Keba ServoOne Series, User Manual

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Data transfer
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Data transfer
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 8.2.2.
The command functions are also transmitted via the service channel. The following
commands are currently supported:
y S-0-0099: Reset state class 1 (acknowledge error)
y
S-0-0127: Switching preparation phase 3
y
S-0-0128: Switching preparation phase 4
y
S-0-0139: "Park axis" command
y S-0-0148: Drive-controlled homing
y
S-0-0152: "Position spindle" command
y
S-0-0170: "Touch probe" command
y
S-0-0191: "Delete homing point" command
y S-0-0216: "Switch parameter set" command
y
S-0-0262: "Parameter initialisation to default values" command
y
S-0-0263: "Parameter initialisation to backup values" command
y
S-0-0264: "Save actual parameter values" command
y S-0-0447: "Set absolution position" command
y
S-0-1024: "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.
7.5.1 Parameter configuration
Parameter Description
S-0-1017 Transmission time NRT channel
S-0-1019 MAC address
S-0-1020 SERCOS III IP address
S-0-1021 Subnet mask
S-0-1022 Gateway
Table 7.6 Parameter configuration
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-0-1019, IDN/S-0-1020 and IDN/S-0-1021 must be correctly
configured.
For ID/S-0-1019 "MAC address" and ID/S-0-1021 "Subnet mask" the factory setting
should be used in each case, setting correctly ID/S-0-1020 "IP address" is described in
more detail in chapter 5.4.2.