SFU DNC Commands

Transcription

1 ! SFU DNC Commands SIEB & MEYER AG Auf dem Schmaarkamp 21 D Lüneburg Germany Telephone: ++49(4131)203-0 Telefax: ++49(4131) Internet: SFU DNC commands 1

2 ! The text and the translation of the manual have been worked out very carefully. However, SIEB & MEYER can accept neither obligation nor legal responsibility for incorrect specifications and their consequences, possibly still described in the manual. Subject to technical alterations! SIEB & MEYER AG, Lüneburg 021-SFU-bed-DNC-Kommandos/R002-SM-EN-KM/CL/FIS/SHE October 15, DNC commands SFU 21.71

3 ! Contents 1 DNC61-Protocol of SIEB & MEYER Prompt Telegram CMD_SBYTE CMD_BYTE CMD_PAR Reply Telegram SFU_SB SFU_SB SFU_SB SFU_SB SFU_PAR Handshake between Master and Slave Description of the DNC commands (CMD_BYTE)...13 Valid from application U71prb Command 64:Set Settings Command 65:Read Actual Values Command 66:Clear Error or Message Command 67:Controller deactivated Command 68:Controller activated Command 69:Trigger Emergency Stop Command 70:Rotating with absolute speed Command 71:Rotating with relative speed Command 72:Calibrated Command 73:Positioning to absolute position Command 74:Positioning to relative position Command 75:Reserved Command 76:Set torque reference value Appendix: Revisions...21 SFU DNC commands 3

4 Contents! 4 DNC commands SFU 21.71

5 ! DNC61-Protocol 1 DNC61-Protocol of SIEB & MEYER The DNC61 protocol of SIEB & MEYER serves to connect the frequency converter (slave) or another component of SIEB & MEYER to a higher-ranking control (master). In order to connect the slave physically to the master, the Profibus-DP bus system is used. The communication between master and frequency converter is principally made according to the master-slave method. That means: The frequency converter becomes only active after request of the master. The data is interchanged cyclically as data telegrams. The prompt telegram is used for the communication direction from the master to the slave. From the slave to the master, the reply telegram is used. The cycle time of the data transmission results from the number of bus participants and the transmission rate of the bus system. During the communication a bus address is assigned to every frequency converter. The bus address is derived from the module address. Profibus-DP In the Profibus-DP the modules are counted as follows: The number 1 is assigned to the master module, the first slave module starts with number 3, i.e. there is an offset of 3 in the address assignment (address in the type plate) in the S&M components prepared for bus systems. SFU DNC commands - 5 -

6 DNC61-Protocol! 1.1 Prompt Telegram The master and the slave communicate in a cyclic interchange of firmly defined prompt and reply telegrams. Range: 8 bytes, data received from the SFU module Byte# Name Meaning 0 CMD_SBYTE control byte for the command transmission Bit number Name Meaning 0 CMD_VALID start command 1 CMD_DISABLE disable command CMD_HBEAT Heartbeat- Bit 7 1 CMD_BYTE command byte, contains the command number to 7 CMD_PAR double word (4 bytes) for the parameter transmission to the SFU module DNC commands SFU 21.71

7 ! DNC61-Protocol CMD_SBYTE The master transmits the control bits to the frequency converter via the command control byte. Among other things, the handshake between master and frequency converter is realized by the command control byte. CMD_VALID If this bit is toggled, another command will be initiated. At this time, CMD_BYTE and CMD_PAR must contain valid data. CMD_DISABLE Commands can be affected with the disable bit, for example starting or interrupting positioning commands. A received CMD_DISABLE bit can block the execution of a command. The reaction is command-specific. CMD_HBEAT The heartbeat bit CMD_HBEAT can be used for the mutual monitoring of master and slave (frequency converter). For this, the master toggles the bit CMD_HBEAT and monitors whether the frequency converter has adapted the bit SFU_HBEAT after a defined time. L If the controller is activated, the master must toggle the CMD_HBEAT within 3 seconds CMD_BYTE Via the CMD_BYTE, the master selects the respective command stored in the frequency converter. The selection is made by unambiguous command numbers. In the CMD_PAR, a 32 bit parameter can be transmitted with every command CMD_PAR In the CMD_PAR, a 32 bit parameter can be transmitted with every command from the master to the frequency converter. SFU DNC commands - 7 -

8 DNC61-Protocol! 1.2 Reply Telegram The master and the slave communicate in a cyclic interchange of firmly defined prompt and reply telegrams. Range: 8 bytes, data transmitted from the SFU module to the master Byte# Name Meaning 0 SFU_SB0 status byte 0 Bit number Name Meaning 0 SFU_DONE command finished, toggle 1 SFU_ACKN command received, toggle 2 SFU_ERR error message 3 4 SFU_INPOS in position window 5 6 SFU_HBEAT Heartbeat- Bit 7 1 SFU_SB1 status byte 1 Bit number Name Meaning 0 SFU_INIT initialization necessary 1 SFU_RUN automatic operation 2 SFU_ON controller activated 3 SFU_CAL calibrated 4 SFU_V_ZERO ramp generator = ZERO 5 6 SFU_V_OK ramp generator = reference value 7 SFU_I_LIMIT current limitation 2 SFU_SB2 status byte 2, error and message codes 3 SFU_SB3 status byte 3 Bit number Name Meaning 0 controller activated output stage ACTIVATED 1 r.p.m. ZERO actual speed value smaller than settings 2 r.p.m. OK actual speed value within the tolerances 3 load limit load higher than settings 4 current limitation maximum current reached 5 position OK actual position in the positioning window 6 calibrating calibrated 7 error error 4 to 7 SFU_PAR command return value DNC commands SFU 21.71

9 ! DNC61-Protocol SFU_SB0 The status byte SFU_SB0 informs the master about the status of the frequency converter via separate status bits. SFU_DONE By adapting the bit SFU_DONE to the bit CMD_VALID the master is informed that the execution of a command is finished. SFU_ACKN By adapting the bit SFU_ACKN to the bit CMD_VALID the master is informed that the command has been received and that it will be executed. SFU_ERR The bit indicates whether a command error or a malfunction of the unit has occurred. The bit SFU_ERR must only be evaluated if the command has been finished. Then, SFU_DONE and SFU_ACKN are adapted to CMD_VALID. In this case, the byte SFU_SB2 contains the error code. SFU_INPOS During a positioning command, this bit indicates whether the actual position is in the positioning window, referring to the destination position. SFU_HBEAT The heartbeat bit SFU_HBEAT can be used for monitoring the frequency converter. For this, the master toggles the bit CMD_HBEAT and monitors whether the frequency converter has adapted the bit SFU_HBEAT after a defined time. SFU DNC commands - 9 -

10 DNC61-Protocol! SFU_SB1 The status byte SFU_SB1 informs the master about the status of the frequency converter via separate status bits. SFU_INIT This bit will be set if required parameters have not been initialized yet. SFU_RUN This bit will be set if the frequency converter is in the operational mode AUTOMATIC. SFU_ON The bit indicates whether the output stage is activated (SFU_ON = 1) or deactivated (SFU_ON = 0). SFU_CAL The bit indicates whether a reference move has been made (SFU_CAL = 1) or must still be made (SFU_CAL = 0). SFU_V_ZERO In case of SFU_V_ZERO = 1, the ramp generator has the value 0. SFU_V_OK The bit SFU_V_OK indicates that the ramp generator has reached the reference value. SFU_I_LIMIT The bit SFU_I_LIMIT will be set if the frequency converter is within the current limitation SFU_SB SFU_SB SFU_PAR If bit SFU_ERR is set, SFU_SB2 contains an error code. If bit SFU_ERR is not set, SFU_SB2 contains a message code. An error code always overwrites a message code. This status byte transmits messages back to the master (see table page 8). After request by respective commands, the frequency converter transmits a 32 bit parameter to the master..the parameter is only valid, when CMD_ACKN is equal to CMD_VALID DNC commands SFU 21.71

11 ! DNC61-Protocol 1.3 Handshake between Master and Slave The handshake between master and frequency converter is generated by tracking the bits SFU_ACKN and SFU_DONE to the master bit CMD_VALID. The following diagram shows the chronological cycles of succeeding commands. Command 1: (1) The master #toggles the bit CMD_VALID after assigning a command to the CMD_BYTE. Both can also be made in the same prompt telegram. (2) After adapting SFU_ACKN the frequency converter provides actual return values in the double word SFU_PAR. (3) If the command has been finished, the frequency converter will adapt SFU_DONE to CNC_VALID. Thus, the master will get the information about the finished command. If an error has occurred during this time in the frequency converter, SFU_DONE will be adapted to CMD_VALID and SFU_ERR will be set. Then, the error code will be transmitted to the master with SFU_SB1. SFU_ERR and SFU_SB1 only contain valid data after the adaptation of SFU_DONE to CMD_VALID. Command 2: (4), (5) and (6) Command 3: (7), (8) and (9) SFU DNC commands

12 DNC61-Protocol! DNC commands SFU 21.71

13 ! Description of the DNC commands 2 Description of the DNC commands (CMD_BYTE) Valid from application U71prb53 At present, the DNC commands 64 to 76 are implemented. If other commands are used, the message wrong command is indicated (error 80 in SFU_SB2). Command number (CMD_BYTE) Function 64 set settings 65 read actual values 66 clear error or message 67 controller deactivated 68 controller activated 69 trigger emergency stop 70 rotating with absolute speed 71 rotating with relative speed 72 calibrating (reference move) 73 positioning to absolute position 74 positioning to relative position 75 reserved 76 set torque reference value SFU DNC commands

14 Description of the DNC commands! 2.1 Command 64:Set Settings Possible settings are: < Change the mode of operation of the SFU from speed to torque and vice versa < Selection of the unit for speed presetting < Selection of the unit for position presetting < Activation of the position controller as support for the speed controller. < Reference value for the acceleration in revolutions per s 2 for the rotational mode of operation. < Reference value for the deceleration in revolutions per s 2 for the rotational mode of operation. < R.p.m. OK, tolerance in 0,1% < Speed zero limit (unit - see setting unit for speed) < Load limit in % In order to set a setting, the following value must be entered in the 32 bit CMD_PAR of the prompt telegram: Desired setting value of the setting Setting Number ( 65536) Possible values Reserved 0 speed / torque 1 unit for speed 2 unit for position 3 0 = operating mode (speed) 1 = operating mode (torque) 0 = rpm 1 = inc/ms * = 1 rev. 1 = 1 degree 2 = inc 3 = 0,0001 rev. 4 = 0,001 degree position controller at speed 4 0 = deactivated 1 = activated Reference value for the acceleration 5 Zero to maximum acceleration Reference value for the deceleration 6 Zero to maximum deceleration Speed OK 7 0 to 100 1% Speed-Zero limit 8 Zero to maximum speed (unit - see settingunit for speed) load limit 9 0 to 100% The bold-faced values are standard settings of the converter. Possible errors (SFU_SB2): SFU_SB2 Error name Cause 100 SFU not initialized 1 Incorrect parameter or error in value range 2 Function in this mode not permitted The initialization process has not been terminated yet. A setting has been selected beyond the setting range 1 to 9. The setting range has been exceeded. For some settings, the SFU must be in the mode Controller deactivated DNC commands SFU 21.71

15 ! Description of the DNC commands 2.2 Command 65:Read Actual Values In order to read actual values, the respective index must be transmitted in the CMD_PAR of the prompt telegram. Actual value INDEX Unit of the value or possible values Speed reference value 0 Setting: unit for speed Actual speed value 1 Setting: unit for speed Maximum speed 2 Setting: unit for speed Absolute position 3 INC Angular position 4 Setting: unit for position Position error 5 Setting: unit for position Current load 6 % Current power 7 0,1 W Current torque 8 0,01 Nm I²t load of the motor 9 % Temperature of the motor 10 Degree centigrade Temperature of the converter 11 Degree centigrade Position factor (inc/rev.) 12 Speed factor reserved 14 reserved 15 Operating mode (speed or torque) 16 0 = speed 1 = torque unit for speed 17 see command 64 unit for position 18 see command 64 Position controller during rotation 19 0 = deactivated 1 = activated reserved 20 reserved 21 position OK 22 0 = no 1 = yes Reference value for the acceleration Zero to maximum acceleration 23 Reference value for the deceleration Zero to maximum deceleration 24 Speed OK 25 0 to 100 1% Speed-Zero limit 26 Zero to maximum speed (unit - see setting - unit for speed) load limit 27 0 to 100% Possible errors (SFU_SB2): SFU_SB2 Error name Cause 100 SFU not initialized 1 Incorrect parameter or error in value range The initialization process has not been terminated yet. An actual value has been selected beyond the range 0 to 22. SFU DNC commands

16 Description of the DNC commands! 2.3 Command 66:Clear Error or Message Command 66 permits to clear existing errors or messages. < In order to clear an error, a 0 must be transmitted in the CMD_PAR. < In order to clear a message, a 1 must be transmitted in the CMD_PAR. < In order to clear an error and a message, a 2 must be transmitted in the CMD_PAR. Possible errors (SFU_SB2): SFU_SB2 Error name Cause 1 Incorrect parameter or error in value range A function has been selected beyond the range 0 to Command 67:Controller deactivated Command 67 deactivates the control circuits of the SFU and the output stage.the current supply of the motor is interrupted. The CMD_HBEAT monitoring is stopped. 2.5 Command 68:Controller activated Command 68 activates the control circuits of the SFU and the output stage. The current supply of the motor is guaranteed. The CMD_HBEAT monitoring is started. Possible errors (SFU_SB2): SFU_SB2 Error name Cause 100 SFU not initialized The initialization process has not been terminated yet. XXX Error status in the SFU See description of the corresponding error DNC commands SFU 21.71

17 ! Description of the DNC commands 2.6 Command 69:Trigger Emergency Stop Command 69 permits to decelerate the motor to r.p.m. zero according to the emergency stop deceleration rate set in the parameters of the speed controller. The controller is deactivated when r.p.m. zero is reached. Thus, the output stage is deactivated. No parameter is required. Possible errors (SFU_SB2): SFU_SB2 Error name Cause 100 SFU not initialized 87 The power output stage is deactivated 89 The execution of the command has been interrupted The initialization process has not been terminated yet. The controller has not been activated. The controller has been deactivated due to an error. During the execution, the CMD_BYTE was modified. During the execution, the bit CMD_VALID was toggled. During the execution, the bit CMD_DISABLE was set. 2 Function in this mode not permitted The SFU is torque operated. 168 Communication time out XXX Error status in the SFU The bit CMD_HBEAT was not toggled on time by the master. See description of the corresponding error. 2.7 Command 70:Rotating with absolute speed Command 70 permits to accelerate or decelerate the motor to the absolute speed transmitted in CMD_PAR. The unit of this reference value is determined with command 64. The acceleration or deceleration values set in the parameters of the speed controller are used. Possible errors (SFU_SB2): see command Command 71:Rotating with relative speed Command 70 permits to accelerate or decelerate the motor according to the relative speed transmitted in CMD_PAR. The unit of this reference value is determined with command 64. The acceleration or deceleration values set in the parameters of the speed controller are used. Possible errors (SFU_SB2): see command 69 SFU DNC commands

18 Description of the DNC commands! 2.9 Command 72:Calibrated Command 72 permits a calibration (reference move) in order to detect the position of the zero pulse of the encoder and to set the internal positioning counter of the SFU to 0 at this position. Possible errors (SFU_SB2): SFU_SB2 Error name Cause 100 SFU not initialized 87 The power output stage is deactivated 89 The execution of the command has been interrupted 2 Function in this mode not permitted 168 Communication time out XXX Error status in the SFU 86 No calibration The initialization process has not been terminated yet. The controller has not been activated. The controller has been deactivated due to an error. During the execution, the CMD_BYTE was modified. During the execution, the bit CMD_VALID was toggled. During the execution, the bit CMD_DISABLE was set. The SFU is torque operated. The encoder does not produce a zero pulse. The bit CMD_HBEAT was not toggled on time by the master. See description of the corresponding error. The SFU could not detect a zero pulse. No calibration has been realized Command 73:Positioning to absolute position Command 73 permits to position the motor to the absolute position transmitted in CMD_PAR. The reference point is the zero point determined after a calibration. The unit of this reference value is determined with command 64. The acceleration, deceleration and maximum speed values determined in the parameters of the position controller are used. Possible errors (SFU_SB2): see command Command 74:Positioning to relative position Command 74 permits to position the motor according to the relative position transmitted in CMD_PAR. The unit of this reference value is determined with command 64. The acceleration, deceleration and maximum speed values determined in the parameters of the position controller are used. Possible errors (SFU_SB2): see command DNC commands SFU 21.71

19 ! Description of the DNC commands 2.12 Command 75:Reserved 2.13 Command 76:Set torque reference value Command 76 permits to set a torque reference value which is transmitted in CMD_PAR. The torque can be preset in 1000 graduations (0,1%) from the maximum torque of the motor. In order to execute command 76, the SFU must be torque operated. This operating mode is initiated by command 64. The torque is generated passively, i.e. the SFU maintains the state r.p.m.= zero until the torque limit value is reached. If the motor is not driven by an external motor, the SFU does not generate a torque. Possible errors (SFU_SB2): SFU_SB2 Error name Cause 100 SFU not initialized 1 Incorrect parameter or error in value range The initialization process has not been terminated. A torque value has been selected beyond the range 0 to The power output stage is deactivated The controller has not been activated. The controller has been deactivated due to an error. 2 Function in this mode not permitted The SFU is speed operated. XXX Error status in the SFU See description of the corresponding error. SFU DNC commands

20 Description of the DNC commands! DNC commands SFU 21.71

21 ! Appendix: Revisions 3 Appendix: Revisions This appendix describes alterations in comparison with previous versions of the manual. SFU DNC Commands 021-SFU-bed-DNC-Kommandos/R002-SM-EN-KM/CL/FIS/SHE 15. Oktober 2004 Some technical data of the commands 64 and 65 have been modified. SFU DNC commands