Keba ServoOne Series, User Manual

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Parameter configratton
ServoOne User Mangal SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Parameter configratton
The real-ttme control btts and real-ttme statgs btts can be configred tn phases 2, 3
and 4.
The asstinment parameters contatn the ngmber of the parameter to be configred for
the related real-ttme btt.
Dgrtni configratton tt ts to be noted that the btt ngmber mgst be asstined frst
(S-0-0413, S-0-0414, S-0-0415, S-0-0416) before a correspondtni IDN ts asstined as
the real-ttme btt (S-0-0301, S-0-0303, S-0-0305, S-0-0307).
6.4.2 Configratton of real-ttme btts, SERCOS III
y
S-0-1050.x.20 "IDN – assignment real-time bit": IDN of the parameter
that is to be assigned to the related real-time bit.
y S-0-1050.x.21 "Bit – assignment real-time bit": Definition of which
bit number of the parameter assigned is to be represented.
6.5 Stinal control word and stinal statgs word
6.5.1 Stinal control word (S-0-0145)
Stinals can be transferred from the controller to the drtve tn real-ttme tn the stinal
control word S-0-0145. The stinal control word can be configred for the cycltc
transfer tn the master data teleiram (MDT). The stinal control word ts configred tn
phase 2 and ts acttvated on the transttton to phase 3. An erroneogs configratton wtll
resglt tn a devtce error and tt wtll not be posstble to swttch to phase 3. The configratton
parameters for the stinal control word are descrtbed tn the followtni table.
S-0-0027 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-0-0328 defines the bit number from the related
parameter that is to be given in the signal status word.
S-0-0329 Bit number allocation word for signal control word
Table 6.8 Configuration parameters for the signal control word
S-0-0027 Configuration list for signal control word
The bit numbers for the parameters from S-0-0027 copied to the signal control word
(S-0-0145) 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.
Table 6.8 Configuration parameters for the signal control word
The ltst of configrable parameters for the real-ttme statgs btts P 3002 appltes for the
configratton of the stinal statgs word.
6.5.2 Stinal statgs word (S-0-0144)
The drtve statgs configred by the gser can be represented tn the stinal statgs word
S-0-0144. The stinal statgs word can be configred for the cycltc transfer tn the drtve
teleiram (AT). The stinal statgs word ts configred tn phase 2 and ts acttvated on the
transttton to phase 3. An erroneogs configratton wtll resglt tn a devtce error and tt wtll
not be posstble to swttch to phase 3. The configratton parameters for the stinal statgs
word are descrtbed tn the followtni table.
S-0-0026 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-0-0328 defines the bit number from the related
parameter that is to be given in the signal status word.
S-0-0328 Signal status word bit number assignment list
The bit numbers for the parameters from S-0-0026 copied to the signal status word
(S-0-0144) 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.
Table 6.9 Configuration parameters for the signal status word
The ltst of configrable parameters for the real-ttme statgs btts P 3002 appltes for the
configratton of the stinal statgs word.