SERCOS for Motor Controller

Transcription

1 Trim: Top: 61.5 mm Bottom: 61.5 mm Left: 43.5 mm Right: 43.5 mm SERCOS for Motor Controller CMMP Manual SERCOS CMMP Manual en 0708NH [ ]

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3 Edition en 0708NH Designation P.BE-CMMP-AS-SC-SW-EN Order no (Festo AG & Co KG., D Esslingen, 2008) Internet: The copying, distribution and utilization of this document as well as the communication of its contents to others without expressed authorization is prohibited. Offenders will be held liable for the payment of damages. All rights reserved in particular the right to register patents, utility models and designs. P.BE-CMMP-AS-SC-SW-EN 0708NH 3

4 Record of changes Authors Festo AG & Co KG Manual name: P.BE-CMMP-AS-SC-SW-EN File name: File location: Ser. no. Approval for distribution Versions index Date of change 1 Creation 0708NH Trademarks Microsoft and Windows are registered trademarks or trademarks of the Microsoft Corporation in the USA and/or others countries. 4 P.BE-CMMP-AS-SC-SW-EN 0708NH

5 Table of Contents Copyrights Festo AG & Co KG. All Rights Reserved. The information and data in this document have been put together based on our best knowledge. But differences between the document and product cannot be completely excluded. Festo guarantees the devices and related software in the version issued to customers when used in accordance with the contract and the user documentation. In case of serious deviations from the user documentation, Festo is entitled and obligated to make repairs unless this would result in unreasonable costs. No liability results from defects arising from use under conditions not intended for the device as described in the user documentation. Festo does not guarantee that the products suit the requirements and purposes of the buyer or that they will work together with other products selected by the buyer. Festo accepts no liability for damages resulting from use of its products together with other products or from improper handling of the devices or systems. Festo AG & Co KG reserves the right to change, supplement or improve the document or product without prior notice. This document, in whole or in part, may not be reproduced, translated into another natural or machine-legible language, or transferred onto electronic, mechanical, optical or any other type of data media without the express approval of the author. Trademarks Product names in this document may be registered trademarks. The sole purpose of trademarks in this document is to identify the corresponding products. SERCOS interface is a registered trademark of the interest group association Interessengemeinschaft SERCOS interface E.V. P.BE-CMMP-AS-SC-SW-EN 0708NH 5

6 Table of Contents Table of Contents 1. General information Documentation Serial realtime communication system (SErial Realtime COmmunication System)10 2. Safety instructions for electrical drives and controllers Symbols used Other symbols General information Trained and qualified personnel Hazards due to improper use Safety instructions General safety information Safety instructions for installation and maintenance Protection against touching electrical parts Protection from electric shock through protective extra-low voltage with secure separation (PELV) Protection against touching electrical parts Protection during handling and installation Cabling and pin assignment Activation of SERCOS Overview Overview Overview communication Axis telegram (AT) Master data telegram (MDT) Service channel (SC) Telegram types Standard telegrams Application telegram Initialisation (phase change) Communication Phase 0: Closing the ring Communication Phase 1: Identification of the drives Communication Phase 2: Loading the communication parameters Communication Phase 3: Loading the communication parameters Communication Phase 4: Cycle operation P.BE-CMMP-AS-SC-SW-EN 0708NH

7 Table of Contents 6. SERCOS cycletime Operation modes Torque control Velocity control Position control Drive-internal interpolation Scaling of data Position data Overview Unscaled Translatory scaling Rotatory scaling Velocity data Overview Unscaled Translatory scaling Rotatory scaling Acceleration data Overview Unscaled Translatory scaling Rotatory scaling Torque data Temperature data Control word/status word Error management I/O functions Special commands Drive-controlled homing Spindle positioning Probing (measurement) Automatic motor identification Parameters Overview Communication parameters P.BE-CMMP-AS-SC-SW-EN 0708NH 7

8 Table of Contents 13.2 Telegram configuration lists/phase switching commands Operation modes Scaling parameter Command/feedback values Limitation/monitoring Signal status word/realtime bits Status bits Automatic identification Error management I/O functions Drive-controlled homing Drive-internal interpolation Probes Spindle positioning Other accessories Information Diagnosis classes Diagnosis class 1 (condition class 1) Manufacturer diagnosis class S : Diagnostic message Diagnosis class 2 (condition class 2) Diagnosis class 3 (condition class 3) Manufacturer diagnosis class 3 (condition class 3) S : "Interface status" Diagnosis masks SERCOS error codes A. Appendix B. Index P.BE-CMMP-AS-SC-SW-EN 0708NH

9 1. General information 1. General information 1.1 Documentation This SERCOS manual describes the field bus connection of CMMP-AS servo positioning controllers under SERCOS. It briefly describes the protocol itself, activation of SERCOS communication and the parameters available under SERCOS. It is directed at people who are already familiar with servo positioning controllers and the SERCOS protocol. It contains safety instructions that must be followed. For additional information, please consult the following handbooks for products of the series CMMP-AS: Product manual Servo Positioning Controllers P.BE-CMMP-AS : of the technical specification and function of the device as well as information on installation and operation of the servo positioning controller P.BE-CMMP-AS-...-3A for 1-phase servo positioning controllers. Product manual Servo Positioning Controllers P.BE-CMMP-AS : of the technical data and function of the device with information on installation and operation of the P.BE-CMMP-AS A for 3-phase servo positioning controllers. CANopen manual Servo Positioning Controllers CMMP-AS : of the implemented CANopen protocol in accordance with DSP402: P.BE-CMMP-CO-SW PROFIBUS manual Servo Positioning Controllers CMMP-AS : of the implemented PROFIBUS-DP protocol: P.BE-CMMP-FHPP-PB-SW Product manual "Ethernet Technology Module": of the technical data and function of the device with information on installation and operation of the Ethernet technology module: P.BE-CMMP-ET-SW P.BE-CMMP-AS-SC-SW-EN 0708NH 9

10 1. General information 1.2 Serial realtime communication system (SErial Realtime COmmunication System) SERCOS interface, the unique, worldwide standardised (IEC and EN 61491) digital interface for communication between control systems and drives. It was the first field bus system that permitted achievement of numerically controlled high-performance applications in machine tooling. A glass-fibre ring is used as transmission medium. The transfer rate is 2, 4, 8 or 16 Mbit/s. With this interface, essentially three types of communication can be achieved between CNC and digital drive-control elements: Transmission of the nominal position value Transmission of the nominal speed Transmission of the nominal torque Transmission of the nominal position value proved to be the best solution for rapid and highly precise applications. In a fibre-optic cable ring, up to six axes can be provided with new position command values (setpoint positions)cyclically and parallel every 0.5 ms. The SERCOS interface permits display of all drive-internal data, parameters and diagnostic information as well as their input using a SERCOS-compatible CNC. 10 P.BE-CMMP-AS-SC-SW-EN 0708NH

11 2. Safety instructions for electrical drives and controllers 2. Safety instructions for electrical drives and controllers 2.1 Symbols used Information Important information and remarks. Careful! Failure to comply can result in severe property damage. DANGER! Failure to comply can result in property damage and personal injury. Careful! Deadly voltage levels. The safety instructions point out potentially deadly voltage levels. Accessory Environment Other symbols Diskette symbol Plug symbol All the following steps affect the settings in the Festo ServoCommander TM parameterisation program. All of the following steps affect the hardware, i.e. the CMMP-AS servo positioning controller. P.BE-CMMP-AS-SC-SW-EN 0708NH 11

12 2. Safety instructions for electrical drives and controllers 2.2 General information Festo accepts no liability for damage due to failure to comply with the safety instructions in this manual. Before placing into operation, read the chapter "Safety instructions for electrical drives and controllers", starting from page 11. If you do not exactly understand the documentation in this language, please contact and inform your supplier. The defect-free and secure operation of the servo positioning controller requires proper and correct transport, proper and correct storage, mounting and installation as well as proper operation and maintenance. Only trained and qualified personnel should use electrical devices Trained and qualified personnel as defined by this product manual or the safety instructions on the product itself are people who are sufficiently familiar with the set-up, mounting, start-up and operation of the product as well as with all warnings and precautionary measures in accordance with the instructions in this manual and who are sufficiently qualified in their field. Training and instruction or authorisation to switch the devices/systems on and off and earth them in accordance with safety technology standardsand to mark them in accordance with work requirements. Training and instruction in accordance with safety technology standards regarding maintenance and use of appropriate safety equipment. Training in first aid. The following instructions must be read before initial start-up of the system to prevent personal injury and/or property damage. Safety instructions must always be followed. Do not attempt to install the servo positioning controller or place it into operation until you have carefully read all safety instructions for electrical drives and controllers in this document. These safety instructions and all otheruser instructions must be read prior to any work with the servo positioning controller. If you do not have user instructions for the servo positioning controller, please contact your sales agent. Demand that these documents be sent immediately to the person responsible for safe operation of the servo positioning controller. 12 P.BE-CMMP-AS-SC-SW-EN 0708NH

13 2. Safety instructions for electrical drives and controllers If you sell the device, lend it or make it available to third parties in some other way, they must also receive these safety instructions. For safety and warranty reasons, the user must never open the servo positioning controller. A proper project planning of the control process is a prerequisite for correct functioning of the servo positioning controller! DANGER! Improper handling of the servo positioning controller and failure to follow the warning instructions as well as improper tampering with the safety equipment can result in property damage, personal injury, electric shock or, in extreme cases, even in death. 2.3 Hazards due to improper use DANGER! High electric voltage and high load current! Danger of death or severe personal injury due to electric shock! DANGER! High electric voltage from incorrect connections! Danger of death or severe personal injury due to electric shock! DANGER! Surface of the device housing can be hot! DANGER! Dangerous movements! Mortal danger, severe personal injury or property damage due to unintended motor movements! P.BE-CMMP-AS-SC-SW-EN 0708NH 13

14 2. Safety instructions for electrical drives and controllers 2.4 Safety instructions General safety information The servo positioning controller equals protection class IP20 as well as degree contamination 1. Make sure that the environment corresponds to this protection class and degree of contamination. Use only replacement parts and accessories approved by the manufacturer. In accordance with the EN standards, the devices should be connected to the power network so that they can be separated from the network with appropriate switches (e.g. main switch, contactor, circuit breaker). The servo positioning controller can be protected with a 300 ma all-current-sensitive ground fault circuit interruptor (RCD = residual current protection device). Gold-plated contacts or contacts with high contact pressure should be used for switching the control contacts. For switchboards precautionary error-clearing measures should be taken, such as wiring of fuses and relays with RC members or diodes. The safety regulations and stipulations of the country in which the device is used must be followed. The environmental conditions specified in the product documentation must be followed. Safety-critical applications are not permitted unless expressly approved by the manufacturer. The information for an EMC-suitable installation should be taken from the product manual of the CMMP-AS family. Compliance with the limit values required by national regulations is the responsibility of the manufacturer of the device or system. 14 P.BE-CMMP-AS-SC-SW-EN 0708NH

15 2. Safety instructions for electrical drives and controllers The technical data and connection and installation conditions for the servo positioning controller must be taken from this product manual and complied with. DANGER! The general erection and safety regulations for work on high voltage systems (e.g. DIN, VDE, EN, IEC or other national and international regulations) must be followed. Failure to comply can result in personal injury or major property damage. The following precautionary measures also apply without claim to completeness: VDE 0100 EN Specifications for installation of high voltage devices (up to 1000 V), Electrical Equipment of Machines, EN Electronic Equipment for Use in Power Installations. P.BE-CMMP-AS-SC-SW-EN 0708NH 15

16 2. Safety instructions for electrical drives and controllers Safety instructions for installation and maintenance The corresponding DIN, VDE, EN and IEC instructions as well as all national and local safety and accident protection regulations apply for the installation and maintenance of the system. The operating engineer or user is responsible for compliance with these regulations. Operation, maintenance and/or repairs on the servo positioning controller may only be performed by personnel who have been trained and qualified for work on or with electrical devices. Avoidance of accidents, injuries and/or damage: The motor-stop brake delivered standard, or an external motor-stop brake actuated only by the drive control device, is not suited for protecting personnel. Also secure vertical axes against falling or dropping after the motor has been shut off, such as by: mechanical locking of the vertical axis, external brake, catch or clamping device, or sufficient balancing of the axis. The external or internal brake resistance results in danagerous direct voltage during operation of the servo positioning controller and up to 5 minutes afterward. Contact can result in death or severe personal injury. Switch off power to the electrical equipment using the main switch and secure it against being switched back on until the direct current circuit is discharged during: servicing and preventive maintenance, cleaning work, long standstill times. Before performing maintenance work, make sure that the power supply has been switched off and locked and that the direct current circuit has been discharged. Be careful during installation. During installation and later, when the drive is operated, make sure that no drill shavings, metal dust or mounting parts (screws, nuts, cable sections) fall into the device. Make sure that the external poser supply for the controller (24 V) is switched off. 16 P.BE-CMMP-AS-SC-SW-EN 0708NH

17 2. Safety instructions for electrical drives and controllers The direct current circuit or power supply must always be shut off before switching off the 24 V-controller power supply. Work in the machine area may only be performed when the alternating and/or direct current supply is shut off. Switched-off output stages or controller enables are not suitable locking means. In case of malfunction, the drive can be activated by mistake. Initial start-up should be performed with motors running at idle to prevent mechanical damage, e.g. due to incorrect rotation direction. Electronic devices are never fail-safe. The user is responsible for ensuring that the system is brought into a safe condition if there is a disturbance in an electrical device. The servo positioning controller and, in particular, the brake resistance, external or internal, can reach high temperatures, which can cause serious burns Protection against touching electrical parts This section refers only to devices and drive components with voltages above 50 V. Touching parts with voltages above 50 V can be dangerous for people and trigger an electric shock. During operation of electric devices, some parts of these devices unavoidably have dangerous voltages. DANGER! Hohe voltage! Mortal danger, danger of an electric shock or serious personal injury! P.BE-CMMP-AS-SC-SW-EN 0708NH 17

18 2. Safety instructions for electrical drives and controllers The corresponding DIN, VDE, EN and IEC instructions as well as all national and local safety and accident protection regulations apply for the installation and maintenance of the system. The operating engineer or user is responsible for compliance with these regulations: Before switching on the device, install the corresponding covers and safety guards for protection against accidental contact. Installed devices must be protected against accidental touching through a housing, such as an electrical cabinet. The regulation VBG4 must be followed! Maintain the minimum copper diameter for the earth wire over its entire length in accordance with EN 60617! Always connect the earthed conductor of all electrical devices before initial start-up, even for brief measurement or test purposes, in accordance with the connection plan or connect it to the earthing conductor. Otherwise, the housing can carry high voltages, which can cause an electric shock. Do not touch the electrical connections of the components when they are switched on. Separate the device from the mains or power supply before accessing electrical parts with voltages above 50 V. Secure it against being switched back on. The level of the direct voltage must be considered for the installation, in particular with regard to insulation and safety measures. Make sure there is correct earthing, conductor dimensions and appropriate short-circuit protection. DANGER! The device has a fast discharge switch for the direct current circuit in accordance with EN 60204, Section But the fast discharge may be ineffective in specific device arrangements, especially when several servo drive controllers are switched in parallel in the direct current circuit or when a brake resistance is not connected. The servo drive controllers can remain under voltage for up to 5 minutes after they are switched off (residual condensor charge). 18 P.BE-CMMP-AS-SC-SW-EN 0708NH

19 2. Safety instructions for electrical drives and controllers Protection from electric shock through protective extra-low voltage with secure separation (PELV) All connections and terminals with voltages between 5 and 50 V on the servo positioning controller are safety extra-low voltages, which are designed as touch-secure in accordance with the following standards: - International: IEC , - European countries within the EU: EN 50178/1998, Section DANGER! High electric voltage due to incorrect connections! Mortal danger, danger of injury from electric shock. Only devices, electrical components and lines with protective extra-low voltage with secure separation (PELV = Protective Extra Low Voltage) can be connected to connections and terminals with voltages between 0 and 50 V. Connect only to voltages and current circuits with protection against dangerous voltages. This protection can be achieved with the help of isolating transformers, secure optical couplers or battery operation. Protection against dangerous movements Dangerous movements can be caused by faulty control of connected motors, which can have various reasons: incorrect or faulty wiring or cabling, errors in operation of components, errors in sensors or measuring transformers, defects or non-emc-appropriate components, errors in the software in the higher-level control system. These errors can occur directly after the device is switched on or after an unspecified duration of operation. The monitoring devices of the drive components largely exclude improper functions of the connected drives. One cannot rely exclusively on this with regard to protection of persons, in particular against injuries and/or property damage. Until the installed monitoring devices become effective, defective drive movements must be expected, the extent of which depends on the type of control and operating condition. DANGER! Dangerous movements! Mortal danger, injury, serious personal or property damage! P.BE-CMMP-AS-SC-SW-EN 0708NH 19

20 2. Safety instructions for electrical drives and controllers For the above reasons, protection of persons must be ensured with the help of monitoring or higher-level measures for the device. These are set up in agreement with the specific data of the system and a hazard and error analysis of the manufacturer. The safety regulations applicable for the system are also taken into account. Accidental movements or other malfunctions can be caused by switching off the safety devices, bypassing them or not activating them Protection against touching electrical parts DANGER! Housing surfaces can be hot! Danger of injury! Danger of burns! Danger of burns! Do not touch any housing surfaces in the proximity of heat sources! Danger of burns! After switching them off, let the devices cool off for 10 minutes before touching. Touching hot equipment parts which contain cooling elements and resistances, such as the housing, can cause burns! Protection during handling and installation Handling and installation of specific parts and components in an inappropriate way can result in burns. DANGER! Risk of injury due to incorrect handling! Personal injury due to squeezing, shearing, cutting, hitting! The following general safety instructions apply: Follow the general set-up and safety regulations on handling and installation. Use suitable installation and transport devices. Prevent pinching and squeezing with suitable safety measures. Use only suitable tools. When specified, use special tools. Use hoists and tools properly. Use suitable protective equipment, when necessary (e.g. safety goggles, work gloves, protective gloves). Do not stand below suspended loads. Immediately remove liquids from the floor to prevent slipping. 20 P.BE-CMMP-AS-SC-SW-EN 0708NH

21 3. Cabling and pin assignment 3. Cabling and pin assignment 1 Receiver 2 Transmitter 1 2 Fig. 3.1: Connection allocation In the product assortment CMMP-AS, the SERCOS interface was implemented in the form of an optional plug-in module. Due to special hardware requirements, it can only be used on the Ext2 plug-in position. In agreement with the SERCOS specification, the transmitter HFE (plastic housing) and the receiver HFD (metal housing) are accessible at the front panel. P.BE-CMMP-AS-SC-SW-EN 0708NH 21

22 3. Cabling and pin assignment 1 CMMP-AS 2 CAMC-SC 1 2 Fig. 3.2: Plug position for CMMP-AS Please follow the recommendations of the Interessengemeinschaft SERCOS interface for setting up a SERCOS network. 22 P.BE-CMMP-AS-SC-SW-EN 0708NH

23 4. Activation of SERCOS 4. Activation of SERCOS 4.1 Overview Activation of SERCOS is carried out once using the serial interface (RS232) of the servo controller. To activate the SERCOS protocol, several settings must be made in the start-up program. 1. In the "Configuration" window 2. In the "Application data" window 3. In the "Fieldbus" window Before the SERCOS communication can be activated, three different parameters must be set: Gear address For unambiguous identification, every slave in the network must have a unique slave address. As devices of the CMMP-AS series, they have only one driver per slave; the gear address is identical to the slave address. Baud rate This parameter sets the baud rate used in MBaud. The possible baud rate depends on the glass-fibre cable used and the capability of the numeric control used. If SERCOS is not active yet, the chosen baud rate can deviate from the baud rate actually used. Therefore, the "actual baud rate" is also shown. Light power Depending on the glass-fibre cable and the cable length, it may be necessary to adjust the performance of the transmitter diodes to avoid overloading. For further information on this parameter, please see chapter 14. SERCOS communication can finally be activated. Please remember that the abovementioned parameters can only be changed if the protocol is deactivated. All parameters are only valid if the SERCOS communication is deactivated and then reactivated. P.BE-CMMP-AS-SC-SW-EN 0708NH 23

24 4. Activation of SERCOS Please remember that activation of the SERCOS communication after a reset is only available if the parameter set has been stored. Available baud rates The following baud rates are available: 2 Mbaud 4 Mbaud 8 Mbaud 16 Mbaud 24 P.BE-CMMP-AS-SC-SW-EN 0708NH

25 5. Overview 5. Overview 5.1 Overview communication SERCOS is a Master-slave field bus system with one Master and several serially connected slaves. The communication takes place cyclically and starts with the so-called Master synchronisation telegram (MST). The time between two MSTs is called SERCOS cycle time (tscyc). The axis telegram (AT) from each drive follows the MST. The AT contains feedback information of the drive, e.g. position information (actual position value). The Master data telegram (MDT) follows the ATs. The MDT contains a data record of each slave with operating data for the drives, e.g. nominal position values. MST AT1 AT2 AT3 MDT MST SERCOS cycle time Fig. 5.1: Cyclic exchange of data MDT and AT are configurable, that is, the number and type of parameters that can be cyclically exchanged can be determined by the user. In addition, data that is not time critical can be exchanged by using the service channel. For this, a separate data container is reserved within the MDT and AT. Transmission through the service channel takes place in a segmented way. The service channel is also used for processing procedure commands, such as "Drive controlled homing". To set up a SERCOS network properly, the timing of all slaves must be configured and the times for sending the MDTs and ATs determined. For this, initialization of the SERCOS communication is divided into five main communication phases (CP): Communication phases Purpose Task 0 Closing the ring The Master tests whether all slaves repeat the Master signal. 1 Identification of the axes The Master identifies the slaves based on their gear address. 2 Loading the communication parameters 3 Loading the application parameters The Master queries the timing abilities of each drive and sets the timing of the rings according to the timing parameters of the drives. Transmission of all parameters for cyclic communication, e.g. scaling of the position values. 4 Cycle operation Slaves operate cyclically. Tab. 5.1: Communication phases P.BE-CMMP-AS-SC-SW-EN 0708NH 25

26 5. Overview SERCOS defines a number of parameters for communication purposes as well as application purposes. A unique identification number () is assigned to a parameter to identify it. Besides the operating data, it is also possible to read off name, attribute, unit, minimum and maximum value for each implemented. The parameters defined by the SERCOS specification are marked by an "S" as in S Producer-specific parameters start with a "P". The next chapter describes the design of the SERCOS telegrams, such as AT and MDT. 5.2 Axis telegram (AT) The axis telegram contains the operating data of the drive. Each slave sends its own AT with its specific gear address in the Adr field. The operating data can be configured by the user according to the specific application; for example, the actual position value and the actual velocityvalue can be jointly embedded. WI Data record Status Drive service info Operating data Operation data xxxx Operation data xxxx Operation data xxxx Operation data xxxx Fig. 5.2: Axis telegram (AT) Through a special parameter ( list of the configurable data in the AT), one can find out which s may be recorded in the AT. Besides the operating data, the AT contains data of the service channel (drive service info) and the status word with status information of the drive. For detailed information regarding configuration of the MDT, please consult your NC manual. 26 P.BE-CMMP-AS-SC-SW-EN 0708NH

27 5. Overview 5.3 Master data telegram (MDT) The Master data telegram contains the command values for the drives. The Master sends only a Master data telegram with specific data records for each drive. The operating data for the drives can be configured; for example, the position command value and the torque limit can be jointly embedded. Through a special parameter ( list of the configurable data in the MDT), one can find out which s may be recorded in the MDT. Addr ess Data record 1 Data record Control Master service info Operating data Operation data xxxx Operation data xxxx Operation data xxxx Operation data xxxx Fig. 5.3: Master data telegram (MDT) Similar to the design of the AT, the MDT contains service channel data (Master service info) and the control word to control the drive. For detailed information regarding configuration of the MDT, please consult your NC manual. 5.4 Service channel (SC) In addition to the cyclical data exchange, data that is not time critical can be exchanged via the service channel. Since only 2 bytes are reserved for the service channel in the AT and MDT, the data must be transmitted in a segmented way. A special handshake mechanism is implemented for transmission of the data. Please refer to the SERCOS specifications for additional information regarding the service channel mechanism. The service channel is used frequently by NCs to display all available parameters (name, value, etc.) and permit the user to edit them. Whether the service channel function is available depends on your NC. For information regarding this, please consult your NC manual. P.BE-CMMP-AS-SC-SW-EN 0708NH 27

28 5. Overview The service channel is also used to set up the drive during initialization (phase conversion), in order to send timing parameters to the drive and initiate switchover into the next phase through a procedure command. A procedure command is a special type of non-cyclical data which, when sent through the service channel, calls up established functional processes, e.g. starting of the homing procedure. These processes can take some time. However, the service channel is immediately available again for transmission of non-cyclical data, since the procedure command only initiates the start of a functional process. The status of the command is transmitted by the service channel, so the Master is able to check whether the started command has been correctly carried out or whether it must still be carried out. As a parameter, each procedure command is assigned a unique. 5.5 Telegram types The telegram content of the configurable data records is established by the Telegram type parameter (S ). Either a predefined standard telegram can be selected or an application-specific telegram used. The telegram type must be configured in phase Standard telegrams Standard telegram 0 No cyclical data are being exchanged. Data can only be exchanged via the service channel. Standard telegram 1 The standard telegram 1 can be used for the torque regulation operation mode: Data record in the MDT Data field 0 Data field 1 Torque command value (S ) 2 Bytes Data record in the AT No data 0 Bytes Standard telegram 3 The standard telegram 3 can be used for the velocity control operation mode: Data record in the MDT Data record in the AT Data field 0 Data field 1 Data field 0 Data field 1 Velocity command value (S ) 4 Bytes Position feedback value (S ) 4 Bytes Standard telegram 4 The standard telegram 4 can be used for the position control operation mode: Data record in the MDT Data record in the AT Data field 0 Data field 1 Data field 0 Data field 1 Position command value (S ) 4 Bytes Position feedback value (S ) 4 Bytes 28 P.BE-CMMP-AS-SC-SW-EN 0708NH

29 5. Overview Application telegram In addition to the standard telegrams, it is possible to use one's own freely configured telegram. MDT and AT can be configured independently of each other. The s used in the MDT must be set up in S (Configuration list MDT). The available parameters can be read off the S ( list of all configurable data in the MDT). The maximum permissible length in bytes can be output by S ( Length of the configurable data record in the MDT). The following s can be used for configuration of the AT: S (Configuration list AT) S ( liste of all configurable data data in the AT) S (Length of configurable data record in the AT). It must be considered that only a limited number of data can be cyclically exchanged if low SERCOS cycle times are used. The maximum number of cyclically transmitted s is limited to 4. For detailed information regarding configuration of the application telegrams, please consult your NC manual. The following values are permitted for S (Telegram type): Bit Value 0 2 Standard telegrams 000 b : Not permitted Tab. 5.2: Values for S b : Standard telegram b : Not permitted 011 b : Standard telegram b : Standard telegram b : Not permitted 110 b : Not permitted 111 b : Application telegram P.BE-CMMP-AS-SC-SW-EN 0708NH 29

30 5. Overview 5.6 Initialisation (phase change) To set up a SERCOS network, it is necessary to know the special timing abilities of the connected drives in order to establish the times for sending and receiving. In addition, the Master must synchronise all slaves before the cyclical communication can begin. For that, five phases are defined. On the right side, the status diagram of SERCOS is depicted. Normally, the next phase can only be reached through the previous phase. Only Phase 0 can be reached from all phases, in order to start a new initialization. The Master determines the respective phase in the Master synchronisation telegram (MST). To reach Phase 3 and Phase 4, a procedure command must also be performed (see also chapter 13.3). Fig. 5.4: Phase change Communication Phase 0: Closing the ring In Phase 0, the Master tries to receive its own test signal to find out whether the SERCOS ring is closed. All SERCOS slaves simply repeat the Master signal, so the Master can recognise that the ring is closed. In case of a communication error, the slave can fall back into Phase 0 by itself Communication Phase 1: Identification of the drives Communication Phase 1 is used for recognising the drives connected to the ring. To do this, the Master specially contacts each drive with its gear address to confirm that all drives are present Communication Phase 2: Loading the communication parameters In Communication Phase 2, the complete function of the service channel is available, and non-cyclical data can be exchanged. At a minimum, the following parameters must be transmitted: 1. Sending times and time slots 2. Parameters for specification of the content and length of the AT 3. Parameters for specification of the content and length of the MDT Before the Master can change the phase in the MST to Communication Phase 3, the drive must check the timing parameters sent by the Master. For that, a procedure command must be carried out by the Master before it is permitted to switch to Phase 3. This procedure command is called Communication phase 3 transition check (S ). It is described in chapter At a minimum, the parameters in the list of operation data for Communication Phase 2 (S ) must be transmitted without error in Communication Phase P.BE-CMMP-AS-SC-SW-EN 0708NH

31 5. Overview For checking the validity of the parameters, the slave can only refer to general criteria (e.g. minimum, maximum). The slave cannot recognise whether all parameters sent by the Master regarding control data and the overall installation are correct. This means that, even if the drive positively confirms 'Preparation to Switch to Phase 3', incorrect communication parameters may be present with regard to the overall installation, which can result in interruption of cyclical communication. Switching to Communication Phase 3 starts synchronisation of the drive with the MST cycle Communication Phase 3: Loading the communication parameters In Communication Phase 3, data exchange takes place over the telegrams defined for cycle operation. The time slots for cycle operation are also used. The cycle operation data are not relevant, that is, they are not used by the drive. But the telegram design must already correspond to that of Communication Phase 4. In this phase, the drive can be adapted to the specific application, e.g. by changing the scaling parameters for position, velocityand acceleration. To switch to Communication Phase 4, the drive must check the validity of the transmitted parameters and also check whether it is synchronised. For that, a procedure command must be carried out by the Master before it is permitted to switch to Phase 4. This procedure command is called Communication Phase 4 transition check (S ). It is described in chapter At a minimum, the parameters in the list of operation data for Communication Phase 3 (S ) must be transmitted without error in Communication Phase Communication Phase 4: Cycle operation In this phase, initialisation is ended and cyclical data are exchanged. Now, power connection of the drive is possible using the control word embedded in the MDT. The drive status is displayed through the status word embedded in the AT. P.BE-CMMP-AS-SC-SW-EN 0708NH 31

32 6. SERCOS cycletime 6. SERCOS cycletime Normally, the SERCOS cycletime can be determined by the parameter S To achieve the best behaviour, all controllers within the CMMP-AS-SC (current controller, velocitycontroller and position controller) must be synchronised with the MST. Factor Cycle time t i (current controller) µs t n (speed controller) µs t x (position controller) µs t p (interpolation calculation IPO) µs Tab. 6.1: SERCOS cycletime 32 P.BE-CMMP-AS-SC-SW-EN 0708NH

33 7. Operation modes 7. Operation modes The operation mode of the drive is determined by the control word in the MDT (see chapter 9). You can choose between a primary operation mode and three secondary operation modes. The respective operation mode can be read off using the status word. The meaning of the primary and secondary operation modes must be determined by the Master in Communication Phase 3. For this, the following s must be used: S Primary operation mode S Secondary operation mode 1 S Secondary operation mode 2 S Secondary operation mode 3 The following values are permitted: Values 0x0000 0x0001 0x0002 0x000B 0x000C 0x002B Operation mode not defined Torque control Velocity control Position control using the "commutation encoder", drag-free, interpolation Position control using the "position feedback value encoder", drag-free, interpolation Drive-controlled interpolation using the "commutation encoder" Tab. 7.1: Values To choose between operation modes, you must have command values in the MDT for each operation mode used. The Master must ensure that command values in the MDT are available for each operation mode used. Otherwise, the command value can be indefined when switching into another operation mode, which can result in uncontrolled behaviour of the drive. As specified above, the change of operation mode is initiated by writing in the control word. Since the change of operation mode takes some time, the momentary operation mode can be read off using the status word. During the change to the new operation mode, the command values for both operation modes must be valid. When the drive signals the new operation mode in the status word, the command values for the old operation mode no longer need to be valid. The change into a non-initialised operation mode results in an error (37-5), which is reported in the interface status (S ). See chapter P.BE-CMMP-AS-SC-SW-EN 0708NH 33

34 7. Operation modes 7.1 Torque control In the 'Torque control ' operation mode, a new command value (Torque command value S ) must be available in the time grid of the SERCOS cycle time. This value is the input value for the torque controller. The actual torque can be read off using the torque feedback value (S ). It is the user's responsibility to ensure that the torque command value is embedded in the MDT before switching into this operation mode. 7.2 Velocity control In the 'Velocity control ' operation mode, a new command value (Velocity command value S ) must be available in the time grid of the SERCOS cycletime. This value is the input value for the torque controller, which generates the command value for the torque controller. The actual velocitycan be read off using the Velocity feedback value 1 (S ). It is the user's responsibility to ensure that the velocity command value is embedded in the MDT before switching into this operation mode. 7.3 Position control In the 'Position control ' operation mode, a new command value (Position command value S ) must be available in the time grid of the SERCOS cycletime. This value is the input value for the internal interpolator. The interpolator creates position command values in the time grid of the velocitycontroller (for example, four times faster than the SERCOS cycle time) and also feed forward velocityvalues. Here, the position and velocitycontroller receive new command values with a higher cycle time than the SERCOS cycle time. Therefore, the drive follows the SERCOS position command values (command values) drag-free (without lag error). The actual position can be read off either via the Position feedback value 1 (S ) or Position feedback value 2 (S ). The first returns the actual position value of the motor encoder, the second the feedback value of an optional external encoder. They are alternately valid when the operation mode involved is active. Otherwise, the feedback value 0 is returned. Switching back and forth online between the internal and external feedback value is not permitted. When one operation mode (S , S , S , S ) has been set to 0x000B, it is not allowed to set another one to 0x000C, and vice versa. It is the user's responsibility to ensure that the position command value is embedded in the MDT before switching into this operation mode. 7.4 Drive-internal interpolation In this operation mode, the drive receives a new target position from the Master and moves on its own to this position while maintaining the specified positioning speed (S ), positioning acceleration (S ) and positioning deceleration (S ). The target position does not have to be cyclically specified; it can also be sent via the service channel. A new positioning movement begins each time a new target position (S ) is written. 34 P.BE-CMMP-AS-SC-SW-EN 0708NH

35 8. Scaling of data 8. Scaling of data Operating data can have different scalings in order to adapt the drives to the application. SERCOS differentiates between unweighted operating data and application-specific, weighted data. In application-specific scaling, reference is made to the data in dependence on rotatory or translatory load movements. Several predefined scalings are available for position, speed, torque and acceleration data. 8.1 Position data Overview The scaling can be set bit for bit in S The following diagram gives an overview of the available scalings (the translatory scaling on the motor shaft has not yet been available): Position data scaling type S feed constant S Linear Rotational S , Bit Gear ratio Gear ratio S / 122 Load Motor Load Motor S , Bit 6 meter meter degree degree S , Bit 5 0,1 µm 0,1 µm 0,0001 0,0001 = 1 Bit Fig. 8.1: Scaling of the position data P.BE-CMMP-AS-SC-SW-EN 0708NH 35

36 8. Scaling of data The following values apply for S : BIT Value Scaling type 00 b : Unscaled (incremental) 01 b : Translatory scaling 01 b : Rotatory scaling 3 Preference scaling 0 b : Preference scaling 1 b : Not permitted 4 for translatory/ rotatory scaling 0 b : Metre/angle degree 1 b : Not permitted 5 Reserved 6 Data reference 0 b : On the motor shaft 1 b : On the load 7 Processing format 0 b : Absolute format 1 b : Modulo format (see S ) Reserved Tab. 8.1: Values apply for S Unscaled If no scaling is chosen, all position data are sent with the internal scaling of the position data (232 steps = 1 revolution). Since the position date defined by SERCOS are 4-byte values, this scaling does not make sense in general for applications. For that reason, "Unweighted" cannot be selected Translatory scaling If a linear motor or linear drive is used, it is practical to use linear position values. The scaling by the translatory position data scaling factor (S ) and by the translatory position data scaling exponent (S ) is thereby defined using the following formula: LSB = S * 10 S With 1 for the factor and -7 for the exponent, this results in a resolution of 0.1 µm per bit. The ratio between revolutions of the motor and translatory movement is determined by the feed constant (S ). If the translatory scaling is also applied to the load, the gear transmission ratio (S /S ) must be set accordingly Rotatory scaling If rotatory is selected, the rotational position resolution is specified by the parameter S , which defines the steps per revolutions. A rotation position resolution of results in a scaling of per bit. If the rotatory scaling is also applied to the load, the gear transmission ratio (S /S ) must be set accordingly. 36 P.BE-CMMP-AS-SC-SW-EN 0708NH

37 8. Scaling of data 8.2 Velocity data Overview The scaling can be set bit for bit in S The following diagram gives an overview of the available scalings (the translatory scaling on the motor shaft has not yet been available): Velocity data scaling type S feed constant S Linear Rotational S , Bit Gear ratio Gear ratio S / 122 Load Motor Load Motor S , Bit 6 min min min s min s S , Bit m / min m / min min min = 1 Bit s s = 1 Bit Fig. 8.2: Scaling of the velocity data P.BE-CMMP-AS-SC-SW-EN 0708NH 37

38 8. Scaling of data The following values apply for S : Bit Value Scaling type 00 b : Unscaled (incremental) 01 b : Translatory scaling 01 b : Rotatory scaling 3 Preference scaling 0 b : Preference scaling 1 b : Not permitted 4 for translatory/rotatory scaling 0 b : Metres/revolutions 1 b : Not permitted 5 Time units 0 b : Minutes 1 b : Seconds 6 Data reference 0 b : On the motor shaft 1 b : On the load Reserved Tab. 8.2: Values apply for S Unscaled "Unscaled" has not been selectable Translatory scaling For the translatory scaling of the velocity data, the scaling is defined by the Velocity data scaling factor (S ) and the Velocity data scaling exponent (S ) using the following formula: LSB = S * 10 S With 1 for the factor and -6 for the exponent, this results in a resolution of mm/min per bit. The ratio between revolutions of the motor shaft and translatory movement is determined by the feed constant (S ). Since only scaling with a load reference can be selected, the gear transmission ratio (S /S ) must be set accordingly Rotatory scaling For the rotatory scaling of the velocity, the scaling is likewise defined by the Velocity data scaling factor (S ) and the Velocity data scaling exponent (S ) using the following formula: LSB = S * 10 S For rotatory scaling, the time unit (min/s) can also be selected. For minutes, the scaling exponent is -4, for seconds -6. With 1 for the factor, this results in a resolution of min-1 per bit or s-1 per bit. If the scaling is also applied to the load, the gear transmission ratio (S /S ) must be set accordingly. 38 P.BE-CMMP-AS-SC-SW-EN 0708NH