YASKAWA FM 054 Manual
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YASKAWA FM 054 Manual

Vipa system slio motion module - pulse train rs422
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VIPA System SLIO
FM | 054-1DA00 | Manual
HB300 | FM | 054-1DA00 | en | 18-06
Motion module - Pulse Train RS422 - FM 054
www.vipa.com/en/service-support/manuals

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  • Page 1 VIPA System SLIO FM | 054-1DA00 | Manual HB300 | FM | 054-1DA00 | en | 18-06 Motion module - Pulse Train RS422 - FM 054 www.vipa.com/en/service-support/manuals...
  • Page 2 VIPA GmbH Ohmstr. 4 91074 Herzogenaurach Telephone: 09132-744-0 Fax: 09132-744-1864 Email: info@vipa.com Internet: www.vipa.com 054-1DA00_000_FM054 PulseTrain,5,EN - © 2018...

  • Page 3: Table Of Contents

    VIPA System SLIO Table of contents Table of contents General........................5 1.1 Copyright © VIPA GmbH ................. 5 1.2 About this manual..................... 6 1.3 Safety information..................... 7 Basics and mounting..................... 8 2.1 Safety information for users................8 2.2 System conception................... 9 2.2.1 Overview......................
  • Page 4 4.14 Monitoring and error reaction............... 79 4.14.1 Overview....................79 4.14.2 Monitoring....................81 4.15 Diagnostics and interrupt................82 4.16 Example: 054-1DA00 with YASKAWA Sigma 5 mini........84 4.16.1 Job definition..................... 84 4.16.2 Wiring......................85 4.16.3 Commissioning of the power stage............86 4.16.4 Configuration of the System SLIO motion module........

  • Page 5: General

    VIPA System SLIO General Copyright © VIPA GmbH General 1.1 Copyright © VIPA GmbH All Rights Reserved This document contains proprietary information of VIPA and is not to be disclosed or used except in accordance with applicable agreements. This material is protected by the copyright laws. It may not be reproduced, distributed, or altered in any fashion by any entity (either internal or external to VIPA), except in accord- ance with applicable agreements, contracts or licensing, without the express written con- sent of VIPA and the business management owner of the material.

  • Page 6: About This Manual

    Tel.: +49 9132 744-1150 (Hotline) EMail: support@vipa.de 1.2 About this manual Objective and contents This manual describes the Motion module FM 054-1DA00 of the System SLIO from VIPA. It contains a description of the structure, project engineering and deployment. Product Order number...

  • Page 7: Safety Information

    VIPA System SLIO General Safety information Supplementary information and useful tips. 1.3 Safety information Applications conforming The system is constructed and produced for: with specifications communication and process control general control and automation tasks industrial applications operation within the environmental conditions specified in the technical data installation into a cubicle DANGER! This device is not certified for applications in...

  • Page 8: Basics And Mounting

    VIPA System SLIO Basics and mounting Safety information for users Basics and mounting 2.1 Safety information for users Handling of electrostatic VIPA modules make use of highly integrated components in MOS-Technology. These sensitive modules components are extremely sensitive to over-voltages that can occur during electrostatic discharges.

  • Page 9: System Conception

    VIPA System SLIO Basics and mounting System conception > Overview 2.2 System conception 2.2.1 Overview System SLIO is a modular automation system for assembly on a 35mm mounting rail. By means of the peripheral modules with 2, 4 or 8 channels this system may properly be adapted matching to your automation tasks.

  • Page 10: Components

    VIPA System SLIO Basics and mounting System conception > Components 2.2.2 Components CPU (head module) Bus coupler (head module) Line extension Periphery modules Accessories CAUTION! Only modules of VIPA may be combined. A mixed operation with third- party modules is not allowed! CPU 01xC With this CPU 01xC, the CPU electronic, input/output components and power supply are integrated to one casing.
  • Page 11 VIPA System SLIO Basics and mounting System conception > Components CAUTION! Bus interface and power module may not be separated! Here you may only exchange the electronic module! Line extension In the System SLIO there is the possibility to place up to 64 modules in on line. By means of the line extension you can divide this line into several lines.

  • Page 12: Accessories

    VIPA System SLIO Basics and mounting System conception > Accessories Electronic module The functionality of a SLIO periphery module is defined by the electronic module, which is mounted to the terminal module by a sliding mechanism. With an error the defective module may be exchanged for a functional module with standing installation.

  • Page 13: Dimensions

    VIPA System SLIO Basics and mounting Dimensions 2.3 Dimensions Dimensions CPU 01xC Dimensions CPU 01x HB300 | FM | 054-1DA00 | en | 18-06...
  • Page 14 VIPA System SLIO Basics and mounting Dimensions Dimensions bus coupler and line extension slave Dimensions line extension master HB300 | FM | 054-1DA00 | en | 18-06...
  • Page 15 VIPA System SLIO Basics and mounting Dimensions Dimension periphery module Dimensions electronic module Dimensions in mm HB300 | FM | 054-1DA00 | en | 18-06...

  • Page 16: Mounting Periphery Modules

    VIPA System SLIO Basics and mounting Mounting periphery modules 2.4 Mounting periphery modules Requirements for UL compliance use – Use for power supply exclusively SELV/PELV power supplies. – The System SLIO must be installed and operated in a housing according to IEC 61010-1 9.3.2 c). There is a locking lever at the top side of the module.
  • Page 17 VIPA System SLIO Basics and mounting Mounting periphery modules Coding There is the possibility to fix the assignment of electronic and terminal module. Here coding pins (order number 000-0AC00) from VIPA can be used. The coding pin consists of a coding jack and a coding plug. By combining electronic and terminal module with coding pin, the coding jack remains in the electronic module and the coding plug in the terminal module.

  • Page 18: Hb300 | Fm | 054-1Da00 | En

    VIPA System SLIO Basics and mounting Mounting periphery modules Mounting periphery modules Mount the mounting rail! Please consider that a clearance from the middle of the mounting rail of at least 80mm above and 60mm below, respectively 80mm by deployment of shield bus carriers, exist. Mount your head module such as CPU or field bus coupler.

  • Page 19: Wiring Periphery Modules

    VIPA System SLIO Basics and mounting Wiring periphery modules After mounting the whole system, to protect the backplane bus connectors at the last module you have to mount the bus cover, now. If the last module is a clamp module, for adaptation the upper part of the bus cover is to be removed. 2.5 Wiring periphery modules Terminal module terminals CAUTION!
  • Page 20 VIPA System SLIO Basics and mounting Wiring periphery modules Insert a suited screwdriver at an angel into the square opening as shown. Press and hold the screwdriver in the opposite direction to open the contact spring. Insert the stripped end of wire into the round opening. You can use wires with a cross section of 0.08mm up to 1.5mm By removing the screwdriver, the wire is securely fixed via the spring contact to the...

  • Page 21: Wiring Power Modules

    VIPA System SLIO Basics and mounting Wiring power modules 2.6 Wiring power modules Terminal module terminals Power modules are either integrated to the head module or may be installed between the periphery modules. With power modules, terminals with spring clamp technology are used for wiring.
  • Page 22 VIPA System SLIO Basics and mounting Wiring power modules Standard wiring (1) DC 24V for power section supply I/O area (max. 10A) (2) DC 24V for electronic power supply bus coupler and I/O area PM - Power module For wires with a core cross-section of 0.08mm up to 1.5mm Pos.
  • Page 23 VIPA System SLIO Basics and mounting Wiring power modules Fusing The power section supply is to be externally protected with a fuse, which corresponds to the maximum current. This means max. 10A is to be protected with a 10A fuse (fast) respectively by a line circuit breaker 10A characteristics Z! It is recommended to externally protect the electronic power supply for head modules and I/O area with a 2A fuse (fast) respectively by a line circuit breaker 2A characteris-...
  • Page 24 VIPA System SLIO Basics and mounting Wiring power modules Power module 007-1AB10 (1) DC 24V for power section supply I/O area (max. 10A) (2) DC 24V for electronic power supply bus coupler and I/O area (3) DC 24V for power section supply I/O area (max. 4A) (4) DC 24V for electronic power supply I/O area Shield attachment Shield bus carrier...
  • Page 25 VIPA System SLIO Basics and mounting Wiring power modules Attach the cables with the accordingly stripped cable screen and fix it by the shield clamp with the shield bus. HB300 | FM | 054-1DA00 | en | 18-06...

  • Page 26: Demounting Periphery Modules

    VIPA System SLIO Basics and mounting Demounting periphery modules 2.7 Demounting periphery modules Proceeding Exchange of an electronic Power-off your system. module For the exchange of a electronic module, the electronic module may be pulled for- ward after pressing the unlocking lever at the lower side of the module. For installation plug the new electronic module guided by the strips at the lower side until this engages to the terminal module.
  • Page 27 VIPA System SLIO Basics and mounting Demounting periphery modules Pull the module. For mounting turn the locking lever of the module to be mounted upwards. To mount the module put it to the gap between the both modules and push it, guided by the stripes at both sides, to the mounting rail.
  • Page 28 VIPA System SLIO Basics and mounting Demounting periphery modules Pull the module group forward. For mounting turn all the locking lever of the module group to be mounted upwards. To mount the module group put it to the gap between the both modules and push it, guided by the stripes at both sides, to the mounting rail.

  • Page 29: Trouble Shooting - Leds

    VIPA System SLIO Basics and mounting Trouble shooting - LEDs 2.8 Trouble shooting - LEDs General Each module has the LEDs RUN and MF on its front side. Errors or incorrect modules may be located by means of these LEDs. In the following illustrations flashing LEDs are marked by ☼.

  • Page 30: Installation Guidelines

    VIPA System SLIO Basics and mounting Installation guidelines 2.9 Installation guidelines General The installation guidelines contain information about the interference free deployment of a PLC system. There is the description of the ways, interference may occur in your PLC, how you can make sure the electromagnetic compatibility (EMC), and how you manage the isolation.
  • Page 31 VIPA System SLIO Basics and mounting Installation guidelines Proof the correct fixing of the lead isolation. – Data lines must be laid isolated. – Analog lines must be laid isolated. When transmitting signals with small ampli- tudes the one sided laying of the isolation may be favourable. –...

  • Page 32: General Data

    VIPA System SLIO Basics and mounting General data 2.10 General data Conformity and approval Conformity 2014/35/EU Low-voltage directive 2014/30/EU EMC directive Approval Refer to Technical data others RoHS 2011/65/EU Restriction of the use of certain hazardous substances in electrical and electronic equipment Protection of persons and device protection Type of protection IP20...
  • Page 33 VIPA System SLIO Basics and mounting General data Mounting conditions Mounting place In the control cabinet Mounting position Horizontal and vertical Standard Comment Emitted interference EN 61000-6-4 Class A (Industrial area) Noise immunity EN 61000-6-2 Industrial area zone B EN 61000-4-2 8kV at air discharge (degree of severity 3), 4kV at contact discharge (degree of severity 2) EN 61000-4-3...

  • Page 34: Hardware Description

    Hardware description 3.1 Properties 054-1DA00 The FM 054-1DA00 integrates a compact motion control solution for direct connection with a power stage with motor. The motion module outputs a specified pulse sequence with RS422 level via differential outputs. Pulse train output module...

  • Page 35: Structure

    VIPA System SLIO Hardware description Structure 3.2 Structure 054-1DA00 Locking lever terminal module Labeling strip Backplane bus LED status indication DC 24V power section supply Electronic module Terminal module Locking lever electronic module Terminal Connections CAUTION! Danger of injury from electrical shock and damage to the unit! Put the System SLIO in a safe, powered down state before starting instal- lation, disassembly or wiring of the System SLIO modules! You can use wires with a cross section of 0.08mm...
  • Page 36 DIO signals on the signals of the power stage as e.g. S-ON, ALM- RST, S-RDY and COIN, you can control its states. Ä Chapter 4.8 ‘Deployment I/O1...I/O4’ on page 70 Assignment for YASKAWA Sigma 5mini via pulse train Pos. Function...
  • Page 37 VIPA System SLIO Hardware description Structure Status indication Description green Bus communication is OK Module status is OK Bus communication is OK Module status reports an error Bus communication is not possible Module status reports an error Error at bus power supply Ä...

  • Page 38: Block Diagram

    VIPA System SLIO Hardware description Block diagram 3.3 Block diagram Structure Voltages - DC 24V electronic section supply Power supply for electronic and back plane bus communication - DC 24V power section supply Power supply for the I/O area Area: DC 20.4 ... 28.8V - DC 3.3V µ-controller supply The power supply is built via U via a DC-DC converter.

  • Page 39: Technical Data

    VIPA System SLIO Hardware description Technical data 3.4 Technical data Order no. 054-1DA00 Type FM 054 Module ID 0983 6800 Current consumption/power loss Current consumption from backplane bus 50 mA Power loss Technical data digital inputs Number of inputs Cable length, shielded...
  • Page 40 VIPA System SLIO Hardware description Technical data Order no. 054-1DA00 Output delay of "0" to "1" 1.5 ms Output delay of "1" to "0" 1.5 ms Minimum load current Lamp load 10 W Parallel switching of outputs for redundant control of a load not possible Parallel switching of outputs for increased power not possible Actuation of digital input...
  • Page 41 VIPA System SLIO Hardware description Technical data Order no. 054-1DA00 Power stage RS422 Short-circuit protection ü Brake-Chopper required PWM frequency Pulse train frequency 1 MHz Micro steps Steps per rotation Type of encoder A/B phase 24V single ended Encoder frequency 100 kHz Encoder resolution 24 Bit...

  • Page 42: Deployment

    VIPA System SLIO Deployment Basics Deployment 4.1 Basics Addressing The System SLIO motion module provides its data, such as "Profiling target position" via an object dictionary. In this object dictionary the objects are organized and addressable a unique number consisting of Index and Subindex. The number is specified as follows: Index (hexadecimal) Subindex (decimal) Example: 0x8400-03...

  • Page 43: Pulse Train Module

    4.1.1 Pulse train module Frequency pattern The FM 054-1DA00 integrates a compact motion control solution for direct connection with a power stage with motor. The motion module outputs a specified pulse sequence with RS422 level via differential outputs to the power stage. A feedback of the position from the power stage back to the motion module does not take place.

  • Page 44: Structure Of A Positioning Control

    VIPA System SLIO Deployment Basics > Structure of a positioning control Incremental encoder simu- lation (A/B) 0x8E00-01 = 3 Signal corresponds to the signal of an incremental encoder. By direct connection to a power stage synchronous axes in the master/slave structure can be realized. A1 (A) and A2 (B) output a phase-shifted by 90°...

  • Page 45: Commissioning

    VIPA System SLIO Deployment Commissioning > Start-up of the System SLIO motion module Encoder The encoder respectively rotation encoder provides the controller with the position of the motor by means of digital signals. This can accordingly be evaluated by the PLC. The encoder respectively rotation encoder supply a certain number of pulses per rev- olution.
  • Page 46 VIPA System SLIO Deployment Commissioning > Start-up of the System SLIO motion module Steps of commissioning Always adapt parameters to the operating mode! Please ensure that the module always has the correct parameters according to the selected operating mode! Start parameter –...

  • Page 47: Connecting A Power Stage

    VIPA System SLIO Deployment Connecting a power stage > Connection options Ä Chapter 4.16 ‘Example: 054-1DA00 with YASKAWA Sigma 5 mini’ on page 84 Application example 4.3 Connecting a power stage 4.3.1 Connection options Connections CAUTION! Danger of injury from electrical shock and damage to the unit!

  • Page 48: Drive Profile

    4.4 Drive profile 4.4.1 Overview Drive profile CiA 402 The System SLIO motion module FM 054-1DA00 is based largely on the drive profile CiA 402. The drive profile CiA 402 defines state machine, operating modes and objects (parameters) of components for the drive technology.

  • Page 49: States

    VIPA System SLIO Deployment Drive profile > States Addressing The System SLIO motion module provides its data, such as "Profiling target position" via an object dictionary. In this object dictionary the objects are organized and addressable a unique number consisting of Index and Subindex. The number is specified as follows: Index (hexadecimal) Subindex (decimal) Example: 0x8400-03...

  • Page 50: Operating Modes

    VIPA System SLIO Deployment Drive profile > Operating modes Internal fault reaction Disabling command output disable (BASP) Ä ‘0x8100-01 - Control word’ on page 104: Bit 3...0: x110: Command "Shutdown" Bit 3...0: 0111: Command "Switch on" Bit 3...0: 1111: Command "Enable operation". According to CiA 402 the automatic transition from Ready to switch on to Oper- ation enabled is possible.
  • Page 51 VIPA System SLIO Deployment Drive profile > Operating modes Controller structure and Basis of the individual modes is the cascaded controller structure of the System SLIO controller parameters motion module. This will give you a high dynamic and position precision. The set point for the higher-level position controller is generated by the profile generators of the individual modes.

  • Page 52: Homing

    This process is called "referencing", "home drive" or "homing". When referencing you can determine velocity, acceleration, decelera- tion and type of homing. The FM 054-1DA00 supports the following homing types: Ä Chapter 4.5.1 ‘Homing by means of a homing switch’ on page 53 Ä...

  • Page 53: Homing By Means Of A Homing Switch

    VIPA System SLIO Deployment Homing > Homing by means of a homing switch 4.5.1 Homing by means of a homing switch Homing by means of a Homing can only be accessed from the PtP positioning profile mode. homing switch The target position is the reference position, which is maximally moved to. This is to be specified with sign.
  • Page 54 VIPA System SLIO Deployment Homing > Homing by means of a homing switch Ä Chapter 4.2 ‘Commissioning’ on page 45 Proceeding For commissioning Ä Chapter 5.2.11 ‘Homing - 0x8300’ on page 113 Homing objects Ä Chapter 4.4.2 ‘States’ Switch the state machine to state ‘Switch on disabled’ on page 49 –...

  • Page 55: Homing To Current Position

    VIPA System SLIO Deployment Homing > Homing to current position 4.5.2 Homing to current position Proceeding For commissioning Ä Chapter 4.2 ‘Commissioning’ on page 45 Homing objects Ä Chapter 5.2.11 ‘Homing - 0x8300’ on page 113 Ä Chapter 4.4.2 ‘States’ Switch the state machine to state ‘Switch on disabled’...

  • Page 56: Ptp Positioning Profile

    VIPA System SLIO Deployment PtP positioning profile 4.6 PtP positioning profile Overview Always adapt parameters to the operating mode! Please ensure that the module always has the correct parameters according to the selected operating mode! Start parameter Ä ‘Start - Start parameter homing’ on page 52 –...
  • Page 57 VIPA System SLIO Deployment PtP positioning profile Start - Start parameter PtP position profile Please note: Ä Chapter 4.2 ‘Commissioning’ on page 45 – – Ä ‘Application data’ on page 51 Ä ‘0x8280-01 - Operating mode requested’ on page 112 1: PtP positioning profile Ä...
  • Page 58 VIPA System SLIO Deployment PtP positioning profile Velocity control - Velocity control Limit Velocity Limitation velocity Positioning profile Velocity profile generator generator à à Ä ‘0x8500-01 - Velocity control configura- control tion’ on page 120 Ä ‘0x8500-03 - Velocity control set value’ on page 120 Ä...
  • Page 59 VIPA System SLIO Deployment PtP positioning profile Limit Position - Limitation position Ä ‘0x8400-02 - Positioning profile target position’ on page 116 Ä ‘0x8480-05 - Software position limit positive direction’ on page 118 Ä ‘0x8480-06 - Software position limit negative direction’ on page 118 Position Limit Ä...
  • Page 60 VIPA System SLIO Deployment PtP positioning profile Limit Voltage - Limitation voltage Ä ‘0x8680-04 - Power section supply voltage min. warning level’ on page 123 Ä ‘0x8680-05 - Power section supply voltage max. warning level’ on page 123 Ä ‘0x8680-06 - Power section supply voltage min.

  • Page 61: Examples

    VIPA System SLIO Deployment PtP positioning profile > Examples 4.6.1 Examples Symmetrical acceleration Setting and deceleration with – Target position reaching the target – Profile velocity velocity – Profile acceleration – Profile deceleration Target velocity is reached. Specifying a new target position as starting position. V Velocity A Acceleration P Position...
  • Page 62 VIPA System SLIO Deployment PtP positioning profile > Examples Symmetrical acceleration Setting and deceleration without – Target position reaching the target – Profile velocity velocity – Profile acceleration – Profile deceleration Target velocity is not reached, since before deceleration is initiated to reach the target position.
  • Page 63 VIPA System SLIO Deployment PtP positioning profile > Examples Asymmetrical acceleration Setting and deceleration with – Target position reaching the target – Profile velocity velocity – Profile acceleration – Profile deceleration Target velocity is reached. Specifying a new target position as starting position. V Velocity A Acceleration P Position...
  • Page 64 VIPA System SLIO Deployment PtP positioning profile > Examples Asymmetrical acceleration Setting and deceleration with – Target position reducing the acceleration – Profile velocity during the move – Profile acceleration – Profile deceleration Target velocity is reached. Specifying a new target position as starting position. V Velocity A Acceleration P Position...
  • Page 65 VIPA System SLIO Deployment PtP positioning profile > Examples Symmetrical acceleration Setting and deceleration with – Target position reaching the target – Profile velocity velocity – Profile acceleration – Profile deceleration Target velocity is reached. Specifying a new target position as starting position during deceleration. V Velocity A Acceleration P Position...
  • Page 66 VIPA System SLIO Deployment PtP positioning profile > Examples Symmetrical acceleration Setting and deceleration with – Target position specifying a target posi- – Profile velocity tion, twice – Profile acceleration – Profile deceleration Target velocity is reached. Specifying a new target position, after the previous target position was reached. V Velocity A Acceleration P Position...

  • Page 67: Velocity Profile

    VIPA System SLIO Deployment Velocity profile 4.7 Velocity profile Structure Always adapt parameters to the operating mode! Please ensure that the module always has the correct parameters according to the selected operating mode! Start parameter Ä ‘Start - Start parameter homing’ on page 52 –...
  • Page 68 VIPA System SLIO Deployment Velocity profile Start - Start parameter velocity profile Please note: Ä Chapter 4.2 ‘Commissioning’ on page 45 – – Ä ‘Application data’ on page 51 Ä ‘0x8280-01 - Operating mode requested’ on page 112 3: Velocity profile Ä...
  • Page 69 VIPA System SLIO Deployment Velocity profile Velocity control - Velocity control Limit Velocity Limitation velocity Positioning profile Velocity profile generator generator à à Ä ‘0x8500-01 - Velocity control configura- control tion’ on page 120 Ä ‘0x8500-03 - Velocity control set value’ on page 120 Ä...

  • Page 70: Deployment I/O1

    VIPA System SLIO Deployment Deployment I/O1...I/O4 Limit Voltage - Limitation voltage Ä ‘0x8680-04 - Power section supply voltage min. warning level’ on page 123 Ä ‘0x8680-05 - Power section supply voltage max. warning level’ on page 123 Ä ‘0x8680-06 - Power section supply voltage min.
  • Page 71 Deployment Deployment I/O1...I/O4 Default settings The 4 digital ports of the motion module have the following default settings, which fit to the standard pin-out to connect a power stage via pulse train like e.g. YASKAWA Sigma 5mini: Default setting Pos.

  • Page 72: Objects

    VIPA System SLIO Deployment Deployment I/O1...I/O4 > Usage as input for incremental encoder 4.8.1 Objects Structure DIO Control Ä ‘0x7100-01...04 - Digital input configu- ration I/O1...I/O4’ on page 99 Ä ‘0x7200-01...04 - Digital output configu- ration I/O1...I/O4’ on page 101 Ä...

  • Page 73: Brake Control

    VIPA System SLIO Deployment Brake control 4.8.2.2 Encoder - deployment Connections There is the possibility to connect an encoder via I/O1 and I/O3. With the value 1 of Ä ‘0x8F00-01 - Encoder Feedback configuration’ on page 132 the encoder func- object tion for I/O1 and I/O3 is enabled.

  • Page 74: In-/Output Area

    VIPA System SLIO Deployment In-/Output area Quick stop Quick stop is a ramp function, with which the connected motor can be decelerated and brought to stop. During normal operation it is not necessary to activate this brake func- tions manually, since normal braking operations are performed by the profile generator. Quick stop is used when the operating conditions require a rapid stopping.
  • Page 75 VIPA System SLIO Deployment In-/Output area Offset Size Area Description Acyclic Acyclic communication channel: Status Acyclic Acyclic communication channel: Subindex in the object dictionary Acyclic Acyclic communication channel: Index in the object dictionary Acyclic Acyclic communication channel: Data reserved reserved Please note if you write via the Acyclic Channel to objects, which are mapped in the I/O area, these values are overwritten with the next cycle.

  • Page 76: Acyclic Channel

    VIPA System SLIO Deployment Acyclic channel Offset Size Area Description reserved reserved 4.11 Acyclic channel Overview Please note if you write via the Acyclic Channel to objects, which are mapped in the I/O area, these values are overwritten with the next cycle. Via the Acyclic channel you can perform acyclic read and write commands.

  • Page 77: Parameter Data

    VIPA System SLIO Deployment Parameter data > Parameter STATUS - Status Code Name Description 0x00 IDLE Idle - waiting for commands 0x14 READ_ONCE Command READ_ONCE has been recognized, data are valid. 0x24 WRITE_ONCE Command WRITE_ONCE has been recognized, data were accepted. 0x81: READ_NOT_EXIST Error - read access - data do not exist...
  • Page 78 VIPA System SLIO Deployment Parameter data > Parameter Name Bytes Function Default DIAG_EN Diagnostic interrupt * 3100h IDX_1 Universal parameter 1: Index 00h 3101h... 3102h SUBIDX_1 Universal parameter 1: Sub- 3103h... index 3104h DATA_1 Universal parameter 1: Value 00h 3105h... 3108h IDX_2 Universal parameter 2: Index 00h...

  • Page 79: Scaling And Units

    VIPA System SLIO Deployment Monitoring and error reaction > Overview For the VIPA SPEED7 Studio and the Siemens SIMATIC Manager there is the block FB 321 - ACYC_DS for simplified access available. More information about the usage of this block may be found in the manual "SPEED7 Operation List"...
  • Page 80 VIPA System SLIO Deployment Monitoring and error reaction > Overview Voltage monitoring The DC 24V voltage of the module supply is monitored. If the voltage over or under runs the limit values, a warning or error is reported by Ä ‘0x8100-02 - Status word’ on page 105.

  • Page 81: Monitoring

    VIPA System SLIO Deployment Monitoring and error reaction > Monitoring 4.14.2 Monitoring Monitoring limitation Ä ‘0x8400-02 - Positioning profile target position’ on page 116 Ä ‘0x8480-02 - Position actual value’ on page 117 Ä ‘0x8480-05 - Software position limit Ä ‘0x8100-02 - Status word’ on page 105 positive direction’...

  • Page 82: Diagnostics And Interrupt

    VIPA System SLIO Deployment Diagnostics and interrupt Monitoring error Error status - monitoring error Ä ‘0x8680-02 - Power section supply Error voltage actual value’ on page 123 response Ä ‘0x8680-06 - Power section supply Error reaction voltage min. error level’ on page 123 Ä...
  • Page 83 VIPA System SLIO Deployment Diagnostics and interrupt Name Bytes Function Default ERR_A Diagnostic 2F01h MODTYP Module information ERR_C reserved ERR_D reserved CHTYP Channel type NUMBIT Number diagnostics bits per channel NUMCH Number channels of the module CHERR Channel error CH0ERR Channel-specific error CH1ERR Channel-specific error...

  • Page 84: Example: 054-1Da00 With Yaskawa Sigma 5 Mini

    In the following there is an example of the commissioning of the System SLIO motion module 054-1DA00 with a YASKAWA Sigma 5 mini power stage (servopack). In the example the motor is to be coupled 1:1 to a disk, which has a circumference of 20mm and drives a belt.

  • Page 85: Wiring

    4.16.2 Wiring Basic structure Perform the wiring of the servo components as specified in the YASKAWA manual. Please regard the requirements for the wiring of the System SLIO Ä Chapter 2.5 ‘Wiring periphery modules’ on page 19 Ä ‘Connections’ on page 47...

  • Page 86: Commissioning Of The Power Stage

    First check whether this configuration is suitable for your application and does test operation not cause any damages! Also consider the chapter trial operation in the YASKAWA man- uals. Exemplary the interface between power stage and motion module is to be described...
  • Page 87 VIPA System SLIO Deployment Example: 054-1DA00 with YASKAWA Sigma 5 mini > Commissioning of the power stage Parameter of the power stage Name Value Pn000 Basic Function Select Switch 0 0010H 1. digit Direction Selection 0: Sets CCW as forward direction.

  • Page 88: Configuration Of The System Slio Motion Module

    VIPA System SLIO Deployment Example: 054-1DA00 with YASKAWA Sigma 5 mini > Configuration of the System SLIO motion module 4.16.4 Configuration of the System SLIO motion module Parameters for the operation Operating mode: Positioning Pulse shape: Incremental encoder simulation (A/B), suitable to the setting of the...

  • Page 89: Setting Of The Objects

    VIPA System SLIO Deployment Example: 054-1DA00 with YASKAWA Sigma 5 mini > Setting of the objects 4.16.5 Setting of the objects According to the operation, the following object of the motion module are to be set. The initial setting can be done via up to 7 module parameters. After the module start-up the other objects are to be transmitted via the Acyclic channel.

  • Page 90: Test Operation

    VIPA System SLIO Deployment Example: 054-1DA00 with YASKAWA Sigma 5 mini > Test operation 4.16.6 Test operation Proceeding The System SLIO motion module and the power stage are now ready for a test operation. The system can be controlled via the cyclic data and the state machine.

  • Page 91: Object Dictionary

    VIPA System SLIO Object dictionary Object dictionary 5.1 Use Addressing The System SLIO motion module provides its data, such as "Profiling target position" via an object dictionary. In this object dictionary the objects are organized and addressable a unique number consisting of Index and Subindex. The number is specified as follows: Index (hexadecimal) Subindex (decimal) Example: 0x8400-03...

  • Page 92: Objects

    VIPA System SLIO Object dictionary Objects > Overview 5.2 Objects 5.2.1 Overview Explanation of the ele- Explanation of the elements ments Index-Sub - Index and subindex - Data type SIGNEDx - Data type UNSIGNEDx - Read- write access [degC] - Temperature in degree celsius (°C) Ä...
  • Page 93 VIPA System SLIO Object dictionary Objects > Overview Available objects Ä ‘0x1000-00 - Device type’ on page 95 Ä ‘0x1008-00 - Manufacturer device name’ on page 96 Ä ‘0x100A-00 - Manufacturer software version’ on page 96 Ä ‘0x1018-00 - Product - number of entries’ on page 96 Ä...
  • Page 94 VIPA System SLIO Object dictionary Objects > Overview Ä ‘0x8300-07 - Homing velocity V2’ on page 115 Ä ‘0x8300-08 - Homing acceleration’ on page 115 Ä ‘0x8300-09 - Homing deceleration’ on page 115 Ä ‘0x8300-10 - Homing offset value’ on page 115 Ä...

  • Page 95: Information About The Product - 0X1000

    VIPA System SLIO Object dictionary Objects > Information about the product - 0x1000...0x1018 Ä ‘0x8780-02 - Temperature µ-Controller actual value’ on page 125 Ä ‘0x8780-03 - Temperature µ-Controller warning level’ on page 126 Ä ‘0x8780-04 - Temperature µ-Controller error level’ on page 126 Ä...
  • Page 96 VIPA System SLIO Object dictionary Objects > Information about the product - 0x1000...0x1018 0x1008-00 - Manufacturer device name Index-Sub Type Default Value range Unit Description 0x1008-00 0 … Manufacturer device name 0xFFFFFFFF Ä ‘Explanation of the elements’ on page 92 Here you can find the name of the motion module ASCII coded: 0x50544D31: ‘PTM1’...

  • Page 97: Passwords And Security - 0X1100

    VIPA System SLIO Object dictionary Objects > System command - 0x6100 0x1018-04 - Serial number Index-Sub Type Default Value range Unit Description 0x1018-04 0 … Serial number 0xFFFFFFFF Ä ‘Explanation of the elements’ on page 92 Here according to CiA 402 the serial number of the module can be found. Currently this object is not used and returns 0.

  • Page 98: Digital Inputs I/O1

    VIPA System SLIO Object dictionary Objects > Digital inputs I/O1...I/O4 - 0x7100 0x6100-10 - System mes- sage timeout maximum Index-Sub Type Default Value range Unit Description 0x6100-10 0 … [mS] System message timeout maximum 0xFFFFFFFF Ä ‘Explanation of the elements’ on page 92 With this object, you can enable the monitoring of the cyclic communication to the System SLIO bus and thus to the fieldbus.
  • Page 99 VIPA System SLIO Object dictionary Objects > Digital inputs I/O1...I/O4 - 0x7100 0x7100-01...04 - Digital input configuration I/O1...I/O4 Index-Sub Type Default Value range Unit Description 0x7100-01 R/W** 0 … 1 Digital input configuration I/O1 0x7100-02 R/W** 0 … 1 Digital input configuration I/O2 0x7100-03 R/W** 0 …...

  • Page 100: Digital Output I/O1

    VIPA System SLIO Object dictionary Objects > Digital output I/O1...I/O4 - 0x7200 0x7100-05 - Digital input states I/O1...I/O4 Index-Sub Type Default Value range Unit Description 0x7100-05* 0 … 0xFF Digital input states I/O1...I/O4 Ä ‘Explanation of the elements’ on page 92 This object contains the current values of the digital inputs I/O1...I/O4.
  • Page 101 VIPA System SLIO Object dictionary Objects > Digital output I/O1...I/O4 - 0x7200 0x7200-01...04 - Digital output configuration I/O1...I/O4 Index-Sub Type Default Value range Unit Description 0x7200-01 R/W** 0 … 1 Digital output configuration I/O1 0x7200-02 R/W** 0 … 1 Digital output configuration I/O2 0x7200-03 R/W** 0 …...
  • Page 102 VIPA System SLIO Object dictionary Objects > Digital output I/O1...I/O4 - 0x7200 0x7200-05 - Digital output states I/O1...I/O4 actual states Index-Sub Type Default Value range Unit Description 0x7200-05* 0 … 0xFF Digital output states I/O1...I/O4 actual states Ä ‘Explanation of the elements’ on page 92 This object contains the current values of the digital outputs.

  • Page 103: Control Drive - 0X8100

    VIPA System SLIO Object dictionary Objects > Control drive - 0x8100 0x7200-06 - Digital output states I/O1...I/O4 requested states Index-Sub Type Default Value range Unit Description 0x7200-06* R/W** 0 … 0xFF Digital output states I/O1...I/O4 requested states Ä ‘Explanation of the elements’ on page 92 This object contains the set values of the digital outputs I/O1...I/O4.
  • Page 104 VIPA System SLIO Object dictionary Objects > Control drive - 0x8100 0x8100-01 - Control word Index-Sub Type Default Value range Unit Description 0x8100-01* R/W** 0 … 65535 Control word Ä ‘Explanation of the elements’ on page 92 Ä Chapter 4.4.2 ‘States’ on page 49 With the Control word you can change the current state of the motor controller respec- tively reset all the error bits.
  • Page 105 VIPA System SLIO Object dictionary Objects > Control drive - 0x8100 0x8100-02 - Status word Index-Sub Type Default Value range Unit Description 0x8100-02* 0 … 65535 Status word Ä ‘Explanation of the elements’ on page 92 Ä Chapter 4.4.2 ‘States’ on page 49 Please consider that the data bits are not latched and may need to be temporarily stored for further processing! Bit 7 ...
  • Page 106 VIPA System SLIO Object dictionary Objects > Control drive - 0x8100 0x8100-03 - Error code Index-Sub Type Default Value range Unit Description 0x8100-03 0 … 65535 Error code Ä ‘Explanation of the elements’ on page 92 This object shows the most recent error code, which has occurred in the System SLIO Ä...
  • Page 107 VIPA System SLIO Object dictionary Objects > Control drive - 0x8100 0x8100-04 - Limit active bits Index-Sub Type Default Value range Unit Description 0x8100-04 0 … Limit active bits 0xFFFFFFFF 0: de-activated, 1: activated Bit 3 ... 0: reserved Bit 4: Limit velocity Ä...
  • Page 108 VIPA System SLIO Object dictionary Objects > Control drive - 0x8100 0x8100-05 - Warnings active bits Index-Sub Type Default Value range Unit Description 0x8100-05 0 … Warnings active bits 0xFFFFFFFF 0: de-activated, 1: activated Bit 11...0: reserved Bit 12: Temperature warning µ-Controller Ä...

  • Page 109: Configure Drive - 0X8180

    VIPA System SLIO Object dictionary Objects > Configure drive - 0x8180 0x8100-06 - Error active bits Index-Sub Type Default Value range Unit Description 0x8100-06 0 … Error active bits 0xFFFFFFFF 0: de-activated, 1: activated Bit 11 ... 0: reserved Bit 12: Temperature error µ-controller Ä...

  • Page 110: Options - 0X8200

    VIPA System SLIO Object dictionary Objects > Options - 0x8200 0x8180-02 - Gear factor Index-Sub Type Default Value range Unit Description 0x8180-02 10000000 800000 … Gear factor 16000000 Ä ‘Explanation of the elements’ on page 92 Gear factor for normalization of position, velocity and acceleration values. The value rep- resents "units"...

  • Page 111: Operating Modes - 0X8280

    VIPA System SLIO Object dictionary Objects > Operating modes - 0x8280 0x8200-01 - Configuration quick stop Index-Sub Type Default Value range Unit Description 0x8200-01 R/W** -32768 … Configuration quick stop 32767 Ä ‘Explanation of the elements’ on page 92 Ä Chapter 4.9 ‘Brake control’ on page 73 The object contains the action to be used at a Quick stop.
  • Page 112 VIPA System SLIO Object dictionary Objects > Operating modes - 0x8280 0x8280-01 - Operating mode requested Index-Sub Type Default Value range Unit Description 0x8280-01* -128 … 127 Operating mode requested Ä ‘Explanation of the elements’ on page 92 Ä Chapter 4.4.3 ‘Operating modes’ on page 50 With the object 0x8280-01 the mode of the motor controller can be set.

  • Page 113: Homing - 0X8300

    VIPA System SLIO Object dictionary Objects > Homing - 0x8300 5.2.11 Homing - 0x8300 0x8300-00 - Homing - number of entries Index-Sub Type Default Value range Unit Description 0x8300-00 Homing - number of entries Ä ‘Explanation of the elements’ on page 92 Ä...
  • Page 114 VIPA System SLIO Object dictionary Objects > Homing - 0x8300 0x8300-04 - Homing digital input active polarity I/O1…I/O4 Index-Sub Type Default Value range Unit Description 0x8300-04 R/W** 0 … 1 Homing digital input active polarity I/O1…I/O4 Ä ‘Explanation of the elements’ on page 92 This object sets for homing Mode 17 the polarity of the digital input I/O1...I/O4 of the System SLIO motion module.
  • Page 115 VIPA System SLIO Object dictionary Objects > Homing - 0x8300 0x8300-07 - Homing velocity V2 Index-Sub Type Default Value range Unit Description 0x8300-07 R/W** -8388608 … [user] Homing velocity V2 8388607 Ä ‘Explanation of the elements’ on page 92 This object specifies the velocity V2 for traversing to the initial position. The velocity V2 (0x8300-07) is used in the final stage of homing when approaching the initial position (offset: 0x8300-10).

  • Page 116: Parameter For The Ptp Positioning Profile - 0X8400

    VIPA System SLIO Object dictionary Objects > Parameter for the PtP positioning profile - 0x8400 5.2.12 Parameter for the PtP positioning profile - 0x8400 0x8400-00 - Positioning profile - number of entries Index-Sub Type Default Value range Unit Description 0x8400-00 Positioning profile - number of entries Ä...

  • Page 117: Positions And Limit Values - 0X8480

    VIPA System SLIO Object dictionary Objects > Positions and limit values - 0x8480 0x8400-04 - Positioning profile target acceleration Index-Sub Type Default Value range Unit Description 0x8400-04* R/W** 10000 300 … [user] Positioning profile target acceleration 100000000 Ä ‘Explanation of the elements’ on page 92 This object specifies the acceleration for traversing to the initial position and is processed as absolute value.
  • Page 118 VIPA System SLIO Object dictionary Objects > Positions and limit values - 0x8480 0x8480-03 - Position set value Index-Sub Type Default Value range Unit Description 0x8480-03 -8388608 … [user] Position set value 8388607 Ä ‘Explanation of the elements’ on page 92 This object specifies the internal value of the target position at the input of the position controller.
  • Page 119 VIPA System SLIO Object dictionary Objects > Positions and limit values - 0x8480 0x8480-07 - Range limit positive direction Index-Sub Type Default Value range Unit Description 0x8480-07 8000000 10000 … [user] Range limit positive direction 8388607 Ä ‘Explanation of the elements’ on page 92 This object defines the positive overflow limit for the processing of position values.

  • Page 120: Velocities And Limit Values - 0X8500

    VIPA System SLIO Object dictionary Objects > Velocities and limit values - 0x8500 5.2.14 Velocities and limit values - 0x8500 0x8500-00 - Velocity - number of entries Index-Sub Type Default Value range Unit Description 0x8500-00 Velocity - number of entries Ä...

  • Page 121: Acceleration And Deceleration - 0X8580

    VIPA System SLIO Object dictionary Objects > Acceleration and deceleration - 0x8580 0x8500-04 - Velocity con- trol limit positive direction Index-Sub Type Default Value range Unit Description 0x8500-04 R/W** 100000 0 … 10000000 [user] Velocity control limit positive direction Ä ‘Explanation of the elements’ on page 92 This object indicates the positive limit for velocity.

  • Page 122: Voltages - 0X8680

    VIPA System SLIO Object dictionary Objects > Voltages - 0x8680 0x8580-03 - Deceleration quick stop value Index-Sub Type Default Value range Unit Description 0x8580-03 R/W** 10000 10 … [user] Deceleration quick stop value 100000000 Ä ‘Explanation of the elements’ on page 92 This object specifies the value of the target deceleration in case of a quick stop.
  • Page 123 VIPA System SLIO Object dictionary Objects > Voltages - 0x8680 0x8680-02 - Power section supply voltage actual value Index-Sub Type Default Value range Unit Description 0x8680-02 0 … 5500 [0.01V] Power section supply voltage actual value Ä ‘Explanation of the elements’ on page 92 This object specifies the level of the actual supply voltage.
  • Page 124 VIPA System SLIO Object dictionary Objects > Voltages - 0x8680 0x8680-07 - Power section supply voltage max. error level Index-Sub Type Default Value range Unit Description 0x8680-07 3000 0 … 5500 [0.01V] Power section supply voltage max. error level Ä ‘Explanation of the elements’ on page 92 This object specifies an upper limit for the supply voltage of the module.

  • Page 125: Temperatures - 0X8780

    VIPA System SLIO Object dictionary Objects > Temperatures - 0x8780 0x8680-12 - Control voltage power stage min. error level Index-Sub Type Default Value range Unit Description 0x8680-12 0 … 4000 [0.01V] Control voltage power stage min. error level Ä ‘Explanation of the elements’ on page 92 This object specifies a lower limit for the control voltage of the power stage.

  • Page 126: Pulse Train Parameter - 0X8E00

    VIPA System SLIO Object dictionary Objects > Pulse train parameter - 0x8E00 0x8780-03 - Temperature µ-Controller warning level Index-Sub Type Default Value range Unit Description 0x8780-03 -50 … 120 [degC] Temperature µ-Controller warning level Ä ‘Explanation of the elements’ on page 92 This object specifies the temperature limit of the μ-Controller of the motion module.
  • Page 127 VIPA System SLIO Object dictionary Objects > Pulse train parameter - 0x8E00 0x8E00-01 - Pulse train configuration Index-Sub Type Default Value range Unit Description 0x8E00-01 0 … 3 Pulse train configuration Ä ‘Explanation of the elements’ on page 92 With this object, you can specify the frequency pulse patterns. There are the following possibilities: Pulse and direction (P/D) 0x8E00-01 = 1...
  • Page 128 VIPA System SLIO Object dictionary Objects > Pulse train parameter - 0x8E00 0x8E00-02 - Pulse train pulses per revolution Index-Sub Type Default Value range Unit Description 0x8E00-02 40000 100 … 65535 [pls] Pulse train pulses per revolution Ä ‘Explanation of the elements’ on page 92 This object specifies the number of pulses per rotation of the connected power stage.
  • Page 129 VIPA System SLIO Object dictionary Objects > Pulse train parameter - 0x8E00 0x8E00-08 - Pulse train Servo-On digital output I/O1…I/O4 Index-Sub Type Default Value range Unit Description 0x8E00-08 0 … 4 Pulse train Servo-On digital output I/O1…I/O4 Ä ‘Explanation of the elements’ on page 92 Returns in state ‘Operation enabled’...
  • Page 130 VIPA System SLIO Object dictionary Objects > Pulse train parameter - 0x8E00 0x8E00-11 - Pulse train Alarm-Reset digital output active polarity I/O1…I/O4 Index-Sub Type Default Value range Unit Description 0x8E00-11 0 … 1 Pulse train Alarm-Reset digital output active polarity I/O1…I/O4 Ä...

  • Page 131: Encoder Resolution - 0X8F00

    VIPA System SLIO Object dictionary Objects > Encoder resolution - 0x8F00 0x8E00-14 - Pulse train Alarm digital input I/O1…I/O4 Index-Sub Type Default Value range Unit Description 0x8E00-14 0 … 4 Pulse train Alarm digital input I/O1…I/O4 Ä ‘Explanation of the elements’ on page 92 This signal is expected as feedback from the power stage when it has pending an alarm.
  • Page 132 VIPA System SLIO Object dictionary Objects > Encoder resolution - 0x8F00 0x8F00-01 - Encoder Feed- back configuration Index-Sub Type Default Value range Unit Description 0x8F00-01 0 … 1 Encoder Feedback configuration Ä ‘Explanation of the elements’ on page 92 With this object the digital in-/outputs I/O1 and I/O3 are physically configured as encoder input.

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