ServoOne User Manual. SERCOS II and SERCOS III. ServoOne single-axis system ServoOne multi-axis system ServoOne junior

Transcription

1 ServoOne User Manual SERCOS II and SERCOS III ServoOne single-axis system ServoOne multi-axis system ServoOne junior

2 1 ServoOne User Manual SERCOS II and III 2 In this documentation the functionality of the following devices is described: ServoOne single-axis system ServoOne multi-axis system ServoOne junior User Manual SERCOS II + III ID no.: B.2-01 Date: 07/2017 Subject to technical change without notice. The German version is the original of this user manual. Subject to technical change without notice. The content of our user manual was compiled with the greatest care and attention based on the latest information available to us. We should point out that this document will not always be updated simultaneously with the on-going technical development of our devices. Information and specifications may change. For information on the latest version please visit

3 Table of contents 1 General information Target group Prerequisites for the usage of the device Reference documents LTI reference documents SERCOS documentation Pictograms for useful information Disclaimer Transport, storage Disposal Helpline/support & GSS Normative references Safety Measures for safety General safety instructions and warnings Safety instructions related to this documentation Important information Introduction to SERCOS interface Application and usage Key features SERCOS II SERCOS II and SERCOS III SERCOS III Installation and connection SERCOS II Hardware SERCOS II SERCOS III Hardware SERCOS III Installation and wiring Pin assignment of the RJ-45 socket Meaning of the LEDs Indication of the operating states via 7-segment display Hardware enable Commissioning and configuration SERCOS II - hardware settings Configuring basic settings Setting the transmit power for the SERCOS interface Setting the drive address via parameters Transfer rate for the SERCOS interface Diagnostic LEDs Usage of the distortion indicator SERCOS III Configuring basic settings Setting the bus address on the slave Parameter configuration Profile parameter (S-0-xxxx) Manufacturer-specific parameters (P xxxx) Structure of the SERCOS III parameters Standard parameters (S-0-xxxx.x.x) Manufacturer-specific parameters P xxxx ServoOne User Manual SERCOS II and III 3 2

4 2 ServoOne User Manual SERCOS II and III Operation modes Torque control Speed control Position control with drive-controlled position profile generation Position control without tracking error External generation of the feed forward control signals Real-time bits Configuration of real-time bits, SERCOS II Configuration of real-time bits, SERCOS III Signal control word and signal status word Signal control word (S ) Signal status word (S ) Maximum speed (S ) Data transfer Communication phases SERCOS II - cyclic data transmission SERCOS III - cyclic data transmission Mapping the configurable real-time data Drive control word S Description of the bits Drive status word S Drive state machine Non-configurable real-time data Data transfer via the service channel (SVC) IP channel Parameter configuration SERCOS III IP address Scaling and weighting Weighting of position data Weighting, translatory position data Weighting, rotary position data Modulo weighting Position polarity Weighting of speed data Weighting, translatory speed data Weighting, rotary speed data Speed polarity Weighting of acceleration data Weighting, translatory acceleration data Weighting, rotary acceleration data Weighting of torque data and force data Percentage weighting of torque data and force data Weighting of force data Weighting of torque data Torque polarity Scaling with the aid of the scaling wizard Scaling the position data Scaling the speed data Scaling the torque data Scaling the acceleration data Functionality Homing "Drive-controlled homing" command SERCOS encoder 1 / encoder 2 setting... 55

5 9.1.3 Homing speed Homing acceleration Homing method Reference distance 1 and Reference distance offset 1 and Homing cam, limit switches Function selector, digital inputs and outputs Touch probe function Parking axis Error messages and diagnostics Standard parameters for error diagnostics Error messages in state class 1 (C1D) Warning messages in the state class 2 (C2D) Status messages (only SERCOS II) Interface diagnostics Telegram failure and error counter Diagnostics with the aid of the internal oscilloscope Standard parameters Additional diagnostic parameters Internal error list Appendix Appendix A: Parameter list SERCOS III standard parameters Manufacturer-specific parameters Index Glossary...83 ServoOne User Manual SERCOS II and III 5 2

6 2 ServoOne User Manual SERCOS II and III 6

7 1 General information 1.1 Target group Dear user, The user manual forms part of the product and contains important information on operation and service. The user manual is aimed at all persons who undertake mounting, installation, commissioning and servicing work on the product. 1.2 Prerequisites for the usage of the device Prerequisites for the usage of the SERCOS automation bus y The documents related to the devices are legible and accessible. y Read and understand the operation manual for your drive system first. y You are familiar with the SERCOS automation bus through training courses. Following the documentation on the devices from LTI Motion GmbH is a prerequisite for trouble-free operation and therefore for any claims for defects. NOTE: This user manual applies to the ServoOne single-axis and multi-axis system (referred to in the following as SO8) and the drive controller ServoOne junior (SOj). This document does not replace the operation manuals for the ServoOne and ServoOne junior. 1.3 Reference documents LTI reference documents Document ServoOne junior - Operation Manual ServoOne Single-Axis System - Operation Manual ServoOne Multi-Axis System DC Axis Controller Operation Manual ServoOne Multi-Axis System Supply Unit - Operation Manual ServoOne CANopen/ EtherCAT User Manual ServoOne - System Catalogue ServoOne device help Contents Safety, mechanical installation, electrical installation, commissioning, diagnostics, specifications, certification and applicable standards, technical data Safety, mechanical installation, electrical installation, commissioning, diagnostics, specifications, certification and applicable standards, technical data Safety, mechanical installation, electrical installation, commissioning, diagnostics, STO, operation with servocontroller as supply, planning, application example, specifications, certification and applicable standards, technical data Safety, mechanical installation, electrical installation, commissioning, diagnostics, specifications, certification and applicable standards, technical data Safety, commissioning, data transmission, operation modes, homing, parameters, technical data Information, notes on ordering, specifications and technical data on: ServoOne junior, single and multi-axis system, supply units, safety systems, communication, technology, function packages, accessories and motors Description of the software functionality of the ServoOne product ranges Firmware versions: - SO junior from V1.30-xx - SO single-axis system from V3.25-xx - SO multi-axis system from V3.25-xx ID no. Format B.x PDF B.x PDF B.x PDF B.x PDF B.x B.x PDF B.x PDF and HTML DriveManager 5 PC user B.x DriveManager version 5.x. Graphic PC user software for initial commissioning software - contextand serial commissioning, operation, diagnostics and project management. online programming help sensitive help Application descriptions are also available. These are available in the download area on the LTI Motion GmbH web site.. Table 1.1 Documents on the ServoOne system ServoOne User Manual SERCOS II and III 7 1 General information

8 1 General information ServoOne User Manual SERCOS II and III SERCOS documentation The following table contains a selection of SERCOS documentation. Title Version Publisher General Overview and architecture (V ) (SERCOS International) Generic Device profile (V ) (SERCOS International) SERCOS Communication (V ) (SERCOS International) Function specific profile drives (V ) (SERCOS International) SERCOS Parameter (V ) (SERCOS International) Table 1.2 Selection of documents, SERCOS documentation 1.4 Pictograms for useful information The pictograms used in this document for useful information and actions to be taken signify for the user the following: Instructions and actions to be taken Digit Table 1.3 NOTE: Useful information or reference to other documents. ACTION TO BE TAKEN: Action undertaken by the user or the system. Pictograms used for instructions and actions to be taken 1.5 Disclaimer Following the documents on the devices from LTI Motion GmbH is a prerequisite: y For safe operation. y To achieve stated performance features and product characteristics. LTI Motion GmbH does not accept any liability for injuries, damage or financial losses that result from the failure to follow the documents. 1.6 Transport, storage Follow the instructions on the transport, storage and correct usage of the devices stated in the operation manual in "Technical data". 1.7 Disposal Follow the applicable national regulations! If necessary, dispose of individual parts, depending on their characteristics and existing national regulations, e.g. as y Electrical waste y Plastic y Metal or engage a certified disposal organisation with scrapping.

9 1.8 Helpline/support & GSS Our Helpline will provide you with fast, specific assistance if you have any technical queries relating to project planning or commissioning your device. Address: LTI Motion GmbH Gewerbestrasse Lahnau The Helpline is available by or telephone: Service hours: Mo.-Fr.: 8 a.m. - 5 p.m. (CET) helpline@lti-motion.com Telephone: If you need service assistance, our specialists in Global Sales Support (GSS) will be pleased to be of assistance. Internet: Service Helpline & Trouble Ticket Service hours: Mo.-Fr.: 8 a.m. - 5 p.m. (CET) salessupport@lti-motion.com Telephone: NOTE: You will find information on our services on our web site in "Support & Service". 1.9 Normative references Sercos is defined in IEC 61784, IEC and IEC ServoOne User Manual SERCOS II and III 9 1 General information

10 1 ServoOne User Manual SERCOS II and III 10

11 2 Safety 2.1 Overview Our devices are state-of-the-art and comply with recognised safety regulations, nevertheless hazards can arise. In this chapter: y We provide information on residual risks and hazards that can emanate from our devices on usage as intended. y We warn about the foreseeable misuse of our devices. y We refer to the necessary care and measures to be taken to prevent risks. 2.2 Measures for safety NOTE: Only install and place in operation your device taking into account the documents for the related device family! Our devices are designed for quick, safe commissioning. For your own safety and for the safe function of your device, please be sure to observe the following points: 1. Follow safety instructions for the devices! Follow safety instructions and warnings in the information products related to the devices! 2. Electrical drives are dangerous due to: y Electrical voltages > 230 V/460 V. Dangerous voltages may be present 10 min. after the power is switched off. So check that electrical power is not present! y Rotating parts. y Automatically starting drives. y Hot components and surfaces. y Electrostatic discharge. 3. Protection against magnetic and electromagnetic fields during installation and operation Persons fitted with heart pacemakers, metallic implants and hearing aids must not be allowed access to the following areas: y Areas in the immediate vicinity of electrical equipment! y Areas in which electronics components and drive controllers are installed, repaired and operated! y Areas where motors are installed, repaired and operated! Particular hazards emanate from motors with permanent magnets. 4. Your qualifications To prevent injury or damage, personnel may only work on the device if they have electrical engineering qualifications and knowledge of: y National health and safety regulations (BGV A3 4 in Germany). y Erection, installation, commissioning and operation of the device. All work in other areas, such as transport, storage and disposal is only allowed to be undertaken by trained personnel. The warranty will be rendered void on failure to follow these instructions! 5. During installation observe the following: y Comply with connection conditions and technical data as per the information product and the rating plate! y Comply with standards and directives on electrical installation, such as cable cross-section, shielding, etc.! y Do not touch electronic components and contacts! Electrostatic discharge can harm people and destroy components! y Take protection measures and use protective devices as per the applicable regulations (e.g. EN or EN )! y Take "device earthing" protection measure! ServoOne User Manual SERCOS II and III 11 2 Safety

12 2 Safety ServoOne User Manual SERCOS II and III General safety instructions and warnings Hazards may emanate from our devices. For this reason pay attention to: y The safety instructions and warnings in this document! y Safety instructions and warnings in other documents, in particular the operation manuals related to the device product ranges! Generally applicable safety instructions and warnings for the users of devices from LTI Motion GmbH: DANGER! Risk of injury due to electrical power! x Carelessness will result in serious injuries or death. Follow safety instructions and warnings in this document and on the device. Pay attention to special safety instructions and warnings that are given here in the document before a specific action and that warn the user about a specific hazard! Safety instructions related to this documentation The SERCOS automation bus is a communication system that is to be adapted at the boundaries of the drive systems ServoOne single-axis and multi-axis system and ServoOne junior to the situation in the installation. CAUTION! The user may not be aware of changes to the parameters in the field bus system! x This situation can result in uncontrolled behaviour of the drive system! Prior to system start, check parameters! WARNING! Risk of injury due to electrical power! x Carelessness may result in serious injuries or death. Follow safety instructions and warnings in this document and on the device. 2.4 Important information CAUTION! WARNING! Risk of injury or damage to the device due to incorrect operation! x Carelessness may result in minor injuries or damage. Follow safety instructions and warnings in this document and on the device. Risk of injury due to hot surfaces and components! x Carelessness may result in serious burns. Electronic components may become hot during operation! Follow safety instructions and warnings in this document and on the device! In the operation manuals for the drive product ranges you will find detailed information on the following areas: y Intended use. y Important instructions on the installation of your device. y Responsibilities of installers and organisations operating complete machines or installations. y Relevant laws, standards and directives applied. WARNING! Risk of injury or damage due to electrostatic discharge! x Electrostatic discharge can destroy components and, in the worst case, cause injury or death. Do not touch electronic components and contacts! Follow safety instructions and warnings in this document and on the device!

13 3 Introduction to SERCOS interface 3.1 Application and usage SERCOS interface stands for SERial Realtime COmmunication System interface and is a worldwide standardised (IEC and EN 61491) digital interface for the communication between controllers, drives and other decentral peripherals. Due to the real-time-critical transmission of reference values and actual values, numerically controlled high-performance drive applications in mechanical engineering can be realised. Services for operation mode acquisition, setting parameters, configuration and diagnostics are also available. The real-time capability permits highly dynamic applications in drive technology with NC cycle times from 125 µs to 65 ms (multiples of 125 µs). The data to be transferred are defined in the SERCOS driver in numerous preferred telegrams and parameters. They are specially tailored to the high requirements of electrical drive systems. A freely configurable telegram permits the optimal exploitation of system features by means of additional reference values and actual value parameters, e.g. increasing the position resolution to be transferred, usage of the inputs and outputs available in the drive in the NC cycle, and much more. 3.2 Key features SERCOS II y Data transfer via plastic optical fibre cable (POF) or hard clad silica cable (HCS) using F-SMA connectors y Transfer rate: either 2, 4, 8 or 16 MBaud y Automatic baud rate detection y Adjustable transmit power via DIP switches (only hardware variant 1), otherwise via parameters. Setting via buttons and display in preparation y SERCOS address can be set via parameters SERCOS II and SERCOS III y Cyclic exchange of reference values and actual values with exactly equal timing y SERCOS cycle time from 125 µs to 65 ms (can be set to multiples of 125 µs) y Multiple axis synchronisation between the time the reference value becomes effective and the time the actual values are measured on all drives in a ring y Complete synchronisation of all drives connected to the controller y Telegram contents can be configured as required y Maximum number of items of data that can be configured in the MDT: 20 bytes y Maximum number of items of data that can be configured in the AT: 20 bytes y Adjustable parameter weighting and polarity for position, speed, acceleration and torque y Additive speed and torque reference values y Fine, drive-internal interpolation (linear or cubic) y Either controller-side (external) or drive-internal generation of the speed and acceleration feed forward y Service channel for setting parameters and diagnostics y Support for touch probe 1 and 2 y Support for spindle commands y Support for configurable real-time status bits and real-time control bits y Support for configurable signal status word and signal control word SERCOS III y Third generation of the Sercos interface series y Data transfer via Ethernet IEEE y SERCOS address can be set via parameters y NRT/IP channel available ServoOne User Manual SERCOS II and III 13 3 Introduction to SERCOS interface

14 3 Introduction to SERCOS interface ServoOne User Manual SERCOS II and III 14

15 4 Installation and connection 4.1 SERCOS II 4.2 SERCOS III Hardware SERCOS III Hardware SERCOS II x 15 h 1 ACHTUNG Kondensatorenentladezeit > 3 min. Betriebsanleitung beachten! WARNING Capacitor discharge time > 3 min. Pay attention to the operation manual! x 16 Figure 4.1 LTI communication module SERCOS for ServoOne The LTI communication module Sercos for the ServoOne is designed as a SERCOS II interface with plastic optical fibre cable (POF) or hard clad silica cable (HCS) with F-SMA connectors. Currently there exist two hardware versions; in future only the version described in 2.2 will be manufactured. Hardware and software have, as far as possible, been developed taking into account DIN/EN The basis for the SERCOS II implementation in the ServoOne is the document Specification SERCOS Interface (rev. 2.4 dated Feb. 2005). Power is supplied to the communication module via the ServoOne Baud rates of 2, 4, 8 and 16Mbit/s are possible; the baud rate is detected automatically by the module. It is therefore not necessary to set the baud rate. Figure 4.2 LTi communication module SERCOS III for ServoOne Power is supplied to the communication module via the ServoOne.The communication module SERCOS III for the ServoOne is designed as an interface with two RJ45 sockets and as such permits a ring or line structure. Hardware and software have, as far as possible, been developed taking into account DIN/EN The basis for the SERCOS III implementation in the ServoOne is the specification V1.1.1 from SERCOS International. ServoOne User Manual SERCOS II and III 15 4 Installation and connection

16 4 Installation and connection ServoOne User Manual SERCOS II and III Installation and wiring For SERCOS III, connection between the master and slave is made with the aid of standard Ethernet cables with RJ45 connectors. The SERCOS III option card has two RJ45 sockets (X36, X37), as such a ring or line structure is possible. Ethernet patch cables or crossover cables as per the CAT5e specification are suitable as connection cables. ServoOne P1 P2 Figure 4.3 P1 ServoOne P1 P2 Sercos III line structure Master P2 ServoOne P1 P2 Linie Master P1 P2 Ring The individual ports can be connected between the bus users as required, i.e. the port for the input and the port for the output are not defined Pin assignment of the RJ-45 socket The pin assignment of the RJ-45 socket is realised as follows: PIN Colour Cable core pair Function Table 4.1 Pair # 1 white/orange 2 TxData + 2 Orange 2 TxData - 3 white/green 3 RecvData + 4 blue 1 Unused 5 white/blue 1 Unused 6 green 3 RecvData - 7 white/brown 4 Unused 8 brown 4 Unused Pin assignment ServoOne P1 P2 ServoOne P1 P2 ServoOne P2 P Figure 4.4 SERCOS III ring structure If possible, the ring structure should always be chosen, because here the master sends the telegrams in both directions and as such redundant communication is possible. I.e. if there is an interruption in the ring between two slaves or between a master and a slave; this situation is detected and, within one bus cycle, the bus switched to a line structure with two lines; the communication is therefore not interrupted. This redundancy is not possible with a line structure. Figure 4.5 RJ-45 socket

17 4.2.4 Meaning of the LEDs RJ-45 socket LEDs There are two LEDs on each RJ-45 socket. These have the following significance. LED Meaning 1 (green) Link LED: x Off: No link No connection to another bus user x On: Link active There is a connection to another bus user 2 (orange) Activity LED: x Off: No activity No data transfer x Flashing: Activity Data transfer active Table 4.2 LED H1 Significance of the LEDs on the RJ-45 socket Colour 1 Colour 2 State Description Comment Green Green On CP4 no error Green Red Off Green Flashing with 4 Hz Flashing with 4 Hz Red Red On Loopback Communication error S III C1D (Class 1 diagnostic). Orange Orange On CP0..CP3 Orange Off Flashing with 4 Hz Off Off Off CPx: Communication phase Table 4.3 Significance of LED H1 Identification No SERCOS III communication Change from fast forward to loopback Dependent on S (flashes red to green) See Error messages in state class 1 (C1D) on page 61 (Bit 15 in the device controller) is used for address assignment, configuration errors or other identification purposes. 4.3 Indication of the operating states via 7-segment display D1 D2 Meaning Parameter System states Device in reset state 0. Self-initialisation on device startup (Start) S.*) 1. 1) Not ready to switch on (no DC link voltage) (NotReadyToSwitchOn) S.*) 2. 1) Switch on disabled (DC link in order, power stage not ready) (SwitchOnDisabled) 3. Ready to switch on (power stage ready) (ReadyToSwitchOn) 4. Switched on (device is electrically live) 2) (SwitchedOn) 5. Drive ready (power applied to drive and drive ready for reference value input) 2) (OperationEnable) 6. Quick stop 2) (QuickStopActive) 7. Fault reaction active 2) (FaultReactionActive) E R Fault (see below) (Fault) If there is a fault, the following is displayed alternately E R. Indication for fault or fault that cannot be acknowledged X Y Fault number (decimal) X Y Fault location (decimal) 1) S. flashes if the function STO (Safe Torque Off) is active, indication extinguishes if function is inactive. *) This is not a "safe indication" in the context of EN ) The dot flashes when the power stage is active. Table 4.4 Operating states via 7-segment display ServoOne User Manual SERCOS II and III 17 4 Installation and connection

18 4 Installation and connection ServoOne User Manual SERCOS II and III 18 Example for the sequence of flashing: ER > 02 > 05 * ER > 02 > Fault: ER = "Malfunction" Fault name: 02 = "Error in the parameter list" Fault description: 05 = "Function for checking the actual parameter list" Table 4.5 Example for the sequence of flashing 4.4 Hardware enable The ServoOne has a control input for the hardware enable on the control terminal ENPO. This input must be connected to 24 V to operate the power stage. The device also has the "STO (Safe Torque Off)" function (see Operation Manual or Application Manual ServoOne), category 3, control terminal ISDSH. On these devices the logic for this function must be implemented by the higher level controller as per the application manual. Note: If the ENPO and ISDSH inputs are not connected, the device remains in state 1 = "Not Ready to Switch On" or 2 = "Switch On Disabled". Only after correct connection can the state be left using a "Shutdown command" via the bus.

19 5 Commissioning and configuration 5.1 SERCOS II - hardware settings Configuring basic settings Setting the motion profile parameters The basic drive settings must be configured as per the reference documents. Then the following settings must be made with the aid of DriveManager so that it is possible to change to operation via SERCOS. So that the drive can be controlled and moved via SERCOS II, the two parameters control location selector P-0159 MPRO_CTRL_SEL and reference value selector P-0165 MPRO_REF_SEL must be set as per the figure below. Prerequisites: y The drive is wired as per the operation manual and initial commissioning has been undertaken. NOTE: You will find more detailed information on the optimisation of the control function and control circuits in the application manual for the device Setting the transmit power for the SERCOS interface The transmit power of the fibre optic cable transmitter can be set using the parameter P 3004 Maximum transmission power. An entry of 0 corresponds to the lowest power and the value 3 to the highest power. The following figures are indicative: 0: < 15 m 1: m 2: m 3: > 45 or HCS 0: <15 m 1: m 2: m 3: >45 or HCS Setting the drive address via parameters The drive address is set in the parameter P 3000 drive address. A drive address set or changed in this parameter is only activated on the next change in the communication phase from "0" to "1". The drive address is independent of the position of the drive in the SERCOS ring. Setting the drive address via buttons and display is in preparation Transfer rate for the SERCOS interface The transfer rate specified by the master is detected automatically by the drive, set correspondingly and indicated in parameter S , baud rate SERCOS interface. NOTE: Baud rates of 2, 4, 8 and 16 MBaud are supported. The automatic baud rate detection in the drive is implemented as per the SERCOS application note AN15 dated 2002/08/22. Figure 5.1 Basic settings, P-0159 and P-0165 with SERCOS II ServoOne User Manual SERCOS II and III 19 5 Commissioning and configuration

20 5 Commissioning and configuration ServoOne User Manual SERCOS II and III Diagnostic LEDs Hardware variant 1 H4 H6 H5 H7 Hardware variant 2 H4 H5 LED Colour Meaning H4 Red Distortion LED, interference on the BUS H5 Green Status of the SERCOS communication phase (flashing code) H6 Green Receiver LED, receiving telegrams H7 Green Transmitter LED, sending telegrams LED Colour Meaning H4 Red Distortion LED, interference on the BUS H5 Green Status of the SERCOS communication phase (flashing code) 5.2 SERCOS III Configuring basic settings Setting the motion profile parameters The basic drive settings must be configured as per the reference documents. Then the following setting must be made with the aid of DriveManager so that it is possible to change to operation via Sercos. So that the drive can be controlled and moved via SERCOS III, the two parameters control location selector P-159 MPRO_CTRL_SEL and reference value selector P-165 MPRO_REF_SEL must be set as per the figure below Usage of the distortion indicator After the drive address has been set, it should be checked whether an adequate optical signal level is present at each bus user, i.e. whether the receiver is underdriven or overdriven. The optical level is checked using the Distortion LED on the front of the ServoOne (LED H4). Normally the Distortion LED is off. To check the optical level, all drives in the ring are checked in the signal flow direction, starting from the transmitter output on the master (see figure in sub-section "Connection for the fibre optic cable"). The distortion indicators are to be checked in the "direction of the light", i.e. the first drive in the ring is to be checked first. If its distortion indicator is off, check the next drive. This procedure is continued to the last drive and then undertaken on the master (controller). Note: The distortion indicator must not illuminate or glow. Figure 5.2 Basic settings, P-0159 and P-0165 with SERCOS III Prerequisites: y The drive is wired as per the operation manual and initial commissioning has been undertaken. y If electrical power is to be applied to the motor, the hardware enable (ENPO) and the "STO (Safe Torque Off)" must also be connected correctly. NOTE: You will find more detailed information on the optimisation of the control function and control circuits in the application manual for the device. NOTE: For information on the topic of "Scaling", please read chapter 6.

21 5.2.2 Setting the bus address on the slave The SERCOS parameter ID/S is used to set the bus address. This parameter can be written with the aid of DriveManager 5. The address set must be unique, i.e. each address is only allowed to be used once in a SERCOS ring. SERCOS III also supports the automatic addressing of the slaves. If the address 0 is entered in IDN/S in all slaves in a ring, then the addressing is undertaken automatically by the master as the bus is booted, provided the master supports this type of addressing. ServoOne User Manual SERCOS II and III 21 5 Commissioning and configuration

22 5 Commissioning and configuration ServoOne User Manual SERCOS II and III 22

23 6 Parameter configuration 6.1 Profile parameter (S-0-xxxx) The SERCOS-specific profile parameters (S S ) are represented as LTI parameters (P to P 14095). The corresponding addressing is: LTI ID dec Manufacturer-specific parameters (P xxxx) The manufacturer-specific parameters (LTI parameters) (P P 4095), as P parameters, are to be addressed as follows: LTI ID hex EXAMPLE: LTI P 0101 function selector ISD01 can be found in the IDN list (S ) as P Currently only data set 0 is supported. Changing the language via SERCOS is not currently supported; English is installed by default. 6.2 Structure of the SERCOS III parameters The parameter numbers for the SERCOS III parameters have been expanded to a length of 32 bits compared to SERCOS II. A standard parameter now has the following format: S-<DataSet>-<IDno>.<SI>.<SE> Explanation of the abbreviations: y S: Standard parameter y DataSet: Number of the data set (currently only data set 0 is supported) y IDno.: SERCOS ident number y SI: Structure instance y SE: Structure element In a connection between a master and slave there is always a "producer" and at least one "consumer". Here producer stands for the connection from the master to the slave, consumer for the connection from the slave to the master. The connections are represented by "SI" (that is the structure instance) within the parameter numbers. Which instance is configured as the producer and which as the consumer can be determined based on the parameter S x.1 (to be found in device parameter 21050) in DriveManager 5. Bit 14 of this parameter defines the type of connection. If, for example, bit 14 is = 0 in parameter S , then structure instance 0 is the consumer instance. As such bit 14 must be = 1 in parameter S , structure instance 1 is then the producer instance. Based on this example, parameter structure S is a consumer instance. Several consumers are allowed per connection. The ServoOne supports a connection with one producer and a maximum of one consumer Standard parameters (S-0-xxxx.x.x) All standard parameters supported by the ServoOne are represented as LTI parameters. However, due to the expansion of the SERCOS III parameter numbers described above it was no possible to maintain the continuous numbering of the LTI parameters. Only for the parameters that were already present in the ServoOne parameter set as SERCOS II parameters does the following addressing still apply: SERCOS IDN = LTI ID ServoOne User Manual SERCOS II and III 23 6 Parameter configuration

24 6 Parameter configuration ServoOne User Manual SERCOS II and III 24 All SERCOS III-specific parameters are saved in the ServoOne parameter set from LTI parameter number or Manufacturer-specific parameters P xxxx All manufacturer-specific parameters are to be found with an offset of 8000(hex) on the LTI parameter number in the list S E.g. the LTI parameter no. 107 (function selector ISD06) can be found in the list of all available parameters (S ) with the number This parameter is addressed using its LTI parameter number, that is in this case P Because the device-specific parameters also contain field parameters that are not known to the SERCOS profile, it is always possible to address the first parameter in a field using the parameter number; this statement applies both to the service channel and the MDT and AT. 6.3 Operation modes The operation modes that, according to the SERCOS specification, can be selected in the master control word and that are indicated in the drive status word are coded using the scheme in the following table. Table 6.1 Bit Explanation 15 0: SERCOS default operation mode 1: Manufacturer-specific operation mode Reserved 9 0: Without axis control word (S ) 1: With axis control word (S ) (not supported) 8 0: Without transition 1: With transition 7-4 Expanded operation mode 0000: No expanded operation mode 0001: Interpolation 0010: Positioning 0011: Block mode (not supported) 0100: Synchronous operation mode (not supported) 3 0: With tracking error 1: Without tracking error 2-0 Operation mode Operation mode coding The operation modes supported by the ServoOne are listed in parameter S Operation mode Bit Bit 0 HEX x0000 No operation mode x0001 Torque control Description x0002 Speed control, drive-controlled profile generation with ramps configured in the parameters x0004 Speed control, controller-controlled profile generation, no tracking error x0003 Position control with position encoder 1 (e.g. motor encoder), controller-controlled profile generation, feed forward signals not used, with tracking error Table 6.2 Operation modes supported

25 Operation mode Bit Bit 0 HEX Description x0004 Position control with position controller 2 (e.g. external encoder), controller-controlled profile generation, feed forward signals not used, with tracking error x000B Position control with position controller 1 (e.g. motor controller), controller-controlled profile generation, feed forward signals used, no tracking error x000C Position control with position controller 2 (e.g. external encoder), controller-controlled profile generation, feed forward signals used, no tracking error x0013 Position control with position controller 1 (e.g. motor encoder), drive-controlled profile generation, feed forward signals not used, with tracking error x0014 Position control with position controller 2 (e.g. external encoder), drive-controlled profile generation, feed forward signals not used, with tracking error x001B Position control with position controller 1 (e.g. motor encoder), drive-controlled profile generation, feed forward signals used, no tracking error x001C Position control with position controller 2 (e.g. external encoder), drive-controlled profile generation, feed forward signals used, no tracking error x004B Position control with position controller 1 (e.g. motor controller), drive-controlled profile generation, feed forward signals used, no tracking error, synchronous operation ECAM/EGEAR x004C Position control with position controller 2 (e.g. external encoder), controller-controlled profile generation, feed forward signals used, no tracking error, synchronous operation ECAM/EGEAR x005B Position control with position controller 1 (e.g. motor controller), drive-controlled profile generation, feed forward signals used, no tracking error, synchronous operation ECAM/EGEAR x005C Position control with position controller 2 (e.g. external encoder), drive-controlled profile generation, feed forward signals used, no tracking error, synchronous operation ECAM/EGEAR Table 6.2 Operation modes supported The position encoder for the position control defined by the operation mode must also be selected via parameter P 0522 as the position encoder for the position control. Otherwise an error will be triggered as a reaction to the controller enable or the switchover from phase 2 to phase 3. Please refer to the operation manual for the ServoOne for more information on the configuration of the encoder. A valid interpolation method P 0370 must be configured in the parameters for the related position-controlled operation mode. The following settings are possible: 1. Linear interpolation Calculation of position and speed 2. Spline interpolation with external feed forward control. This setting should only be used if the controller also calculates and transfers the feed forward signals for speed P 3055 and torque P Spline interpolation Calculation of position, speed and torque 4. Spline interpolation II Calculation of position, speed and torque To achieve a higher resolution for the feed forward signals, an additional 16-bit part after the decimal separator can be transferred, P 3100, for the position (S ). To use the higher resolution, the expanded feed forward mode P 0379 = 0 (PosHighRes) must be selected. Even without the calculation of P 3100 the expanded feed forward mode can improve the feed forward signals; this aspect is heavily dependent on the scaling (resolution of the position) and must be checked on the system in the specific case. Please refer to the operation manual for the ServoOne for further information on scaling and interpolation. Up to four different operation modes can be configured with the aid of parameters S to S The operation mode is selected using the parameter S "Drive control word" (see Parameter configuration on page 23). Here it is defined which configured operation mode is to be used to operate the drive. Which of the three possible encoder interfaces on the ServoOne (channel 1, channel 2, channel 3) is to be used as position encoder 1 or position encoder 2 is defined using parameter P 0530 Channel selection SERCOS encoder 1 and P 0531 Channel selection SERCOS encoder 2. ServoOne User Manual SERCOS II and III 25 6 Parameter configuration

26 6 Parameter configuration ServoOne User Manual SERCOS II and III Torque control In this operation mode a torque reference value is specified by the master (S ). To protect against overspeed, on reaching the maximum speed a speed controller is switched on that limits the speed to the maximum value set in the parameters. S S P 0329 P 0330 P 0331 P 0332 P 0460 S Torque controlled motor Figure 6.1 Simplified block diagram of the torque control Number Description Unit S Torque reference value TORQ S Additive torque reference value TORQ S Torque actual value TORQ P 0329 Absolute torque limit (reference variable: motor nominal torque) % P 0330 Negative torque limit (reference variable: motor nominal torque) % P 0331 Positive torque limit (reference variable: motor nominal torque) % P 0332 Online torque limit (reference variable: motor nominal torque) % P 0460 Motor nominal torque Nm Table 6.3 Torque control parameters The following applies: Tmin_neg = MIN(P 0332, P 330) * P 0329 * P 0460 Tmin_pos = MIN(P 0332, P 331) * P 0329 * P 0460

27 6.3.2 Speed control In this operation mode a speed reference value is specified by the master (S ). S P3005 P3006 S P0371 P0458 P0328 P0333 P0334 P P 0320 P 0321 alternative S S S P0325 P0326 P0327 G(s) GnFF(s) Gru(s) GmFF(s) S S S P 0351 P 0329 P 0330 P 0331 P 0332 P 0460 Torque controlled motor Figure 6.2 Block diagram for the speed control Number Description Unit S Speed reference value VEL P 3005 Maximum positive acceleration ACC P 3006 Maximum negative acceleration ACC S Additive speed reference value VEL P 0371 Filter time constant speed reference value ms P 0458 Motor nominal speed 1/min P 0328 Speed limit (reference variable: motor nominal speed) % P 0333 Negative speed limit (reference variable: motor nominal speed) % P 0334 Positive speed limit (reference variable: motor nominal speed) % P 0167 Speed override % P 0320 PI speed controller gain Nm min P 0321 PI speed controller integral action time ms Alternatively Table 6.4 Speed control parameters Number Description Unit S PI speed controller gain Nm min S PI speed controller integral action time ms P 0322 PI speed controller gain scaling factor % P 0325 Digital filter P 0326 Digital filter P 0327 Digital filter P 0329 Absolute torque limit (reference variable: motor nominal torque) % P 0330 Negative torque limit (reference variable: motor nominal torque) % P 0331 Positive torque limit (reference variable: motor nominal torque) % P 0332 Online torque limit (reference variable: motor nominal torque) % P 0460 Motor nominal torque Nm P 0351 Speed actual value filter time ms S Speed actual value 1 VEL S Speed actual value 2 VEL Table 6.4 Speed control parameters ServoOne User Manual SERCOS II and III 27 6 Parameter configuration

28 6 Parameter configuration ServoOne User Manual SERCOS II and III Position control with drive-controlled position profile generation In this operation mode the target position specified in S is moved to in a timeoptimised manner while observing the maximum positioning speed S and the maximum positioning acceleration S During the drive-controlled positioning, the position specified in S is moved to in a time-optimised manner at the speed specified in S and the acceleration set in the parameter S The positioning commands are executed as per S (Position control word) or for modulo operation also S (Command value word). Modulo operation is defined as per the weighting in S (bit 7) (cf. Data transfer on page 35). The following parameters apply: y S Target position (not S ) y S Positioning speed y S Acceleration and deceleration y S Positioning control word and also for modulo operation y S Positioning command word y S Modulo value y S Modulo divisor y S is defined as follows: Bit 0: Change from 0 ->1 apply the new position Bit 1/2: 00 = Position mode 01 = Jog + 10 = Jog - 11 = Stop Bit 3: Bit 4: 0 = Absolute 1 = Relative (only for bits 1/2 = 00) 0 = Referred to target position (relative tasks are cumulative) 1 = Referred to actual position (only for bit 3 = 1 and bits 1/2 = 00) Confirmation of application in S (Positioning acknowledgement). S Positioning acknowledgement is cleared on S bit 0 from 1 -> 0 or on changing the operation mode. Modulo operation In modulo operation, the rotation length is calculated from S * S via the SERCOS scaling. S is defined as follows (only modulo function is set in the parameters): Bit 1-0: Direction of rotation with modulo function 00 = Positive direction of rotation 01 = Negative direction of rotation 10 = Shortest path (path optimised) 11 = Reserved

29 S p P0314 m refff S S S P0372 P0344 p ref S P0613 S GRp(s) S S n refff P0371 P0458 P0328 P0333 P0334 P0167 P 0320 P 0321 alternative S P 0325 S P 0326 S P 0327 G(s) - GnFF(s) Gru(s) GmFF(s) S S S P 0351 P0329 P0330 P0331 P0332 P0460 Torque controlled motor Figure 6.3 Block diagram of the position control with position profile generation Number Description Unit S Position reference value controller POS S Position actual value 1 POS S Position actual value 2 POS S Target position POS P 3055 External speed feed forward control VEL P 3056 External acceleration feed forward control ACC S Positioning speed VEL S Positioning acceleration ACC P 0370 Interpolation 1 = Linear interpolation 2 = External feed forward signals from the SERCOS master (only with P 3055, P 3056), not for drive-controlled positioning 3 = Cubic spline interpolation 4 = Cubic spline interpolation II P 0374 Position reference value delay ms Table 6.5 Speed control parameters Number Description Unit P 0372 Filter time constant speed feed forward control ms P 0378 Filter time constant speed feed forward control ms S Speed feed forward control scaling % Alternatively S Acceleration feed forward control scaling % P 0375 Speed feed forward control scaling % Alternatively P 0376 Acceleration feed forward control scaling % P 0377 Feed forward control ON/OFF (is set automatically via the operation mode) P 1516 Total moment of inertia kgm^2 P 0279 Position controller control difference (tracking error) POS S P position controller gain 1/min Alternatively P 0360 P position controller gain 1/min Table 6.5 Speed control parameters ServoOne User Manual SERCOS II and III 29 6 Parameter configuration

30 6 Parameter configuration ServoOne User Manual SERCOS II and III Position control without tracking error Drive-internal generation of the feed forward control signals In this operation mode the master cyclically specifies position reference values. The drive undertakes fine interpolation between the position reference values and calculates the speed and acceleration feed forward control signals. The position reference value can be delayed by the number of position controller cycles set in parameter P The amplitudes of the feed forward control signals can be scaled via the parameter S (Velocity feed forward gain) or S (Acceleration feed forward gain). The speed feed forward control is smoothed via a P-T1 element using the filter time constant P 0555 and superimposed on the speed reference value generated by the position controller. The acceleration feed forward control signal is converted into a torque feed forward control signal via the moment of inertia of the drive that is set in parameter P 0314; this signal is superimposed on the torque reference value generated by the speed controller. P0554 S alternative S P 0378 P1516 m refff S Interpolation P0372 P0374 p ref S alternative S P S S n refff S alternative S P 0371 P0458 P0328 P0333 P0334 P P 0320 P 0321 alternative S P 0325 S P 0326 S P 0327 G(s) GnFF(s) Gru(s) GmFF(s) S S S P 0351 P 0329 P 0330 P 0331 P 0332 P 0460 Torque controlled motor Figure 6.4 Block diagram of position control without tracking error with internal feed forward control signals

31 6.3.5 External generation of the feed forward control signals In this operation mode the master cyclically specifies position reference values and feed forward control signals for speed and acceleration. The drive undertakes fine interpolation for the position reference values and the feed forward control signals. The scaled feed forward control signals are descaled using the parameter P 1507 speed or P 1508 acceleration. The position reference value and feed forward control signals are further processed as for the operation mode described in P3056 P1508 S alternative S P 0378 P1516 m refff P3055 S P1507 S alternative S S S n refff S alternative S P 0371 P0458 P0328 P0333 P0334 P P 0320 P 0321 alternative S P 0325 S P 0326 S P 0327 G(s) GnFF(s) Gru(s) GmFF(s) S S S P 0351 P 0329 P 0330 P 0331 P 0332 P 0460 Torque controlled motor Figure 6.5 Block diagram of position control without tracking error with external feed forward control signals ServoOne User Manual SERCOS II and III 31 6 Parameter configuration

32 6 Parameter configuration ServoOne User Manual SERCOS II and III Real-time bits There are two real-time bits that can be configured in the MDT and in the AT. These are in the "connection control word" (bit no ) and therefore part of the real-time data that can be configured. These real-time bits are configured with the aid of the parameters: It is only possible to assign the parameters that are given in the list P 3003 real-time control bits and P 3002 real-time status bit. The lists P 3002 and P 3003 are described in the following tables. P 3003: Configurable real-time control bits Parameter S Enable touch probe 1 S Enable touch probe 2 P 0141 Description Control the digital outputs via COM option Table 6.6 Configurable real-time control bits P 3003 P 3002: Configurable real-time status bits Parameter S S S S S S S S S S State class 1 (C1D) State class 2 (C2D) Interfaces status Signal status word Touch probe status Warning threshold I2t motor exceeded Description Warning threshold heat sink temperature exceeded Warning threshold motor temperature exceeded Status speed reference value reached Standstill signal Table 6.7 Configurable real-time status bits P 3002 Parameter S S S S S S S S S S S S S S P 0121 P 0143 P 0239 Speed threshold value dropped below Speed threshold value exceeded Torque limit reached or exceeded Speed limit reached or exceeded Target position reached Status in coarse position Touch probe 1 status Touch probe 2 status Position actual value status Touch probe 1, positive edge acquired Touch probe 1, negative edge acquired Touch probe 2, positive edge acquired Touch probe 2, negative edge acquired Reference value application status Status of the digital inputs Status of the digital outputs Functional status of the digital inputs Table 6.7 Configurable real-time status bits P 3002 Description Configuration of real-time bits, SERCOS II There are two real-time bits that can be configured in the MDT and the AT. There are the following parameters for configuring these binary signals: y S , "Assignment IDN real-time control bit 1" y S , "IDN bit number real-time control bit 1" y S , "Assignment IDN real-time control bit 2" y S , "IDN bit number real-time control bit 2" y S , "Assignment IDN real-time status bit 1" y S , "IDN bit number real-time status bit 1" y S , "Assignment IDN real-time status bit 2" y S , "IDN bit number real-time status bit 2"

33 The real-time control bits and real-time status bits can be configured in phases 2, 3 and 4. The assignment parameters contain the number of the parameter to be configured for the related real-time bit. During configuration it is to be noted that the bit number must be assigned first (S , S , S , S ) before a corresponding IDN is assigned as the real-time bit (S , S , S , S ) Configuration of real-time bits, SERCOS III y S x.20 "IDN assignment real-time bit": IDN of the parameter that is to be assigned to the related real-time bit. y S x.21 "Bit assignment real-time bit": Definition of which bit number of the parameter assigned is to be represented. 6.5 Signal control word and signal status word Signal control word (S ) Signals can be transferred from the controller to the drive in real-time in the signal control word S The signal control word can be configured for the cyclic transfer in the master data telegram (MDT). The signal control word is configured in phase 2 and is activated on the transition to phase 3. An erroneous configuration will result in a device error and it will not be possible to switch to phase 3. The configuration parameters for the signal control word are described in the following table. S Configuration list for signal control word This list contains all parameter numbers that are contained in the signal control word. The sequence of the parameter numbers in the list defines the significance of the bits in the signal status word. The first parameter in the list defines bit 0, the last parameter number bit 15. The parameter S defines the bit number from the related parameter that is to be given in the signal status word. Table 6.8 S Configuration list for signal control word The bit numbers for the parameters from S copied to the signal control word (S ) are programmed in this configuration list. The sequence of the bit numbers in the list is that same as the sequence of the signals in the signal control word. Configuration parameters for the signal control word The list of configurable parameters for the real-time status bits P 3002 applies for the configuration of the signal status word Signal status word (S ) The drive status configured by the user can be represented in the signal status word S The signal status word can be configured for the cyclic transfer in the drive telegram (AT). The signal status word is configured in phase 2 and is activated on the transition to phase 3. An erroneous configuration will result in a device error and it will not be possible to switch to phase 3. The configuration parameters for the signal status word are described in the following table. Table 6.9 S S Configuration list for signal status word This list contains all parameter numbers that are contained in the signal status word. The sequence of the parameter numbers in the list defines the significance of the bits in the signal status word. The first parameter in the list defines bit 0, the last parameter number bit 15. The parameter S defines the bit number from the related parameter that is to be given in the signal status word. Signal status word bit number assignment list The bit numbers for the parameters from S copied to the signal status word (S ) are programmed in this configuration list. The sequence of the bit numbers in the list is that same as the sequence of the signals in the signal status word. Configuration parameters for the signal status word The list of configurable parameters for the real-time status bits P 3002 applies for the configuration of the signal status word. S Bit number allocation word for signal control word Table 6.8 Configuration parameters for the signal control word ServoOne User Manual SERCOS II and III 33 6 Parameter configuration

34 6 Parameter configuration ServoOne User Manual SERCOS II and III Maximum speed (S ) The parameter S is related to parameter P-0328, P-0333, P-0334, P On this topic, see also Table 11.2 List of the SERCOS parameters supported on page 73. The maximum speed set in parameter S must not exceed the limits from parameters P-0328, P-0333 and P-0334 and will also have a direct effect in the parameter P-0337 SMax_Scale. NOTE: The parameters P-0337 and S interact. You can write to either parameter and the other parameter will then change as well.

35 7 Data transfer 7.1 Communication phases The establishment of communication between the master and slaves via SERCOS is divided into six communication phases. As long as the slave has not received a SERCOS telegram, it is in the "NRT (Non-RealTime)" phase. Communication phases 0 and 1 are used to detect the bus users. The timing and data for the protocols for communication phases 3 and 4 are prepared and the drive configured in communication phase 2. On the transition to communication phase 3 the drive parameter settings, as far as they relate to the SERCOS profile, are checked for plausibility. If there is an error, switching to communication phase 3 is denied with a corresponding error. The phases are started in ascending order. It is only possible to go back a phase via communication phase 0. The communication phase is specified by the master. The initialisation is completed with the switch to communication phase 4 and it is possible to switch on the power circuit. The actual communication phase is indicated with the aid of the parameter "COM_SERIII_ScopeVars", index SERCOS II - cyclic data transmission To synchronise the drives in the ring, the master synchronisation telegram (MST) is sent at the start of each SERCOS cycle (cycle time t Scyc = S ) (see figure below). This only information this telegram contains is the communication phase specified by the master. The content of the master data telegram (MDT) and drive telegram (AT) can be configured. A common master data telegram for all drives is sent to the drives by the controller once per SERCOS cycle. This telegram contains the master control word, the service channel (parameter channel) and a configurable data block. This data block mostly contains reference values and limits that the controller wants to send to the drive for the operation of the related operation mode. The content of this data block can be configured using the telegram setting. The master data telegram is received by all the drives in the ring at the same time. A separate drive telegram is also sent to the controller by each drive once per SERCOS cycle. This telegram contains the drive status word, sections of the service channel and a configurable data block. This data block mostly contains actual values and status values that the controller needs for the operation of the related operation mode. MST t 1.1 Figure 7.1 AT 1 AT 2 AT m AT M MDT t 1.2 t 1.m Timing diagram, SERCOS cycle t 1.M t 2 t Scyc 7.3 SERCOS III - cyclic data transmission MST The cyclic data transmission starts in communication phase 3. With the aid of the cyclic data transmission, parameters are transmitted with each cycle of the bus. The cycle time is configured with the aid of the IDN S Which parameters are transmitted cyclically is defined with the aid of the mapping Mapping the configurable real-time data The real-time data are mapped as a rule in the master (that is the higher level controller). With the aid of parameters S and S you can check which parameters are mapped to the MDT and the AT. In principle not all parameters can be transmitted as real-time data. The parameters that can be transmitted in the MDT are entered in the IDN S All parameters that can be transmitted in the AT are listed in the IDN S In the situation that manufacturer-specific parameters that are field parameters are to be mapped, the first index is always mapped automatically. ServoOne User Manual SERCOS II and III 35 7 Data transfer

36 7 Data transfer ServoOne User Manual SERCOS II and III 36 NOTE: For the operation of a drive controller via SERCOS III, the drive control word (S ) must be mapped to the MDT and the drive status word (S ) to the AT; unlike for SERCOS II these words are no longer a fixed part of the MDT or AT Drive control word S The drive control word contains all important control information for the drive and must be mapped to the cyclic part of the MDT. Table 7.1 Bit no. Description 15 Drive on / off x Drive OFF: On the change from 1 0 the drive is shut down in the best manner possible (corresponding to the setting in P 2219) with, if necessary, the subsequent shutdown of the torque at standstill; the power stage can remain activated (only possible if bit 14 = 1 and there is a corresponding setting in P 2219). x 1: Drive on 14 Drive enable x 0: No enable. On the change from 1 0 the torque is shut down without a delay and the power stage inhibited (independent of bit 15 and 13). x 1: Drive enable 13 Drive stop (can be used to shut down the drive without taking into account the control function currently active) x 0: Drive stop: The drive no longer follows the reference values. On the change from 1 0 the drive stops as per the setting in P 2221 and taking into account the acceleration active last (by default the acceleration parameter P 2242 applies) and remains under control (only possible if bit 14 and 15 = 1 and with a suitable setting in P 2221). x 1: Drive start: On the change from 0 1 the original function is continued. If the controller has not updated the position, reference value steps and therefore shutdown due to tracking errors may occur. 12 Reserved 11 Toggle bit: new reference values The bit is valid in communication phase 3 + 4, changes synchronously with the "Producer cycle time" (S ) and indicates the availability of the new reference values for the slave. Drive control word S Table 7.1 Bit no. Description 10 8 Required operation mode x 000: Main operation mode (definition in S ) x 001: Secondary operation mode 1 (definition in S ) x 010: Secondary operation mode 2 (definition in S ) x 011: Secondary operation mode 3 (definition in S ) x 100: Secondary operation mode 4 (not supported) x 101: Secondary operation mode 5 (not supported) x 110: Secondary operation mode 6 (not supported) x 111: Secondary operation mode 7 (not supported) 7 0 Reserved Drive control word S Description of the bits The system state of the drive is indicated on the display on the front of the device. One of eight possible system states is indicated using bits 15, 14, 13 and 3 of the SERCOS status word as per the following table. The drive state machine (SERCOS) is described in the next chapter. Bit 15 Bit 14 Bit 13 Bit Table 7.2 Display Representation on bits 3, 13, 14 and 15 of the system state System state designation START Drive in the initialisation phase NOT READY TO SWITCH ON Power stage not powered, no DC link voltage, STO input required NOT READY TO SWITCH ON Power stage not powered, no DC link voltage START INHIBIT Power stage not powered, not enabled, no DC link voltage, STO input required

37 Bit 15 Bit 14 Bit 13 Bit / Table 7.2 Display System state designation START INHIBIT Power stage not powered, not enabled, no DC link voltage READY TO SWITCH ON Power stage not powered, enabled, DC link voltage present SWITCHED ON Switch power stage to active (activate the power stage, motor commutation, brake management) CONTROL ACTIVE Under control (support for bit 3) drive follows the reference values QUICK STOP ACTIVE E.g. triggered via terminal, drive no longer follows the reference values FAULT REACTION ACTIVE Drive no longer follows the reference values ERROR Representation on bits 3, 13, 14 and 15 of the system state Bit 14: Drive ENABLE (power stage enable) Error number and error location are indicated alternately, no motor torque The ServoOne has a control input (X4.10) ENPO (Enable Power) for the hardware enable on the control terminal. This input must be connected to 24 V to operate the power stage. The device also has the "STO (Safe Torque Off)" function, category 3 (see Operation Manual or Application Manual ServoOne) via the control input (X4.22) ISDSH. The logic for this function (high edge on digital input ENPO (X4.10), where at the time of the edge there must be a high signal on digital input ISDSH (X4.22), is to be provided by the higher level controller as per the application manual. NOTE: If the ENPO and ISDSH inputs are not connected, the device remains in state 1 = "Not Ready to Switch On" or 2 = "Switch On Disabled". In the STO state, the status indication flashes with "S1" or "S2". Only after the correct configuration of ENPO (X4.10) and ISDSH (X4.22) can the hardware be enabled using bit 14 in the drive control word. It is only possible to enable the drive via bit 14 in communication phase 4. Bit 15: Control ON/OFF (controller enable) A few parameter settings must be made to control the drive via the SERCOS interface: y Setting for controlling the drive via the SERCOS interface: Configure P 0159 to SERCOS III (9). y Reference values via SERCOS profile: Configure P 0165 to SERCOS (8) y Evaluation of bit 15 in the drive control word state-controlled (1 = LEVEL) or edge-controlled (0 = EDGE) via P Comment: If bit 14 and bit 15 in the drive control word are set at the same time, configure P 0144 as LEVEL (1). So that the controller enable signal (bit 15) is accepted, i.e. the drive switches from the unpowered state to the powered state, the following conditions must be met: y SERCOS interface ready and in communication phase 4 y Power section enable via hardware (ENPO and ISDSH) and bit 14 in the drive control word y Drive not in error state y Setting of the corresponding parameters P 0144, P 0159 and P 0165 Under these preconditions, the drive indicates the drive state "3" on the display. The drive is activated via the state change from 0 to 1 on bit 15 (controller enable) in the drive control word. Once the enable has been undertaken successfully, the indication on the display changes to 5 and the corresponding bits in the drive status word are set/cleared. ServoOne User Manual SERCOS II and III 37 7 Data transfer

38 7 Data transfer ServoOne User Manual SERCOS II and III 38 The readiness for the control (drive follows the reference values) is represented via bit 15, bit 14 and bit 3 in the status word. In the ideal case, the actual value is to be read by the controller during the start of control and specified as the reference value until the controller signals readiness in the status word. If the drive moves during the start of control (e.g. due to motor autocommutation on linear drives, here the drive signals that it is not yet ready, drive state 4), the position changes are applied automatically by the controller. Controllers that "only" obtain the current actual position once before the start of control, specify this value as the reference value and do not update it again after autocommutation (no evaluation of the status word), will have a reference value difference. A shutdown due to a tracking error may be the consequence. To prevent this situation arising, the drive can move, under drive control, to the position specified by the controller at the start of regulation by setting P 0156 Enable operation option code to MOVE_COMMAND(1). A shutdown or jerking movement to the target position due to a reference value difference in the axis at the start of control will then be prevented. This function also depends on the configuration of P 0743 maximum tracking error. y If P 0743 is equal to 0, the position tracking error is disabled. The drive switches on without a correction and sends the position reference value from the NC directly to the controller. The drive may move to the specified reference position with a jerk. Larger distances will result in a speed tracking error, depending on the parameter configuration. A jerking axis movement will be the consequence. y If P 0743 is not equal to 0, the position tracking error is enabled. The drive reads the reference position from the controller and moves, under drive control, to this position (position correction). If the difference between the position specified by the controller and the actual position is greater than the tracking error P 0743, the drive switches to the error state, however without moving (no large axis movement). Otherwise the drive corrects the difference using the slow jog speed P 0168[1] and the acceleration from P 2242 quick stop. Once the position is reached, the drive changes to state 5 and the drive follows the reference values from the controller (only now is readiness signalled in the status word). IMPORTANT: Using the scaling, the ramp setting that the system accesses is also to be set to correct, realistic values. This aspect relates to the parameters: y P 2242 quick stop, depending on the configuration this parameter comes into effect if there is an error y P 0168 (jog, index 0: fast jog speed, index 1: slow jog speed) The position correction described above can take a very long time with a very slow jog speed or, for example with P 0168[1] = 0, will not occur at all. In this situation the drive would remain in system state 4, because the reference value cannot be achieved. Bit 13: Drive STOP (feed enable) The "Drive stop" signal is state-controlled and is active low; i.e. if the signal "Drive stop = 0", the drive is in the state "Drive stop". The input signal is represented by bit 13 in the master control word Drive status word S The drive status word contains all important control information for the drive and must be mapped to the cyclic part of the AT. Table 7.3 Bit no. Description Ready x 00: Drive not ready for switching on the power, because the internal checks have not yet been completed successfully. x 01: Drive ready for switching on the power. x 10: Drive control section ready and power supply switched on, there is no drive torque and the power stage is inhibited. x 11: Drive is ready, "Drive enable" is set and active, power stage is active. 13 Error in C1D (S ) x 0: No error x 1: Drive is inhibited due to an error 12 Change bit for C2D (S ) x 0: No change x 1: Change Drive status word S

39 Table 7.3 Bit no. 11 Toggle bit: new actual values Description The bit is valid in communication phase 3 and 4, changes synchronously with the "Producer cycle time" (S ) and indicates the availability of the new actual values for the master Actual operation mode x 000: Main operation mode (definition in S ) x 001: Secondary operation mode 1 (definition in S ) x 010: Secondary operation mode 2 (definition in S ) x 011: Secondary operation mode 3 (definition in S ) x 100: Secondary operation mode 4 (not supported) x 101: Secondary operation mode 5 (not supported) x 110: Secondary operation mode 6 (not supported) x 111: Secondary operation mode 7 (not supported) 7 6 Reserved 5 Status of the position actual value (bit 0 of S ) 4 Drive stop: x 0: Drive stop not active x 1: Drive stop active 3 Reference value application status x 0: The drive ignores the reference values from the controller (e.g. during movements under drive control (homing run,..) or delays configured in the parameters). x 1: The drive follows the reference values from the controller 2 0 Reserved Drive status word S Drive state machine The system states and the possible state transitions are shown in the figure below and described in the table below. 6 (UZK off) 6 (UZK off) Drive stop System state 5b Start (Bit 13=1) Stop (Bit 13=0) 3 Enable operation (Bit 15=1 & Phase 4) 2 enable Voltage (Bit14=1 & ENPO=1) Command Start Operation mode active System state 5a Ready to switch on System state 3 Start inhibit System state 2 Command execution System state 5c Command End Control active System state 5 4 disable operation (Bit 15=0) 5 Disable Voltage (Bit14=0 ENPO=0) 5 Disable Voltage (Bit14=0 ENPO=0) Error 7 Fault Fault reaction active System state 7 8 Fault Reaction completed Error System state 8 1 UZK OK 6 (UZK off) 9 Fault Reset 6 (UZK off) Not ready to switch on System state 1 0 Start System initialisation in progress System state 0 Figure 7.2 General system state machine (control via SERCOS) ServoOne User Manual SERCOS II and III 39 7 Data transfer

40 7 Data transfer ServoOne User Manual SERCOS II and III 40 System state Designation 0 System initialisation in progress Description Initialisation after device reset (e. g. hardware, parameter list, controller, ) 1 Not ready to switch on Initialisation completed, no mains or DC link voltage lower than switch-on threshold 2 Start inhibit DC link voltage greater than switch-on threshold 3 Ready to switch on Power stage enabled via hardware (ENPO and ISDSH) and bit 14 in the MDT 4 Switched on Power stage is enabled (bit 15 in the MDT = 1) (State is passed through automatically during control via SERCOS) 5 Control active Power supplied to motor, control active 5a Operation mode active The operation mode selected is active 5b Drive stop Drive stop active (standstill via stop ramp) 5c Command execution A command with movement sequence is active; reference values from the SERCOS master are ignored Table Fault reaction active Fault reaction is active, reference values from the SERCOS master are ignored 8 Error Drive in fault state, reference values from the SERCOS master are ignored, no drive torque System state transition Table 7.5 Description of the system states Designation Description 0 START Initialisation after boot complete 1 UZK OK DC link voltage greater than switch-on threshold 2 ENABLE VOLTAGE Communication phase 4 active; ENPO input =1 and bit 14 in the SERCOS control word = 1 3 ENABLE OPERATION Communication phase 4 active; bit 15 in the SERCOS control word = 1 4 DISABLE OPERATION Communication phase 4 active; bit 15 in the SERCOS control word = 0 Description of the system state transitions System state transition Table 7.5 Designation Description 5 DISABLE VOLTAGE Communication phase 4 active; ENPO input =0 and/or bit 14 in the SERCOS control word = 0 6 UZK OFF DC link voltage lower than shut-off threshold 7 FAULT Fault event occurred (can occur in any system state) 8 FAULT REACTION ACTIVE The reaction configured in the parameters for the fault is active (e.g. fault stop ramp) 9 FAULT RESET Fault reset using command S Description of the system state transitions Non-configurable real-time data In addition to the mapped data, the MDT and the AT have fixed configured content. In the MDT this is: y Device control: With the aid of this control word, the master controls the topology of the slave or the ring. The control word is represented in parameter S , you will find a detailed description in chapter Standard parameters on page 64. y Connection control: The connection control word contains, among other items, the real-time control bits. For diagnostic purposes it is represented in parameter S and S , which are descried in more detail in chapter Standard parameters on page 64. The following data form a fixed part of the AT: y Device status: Here the slave signals its actual topology or the detection of a break in the ring. This status word is represented in parameter "S " and is described in chapter Standard parameters on page 64. y Connection status: Contains, among other items, the real-time status bits.

41 7.4 Data transfer via the service channel (SVC) In principle it is possible to read all S and P parameters via the service channel, write access is only possible to parameters that are not write-protected. The service channel is initialised during communication phase 1 (CP1) and is active after the transition to CP2. Transmission via the service channel is in sections in the MDT and in the AT and can take several bus cycles per element transmitted. The SVC is controlled via the SVC control word, the status of the SVC is in the SVC status word. Both status words can be displayed on the internal oscilloscope for diagnostics, you will find a detailed description in chapter The command functions are also transmitted via the service channel. The following commands are currently supported: y S : Reset state class 1 (acknowledge error) y S : Switching preparation phase 3 y S : Switching preparation phase 4 y S : "Park axis" command y S : Drive-controlled homing y S : "Position spindle" command y S : "Touch probe" command y S : "Delete homing point" command y S : "Switch parameter set" command y S : "Parameter initialisation to default values" command y S : "Parameter initialisation to backup values" command y S : "Save actual parameter values" command y S : "Set absolution position" command y S : "Measure synchronous delay" command 7.5 IP channel The IP or also the NRT channel is used for diagnostic purposes. Via the IP channel it is possible to access all slaves in a SERCOS III ring with the aid of DriveManager. In the NRT mode this access can be direct using a notebook or PC that is connected to the spare port on the last slave. In cyclic operation (CP3, CP4) a notebook or a PC is not allowed within a SERCOS ring or a SERCOS line, the IP communication can only be via the master in this situation, provided this supports the IP channel. It is a prerequisite that the IP channel has been configured correctly in the parameters by the master and the correct IP address has been set on all slaves Parameter configuration Table 7.6 Parameter S S S S S Transmission time NRT channel MAC address SERCOS III IP address Subnet mask Gateway Parameter configuration Description To be able to use the IP channel, the parameter S-x-1017 "NRT transmission time" must be written by the master. Only if valid values are entered here for the times t6 and t7 is the IP channel in the ServoOne active. If t6 = 0 and t7 = 0, then the IP channel is not active. In addition, IDN/S , IDN/S and IDN/S must be correctly configured. For ID/S "MAC address" and ID/S "Subnet mask" the factory setting should be used in each case, setting correctly ID/S "IP address" is described in more detail in chapter ServoOne User Manual SERCOS II and III 41 7 Data transfer

42 7 Data transfer ServoOne User Manual SERCOS II and III SERCOS III IP address The IP address for the SERCOS III option card is set with the aid of ID/S Here it is imperative to note that the SERCOS III IP address is not the same as the standard IP address for the ServoOne (parameter 671). The two IP addresses must differ as a minimum in the 3rd number group, as specified for example in the factory setting: Standard IP: SERCOS III IP: Subnet Mask: If both addresses are the same, then an error message will be output the next time the ServoOne is restarted. So that communication via TCP/IP is also possible, the address changed last is reset to its old value. After the change to the default address and the SERCOS III IP address, the new value is only applied after the ServoOne is restarted.

43 8 Scaling and weighting The weighting describes in which physical unit and with how many decimal places the numerical values in the parameters exchanged between the controller and drives are to be interpreted. The type of weighting is defined by the parameters for position weighting, speed weighting, acceleration weighting and torque weighting. The ServoOne can be scaled either using the higher level controller by writing to the related parameters via the SERCOS bus, or with the aid of the scaling wizard integrated into DriveManager Weighting of position data The translatory position weighting is defined by the parameters listed in the following table. This weighting describes the significance of the LSB and the unit for parameter S and S as well as all other position parameters. All drive position data (e.g.: reference values, actual values and limits) are subject to the weighting set. If "no weighting" is selected via parameter S , the weighting factor and weighting exponent have no significance. The position data are then subject to a weighting defined by other means. Table 8.1 IDN S S S S S Weighting type for position data Description Weighting factor for translatory position data Weighting exponent for translatory position data Rotational position resolution Modulo value Scaling parameters for position weighting Weighting, translatory position data Translatory weighting is selected via S The significance of the LSB for the translatory position data is defined by the following equation: Significance LSB = unit S S On the selection of translatory preferred weighting, the weighting applies according to the following table. Weighting type (from S ) Table 8.2 Unit (from S ) Weighting factor (S ) Weighting exponent (S ) Preferred weighting Linear m μm Preferred weighting, translatory position data Weighting, rotary position data Rotary weighting is selected via S The significance of the LSB for the rotary position data is defined by the rotary position resolution (S ). 1 Umdrehung Significance LSB = unit S On the selection of rotary preferred weighting, the weighting applies according to the following table. Weighting type (from S ) Table 8.3 Unit (from S ) Rotary position resolution (S ) Preferred weighting Rotary Degrees degree Preferred weighting, rotary position data ServoOne User Manual SERCOS II and III 43 8 Scaling and weighting

44 8 Scaling and weighting ServoOne User Manual SERCOS II and III 44 Bits 2-0 Weighting type No weighting Translatory weighting Rotary weighting Bit 3 Weighting method 0 Preferred weighting 1 Parameter weighting Bit 4 Unit 0 Degree (for rotary weighting) / meter (for translatory weighting) 1 Reserved (for rotary weighting) / inch (for translatory weighting) Bit 5 Reserved Bit 6 Data reference 0 At the motor shaft 1 On the load side Bit 7 Processing format 0 Absolute format 1 Modulo format Bit 8-15 Reserved Table 8.4 Bit fields in the position data weighting type parameter (S ) The following figure shows the various possibilities for the position weighting. none Load/Motor S bit 3 S bit 4 Figure 8.1 S bit 0 2 S bit 6 Position data weighting type (S ) Preferred weighting Metre translatory Load/Motor Parameter weighting Metre -7 LSB LSB = 10 m variable (S ) (S ) Diagram of the position weighting types Preferred weighting Dregree Resolution: LSB = Dregree rotary Load/Motor Parameter weighting Dregree LSB variable (S )

45 8.1.3 Modulo weighting If modulo weighting is set via S "weighting parameters", the parameter S "modulo value" and S "modulo value divisor" define the value range (modulo range) the position actual value can take. If the travel exceeds the modulo range, the actual position overflows. Table 8.5 Parameter S S Description Modulo value If the modulo format is set in the position weighting type (S ), the modulo value (S ) defines the numerical range of all position data. If the modulo value is exceeded, the drive and the controller undertake the modulo calculation. Modulo value divisor If the modulo value (S ) does not correspond to the physical modulo value, the modulo value can be corrected by the divisor S The effective modulo value is given by the product of S and S A value of 1 renders the parameter "modulo value divisor" ineffective. Scaling parameters for position weighting Position polarity The polarities (sign) of the position data stated can be changed in parameter S to suit the application. The polarities are not changed inside a control loop, but outside (at the input and output). If the position reference value difference is positive and the polarity is not inverted, the rotation is clockwise looking at the motor shaft. Bit 0 Position reference value 0 Not inverted 1 Inverted Bit 1 0 Not inverted 1 Inverted Additive position reference value Bit 2 Position actual value 1 0 Not inverted 1 Inverted Bit 3 Position actual value 2 0 Not inverted 1 Inverted Bit 4 Position limit 0 Not inverted 1 Inverted Bit 5-15 Table 8.6 Reserved Setting the position polarity via parameter S ServoOne User Manual SERCOS II and III 45 8 Scaling and weighting

46 8 Scaling and weighting ServoOne User Manual SERCOS II and III Weighting of speed data The speed weighting is defined by the parameters listed in the following table. This weighting describes the significance of the LSB and the unit for parameter S as well as all other speed parameters. All drive speed data (e.g.: reference values, actual values and limits) are subject to the weighting set. If "no weighting" is selected via parameter S , the weighting factor and weighting exponent have no significance. The speed data are then subject to a weighting defined by other means. Table 8.7 IDN S S S Scaling parameters for position weighting Description Weighting type for speed data Weighting factor for speed data Weighting exponent for speed data Weighting, translatory speed data Translatory weighting is selected via S The significance of the LSB for the translatory speed data is defined by the following equation: Wegeinheit Significance LSB = S S Zeiteinheit On the selection of translatory preferred weighting, the weighting applies according to the following table. Weighting type (from S ) Table 8.8 Unit (from S ) Weighting factor (S ) Weighting exponent (S ) Preferred weighting Linear m/min mm/min Preferred weighting, translatory speed data Weighting, rotary speed data The rotary weighting is selected via S The significance of the LSB for the rotary speed data is defined by the following equation: Wegeinheit Significance LSB = S S Zeiteinheit On the selection of rotary preferred weighting, the weighting applies according to the following table. Weighting type (from S ) Table 8.9 Bit 2-0 Unit (from S ) Weighting factor (S ) Weighting exponent (S ) Preferred weighting Rotary 1/min /min Rotary 1/s /s Preferred weighting, rotary position data Weighting type No weighting Translatory weighting Rotary weighting Bit 3 Weighting method 0 Preferred weighting 1 Parameter weighting Bit 4 Distance unit 0 Revolution (for rotary weighting) / meter (for translatory weighting) 1 Reserved (for rotary weighting) / inch (for translatory weighting) Bit 5 Time unit 0 Minutes (min) 1 Seconds (s) Bit 6 Data reference 0 At the motor shaft 1 On the load side Bit 7-17 Table 8.10 Reserved Bit fields in the weighting type speed data (S ) parameter

47 The following figure shows the various possibilities for the speed weighting. Figure 8.2 S bit 0 2 none translatory S bit 6 Load/Motor Load/Motor S Bit 3 S Bit 5 S Bit 4 Speed data weighting type (S ) Preferred weighting min min or s min s Metre LSB= 10-6 m/min Parameter weighting Metre LSB variable (S ) (S ) Diagram of the speed weighting types Preferred weighting LSB = min LSB = s rotary Load/Motor Parameter weighting min or s LSB variable (S ) (S ) Speed polarity The polarities (sign) of the speed data stated can be changed in parameter S to suit the application. The polarities are not changed inside a control loop, but outside (at the input and output). If the speed reference value difference is positive and the polarity is not inverted, the rotation is clockwise looking at the motor shaft. Bit 0 Speed reference value 0 Not inverted 1 Inverted Bit 1 0 Not inverted 1 Inverted Additive speed reference value Bit 2 Speed actual speed 1 0 Not inverted 1 Inverted Bit 3 Speed actual speed 2 0 Not inverted 1 Inverted Bit 4-15 Table 8.11 Reserved Setting of speed polarity via parameter S ServoOne User Manual SERCOS II and III 47 8 Scaling and weighting

48 8 Scaling and weighting ServoOne User Manual SERCOS II and III Weighting of acceleration data The acceleration weighting is defined by the parameters listed in the following table. This weighting describes the significance of the LSB and the unit for all acceleration parameters. All drive acceleration data (e.g.: reference values, actual values and limits) are subject to the weighting set. If "no weighting" is selected via parameter S , the weighting factor and weighting exponent have no significance. The acceleration data are then subject to a weighting defined by other means. Table 8.12 IDN S S S Weighting type for acceleration data Weighting factor for acceleration data Weighting exponent for acceleration data Scaling parameters for acceleration weighting Description Weighting, translatory acceleration data Translatory weighting is selected via S The significance of the LSB for the translatory acceleration data is defined by the following equation: Wegeinheit Significance LSB = Zeiteinheit 2 S S On the selection of translatory preferred weighting, the weighting applies according to the following table. Weighting type (from S ) Table 8.13 Unit (from S ) Weighting factor (S ) Weighting exponent (S ) Preferred weighting Translatory m/s^ mm/s^2 Preferred weighting, translatory acceleration data Weighting, rotary acceleration data Rotary weighting is selected via S The significance of the LSB for the rotary acceleration data is defined by the following equation: Wegeinheit Significance LSB = Zeiteinheit 2 S S On the selection of rotary preferred weighting, the weighting applies according to the following table. Weighting type (from S ) Table 8.14 Bits 2-0 Unit (from S ) Weighting factor (S ) Weighting exponent (S ) Preferred weighting Rotary rad/s^ rad/s^2 Preferred weighting, rotary position data Weighting type 0 No weighting 1 Translatory weighting Bit 3 Rotary weighting Weighting method 0 Preferred weighting 1 Parameter weighting Bit 4 Distance unit 0 Degree (for rotary weighting) / meter (for translatory weighting) 1 Reserved (for rotary weighting) / inch (for translatory weighting) Bit 5 Time unit 0 Seconds 1 Reserved Bit 6 Data reference 0 At the motor shaft 1 On the load side Bit 7-15 Table 8.15 Reserved Bit fields in the parameter weighting type acceleration data (S )

49 none IDN Bit 6 Load/Motor IDN Bit 3 IDN Bit 5 IDN Bit 4 Accelaration data weighting type (IDN00160) IDN Bit 0-2 Preferred weighting linear Load/Motor Parameter weighting Preferred weighting rotational Load/Motor Parameter weighting s 2 or s 3 s 2 or s 3 s 2 or s 3 s 2 or s 3 Metre Metre Radian Radian 8.4 Weighting of torque data and force data The torque/force weighting is defined by the parameters listed in the following table. This weighting describes the significance of the LSB and the unit for parameter S as well as all other torque/force parameters. All drive torque/force data (e.g.: reference values, actual values and limits) are subject to the weighting set. Table 8.16 IDN S S S Weighting type for torque/force data Weighting factor for torque/force data Weighting exponent for torque/force data Scaling parameters for torque/force weighting Description Percentage weighting of torque data and force data Figure 8.3 LSB = 10-6 Variable LSB = 10-3 m/s 2(3) LSB weight rad/s 2(3) (IDN 00161) (IDN 00162) Diagram of the acceleration weighting types Variable LSB weight (IDN 00161) (IDN 00162) The percentage weighting is set via the weighting type (S ). Other parameters are not required. The continuous permissible motor stall torque (S ) is used as the reference value for the percentage weighting. All torque/force data are stated in % with one decimal place Weighting of force data Force data weighting is selected via the parameter S The significance of the LSB for the force data is defined by the following equation: Significance LSB = unit S S On the selection of force preferred weighting, the weighting applies according to the following table. Weighting type (from S ) Unit (from S ) Weighting factor (S ) Weighting exponent (S ) Preferred weighting Linear N N Table 8.17 Preferred weighting of force data ServoOne User Manual SERCOS II and III 49 8 Scaling and weighting

50 8 Scaling and weighting ServoOne User Manual SERCOS II and III Weighting of torque data Torque data weighting is selected via the parameter S The significance of the LSB for the torque data is defined by the following equation: Significance LSB = unit S S On the selection of torque preferred weighting, the weighting applies according to the following table. Weighting type (from S ) Table 8.18 Bit 2-0 Unit (from S ) Weighting factor (S ) Weighting exponent (S ) Preferred weighting Rotary Nm Nm Preferred weighting of force data Weighting type No weighting Translatory weighting Rotary weighting Bit 3 Weighting method 0 Preferred weighting 1 Parameter weighting Bit 4 Distance unit 0 Nm (for rotary weighting) / N (for translatory weighting) 1 In lbf (for rotary weighting) / lbf (for translatory weighting) Bit 5 Bit 6 Reserved Data reference 0 At the motor shaft 1 On the load side Bit 7-17 Table 8.19 Reserved Bit fields in the parameter weighting type torque/force data (S ) Force data/torque data weighting type (S ) S Bit 0 2 percentage translatory (force) rotary (torque) (0.1 %) S Bit 6 Load/Motor Load/Motor Load/Motor S Bit 3 S Bit 4 Figure 8.4 Preferred weighting N LSB = 1.0 N Parameter weighting N LSB variable (S ) (S ) Diagram of the torque/force weighting types Torque polarity Preferred weighting Nm LSB = 10-2 Nm Parameter weighting Nm LSB (S ) (S ) The polarities (sign) of the torque data stated can be changed in parameter S to suit the application. The polarities are not changed inside a control loop, but outside (at the input and output). If the torque reference value difference is positive and the polarity is not inverted, the rotation is clockwise looking at the motor shaft. The following figure shows the various possibilities for the torque/force weighting.

51 8.5 Scaling with the aid of the scaling wizard With the aid of the scaling wizard integrated into DriveManager 5, it is possible to set the scaling for many parameters in a straightforward manner. Start the scaling by double-clicking "Motion profile Scaling / Units" in the project tree. The following window then appears: The entries described made in the following with the aid of the wizard affect directly the parameters described in chapter 6 for defining the drive scaling Scaling the position data Click the "Position unit" button (see Figure 8.6) to open the position data scaling. Figure 8.5 Scaling wizard start window The "Sercos" option is to be selected in the start window. In the window that then appears it is now possible to select which parameters are to be scaled: Figure 8.7 Scaling wizard, definition of the scaling method and the data reference In the first window for scaling the position value, it is necessary to select first the scaling method and the data reference (see Figure 8.7). I.e., it must be defined whether the axis is linear or rotary in the application and whether the position data relate to the motor axis or directly to the load. Click the "continue" button to open the next window. The scaling of the position data is defined here. Figure 8.6 Scaling wizard, selection of the scaling data ServoOne User Manual SERCOS II and III 51 8 Scaling and weighting

52 8 Scaling and weighting ServoOne User Manual SERCOS II and III 52 Figure 8.8 Scaling the position data SERCOS offers two options for scaling the position data. Select "Preferred scaling" to set the scaling to the scaling as defined by SERCOS and described in chapter 6. Select "Parameter scaling" to undertake individual scaling of the position data. The scaling shown in Figure 8.6 would signify, e.g., that the position data for this rotary axis have a resolution of 360 / = Scaling the speed data Click the "Velocity unit" button (see Figure 8.7) to open the speed data scaling. In the first window for scaling the speed unit, it is necessary to select first the scaling method and the data reference (see Figure 8.7). I.e., it must be defined whether the axis is linear or rotary in the application and whether the speed data relate to the motor axis or directly to the load. Click the "continue" button to open the next window. The scaling of the speed data is defined here. Figure 8.9 Scaling the speed data Select "Preferred scaling" to set the scaling to the scaling as defined by SERCOS and described in chapter 6. Select "Parameter scaling" to undertake individual scaling of the speed data. The scaling shown in Figure 8.9 would signify, e.g., that the speed data are transmitted with a resolution of rev / min Scaling the torque data Click the "Torque/power unit" button (see Figure 6.6) to open the torque or performance data scaling. In the first window for scaling the torque unit, it is necessary to select first the scaling method and the data reference (see Figure 8.7). I.e., it must be defined whether the axis is linear or rotary in the application and whether the torque data relate to the motor axis or directly to the load. Click the "continue" button to open the next window. The scaling of the torque data is defined here.

53 Figure 8.10 Scaling the torque/performance data Select "Preferred scaling" to set the scaling to the scaling as defined by SERCOS and described in chapter 6. Select "Parameter scaling" to undertake individual scaling of the torque data. The scaling shown in Figure 8.10 would signify, e.g., that the torque data are transmitted with a resolution of 0.01 Nm. Figure 8.11 Scaling the acceleration data Select "Preferred scaling" to set the scaling to the scaling as defined by SERCOS and described in chapter 6. Select "Parameter scaling" to undertake individual scaling of the acceleration data. The scaling shown in Figure 8.11 would signify, e.g., that the acceleration data are transmitted with a resolution of rad / s² Scaling the acceleration data Click the "Acceleration unit" button (see Figure 8.6) to open the acceleration data scaling. In the first window for scaling the acceleration unit, it is necessary to select first the scaling method and the data reference (see Figure 8.7). I.e., it must be defined whether the axis is linear or rotary in the application and whether the acceleration data relate to the motor axis or directly to the load. Click the "continue" button to open the next window. The scaling of the acceleration data is defined here. ServoOne User Manual SERCOS II and III 53 8 Scaling and weighting