Siemens simovert masterdrives, Справочник

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Communication / CBC CANopen Communication Board 02.2004
6SE7087-6QX70 (Version AD) Siemens AG
8.5-122
Compendium Motion Control SIMOVERT MASTERDRIVES
F
unc
tion diagram
8
7
6
5
4
3
2
1
Par
ameter fi
le
"positioni
ng wi
th
F
01 v
ia CANopen"
M
AST
ER
DRI
VES MC
01
.1
0.
01
MA
ST
ERDR
IVE
S
M
C
F
01
- 8515
-
fr
om
V
1.5
P
ara
meter file for
th
e
cont
rol of posit
ioning/syn
chronous operation via CBC
fi
eld
bus int
erface CANopen
Th
e b
asic co
mm
un
icat
ion
con
n
ectio
ns
fo
r d
at
a tran
sfer
via C
ANo
pen
are m
ade
w
it
h
th
ese p
arame
ter set
tin
g
s
.
So
me param
eters (in
shad
e
d
bo
xes)
will nee
d
t
o
b
e
ada
p
te
d t
o
yo
u
r a
p
p
licati
o
n
.
Open
th
e scrip
t f
ile o
n
yo
ur
DriveM
on
ito
r CD u
sin
g a t
ext
edi
to
r a
n
d
ent
er th
e set
tin
g
s
app
rop
riate
to
you
r
app
icat
ion
. T
h
en
save t
h
e f
ile
and
lo
ad it
to
th
e d
evice u
sin
g
DriveM
on
ito
r. You
w
ill th
en
nee
d
t
o
set
th
e m
o
to
r an
d
co
nt
roller param
eters.
Th
e scrip
t f
ile is st
ored
u
n
d
er
th
e f
o
llo
w
ing n
ame
on
y
o
u
r
DriveM
on
ito
r CD R
O
M
:
D
riveMo
n
it
or f
o
r
WIN
D
OWS 95
an
d later:
-
MCF
01.SSC
(load t
his scri
ptfi
le, a
ppli
es
eq
ual
ly to Co
mpact PLUS,
C
ompact and chassis uni
ts)
CB
p
arameters :
Rec
eive PDOs
P711.01
=65
281
P712.01
=0
P713.01
=0
P714.01
=0
Tran
sm
it PD
O
s
P715.01
=65
281
P716.01
=0
P717.01
=0
P718.01
=0
CB
C p
aramet
eriz
atio
n
P719.01
=45
46
P720.01
=4
P721.01
=1
P722.01
=0
P918.01
=5
P053.00
=7
T
ransmi
t data
Tr
ansmi
t PDO 1
P734.01
=04
31
P734.02
=03
15
P734.03
=03
15
P734.04
=02
50
Tran
sm
it PD
O
2
P734.05
=0
P734.06
=0
P734.07
=0
P734.08
=0
Tran
sm
it PD
O
3
P734.09
=0
P734.10
=0
P734.11
=0
P734.12
=0
Tran
sm
it PD
O
4
P734.13
=0
P734.14
=0
P734.15
=0
P734.16
=0
Con
tro
l word
1
P554.01
=31
00
P555.01
=31
01
T
ech
no
log
y op
ti
on
F1
U
531.00=
432
U
532.00=
415
U
533.00=
416
U
535.00=
120
U
530.00=
860
P558.01
=31
02
P561.01
=31
03
P562.01
=31
04
P563.01
=31
05
P564.01
=31
06
P565.01
=31
07
;Sr
c1 O
F
F3(
Q
Stop)
BIC
O
DS1
;S
rc
In
vR
el
e
ase
;Sr
c R
ampGenR
el
;Sr
c R
ampGen Stop
;Sr
c Set
p Release
;Sr
c F
ault Reset
St
atu
s word
1 at
bin
/con
co
nvert
er 1
U
076.01=
100
U
076.02=
102
U
076.03=
104
U
076.04=
106
U
076.05=
108
U
076.06=
110
U
076.07=
112
U
076.08=
114
U
076.09=
0
U
076.10=
1
U
076.11=
476
U
076.12=
0
U
076.13=
0
U
076.14=
0
U
076.15=
0
U
076.16=
0
U
952.89=
4
Set
p
o
int
p
ro
cessin
g
{
F
D -
320-
}
P443
.01=
131
P772
.00=
648
Po
sitio
o
n
sen
sin
g
m
o
to
r en
co
der {F
D -3
30-}
P172
.00=
302
P174
.00=
301
P175
.02=
304
P178
.00=
16
C
losed
-l
oo
p p
o
sit
ion
co
nt
rol {F
D -
340-}
P210
.01=
1
P212
.01=
530
;R
eady to star
t at BIN/C
O
N
converter
;R
eady to ope
rate BIN
/CON conver
ter
;R
un at BIN
/CON conver
ter
;F
aul
t acti
ve
a
t BIN/CON
c
on
ver
ter
;O
F
F
2
ac
tive at BIN
/CON converte
r
;O
F
F
3
ac
tive at BIN
/CON converte
r
;S
ta
rti
ng l
ock
ou
t at BIN/C
O
N
conv
e
rter
;A
la
rm
active at
BIN/CON
conver
ter
;F
reely connectabl
e by user
;P
Z
D
contr
ol
must al
ways
be 1
;t
arget_
reached a
t BIN/CON
c
on
ver
ter
;r
eserved
;r
eserved
;r
eserved
;F
reely connectabl
e by user
;F
reely connectabl
e by user
;T
im
e s
lot
;S
rc
Ma
in
Se
tp
oi
n
t BI
CO
D
S
1
(f
ro
m
po
si
tion
c
ont
ro
ller
)
;S
rc
EnRGenByp
;S
rc
P
os
S
e
tV
;S
rc
P
os
C
or
r'n
;S
rc
Rough
pulse BIN
in
put 4
;S
rc
1 Rel
P
osReg
;S
rc C
trl
S
et
p
;R
PDO 1 (R
PDO 1,async
hr
onous)
;R
PDO 2
;R
PDO 3
;R
PDO 4
;T
PDO 1 (
R
PDO 1,asynchronou
s)
;T
PDO 2
;T
PDO 3
;T
PDO 4
;D
ev
ic
e, devi
ce r
esponse to l
ifeguar
ding
;C
AN bus baud r
ate (
125 kB)
;C
AN pr
ofil
e sel
ec
tion (
C
AN
open)
;Me
ssage fa
ilure
time
;C
B bus addre
ss
;Par
ameter
izati
on en
able
;Statu
s w
ord via BIN/C
O
N
converter
;Posi
tion
ing s
tatu
s
w
ord, high
;Posi
toni
ng status wor
d, l
ow
;F
aults
/a
la
rm
s
;T
PDO 2 wo
rd 1
;T
PDO 2 wo
rd 2
;T
PDO 2 wo
rd 3
;T
PDO 2 wo
rd 4
;T
PDO 3 wo
rd 1
;T
PDO 3 wo
rd 2
;T
PDO 3 wo
rd 3
;T
PDO 3 wo
rd 4
;T
PDO 4 wo
rd 1
;T
PDO 4 wo
rd 2
;T
PDO 4 wo
rd 3
;T
PDO 4 wo
rd 4
;Sr
c ON
/O
F
F
1
BICO DS1
;S
rc
1.
O
F
F
2(e
le
ct
r.
) B
IC
O
D
S
1
;S
rc
G
F
unc MD
I
;S
rc
Pos
ition MD
I (KK30xx)
;S
rc
Speed MD
I (KK30xx)
;S
rc
P
os
A
ct
V
;S
rc C
tr S
ig
na
ls
Fo
rma
ti
o
n o
f p
o
si
ti
o
n
in
g
si
g
n
al
s
U
710.01=
3200
U
710.02=
3201
U
710.03=
3202
U
710.04=
3203
U
710.05=
3204
U
710.06=
617
U
710.07=
3206
U
710.08=
3207
U
710.09=
0
U
710.10=
0
U
710.11=
0
U
710.12=
0
U
710.13=
0
U
710.14=
0
U
710.15=
0
U
710.16=
0
U
710.17=
0
U
710.18=
0
U
710.19=
0
U
710.20=
0
U
710.21=
0
U
710.22=
0
U
710.23=
0
U
710.24=
0
U
710.25=
3208
U
710.26=
3209
U
710.27=
3210
U
710.28=
3211
U
710.29=
3212
U
710.30=
3213
U
710.31=
3214
U
710.32=
3215
Tim
e sl
ot
s
U
953.30=
4
U
953.32=
4
;TGL_I (
T
o
ggle
-Bi
t Input)
;RIE (
D
el
ete di
stance to go)
;STA (
S
tart)
;CR
D
(D
ele
te di
st
an
ce
t
o go)
;ACK_M (
A
ck
now
le
dgement M
functio
n)
;FU
M
(F
ol
low
-up
mode)
;RST
(R
es
et
)
;SIST (
S
in
gle step)
;MD
I_
N
O/PR
OG_N
O
2^
0
;MD
I_
N
O/PR
OG_N
O
2^
1
;MD
I_
N
O/PR
OG_N
O
2^
2
;MD
I_
N
O/PR
OG_N
O
2^
3
;MD
I_
N
O/PR
OG_N
O
2^
4
;MD
I_
N
O/PR
OG_N
O
2^
5
;MD
I_
N
O/PR
OG_N
O
2^
6
;MD
I_
N
O/PR
OG_N
O
2^
7
;O
V
E
RR
RI
D
E
2
^0
;O
V
E
RR
RI
D
E
2
^1
;O
V
E
RR
RI
D
E
2
^2
;O
V
E
RR
RI
D
E
2
^3
;O
V
E
RR
RI
D
E
2
^4
;O
V
E
RR
RI
D
E
2
^5
;O
V
E
RR
RI
D
E
2
^6
;O
V
E
RR
RI
D
E
2
^7
;BLSK (Ski
p bl
oc
k)
;J_BWD (Jog b
ac
kwa
rds)
;F_S (
Q
uick/slow
)
;J_FWD
(Jog for
w
ar
ds
)
;MODE_IN
2^
0
;MODE_IN
2^
1
;MODE_IN
2^
2
;MODE_IN
2^
3
;Contr
ol
s
ignal
s posit
ioni
ng
;Positi
oni
ng