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Scaling and weighting

ServoOne User Manual SERCOS II and III

ID no.: 1108.26B.3-00 Date: 04/2020

Scaling and weighting

Bits 2-0

Weighting type

0 0 0

No weighting

0 0 1

Translatory weighting

0 1 0

Rotary weighting

Bit 3

Weighting method

Preferred weighting

Parameter weighting

Bit 4

Unit

Degree (for rotary weighting) / meter (for translatory weighting)

Reserved (for rotary weighting) / inch (for translatory weighting)

Bit 5

Reserved

Bit 6

Data reference

At the motor shaft

On the load side

Bit 7

Processing format

Absolute format

Modulo format

Bit 8-15

Reserved

Table 8.4

Bit fields in the position data weighting type parameter (S-0-0076)

The following figure shows the various possibilities for the position weighting.

Figure 8.1

LSB = 10 m

-7

LSB

(S-0-0077)

(S-0-0078)

LSB

(S-0-0079)

S-0-0076 bit 0–2

S-0-0076 bit 6

S-0-0076

bit 3

S-0-0076

bit 4

3600000

LSB = 0.0001

rotary

translatory

none

Position data weighting type (S-0-0076)

Dregree

Load/Motor

Dregree

Resolution:

Parameter

weighting

Dregree

Load/Motor

Metre

variable

Preferred

weighting

Preferred

weighting

Parameter

weighting

Diagram of the position weighting types

Содержание ServoOne Series

Страница 1: ...ServoOne User Manual SERCOS II and SERCOS III ServoOne single axis system ServoOne multi axis system ServoOne junior...

Страница 2: ...anual was compiled with the greatest care and attention based on the latest information available to us We should point out that this document will not always be updated simultaneously with the on goi...

Страница 3: ...figuring basic settings 20 5 2 2 Setting the bus address on the slave 21 6 Parameter configuration 23 6 1 Profile parameter S 0 xxxx 23 6 1 1 Manufacturer specific parameters P xxxx 23 6 2 Structure o...

Страница 4: ...9 Functionality 55 9 1 Homing 55 9 1 1 Drive controlled homing command 55 9 1 2 SERCOS encoder 1 encoder 2 setting 55 6 3 Operation modes 24 6 3 1 Torque control 26 6 3 2 Speed control 27 6 3 3 Posit...

Страница 5: ...es and diagnostics 61 10 1 Standard parameters for error diagnostics 61 10 1 1 Error messages in state class 1 C1D 61 10 1 2 Warning messages in the state class 2 C2D 62 10 1 3 Status messages only SE...

Страница 6: ...6 Table of contents ServoOne User Manual SERCOS II and III ID no 1108 26B 3 00 Date 04 2020 Table of contents...

Страница 7: ...n electrical installation commissioning diagnostics specifications certification and applicable standards technical data 1100 20B x PDF ServoOne Multi Axis System DC Axis Controller Operation Manual S...

Страница 8: ...ation or reference to other documents Digit ACTION TO BE TAKEN Action undertaken by the user or the system Table 1 3 Pictograms used for instructions and actions to be taken 1 5 Disclaimer Following t...

Страница 9: ...g for your machine or the commissioning of your device our Helpline will provide you with quick specific assistance The Helpline is available by e mail or telephone Service hours Mo Fr 8 a m 5 p m CET...

Страница 10: ...10 ServoOne User Manual SERCOS II and III ID no 1108 26B 3 00 Date 04 2020...

Страница 11: ...agnetic fields during installation and operation Persons fitted with heart pacemakers metallic implants and hearing aids must not be allowed access to the following areas y y Areas in the immediate vi...

Страница 12: ...nents may become hot during operation Follow safety instructions and warnings in this document and on the device WARNING Risk of injury or damage due to electrostatic discharge x x Electrostatic disch...

Страница 13: ...MA connectors y y Transfer rate either 2 4 8 or 16 MBaud y y Automatic baud rate detection y y Adjustable transmit power via DIP switches only hardware variant 1 otherwise via parameters Setting via b...

Страница 14: ...14 Introduction to SERCOS interface ServoOne User Manual SERCOS II and III ID no 1108 26B 3 00 Date 04 2020 Introduction to SERCOS interface...

Страница 15: ...SERCOS Interface rev 2 4 dated Feb 2005 Power is supplied to the communication module via the ServoOne Baud rates of 2 4 8 and 16Mbit s are possible the baud rate is detected automatically by the modu...

Страница 16: ...chosen because here the master sends the telegrams in both directions and as such redundant communication is possible I e if there is an interruption in the ring between two slaves or between a maste...

Страница 17: ...configuration errors or other identification purposes Off Off Off No SERCOS III communication CPx Communication phase Table 4 3 Significance of LED H1 4 3 Indication of the operating states via 7 seg...

Страница 18: ...ol input for the hardware enable on the control terminal ENPO This input must be connected to 24 V to operate the power stage The device also has the STO Safe Torque Off function see Operation Manual...

Страница 19: ...s P 0159 and P 0165 with SERCOS II 5 1 2 Setting the transmit power for the SERCOS interface The transmit power of the fibre optic cable transmitter can be set using the parameter P 3004 Maximum trans...

Страница 20: ...s are to be checked in the direction of the light i e the first drive in the ring is to be checked first If its distortion indicator is off check the next drive This procedure is continued to the last...

Страница 21: ...us address This parameter can be written with the aid of DriveManager 5 The address set must be unique i e each address is only allowed to be used once in a SERCOS ring SERCOS III also supports the au...

Страница 22: ...22 Commissioning and configuration ServoOne User Manual SERCOS II and III ID no 1108 26B 3 00 Date 04 2020 Commissioning and configuration...

Страница 23: ...n a master and slave there is always a producer and at least one consumer Here producer stands for the connection from the master to the slave consumer for the connection from the slave to the master...

Страница 24: ...that are indicated in the drive status word are coded using the scheme in the following table Bit Explanation 15 0 SERCOS default operation mode 1 Manufacturer specific operation mode 14 10 Reserved...

Страница 25: ...ternal encoder drive con trolled profile generation feed forward signals used no tracking error synchronous operation ECAM EGEAR Table 6 2 Operation modes supported Up to four different operation mode...

Страница 26: ...0330 P 0331 P 0332 P 0460 Simplified block diagram of the torque control Number Description Unit S 0 0080 Torque reference value TORQ S 0 0081 Additive torque reference value TORQ S 0 0084 Torque actu...

Страница 27: ...limit reference variable motor nominal speed P 0333 Negative speed limit reference variable motor nominal speed P 0334 Positive speed limit reference variable motor nominal speed P 0167 Speed override...

Страница 28: ...on not S 0 0258 y y S 0 0259 Positioning speed y y S 0 0260 Acceleration and deceleration y y S 0 0346 Positioning control word and also for modulo operation y y S 0 0393 Positioning command word y y...

Страница 29: ...ACC S 0 0259 Positioning speed VEL S 0 0260 Positioning acceleration ACC P 0370 Interpolation 1 Linear interpolation 2 External feed forward signals from the SERCOS master only with P 3055 P 3056 not...

Страница 30: ...ontrol is smoothed via a P T1 element using the filter time constant P 0555 and superimposed on the speed reference value generated by the position controller The acceleration feed forward control sig...

Страница 31: ...parameter P 1507 speed or P 1508 acceleration The position reference value and feed forward control signals are further processed as for the operation mode described in 6 4 1 Figure 6 5 S 0 0047 P 150...

Страница 32: ...0 0331 Standstill signal Table 6 7 Configurable real time status bits P 3002 Parameter Description S 0 0332 Speed threshold value dropped below S 0 0333 Speed threshold value exceeded S 0 0334 Torque...

Страница 33: ...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 par...

Страница 34: ...0334 P 0337 On this topic see also Table 11 2 List of the SERCOS parameters supported on page 73 The maximum speed set in parameter S 0 0091 must not exceed the limits from parameters P 0328 P 0333 a...

Страница 35: ...he master control word the service channel parameter channel and a configurable data block This data block mostly contains reference values and limits that the controller wants to send to the drive fo...

Страница 36: ...nge from 0 1 the original function is continued If the controller has not updated the position reference value steps and therefore shutdown due to tracking errors may occur 12 Reserved 11 Toggle bit n...

Страница 37: ...troller as per the application manual NOTE If the ENPO and ISDSH inputs are not connected the device remains in state 1 Not Ready to Switch On or 2 Switch On Disabled In the STO state the status indic...

Страница 38: ...rection If the difference between the position specified by the controller and the actual position is greater than the tracking error P 0743 the drive switches to the error state however without movin...

Страница 39: ...der drive control homing run or delays configured in the parameters x x 1 The drive follows the reference values from the controller 2 0 Reserved Table 7 3 Drive status word S 0 0135 7 3 5 Drive state...

Страница 40: ...it 15 in the SERCOS control word 1 4 DISABLE OPERATION Communication phase 4 active bit 15 in the SERCOS control word 0 Table 7 5 Description of the system state transitions System state transition De...

Страница 41: ...es command y y S 0 0264 Save actual parameter values command y y S 0 0447 Set absolution position command y y S 0 1024 Measure synchronous delay command 7 5 IP channel The IP or also the NRT channel i...

Страница 42: ...671 The two IP addresses must differ as a minimum in the 3rd number group as specified for example in the factory setting Standard IP 192 168 39 5 SERCOS III IP 192 168 38 5 Subnet Mask 255 255 255 0...

Страница 43: ...eighting defined by other means IDN Description S 0 0076 Weighting type for position data S 0 0077 Weighting factor for translatory position data S 0 0078 Weighting exponent for translatory position d...

Страница 44: ...t 1 On the load side Bit 7 Processing format 0 Absolute format 1 Modulo format Bit 8 15 Reserved Table 8 4 Bit fields in the position data weighting type parameter S 0 0076 The following figure shows...

Страница 45: ...dulo value the modulo value can be corrected by the divisor S 0 0294 The effective modulo value is given by the product of S 0 0103 and S 0 0294 A value of 1 renders the parameter modulo value divisor...

Страница 46: ...weighting applies according to the following table Weighting type from S 0 0045 Unit from S 0 0045 Weighting factor S 0 0045 Weighting expo nent S 0 0046 Preferred weight ing Linear m min 1 6 0 001 mm...

Страница 47: ...hting Preferred weighting Parameter weighting min or s Diagram of the speed weighting types 8 2 3 Speed polarity The polarities sign of the speed data stated can be changed in parameter S 0 0043 to su...

Страница 48: ...ory preferred weighting the weighting applies according to the following table Weighting type from S 0 0160 Unit from S 0 0160 Weighting factor S 0 0161 Weighting expo nent S 0 0162 Preferred weight i...

Страница 49: ...values actual values and limits are subject to the weighting set IDN Description S 0 0086 Weighting type for torque force data S 0 0093 Weighting factor for torque force data S 0 0094 Weighting expon...

Страница 50: ...or rotary weighting lbf for translatory weighting Bit 5 Reserved Bit 6 Data reference 0 At the motor shaft 1 On the load side Bit 7 17 Reserved Table 8 19 Bit fields in the parameter weighting type to...

Страница 51: ...be scaled Figure 8 6 Scaling wizard selection of the scaling data The entries described made in the following with the aid of the wizard affect directly the parameters described in chapter 6 for defi...

Страница 52: ...application and whether the speed data relate to the motor axis or directly to the load Click the continue button to open the next window The scaling of the speed data is defined here Figure 8 9 Scal...

Страница 53: ...data scaling In the first window for scaling the acceleration unit it is necessary to select first the scaling method and the data reference see Figure 8 7 I e it must be defined whether the axis is l...

Страница 54: ...54 ServoOne User Manual SERCOS II and III ID no 1108 26B 3 00 Date 04 2020...

Страница 55: ...defined by the active operation mode cf also chapter 4 2 9 1 3 Homing speed The homing speed is specified via S 0 0041 search for the homing cam and P 3031 search for the zero point The unit as well...

Страница 56: ...Probe control for configuration Setting and enabling the commands activates the Measure function in the drive The drive signals this situation by setting the command acknowledge data status to Set ena...

Страница 57: ...at the same time it sets the related bit in the measured value status If the Probe 1 enable S 0 0405 is cleared by the controller the drive clears bit 0 and bit 1 in the measured value status If the...

Страница 58: ...quired using this parameter In this way the Measured value 1 negative acquired can be assigned to a real time status bit S 0 0305 Bit 0 in this parameter is only set by the drive if the probing cycle...

Страница 59: ...by resetting the status Encoder system in homing in parameter S 0 0403 as well as by setting the Command status bit bit 5 in the Device status S 0 1045 0 0 The Parking axis function deactivates the m...

Страница 60: ...60 Functionality ServoOne User Manual SERCOS II and III ID no 1108 26B 3 00 Date 04 2020 Functionality...

Страница 61: ...or messages are displayed with the aid of the standard parameter S 0 0011 state class 1 If an error is set in state class 1 the drive is shut down The drive signals the error by setting bit 13 in the...

Страница 62: ...0 0013 Class 3 diagnostic C3D Messages in the operating states If the state of a drive changes then the related bit in C3D is changed accordingly and the change bit for C3D bit 11 in the drive status...

Страница 63: ...ed In addition each MST and MDT is monitored for compliance with y y The correct reception timing y y The agreed telegram length y y The correct CRC checksum SERCOS II The failure of a telegram is reg...

Страница 64: ...it no Description 15 Identification 14 Toggle bit master sends new topology 13 12 Topology specified by the master 00 Fast forward on both ports 01 Loopback forward P telegrams 10 Loopback forward S t...

Страница 65: ...tatus y y Index 1 COM_SERIII_ActComPhase Actual communication phase for the slave 0 4 CP0 CP4 5 NRT y y Index 2 COM_SERIII_PhaseSwitchState Status on changing communication phases y y Index 3 COM_SERI...

Страница 66: ...ctive 6 4 Reserved 3 0 Actual communication phase port 1 Table 10 13 Communication status register y y Index 11 COM_SERIII_DFCSR Control and status register data flow Indicates the actual topology of...

Страница 67: ...possible error messages in the drive is given in the ServoOne User Manual The occurrence of a manufacturer specific error sets bit no 15 in state class 1 see chapter 5 2 4 provided the error cannot b...

Страница 68: ...68 Error messages and diagnostics ServoOne User Manual SERCOS II and III ID no 1108 26B 3 00 Date 04 2020 Error messages and diagnostics...

Страница 69: ...tion Unit Write protection S 0 0043 Velocity polarity parameter CP3 CP4 S 0 0044 Velocity data scaling type CP3 CP4 S 0 0045 Velocity data scaling factor CP3 CP4 S 0 0046 Velocity data scaling exponen...

Страница 70: ...e edge Pos 1 CP2 CP4 S 0 0133 Probe value 2 negative edge Pos 1 CP2 CP4 S 0 0134 Drive control word Table 11 1 SERCOS standard parameters supported IDN Description Unit Write protection S 0 0135 Drive...

Страница 71: ...e position CP2 CP4 S 0 0346 Position control word S 0 0347 Velocity error Speed 1 CP2 CP4 S 0 0348 Acceleration feed forward gain Table 11 1 SERCOS standard parameters supported IDN Description Unit W...

Страница 72: ...S 0 1050 x 1 Connection setup CP3 CP4 S 0 1050 x 2 Connection number CP3 CP4 S 0 1050 x 3 Telegram assignment CP3 CP4 S 0 1050 x 4 Max length of connection CP2 CP4 Table 11 1 SERCOS standard parameter...

Страница 73: ...ISD03 x x Table 11 2 List of the SERCOS parameters supported IDN Description Unit Write protection CP2 CP3 CP4 P 0105 Function of digital input ISD04 x x P 0106 Function of digital input ISD05 x x P 0...

Страница 74: ...ent control gain V A P 0311 Current control integration time constant ms Table 11 2 List of the SERCOS parameters supported IDN Description Unit Write protection CP2 CP3 CP4 P 0312 Actual motor voltag...

Страница 75: ...ter time ms P 0406 Analog input 1 filter time ms P 0407 Analog input values filtered 10 V gives 1 0 P 0409 DC voltage filter time ms x x P 0410 Actual DC link voltage V x x x Table 11 2 List of the SE...

Страница 76: ...absolute x x Table 11 2 List of the SERCOS parameters supported IDN Description Unit Write protection CP2 CP3 CP4 P 0548 ENC CH1 Enable MultiTurn information SSI absolute x x P 0549 ENC CH1 Signal cor...

Страница 77: ...P 1521 Mechanical system parameters Hz P 1522 Self commissioning and correlation results P 1530 Determination of default motor control settings P 1531 Self commissioning action selection P 2218 605AH...

Страница 78: ...78 ServoOne User Manual SERCOS II and III ID no 1108 26B 3 00 Date 04 2020...

Страница 79: ...37 Controller enable 37 Cyclic data transmission 35 D Damage 8 Data transfer 35 Data transfer via the service channel SVC 41 Description of the bits 13 15 36 Description of the system states 40 Descr...

Страница 80: ...tion products on the ServoOne 7 Injuries 8 Interface status 63 Internal error list 66 K KEBA reference documents 7 L Language switching 23 Limit switch 55 List of the Sercos parameters supported 73 M...

Страница 81: ...caling the speed data 52 Scaling the torque data 52 Scaling with the aid of the scaling wizard 51 Scope of the user manual 7 Sercos encoder 1 encoder 2 setting 55 Sercos III ring structure 16 Sercos I...

Страница 82: ...leration data 48 Weighting of force data 49 Weighting of position data 43 Weighting of speed data 46 Weighting of torque data 50 Weighting of torque data and force data 49 Weighting rotary acceleratio...

Страница 83: ...not valid 4 Cyclic operating mode reference values applied actual values transferred RAM Random Access Memory Repeater Electrical or also optical signal amplifier or signal conditioner to increase the...

Страница 84: ...84 ServoOne User Manual SERCOS II and III ID no 1108 26B 3 00 Date 04 2020...

Страница 85: ...85 ServoOne User Manual SERCOS II and III ID no 1108 26B 3 00 Date 04 2020...

Страница 86: ...9 6441 966 0 Fax 49 6441 966 137 info keba de KEBA AG Headquarters Gewerbepark Urfahr 4041 Linz Austria Telefon 43 732 7090 0 Fax 43 732 730910 keba keba com KEBA Group worldwide China Germany India I...

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