Keba ServoOne Series, User Manual

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

Page 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...

Page 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...

Page 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...

Page 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...

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

Page 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...

Page 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...

Page 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...

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

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

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

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

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

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

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

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

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

Page 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...

Page 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...

Page 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...

Page 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...

Page 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...

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

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

Page 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...