Keba ServoOne Series User Manual
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Keba ServoOne Series User Manual

Keba ServoOne Series User Manual

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ServoOne
User Manual
SERCOS II and SERCOS III
ServoOne single-axis system
ServoOne multi-axis system
ServoOne junior

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  • Page 1 ServoOne User Manual SERCOS II and SERCOS III ServoOne single-axis system ServoOne multi-axis system ServoOne junior...
  • Page 2 We should point out that this document will not always be updated simultaneously The German version is the original of this user manual. with the on-going technical development of our devices. Information and specifications may change. For information on the latest version please visit www.keba-lti.com.

  • Page 3: Table Of Contents

    Pin assignment of the RJ-45 socket ............16 Reference documents ..................... 7 4.2.4 Meaning of the LEDs ................17 1.3.1 KEBA reference documents ..............7 Indication of the operating states via 7-segment display ........17 1.3.2 SERCOS documentation ................8 Hardware enable ....................18 Pictograms for useful information ................
  • Page 4 Table of contents Table of contents ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Scaling and weighting ............... 43 Operation modes ....................24 6.3.1 Torque control ..................26 Weighting of position data ..................43 6.3.2 Speed control ..................27 8.1.1 Weighting, translatory position data ............
  • Page 5 9.1.3 Homing speed ..................55 9.1.4 Homing acceleration ................55 9.1.5 Homing method ................... 55 9.1.6 Reference distance 1 and 2 ..............55 9.1.7 Reference distance offset 1 and 2 ............55 9.1.8 Homing cam, limit switches ..............55 Function selector, digital inputs and outputs ............56 Touch probe function ....................
  • Page 6 Table of contents Table of contents ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020...

  • Page 7: General Information

    Following the documentation on the devices from and motors Description of the software functionality of the ServoOne product ranges KEBA Industrial Automation Germany GmbH is a prerequisite for trouble-free operation Firmware versions: 0842.26B.x and therefore for any claims for defects.

  • Page 8: Sercos Documentation

    To achieve stated performance features and product characteristics. Generic Device profile (V1.1.0.6) (SERCOS International) KEBA Industrial Automation Germany GmbH does not accept any liability for injuries, SERCOS Communication (V1.1.1.5) (SERCOS International) damage or financial losses that result from the failure to follow the documents.

  • Page 9: Support

    Support Address: KEBA Industrial Automation Germany GmbH Gewerbestrasse 5-9 35633 Lahnau If you have any questions about the project planning for your machine or the commissioning of your device, our Helpline will provide you with quick, specific assistance. The Helpline is available by e-mail or telephone: Service hours: Mo.-Fr.: 8 a.m.
  • Page 10 ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020...

  • Page 11: Safety

    Safety Protection against magnetic and electromagnetic fields during installation and operation Persons fitted with heart pacemakers, metallic implants and hearing aids must not be allowed access to the following areas: y Areas in the immediate vicinity of electrical equipment! Overview y Areas in which electronics components and drive controllers are installed, repaired and operated! y Areas where motors are installed, repaired and operated!

  • Page 12: General Safety Instructions And Warnings

    ServoOne single-axis and multi-axis system and Generally applicable safety instructions and warnings for the users of devices from ServoOne junior to the situation in the installation. KEBA Industrial Automation Germany GmbH : The user may not be aware of changes to the parameters CAUTION!

  • Page 13: Introduction To Sercos Interface

    Introduction to SERCOS interface 3.2.2 SERCOS II and SERCOS III Cyclic exchange of reference values and actual values with exactly equal timing SERCOS cycle time from 125 µs to 65 ms (can be set to multiples of 125 µs) Application and usage Multiple axis synchronisation between the time the reference value becomes effective and the time the actual values are measured on all drives in a ring Complete synchronisation of all drives connected to the controller SERCOS interface stands for SERial Realtime COmmunication System interface...
  • Page 14 Introduction to SERCOS interface Introduction to SERCOS interface ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020...

  • Page 15: Sercos Iii

    Figure 4.1 KEBA communication module SERCOS for ServoOne The KEBA communication module Sercos for the ServoOne is designed as a SERCOS II interface with plastic optical fibre cable (POF) or hard clad silica cable (HCS) with F-SMA connectors. Currently there exist two hardware versions; in future only the version described in 2.2 will be manufactured.

  • Page 16: Installation And Wiring

    Installation and connection Installation and connection ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 4.2.2 Installation and wiring The individual ports can be connected between the bus users as required, i.e. the port for the input and the port for the output are not defined. For SERCOS III, connection between the master and slave is made with the aid of 4.2.3 Pin assignment of the RJ-45 socket...

  • Page 17: Meaning Of The Leds

    Indication of the operating states via 4.2.4 Meaning of the LEDs 7-segment display RJ-45 socket LEDs There are two LEDs on each RJ-45 socket. These have the following significance. Meaning Parameter Meaning System states 1 (green) Link LED: x Off: No link  No connection to another bus user Device in reset state x On: Link active ...

  • Page 18: Hardware Enable

    Installation and connection Installation and connection ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Hardware enable Example for the sequence of flashing:  ER > 02 > 05 * ER > 02 > 05 ... The ServoOne has a control input for the hardware enable on the control terminal ENPO.

  • Page 19: Commissioning And Configuration

    Commissioning and confgguaaion 5.1.2 Seaaing ahe auansmia poweu fou ahe SERCOS inaeuface The auansmia poweu of ahe fbue opaic cable auansmiaaeu can be sea gsing ahe pauameaeu P 3004 Maximum transmission power. An enauy of 0 couuesponds ao ahe lowesa poweu and ahe valge 3 ao ahe highesa poweu. The following fggues aue indicaaive: SERCOS II - haudwaue seaaings 0: <...

  • Page 20: Diagnostic Leds

    Commissioning and confgguaaion Commissioning and confgguaaion SeuvoOne Useu Mangal SERCOS II and III ID no.: 1108.26B.3-00 Daae: 04/2020 SERCOS III 5.1.5 Diagnosaic LEDs Haudwaue vauiana 1 5.2.1 Confgguing basic seaaings Cologu Meaning Seaaing ahe moaion puofle pauameaeus Disaouaion LED, inaeufeuence on ahe BUS Gueen Saaags of ahe SERCOS commgnicaaion The basic duive seaaings mgsa be confggued as peu ahe uefeuence docgmenas.

  • Page 21: Setting The Bus Address On The Slave

    5.2.2 Seaaing ahe bgs adduess on ahe slave The SERCOS pauameaeu ID/S-0-1040.0.0 is gsed ao sea ahe bgs adduess. This pauameaeu can be wuiaaen wiah ahe aid of D 5. The adduess sea mgsa be rive anager gniqge, i.e. each adduess is only allowed ao be gsed once in a SERCOS uing. SERCOS III also sgppouas ahe agaomaaic adduessing of ahe slaves.
  • Page 22 Commissioning and confgguaaion Commissioning and confgguaaion SeuvoOne Useu Mangal SERCOS II and III ID no.: 1108.26B.3-00 Daae: 04/2020...

  • Page 23: Parameter Configuration

    However, dge to the expanston of the SERCOS III parameter ngmbers descrtbed above tt was no posstble to matntatn the conttngogs ngmbertni of the KEBA parameters. Only for the parameters that were already present tn the ServoOne parameter set as SERCOS II parameters does the followtni addresstni sttll apply: SERCOS IDN = KEBA ID –...

  • Page 24: Manufacturer-Specific Parameters P Xxxx

    KEBA parameter ngmber tn the ltst S-0-1017.0.0. Explanation E.i. the KEBA parameter no. 107 (fgnctton selector ISD06) can be fognd tn the ltst 0: SERCOS defaglt operatton mode of all avatlable parameters (S-0-1017.0.0) wtth the ngmber 32875. Thts parameter ts 1: Mangfactgrer-spectfc operatton mode addressed gstni tts KEBA parameter ngmber, that ts tn thts case P-0107.
  • Page 25 The posttton encoder for the posttton control defned by the operatton mode mgst also Operation mode Description be selected vta parameter P 0522 as the posttton encoder for the posttton control. Bit 15 .. ..Bit 0 Otherwtse an error wtll be trtiiered as a reactton to the controller enable or the 0000 0000 0000 0100 0x0004 Position control with position controller 2 (e.g.

  • Page 26: Torque Control

    Parameter configratton Parameter configratton ServoOne User Mangal SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 6.3.1 Torqge control In thts operatton mode a torqge reference valge ts spectfed by the master (S-0-0080). To protect aiatnst overspeed, on reachtni the maxtmgm speed a speed controller ts swttched on that ltmtts the speed to the maxtmgm valge set tn the parameters.

  • Page 27: Speed Control

    6.3.2 Speed control In thts operatton mode a speed reference valge ts spectfed by the master (S-0-0036). P 0458 P 0320 P 0329 P 0328 P 0321 P 0330 P 0333 S-0-0037 alternative P 0325 S-0-0081 P 0331 S-0- 0322 P 0334 P 3005 S-0-0100...

  • Page 28: Position Control With Drive-Controlled Position Profile Generation

    Parameter configratton Parameter configratton ServoOne User Mangal SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 6.3.3 Posttton control wtth drtve-controlled posttton profle Confrmatton of appltcatton tn S-0-0419 (Postttontni acknowlediement). S-0-0419 Postttontni acknowlediement ts cleared on S-0-0346 btt 0 from 1 -> 0 or on chanitni ieneratton the operatton mode.
  • Page 29 P 0314 S-0-0348 refFF S-0-0258 P 0372 S-0-0296 S-0-0259 refFF S-0-0260 P 0458 P 0320 P 0329 P 0328 P 0321 P 0330 P 0333 alternative P 0325 S-0-0081 P 0331 S-0- 0322 P 0334 S-0-0100 P 0332 P 0326 P 0371 P 0613 P 0167...

  • Page 30: Position Control Without Tracking Error

    Parameter configratton Parameter configratton ServoOne User Mangal SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 6.3.4 Posttton control wtthogt tracktni error Drtve-tnternal ieneratton of the feed forward control stinals In thts operatton mode the master cycltcally spectfes posttton reference valges. The drtve gndertakes fne tnterpolatton between the posttton reference valges and calcglates the speed and acceleratton feed forward control stinals.

  • Page 31: External Generation Of The Feed Forward Control Signals

    6.3.5 External ieneratton of the feed forward control stinals In thts operatton mode the master cycltcally spectfes posttton reference valges and feed forward control stinals for speed and acceleratton. The drtve gndertakes fne tnterpolatton for the posttton reference valges and the feed forward control stinals. The scaled feed forward control stinals are descaled gstni the parameter P 1507 speed or P 1508 acceleratton.

  • Page 32: Real-Time Bits

    Parameter configratton Parameter configratton ServoOne User Mangal SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Real-ttme btts Parameter Description S-0-0332 Speed threshold value dropped below There are two real-ttme btts that can be configred tn the MDT and tn the AT. These S-0-0333 Speed threshold value exceeded are tn the "connectton control word"...

  • Page 33: Configuration Of Real-Time Bits, Sercos Iii

    The real-ttme control btts and real-ttme statgs btts can be configred tn phases 2, 3 S-0-0027 Configuration list for signal control word and 4. The bit numbers for the parameters from S-0-0027 copied to the signal control word The asstinment parameters contatn the ngmber of the parameter to be configred for (S-0-0145) are programmed in this configuration list.

  • Page 34: Maximum Speed (S-0-0091)

    Parameter configratton Parameter configratton ServoOne User Mangal SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Maxtmgm speed (S-0-0091) The parameter S-0-0091 ts related to parameter P-0328, P-0333, P-0334, P-0337. On thts toptc, see also “Table 11.2 Ltst of the SERCOS parameters sgpported” on paie The maxtmgm speed set tn parameter S-0-0091 mgst not exceed the ltmtts from parameters P-0328, P-0333 and P-0334 and wtll also have a dtrect effect tn the parameter P-0337 SMax_Scale.

  • Page 35: Data Transfer

    Data transfer The master data telegram is received by all the drives in the ring at the same time. A separate drive telegram is also sent to the controller by each drive once per SERCOS cycle. This telegram contains the drive status word, sections of the service channel and a configurable data block.

  • Page 36: Drive Control Word S-0-0134.0.0

    Data transfer Data transfer ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 NOTE: Bit no. Description For the operation of a drive controller via SERCOS III, the drive control word 10 – 8 Required operation mode (S-0-0134.0.0) must be mapped to the MDT and the drive status word x 000: Main operation mode (definition in S-0-0032.0.0) (S-0-0135.0.0) to the AT;...
  • Page 37 The device also has the "STO (Safe Torque Off)" function, category 3 (see Operation Display Bit 15 Bit 14 Bit 13 Bit 3 System state designation Manual or Application Manual ServoOne) via the control input (X4.22) ISDSH. The logic for this function (high edge on digital input ENPO (X4.10), where at the time of the edge Start inhibit there must be a high signal on digital input ISDSH (X4.22), is to be provided by the Power stage not powered,...

  • Page 38: Drive Status Word S-0-0135.0.0

    Data transfer Data transfer ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 IMPORTANT: on the display changes to 5 and the corresponding bits in the drive status word are set/ cleared. Using the scaling, the ramp setting that the system accesses is also to be set to The readiness for the control (drive follows the reference values) is represented via bit correct, realistic values.

  • Page 39: Drive State Machine

    7.3.5 Drive state machine Bit no. Description 10 – 8 Actual operation mode The system states and the possible state transitions are shown in the figure below and x 000: Main operation mode (definition in S-0-0032.0.0) described in the table below. x 001: Secondary operation mode 1 (definition in S-0-0033.0.0) x 010: Secondary operation mode 2 (definition in S-0-0034.0.0) x 011: Secondary operation mode 3 (definition in S-0-0035.0.0)

  • Page 40: Non-Configurable Real-Time Data

    Data transfer Data transfer ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 System System Designation Description state state Designation Description transition System initialisation in progress Initialisation after device reset (e. g. hardware, parameter list, DISABLE VOLTAGE controller, …) Communication phase 4 active;...

  • Page 41: Data Transfer Via The Service Channel (Svc)

    Data transfer via the service channel (SVC) IP channel In principle it is possible to read all S and P parameters via the service channel, write The IP or also the NRT channel is used for diagnostic purposes. access is only possible to parameters that are not write-protected. Via the IP channel it is possible to access all slaves in a SERCOS III ring with the aid The service channel is initialised during communication phase 1 (CP1) and is active of DriveManager.

  • Page 42: Sercos Iii Ip Address

    Data transfer Data transfer ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 7.5.2 SERCOS III IP address The IP address for the SERCOS III option card is set with the aid of ID/S-0-1020. Here it is imperative to note that the SERCOS III IP address is not the same as the standard IP address for the ServoOne (parameter 671).

  • Page 43: Scaling And Weighting

    Scaling and weighting 8.1.1 Weighting, translatory position data Translatory weighting is selected via S-0-0076. The significance of the LSB for the translatory position data is defined by the following equation: The weighting describes in which physical unit and with how many decimal places Significance LSB = unit ·...
  • Page 44 Scaling and weighting Scaling and weighting ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 The following figure shows the various possibilities for the position weighting. Bits 2-0 Weighting type 0 0 0 No weighting Position data weighting type (S-0-0076) 0 0 1 Translatory weighting 0 1 0...

  • Page 45: Modulo Weighting

    8.1.3 Modulo weighting 8.1.4 Position polarity If modulo weighting is set via S-0-0076 "weighting parameters", the parameter S-0- The polarities (sign) of the position data stated can be changed in parameter S-0-0055 0103 "modulo value" and S-0-0294 "modulo value divisor" define the value range to suit the application.

  • Page 46: Weighting Of Speed Data

    Scaling and weighting Scaling and weighting ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Weighting of speed data 8.2.2 Weighting, rotary speed data The rotary weighting is selected via S-0-0044. The significance of the LSB for the rotary The speed weighting is defined by the parameters listed in the following table.

  • Page 47: Speed Polarity

    8.2.3 Speed polarity The following figure shows the various possibilities for the speed weighting. The polarities (sign) of the speed data stated can be changed in parameter S-0-0043 to Speed data weighting type (S-0-0044) suit the application. The polarities are not changed inside a control loop, but outside (at S-0-0044 bit 0 –...

  • Page 48: Weighting Of Acceleration Data

    Scaling and weighting Scaling and weighting ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Weighting of acceleration data 8.3.2 Weighting, rotary acceleration data Rotary weighting is selected via S-0-0160. The significance of the LSB for the rotary The acceleration weighting is defined by the parameters listed in the following table.

  • Page 49: Weighting Of Torque Data And Force Data

    Weighting of torque data and force data Accelaration data weighting type (IDN00160) IDN 00160 Bit 0-2 The torque/force weighting is defined by the parameters listed in the following table. none linear rotational This weighting describes the significance of the LSB and the unit for parameter S-0- IDN 00160 Bit 6 0084 as well as all other torque/force parameters.

  • Page 50: Weighting Of Torque Data

    Scaling and weighting Scaling and weighting ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 8.4.3 Weighting of torque data Force data/Torque data weighting type (S-0-0086) Torque data weighting is selected via the parameter S-0-0086. The significance of the LSB for the torque data is defined by the following equation: S-0-0086 Bit 0 –...

  • Page 51: Scaling With The Aid Of The Scaling Wizard

    Scaling with the aid of the scaling wizard The entries described made in the following with the aid of the wizard affect directly the parameters described in chapter 6 for defining the drive scaling. With the aid of the scaling wizard integrated into D 5, it is possible to set the 8.5.1 Scaling the position data...

  • Page 52: Scaling The Speed Data

    Scaling and weighting Scaling and weighting ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Figure 8.9 Scaling the speed data Select "Preferred scaling" to set the scaling to the scaling as defined by SERCOS and described in chapter 6. Figure 8.8 Scaling the position data SERCOS offers two options for scaling the position data.

  • Page 53: Scaling The Acceleration Data

    Figure 8.10 Scaling the torque/performance data Figure 8.11 Scaling the acceleration data Select "Preferred scaling" to set the scaling to the scaling as defined by SERCOS and Select "Preferred scaling" to set the scaling to the scaling as defined by SERCOS and described in chapter 6.
  • Page 54 ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020...

  • Page 55: Functionality

    Functionality 9.1.3 Homing speed The homing speed is specified via S-0-0041 (search for the homing cam) and P 3031 (search for the zero point). The unit as well as the number of decimal places correspond to the velocity weighting in S-0-0044. Homing 9.1.4 Homing acceleration...

  • Page 56: Function Selector, Digital Inputs And Outputs

    Functionality Functionality ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Function selector, digital inputs and Touch probe function outputs The touch probe function makes possible an event-controlled or continuous position measurement. Positive and negative signal edges can be configured on the two "fast" Via so-called function selectors, various functions can be assigned to the inputs and digital inputs ISD05 and ISD06 as the trigger for a position measurement.
  • Page 57 The parameters for the touch probe function are shown in the following table. Parameter Description Parameter Description PROBING CYCLE PROCEDURE COMMAND If the Probing cycle procedure command is set and enabled by the master, the drive Touch probe control parameter reacts to the following parameters: The settings in this parameter define which touch probe and which edges are active - Probe 1/2 enable (S-0-0405, 00406) and...
  • Page 58 Functionality Functionality ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Parameter Description Parameter Description Touch probe 1 enable Measured value 2 positive acquired An IDN is assigned to the touch probe 1 enable using this parameter. In this way the An IDN is assigned to the "Measured value 2 positive acquired"...

  • Page 59: Parking Axis

    Parking axis The "Park axis procedure command" (parameter S-0-0139) is used to activate the "Parking axis" function. Setting and enabling the commands activates the "Parking axis" function in the drive. The drive acknowledges the activation of the command by resetting the status "Encoder system in homing"...
  • Page 60 Functionality Functionality ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020...

  • Page 61: Error Messages And Diagnostics

    Error messages and diagnostics The following errors are defined in the state class 1: Bit no. Error User-specific error SERCOS III offers a series of diagnostic features via state classes and status / control Reserved words. In addition, using the internal oscilloscope in the ServoOne a few other diagnostic parameters can be displayed and observed.

  • Page 62: Warning Messages In The State Class 2 (C2D)

    Error messages and diagnostics Error messages and diagnostics ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 10.1.2 Warning messages in the state class 2 (C2D) 10.1.3 Status messages (only SERCOS II) Warning messages are displayed with the aid of the standard parameter S-0-0012 The most important status messages from the drive are displayed in parameter S-0- (state class 2).

  • Page 63: 10.1.4 Interface Diagnostics

    10.1.4 Interface diagnostics 10.1.5 Telegram failure and error counter With the aid of parameter S-0-0014.0.0, the state of the interface as well as the actual During each bus cycle the drive monitors whether a valid MST or MDT has been communication phase can be monitored.

  • Page 64: Diagnostics With The Aid Of The Internal Oscilloscope

    Error messages and diagnostics Error messages and diagnostics ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 10.2 Diagnostics with the aid of the internal The individual bits have the following significance: oscilloscope Bit no. Description Communication warning Toggle bit, slave has applied new topology 10.2.1 Standard parameters 13 –...

  • Page 65: 10.2.2 Additional Diagnostic Parameters

    10.2.2 Additional diagnostic parameters Bit no. Description 15 – 5 Reserved In addition to the standard parameters for the oscilloscope, a further field parameter "COM_SERIII_ScopeVars" is available. With the aid of 15 indices in the parameter it is P1: P telegram (0) or S telegram received possible to undertake diagnostics on the most important registers for the SERCOS III P1: No MST received field bus.
  • Page 66 Error messages and diagnostics Error messages and diagnostics ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Index 11 "COM_SERIII_DFCSR": Control and status register data flow. Bit no. Description Indicates the actual topology of the slave. The register is updated with each 31 –...

  • Page 67: 10.3 Internal Error List

    10.3 Internal error list A complete list of all possible error messages in the drive is given in the ServoOne User Manual. The occurrence of a manufacturer-specific error sets bit no. 15 in state class 1 (see chapter 5.2.4), provided the error cannot be assigned to another bit in state class 1. In addition, the related error text is entered in parameter S-0-0095.
  • Page 68 Error messages and diagnostics Error messages and diagnostics ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020...

  • Page 69: Appendix

    Appendix Description Unit Write-protection S-0-0043 Velocity polarity parameter CP3, CP4 S-0-0044 Velocity data scaling type CP3,CP4 S-0-0045 Velocity data scaling factor CP3, CP4 11.1 Appendix A: Parameter list S-0-0046 Velocity data scaling exponent CP3, CP4 S-0-0047 Position command value List of all device parameters that can transmitted via SERCOS III. S-0-0049 Positive position limit value CP3, CP4...
  • Page 70 Appendix Appendix ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Description Unit Write-protection Description Unit Write-protection S-0-0097 Mask class 2 diagnostic S-0-0135 Drive status word CP2-CP4 S-0-0099 Reset class 1 diagnostic S-0-0144 Signal status word CP2-CP4 S-0-0100 Velocity loop proportional gain Nm min...
  • Page 71 Description Unit Write-protection Description Unit Write-protection S-0-0257 Multiplication factor 2 CP2-CP4 S-0-0359 Position deceleration S-0-0258 Target position S-0-0372 Drive halt acceleration bipolar S-0-0259 Positioning velocity Speed S-0-0380 DC bus voltage CP2-CP4 S-0-0260 Positioning acceleration S-0-0383 Motor temperature Temp CP2-CP4 S-0-0261 Coarse position window CP3, CP4 S-0-0384...
  • Page 72 Appendix Appendix ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Description Unit Write-protection Description Unit Write-protection S-0-1002 Communication cycle time µs CP3, CP4 S-0-1050.x.5 Actual length of connection CP2-CP4 S-0-1003 Communication timeout for CP3/CP4 S-0-1050.x.6 Configuration list CP3, CP4 S-0-1006 AT0 transmission starting time (t1)

  • Page 73: 11.1.2 Manufacturer-Specific Parameters

    11.1.2 Manufacturer-specific parameters Write-protection Description Unit CP2 CP3 CP4 Write-protection Description Unit P 0105 Function of digital input ISD04 CP2 CP3 CP4 P 0106 Function of digital input ISD05 P 0001 Id of device family/series P 0107 Function of digital input ISD06 P 0002 Device name / product name P 0108...
  • Page 74 Appendix Appendix ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Write-protection Write-protection Description Unit Description Unit CP2 CP3 CP4 CP2 CP3 CP4 P 0165 Motion profile selection P 0312 Actual motor voltage (rms, phase to phase) P 0166 Motion profile jerk time P 0313...
  • Page 75 Write-protection Write-protection Description Unit Description Unit CP2 CP3 CP4 CP2 CP3 CP4 P 0346 Voltage control integration time constant P 0411 Actual values of ADC channels P 0347 Voltage control reference (scaling of max. voltage) P 0412 Actual position incr P 0348 Slip control gain for field weakening P 0413...
  • Page 76 Appendix Appendix ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Write-protection Write-protection Description Unit Description Unit CP2 CP3 CP4 CP2 CP3 CP4 P 0476 Motor rotor resistance P 0548 ENC CH1: Enable MultiTurn information (SSI absolute) P 0477 Motor rotor resistance, scaling factor P 0549...
  • Page 77 Write-protection Write-protection Description Unit Description Unit CP2 CP3 CP4 CP2 CP3 CP4 P 0744 Monitoring speed difference threshold P 3001 IDN list with logon errors at sercos parameter manager P 1500 Test signal generator: control word P 3002 IDN list of all data with real time status support P 1501 Test signal generator: output signal selector P 3003...
  • Page 78 ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020...

  • Page 79: Glossary

    Glossary Glossary ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Glossary Damage ......................8 Data transfer....................35 Data transfer via the service channel (SVC) ........... 41 Description of the bits 13-15 ................. 36 Acceleration data ..................48 Description of the system states ..............
  • Page 80 Interface status ..................... 63 Pin assignment ..................... 16 Internal error list .................... 66 Pin assignment of the RJ-45 socket ............. 16 Position control .................... 28 Position control without tracking error ............30 KEBA reference documents ................7 Position polarity .................... 45...
  • Page 81 Glossary Glossary ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Position tracking error .................. 38 Sercos III – standard parameters ..............69 Power stage enable ..................37 Setting of position polarity ................45 Preferred weighting of force data ............49, 50 Setting of speed polarity ................
  • Page 82 Glossary Glossary ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020 Usage of the distortion indicator ..............20 Warning messages in the state class 2 ............61 Weighting of acceleration data ..............48 Weighting of force data................. 49 Weighting of position data ................

  • Page 83: Glossary

    Drive telegram, data from the drive to the master (status, actual values) Safe Torque Off DriveManager 5 (DM5) PC software from KEBA for (initial) commissioning and process diagnostics on the devices in the ServoOne family SVC service channel Superimposed protocol in the telegrams. Sequential parameter values, attributes, scaling and names can be transferred.
  • Page 84 ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020...
  • Page 85 ServoOne User Manual SERCOS II and III ID no.: 1108.26B.3-00 Date: 04/2020...
  • Page 86 Czech Republic • Turkey • USA Copyright © 2020 KEBA All rights reserved. All content of the documentation, in particular the text, photographs and graphics it contains are protected by copyright. The copyright lies, unless otherwise expressly stated, with KEBA Industrial Automation Germany GmbH.

This manual is also suitable for:

Sercos iiSercos iiiServoone single-axis systemServoone multi-axis systemServoone junior

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