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Kollmorgen S300 Translation Of The Original Manual

Profibus dp fieldbus interface
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PROFIBUS DP
Fieldbus Interface
Edition: December 2019
Translation of the original manual
For safe and proper use, follow
these instructions.
Keep them for future reference.
for S300 / S400 / S600 / S700

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Summary of Contents for Kollmorgen S300

  • Page 1 PROFIBUS DP Fieldbus Interface for S300 / S400 / S600 / S700 Edition: December 2019 Translation of the original manual For safe and proper use, follow these instructions. Keep them for future reference.
  • Page 2 Technical changes which improve the performance of the device may be made without prior notice! This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen.

  • Page 3: Table Of Contents

    2.4 Use as directed 2.5 Symbols Used 2.6 Abbreviations used 3 Installation / Setup 3.1 Mounting, Installation 3.1.1 Inserting the Expansion Card (S300, S600 und S700) 3.1.1.1 Front view 3.1.1.2 Setup of Station Address and Baud Rate 3.1.1.3 Connection technology 3.1.1.4 Connection diagram 3.1.2 Profibus master module setup...
  • Page 4 S300-S400-S600-S700 PROFIBUS | Table of Contents 5.2.4.2 PNU 1807: Axis type 5.2.5 Position data for the position control mode 5.2.5.1 PNU 1790: Position 5.2.5.2 PNU 1791: Velocity 5.2.5.3 PNU 1785: Motion task type 5.2.5.4 PNU 1783: Acceleration time 5.2.5.5 PNU 1784: Acceleration jolt limiting 5.2.5.6 PNU 1786: Deceleration time...
  • Page 5 S300-S400-S600-S700 PROFIBUS | Table of Contents 7.1.8 Start a direct motion task 7.1.9 Polling a warning or error message 7.1.10 Writing a parameter via parameter channel 7.1.11 Reading actual values 7.1.12 Write a parameter via the ASCII channel 7.2 Index...
  • Page 6 S300-S400-S600-S700 PROFIBUS | --- / --- Kollmorgen | kdn.kollmorgen.com | December 2019...

  • Page 7: 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 8: Using The Pdf Format

    S300-S400-S600-S700 PROFIBUS | 2   General 2.3 Using the PDF Format This document includes several features for ease of navigation Cross References Table of contents and index include active cross references. Table of contents and Lines are active cross references. Click on the line and the appro- index priate page is accessed.

  • Page 9: Abbreviations Used

    S300-S400-S600-S700 PROFIBUS | 2   General 2.6 Abbreviations used Abbrev. Meaning AGND Analog ground BTB/RTO Ready to operate Clock signal Serial interface for a PC-AT DGND Digital ground German Institute for industrial Standards Disk Magnetic storage (diskette, hard disk) EEPROM Electrically erasable programmable memory...

  • Page 10: Installation / Setup

    S300-S400-S600-S700 PROFIBUS | 3   Installation / Setup 3 Installation / Setup 3.1 Mounting, Installation High Voltages up to 900V! Risk of electric shock. Residual charges in the capacitors can still have dangerous levels several minutes after switching off the supply voltage. Power and control connections can still be live, even though the motor is not rotating.

  • Page 11: Inserting The Expansion Card (S300, S600 Und S700)

    3.1.1 Inserting the Expansion Card (S300, S600 und 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 12: Connection Diagram

    S300-S400-S600-S700 PROFIBUS | 3   Installation / Setup 3.1.1.4 Connection diagram With S600, the terminals AGND and DGND (connector X3) must be joined together ! Kollmorgen | kdn.kollmorgen.com | December 2019...

  • Page 13: Profibus Master Module Setup

    Open the Hardware catalog and drag the symbol for the corresponding field unit onto the rep- resentation of the bus system. A window opens automatically for the general parameterization of the field unit (Attention: the S300/S700 are displayed here like a S600). Enter the address of the participant here.

  • Page 14: Standard Function Block For Date Exchange With The Servo Amplifier

    S300-S400-S600-S700 PROFIBUS | 3   Installation / Setup 3.1.3 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 handle the servo amplifier control functions very simply.

  • Page 15: 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 16: Setup Software

    S300-S400-S600-S700 PROFIBUS | 3   Installation / Setup 3.2.3 Setup Software 3.2.3.1 Screen page PROFIBUS This screen will only appear, if the PROFIBUS hardware is built into the servo amplifier. The screen page displays the PROFIBUS-specific parameters, the bus status, and the data words in the transmit and receive directions, as seen by the bus-master.

  • Page 17: Screen Page Profibus Status Maschine

    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.

  • Page 18: Device Profile

    S300-S400-S600-S700 PROFIBUS | 4   Device profile 4 Device profile The PROFIBUS profile PROFIDRIVE includes the following parameter process-data objects (PPO): The servo amplifier only uses the PPO-type 2 (with 4 words PKW-section and 6 words PZD-sec- tion). The PKW-section is used mainly for the transmission of parameters for the servo amplifier, the PZD-section is used principally for handling motion functions.

  • Page 19: Parameter Channel

    S300-S400-S600-S700 PROFIBUS | 4   Device profile 4.1 Parameter channel 4.1.1 Parameter ID (PKE) Marked lines in the table are valid for the servo amplifier Master —> Slave Slave —> Master Task ID Function Response ID positive Response ID negative no task...

  • Page 20: Response Id 7: Profile Specific Error Numbers

    S300-S400-S600-S700 PROFIBUS | 4   Device profile 4.1.1.2 Response ID 7: Profile specific error numbers Error no. Description illegal PNU parameter value cannot be changed Lower or upper limit violated Erroneous sub-index no array Incorrect data type setting not allowed (can only be reset) Descriptive element cannot be changed PPO-write, requested ...

  • Page 21: Parameter Value Pwe

    S300-S400-S600-S700 PROFIBUS | 4   Device profile 4.1.3 Parameter value PWE The data for the PNU-variable is contained in the PWE, and is placed flush right (PKE): 4-byte data (double-word)PWE 5-8 (PWE 8 LSB) Commands are transferred right justified with task ID 3. If a command cannot be executed, the response identification AK = 7 signals the error, and an error number is given out.

  • Page 22: Parameter Channel (Pkw)

    S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) 5 Parameter channel (PKW) The digital servo amplifiers of the servo amplifier series have to be adapted to the circumstances of your machine. The parameters for the controllers are set using either the setup software or via the PROFIBUS.

  • Page 23: List Of The Parameters

    S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) 5.2.1 List of the parameters ASCII command (old) S400 S300 S400 S300 S400 Data type Description S600 S700 S600 S700 S600 Profile parameter UINT32 Number of the supported PPO-write, always 2 UINT32 Number of the supported PPO-read,...
  • Page 24 S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) ASCII command (old) S400 S300 S400 S300 S400 Data type Description S600 S700 S600 S700 S600 1671 UINT32 Tn integral-action time for position 1263 controller 1670 UINT32 Maximum velocity for positioning GPTN 1264...
  • Page 25 S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) ASCII command (old) S400 S300 S400 S300 S400 Data type Description S600 S700 S600 S700 S600 1414 special Position, 32 bit floating decimal point 1414 format 1415 special Velocity, 32 bit floating decimal point...

  • Page 26: Profile Parameters

    S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) 5.2.2 Profile Parameters 5.2.2.1 PNU 904/911: PPO-Type write/read These parameters describe the numbers of the supported PPO-types write und read. Since only PPO-type 2 is supported, this parameters are always set to 2.

  • Page 27: Pnu 930: Selection Switch For Operating Modes

    S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) 5.2.2.7 PNU 930: Selection Switch for Operating Modes The “Selector for operating modes” is defined by the drive profile, and mirrors the operating modes of the drive profile to the operating modes of the servo amplifier. The following table shows...

  • Page 28: Manufacturer Specific Parameters

    S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) 5.2.3 Manufacturer specific parameters 5.2.3.1 PNU 1000: Instrument ID The instrument ID consists of four ASCII characters, with the contents “Sxyz”. x       defines for the servoamplifier family yz     defines for the current level of the output stage 5.2.3.2 PNU 1001: Manufacturer specific error register...

  • Page 29: Pnu 1002: Manufacturer Specific Status Register

    S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) 5.2.3.3 PNU 1002: Manufacturer specific status register The bit assignment can be seen in the following table: Description Warning 1: I²t threshold exceeded (set, as long as Irms is above the threshold) Warning 2: Regen power exceeded (set, as long as the set regen power is exceeded)

  • Page 30: Position Control Parameters

    S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) 5.2.4 Position control parameters 5.2.4.1 PNU 1894: Velocity multiplier This parameter is used to enter a multiplier for the jogging/homing velocity. In Positioning opmode, the velocity for jogging/homing is set through PZD2 jogging/homing is started using bit 8/ bit 11 in the control word (STW).

  • Page 31: Pnu 1785: Motion Task Type

    S300/S700 only: a motion task with trapezoid profile is started S300/S700 only: a table motion task (sin2 profile) is started. Bit 9 must be set to 0. Bits 0 to 15 are transmitted as motion task type in PZD 6 (mode "positioning") with direct motion tasks.

  • Page 32: Pnu 1784: Acceleration Jolt Limiting

    S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) 5.2.5.5 PNU 1784: Acceleration jolt limiting For S400/S600 only. This parameter defines the form of the acceleration ramp. If a value ≠ 0 is entered here, then a sin²-ramp (S-curve) is used to reach the target velocity. To employ sine²- ramps, the configuration variable SPSET has to be set to 2 (via the ASCII-channel or the ASCII-ter- minal in the setup software) and to be saved.

  • Page 33: Setup Mode Position

    S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) 5.2.6 Setup mode Position 5.2.6.1 PNU 1773: Homing type This parameter can be used to determine which type of homing run should be applied. The assignment can be seen in the following table:...

  • Page 34: Digital I/O Configuration

    S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) 5.2.8 Digital I/O Configuration All settings for the digital inputs and outputs only become effective after being saved in the EEPROM and then switching off and on again, or making a cold start of the servo amplifier.

  • Page 35: Manufacturer Specific Object Channel (From Pnu 1600)

    S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) 5.2.10 Manufacturer specific object channel (from PNU 1600) With PNUs>1600 you can programm each ASCII-parameter/command of the servo amplifier. The PNU can be calculated by the object number with a specific offset (ASCII command reference list: DPR).
  • Page 36 S300-S400-S600-S700 PROFIBUS | 5   Parameter channel (PKW) 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 —-...

  • Page 37: Process Data Channel

    S300-S400-S600-S700 PROFIBUS | 6   Process data channel 6 Process data channel The process data channel is used for real-time communication. This channel is divided into two telegram sections: PZD1: Control word (STW) /Status word (ZSW) – instrument control The control word and the status word are used to control the amplifier and monitor the amplifier's status.

  • Page 38: Instrument Control

    S300-S400-S600-S700 PROFIBUS | 6   Process data channel 6.1 Instrument control The control of the amplifier through PROFIBUS is described with the aid of the status machine shown below. The status machine is defined in the drive profile by a flow diagram valid for all oper- ating modes.
  • Page 39 S300-S400-S600-S700 PROFIBUS | 6   Process data channel Transitions of the status machine Transition Description Event Reset / 24V supply is switched on Action Initialization started Event Initialization successfully completed, servo amplifier switch-on inhibit Action none Event Bit 1 (inhibit voltage) and Bit 2 (fast stop) are set in the control word (command: shutdown).

  • Page 40: Control Word (Stw)

    S300-S400-S600-S700 PROFIBUS | 6   Process data channel 6.1.1 Control word (STW) With the aid of the control word, you can switch from one amplifier state to another. In the diagram for the state machine you can see which instrument states can be reached by which transitions.

  • Page 41: Status Word (Zsw)

    S300-S400-S600-S700 PROFIBUS | 6   Process data channel 6.1.2 Status word (ZSW) With the help of the status word, the amplifier state can be represented and a transmitted control word can be verified. If the amplifier does not react to changes of the control word (STW) as expec- ted, the marginal conditions like (enable of the output stage –...

  • Page 42: Positioning (Opmode 2)

    S300-S400-S600-S700 PROFIBUS | 6   Process data channel 6.2.1 Positioning (Opmode 2) PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 motion task no. or vcmd* (16bit) actual position (32bit) manufacturerspecific status *: for jogging/homing Abweichende Belegung der Prozessdatenfächer bei STW Bit 14=1...

  • Page 43: Digital Speed (Opmode 1)

    S300-S400-S600-S700 PROFIBUS | 6   Process data channel 6.2.2 Digital speed (Opmode 1) PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 incremental actual position 32 bit manuf. specific status Alternative assignment of the process data sections with STW Bit 14=1:...

  • Page 44: Digital Torque (Opmode -2)

    S300-S400-S600-S700 PROFIBUS | 6   Process data channel 6.2.4 Digital torque (Opmode -2) PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 = IQ incremental actual position manuf. specific status (32 bit, value range 24 bit) Actual position (32 bit)

  • Page 45: Digital Speed & Servo Pump (Opmode -7)

    S300-S400-S600-S700 PROFIBUS | 6   Process data channel 6.2.8 Digital speed & Servo Pump (Opmode -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 Volume-flow Current...

  • Page 46: Appendix

    S300-S400-S600-S700 PROFIBUS | 7   Appendix 7 Appendix 7.1 Setup examples for all servo amplifier models 7.1.1 Zero telegram (for initialization) At the beginning of PROFIBUS communication via the parameter channel and after com- munication errors, a zero telegram should be sent:...

  • Page 47: Start Jog Mode (On Positioning Opmode)

    S300-S400-S600-S700 PROFIBUS | 7   Appendix 7.1.4 Start jog mode (on positioning opmode) Jog mode is started in a similar manner to homing. To start, Bit 8 STW must be set. The jog velo- city is given by the product of the 16-bit main setpoint in PZD2 and the multiplier defined by PNU 1894.
  • Page 48 S300-S400-S600-S700 PROFIBUS | 7   Appendix After the homing run has been completed, Bit 11 STW must be set to 0 again. 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 .

  • Page 49: Start A Motion Task

    S300-S400-S600-S700 PROFIBUS | 7   Appendix 7.1.7 Start a motion task Motion tasks are started by a transition edge (positive or negative) at Bit 6 STW. Bit 14 STW is used to decide whether a stored motion task or a direct motion task should be carried out.
  • Page 50 S300-S400-S600-S700 PROFIBUS | 7   Appendix 7.1.11 Reading actual values Cyclical actual value request This PKW task switches on the reading of an actual value. The actual value will now be trans- mitted with each cyclical telegram – until a new PKW task is presented.

  • Page 51: Write A Parameter Via The Ascii Channel

    S300-S400-S600-S700 PROFIBUS | 7   Appendix 7.1.12 Write a parameter via the ASCII channel The KP value for the current controller is to be set through the ASCII channel. The command is then MLGQ_1.985. Here the understroke stands for a space. Since every telegram only has 10 positions available for the transmission of ASCII characters, the termination of the line (“CR LF”)
  • Page 52 S300-S400-S600-S700 PROFIBUS | 7   Appendix --- / --- Kollmorgen | kdn.kollmorgen.com | December 2019...

  • Page 53: Index

    Opmode -5 Setup Software Opmode -7 Status word (ZSW) Opmode 1 Symbols used Opmode 2 Opmodes Target group Trajektory Parameter channel (PKW) Parameter ID (PKE) Parameter numbers Parameter value PWE Use as directed PNU 1000 Kollmorgen | kdn.kollmorgen.com | December 2019...
  • Page 54 If you are unaware of your local sales representative, please contact the Customer Support. Join the Kollmorgen Developer Network for product support. Ask the com- munity questions, search the knowledge base for answers, get down- loads, and suggest improvements.

This manual is also suitable for:

S600S400S700Profinet s300Profinet s700

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