is selected and activated in the usual
manner. The transition to a sequential block can be carried out in different
ways.
Note:
Sequential block mode is possible with absolute and relative
positioning blocks with residual path storage. The final block of
a sequential block chain is not defined as a sequential block.
This identifies the end of the sequential block chain.
ECODRIVE Cs
• P-0-4006, Positioning block target position
• P-0-4007, Positioning block velocity
• P-0-4008, Positioning block acceleration
• P-0-4009, Positioning block jerk
• P-0-4019, Positioning block mode
• P-0-4026, Positioning block selection
• P-0-4051, Positioning block acknowledgment
• P-0-4052, Positioning block, last accepted
• P-0-4057, Positioning block, input linked blocks
• P-0-4060, Positioning block control word
• P-0-4063, Positioning block deceleration
• S-0-0346, Positioning command strobe
Note:
Parameter S-0-0259 is used in positioning block mode to
reduce positioning velocity (see also P-4060, Positioning
block control word).
Operating Principle
Positioning Block Elements
A positioning block is defined with:
• P-0-4006, Positioning block target position
• P-0-4007, Positioning block velocity
• P-0-4008, Positioning block acceleration
• P-0-4019, Positioning block mode
• P-0-4063, Positioning block deceleration
Note:
Each parameter has 64 elements, elements of the same
number write this number to the travel profile of the positioning
block.
The drive reaches the relevant positioning block velocity after an
acceleration phase with the relevant P-0-4008, Positioning block
acceleration.
The effective velocity during a positioning procedure is calculated as
follows:
Vmax = P - 0 - 4007 ∗ S - 0 - 0108 / 100%
Vmax:
velocity
P-0-4007:
positioning block velocity
S-0-0108:
feedrate override
Fig. 9-24: Effective velocity during a positioning procedure
The maximum deceleration is specified by parameter P-0-4063,
Positioning block deceleration.
ECODRIVE Cs
Deceleration
If the value of parameter P-0-4063, Positioning block deceleration
equals zero, then the drive uses parameter P-0-4008, Positioning block
acceleration to decelerate.
Property damage!
CAUTION
If the acceleration and deceleration values are equal to
zero, the drive can no longer brake. The specified target
is never reached or overrun.
⇒ Set acceleration value > 0
Acceleration and deceleration values are smoothed with the specification
of a jerk limit value using a PT1 filter. The acceleration or deceleration is
thus reached only after about five times the time constant.
The time constant of this smoothing filter is calculated as follows:
T = P - 0 - 4008 / P - 0 - 4009
or
T = P - 0 - 4063 / P - 0 - 4009
P-0-4009, Positioning block jerk
P-0-4063, Positioning block deceleration
Fig. 9-25: Determining the time constant
The same time constant is used for both acceleration and deceleration.
The greater time constant of the above relationship is set.
If the value of parameter P-0-4009, Positioning block jerk is equal to
zero, the smoothing filter is off, acceleration or deceleration is being
reached immediately.
Positioning Block Control Word
With parameter P-0-4060, Positioning block control word the positioning
velocity can be limited to the value defined in parameter S-0-0259,
Positioning Velocity.
Position Feedback
If a positioning block is completed, bit 12 "End position reached" is set in
parameter S-0-0182, Manufacturer class 3 diagnostics (Å |target
position-actual position value| < positioning window).
Interrupting a Positioning Block
The positioning block mode can be interrupted by
• removal of drive enable or
• activation of Drive Halt.
ECODRIVE Cs
Activating Positioning Blocks
"Positioning block mode" must be entered as the primary mode of
operation. By activating drive enable and setting Drive Halt = 1 the drive is
in primary mode of operation.
A positioning block is started by
• Status change of bit 0 of the parameter S-0-0346, Positioning
command strobe.
• In the case of DKC10.3 (without plug-in card), the status change of
bit 0 of the parameter S-0-0346, Positioning command strobe is
caused by a positive edge at the digital input (cf. X5).
• If the drive is working in the freely configurable mode (P-0-4084,
Profile type = 0xFFFE), the command value acceptance is
transmitted in the field bus control word (P-0-4077, bit 0 corresponding
to S-0-0346 bit 0).
• If profile type I/O mode (P-0-4084, Profile type = 0xFF80) was set in
the drive, a positioning block starts by setting the start signal
(P-0-4077, Field bus control word, bit 1) or the strobe signal
(P-0-4077, Field bus control word, bit 3).
Note:
Block Selection
As long as the parameter does not toggle, the drive will remain
on the actual position or be brought to a position-controlled
standstill.
In positioning block mode, a positioning block is selected by
• by writing data to P-0-4026, Positioning block selection or
• by bit 8...bit 13 in P-0-4077, Field bus control word in I/O mode, for
Profibus, DeviceNet and CanOpen.
Positioning Block Mode with
Parallel Interface
For the DKC10.3 there are 7 freely configurable digital inputs and 3 freely
configurable digital outputs available. By configuring parameters S-00145, Signal control word and S-0-0144, Signal status word the
parallel interface is determined. The assignment to the outputs and inputs
is carried out via parameters P-0-0124 or P-0-0125.
Positioning Block Modes
Parameter P-0-4019, Positioning block mode is used to define the way
in which the target position is processed in parameter P-0-4006,
Positioning block target position. There are the following options:
• Absolute positioning
• Relative positioning
• Relative positioning with residual path storage
• Infinite travel in positive / negative direction
• Sequential block processing
Note:
The control of field bus drives is not carried out via parameter
S-0-0134, Master control word, but via the profile typedependent bits in P-0-4077, Field bus control word.
ECODRIVE Cs
Absolute Positioning
Requirements
Parameter P-0-4019, Positioning block mode = 101h
In an absolute positioning block, the target position is a fixed (absolute)
position within the machine co-ordinate system.
Requirements for Carrying Out
Absolute Positioning Blocks
• The drive must have been homed.
• The travel range can be limited with position limit values. Absolute
positioning blocks are only carried out if the target position is within the
allowed travel range.
Example
Absolute positioning with target position = 700
S-0-0124,
Standstill window
v
velocity profile
x=700
x=200
P-0-4026,
Positioning block
selection
P-0-4051,
Positioning block
acknowledgment
01
01
~01
AH
S-0-0134, Master
control word (bit 13)
end position reached
S-0-0182, Manufacturer
class 3 diagnostics (bit 12)
standstill
command strobe
< 4 ms
t
positioning inputs valid
positioning acknowledgment outputs show negated status of positioning inputs
positioning acknowledgment outputs show non-inverted status of positioning
inputs after valid block acceptance
Fig. 9-26: Absolute positioning block
SV0001D2.fh7
ECODRIVE Cs
Relative Positioning without Residual Path Storage
Requirements
Relative positioning blocks are also carried out, if the drive has not been
homed.
Reference Position
In the case of relative positioning blocks without residual path storage, the
target position contained in the positioning block is added to the current
position.
Residual Path
If positioning blocks are interrupted, a distance still to be traveled up to
the target position remains. This remaining distance is the residual path.
Incremental Dimension
Reference
By sequencing relative positioning blocks it is possible to position in
incremental dimension. If a relative positioning block without residual path
storage is interrupted, the incremental dimension reference gets lost.
If the positioning block is completed (i.e. the drive reaches target position
and message "End position reached" is active), positioning is possible
without losing the incremental dimension reference.
Note:
Example
If infinite positioning in either a forward or backward direction
is achieved by sequencing relative positioning blocks
(transport belt), the position data must be scaled in modulo
format (modulo value = length of transport belt or modulo
value = 2*maximum travel distance).
Relative positioning without residual path storage with target position =
700 (current position = 200).
S-0-0124,
Standstill window
v
velocity profile
x=900
x=200
P-0-4026,
Positioning block
selection
P-0-4051,
Positioning block
acknowledgment
01
~01
01
AH
S-0-0134, Master
standstill
command strobe
t
< 4 ms
SV0002D2.fh7
Fig. 9-27: Relative positioning block without residual path storage
ECODRIVE Cs
Relative positioning without residual path storage with target
position = 700 (current position = 200); interrupting and restarting a
relative positioning block without residual path storage
Example
S-0-0124,
Standstill window
v
velocity profile
P-0-4026,
Positioning block
selection
P-0-4051,
Positioning block
acknowledgment
x=1050
x=350
x=200
01
~01
01
~01
01
AH
S-0-0134, Master
standstill
command strobe
< 4 ms
< 4 ms
=
t
SV5002d1.Fh7
Fig. 9-28: Interrupting a relative positioning block without residual path storage
ECODRIVE Cs
Relative Positioning with Residual Path Storage
Requirements
Relative positioning blocks with residual path storage are also carried out,
if the drive has not been homed.
In a relative positioning block with residual path storage, the target
position is a relative distance that relates to the target position at which
the message "End position reached" was last active.
Incremental Dimension
Reference
By sequencing relative positioning blocks it is possible to position in
incremental dimension. If a relative positioning block with residual path
storage is interrupted, the incremental dimension reference is retained.
Note:
Example
If another positioning block is started while such a positioning
block is being carried out, the residual path is rejected. If this
new block is also a relative positioning block with residual path
storage, the target position is related to the current actual
position as a relative distance.
Relative positioning with residual path storage with target position = 700
without interruption (message "End position reached" at position = 200)
S-0-0124,
Standstill window
v
velocity profile
x=900
x=200
P-0-4026,
Positioning block
selection
P-0-4051,
Positioning block
acknowlegment
01
01
01
AH
S-0-0134, Master
standstill
command strobe
t
< 4 ms
Sv0000f1.fh7
Fig. 9-29: Relative positioning block with residual path storage
ECODRIVE Cs
Relative positioning block with residual path storage after activating drive
enable
Reference Position
The position command value of the last "End position reached" message
is used as reference position.
Note:
Example
The incremental dimension reference is guaranteed.
Interrupted relative positioning block with residual path storage after
activating drive enable with target position = 600
S-0-0124,
Standstill window
v
velocity profile
x=200
x=800
P-0-4026,
Positioning block
selection
02
P-0-4051,
Positioning block
acknowledgment
~02
02
~02
02
AH
S-0-0134, Master
standstill
drive enable
S-0-0134, Master
command strobe
<
= 4 ms
<
= 4 ms
t
Sv5006d1.fh7
Fig. 9-30: Relative positioning block with residual path storage after activating
drive enable
Relative positioning block
interrupting with jog mode
with
residual
path
storage
after
Example
Interrupted relative positioning block with residual path storage after jog
mode with target position = 600 without overrunning the target
position while jogging
Reference Position
Behavior
The distance jogged between the interruption and restart of the
positioning block is taken into account. The drive continues to move to the
previously calculated target position.
Note:
ECODRIVE Cs
Example
Interrupted relative positioning block with residual path storage after jog
mode with target position = 600 with overrunning the target position
while jogging
Behavior
The drive moves back to the target position set prior to the interruption.
Note:
Reference Position
S-0-0124,
Standstill window
v
velocity profile
x=100
P-0-4026,
Positioning block
selection
P-0-4051,
Positioning block
acknowledgment
x=900
x=700
02
~01
01
~01
01
AH
S-0-0134, Master
standstill
command strobe
Jog+
P-0-4056, Jog inputs
(bit 0)
t
Positioning acknowledgment outputs show non-inverted status of positioning
Sv5005d1.fh7
Fig. 9-31: Relative positioning block with residual path storage after jog mode
Relative Positioning Block with Residual Path Storage
after Switching Drive Controller Control Voltage Off and
On
If an absolute encoder is used the incremental dimension reference can
be retained after switching control voltage off and on. The previously
calculated target position is stored at power shutdown. The rest of the
distance is traveled after the interrupted relative positioning block with
residual path storage is activated.
ECODRIVE Cs
Behavior
If a single-turn encoder is used, the residual path is rejected and added to
the actual position.
Reference Position
Note:
If a positioning block is not accepted, the drive behaves as if
the positioning block had not been started.
Infinite Travel in Positive/Negative Direction
If an axis is to be moved with defined velocity, acceleration and jerk
without a specific target position, the travel block mode "Travelling in
positive direction" or "Travelling in negative direction" must be specified.
The drive moves in the indicated direction until the start signal is reset or
one of the position limit values or the travel range limit switch is reached.
The target position set is irrelevant in this positioning mode.
Relevance of the content of parameter P-0-4019, Positioning block mode:
• 104h
→
travel in positive direction
• 108h
→
travel in negative direction
See also chapter "Operating Mode: Jogging"
S-0-0124,
Standstill window
v
velocity profile
> 10 ms
P-0-4026,
Positioning block
selection
01
XX
P-0-4051,
Positioning block
acknowledgment
01
01
AH
S-0-0134, Master
standstill
command strobe
XX
< 4 ms
status of positive inputs irrelevant
t
positioning inputs valid, for example positioning block no. 01
inputs after valid block acceptance, for example positioning block no. 01
Sv0003d2.fh7
Fig. 9-32: Example: infinite travel in positive/negative direction
ECODRIVE Cs
Sequential Block Processing
Selecting and Activating a
Sequential Block
Selecting and activating a block with sequential block is carried out in the
usual way. The sequential block is the block with the next higher block
number. A sequential block can also have a sequential block so that after
a start block up to 63 sequential blocks can be set.
The potential sequential block of the block with number 63 is block 0.
Conditions to Advance in
Sequential Block Mode
There are two basically different modes for block advance that can also
divided.
• Mode 1: position-dependent block advance
• Block transition with old positioning velocity
• Block transition with new positioning velocity
• Block transition with intermediate halt
• Mode 2: switch-signal-dependent block advance
regarding 1. Position-dependent block advance
With position-dependent block advance, switching to the sequential block
is carried out at the target position of the start block.
There are three different types of block transitions.
a) Block transition with old positioning velocity (mode 1)
Parameter Setting
• P-0-4019, Positioning block mode = 111h: absolute block with
sequential block
• P-0-4019, Positioning block mode = 111h: relative block with
sequential block
• P-0-4019, Positioning block mode = 114h: infinite block in positive
direction with sequential block
• P-0-4019, Positioning block mode = 118h: infinite block in negative
Definition
In this mode the target position of the start block is run through at the
velocity of the start block. Then the positioning velocity is switched to that
of the sequential block.
With relative and absolute positioning blocks with block advance, the
drive moves in the direction of the target position. As soon as the target
position is passed, the drive switches to the next travel block n+1.
With infinite positioning blocks, the drive moves in positive or negative
direction. As soon as the target position is passed, the drive switches to
next positioning block n+1, the block n representing the positioning block
currently in process.
Note:
If the target position is not in the selected travel direction, the
drive moves in the direction of the target position. Thus the
drive always reaches the switching position.
ECODRIVE Cs
v
velocity profile
target position
block 1
P-0-4026,
Positioning block
selection
target position
block 2
01
P-0-4051,
Positioning block
acknowledgment
~01
01
02
AH
S-0-0134, Master
command strobe
t
SV0007d2.fh7
Fig. 9-33: Example: position-dependent block advance (mode 1)
b) Block transition with new positioning velocity (mode 2)
Parameter Setting
sequential block
sequential block
Definition
In this mode the target position of the start block is run through at the
positioning velocity of the sequential block. The deceleration or
acceleration processes required to adjust the velocity are already carried
out in the start block.
The drive moves in the direction of the target position Xn (with infinite
blocks in the preset direction) set in current positioning block n. In due
time before that, the acceleration is used to accelerate or decelerate to
the next positioning velocity vn+1 so that the velocity vn+1 is reached at the
target position Xn.
But switching to the next positioning block does not occur until the target
position is overrun.
ECODRIVE Cs
v
velocity profile
target position
block 1
P-0-4026,
Positioning block
selection
target position
block 2
01
P-0-4051,
Positioning block
acknowledgment
~01
01
02
AH
S-0-0134, Master
command strobe
t
SV0008d2.fh7
Fig. 9-34: Example: position-dependent block advance (mode 2)
c) Block transition with intermediate halt
sequential block
sequential block
Definition
In this mode the drive positions at the target position of the start block.
Once the position command value is at the target position, the sequential
block is automatically started without a new start signal having been given
externally.
Another operating mode is switching when overrunning the target position
with intermediate halt.
In this case, the drive is decelerated to speed "0" at the target position
and then accelerated to the new positioning velocity.
Note:
Advance takes place when the internal command value
generator has reached the target position. Very small jerk
values cause a creeping to target position which is like a dwell
time.
ECODRIVE Cs
S-0-0124,
Standstill window
v
velocity profile
target position
block 1
P-0-4026,
Positioning block
selection
P-0-4051,
Positioning block
acknowledgment
target position
block 2
01
~01
01
02
AH
S-0-0134, Master
standstill
command strobe
t
SV5012d1.Fh7
Fig. 9-35: Example: sequential block advance for target position with
intermediate halt
Note:
This mode should be used if there is a change in direction in
the case of two consecutive sequential blocks within one
sequential block chain. Otherwise, the position at which the
direction is changed will be inevitably overrun.
ECODRIVE Cs
regarding 2. Switch-signal-dependent block advance
Parameter Setting
sequential block
sequential block
Advance to the block with the next higher block number is triggered by an
externally applied switch signal.
Switching with Cams
The switch-signal-dependent block advance allows transition to a
sequential block on the basis of an external switch signal. As switch
signal inputs the two sequential block inputs / probe inputs are available.
The status of the hardware signals is displayed in parameter P-0-4057,
Positioning block, input linked blocks.
Definition
The drive switches to the next travel block n+1 as soon as the input for
the sequential block cam 1 changes from "0" to "1". If the target position
is not reached, switching to the new positioning block is carried out while
traveling.
The drive switches to the travel block after the next one n+2 as soon as
the input for the sequential block cam 2 changes from "0" to "1". If a
sequential block cam is activated during this travel, the drive switches to
the positioning block after the next.
Negation of Sequential Block
Cams
In parameter P-0-4019, Positioning block mode it is possible to select
the negation of the sequential block cams with bit 9. If bit 9 equals "1", a
1-0 edge switches to the next block.
Reference Position
A following relative positioning block refers to the position at which the
sequential block cam was switched.
Note:
Assignment Table for Cams
The sequential block cams are sampled every 2 ms. The
precision of position detection therefore strongly depends on
the velocity during overrun.
Cam 2
Cam 1
Drive reaction
0
0
X
0->1
X:
n:
0->1
X
drive moves to target
position of block n
block n+1 is started
block n+2 is started
don’t care
Positioning block selected via the parallel inputs or parameter
P-0-4026, Positioning block selection.
Fig. 9-36: Drive reaction with different switch signal sequences
ECODRIVE Cs
S-0-0124,
Standstill window
v
velocity profile
target position
block 3
P-0-4026,
Positioning block
selection
P-0-4051,
Positioning block
acknowledgment
02
~02
01
02
03
cam 2
P-0-4057, Positioning block
input linked blocks (bit 1)
cam 1
AH
S-0-0134, Master
standstill
command strobe
t
Sv0010d2.fh7
Fig. 9-37: Example: switch-signal-dependent block advance
ECODRIVE Cs
Failure of Switch Signal for
Block Advance
If the start block of a switch-signal-dependent sequential block is an
absolute or relative positioning block, the drive positions at target position
if the switch signal for block advance does not arrive. The drive thus only
generates the message "End position reached" after the sequential block
chain is completed. If a switch signal is then applied, the drive will carry
out the sequential block.
S-0-0124,
Standstill window
v
velocity profile
P-0-4026,
Positioning block
selection
P-0-4051,
Positioning block
acknowledgment
01
~01
01
02
cam 1
AH
S-0-0134, Master
command strobe
t
SV0011d2.Fh7
Fig. 9-38:
Example: switch-signal-dependent block advance (behavior with
failure of switch signal)
Note:
All 4 conditions for advance are constantly queried and
evaluated to be able to switch to the correct sequential block
even after the sequential block chain was interrupted. Only the
first condition for advance occurring during an interruption is
recognized, however. All other conditions are not taken into
account!
ECODRIVE Cs
The sequential block chain can be interrupted by
Interrupting a Sequential Block
Chain
• removal of drive enable or
• removal of the "drive start" signal
Depending on the block type of the sequential block chain that was
interrupted and the events occurring during this interruption, the
sequential block chain is processed differently after a restart.
Note:
Ending a Sequential Block Chain
In sequential block mode relative positioning blocks without
residual path storage are not allowed as otherwise the
incremental dimension reference would get lost in the case of
interruption.
Given an interruption, a restart will end the sequential block chain.
Reference Position
The reference position is the original start position of the sequential block
chain.
Note:
The incremental dimension reference is retained as only
absolute and relative positioning blocks with residual path
storage are used in sequential block mode!
S-0-0124,
Standstill window
v
velocity profile
restart
x=100
P-0-4026,
Positioning block
selection
P-0-4051,
Positioning block
acknowledgment
x=500
x=700
01
01
~01
~01
01
02
AH
S-0-0134, Master
standstill
command strobe
< 4 ms
t
SV5014d1.fh7
Fig. 9-39: Example: sequential block interruption with same block selected
ECODRIVE Cs
Changing to Jog Mode
Note:
Chain with Selection of New
Block Number
Reference Position
Given a change to a different operating mode in the case of an
interruption, the previously interrupted sequential block chain
is completed upon restart if there hadn’t been any a new block
selected. Given a sequential block with advance due to target
position, only the overrun of the target position of the current
positioning block will be detected. The processing of the
sequential block is completed from this position. The advance
condition due to switch signals is always detected.
If a new block number is selected during an interruption (e.g. with Drive
Halt), the previously interrupted sequential block chain is not completed
after a restart, but the currently selected block is executed.
Reference position is the current actual position value.
Note:
The incremental dimension reference gets lost if the
sequential block is interrupted.
The conditions for the interruption of sequential blocks also apply after the
control voltage is switched off, if an absolute encoder is used.
Chain with Absolute Sequential
Blocks
An interruption with absolute positioning blocks represents no problem as
the position data reference is always guaranteed.
If a new block number is selected during an interruption, the previously
interrupted sequential block is not completed when parameter S-0-0346,
Positioning command strobe is toggled, but the currently selected block
is executed.
If the no new block number is selected during an interruption, the
previously interrupted sequential block is completed when S-0-0346,
Positioning command strobe is toggled.
ECODRIVE Cs
Notes on Parameterizing Positioning Blocks
Taking Drive Limits into Account
When parameterizing sequential blocks, the maximum values of the drive
must be taken into account. These values are:
• maximum acceleration capability
• maximum speed (independent of mains voltage)
If blocks are parameterized that demand values greater than the
maximum values of the drive, this will cause an excessive lag error. With
the error message F228 Excessive deviation the drive will then signal
that it cannot comply with the position command value.
Minimum Values for Acceleration and Jerk
Acceleration values that are too low can cause problems which is why
guide values according to the following formula have to be taken into
account when determining the positioning blocks:
Minimum Acceleration Value
acceleration >
Minimum Jerk Value
(v n+1 − v n )2
velocity difference2
=
2 * target position difference 2 * (Xn+1− Xn )
Xn:
Xn+1:
vn:
vn+1:
Fig. 9-40:
target position of block n
target position of block n+1
velocity of block n
velocity of block n+1
Minimum acceleration value with sequential block mode (linear)
Note:
The above relationship applies to an infinitely large jerk which
corresponds to a jerk filter that has been switched off (= 0). If a
jerk filter is used, the calculated values have to be doubled in
first approximation. The distance to be run with a block and
the respective velocity are generally fixed by the process. If the
minimum acceleration value calculated with the above formula
already causes the maximum value mentioned in the previous
section to be exceeded, a lower positioning block velocity must
be selected.
If too low acceleration values are parameterized, this can cause the
parameterized velocity not to be reached. In this case, the so-called
"triangular mode" is used.
ECODRIVE Cs
Directional Change within a Sequential Block Chain
Note:
Explanation of the Figure Below
If a directional change takes place when changing from block
n to block n+1 of a sequential block, the mode "Switching at
target position with halt" should be used for block n to reverse
the direction without overshoot.
Block n with intermediate halt follows block n-1 with mode 1 (block
transition with old positioning velocity), because a change in direction
occurs when changing from block n to block n+1. At change in direction
there is a change of sign of the velocity at target position n. If the
acceleration parameterized in block n is too low to decelerate within the
path difference Xn-Xn-1 from velocity vn-1 to the value 0, the parameterized
target position Xn will be overrun.
This may cause software or hardware limit switches to trigger.
passing the target position
S-0-0124,
Standstill window
v
area equals distance by
which target position
block n is overrun
velocity profile
x=600
P-0-4026,
Positioning block
selection
P-0-4051,
Positioning block
acknowledgment
target position
block n+1
target position target position
block n-1
block n
01
~01
01
02
03
AH
S-0-0134, Master
standstill
command strobe
t
positioning inputs valid, for example positioning block no. 01
inputs after valid block acceptance, for example positioning block no. 01
SV5020d1.fh7
Fig. 9-41: Parameterizing a sequential block with directional change
Note:
In the case of a sequential block with directional change, it is
necessary to take the mentioned formula for the minimum
acceleration value into account in order to avoid overshooting
of position!
ECODRIVE Cs
Acknowledging Positioning Block Selection
Acknowledge with Active Operating Mode
After the positioning block mode is activated, the complement of the block
number of the selected positioning block is acknowledged until a start
signal (status change S-0-0346, Positioning command strobe) is
generated. As of the first start signal and if operation is trouble-free, the
block number of the positioning block that was started is output. If an
error is detected at the start of a positioning block, the faulty positioning
block is acknowledged with the complement of the block number. The
drive generates a warning and stops.
Acknowledge with "Drive Halt"
If "Drive Halt" is active, the complement of the block number of the
selected positioning block is output in parameter P-0-4051, Positioning
block acknowledgment.
Acknowledge with Secondary Operating Modes, Error
Reaction or Command Inputs
In the case of secondary operating modes, error reaction and command
inputs, acknowledgment is not effected, i.e. parameter P-0-4051,
Positioning block acknowledgment retains the value.
Acknowledge with Drive Enable Switched Off
After switching off drive enable the last accepted positioning block is
output at the acknowledge outputs. If the drive is at the target position of
the last accepted positioning block, the message "End position reached"
is additionally output.
The example below shows the same absolute positioning block being
started once again.
ECODRIVE Cs
v
velocity profile
P-0-4026,
Positioning block
selection
~01
XX
01
P-0-4051,
Positioning block
acknowledgment
~01
01
~02
XX
01
01
~01
01
AH
S-0-0134, Master
standstill
drive enable
S-0-0134, Master
command strobe
t
<10 ms
XX
status of positive inputs irrelevant
Sv0006d2.fh7
Fig. 9-42:
Acknowledge and message "End position reached" after drive
enable switched off
ECODRIVE Cs
Acknowledge with Control Voltage Interrupted
If the control voltage is switched off, the last accepted positioning block is
stored in parameter P-0-4052, Positioning block, last accepted so that
after switching control voltage on, it is always the last accepted positioning
block that is output.
Absolute Encoder
If an absolute encoder is used, it is possible to decide, after the control
voltage is switched off and on, whether the drive still is at the target
position of the last accepted positioning block (end position reached).
The "End position reached" message is generated as soon as the drive is
ready for operation again ("bb" contact closed).
Single-Turn Encoder
If a single-turn encoder is used, the "End position reached" message is
not clearly defined after a voltage interrupt until the first target position has
been run to or homed.
Note:
The "End position reached" message is only retained if the
axis has not been moved during the interruption. If the axis is
moved into the positioning window during the interruption, the
"End position reached" message will also be generated! After
activating drive enable, positioning block acknowledge
changes as described in "Acknowledge with drive enable
switched off".
Status Messages During the Operating Mode "Positioning Block Mode"
In addition to the status messages during the operating mode "Driveinternal interpolation", the "End position reached" status message is
generated in the "Positioning block" mode (bit 12 of S-0-0182,
Manufacturer class 3 diagnostics is "1"), if the following applies:
• message "IN TARGET POSITION" (S-0-0182, bit 10) is active and
• no sequential block has been selected
See also "Status messages during operating mode "Drive-internal
interpolation""
Diagnostic Messages
• E248 Interpolation acceleration = 0
• E249 Positioning velocity >= S-0-0091
• E253 Target position out of travel range
• E254 Not homed
• E255 Feedrate override S-0-0108 = 0
• E258 Selected process block is not programmed
• E264 Target position out of num. range
• F228 Excessive deviation
Hardware Connections
See Project Planning Manual (cams Limit+; Limit-)
9.9
ECODRIVE Cs
Operating Mode: Jogging
The operating mode "jogging" is used to move an axis in "manual mode".
For the DKC10.3 it is possible to mount switches at the jogging inputs
which can be used to move the axis.
• P-0-4030, Jog velocity
• P-0-4056, Jog inputs
Other Pertinent Parameters
• S-0-0403, Position feedback value status
• S-0-0055, Position polarities
• S-0-0049, Positive position limit value
• S-0-0050, Negative position limit value
Note:
For Profibus, DeviceNet and CanOpen it is possible to switch
to the secondary operating mode "jogging" by setting a bit in
parameter P-0-4077, Field bus control word.
Operating Principle
Activating the "Jog" Mode
The jog mode becomes active when being selected via the control word.
The jog direction is contained in parameter P-0-4056, Jog inputs.
If for the DKC10.3 the jog inputs are connected to switches, the drive
automatically switches to the secondary operating mode 1 "jogging" once
these inputs are actuated. The status of the inputs is reflected in
parameter P-0-4056, Jog inputs.
Functional Sequence of "Jog" Mode
Upon activation of this mode, the drive moves position-controlled while
maintaining the:
• velocity (P-0-4030, Jog velocity)
• acceleration (S-0-0260, Positioning Acceleration)
• deceleration when braking (S-0-0359, Positioning Deceleration)
• jerk limit value (S-0-0193, Positioning Jerk).
ECODRIVE Cs
The jogging direction is determined or displayed by parameter P-0-4056,
Jog inputs.
Jog inputs
Fig. 9-43:
Drive
Display
00b
has stopped
AF
01b
moving forward
Jf
10b
moving backward
Jb
11b
steht
Relationship of jog inputs and travel direction
AH
The drive positions itself at the relevant position limit value (S-0-0049 or
S-0-0050) if:
• position limit monitor is activated
(S-0-0055, Position polarities bit 4 = 1) and
• drive has been homed (S-0-0403, Position feedback value status
bit 0 = 1).
Note:
If one of the above conditions has not been fulfilled, the drive
continues moves infinitely in the preset direction.
Note:
The speed at which the drive moves when jogging can be
influenced by means of the override function. Function
Positioning at limited velocity also has an immediate effect
on the jog velocity.
Diagnostic Messages
Warning E831 Position limit reached during jog is generated when the
drive positions at the position limit values.
The warning is cleared:
• when the operating mode is changed or
• when jogging in the opposite direction.
In the case of the DKC10.3, the parameter P-0-4056, Jog inputs can be
write accessed directly by the hardware inputs "jog+ = positive jogging"
(P-0-4056, Jog inputs =1) and "jog- = negative jogging" (P-0-4056, Jog
inputs =2).
ECODRIVE Cs
9.10 Operating Mode: Velocity Synchronization with Virtual
Master Axis
Velocity synchronization is used in printing machines in such cases as
simple transport rolls. The drive runs with a velocity synchronous to the
master axis. The track speed at the circumference of the transport roll or
the winder is preset by the electrical gear. A defined tension can be set
with the fine adjustment of the gear. The master axis position in this mode
is set by the control unit.
The structure of the operating mode is illustrated below:
Velocity
synchronization
Master axis
position
Current
controller
Velocity
controller
Velocity command
value
M
Torque/force
command value
Fig. 9-44: Velocity synchronization with virtual master axis block diagram
• S-0-0236, Master drive 1 revs.
• S-0-0237, Slave drive 1 revs.
• P-0-0083, Gear ratio fine adjust
• P-0-0053, Master axis position
• P-0-0108, Master drive polarity
• P-0-0156, Electric gear input revolutions
• P-0-0157, Electric gear output revolutions
ECODRIVE Cs
Command Value Processing for Velocity Synchronization with Virtual
Master Axis
After the slave drive has been synchronized to the master axis position,
the drive generates the "synchronous velocity command value" (this is a
component of the velocity command value which is transmitted to the
velocity controller) according to the following relationships.
In accordance with the following equation, the synchronous velocity
command value (dXsynch) is calculated in terms of the polarity selected for
the master drive (P-0-0108, Master drive polarity) and the scaling type
that was set (S-0-0076, Position data scaling type):
dXSynch= ± [(P-0-0053(n) - (P-0-0053(n-1) )*
P-0-0157 S-0-0237
*
*(1 + P-0-0083)]
P-0-0156 S-0-0236
dXSynch: synchronous velocity command value
n:
sampling cycle
Fig. 9-45: Generating the synchronous velocity value for rotary scaling
The fine adjustment of the gear ratio that can be configured as cyclical
data permits velocity changes at the slave axis at a constant master axis
speed. Velocity can also be changed by changing the master axis gear
parameters. These can also be cyclically changed.
The figure below illustrates how the velocity command value is generated
in accordance with the above equation:
P-0-0142, Synchronization
acceleration
P-0-0108, Master drive
polarity
P-0-0157, Electric gear
output revolutions
Synchronization
S-0-0036, Velocity command
value
input revolutions
dXSynch
position
S-0-0237, Slave drive 1
revs.
S-0-0236, Master drive 1
revs
P-0-0083, Gear ratio fine adjust
1,0
Fig. 9-46: Command value processing for velocity synchronization
See also "Velocity Controller"
See also "Current Controller"
ECODRIVE Cs
Dynamic Synchronization in the Velocity
Synchronization Mode
Pertinent parameters:
• P-0-0142, Synchronization acceleration
Dynamic synchronization
synchronization".
is
part
of
the
gear
mode
"Velocity
It consists of drive-controlled acceleration or deceleration, with the target
of reaching the synchronous velocity. In the velocity synchronization
mode, the synchronization procedure is only active after this mode has
been activated. The drive is operated in velocity control. The
synchronization procedure consists of the transition from the actual
velocity, present at the time of activation, to the synchronous velocity by
the drive generating the respective velocity command values. The velocity
command values are generated in consideration of the synchronization
acceleration.
After the synchronization procedure the velocity command values are
exclusively determined by the synchronous velocity command values.
Message "In Synchronization" in the Velocity
• S-0-0037, Additive velocity command value
• S-0-0040, Velocity feedback value
• S-0-0183, Velocity synchronization window
The drive sets bit 8 in manufacturer class 3 diagnostics if the following
applies:
| dXSynch + S-0-0037 - S-0-0040 | < S-0-0183.
Note:
The bit is only generated, if velocity synchronization was
selected in parameter S-0-0032, Primary mode of operation.
ECODRIVE Cs
9.11 Operating Mode: Phase Synchronization with Virtual
Master Axis
In machining processes that require absolute phase synchronization, e.g.
printing, punching or perforating in printing machines, the position
reference to the master axis is established in the operating mode "phase
synchronization".
In this operating mode, the drive synchronizes to the (virtual) master axis
position (P-0-0053) preset by the control unit.
The structure of the operating mode "phase synchronization with virtual
master axis" is illustrated below:
Cmd. value processing
phase synchronization
Master axis position
Position
controller
Position command
value
Velocity controller
Velocity command
value
Current
controller
Torque/force
command value
Fig. 9-47: Phase synchronization block diagram
• S-0-0048, Position command value additional
• S-0-0236, Master drive 1 revs.
• S-0-0237, Slave drive 1 revs.
• P-0-0159, Slave drive feed travel
M
ECODRIVE Cs
Command Value Processing with Phase Synchronization with Virtual
Master Axis
In the operating mode "phase synchronization with virtual master axis" the
position command value is generated by adding the synchronous position
command value (XSynch) and S-0-0048, Position command value
additional.
S - 0 - 0047 = XSynch + S - 0 - 0048
S-0-0047, Position command value
XSynch: synchronous position command value
S-0-0048, Position command value additional
In accordance with the following equation, the synchronous velocity
command value (dXsynch) is calculated in terms of the polarity selected for
the master drive (P-0-0108, Master drive polarity) and the scaling type
that was set (S-0-0076, Position data scaling type):
XSynch = ± P - 0 - 0053 *
XSynch:
Fig. 9-49:
P - 0 - 0157 S - 0 - 0237
*
P - 0 - 0156 S - 0 - 0236
synchronous position command value
Generating the synchronous position command value with rotary
scaling
XSynch = ± P - 0 - 0053 *
P - 0 - 0157 P - 0 - 0159
*
P - 0 - 0156 S - 0 - 0236
XSynch:
Fig. 9-50:
Generating the synchronous position command value with linear
scaling
Note:
As a standard, the master axis position is fixed at
20
2 increments/master axis revolution.
Note:
The synchronous position command value is generated after
the slave drive is synchronized to the master axis position.
Note:
The electronic gear generated in the above formulas by
means
of
parameters
S-0-0237/S-0-0236
or
P-0-0159/S-0-0236 can be precisely set (32 bit).
parameterization, however, cannot take place during
processing. It is necessary to switch to parameter mode
(phase 2).
The electronic gear generated by the parameters
P-0-0157/P-0-0156 is less precise (16 bit); but it can be
changed during processing. A dynamic fine adjustment can be
executed meaning that a reaction to dynamically changeable
gear ratios is possible.
The following figure illustrates how the synchronous position command
value is generated using the equations above.
ECODRIVE Cs
Parameters for synchronization:
P-0-0142, Synchronization acceleration
P-0-0143, Synchronization velocity
P-0-0151, Synchronization window for
modulo format
P-0-0154, Synchronization direction
P-0-0155, Synchronization mode
P-0-0060, Filter time constant additional pos.
command
S-0-0048, Pos. cmd. val. addit.
S-0-0055, Position polarities
position
command
value
synchronization
output revolutions
input revolutions
Xsynch
S-0-0047, Position
command value
P-0-0053, Master axis pos.
polarity
S-0-0237, Slave drive 1
revs.
P-0-0159, Slave drive feed
travel
S-0-0076, Position data
scaling type
S-0-0236, Master drive 1 revs.
Fig. 9-51: Command value processing in phase synchronization
See also "Position Controller"
See also "Velocity controller"
ECODRIVE Cs
Dynamic Synchronization in the Phase Synchronization
Mode
• P-0-0060, Filter time constant additional pos. command
• P-0-0143, Synchronization velocity
• P-0-0151, Synchronization window for modulo format
• P-0-0154, Synchronization direction
• P-0-0155, Synchronization mode
Dynamic synchronization
synchronization".
is
part
of
the
gear
mode
"phase
It consists of drive-controlled movement with the target of reaching the
absolute synchronization.
For synchronization operating modes with outer position control loop,
synchronization is carried out in two steps:
Step 1:
Upon activating the operating mode, a velocity adjustment is first
executed.
This means that the drive either accelerates or decelerates from the
current actual velocity at the time of activation to the synchronous velocity.
The drive generates the synchronous velocity by differentiating the
synchronous position command values. These synchronous position
command values XSynch are generated in terms of the operating mode
from P-0-0053, Master drive position.
Velocity adjustment already takes place in position control. When
accelerating or braking, the drive takes P-0-0142, Synchronization
acceleration into account.
After velocity adjustment is complete, there is a difference between the
active position command value and the sum of the synchronous position
command value XSynch and S-0-0048, Position command value
additional.
Step 2:
In the second step of dynamic synchronization the drive moves a distance
equal to this difference, taking P-0-0142, Synchronization acceleration
and P-0-0143, Synchronization velocity into consideration. This position
adjustment is added to the synchronous movement.
The difference is calculated according to the following equation:
distance = XSynch + S-0-0048 - S-0-0047
XSynch:
Fig. 9-52:
Travel distance for absolute synchronization
ECODRIVE Cs
For absolute axes the distance is traveled as calculated.
For modulo axes the path first is limited to +/- S-0-0103, Modulo value.
Then the parameters P-0-0154, Synchronization direction and
P-0-0151, Synchronization window for modulo format are taken into
consideration.
Note:
The synchronization direction parameter will only take effect, if
the shortest distance (absolute value ≤ 0.5 * modulo value) is
greater than the synchronization window. Then the
synchronization direction will be set with the parameter
(positive
or
negative
or
shortest
distance).
If the shortest distance is smaller than the synchronization
window, the shortest distance will always be traveled.
The drive will be in absolute synchronization after the conclusion of the
second synchronization phase. The drive sets bit 9 in parameter
S-0-0182, Manufacturer class 3 diagnostics ("synchronization
completed").
The following applies:
S - 0 - 0047 = XSynch + S - 0 - 0048
S-0-0047, Position command value
XSynch: synchronous position command value
S-0-0048, Position command value additional
Every time the additive position command value (S-0-0048) is changed, a
new distance will be determined and traveled according to the above
equation.
The P-0-0155, Synchronization mode parameter can be used to switch
off the dynamic synchronization after absolute synchronization has been
reached for the first time.
If synchronisation mode 1 is set, then the parameters
• P-0-0143, Synchronization velocity
• P-0-0151, Synchronization window for modulo format
• P-0-0154, Synchronization direction
will be inoperative after absolute synchronisation has been reached.
The following changes to the additional position command value will be
st
smoothed with a filter of the 1 order. The time constant of the filter is set
with parameter P-0-0060, Filter time constant additional pos.
command.
If in parameter P-0-0155, Synchronisation mode bit 0 = 1, bit
"synchronisation completed" is set and will not be cleared even with
changes in S-0-0048, Position command value additional.
If
the
dynamic
synchronization
remains
active
(P-0-0155,
Synchronization mode bit 0 = 0), the bit will be set only if the above
equation is satisfied.
ECODRIVE Cs
The figures below show the time flow of the velocity for the standard and
register controller synchronization modes.
change in position command
value additional (S-0-0048)
dxcmd, synch
dt
dx
dt
dxcmd, synch
dt
"synchronization
mode"
P-0-0142
velocity
adjustment
(step 1)
P-0-0142
P-0-0142
P-0-0143
P-0-0143
position
adjustment
(step 2)
t
t
"synchronization completed"
(manuf. class 3 diagnostics S-0-0182, bit 9)
t
Sv5029f1.fh7
Fig. 9-54:
Standard synchronization mode (P-0-0155, bit 0 = 0)
change in position command
value additional (S-0-0048)
dxcmd, synch
dt
dx
dt
dxcmd, synch
dt
"synchronization
mode"
P-0-0142
velocity
adjustment
(step 1)
P-0-0142
P-0-0060
P-0-0143
t
position
adjustment
(step 2)
t
"synchronization completed"
(manuf. class 3 diagnostics S-0-0182, bit 9)
t
Sv5030f1.fh5
Fig. 9-55:
Register controller synchronization mode (P-0-0155, bit 0 = 1)
P-0-0155, Synchronization mode bit 1 =1:
After the operating mode is activated, only step 1 of the synchronization
procedure is carried out. This allows realizing a relative positionsynchronous slave axis. To do this, parameter S-0-0048, Position
command value additional is initialized by the drive in such a way that
there is no second step to the synchronization process.
A phase offset is nonetheless possible by subsequent changes in
parameter S-0-0048, Position command value additional.
ECODRIVE Cs
Message "In Synchronization" in the Phase
• S-0-0051, Position feedback 1 value
• S-0-0228, Position synchronization window
The drive sets bit 8 in manufacturer class 3 diagnostics if the following
applies:
| XSynch + S-0-0048 - (S-0-0051 or S-0-0053) | < S-0-0228.
The bit will be generated only if a synchronization operating mode was
parameterized in S-0-0032, Primary mode of operation.
During the first phase of dynamic synchronization (velocity adjustment)
the bit will be set to 0 to avoid being set too early for modulo axes.
9.12 Operating Mode: Electronic Cam Shaft with Virtual Master
Axis
In the operating mode "Electronic cam shaft with virtual master axis" there
is a fixed relationship between the master axis position and the slave axis.
The (virtual) master axis position is set by the control unit.
The structure of the operating mode "Electronic cam shaft with virtual
master axis" is illustrated below:
Command value
processing electronic
cam shaft
Master axis
position
Position
controller
Position
command value
Fig. 9-56:
Velocity
controller
Velocity command
value
Current
controller
Torque/force
command value
Electronic cam shaft block diagram
See also "Position Controller"
See also "Velocity Controller"
• P-0-0061, Angle offset begin of profile
• P-0-0072, Cam shaft profile 1
• P-0-0085, Dynamic angle offset
• P-0-0088, Control word for synchronous operating modes
• P-0-0089, Status word for synchronous operating modes
M
ECODRIVE Cs
• P-0-0092, Cam shaft profile 2
• P-0-0093, Cam shaft distance
• P-0-0094, Cam shaft switch angle
• P-0-0144, Cam shaft distance switch angle
• P-0-0158, Angle offset change rate
Command Value Processing for Electronic Cam Shaft
Upon activation of this mode, the position command value of the drive is
first initialized in terms of the following relationship.
XF(ϕL ) = h * tab( ±ϕL *
Ga
- ϕV ) + Xv
Ge
XF :
Position command value of slave drive (S-0-0047)
+/- :
P-0-0108, Master drive polarity (P-0-0108=1 > -)
ϕL :
Master drive position P-0-0053
ϕV :
Angle offset begin of profile (P-0-0061)
h:
Cam shaft distance (P-0-0093)
tab(ϕ): Cam shaft profiles (P-0-0072 or P-0-0092)
Xv:
Position command value additional (S-0-0048)
Ga:
P-0-0157, Electric gear output revolutions
Ge:
P-0-0156, Electric gear input revolutions
Fig. 9-57: Initializing the position command value
If a mode is activated the differences of the master axis position are
processed to ensure a consistent curve of the position command value
given changes in the cam shaft profile or distance parameter.
In each control cycle the difference to the last control cycle is generated
from the cam shaft profiles and then processed in accordance with the
equation.
If profile limits are exceeded in positive direction, then the profile
continues with its first value, the same happens if the limits are exceeded
in negative direction.
The position command value is generated as per the following
relationship:
XF(n)(ϕL ) = XF(n - 1)(ϕL ) + (h * ∆tab( ±ϕL *
Ga
- ϕV + ϕd) + Xv )
Ge
+/- :
P-0-0108, Master drive polarity (P-0-0108=1 > -)
XF(n) :
pos. com. value of slave drive S-0-0047 in current control cycle
XF(n-1) :
pos. com. value of slave drive S-0-0047 in last control cycle
ϕL :
Master drive position (P-0-0053)
ϕV :
Angle offset begin of profile (P-0-0061)
ϕd :
dynamic angle offset, see following formula
h:
Cam shaft distance (P-0-0093)
tab(ϕ):
Cam shaft profiles (P-0-0072 or P-0-0092)
Xv:
Position command value additional (S-0-0048)
Ga:
Ge:
Fig. 9-58: Generating the position command value for the slave drive
ECODRIVE Cs
Changes in P-0-0061, Angle
offset begin of profile
To avoid jumps of the profile access angle, a new value for parameter
P-0-0061, Angle offset begin of profile does not immediately become
effective. Starting with the current value, a ramp-like approximation of the
new value is carried out. The approximation is carried out along the
shortest possible path. The gradient of the ramp is set in parameter P-00158, Angle offset change rate.
P-0-0085, Dynamic angle offset
Parameter P-0-0085, Dynamic angle offset is used to compensate a lag
error if the position controller has not been set to lagless control. The
profile access angle is offset in velocity-dependent form.
ϕd =
P - 0 - 0085 * (ϕL(n) - ϕL(n - 1)) *
Ga
)
Ge
Kv
ϕL:
Master drive position (P-0-0053)
P-0-0085: Dynamic angle offset
Ga:
Ge:
Kv:
S-0-0104, Position loop Kv-factor
Fig. 9-59: Generating the dynamic angle offset
With infinitely turning axes, modulo scaling must be set in S-0-0076,
Position data scaling type.
Note:
For a constantly fault-free processing of the cam shaft
distance in the case of infinitely turning axes, the distance and
S-0-0103, Modulo value must have identical values.
Selecting the Active Cam Shaft
Profile
The active cam shaft profile (P-0-0072 or P-0-0092) is selected with
parameters P-0-0088, Control word for synchronous operating modes and
P-0-0094, Cam shaft switch angle. The active cam shaft is included in P0-0089, Status word for synchronous operating modes. Switching is
started by changing the control word. It is carried out and acknowledged
by the drive in the status word, when the profile access angle passes the
cam shaft switch angle.
Changing the Cam Shaft
Distance
Parameter P-0-0144, Cam shaft distance switch angle defines at which
profile access angle and thus profile element a change in value becomes
effective for the cam shaft distance. This means that an absolute position
reference can be retained in the case of a change.
The drive-controlled dynamic synchronization is active in this mode as in
the "phase synchronization" mode.
After the second synchronization step (absolute position adjustment) the
following applies:
S-0-0047 = XSynch + S-0-0048
The figure below illustrates how the position command value is generated
according to the equations above.
ECODRIVE Cs
Parameters for synchronization:
P-0-0142, Synchronization acceleration
P-0-0143, Synchronization velocity
P-0-0151, Synchronization window
for modulo format
P-0-0154, Synchronization direction
P-0-0060, Filter time constant add. pos. cmd
S-0-0048, Position command
value additional
P-0-0061, Angle offset begin
of profile
P-0-0158, Angle offset change rate
input revolutions
output revol.
position
pos. cmd val.
Synchronization
P-0-0093, Cam shaft distance
P-0-0072,
Cam shaft
profile 1
ϕaccess
S-0-0047, Position
command value
Access
angle
determination
polarity
Xsynch
P-0-0085, Dynamic angle
offset
P-0088, Ctrl word synchr. op. modes
Profile
selection
logic
P-0-0092, Cam shaft
profile 2
P-0094, Cam shaft switch angle
P-0089, Status word synchr. op. m.
Fig. 9-60: Command value processing for electronic cam shaft
Basic Drive Functions 10-1
ECODRIVE Cs
10
Basic Drive Functions
10.1 Physical Values Display Format
The data exchange between the controller and the higher-level control
unit or user interface takes place by reading and writing controller
parameters. Information about the unit and the number of decimal places
(see also chapter "Parameter") is necessary for interpreting the operating
data of a parameter. The valence of the operating data results from this
information.
The figure below illustrates this with an example.
operating data = 100
S-0-0109
unit = A
dec. places = 3
drive controller
Fig. 10-1: Example for interpreting an operating data in the drive
In the above picture, the value 100 is written to the operating data of
parameter S-0-0109. Together with the unit "A" (Ampere) belonging to
this parameter and the number of decimal places (3) the resulting
physical value is 0.100 A.
Scaling
Each parameter therefore has a unit and a number of decimal places.
The combination of these two criteria is called "scaling". When
interpreting operating data, these must always be included in the analysis.
10-2 Basic Drive Functions
ECODRIVE Cs
Adjustable Scaling for Position, Velocity and Acceleration Data
The parameter scaling for
• position data,
• velocity data and
• acceleration data
can be adjusted. It can be set by the user with scaling parameters.
It is possible to
• determine the valence of these data for exchange between control unit
and drive; in other words, the data can be exchanged in the control
unit’s internal format. The control unit will not need to convert this data.
• adjust these data to machine kinematics. Linear movements can be
written with linear units, for example, and rotary movements can be
written with rotary units.
It is possible to select between linear and rotary scaling, preferred and
parameter scaling, as well as between motor and load reference.
Linear - Rotary Scaling
Adjustable scaling allows either linear or rotary scaling to be selected.
Linear motors normally use linear scaling. Rotary motors use either rotary
or linear scaling, if their rotary movement is converted to linear movement
via a ballscrew, for example.
Preferred Scaling - Parameter Scaling
Adjustable scaling allows either preferred scaling or parameter scaling to
be selected.
If preferred scaling is selected, the appropriate scaling factor parameters
and scaling exponent parameters are overwritten with preferred values in
parameter S-0-0128, C200 Communication phase 4 transition check. This
sets a pre-defined scaling. The scaling factor parameters and the scaling
exponent parameters do not have to be entered. The actual preferred
scaling depends on whether linear or rotary scaling was selected.
The following preferred scalings are available:
Physical value
Rotary preferred
scaling
Linear preferred
scaling (mm)
Linear preferred
scaling (inch)
position data
velocity data
0.0001 degrees
0.0001 rpm,
or 10^-6 rps
0.001 rad/s²
0.0001 mm
10^-6 m/min
0.001 inch
10^-5 inch/min
10^-6 m/s²
--
acceleration data
Fig. 10-2: Preferred scaling
ECODRIVE Cs
Motor Reference - Load Reference
Either motor reference or load reference can be selected when adjusting
the scaling.
Load Reference
With rotary load reference, the scaled data are converted from the motor
reference format to the gear output format with the gear ratio S-0-0122,
Output revolutions of load gear / S-0-0121, Input revolutions of load gear.
With linear load reference, the scaled data are converted from the motor
reference format to feed format with the gear ratio S-0-0122, Output
revolutions of load gear / S-0-0121, Input revolutions of load gear and the
feed constant S-0-0123, Feed constant.
The following restrictions apply depending on the motor type being used:
• Rotary motor reference cannot be set for linear motors.
• Linear motor reference cannot be set for rotary motors.
ECODRIVE Cs
Display Format of Position Data
The scaling of drive controller position data is adjustable. This is done
with the following parameters:
• S-0-0076, Position data scaling type
• S-0-0077, Linear position data scaling factor
• S-0-0078, Linear position data scaling exponent
• S-0-0079, Rotational position resolution
We distinguish linear and rotary scaling. Parameter S-0-0079, Rotational
position resolution is used to set the rotary position scaling. Parameters
S-0-0077, Linear position data scaling factor and S-0-0078, Linear
position data scaling exponent are used to set the linear position scaling.
The scaling type is set in S-0-0076, Position data scaling type.
S-0-0076, Position data scaling type
Bits 2-0: Scaling type
000: not scaled
001: linear scaling
010: rotary scaling
Bit 3:
0:
1:
preferred scaling
parameter scaling
Bit 4: Unit of measure for linear scaling
0:
meter [m]
1:
inch [in]
Unit of measure for rotary scaling
0:
angle degrees
1:
reserved
Bit 5:
Bit 6:
reserved
Data reference
0:
to the motor shaft
1:
to the load
Bit 7:
Processing format
0:
absolute format
1:
modulo format
Bits 15-8: reserved
Fig. 10-3:
The scaling type setting is checked for plausibility in S-0-0128, C200
Communication phase 4 transition check and the error message C213
Position data scaling error is generated, if necessary.
ECODRIVE Cs
Velocity Data Display Format
The scaling of the drive controller’s velocity data is adjustable.
This is done with the following parameters:
• S-0-0044, Velocity data scaling type
• S-0-0045, Velocity data scaling factor
• S-0-0046, Velocity data scaling exponent
The scaling type is set in S-0-0044, Velocity data scaling type.
S-0-0044, Velocity data scaling type
000: not scaled
001: linear scaling
010: rotary scaling
Bit 3:
0:
preferred scaling
1:
parameter scaling
0:
meter [m]
1:
inch [in]
0:
revolutions
1:
not allowed
Bit 5: Unit of time
0:
minute [min]
1:
second [s]
Bit 6:
Data reference
0:
to the motor shaft
1:
to the load
Bits 15-7: reserved
Fig. 10-4: S-0-0044, Velocity data scaling type
Velocity data scaling error is generated, if necessary.
ECODRIVE Cs
Acceleration Data Display Format
The scaling of the drive controller’s acceleration data is adjustable.
This is done with the following parameters:
• S-0-0160, Acceleration data scaling type
• S-0-0161, Acceleration data scaling factor
• S-0-0162, Acceleration data scaling exponent
The scaling type is set in S-0-0160, Acceleration data scaling type.
S-0-0160, Acceleration data scaling type
000: not scaled
001: linear scaling
010: rotary scaling
Bit 3:
0:
preferred scaling
1:
parameter scaling
0:
meter [m]
1:
inch [in]
0:
radian [rad]
1:
reserved
Bit 5: Unit of time
0:
second [s]
1:
reserved
Bit 6:
Bits 15-7:
Data reference
0:
to the motor shaft
1:
to the load
reserved
Fig. 10-5: S-0-0160, Acceleration data scaling type
Acceleration data scaling error is generated, if necessary.
ECODRIVE Cs
Command Value and Actual Value Polarities
The drive-internal polarities of the command values and actual values for
position, velocity and torque/force are fixed.
Definition of "drive-internal
positive direction"
Motor type
rotary motors
linear motors
clockwise rotation with view to the motor shaft
in the direction of the front side at which the power
cables of the primary part come out
Fig. 10-6: Definition of "drive internal positive direction"
For MSM motors the positive direction is preset at the factory. The
command value polarity and actual value polarity of the drive is thereby
fixed.
If the motor-side definition of the positive direction does not conform to
the requirements of the machine, the parameters
• S-0-0043, Velocity polarity parameter
• S-0-0055, Position polarities
• S-0-0085, Torque/force polarity parameter
can invert the command value and actual value polarities.
Note:
If the polarity needs to be changed, all 3 polarity parameters
should always be inverted at the same time so that the
polarities of position, velocity and torque/force have the same
signs.
The figure below illustrates the operating principle of the polarity
parameters.
ECODRIVE Cs
S-0-0047,
S-0-0048,
Position
Pos. command
command value value additional
S-0-0043,
bit 0
S-0-0055,
bit 0
S-0-0085,
bit 0
S-0-0043,
bit 1
S-0-0055,
bit 1
-
Torque/force
controller
Velocity
controller
Position
controller
S-0-0051,
Position
feedb.1
value
S-0-0080,
Torque/force
command value
S-0-0036,
S-0-0037,
Velocity command Additive velocity
command value
value
-
-
S-0-0055,
bit 2
S-0-0043,
bit 2
S-0-0085,
bit 2
S-0-0084, Torque/force feedb. value
Fig. 10-7: Operating principle of polarity parameters
The polarity parameters affect only the display values, not the actual
control values.
The drive software only allows inverting all bits within a polarity parameter.
If bit 0 is inverted, all other bits of the respective parameter are
automatically inverted. This excludes the danger of adding positive
feedback in the control loops (command values and actual values with
opposing polarities) due to incorrectly set command value and actual
value polarities.
Mechanical Transmission Elements
Mechanical transmission elements are gear and feed mechanisms
between the motor shaft and the load. Entering this data is necessary for
the load-side conversion of the physical values position, velocity and
acceleration, if these were scaled for the load-side (see also chapter:
"Adjustable Scaling for Position, Velocity, and Acceleration Data"). To
check whether these parameters have been input correctly, move the axis
and compare the traveled distance by means of the actual position value
and the distance actually covered.
ECODRIVE Cs
Gear Ratio
The gear ratio can be set with the parameters
• S-0-0121, Input revolutions of load gear
• S-0-0122, Output revolutions of load gear
The ratio between gear input and gear output is parameterized in these
two parameters.
Example:
gear input =
motor shaft
gear output
Fs5003f1.fh5
Fig. 10-8: Gear ratio parameterization
Assumption: In the illustration above, two gear input revolutions (= motor
revolutions) correspond to one gear output revolution. The correct
parameterization would then be:
S-0-0121, Input revolutions of load gear = 2
S-0-0122, Output revolutions of load gear = 1
Feed Constant
The feed constant defines the linear distance covered by the load per
gear output revolution. The feed constant is specified in the parameter
S-0-0123, Feed constant. The value programmed in this parameter is
used along with the gear ratio for converting the position, velocity and
acceleration data from motor reference to load reference.
Example:
gear output
carriage
feed module
AP5030f1.fh7
Fig. 10-9: Feed constant parameterization
In the illustration above, the feed module would cover 10 mm per gear
output revolution. The correct parameterization would be:
S-0-0123, Feed constant = 10 mm/rev
ECODRIVE Cs
Modulo Function
If the modulo function is activated, all position data in the range from "0"
to "modulo value" are displayed. It is therefore possible to realize an axis
that moves endlessly in one direction. There is no overflow of position
data.
The modulo value is set via the parameter S-0-0103, Modulo value.
The modulo function is activated in the parameter S-0-0076, Position data
scaling type.
(See also chapter: "Display format of position data")
Bit 7:
Processing format
0:
absolute format
1:
modulo format
Fig. 10-10: Setting absolute format – modulo format
Note:
Processing position data in modulo format is only allowed with
rotary motor types. This is checked in S-0-0128, C200
Communication
phase
4
transition
check
and
acknowledged by command error C213 Position data scaling
error, if necessary.
The difference, in the display of position data, between absolute format
and modulo format is shown in the following figure:
Display
value of
position
Position data with
modulo function
Modulo
value
Absolute position of
measuring system
Position data with
absolute format
Fig. 10-11: Display value of position in absolute format and in modulo format
ECODRIVE Cs
Modulo Processing-Requirements
If modulo processing of position data was set, then depending on
• the active operating mode and
• the selected position scaling,
the following requirements for error-free processing of the position data
must be observed:
• The modulo range S-0-0103, Modulo value mustn’t be greater than
the maximum travel range.
• If rotary or linear position scaling with load reference and no phase
synchronization is used as operating mode, the product of S-0-0103,
Modulo value, S-0-0116, Feedback 1 resolution and S-0-0121,
Input revolutions of load gear must be smaller than 2^63.
If, in addition to this, an external measuring system is used, the additional
requirements are:
• If rotary position scaling with motor reference and no phase
synchronization is used as operating mode, the product of S-0-0103,
Modulo value, S-0-0117, Feedback 2 resolution and S-0-0122,
Output revolutions of load gear must be smaller than 2^63.
Compliance with the requirements is checked in S-0-0128, C200
Communication phase 4 transition check, and the command is terminated
with the error C227 Modulo range error, if necessary.
Processing Command Values in Modulo Format,
Shortest Distance - Direction Selection
The interpretation of position command values, such as S-0-0047,
Position command value and S-0-0258, Target position, with activated
modulo function depends on the mode that has been set.
There are the following possibilities:
• shortest distance
• positive direction
• negative direction
The mode is set in parameter S-0-0393, Command value mode. This
setting only takes effect, if the modulo format has been activated in
S-0-0076, Position data scaling type.
The following settings can be made:
S-0-0393 = 0
Modulo mode "Shortest distance"
The next command value is reached over the shortest distance. If the
difference between two successive command values is greater than half
the modulo value, the drive moves toward the command value in the
opposite direction.
S-0-0393 = 1
Modulo mode "Positive direction"
The command value is always approached in a positive direction,
regardless of whether or not the difference between two successive
command values is greater than half the modulo value.
S-0-0393 = 2
Modulo mode "Negative direction"
The command value is always approached in a negative direction,
regardless of whether or not the difference between two successive
command values is greater than half the modulo value.
ECODRIVE Cs
10.2 Setting the Measuring Systems
The drive controller is equipped with a permanently installed encoder
interface (X4). Only such measuring systems can be connected to this
interface that are contained in the MSM motors. Setting and selecting the
measuring system is therefore not required.
• Note:
This concerns incremental
systems with serial interface (2.5 MBaud)!
or
absolute
measuring
• The actual position value of the motor encoder is displayed in
parameter S-0-0051, Position feedback 1 value.
To establish the absolute reference of the actual position value 1 to the
machine zero point, the following commands are used:
S-0-0148, C600 Drive controlled homing procedure command for nonabsolute, that is to say incremental measuring systems
P-0-0012, C300 Command Set absolute measuring for absolute
measuring systems
Motor Encoder
The measuring system which is directly coupled with the motor shaft
without a gearbox between them is called the motor encoder. As the
motor is usually coupled to the load with a mechanical gear and possibly
a feed unit, this is also called indirect distance measurement. If a second
measuring system is attached directly to the load, this is called direct
distance measurement (see chapter: "Optional encoder"). The illustration
below shows typical applications of indirect distance measurement.
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
7 8
4 5 6
Cs
4 5 6
ECODRIVE
2 3
2 3
7 8
NODE
H1
LINE ERROR
X6
INPUTíF200V-240V
L3
2)
TX
X20
RX
X21
S20
2
1
ON
X2
DL2
X5_1
DL1
L2C
L1C
X1
L2
X6
L1
S1
X5_3
V
X4
W
X3
U
X5_2
RB2
RB3
RB1
X5
X4
1)
1) power connection of motor
2) connection of motor encoder (indirect actual position value acquisition)
Ap5425f1
Fig. 10-12: Application: motor encoder with linear servo axis
ECODRIVE Cs
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
7 8
4 5 6
Cs
4 5 6
ECODRIVE
2 3
2 3
7 8
NODE
H1
LINE ERROR
X6
INPUTíF200V-240V
L3
TX
X20
RX
X21
S20
2
1
ON
X2
DL2
X5_1
DL1
L2C
L1C
X1
L2
X6
L1
S1
X5_3
V
X4
W
X3
U
X5_2
RB2
RB3
RB1
X5
X4
1)
1) indirect actual position value acquisition via the drive-internal
distance measuring system
Ap5424f1
Fig. 10-13: Application: motor encoder with rotary servo axis
The following parameters are used to parameterize the motor encoder:
• P-0-0074, Feedback 1 type
• S-0-0116, Feedback 1 Resolution
• S-0-0277, Position feedback 1 type
These parameters contain the interface number to which the measuring
system is connected, the motor encoder resolution, as well as the
direction of movement, etc. The parameter S-0-0051, Position feedback 1
value displays the position of the motor encoder.
The position data reference relative to the machine zero point is
established with:
• S-0-0148, C600 Drive-controlled homing procedure command
or
• P-0-0012, C300 Command Set absolute measuring
Note:
For Rexroth housing motors of the MHD, MKD and MKE
types. all motor-specific data are set automatically. Further
settings by the commissioning engineer are not required.
Note:
The motor encoder is only then unnecessary, if you work with
a load-side motor encoder. This is only possible with rotary
asynchronous motors (P-0-4014, Motor type = "2" or "6"). In
this case, the external encoder is the only control encoder (see
chapter "Optional encoder").
ECODRIVE Cs
Motor Encoder Resolution
The motor encoder resolution is parameterized in parameter S-0-0116,
Feedback 1 Resolution. The line count of the motor encoder has to be
entered in this parameter. If using a measuring system with intrinsic
feedback data memory, the resolution will be taken from this memory and
does not need to be entered.
Note:
MSM motors are equipped with a feedback data memory.
Depending on whether a rotary or linear motor is used, the unit and the
number of decimal places are switched via S-0-0116, Feedback 1
Resolution.
(See also chapter: "Linear motor – rotary motor")
Other Motor Encoder Characteristics
To parameterize the other motor encoder characteristics, use S-0-0277,
Position feedback 1 type.
The structure of this parameter is as follows:
S-0-0277, Position feedback 1 type
Bit 0: Encoder type
0: rotary
1: linear
Bit 3: Rotational direction
0: non-inverted
1: inverted
Bit 6: Absolute evaluation possible
0: absol. evaluation impossible
1: absol. evaluation possible
Bit 7: Absol. evaluation activated
0: absol. evaluation activated
(only if bit 6 = 1)
1: absol. evaluation deactivated
Fig. 10-14: Structure of Parameter S-0-0277
Note:
The bits in the position encoder type parameter are partly set
or cleared by the drive automatically.
There are following criteria:
• If the connected motor has a motor feedback data memory (MSM), the
bits 0 and 3 are cleared.
• If the connected motor is a linear motor, bit 0 is set to "1".
• Depending on the absolute encoder range and the maximum travel
range or modulo value, bit 6 is either set or cleared.
(See also chapter: "Other Settings for Absolute Measurement Systems")
ECODRIVE Cs
Actual Position Values of Non-Absolute Measuring Systems after
Initialization
If there is no absolute measuring system available, the initialization value
can be changed via parameter P-0-0019, Position start value.
If the parameter is write accessed in either phase 2 or 3, this value is
accepted as the initialization value:
P-0-0019 write accessed?
Actual position value 1
no
init. original position of motor encoder
yes
position start value
Fig. 10-15: Actual position values of non-absolute measuring systems after
initialization
There are no valid actual position values existing before
the measuring systems are initialized.
Initialization is performed during the transition check for
WARNING
Some measuring systems have limitations concerning the
maximum velocity during their initialization.
Drive-Internal Format of Position Data
There are two different formats in the drive used to display position data.
We differentiate between
• display format and
• drive-internal format.
Display Format
The display format defines the unit, i.e. the valence, with which the
position data are exchanged between drive and control unit/user interface.
When a position data parameter is read, it is sent in the display format to
the control unit. The display format is set with the following parameters:
• S-0-0077, Linear position data scaling factor
• S-0-0078, Linear position data scaling exponent
• S-0-0079, Rotational position resolution
The control unit that is used generally determines the display format.
See also chapter: "Physical Values Display Format"
Drive-Internal Format
The drive-internal format determines the valence with which the
processing of the position command values and actual position values, as
well as the closing of the position control loop in the drive are performed.
The drive uses the value of parameter S-0-0278, Maximum travel range
to calculate the drive-internal format, i.e. the drive-internal position
resolution depends on the travel range to be displayed.
ECODRIVE Cs
Functional Principle of the Drive-Internal Position Data
Format
Position data processing in the drive is done with a constant data width.
From this fact results the dependence of the resolution of the position
data on the travel range of the axis to be covered.
Note:
The longer the distance to be displayed, the smaller the driveinternal position resolution.
The values of the following parameters are used to calculate the driveinternal resolution:
• S-0-0116, Feedback 1 Resolution and
• S-0-0256, Multiplication 1.
The parameter for the encoder resolution is to be taken from the data
sheet of the measuring system or it is automatically read out of the
feedback data memory if the respective measuring system is used. The
number of division periods per encoder revolution or the grid constant of a
linear scale (distance per division period) is to be set in this parameter.
The parameter value for the multiplication is calculated by the drive during
command S-0-0128, C200 Communication phase 4 transition check. It
indicates the resolution per division period (dp).
The following applies to the drive-internal resolution of rotary motors:
resolution = encoder resolution * multiplica tion
resolution:
drive-internal resolution of position data [incr/rev]
multiplication:
value in S-0-0256 or S-0-0257 [incr/dp]
encoder resolution:
value in S-0-0116 or S-0-0117 [dp/rev]
Fig. 10-16: Drive-internal resolution of rotary motors
The following applies to the drive-internal resolution of linear motors:
resolution =
multiplica tion
encoder resolution
resolution:
drive-internal resolution of position data [incr/rev]
multiplication:
value in S-0-0256 or S-0-0257 [incr/dp]
encoder resolution:
value in S-0-0116 or S-0-0117 [mm/dp]
Fig. 10-17: Drive-internal resolution of linear motors
Examples
1. MKD motor, S-0-0116 = 4, S-0-0256 = 32768, therefore:
drive-internal resolution = 131072 increments/revolution or 0.00275
degrees/increment
2. Linear scale as optional measuring system, S-0-0117 = 0.02 mm (grid
division = 20 µm), S-0-0257 = 32768, therefore:
drive-internal resolution of approximately 1638400 increments/mm or
0.00061 µm/increment. (How to calculate the drive-internal resolution
if an optional encoder is used, is described in greater detail below.)
Note:
For technical reasons, the value for the multiplication is limited
to 4 to 4194304 increments/mm.
ECODRIVE Cs
Setting the Drive-Internal Position Data Format
To set the drive-internal resolution, use the parameter S-0-0278,
Maximum travel range.
Setting the Max. Travel Range
During Initial Commissioning
At initial commissioning of an axis, this parameter must be set to a value
that equals at least the distance that the axis must travel. While executing
the command S-0-0128, C200 Communication phase 4 transition check,
the drive calculates the values for S-0-0256, Multiplication 1 and, if an
optional measuring system is available, for S-0-0257, Multiplication 2.
These parameters thus are used to display the resolution.
Note:
For technical reasons, the maximum possible resolution of the
actual position value of a position encoder equals
32768 increments per division period of the measuring
system. The maximum resolution is reduced, if the travel
range is set so large that it can no longer be displayed with the
maximum resolution.
To calculate the multiplication, one of the following calculations is carried
out in the command S-0-0128, C200 Communication phase 4 transition
check, depending on the measuring system that is used:
For rotary measuring systems:
31
2
multiplica tion =
travel range * encoder resolution
travel range:
travel range that can be displayed in encoder revolutions
multiplication:
value in S-0-0256 or S-0-0257
encoder resolution: value in S-0-0116 or S-0-0117
Fig. 10-18: Relationship between maximum travel range and multiplication for
rotary measuring systems
Examples
1. MHD motor with S-0-0116 = 512, maximum travel range 2048 motor
revolutions, therefore:
multiplication of 2^31/(2048*512) = 2048.
2. MHD motor with S-0-0116 = 512, maximum travel range 20 motor
revolutions, therefore:
multiplication of 2^31/(20*512) = 209715. The highest possible value
is 32768, thus multiplication = 32768.
For linear measuring systems:
multiplica tion =
2 31 *encoder resolution
travel range
travel range:
travel range that can be displayed in mm
multiplication:
value in S-0-0256 or S-0-0257
encoder resolution: value in S-0-0116 or S-0-0117
Fig. 10-19: Relationship between maximum travel range and multiplication for
linear measuring systems
Example
1. Linear scale with 0.02 mm grid division, maximum travel range 5 m,
therefore a multiplication of 2^31*0.02/5000 = 8589 (-> 8192*).
This results in a resolution of 0.02 mm/8192 = 0.002441 µm.
Note:
When calculating the multiplication always use the next lower
binary value of the precise result of the calculation.
ECODRIVE Cs
Processing Formats of the Drive-Internal Position
Command Value Interpolator
In the drive-internal position command value interpolator, the position
command value profile for the drive-controlled travel commands (such as
"Drive Halt", "Drive-controlled homing procedure", operating mode "Driveinternal interpolation" ...) is generated. The format of the drive-internal
position data affects the maximum acceleration limit which can be preset
for the interpolator.
Note:
The limits are not valid for presetting cyclic command values
(e.g. operating mode "Position control").
The following relationships apply to rotary motors:
a max =
51.471.854 .040
rad
[in
]
encoder resolution× multiplication sec²
amax:
max. acceleration of position command value interpolator
encoder resolution: value in S-0-0116
multiplication:
value in S-0-0256
Fig. 10-20: Maximum acceleration of the position command value interpolator as
dependent on the drive-internal position data format
The following relationships apply to linear motors:
a max =
8.192.000. 000× encoder resolution
mm
]
[in
sec²
multiplica tion
amax:
max. acceleration of position command value interpolator
encoder resolution: value in S-0-0116 in mm
multiplication:
value in S-0-0256
Fig. 10-21: Maximum acceleration of the position command value interpolator as
dependent on the drive-internal position data format
Example
MHD motor with S-0-0116 = 512, multiplication = 32768, this results in a
maximum acceleration of the position command value interpolator of
3067 rad/s².
ECODRIVE Cs
10.3 Supplementary Settings for Absolute Measuring Systems
MSM motors, apart from a merely incremental measuring system, can
also have an absolute measuring system.
Note:
If an MSM motor is operated with absolute encoder without
absolute encoder battery, it can only be operated in absolute
form over one motor revolution (single-turn).
Absolute Encoder Range and Absolute Encoder Evaluation
The absolute motor encoder installed in MSM motors can supply absolute
position information over 65536 encoder revolutions (multi-turn encoder).
The range (absolute encoder range) over which a measuring system can
supply absolute position information is stored in the data memory of the
measuring system or the drive software.
Hinweis: The absolute encoder range which the drive can evaluate can
be limited by S-0-0278 Maximum travel range. Parameter
S-0-0378, Encoder 1, absolute range displays the absolute
encoder range which the drive can evaluate.
Absolute measuring systems do not have to be homed after every
initialization of the drive firmware. After initialization, the actual position
value is available within the absolute encoder range, machine zero-point
related. It is only necessary to conduct a single setup procedure (setting
absolute measuring).
Absolute Encoder Evaluation
Evaluation as absolute encoder (cf. S-0-0277, bit 6) depends on the
following variables:
• the absolute encoder range (S-0-0378, Encoder 1, absolute range) of
the encoder
• the position scaling set (position data displayed in absolute or in
modulo format) in S-0-0076, Position data scaling type
• the travel range set in S-0-0278, Maximum travel range
• the modulo value set in parameter S-0-0103, Modulo value
Note the following relations:
Position scaling
(bit 6 of S-0-0076)
Absolute format
S-0-0278,
Maximum
travel range
Absolute encoder
evaluation possible
not relevant
yes
not relevant
no
Modulo format
<= S-0-0378 or
yes
S-0-0379
>=S-0-0103
> S-0-0378 or S- no
0-0379
Fig. Fehler! Es wurde kein Formatvorlagenname vergeben.-22:
Absolute
encoder evaluation depending on position format, modulo format
and maximum travel range
< S-0-0378
> = S-0-0378
>=S-0-0103
S-0-0103,
Modulo value
ECODRIVE Cs
The check whether a measuring system can be evaluated as an absolute
system is carried out during command S-0-0128, C200 Communication
phase 4 transition check. The result is displayed in bit 6 of the relevant
position encoder type parameter (S-0-0277 / S-0-0115).
Activating the Absolute Encoder Evaluation
If the absolute evaluation of a measuring system is possible but not
wanted, this can be deselected in bit 7 of the respective position encoder
type parameter. The measuring system is then treated as if it were a nonabsolute encoder.
The position encoder type parameters are structured as follows:
S-0-0277, Position feedback 1 type
Bit 0: Encoder type
0: rotary
1: linear
Bit 3: Rotational direction
0: non-inverted
1: inverted
Bit 6: Absolute evaluation possible
0: absol. evaluation impossible
1: absolute evaluation possible
Bit 7: Absol. evaluation activated
0: absolute evaluation activated
(only if bit 6 = 1)
1: absol. evaluation deactivated
Abb. 10-23: Structure of the position encoder type parameters
Conditions for Correct
Generation of Absolute Position
Information
The correct generation of the machine zero-point related actual position
value is only possible if the respective conditions do not change.
The conditions for correct conversion of the measuring system related
position information to the machine zero-point related actual position
value change, if one of the following conditions changes:
• Monitoring the Conditions for Absolute Encoder Evaluation
• the rotational direction of the measuring system set in parameters
S-0-0277, Position feedback 1 type or S-0-0115, Position feedback
2 type in bit 3
• the position polarity set in S-0-0055, Position polarities
• the multiplication calculated using S-0-0278, Maximum travel range
(S-0-0256, Multiplication 1 or S-0-0257, Multiplication 2)
the value stored in parameter
S-7-0177, Absolute distance 1
If one of these four conditions changes, the position status of the
respective measuring system is cleared and the error F276 Absolute
encoder out of allowed window is generated.
ECODRIVE Cs
in reference &&
absol. encoder
evaluation
yes
position data
scaling or gear
settings
changed
yes
machine
reference
gets lost
no
voltage at
backup capacitor in
encoder > 2.5 V
no
yes
serial number of motor
has changed
bit “System Down” was
set in encoder asic and
evaluated in the
firmware (SYD = 1)
new encoder or
motor (replacement
of motor)
no
yes
modulo processing/
modulo range
was changed
modulo settings
were changed
clear reference bit
clear reference bit
clear reference bit
yes
no
P-0-0097≠ 0
and at the same time
position deviation
>P-0-.0097
no
clear reference bit
axis was moved
after drive was
switched off
error message F276
continue in
program
Fd5035f1
Abb. 10-24: Conditions for occurrence of F276
Absolute Encoder Monitor
If the absolute evaluation of a measuring system has been activated
(position encoder type parameter S-0-0277 = 01xx.xxxxb), the actual
position value generated in command S-0-0128, C200 Communication
phase 4 transition check can be monitored.
Note:
Functional Principle of the
Absolute Encoder Monitor
The monitor of the actual position value is only active, if
the encoder is in reference.
When turning off the drive’s power supply, the current actual position of
the axis is loaded into a non-volatile memory. When switching the axis
back on, the difference between the stored position and the position newly
initialized by the measuring system is generated. If this difference is
greater than the position window parameterized in parameter P-0-0097,
Absolute encoder monitoring window, the error message F276 Absolute
encoder out of allowed window is generated.
ECODRIVE Cs
Note:
Applications
The complete function of the absolute encoder is only
guaranteed when the required absolute encoder battery was
inserted in the battery case at the device.
The absolute encoder monitor is appropriate for the following applications:
• The motor is equipped with a holding brake.
• The mechanical drive system is self-locking and cannot be moved
manually.
Setting the Absolute Encoder Monitor
The value for P-0-0097, Absolute encoder monitoring window has to be
set by the user. Always select a value greater than the maximum allowed
motion of the axis when shut down. Assuming that the axis has a brake or
is self-locking, you can enter 1/10 motor revolutions (36° in reference to
the motor shaft) as a standard value for the parameter P-0-0097,
Absolute encoder monitoring window.
Deactivating the Absolute Encoder Monitor
The absolute encoder monitor cannot be effectively used with axes that
can or must be moved manually in a simple way when switched off. The
absolute encoder monitor should be switched off in such situations, in
order to prevent unnecessary error conditions.
Note:
The monitor of absolute position data can be switched off by
writing the value "0" to parameter P-0-0097, Absolute
encoder monitoring window.
Modulo Evaluation of Absolute Measuring Systems
If measuring systems are evaluated in absolute form and modulo
evaluation of the position data is activated, the following restriction
applies:The distance which may be traversed after the drive was
shutdown must be smaller than half the maximum travel range set in
parameter S-0-0278, Maximum travel range and smaller than the
absolute range of the encoder (S-0-0378).
Actual Position Values of Absolute Measuring Systems after
Initialization
The status of the actual position value of the motor encoder after
initializing the actual position values in the command S-0-0128, C200
Communication phase 4 transition check depends on:
• bit 3 in S-0-0147, Homing parameter
• the availability of an absolute encoder as motor encoder
• the reference of the absolute encoder
Note:
Position data reference can get lost with changes in polarity,
scaling, gearbox... (see also S-0-0403, Position feedback
value status and figure "Functional principle of the absolute
encoder monitor").
ECODRIVE Cs
10.4 Drive Limitations
Torque/Force and Current Limits
Brief Description
Controllers, motors and machines are subject to various limits to protect
them against damage from overload. Apart from a torque/force limit the
user can parameterize to protect the connected mechanical system, there
is a current limit to protect the motor and the controller output stage. The
following figure gives an overview of the overall function of current or
torque/force limitation. The details of the individual functions are
explained below:
motor type data
absolute value of motor
current
S-0-0080
temp. model
current command value
F219
E261
active current
command value
F260
E260
S-0-0092
torque limitation
P-0-0109
current limitation
current
S-0-0110
S-0-0109
min
P-0-4045, Active continuous
current
min
P-0-4011,
S-0-0112
S-0-0111
min
Fig. 10-25: Overview - torque/force and current limits
Functional Features
The limitations have the following characteristics:
• absolute current limit by S-0-0110, Amplifier peak current and
S-0-0109, Motor peak current
• dynamic torque/force limit
• temperature model to protect motor and drive controller
• display of maximum possible continuous and peak currents in:
• P-0-4045, Active continuous current
(depending on pulse width modulation frequency and amplifier
type)
ECODRIVE Cs
The following parameters are used in conjunction with the function:
• S-0-0110, Amplifier peak current
• S-0-0109, Motor peak current
• S-0-0111, Motor current at standstill
• S-0-0092, Bipolar torque/force limit value
• P-0-0109, Torque/force peak limit
• P-0-4011, Switching frequency
• P-0-4045, Active continuous current.
• P-0-0127, Overload warning
Pertinent Diagnostic Messages
In connection with the current and torque/force limitation, the following
diagnostic messages can occur:
• E257 Continuous current limit active
• E260 Command current limit active
• E261 Continuous current limit pre-warning
• F219 Motor overtemperature shutdown
• F260 Command current limit shutoff
Torque/Force Limit
The torque/force limit is used to protect the mechanical system and can
be freely parameterized by the user. For setting there are the following
possibilities:
• Variable torque limitation via S-0-0092, Bipolar torque/force limit
value
The parameter can be cyclically configured and therefore used for
process-dependent adjustment of torque/force limit values.
• Peak torque limitation via P-0-0109, Torque/force peak limit
The parameter cannot be cyclically configured and is the absolute limit
to protect the mechanical system.
• Dynamic torque limitation
Allows limiting the process force or torque (incl. friction force/torque) in
a defined way, because acceleration-dependent component is taken
into consideration.
Features
The torque/force limitation has the following features:
It is always the lowest value of the torque/force limit values entered in
S-0-0092 or P-0-0109 that takes effect.
Input is in % with 100% corresponding to the motor current at standstill
(cf. S-0-0111).
The output value is used for generating the effective torque/force limit
value (see fig. 2)!
ECODRIVE Cs
Variable Torque Limit
Parameter S-0-0092, Bipolar torque/force limit value is used to vary the
torque/force limit value during operation. This makes sense, for example,
for temporary approach to a limit stop. In this parameter, torque/force limit
values can be preset by the control unit in each program cycle.
Peak Torque Limit
Parameter P-0-0109, Torque/force peak limit can be used to limit the
maximum peak torque, during the commissioning of a drive, to the
maximum allowed torque of an axis, for example. This parameter ensures
that the allowed maximum peak torque of an application is not exceeded,
even if S-0-0092, Bipolar torque/force limit value is set to any value.
The following figure illustrates the interaction of current limit and
torque/force limit for determining the maximum output current.
Note:
It is always the lower one of the two limit values generated by
torque/force limitation that is effective!
F260 Com m and
current lim it shutoff
E260 Com m and
current lim it active
torque/forcegenerating
com m and current
Iq SO LL
S-0-0080, T orque/force
com m and val.
I M AX = P-0-4046, Active
peak current
M IN
current lim it value
from current
lim itation
current lim itation
internal
calculation
current
current lim it value
from torque/force
lim itation
torque/force
lim itation
M IN
P-0-4045, Active continuous current
S-0-0092, Bipolar torque/
force lim it value
P-0-0109, Torque/force
peak lim it
Fig. 10-26: Current limit and torque/force limit
ECODRIVE Cs
Note:
When the current command value has reached the peak
value, the warning E260 Command current limit active is
output. If the limit persists for more than 1.5 s, the drive is
switched off with the error message F260 Command current
limit shutoff.
Dynamic Torque/Force Command Value Limit
Note:
In the case of error reactions causing the velocity to be
switched to zero (P-0-0119, Best possible deceleration = 0)
and fatal warnings, the torque is limited to the value of
P-0-0109, Torque/force peak limit.
Activating the Function
The function of velocity-dependent torque/force limitation can be switched
on via bit 12 = 1 in P-0-0538, Motor function parameter 1.
Conditions for Using the
Function
To be able to use the function, the total inertia (motor + load) must be
known apart from the torque/force constant of the motor.
• The torque constant, in the case of Rexroth synchronous motors, is
contained in the motor data memory. The tolerance (especially via
temperature) is about -5% ... +20%.
• The load inertia can be set with the automatic controller setting. The
tolerance error of the torque constant is automatically taken into
account in the determined load inertia when determining the load
inertia by the automatic controller setting!
The required acceleration torque is calculated based on load inertia,
torque constant and specified command acceleration. Parameter
S-0-0092, Bipolar torque/force limit value can then be set to the required
machining torque. Parameter P-0-0109, Torque/force peak limit always
limits the maximum available torque and is set to the maximum value
allowed for the machine.
Generating the acceleration command value with position-controlled
drives:
a cmd =
xcmd:
vcmd:
acmd:
Fig. 10-27:
dv cmd d 2 x cmd
=
dt
dt 2
command position at position controller
command velocity at speed controller
command acceleration
Acceleration command value with position-controlled drives
ECODRIVE Cs
Generating the acceleration command value with speed-controlled drives:
a cmd =
dv cmd
dt
vcmd:
command velocity at speed controller
acmd:
Fig. 10-28: Acceleration command value with speed-controlled drives
Required torque results from:
Macc = a cmd * J total = a cmd * (JM + JL )
acmd:
JM:
J L:
Fig. 10-29:
motor inertia
load inertia
Required torque
Required torque-generating motor current:
Iacc =
(a cmd * J total ) M acc
=
Km
Km
Km:
torque constant of motor
iacc:
acceleration current
Fig. 10-30: Motor current
The allowed maximum current thus results from:
Imax =
S − 0 − 0092 * S - 0 - 0111
+ Iacc
100%
Imax =
or
P − 0 − 0109 * S - 0 - 0111
100%
S-0-0092:
bipolar torque/force limit value
S-0-0111:
motor current at standstill
P-0-0109:
torque/force peak limit
Imax:
maximum current
Iacc:
acceleration current
Fig. 10-31: Maximum current
Current Limit
The current limit cannot be parameterized by the user but is automatically
configured by the drive.
The current limitation has the following features:
• It is always the lowest value of the current values entered in S-0-0110
or S-0-0109 that takes effect.
• Values displayed in A, the resulting limit value being indicated in %.
• The output value is used for generating the effective torque/force limit
value (see fig. 2)!
Temperature Model for
Protecting Motor or Controller
ECODRIVE Cs
To protect the motor against overheating, a temperature model for the
motor current is calculated in the drive to make sure that the motor
current, in the case of long-lasting drive load, can only be run at the limit
for a restricted time (see fig. 8).
In other words, the absolute duration for which the device type current (cf.
S-0-0110) can be demanded from the controller varies depending on the
device type!
According to the type of device, the limit takes effect at another point of
time:
• 100 W device: the max. peak current can be made available for a
max. of 2 s.
• 200 W and 400 W device: the max. peak current can be made
available for a max. of 4 s.
• 750 W device: the max. peak current can be made available for a
max. of 8 s.
Note:
When the above times are exceeded, there first is the prewarning E261 Continuous current limit pre-warning
generated and then, in case the peak current load continues,
the controller automatically switches off with the error F219
Motor overtemperature shutdown.
overload characteristics
1000
allowable continuous operating time [s]
Time Dependency of Effective
Peak Current
100
100W
200, 400W
750W
10
1
100
200
300
motor torque [%]
Fig. 10-32: Time dependency of effective peak current
ECODRIVE Cs
Note:
As with ECODRIVE Cs a motor can only be operated with one
controller (100 W motor only with 100 W controller!), the
dimensioning of the drive controller ensures that it always has
some reserve capacity available. This automatically protects
the drive controller because the motor monitor already
switches off before! A separate protective function
(temperature model) for the controller is therefore not required
in the case of MSM motors!
Notes on Commissioning
Thermal Load of the Controller
In the drive the thermal controller load is calculated (P-0-0141) and the
peak current is reduced.
• When P-0-0141 = 115% the drive is switched off with F219.
• When the limit defined in P-0-0127 is exceeded, the drive generates
the warning E261.
The maximum current that can be continuously supplied by the controller
is displayed in parameter P-0-4045, Active continuous current. This
current also leads to a 100% load. To what extent and how quickly the
current can be reduced depends on how the actual current supplied
exceeds the effective continuous current.
To monitor the thermal controller load, two warnings are generated:
• E257 Continuous current limit active when the load reaches 100%.
• E261 Continuous current limit pre-warning when the load reaches
the value set in parameter P-0-0127, Overload warning.
Note:
Checking the Thermal Load
This allows reacting to a possible overload even before the
drive switches off with the error F219.
Parameter P-0-0141, Thermal drive load can be used to check the extent
of the controller load. Correct dimensioning would mean that this value
would not exceed 80%.
To check the load it is possible to subject the machine to a test run. The
time until the load achieves a stationary condition, however, is greater
than 10 minutes.
To check the thermal load of a drive during commissioning without having
to run processing cycles during this time, it is possible to preset the
controller load to 80 %. To do so, write any value to parameter P-0-0141,
Thermal drive load. It is necessary to briefly and simultaneously run the
typical processing cycle. The thermal load should be observed during this
processing cycle and imperatively show a downward tendency. Otherwise
the drive was incorrectly dimensioned for the application. To check the
further increase of the thermal load beyond 80% use
• overload pre-warning by parameter P-0-0127, Overload warning
and/or
• output of parameter P-0-0141, Thermal drive load
ECODRIVE Cs
The typical curve of the thermal load is shown on the figure below.
Note:
By writing data to P-0-0141, Thermal drive load the load is
preset to 80 % during the execution of a processing cycle.
thermal
load
in per cent
downward tendency of thermal load
(P-0-0141) during a typical
processing cycle
100
80
threshold for overload
pre-warning (P-0-0127)
0
t
writing an arbitrary value to P-0-0141, in this case preset with
80 per cent
Sv5032f1.fh7
Fig. 10-33: Checking the thermal load
Warning and Error with Current
Limit Active
If the peak current limit is active, the drive generates the warning E260
Command current limit active. If the drive remains in peak current
limitation for more than 1.5 s, it switches off with the error message F260
Command current limit shutoff.
This function can be switched on via parameter P-0-0538, Motor function
parameter 1 (bit 11 = 1). (By loading base parameters the function is
switched off.) With main spindle axes, the drives are normally accelerated
at the current limit which is the reason why this function does not make
sense in this case.
ECODRIVE Cs
Velocity Limit
The following parameters are used to limit the velocity of the drive in
control:
• S-0-0113, Maximum motor speed (nmax)
The parameter S-0-0091, Bipolar velocity limit value is used to allow
variable limitation of the velocity to values smaller than the maximum
possible velocity during operation.
The parameter S-0-0113, Maximum motor speed (nmax) indicates the
maximum possible motor velocity. It is contained in the motor feedback
data memory and does not have to be entered manually.
Limiting to Maximum Motor Velocity
The maximum motor velocity defines the maximum velocity of the drive
on the drive side. It is included in the calculation of the maximum value
entered in the parameter S-0-0091, Bipolar velocity limit value.
Limiting to Bipolar Velocity Limit Value
The bipolar velocity limit value (S-0-0091) defines the maximum velocity
of the drive on the user side. It becomes active as:
• monitor of the actual velocity in the "Torque control" mode
• limit of the resulting command value in the velocity controller
• monitor of the position command value differences in the "Position
control" mode (see also chapter "Position Command Value
Monitoring")
• limit of S-0-0036, Velocity command value in the "Velocity control"
mode
Monitor of Actual Velocity in
"Torque Control" Mode
Monitoring the actual velocity in the "Torque control" mode takes place
with regard to the 1.125-fold value of S-0-0091, Bipolar velocity limit
value. If this value is exceeded, the message of the fatal error F879
Velocity limit S-0-0091 exceeded is generated. The drive switches to
torque-free operation afterwards.
Limit of Resulting Command
Value in Velocity Controller
In all operating modes in which the velocity controller is active (all
operating modes except for "Torque control"), the given velocity
command value is limited to the value of the parameter S-0-0091, Bipolar
velocity limit value. If this condition is reached, the warning E259
Command velocity limit active is generated.
Limit of S-0-0036, Velocity
command value in "Velocity
Control" Mode
In the "Velocity control" mode, the input of S-0-0036, Velocity command
value is limited to the value of parameter S-0-0091, Bipolar velocity limit
value. If the value entered in S-0-0036 exceeds this limit, the warning
E263 Velocity command value > limit S-0-0091 is generated.
ECODRIVE Cs
Travel Range Limits
To avoid accidents and damages to the machine, many safety
precautions are provided. A part of these safety measures refers to
limiting the allowed working range. These limits can be set by the
following measures:
• software limits in the control unit (only active when axis was homed)
• position limit values in the drive (only active when axis was homed)
• travel range limit switches in the drive
• safety limit switches (in the E-Stop circuit)
S-0-0049, Positive position limit value
S-0-0050, Negative position limit value
S-0-0403, Position feedback value status
P-0-0090, Travel limit parameter
P-0-0222, Status of travel range limit inputs
Functional Principle of Travel Range Limits
type of working
range limitation
working range limitations
working range
operating principle
of working range
limitation
machine table
axis shut down
(see control
unit manual)
software limitation
via control unit
software limit switches
active after
homing cycle
software limitation
via drive controller
position limit values
active after
homing cycle
power off drive package
travel range
limit switch
power off drive
package, braking at
maximum acceleration
switch: evaluated
by drive controller
switch: incorporated
in higher-level
E-Stop circuit
safety limit switch
higher-level
E-Stop circuit,
power off
Xx0002f1.fh7
Fig. 10-34: Operating principle and ways of limiting the working range
In the drive, there are two methods of limiting the travel range:
• entering position limit values (only active when axis was homed)
• installing travel range limit switches
If the travel range is limited by the drive, the reaction to exceeding the
travel range can be set in the drive.
ECODRIVE Cs
There are the following possibilities:
• Error with a "speed command value set to zero" reaction and
automatic drive enable shutdown
• Warning with a "speed command value set to zero" reaction and
automatic reset when the error condition is no longer present
The reaction is set in bit 2 of P-0-0090, Travel limit parameter:
Bit 0: Negation
0: limit switch input =24V,
=> travel range exceeded
Bit 1: Activation
0: travel range switch is not
active
1: travel range switch is
active
Bit 2: Reaction
0: exceeding travel range is
handled as an error
handled as a warning
Fig. 10-35: Setting the drive reaction for exceeded travel range (bit 2)
Note:
Shutting down the axis with the use of a velocity command
value ramp is impossible! Shutdown always takes place at
maximum allowed torque/force (see P-0-4046, Active peak
current).
Exceeding the Travel Range as an Error
If the value "0" is entered in bit 2 of parameter P-0-0090, exceeding the
travel range is handled as an error with the reaction "speed command
value set to zero" (see also chapter: "Velocity Command Value Reset").
After the speed command value has been set to zero, the drive switches
off the internal drive enable and thus is torque-free. The ready-foroperation contact opens.
For re-commissioning the following steps are required:
⇒ Clear the error message with the command S-0-0099, C500 Reset
class 1 diagnostics or by pressing the S1 button.
⇒ Activate the drive with a positive edge of the drive enable signal.
If the error condition is still present, in other words if the limit switch is still
activated or if the axis limit values are still exceeded, only such command
values that lead back to the allowed range will be accepted. Checking the
command values is dependent on the active operating mode.
ECODRIVE Cs
Operating mode
Command value check
torque control
polarity of parameter S-0-0080,
Torque/force command value
all operating modes with drive-internal polarity of the internal velocity
velocity control
command value
all operating modes with drive-internal polarity of the velocity resulting from
position control
the preset position command value
Fig. 10-36: Checking the command values in the case of error
If command values are preset that continue to lead out of the allowed
travel range, the travel range error will be generated again.
Exceeding the Travel Range as a Warning
If the value "1" is entered in bit 2 of parameter P-0-0090, exceeding the
travel range is handled as a warning with the reaction "velocity command
value set to zero". The drive does not switch off the internal drive enable.
If the error condition is still present, in other words if the limit switch is still
activated or if the axis limit values are still exceeded, only such command
values that lead back to the allowed range will be accepted. Monitoring
the command values is dependent on the active operating mode (see
"Exceeding the Travel Range as an Error").
Travel Range Limit Switches - Monitor
The status of the travel range limit switches is displayed in parameter P-00222, Status of travel range limit inputs. The status of the positive limit
switch is mapped to bit 0, the status of the negative limit switch is mapped
to bit 1. The monitor for exceeding the travel range limit switches is only
activated if the monitoring function is switched on in bit 1 of parameter
P-0-0090, Travel limit parameter. Exceeding the travel zone limit switches
is recognized when these are activated. The diagnostic message
depends on the type of handling:
Handling
SS display
Diagnostic message
as error
F643
F643 Positive travel limit switch activated
as error
F644
F644 Negative travel limit switch activated
as warning
E843
E843 Positive limit switch activated
as warning
E844
E844 Negative limit switch activated
Fig. 10-37: Diagnostic message when travel range limit switch exceeded
Note:
When both limit switches are being activated simultaneously,
e.g. if one of the switches does not work correctly, this is
handled as an error. The drive controller in this case reacts as
if exceeding the travel range had been parameterized as an
error. The error messages F643 Positive travel limit switch
activated or F644 Negative travel limit switch activated are
generated.
ECODRIVE Cs
Travel Range Limit Switches - Activation and Polarity
The travel range limit switches are activated with the parameter P-0-0090,
Travel limit parameter.
Additionally, the inputs can be inverted in this parameter.
Bit 0: Negation
Bit 1: Activation
0: travel range switch is not
active
1: travel range switch is
active
Bit 2: Reaction
handled as an error
handled as a warning
Fig. 10-38: Activation and polarity of the travel range limit switches (bit 0 or bit 1)
Position Limit Values
The monitoring for exceeding the position limit parameters
• S-0-0049, Positive position limit value
• S-0-0050, Negative position limit value
is only carried out when:
⇒ the encoder system is in reference, i.e. the actual position value
refers to the machine zero point
- and ⇒ the monitor of the position limit values was activated in parameter
S-0-0055, Position polarities (bit 4).
Exceeding the position limits is recognized, when the actual position value
exceeds the travel range defined by the position limit values.
If "Drive-internal interpolation", "Drive-controlled positioning" or
"Positioning block mode" is used as the active operating mode, the drive
checks to see if the target position is outside of the position limit values. If
this is the case, the drive will not move; it generates the warning E253
Target position out of travel range and additionally sets bit 13 in
parameter S-0-0012, Class 2 diagnostics.
ECODRIVE Cs
The diagnostic message in the case that the position limit values have
been exceeded depends on the type of handling:
Handling
SS display
Diagnostic message
as error
F629
F629 Positive travel limit exceeded
as error
F630
F630 Negative travel limit exceeded
as warning
E829
E829 Positive position limit exceeded
as warning
E830
E830 Negative position limit exceeded
Fig. 10-39: Diagnostic message when position limits have been exceeded
Position Limit Values - Activation
The position limit value monitor is activated in bit 4 of parameter
S-0-0055, Position polarities.
Bit 4: Position limit values
0 : not active
1 : active
Fig. 10-40: Activating the position limit values
Travel Range Limit Switches - Connection
ECODRIVE Cs
10.5 Drive Error Reaction
Error Reaction Basically
Depends on Class of Error
Occurred
If an error is recognized in the controller, the controller reacts with a
preset error reaction.
This drive error reaction depends on
• the error class of the error occurred and
• set parameter setting of
• P-0-0117, Activation NC reaction on error
• P-0-0118, Power off on error
• P-0-0119, Best possible deceleration
Note:
The error class defines the behavior in the case of error.
There are 4 error classes with different priority (see also chapter "Error
Classes").
Error class
Diagnostic
message
fatal
F8xx
travel range
F6xx
Drive reaction
The error reaction set via parameters P-0-0117,
Activation NC reaction on error and P-0-0119,
Best possible deceleration will be ignored, since a
drive-side reaction is no more possible.
Torque/force is immediately disabled.
Independent of the setting in parameters P-0-0117,
Activation NC reaction on error and P-0-0119,
Best possible deceleration, the velocity
command value is immediately set to zero. The
reaction corresponds to the setting
P-0-0117 = 0 (no NC reaction) and
P-0-0119 = 0 (velocity command value set to zero).
This setting provides the fastest possible
deceleration of the axis if the travel range is
exceeded.
interface
F4xx
An NC reaction is impossible, since the
communication with the NC became inoperative.
The drive immediately carries out the deceleration
procedure parameterized in P-0-0119, Best
possible deceleration.
non-fatal
F2xx
The drive carries out the deceleration procedure set
in P-0-0117, Activation NC reaction on error and
F3xx
P-0-0119, Best possible deceleration. If NC
reaction on error has been activated, the drive
continues to operate for 30 s after detecting an
error, as if no error had been detected. The NC has
this time to bring the axis to an NC-controlled
standstill. The drive then carries out the reaction set
in P-0-0119.
Fig. 10-41: Error reaction of the drive
ECODRIVE Cs
Best Possible Deceleration
The P-0-0119, Best possible deceleration drive reaction is automatically
carried out in the case of
• interface errors F4xx
• non-fatal errors F2xx
At the end of each error reaction, the drive is torque-free.
P-0-0119, Best possible deceleration is ignored in the case of:
• fatal errors F8xx
• travel range errors F6xx
The following settings are possible:
Value of P-0-0119
Reaction
0
velocity command value set to zero
1
torque command value set to zero
2
velocity command to zero with command
ramp and filter
3
return motion
Fig. 10-42: Parameterization options for best possible deceleration
The drive reaction defined by "Best possible deceleration" determines the
reaction of the drive if
• the drive enable signal changes from 1 to 0
(disabling drive enable) and
• the operating mode is switched to parameter mode while the drive is in
control (reset of the communication phase).
ECODRIVE Cs
Velocity Command Value Set to Zero
P-0-0119, Best possible
deceleration = 0
In the case of error, the drive in velocity control is shut down with
command value = 0. The drive then brakes with its maximum allowed
torque (see also chapter "Current Limit").
Time Flow of Failure Reaction
with Spindle Brake
The time flow of the motor brake activation (if available) and the output
stage release with velocity command value set to zero (with spindle
brake) is illustrated in the figure below.
1
activating velocity
command value
set to zero
0
maximum braking time P-0-0126
actual velocity value profile
Vbrake=
10 rpm
0
activation of
motor brake
1
0
output stage
released
1
0
t / ms
Sv5033f1.fh5
Fig. 10-43: Time flow of velocity command value set to zero
Note:
Activation of the motor holding brake depends on P-0-0525,
bit 1 (see also chapter: "Motor Holding Brake")."
Note:
If the value entered in P-0-0126 is too low, the error reaction
might be terminated without axis standstill.
Danger of damaging the motor brake if
P-0-0126, Maximum braking time is set too low
CAUTION
⇒ The value for P-0-0126, Maximum braking time must
always be set higher than the time needed to
decelerate the axis by setting the velocity command
value to zero, taking the maximum possible velocity
into account.
ECODRIVE Cs
Switch to Torque-Free State
deceleration = 1 or fatal error
In the case of error the drive is switched to torque-free state. The drive in
this case is only braked by the friction torque; it "coasts to stop". The time
until standstill can be considerable, especially with spindles.
Note:
The error reaction "switch to torque-free state" is absolutely
necessary with fatal errors (F8xx), because braking, e.g. with
a defective output stage or feedback, is no longer possible!
Drive continues to move unbraked in the case of error!
Danger to life from parts in motion when the safety door
at the machining cell is opened!
DANGER
Note:
⇒ Check drive for motion (e.g. using S-0-0040, Velocity
feedback value, if possible) and await standstill!
bit 1 (see also chapter: "Motor Holding Brake").
The temporal behavior of the brake in conjunction with the error reaction
depends on the holding brake type that was set. Please observe the note
under "Switch to Torque-Free State with Brake Type: Servo Brake".
Switch to Torque-Free State with Brake Type: Spindle
Brake
The motor holding brake is not activated until the motor speed drops
-1
below 10 min .
activating "switch to torque-free state"
actual speed value curve
n = 10/min
motor holding brake released
motor holding brake applied
output stage locked
output stage released
time
Fig. 10-44: Time diagram when switching to torque-free state and P-0-0525,
Type of motor brake, bit 1 = 1
ECODRIVE Cs
Switch to Torque-Free State with Brake Type: Servo
Brake
The motor holding brake is immediately activated!
Note:
It does not make sense to set the best possible deceleration to
"switch to torque-free state" when at the same time using a
motor holding brake of the servo brake type. When carrying
out the best possible deceleration, the drive does not brake
actively, but only with the holding brake. After 20000
revolutions, the brake is worn.
activating "switch to torque-free state"
actual speed value curve
n = 10/min
motor holding
brake released
motor holding brake applied
output stage locked
output stage released
time
Fig. 10-45: Time diagram when switching to torque-free state and P-0-0525,
Type of motor brake, bit 1 = 0
See also chapter: "Motor Holding Brake"
ECODRIVE Cs
Velocity Command to Zero with Filter and Ramp
deceleration = 2
In the case of error the drive in velocity control is brought to a standstill
with a command value ramp with the final value zero. In addition, the
velocity command value is transmitted via jerk-limiting command value
smoothing filter.
The parameters used in this case are:
• P-0-1222, Velocity command filter
These parameters take effect as described in chapter "Operating Mode:
Velocity Control".
If parameters P-0-1211, Deceleration ramp 1 or P-0-1213, Deceleration
ramp 2 are equal to zero, the parameters P-0-1201, Ramp 1 pitch or
P-0-1203, Ramp 2 pitch are used.
If parameters P-0-1201, Ramp 1 pitch or P-0-1203, Ramp 2 pitch are
equal to zero, the drive brakes without a ramp.
Note:
bit 1.
See also Functional Description "Motor Holding Brake""
Return Motion
deceleration = 3
If return motion was entered as the "best possible deceleration", the drive
generates a position command value profile in order to travel the desired
distance in the case of error. This means that a relative process block is
activated in the case of error.
Note:
If P-0-0096 is positive, the drive moves in positive direction in
reference to the selected coordinate system.
This travel block is defined by the parameters
• P-0-0096, Distance to move in error situation
• S-0-0138, Bipolar acceleration limit value
• S-0-0349, Jerk limit bipolar
Once the drive has finished the travel block, i.e. has reached the desired
target position, the motor holding brake is activated (if available) and the
drive goes torque-free at the end of the motor brake delay time.
ECODRIVE Cs
The travel block is considered as finished, i.e. the motor holding brake is
activated, if the following applies:
• target position = active position command value, i.e. bit 12 in
S-0-0013, Class 3 diagnostics = "1" and
• Vact = 0; i.e. bit 1 in S-0-0013, Class 3 diagnostics = "1" (actual
velocity smaller than S-0-0124, Standstill window)
velocity command value profile
S-0-0138, Bipolar acceleration limit value
S-0-0349, Jerk limit bipolar
activation of motor holding brake
disabling the output stage enable
Fig. 10-46: Time flow of return motion error reaction
Error Reaction "Return Motion" with Activated Position Limit Values
When the drive-internal position limit values (S-0-0049, Positive position
limit value and S-0-0050, Negative position limit value) were activated, i.e.
when
• bit 4 for "activating the position limit values" was set to "1" in S-0-0055,
Position polarities
• the encoder selected via S-0-0147, Homing parameter, bit 3, is in
reference (S-0-0403, Position feedback value status = "1"),
it is ensured that the drive does not leave the defined allowed travel range
by executing the "return motion" error reaction.
Note:
When the drive is in a position in which the execution of the
return motion would exceed a position limit value, the drive in
this case only moves up to shortly before the respective
position limit value (exactly S-0-0057, Position window
before the position limit value).
ECODRIVE Cs
Power Off on Error
Bb Contact
The project planning manual specifies that power must be switched on via
the Bb contact. This means that power can only be switched on, if the Bb
relay is closed. On the other hand, switching power off requires the Bb
contact to open.
Note:
Devices of the ECODRIVE Cs range have been designed as
stand-alone devices. They do not have any signal lines leading
to other drive controllers; therefore package reaction settings
are ineffective for devices of the ECODRIVE Cs range.
P-0-0118, Power off on error
Bit 1: Condition for power on
0: Power on possible, if no error and operating
mode (comm. phase 4)
1: Power on possible, if no error ("passive axis")
Bit 3: Reaction to DC bus undervoltage
0: Undervoltage handled as error or non-fatal
warning.
1: Undervoltage handled as non-fatal warning
with suppression of motive operation.
Bit 4: Automatic clearing of undervoltage error
0: Undervoltage error is stored.
1: Undervoltage error is cleared by the drive upon
removal of drive enable.
Bit 5: Undervoltage as non-fatal warning
0: Undervoltage as error or fatal warning
1: Undervoltage handled as non-fatal warning.
Fig. 10-47: P-0-0118, Power off on error
ECODRIVE Cs
Condition for Power On
Using bit 1 of P-0-0118, Power off on error it is possible to set that point of
time at which the drive signals its readiness for operation and therefore at
which power can be switched on.
Passive Axis
If bit 1 = 1, power can be switched on immediately after basic initialization
of the drive, in other words, in communication phase 0 ("passive axis").
If bit 1 = 0, the drive must be in communication phase 4 without error
before the power can be switched on for the first time.
Reaction to Undervoltage (DC bus Voltage too Low)
Bits 3, 4 and 5 of P-0-0118, Power off on error offer various options on
how to react to undervoltage. Undervoltage is present if the drive has
been enabled (subject to torque) and the DC bus voltage drops below the
minimum value (about 75% of the rectified value of the connected supply
voltage).
Undervoltage as Fatal Warning
With bit 3 = 1 the handling as "fatal warning" can be set. This makes
sense if the energy in the DC bus must be retained for that period of time
which a control unit needs to start a synchronized deceleration of several
drives. The drive then does not signal a class 1 diagnostics error and the
reaction parameterized in P-0-0119, Best possible deceleration is not
carried out either. Switching motive operation off leads to a slower drop in
the DC bus voltage. This means that asynchronous motors can still have
a magnetic field when the control unit starts the synchronized deceleration
of the drives. Braking then must take place in regenerative operation.
Automatic Clearing of
Undervoltage
If undervoltage is handled as an error (bits 3, 5 = 0), bit 4 can be used to
set an automatic clearing of the error once the control unit removes the
drive enable signal.
This makes sense if the error occurs even with normal shutdowns and the
cause is simply that the control unit does not remove the enable signal
fast enough.
Undervoltage as Warning
With bit 5 = 1 it is possible to switch off every reaction to undervoltage in
the DC bus, mains errors or power supply unit errors (with separate
power supply unit). Only a warning is generated.
Mains Error
If either the power supply unit or controller detect undervoltage in the
supply network (mains error), a soft start of the power supply unit for the
power supply is initiated (mains connected via the braking resistor). If the
control unit does not react to this warning by shutting down the
installation, the error F220 Braking resistor overload shutdown can be
generated.
ECODRIVE Cs
NC Reaction on Error
Note:
NC reaction on error is only possible with non-fatal errors,
otherwise the drive always reacts with an immediate error
reaction!
If the drive controller recognizes an error, this information is transmitted to
the control unit. The control unit can then decelerate the servo axes of the
machine in a coordinated way with a "travel procedure in the case of
error", thus preventing damage.
If this is desired, you have to delay the drive error reaction. This
guarantees that the axis that reports the error can continue following the
command values set by the control unit. This is achieved by setting a time
delay between the detection of the error and the drive’s error reaction.
The setting is made in parameter P-0-0117, Activation NC reaction on
error.
Value of P-0-0117
0
Function
Drive carries out error reaction immediately
after detection of an error.
1
Drive continues following the command values
of the control unit for another 30 s, then reacts
with "best possible deceleration".
Fig. 10-48: NC reaction on error
Note:
Activating the "NC reaction on error" only makes sense for
control units that possess the corresponding error procedure
in an error situation.
ECODRIVE Cs
E-Stop Function
The E-Stop function is used to decelerate the drive via a hardware input
at the drive controller. It thus represents the option of shutting down the
drive, in parallel with command communication, in case of an emergency.
Activation and kind of deceleration can be parameterized.
The following parameters are available for this function:
• P-0-0008, Activation E-Stop function
• P-0-0223, Status Input E-Stop
Activating and Selecting a Reaction
For activating the E-Stop input and selecting a reaction for shutdown of
the drive, use parameter P-0-0008, Activation E-Stop function.
P-0-0008, Activation E-Stop function
Bit 0: Activation of E-Stop
0: inactive
1: active
Bit 1: Error class when interpretation as error (bit 2 = 0)
0: best possible deceleration
(P-0-0119)
1: velocity command value set
to zero
Bit 2: Interpretation
0: as non-fatal error
1: fatal warning
Fig. 10-49: P-0-0008, Activation E-Stop function
ECODRIVE Cs
Functional Principle of E-Stop Function
By activating the E-Stop function (bit 0 = 1) the drive executes, upon
actuation of the E-Stop input, the selected reaction for deceleration. This
reaction depends on bit 2 of P-0-0008, Activation E-Stop function.
Interpretation as Warning
E834 E-Stop activated
If the interpretation "fatal warning" has been parameterized in P-0-0008
(bit 2 = 1), the drive reacts as if the external drive enable were switched
off with the reaction parameterized in P-0-0119, Best possible
deceleration. The E834 E-Stop activated warning appears. Bit 15 is set in
S-0-0012, Class 2 diagnostics (manufacturer-specific warning).
Simultaneously, the bit "change bit class 2 diagnostics" is set in the drive
status word. This change bit is cleared by reading S-0-0012, Class 2
diagnostics.
Via parameter S-0-0097, Mask class 2 diagnostics warnings can be
masked in terms of their effect on the change bit.
The functional principle at work when actuating the E-Stop input is that of
a series connection to an external drive enable. When activating the EStop input, the drive reacts as in the case of drive enable switched off. To
reactivate the drive, the E-Stop input must be deactivated and another
positive edge must be applied to the external drive enable.
Interpretation as Error with
Adjustable Reaction
If the handling as an error has been set in bit 2 (bit 2 = 0), the reaction
selected in bit 1 is carried out. When the E-Stop input is activated, the
diagnostic error message F434 E-Stop activated (or F634 E-Stop
activated) appears. Bit 15 is set in parameter S-0-0011, Class 1
diagnostics. Bit 13 ("drive interlock, error with class 1 diagnostics") is set
in the drive status word of the drive telegram.
The error can be cleared via command S-0-0099, C500 Reset class 1
diagnostics or the S1 button at the drive controller if the E-Stop input is no
longer active.
This function basically works as if an error had occurred in the drive. The
drive reaction is immediate, independent of parameter P-0-0117,
Activation NC reaction on error.
If bit 1 = 0 in parameter P-0-0008, the drive is shut down according to the
error reaction parameterized in P-0-0119, Best possible deceleration.
F434 E-Stop activated
The diagnostic message upon activating the E-Stop input then is F434 EStop activated.
Interpretation as Error with
"Velocity Command Value Set to
Zero"
If bit 1 = 1 in parameter P-0-0008, the drive is braked at maximum torque,
when the E-Stop is activated, until standstill. This is done regardless of
the error reaction set in parameter P-0-0119. This setting corresponds to
the best possible deceleration "velocity command value set to zero".
F634 E-Stop activated
The diagnostic message upon activating the E-Stop input then is F634 EStop activated.
Status of the E-Stop Input
The status of the E-Stop input can be controlled via parameter P-0-0223,
Status Input E-Stop. The status of the E-Stop input is stored in bit 0 of this
parameter.
Connection of the E-Stop Input
See Project Planning Manual ECODRIVE
ECODRIVE Cs
10.6 Control Loop Setting
General Information on Control Loop Settings
The control loop settings in a digital drive controller are very important for
the characteristics of the servo axis.
Determining the control loop settings requires expert knowledge. For this
reason, application-specific controller parameters are available for all
digital Rexroth drives. These parameters are either contained in the motor
feedback data memory and can be transmitted by activating the
parameter S-0-0262, C700 Load defaults procedure command or they
must be input via the parameterization interface.
See also chapter "Load Defaults Procedure"
Note:
"Optimizing" the controller settings is generally not necessary!
For some exceptions, however, it may be necessary to adjust the control
loop settings to a specific application. For such cases, the following
section contains a few important basic rules for setting the control loop
parameters.
In every case, the indicated methods should only be considered as
guidelines that lead to a robust control loop setting. Specific aspects of
some applications may require settings that deviate from these
guidelines.
The control loop structure consists of a cascading position, velocity and
torque/force controller. Depending on the operating mode used, only the
torque control loop or the torque and velocity control loops become
operative.
S-0-0189
S-0-0047
S-0-0032
S-0-0036
S-0-0037
S-0-0040
S-0-0047
S-0-0051
S-0-0053
S-0-0080
S-0-0084
vact
motor
0
1
5: ...
d: ...
8: ...
Bipolar velocity limit value
Velocity loop proportional gain
Velocity loop integral action time
Position loop Kv-factor
Current loop proportional gain 1
Current loop integral action time 1
Following error
Acceleration feedforward gain
Note for extended analog output
2 ms
0
1
S-0-0084
P-0-0538,
bit 7
8: act. current Iq act
Kpi= S-0-0106
TNi= S-0-0107
sampling time: 125 ms
-
current
com.
value
Iq com
Fp5008fq.fh7
Velocity loop smoothing time constant
Position command smoothing time constant
Velocity mix factor feedback 1 & 2
Rejection frequency velocity loop
Rejection bandwidth velocity loop
Motor function parameter 1
Active peak current
S-0-0080
P-0-0004
P-0-0099
P-0-0121
P-0-0180
P-0-0181
P-0-0538
P-0-4046
S-0-0040
TGL=
P-0-0004
P-0-0180
P-0-0181 P-0-0181
>0
0
-1
f
current control
S-0-0081
(only ECODRIVE/DURADRIVE)
Kp=
S-0-0100
P-0-4046
8 ms
P-0-0538, bit 7
vact
ext. encoder
P-0-0121
0 ... 100 %
TGL=
P-0-0004
Designation of signal for analog output
S-0-0091
S-0-0100
S-0-0101
S-0-0104
S-0-0106
S-0-0107
S-0-0189
S-0-0348
d: velocity command value
S-0-0036
Primary mode of operation
Velocity command value
Additive velocity command value
Velocity feedback value
Position command value
Position feedback 1 value
Position feedback 2 value
Torque/force command
Torque/force feedback value
sampling time:
250 µs (DIAX)
1 ms (ECODRIVE/DURADRIVE)
S-0-0053
S-0-0037
nlimit=
S-0-0091
-
sampling time: 250 µs (DIAX)
500 µs (ECODRIVE/DURADRIVE)
S-0-0036
position
actual value S-0-0032 ... 35
Xact
S-0-0051
Kv S-0-0104
-
E259
d: velocity command value
TN= S-0101
velocity control
KB= S-0-0348
S-0-0032, bit 3 acceleration feed forward
S-0-0032,
bit 3
P-0-0099
position
com. value
Xcom
5: posit. com.value diff.
position control
ECODRIVE Cs
Fig. 10-50: Controller structure
ECODRIVE Cs
Load Defaults Procedure
With the "load defaults procedure" function you can activate the default
controller parameters for motor types with motor feedback data memory,
such as
• MKD,
• MHD and
• MKE.
By means of these parameters it is possible to set controller parameters
adjusted to the motor type used.
Note:
The parameters were determined in the laboratory for inertia
relationships of Jmotor = Jload.
Most applications can work with these values.
There are default values for the following parameters:
• S-0-0100, Velocity loop proportional gain
• S-0-0101, Velocity loop integral action time
• S-0-0104, Position loop Kv-factor
• S-0-0106, Current loop proportional gain 1
• S-0-0107, Current loop integral action time 1
• S-0-0348, Acceleration feedforward gain
• P-0-0004, Velocity loop smoothing time constant
• P-0-0181, Rejection bandwidth velocity loop
The "load defaults procedure" function can be activated in 2 different
ways:
• Automatic activation during execution of command S-0-0128, C200
Communication phase 4 transition check for the first time the motor
type is operated with this controller.
• By executing the command
procedure command.
S-0-0262,
C700
Load
defaults
Automatic Execution of the Load Defaults Procedure
Function
If a controller is operated with the connected motor type for the first time,
this is recognized by the controller. During the execution of command S0-0128, C200 Communication phase 4 transition check the controller
compares parameter S-7-141, Motor type, which is read from the motor
feedback data memory, with the value of parameter S-0-0141, Motor type
which is backed up in the parameter memory of the controller. If these
two parameters are different, then error F208 UL The motor type has
changed is generated. The message "UL" appears on the 7-segment
display.
Note:
Before you clear error F208 and thus start the "load defaults
procedure" function, you have the option of saving the specific
controller parameters.
ECODRIVE Cs
The error F208 UL The motor type has changed can be cleared in 3
different ways:
1. Executing the command S-0-0099, C500 Reset class 1 diagnostics
2. Actuating the button S1
3. Applying 24 V at the "Clear error" input
In all 3 cases the "load defaults procedure" function is activated.
If the execution of load defaults procedure is impossible, the respective
command error of command S-0-0262, C700 Load defaults procedure
command will appear.
(See also chapter: "Error Conditions of the Load Default Settings
Procedure")
Executing the Load Defaults Procedure Function as a
Command
With parameter S-0-0262, C700 Load defaults procedure command, the
feature can be executed as a command. This can be useful if manually
changed controller parameters are to be set back to their default values.
Error Conditions of the Load Default Settings Procedure
If the function is started by executing the command S-0-0262, C700 Load
defaults procedure command and is not successfully processed, the
reason for this error is displayed either on the 7-segment display or with
the diagnostic parameter S-0-0095, Diagnostic message.
There can be the following causes of errors while the load defaults
procedure is processed:
SS display
Diagnostic message
C702
default parameters not
available
C703
C704
C705
Cause
Load defaults procedure is
impossible for the motor type
selected, load defaults
procedure is only possible for
MHD, MKD and MKE.
default parameters invalid
Connection of controller to
motor feedback data memory
is interrupted or feedback is
defective.
default parameters incorrect The existing default value
cannot be processed since,
for example, the extreme
value limit was exceeded by
the default value.
locked with password
The customer password has
been activated, therefore it is
impossible to change the
control loop parameters.
Fig. 10-51: Possible errors during load defaults procedure command
Note:
If a parameter cannot be set to its default value, the parameter
is set invalid in its data status. This serves safety purposes
and errors diagnosis.
ECODRIVE Cs
Setting the Current Controller
The parameters for the current control loop are set by Bosch Rexroth and
cannot be adjusted for specific applications. The parameter values set at
the factory are activated with the command S-0-0262, C700 Load defaults
procedure command for motors with feedback data memory or must be
taken from the motor data sheet.
The values for the parameterization of the current controller are to be
found in the parameters
• S-0-0106, Current loop proportional gain 1 and
• S-0-0107, Current loop integral action time 1.
Damage to the motor and the drive controller
caused by change of values defined by Bosch
Rexroth!
WARNING
⇒
Changes to the current controller parameters are not
permitted.
Setting the Velocity Controller
In order to be able to set the velocity controller, the current controller must
have been correctly set.
The velocity controller is set via the parameters
• S-0-0100, Velocity loop proportional gain
• S-0-0101, Velocity loop integral action time
• P-0-0004, Velocity loop smoothing time constant
• P-0-0180, Rejection frequency velocity loop
The setting can be made by:
• executing the "load defaults procedure" function once
• starting the command "automatic control loop settings"
• the procedure described below
Preparing the Setting of the Velocity Controller
In order to be able to carry out the setting of the velocity controller it is
necessary to make some preparations:
• The mechanical system of the machine must have been set up in its
definite assembly in order to have original conditions for parameter
setting.
• The drive controller must have been correctly connected.
• The operatability of the safety limit switches (if available) must have
been checked.
• The "velocity control" mode must have been selected in the drive.
Start Settings
ECODRIVE Cs
The controller setting must be selected for the start of parameterization as
follows:
• S-0-0100, Velocity loop proportional gain = standard value of the
connected motor
• S-0-0101, Velocity loop integral action time = 0 ms (no Icomponent)
• P-0-0004, Velocity loop smoothing time constant = minimum value
500 µs Í filter switched off
• P-0-0181, Rejection bandwidth velocity loop = 0 Hz (deactivated)
Note:
When determining the velocity controller parameters, the
functions for torque and reversal clearance compensation
mustn’t be active.
Determining the Critical Proportional Gain and
Smoothing Time Constant
1. Let the drive move with low velocity after switching drive enable on.
(rotary motors: 10...20 rpm; linear motors: 1...2 m/min)
2. Increase S-0-0100, Velocity loop proportional gain until instable
behavior (continuous oscillation) occurs.
3. Determine frequency of the oscillation by oscilloscoping the actual
velocity (see also chapter "Analog Output"). When frequency of
oscillation is considerably higher than 500 Hz, increase value in
parameter P-0-0004, Velocity loop smoothing time constant until
oscillation diminishes. Then continue increasing S-0-0100, Velocity
loop proportional gain until instability occurs again.
4. Reduce S-0-0100, Velocity loop proportional gain until oscillation
decreases automatically.
The value thus determined is the so-called "critical velocity loop
proportional gain".
Note:
By inputting P-0-0181, Rejection bandwidth velocity
loop = -1 a PT2 filtering function can be activated. (see also
block diagram with control loop structure in chapter: "General
Information for Control Loop Settings").
Determining the Critical Integral Action Time
1. Set
S-0-0100,
Velocity
0.5 * "critical proportional gain".
loop
proportional
gain =
2. Reduce S-0-0100, Velocity loop proportional gain until instable
behavior occurs.
3. Increase S-0-0101, Velocity loop integral action time until
continuous oscillation decreases.
The value thus determined corresponds to the "critical integral action
time".
Determining the Speed Controller Setting
The critical values determined before (see "Determining the Critical
Integral Action Time" and "Determining the Critical Proportional Gain and
Smoothing Time Constant") can be used to derive a controller setting with
the following features:
• Independent of changes at the axis because sufficient distance to
stability limit.
• Properties can be reliably reproduced in series machines.
ECODRIVE Cs
The following table contains some of the most common types of
application and the corresponding characteristics of the control loop
setting.
Application type
Speed controller
proportional gain
Speed
controller
integral action
time
Feed axis at standard machine
tool
Kp = 0,5 x Kpcrit
Tn = 2 x Tncrit
Feed axis at perforating
machine or nibbling machine
Kp = 0,8 x Kpcrit
Tn = 0
Kp = 0,5 x Kpcrit
Tn = 0
Feed drive at following-on
cutting devices
Notes
Good load stiffness and
good control performance.
High proportional gain; no
I-component in order to
obtain short response
times.
Relatively non-dynamic
controller setting without
I-component in order to
keep the material to be cut
from getting distorted with
the cutting device.
Fig. 10-52: Characteristics of speed controller settings
Filtering Mechanical Resonant Oscillations
The drives are able to suppress oscillations caused by the mechanical
drive system between the motor and the axis or spindle mechanics over a
narrow frequency band. Thus, increased drive dynamics with good
stability can be achieved.
With distortion-resistant drive mechanics, the mechanical system of rotordrive line-load is induced to generate mechanical oscillations as a result
of position or speed feedback in a closed control loop. This behavior
called "two-mass oscillation" is generally within the 400-800 Hz frequency
range, depending on the stiffness and spatial volume of the mechanical
system.
This "two-mass oscillation" usually has a clear resonance frequency
which can be selectively suppressed by a rejection filter installed in the
drive.
When suppressing the mechanical resonance frequencies it is possible to
considerably increase the dynamic response of the speed control loop
and of the position control loop, compared to closed-loop control without
using rejection filters.
This results in a higher degree of contour precision and shorter cycle
times for positioning processes with sufficient distance to the stability limit.
The filter can be set in rejection frequency and bandwidth. The
attenuation of the rejection frequency is the strongest; the bandwidth
determines the frequency range in which the attenuation is smaller than –
3 dB. Greater bandwidth results in lower attenuation of the rejection
frequency!
The following parameters can be used to set both values:
• P-0-0180, Rejection frequency velocity loop
ECODRIVE Cs
bandwidth
attenuation in dB
frequency f
0
-3
rejection frequency freject
Sv5052f1.fh7
Fig. 10-53: Amplitude characteristic of rejection filter depending on the
bandwidth, qualitative
The following procedure is recommended for setting the band filter:
Presetting
First deactivate rejection filters.
⇒ Enter the value "0" in parameter P-0-0181, Rejection bandwidth
velocity loop.
Determine Resonance
Frequency
⇒ Connect oscilloscope to analog output channels, assign actual
velocity value to analog output 1 (enter "S-0-0040" in P-0-0420,
Analog output 1, signal selection and enter the desired scaling, e.g.
100 rpm/10 V, in P-0-0421, Analog output 1, expanded signal
selection).
- or ⇒ Use the oscilloscope function of the drive to display actual velocity
value. It can be read directly by an FFT of the frequency response.
⇒ Excite the drive mechanics, e.g. tap lightly and tangentially with a
rubber hammer.
⇒ Record the time of the velocity oscillations with an oscilloscope or
oscilloscope function and analyze for clearly distinctive frequencies. If
the oscilloscope function is used, the resonance frequency can be
directly read by means of the frequency display.
Determining Initial State of
Control Behavior
⇒ Set drive enable and optimize the velocity control loop with inactive
rejection filter (see chapter: "Setting the Velocity Controller").
⇒ Record step response of the actual velocity value and the
torque/force generating command current with a small velocity
command value jump (the torque-generating command current is not
allowed to reach the limit during this process).
Activate Rejection Filter and
Check Its Effect
⇒ Enter the most distinctive frequency in Hz in parameter P-0-0180,
Rejection frequency velocity loop.
⇒ Enter a minimum bandwidth (e.g. 25 Hz) in parameter P-0-0181,
Rejection bandwidth velocity loop.
⇒ Record previous step response again.
ECODRIVE Cs
If the step response shows less overshooting and shorter period of
oscillation:
⇒ Check whether increasing the value of P-0-0181, Rejection
bandwidth velocity loop causes an improvement.
- or ⇒ Check whether changing the value of P-0-0180, Rejection frequency
velocity loop causes an improvement.
If the step response shows the same behavior:
⇒ Check the resonance frequency analysis.
- or ⇒ Clearly increase value P-0-0181, Rejection bandwidth velocity
loop.
Optimizing Rejection Filter or
Velocity Controller
⇒ With the pre-optimized values of P-0-0180, Rejection frequency
velocity loop and P-0-0181, Rejection bandwidth velocity loop,
optimize the speed controller again (see above).
The step response defined above must have a similar appearance
with higher values for S-0-0100, Velocity loop proportional gain
and/or smaller values for S-0-0101, Velocity loop integral action
time.
⇒ An additional optimizing run may be necessary for P-0-0180,
Rejection frequency velocity loop and P-0-0181, Rejection
bandwidth velocity loop using the step response.
Filtering by Means of Double
Smoothing Filter
⇒ Optimizing the control loop by means of a rejection filter does not
always sufficiently improve the quality of control. This is the case, for
example, when the closed control loop does not have significant
resonance frequencies. Activating a second smoothing filter (with
PT1 characteristics) can possibly improve the quality of control as
desired.
⇒ To do this, set the parameter P-0-0181, Rejection bandwidth
velocity loop to "-1". The rejection filter as well as the respective
parameter P-0-0180, Rejection frequency velocity loop are
deactivated. Instead of the rejection filter, a smoothing filter is
activated in the control loop. It uses the same smoothing time
constant (Tgl) as the smoothing filter P-0-0004, Velocity loop
smoothing time constant. Together with the smoothing filter at the
input of the velocity controller, you obtain a filter with PT2
characteristics. Frequencies higher than the limit frequency
(fg = 1/2πTgl) are suppressed much more and cannot excite the
control loop oscillation.
The parameter for the filter is P-0-0004, Velocity loop smoothing
time constant.
ECODRIVE Cs
A
dB
0,1
1
10
0
-3
100
f
fg
-20
0,1
-40
0,01
Sv5053f1.fh7
Fig. 10-54: Frequency response of a PT1- and PT2-filter
Note:
The setting is made as described under "Determining the
Critical Proportional Gain and Smoothing Time Constant".
Velocity Control Loop Monitoring
The velocity control loop monitoring function is used to diagnose
malfunction within the velocity control loop. If the velocity control loop
monitor detects an error in the velocity control loop, the error message
F878 Velocity loop error is generated.
Causes of the error message being generated can be:
• incorrect polarity of the motor connection
• incorrect commutation angle
• failures in the velocity encoder
Note:
The velocity control loop monitor is only active with operating
modes in which the velocity control loop in the drive is closed
(i.e. not in torque control) and the monitor activated.
Note:
The velocity control loop monitor avoids the "runaway effect".
ECODRIVE Cs
Activating the Monitor
The velocity control loop monitor is activated with parameter P-0-0538,
Motor function parameter 1.
P-0-0538, Motor function parameter 1
Bit 8: Velocity control loop monitor
0: switched on
1: switched off
Fig. 10-55: P-0-0538, Motor function parameter 1
Note:
It is highly recommended not to deactivate the velocity control
loop monitor activated at the factory, as it represents a basic
safety function of the drive!
Criteria for Triggering the Monitor
One of the following criteria must have been met for the velocity control
loop monitor to be triggered:
• The current command value is limited to P-0-4046, Active peak
current.
• The motor accelerates in the wrong direction.
• The actual velocity value is greater than the 0.0125-fold maximum
motor speed.
Position Controller
The position deviation is generated from the effective position command
value, generated from the respective generator function of the presently
active operating mode and the actual position value (encoder 1 or
encoder 2) that is used for control. The deviation is transmitted to the
position controller. The gain of the position controller is set by means of
S-0-0104, Position loop Kv-factor (see also chapter: "Setting the Position
Controller").
Function of Bit 3 of the
Operating Mode Parameters
(S-0-0032...S-0-0035)
Bit 3 in the operating mode parameters (S-0-0032..35) indicates whether
position control is run with lag error or laglessly.
Bit 3 = 1
lagless (with velocity feedforward)
Bit 3 = 0
with lag error
(without velocity feedforward)
The figure below shows how velocity feedforward works: By means of
differentiation, a velocity value is calculated from the position command
values. This value is a velocity command value with which the new
position command value can be reached within one position controller
cycle. One position controller cycle after this feedforward value was
transmitted to the velocity controller, the position command value is
preset for the position controller. This means that the drive has already
reached the new position command value, when it is preset for the
position controller and the lag is clearly reduced ("lagless").
In the case of lagless position control an acceleration-proportional
feedforward component can be added via parameter S-0-0348,
ECODRIVE Cs
Acceleration feedforward gain. The feedforward component is generated
with another differentiation according to the velocity feedforward.
(See also chapter "Setting the Acceleration Feed Forward")
S-0-0348, Acceleration feedforward gain
S-0-0032 (S-0-0033, S-0-0034, S-0-0035)
operating modes bit 3
I Accel. feedforward
bit3=0
(see velocity
control loop)
S-0-0036, Velocity command value
Position
command
value
S-0-0104, Position loop
Kv-factor
Actual pos. value
Fig. 10-56: Position controller
Setting the Position Controller
Requirements
In order to set the position controller correctly, current and velocity
controller must have been correctly set.
The position controller is set with the parameter
• S-0-0104, Position loop Kv-factor
This factor can be set by either executing the "load defaults procedure"
function once or by following the procedure described below:
Preparing the Setting of the Position Control Loop
In order to be able to carry out the setting of the position control loop it is
necessary to make some preparations:
• The mechanical system of the machine must have been set up in its
definite assembly in order to have original conditions for parameter
setting.
• The drive controller must have been correctly connected.
• The operatability of the safety limit switches (if available) must have
been checked.
• The drive must be operated in a mode that closes the position control
loop in the drive (position control").
• The outer speed controller must have been properly set The start
value chosen for the Kv factor should be relatively low (Kv = 1).
• For the determination of the position controller parameters, there
mustn’t have been any compensation function activated.
ECODRIVE Cs
Determining the Critical Position Controller Gain
1. Move axis at a low velocity, e. g. with the jog function of the
connected NC control unit (rotary motors: 10...20 rpm, linear motors:
1...2 m/min).
2. Increase the Kv factor until instability occurs.
3. Reduce the Kv factor until the continuous oscillation decreases
automatically.
The Kv factor determined through this process is called the "critical
position control loop gain (Kvcrit).
Determining the Position Controller Setting
In most applications, the appropriate position controller setting will be
between 50% ... 80% of the critical position control loop gain.
This means:
S-0-0104, Position loop Kv-factor = 0.5 ... 0.8 x Kvcrit
Position Control Loop Monitoring
The position control loop monitoring function is used to diagnose
malfunction within the position control loop.
If the position control loop monitor detects an error in the position control
loop, the error message F228 Excessive deviation is generated.
Causes of the error message being generated can be:
• Exceeding the torque or acceleration capability of the drive
• Blocking of the mechanical axis system
• Failures in the position encoder
Note:
The position control loop monitor is activated by default, but
only takes effect for operation modes with closed position loop
in the drive.
To set and diagnose the monitoring function, two parameters are used:
• S-0-0159, Monitoring window
• P-0-0098, Max. model deviation
Basic Operating Principle of the Position Control Loop
Monitor
To monitor the position control loop, a model actual position value, which
depends only on the preset position command value profile and the
control loop parameters that were set, is calculated in the drive while the
position control loop is closed. This model actual position value is
continuously compared to the actual position value that is effectively
detected and used for control.
If the deviation exceeds the one determined in S-0-0159, Monitoring
window for 8 ms, the error F228 Excessive deviation will be generated.
ECODRIVE Cs
Position command value
Position
controller
Actual position value
Motor and
mechanical
system
Position
control loop
model
-
+
S-0-0159,
Monitoring
window
Peak value detector
P-0-0098, Max.
model deviation
1.
Error F228 Excessive
deviation is generated
Fig. 10-57: Principle of position control loop monitoring
Setting the Position Control Loop Monitor
Requirements
• Check the velocity and position control loops for their appropriate
settings before setting the position control loop monitor.
• Check the mechanical system of the respective axis; its correct
function must be ensured.
Setting
The setting of the position control loop monitor should be made as
follows:
1. Via the connected control unit proceed in a typical machining cycle;
when doing this, move at the maximum projected velocity.
Parameter P-0-0098, Max. model deviation always displays the
maximum deviation between the actual position value and the
expected actual position value. This value is used as an auxiliary
value for setting the monitoring window.
Note:
The content of parameter P-0-0098 is stored in the volatile
memory, i.e. after switching the drive on, the content of this
parameter is zero.
2. In parameter S-0-0159, Monitoring window set the content of
parameter P-0-0098, Max. model deviation multiplied by a safety
factor. A safety factor between 1.5 and 2.0 is recommended.
Example:
P-0-0098, Max. model deviation = 0.1°; safety factor = 2
⇒ S-0-0159, Monitoring window = 0.2° (= 2 x 0.1°)
ECODRIVE Cs
Deactivating the Position Control Loop Monitor
Note:
The position control loop monitor is active by default.
It is strongly recommended to leave the position control loop monitor
activated.
However, there are exceptions for which the position control loop monitor
must be deactivated. You can do this by entering very high values in
parameter S-0-0159, Monitoring window.
Setting the Acceleration Feedforward
For servo applications that require highest precision at high velocity it is
possible to significantly increase the precision of the axis in the
acceleration and deceleration phases by activating the acceleration
feedforward. Typical applications for the efficient use of the acceleration
feedforward are:
• free forming surface machining
• grinding processes
To set the acceleration feedforward, use the parameter S-0-0348,
Acceleration feedforward gain.
Requirements for Correct Setting of the Acceleration
Feedforward
• Velocity and position control loop must have been correctly set.
• For the position controller, lagless operation must be selected.
ECODRIVE Cs
Setting the Acceleration Feedforward
The setting of the correct acceleration feedforward can only be made by
the user since it depends on inertia.
Note:
With automatic control loop settings it is not only possible to
determine inertia but also the value for S-0-0348.
The setting is made in two steps:
Calculating a Guide Value for
Acceleration Feedforward
1. For the calculation of the guide value for the acceleration feedforward
you need the value of the total inertia of the axis reduced to the motor
shaft (JMotor+JLoad). This value is known approximately from the
dimensioning of the axis. Additionally, you need the torque constant of
the motor used. The constant can be taken from the motor data sheet
or the parameter P-0-0051, Torque/force constant. The guide value
is calculated as follows:
acceleration feedforwar d =
JMotor +JLoad
×1000
Kt
acceleration feedforward [mA\rad\s²]
JMotor:
inertia of the motor [kgm²]
(P-0-0510)
JLoad:
inertia of the load [kgm²]
(P-0-4010)
Kt:
torque constant of the motor [Nm/A]
(P-0-0551)
Fig. 10-58: Guide value for the acceleration feedforward
The determined guide value is to be entered in parameter S-0-0348,
Acceleration feedforward gain.
Checking the Effect of the
Acceleration Feedforward and, if
Necessary, Fine Adjustment of
Parameter S-0-0348
2. The deviation of the actual position value from the position command
value can be output through the analog diagnostic outputs of the
controller or the oscilloscope function. To check the effect of the
acceleration feedforward, you must oscilloscope this signal while the
axis runs the desired operation cycle. In acceleration and deceleration
phases, the feedforward must clearly reduce the dynamic control
deviation.
ECODRIVE Cs
10.7 Automatic Control Loop Setting
General Information
To facilitate drive parameterization for the user, the firmware offers
automatic control loop setting.
Using parameters P-0-0163, Damping factor for autom. control loop
adjust and P-0-0164, Application for autom. control loop adjust, the user
can have an influence on the result of the automatic control loop settings
(obtained control loop dynamics).
Note:
To carry out the automatic control loop setting it is necessary
to move the drive. The velocity and position control loops are
optimized!
Prerequisites for Starting the Automatic Control Loop Setting
Property damage and/or personal injury caused
by drive motion!
CAUTION
During the command D900 Command automatic loop
setting, the drive moves automatically, i. e. without
external command values.
⇒
Check and make sure that the E-Stop circuit and the
travel range limit switch are working.
See also chapter: "Safety Instructions for Electric Drives
and Controls"
Defining the Travel Range
Since the axis must be moved in order to identify and set the control loop,
it is necessary to define an allowed travel range. There are two options:
• Defining a travel range by inputting the limits P-0-0166, Lower
position limit for autom. control loop adjust and P-0-0167, Upper
position limit for autom. control loop adjust
• Defining a travel range by inputting the P-0-0169, Travel distance for
autom. control loop adjust (required for modulo axes!)
Note:
Inputting the limits
P-0-0166, P-0-0167
The mode is selected by means of parameter P-0-0165,
Selection for autom. control loop adjust, bit 15.
If bit 15 of P-0-0165 has not been set, the range in which the axis may
move during the automatic control loop setting is defined with
• a lower limit position (P-0-0166) and
• an upper limit position (P-0-0167)
ECODRIVE Cs
The value of P-0-0169, Travel distance for autom. control loop adjust.
results from these two limit values.
Inputting P-0-0169
If bit 15 of P-0-0165 has been set, the range in which the axis may move
during the automatic control loop setting is defined with
• P-0-0169, Travel distance for autom. control loop adjust and
• Start position (actual position) at the start of the command
This results in the values of P-0-0166 (start position - travel range) and
P-0-0167 (start position + travel range) within which the axis may move to
execute the command.
position
P-0-0166 Lower
P-0-0167 Upper
limited to
position limit for
position limit for
modulo
value autom. control loop autom. control loop
adjust
adjust
S-0-0103,
Modulo value
starting
position
1/2 travel distance
= P-0-0169
2
absolute
position
P-0-0169, Travel distance for
autom. control loop adjust
Sv5100f1.fh7
Fig. 10-59: Travel range with automatic control loop setting with modulo scaling
Note:
The travel range defined is only monitored during the
execution of the command "Automatic control loop setting".
Possible diagnostic messages when determining the travel range:
D905 Travel range invalid,
P-0-0166 & P-0-0167
If the defined travel distance is less than two motor revolutions, the
command error D905 Travel range invalid, P-0-0166 & P-0-0167 is
displayed.
D906 Travel range exceeded
If the axis is not within the defined travel range at the start of the
command, the command error D906 Travel range exceeded is generated.
Loading the Default Controller Parameters
Before executing the command for setting the control loop, the default
controller parameters stored in the motor feedback should be loaded or
the data of the motor data sheet should be entered in the respective
parameters.
ECODRIVE Cs
Drive Enable or Drive Start
The oscillation and thus the automatic control loop setting are only are
only carried out, if
• drive enable is present
- and • drive start is set.
Note:
If there is no drive enable at command start, the command
error D901 Start requires drive enable is generated.
Command Settings
All parameters used for the command must be determined before
command start so that they take effect for the automatic control loop
setting.
P-0-0163, Damping factor for autom. control loop adjust. This
parameter is used to select the desired control loop dynamics.
P-0-0164, Application for autom. control loop adjust is used to take
the mechanical conditions during controller optimization into account.
P-0-0165, Selection for autom. control loop adjust is used to select
functionalities (modes) of the automatic control loop setting.
Possible Causes for Command
Error D903
If the value set for the following parameters is too low, this can cause
command error D903 Inertia detection failed to be generated.
• S-0-0092, Bipolar torque/force limit value
The maximum motor torque effective during the automatic control loop
setting can be influenced via parameter S-0-0092. It is thereby
possible to limit the torque to prevent wear of the mechanical system.
By means of the feedrate override the velocity can be influenced via
the analog channel (potentiometer) during the automatic control loop
setting.
This parameter sets the velocity effective during the automatic control
loop setting.
This parameter sets the acceleration effective for the automatic control
loop setting.
Note:
The reasons that command error D903 is generated can either
be excessive load inertia, but also too low speed, acceleration
or torque.
ECODRIVE Cs
Executing Automatic Control Loop Setting
Note:
1) The execution of the control loop setting is connected with a
drive motion, i.e. the drive moves in terms of the travel range
fixed in parameters P-0-0166 and P-0-0167 or P-0-0169.
2) The parameter settings required to execute the command
must be made prior to command start.
Starting the Command
The automatic control loop setting is started by writing the binary numeric
value "3" (11b) (=command start) to parameter P-0-0162, D900
Command Automatic control loop adjust.
Triggering a Motion
An axis motion and thus the execution of the automatic control loop
setting is only possible if the "Drive Halt" signal has not been set. If the
"Drive Halt" signal has been set, the drive will acknowledge the start of
the command P-0-0162, D900 Command automatic loop setting, but the
axis won’t move.
Triggering the Motion by
Starting Command D900
velocity profile
v
standstill window
t
AH/START
INBWG (moving)
time span of autom. control loop adjust
drive enable
start autom.
control loop
adjust
1)
diagnostic display
H1
Ab
AF
D9
AH
A
t
1) start of the automatic control loop adjust via start button in DriveTop
or
via command D9 (P-0-0162)
SV5008D1.fh7
Fig. 10-60: Signal flow chart
ECODRIVE Cs
Triggering the Motion by Drive
Start
velocity
profile
v
standstill window
t
AH/START
INBWG (moving)
drive enable
start autom.
control loop
adjust
1)
diagnostic display
H1
Ab AH
D9
AF AH
t
or
SV5010D1.Fh7
Interrupting the Command with
"Drive Halt"
velocity profile
interrupt
v
standstill window
t
AH/START
INBWG (moving)
drive enable
start autom.
control loop
adjust
1)
diagnostic display
H1
Ab
AF
D9
AF AH
t
or
SV5009D1.Fh7
Note:
A repeated run with possibly changed settings can be carried
out in two ways:
1) by removing and then applying drive enable or start signal
(drive start)
2) by completing and then restarting command D900.
ECODRIVE Cs
Chronological Sequence of Automatic Control Loop Setting
Description of the Steps:
Step 1
Check for possible command errors at command start.
Step 2
Determine total and extrinsic inertia by evaluating acceleration and
deceleration processes.
Step 3
Calculate and activate controller parameters in drive.
The parameters P-0-0163, Damping factor for autom. control loop adjust
and P-0-0164, Application for autom. control loop adjust will be taken into
account.
Step 4
Check velocity control loop and correct controller parameters, if need be,
until desired behavior occurs (depends on dynamics programmed).
Step 5
Check position control loop and correct controller parameters, if need be,
until aperiodic behavior in position control loop occurs.
Step 6 END
Wait for possible restart or end of command.
During this step the drive is idle (velocity = 0) and the display reads D900.
ECODRIVE Cs
Step1:
yes
Error at
command start?
D901 Start requires drive enable
D902 Motor feedback data
not valid
D905 Travel range invalid
D906 Travel range exceeded
no
Step2:
go to middle position
Determine moment of inertia
Step3:
Moment of inertia
successfully
determined?
no
D903 Inertia detection failed,
store default control loop settings
yes
Step4:
Compute controller
parameters
Step5:
Optimize
velocity control loop
Optimized
successfully?
no
yes
Step6:
Optimize
position control loop
no
Optimized
successfully?
Step7:
yes
Store load inertia P-0-4010 and max.
parameterizable accel, also determined
control loop settings
D904 Gain adjustment failed, store
default control loop settings
FD5023X1.FLO
Fig. 10-63: Steps of automatic control loop setting
ECODRIVE Cs
Results of Automatic Control Loop Setting
Note:
The current control loop is not affected by the automatic
control loop setting, as its setting is load-independent and
optimum current controller parameters were already stored in
the motor feedback data memory at the factory.
The results of automatic control loop setting depend on the selection
made in P-0-0165.
Structure of parameter P-0-0165:
Bit 0: reserved
Bit 1: set velocity controller
Bit 2: set position controller
Bit 3: set acceleration
feedforward
Bit 4: determine load inertia
Bit 5: reserved
Bit 6: determine maximum accel.
Bit 7-13: reserved
Bit 14: determine kind of motion
0: oscillation
1: motion in one direction only
Bit 15: determine travel range
0: input limits
1: input travel range
Fig. 10-64: Selection parameter for automatic control loop setting
Possible results of the automatic control loop setting are:
• Setting of velocity control loop
• Setting of position control loop
• Determination of P-0-4010, Load inertia (reduced to motor shaft)
The load inertia determined during automatic control loop setting is
stored in parameter P-0-4010.
• Determination of P-0-0168, Maximum acceleration
The maximum drive acceleration determined during automatic control
loop setting is stored in parameter P-0-0168.
• S-0-0348, Acceleration feedforward gain
As the result of the automatic control loop setting, the value for
acceleration feedforward is calculated in accordance with the following
formula:
S − 0 − 0348 =
P − 0 − 4010 + P − 0 − 0051
S − 0 − 0051
Fig. 10-65: Calculating the acceleration feedforward
ECODRIVE Cs
10.8 Drive Halt
The "Drive Halt" function is used to shut down an axis with defined
acceleration and defined jerk.
The function is activated as follows:
• In the case of SERCOS drives, by clearing the drive halt bit (bit 13 in
the master control word with SERCOS command communication).
• In the case of field bus drives, by setting the drive halt bit to zero in the
field bus control word. The structure of the field bus control word
depends on the profile type that was set. For profile types I/O mode
(profile type = FF80, FF81 or FF82) in bit 1, for Rexroth profile types in
bit 13 of field bus control word.
• By setting the drive halt input to zero with parallel or analog interface.
• By interrupting a drive control command (e.g. "Drive-controlled homing
procedure").
Depending on the operating mode that is interrupted by "Drive Halt",
different parameters will take effect.
Shutdown in operating mode "Drive-internal interpolation":
• S-0-0359, Positioning Deceleration (or S-0-0260, Positioning
Acceleration, if S-0-0359 = "0")
• S-0-0193, S-0-0193, Positioning Jerk
Shutdown in operating mode "Positioning block mode":
• P-0-4063, Positioning block deceleration (or P-0-4008, Positioning
block acceleration, if P-0-4063 = "0")
Shutdown in operating mode "Jogging":
• S-0-0193, S-0-0193, Positioning Jerk
Shutdown in operating modes without internal position command value
generation:
• S-0-0138, Bipolar acceleration limit value
Shutdown in operating modes "Velocity control" or "Torque control":
• P-0-1211, Deceleration ramp 1 (or P-0-1201, Ramp 1 pitch, if
P-0-1211 = "0")
• P-0-1213, Deceleration ramp 2 (or P-0-1203, Ramp 2 pitch, if
P-0-1213 = "0")
The following parameters are used for diagnostic purposes:
• S-0-0124, Standstill window
ECODRIVE Cs
Functional Principle of Drive Halt
When the "Drive Halt" function is activated, the drive no longer follows the
command values of the active operating mode, but automatically shuts
down the drive while maintaining a parameterized acceleration.
The way in which the shutdown takes place depends on the previously
activated operating mode.
Shutdown in Position Control
with Last Active Deceleration
and Jerk Limit Values
Shutdown takes place in position control with the use of the previously
active deceleration and jerk limit values, if an operating mode with driveinternal position command value generation was previously active.
Operating modes with drive-internal position command value generation
are:
• drive-Internal Interpolation
• positioning block mode
• jog mode
Note:
Shutdown in Position Control
with S-0-0138 and S-0-0349
If the deceleration parameter of the operating mode is zero,
the respective acceleration parameter of the operating mode is
used.
In position control shutdown is carried out using the values of the
acceleration in S-0-0138, Bipolar acceleration limit value and of the jerk in
S-0-0349, Jerk limit bipolar, when a position control mode without internal
position command value generation was active before.
Operating modes without
generation are, for example:
drive-internal
position
command
value
• position control
• phase synchronization
• electronic cam shaft
jerk according to S-0-0349,
Jerk limit bipolar
deceleration according to
pertinent parameters
velocity
command
value
V
Drive
HALT
0
operating mode
active
activation
Drive HALT
operating mode
active
t / ms
Sv5037f1.fh5
Fig. 10-66: Principle of "Drive Halt" with position control mode without driveinternal position command value generation active before
Note:
Position-controlled shutdown is carried out with position
control with lag error, if an operating mode that also contained
position control with lag error was active before. Otherwise the
function is carried out with lagless position control.
ECODRIVE Cs
Shutdown in Velocity Control
If either the "Velocity control" or "Torque/force control" or "Velocity
synchronization" mode was previously active, the shutdown in velocity
control uses parameters
If the value of parameter P-0-1211, Deceleration ramp 1 is zero, the
parameter P-0-1201, Ramp 1 pitch is used.
If the value of parameter P-0-1213, Deceleration ramp 2 is zero, the
parameter P-0-1203, Ramp 2 pitch is used.
If parameters P-0-1201, Ramp 1 pitch or P-0-1203, Ramp 2 pitch are also
equal to zero, shutdown takes place without ramp and at full torque.
Note:
Drive Halt Acknowledgment
Activating the Operating Mode
In all cases, the 7-segment display reads "AH" and the
diagnostic message in S-0-0095 is A010 Drive HALT!
If the actual velocity falls below the value of parameter S-0-0124,
Standstill window, bit 11 "Drive halt acknowledgment" will be set in
S-0-0182, Manufacturer class 3 diagnostics.
The selected operating mode becomes active again if:
• in the case of SERCOS drives, bit 13 is set to "1" again in the master
control word.
• In the case of field bus drives, the Drive Halt bit is set in the field bus
control word. (The structure of the field bus control word depends on
the profile type that was set. For the I/O mode profile types (profile
type = FF80, FF81 or FF82) in bit 1, for Rexroth profile types in bit 13
of the field bus control word).
• the drive halt input is set again (with parallel or analog interface).
Connecting the Drive Halt Input
If command communication does not use a field bus, e.g. SERCOS
interface or Profibus, the hardware controls the "Drive Halt" function.
For more information see Project Planning Manual in chapters: "Drive
Halt (AH)" and "Drive Enable (RF)"
Drive Halt
connection
1
M
E1+
E1TVW
RF
AH
E2+
E2+U
L
0V
L
DAE02.1
DAE02.1
X75
E1+
E1TVW
RF
AH
E2+
E2+U
L
0V
L
CLR
STOP
FB+
CLR
STOP
FB+
FB-
FB14
X76
connector X75
EK5031f1.fh7
Fig. 10-67: Connecting drive halt signal to DAE plug-in module
ECODRIVE Cs
10.9 Drive-Controlled Homing
The actual position value of the measuring system to be homed forms a
coordinate system with regard to the machine axis. Unless absolute
encoders are used, this coordinate system does not correspond to the
machine coordinate system after the drive has been initialized.
The command S-0-0148, C600 Drive-controlled homing procedure
command is thus used for
• establishing conformity between drive measuring system and machine
coordinate system for non-absolute measuring systems
• drive-controlled traveling to the reference point for absolute measuring
systems
Drive-controlled homing means that the drive, while maintaining the
parameterized homing velocity and homing acceleration, independently
generates position command values in order to carry out the drive
movements required for homing.
The following parameters are available for carrying out this function:
• S-0-0041, Homing velocity
• S-0-0042, Homing acceleration
• S-0-0052, Reference distance 1
• S-0-0147, Homing parameter
• S-0-0150, Reference offset 1
• P-0-0153, Optimum distance home switch - reference mark
• S-0-0177, Absolute offset 1
• S-0-0298, Reference cam shift
• S-0-0299, Home switch offset
Additional parameters used:
• S-0-0057, Position window
ECODRIVE Cs
Setting the Homing Parameter
The basic sequence of drive-controlled homing depends, among other
things, on how parameter S-0-0147, Homing parameter has been
parameterized.
The following settings have to be made in S-0-0147:
homing direction positive / negative
homing with motor encoder / optional encoder
evaluation of home switch yes / no
evaluation of reference mark yes / no
traveling to reference point yes / no
The structure of the parameter is as follows:
S-0-0147, Homing parameter
Bit 0: Reference travel direction
0: - positive =
1: - negative =
clockwise with view
towards motor shaft
counter-clockwise with view
towards motor shaft
Bit 5: Home switch evaluation
0: - home switch is evaluated
1: - home switch is not evaluated
Bit 6: Reference mark evaluation
0: - reference mark is evaluated
1: - reference mark is not evaluated
Bits 8, 7: Stop/positioning/run path
0 0: - Once the home switch or reference mark have been
overrun, the drive stops and switches over the
coordinate system.
0 1: - Once the home switch or reference mark have been
overrun, the drive positions at the reference point
and switches over the coordinate system.
1 0: - The drive always runs the path that is needed to
overrun two sequential reference marks and then
switches over the coordinate system
(only with distance-coded reference marks!).
1 1: - Not allowed!
Fig. 10-68: Structure of S-0-0147, Homing parameter
Note:
Apart from the parameterization of parameter S-0-0147, the
sequence of drive-controlled homing also depends on the type
and arrangement of the reference marks of the encoder to be
homed.
(See "Overview of the Type and Allocation of Reference Marks
of Non-Absolute Measuring Systems")
ECODRIVE Cs
Overview of the Type and Allocation of Reference Marks of NonAbsolute Measuring Systems
The drive-internal detection and allocation of the reference marks takes
place by means of the settings in the respective position feedback type
parameter S-0-0277, Position feedback 1 type.
Note:
If you use a linear measuring system, this has to be set in bit 0
of S-0-0277. In the case of MSM motors, this setting is made
automatically and is only used for display.
See also chapter: "Setting the Measurement System"
Functional Principle of Drive-Controlled Homing with Non-Absolute
Measuring Systems
To establish congruency between drive measuring system and machine
coordinate system it is necessary that the drive has precise information
on its relative position within the machine coordinate system. The drive
receives this information by detecting the home switch edge and/or the
reference mark.
Note:
To evaluate only the home switch is not recommended as the
position of the home switch edge is detected with less
precision compared to the detection of the reference mark!
Coordinate system adjustment is achieved by comparing the desired
actual position at a specific point within the machine coordinate system
with the real actual position ("old" drive coordinate system).
Defining the Reference Point
With "Evaluation of a reference mark/home switch edge" the "specific"
point within the coordinate system is the so-called reference point. The
desired actual position is set at this point via parameter S-0-0052,
Reference distance 1. The physical position of the reference point
derives from the position of the reference mark plus the value in S-00150, Reference offset 1. Once the reference mark has been detected,
the drive knows the position of this mark and therefore also that of the
reference point in the "old" drive coordinate system. The desired position
in the new coordinate system referring to the machine’s zero point is
contained in parameter S-0-0052, Reference distance 1 (machine
coordinate system).
This means that the difference between both coordinate systems is added
to the "old" drive coordinate system. The coordinate systems are then
congruent. By switching the position command value and actual position
value, S-0-0403, Position feedback value status is set to "1". This
means that the actual position value now refers to the machine zero point.
Note:
If the drive, once the "homing" command has been executed,
is switched to parameter mode again, the parameter
S-0-0403, Position feedback value status is set to "0",
because the actual values in command S-0-0128, C200
Communication phase 4 transition check are re-initialized.
See also "Commissioning with "Evaluation of reference marker/home
switch edge""
ECODRIVE Cs
Functional Principle of Drive-Controlled Homing with Absolute
Measuring Systems
If the measuring system to homed (per bit 3 of S-0-0147) is evaluated as
an absolute measuring system, the command S-0-0148, C600 Drive
controlled homing procedure command is used for two different
purposes:
drive-controlled traveling to the reference point ("going to zero") and
triggering the switching of the actual position value if "set absolute
measuring" is carried out with drive enable applied.
Drive-Controlled Traveling to Reference Point
If the absolute encoder has been homed, i.e. when parameter S-0-0403,
Position feedback value status was set to "1", the drive, after the start
of command S-0-0148, C600 Drive controlled homing procedure
command, automatically moves to the reference point if "1" was set in
bit 7 of parameter S-0-0147, Homing parameter for "drive positions at
reference point after drive-controlled homing". The reference point is
defined in parameter S-0-0052, Reference distance 1.
Triggering Actual Position Value Switch when Setting
Absolute Measuring
If command P-0-0012, C300 Command Set absolute measuring is
executed with drive enable applied, the switching of the actual position
value registers S-0-0051, Position feedback 1 value is not carried out
until
the command S-0-0148, C600 Drive controlled homing procedure
command is also executed after the start of P-0-0012
- or drive enable is switched off.
(See chapter: "Set Absolute Measuring")
ECODRIVE Cs
Functional Sequence "Drive-Controlled Homing Procedure"
The command value profile depends on the parameters:
• S-0-0041, Homing velocity
• S-0-0042, Homing acceleration
To limit acceleration jumps it is possible to additionally activate a jerk limit.
This is done by entering data in parameter S-0-0349, Jerk limit bipolar.
This is illustrated in the figure below:
V
S-0-0042,
Homing
acceleration
S-0-0108,
Feedrate
override
*
S-0-0041,
Homing
velocity
0
starting point
X
home point
Sv5038f1.fh5
Fig. 10-69: Command value profile from homing velocity and acceleration
Maximum Velocity
The maximum velocity can be influenced, as with all drive-controlled
functions, with a feedrate. The effective maximum velocity then results
from the product of S-0-0041, Homing velocity and S-0-0108, Feedrate
override.
Note:
Motional Process
If parameter S-0-0108, Feedrate override starts with zero, the
E255 Feedrate-override S-0-0108 = 0 warning is output.
The motional process during drive-controlled homing of non-absolute
encoders can be made up of up to three partial processes:
If home switch evaluation has been activated the drive accelerates until
reaching the homing velocity and with this velocity continues moving in
the selected homing direction until the positive home switch edge is
detected. If the drive is at the home switch at the start of drivecontrolled homing (S-0-0400, Home switch = "1"), the drive first
accelerates in the opposite homing direction until the negative home
switch edge is detected and then reverses the direction of travel.
When a distance-coded measuring system is homed, the drive, with
the home switch not having been actuated, moves in the homing
direction that was set. If the home switch had been actuated at the
start of the command, the drive moves in the opposite direction.
ECODRIVE Cs
parameterization of home switch edge!
WARNING
⇒ Make sure the home switch edge is within a travel
range that can be reached.
If reference marks are available (types 2 to 4) and if the reference mark
evaluation was activated, the drive moves in homing direction until it
detects the reference mark. In distance-coded measuring systems
(type 4), two sequential reference marks must be passed. The
reference marks are always evaluated (independent of bit 6 in
S-0-0147).
Motion Profile Prior to
Coordinate System Switching
The motion profile prior to switching the coordinate system depends on
bit 7 in S-0-0147, Homing parameter. There are two options:
Stopping: After the necessary motion for detecting the home switch or
reference mark has been carried out, the drive stops with the
programmed homing acceleration. Once a speed is reached that is
less than the value set in S-0-0124, Standstill window, switching the
coordinate system (actual position value switching) is carried out and
the successful completion of the command is signaled.
Positioning: After the necessary motion for detecting the home switch or
reference mark has been carried out, the drive positions at the
reference point.
The reference point results from the relevant reference mark / home
switch edge plus the reference offset.
Note:
If the "positioning" mode is selected, the axes are
automatically run in parallel by the drive-side homing
procedure.
Actual Position Values After the "Drive-Controlled
Homing" Command
After the command S-0-0148, C600 Drive-controlled homing
procedure command has been executed, the actual position value is set
to the value of S-0-0052, Reference distance 1!
ECODRIVE Cs
Commissioning with "Evaluation of Reference Mark/Home Switch Edge"
Home Switch Evaluation
Selecting the Direction
Moving to Reference Point
Via S-0-0147, bit 5, it is possible to select whether a connected home
switch is evaluated or not.
Bit5 = 0:
home switch is evaluated
Bit5 = 1:
reference mark is evaluated
Select the direction in which the drive should move at the start of the
command S-0-0148, C600 Drive-controlled homing procedure
command.
Bit0 = 0:
positive, i.e. clockwise rotation with view towards the
motor shaft
Bit0 = 1:
negative, i.e. counter-clockwise
towards the motor shaft
rotation
with
view
Select whether the drive is to move to the reference point or not.
Bit7 = 0:
Drive does not move to reference point, i.e. after passing
the home switch the drive switches over the coordinate system.
Bit7 = 1:
Drive moves to reference point, i.e. after passing the
home switch the drive positions at the reference point and then
switches over the coordinate system.
If a home switch evaluation becomes necessary, the respective settings
should first be made (see chapter "Evaluation of the Home Switch"). All
additional steps can then be conducted as follows:
1. Check the relevant position feedback type parameter (S-0-0277) to
make sure it has been correctly set.
2. Parameterize the following parameters with "0":
S-0-0052, Reference distance 1
S-0-0150, Reference offset 1
3. Set parameters S-0-0041, Homing velocity and S-0-0042, Homing
acceleration
to
low
values
(e.g.
S-0-0041 = 10 rpm,
S-0-0042 = 10 rad/s².
4. Execute command S-0-0148, C0600 Drive-controlled homing
procedure command
Note:
Result of Homing Command
By clearing the command the original operating mode
becomes active again. When the "drive-internal interpolation"
mode was set, the drive immediately moves to the value in
S-0-0258, Target position. This value relates to the new
coordinate system (relating to machine zero point)!
The command should have been completed without error. The machine
zero point is at the position of the home switch or the reference point as
the reference distance actual position value (S-0-0052) was
parameterized with "0". The respective actual position value in S-0-0051,
Position feedback 1 value should now have absolute reference to this
preliminary machine zero point. To set the correct machine zero point,
you can now carry out the following steps:
ECODRIVE Cs
Move the axis to the desired machine zero point and enter the actual
position value displayed there with opposite sign in S-0-0052,
Reference distance 1.
- or Move the axis to actual position value = 0 and measure the distance
between the current position and the desired machine zero point.
Enter the distance in S-0-0052, Reference distance 1.
After repeated execution of command S-0-0148, C600 Drive-controlled
homing procedure command the actual position value should refer to
the desired machine zero point.
The reference point can be shifted relatively to the reference mark (see
"Consideration of the Reference Offset").
Parameters S-0-0041, Homing velocity and S-0-0042, Homing
acceleration can now be set to their final values.
Consideration of the Reference Offset
If the evaluation of the reference mark in S—0-0147, Homing parameter
is activated, the reference point is always set at the position of the
selected reference mark. The position of the reference point can be
shifted relatively to the reference mark position This allows selecting any
position after the homing procedure.
The offset is set with parameter
S-0-0150, Reference offset 1 (for motor encoder)
Positive Reference Offset
If the reference offset is positive, its drive-internal direction is positive (see
chapter "Command Polarities and Actual Value Polarities"); in other
words, the reference point is shifted in terms of the reference mark in a
clockwise direction when looking towards the motor shaft.
If the homing direction is positive, the drive does not reverse the direction
after having passed the reference mark.
reference offset
V
0
starting point
reference mark
home point
X
Sv5040f1.fh5
Fig. 10-70: Command value profile for positive reference offset and positive
homing direction
ECODRIVE Cs
If the homing direction is negative, the drive has to reverse the direction
reference offset
V
0
reference
mark
home point
starting point
X
Sv5043f1.fh5
Fig. 10-71: Command value profile for positive reference offset and negative
homing direction
Negative Reference Offset
If the reference offset is negative, its drive-internal direction is negative
(see chapter "Command Polarities and Actual Value Polarities"); in other
words, the reference point is shifted in terms of the reference mark in a
counter-clockwise direction when looking towards the motor shaft.
If the homing direction is negative, the drive does not reverse the direction
reference offset
V
0
home point
reference mark
starting point
X
Sv5042f1.fh5
Fig. 10-72: Command value profile for negative reference offset and negative
homing direction
If the homing direction is positive, the drive has to reverse the direction
reference offset
V
0
starting point
home point
reference
mark
X
Sv5041f1.fh5
Fig. 10-73: Command value profile for negative reference offset and positive
homing direction
ECODRIVE Cs
Evaluation of the Home Switch
By means of a home switch it is possible to identify a specific mark if the
reference marks of the measuring system to be homed are not
unequivocally arranged.
Home Switch Evaluation
If bit 5 in S-0-0147 =0, the reference mark following the positive edge of
the home switch in homing direction is evaluated.
Note:
Example
The home switch input is mapped to parameter S-0-0400,
Home switch.
Homing a motor encoder with one reference mark per revolution.
slide
represented reference marks of the motor
encoder
Ap5047f1.fh7
Fig. 10-74: Selecting the reference mark depending on the direction of travel
When home switch evaluation has been activated, the drive first searches
the positive edge of the home switch. If the home switch is not actuated at
the start of the command, the drive moves in the selected homing
direction.
Damage to the installation caused by the drive
moving beyond the travel range limits!
WARNING
⇒
Set the homing direction in such a way that it is
possible to find the positive edge.
V
command value
profile
0
X
home switch
homing direction
Sv5048f1.fh5
Fig. 10-75: Direction of travel correctly set
ECODRIVE Cs
V
command
value profile
0
X
home switch
homing direction
Sv5049f1.fh5
Fig. 10-76: Direction of travel incorrectly set
Command Value Profile with Actuated Home Switch at
Start of Command
If the home switch is actuated when the command is started, the drive
generates command values in the opposite direction of travel to move
away from the home switch. As soon as a 1-0 edge of the home switch
signal is detected, the drive reverses its direction of travel and continues
moving as if the starting point would be outside the active home switch
range.
V
0
command
value profile
starting point
t
home switch
homing direction
Sv5047f1.fh5
Fig. 10-77: Command value profile with start position at the home switch
ECODRIVE Cs
Monitoring the Distance Between Home Switch and
Reference Mark
If the distance becomes too small between the home switch edge and the
reference mark to be evaluated, it is possible that the home switch edge
will only be detected after the reference mark has already passed. This
means that only the following reference mark will be evaluated. The
reference mark detection becomes ambiguous.
reference marks selected by home
switch
= 1 motor
revolution
inaccuracy of home switch detection
homing direction
SV5070f1.fh7
Fig. 10-78: Ambiguous detection of reference marks with too small distance
between home switch edge and reference mark
For this purpose, the distance between the home switch edge and the
reference mark is monitored. If the distance between the home switch
edge and the reference mark falls below a certain value, the command
error C602 Distance home switch - reference mark erroneous is
generated. The critical range for the distance between home switch
edge and reference mark is:
0.25 * distance between reference marks
The optimum distance between home switch edge and reference mark
is:
0.5 * distance between reference marks
optimum distance =
0.5 *distance of reference marks
critical distance =
0.25 * distance of reference marks
distance of
reference marks
home switch in critical range
home switch in allowed range
homing direction
SV5071f1.fh7
Fig. 10-79: Critical and optimum distance between home switch and reference
mark
Note:
To monitor the distance home switch-reference mark the
optimum distance has to be entered in parameter P-0-0153,
Optimum distance home switch-reference mark.
ECODRIVE Cs
The following requirements apply:
Encoder
type
P-0-0153
rotary
0
Function
The distance home switch-reference mark is
monitored. The optimum distance is calculated
internally and is 1/2 encoder revolution in the case
of DSF or incr. rotary encoders, respectively 1/2
encoder revolution / S-0-0116, Feedback 1
Resolution in the case of resolvers.
rotary
x
monitored. Half the reference mark distance has to
be entered in P-0-0153, Optimum distance home
switch-reference mark.
linear
0
The distance home switch-reference mark is not
monitored. The linear encoder does not possess
reference marks with a constant distance between
them. Make sure the actual distance between
home switch and reference mark is big enough to
ensure that the home switch edge is reliably
detected considering the maximum homing velocity
and the cycle time of the home switch input polling.
linear
x
monitored. Half the reference mark distance has to
be entered in P-0-0153, Optimum distance home
switch-reference mark.
Fig. 10-80: Distance monitoring home switch-reference mark
Difference from the Optimum
Distance
During every homing procedure with home switch evaluation, the
difference between actual distance and the optimum distance is
monitored. The difference is stored in parameter S-0-0298, Reference
cam shift. The home switch edge can then be shifted mechanically by
this value.
Shifting the Home Switch
To avoid mechanical shifting of the home switch edge, this can be done
by the software in parameter S-0-0299, Home switch offset. The value
of parameter S-0-0298, Reference cam shift has to be taken over to
parameter S-0-0299, Home switch offset.
optimum distance =
0.5 * distance of reference marks
distance of
reference marks
S-0-0299, Home switch offset
actual home switch
effective home switch
homing direction
SV5072f1.fh7
Fig. 10-81: Operating principle of parameter S-0-0299, Home switch offset
ECODRIVE Cs
Notes on Parameterization
The parameter S-0-0299, Home switch offset can be set as follows:
• Execute the homing command with S-0-0299, Home switch offset =
0.
• If the distance is outside the range 0.5..1.5 * P-0-0153, Optimum
distance home switch - reference mark, the error message C602
Distance home switch - reference mark erroneous will be
generated.
In this case enter value from S-0-0298, Reference cam shift in
S-0-0299, Home switch offset.
• Check: When homing is repeated the value "0" should be displayed in
S-0-0298, Reference cam shift.
Actions of the Control Unit During "Drive-Controlled Homing"
During drive-controlled homing the drive independently generates position
command values. Preset command values of the control unit will be
ignored. If the command is confirmed by the drive as completed, the
position command value now relating to the machine zero point will be
made available in parameter S-0-0047, Position command value This
value must be read via the service channel by the control unit before
completing the command, and the control-side interpolator must be set to
this value. If this command is completed by the control unit and the
command values of the control unit become active again in the drive,
these values should be added to the value read from the drive.
Starting, Interrupting and Completing the "DriveControlled Homing Procedure" Command
This function is implemented as a command.
To start the function, set and enable the command by writing data to
parameter S-0-0148, C600 Drive-controlled homing procedure
command (input = 3). The drive acknowledgment has to be taken from
the data status of the same parameter. The command is completed when
the command change bit in the drive status word is set and the
acknowledgment changes from "in process" (7) to "command executed"
(3) or to "command error" (0xF).
If the command is interrupted (input = 1) during its execution
(acknowledgment = 7), the drive reacts by activating the "Drive Halt"
function. If the interruption is canceled, the command execution
continues.
See also chapter "Drive Halt"
Possible Error Messages During "Drive-Controlled Homing"
While the command is executed, the following command errors can
occur:
• C601 Homing only possible with drive enable
When the command was started, drive enable had not been set.
• C602 Distance home switch - reference mark erroneous
The distance between home switch and reference mark is too small
(see chapter: "Monitoring the Distance Between Home Switch and
Reference Mark").
• C604 Homing of absolute encoder not possible
The encoder to be homed is an absolute encoder. The command
"drive-controlled homing procedure" was started without first starting
the command "set absolute measuring".
ECODRIVE Cs
• C606 Reference mark not detected
In the case of incremental encoders, the current actual position value
is determined by detecting the reference mark. While searching for the
reference mark during the homing procedure, the traveled distance is
monitored. If the traveled distance is greater than the calculated
distance at maximum required for detecting a reference mark, the
error message C606 Reference mark not detected is generated.
Monitoring is carried out as follows:
• Rotary incremental encoders: The maximum traveled distance is
1 encoder revolution, if "0" was entered in P-0-0153, Optimum
distance home switch - reference mark. If P-0-0153 has not been
parameterized with "0", the double value of P-0-0153 is used as the
maximum traveled distance.
• Linear incremental encoders: The maximum traveled distance
corresponds to the double value of P-0-0153; if P-0-0153 = "0"
monitoring is not carried out!
The cause of this error message can be detection of reference marks
impossible (due to cable break, encoder failure etc.)
Arranging the Home Switch
Property damage at the installation caused by
exceeding the allowed travel range!
CAUTION
⇒
The home switch should have been designed in such
a way that its "actuated" range exceeds the allowed
travel range. Otherwise the allowed travel range can
be exceeded when the start position is
disadvantageous at the start of the command.
travel range limits
correct mounting of the home switch
incorrect mounting of the home
switch
homing direction
SV5073f1.fh7
Fig. 10-82: Arranging the home switch with regard to travel range
Connecting the Home Switch
Note:
In order to use the zero switch function, the respective digital
input must have been configured accordingly (see also "Freely
configurable signal control word" and "Digital inputs")!
ECODRIVE Cs
10.10 Setting Absolute Measuring
When commissioningan absolute measuring system, its initial actual
position value represents an arbitrary value which does not refer to the
machine zero point.
Note:
Establishing the Absolute
Position Data Reference
The value of S-0-0403, Position feedback value status is "0".
In contrast to non-absolute measuring systems, establishing the absolute
position data reference of an absolute measuring system only has to be
carried out once, during the initial commissioning of an axis.
With the use of command P-0-0012, C300 Command Set absolute
measuring the actual position value of this measuring system can be set
to the desired value. After the "Set absolute measuring" procedure has
been completed, the actual position value of the relevant encoder has a
defined reference to the machine zero point.
Activating the Function
The command can be triggered by writing data to parameter P-0-0012,
C300 Command Set absolute measuring or with an edge on the zero
switch input.
Storing the Data
By means of a backup of all required data of the absolute measuring
system in the encoder data memory or parameter memory, all information
is retained every time the machine is switched off and on again. The
actual position value retains its reference to the machine zero point.
The following parameters are relevant for the execution of the command:
• P-0-0612, Set absolute measuring, control word
• S-0-0147, Homing parameter
• S-7-0177, Absolute offset 1
The motor is brought to a precisely measured position. The desired actual
position value of the measuring system at this position is entered in
parameter S-0-0052, Reference distance 1 (for motor encoders).
Upon successful execution of command P-0-0012, C300 Command Set
absolute measuring, the actual position value is set to the value entered
in the reference distance and S-0-0403, Position feedback value status
is set to "1".
Control Word for Setting
Absolute Measuring
The execution of the command depends on parameter P-0-0612, Set
absolute measuring, control word. Bit 0 determines whether the
current coordinate system is retained even after the control voltage is
switched off and on, i.e. whether the current absolute encoder offset
(S-7-0177) is stored in the non-volatile feedback data memory.
Note:
Given frequent setting of absolute measuring, bit 0 = 1 should
be set as the feedback data memory is only suited for a limited
number of write access procedures.
For bits 1 and 2 the difference as to whether drive enable has been
applied or not must be made.
ECODRIVE Cs
P-0-0612, Set absolute measuring, control word
Bit 0: Storing absolute encoder
offset
0: non-volatile
1: volatile
Bit 1: Activation of "Set absolute
measuring"
0: parameter
1: zero switch input
Bit 2: Switching of coordinate
system
0: manually
1: automatically
Fig. 10-83: P-0-0612, Set absolute measuring, control word
Triggering the Command
"Set Absolute Measuring" without Drive Enable
Bit 1 of P-0-0612 is used to select whether the command "Set absolute
measuring" is started by
• writing "11b" to parameter P-0-0012 (if bit 1 = 0) or
• a positive edge at the zero switch input (if bit 1= 1)
Switching the Coordinate
System
Note:
Case
A1
If the drive enable is not applied and command "Set absolute
measuring" is started, the coordinate system is always
immediately switched internally (bit 2 is irrelevant in this
case!).
P-0-0612
Bit 1 = 0
Bit 2 = x
Behavior when executing the command
Setting absolute measuring by executing
P-0-0012, C300 Command Set absolute measuring
•
B1
Bit 1 = 1
Bit 2 = x
by writing "11b" to P-0-0012, in addition to the start
of command "Set absolute measuring", the
coordinate system is also immediately switched
Setting absolute measuring with a positive edge at
the home switch input
•
a positive edge at zero switch input stores the actual
position
• and the coordinate system is also immediately
switched
Fig. 10-84: Overview, setting absolute measuring without drive enable
ECODRIVE Cs
Case A1
When activating the command by writing data to the parameter, proceed
as follows:
• The axis must be brought to the precisely measured position.
• The desired actual position value at this position has to be written to
the respective reference distance.
• The command can then be started by writing "11b" to P-0-0012, C300
Command Set absolute measuring.
• The command immediately sets the actual position value of the
measuring system to the reference distance and the position status
becomes "1". The drive has completed the command which can now
be cleared (P-0-0012 = 0).
Case B1
Basically same procedure as with case A1, but the command is activated
by an edge at the zero switch input.
Note:
Both bit 1 of P-0-0612 and the command itself are
automatically, drive-internally cleared after completion of the
command "Set absolute measuring"!
"Set Absolute Measuring" with Drive Enable
If the application uses a so-called "vertical axis" or the position
approached without drive enable cannot, for whatever reason, be held,
the command can also be executed with drive enable.
Triggering the Command
Use bit1 of P-0-0612 to select whether the command is started by
• writing "11b" to parameter P-0-0012 (bit 1 = 0) or
• a positive edge at the zero switch input (bit 1 = 1)
Note:
Switching the Coordinate
System
For reasons of safety, edge evaluation is automatically
deactivated after the command "Set absolute measuring" has
been executed. This means that when being used in systems
with slip, bit 1 of P-0-0612 must be cyclically used.
Use bit 2 of P-0-0612 to select whether, when executing command
P-0-0012, C300 Command Set absolute measuring,
• there is an immediate drive-internal switch of the coordinate system
(bit 2 = 1) or
• there is a waiting time for the start of command S-0-0148, C600 Drivecontrolled homing procedure command or the removing of drive
enable by the control unit, in order to switch the coordinate system
(bit 2 = 0).
ECODRIVE Cs
Case P-0-0612
Behavior when executing the command
C1
•
by writing "11b" to P-0-0012, the command "Set
absolute measuring" is started but the coordinate
system not switched
•
by starting the command S-0-0148 or removing drive
enable, the coordinate system is switched
Bit1 = 0
Bit2 = 0
C2
Bit1 = 0
Bit2 = 1
•
by writing "11b" to P-0-0012, in addition to the start of
command "Set absolute measuring", the coordinate
system is also immediately switched
D1
Bit1 = 1
Bit2 = 0
•
given a positive edge at zero switch input the actual
position is stored and
•
and there is a waiting time for the start of command
S-0-0148 in order to switch the coordinate system by the
control unit
•
given a positive edge at zero switch input the actual
position is stored and
•
the coordinate system is immediately switched
D2
Bit1 = 1
Bit2 = 1
Fig. 10-85: Overview, setting absolute measuring with drive enable
parameterization!
CAUTION
Case C1
⇒
Make sure that the encoder to be set has been
selected in bit 3 of S-0-0147, Homing parameter.
In the event that the coordinate system switching is not to take place
automatically and drive-internally (P-0-0612, bit 2 = 0), proceed as
follows:
• Move the axis to the measured position.
• Enter the desired actual position value in the respective reference
distance actual position value parameter.
• Start command P-0-0012, C300 Command Set absolute measuring
(by writing "11b" to P-0-0012). There is no switching of position data as
yet.
• Start command S-0-0148, C600 Drive-controlled homing procedure
command or remove drive enable. This function recognizes that the
measuring system is an absolute system and carries out the command
"set absolute measuring", in other words, the actual position value is
set to reference distance. The position command value (S-0-0047,
Position command value) is simultaneously set to the same value. If
the drive is in the "position control" mode, the position command value
must be read via the acyclic parameter channel (e.g. service channel
with SERCOS) and the control-side position command value set to this
value before the homing command is cleared.
• Clear command
measuring.
P-0-0012,
C300
Command
Set
absolute
ECODRIVE Cs
Case C2
In the event that the coordinate system is to be automatically and driveinternally switched at the start of command "set absolute measuring"
(P-0-0612, bit 2 = 1), proceed as follows:
• Move the axis to the measured position.
• Enter the desired actual position value in the respective reference
distance actual position value parameter.
• Start command P-0-0012, C300 Command Set absolute measuring
(by writing "11b" to P-0-0012) and position data are automatically
switched.
• Drive-internally and automatically the command S-0-0148, C600
Drive-controlled homing procedure command is started. With
command execution, the drive recognizes that the measuring system
is an absolute system and carries out the command "set absolute
measuring", in other words, the actual position value is set to
reference distance. The position command value (S-0-0047, Position
command value) is simultaneously set to the same value. If the drive
is in "position control" mode and the coordinate system is
automatically switched, the control unit cannot immediately adjust its
command value to the new actual value and there is an abrupt
transition.
• Clear command
measuring.
Case D1
P-0-0012,
C300
Command
Set
absolute
In the event that the coordinate system switching is not to be automatic
and drive-internal (P-0-0612, bit 2 = 0), basically the same procedure as
with case C1 is required, but the command is activated by an edge on the
zero switch input.
• Activate the zero switch input by setting bit 1 = 1 in parameter
P-0-0612
• Move the axis to the measured position (e.g. by jogging)
• Continue as in case C1
Note:
Case D2
automatically, drive-internally cleared after execution of the
In the event that the coordinate system switching is not to be automatic
and drive-internal (P-0-0612, bit 2 = 1), basically the same procedure as
with case C2 is required, but the command is activated by an edge on the
zero switch input.
• Activate the zero switch input by setting P-0-0612, bit 1= 1
• Move the axis to the measured position (e.g. by jogging)
• Continue as in case C2
Note:
automatically, drive-internally cleared after execution of the
ECODRIVE Cs
Actual Position Values after Setting Absolute Measuring
The status of the actual position values after the execution of the "Set
absolute measuring" command, depends on bit 3 in the homing
parameter (S-0-0147) and the availability of an absolute encoder
in the form of a motor encoder.
Motor
S-0-0147
encoder bit 3
S-0-0403
before
absolute 0
0x...x00
Position
feedback value 1
S-0-0403
afterwards
Reference distance
0x...011
1
Fig. 10-86: Actual position values after setting absolute measuring
Actual Position Values of Absolute Encoders after Power
On
See chapter "Actual position values of Absolute Measuring Systems After
Initialization"
Diagnostic Messages
While executing the command, the command error C302 Absolute
measuring system not installed sometimes occurs when the P-0-0012,
C300 Command Set absolute measuring command was started without
an absolute measuring system having been installed.
Hardware Connections
See Project Planning Manual, "Home switch" (terminal connector X5)
Note:
In order to use the "zero switch input" function, this input has
to be configured before by means of the signal control word
function and digital inputs.
Optional Drive Functions 11-1
ECODRIVE Cs
11
Optional Drive Functions
11.1 Configurable Signal Status Word
The configurable signal status word is used to accept a maximum of
16 copies of bits from other drive parameters. This makes it possible for
the user to configure a bit list which contains all status information of the
drive that is important to the control unit or the user.
In conjunction with the field bus interface, using the signal status word is
only possible in
• freely configurable operating mode
• freely expandable I/O mode
Note:
Applications
For devices with field bus or SERCOS interface, the bits in the
signal status word are configured in every command
communication cycle at the point of time T4 S-0-0007,
Feedback acquisition starting time (T4).
The function can be used as follows:
• Free configuration of digital outputs on device (in conjunction with the
digital outputs function)
• Free configuration of field bus status word for field bus devices in
"freely expandable I/O mode" profile type (P-0-4084 = 0xFF82)
• Additional freely configurable status word in cyclic channel of field bus
(or SERCOS)
The following parameters are used with this function:
• S-0-0144, Signal status word
configurable bit list
• S-0-0026, Configuration list signal status word
IDN list with variable length to configure the bit list
• S-0-0328, Assign list signal status word
bit number list with variable length to configure the bit list
Configuration of the Signal Status Word
Configuring the IDNs
In parameter S-0-0026, Configuration list signal status word the IDNs
of those parameters are indicated that contain the original bits (sources).
The position of an IDN in the list determines the bit in the signal status
st
word to which the IDN applies. For example, the 1 list element
determines from which parameter bit 0 of the signal status word is taken.
Configuring the Bit Numbers
Which bit of the parameters selected in S-0-0026, Configuration list
signal status word is to be copied to the signal status word is
determined in S-0-0328, Assign list signal status word.
Note:
If this list remains empty, bit 0 of the mentioned parameters is
automatically copied. Otherwise, the bit taken from the source
parameter is specified in the list.
11-2 Optional Drive Functions
ECODRIVE Cs
Bit numbers from 0 (LSB) to 31 (MSB) can be specified. For each bit
number of this list there must be an IDN in the same list position in list
S-0-0026. Otherwise, when writing the bit number list, the drive will
generate the error message "ID number not available". This is why data
must be written to list S-0-0026, Configuration list signal status word
before they are written to S-0-0328, Assign list signal status word.
Example
A signal status word with the following configuration is to be configured:
Bit no. in
S-0-0144,Signal
status word
S-0-0026
IDN of original
parameter
S-0-0328
Bit no. of
original
parameter
Meaning
0
S-0-0013
1
Vact = 0
1
S-0-0182
6
IZP
2
S-0-0403
0
position status
...
...
...
...
Fig. 11-1: Example of configurable signal status word
Diagnostic Messages / Error Messages
The following checks are run when inputting data in the parameters
S-0-0328, Assign list signal status word or S-0-0026, Configuration
list signal status word:
• If more elements are programmed in S-0-0328, Assign list signal
status word than in S-0-0026, Configuration list signal status
word, the error message "0x1001, ID number not available" is
generated.
• If an IDN specified in S-0-0026, Configuration list signal status
word does not exist, the error message "0x1001, ID number not
available" is generated.
• Check whether the IDN specified in S-0-0026, Configuration list
signal status word has variable data length (list parameters) or a socalled online read function. Parameters with online read function are
generally parameters with physical units (position, speed, acceleration
and currents) as well as parameters S-0-0135, Drive status word and
S-0-0011, Class 1 diagnostics. If yes, the service channel error
message "0x7008, Invalid data" is generated.
Note:
In each of these cases, only those inputs up to the faulty
element are accepted!
ECODRIVE Cs
11.2 Configurable Signal Control Word
The signal control word allows writing data to individual control bits that
are available in different parameters, by accessing a freely configurable
collective parameter. The configurable signal control word is used to
accept a maximum of 16 copies of bits from other drive parameters.
Applications
The function can be used as follows:
• Free configuration of digital inputs on device (in conjunction with the
digital inputs function)
Å This allows, among other things, a setting-up mode via digital
inputs!
• Additional freely configurable control word in cyclic channel of field bus
(or SERCOS)
Note:
Accessing Signal Control Word
For devices with field bus interface using the function is only
possible in the freely configurable profile type (P-04084=0xFFFE).
Depending on the command communication, parameter S-0-0145, Signal
control word is write accessed in various ways:
• For SERCOS and field bus interface the S-0-0145, Signal control
word parameter must be accordingly configured in the cyclic data so
that the configured control bits are evaluated.
• For devices with parallel or analog interface (e. g. DKC01.3, DKC10.3)
the evaluation takes place automatically (i.e. without configuration in
the cyclic data).
Note:
For devices with SERCOS and field bus interface, the bits in
the signal control word are configured in every interface cycle
at the point of time defined in the S-0-0008, Command valid
time (T3) parameter.
The following parameters are used for this function:
• S-0-0027, Configuration list signal control word
• S-0-0329, Assign list signal control word
• S-0-0145, Signal control word
• S-0-0399, IDN list of configurable data in the signal control word
Configuration of the Signal Control Word
Selection List
Only parameters contained in S-0-0399, IDN list of configurable data in
the signal control word can be assigned to the S-0-0027, Configuration list
signal control word parameter.
Configuring the IDNs
In the S-0-0027, Configuration list signal control word parameter the IDNs
of those parameters are indicated that are to be configured by means of
the signal control word (= targets).
The position of an IDN in this list defines which bit is assigned to which
st
IDN (targets) in the signal control word. For example, the 1 list element
determines the parameter to which bit 0 of the signal control word is
assigned.
Configuring the Bit Numbers
ECODRIVE Cs
Which bit of the selected parameters (= targets in parameter S-0-0027,
Configuration list signal control word) is set (or cleared) by the signal
control word, has to be defined in parameter S-0-0329, Assign list signal
control word.
Note:
If this list remains empty, bit 0 of the mentioned parameters is
automatically influenced. Otherwise, the bit assigned to the
target parameter is specified in the list.
Bit numbers from 0 (LSB) to 31 (MSB) can be specified.
Exceptions
If the assigned parameter is a command, the bit number in the S-0-0329,
Assign list signal control word parameter is irrelevant.
If the parameter assigned is parameter S-0-0346, Positioning command
strobe, a positive edge in the respective bit of the control word causes
toggling of parameter S-0-0346.
IDN not Available
For each bit number in the list parameter S-0-0329, Assign list signal
control word an IDN must be available at the same list position in the list
parameter S-0-0027, Configuration list signal control word. Otherwise,
when writing the bit number list, the drive will generate the error message
"0x1001, ID number not available". This is why data must be written to list
S-0-0027, Configuration list signal control word before they are written to
S-0-0329, Assign list signal control word.
Note:
A maximum of 16 bits can be configured. Configuration must
always be carried out from the least significant to the most
significant bit; in other words, the position of the bit copy in the
signal control word results from the continuous configuration in
parameter S-0-0027.
Diagnostic Messages / Error Messages
When entering data in the parameters S-0-0027, Configuration list
signal control word and S-0-0329, Assign list signal control word the
following checks are run:
• If more elements are programmed in S-0-0329, Assign list signal
control word than in S-0-0027, Configuration list signal control
word, the error message "0x1001, ID number not available" is
generated.
• If an IDN specified in S-0-0027, Configuration list signal control
word does not exist, the "0x1001 ID number not available" error
message is generated.
• If an IDN specified in parameter S-0-0027, Configuration list signal
control word is not contained in parameter S-0-0399, IDN list of
configurable data in the signal control word, the "0x7008 Invalid
data" error message is generated.
Note:
In each of these cases, only those inputs up to the faulty
element are accepted!
ECODRIVE Cs
11.3 Analog Inputs
Note:
For ECODRIVE Cs analog inputs are only available in
DKC1.03.
By means of the "analog inputs" function, 2 analog inputs can be
mapped to one parameter each via an analog/digital converter. The
analog voltage in the form these two parameters can then either be
• transmitted to the control unit and therefore is used by the control unit
as analog input function or
• assigned to another parameter in the drive taking an adjustable
scaling and an adjustable offset into account.
Note:
By means of analog inputs it is also possible to set command
values for the velocity control mode.
• P-0-0210, Analog input 1
• P-0-0211, Analog input 2
• P-0-0212, Analog inputs, IDN list of assignable parameters
• P-0-0213, Analog input 1, assignment
• P-0-0214, Analog input 1, scaling per 10V full scale
• P-0-0215, Analog input 2, assignment
• P-0-0216, Analog input 2, scaling per 10V full scale
• P-0-0217, Analog input 1, offset
• P-0-0218, Analog input 2, offset
Functional Principle of Analog Inputs
The analog inputs are connected via the two differential inputs E1+ / E1and E2+ / E2-.
E1+
+
A
E1-
Dcmpl2
-
P-0-0210
Analog input 1
16
E2+
+
A
E2-
Fig. 11-2:
Dcmpl2
P-0-0211
Analog input 2
16
Functional principle of analog inputs
The digitized voltages of both differential inputs are displayed in the
parameters P-0-0210, Analog input 1 and P-0-0211 Analog input 2.
Assigning Analog Inputs to
Parameters
ECODRIVE Cs
Both parameters P-0-0210, Analog input 1 and P-0-0211 Analog input
2, which depict the analog-to-digital converted voltages, can be assigned
to other drive parameters, i.e. they can be cyclically copied, while taking
• an offset and
• a scaling to be selected
into account.
Processing the Analog Channels
• Analog channel 1 is processed every 1 ms.
• Analog channel 2 is processed every 8 ms.
Exception: In the "velocity control" or "torque/force control" modes, the
command values are sampled every 500 µs.
For assignment, the following principle is used:
A
P-0-0210, Analog input 1
D
+
-
P-0-0217, Analog input 1, offset
P-0-0214, Analog input 1, scaling per 10V full scale
Fig. 11-3:
P-0-0213,
Analog input 1,
assignment
Functional principle of assignment of analog input 1 to a parameter
Displaying Analog Value 1
The digitized input voltage is stored in parameter P-0-0210, Analog
input 1.
Configuring Analog Input 1
An assignment of an analog input to a parameter is activated, if a value
unequal S-0-0000 has been parameterized in parameter P-0-0213,
Analog input 1, assignment.
The content of P-0-0210, Analog input 1 minus the content of P-0-0217,
Analog input 1, Offset is scaled with the scaling factor set in P-0-0214,
Analog input 1, scaling per 10V full scale and copied to the parameter
with the IDN set in P-0-0213, Analog input 1, assignment.
Unit of the Scaling Parameter
The unit of the parameter P-0-0214, Analog input 1, scaling per 10V
full scale complies with the unit of the assigned parameter.
Selection List
Only such parameters can be assigned that are listed in P-0-0212, Analog
inputs, IDN list of assignable parameters.
Configuring Analog Input 2
Note:
Example
The configuration or assignment of analog input 2 can be
carried out accordingly.
Assignment of analog input 1 to
S-0-0036, Velocity command value with 10 V corresponds to 1000 rpm
Parameter setting:
• P-0-0213, Analog input 1, assignment = S-0-0036
• P-0-0214, Anal. input 1, scaling per 10V full scale = 1000.0000 rpm
Pin Assignment of Analog Inputs
ECODRIVE Cs
11.4 Digital Input/Output
Brief Description
There are configurable inputs/outputs available for all ECODRIVE Cs
drive controllers. The number and function of I/Os, however, varies
according to the type of device. For further information see the Project
Planning Manual (hardware description) of the respective drive controller.
The drive controller, according to its type, has a certain number of digital
inputs/outputs.
digital
inputs
digital
outputs
DKC10.3
DKC01.3
DKC02.3
DKC03.3
DKC05.3
DKC06.3
DKC16.3
7
11
7
7
7
7
7
3
9
3
3
3
3
3
DKC04.3
Fig. 11-4:
Digital inputs/outputs according to device
Note:
The digital inputs/outputs can be freely configured via the
digital input/output function (if necessary in conjunction with
the functions "configurable signal control word or signal status
word").
The digital inputs/outputs have the following features:
Functional Features
• configurable digital inputs
• For DKC01.3 devices 4 of these inputs can, as an alternative, be
used as 2 inputs/outputs (differential input)
• and 2 inputs can be used as rapid probe inputs (MT1 and MT2).
• All inputs and outputs were designed for levels of 0V (LOW) or 24V
(HIGH).
• assignment of inputs and outputs to internal parameters or bits
• separate 24 V supply of the digital outputs (X3_8a / X3_9a)
• I/Os galvanically isolated
The following parameters are used in conjunction with this functionality:
• S-0-0097, Mask class 2 diagnostics
• P-0-0124, Assignment IDN -> Digital output
• P-0-0125, Assignment digital input -> IDN
ECODRIVE Cs
Functional Principle of Digital Output
With parameter P-0-0124, Assignment IDN -> Digital output it is
possible to assign any parameter to the digital outputs.
Structure of parameter
P-0-0124
Parameter P-0-0124 is a 4-byte parameter:
• The 2 low bytes (= low word) contain the IDN of the parameter to be
assigned.
• The 2 high bytes (= high word) contain the number of the digital
interface.
P-0-0124, Assignment IDN -> Digital output
Bits 0-15: IDN
low word
Bits 16-31: Interface number
high word
Fig. 11-5:
Example
Parameter S-0-0403 is to be assigned to the digital interfaces.
1. interface number = 1 -> high word = 1
Note:
For DKC**.3 the number of the digital interface is always 1.
2. IDN = S-0-0403
–> low word = 0x193
The value 0x10193 must therefore be written to P-0-0124.
Note:
It is always the lowest 3 (or 10) bits of the assigned parameter
that are assigned to the digital outputs.
Special Cases
READY and WARNING
If the IDN = 0 is entered in P-0—0124, the drive automatically assigns the
signals
• READY
Å power section ready and no error!
• WARNING Å a bit of class 2 diagnostics was set and masked with
parameter S-0-0097!
to the digital outputs of the drive controller.
Assigning any Bit
If you want to assign any bit from different parameters to the digital
outputs, use the function "freely configurable signal status word" (see also
S-0-0144 and "freely configurable signal status word").
ECODRIVE Cs
The IDN to be entered then is 0x90 (i.e. S-0-0144).
4. IDN = S-0-0144
Hardware Requirements
DKC**.3
For DKC**.3 drive controllers the following assignment applies:
*)
bit 0
*)
→ X5
bit 1
*)
→ X5
… of the data of the assigned IDN
Functional Principle of Digital Inputs
With parameter P-0-0125, Assignment digital input -> IDN it is possible
to assign the digital inputs to any parameter.
Structure of parameter
P-0-0125
Parameter P-0-0125 is a 4-byte parameter:
• The lower 2 bytes (=low word) contain the IDN of the parameter to be
assigned.
• The 2 high bytes (= high word) contain the number of the digital
interface.
P-0-0125, Assignment digital input -> IDN
Bits 0-15: IDN
low word
Bits 16-31: Interface number
high word
Fig. 11-6:
Example
The digital inputs are to be assigned to S-0-0135.
Note:
For DKC**.3 the number of the digital interface is always 1.
2. IDN = S-0-0135
Note:
It is always the lowest 7 (or 10) bits of the assigned parameter
that are written via the digital inputs.
ECODRIVE Cs
Special Cases
If the IDN = 0 is entered in P-0—0125, the default configuration of the
digital inputs is automatically assigned to the digital inputs (see "Default
Configuration of the Digital I/Os").
Assigning any Bit
If you want to assign any bit from different parameters to the digital inputs,
use the function "freely configurable signal control word" (see also
S-0-0145 and "freely configurable signal control word").
The IDN to be entered then is 0x91 (i.e. S-0-0145).
4. IDN = S-0-0145
Hardware Requirements
DKC**.3
For DKC**.3 drive controllers the following assignment applies:
*)
bit 0
*)
→ X5
bit 1
*)
→ X5
… of the data of the assigned IDN
Notes on Commissioning
All devices have two different default configurations that are configured
according to the status of the command communication.
• default configuration of the digital I/Os
• I/O mode default configuration
Master active
SERCOS and field bus device
(DKC02.3, DKC03.3, DKC05.3,
DKC06.3, DKC16.3)
Basic device
(DKC10.3)
Parallel/analog interface
(DKC01.3)
Master not active
Default configuration (NS, MT1...) is
loaded during basic parameter load.
Default configuration (NS, MT1...) is
If required, it is possible to change to
loaded during basic parameter load
the I/O mode default configuration
and cannot be changed
(Jog+, Jog-,...)
(see "Activating the I/O mode").
I/O mode default configuration (Jog+, Jog-,...) is loaded during basic
parameter load.
It can be changed at any time via the signal control word or signal status word.
Default configuration (parallel interface) is loaded during basic parameter
load.
If required, it is possible to change to the I/O mode default configuration
(Jog+, Jog-,...)
(see "Activating the I/O mode").
Fig. 11-7: Cases to distinguish with regard to configuration of the digital I/Os
Note:
For DKC01.3 or DKC10.3 the distinction master active/not
active is irrelevant!
ECODRIVE Cs
Default Configuration of the Digital I/Os
This configuration contains the device-specific settings for the digital I/Os
that are loaded during basic parameter load (cf. P-0-4094).
The following device types are distinguished:
• DKC10.3
(reduced number of digital I/Os)
• DKC01.3
(large number of I/Os)
• DKC02.3, DKC03.3, DKC05.3, DKC06.3, DKC16.3
SERCOS and Field Bus Device
(DKC02.3, DKC03.3, DKC05.3,
DKC06.3, DKC16.3)
Basic Device
(DKC10.3)
The digital inputs for field bus and SERCOS devices are configured as
follows:
• NS
Åzero switch
IN1
• Limit+
Åpositive limit switch
IN2
• Limit-
Ånegative limit switch
IN3
• MT1
Åprobe 1
IN4
• MT2
Åprobe 2
IN5
• E-Stop
Åemergency stop signal
IN6
• frei
Åreserved input
IN7
The digital inputs for the basic device (DKC10.3) are configured as
follows:
• P-0-4026, bit 0; positioning block selection
ÅIN1
ÅIN2
• P-0-4056, bit 0; jog input positive direction
ÅIN3
• P-0-4056, bit 1; jog input negative direction
ÅIN4
• S-0-0346, bit 0; positioning command strobe
ÅIN5
• S-0-0134, bit 15; master control word (->AF)
ÅIN6
• S-0-0099, C500 Reset class 1 diagnostics
ÅIN7
The digital outputs for the basic device (DKC10.3) are configured as
follows:
• S-0-0182, bit 12; end pos. reached and no sequential block ÅOUT1
• S-0-0013, bit 1; in standstill (|S-0-0040| < S-0-0124)
ÅOUT2
• S-0-0182, bit 2; READY (power section ready and no error) ÅOUT3
Analog/Parallel Interface
(DKC01.3)
ECODRIVE Cs
The digital inputs for devices with analog/parallel interface (DKC01.3) are
configured as follows:
ÅIN1
ÅIN2
ÅIN3
ÅIN4
ÅIN5
ÅIN6
ÅIN7
• NS
Åzero switch
ÅIN8
• E-Stop
Åemergency stop signal
ÅIN9
• analog input1+
ÅIN10
• analog input1-
ÅIN11
The digital outputs for the analog/parallel interface (DKC01.3) are
configured as follows:
ÅOUT2
• encoder emulation (function depending on type of emulation) ÅOUT4
Note:
If required the configuration can be changed at any time (see
also "Configurable signal control word and status word").
ECODRIVE Cs
I/O Mode Default Configuration
This configuration can be used with inactive field bus or SERCOS
communication in order to move the drive without master via the digital
I/Os at the device.
The following device types are distinguished:
• DKC10.3
• DKC01.3
(large number of I/Os)
• DKC02.3, DKC03.3, DKC05.3, DKC06.3, DKC16.3
Note:
The I/O mode configuration is identical for all device types in
order to guarantee uniform operation.
The digital I/Os are configured as follows:
ÅIN1
ÅIN2
• P-0-4056, bit 0; jog input positive direction
ÅIN3
• P-0-4056, bit 1; jog input negative direction
ÅIN4
ÅIN5
ÅIN6
ÅIN7
ÅOUT2
ECODRIVE Cs
Activating the I/O Mode (Setting-Up Mode)
Basic Device
(DKC10.3)
In order to obtain the below-mentioned I/O mode default configuration for
digital inputs and outputs, the device has to be operated without field bus
card -> basic device (DKC10.3).
Note:
Parallel/Analog Interface
(DKC01.3)
The below-mentioned default configuration is automatically loaded during
basic parameter load (cf. basic device DKC10.3).
Note:
SERCOS and Field Bus Device
(DKC02.3, DKC03.3, DKC05.3,
DKC06.3, DKC16.3)
If this configuration is changed, it is retained when the drive is
switched on the next time.
If this configuration is changed, it is retained when the drive is
switched on the next time.
In order to allow moving the axis via the digital inputs for SERCOS and
field bus devices, too, there is the option, when there is no master
available (i.e. SERCOS drive is in baud rate scan or field bus device in
"bb"), to automatically configure the digital I/Os to a standard setting.
The following steps are required:
1. switch device off (24V off)
2. switch SERCOS or field bus master off or disconnect fiber optic cable
or field bus cable
3. switch device on (24V on)
4. wait until SERCOS device is in baud rate scan (display "P0" and "–1"
flashing alternately) or field bus device in status ready for operation
(display "bb")
5. keep reset button pressed for at least 5 s
6. drive configures digital I/Os automatically to the following default
configuration for the I/O mode
Note:
If the I/O mode default configuration is changed for SERCOS
or field bus devices, this changed configuration is only retained
until the drive is switched off the next time, because when
switching on again the S1 button has to be pressed for approx.
5 s again in order to get to the I/O mode and when doing this
the default configuration is reloaded.
ECODRIVE Cs
11.5 Oscilloscope Feature
The oscilloscope feature is used to record internal and external signals
and status variables. Its functionality can be compared to a 2-channel
oscilloscope. The following parameters are available to set the
oscilloscope feature:
• P-0-0021, List of scope data 1
• P-0-0022, List of scope data 2
• P-0-0023, Signal select scope channel 1
• P-0-0024, Signal select scope channel 2
• P-0-0025, Trigger source
• P-0-0026, Trigger signal selection
• P-0-0027, Trigger level for position data
• P-0-0028, Trigger level for velocity data
• P-0-0029, Trigger level for torque/force data
• P-0-0030, Trigger edge
• P-0-0031, Timebase
• P-0-0032, Size of memory
• P-0-0033, Number of samples after trigger
• P-0-0035, Delay from trigger to start
• P-0-0036, Trigger control word
• P-0-0037, Trigger status word
• P-0-0145, Expanded trigger level
• P-0-0146, Expanded trigger address
• P-0-0147, Expanded signal K1 address
• P-0-0148, Expanded signal K2 address
• P-0-0149, List of selectable signals for oscilloscope function
• P-0-0150, Number of valid samples for oscilloscope function
Functional Principle of Oscilloscope Feature
The oscilloscope feature is activated with the parameter P-0-0036,
Trigger control word by setting bit 2.
As of this point of time, all data will be recorded that were selected via the
parameters P-0-0023, Signal select scope channel 1 and P-0-0024,
Signal select scope channel 2. The selection will be defined with
numbers that are assigned to various signals. The triggering is activated
by setting bit 1 in the trigger control word parameter. The trigger
conditions can be set with the parameters P-0-0025, Trigger source, P0-0026, Trigger signal selection and P-0-0030, Trigger edge. The
signal amplitude that releases the trigger can be set with the parameters
P-0-0027 to P-0-0029. If a trigger event was recognized, the number of
values indicated in parameter P-0-0033 Number of samples after
trigger will be recorded and the feature will be completed. Parameters P0-0031 Timebase and P-0-0032 Size of memory can define the
recording duration and the time intervals of the measured values. The
measured values are stored in parameters P-0-0021 and P-0-0022 and
can be read by the control unit.
ECODRIVE Cs
Parameterizing the Oscilloscope Feature
Oscilloscope Feature with Defined Recording Signals
Preset signals and status variables can be selected by means of the
P-0-0023, Signal select scope channel 1 and P-0-0024, Signal select
scope channel 2 parameters. The selection is made by entering the
signal number (hex format) in the corresponding signal selection
parameter. The selected signal number defines the unit of the data stored
in the list of measured values. The following signals are predefined with
numbers.
Number
Signal selection
Unit of the
measured value list
0x00
channel not activated
--
0x01
actual position value depending on
operating mode
S-0-0051 or S-0-0053
depending on position
scaling
0x02
parameter S-0-0040
depending on velocity
scaling
0x03
velocity control
deviation (S-0-0347)
scaling
0x04
following error
parameter S-0-0189
scaling
0x05
torque/force command value
parameter S-0-0080
percent
0x06
position feedback 1 value
S-0-0051
scaling
0x07
position feedback 2 value
S-0-0053
scaling
0x08
position command value
S-0-0047
scaling
0x09
parameter S-0-0036
scaling
0x8005
0x8006
0x8007
0x8008
0x8009
0x800D
0x800E
0x800F
0x8010
0x8014
position command value difference
DC bus power
DC bus power absolute
actual current "active current"
actual current "wattless current"
speed at speed controller input
braking resistor load
ATStatus
brake status
synch. position command value
Xsynch
0x8015
synch. speed
Fig. 11-8: Selection of predefined signals
Note:
degree
KW
KW
percent
percent
rpm
percent
degree
rpm
Parameter P-0-0149, List of selectable signals for
oscilloscope function was introduced so that the control unit
can detect whether the number of preset numbers has
changed. This parameter has the structure of a list parameter
and transmits the IDNs of the possible signals.
ECODRIVE Cs
Expanded Oscilloscope Recording Feature
In addition to the oscilloscope feature with preset signals, the drive also
allows for recording any desired internal signal. Using this function makes
sense only with information about the structure of the internal data
memory; therefore, this function can be used effectively only by the
respective developer. The feature can be activated with the signal select
parameters P-0-0023 and P-0-0024 by setting bit 12 = "1". The format of
the data to be saved can be defined with bit 13.
P-0-0023 & P-0-0024, Signal select scope channel
Bit 12: expanded oscilloscope feature
"ON"
Bit 13: data width of measured values
0 = 16 bit
1 = 32 bit
Fig. 11-9: Structure of parameters P-0-0023 and P-0-0024
If the expanded signal selection is parameterized, the desired signal
address can be defined in parameters P-0-0147, Expanded signal K1
address and P-0-0148, Expanded signal K2 address. During the
recording process, the contents of the selected addresses are saved in
the lists of measured values.
Note:
When the 16-bit data width is selected, the signal data will be
stored as sign-extended 32-bit values.
Oscilloscope Feature Trigger Source
The P-0-0025 Trigger source parameter allows choosing between two
trigger types.
External Trigger
(P-0-0025 = 0x01)
The trigger is activated by the control unit through bit 0 in P-0-0036,
Trigger control word. This allows transmitting a trigger event to several
drives. This parameterization supports parameter P-0-0035 which is
needed to visualize the recorded data.
Internal Trigger
(P-0-0025 = 0x02)
Triggering is realized by the monitoring of the parameterized trigger
signal. When the selected edge is detected the trigger is activated. The
"Delay from trigger to start" parameter will be set to zero.
Selecting the Trigger Edges
Various trigger edges can be selected with the parameter P-0-0030,
Trigger edge. The following options are available:
Number
Trigger edge
1
Triggering at positive edge of trigger signal
2
Triggering at negative edge of trigger signal
3
Triggering at both positive and negative edge of trigger signal
4
Triggering when trigger signal equals trigger level
Fig. 11-10: Trigger edge selection
ECODRIVE Cs
Selecting Fixed Trigger Signals
The parameter P-0-0026, Trigger signal selection determines the signal
that is monitored for the parameterized edge reversal. Just as for the
signal selection, there are drive-internally fixed trigger signals for the
trigger signal selection. These are activated by entering the corresponding
number.
The following signal numbers are possible:
Trigger signal
number
Trigger signal
Associated
trigger level
0x00
no trigger signal
not defined
actual position value
position data (P-0-0027)
0x01
according to active
operating mode
0x02
velocity data (P-0-0028)
parameter S-0-0040
0x03
velocity deviation
0x04
following error
velocity data (P-0-0028)
parameter S-0-0347
position data (P-0-0027)
parameter S-0-0189
0x05
torque command value
torque data (P-0-0029)
parameter S-0-0080
0x8005
position command value
difference
0x8006
DC bus power
0x8007
DC bus power absolute
0x8008
actual current "active
current"
0x8009
actual current "wattless
current"
0x800D
speed at speed controller
input
0x800E
braking resistor load
0x8014
synch. position command
value Xsynch
0x8015
synch. speed
Fig. 11-11: Selecting fixed trigger signals
degree (P-0-0145)
KW (P-0-0145)
KW (P-0-0145)
percent (P-0-0145)
percent (P-0-0145)
rpm (P-0-0145)
percent (P-0-0145)
degree (P-0-0145)
rpm (P-0-0145)
ECODRIVE Cs
Selecting Expanded Trigger Signals
In addition to a trigger signal selection with preset signals, the drive also
allows for triggering on any internal signal. Using this function makes
sense only with information about the structure of the internal data
memory; therefore, this function can be used effectively only by the
respective developer. This function is activated with the parameter
P-0-0026, Trigger signal selection by setting bit 12.
P-0-0026, Trigger signal selection
Bit 12: expanded trigger
function "ON"
Fig. 11-12: Structure of parameter P-0-0026
When the expanded trigger function is activated, the trigger signal
address must be defined via the P-0-0146, Expanded trigger address
parameter. The associated trigger level is entered in the P-0-0145,
Expanded trigger level parameter. This parameter is defined as follows:
P-0-0145, Expanded trigger level
31 30292827262524232221201918171615 14131211109 8 7 6 5 4 3 2 1 0
16-bit mask for
trigger signals
16-bit level for
trigger signals
The 16-bit value of the trigger level is monitored the trigger signal being
ANDed before by means of the trigger signal mask.
Parameterizing Time Resolution and Size of Memory
The recording ranges for the oscilloscope feature can be defined with
parameters P-0-0031, Timebase and P-0-0032, Size of memory. The
maximum size of memory defined is 512 measured values. If fewer
measured values are needed, it is possible to change the value in the
memory size parameter. The time resolution can be set from 500 µs to
100 ms in steps of 500 µs. It determines the time intervals in which the
measured values are recorded. The minimum recording duration is
256 ms, the maximum recording duration is 51.2 s.
In general, the following applies:
recording duration = time resolution * size of memory [ µs ]
Fig. 11-14: Determining the recording duration
ECODRIVE Cs
Setting the Trigger Delay
By setting the parameter P-0-0033, Number of samples after trigger, it
is possible to record measured values before the trigger event occurs
(trigger delay function of an oscilloscope). The setting is made in units of
the parameterized time resolution. The input value determines the
number of measured values still recorded after a trigger event. By
entering 0 [time resolution], only data available before a trigger event will
be recorded. If the value of parameter P-0-0032, Size of memory is
entered, only the measured values occurring after the trigger event will be
recorded.
trigger level
trigger signal
t
trigger status
(bit 0)
P-0-0033, Number of
samples after trigger
t
trigger delay
recording duration
Fig. 11-15: Trigger delay - number of measured values after trigger event
Activating the Oscilloscope Feature
The oscilloscope feature can be activated with the parameter P-0-0036,
Trigger control word. The parameter is defined as follows:
P-0-0036, Trigger control word
Bit 0:
trigger event
(input with external
triggering)
Bit 1:
trigger release
Bit 2:
oscilloscope feature
active
Fig. 11-16: Structure of Parameter P-0-0036
The oscilloscope feature is activated by writing "1" to bit 2, i.e. the
selected measured signals are continuously written to the internal probe
value memory. If bit 1 is set, the trigger monitor is activated and the
oscilloscope feature waits for the selected edge to occur. If a valid edge is
detected, the probe value memory will be completed as set in parameter
P-0-0033 and the oscilloscope feature will be deactivated by resetting
bits 1 and 2 in the trigger control word.
ECODRIVE Cs
Oscilloscope Feature with External Trigger and Internal
Trigger Condition
If triggering is selected in parameter P-0-0025, Trigger source with the
control bit of the trigger control word, the trigger will only be released with
the positive edge of bit 0 in the trigger control word.
With this drive, it is also possible to monitor a trigger signal for the trigger
condition. If the trigger condition is detected, bit 0 will be set in the trigger
status, but the trigger will not be released. In this way, it is possible to
signal the trigger event for several drives simultaneously using the realtime status and control bits via the control unit, and to release the trigger.
Since there is a delay between the detection of the trigger event and the
release of the trigger, caused by the transmission of the trigger event via
the control unit, the delay is measured by the drive and stored in the
parameter P-0-0035, Delay from trigger to start. A time-correct display
of the signals can be guaranteed by taking this parameter into account for
the visualization of the measured values.
trigger signal
trigger level
t
trigger status
(bit 0)
trigger delay
P-0-0033,
Number of samples after
trigger
t
trigger release
(bit 1)
t
P-0-0035, Delay
from trigger to start
recording duration
Fig. 11-17: Delay from trigger to start
ECODRIVE Cs
Status Messages of the Oscilloscope Feature
Information about the status of the oscilloscope feature is shared with the
control unit by means of parameter P-0-0037, Trigger status word.
P-0-0037, Trigger status word
Bit 0:
trigger event external:
message to control unit
internal: activation of
trigger delay function
Bit 1:
signal < trigger level
Bit 2:
recording
Bit 3:
signal > trigger level
Number of Valid Measured Values
As soon as bit2 is set by P-0-0036, Trigger control word, the drive starts
to record measured values.
If the trigger event is recognized after the bit is set, the oscilloscope
feature records the number of measured values after the trigger event
and then stops recording.
Depending on the parameterization of the size of memory, the time
resolution, the number of measured values after trigger event and the
point of time the trigger event occurs, the entire measured value memory
for the current measurement is not always written.
This means that there are still old measured values in the memory that
are not valid for the current measurement.
The parameter P-0-0150, Number of valid samples for oscilloscope
function indicates the number of valid measured values for the current
recording.
ECODRIVE Cs
11.6 Probe Function
Note:
To use this function the digital inputs of ECODRIVE Cs have
to be configured accordingly.
There are two digital inputs available for measuring positions and times.
The measured values are determined at the point of time the positive and
negative edges occur.
The following measured values can be detected:
• actual position value 1
• relative internal time (in µs)
• master axis position
Note:
The probe inputs are sampled every 1 µs. The measuring
signals are only generated every 500 µs. Between these two
sampling steps, linear intermediate interpolation takes place
with an accuracy of 1 µs.
Both the absolute values of these signals at the time the positive or
negative edge occurs and their difference can be read via parameters.
• S-0-0170, Probing cycle procedure command
• S-0-0401, Probe 1
• S-0-0402, Probe 2
• S-0-0169, Probe control parameter
• P-0-0200, Signal select probe 1
• P-0-0200, Signal select probe 2
• P-0-0204, Start position for active probe
• P-0-0205, End position for active probe
• S-0-0405, Probe 1 enable
• S-0-0406, Probe 2 enable
• S-0-0130, Probe value 1 positive edge
• S-0-0131, Probe value 1 negative edge
• P-0-0202, Difference of probe values 1
• S-0-0132, Probe value 2 positive edge
• S-0-0131, Probe value 2 negative edge
• P-0-0203, Difference of probe values 2
• S-0-0409, Probe 1 positive latched
• S-0-0410, Probe 1 negative latched
• S-0-0411, Probe 2 positive latched
ECODRIVE Cs
The function is activated by setting and enabling the S-0-0170, Probing
cycle procedure command. The command change bit is never set
because neither a positive nor a negative command acknowledgement is
provided for. To activate the function, write "3" to parameter S-0-0170,
Probing cycle procedure command. As of this point of time, the status
of the probe signals will be displayed in the parameters S-0-0401,
Probe 1 and S-0-0402, Probe 2. A probe input is enabled with parameter
S-0-0405, Probe 1 enable or S-0-0406, Probe 2 enable. The 0-1 change
of this signal activates the trigger mechanism for evaluating the positive
and/or negative edge of the probe signal. In the S-0-0169, Probe control
parameter you have to set which probe inputs are evaluated and whether
the positive and/or the negative edge of the respective probe is evaluated.
As of this point of time, when a probe signal edge is detected, the
selected signal will be stored in the positive or negative probe value
parameter. At the same time, the absolute value of the difference
between the positive probe value and the negative probe value is
generated and stored in the probe value difference parameter. The status
messages S-0-0409, Probe 1 positive latched and S-0-0410, Probe 1
negative latched or S-0-0411, Probe 2 positive latched and S-0-0412,
Probe 2 negative latched will be set to "1".
After the S-0-0169 parameter has been set the selected signal is stored in
the "probe value positive" or "probe value negative" parameter when an
edge of the respective probe is detected. At the same time the absolute
value of the difference of "probe value positive/negative" is generated and
written to the "difference of probe values" parameter. As a prerequisite
the probe enable (S-0-0405 and S-0-0406) must be present and the
"probing cycle procedure" command (S-0-0170) must have been written
with "3".
The status messages
• S-0-0409, Probe 1 positive latched and
or
• S-0-0411, Probe 2 positive latched and
are accordingly set to "1".
Clearing the probe enable also clear these status messages.
Note:
Only the first positive and the first negative edge of the
respective input will be evaluated after the positive edge of the
probe enable. For each new measurement the probe enable
must be set to "0" again and then to "1".
ECODRIVE Cs
3
0
probing cycle procedure command
probe enable
probe
probe negative latched
latching the selected signal
at this time in negative probe value
generation of new measured value
difference
probe positive latched
t / ms
latching the selected signal
at this time in positive probe value
generation of new measured value
difference
Sv5081f1.fh5
Fig. 11-19: Evaluating the probe edges with evaluation of the positive and
negative edges in the probe control parameter switched on
Actions for Writing "3" to Parameter S-0-0170, Probing
Cycle Procedure Command
Writing "3" to S-0-0170, Probing cycle procedure command starts the
probe functions and the following actions are carried out:
• data status of S-0-0170, Probing cycle procedure command is set
to "7" (command in process)
• all measured values and measured value differences are set to "0"
• all "probe latched" parameters are cleared
• monitor of external voltage is activated (unless already active)
ECODRIVE Cs
Selecting the Edges of the Probe Inputs
For each probe input there is one parameter for positive and negative
measured values. The "probe value positive" is assigned to the 0-1 edge,
the "probe value negative" is assigned to the 1-0 edge of the probe signal.
Whether the two occurring edges are actually evaluated and cause the
measured value to be stored in the probe parameters (positive/negative)
has to be indicated in the S-0-0169, Probe control parameter. It is
recommended to write data to this parameter before activating the
function.
S-0-0169, Probe control parameter
Bit 0 : Activating pos. edge probe 1
0: pos. edge is not evaluated
1: pos. edge is evaluated
Bit 1 : Activating neg. edge probe 1
0: neg. edge is not evaluated
1: neg. edge is evaluated
Bit 2 : Activating pos. edge probe 2
0: pos. edge is not evaluated
1: pos. edge is evaluated
Bit 3 : Activating neg. edge probe 2
0: neg. edge is not evaluated
1: neg. edge is evaluated
Fig. 11-20: S-0-0169, Probe control parameter
ECODRIVE Cs
Selecting the Signals of the Probe Inputs
The following signals can be detected via probe inputs:
• actual position value 1 (motor encoder)
• internal time
• master axis position
The selection is made via parameters P-0-0200, Signal select probe 1
and P-0-0201, Signal select probe 2, as well as bit 4 of S-0-0169, Probe
control parameter..
It is possible with P-0-0200 and P-0-0201 to specify for both probe inputs
separately whether an actual position value, the master axis position or an
internal time are to be measured.
Value of parameter
P-0-0200
Signal
0
actual position value 1
1
time
2
master axis position
3
actual position value 1 with active expectation
window
4
master axis position with active expectation
window
Fig. 11-21: Probe function, signal selection for probe 1
Value of P-0-0201
Signal
1
time
2
master axis position
Fig. 11-22: Probe function, signal selection for probe 2
Depending on this selection, the units and decimal places of the
parameters "probe value positive/negative", "difference of probe values",
"start position probe function active" and "end position probe function
active" of the respective probe are switched. For probe 1 there is the
option of determining that only master axis positions or actual position
values within a defined range are latched (signal selection 3, 4 or 6). The
range is defined with parameters P-0-0204, Start position for active
probe and P-0-0205, End position for active probe.
Connecting the Probe Inputs
ECODRIVE Cs
11.7 Positive Stop Drive Procedure
The S-0-0149, D400 Positive stop drive procedure command causes
all controller monitoring functions to be switched off which in case the
drive is blocked by positive stop would otherwise cause a class 1
diagnostics error message.
If the command is started, the drive generates the diagnostic message
D400 Positive stop drive procedure command. The controller monitors
are switched off in all drive operating modes. If there is a class 1
diagnostics error message at the start of the command, the error D401
ZKL1-Error at command start will be generated.
The drive will acknowledge the command as properly executed when:
• the controller monitors were switched off
• |Md| (S-0-0084) >= |MdLimit| (S-0-0092) and
• nact = 0.
Note:
The message nact = 0 is influenced by the parameter
S-0-0124, Standstill window.
If the control unit clears the command after it has been executed, all
controller monitors are again active.
start
command start
0
NC position
command values
0
positive stop drive procedure
MdLimit
torque/force
command
values
0
velocity
0
command
acknowledgment
0
t
SV5001d1.fh7
Fig. 11-23:
Chronological sequence when activating the command "Positive
stop drive procedure"
ECODRIVE Cs
11.8 Determine Marker Position Command
The "determine marker position" command is used to
• check the correct detection of the reference mark of an incremental
measuring system or
• determine the position of the reference mark in case the homing
procedure is carried out by the control unit. In this case this information
is used to switch the coordinate system in the control unit.
In this command the home switch is not evaluated.
• S-0-0173, Marker position A
• P-0-0014, D500 Command determine marker position
Functional Principle of Determine Marker Position Command
After the start of P-0-0014, D500 Command determine marker position
the following actions are carried out:
• The diagnostic message D500 Command determine marker
position is generated.
• If an incremental measuring system has been selected, the detection
of a reference mark is activated and the drive waits for the next
reference mark.
• If a reference mark is detected, i.e. the position of a reference mark
has been passed, its actual position value is stored in parameter
S-0-0173, Marker position A. The command is signaled to have been
completed.
Note:
The drive does not generate any command value. The
operating mode active at command start remains unchanged.
In order to pass the reference mark the control unit has to
preset such command values (e.g. by means of jogging) that
lead to a movement in direction of the reference mark to be
detected.
Additional Use of Parameter S-0-0173, Marker position A
In parameter S-0-0173, Marker position A the position of the reference
mark is also stored during the execution of the S-0-0148, C0600 Drivecontrolled homing procedure command. This position, however, refers
to the "old" coordinate system (before switching the coordinate system
when executing the homing procedure).
ECODRIVE Cs
11.9 Parking Axis Command
The command "parking axis" is used to uncouple an axis. This may, for
example, be necessary if an axis is temporarily brought to a standstill.
The start of this command causes all monitoring functions of the
measuring system and of the control loops to be switched off.
• S-0-0139, D700 Command Parking axis
The command may only be started without drive enable. If the command
is activated with drive enable applied, the drive generates the command
error D701 Parking axis only while drive is disabled.
After starting command S-0-0139, D700 Command Parking axis the
• measuring system monitors,
• control loop monitors and
• temperature monitors
are deactivated.
The measuring system initializations are carried out at the end of the
command. This means all initializations are carried out as with command
S-0-0128, C200 Communication phase 4 transition check. The 7segment display reads "PA".
This drive no longer accepts the drive enable.
11.10 Programmable Position Switch
The function "programmable position switch" allows realizing 16 dynamic
position switch points. For each position switch point there is an individual
switch-on and switch-off position, as well as an individual lead time.
Reference Value
The values of the following parameters can be alternatively used as
reference value:
• S-0-0051, Position feedback 1 value or
• P-0-0434, Internal position command value
The corresponding position switch bit can be inverted depending on how
the switch-on and switch-off threshold is set.
Note:
A switch cam is generated every 1 ms, i.e. when
parameterizing all 16 cams, the total cycle time is 16 ms.
ECODRIVE Cs
• P-0-0131, Signal select position switch
• P-0-0132, Switch on threshold position switch
• P-0-0133, Switch off threshold position switch
• P-0-0134, Position switch lead times
• P-0-0135, Status position switch
The function "programmable position switch" provides the information of
whether the selected reference value is within or outside the range
between the switch-on and switch-off position.
reference value
switch-off threshold x
switch-on threshold x
time
position switch bit x
Fig. 11-24: General functional principle of the programmable position switch
The corresponding bit in the position switch status word can be inverted
by setting the switch-on and switch-off thresholds.
There are 2 cases to be distinguished:
Switch-On Threshold Smaller than Switch-Off Threshold
If the switch-on threshold has been programmed with a value smaller than
the switch-off threshold, the following applies:
The position switch bit is "1" if:
• reference value > Xon
AND
• reference value < Xoff
reference value
Xon
Fig. 11-25: Position switch bit with Xon < Xoff
time
Xoff
ECODRIVE Cs
Switch-On Threshold Greater than Switch-Off Threshold
If the switch-on threshold has been programmed with a value greater than
the switch-off threshold, the following applies:
The position switch bit is "1" if:
reference value > Xon
OR
• Bezugsgröße < Xaus
reference value
time
Xoff
Xon
Fig. 11-26: Position switch bit with Xon > Xoff
A switch hysteresis is available to avoid position switch bit flicker when the
switch-on or switch-off threshold is reached.
Position Switch Lead Time
By setting a lead time the delay of an external switch element that is
controlled by a position switch bit can be compensated. To do this, a
theoretical correction value for the respective switch-on and switch-off
thresholds is calculated from the programmed lead time and the current
drive velocity. The position switch bit switches by the lead time before
reaching the corresponding threshold.
It is supposed, however, that the velocity is constant in the range between
the theoretical and actual switch-on or switch-off threshold.
Note:
When using a lead time, the velocity of the drive should be
constant during this time.
reference value
theoretical reference value
actual reference
value
switch-on or switch-off
threshold x
time
lead time x = 0
position switch bit
with and without
lead time
lead time x
Fig. 11-27: Functional principle of the position switch lead time
ECODRIVE Cs
Parameterizing the Position Switch
The P-0-0131, Signal select position switch parameter is used to
activate the position switch and to assign a signal. The following values
can be entered in P-0-0131:
P-0-0131
Function
0
1
The position switch is not activated
The position switch is activated, the reference value is the
content of parameter S-0-0051, Position feedback 1 value
Fig. 11-28: Position switch: activating and determining the reference value
The list parameters P-0-0132, Switch on threshold position switch,
P-0-0133, Switch off threshold position switch and P-0-0134, Position
switch lead times can be used to set the switch-on and switch-off
thresholds, as well as the lead times.
Each of these parameters contains 16 elements. Element 1 is provided
for position switch bit 1, element 2 for bit 2 etc.
Note:
Parameter P-0-0134, Position switch lead times always
should be parameterized completely, i.e. with all 16 elements,
even if not using the lead time. In the case of switch bits
without lead time, these elements have to be parameterized
with "0"!
The status of each position switch bit is displayed in parameter P-0-0135,
Status position switch.
ECODRIVE Cs
11.11 Encoder Emulation
By means of encoder emulation it is possible to output positions in the
following standard formats
• TTL format with incremental encoder emulation
• SSI format with absolute encoder emulation.
This allows closing the position control loop with an external control unit.
Incremental Encoder Emulation
Incremental encoder emulation is the simulation of a real incremental
encoder by the drive controller.
By means of the incremental encoder signals, a higher-level numeric
control (NC) receives information about the velocity of the motor mounted
to the controller. By integrating these signals, the control unit generates
information about position and is thus able to close a higher-level position
control loop.
Absolute Encoder Emulation
Absolute encoder emulation means that the drive controller has the option
of simulating a real absolute encoder in SSI data format. The drive
controller thus offers the possibility of transmitting the position in SSI data
format to the connected control (NC). Thus the control unit is able to
close the position control loop.
• P-0-4020, Encoder emulation type
• P-0-0502, Encoder emulation, resolution
For incremental encoder emulation, the parameter
• P-0-0503, Marker pulse offset
is used additionally.
For absolute encoder emulation, the parameters
• S-0-0047, Position command value
• P-0-0052, Position feedback value 3
• S-0-0121, Input revolutions of load gear
• S-0-0122, Output revolutions of load gear
• S-0-0123, Feed constant
are used additionally.
ECODRIVE Cs
Activating Encoder Emulation
It is possible to define the behavior of the function by means of parameter
P-0-4020, Encoder emulation type.
P-0-4020, Encoder emulation type
Bits 1-0: Selecting emul. type
0 0: no output
0 1: incremental encoder emulation
1 0: absolute encoder emulation
Bit 4: Dead time compensation
0: dead time compens. switched off
1: dead time compensation active
Bits 10-8: Selecting position to
be emulated
0 0 0: output of position of motor encoder
0 0 1: output of position of optional
encoder
0 1 0: output of position command value
(S-0-0047)
All other bit positions are always 0.
Fig. 11-29:
Parameter P-0-4020, Encoder emulation type
Functional Principle: Incremental Encoder Emulation
Number of Lines
The number of lines of the emulated incremental encoder is fixed in
parameter P-0-0502, Encoder emulation, resolution:
• 1 to 65536 (=2^16) lines / revolution
Unit
The parameter unit depends on the motor type
• rotary motors:
lines / revolution
• linear motors:
lines / mm or lines / inch
ECODRIVE Cs
Position of Zero Pulse Related to Motor Position
Absolute Encoder
With motor encoders that provide an absolute, unequivocal position within
one motor revolution after initialization, or within one electrical revolution
with resolvers, the zero pulse is always output at the same motor position
each time the drive controller is switched on.
Relative Encoder
Since with relative encoders there is no unequivocal position after
powering up, it is necessary to carry out a homing procedure. The
incremental encoder emulator zero pulse is used for homing.
With relative encoders (e.g. sine encoders, gearwheel encoders) the
following sequence is carried out automatically with each progression of
phases 2 to 4 (this means also after powering up the drive controller):
• The detection of the internal reference point of the motor encoder is
activated.
• The zero pulse output of the incremental encoder emulator is locked.
• The increment output is activated.
It is assumed that the motor is now run via the position control loop of the
control unit (referencing, going to zero or homing).
Drive-Controlled Homing
The drive can also conduct drive-controlled homing, if the control unit
permits it.
As soon as the internal reference point of the motor encoder is detected,
the following is carried out:
• general release of zero pulse output
• immediate output of a zero pulse by the emulator
• Initialization of zero pulse so that afterwards it is always output at this
absolute motor position.
Note:
Zero Pulse Offset
The output of the zero pulse occurs after homing is
successfully completed. The zero pulse is then output at
always the same position (reference mark).
With rotary motors it is possible to offset the zero pulse using P-0-0503,
Marker pulse offset within an electrical or mechanical revolution in a
clockwise direction.
The unit of P-0-0503 is degrees. The input range for motor encoders that,
after their initialization, have an absolute, unequivocal position within one
motor revolution, is 0..359.9999 degrees.
The input range for incremental measuring systems (e.g. resolvers) with
an absolute, unequivocal position within one electrical revolution is
0...359.9999 degrees/number of pole pairs.
ECODRIVE Cs
Restrictions of Incremental Encoder Emulation
In contrast to the conventional incremental encoder for which the pulse
output frequency can practically be infinitely changed in fine increments
(i.e. the pulses are always assigned to fixed positions), emulated
incremental encoder signals are subject to certain restrictions. These are
primarily the result of how the digital process of the drive controller works.
Maximum Output Frequency
The maximum pulse frequency is 1024 kHz. If this frequency is exceeded,
pulses can be missing. The error message F253 Incr. encoder
emulator: pulse frequency too high is output. A position offset of the
emulated position in contrast to the real position occurs.
Imax =
fmax ∗ 60
n max
Imax:
maximum number of lines
nmax:
allowed maximum speed in 1/min
Fig. 11-30: Computing the maximum number of lines
Compensation of Delay (Dead
Time) Between Real and
Emulated Positions
Between position measurement and pulse output, there is a dead time of
about 1 ms. If in parameter P-0-4020, Encoder emulation type bit 4 is
set to 1, this time is compensated in the drive.
Pulse Breaks at the End of the
Pulse Output Cycle
At the end of each time interval the signal levels can remain constant for a
specific period. The output frequency cannot be changed during the time
interval of TA. This effect can be observed especially with high
frequencies, i.e. with high numbers of lines and/or at high speeds.
Diagnostic Messages with Incremental Encoder Emulation
The following diagnostic messages are generated during incremental
encoder emulation:
• F253 Incr. encoder emulator: pulse frequency too high
Cause:
The output frequency at the chosen number of lines exceeds the value of
1024 kHz.
Remedy:
• Reduce input for P-0-0502, Encoder emulation, resolution
• Reduce travel velocity
Cause:
The output of all lines in the interval is monitored and was faulty in this
case so that a position offset occurred. The error occurs only with
extremely long interrupt run times.
Remedy:
All software options that are not absolutely necessary should be switched
nd
off, e.g. the processing of the 2 analog input, signal output via both
analog outputs etc.
Functional Principle: Absolute Encoder Emulation
SSI Format
The following figure illustrates the format of SSI data transmission:
ECODRIVE Cs
resolution for 4096 revolutions
resolution for 1 revolution
T
Tp
clock
1
2
3
4
5
6
7
8
9
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
1
2
data
1 1 G23 G22 G21 G20 G19 G18 G17 G16 G15 G14 G13 G12 G11 G10 G9 G8 G7 G6 G5 G4 G3 G2 G1 G0 PFB
0
1
1 G23 G22
m
Tp
T
clock
data
1
2
24
G23
G22
G0
25
PFB
tv
G0
G23
m
T
Tp
tv
PFB
=
=
=
=
=
=
=
least significant bit in gray code
most significant bit in gray code
stored parallel information
clock time
clock break > 20 µs
delay time max. 650 ns
power failure bit (not used and always logically LOW)
SV0202F1.FH7
Fig. 11-31: SSI format as pulse diagram
Note:
The power failure bit is not generated by the drive!
Emulated Position Reference
The emulation of the signals "Position feedback 1 value", "Position
feedback 2 value" and "Position command value" depends on S-0-0076,
Position data scaling type and is scaling-dependent.
The values of emulator and parameters S-0-0051, Position feedback 1
value, S-0-0053, Position feedback 2 value or S-0-0047, Position
command value are synchronous. This simplifies emulation control, e.g.
with the DriveTop program.
If S-0-0076, Position data scaling type is used to parameterize "motor
reference", encoder-related emulation is possible.
If the data reference is load-related, the feed constant and gear ratio must
be entered according to the application.
The values for position feedback value 3 and master axis position are
always emulated in encoder-related form. In this case, S-0-0076 is
irrelevant.
ECODRIVE Cs
Resolution with Absolute Encoder Emulation
The output data format (number of bits/revolution) for the emulated SSI
position is fixed in parameter P-0-0502, Encoder emulation, resolution..
The input range and unit depend on S-0-0076, Position data scaling
type. The following combinations are possible:
• 10 .. 24 bit / revolution
• 4 .. 24 bit / mm
• 8 .. 24 bit / inch.
Note:
The unit of the parameter is switched accordingly when
selecting SSI emulation via parameter P-0-4020, Encoder
emulation type.
Homing with Absolute Encoder Emulation
Using parameter P-0-0012, C300 Command Set absolute measuring it
is possible to home the absolute position output by the absolute encoder
emulator.
When setting absolute measuring, the value of parameter S-0-0052
Reference distance 1 is processed.
Position Jumps at Display Limit of Absolute Encoder
Emulation
Using SSI emulation, it is possible to display 4096 revolutions in absolute
form. If the display limit has been reached when using SSI emulation,
small fluctuations of the actual position lead to large jumps in the
emulated SSI position.
This is the case, for example, with position 0 and 4096 revolutions
afterwards.
emulated
position
position jump
0
2048
4096
home point
motor position in
revolutions
S-0-0052, Reference distance 1
Sv5089f1.fh5
Fig. 11-32:
SSI display limit
To avoid this effect, use command P-0-0012, C300 Command Set
absolute measuring to shift the SSI position value.
It is recommended to move the position to the center of the SSI display
range by means of S-0-0052, Reference distance 1. This offers the
option of running 2048 revolutions to the left and to the right.
ECODRIVE Cs
Notes
Serial Communication 12-1
ECODRIVE Cs
12
Serial Communication
12.1 Overview
The drive controller is equipped with a serial interface. The interface is
used to parameterize the drive. By means of this interface, it is possible to
transmit:
• parameters
• commands
• diagnostic messages
Interface Mode
Interface Protocol
The interface is operated in the RS232 modemode.
Two different protocols are supported:
• Rexroth SIS protocol
The useful data are transmitted in the INTEL format.
• ASCII protocol
Their structure is outlined in one of the following sections.
Note:
If an ASCII protocol is used, the number of bytes to be
transmitted differs from the data length in the parameter
description (internal numeric format).
12.2 Pertinent Parameters
The data exchange via the serial interface is controlled by means of the
following parameters:
• P-0-4021, Baud rate RS-232/485
• P-0-4022, Drive address
• P-0-4050, Delay answer RS-232/485
General Information on the Parameter Structure
All parameters of the drive controller are stored in a uniform parameter
structure. Each parameter consists of 7 elements. The table below
describes the individual elements and the possibilities of access. The
following sections will also refer to the parameter structure below.
Element no.
1
2
3
4
5
6
7
Fig. 12-1:
Data block element
IDN
name
attribute
unit
min. input value
max. input value
operating data
Parameter structure
Possibility of access
read
read
read
read
read
read
read / write
12-2 Serial Communication
ECODRIVE Cs
12.3 Functional Principle Independent of Protocol
Basic State after Applying the Control Voltage
After the control voltage has been applied the serial communication in the
drive is in the "passive mode". In the passive mode communication is
impossible.
Protocol Selection
To be able to establish serial communication with the drive it is necessary
to set the communication mode (protocol)
• by a CHANGE DRIVE command (in the case of ASCII protocol)
• or a valid start telegram (in the case of SIS protocol).
Setting the Drive Address
The drive address is set via the serial interface by write accessing the
communication parameter P-0-4022, Drive address.
DriveTop or a PLC, for example, can be used for this purpose.
Exception:
If the value "256" is entered in the communication parameter P-0-4022,
Drive address, the device address set via the address switch will be used
for serial communication and not the value set in P-0-4022, Drive
address.
Note:
For communication with the SIS protocol it is always the
address set via the address switches (S2 and S3) that is used.
S3
ADDRESS
7 8
45 6
ECODRIVE Cs
2 3
H1
S2
90 1
7 8
Rexroth
S3
90 1
45 6
NODE
2 3
H1
S2
LINE ERROR
S1
S1
panel.fh7
RS232 Operation
Fig. 12-2:
Setting the address via address switches
Note:
In order to avoid access conflicts each drive address may be
assigned only once.
In this mode it is not obligatory to set the drive address because only
one node is connected (peer-to-peer connection).
ECODRIVE Cs
Communication via RS232 Interface
Features
The RS232 interface is particularly intended to be used for connecting a
PC with installed "DriveTop" commissioning tool.
• transmission rates: 9600 and 19200 baud
• max. transmission distance 15 m
• 8-Bit ASCII protocol or 8-Bit SIS protocol
• no parity bit
• one stop bit
RS232
PC with DriveTop
PLC
command
communication
(e.g. parallel I/O or
field bus)
drive
drive
drive
drive
controller controller controller controller
n
n+1
n+2
n+3
FS0004d1.fh7
Fig. 12-3:
Communication via RS232 interface (example: DriveTop)
ECODRIVE Cs
Error Messages
The error codes defined in the SERCOS interface specification are used
for the different errors (see "Specification SERCOS interface", chapter
7.4.2.3 "Service channel error messages"). These codes are also used in
the case of incorrect access to control and system parameters.
Error code
Description
0x1001
No IDN
0x1009
Invalid access to element 1
0x2001
No name
0x2002
Name transmission too short
0x2003
Name transmission too long
0x2004
Name cannot be changed (read only)
0x2005
Name is write-protected at this time
0x3002
Attribute transmission too short
0x3003
Attribute transmission too long
0x3004
Attribute cannot be changed (read only)
0x3005
Attribute is write-protected at this time
0x4001
No units
0x4002
Unit transmission too short
0x4003
Unit transmission too long
0x4004
Unit cannot be changed (read only)
0x4005
Unit is write-protected at this time
0x5001
No minimum input value
0x5002
Minimum input value transmission too short
0x5003
Minimum input value transmission too long
0x5004
Minimum input value cannot be changed (read only)
0x5005
Minimum input value is write-protected at this time
0x6001
No maximum input value
0x6002
Maximum input value transmission too short
0x6003
Maximum input value transmission too long
0x6004
Maximum input value cannot be changed (read only)
0x6005
max. input value is write-protected at this time
0x7002
Operation data transmission too short
0x7003
Operation data transmission too long
0x7004
Operation data cannot be changed (read only)
0x7005
Operation data is write-protected at this time (e.g. Communication phase)
0x7006
Operation data is smaller than the minimum input value
0x7007
Operation data is greater than the maximum input value
0x7008
Invalid operation data
0x7009
Operation data write protected by a password
0x700A
Operation data is write protected, it is configured cyclically
0x700B
Invalid indirect addressing (e.g., data container, list handling)
0x700C
Operation data is write protected, due to other settings
(e.g., parameter, operation mode, drive enable, drive on etc.)
Fig. 12-4: Error specification according to SERCOS
ECODRIVE Cs
Transmission Protocols
When switching on the 24 V supply voltage an automatic protocol
detection is activated when receiving signals via the serial interface.
A soon as either
• a valid SIS start telegram
- or • a valid ASCII start sequence ("bcd: address")
was received the drive internally switches to the respective kind of
protocol and baud rate.
Two different protocols are supported on the drive side:
• ASCII protocol
• SIS protocol
They are explained in the sections below.
12.4 ASCII Protocol
Features
• transmission rates: 9600 and 19200 baud
• 8-bit ASCII protocol
• no parity bit
• one stop bit
Structure, Telegram frame
There isn’t any telegram frame used but the transmitted ASCII signs are
converted and interpreted. It is only necessary to maintain a specified
order.
ECODRIVE Cs
Communication with ASCII Protocol
Addressing a Specific Bus Node
In order to start the communication with a bus node, this node has to be
specifically addressed by a CHANGE DRIVE command (CD command)
indicating the drive address. With each CD command the drive addressed
via the indicated address is activated; all other drives are thereby
switched to the passive mode. The drive that has been addressed
responds with its prompt. As from now the communication with the
activated drive continues until another CD command causes the switching
to another drive.
Step 1
Send request e.g.: "BCD:01" (CR)
(with address 1)
Communication with drive not
possible
-> check address
-> check setting
-> check connection
Step 2
Drive received character, drive sends
prompt if address is the same
no
yes
Timeout ?
Character sequence":>" found in
receiver buffer?
Contents of receiver buffer:
[BCD:01] "E01:>"
The characters in [ ] only appear if
another unit on bus is open.
yes
Step 3
Check receiver buffer for
pattern."E01:>"
Pattern found
no
no
Transmission error
yes
Drive is "open"
-> ready for communication
FD5002B1.WMF
Fig. 12-5:
Addressing a bus node
ECODRIVE Cs
Write Access to a Parameter
The write access to a parameter generally takes place as follows:
IDN of the parameter, data block element number, w, operating data
(Carriage Return)
After the writing operation the drive responds with its prompt again.
In order to access the parameter value of the P-0-4073 parameter, for
example, the following input is required:
Note:
The entered data must correspond to the data type defined in
the attribute (HEX, BIN or DEC).
Step 1
Send request e.g.:
"P-0-4037,7,w,1000" (CR)
possible
-> check address
-> check setting
-> check connection
Step 2
Drive received character.
Drive repeats request (echo)
no
yes
Timeout ?
Character sequence ":>" found in
receiver buffer?
yes
no
"P-0-4037,7,w,1000" (CR)
[#xxxx (CR)] "E01:>"
Step 3
To check transmission compare request
with receiver buffer (string compare).
Compare ok?
no
Transmission error
yes
Step 4
Delete request in receiver buffer.
All characters to 1st "CR"
(inclusive).
Next character "#" in
receiver buffer?
yes
Error occurred during
parameter access.
Error code: #xxxx
no
Parameter succesfully written
FD5001B1.WMF
Fig. 12-6:
Write access to a parameter
See also: Error Messages
ECODRIVE Cs
Read Access to a Parameter
The read access to a parameter generally takes place as follows:
IDN of the parameter, data block element number, r (Carriage
Return)
The drive then displays the content of the data block element that was
addressed.
In order to access the operating data of the P-0-4040 parameter, for
example, the following input is required:
Step 1
Send request e.g.:
"P-0-4040,7,r" (CR)
possible
-> check address
-> check setting
-> check connection
Step 2
no
yes
Timeout ?
no
receiver buffer?
contents of receiver buffer:
"P-0-4040,7,r"(CR)"#xxxx"(CR)"E01:>"
or
"P-0-4040,7,r"(CR)"1C3Fh"(CR)"E01:>"
yes
Step 3
To check transmission compare
request with receiver buffer (string
compare).
Compare ok?
no
Transmission error
yes
Step 4
All characters up to 1st "CR"
(inclusive).
receiver buffer
Data or error number
now contained in the
receiver buffer
yes
parameter access.
Error code: #xxxx
no
Evaluate parameter data. Read
access completed.
FD5000B1.WMF
Fig. 12-7:
Read access to a parameter
ECODRIVE Cs
Write Access to List Parameters
There is a number of lists in the drive. These lists have to be addressed in a
somehow modified way when writing data.
Step 1
Send request e.g.:
"P-0-4007,7,w,>"(CR) (">"
opens the list)
possible
-> check address
-> check setting
-> check connection
Step 2
no
yes
Timeout ?
Character sequence "?" or ":>"
found in receiver buffer?
no
Contents of receiver
buffer:"P-0-4007,7,w,>"(CR)"?" or
"P-0-4007,7,w,>"(CR)"#xxxx"(CR)"E01:>"
yes
Step 3
To check transmission compare request
with receiver buffer (string compare).
no
Compare ok?
Transmission error
yes
Next character after
(CR) "?"
no
Error occured during
parameter access. Error
code: #xxxx
yes
A
part 2/A (next page)
Step 4
Enter list element and complete
with (CR)
Step 5
Drive received character. Drive repeats
request (echo)
no
Timeout ?
yes
no
Character "?" or "#" found in
receiver buffer?
yes
Step 6
To check transmission compare character
string from step 4 with receiver buffer (string
compare).
Compare ok?
no
possible
-> check address
-> check setting
-> check connection
Transmission error
yes
Step 7
Delete request in receiver
buffer. All characters up to 1st
"CR" (inclusive).
B
part 2/B (next page)
FD5005B1.WMF
Fig. 12-8:
Write access to list parameters (part 1)
ECODRIVE Cs
part 1/B (previous page)
B
Next character in receiver
buffer "#"?
yes
no
More elements?
parameter access.
Error code: #xxxx
part 1/A (previous page)
yes
A
no
Step 8
Close list, send end
character: "<" (CR)
no
Step 9
character received
receiver buffer?
yes
"<" (CR) ["#xxxx"(CR)]"E01:>"
Step 10
Delete request in receiver buffer. All
characters to 1st "CR" (inclusive).
Next character received
"#"?
yes
parameter access.
Error code: #xxxx
no
Parameter list successfully written.
FD5006B1.WMF
Fig. 12-9:
Write access to list parameters (part 2)
It is important to complete the input with the "<" character because only
then the data are accepted in the drive.
ECODRIVE Cs
Read Access to List Parameters
List parameters are read accessed in the same way as normal
parameters. The drive, however, provides all list elements as its answer.
Step 1
Send request
e.g.: "P-0-4006,7,r" (CR)
possible
-> check address
-> check setting
-> check connection
Step 2
Drive repeats request (echo).
no
yes
Timeout ?
Character sequence ":>"
found in receiver buffer?
no
"P-0-4006,7,r"(CR)
"element 1" (CR)
"element 2" (CR)
:
"element n" (CR) "E01:>"
or
"P-0-4006,7,r"(CR)"#xxxx" (CR) "E01:>"
yes
Step 3
To check transmission compare
request with receiver buffer
(string compare).
no
Compare ok?
Transmission error
yes
Step 4
Delete request in receiver buffer. All
characters to 1st "CR" (inclusive).
Replace last (CR) by "string end"
(e.g. "0" in C).
receiver buffer?
List elements seperated by (CR) or
an error number now contained in
receiver buffer.
yes
parameter access. Error
code: #xxxx
no
Evaluate list element
no
Set string pointer to 1st character after
next (CR) -> (new list element)
End of list reached?
yes
List succesfully read
Fig. 12-10: Read access to list parameters
FD5004B1.WMF
ECODRIVE Cs
Triggering a Command
Numerous commands can be executed in the drive controller . Command
execution takes place automatically in the drive. There are commands for:
• switching between operating mode and parameter mode:
• P-0-4023, C400 Communication phase 2 transition
• S-0-0262, C700 Load defaults procedure command
Via the serial interface it is possible to start, interrupt and complete the
execution of a command. In addition, the status of the command
execution can be read.
ECODRIVE Cs
A command is activated as follows:
Step 1
Send request
e.g.: "P-0-0162,7,w,11b" (CR)
communication with drive not
possible
-> check address
-> check setting
-> check connection
Step 2
no
yes
Time out ?
character sequence ":>"found in
receiver buffer?
no
"P-0-0162,7,w,11b" (CR)
[#xxxx(CR)] "E01:>"
yes
Step 3
To check transmission compare request with
receiver buffer (string compare).
Compare ok?
no
Transmission error
yes
Step 4
All characters up to 1st "CR"
(inclusive).
receiver buffer?
parameter access.
Error code: #xxxx
yes
no
Drive accepted command.
Command being processed.
Step 5
Read command status
"P-0-0162,1,w,0"(CR)
Step 6
Drive received character. Drive repeats
request (echo)
A
part 2/A (next page)
no
Timeout ?
receiver buffer?
yes
B
part 2/B (next page)
no
yes
possible
-> check address
-> check setting
-> check connection
FD5003B1.WMF
Fig. 12-11: Triggering a command (part 1)
ECODRIVE Cs
part 1/B (previous page)
partl 1/A (previous page)
B
A
yes
no
no
Command status =
3h?
Command status =
Fh?
yes
yes
Command successfully
completed
Command completed with error
Clear command: "0" written to ID
number e.g.: "P-0-0162,7,w,0" (CR)
FD5007B1.WMF
Fig. 12-12: Triggering a command (part 2)
Interrogating the Command
Status
The current status of a command can be interrogated. The interrogation
of the command status is used to make sure that the drive-side command
execution is completed before the connected control unit (or the PC)
completes the command.
The command status is interrogated as follows:
IDN of the command,1,w,0 (Carriage Return)
After the IDN of the command parameter was written the drive signals the
current command status.
Possible Status Messages
0h
Command not set in the drive.
1h
Command set in the drive.
3h
Command set, enabled and correctly executed.
5h
Command set and enabled in the drive.
7h
Command set and enabled, but not yet executed.
Fh
Command set and enabled, but not executed due to error.
Fig. 12-13: Status messages
ECODRIVE Cs
The command status is transmitted in the form of a bit list. The meaning
of the individual bits is illustrated below.
reserved
reserved
Bit 0:
0: command no set in drive
1: command set in drive
Bit 1:
0: command execution interrupted in drive
1: command execution enabled
in drive
Bit 2:
0: command correctly executed
1: command not yet executed
Bit 3:
0: no error
1: error: command execution
impossible
Bit 8:
0: operating data valid
1: operating data invalid
Fig. 12-14: Command acknowledgment (data status)
Completing a Command
A command is completed as follows:
IDN of the command,7,w,0 (Carriage Return)
ECODRIVE Cs
Example of Application (Changing Positioning Block Data)
Assumptions:
• Several drives are connected to a PLC via an RS485 interface. The
address of the drive we consider is 1.
• The drive works in the positioning mode. Four positioning blocks are
used.
• The target positions of the positioning blocks are to be changed via the
RS485 interface.
Establishing the communication with the respective axis
BCD: 01 (CR)
Command for switching to drive A01:>echo
the connected drive. All other drives are passive.
Note:
of
The drive does not send an echo after each character, but it is
only after having received the "CR" that the drive returns the
complete sequence that was input.
Writing the list of target positions to the drive
The target positions of all axes are stored in the form of a list in parameter
P-0-4006, Positioning block target position. In order to change one or
more values in this list, it is necessary to always write all relevant values
of this list. That is to say if four target positions are used, it is necessary to
write all 4 positions even if only one position is to be changed.
Drive reaction:
P-0-4006,7,w,> (CR)
?
100.0 (CR)
?
200.0 (CR)
etc.
?
<(CR)
E01:>
Input:
target position block0
target position block1
Errors in the Case of ASCII Communication
The following error messages specifically occur in the case of
communication with ASCII protocol:
Error code
Description
0x9001
fatal error (characters cannot be identified)
0x9002
parameter type error
0x9003
invalid data block number
0x9004
input cannot be identified
0x9005
data element number not defined
0x9006
error in the write-read identifier (r/w)
0x9007
invalid character in the data
Fig. 12-15: Error messages in the case of ASCII communication
ECODRIVE Cs
12.5 SIS Protocol
Features
The SIS protocol:
• The SIS protocol is a binary protocol.
• A checksum test is conducted (higher Hamming distance D).
• All telegrams are identified by an unequivocal start character ("0x02").
• There is a defined telegram frame structure.
• It is possible to trigger movements (e.g. jogging) via SIS telegrams.
Telegram Structure, Telegram Frame
An SIS telegram is basically divided into 3 blocks:
• telegram header
• useful data header
• useful data
telegr. header
useful data header
Fig. 12-16: Structure of an SIS telegram
useful data
ECODRIVE Cs
Structure of the Telegram Header
Byte
Name
Meaning of the individual telegram bytes
1
StZ
Start character: STX (0x02)
2
CS
Checksum byte. It is generated by adding all following telegram characters and the start
character (StZ) and subsequent negation. That is to say the sum of all telegram characters is
always 0 in the case of successful transmission.
3
DatL
This byte contains the length of the following useful data and of the variable part in the frame
protocol. It is possible to transmit up to 247 bytes (255 - 7 {sub addresses} - 1 {current
telegram number}) of useful data in a telegram.
4
DatLW
This byte contains the repetition of DatL. The telegram length results from DatLW and the fixed
part of the frame protocol (bytes 1 to -8); that is telegram length = DatLW + 8.
5
Cntrl
Bit 0 - 2:
Bit 3:
Bit 4:
Bit 5 - 7:
6
Dienst
(service)
It specifies the service that the transmitter requests from the receiver or that the receiver has
carried out.
number of subaddresses in the address block (0 - 7),
"current telegram number" : 0 => not supported, 1 => additional byte
0 => command telegram, 1 => reaction telegram ,
status information for the reaction telegram:
000 no error, it was possible to process the request
001 transmission request being processed
010 transmission cannot be processed at present
100 warning
110 error
0x00 ... 0x0F
0x00
0x01
0x02
0x03
0x0F
0x10 ... 0x7F
0x80 ... 0x8F
0x90 ... 0x9F
0xA0 ... 0xAF
0xB0 ... 0xBF
0xC0 ... 0xCF
0xD0 ... 0xDF
0xE0 ... 0xFF
general services:
node identification
data transmission canceled
flash operation
initialization of SIS communication
token passing
temporarily reserved
special services for ECODRIVE
special services for SYNAX
special services for MT-CNC or MTC200
special services for ISP200
special services for CLC-GPS
special services for HMI system
temporarily reserved
7
AdrS
address of transmitter: station number (0 - 127)
8
AdrE
address of receiver:
AdrE = 0 - 127
==> specifies a single station,
AdrE = 128 – 254 ==> addresses logical groups,
AdrE = 255
==> defines a broadcast
Telegrams with AdrE = 128 - 255 are not answered with a reaction telegram.
9
AdrES1
Subaddress 1 of the receiver, if for bit 0 - 2 of byte Cntrl it applies that: > 000
10
AdrES2
11
AdrES3
12
AdrES4
13
AdrES5
14
AdrES6
15
AdrES7
16
PaketN
current telegram number (package number), if bit 3 in byte Cntrl has been set
Fig. 12-17: SIS telegram header
ECODRIVE Cs
Structure of the Useful Data Header
Note:
The structure of the useful data header depends on the
direction of transmission. The useful data headers described
below are only valid for the services 0x80 … 0x8F.
We distinguish between command telegram and reaction telegram:
• Command Telegram
(master --> slave):
This is the telegram the master (drive) sends to the slave!
tel. header
1byte
1byte
1byte
control
byte
device
address
param.
type
1byte
1byte
parameter no.
useful data
useful data header
Ta0001f1.fh7
Fig. 12-18: Useful data header structure in command telegram
Control Byte
The control byte indicates the parameter element (data, name, ...) that is
to be read or written. In addition, the control byte indicates whether other
telegrams (sequential telegrams) are required for reading or writing.
Bit 0: reserved
Bit 1: reserved
Bit 2: reserved
Bits 3-5: Element
000: channel not active
001: IDN
010: name
011: attribute
100: unit
101: min. input value
110: max. input value
111: operating data
Bit 6: reserved
Bit 7: reserved
Fig. 12-19:
Structure of the control byte
ECODRIVE Cs
• Reaction telegram (slave --> master):
This is the telegram the slave (drive) sends to the master!
tel. header
1byte
1byte
1byte
status
byte
control
byte
device
address
useful data
useful data
header
Fig. 12-20:
Ta0002f1.fh7
Useful data header structure in reaction telegram
Significance of the Useful Data
Header
In the command telegram the useful data header describes the kind of
request.
Status Byte
In the status byte an error code is returned, if necessary. In the case of an
error-free transmission, a 0x00 is returned in the status byte.
Control Byte
The control byte contains the information regarding which data block
element of a parameter is accessed. Bit 2 controls the transmission of
sequential telegrams (writing lists in several steps).
Device Address
In this byte the device address set at the address switches has to be
entered.
Parameter Number and Type
The parameter number has the format defined in the specification for
SERCOS interface. In order to be able to address control parameters, a
byte for characterizing the parameter type precedes the address.
parameter type
parameter number
bit 0-11:
parameter number
(0*0001...0*FFF)
bit 12-14: parameter set
(0...7)
0000
bit 15:
parameter type* 0001
0010
bit 0-2:
parameter type* 0100
1000
bit 3-7:
reserve
(always 0)
S-parameter (drive)
P-parameter (drive)
not used in the drive
*) parameter type uses bit 15 in "parameter number" and three further bits in the "parameter type" byte
Bl0001f1.fh7
Fig. 12-21:
Parameter number and type in the useful data header
Structure of the Useful Data Field
In the useful data bytes it is possible to enter any value that is interpreted
in a different way according to the service. For flash programming, for
example, binary characters are entered in the useful data and when
writing a parameter the decimal numeric value is entered.
The number of bytes in the useful data field and of the useful data header
are entered in the DatL and DatLW bytes.
ECODRIVE Cs
Communication with SIS Protocol
Addressing a Drive via SIS Protocol
In the case of communication with SIS protocols we distinguish between
command telegrams and reaction telegrams, according to the direction of
transmission. A node can only be addressed under its address (see
program module) when a specific telegram format (frame) is observed.
Note:
Only when the drive has received at least one valid SIS
telegram is the SIS channel enabled for further
communication.
In the following the different kinds of access are outlined before the
individual services are explained.
Read Access
When the reading of a parameter is started in a command telegram, a
check is run in the drive to determine whether a sequential telegram is
required. In this case, bit 2 (current/last transmission) is kept at "0" in the
control byte of the reaction telegram until the last reaction telegram is
sent. In the last reaction telegram, bit 2 is set to "1".
The sending of a sequential reaction telegram is activated by the repeated
sending of the unchanged command telegram.
Sequential Telegram Access
When the sending or reading of a parameter with following telegrams was
started in the drive, it was necessary to complete or cancel this process
before another service can be started. If another service was started
nevertheless, the "0x800C unauthorized access" error code is sent in the
reaction telegram. The service with sequential telegram started before
can then be normally processed or cancelled with the next command
telegram.
The following services are supported in the drive:
•
service 0x01 canceling a data transmission
•
service 0x81 reading a list segment
•
service 0x8E writing a list segment
•
service 0x8F writing a parameter
•
service 0x80 reading a parameter
•
service 0x01 read access with sequential telegrams
•
service 0x8F write access with sequential telegrams
ECODRIVE Cs
Service 0x01 Canceling a Data Transmission
Command Telegram
• Enter 0x01 in the service of the telegram header.
• Enter the service to be cancelled in the useful data.
Reaction Telegram
If there isn’t any error, the reaction telegram has the following structure:
telegram header
useful data header
Fig. 12-22: Structure of the reaction telegram
In the case of an error, the useful data that contain the error code are
transmitted. The useful data header corresponds to the SIS specification.
telegr. header
useful data header
useful data
Fig. 12-23: Structure of the reaction telegram
Note:
When there wasn’t any sequential telegram processed and
this service was sent nevertheless, there isn’t any error
reaction telegram sent!
Service 0x80 Reading a Parameter
A one-time read access is completed with one transmission step. The
master enters the following information in the command telegram:
• In the control byte the desired element is selected in the bits 3 ... 5
("element"). Bit 2 is set to "1" (last transmission).
• The device address is entered.
• Parameter type and number are entered.
• There aren’t any useful data entered.
The answer to a read access contains the following data:
• In the Cntrl byte of the telegram head bit 4 is set to "1" in order to
identify it as a reaction telegram.
• The status byte of the useful data header contains the information
whether an error occurred during the processing of the command
telegram.
• The control byte is read from the command telegram and copied to the
reaction telegram.
• The device address is read from the command telegram and copied to
the reaction telegram.
• The requested data is written to the useful data.
ECODRIVE Cs
Example:
Reading the S-0-0044, Velocity data scaling type parameter from the
drive with the address "3". The parameter has the value "0x0042".
Command telegram:
tel. header
3C
03
00
control
byte
device
address
param.
type
2C
00
parameter no.
(LSB) (MSB)
useful data header
Ta0005f1.fh7
Fig. 12-24: Reading S-0-0044 (command telegram)
Reaction telegram:
tel. header
42
00
3C
03
status
byte
control
byte
device
address
00
useful data
(LSB) (MSB)
useful data header
Ta0006f1.fh7
Fig. 12-25: Reading S-0-0044 (reaction telegram)
Service 0x8F Writing a Parameter
Command Telegram
• Enter 0x8F in the service of the telegram header.
• Enter the parameter to be written in the "parameter type" and
"parameter no." bytes of the useful data header.
• Enter the value to be written in the useful data.
Reaction Telegram
Note:
By means of this service, all available commands can be
started in the drive.
A one-time write access is completed with one transmission step.
The master enters the following information in the command telegram:
• The device address is entered.
• In the control byte the operating data is selected in the bits 3 ... 5
("element"). Bit 2 is set to "1" (last transmission).
• The IDN of the parameter to be written is written to the parameter
number.
• The value of the operating data is written to the useful data.
ECODRIVE Cs
The answer to a write access contains the following data:
• In the Cntrl byte of the telegram head bit 4 is set to "1" in order to
identify it as a reaction telegram.
• The status byte of the useful data header contains the information
whether an error occurred during the processing of the command
telegram.
• The control byte is read from the command telegram and copied to the
reaction telegram.
• The device address is read from the command telegram and copied to
the reaction telegram.
• There aren’t any useful data transmitted.
Example:
Transmitting the S-0-0044, Velocity data scaling type parameter to the
drive with the address "3". The value 0x0042 is written to the parameter.
Command telegram:
tel. header
3C
03
00
control
byte
device
address
param.
type
2C
00
parameter no.
(LSB) (MSB)
42
00
useful data
useful data header
Ta0009f1.fh7
Fig. 12-26: Writing the S-0-0044 parameter (command telegram)
Reaction telegram:
tel. header
00
3C
03
status
byte
control
byte
device
address
useful data
header
Ta0010f1.fh7
Fig. 12-27: Writing the S-0-0044 parameter (reaction telegram)
Service 0x81 Reading a List Segment
Command Telegram
• Enter 0x81 in the service of the telegram header.
• Enter the parameter type and parameter no. of the parameter to be
read in the useful data header.
• Enter the offset in the useful data bytes 0 and 1 within the list as a
word (= 16 bit).
• Enter the number of words to be read in the useful data bytes 2 and 3.
ECODRIVE Cs
Reaction Telegram
• In the control byte of the reaction telegram the current/last
transmission is marked with bit 2.
Note:
The output of a sequential telegram is started by the repeated
sending of the unchanged command telegram.
Service 0x8E Writing a List Segment
Command Telegram
• Enter 0x8E in the service of the telegram header.
• Enter the parameter type and parameter no. of the parameter to be
read in the useful data header.
• Enter the offset in the useful data bytes 0 and 1 within the list as a
word (= 16 bit).
• Enter the number of words to be written in the useful data bytes 2 and
3.
Reaction Telegram
• A possible error is entered in the useful data in the reaction telegram.
Note:
With this service it is only possible to process list segments
that are contained in the list currently available. If the actual list
length is to be changed this list has to be written. Operation in
the sequential telegram mode is impossible.
Starting a Command
Via the SIS interface all commands in the drive can be started with
service 0x8F writing a parameter.
telegr. header
useful data header
2 byte useful data
Fig. 12-28: Structure of the command telegram
• Enter 0x8F in the service of the telegram header.
• Enter the command to be activated in the "parameter type" and
"parameter no." bytes of the useful data header.
• Enter the input of the command in the useful data byte.
ECODRIVE Cs
Examples of Application (Sequential Telegrams)
Service 0x8F Write Access with Sequential Telegrams
Parameters or elements longer than 243 byte are read in several steps.
The transmission of such lists is carried out in several steps. Bit 2 in the
control byte marks the current transmission step as the current or last
transmission.
The figures below illustrate the control word for a transmission in several
steps.
Step 1:
tel. header
38
..
..
control
byte
device
address
param.
type
..
..
parameter no.
(LSB) (MSB)
.. ..
..
.. ..
..
243 data bytes
useful data
useful data
header
Ta0011 f1.fh7
Fig. 12-29: Writing with sequential command telegram (step1)
tel. header
..
38
..
status
byte
control
byte
device
address
useful data header
Ta0012f1.fh7
Fig. 12-30: Writing with sequential reaction telegram (step1)
Step 2:
tel. header
38
..
..
control
byte
device
address
param.
type
useful data
header
..
..
parameter no.
(LSB) (MSB)
.. ..
..
.. ..
..
243 data bytes
useful data
Ta0011 f1.fh7
tel. header
..
38
..
status
byte
control
byte
device
address
useful data header
Ta0012f1.fh7
ECODRIVE Cs
Last step:
tel. header
3C
..
..
control
byte
device
address
param.
type
..
..
.. ..
parameter no.
(LSB) (MSB)
..
.. ..
..
243 data bytes
useful data
useful data
header
Ta0013 f1.fh7
tel. header
..
3C
..
status
byte
control
byte
device
address
useful data header
Ta0014f1.fh7
Service 0x80 Read Access with Sequential Telegrams
Parameters or elements the length of which exceeds the max. data field
length of 245 byte are read in several steps. Bit 2 in the control byte of the
reaction telegram marks the current transmission step as the current or
last transmission.
The figures below illustrate the control word for a transmission in several
steps.
Step 1:
tel. header
3C
..
..
control
byte
device
address
param.
type
..
..
parameter no.
(LSB) (MSB)
useful data header
Ta0007f1.fh7
Fig. 12-35: Sequential command telegram1
tel. header
..
38
..
status
byte
control
byte
device
address
..
.. ..
..
..
245 data bytes
useful data header
useful data
Ta0008f1.fh7
Fig. 12-36: Sequential reaction telegram1
ECODRIVE Cs
Step 2:
tel. header
3C
..
..
control
byte
device
address
param.
type
..
..
parameter no.
(LSB) (MSB)
useful data header
Ta0007f1.fh7
tel. header
..
38
..
status
byte
control
byte
device
address
..
.. ..
..
..
245 data bytes
useful data
useful data header
Ta0008f1.fh7
Last step:
tel. header
3C
..
..
control
byte
device
address
param.
type
..
..
parameter no.
(LSB) (MSB)
useful data header
Ta0007f1.fh7
tel. header
..
3C
..
status
byte
control
byte
device
address
..
.. ..
..
..
245 data bytes
useful data header
useful data
Ta0015f1.fh7
ECODRIVE Cs
Errors in the Case of SIS Communication
Errors During Parameter Transmission
Status Byte
If an error occurs during the parameter transmission, an "error during
parameter transmission" is signaled in the status byte.
Error Code
The first two bytes of the useful data transmit an error code that describes
the kind of error.
During the parameter transmission the following errors can occur:
Error code
Description
0x0000
no error
0x0001
service channel not opened
0x0009
incorrect access to element 0
0x8001
"Service channel currently occupied (BUSY)"
The desired access is currently impossible
because the service channel is occupied.
0x8002
"Failure in service channel"
It is currently impossible to access the
desired drive.
0x800B
"transmission canceled (higher priority)"
"Unauthorized access (service channel still
active)"
A new request is started before the last
transmission was completed.
Fig. 12-41: Error messages in the serial protocol
0x800C
Execution and Protocol Acknowledgment
With each reaction telegram a status byte is transmitted. The status byte
provides the result of a transmission in the form of a code number.
In general, the following applies:
Result of status byte
Code number
transmission without error
0x00
protocol error
0xF0 ... 0xFF
execution error
0x01 ... 0xEF
Fig. 12-42: Definition of the status byte
Protocol error
Code
number
Error description
"invalid service"
0xF0
The requested service was not
specified or is not supported by
the addressed node.
Fig. 12-43: Definition of the protocol error
Execution error
Code
number
Error description
"error during parameter
0x01
When reading or writing a
transmission"
parameter an error occurred.
Fig. 12-44: Definition of the execution error
ECODRIVE Cs
Example:
Write access to the write-protected parameter S-0-0106, Current loop
proportional gain 1.
The master tries to write the value "0" to the parameter. The drive
acknowledges with the "0x7004" ("Data cannot be changed") error
message.
Command telegram:
tel. header
3C
00
04
control
byte
device
address
param.
type
0B
00
parameter no.
(LSB) (MSB)
00
00
useful data
useful data header
Ta0003f1.fh7
Fig. 12-45: Writing S-0-0106 (command telegram)
Reaction telegram:
tel. header
01
3C
00
status
byte
control
byte
device
address
04
70
useful data
useful data header
Ta0004f1.fh7
Fig. 12-46: Reading S-0-0106 (reaction telegram)
12.6 Connection System
Glossary 13-1
ECODRIVE Cs
13
Glossary
1MB
Rotary liquid-cooled asynchronous frameless motors.
2AD
Rotary asynchronous motors for main spindle applications.
Acceleration feedforward
In applications that require highest precision at high velocity it is possible
to activate the acceleration precontrol and thereby significantly increase
the precision of the axis in the acceleration and deceleration phases.
ADF
Rotary liquid-cooled asynchronous motor.
Analog inputs
By means of this function, two analog command values are mapped to
one parameter via an analog/digital converter. The analog voltage can
then be assigned to a parameter. This allows, for example, preselecting
torque limit values or speed command values via analog inputs for the
operating mode "Velocity control".
Analog outputs
The analog output function allows to output drive-internal signals and
status variables in the form of analog voltage signals. In addition, the
control unit can output cyclically transferred values.
AT
Abbreviation of "Antriebstelegramm" (German word for "drive telegram").
The drive telegram is sent from the slave to the master via the real time
data channel.
Automatic control loop setting
In order to facilitate parameterization of an axis, the firmware types of the
ECODRIVE03 and DURADRIVE product families include automatic
control loop setting. After the user has specified the required axis
dynamics, the drive controller automatically defines the control loop
parameters for this kind of control loop setting.
Base parameters
Standard values for all drive parameters are stored in the drive controller.
These values can be loaded anytime.
Basic load
Default control loop parameters are available for all digital drive
controllers. These parameters are either contained in the motor feedback
data memory (if available) and can be activated by executing the
command "basic load", or can be read from a data base via the
parameterization user interface of DriveTop.
13-2 Glossary
ECODRIVE Cs
Box set
If you order a box set from Rexroth Indramat, you get several books with
related topics that are collected in a box.
CAN
Controller Area Network (CAN) is a serial bus system. This international
standard network is particularly suitable for interconnecting units that are
controlled by a micro controller. CAN is realtime-capable and highly
reliable in data transfer.
CANopen
CANopen, a profile family for industrial automation, is based upon CAN
and the CAN Application Layer (CAL). The CANopen specifications
developed by the research groups of the international association of users
and manufacturers CAN in Automation (CiA) allow installing cost-efficient
decentralized control systems and input/output systems, as well as
interconnected sensor/actuator systems.
Command "Drive-controlled homing procedure"
With this function the drive controller automatically carries out the homing
procedure, i. e. it establishes a reference for the measurement system, in
compliance with preset parameters.
Command "Get mark position"
The command "Get mark position" is used to check whether the
reference marks of an incremental measuring system are recognized
correctly.
Command "Parking axis"
The command "Parking axis" is used to uncouple an axis. This can be
necessary, for example, for stopping an axis temporarily . The start of this
command causes all monitoring functions of the measuring system and of
the control loops to be switched off.
Command "Positive stop drive procedure"
The "Positive stop drive procedure" causes all controller monitoring
functions to be switched off. When the drive is blocked by the positive
stop, no error message is generated.
Command "Set absolute measurement"
By means of this function the actual position value of an absolute
measuring system can be set to any value. The actual position value
thereby gets a defined reference to the machine zero point.
Current limit
By internal monitoring of the thermal load of the drive controller and the
motor it is possible to activate the reduction of the allowed output current.
Customer password
All important axis-specific parameters are stored in the programming
module. In order to protect these parameters against accidental or
unauthorized change, they can be write-protected by a customer
password.
Glossary 13-3
ECODRIVE Cs
Diagnosis
Every status of the drive controller is identified by means of a diagnosis.
The diagnosis is displayed on the drive controller as a combination of
letters and numbers, as well as stored in parameters. In addition, the
commissioning software DriveTop illustrates the diagnosis in the form of a
short text. There are different diagnoses for error, warning, command and
status (diagnoses that display the operating status).
DISC
This function allows integrating special drive functions, that are not "hard
wired" in the drive firmware, in the drive controller in the form of drive
macros.
DKC
Name of a drive controller developed by Rexroth Indramat. This drive
controller belongs to the ECODRIVE03 product family.
DKCxx.3-016-7-FW
The devices of the DKCxx.3-016-7-FW type still were in their
development phase at the time this documentation was compiled, i. e. the
data in the documentation are preliminary. For further information on the
availability and the definite functionality, please contact our service
department.
Document typecode
The document typecode helps identify documents. It can be found at
several places on a document: on the left bottom of the title page, on the
reverse of the title page (marginal note: "Document Typecode") and in
each footing.
Drive Halt
When the Drive Halt function is activated, the drive does not follow the
command values of the active operating mode any longer. The values
that are used for stopping depend on the operating mode that had been
active before.
DSF
Abbreviation for the position encoder type "digital servo feedback".
Dynamic position switch
The function "dynamic position switch" allows realizing dynamic position
switching points. For each position switching point there is an individual
switch-on and switch-off position, as well as an individual rate time.
EcoX
EcoX is the name of an expansion interface. This expansion interface is a
serial, cyclic bus.
Encoder emulation
The encoder emulation allows outputting the actual position value of the
motor encoder or an external encoder, or the position command value in
the TTL format (incremental encoder emulation) or in the SSI format
(absolute encoder emulation).
13-4 Glossary
ECODRIVE Cs
Error memory and hours-run meter
Errors that occur during operation are stored in an error memory. This
memory contains the last 19 errors that occurred and the time when they
occurred. There are also hours-run meters for the control section and
power section of the drive controller.
Error reaction to be parameterized
If an error status is recognized in the drive controller, a drive error
reaction is automatically started. In the case of a non- fatal error status
the kind of error reaction (best possible deceleration) can be
predetermined. (There are up to four different possibilities available.)
E-Stop function
The E-Stop function is used to stop the drive via a hardware input at the
drive controller. It is thereby possible to switch off the drive in parallel with
the master communication in case of emergency. It is possible to select
how to activate the E-Stop function and how to stop the drive.
Evaluation of absolute measuring systems
Measuring systems that provide absolute position information over one or
several encoder revolutions (single or multi-turn encoder) or over a
certain distance (absolute linear measuring systems) can be used as
motor measuring systems and/or optional measuring systems. The
information on the absolute encoder range within which the measuring
system can provide position data, is stored in the data memory of the
measuring system or in the drive software. After the initialization
procedure (setting of the absolute position), the actual position value is
available within the absolute encoder range, with reference to the
machine zero point.
Evaluation of optional encoders for position and/or velocity
control
Optional (load-side) encoders can be evaluated, in order to use their
values for position and/or velocity control. The optional encoder can be
used as a load-side motor encoder.
FGP
Part of a firmware name. This firmware is used for general automation
and supports master communication via field bus interfaces.
GDS
Name of a digital single-turn encoder supplied by Rexroth Indramat.
IBS
Abbreviation
of
the
German
("commissioning step[s]").
term
"Inbetriebnahmeschritt(e)"
Jerk
Jerk is the change in acceleration per time.
LAF
Asynchronous linear frameless motors with encapsulated standard
construction.
Glossary 13-5
ECODRIVE Cs
LAR
Asynchronous linear housing motors for high acceleration and short travel
distances.
LSB valence
Valence of the "least significant bit".
LSF
Synchronous linear frameless motors with encapsulated standard
construction for automation.
- and Synchronous linear frameless motors
construction for precision processing.
with
encapsulated
thermo
MBS
Synchronous rotary frameless spindle motors.
MBW
Synchronous rotary frameless motor with stator and rotor.
MDT
Abbreviation for master data telegram. The master data telegram is sent
from the master to the slave via the real time data channel.
Measuring probe function
The measuring probe function is used to measure positions (actual
position value or master axis position) and times (relative internal time) by
means of binary input signals.
MHD
High-performance synchronous rotary motors.
MKD
Synchronous rotary motors for standard applications.
MKE
Synchronous rotary motors for areas subject to explosion hazard.
Modulo function
The modulo function allows representing all position data within the range
from 0 to the modulo value that has been parameterized. It is therefore
possible to realize axes that move endlessly in one direction.
Multi-turn encoder
Position encoder that provides absolute position over several revolutions.
Oscilloscope function
The oscilloscope function is used to record internal and external signals
and status variables. Its functional scope corresponds approximately to
that of a 2-channel oscilloscope.
13-6 Glossary
ECODRIVE Cs
PDO
Process data objects. Objects that are transferred via the acyclic channel
(real time data channel), in the case of master communication via
CANopen interface.
Position control loop monitoring
The position control loop monitoring function is used to diagnose
malfunction within the position control loop. This monitoring function can
recognize, for example, transgression of the torque or acceleration
capacity of the drive, blockage of the axis mechanism or failures in the
position encoder.
RCD
Abbreviation for residual current-operated protective devices.
Scaling
Combination of the unit and the number of decimal places.
SDO
Service data objects. Objects that are transferred via the cyclic channel
(process data channel), in the case of master communication via
CANopen interface.
SGP
Part of a firmware name. This firmware is used for general automation.
Single-turn encoder
Position encoder, an absolute value is assigned to every angular position
between 0° and 360°.
SMT
Part of a firmware name. This firmware is used for machine tool
applications.
Torque/force limit to be parameterized
The torque/force limit value can be parameterized to values below the
maximum possible value. This is useful, for example, when the drive
moves to the end position of its travel range.
Travel range limit
In order to limit the working range, the firmware provides the following
functions:
• position limit values and
• travel range limit switches
Typecode
see document typecode
Glossary 13-7
ECODRIVE Cs
Velocity control loop monitoring
The drive controller monitors the velocity control loop for correct function
and causes immediate stop (torque disable) in case of error. This
monitoring function allows recognizing, for example, incorrect polarity of
the motor connection, incorrect commutation angle or failures in the
velocity encoder.
The monitoring function avoids the "runaway effect".
Velocity limit
The parameterization of the drive controller can limit the velocity of a
motor to values lower than the maximum possible velocity. The maximum
velocity can therefore be variably limited as required by specific
applications.
Velocity mix factor
By means of the velocity mix factor the actual velocity value used for
velocity control can be calculated from a combination of motor measuring
system and external measuring system. This can be advantageous if the
coupling between motor and load has play or torsion.
13-8 Glossary
ECODRIVE Cs
Notes
Index 14-1
ECODRIVE Cs
14
Index
A
absolute encoder emulation 11-34, 11-37, 11-39
absolute encoder monitor
deactivating 10-22
absolute encoder monitoring
checks in transition command 4-15
absolute positioning 9-27
acceleration data 10-2
acceleration feedforward
setting 10-63
acceleration value
minimum 9-43
access angle 9-61
acknowledge with "Drive Halt" 9-45
acknowledge with active operating mode 9-45
acknowledge with drive enable switched off 9-45
acknowledging drive enable 5-5
actions for writing "3" to parameter S-0-0170, Probing cycle procedure command
11-25
activating the E-Stop input 10-47
activating the oscilloscope feature 11-20
activating the velocity control loop monitor 10-59
actual position values after setting absolute measuring 10-96
actual position values of absolute encoders after power on 10-96
actual position values of absolute measuring systems after initialization 10-22
addressing a drive via SIS protocol 12-21
addressing data containers for multiplex channel 7-22
addressing the DeviceNet Slave 6-27
adjustable scaling for position, velocity and acceleration data 10-2
amplifier overtemperature shutdown 4-25
amplifier overtemperature warning 4-26
analog inputs 11-5
Appropriate use
Introduction 2-1
Appropriate uses
Uses 2-2
ASCII protocol 12-5, 12-16
communication 12-6
properties 12-5
assigning analog inputs to parameters 11-6
automatic check of motor holding brake 8-9
automatic control loop setting 10-65
general information 10-65
prerequisites 10-65
triggering a motion 10-68
automatic execution of the load defaults procedure function 10-51
B
band filter 10-56
basic drive functions 1-4, 10-1
basic function of I/O Mode 7-3
basic function of Rexroth profiles 7-8
basic operating principle of the position control loop monitor 10-61
basic parameter block 4-3
basic state after applying the control voltage 12-2
bb 4-12
Bb contact 10-44
Bb relay 10-44
best possible deceleration
as velocity command to zero with filter and ramp 10-42
determining the drive reaction 10-38
drive error reaction 4-9
SERCOS interface error 5-13
best possible standstill
14-2 Index
ECODRIVE Cs
switch to torque-free state 10-40
bipolar velocity limit value
command value limit 10-31
monitoring the actual velocity in torque control 9-3
velocity limit 10-31
block transition 9-34
block transition with intermediate halt 9-36
block transition with new positioning velocity 9-35
block transition with old positioning velocity 9-34
brake 8-5
brake check 8-9, 8-10
brake check command 8-10
C
CANopen interface 6-18
CANopen-specific object directory 6-23
checking for existing IDNs in multiplex channel 7-26
checking the configuration lists for multiplex channel 7-25
checking the configured IDN order for multiplex channel 7-25
checking the index of multiplex channel 7-26
checks in the transition check commands 4-13
chronological sequence of automatic control loop setting 10-70
class 1 diagnostics 4-25, 11-28
class 2 diagnostics 4-26
class 3 diagnostics 4-27, 9-13, 9-22
clearing errors 4-9
clearing errors when drive enable is set 4-9
collective messages 4-25
command change bit 4-6
command communication with CANopen 6-17
command communication with DeviceNet 6-26
command communication with PROFIBUS-DP 6-8
command error 4-13
command input and acknowledgment 4-6
command release motor holding brake 8-9
command settings 10-67
command settings with automatic control loop setting 10-67
command types 4-6
command value and actual value polarities 10-7
command value processing for electronic cam shaft 9-60
command value processing for velocity synchronization with virtual master axis
9-51
command value processing in position control 9-8
command value processing in velocity control 9-4
command value processing with phase synchronization with virtual master axis
9-54
command value profile with actuated home switch at start of command 10-86
command value to zero 10-42
command velocity 4-27
commands 4-5
command input and acknowledgment 4-6
command types 4-6
load defaults procedure command 10-51
probing cycle procedure command 11-25
set absolute measuring 10-91
commissioning guidelines 4-15
communication
serial 12-1
communication error 4-25
communication phase
operating mode 4-12
parameterization phase 4-12
communication via field bus
pertinent parameters 6-1
communication via RS232 interface 12-3
communication with SIS protocol 12-21
completing a command 12-15
condition for power on 10-45
configurable signal control word 11-3
Index 14-3
ECODRIVE Cs
configurable signal status word 11-1
configuration for multiplex channel 7-22
configuration of the signal control word 11-3
configuration of the signal status word 11-1
configuring the CANopen slave 6-20
configuring the DeviceNet slave 6-31
configuring the process data 6-9
configuring the process data (PDO) 6-20
configuring the process data (polledI/O) 6-31
configuring the PROFIBUS-DP slave 6-9
connecting drive halt input 10-75
connecting the home switch 10-90
connecting the motor holding brake 8-10
connecting the probe inputs 11-27
connection of jog signals 9-49
connection of the E-Stop input 10-48
connection system 12-30
consideration of the reference offset 10-83
control delay 8-8
control loop dynamics 10-65
control loop setting 10-65
control loop structure 10-49
control voltage error 4-25
cooling error 4-26
coordinate system 10-93
criteria for triggering the monitor 10-59
current controller 9-6
setting the current controller 10-53
cyclical data channel 6-11
D
data backup 4-3
data block structure 4-1
data container 7-22
Data Direction 6-10
data memory 4-2
data status 4-1
deactivating the position control loop monitor 10-63
default controller parameters 10-66
description of the steps 10-70
determine marker position 11-29
determine marker position command 11-29
determining the critical integral action time 10-54
determining the critical position controller gain 10-60, 10-61
determining the critical proportional gain and smoothing time constant 10-54
determining the position controller setting 10-61
determining the speed controller setting 10-54
device data sheet 6-16
DeviceNet interface 6-27
DeviceNet-specific object directory 6-28
diagnostic LEDs for DeviceNet 6-33
diagnostic LEDs for PROFIBUS 6-16
diagnostic message 4-21
diagnostic message number 4-23
diagnostic messages
diagnosing the interface status 5-13
diagnostic messages / error messages with system status word 11-2
diagnostic messages for multiplex channel 7-25
diagnostic messages in plain text 4-23
diagnostic messages of jog mode 9-49
diagnostic messages when setting absolute measuring 10-96
diagnostic messages with configurable signal control word 11-4
diagnostic possibilities 4-21
digital input/output 11-7
direction selection 10-11
directional change within a sequential block chain 9-44
display format 10-15
of acceleration data 10-6
14-4 Index
ECODRIVE Cs
of position data 10-4
of velocity data 10-5
display format of position data 10-4
distortion indicator 5-9
Dolfi 4-30
drive address 5-8
drive control commands 4-6
drive controlled positioning
block diagram 9-15
drive controllers 1-2
drive enable 5-3
drive enable or drive start 10-67
drive enable with automatic control loop setting 10-67
drive error reaction 4-9, 10-37
Drive Halt 10-73
Drive Halt with analog interface 5-3
drive parameterization via field bus 6-5
drive start with automatic control loop setting 10-67
drive status word
structure 5-4
drive-controlled homing 10-76, 10-89
drive-controlled positioning
acknowledging command value acceptance 9-19
functional principle 9-16
monitoring functions and diagnostic messages 9-21
status messages 9-22
drive-internal format 10-15
drive-internal format of position data 10-15
drive-internal generation of diagnostic messages 4-21
drive-internal interpolation 7-12
features 7-12
monitoring functions and diagnostic messages 9-13
dynamic synchronization in the phase synchronization mode 9-56
dynamic synchronization in the velocity synchronization mode 9-52
E
ECODRIVE Cs – universal drive solutions for automation 1-1
electronic cam shaft 9-59
Electronic Data Sheet 6-24, 6-28
emulated position reference 11-38
encoder emulation 11-34
encoder intialization 4-15
error 4-8
error counter for telegram failures 5-13
error classes 4-9, 10-37
Error Code 12-29
error conditions of the load default settings procedure 10-52
error memory 4-10
error messages 12-4
during drive-controlled homing 10-89
when setting absolute measuring 10-96
with travel range exceeded 10-33
error messages for multiplex channel 7-25
error messages with configurable signal control word 11-4
error number 4-24
error reaction
NC reaction on error 10-46
error rection
power off 10-44
errors during parameter transmission 12-29
errors in the case of ASCII communication 12-16
Index 14-5
ECODRIVE Cs
errors in the case of SIS communication 12-29
E-Stop
activation 10-47
selecting a reaction 10-47
evaluation of the home switch 10-85
exceeding the travel range
as error 10-33
as warning 10-34
exceeding travel range as error 10-33
exceeding travel range as warning 10-34
excessive deviation 4-25
executing automatic control loop setting 10-68
executing the load defaults procedure function as a command 10-52
execution and protocol acknowledgment 12-29
expanded oscilloscope recording feature 11-17
Explicit Message 6-27
F
features independent of bus 6-1
features of the freely expandable I/O mode 7-8
features of the I/O mode default setting 7-7
features of the I/O mode with cam 7-7
feed constant 10-9
feedback error 4-25
fiber optic cables
connection to SERCOS interface 5-8
filter 10-56
filtering mechanical resonant oscillations 10-55
firmware types
ECODRIVE Cs drive range 1-1
following error 4-27
freely configurable operating mode
features 7-16
structure of the real-time data channel 7-16
freely configurable operating mode(P-0-4084 = 0xFFFE) 7-16
functional principle Drive Halt 10-74
functional principle oc determine marker position command 11-29
functional principle of command parking axis 11-30
functional principle of command set absolute measuring 10-91
functional principle of E-Stop function 10-48
functional principle of multiplex channel 7-22
functional principle of probe evaluation 11-24
functional principle of programmable position switch 11-31
functional principle of the drive-internal position data format 10-16
G
gear
feed constant 10-9
gear ratio 10-9
general features of I/O mode 7-3
general information on control loop settings 10-49
general information on jog mode 9-48
general information on parameter structure 12-1
glass fiber optic cables 5-10
H
H1 display 4-21, 4-23
hardware connections for positioning block mode 9-47
hardware connections for setting absolute measuring 10-96
hardware requirements of the digital input 11-10
hardware requirements of the digital output 11-9
holding brake 8-5
homing
error messages 10-89
parameterization 10-77
14-6 Index
ECODRIVE Cs
reference marks 10-77
reference offset 10-83
homing with absolute encoder emulation 11-39
I
I/O mode 7-3
I/O mode default setting 7-7
I/O mode freely expandable 7-8
I/O mode with cam (P-0-4084 = 0xFF81) 7-7
IDN lists of parameters 4-10
IDN-list of all operation data 4-10
IDN-list of all procedure commands 4-11
IDN-list of backup operation data 4-10
IDN-list of invalid op. data for comm. Ph. 2 4-10
IDN-list of invalid op. data for comm. Ph. 3 4-11
IDN-list of operation data for CP2 4-11
IDN-list of operation data for CP3 4-11
in synchronization 9-52
Inappropriate use 2-2
Consequences, Discharge of liability 2-1
incremental encoder emulation 11-34, 11-35
index for multiplex channel 7-22
integral action time
determining the critical integral action time 10-54
interaction of control and status bits (status machine) 7-6, 7-11
interface
commissioning the SERCOS interface 5-6
interface error
interface mode 12-1
interface protocol 12-1
interrogating the command status 12-14
J
jerk value
minimum 9-43
L
language selection 4-29
length of the PD channel 6-10
length of the process data (PD) in the drive controller
limit switch
6-10
switch-off threshold 11-31
limiting to bipolar velocity limit value 10-31
limiting to maximum motor velocity 10-31
linear - rotary scaling 10-2
linear-rotary 8-2
list elements of multiplex channel 7-23
list of diagnostic message numbers 4-24
load defaults procedure 10-51, 12-12
M
management commands 4-6
manufacturer class 3 diangostics 9-13, 9-22
manufacturer-specific error 4-25
master axis 9-50, 9-53
master control word
structure 5-2
mechanical transmission elements 10-8
minimum values for acceleration and jerk with positioning blocks 9-43
modulo evaluation of absolute measuring systems 10-22
modulo format 9-28
modulo function 10-10
command value processing 10-11
modulo processing-requirements 10-11
Index 14-7
ECODRIVE Cs
modulo range error 4-15
modulo mode 10-11
modulo processing-requirements 10-11
modulo value 9-28
monitor commands 4-6
monitoring functions
actual velocity in torque control 9-3
position command values 9-9
position control loop 10-61
velocity control loop 10-58
monitoring the distance between home switch and reference mark 10-87
monitoring the motor holding brake 8-9
monitors
position limit values 10-35
motor encoder 10-12
characteristics 10-14
resolution 10-14
motor encoder resolution 10-14
motor holding brake 8-5
automatic check 8-9
brake check command 8-10
command release motor holding brake 8-9
connection 8-10
monitoring 8-9
type 8-6
motor holdong brake
brake control delay 8-8
motor overtemperature shutdown 4-25
motor reference - load reference 10-3
motor types
linear-rotary 8-2
multiplex channel in positioning block mode
multiplex channel overview 7-21
multiplex channel with positioning block mode
features 7-18
Multiplexkanal 7-21
multiplication 10-16
N
non-volatile parameter memories 4-2
notes on parameterizing positioning blocks 9-43
number and length of the PDO in the drive controller 6-21
number and length of the Polled I/O in the drive controller 6-32
number of valid measured values with oscilloscope feature 11-22
O
object mapping 6-2
one-time read access (service 0x00) 12-22
operating mode 4-12
electronic cam shaft with virtual master axis 9-59
jogging 9-48
phase synchronization with virtual master axis 9-53
position control 9-7
positioning block mode 9-23
torque control 9-2
velocity synchronization with virtual master axis 9-50
operating mode "drive-controlled positioning" 9-15
operating mode "drive-internal interpolation" 9-10
operating modes 1-3, 4-8
operating modes used 7-2
operating principle of jog mode 9-48
operation with analog command values
optic signal level
distortion indicator 5-9
oscilloscope feature 11-15
14-8 Index
ECODRIVE Cs
activating the feature 11-20
defined recording signals 11-16
expanded feature 11-17
expanded trigger signals 11-19
external trigger and internal trigger condition 11-21
fixed trigger signals 11-18
size of memory 11-19
time resolution 11-19
trigger delay 11-20
trigger edge 11-17
triggering 11-17
oscilloscope feature trigger source 11-17
other motor encoder characteristics 10-14
overload warning 4-26
overview of functions 6-17
DeviceNet 6-26
FWA-ECODR3-MGP-01VRS-MS 1-3
overview of functions PROFIBUS-DP 6-8
P
PA 11-30
parameter channel 6-11
parameter memory in controller 4-3
parameter memory in motor encoder 4-3
parameter memory in the drive controller 4-2
parameter structure 12-1
parameterization mode 4-12
parameterizing the motor encoder 10-13
parameters 4-1
parking axis 11-30
parking axis command 11-30
passive mode 12-2
permanently-configured collective messages 4-25
pertinent parameters for electronic cam shaft with virtual master axis 9-59
pertinent parameters for homing 10-76
pertinent parameters for jog mode 9-48
pertinent parameters for the analog inputs 11-5
pertinent parameters for the motor holding brake 8-5
pertinent parameters in the multiplex channel 7-21
pertinent parameters of command set absolute measuring 10-91
pertinent parameters of E-Stop function 10-47
pertinent parameters of phase synchronization with virtual master axis 9-53
pertinent parameters of velocity synchronization with virtual master axis 9-50
pertinent parameters with configurable signal control word 11-3
pertinent parameters with encoder emulation 11-34
pertinent parameters with system status word 11-1
phase synchronization 9-53
structure 9-53
pin assignment of analog inputs 11-6
PL 4-4
plastic fiber optic cables 5-10
polarity
actual value polarity 10-7
command value polarity 10-7
position command value interpolator
block diagram 9-8
position command value monitoring 9-9
position command value monitoring - setting 9-9
position control
block diagram 9-7
setting the position controller 10-60
position control loop monitoring 10-61
position controller 10-59
associated parameters 10-59
block diagram 10-59
critical position controller gain 10-61
setting the acceleration feedforward 10-63
Index 14-9
ECODRIVE Cs
position data
drive-internal format 10-15
position limit value exceeded 4-25
position limit values 9-27, 9-33, 10-35
position limit values - activation 10-36
position of zero pulse related to motor position 11-36
position switch
parameterizing 11-33
switch-on threshold 11-31, 11-32
position switch, programmable 11-30
position window 4-27
positioning block mode 9-23
acknowledge with control voltage interrupted 9-47
acknowledge with drive enable switched off 9-45
acknowledge with secondary operating modes, error reaction or command inputs 9-45
acknowledging positioning block selection 9-45
activating positioning blocks 9-26
diagnostic messages 9-47
effective acceleration and deceleration 9-25
infinite travel in positive/negative direction 9-33
operating principle 9-24
position-dependent block advance 9-34
positioning block modes 9-26
sequential block processing 9-34
positioning velocity > nlimit 4-26
power failure bit 11-38
power off on error 10-44
preferred scaling - parameter scaling 10-2
preparing the setting of the position control loop 10-60
preparing the setting of the velocity controller 10-53
prerequisites for starting the automatic control loop setting 10-65
presetting the target position block data 7-13, 7-18
probe
probing cycle procedure command 11-25
selecting the edges 11-26
selecting the signals 11-27
starting the function 11-25
probe function 11-23
process data channel 6-11
processing formats of the drive-internal position command value interpolator 1018
processing single list elements of multiplex channel 7-23
PROFIBUS interface 6-8
PROFIBUS-DP 6-8
profile 9-61
profile type velocity control 7-14
features 7-14
profile types 7-1
Abkürzungen 7-2
assignment to the drive-internal operating modes 7-2
drive profile 7-1
explanation of terms 7-1
general introduction 7-1
Intel/Motorola format 7-2
status machine 7-2
profiles 6-1
programmable position switch 11-30
proportional gain
determining the critical proportional gain 10-54
protocol selection 12-2
R
ramp 10-42
reaction to undervoltage 10-45
read access 4-28
14-10 Index
ECODRIVE Cs
read access to a parameter 12-8
read access to list parameters 12-11
read access with sequential telegrams (service 0x01) 12-27
read accessing list parameters 12-11
READY 11-8
real-time data channel 7-3
real-time status bit 5-6
recording signals with the oscilloscope feature 11-16
relative positioning block with residual path after activating drive enable 9-31
relative positioning block with residual path storage after interrupting with jog
mode 9-31
relative positioning block with residual path storage after switching drive
controller control voltage off and on 9-32
relative positioning with residual path storage 9-30
relative positioning without residual path storage 9-28
release motor holding brake 8-9
requirements for carrying out absolute positioning blocks 9-27
requirements for correct setting of the acceleration feedforward 10-63
resolution with absolute encoder emulation 11-39
restrictions of incremental encoder emulation 11-37
results of automatic control loop setting 10-72
return motion 10-42
Rexroth positioning setting
features 7-17
Rexroth positioning setting 7-17
Rexroth-specific profile types 7-8
ring structure 5-8
RS232 mode 12-1
running the "load basic parameter block" function automatically 4-4
S
S-0-0011, Class 1 diagnostics 4-25
S-0-0127, C100 Communication phase 3 transition check 4-13
S-0-0128, C200 Communication phase 4 transition check 4-14
S-0-0182, Manufacturer class 3 diagnostics 4-28
S1 4-4
scaling 10-1
linear-rotary 10-2
motor reference-load reference 10-3
of acceleration data 10-6
of the position data 10-4
of velocity data 10-5
preferred scaling-parameter scaling 10-2
SDO services 6-21
selecting the edges of the probe inputs 11-26
selecting the signals of the probe inputs 11-27
selection of trigger edges 11-17
sequential block chain
interruption 9-41
sequential block mode 9-23, 9-34
SERCOS compatibility class C 5-1
SERCOS interface
assignment real-time status bit 5-6
commissioning the SERCOS interface 5-6
connection of fiber optic cables 5-8
drive status word 5-4
master control word 5-2
serial communication
functional principle independent of protocol 12-2
overview 12-1
service 0x01 canceling a data transmission 12-22
service 0x80 reading a parameter 12-22
service 0x81 reading a list segment 12-24
service 0x8E writing a list segment 12-25
Index 14-11
ECODRIVE Cs
service 0x8F writing a parameter 12-23
servo brake 10-41
set absolute measuring 10-91
without drive enable 10-93
setting absolute measuring
actual position values 10-96
error messages 10-96
setting of slave address and transmission rate 6-9
setting of slave address and transmission rate (bus-specific) 6-27
setting the acceleration feedforward 10-64
setting the current controller 10-53
setting the drive address 12-2
setting the position control loop monitor 10-62
setting the position controller 10-60
setting the slave address 6-2
setting the trigger delay 11-20
setting the velocity controller 10-53
setting-up mode 7-17
seven-segment display
signal control word 11-3
SIS protocol 12-17, 12-22
smoothing time constant 10-54
determining the smoothing time constant 10-54
limiting the command value for the current controller 9-5
spindle brake 10-40
SSI format 11-37
standstill window 4-27
starting a command 12-25
starting command D900 10-68
starting the command 10-68
starting the command with automatic control loop setting 10-68
status class
mask class 2 diagnostics 4-28
mask class 3 diagnostics 4-28
status classes
class 1 4-25
class 2 4-26
class 3 4-27
Manufacturer class 3 diagnostics 4-28
status messages during operating mode " drive-internal interpolation" 9-13
status messages during the operating mode "drive-controlled positioning" 9-22
status messages of the oscilloscope feature 11-22
steps of automatic control loop setting 10-70
structure of diagnostic message 4-23
structure of P-0-4077, Field bus control word (Rexroth profiles 7-9
structure of P-0-4078, Field bus status word 7-10
structure of real-time channel in I/O mode 7-3
structure of the real-time data channel 7-13
structure of the telegram header 12-18
structure of the useful data field 12-20
structure of the useful data header 12-19
supported measuring systems 1-2
supported motor types 1-2
switch to torque-free state 10-40
switching the coordinate system 10-92, 10-93
switch-signal-dependent block advance 9-38
synchronization 9-52, 9-61
system overview 1-1
T
taking drive limits into account with sequential blocks 9-43
target position 4-27
telegram configuration
SERCOS telegram configuration 5-11
telegram contents 5-12
telegram send and receive times 5-11
telegram frame
14-12 Index
ECODRIVE Cs
structure 12-17
torque control
block diagram 9-2
diagnostic messages 9-3
diagnostic messsages 9-2
limiting the command value 9-2
monitoring the actual velocity 9-3
torque controller 9-2
block diagram 9-2
transmission power 5-10
transmission protocols 12-5
travel range exceeded 10-66
travel range invalid 10-66
travel range limit switch
connection 10-36
in positioning block mode 9-33
monitor 10-34
travel range limit switches
activation 10-35
polarity 10-35
travel range limits 10-32
monitoring in form of error 10-33
monitoring in form of warning 10-34
travel range limits with automatic control loop setting 10-66
trigger condition with oscilloscope feature 11-21
triggering a command 12-12
U
undervoltage error 4-25
Use See appropriate use and see inappropriate use
using data containers for multiplex channel 7-23
using the multiplex channel in positioning block mode 7-18
using the signal control word and status word 7-20
features 7-20
V
velocity command to zero with filter and ramp 10-42
velocity command value set to zero 10-39
velocity control
diagnostic messages 9-3, 9-6
limiting the command value 9-3
velocity control loop monitor
causes for triggering 10-59
criteria for triggering 10-59
velocity control loop monitoring 10-58
velocity controller 9-5
setting 10-53
velocity limit 10-31
bipolar velocity limit value 10-31
maximum motor velocity 10-31
monitoring actual velocity in torque control 10-31
of command value in velocity controller 10-31
velocity synchronization 9-50
velocity threshold 4-27
virtual master axis 9-50, 9-53, 9-59
W
WARNING 11-8
warning classes 4-8
warnings 4-8
warning classes 4-8
Index 14-13
ECODRIVE Cs
with travel range exceeded 10-34
write access 4-1, 4-2
write access to a parameter 12-7
write access to list parameters 12-9
write access with sequential telegrams (service 0x8F) 12-26
write accessing list parameters 12-9
Z
zero pulse 11-36
14-14 Index
ECODRIVE Cs
Notes
Service & Support 15-1
ECODRIVE Cs
15
Service & Support
15.1 Helpdesk
Unser Kundendienst-Helpdesk im Hauptwerk Lohr
am Main steht Ihnen mit Rat und Tat zur Seite.
Sie erreichen uns
-
telefonisch - by phone:
über Service Call Entry Center
- via Service Call Entry Center
Our service helpdesk at our headquarters in Lohr am
Main, Germany can assist you in all kinds of inquiries.
Contact us
49 (0) 9352 40 50 60
Mo-Fr 07:00-18:00
Mo-Fr 7:00 am - 6:00 pm
+49 (0) 9352 40 49 41
-
per Fax - by fax:
-
per e-Mail - by e-mail:
[email protected]
15.2 Service-Hotline
Außerhalb der Helpdesk-Zeiten ist der Service
direkt ansprechbar unter
oder - or
After helpdesk hours,
department directly at
contact
our
service
+49 (0) 171 333 88 26
+49 (0) 172 660 04 06
15.3 Internet
Unter www.boschrexroth.de finden Sie
ergänzende Hinweise zu Service, Reparatur und
Training sowie die aktuellen Adressen *) unserer
auf den folgenden Seiten aufgeführten Vertriebsund Servicebüros.
At www.boschrexroth.de you may find
additional notes about service, repairs and training
in the Internet, as well as the actual addresses *)
of our sales- and service facilities figuring on the
following pages.
Verkaufsniederlassungen
sales agencies
Niederlassungen mit Kundendienst
offices providing service
Außerhalb Deutschlands nehmen Sie bitte zuerst Kontakt mit
unserem für Sie nächstgelegenen Ansprechpartner auf.
*) Die Angaben in der vorliegenden Dokumentation können
seit Drucklegung überholt sein.
Please contact our sales / service office in your area first.
*) Data in the present documentation may have become
obsolete since printing.
15.4 Vor der Kontaktaufnahme... - Before contacting us...
Wir können Ihnen schnell und effizient helfen wenn
Sie folgende Informationen bereithalten:
For quick and efficient help, please have the
following information ready:
1. detaillierte Beschreibung der Störung und der
Umstände.
1. Detailed description
circumstances.
2. Angaben
auf
dem
Typenschild
der
betreffenden
Produkte,
insbesondere
Typenschlüssel und Seriennummern.
2. Information on the type plate of the affected
products, especially type codes and serial
numbers.
3. Tel.-/Faxnummern und e-Mail-Adresse, unter
denen Sie für Rückfragen zu erreichen sind.
3. Your phone/fax numbers and e-mail address,
so we can contact you in case of questions.
of
the
failure
and
15-2 Service & Support
ECODRIVE Cs
15.5 Kundenbetreuungsstellen - Sales & Service Facilities
Deutschland – Germany
vom Ausland:
from abroad:
(0) nach Landeskennziffer weglassen!
don’t dial (0) after country code!
Vertriebsgebiet Mitte
Germany Centre
SERVICE
SERVICE
SERVICE
Rexroth Indramat GmbH
Bgm.-Dr.-Nebel-Str. 2 / Postf. 1357
97816 Lohr am Main / 97803 Lohr
CALL ENTRY CENTER
MO – FR
von 07:00 - 18:00 Uhr
HOTLINE
MO – FR
von 17:00 - 07:00 Uhr
from 5 pm - 7 am
+ SA / SO
ERSATZTEILE / SPARES
verlängerte Ansprechzeit
- extended office time ♦ nur an Werktagen
- only on working days -
Kompetenz-Zentrum Europa
Tel.:
Fax:
from 7 am – 6 pm
+49 (0)9352 40-0
+49 (0)9352 40-4885
Tel. +49 (0) 9352 40 50 60
[email protected]
Tel.: +49 (0)172 660 04 06
oder / or
Tel.: +49 (0)171 333 88 26
♦ von 07:00 - 18:00 Uhr
- from 7 am - 6 pm Tel. +49 (0) 9352 40 42 22
Vertriebsgebiet Süd
Germany South
Vertriebsgebiet West
Germany West
Gebiet Südwest
Germany South-West
Gebiet Südwest
Germany South-West
Rexroth Indramat GmbH
Landshuter Allee 8-10
80637 München
Bosch Rexroth AG
Regionalzentrum West
Borsigstrasse 15
40880 Ratingen
Bosch Rexroth AG
Service-Regionalzentrum Süd-West
Siemensstr.1
70736 Fellbach
Bosch Rexroth AG
Regionalzentrum Südwest
Ringstrasse 70 / Postfach 1144
70736 Fellbach / 70701 Fellbach
Tel.: +49 (0)89 127 14-0
Fax: +49 (0)89 127 14-490
Tel.:
Fax:
Tel.: +49 (0)711 51046–0
Fax: +49 (0)711 51046–248
Tel.: +49 (0)711 57 61–100
Fax: +49 (0)711 57 61–125
Vertriebsgebiet Nord
Germany North
Vertriebsgebiet Mitte
Germany Centre
Vertriebsgebiet Ost
Germany East
Vertriebsgebiet Ost
Germany East
Bosch Rexroth AG
Walsroder Str. 93
30853 Langenhagen
Bosch Rexroth AG
Regionalzentrum Mitte
Waldecker Straße 13
64546 Mörfelden-Walldorf
Bosch Rexroth AG
Beckerstraße 31
09120 Chemnitz
Bosch Rexroth AG
Regionalzentrum Ost
Walter-Köhn-Str. 4d
04356 Leipzig
Tel.:
Fax:
Tel.:
Fax:
Tel.:
Service:
Fax:
Service:
+49 (0) 511 72 66 57-0
+49 (0) 511 72 66 57-256
+49 (0) 511 72 66 57-93
+49 (0) 511 72 66 57-95
+49 (0)2102 409-0
+49 (0)2102 409-406
Tel.: +49 (0) 61 05 702-3
Fax: +49 (0) 61 05 702-444
+49 (0)371 35 55-0
+49 (0)371 35 55-333
+49 (0)341 25 61-0
+49 (0)341 25 61-111
ECODRIVE Cs
Europa (West) - Europe (West)
vom Ausland: (0) nach Landeskennziffer weglassen,
from abroad: don’t dial (0) after country code,
Italien: 0 nach Landeskennziffer mitwählen
Italy: dial 0 after country code
Austria - Österreich
Austria – Österreich
Belgium - Belgien
Denmark - Dänemark
Bosch Rexroth GmbH
Bereich Indramat
Stachegasse 13
1120 Wien
Tel.:
+43 (0)1 985 25 40
Fax:
+43 (0)1 985 25 40-93
Bosch Rexroth GmbH
Gesch.ber. Rexroth Indramat
Industriepark 18
4061 Pasching
Tel.:
+43 (0)7221 605-0
Fax:
+43 (0)7221 605-21
Bosch Rexroth AG
Electric Drives & Controls
Industrielaan 8
1740 Ternat
Tel.:
+32 (0)2 5830719
- service: +32 (0)2 5830717
Fax:
+32 (0)2 5830731
[email protected]
BEC A/S
Zinkvej 6
8900 Randers
Great Britain – Großbritannien
Finland - Finnland
France - Frankreich
France - Frankreich
Bosch Rexroth Ltd.
Rexroth Indramat Division
Broadway Lane, South Cerney
Cirencester, Glos GL7 5UH
Bosch Rexroth Oy
Rexroth Indramat division
Ansatie 6
017 40 Vantaa
Tel.:
+44 (0)1285 863000
Fax:
+44 (0)1285 863030
[email protected]
[email protected]
Tel.:
Fax:
Bosch Rexroth SAS
Division Rexroth Indramat
Avenue de la Trentaine
(BP. 74)
77503 Chelles Cedex
Tel.:
+33 (0)164 72-70 00
Fax:
+33 (0)164 72-63 00
Hotline: +33 (0)608 33 43 28
Bosch Rexroth SAS
ZI de Thibaud, 20 bd. Thibaud
(BP. 1751)
31084 Toulouse
Tel.: +33 (0)5 61 43 61 87
Fax: +33 (0)5 61 43 94 12
France - Frankreich
Italy - Italien
Italy - Italien
Italy - Italien
Bosch Rexroth SAS
91, Bd. Irène Joliot-Curie
69634 Vénissieux – Cedex
Tel.: +33 (0)4 78 78 53 65
Fax: +33 (0)4 78 78 53 62
Bosch Rexroth S.p.A.
Via G. Di Vittoria, 1
20063 Cernusco S/N.MI
Via Paolo Veronesi, 250
10148 Torino
Via del Progresso, 16 (Zona Ind.)
35020 Padova
Tel.:
Tel.:
Fax:
Tel.:
Fax:
Fax:
+358 (0)9 84 91-11
+358 (0)9 84 91-13 60
+39 02 92 365 1
+39 02 92 365 326
+39 02 92 365 500
+39 02 92 365 516378
+39 011 224 88 11
+39 011 224 88 30
Tel.:
Fax:
+45 (0)87 11 90 60
+45 (0)87 11 90 61
+39 049 8 70 13 70
+39 049 8 70 13 77
Italy - Italien
Italy - Italien
Netherlands – Niederlande/Holland
Netherlands - Niederlande/Holland
Via Mascia, 1
80053 Castellamare di Stabia NA
Viale Oriani, 38/A
40137 Bologna
Tel.:
Fax:
Tel.:
Fax:
Bosch Rexroth B.V.
Kruisbroeksestraat 1
(P.O. Box 32)
5281 RV Boxtel
Tel.:
+31 (0)411 65 19 51
Fax:
+31 (0)411 65 14 83
www.boschrexroth.nl
Bosch Rexroth Services B.V.
Technical Services
Kruisbroeksestraat 1
(P.O. Box 32)
5281 RV Boxtel
Tel.:
+31 (0)411 65 19 51
Fax:
+31 (0)411 67 78 14
[email protected]
+39 081 8 71 57 00
+39 081 8 71 68 85
+39 051 34 14 14
+39 051 34 14 22
Norway - Norwegen
Spain - Spanien
Spain – Spanien
Sweden - Schweden
Bosch Rexroth AS
Berghagan 1
or: Box 3007
1405 Ski-Langhus
1402 Ski
Bosch Rexroth S.A.
Divisiòn Rexroth Indramat
Centro Industrial Santiga
Obradors s/n
08130 Santa Perpetua de Mogoda
Barcelona
Tel.:
+34 9 37 47 94 00
Fax:
+34 9 37 47 94 01
Goimendi S.A.
División Rexroth Indramat
Parque Empresarial Zuatzu
C/ Francisco Grandmontagne no.2
20018 San Sebastian
Rexroth Mecman Svenska AB
- Varuvägen 7
(Service: Konsumentvägen 4, Älfsjö)
125 81 Stockholm
Tel.:
+34 9 43 31 84 21
- service: +34 9 43 31 84 56
Fax:
+34 9 43 31 84 27
- service: +34 9 43 31 84 60
[email protected]
Tel.:
Fax:
Sweden - Schweden
Switzerland West - Schweiz West
Switzerland East - Schweiz Ost
Rexroth Mecman Svenska AB
Indramat Support
Ekvändan 7
254 67 Helsingborg
Tel.:
+46 (0) 42 38 88 -50
Fax:
+46 (0) 42 38 88 -74
Bosch Rexroth Suisse SA
Département Rexroth Indramat
Rue du village 1
1020 Renens
Tel.:
+41 (0)21 632 84 20
Fax:
+41 (0)21 632 84 21
Bosch Rexroth Schweiz AG
Geschäftsbereich Indramat
Hemrietstrasse 2
8863 Buttikon
Tel.
+41 (0) 55 46 46 111
Fax
+41 (0) 55 46 46 222
Tel.:
+47 (0)64 86 41 00
Fax:
+47 (0)64 86 90 62
[email protected]
+46 (0)8 727 92 00
+46 (0)8 647 32 77
ECODRIVE Cs
Europa (Ost) - Europe (East)
vom Ausland: (0) nach Landeskennziffer weglassen
from abroad: don’t dial (0) after country code
Czech Republic - Tschechien
Czech Republic - Tschechien
Hungary - Ungarn
Poland – Polen
Bosch -Rexroth, spol.s.r.o.
Hviezdoslavova 5
627 00 Brno
Tel.:
+420 (0)5 48 126 358
Fax:
+420 (0)5 48 126 112
DEL a.s.
Strojírenská 38
591 01 Zdar nad Sázavou
Tel.:
+420 566 64 3144
Fax:
+420 566 62 1657
Bosch Rexroth Kft.
Angol utca 34
1149 Budapest
Tel.:
+36 (1) 422 3200
Fax:
+36 (1) 422 3201
Bosch Rexroth Sp.zo.o.
ul. Staszica 1
05-800 Pruszków
Tel.:
+48 22 738 18 00
– service: +48 22 738 18 46
Fax:
+48 22 758 87 35
– service: +48 22 738 18 42
Poland – Polen
Romania - Rumänien
Romania - Rumänien
Russia - Russland
Biuro Poznan
ul. Dabrowskiego 81/85
60-529 Poznan
Tel.:
+48 061 847 64 62 /-63
Fax:
+48 061 847 64 02
East Electric S.R.L.
B-dul Basarabie, nr.250, sector 3
73429 Bucuresti
Tel./Fax:: +40 (0)21 255 35 07
+40 (0)21 255 77 13
Fax:
+40 (0)21 725 61 21
[email protected]
Str. Drobety nr. 4-10, app. 14
70258 Bucuresti, Sector 2
Tel.:
+40 (0)1 210 48 25
+40 (0)1 210 29 50
Fax:
+40 (0)1 210 29 52
Bosch Rexroth OOO
Wjatskaja ul. 27/15
127015 Moskau
Tel.:
+7-095-785 74 78
+7-095 785 74 79
Fax:
+7 095 785 74 77
[email protected]
Russia - Russland
Turkey - Türkei
Slowenia - Slowenien
ELMIS
10, Internationalnaya
246640 Gomel, Belarus
Tel.:
+375/ 232 53 42 70
+375/ 232 53 21 69
Fax:
+375/ 232 53 37 69
[email protected]
Bosch Rexroth Otomasyon
San & Tic. A..S.
Fevzi Cakmak Cad No. 3
34630 Sefaköy Istanbul
Tel.:
+90 212 541 60 70
Fax:
+90 212 599 34 07
DOMEL
Otoki 21
64 228 Zelezniki
Tel.:
+386 5 5117 152
Fax:
+386 5 5117 225
[email protected]
ECODRIVE Cs
Africa, Asia, Australia – incl. Pacific Rim
Australia - Australien
Australia - Australien
China
China
AIMS - Australian Industrial
Machinery Services Pty. Ltd.
28 Westside Drive
Laverton North Vic 3026
Melbourne
Bosch Rexroth Pty. Ltd.
No. 7, Endeavour Way
Braeside Victoria, 31 95
Melbourne
Shanghai Bosch Rexroth
Hydraulics & Automation Ltd.
Waigaoqiao, Free Trade Zone
No.122, Fu Te Dong Yi Road
Shanghai 200131 - P.R.China
Shanghai Bosch Rexroth
Hydraulics & Automation Ltd.
4/f, Marine Tower
No.1, Pudong Avenue
Shanghai 200120 - P.R.China
Tel.:
+61 3 93 243 321
Fax:
+61 3 93 243 329
Hotline:
+61 4 19 369 195
[email protected]
Tel.:
+61 3 95 80 39 33
Fax:
+61 3 95 80 17 33
[email protected]
Tel.:
Fax:
Tel:
Fax:
China
China
China
China
Bosch Rexroth China Ltd.
15/F China World Trade Center
1, Jianguomenwai Avenue
Beijing 100004, P.R.China
Bosch Rexroth China Ltd.
Guangzhou Repres. Office
Room 1014-1016, Metro Plaza,
Tian He District, 183 Tian He Bei Rd
Guangzhou 510075, P.R.China
Bosch Rexroth (China) Ltd.
A-5F., 123 Lian Shan Street
Sha He Kou District
Dalian 116 023, P.R.China
Melchers GmbH
BRC-SE, Tightening & Press-fit
13 Floor Est Ocean Centre
No.588 Yanan Rd. East
65 Yanan Rd. West
Shanghai 200001
Tel.:
Tel.:
Fax:
Tel.:
Fax:
Tel.: +86 10 65 05 03 80
Fax: +86 10 65 05 03 79
Fax:
+86 20 8755-0030
+86 20 8755-0011
+86 20 8755-2387
+86 21 58 66 30 30
+86 21 58 66 55 23
+86 21 68 86 15 88
+86 21 58 40 65 77
[email protected]
[email protected]
+86 411 46 78 930
+86 411 46 78 932
+86 21 6352 8848
+86 21 6351 3138
Hongkong
India - Indien
India - Indien
India - Indien
Bosch Rexroth (China) Ltd.
th
6 Floor,
Yeung Yiu Chung No.6 Ind Bldg.
19 Cheung Shun Street
Cheung Sha Wan,
Kowloon, Hongkong
Bosch Rexroth (India) Ltd.
Plot. A-58, TTC Industrial Area
Thane Turbhe Midc Road
Mahape Village
Navi Mumbai - 400 701
Plot. 96, Phase III
Peenya Industrial Area
Bangalore - 560058
1st Floor, S-10
Green Park ext. Market
New Delhi – 110016
Tel.:
Fax:
Tel.: +91 22 7 61 46 22
Fax: +91 22 7 68 15 31
Tel.:
Fax:
Tel.:
Fax:
+852 22 62 51 00
+852 27 41 33 44
[email protected]
+91 80 41 70 211
+91 80 83 94 345
+91 1 16 56 68 88
+91 1 16 56 68 87
[email protected]
Indonesia - Indonesien
Japan
Japan
Korea
PT. Rexroth Wijayakusuma
Building # 202, Cilandak
Commercial Estate
Jl. Cilandak KKO, Jakarta 12560
Bosch Rexroth Automation Corp.
Service Center Japan
Yutakagaoka 1810, Meito-ku,
NAGOYA 465-0035, Japan
Bosch Rexroth Automation Corp.
1F, I.R. Building
Nakamachidai 4-26-44, Tsuzuki-ku
YOKOHAMA 224-0041, Japan
Bosch Rexroth-Korea Ltd.
Electric Drives and Controls
Bongwoo Bldg. 7FL, 31-7, 1Ga
Jangchoong-dong, Jung-gu
Seoul, 100-391
Tel.: +62 21 7891169 (5 lines)
Fax: +62 21 7891170 - 71
Tel.: +81 52 777 88 41
+81 52 777 88 53
+81 52 777 88 79
Fax: +81 52 777 89 01
Tel.: +81 45 942 72 10
Fax: +81 45 942 03 41
Tel.:
Fax:
Korea
Malaysia
Singapore - Singapur
South Africa - Südafrika
Bosch Rexroth-Korea Ltd.
1515-14 Dadae-Dong, Saha-Ku
Pusan Metropolitan City, 604-050
Bosch Rexroth Sdn.Bhd.
11, Jalan U8/82, Seksyen U8
40150 Shah Alam
Selangor, Malaysia
Bosch Rexroth Pte Ltd
15D Tuas Road
Singapore 638520
TECTRA Automation (Pty) Ltd.
71 Watt Street, Meadowdale
Edenvale 1609
Tel.:
+82 51 26 00 741
Fax:
+82 51 26 00 747
[email protected]
Tel.:
+60 3 78 44 80 00
Fax:
+60 3 78 45 48 00
[email protected]
[email protected]
Tel.:
+65 68 61 87 33
Fax:
+65 68 61 18 25
sanjay.nemade
@boschrexroth.com.sg
Tel.: +27 11 971 94 00
Fax: +27 11 971 94 40
Hotline:
+27 82 903 29 23
[email protected]
Taiwan
Thailand
Rexroth Uchida Co., Ltd.
No.17, Alley 24, Lane 737
Cheng Bei 1 Rd., Yungkang
Tainan Hsien
NC Advance Technology Co. Ltd.
59/76 Moo 9
Ramintra road 34
Tharang, Bangkhen,
Bangkok 10230
Tel.:
+886 6 25 36 565
Fax:
+886 6 25 34 754
[email protected]
Tel.: +66 2 943 70 62
+66 2 943 71 21
Fax: +66 2 509 23 62
[email protected]
+82 234 061 813
+82 222 641 295
ECODRIVE Cs
Nordamerika – North America
USA
Headquarters - Hauptniederlassung
USA Central Region - Mitte
USA Southeast Region - Südwest
Bosch Rexroth Corporation
Central Region Technical Center
1701 Harmon Road
Auburn Hills, MI 48326
Southeastern Technical Center
3625 Swiftwater Park Drive
Suwanee, Georgia 30124
Tel.:
+1 847 6 45 36 00
Fax:
+1 847 6 45 62 01
[email protected]
[email protected]
Tel.:
Fax:
Tel.:
Fax:
USA East Region – Ost
USA Northeast Region – Nordost
USA West Region – West
Charlotte Regional Sales Office
14001 South Lakes Drive
Charlotte, North Carolina 28273
Northeastern Technical Center
99 Rainbow Road
East Granby, Connecticut 06026
7901 Stoneridge Drive, Suite 220
Pleasant Hill, California 94588
Tel.:
Tel.:
Fax:
Tel.:
Fax:
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Mexico
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3426 Mainway Drive
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Canada L7M 1A8
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Calle Argentina No 3913
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64930 Monterrey, N.L.
Tel.:
+1 905 335 55 11
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+52 5 754 17 11
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+52 8 333 88 34...36
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Südamerika – South America
Argentina - Argentinien
Argentina - Argentinien
Brazil - Brasilien
Brazil - Brasilien
Bosch Rexroth S.A.I.C.
"The Drive & Control Company"
Acassusso 48 41/47
1605 Munro
Provincia de Buenos Aires
NAKASE
Servicio Tecnico CNC
Calle 49, No. 5764/66
B1653AOX Villa Balester
Provincia de Buenos Aires
Bosch Rexroth Ltda.
Av. Tégula, 888
Ponte Alta, Atibaia SP
CEP 12942-440
Bosch Rexroth Ltda.
R. Dr.Humberto Pinheiro Vieira, 100
Distrito Industrial [Caixa Postal 1273]
89220-390 Joinville - SC
Tel.:
+54 11 4756 01 40
Fax:
+54 11 4756 01 36
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Tel.:
+54 11 4768 36 43
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+54 11 4768 24 13
[email protected]
[email protected]
[email protected] (Service)
Tel.:
Tel./Fax: +55 47 473 58 33
Mobil:
+55 47 9974 6645
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+55 11 4414 56 92
+55 11 4414 56 84
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Columbia - Kolumbien
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Calle 37 No. 22-31
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Colombia
Tel.:
+57 1 368 82 67
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[email protected]
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Bosch Rexroth AG
Electric Drives and Controls
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr a. Main, Germany
[email protected]
www.boschrexroth.de
296549
Printed in Germany

Rexroth Ecodrive Cs Drive Controllers Functional Description: MGP

Transcription

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