Pilz Motion Control PMC, User Manual

Page 1: ...Motion Control PMC User manual Item No 21 522 02 Communication profile PROFIBUS DP for PMCtendo DD4 ...

Page 2: ... GmbH Co KG Notes Pilz GmbH Co KG reserves the right to make amendments to this document at any time The examples given serve only as illustrations No guarantee is given for their suitability in particular applications Alt hough the utmost care has been taken in the production of this document no liability can be accepted for any mistakes that it may contain We welcome any suggestions for the impr...

Page 3: ...ddresse 22 5 2 2 3 PNU 930 selector for operating modes 23 5 2 2 4 PNU 963 baud rate 24 5 2 2 5 PNU 965 PROFIDRIVE profile number 24 5 2 2 6 PNU 970 default parametersr 24 5 2 2 7 PNU 971 non volatile saving of parameters 24 5 2 3 General parameters 25 5 2 3 1 PNU 1000 instrument ID 25 5 2 3 2 PNU 1001 manufacturer specific error register 25 5 2 3 3 PNU 1002 manufacturer specific status register 2...

Page 4: ... 2 Status word ZSW 39 6 2 Operating modes 39 6 2 1 Positioning operating mode 2 40 6 2 2 Digital speed operating mode 1 41 6 2 3 Analog speed operating mode 1 in preparation 41 6 2 4 Digital torque operating mode 2 42 6 2 5 Analog torque operating mode 3 in preparation 42 6 2 6 Electronic gearing operating mode 4 42 6 2 7 ASCII channel operating mode 16 43 6 2 8 Initial setting after switch on ope...

Page 5: ...hing the servo amplifier Avoid contact with highly insulating materials artificial fabrics plastic films etc Place the servo amplifier on a conductive surface l Do not open the units Keep all covers and switchgear cabinet doors closed during operation Otherwise there are deadly hazards with the possibility of severe damage to health or property l Depending on the degree of enclosure protection ser...

Page 6: ... been tested by an authorized testing laboratory in a defined configura tion with the system components which are described in this documentation Any divergence from the configuration and installation described in this documentation means that you will be responsible for the perfor mance of new measurements to ensure that the regulatory requirements are met UL and cUL Conformance UL cUL certified ...

Page 7: ...ground DIN German Institute for industrial Standards Disk Magnetic storage diskette hard disk EEPROM Electrically erasable programmable memory EMC Electromagnetic compatibility EMI Electromagnetic interference EN European standard ESD Electrostatic discharge IEC International Electrotechnical Commission IGBT Insulated Gate Bipolar Transistor INC Incremental Interface ISO International Standardizat...

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Page 9: ...ribed in the corresponding manuals Further documentation for the PMCtendo DD4 series Installation manual PMCtendo DD4 User manual PDrive This manual is intended for the use of qualified personnel with the following knowledge Wiring trained electro technical personnel Programming experienced PLC programmers with PROFIBUS DP expertise The required files for the drive handling blocks can be found in ...

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Page 11: ... to ensure that any unintended start up of the machines cannot result in dangerous situations for personnel or machinery Software limit switches are not a substitute for the hardware limit switches in the machine Install the servo amplifier as described in the installation manual The wiring for the analog setpoint input and the positioning interface as shown in the wiring diagram in the installa t...

Page 12: ... catalog and drag the symbol for the corresponding field unit onto the representation of the bus system A window opens auto matically for the general parameterization of the field unit Enter the address of the participant here Next use the same method as above to drag the module from the Hardware catalog into the box for the field unit whereby the 4 word module must lie in Cell 0 and the 6 word mo...

Page 13: ...re ate a danger to personnel or machinery Now setup the basic functions of the servo amplifier and optimize the current and speed controllers This part of setup is described in the Quickstart setup manual When the optimization is finished save the controller parameters in the servo amplifier Remove the Enable signal Terminal X3 16 and switch off the power supply for the servo amplifier The 24V DC ...

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Page 15: ...ection 4 words 2 PZD section 6 words The PKW data channel can also be termed the service channel The service channel only uses confirmed communication services and is used by PMCtendo DD4 as a parameter channel This channel has no real time capability The PZD data channel can also be termed the process data channel The process data channel uses unconfirmed communication services The response of th...

Page 16: ...r value 5 7 8 9 request number of array elements 6 7 10 15 reserved 4 1 1 1 Interpretation of the response IDs Response ID Interpretation 0 no task 1 transmit parameter value 2 transmit parameter value 3 transmit description element 4 transmit parameter value 5 transmit parameter value 6 transmit number of array elements 7 task not possible with error no 8 no operating authority for PKW interface ...

Page 17: ... data transmission 15 text array not available 16 PPO write missing 17 task cannot be executed due to operating status 18 other error 19 100 reserved 101 faulty task ID 102 software error command table 103 only possible in disabled state 104 only possible in enabled state 105 BCC error in the EEPROM data 106 only possible after task is stopped 107 wrong value 16 20 108 wrong parameter OCOPY x y z ...

Page 18: ...ata depends on the operating mode that is set The operating mode is set through a PROFIBUS param eter PNU 930 ð p 23 In all operating modes the data word 1 of the process data PZD1 in the direction from control sys tem PMCtendo DD4 is used for instrument control and in the direction from PMCtendo DD4 control system it has the function of a status indicator for the drive The interpretation of the p...

Page 19: ... are profile specific for the PROFIBUS drive profile PROFIDRIVE Parameter numbers 999 are manufacturer spe cific For better understanding you can look up the ASCII commands which are in the column PMCtendo DD4 ASCII command in the user manual for the Setup Software PDrive This section deals only with parameters that refer to the PROFIBUS expansion card and have not already been described in the se...

Page 20: ... 1259 UINT32 r w Numerator resolution PGEARI 1260 UINT32 r w Minimum acceleration braking time PTMIN 1261 UINT32 r w Feed forward factor for position controller GPFFV 1262 UINT32 r w KV factor for position controller GP 1263 UINT32 r w KP factor for position controller GPV 1264 UINT32 r w Tn integral action time for position controller GPTN 1265 UINT32 r w Maximum velocity for positioning mode PVM...

Page 21: ...r w Function of digital input 2 O2MODE 1460 UINT32 r w Auxiliary variable for digital output 1 O1TRIG 1461 UINT32 r w Auxiliary variable for digital output 2 O2TRIG 1462 UINT32 r w State of four digital inputs Enable 2 digital outputs STATIO Analog configuration 1500 UINT32 r w Configuration of the analog input functions ANCNFG 1501 UINT32 r w Configuration monitor function analog output 1 ANOUT1 ...

Page 22: ...address of the drive can be read You can alter the node address station addres in a PROFIBUS network in different ways l With the keys in the front panel see installation manual l With the setup software PDrive on the screen page Basic setup l Via the serial interface with the sequence of ASCII commands ADDR nn Þ SAVE Þ COLDSTART mit nn Adresse The range of addresses can be extended from 1 63 to 1...

Page 23: ... 0 so that no new setpoints will be accepted by the servo amplifier and no new control functions can be initiated A new operating mode can however be selected while a motion function is being performed The control word is only inhibited to the extent that the servo amplifier can always be switched into a safe state 2 Select the new operating mode with PNU 930 The new operating mode is selected wit...

Page 24: ...FIDRIVE profile number This parameter can be used to read out the number of the PROFIDRIVE profile Profile Number 3 Version 2 is used 5 2 2 6 PNU 970 default parametersr With this parameter you can reject all the parameters that are set and load the manufacturer s default values 5 2 2 7 PNU 971 non volatile saving of parameters With this parameter you can save all the parameter settings to the EEP...

Page 25: ...8 Ballast 18 Error F19 Mains supply phase 19 Error F20 Slot error 20 Error F21 Handling error plug in card 21 Error F22 Erdschluss 22 Error F23 CAN Bus off 23 Error F24 Warning 24 Error F25 Commuation error 25 Error F26 Limit switch 26 Error F27 AS Option 27 30 Error F28 F31 reserved 31 Error F32 System error When the cause of the error has been cleared the error state can be canceled by setting B...

Page 26: ...e switch is activated 19 InPosition is set as long as the difference between the target position for a motion task and the actual position is smaller than PEINPOS The InPosition signal is suppressed if a following task is started at the target position 20 Position latch set positive edge this is set if a rising edge is detected on the INPUT2 IN2MODE 26 that is configured as a latch This is cancele...

Page 27: ...I PNU1259 parameters and the variable PRBASE fix the sensibly usable range for positioning operations The variable PRBASE determines through the equation n PRBASE 2 the number of increments per motor turn The value of PRBASE can only be 16 or 20 PGEARO contains the number of increments that must be traversed when the distance to be moved is PGEARI The default values for PGEARO correspond to one tu...

Page 28: ... or if bit 7 1after the delay set in PNU 1309 7 0 The next motion task is started immediately 1 The next motion task is started after the delay time set by PNU 1309 or if Bit 6 1 previ ously by a corresponding input signal 8 0 Only for following motion tasks and Bit 4 1 from the target position for the previous mo tion task onwards the velocity is altered to the value for the following motion task...

Page 29: ... source motion task must be entered in the high value portion of PWE PZD 3 4 and the target motion task must be entered in the low value portion of PWE PZD 5 6 5 2 5 11 PNU 1311 Position 32 Bit floating decimal point format from SW Version 0 07 With this object the target position for motion task 0 direct motion task see ASCII command O_P can be set in 32 Bit Floating decimal point format IEEE Rig...

Page 30: ...is negative for a value 1 it is positive and for a 2 it depends on the distance to the reference point in the direction in which the homing run started 5 2 7 Actual values 5 2 7 1 PNU 1401 speed The parameter value is the actual speed of the motor in increments 250 µsec 5 2 7 2 PNU 1402 incremental position actual value The parameter value is the actual position value in increments 5 2 7 3 PNU 140...

Page 31: ...umn flank describes the required signal at the digital input to actuate the corresponding function Function n be employed with PWE Function Flank Auxiliary variable PNU 1454 1457 PNU 1450 PNU 1451 PNU 1452 PNU 1453 0 Off x x x x 1 Reset ì x 2 PSTOP îLow active x 3 NSTOP îLow active x 4 PSTOP Intg Off îLow active x 5 NSTOP Intg Off îLow active x 6 PSTOP NSTOP îLow active x 7 P Nstop Intg Off îLow a...

Page 32: ...e EEPROM and then switching off and on again or making a cold start of the PMCtendo DD4 The significance of the functions can be seen in the user manual for the setup Software 5 2 9 1 PNU 1500 configuration of the analog input functions This parameter can be used to configure the two analog inputs together PWE Function 0 Xsetp SW1 1 N_setp SW1 Isetp SW2 2 unused 3 Xsetp SW1 Ipeak SW2 4 Xsetp SW1 S...

Page 33: ...e corresponding ASCII command Access see corresponding ASCII command Data type see corresponding ASCII command Value range see corresponding ASCII command Defaultvalue EEPROM see corresponding ASCII command Subindex 2 short description read lower limit Unit see corresponding ASCII command Access Read only Data type see corresponding ASCII command Value range see corresponding ASCII command Default...

Page 34: ... 32 Bit integer weighting 3 Subindex 6 short description read object control data Unit Access Read only Data type UNSIGNED32 Value range 0 232 1 Defaultvalue EEPROM Description 0x00010000 when altered the variable has to be saved and the amplifier reset 0x00020000 variable will be saved in the serial EEPROM 0x00200000 variable is read only must not be written via PROFIBUS Subindex 7 8 short descri...

Page 35: ... in such a way that the real time capability of this channel is optimally used A central role is played by the parameter Selector for operating modes see Chapter 5 2 2 3 that is used to choose between individual operating modes In the following the instrument control is described first and then the significance and functioning of the operating modes 6 1 Instrument control The control of the instru...

Page 36: ...rs can be transferred motion functions cannot be carried out yet Output stage is switched on enabled Operation enabled No error present Output stage is switched on motion functions are enabled Fast stop activated Drive has been stopped using the emergency stop ramp Output stage is switched on enabled motion functions are enabled Error response active error If an instrument error occurs the PMCtend...

Page 37: ...witched off disabled motor loses torque 9 Event Bit 1 is canceled operation enabled switch on inhibited Action Output stage is switched off disabled motor loses torque 10 Event Bit 1 or 2 are canceled ready for operation switch on inhibited Action Output stage is switched off disabled motor loses torque 11 Event Bit 4 is canceled operation enabled fast stop Action Drive is stopped using the emerge...

Page 38: ...section HSW is interpreted as motion block number 15 Manufacturer specific mode dependent digital speed Depending on the bit combination in the control word a corresponding control command is defined The following table shows the bit combinations and also determines the priorities of the individual bits in case several bits are altered in one telegram cycle Command Bit 13 Bit 7 Bit 4 Bit 3 Bit 2 B...

Page 39: ...t supported at present 12 Mode dependent used in ASCII mode 13 Mode dependent used in ASCII mode 14 Manufacturer specific used in ASCII mode 15 Manufacturer specific reserved States of the status machine State Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Not ready for switch on 0 X X 0 0 0 0 Switch on inhibit 1 X X 0 0 0 0 Ready for switch on 0 1 X 0 0 0 1 Ready for operation 0 1 X 0 0 1 1 Operation ...

Page 40: ...given by the speed parameter VLIM as the final limit speed for the motor The maximum speed is derived from the following formula v n PGEARI PGEARO SI PRBASE max max 2 or as an incremental value from v n s sec n incr PRBASE PRBASE max max max m 2 250 1 4000 2 in each case with nmax in revs sec Position setpoint for a direct motion task The PMCtendo DD4 calculates all positioning operations internal...

Page 41: ...responds to 2PRBASE increments Manufacturer specific status In the process data the upper 16 bits of the manufacturer specific status register PNU 1002 are made available The numbering starts again from 0 The significance of the status register bits can be seen in the table in Chapter 5 2 3 3 Speed setpoint nsetp 16 bit The 16 bit speed setpoint is normalized to the parameter for the overspeed VOS...

Page 42: ...al current setpoint Isetp 1640 6 2 5 Analog torque operating mode 3 in preparation PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 6 2 6 Electronic gearing operating mode 4 PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 STW ZSW nact actual position 32 bit manuf status Actual speed 16 bit The representation of the 16 bit actual speed value is normalized to the parameter for the overspeed VOSPD n n VOSPD act act 16 15 2 A...

Page 43: ...lled ASCII buffer to the receive process data of the bus master Status word The PMCtendo DD4 uses a transition edge on this bit to signal that the ASCII buffer data have been written to the process data When transmitting ASCII data the following must be observed 1 Every ASCII command must be terminated by the CR LF character sequence 2 If the ASCII command with CR LF is shorter than the 10 charact...

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Page 45: ... The address is set up on the screen page Basic setup see function descriptions in the setup Software PPO type PMCtendo DD4 only supports PPO type 2 of the PROFIDRIVE profile Interface states Shows the present status of the bus communication Data can only be transferred across the PROFIBUS when the Communication OK message appears Input The last bus object that was received by the master Here PKE ...

Page 46: ...word ZSW are shown The device status resulting from the status word is visualized in the status machine The current status is shown as black all other are grey Additionally the previous status is visualized by empha sis of the number of the appropriate arrow Page 46 User manual PROFIBUS DP PMCtendo DD4 7 Setup software ...

Page 47: ...g takes place exactly as with ADDR 3 AENA PNU 1606 With this parameter the state of the software enable after switch on can be defined The software enable allows an external control to enable disable the output stage For amplifiers with analog setpoints OPMODE 1 3 the software enable is set automatically after switch on and the devices are ready for operation immediately if hardware enable is pres...

Page 48: ...TW HSW b Transmit a parameterization telegram for the operating mode setting Byte 1 2 3 4 5 6 7 8 0011 0011 1010 0010 xxxx xxxx xxxx xxxx 0000 0000 0000 0000 0000 0000 0000 0010 PKE IND PWE The bits in the PKE section have the following significance Bit 0 to 10 PNU 930 Bit 12 to 15 AK 3 see also Chapter 4 1 1 The PMCtendo DD4 sends a response telegram with AK 2 and mirrors identical the values for...

Page 49: ...point determines the direction of movement It is not necessary to have a reference point set for jogging 8 6 Set reference point Warning Take care that the position of the reference point permits the following positioning opera tions The parameterized software limit switches in the PMCtendo DD4 may not be effective The axis could then drive up to the hardware limit switch or the mechanical stop Th...

Page 50: ...rence point not set A set reference point is a precondition for all the positioning functions of the linear axis The reference point switch is wired up to a digital input on the PMCtendo DD4 Depending on the type of homing run you can freely shift the zero crossing point of the motor shaft within one turn by using the parameter Zero point offset NI offset Furthermore you can fix the position value...

Page 51: ...y the reference point can also be set at the actual position This can be achieved by setting Bit 12 STW or by setting the homing run Type 0 with parameter 1350 and subsequent start of the homing run by Bit 11 STW A 4 016 3 4 User manual PROFIBUS DP PMCtendo DD4 Page 51 8 Sample telegrams ...

Page 52: ...f motion task are transferred to the process data together with the call of the motion task If required further parameters for this motion task e g ramps can be transferred previously by parameter tasks Target position 135000 mm Velocity 20000 mm s Motion task type relative to actual position with following motion task without pause setpoint velocity for the following task should already be reache...

Page 53: ...on AK 7 a Zero telegram should be transmitted i e the first 8 bytes of the transmit telegram from the PLC should be kept at 0 until the PMCtendo DD4 has responded with a zero telegram 8 12 Read actual values Cyclical actual value request This PKW task switches on the reading of an actual value The actual value will now be transmitted with each cyclical telegram until a new PKW task is presented Te...

Page 54: ...2 0000 0000 0000 0000 0000 1101 0000 1010 0000 0000 PZD1 PZD2 PZD3 6 STW CR LF 4 Wait for the transition edge on Bit 12 ZSW 5 Wait until Bit 13 ZSW 1 6 Invert Bit 14 STW 7 Wait until Bit 14 ZSW 1 8 The servo amplifier sends a response telegram Byte 1 2 3 4 5 6 0110 0010 0000 0000 0100 1101 0100 1100 0100 0111 0101 0001 PZD1 PZD2 PZD3 ZSW M L G Q Byte 7 8 9 10 11 12 0010 0000 0011 0000 0010 1110 00...

Page 55: ...r data block and the parameter data block They use the parameters of the actual drive from the parameter data block to transfer data from the user data block to the output peripherie of the CPU and to read data from the input peripherie and transfer it to the user data block In doing so they use the S7 system function SFC15 to send and the S7 system function SFC14 to receive data The function bloc...

Page 56: ...ly those FCs FBs must be called that are used If FB102 is used make sure that the call of FC110 that axis is skipped since FC110 is used by FB102 All calls of FCs FBs are made absolutely Between the call of the FC100 and the calls of FC101 to FC110 no other function block is allowed to use the scratch flags MW200 MW254 When processing alarms the scratch flag area MW200 MW254 bust be saved and relo...

Page 57: ...n beteween the user data block and the other handling blocks of the package for the parametrized axis Furthermore it does transmit the control word except bit 6 and bit 14 provide the status word of the drive display the Profibus communication status Technical Data Block Name DRVSTAT Flags Used MW200 MW254 Access to DB User Data Function of the parameters of FC100 Inputs NUDB word left byte Number...

Page 58: ...or motion task Bit1 in WAHL FART word type of motion task Bit2 in WAHL RACC word acceleration ramp Bit3 in WAHL RDEC word deceleration ramp Bit4 in WAHL RACC2 word jerk limitation for acceleration Bit5 in WAHL RDEC2 word jerk limitation for deceleration Bit6 in WAHL Since firmware version 2 00 times are discretionary If different from 0 the drive will follow a sin 2 ramp s curve if the configurati...

Page 59: ...k is finished will interrupt it 1 VELO word Speed 16 Bit for jogging and homing is directly copied to PZD2 The resulting velocity depends from a multiplication with the value of PNU 1250 1 The source codes of the handling block package include a version of the FC106 fc106_t that starts a motion task with every falling and rising edge of the start signal When using this version bit 4 Fast Stop or b...

Page 60: ...HL bool Fault error display 1 Parameter could not be read or written In this case there is an error number in PALO for evaluation see the documentation When an error occurs a NULL telegram must be written PTYP 3 PTYP byte Parametertype 2 double word parameter all parameters in the servodrive the parameter number is coming from PANR 3 write only write a NULL telegram i e all data for the PKW channe...

Page 61: ...ument ID 25 instrument profile 15 interface modules 12 J jog mode 49 jolt limiting acceleration 29 deceleration 29 M motion task copy 29 start 52 type 28 N next motion task 29 O operating modes 39 P parameter channel 16 parameter description 22 parameter ID 16 parameter numbers 19 parameter value 18 parameterization of the amplifier 18 PNU list 19 position data 27 process data channel 18 PROFIDRIV...

Page 62: ...21 522 02 2005 10 Printed in Germany ...