Pilz Motion Control PMC User Manual
  1. Manuals
  2. Brands
  3. Pilz Manuals
  4. Control Unit
  5. Motion Control PMC
  6. User manual
Pilz Motion Control PMC User Manual

Pilz Motion Control PMC User Manual

Communication profile profibus dp for pmctendo dd4
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Motion Control PMC
Communication profile PROFIBUS DP for PMCtendo DD4
User manual – Item No. 21 522-02

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the Motion Control PMC and is the answer not in the manual?

Questions and answers

Related Manuals for Pilz Motion Control PMC

Summary of Contents for Pilz Motion Control PMC

  • Page 1 Motion Control PMC Communication profile PROFIBUS DP for PMCtendo DD4 User manual – Item No. 21 522-02...
  • Page 2 Pilz GmbH & Co. KG. Notes Pilz GmbH & Co. KG reserves the right to make amendments to this document at any time. The examples given serve only as illustrations. No guarantee is given for their suitability in particular applications. Alt- hough the utmost care has been taken in the production of this document, no liability can be accepted for any mistakes that it may contain.

  • Page 3: Table Of Contents

    Contents P a g e Contents ............3 Safety instructions .
  • Page 4 Contents Page 5.2.7.2 PNU 1402: incremental position: actual value ........... 30 5.2.7.3 PNU 1403: SI-position: actual value .

  • Page 5: Safety Instructions

    Safety instructions Safety instructions Only properly qualified personnel is permitted to carry out activities such as transport, installation, setup and maintenance. Properly qualified persons are those who are familiar with transport, installation, assembly, setup and operation of the products, and who have the appropriate qualifications for their job.

  • Page 6: Directives And Standards

    Directives and standards Eurpoean directives and standards Servo amplifiers are components that are intended to be incorporated into electrical machines and plant. When the servo amplifiers are incorporated into machines or plant, the intended operation of the servo ampli- fier is forbidden until it has been established that the machine or plant fulfills the requirements of the EC Machinery Directive 98/37/EEC and the EC EMC Directive (89/336/EEC).
  • Page 7 Kürzel / Symbole Abbreviations used in this manual The abbreviations used in this manual are explained in the table below. Abbrev. Meaning Abbrev Meaning AGND Analog ground Zero pulse Restart Lock, option NSTOP Limit-switch input for CCW rotation (left) BTB/RTO Ready to operate PC-AT Personal computer with 80x86 Processor...
  • Page 8 This page is deliberately left blank. Page 8 User manual PROFIBUS DP PMCtendo DD4...

  • Page 9: General

    1 General General Important About this manual This manual describes the wiring, setup, range of functions and software protocol for the PMCtendo DD4. It is part of the complete documentation of the PMCtendo DD4 family of digital servo ampli- fiers. The installation and setup of the servo amplifier, as well as all the standard functions, are described in the corresponding manuals.
  • Page 10 2 Important This page is deliberately left blank. Page 10 User manual PROFIBUS DP PMCtendo DD4...

  • Page 11: Installation / Setup

    3 Installation / Setup Installation / Setup Hard- and Software installation Install and wire up the equipment only while it is electrically dead. Make sure that the switchgear cabinet is safely isolated (lock-out, warning signs etc.). The individual supply voltages will not be switched on until setup is carried out. Residual charges in the capacitors can still have dangerous levels several minutes after switching off the supply voltage.

  • Page 12: Parameterization Of The Master-Interface Modules

    3 Installation / Setup 3.1.1 Parameterization of the master-interface modules 3.1.1.1 Configuration of the control The graphics interface makes it very easy to configure the Siemens S7 for the PROFIBUS network. After you have set up the control layout, configure the interface module that is used as follows: Use our library file DD4_045D.GSD for the planning.

  • Page 13: Standard Functions For Data Exchange With Pmctendo Dd4

    3.1.2 Standard functions for data exchange with PMCtendo DD4 Pilz supplies a function block package (DRIVE_FC). The function block package includes a number of function blocks that make it possible to handle PMCtendo DD4 control functions very simply. A description of the individual function blocks can be found as a pdf file on the CD-ROM.
  • Page 14 3 Installation / Setup This page is deliberately left blank. Page 14 User manual PROFIBUS DP PMCtendo DD4...

  • Page 15: Profile Of Pmctendo Dd4

    4 Profile of PMCtendo DD4 Profile of PMCtendo DD4 The PROFIBUS-profile PROFIDRIVE includes the following parameter process-data objects (PPO): PMCtendo DD4 only uses the PPO-type 2 (with 4 words PKW-section and 6 words PZD-section). 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 16: Parameter Channel

    4 Profile of PMCtendo DD4 Parameter channel 4.1.1 Parameter ID (PKE) Bold lines in the table are valid for PMCtendo DD4 Master —> Slave Slave —> Master Task ID Function Response ID positive Response ID negative no task request parameter value alter parameter value [W] alter parameter value [DW] request description element...

  • Page 17: Profile-Specific Error Numbers With Response Id 7

    4 Profile of PMCtendo DD4 4.1.1.2 Profile-specific error numbers with response ID 7 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 in IR, not available descriptive data not available...

  • Page 18: Parameter Value Pwe

    4 Profile of PMCtendo DD4 4.1.3 Parameter value PWE The data for the PNU-variable is contained in the PWE, and is placed flush right: 4-byte data (double-word) PWE 5-8 (PWE 8 LSB) Commands are transferred with task ID 3. If a command cannot be executed, the response identifi- cation AK = 7 signals the error, and an error number is given out.

  • Page 19: Using The Parameter Channel

    5 Using the parameter channel Using the parameter channel The digital servo amplifiers of the PMCtendo DD4 series have to be adapted to the circumstances of your machine. The parameters for the controllers are set using either the setup Software PDrive or via the PROFIBUS.
  • Page 20 5 Using the parameter channel PMCtendo DD4 Data type Access Description ASCII command Manufacturer-specific parameters PMCtendo DD4 General parameters 1000 Visible String4 Instrument ID 1001 UINT32 Manufacturer-specific error register ERRCODE 1002 UINT32 Manufacturer-specific status register Speed controller parameters 1200 UINT32 –...
  • Page 21 5 Using the parameter channel PMCtendo DD4 Data type Access Description ASCII command Actual values 1400 INTEGER32 Actual position 20 bits/turn 1401 INTEGER32 Speed 1402 INTEGER32 Incremental position, actual value 1403 INTEGER32 SI-position, actual value 1404 INTEGER32 SI-velocity, actual value 1405 INTEGER32 SI contouring error...

  • Page 22: Profile Parameters

    5 Using the parameter channel 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 (see Chapter 4), this parameter is always set to 2. 5.2.2.2 PNU 918: PROFIBUS - node addresse With this parameter the PROFIBUS - node address of the drive can be read.

  • Page 23: Pnu 930: Selector For Operating Modes

    5 Using the parameter channel 5.2.2.3 PNU 930: selector 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 PMCtendo DD4. The following table shows a sum- mary of the operating modes: Caution! If process data are exchanged across the PROFIBUS, then the operating modes of the drive...

  • Page 24: Pnu 963: Baud Rate

    5 Using the parameter channel 5.2.2.4 PNU 963: baud rate This parameter defines the index of the baud rate that is used for PROFIBUS communication, and can only be read. The baud rate is given out by the PROFIBUS-master. The table below shows the indices with the according baud rates: Index Baud rate 12000...

  • Page 25: General Parameters

    5 Using the parameter channel 5.2.3 General parameters 5.2.3.1 PNU 1000: instrument ID The instrument ID consists of four ASCII characters, with the contents “S6xx”, whereby xx stands for the current level of the output stage (e.g. S606). 5.2.3.2 PNU 1001: manufacturer-specific error register The assignment of the error register can be seen in the following table.

  • Page 26: Pnu 1002: Manufacturer-Specific Status Register

    5 Using the parameter channel 5.2.3.3 PNU 1002: manufacturer-specific status register The assignment of the bits for the status register can be seen in the following table: Bit Description Warning 1: I²t threshold exceeded (set, as long as I is above the threshold) Warning 2: Ballast power exceeded (set, as long as the set ballast power is exceeded) Warning 3: Contouring error Warning 4: Threshold monitoring (field bus) active...

  • Page 27: Position Controller Parameters

    5 Using the parameter channel 5.2.4 Position controller parameters 5.2.4.1 PNU 1250: velocity multiplier This parameter is used to enter a multiplier for the jogging/homing velocity. The velocity for jog- ging/homing is given through PZD2 in the control word when jogging/homing is started. The actual jog velocity is calculated according to the following formula: ´...

  • Page 28: Pnu 1302: Motion Task Type

    5 Using the parameter channel 5.2.5.3 PNU 1302: motion task type Value Meaning The position value (Subindex 1) that is given is evaluated as an absolute position. The position value that is given is evaluated as a relative traversing distance. The two following bits then determine the type of relative motion.

  • Page 29: Pnu 1306: Acceleration Jolt Limiting

    5 Using the parameter channel 5.2.5.6 PNU 1306: acceleration jolt limiting This parameter defines the form of the acceleration ramp. If a value ¹ 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 1 (via the ASCII-channel or the ASCII-terminal in the setup software) and to be saved.

  • Page 30: Setup Mode: Position

    5 Using the parameter channel 5.2.6 Setup mode: position 5.2.6.1 PNU 1350: homing This parameter can be used to determine which type of homing run should be applied. The assign- ment can be seen in the following table: Type of homing run Reference point at the present position Initiator with resolver zero mark Hardware limit-switch resolver zero mark...

  • Page 31: Pnu 1415: Actual Velocity, 32 Bit Floating Decimal Point Format

    5 Using the parameter channel 5.2.7.5 PNU 1415: Actual velocity, 32 Bit floating decimal point format (from SW – Version 0.07) With this object the actual velocity (see ASCII-command PV) can be read in 32 Bit Floating decimal point format (IEEE). Right-of-comma positions will not be shown.

  • Page 32: Pnu 1458/1459: Function Of The Digital Outputs

    5 Using the parameter channel 5.2.8.2 PNU 1458/1459: function of the digital outputs These parameters can be used to configure the two digital outputs individually. Function Function PosREG.3 n_act<x PosREG.4 n_act>x Next-InPos Mains-BTB Error/Warn Ballast Error Sw_end DC_Link>x Pos.>x DC_Link<x InPos ENABLE list<x...

  • Page 33: Manufacturer Specific Object Channel (From Pnu 1600)

    5 Using the parameter channel 5.2.10 Manufacturer specific object channel (from PNU 1600) The object catalogue was expanded by all existing parameters and commands from PNU 1600 on (reserved object range PNU 1600 - PNU 2000). This object range is called SDO channel (SDO - Service Data Object). The SDO channel is expansible dynamically, new parameters will be added to the table automatically.
  • Page 34 5 Using the parameter channel Subindex short description read object format Unit — Access Read only Data-type see corresponding ASCII-command Value range see corresponding ASCII-command Defaultvalue — EEPROM — Desription: The following object formats are possible: Function (no parameters – write only) Function (32-Bit parameter) Function (32-Bit parameter with weighting 3) 8-Bit integer...

  • Page 35: Process Data Channel

    6 Process data channel Process data channel The process data channel is used for real-time communication. This channel can effectively be divided into two telegram portions: PZD1: Control word (STW) /Status word (ZSW) – instrument control The control word and the status word are used to control the instrument and monitor the status of the instrument.
  • Page 36 6 Process data channel The following table describes the instrument states and the transitions. States of the status machine State Description PMCtendo DD4 is not ready for switch-on. No operation readiness (BTB) is sig- Not ready for switch-on naled from the amplifier software. PMCtendo DD4 is ready for switch-on.
  • Page 37 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, PMCtendo DD4 switch-on inhibit Action none Bit 1 (inhibit voltage) and Bit 2 (fast stop) are set in the control word Event (command: shutdown).

  • Page 38: Control Word (Stw)

    6 Process data channel 6.1.1 Control word (STW) With the aid of the control word, you can switch from one instrument state to another. In the dia- gram for the state machine you can see which instrument states can be reached by which transi - tions.

  • Page 39: Status Word (Zsw)

    6 Process data channel 6.1.2 Status word (ZSW) With the aid of the status word, the instrument state can be represented and the transmitted control word can be verified. If an unexpected condition is reported, as the result of a transmitted control word, then first of all the boundary conditions for the expected instrument state must be clarified (e.g.

  • Page 40: Positioning (Operating Mode 2)

    6 Process data channel 6.2.1 Positioning (operating mode 2) PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 motion task no. or v setp manufacturer- (16-bit) actual position (32-bit) specific status *: for jogging/homing Deviating assignment of the process-data sections with STW Bit 14=1: PZD 1 PZD 2 PZD 3...

  • Page 41: Digital Speed (Operating Mode 1)

    6 Process data channel 6.2.2 Digital speed (operating mode 1) PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 Setp manuf.-specific incremental actual position 32-bit status Deviating assignment of the process data sections with STW Bit 14=1: PZD 1 PZD 2 PZD 3...

  • Page 42: Digital Torque (Operating Mode -2)

    6 Process data channel 6.2.4 Digital torque (operating mode -2) PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 setp incremental actual position manuf.-specific (32-bit, value range 24-bit) status Actual position (32-bit) The range for the incremental position covers values from -2 to (2 -1).

  • Page 43: Ascii-Channel (Operating Mode -16)

    6 Process data channel 6.2.7 ASCII-channel (operating mode -16) PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 10 bytes of ASCII-data 10 bytes of ASCII-data The operating mode “ASCII-channel” is used for parameterizing the PMCtendo DD4. With this channel, just as with any terminal program, ASCII data can be exchanged with the servo amplifier via the RS232 interface.
  • Page 44 6 Process data channel This page is deliberately left blank. Page 44 User manual PROFIBUS DP PMCtendo DD4...

  • Page 45: Setup Software

    7 Setup software Setup software Screen page PROFIBUS On the menu page “Amplifier” the “PROFIBUS” screen will appear. Beyond this is a screen page that displays the PROFIBUS-specific parameters, the bus status, and the data words in the transmit and receive directions, as seen by the bus-master. This page is helpful when searching for errors and commissioning the bus communication.

  • Page 46: Screen Page Profibus Instrument Control

    7 Setup software Screen page PROFIBUS instrument control On this screen page the single bits of the control word (SZT) and the status word (ZSW) are shown. The device status resulting from the status word is visualized in the status machine. The current status is shown as black, all other are grey.

  • Page 47: Sample Telegrams

    8 Sample telegrams Sample telegrams Important communication parameter 1. EXTWD (PNU 1658): With this parameter, the observation time (watch dog) for the fieldbus-slot communication can be set. The observation is only active, if a value higher than 0 is assigned to EXTWD (EXTWD=0, observation switched off) and the output stage is enabled.

  • Page 48: Zero Telegram

    8 Sample telegrams Zero telegram At the beginning of communication via the parameter channel and after communication errors a zero telegram should be sent: Byte 1 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 The PMCtendo DD4 answers, by likewise setting the first 8 byte of the telegram to zero.

  • Page 49: Enable The Pmctendo Dd4

    8 Sample telegrams Enable the PMCtendo DD4 The hardware enable signal must be applied, as a precondition for enabling the PMCtendo DD4 via the PROFIBUS. The enable can be made by setting the bit combination for the “Operation enabled” state in the con- trol word.

  • Page 50: Start Homing Run

    8 Sample telegrams Start homing run After switching on the 24V auxiliary voltage the system must first of all carry out a homing run. Take care that the position of the machine zero point (reference point) permits the following positioning operations. The parameterized software limit-switches in the PMCtendo DD4 may not be effective.
  • Page 51 8 Sample telegrams 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 parameter 1350 and subsequent start of the homing run by Bit 11 STW .

  • Page 52: Start A Motion Task

    8 Sample telegrams 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 53: Writing A Parameter

    8 Sample telegrams 8.11 Writing a parameter Parameter v_max is used as an example to show how control parameters are transmitted from the master to the PMCtendo DD4. Parameter number: 1265 100 1111 0001 Parameter value: 350000 µm/s 0000 0000 0000 0101 0101 0111 0011 0000 Byte 1 0011|0100 1111 0001 0000 0000 0000 0000 0000 0000 0000 0101 01010111 0011 0000 AK |...

  • Page 54: Write A Parameter Via The Ascii Channel

    8 Sample telegrams 8.13 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_0.985. Here the understroke stands for an empty character. Since every telegram only has 10 positions available for the transmission of ASCII characters, the termi- nation of the line (“CR LF”) must be transmitted in a second telegram.

  • Page 55: Appendix

    9 Appendix Appendix Drive Handling Blocks for Communication between PMCtendo DD4 with PROFIBUS-DP Option and SIMATIC S7 The package consists of the following handling blocks: FC21 Send data to the drive FC22 Receive data from drive FC100 DRVSTAT STATUS information of the Profibus communication, transmission of status SW) and control (STW) information to the servodrive, jogging and homing...
  • Page 56 9 Appendix n + 46 Status Word n + 48 Main Actual Value n + 50 PZD3E PZD - Receive Panel n + 52 PZD4E n + 54 PZD5E n + 56 PZD6E (n = 2, 4, 6, … Begin of user data) There can be parameters for several drives in one user data block.
  • Page 57 9 Appendix Description of the Handling Blocks FC21 (Send) Inputs: DBPA Integer Number of the parameter data block SYPA Integer reserved SLPA Integer Start adress of the current drive parameters inside the parameter data block. The FC21 must at least be called once per drive in every PLC cycle. FC22 (Receive) Inputs: DBPA...
  • Page 58 9 Appendix FB102 DRIVEFSS Together with an instance data block the FB102 is used to transfer motion task data for the PMCtendo DD4. The method is as follows: Bit 15 of the select parameter WAHL determines if a sample motion task is transferred to the local motion task no.
  • Page 59 9 Appendix FC106 DRIVEFS FC106 selects a motion task and starts its execution. This is done either with data from the drive’s memory (no.s 1 – 180 EEPROM, 192 – 255 RAM) or as a direct motion task. In the latter case data for the direct drive parameters is needed.
  • Page 60 9 Appendix FC110 DRVPAR he FC110 is used to read and write the parameters of the servodrive according to the documented list of parameter numbers (PNUs). Technical Data: Name: DRVPAR Flags used: MW200-MW254 Inputs: PANR word Parameter number according to parameter number table Subindex to parameter numbers, used only with manufacturer specific PIDX byte...

  • Page 61: Index

    10 Index Index abbreviations ....7 type ....28 acceleration time .
  • Page 62 21 522-02, 2005-10 Printed in Germany...

Table of Contents