Communication With NC-Module UFM UDM. Telegram Description PLC/NC-Module Profibus. Manual SM Profibus Communication 4 Datawords V4.

Transcription

1 Communication With NC-Module UFM UDM Telegram Description PLC/NC-Module Profibus Manual SM Profibus Communication 4 Datawords V4.doc

2 content: 1 General Connecting the SM-Profibus-DP-Modul Termination resistor Communication Basics Function of the NC-Module Profibus-DP configuration The telegram Operation of the NC-Module in connection with a Siemens PLC S Communication between host and NC-Module Description of the protocol signs Data format I/O Host NC Module Bit usage EA level Host NC module Data format NC Module host Bit position I/O level NC host Data format Variables Host NC Module Bit condition variables range Host NC Module Data format Variables NC Module Host Bit position variables range NC Module -> Host Data Format ID Number Host NC Module Bit usage ID Number Host NC Module Data format ID Number NC Module Host Bit consistence ID Number NC Module Host Data Format Motion level Host NC Module Bit usage Motion Host NC Module Data format motion NC Module Host Bit consistence Motion NC Module Host Status information command structure of the NC module Signal description...38

3 6.1 Homing after switch-on Homing without request Cycle start E-stop during a move E-stop at in-position (no move) Changing program number...43

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5 1 General This document describes the communication between the NC-Module and the host. The protocol is simple and can easily be implemented into existing PC/PLC-systems. This description is valid for all UFM NC Software Version V4.xxx The complete functions of the NC-Module are run via the serial interface. Installation of the SM-Profibus-DP-Module The NC-Module may not be mounted, when the servo drive is powered.!!! The SM-Profibus-Module must always be mounted in slot 3. Manual SM Profibus Communication 4 Datawords V4.doc page 1

6 1.2 Connecting the SM-Profibus-DP-Module Front view 1.3 Termination resistor The termination resistor must meet to the PROFIBUS-Standard. The last participant must have a terminating resistor in the connector enabled. The housing of the connector should be screwed with the Profibus participant, so that the shield of the cable has connection to the ground of the participant.

7 2 Communication Basics 2.1 Function of the NC-Module The NC-Module is a Profibus participant with several levels. These levels are defined by a 3-bit-combination in the header (1 st data word) of the participant. Level 0 defines a simple I/O-level, which is used for start, stop and status. Start and Stop for the press are generally transferred from the PLC to the NC module. The NC module will then execute the motion commands immediately after receiving. Before the execution however, the status of the NC-Module has to be analyzed, as different conditions are possible within the NC-Module. To transfer data, different data-levels are provided. The data are separated concerning direction and content. The exact design of the bytes is described in this manual, suffix A. The level-architecture within the NC-Module looks like this: Bit # Description 000 I/O-level Start / Stop / GOOD / BAD / homing /Input / Output 001 Data-level Variables / setting or reading of measuring points 010 ID-number ID Data from the PLC to the PC 011 Motion level Motion and position feedback combined level Each Profibus command is divided into words with 16 bit length Profibus-DP configuration The Profibus DP configuration is stored in configuration-files. The configuration is executed due to the used control via special configuration programs (e.g. COM Profibus). Following configuration files are available: CTSM0672.gsd general usable config-file, 8 byte with consistency With this config.-file, two formats can be selected: 8 byte with consistency, 4 words with consistency, 4 words without consistency. The NC-Module activates the right format automatically during initialization. Manual SM Profibus Communication 4 Datawords V4.doc page 3

8 3 The telegram The communication parameters are predefined for the NC-Module at 1,5 Mbit and is implemented in an internal hardware board of the module. Two connectors are available for PROFIBUS-standard-connectors. The module is integrated with other clients in a bus, one client is the PLC/PC. The clients are connected via a two wire-cable. The PLC/PC therefore must have at least one Profibus-module or a corresponding board. The protocol has been developed by the user organization and clearly defines the data-exchange. After receiving a valid protocol and acknowledging by handshake, the data are taken into the NC-Module. This happens after a positive acknowledgment to avoid, that wrong data are written into the NC-Module. The last client should have the terminating resistor enabled, which is often integrated into the connector housing. In any case, the user must follow the valid standards (see also literature provided by SIEMENS). 3.1 Operation of the NC-Module in connection with a Siemens PLC S5 When the NC-Module is connected to a SIEMENS S5-PLC, the configuration of the NC-module is recommended with 4 words input, 4 words output with full consistency. It is adjusted with a configuration-program, e.g. COM Profibus. When a configuration with data-consistency is needed, the programming of the S5 must fulfill certain demands. The exact approach to program the S5 is shown in the SIEMENS Manual Dezentrales Periphiesystem ET200, Siemens-order-# 6ES ES12 suffix B, page B1 and B27. If this procedure is not met, following fault will come up: Installation successful Bus runs No or incorrect data-exchange between PLC and NC-Module possible.

9 4 Communication between host and NC-Module. The NC-Module can communicate with different hosts like the PLC or a PC. The communication is always started by the host, the NC-Module generally is passive and waits for a command via the serial interface. 4.1 Description of the protocol signs Bit name description bit range CST1: consistence Bit 2 ( 0 1 ) CMD0 CMD2: command level ( ) NU00 NU08: not used IN_07 IN_00: Virtual inputs 1 8 ( ) PRG0 PRG7: Program Selector via PRG_S ( ) PRG_S: Program strobe ( 0 1 ) STEP: step mode ( 0 1 ) START: Start program ( 0 1 ) REF: Start homing ( 0 1 ) CST0: consistence Bit ( 0 1 ) IO: Part status Ok ( 0 1 ) NIO: Part status NOk ( 0 1 ) REF_R: home request ( 0 1 ) CYC_E: Cycle end ( 0 1 ) STEP_E: step end ( 0 1 ) Out_07 Out_00: Virtual outputs ( ) STA00 STA03: Status information (, ) KB: Keyboard lock. ( 0 1 ) This disabled any command from the PC executing a motion. M_UP: Motion upward (Moves the press up with the reference motion speed settings). M_DWN: Motion downward (Moves the press down with the reference motion speed settings). ID_00 ID_07: Identification number bits ( 0 1 ) If documentation is required then the PLC has to transmit the ID number to the NC module. WHEEL Wheel active ( 0 1 ) MOVE Move to input position (Level4) ( 0 1 ) SEL_n Binary type selection ( ) IDX_n Binary addresse ( ) ATTENTION: By running the function M_UP, M_DWN, WHEEL and MOVE, the nominal Force will work as overload. The bit CST0 and CST1 represents the consistency of the data between these two bits. The data between CST0 and CST1 are valid only, if both bits have the same condition. Manual SM Profibus Communication 4 Datawords V4.doc page 5

10 CST0 = 0 CST1 = 0 or CST0 = 1 CST1 = 1. A change within the bits can change the status of CST0 and CST1, therefore the status of these two bits must be checked to make sure, that the data and command bits are valid. The consistency bits are sent back to the PLC after reception. REMARK: If data are transferred via the PROFIBUS and the data must be arranged in the PLC, the level bits should be set to 1 at level 7 first (CMD0 CMD2), otherwise misinterpretations might happen on the bus. If the words are than correct in regard to their consistency, the level-selection can be set to the right level.

11 4.2 Data format I/O Host NC Module The command structure is: Standard structure of data byte 0-level_000. The structure of the protocol is The design of the protocol is shown as bits in the following description. These are shown in MSB after LSB for the first data byte of the NC-Module. Host Protocol: IN_04 IN_03 IN_02 IN_01 IN_00 PRG5 PRG4 PRG3 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 PRG2 PRG1 PRG0 PRG_S STEP START REF NU BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 CST1 CMD2 CMD1 CMD0 NU00 NU01 NU02 NU03 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_09 BIT_08 NU04 NU05 NU06 NU07 NU08 IN_07 IN_06 IN_05 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 NU NU NU NU NU NU NU NU BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 NU NU NU NU M_DWN M_UP KB CST0 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Manual SM Profibus Communication 4 Datawords V4.doc page 7

12 4.3 Bit usage EA level Host NC module Data word 1 BIT # Name Description 15 IN_04 Input bit 4 14 IN_03 Input bit 3 13 IN_02 Input bit 2 12 IN_01 Input bit 1 11 IN_00 Input bit 0, used to influence the program-flow. 10 PRG5 Program Selection bit 5. 9 PRG4 Program Selection bit 4. 8 PRG3 Program Selection bit 3. 7 PRG2 Program Selection bit 2. 6 PRG1 Program Selection bit 1. 5 PRG0 Program Selection bit 0. (up to 512 Programs can be coded) 4 PRG_S Program strobe to take over a selected program (PRG0 PRG5). 3 STEP Single step of the actual program. 2 START Start of the actual program. (can be executed after homing, when the unit has been switched on.) 1 REF Start homing. End of homing is defined by REF_R Bit. 0 NU Not used Data word 2 BIT # Name Description 15 CST1 Consistency Bit 1 must match to CST0 to declare tha data valid. 14 CMD2 Selection of level CMD1 Selection of level 1 12 CMD0 Selection of level 0. To select the function needed 0 = I/O, etc. 11 NU00 Not used 10 NU01 Not used 9 NU02 Not used 8 NU03 Not used 7 NU04 Not used 6 NU05 Not used 5 NU06 Not used 4 NU07 Not used 3 NU08 Not used 2 IN_07 Input bit 7. 1 IN_06 Input bit 6. 0 IN_05 Input bit 5.

13 Data word 3 BIT # Name Description 15 NU Not used 14 NU Not used 13 NU Not used 12 NU Not used 11 NU Not used 10 PRG8 Program Selection bit PRG7 Program Selection bit PRG6 Program Selection bit NU Not used 06 NU Not used 05 NU Not used 04 NU Not used 03 M_DWN Manual motion down. 02 M_UP Manual motion up. 01 KB Keyboard lock. 00 CST0 consistence Bit 0 must match to to CST1 to declare the data valid Manual SM Profibus Communication 4 Datawords V4.doc page 9

14 4.4 Data format NC Module host Standard structure of data word_1 - level_000. NC Protocol: data word 1 Out_04 Out_03 Out_02 Out_01 Out_00 PRG5 PRG4 PRG3 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 PRG2 PRG1 PRG0 PRG_S STEP_E CYC_E REF_R NU BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 data word 2 CST1 CMD2 CMD1 CMD0 STA05 STA04 STA03 STA02 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_09 BIT_08 STA01 STA00 QUIT IO NIO Out_07 Out_06 Out_05 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 data word 3 NU NU NU NU NU PRG8 PRG7 PRG6 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 NU NU NU NU A_DWN A_UP KB CST0 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00

15 4.5 Bit position I/O level NC host The data of the PROFIBUS is divided into 4 words a 16 bits. It is recommended to use data consistency for the data transfer since this guarantees valid data in any case. Data word 1 BIT # Name Description 15 Out_04 Output bit Out_03 Output bit Out_02 Output bit Out_01 Output bit Out_00 Output bit PRG5 Ack. program selection bit 5. 9 PRG4 Ack. program selection bit 4. 8 PRG3 Ack. program selection bit 3. 7 PRG2 Ack. program selection bit 2. 6 PRG1 Ack. program selection bit 1. 5 PRG0 Ack. program selection bit 0. 4 PRG_S Program strobe to acknowledge a selected program (PRG0 PRG5). Change from Low -> High = Program was loaded 3 STEP_E End of a step in the actual program. 2 CYC_E End of program (Low -> High). 1 REF_R End reference motion is defined by REF_R Bit. 0 NU ab consistence Bit 1 must match with CST0 to declare the data valid. Data word 2 BIT # Name Description 15 CST1 Consistence Bit 1 must match CST0 to declare the data valid 14 CMD2 Level selection CMD1 Level selection CMD0 Level selection 0. Defines, which function was selected (0 = I/O, etc...). 11 STA_LL Program strobe to acknowledge a selected program (PRG0 PRG5). Change from Low -> High = Program was loaded 10 STA_UL Status bit 4 (upper limit exceeded) 09 STA_NF Ack. program selection bit STA_FEA Status Bit 2 (force limit exceeded in preposition) 07 STA_REF Status Bit 1 (Reference) 06 STA_OL Status Bit 0. Additional information about a fault in the program (0 = no fault, etc..). 05 QUIT Ack. For input signals 04 IO Good part (OK) 03 NIO Bad part (After program end the status information bad part (NOK), Good part (OK) are set) 02 Out_07 Output bit Out_06 Output bit Out_05 Output bit 5. Manual SM Profibus Communication 4 Datawords V4.doc page 11

16 Data word 3 BIT # Name Description 15 NU STA_12 14 STA_LST Cycle - Start lost 13 STA_ADC ADC limit reached 12 STA_RES Reset 11 CTRL Drive enabled 10 PRG8 Ack. program selection bit PRG7 Ack. program selection bit PRG6 Ack. program selection bit STA_MAX Max. position "Press to Force (Signal)" reached 06 STA_FER Max. permitted positioning fault crossed 05 STA_FT Force transducer max. deviation of 10% exceeded 04 PC_LIFE PC connected and ready 03 A_DOWN Acknowledge motion down. 02 A_UP Acknowledge motion up. 01 KB Acknowledge keyboard lock. 00 CST0 Consistence Bit 0 must match CST1 to declare the data valid

17 4.6 Data format Variables Host NC Module To request variable / gauging values the selection bits SEL_0 & SEL_1 have to be set accordingly. SEL_0 SEL_1 data type 0 0 Variables 1 0 Gauging values 0 1 Not used 1 1 Not used The variables 1 to 8 and are then addressed via the index (IDX_0 - IDX_3) as a binary Offset. IDX_0 IDX_1 IDX_2 IDX_3 Variable Variable Variable Variable Variable Variable Variable Variable Variable Variable Variable Variable Variable With gauging values the index bits IDX_3 & IDX_4 have to be used to determine the gauging number. For the data type the lower significant bits IDX_0 to IDX_2 have to be used. IDX_0 IDX_1 IDX_2 Data type Status (0 = Sample taken / Base condition) (2 = acquisition active) (4 = single position trigger active) Position (Start) Position (End) Upper limit Force / analog value Lower limit Acquisition position. Manual SM Profibus Communication 4 Datawords V4.doc page 13

18 IDX_3 IDX_4 Gauging value Gauging value Gauging value Gauging value Gauging value Standard structure of level_001. NC Protocol: Data word 1 D_SGN D_29 D_28 D_27 D_26 D_25 D_24 D_23 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 D_22 D_21 D_20 D_19 D_18 D_17 D_16 D_15 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Data word 2 CST1 CMD3 CMD2 CMD1 READ WRITE SEL_1 SEL_0 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_09 BIT_08 IDX_7 IDX_6 IDX_5 IDX_4 IDX_3 IDX_2 IDX_1 IDX_0 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Data word 3 D_14 D_13 D_12 D_11 D_10 D_09 D_08 D_07 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 D_06 D_05 D_04 D_03 D_02 D_01 D_00 CST_0 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00

19 4.7 Bit condition variables range Host NC Module 1. Data word (most significant bits of variable) BIT #[DW] Name Description 15 DATA_SGN Sign of variable (0 = positive, 1 = negative) 14 DATA_29 Data bit 29 (MSB), this carries the value*1000, which has been collected in the NC-Module (e.g. 1234,560 = ), the PLC must therefore divide the integer number by 1000, to get the real value. 13 DATA_28 Data bit DATA_27 Data bit DATA_26 Data bit DATA_25 Data bit DATA_24 Data bit DATA_23 Data bit DATA_22 Data bit DATA_21 Data bit DATA_20 Data bit DATA_19 Data bit DATA_18 Data bit DATA_17 Data bit DATA_16 Data bit DATA_15 Data bit 15 Manual SM Profibus Communication 4 Datawords V4.doc page 15

20 2. Data word (control bits) BIT #[DW] Name Description 15 CST1 Consistency Bit 1 must be the same as CST0 to declare the values valid. 14 CMD2 Level selection CMD1 Level selection CMD0 Level selection 2. To define the selected function: 0 = EA, 1 = Variables, 2 = Measuring values. 11 READ Read, at Bit 1 wait, until the NC-module has reflected the status. 10 WRITE Write. At Bit 1 wait until the NC-module has reflected the status. 09 SEL_1 Selector 1 (MSB) type of variable (0 = Variable, 1 = Measuring value) 08 SEL_0 Selector 0 07 IDX_7 Index 7 (MSB) range The offset (number) of variable is set 06 IDX_6 Index 6 05 IDX_5 Index 5 04 IDX_4 Index 4 03 IDX_3 Index 3 02 IDX_2 Index 2 01 IDX_1 Index 1 00 IDX_0 Index 0 (LSB) 3. Data word (least significant bits of variable) BIT #[DW] Name Description 15 DATA_14 Data bit DATA_13 Data bit DATA_12 Data bit DATA_11 Data bit DATA_10 Data bit DATA_09 Data bit DATA_08 Data bit 8 08 DATA_07 Data bit 7 07 DATA_06 Data bit 6 06 DATA_05 Data bit 5 05 DATA_04 Data bit 4 04 DATA_03 Data bit 3 03 DATA_02 Data bit 2 02 DATA_01 Data bit 1 01 DATA_00 Data bit 0 00 CST0 Consistency Bit 0 must be the same as CST1 to declare the values as valid.

21 4.8 Data format Variables NC Module Host Standard structure of data word _0 - level_001. NC Protocol: Data word 1 D_SGN D_29 D_28 D_27 D_26 D_25 D_24 D_23 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 D_22 D_21 D_20 D_19 D_18 D_17 D_16 D_15 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Data word 2 CST1 CMD3 CMD2 CMD1 READ WRITE SEL_1 SEL_0 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_09 BIT_08 IDX_7 IDX_6 IDX_5 IDX_4 IDX_3 IDX_2 IDX_1 IDX_0 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Data word 3 D_14 D_13 D_12 D_11 D_10 D_09 D_08 D_07 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 D_06 D_05 D_04 D_03 D_02 D_01 D_00 CST_0 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Manual SM Profibus Communication 4 Datawords V4.doc page 17

22 4.9 Bit position variables range NC Module -> Host 1. Data word (most significant bits of variable ) BIT #[DW] Name Description 15 DATA_SGN Sign of variable (0 = positive, 1 = negative) 14 DATA_29 Data bit 29 (MSB), this carries the value*1000, which has been collected in the NC-Module (e.g. 1234,560 = ), the PLC must therefore divide the integer number by 1000, to get the real value. 13 DATA_28 Data bit DATA_27 Data bit DATA_26 Data bit DATA_25 Data bit DATA_24 Data bit DATA_23 Data bit DATA_22 Data bit DATA_21 Data bit DATA_20 Data bit DATA_19 Data bit DATA_18 Data bit DATA_17 Data bit DATA_16 Data bit DATA_15 Data bit Data word (control bits). BIT #[DW] name Description 15 CST1 Consistency Bit 1must be the same ascst0, to declare the data valid 14 CMD2 Level selection CMD1 Level selection CMD0 Level selection 2. To define the selected function :0 = I/O, 1 = Variable, 2 = Measuring values. 11 READ Read, at Bit 1 wait, until the NC-module has reflected the status. 10 WRITE Write. At Bit 1 wait until the NC-module has reflected the status. 09 SEL_1 Selector 2 (MSB) type of variable (0 = variable, 1 = Measuring value) 08 SEL_0 Selector 0 07 IDX_7 Index 7 (MSB) range The offset (number) of variable is set 06 IDX_6 Index 6 05 IDX_5 Index 5 04 IDX_4 Index 4 03 IDX_3 Index 3 02 IDX_2 Index 2 01 IDX_1 Index 1 00 IDX_0 Index 0 (LSB)

23 3. Data word (least significant bits of variable) BIT # Name Description 15[1] DATA_14 Data bit 14 14[1] DATA_13 Data bit 13 13[1] DATA_12 Data bit 12 12[1] DATA_11 Data bit 11 11[1] DATA_10 Data bit 10 10[1] DATA_09 Data bit 09 09[1] DATA_08 Data bit 8 08[1] DATA_07 Data bit 7 07[1] DATA_06 Data bit 6 06[1] DATA_05 Data bit 5 05[1] DATA_04 Data bit 4 04[1] DATA_03 Data bit 3 03[1] DATA_02 Data bit 2 02[1] DATA_01 Data bit 1 01[1] DATA_00 Data bit 0 00[1] CST0 consistency bit 0 must be the same as CST1, to declare the values as valid Manual SM Profibus Communication 4 Datawords V4.doc page 19

24 4.10 Data Format ID Number Host NC Module Consistency of Data word 1 - Ebene_011. The Identification Bytes can be used from 1 to 20 and will be selected via the index (IDX_0 & IDX_1 & IDX_2 & IDX_3 & IDX_4 ). IDX_0 IDX_1 IDX_2 IDX_3 IDX_4 Ident Byte No

25 Standard consistence of Data word 0 - level_002. NC Protocol: Data word 1 N.U. N.U. N.U. N.U. N.U. N.U. N.U. N.U. BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 ID_07 ID_06 ID_05 ID_04 ID_03 ID_02 ID_01 ID_00 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Data word 2 CST1 CMD3 CMD2 CMD1 READ WRITE N.U. N.U. BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_09 BIT_08 N.U. N.U. N.U. IDX_4 IDX_3 IDX_2 IDX_1 IDX_0 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Data word 3 N.U. N.U. N.U. N.U. N.U. N.U. N.U. N.U. BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 N.U. N.U. N.U. N.U. N.U. N.U. N.U. CST_0 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Manual SM Profibus Communication 4 Datawords V4.doc page 21

26 4.11 Bit usage ID Number Host NC Module 1. Data word (most significant bits of Variable) BIT # Name Description 15 N.U. Not used. 14 N.U. Not used. 13 N.U. Not used. 12 N.U. Not used. 11 N.U. Not used. 10 N.U. Not used. 09 N.U. Not used. 08 N.U. Not used. 07 ID_07 Identification data bit 7 06 ID_06 Identification data bit 6 05 ID_05 Identification data bit 5 04 ID_04 Identification data bit 4 03 ID_03 Identification data bit 3 02 ID_02 Identification data bit 2 01 ID_01 Identification data bit 1 00 ID_00 Identification data bit 0 2. Data word BIT # Name Description 15 CST1 Consistency Bit 1 must match CST0 to make the contents of the bits valid. 14 CMD2 Level selection bit CMD1 Level selection bit CMD0 Level selection bit 0. These bits determine the level that should be used 0 = EA, 1 = Variables / gauging values, 2 = ID number. 11 READ Read. With the Bit high the NC module has to mirror the bit high to read the ID number. 10 WRITE Write. With the bit high the NC module has to mirror the bit high to take over the ID number. 09 N.U. Not used. 08 N.U. Not used. 07 N.U. Not used. 06 N.U. Not used. 05 N.U. Not used. 04 IDX_4 Index 4 (MSB) 03 IDX_3 Index 3 02 IDX_2 Index 2 01 IDX_1 Index 1 00 IDX_0 Index 0 (LSB)

27 2. Data word BIT # Name Description 15 N.U. Not used. 14 N.U. Not used. 13 N.U. Not used. 12 N.U. Not used. 11 N.U. Not used. 10 N.U. Not used. 09 N.U. Not used. 08 N.U. Not used. 07 N.U. Not used. 06 N.U. Not used. 05 N.U. Not used. 04 N.U. Not used. 03 N.U. Not used. 02 N.U. Not used. 01 N.U. Not used. 00 CST0 Consistency bit 0 must match the condition of CST1 to make the data valid Data format ID Number NC Module Host Standard consistence of Data word 1 level 010. NC Protocol: Data word 1 N.U. N.U. N.U. N.U. N.U. N.U. N.U. N.U. BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 ID_07 ID_06 ID_05 ID_04 ID_03 ID_02 ID_01 ID_00 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Data word 2 CST1 CMD3 CMD2 CMD1 READ WRITE N.U. N.U. BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_09 BIT_08 N.U. N.U. N.U. IDX_4 IDX_3 IDX_2 IDX_1 IDX_0 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Data word 3 N.U. N.U. N.U. N.U. N.U. N.U. N.U. N.U. BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 N.U. N.U. N.U. N.U. N.U. N.U. N.U. CST_0 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Manual SM Profibus Communication 4 Datawords V4.doc page 23

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29 4.13 Bit consistence ID Number NC Module Host 1. Data word ( ID Data area ) BIT # Name Description 15 N.U. Not used. 14 N.U. Not used. 13 N.U. Not used. 12 N.U. Not used. 11 N.U. Not used. 10 N.U. Not used. 09 N.U. Not used. 08 N.U. Not used. 07 ID_07 Identification data bit 7 06 ID_06 Identification data bit 6 05 ID_05 Identification data bit 5 04 ID_04 Identification data bit 4 03 ID_03 Identification data bit 3 02 ID_02 Identification data bit 2 01 ID_01 Identification data bit 1 00 ID_00 Identification data bit 0 2. Data word BIT # Name Description 15 CST1 Consistency Bit 1 must match the condition of CST0 to declare the data as valid. 14 CMD2 Level selection CMD1 Level selection CMD0 Level selection 0. This determines the level to be used. 0 = EA, 1 = Variables / gauging values, 2 = ID number. 11 READ Read. When set high the NC module has to mirror the bit back to read the ID number. 10 WRITE Write. When set high the NC module has to mirror the bit back to acknowledge that the number has been written. 09 N.U. Not used. 08 N.U. Not used. 07 N.U. Not used. 06 N.U. Not used. 05 N.U. Not used. 04 IDX_4 Index 4 (MSB) 03 IDX_3 Index 3 02 IDX_2 Index 2 01 IDX_1 Index 1 00 IDX_0 Index 0 (LSB) Manual SM Profibus Communication 4 Datawords V4.doc page 25

30 3. Data word BIT # Name Description 15 N.U. Not used. 14 N.U. Not used. 13 N.U. Not used. 12 N.U. Not used. 11 N.U. Not used. 10 N.U. Not used. 09 N.U. Not used. 08 N.U. Not used. 07 N.U. Not used. 06 N.U. Not used. 05 N.U. Not used. 04 N.U. Not used. 03 N.U. Not used. 02 N.U. Not used. 01 N.U. Not used. 00 CST0 Consistency Bit 0 must match the condition of CST1 to declare the data as valid.

31 4.14 Data Format Motion level Host NC Module Consistency of Data word 1 - level_011. The combination for the selection bits go from 1 to 3 and will select the value that is being transmitted over the profibus (SEL_0 & SEL_1). SEL_0 SEL_1 Function Position Force Analog Analog 2 Standard consistence of Data word 0 - level_011. NC Protocol: Data word 1 D_SGN D_29 D_28 D_27 D_26 D_25 D_24 D_23 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 D_22 D_21 D_20 D_19 D_18 D_17 D_16 D_15 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Data word 2 CST1 CMD3 CMD2 CMD1 SEL_1 SEL_0 KB NU BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_09 BIT_08 NU NU M_DWN M_UP WHEEL MOVE NU NU BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Data word 3 D_14 D_13 D_12 D_11 D_10 D_09 D_08 D_07 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 D_06 D_05 D_04 D_03 D_02 D_01 D_00 CST_0 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Manual SM Profibus Communication 4 Datawords V4.doc page 27

32 4.15 Bit usage Motion Host NC Module 1. Data word (most significant bits of value ) BIT # Name Description [SEL_n] 15[0] DATA_SGN Sign of variable (0 = positive, 1 = negative) 14[0] DATA_29 Data bit 29 (MSB), this carries the value*1000, which has been collected in the NC-Module (e.g. 1234,560 = ), the PLC must therefore divide the integer number by 1000, to get the real value. 13[0] DATA_28 Data bit 28 12[0] DATA_27 Data bit 27 11[0] DATA_26 Data bit 26 10[0] DATA_25 Data bit 25 09[0] DATA_24 Data bit 24 08[0] DATA_23 Data bit 23 07[0] DATA_22 Data bit 22 06[0] DATA_21 Data bit 21 05[0] DATA_20 Data bit 20 04[0] DATA_19 Data bit 19 03[0] DATA_18 Data bit 18 02[0] DATA_17 Data bit 17 01[0] DATA_16 Data bit 16 00[0] DATA_15 Data bit 15

33 2. Data word (control word) BIT # Name Description 15 CST1 Consistency Bit 1 must match CST0 to make the contents of the bits valid. 14 CMD2 Level selection bit CMD1 Level selection bit CMD0 Level selection bit 0. These bits determine the level that should be used 0 = EA, 1 = Variables / gauging values, 2 = ID number, 3 = Motion 11 SEL_1 Selection for type of value that will be transmitted. SEL_1 = 0 & SEL_0 = 0 -> Position SEL_1 = 0 & SEL_0 = 1 -> Force SEL_1 = 1 & SEL_0 = 0 -> Analog 1 SEL_1 = 1 & SEL_0 = 1 -> Analog 2 10 SEL_0 Dito. 09 KB Keyboard lock 08 N.U. N.U. 07 N.U. N.U. 06 N.U. N.U. 05 M_DWN Manual motion down. 04 M_UP Manual motion up. 03 WHEEL Sets the turn wheel motion active. 02 MOVE Move to input value 01 N.U. N.U. 00 N.U. N.U. Manual SM Profibus Communication 4 Datawords V4.doc page 29

34 3. Data word (least significant bits of variable) BIT # Name Description [SEL_n] 15[0] DATA_14 Data bit 14 14[0] DATA_13 Data bit 13 13[0] DATA_12 Data bit 12 12[0] DATA_11 Data bit 11 11[0] DATA_10 Data bit 10 10[0] DATA_09 Data bit 09 09[0] DATA_08 Data bit 8 08[0] DATA_07 Data bit 7 07[0] DATA_06 Data bit 6 06[0] DATA_05 Data bit 5 05[0] DATA_04 Data bit 4 04[0] DATA_03 Data bit 3 03[0] DATA_02 Data bit 2 02[0] DATA_01 Data bit 1 01[0] DATA_00 Data bit 0 00[0] CST0 consistency bit 0 must be the same as CST1, to declare the values as valid

35 4.16 Data format motion NC Module Host The combination for the selection bits go from 1 to 4 and will select the value that is being transmitted over the profibus (SEL_0 & SEL_1). SEL_0 SEL_1 Function Position Force Analog Analog 2 Standard consistence of Data word 1 - level_011. NC Protocol: Data word 1 D_SGN D_29 D_28 D_27 D_26 D_25 D_24 D_23 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 D_22 D_21 D_20 D_19 D_18 D_17 D_16 D_15 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Data word 2 CST1 CMD3 CMD2 CMD1 SEL_1 SEL_0 NU NU BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_09 BIT_08 QUIT LIFE M_DWN M_UP WHEEL MOVE_INPOS NU REF_R BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Data word 3 D_14 D_13 D_12 D_11 D_10 D_09 D_08 D_07 BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08 D_06 D_05 D_04 D_03 D_02 D_01 D_00 CST_0 BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00 Manual SM Profibus Communication 4 Datawords V4.doc page 31

36 4.17 Bit consistence Motion NC Module Host 1. Data word (most significant bits of value ) BIT # Name Description [SEL_n] 15[0] DATA_SGN Sign of variable (0 = positive, 1 = negative) 14[0] DATA_29 Data bit 29 (MSB), this carries the value*1000, which has been collected in the NC-Module (e.g. 1234,560 = ), the PLC must therefore divide the integer number by 1000, to get the real value. 13[0] DATA_28 Data bit 28 12[0] DATA_27 Data bit 27 11[0] DATA_26 Data bit 26 10[0] DATA_25 Data bit 25 09[0] DATA_24 Data bit 24 08[0] DATA_23 Data bit 23 07[0] DATA_22 Data bit 22 06[0] DATA_21 Data bit 21 05[0] DATA_20 Data bit 20 04[0] DATA_19 Data bit 19 03[0] DATA_18 Data bit 18 02[0] DATA_17 Data bit 17 01[0] DATA_16 Data bit 16 00[0] DATA_15 Data bit 15

37 3. Data word (control word) BIT # Name Description 15 CST1 Consistency Bit 1 must match the condition of CST0 to declare the data as valid. 14 CMD2 Level selection CMD1 Level selection CMD0 Level selection 0. This determines the level to be used. 0 = EA, 1 = Variables / gauging values, 2 = ID number. 11 SEL_1 Selection acknowledge for type of value that will be transmitted. SEL_1 = 0 & SEL_0 = 0 -> Position SEL_1 = 0 & SEL_0 = 1 -> Force SEL_1 = 1 & SEL_0 = 0 -> Analog 1 SEL_1 = 1 & SEL_0 = 1 -> Analog 2 10 SEL_0 Dito. 09 NU NU 08 NU NU 07 NU NU 06 LIFE PC connected and ready for data storage (must be monitored by the plc to make sure the data storage is set to 100%). 05 M_DWN Acknowledgment for motion down. 04 M_UP Acknowledgment for motion up. 03 WHEEL Indication that the turn wheel motion is active. 02 MOVE_IPOS Acknowledgment for motion (in Position) 01 NU NU 00 REF_R Reference request. Drops low when the reference has been run. Manual SM Profibus Communication 4 Datawords V4.doc page 33

38 3. Data word (least significant bits of value) BIT # Name Description [SEL_n] 15[0] DATA_14 Data bit 14 14[0] DATA_13 Data bit 13 13[0] DATA_12 Data bit 12 12[0] DATA_11 Data bit 11 11[0] DATA_10 Data bit 10 10[0] DATA_09 Data bit 09 09[0] DATA_08 Data bit 8 08[0] DATA_07 Data bit 7 07[0] DATA_06 Data bit 6 06[0] DATA_05 Data bit 5 05[0] DATA_04 Data bit 4 04[0] DATA_03 Data bit 3 03[0] DATA_02 Data bit 2 02[0] DATA_01 Data bit 1 01[0] DATA_00 Data bit 0 00[0] CST0 consistency bit 0 must be the same as CST1, to declare the values as valid

39 4.18 Status information Possible status messages STA_LST STA_ADC STA_RES STA_MAX STA_FT STA_FER STA_FEA STA_LL STA_UL STA_NF STA_FEA STA_REF STA_OL start lost ADC limit reached Reset max position "Press to Force (Signal)" reached Force transducer max. deviation of 10 % exceeded max. permitted positioning fault crossed force transducer not centered lower limit violated upper limit violated force not reached force in preposition reached reference request overload The error messaged have to be evaluated when the program cycle is finished. Manual SM Profibus Communication 4 Datawords V4.doc page 35

40 5 command structure of the NC module Command Bit(s) Description Level Start of program Homing Step start START, CYC_E REF_R, REF STEP, STEP_E Start of program by setting the start bit, end of program by reading the CYC_E Bits. When the REF_R Bits is set, homing is necessary. End of homing by reading the REF_R Bits. Start of the actual step by setting the STEP Bit. End of step by reading the STEP_E bit. Part status OK, NOK General status information about the part after program end. Read variable READ, Numbers are multiplied with SEL_n, 1000 and copied into the datastructure, IDX_n after that, READ is set to 1 and you have to wait, until the NC-Module reflects the 1 (after that reflection, the data are read) Write variables Read gauging values (1-4) WRITE SEL_n, IDX_n READ, SEL_n = 1, IDX_n. Numbers are multiplied with 1000 and copied into the datastructure, after that, WRITE is set to 1 and you have to wait, until the NC-Module reflects the 1 (after that reflection, the data are accepted.) Numbers will be multiplied by 1000 and copied into the data structure. To read the values the read bit has to be set to 1 and the PLC has to wait until the NC module mirrors the 1 back so the data gets declared valid

41 Command Bit(s) Description Level Read ID number (1 20) ID_xx, READ, IDX_n. ID numbers can only be read segmented. To read the number the index bits (IDX_0 IDX_4) will have to be set and the READ bit also. Then the PLC has to wait for the NC module to acknowledge the read command (with mirroring the read bit). Then the ID byte can be taken from the data area. Then the read bit has to be reset. 010 Write ID Number (1-20) Read value ID_xx, WRITE, IDX_n. Writing a ID number can be achieved by setting the index bits, the data bits (ID number) and changing the write bit from 0 to 1. The NC module will then signal the reception by mirroring the write bit back to the PLC. Then the write bit has to be reset. SEL_n = 0-3, Read the values permanent 0 Position 1 Kraft 2 Analog 1 3 Analog Wheel function Wheel Select the wheel function 011 Positioning Move Move to the position, witch is 011 insert at the data word Manual SM Profibus Communication 4 Datawords V4.doc page 37

42 6 Signal description 6.1 Homing after switch-on Homing request (REF_R) 3 Quitt (QUIT) 2 5 Start homing 1 4 Description When the NC-Module has been switched on, the homing request and QUITT are set, the PLC sets the signal homing, the NC-Module acknowledges the signal by resetting the QUITT-signal, The PLC resets the signal homing, when the signal homing request has been reset by the NC-Module, The NC-Module acknowledges the reset of the signal homing by setting the QUITT signal. If the signal homing is reset during the homing procedure, the PC stops the homing and the signal homing request stays active.

43 6.2 Homing without request 3 Homing request (REF_R) 2 Quitt (QUIT) 5 Start homing 1 4 Description The PLC sets the signal homing, The NC-Module acknowledges the signal by resetting the signal QUITT and setting the signal homing Request, The PLC resets the signal homing, when the signal homing request has been reset, The NC-Module acknowledges the reset of the signal homing by setting the Signal QUITT. If the signal homing is reset during the homing procedure, the PC stops the homing and the signal homing request stays active. Manual SM Profibus Communication 4 Datawords V4.doc page 39

44 6.3 Cycle start Home Life t s 4 Start 1 Ack 2 5 OK NO K t a t prg t b 3 Description The PLC sets the signal START, The NC-Module acknowledges the signal by resetting the signal QUITT and resetting OK or NOK. The signal OK, or NOK informs the PLC, that the cycle has been finished. The NC-Module acknowledges the reset of the start-signal by setting the QUITT-signal. If the start-signal is rest during the cycle, the NC-Module stops the move and the signal QUITT and OK and NOK are set.

45 6.4 E-stop during a move E-stop 1 Quitt (QUIT) 4 5 Start (START) 3 Hom. reque. (REF_R) 2 Description The E-stop opens the e-stop-circuit, The assembly unit reacts with a stop of the move, the OK and NOK signals are set, The PLC resets the start signal, when the PLC has seen the e-stop situation, When the e-stop-problem has been solved, the e-stop-circuit is closed and the PC acknowledges the signal-change with the signal QUITT, when the start-signal has been reset. After a new start the signal QUITT and OK and NOK are reset. Manual SM Profibus Communication 4 Datawords V4.doc page 41

46 6.5 E-stop at in-position (no move) E-stop 1 3 Quitt (QUIT) 2 4 Description In case of a e-stop-situation, the e-stop-circuit is opened, The NC-Module acknowledges by resetting the signal QUITT, When the e-stop-circuit is closed again, the NC module resets the signal QUITT.

47 6.6 Changing program number I Start I Home -Start I Prog. Bit 1 I Prog. Bit 2 1 I Prog. Bit n I Strobe 2 4 O Prog. Bit 1 O Prog. Bit 2 3 O Prog. Bit n O Strobe 5 Description: Setting of binary coded program number Setting of the strobe for handing over Mirroring of the program number Srobe for delivery confirmation after loading of the porgram Resteo strobe by the PLC and the NC-Module Manual SM Profibus Communication 4 Datawords V4.doc page 43

48 Appendix A Definition of the function levels: Ebene Bits Funktion Beschreibung Input/output 000 Start / Stop / Status / EA Level 0: CMD0 =0,CMD1 = 0 and CMD2 =0 Data / Measuring values 001 Level 1: CMD0 =1,CMD1 = 0 und CMD2 =0 ID number 010 Level 2: CMD0 =0,CMD1 = 1 und CMD2 =0 Wheel function 011 Level 3: CMD0 =1,CMD1 = 1 und CMD2 = Program information 111