02.2004
Communication / CBC CANopen Communication Board
Siemens AG
6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES
Compendium Motion Control
8.5-123
F
unc
tion diagram
8
7
6
5
4
3
2
1
Par
ameter
file "Pos
iti
oning with
F
01 v
ia
CAN
op
en"
M
AST
ER
DRI
VES MC
01
.1
0.
01
MA
ST
ERDR
IVE
S
M
C
F
01
- 8516
-
fr
om V1.5
P
ara
meter file for
th
e
cont
rol of posit
ioning/syn
chronous operation via CBC
fi
eld
bus int
erface CANopen
D
riveMo
n
it
or f
o
r
WIN
D
OWS 95
an
d later:
Free
block
int
erconnec
tions
S
peed setpo
int swi
tchover
for hom
ing
and contro
l
Mode-
depen
dent speed setpoi
nt swi
tchover
Th
is cir
cuit i
m
pl
emen
ts
swi
tchover o
f the speed setpoi
nt i
n P212 d
ependi
ng on w
hether
contro
l or
homi
ng i
s s
e
lected. If
this ci
rc
uit
is omi
tted, th
e s
p
eed setpoi
nt i
s a
lw
ay
s
suppl
ied
by
the technol
ogy.
Obje
ct
6
0ffh tar
get_vel
oc
ity has no effect i
n thi
s c
a
se
.
An
alo
g
sig
n
a
l select
or swit
ch 5 (
2-wo
rd)
[K
K0530]
Co
nt
rol se
tp
oin
t
U18
4.00=
618
U18
5.01=
311
U18
5.02=
418
U95
2.08=
4
AN
D elem
en
t 18 [
B
06
18]
U23
8.01=
649
U23
8.02=
650
U23
8:03=
3214
U95
2.92=
4
In
verter 9 [
B
064
9] In
vert M
o
d
e In
2^0
U25
9.00=
3212
U95
2.53=
4
In
verter 10
[B06
50] In
vert
Mod
e In
2^1
U26
0.00=
3213
U95
2.55=
4
I
nter
connectio
n for th
e targ
et_rea
ched
bit
in status w
ord
Th
is cir
cuit i
m
pl
emen
ts
th
e targ
et_rea
ched
bit
in th
e s
ta
tus
word
wi
th a sin
gle-
w
or
d l
imi
t-
valu
e moni
tor.
L
im
it-
va
lue
mo
ni
to
r wi
th
s
m
oo
th
in
g (
1 word
)
U13
6.01=
151
U13
6.02=
418
U13
8.00=
0.20
U13
9.00=
2
U95
1.18=
4
;Sw
itchover
of "Mode
in contr
ol
"FP[8
510.3]
;v-set fr
om technol
ogy
;v-set fi
xed setpoi
nt U0
18 wi
th SDO or
DPR
;T
im
e s
lot
;Inp
ut 1 (M
ode i
n 2^
0 i
nverted
)
;Inp
ut 2 (M
ode i
n 2^
1 i
nverted
)
;Inp
ut 3 (M
ode In 2^
2
)
;T
im
e s
lot
;Inp
ut 2^
0
;T
im
e s
lot
;Inp
ut 2^
1
;T
im
e s
lot
n(
act,s
m
ooth)
v-set vi
a SDO (U
018)
or vi
a DPR
(KK30xx)
H
yster
es
is
F
unction
A=B
Ti
me
s
lo
t
-
MCF
01.SSC
(load t
his scri
pt fi
le,
ap
pli
es equal
ly
to
C
ompact PLUS,
Compact
an
d c
h
as
si
s
units)
Switc
h
o
ver abs
o
lu
te/relat
ive p
o
si
to
inin
g
T
his ci
rcui
t imp
lem
ents the swi
tc
h
ov
er
betw
een the G fun
cti
ons G90 (a
bs
o
lute
pos
itoni
ng)
and
G91 (
rel
ati
ve
positi
oni
ng)
in te
ch
n
olog
y mo
de MDI
if the
ax
is
is
tr
aversi
ng wi
th MD
I bl
oc
k 0 (
fast
MD
I).
B
inec
to
r/c
on
nect
or co
n
verter
[K
043
2] (
G
f
u
n
ct
ion
s fo
r MDI v
ia CA
N)
Acceler
ati
on overr
ide =
G
30
U
078.01=
0
U
078.02=
1
U
078.03=
1
U
078.04=
1
U
078.05=
1
U
078.06=
0
U
078.07=
0
U
078.08=
0
G90 / G91 swi
tchover
U
078.09=
3108
U
078.10=
1
U
078.11=
0
U
078.12=
1
U
078.13=
1
U
078.14=
0
U
078.15=
1
U
078.16=
0
U
952.90=
10
F
o
llo
w-u
p
m
o
d
e -
FUM
-{F
D
[8
511]}
T
he outpu
t of thi
s ci
rcui
t swi
tc
he
s th
e technol
ogy to fol
low
-up
mode
if posi
tioni
ng i
s abor
ted.
A
ND ele
m
en
t 17
[B0
617] (
F
o
llo
w
-up
m
o
d
e ON af
ter ab
ort
)
U
237.01=
105
U
237.02=
647
U
237.03=
648
U
952.54=
6
In
verter 7
[B0
647] In
vert
po
sitio
n
r
e
ached
(
DRS)
U
257.00=
355
U
951.94=
6
In
verter 8
[B0
648] In
vert
con
tro
l mo
de
BA
U
258.00=
618
U
952.41=
6
;2^
0
;2^
1
;2^
2
;2^
3
;2^
4
;2^
5
;2^
6
;2^
7
;2^
0
;2^
1
;2^
2
;2^
3
;2^
4
;2^
5
;2^
6
;2^
7
;Ti
m
e sl
ot
;Input 1 (
no oper
ati
on)
;Input 2 (
D
R
S
inver
ted)
;Input 3 (
not i
n contro
l mo
de !)
;Ti
m
e sl
ot
;Input (
DRS)
;Ti
m
e sl
ot
;Input (
con
trol
)
;Ti
m
e sl
ot
T
h
e b
asic c
o
m
m
u
n
ica
tio
n
co
nn
ect
ion
s fo
r dat
a t
ra
n
sf
er
via CAN
op
en
are mad
e
with
th
ese
par
am
ete
r s
ett
ing
s.
So
me p
aram
eters (
in
shad
ed
b
o
xes
) will n
eed t
o
be
ad
apt
ed
to
you
r app
licat
ion
.
Ope
n
t
h
e sc
ri
pt
file o
n
y
o
u
r
D
riv
eMon
ito
r CD
usin
g
a text
ed
ito
r and
en
ter t
h
e s
ett
ing
s
ap
pro
p
riat
e to
yo
ur
ap
plic
atio
n. T
h
e
n
sav
e th
e file
an
d lo
ad
it t
o
t
h
e
device
usin
g
D
riv
eMon
ito
r. You
will t
h
en
n
eed
to
set t
h
e
mo
to
r and
con
tro
ller paramet
ers.
T
h
e s
cript
file is
sto
red u
n
d
er
th
e fo
llowi
n
g n
a
m
e on
yo
ur
D
riv
em
o
n
it
or C
D
ROM:
