Communication / CBC CANopen Communication Board
02.2004
6SE7087-6QX70 (Version AD) Siemens AG
8.5-132
Compendium Motion Control SIMOVERT MASTERDRIVES
F
unc
tion diagram
8
7
6
5
4
3
2
1
Par
ameter fi
le
"Pos
iti
oning
with B-PO
S via
C
A
Nopen"
M
AST
ER
D
R
IVES MC
01
.1
0.01
MA
ST
ER
D
R
IVE
S
M
C
w
ith
B-
Pos
- 8525
-
from V
1.5
Paramet
er
file fo
r th
e co
n
tro
l o
f p
o
sit
io
n
in
g
/set
u
p
via
CB
C
fi
eld
b
u
s in
te
rf
ace
C
ANo
p
en
Th
e b
asic co
mm
un
icat
ion
int
erco
n
n
ectio
ns
fo
r
dat
a
tran
sfe
r v
ia CA
NOpen
are
ma
de wit
h
t
h
ese
param
eter
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
licat
ion
. T
h
en
save t
h
e
file
and
loa
d
it
to
th
e de
vice
usi
n
g
DriveMo
n
it
or. Yo
u
w
ill
th
en
need
to
set
th
e mo
to
r
an
d con
tro
ller paramet
ers.
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:
D
riveMo
n
it
or f
o
r
WIN
D
OWS 95
an
d later:
-
MCEPOS.SSC
(L
oad this s
cript file,
ap
pl
ies equally
to
C
ompact PLUS,
Compact
an
d c
h
as
sis
uni
ts)
Free
blo
ck in
terco
n
n
ect
ion
s
Ta
rg
et
Reach
ed
Pr
o
fi
le Veloc
ity Mo
de
{F
D-
740-
}
U13
6.01=
151
U13
6.02=
418
U13
7.00=
500
U13
8.00=
2.00
U13
9.00=
2
U95
1.18=
4
Ta
rg
et
Reach
ed
Pr
o
fi
le To
rqu
e Mo
de{F
D-
740-}
U14
1.01=
241
U14
1.02=
525
U14
2.00=
1000
U14
3.00=
2.00
U14
4.00=
2
U95
2.49=
4
{FD
-750
-}
Wiring
o
f set
po
in
ts, St
op
in s
o
me m
o
de
s
U16
8.00=
3211
U16
9.01=
241
U95
1.19=
4
Ch
ang
eo
ver Acce
leratio
n
in
PPM,SUM
or H
M
U17
0.00=
3215
U17
1.01=
877
U17
1.02=
406
U95
1.21=
4
Ch
ang
eo
ver Dece
leratio
n
in
PPM,SUM
or H
M
U17
2.00=
3215
U17
3.01=
878
U17
3.02=
406
U95
1.60=
4
T
a
rg
et
T
o
rq
ue
f
o
r PT
M
, i
m
pl
em
en
ta
ti
on
of
Sto
p
U17
4.00=
618
U17
5.01=
0
U17
5.02=
408
U95
1.76=
4
Ch
ang
eo
ver Prof
ile Velo
city i
n
PPM,SU
M
or H
M
U18
2.00=
3215
U18
3.01=
416
U18
3.02=
876
U95
1.77=
4
Stop
i
n
PPM, SU
M and
HM
U18
4.00=
3202
U18
5.01=
0
U18
5.02=
874
U95
2.08=
4
{FD
-765
-}
Ch
ang
eo
ver sig
n
al f
o
r an
alo
g
ch
an
geo
ver fo
r Sto
p
in
PTM
U23
8.01=
3108
U23
8.02=
104
U23
8.03=
3211
U95
2.92=
4
;Spee
d s
e
tpoi
n
t
Output o
f fi
xed setpo
int U
018,60F
F
n.mapped
Smoo
thi
ng
ti
m
e c
o
ns
ta
nt
;H
ys
ter
es
is toleran
ce r
ange 2
%
;Mo
de A=B
;T
im
e s
lot
;T
orqu
e actual-val
u
e
;Output
of analog si
g
nal
chan
geover U
175
;Smoo
thi
n
g ti
m
e c
o
ns
ta
nt
;H
ys
ter
es
is toleran
ce r
ange 2
%
;Mo
de A=B
;T
im
e s
lot
;Bit 11 of C
B
receive c
o
nnector 2,
1=PT
M
;T
orqu
e actual-val
u
e
;T
im
e s
lot
;Bit15 of C
B
receive c
o
nnector 2,1
=
H
M
;F
ix
ed
co
nn. B
-P
O
S
U
87
3.
2, accel
. n.
map
ped
;F
ix
ed conne
ct
or
U00
6,acc
el. setp. in HM
;T
im
e s
lot
;Bit15 of C
B
receive c
o
nnector 2,
1=H
M
;F
ix
ed conn.
B-POS U873.2
,decel
. n
. mapped
;F
ix
ed conne
ct
or
U00
6,decel
e
ration in HM
;T
im
e s
lot
;Output
A
N
D elemen
t U238
;
;F
ix
ed conne
ct
or
U00
8, torq
ue setp. in PTM
;T
im
e s
lot
;Bit15 of C
B
receive c
o
nnector 2,1
=
H
M
;F
ix
ed conne
ct
or
U01
6,V-setp for
PPM,SUM
;F
ix
ed conne
ct
or
B-POS U8
73.1,V in HM
;T
im
e s
lot
;Bit2 2.C
B
C K3002,0
=
Stop
forPPM,SU
M
,HM
;Valid s
p
eed setpoint B-Pos
;T
im
e s
lot
;Stop
for PVM an
d PTM
;Oper
ation from
s
ta
tus
word
1
;Bit11 fr
om CBC
K3002,1=
PT
M
;T
im
e s
lot
REF
_BWD
_STO
P
, wi
ri
ng
of
CB
C
de
pe
n
d
in
g o
n
H
M
U
245.03=
0
U
951.93=
4
REF
_FWD
_STO
P
,w
ir
in
g
of
CB
C
d
epe
n
d
in
g on
HM
U
246.03=
0
U
952.10=
4
Me
asured
valu
e valid
fo
r referen
ce b
lock
B-POS (
H
M 35)
U
247.01=
212
U
247.02=
3200
U
247.03=
0
U
952.11=
4
Set
Pos
S
e
tp
fo
r po
sitio
n
c
o
n
tr
o
ller
U
248.01=
3200
U
248.02=
105
U
248.03=
0
U
952.40=
4
{F
D-
770-}
In
verte
r
U258 t
o
P77
2 (Src En
RGenB
yp)
U
258.00=
3212
U
952.41=
4
In
verte
r
U259 t
o
P21
3 (Src R
elease C
trl)
U
259.00=
877
U
952.53=
4
N
A
ND
U268
to
U470.05
(set
sim
p
le R
G
E
N
2 f
o
r PTM
)
U
268.01=
3101
U
268.02=
3102
U
268.03=
3111
U
952.94=
4
B
inary c
h
an
geo
ver U2
74 to
B
-Po
s D_F
W
D,ch
ang
eo
verHMan
dPPM
/SUM
U
274.01=
3215
U
274.02=
3111
U
274.03=
882
U
951.65=
4
B
inary c
h
an
geo
ver U2
75 to
B
-Po
sD_B
WD,ch
ang
eov
erHMan
d
PPM/SU
M
U
275.01=
3215
U
275.02=
3112
U
275.03=
883
U
951.96=
4
{F
D-
780-}
T
ime
elem
ent
U302-
U304
to
U855.0
1 and
U87
8.01 f
ro
m
B-
P
O
S
U
302.00=
3200
U
303.01=
0,002
U
304.00=
2
U
951.99=
2
{F
D-
732-}
Sh
ift
mu
lti
p
lier U
442,U44
3 to
U469
.03,Src SetV R
G
en
U
442.01=
-1
6
U
443.01=
522
U
953.36=
4
;0
1,02 wir
ed fro
m
CBC
;T
im
e s
lot
;0
1,02 wir
ed fro
m
CBC
;T
im
e s
lot
;M
easured
va
lue vali
d
from p
os
ition sensi
ng
;B
it 0 fr
om K300
2, set posi
tion fr
om H
M
35
;T
im
e s
lot
;B
it 0 fr
om K300
2, set posi
tion fr
om H
M
35
;N
o oper
ation fr
om status wor
d 1
;T
im
e s
lot
;B
it 12
from K30
02, 1=
PVM
;T
im
e s
lot
;P
SR
fr
om
B-
POS
;T
im
e s
lot
;O
F
F
2
from C
B
C, K300
1 bi
t 1
;O
F
F
3
from C
B
C, K300
1 bi
t 2
;B
it 11
from C
B
C, K3002
, 1=
P
T
M
;T
im
e s
lot
;B
it 15
from C
B
C K3002
, 1=H
M
;B
it 11
from C
B
C K3001
;D
_F
WD fro
m
fix
ed
bi
ne
ct
or
, B-POS
;T
im
e s
lot
;B
it 15
from C
B
C K3002
, 1=H
M
;B
it 12
from C
B
C K3001
;D
_BWD fr
om fixed binector, B-
POS
;T
im
e s
lot
;S
e
t posi
tion fr
om C
B
C
K3002, b
it 0
;2
ms ti
me
delay
;O
N/
O
FF d
el
a
y
;T
im
e s
lot
;D
iv
isi
on
by
2
^16, adjustment KK-
->
K
;S
e
lect tor
que SetV, chang
eover U
168,169
;T
im
e s
lot
;Analog changeover
U174/U
175 for
stop
;Output shift multi
p
lier setting value
;Set, outpu
t NAND
element U
268
;Tor
que Slope, 2
00% p
er second
;100%
, upper
tor
que li
mit value
;-10
0%, lowe
r tor
que li
m
it value
;Time slot
;Output curr
ent
;Bi
t
1 from
2nd CBC
receiv
e
c
on
nector
;Time slot
{F
D-
786b
-}
Sim
p
le RGen
fo
r
P
T
M U
469-
U472
,K854 =
T
set
U
469.01=
525
U
469.02=
0
U
469.03=
618
U
470.01=
0
U
470.02=
0
U
470.03=
0
U
470.04=
0
U
470.05=
688
U
471.01=
3276
8
U
471.02=
0
U
472.01=
1638
3
U
472.02=
-1
6384
U
472.03=
0
U
953.56=
4
D
ispl
ay param
et
er r047.05:
ou
tp
ut
cu
rr
en
t{F
D
-30-}
P04
6.05=
242
F
151 In
iti
aliz
a
tio
n f
ault
{FD
-710-
}
U
064.00=
3201
U
952.62=
7
