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Servo positioning controller

DIS-2 48/10 FB

PROFIBUS Manual

Summary of Contents for DIS-2 48/10 FB FS STO

Page 1: ...nd Elektronik GmbH Telefon 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 D 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de Servo positioning controller DIS 2 48 10 FB PROFIBUS Manual ...

Page 2: ...eet the buyer s demands and purposes or that they work together with other products selected by the buyer Metronix does not assume any liability for damages resulting from the combined use of its products with other products or resulting from improper handling of machines or systems Metronix Meßgeräte und Elektronik GmbH reserves the right to modify amend or improve the document or the product wit...

Page 3: ...ektronik GmbH Manual PROFIBUS Manual Servo positioning controller DIS 2 48 10 FB File name Profi HB_DIS 2_2p0_EN No Description Revision index Date of change 001 Creation 1 0 06th July 2006 002 Update Corporate Identity No technical changes 2 0 02 05 2011 ...

Page 4: ... 6 Protection against contact with hot parts 17 2 4 7 Protection during handling and assembly 18 3 Wiring and pin assignment 19 3 1 Pin assignment 19 3 2 PROFIBUS cable 19 3 3 Termination and bus terminating resistors 20 4 PROFIBUS DP and PROFIdrive 21 4 1 Overview of DP and its different versions 21 4 2 Basic functions of DP V0 22 4 3 PROFIdrive overview 22 5 PROFIBUS connection 24 5 1 Introducti...

Page 5: ...puts 61 10 5 5 PNU 1141 Digital Inputs 61 10 6 Parameters for the telegram structure 62 10 6 1 PNU 2000 PKW Access 62 10 6 2 PNU 2010 Placeholders 63 10 6 3 PNU 2011 Element 0 64 10 7 Parameter for Various Intents 65 10 7 1 PNU 1601 Last Error Code 65 10 7 2 PNU 1610 Error Managment 66 11 Operating modes 67 11 1 Overview 67 11 2 Parameters 67 11 2 1 PNU 1500 Operating Mode 67 11 3 Speed control mo...

Page 6: ...legram of the positioning example project 82 13 2 4 3 Response telegram for the example projects 83 13 2 5 Creating an S7 program 84 13 2 6 Integrating the GSD file 84 13 2 7 Hardware configuration 85 13 2 8 Integrating the servo positioning controller 86 13 2 9 Overview of function and data blocks 87 ...

Page 7: ...FB 24 Figure 5 2 Hardware configuration under SIEMENS S7 26 Figure 6 1 Composition of a reception telegram 28 Figure 6 2 Composition of a response telegram 30 Figure 7 1 Setting of physical units 31 Figure 7 2 Gear ratio 32 Figure 8 1 Setting of operating parameters 34 Figure 9 1 Simplified state diagram 43 Figure 10 1 Interpretation of the home offset 54 Figure 11 1 Uninterrupted sequence of moti...

Page 8: ...gram with instructions concerning the start up of DIS 2 48 10 servo positioning controllers and description of the technical specifications and the device functionality as well as notes on the installation and the operation of the servo positioning controller DIS 2 48 10 1 2 PROFIBUS documentation PROFIBUS PROcess FIeldBUS is a standard defined by the German association of PROFIBUS users PROFIBUS ...

Page 9: ...Heidelberg 1998 2 Dezentralisieren mit PROFIBUS DP Aufbau Projektierung und Einsatz des PROFIBUS DP mit Simatic S7 Josef Weigmann Gerhard Kilian Siemens Erlangen München 1998 3 Der neue Schnelleinstieg für PROFIBUS DP Von DP V0 bis DP V2 Manfred Popp PROFIBUS Nutzerorganisation e V Karlsruhe 2002 4 PROFIdrive Profile Drive Technology Vers 3 1 PROFIBUS Nutzerorganisation e V Karlsruhe 5 IEC 61158 F...

Page 10: ... 2 Safety notes for electrical drives and controllers 2 1 Used symbols Information Important information and notes Caution Nonobservance may result in severe property damages DANGER Nonobservance may result in property damages and in personal injuries Caution Dangerous voltages The safety note indicates a possible perilous voltage ...

Page 11: ...ed in their field of expertise Education and instruction or authorisation to switch devices systems on and off and to ground them as per the standards of safety engineering and to efficiently label them as per the job demands Education and instruction as per the standards of safety engineering regarding the maintenance and use of adequate safety equipment First aid training The following notes mus...

Page 12: ... inappropriate intervention in the safety features may result in property damage personal injuries electric shock or in extreme cases even death 2 3 Danger resulting from misuse DANGER High electrical voltages and high load currents Danger to life or serious personal injury from electrical shock DANGER High electrical voltage caused by wrong connections Danger to life or serious personal injury fr...

Page 13: ...panels such as connecting contactors and relays using RC elements or diodes The safety rules and regulations of the country in which the device will be operated must be complied with The environment conditions defined in the product documentation must be kept Safety critical applications are not allowed unless specifically approved by the manufacturer For notes on installation corresponding to EMC...

Page 14: ... with electrical devices Prevention of accidents injuries and or damages Additionally secure vertical axes against falling down or lowering after the motor has been switched off e g by means of Mechanical locking of the vertical axle External braking catching or clamping devices or Sufficient balancing of the axle The motor holding brake supplied by default or an external motor holding brake drive...

Page 15: ... the brake resistor externally or internally can assume high temperatures which may cause serious burns 2 4 3 Protection against contact with electrical parts This section only concerns devices and drive components carrying voltages exceeding 50 V Contact with parts carrying voltages of more than 50 V can be dangerous for people and may cause electrical shock During operation of electrical devices...

Page 16: ...from being switched on again For the installation the amount of DC bus voltage must be considered particularly regarding insulation and protective measures Ensure proper grounding wire dimensioning and corresponding short circuit protection 2 4 4 Protection against electrical shock by means of protective extra low voltage PELV All connections and terminals with voltages between 5 and 50 Volts at t...

Page 17: ...e built in monitors come into effect faulty drive movements must be taken into account their magnitude depends on the type of control and on the operating state DANGER Dangerous movements Danger to life risk of injury serious personal injuries or property damage For the reasons mentioned above personal protection must be ensured by means of monitoring or superordinated measures on the device These...

Page 18: ... due to improper handling Personal injury due to pinching shearing cutting crushing The following general safety notes apply Comply with the general setup and safety regulations on handling and assembly Use suitable assembly and transportation devices Prevent incarcerations and contusions by means of suitable protective measures Use suitable tools only If specified use special tools Use lifting de...

Page 19: ...igh baud rates we recommend using standardized cables and connectors They offer additional diagnose functionalities and facilitate rapid analysis of the field bus hardware in the event of malfunctions When setting up the PROFIBUS network compliance with the information given in the standard literature and the following information and notes is strongly recommended in order to obtain a stable troub...

Page 20: ...n be activated by setting the two DIP switches on the module switches set to ON Due to the high class of protection of the servo positioning controller DIS 2 48 10 FB the terminating resistors can not served from outside To switch on off the terminating resistors is only possible if the servo positioning controller DIS 2 48 10 FB is removed from the motor Therefore a terminal resistance in form of...

Page 21: ...s for process automation like for example acyclic data exchange for parameterisation operation monitoring and alarm management of intelligent field devices in parallel to cyclic exchange of useful data Bus devices can be accessed online through engineering tools In addition DP V1 includes alarms like the status alarm the update alarm and a manufacturer specific alarm DP V2 This version includes fu...

Page 22: ...ycle time of the central automation system which is in the range of about 10 ms for many applications A high data throughput alone is not enough for successful use of a bus system Other factors such as ease of operation good diagnosis facilities and a fail safe transmission method are more important These characteristics have been combined successfully in DP V0 DP needs only about 1 ms to transmit...

Page 23: ...idual bits is also defined in the specification The functions of these two words have been adopted to a large extent Manufacturer specific deviations are related to certain details and documented and marked in one of the following chapters The servo positioning controller DIS 2 48 10 FB covers a part of the application classes defined in the PROFIdrive specification PROFIBUS DP does not specify th...

Page 24: ...1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Data 1st PNU dummy Control word 1 Figure 5 1 Example of the telegram format for the DIS 2 48 10 FB Figure 5 1 shows the example of a standard servo positioning controller DIS 2 48 10 FB telegram sent from the master to the slave Apart from the identifier in byte 0 this telegram type requires the PROFIdrive control word 1 in byte 2 and 3 for device control The co...

Page 25: ...nd acceleration are handed over in the form of physical units These units should be parameterized prior to starting the communication as they define the way the data are interpreted in the servo positioning controller Once these steps have been completed the operating parameters of the PROFIBUS connection have to be set The slave address has to be set correctly prior to activating the communicatio...

Page 26: ...length of the input and output data has to be defined The associated modules are already prepared in the GSD file One module for input data and one module for output data with the desired length have to be added to one port Figure 5 2 Hardware configuration under SIEMENS S7 To ensure trouble free operation we recommend defining separate areas for input data and output data see the example above Fu...

Page 27: ... maximum In the project of the PROFIBUS master data areas e g data blocks are created The input and output data of the master and of the slave are stored in these data areas During project planning the user has to define the contents and their order as well as the size of the two data areas in an identical manner for both the master and the slave This parameterisation should be performed prior to ...

Page 28: ...ve to be selected too The user can specify and configure a specific response telegram for every reception telegram In most cases however it is easier to use the same response telegram for all operating modes reception telegrams 0 2 This reduces the necessary programming workload at the master end In addition the master usually requires the same actual value data from the servo positioning controll...

Page 29: ...response telegrams The necessary parameter numbers have to be entered for every response telegram They include the information concerning the meaning of the data in the telegram In the case of reception telegrams 0 2 a so called status word is entered at address 2 length 2 bytes This consistent convention facilitates the creation of applications and the use of the Metronix example projects for SIE...

Page 30: ...ual value PNU 1100 0 Current actual position indication with the physical unit of a position set for PROFIBUS 8 Velocity actual value PNU 1101 0 Current actual speed value indication with the physical speed unit set for PROFIBUS 12 Current actual value PNU 1102 0 Actual value of the current indicated per thousand referring to the nominal motor current 16 Digital inputs PNU 1141 0 Current status of...

Page 31: ...s separate parameters Figure 7 1 shows the physical unit set up menu of the DIS 2 ServoCommander TM program Figure 7 1 Setting of physical units When the physical units are entered the firmware automatically calculates conversion factors They consist of a numerator and a denominator which can comprise a maximum of 32 bits each If an overflow occurs when the factors are entered the value will be re...

Page 32: ... entered externally cannot be represented following the conversion In such a case an error is issued and the setting of the physical units has to be checked During the parameterisation of the display units intermediate states may occur in which the physical units have an overflow This case generates the error 59 general arithmetic error Perform Save Reset in order to find out if the parameterisati...

Page 33: ...orms one revolution this corresponds to the following entries Ingoing shaft 10 Outgoing shaft 1 Now the system can be parameterized using the units of the output outgoing shaft The gear ratio and the feed constant are defined as positive values If the orientation of the application has to be changed this can be done in the software DIS 2 ServoCommander TM in the window commands ...

Page 34: ...rameters At the servo positioning controller end only the slave address has to be entered to configure the communication After this the communication can be activated It has to be taken into consideration that the PROFIBUS communication is not activated until a reset is performed Deactivation however is always done immediately Figure 8 1 shows the window of the parameterisation program used to set...

Page 35: ...ddress Later changes have no effect The options have different values Option Active at Value Addition of DIN0 5 24 V DC 0 63 Addition of DIN4 5 24 V DC 16 32 48 The baud rate of the PROFIBUS communication is automatically recognized by the hardware used The automatically detected baud rate is displayed in this menu if a connection between Master and Slave could have been established successfully T...

Page 36: ...cribed in detail in chapter 9 4 State diagram and device control The implementation of the control word and the status word only follows the PROFIdrive specification Deviations from the specifications are marked In addition some bits have different meanings depending on the operating mode In the following chapters first the control word and then the status word are described Then the device contro...

Page 37: ... stop OFF 3 3 Enable Operation Disable Operation 4 1 Enable ramp generator 0 Reset ramp generator 1 All speed setpoints enabled 0 All speed setpoints disabled 5 1 Unfreeze ramp generator 0 Freeze ramp generator 1 Setpoint ramp enabled 0 Ramp stopped frozen 6 1 Enable setpoint 0 Disable setpoint 1 All setpoint inputs for the ramp enabled 0 All setpoint inputs for the ramp deactivated 7 Fault acknow...

Page 38: ...are fulfilled 7 Fault acknowledge edge from 0 1 Active errors are acknowledged if possible 8 Jog 1 ON Jog 1 OFF Manufacturer specific implementation 0 1 Start of positioning in accordance with positive jogging position set 1 0 Stop with deceleration in accordance with positive jogging position set 9 Jog 2 ON Jog 2 OFF Manufacturer specific implementation 0 1 Start of positioning in accordance with...

Page 39: ... e g with following positioning Chapter 9 4 State diagram and device control describes the device control The servo positioning controller takes on various states Defined transitions can be performed between these states The transitions are triggered by so called commands through bits 0 3 The commands are described in detail in chapter 9 4 State diagram and device control The following tables show...

Page 40: ...y To Switch On See the Device control section chapter 9 4 State diagram and device control 1 1 Ready To Operate 0 Not Ready To Operate 2 1 Operation Enabled 0 Operation Disabled 3 1 Fault Present 0 No Fault Present 1 Active faults 0 No fault active 4 1 No OFF2 0 OFF2 1 No OFF2 command active 0 OFF2 command control word 1 power stage OFF active 5 1 No OFF3 0 OFF3 1 No OFF3 command active 0 OFF3 com...

Page 41: ...2 command control word 1 power stage OFF active 5 1 No OFF3 0 OFF3 1 No OFF3 command active 0 OFF3 command control word 1 quick stop active 6 1 Switching On Inhibited 0 Switching On Not Inhibited See the device control section 7 1 Warning Present 0 No Warning Present 1 Active warning and or setpoint disabling through limit switch active in at least one direction of rotation 0 No warning active 8 1...

Page 42: ...evant Bits 4 and 5 depend on the command and therefore are not included in Table 9 6 9 4 State diagram and device control This chapter describes how DIS 2 48 10 FB servo positioning controllers are controlled with the help of the two data words control word 1 PNU 967 and status word 1 PNU 968 i e how the power stage is activated for example This control mechanism follows the specification of the P...

Page 43: ...e motor shaft can be rotated freely if no holding brake in the motor Via state transitions 1 2 and 3 the OPERATION state is reached This state corresponds to the controller enabling through PROFIBUS In this state the power stage is activated and the drive is controlled as defined by the operating mode set Make sure that the servo positioning controller has been parameterized correctly and that an ...

Page 44: ...ions described in chapter 9 4 1 State diagram certain bit combinations have to be set in control word 1 see below The lowest 4 bits of control word 1 are evaluated together to trigger a state transition In the following section only the most important state transitions 1 2 3 4 7 and 11 are explained A table showing all possible states and state transitions can be found in chapter 9 4 3 Command ove...

Page 45: ...the servo positioning controller i e the enabling of the controller via the PROFIBUS field bus EXAMPLE The servo positioning controller is to be enabled i e the power stage and the controller enabling are to be activated via PROFIBUS 1 The servo positioning controller is in the SWITCH_ON_INHIBITED state 2 The servo positioning controller has to change over to the OPERATION state 3 According to the...

Page 46: ...ontrol in accordance with adjusted operating mode 0x0207 4 Command Disable Operation Disable Operation 0 1 1 1 Cancellation of controller enabling 0x0203 5 Command OFF OFF x 1 1 0 Cancellation of controller enabling 0x0201 6 Command Coast Stop Coast Stop x x 0 x None 0x0250 resp 0x0270 7 Command Coast Stop Coast Stop x x 0 x The power stage is disabled The motor coasts down and can be rotated free...

Page 47: ...tant Apart from that the feed constant has a physical unit If this unit has not be parameterized correctly the feed constant will be ignored Power stage disabled means that the power semiconductors transistors are no longer activated If this state is assumed while the motor is running the motor will coast down A motor brake which might be present will be put on automatically Caution The signal doe...

Page 48: ...celeration positioning UINT32 rw 0 Start set number UINT8 rw 1002 0 Profile type of the position sets INT16 rw 1003 0 Target velocity INT32 rw 1010 Accelerations for velocity control 1011 0 Acceleration velocity control UINT32 rw 1 Deceleration velocity control UINT32 rw 2 All accelerations velocity control UINT32 rw Current limitation 1022 0 Selector for current limitation INT8 rw 1 read write se...

Page 49: ...rw 1 I t ratio motor UINT16 ro 0 Controller enable UINT16 rw 1350 0 Operating mode UINT8 ro 1500 Error code 1601 0 Error field 0 UINT32 ro 1 Error field 1 UINT32 ro Error management 1610 0 Error number UINT8 rw 1 Error reaction code UINT8 rw 0 Entry for manufacturer specific PKW access 2 UINT32 rw 2000 Placeholder 2010 0 8 bit placeholder blank element UINT8 rw 1 16 bit placeholder blank element U...

Page 50: ...ot have to be changed in an application during operation can be defined in a fixed manner Accelerations for example can be entered once and then do not have to be transmitted PNU 1000 Subindex 0 Name Position Set Number Data type UINT16 Access rw Unit Value range 0 68 0 63 Standard position data sets 64 67 Reserved 68 Position data set PROFIBUS Default value 68 Position data set PROFIBUS 10 2 2 PN...

Page 51: ... Subindex 0 Name Target Position Data type INT32 Access rw Unit Physical unit of PROFIBUS position Value range Default value 0 Subindex 1 Name Profile Velocity Data type INT32 Access rw Unit Physical unit of PROFIBUS velocity Value range Default value 1000 rpm Subindex 3 Name Acceleration Positioning Data type UINT32 Access rw Unit Physical unit of PROFIBUS acceleration Value range Default value 1...

Page 52: ...cal unit of PROFIBUS acceleration Value range Default value 10 000 rpm s 10 2 3 PNU 1002 Start Set Number This parameter is used to select the position data set which is started through control word 1 following a positioning start command The servo positioning controller contains up to 64 storable standard position data sets These data sets can be selected unambiguously on the basis of 8 bits PNU ...

Page 53: ...2 48 10 FB for a detailed description of the homing methods PNU 1050 Subindex 0 Name Homing Method Data type INT8 Access rw Unit Value range see USER Manual DIS 2 48 10 FB Default value 1 10 2 6 PNU 1051 Home Offset Set the distance between the home position and the zero position of a homing process by this parameter number Positive values move the zero position into positive direction referring t...

Page 54: ...ero pulse Home offset x Figure 10 1 Interpretation of the home offset The data are interpreted in the physical unit PROFIBUS position The physical unit can be set by an appropriate menu of the parameterisation program DIS 2 ServoCommander TM PNU 1051 Subindex 0 Name Home Offset Data type INT32 Access rw Unit Physical unit PROFIBUS position Value range Default value 0 ...

Page 55: ...arameterized in an identical manner the following selections are possible Acceleration combined for positive and negative direction of rotation Deceleration combined for positive and negative direction of rotation Combination of acceleration and deceleration for positive and negative direction of rotation The data are interpreted in the way they were set as physical units For this purpose the DIS ...

Page 56: ... Control provides access to the acceleration and deceleration ramp for both directions of rotation If the same value is intended for all 4 parameters only one data value has to be transmitted This value is then used internally for all four acceleration types It has to be taken into consideration that during a read operation only the current value of the deceleration ramp for the positive direction...

Page 57: ... be selected between a direct value RS232 or PROFIBUS or a indirectly value over an analogue input Depending from the choosen selector the parameter Limit Current set the value for current limit or the scaling factor for the analogue inputs In the first case the moment is limited to the proportional current in mA In the second case the current is set to the value in mA which corresponds to 10V PNU...

Page 58: ... 1 Name Symmetrical Jogging Accelerations Data type UINT32 Access rw The read access returns the value of the acceleration Unit Physical unit PROFIBUS acceleration Value range Default value 10 000 rpm s 10 4 3 PNU 1290 Motor Data Servo motors may be overloaded for a certain period of time This parameter indicates how long the motor may receive the indicated maximum current After the expiry of the ...

Page 59: ... Enable Logic The parameter enable_logic gibt an wie die Reglerfreigabe erfolgen soll For safety reasons this is done automatically after activation of CANopen also after a reset PNU 1350 Subindex 0 Name Enable Logic Data type UINT16 Access rw Unit Value range 0 3 Default value 0 Value Description 0 Controller enable via digital input DIN 9 1 Controller enable via digital input DIN 9 RS232 2 Contr...

Page 60: ...lculation of the actual position value of the servo positioning controller may has a greater value range than the range that can be transmitted through PROFIBUS by the PNU 1100 PNU 1100 Subindex 0 Name Position Actual Value Data type INT32 Access rw Unit Physical unit of PROFIBUS position Value range Default value 10 5 2 PNU 1101 Velocity Actual Value This parameter is used to return the actual sp...

Page 61: ...can be set via the parameter digital outputs It has to be kept in mind that a delay of up to 10 ms may occur between sending the command and a real reaction of the digital output The time the outputs are really set can be seen by rereading the parameter PNU 1140 Subindex 0 Name Digital Outputs Data type UINT32 Access rw Unit Value range Default value 0 Bit Value Description 0 00000001h holding bra...

Page 62: ...grams may differ although the same number of data is transmitted This is why certain parameters have been defined to fill gaps for example 10 6 1 PNU 2000 PKW Access Register this parameter into a telegram in order to variably access different parameter at runtime of the process There is only one access at maximum available for the receive and response telegrams Parameterize this access accordingl...

Page 63: ... 10 6 2 PNU 2010 Placeholders These parameters are used to fill up parameters As a result data areas e g data blocks can be structured such that parameters with a length of 2 or 4 bytes are located at even storage addresses PNU 2010 Name Placeholder Subindex 0 Name 8 Bit Data type UINT8 Access rw Unit Value range Default value 0 Subindex 1 Name 16 Bit Data type UINT16 Access rw Unit Value range De...

Page 64: ...e same purpose as the parameter PNU 2010 2 The only difference is that it is not shown in the telegram editor of the DIS 2 ServoCommander TM program if it is entered at the end of a telegram The number of entries in a telegram is limited to 10 Unused entries therefore contain this PNU PNU 2011 Subindex 0 Name Element 0 Data type UNT32 Access rw Unit Value range Default value 0 ...

Page 65: ...roup 10 7 1 PNU 1601 Last Error Code This parameter number returns the last generated error With the parameters error Field 0 and error Field 1 the actual errors codes can be read out PNU 1601 Name Error Code Subindex 0 Name Error Field 0 Data type UINT32 Access ro Unit Value range see USER Manual DIS 2 48 10 FB Default value Subindex 1 Name Error Field 1 Data type UINT32 Access ro Unit Value rang...

Page 66: ... The parameter Error Reaction Code indicates the reaction of the servo positioning controller to different situations PNU 1610 Name Error Management Subindex 0 Name Error Number Data type UINT8 Access rw Unit Value range 1 64 Default value Subindex 1 Name Error Reaction Code Data type UINT8 Access rw Unit Value range 0x00 0x03 0x05 0x08 Default value Value Description 0x00 no reaction 0x03 warning...

Page 67: ...e PROFIdrive specification the following operating modes and the associated reception telegrams are supported at present Operating mode Reception telegram Identifier Positioning 0 0xE0 Speed control 1 0xE1 Other operating modes cannot be selected at present 11 2 Parameters The operating mode is continuously monitored or selected with the help of reception telegrams The process of changing the oper...

Page 68: ...efined Homing controlled by the slave for example is started by a certain bit Some features are now described in detail All global options for homing are also valid when homing is started through the PROFIdrive control word 1 An optional following positioning to zero position is performed Due to a manufacturer specific implementation positioning is started only on a rising edge of the associated b...

Page 69: ... positioning controller DIS 2 48 10 FB Version 2 0 Some applications require a sequence of motion tasks to be executed without interruption see Figure 11 1 Interruption of the running positioning Figure 11 1 Uninterrupted sequence of motion tasks ...

Page 70: ...siehe chapter 9 3 Status word 1 V2 ro 971 0 Save parameters UINT16 rw Note Data type V2 is defined as a bit sequence with a length of 2 bytes 12 2 PNU description The PNUs 967 and 968 are described in detail in chapter 9 Device control The PNU 971 is described in the following chapter 12 2 1 PNU 971 Transfer into a Non Volatile Memory Active different saving processes of parameters inside the serv...

Page 71: ...P Product Manual The available example programs are only examples and explain the fundamental methods for using the function and data blocks When the example programs are used in customer specific applications the user has to check whether all function and safety relevant requirements have been fulfilled Information Specific function and data blocks have been developed for the DIS 2 48 10 FB servo...

Page 72: ...d out of the slave through SFC14 and written to the slave through SFC15 SFCs 14 and 15 are system functions which must be used for consistent reading and writing of telegrams with a length 4 bytes The data are stored in the data blocks defined for the operating mode in question through the corresponding SFCs The SFCs are not integrated in the function blocks and must be loaded as S7 program elemen...

Page 73: ...for the positioning mode INT DB_nr_actual_value Number of the data block containing the actual value data INT Inputs drive_enable This input is used to activate the controller enabling in the positioning mode The drive is held in its position start_homing This input is used to start a homing run The motor is started This requires an active controller enabling i e the output drive_enable_ok must be...

Page 74: ...ent positioning run is not terminated It will be continued when the intermediate_stop input is reset During homing this input has no effect hold If this input is set the current positioning run is stopped The system is slowed down with the deceleration valid for this positioning run After the process has been completed the pos_ok output is not set A reset of the input has no effect During homing t...

Page 75: ...ok This output is set when the current position is in the target window after the positioning run has been completed velo_zero This output is set if the actual velocity is zero in range of the message window The message window is parametrized in the DIS 2 ServoCommander TM under Parameters Messages Motor speed messages message window fault If this output is set there is a fault The controller enab...

Page 76: ...ked The drive slows down to standstill as quickly as possible When the input is reset the motor accelerates along the paramerized setpoint ramp to reach the adjusted speed setpoint jog_pos If this input is set the drive accelerates with the set acceleration of the setpoint ramp until it reaches the speed parameterized in position set Tipp Teach If there is a falling edge at this input the drives s...

Page 77: ...is greater than the free reference speed fault If this output is set there is a fault The controller enabling is cancelled The output is reset after the fault has been acknowledged 13 2 3 Integration of FBs and DBs As shown in the overview the function and data blocks developed for the DIS 2 48 10 FB servo positioning controllers can be downloaded free of charge Information The function and data b...

Page 78: ...es received 20 bytes Parameter Declaration Data type Storage area Description LADDR INPUT WORD E A M D L const Projected initial address of the E area of the module which has to be read RET_VAL OUTPUT INT E A M D L If a fault occurs while the function is processed the return value contains a fault code RECORD OUTPUT ANY E A M D L Target area for the useful data read This area has to be as long as ...

Page 79: ...ram lengths affecting the parameterisation of SFC15 Writing data for the positioning mode Output data area 256dez 100hex Number of the data block Initial address within the DB 0 0 and of which data are transmitted number of bytes to be transmitted 16 bytes to the slave Writing data for the speed control mode Output data area 256dez 100hex Number of the data block Initial address within the DB 0 0 ...

Page 80: ...on of the number of data to be transmitted and of the meaning of these data both at the master and at the slave end If the example projects described above are used the master and the slave have to be configured accordingly When the example projects are loaded the data blocks are already structured as required The telegrams have to be structured as required by the example projects using the DIS 2 ...

Page 81: ... 0 Control word for device control has to be under this address 4 Target velocity PNU 1010 0 Speed setpoint indication with the physical unit set for PROFIBUS 8 Acceleration PNU 1011 2 Combination of the values for acceleration and deceleration indication with the physical unit set for PROFIBUS The total length of this telegram is 12 bytes When the slave is integrated into the hardware configurati...

Page 82: ...llowing table describes the telegram structure Address Content parameter number Description 0 Identifier 0xE0 Fixed identifier 1 8 bit placeholder PNU 2010 0 Free 2 Control word 1 PNU 967 0 Control word for device control has to be under this address 4 Target position PNU 1001 0 Target position indication with the physical unit set for PROFIBUS 8 Profile velocity PNU 1001 1 Profile velocity during...

Page 83: ...ructure Address Content parameter number Description 0 Identifier 0xF0 Fixed identifier 1 Operating mode PNU 1500 0 Current operating mode of the servo positioning controller 2 Status word 1 PNU 968 0 Control word for device control has to be under this address 4 Position Actual Value PNU 1100 0 Actual position indication with the physical position unit set for PROFIBUS 8 Velocity Actual Value PNU...

Page 84: ...t the organization module OB1 OB1 is located at the top program level and organizes all the other modules Additional modules can be added later After that select the preferred programming language This language can be converted into other programming languages later 13 2 6 Integrating the GSD file As a next step the hardware of the PLC system used must be configured in the project created To do so...

Page 85: ...rdware configuration The S7 project must then be opened using the command Station Open Select the project name in the Name field of the Open window Then select SIMATIC 300 1 in the right window pane Then click on the OK button to open the hardware configuration of your project The following screenshot shows the hardware catalogue from which the hardware components can be selected If the hardware c...

Page 86: ... The servo positioning controller is integrated by selecting the line X2 DP Master in the station window Then add the Profibus with the help of the command Insert Master System Then add the desired module to the Profibus using drag drop from the directory PROFIBUS DP Additional Field Devices Closed loop controllers DIS 2 48 10 FB of the hardware catalogue The telegram length has to be taken into c...

Page 87: ...perties window The address has to be the same as the address previously set with the DIS 2 ServoCommander TM program The servo positioning controller is now integrated The hardware configuration should now look like that The S7 project is now prepared and programming can be started 13 2 9 Overview of function and data blocks Overview of positioning mode example project Overview of speed control ex...

Page 88: ...block for the positioning mode DB41Instance DB for FB41 The data block of internal variables belonging to the function block DB42DB_position Positioning data Speed control FB43 FB_velocity Function block for speed control mode DB43Instance DB for FB43 Data block of internal variables belonging to the function block DB44DB_velocity Data for speed control mode ...

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