Kollmorgen S300 Original Manual
Profibus dp
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- Manual (138 pages) ,
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Summary of Contents for Kollmorgen S300
- Page 1 PROFIBUS DP Fieldbus Interface for S300 / S400 / S600 / S700 Edition 04/2017 Translation of the original manual Keep the manual as a product component during the life span of the product. Pass the manual to future users / owners of the product.
- Page 2 06 / 2002 new layout, several corrections, valid from firmware 3.54 11 / 2005 Valid for the S300/S400/S600 series, several corrections, company name changed, front- and back-page new design 12 / 2005 Language improvements in the english version 09 / 2006...
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Page 3: Table Of Contents
Inserting the expansion card (S300, S600 and S700) ....... . . - Page 4 Index ................52 PROFIBUS for S300/S400/S600/S700...
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Page 5: General
The expansion card and it's mounting is described in the instructions manual. The expansion card for S300 and S700 is different from the card for S600. The text "PROFIBUS DP" on the front label marks the card for S300/S700, the text "PROFIBUS" the card for S600. -
Page 6: Hints For The Online Edition (Pdf Format)
This symbol indicates important notes. Warning of a danger (general). The type of danger is specified by the warning text next to it. Warning of danger from electricity and its effects. Warning of danger from automatic start. PROFIBUS for S300/S400/S600/S700... -
Page 7: Abbreviations Used In This Manual
Limit-switch input for CCW rotation (left) Process data PSTOP Limit-switch input for CW rotation (right) Volatile memory Resolver A quad B encoder Programmable logic controller S300 SERVOSTAR 300 S400 SERVOSTAR 400 S600 SERVOSTAR 600 Synchronous serial interface AC voltage DC voltage PROFIBUS for S300/S400/S600/S700... - Page 8 General Kollmorgen 04/2017 This page has been deliberately left blank. PROFIBUS for S300/S400/S600/S700...
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Page 9: Installation / Setup
Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account. If the final limit speed of the motor has to be altered, then all the parameters that were previously entered for position control and motion blocks must be adapted. PROFIBUS for S300/S400/S600/S700... -
Page 10: Inserting The Expansion Card (S300, S600 And S700)
Inserting the expansion card (S300, S600 and S700) The expansion card for S300/S700 is different from the card for S600. The text "PROFIBUS DP" on the front label marks the card for S300/S700, the text "PROFIBUS" the card for S600. -
Page 11: Connection Diagram
Kollmorgen Installation / Setup 04/2017 2.1.2.4 Connection diagram Servo amplifier X12A PROFIBUS GND1 390Ù 390Ù RS485-A 220Ù 220Ù RS485-B 390Ù 390Ù X12B With S600 terminals AGND and DGND (connector X3) must be joined together ! PROFIBUS for S300/S400/S600/S700... -
Page 12: Profibus Master Module Setup
Profibus expansion card. Open the Hardware catalog and drag the symbol for the corresponding field unit onto the representation of the bus system. A window opens auto- matically for the general parameterization of the field unit (please observe: the S300/S700 are displayed here like a S600). Enter the address of the participant here. -
Page 13: Standard Function Block For Date Exchange With The Servo Amplifier
2.1.4 Standard function block for date exchange with the servo amplifier Kollmorgen supplies a S7-function block (FB10) for use Siemens PLC that make it possible to han- dle the servo amplifier control functions very simply. This function block and its description can be found as a text file on the CDROM and in the down- load section of our website. -
Page 14: Important Amplifier Configuration Parameters
INPT, INPT0 (PNU 1904) With INPT (S300/S700: INPT0) a delay for the in-position message can be set. With the start of a motion task the in-position message is deleted and the monitoring of the position is activated after expiration of the adjusted time. -
Page 15: Setup Software
PROFIBUS-specific parameters, the bus status, and the data words in the trans- mit and receive directions, as seen by the bus-master. This page is helpful when searching for errors and commissioning the bus communication. The picture below shows the S300/S700 screen. Baudrate: The baud rate set by the PROFIBUS master. -
Page 16: Screen Page Profibus Instrument Control
The device status resulting from the status word is visualized in the status machine. The current status is shown as black, all others are grey. Additionally the previous status is shown by emphasizing the number of the appropriate arrow. The picture below shows the S300/S700 screen. PROFIBUS for S300/S400/S600/S700... -
Page 17: Device Profile
The PZD data channel can also be termed the process data channel. The process data channel uses unconfirmed communication services. The response of the servo amplifier to an unconfirmed service can only be seen in the reaction of the amplifier (status word, actual values). The PZD channel has real-time capability. PROFIBUS for S300/S400/S600/S700... -
Page 18: Parameter Channel
(with error no.) no operating authority for PKW interface spontaneous message [W] spontaneous message [DW] spontaneous message [A/W] spontaneous message [A/DW] Abbreviatoins in the tables: Array Word Double-word PROFIBUS for S300/S400/S600/S700... -
Page 19: Response Id 7: Profile Specific Error Numbers
>115 3.1.2 Index IND BYTE 3 BYTE 4 15 14 10 9 reserved An Index (IND) unequal to 0 is used for reading and writing amplifier parameters with PNUs > 1600. See page 33 for further description. PROFIBUS for S300/S400/S600/S700... -
Page 20: Parameter Value Pwe
–126 (safe state). Before changing the operating mode, bit 10 of the control word STW must always be set to 0. The new operating mode only becomes active when bit 10 of the control word is set to 1 (see p. 25). PROFIBUS for S300/S400/S600/S700... -
Page 21: Parameter Channel (Pkw)
Parameter numbers >1600 use the object channel (see p.33ff). In the S400/S600 some amplifier parameters (e.g. GV) have 2 PNU numbers. Both of them can be used to read and write the parameter (e.g. PNU 1200 and PNU 1672). PROFIBUS for S300/S400/S600/S700... -
Page 22: List Of The Parameters
Copy a motion task OCOPY OCOPY 1310 1311 special r/w Position, 32 bit floating decimal point format 1311 1312 special r/w Velocity, 32 bit floating decimal point format 1312 1857 UINT32 r/w Configuration variable 2 for software switch SWCNFG2 1267 PROFIBUS for S300/S400/S600/S700... - Page 23 MNUMBER 1551 Manufacturer specific object channel ³1600 Þ p. 33 and description of the ASCII-commands in the online help. ³1600 Abbreviations in the “Access” column Abbrev. Description “write only” access “read only” access read and write access PROFIBUS for S300/S400/S600/S700...
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Page 24: Standard Profidrive Parameters
PNU 971: non volatile saving of parameters With this parameter you can save all the parameter settings to the EEPROM. To do this, the param- eter must have the value PWE = 1 when the transfer takes place. PROFIBUS for S300/S400/S600/S700... -
Page 25: Pnu 930: Selection Switch For Operating Mode
If the operating mode is changed, then motion functions can only be operated via the PROFIBUS. If the operating mode is changed via another communication channel, then the amplifier is emergency braked and the error F21 (Handling error, expansion card) is signaled. PROFIBUS for S300/S400/S600/S700... -
Page 26: Manufacturer Specific Parameters
For the other errors, the reset leads to a warm start, during which the communication will not be interrupted. A description of the individual errors and recommendations for removing them can be found in the amplifier's installation manual. PROFIBUS for S300/S400/S600/S700... -
Page 27: Pnu 1002: Manufacturer Specific Status Register
Error present (is canceled when the amplifier is switched on, or if the function “Cancel error” is called. In the process data, Bits 16 to 31 of the manufacturer-specific status register are given out. Warnings 3 and 4 can be reset through Bit 13 in the control word. PROFIBUS for S300/S400/S600/S700... -
Page 28: Position Control Parameters
The maximum velocity is thus given by: PGEARI ´ ´2 PRBASE with n in turns/second , max PGEARO or, in incremental units, as: ´ ´ ´ PRBASE PRBASE with n in turns/second incr . max. 4000 PROFIBUS for S300/S400/S600/S700... -
Page 29: Pnu 1785: Motion Task Type
The velocity for the motion task is determined by the voltage present on analog input 1at the start of the motion task. reserved S300/S700 only: a motion task with trapezoid profile is started S300/S700 only: a table motion task (sin profile) is started. Bit 9 must be set to 0. -
Page 30: Pnu 1784: Acceleration Jolt Limiting
O_V) can be set in 32 Bit Floating decimal point format (IEEE). Right of decimal point positions will be truncated. This objekt is, aside from the data format, identi- cal PNU 1791. Use: Controls that support only 16 Bit integer and 32 Bit floating decimal point. PROFIBUS for S300/S400/S600/S700... -
Page 31: Setup Mode: Position
32 Bit Floating decimal point format (IEEE). Right of decimal point positions will be truncated. This object is, aside from the data format, identi- cal to PNU1800. Use: PLC Controls that support only 16 Bit integer and 32 Bit floating decimal point. PROFIBUS for S300/S400/S600/S700... -
Page 32: Pnu 1415: Actual Velocity, 32 Bit Floating Decimal Point Format
ASCII Object Reference. 4.2.9.2 PNU 1613/1614: analog output configuration With S400/S600 only. This parameter can be used to configure the two analog outputs individually. Function n act I act n setp I setp S_fault Slot PROFIBUS for S300/S400/S600/S700... -
Page 33: Manufacturer Specific Object Channel (From Pnu 1600)
Index 4/14h/ 24h depending on the object no. (see above) short description read default value Unit see corresponding ASCII-command Access Read only Data type see corresponding ASCII-command Value range see corresponding ASCII-command Default value — EEPROM — PROFIBUS for S300/S400/S600/S700... - Page 34 7/17h/ 27h and 8/18h/ 28h short description reserved Unit — Access Read only Data type UNSIGNED32 Value range 0 ... 2 Default value — EEPROM — Objects with format 0 (index 5) must not be accessed reading (response identification = 1) PROFIBUS for S300/S400/S600/S700...
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Page 35: Process Data Channel
4.2.2.7). The process data that are used are determined in such a way that the real-time capability of this channel is optimally used. In this chapter the instrument control is described first, and then the functions and details of each operating mode . PROFIBUS for S300/S400/S600/S700... -
Page 36: Instrument Control
After this error response has taken place, it changes to the state Error response active/error “Error”. This state can only be terminated by the bit-command “Error-reset”. To do this, the cause of the error must have been removed (see ASCII command ERRCODE). PROFIBUS for S300/S400/S600/S700... - Page 37 Event Bit 2 is canceled Action Switch-on inhibited, output stage disabled The state transitions are affected by internal events (e.g. switching off the DC-link voltage) and by the flags in the control word (Bits 0, 1, 2, 3, 7). PROFIBUS for S300/S400/S600/S700...
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Page 38: Control Word (Stw)
Setpoint enable, start movement reserved reserved Analog speed reserved reserved reserved reserved Analog current reserved reserved reserved reserved Trajectory reserved reserved reserved reserved Priority of the Bits 6, 8, 11 in position-control mode: 6 (high), 11, 8 (low). PROFIBUS for S300/S400/S600/S700... -
Page 39: Status Word (Zsw)
The possible operating modes are described below. PROFIBUS operating modes with a positive number (1,2) are defined in the drive profile. Operating modes with a negative number (-1,-2...) are labeled in the drive profile as being manufacturer-specific modes. PROFIBUS for S300/S400/S600/S700... -
Page 40: Positioning (Operating Mode 2)
The sensibly usable position range is derived as follows: PGEARI PGEARI ...( for PGEARI <= PGEARO, or PGEARO PGEARO ...( for PGEARI > PGEARO Motion block type The various types of motion block are described in chapter 4.2.5.3. PROFIBUS for S300/S400/S600/S700... -
Page 41: Digital Speed (Operating Mode 1)
In this operating mode the control word (STW) can only be used to enable and disable the amplifier. Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 Controller to Amplifier incremental actual position manuf.-specific Amplifier to Controller 32-bit status PROFIBUS for S300/S400/S600/S700... -
Page 42: Digital Torque (Operating Mode -2)
The representation of the 16-bit actual speed value is normalized to the parameter for the ´ overspeed VOSPD n VOSPD Actual position (32-bit) The range for the actual position covers values from -2 to (2 -1). PRBASE Here one turn corresponds to 2 increments. PROFIBUS for S300/S400/S600/S700... -
Page 43: Digital Setpoint & Servo Pump (Operating Mode -7)
Kollmorgen Process data channel 04/2017 5.2.8 Digital setpoint & Servo Pump (operating mode -7) Usable with S300 and S700 only. PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 Pressure Volume-flow setpoint setpoint Pressure actual Volume-flow Current actual... -
Page 44: Operating Mode After Switch-On (Operating Mode -126)
The designation of the end of the ASCII response is in all cases “End of Text”. 5.2.10 Operating mode after switch-on (operating mode -126) In this state, it is possible to control the state machine, but motion functions cannot be initiated (see page 25). PROFIBUS for S300/S400/S600/S700... -
Page 45: Appendix
And the number that is transferred in the PWE section represents the error number, and can be looked up in the table in Chapter 3.1.1.2. In this case, error no. 17, “Task impossible because of operating state” will be signaled. PROFIBUS for S300/S400/S600/S700... -
Page 46: Enable The Servo Amplifier
The replay “Reference point set” is made through Bit 17 in the manufacturer-specific status register (PNU 1002) or Bit 1 (manufacturer status of the process data). Conditions: PNU930 ¹ -16 No motion function active manufacturer specific status, process data 5 bit 0 PROFIBUS for S300/S400/S600/S700... -
Page 47: Start Homing Run
The following diagram uses the homing run Type 1 (negative direction of motion, positive rotation, starting point in negative direction relative to the reference switch) as an example to illustrate the signal sequence of the relevant bits in the manufacturer-specific state. PROFIBUS for S300/S400/S600/S700... - Page 48 Alternatively, the reference point can also be set at the actual position. This can be achieved by setting Bit 12 STW, or by setting the homing run type 0 with PNU 1773 and subsequent start of the homing run by Bit 11 STW . PROFIBUS for S300/S400/S600/S700...
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Page 49: Start A Motion Task
* F stands for a transition edge, the state of Bit 6 STW also depends on the previous state. 6.1.9 Polling a warning or error message If a warning or error message is present, then parameter 1001 or 1002 can be interrogated to find out the number of the warning or error. PROFIBUS for S300/S400/S600/S700... -
Page 50: Writing A Parameter (Via Parameter Channel Pkw)
This PKW task switches on the reading of an actual value. The actual value will now be transmitted with each cyclical telegram – until a new PKW task is presented. Telegram layout: Request Response PKE/AK PKE/PNU Parameter number of the actual values as transmitted read no significance actual value PROFIBUS for S300/S400/S600/S700... -
Page 51: Write A Parameter Via The Ascii Channel
(for the same response from the servo amplifier). Because of the transmission rate and the internal synchronization mechanism, it can happen that process data sections remain empty and so the response is broken into segments. This could possibly alter the number of response telegrams. PROFIBUS for S300/S400/S600/S700... -
Page 52: Index
....29 next motion task ....30 PROFIBUS for S300/S400/S600/S700... - Page 53 Kollmorgen Appendix 04/2017 This page has been deliberately left blank. PROFIBUS for S300/S400/S600/S700...
- Page 54 We are committed to quality customer service. In order to serve in the most effective way, please contact your local sales representative for assistance. If you are unaware of your local sales representative, please contact the Customer Support. Europe KOLLMORGEN Internet www.kollmorgen.com/en-gb E-Mail technik@kollmorgen.com Tel.: +49 (0)2102 - 9394 - 0...