Selection of telegrams as a function of the application class
Description
Speed control, 2 words Speed control, 4 words
Speed control, 1 position encoder Speed control, 2 position encoder DSC, 1 position encoders DSC, 2 position encoders Basic positioner
Basic positioner with MDI Speed control, VIK-NAMUR Speed control with torque reduction, 1 position controller
Speed control with torque reduction, 2 position controllers
DSC with torque reduction, 1 position encoder DSC with torque reduction, 2 position encoder Basic positioners with MDI, override and XistP DSC with torque reduction, 2 position encoder Speed control, PCS7 Telegram for infeed
Telegram for Control Unit (drive object 1, DO1), digital inputs/outputs
Telegram for Control Unit (drive object 1, DO1), digital inputs/outputs and 2 measuring probes Telegram for Control Unit (drive object 1, DO1), digital inputs/outputs and 6 measuring probes Free telegrams
Class 1 x x x x x x x x x
Class 2 x x x x x x x x x x
x x x x x x x x Class 3
x x x x x x x x x x x x x x Class 4
10.1.3 Cyclic communication
Cyclic communication is used to exchange time-critical process data.
10.1.3.1 Telegrams and process data
General information
The selection of a telegram via p0922 determines, on the drive unit side (Control Unit) which process data is transferred.
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
347
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive From the perspective of the drive unit, the received process data comprises the receive words and the process data to be sent the send words. The receive and send words comprise the following elements: ● Receive words: Control words or setpoints ● Send words: Status words or actual values
What telegrams are available?
1. Standard telegrams
The standard telegrams are structured in accordance with the PROFIdrive Profile. The internal process data links are set up automatically in accordance with the telegram number setting.
The following standard telegrams can be set via p0922: – 1 speed control, 2 words – 2 speed control, 4 words
– 3 speed control, 1 position encoder – 4 speed control, 2 position encoder – 5 DSC, 1 position encoder – 6 DSC, 2 position encoder – 7 basic positioner
– 9 basic positioners with MDI – 20 speed control, VIK-NAMUR 2. Manufacturer-specific telegrams
The manufacturer-specific telegrams are structured in accordance with internal company specifications. The internal process data links are set up automatically in accordance with the telegram number setting.
The following vendor-specific telegrams can be set via p0922: – 102 speed control with torque reduction, 1 position encoder – 103 speed control with torque reduction, 2 position encoder – 105 DSC with torque reduction, 1 position encoder – 106 DSC with torque reduction, 2 position encoder – 110 basic positioners with MDI, override and XistP – 116 DSC with torque reduction, 2 position encoder – 352 speed control, PCS7 – 370 Telegram for the infeed
– 390 Telegram for Control Unit (drive object 1, DO1), digital inputs/outputs – 391 Telegram for Control Unit (drive object 1, DO1), digital inputs/outputs and 2 measuring probes – 392 Telegram for Control Unit (drive object 1, DO1), digital inputs/outputs and 6 measuring probes
348
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
3. Free telegrams (p0922 = 999)
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive The send and receive telegrams can be configured as required by using BICO technology to interconnect the send and receive process data.
SERVO, TM41
VECTOR
CU_S
A_INF, B_INF, S_INF, TB30,
TM31, TM15DI/DO - r2050[0 ... 4] r2090.0 ... 15 r2091.0 ... 15
Receive process data DWORD
connector output WORD connector output Binector output
r2060[0 ... 14] r2050[0 ... 15]
r2060[0 ... 30] r2050[0 ... 31]
r2090.0 ... 15 r2091.0 ... 15 r2092.0 ... 15 r2093.0 ... 15
Free binector-connector converter
Send process data DWORD
connector input WORD connector input
Free connector-binector converter
p2080[0 ... 15], p2081[0 ... 15], p2082[0 ... 15], p2083[0 ... 15] / r20[0 ... 3]
p2061[0 ... 14] p2051[0 ... 18]
p2061[0 ... 30] p2061[0 ... 31]
p2051[0 ... 14]
-
p2051[0 ... 4]
p2099[0 ... 1] / r2094.0 ... 15, r2095.0 ... 15
Telegram interconnections
When you change p0922 = 999 (factory setting) to p0922 ≠ 999, the telegrams are interconnected and blocked automatically.
Note
Telegrams 20, 352 are the exceptions. Here, PZD06 in the transmit telegram and PZD03 to PZD06 in the receive telegram can be interconnected as required.
When you change p0922 ≠ 999 to p0922 = 999, the previous telegram interconnection is retained and can be changed.
Note
If p0922 = 999, a telegram can be selected in p2079. A telegram interconnection is automatically made and blocked. The telegram can also be extended.
This is an easy method of creating extended telegram interconnections on the basis of existing telegrams.
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
349
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive The telegram structure
The parameter p0978 contains the sequence of DOs that use a cyclic PZD exchange. A zero delimits the DOs that do not exchange any PZDs.
If the value 255 is written to p0978, the drive unit emulates an empty drive object that is visible to the PROFIdrive controller. This permits cyclic communication of a PROFIdrive controller
● with unchanged configuration to drive units that have a different number of drive objects. ● with deactivated DOs without having to change the project.
Note
• The following must apply to ensure conformity with the PROFIdrive profile: – Interconnect PZD receive word 1 as control word 1 (STW1). – Interconnect PZD send word 1 as status word 1 (STW1). Use WORD format for PZD1. • One PZD = one word.
Only one of the interconnection parameters (p2051 or p2061) can have the value ≠ 0 for a PZD word.
• Physical word and double word values are inserted in the telegram as referenced variables.
p200x are relevant as reference values (telegram contents = 4000 hex or 4000 0000 hex for double words if the input variable has a value of p200x).
Structure of the telegrams
7HOHJUDP$SSOFODVV3='3='3='3='3='3='&7:67:&7:162//B$1,67B$67:&7:67:1,67B%67:&7:67:1,67B%67:162//B%&7:*B&7:&7:'6&67:1,67B%67:162//B%&7:&7:'6&67:1,67B%67:&7:162//B%&7:*B&7:;(5567:&7:%/&.6(/&7:0',3RV0',9HO0',$FF0','HF0',0RG%/&.6(/$&7%/&.67:67:;,67B$&7:67:,$$&7B60$&7B63$&7B6!$&7%/&.162//B$1,67B$B*/162//B%1,67B%162//B%&7:67:&7:(B&7:*B67:*B&7:*B67:*B&7:*B67:*B&7:*B67:*B;,67*B;,67*B;,67*B;,67*B67:*B;,67*B;,67;(55.3&*B;,67*B;,67.3&*B;,67*B;,67*B67:*B;,67*B;,677HOHJUDPUHFHLYHGIURP352),%86352),1(73='3='3='3='3='3='3='3='!&DQEHLQWHUFRQQHFWHGLQDQ\\ZD\\GHIDXOW0(/'B1$0857HOHJUDPVHQWWR352),%86352),1(73='
Figure 10-5 Overview of standard telegrams and process data
350
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive 7HOHJUDP$SSOFODVV3='3='3='3='3='3='3='3='3='3='3='3='3='3='3='3='3='3='3='&7:67:1,67B%&7:162//B%67:1,67B%162//B%&7:'6&67:1,67B%162//B%&7:'6&67:162//B%'6&67:1,67B%67:0(66:*B67:(B;,67(B;,67(B67:(B;,67(B;,67$$&7B6006(7B603$&7B60,7$&7B60&7:67:162//B$1,67B$B*/$77!,$$&7B60!0$&7B60!:$51B&2'(!)$8/7B&2'(&7:67:&7:&7:67:67:&7:72545('0(66:72545('0(66:72545('0(66:72545('(B&7:(B67:(B&7:(B67:(B&7:(B67:(B&7:(B&7:(B&7:(B;,67(B;,67;(55(B;,67;(55(B;,67(B;,67.3&(B;,67.3&(B67:(B;,67(B;,67&7:67:&7:%/&.6(/$&7%/&.162//B%1,67B%3RV&7:3RV67:&7:67:&7:67:0(66:2YHU0(66:72545('(B67:*B&7:0',3RV;LVW3(B&7:(B;,67;(550',9HO(B;,670',$FF.3&(B67:0','HF0',0RGH(B;,67(B;,67!&DQEHLQWHUFRQQHFWHGLQDQ\\ZD\\
Figure 10-6 Overview of manufacturer-specific telegrams and process data, part 1/2
7HOHJUDP$SSOFODVV3='3='3='3='3='3='3='3='3='3='3='3='3='3='3='3='3='3='3='3=',B&7:,B67:&8B&7:&8B67:2B',*,7$/,B',*,7$/ Drive object A_INF B_INF S_INF SERVO SERVO (EPOS) VECTOR VECTOR (EPOS) TM15DI/DO 370, 999 370, 999 370, 999 1, 2, 3, 4, 5, 6, 102, 103, 105, 106, 116, 999 7, 9, 110, 999 1, 2, 3, 4, 20, 352, 999 7, 9, 110, 999 No predefined telegram. Telegrams (p0922) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 351 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Interface Mode Procedure: 352 Drive object Telegrams (p0922) TM31 No predefined telegram. TM41 3, 999 TB30 No predefined telegram. CU_S 390, 391, 392, 999 Depending on the drive object, the following maximum number of process data items can be transmitted for user-defined telegram structures: Drive object Max. number of PZD for sending / receiving • A_INF Send 8, receive 5 • B_INF Send 8, receive 5 • S_INF Send 8, receive 5 • SERVO Send 19, receive 16 • VECTOR 32 • TM15DI/DO 5 • TM31 5 • TM41 Send 19, receive 16 • TB30 5 • CU Send 15, receive 5 Interface Mode is used for adjusting the assignment of the control and status words in line with other drive systems and standardized interfaces. The mode can be set as follows: Value Interface Mode p2038 = 0 SINAMICS (factory setting) p2038 = 1 SIMODRIVE 611 universal p2038 = 2 VIK-NAMUR 1. Set p0922 ≠ 999. 2. p2038 = set required interface mode. When you set a telegram from the range between 100 and 199, Interface Mode is set by default (p2038 = 1) and cannot be changed. Interface Mode defines the setting of the standard telegram 20 (p2038 = 2). The assignment cannot be modified. When a telegram that specifies the Interface Mode (e.g. p0922 = 102) is changed to a different telegram (e.g. p0922 = 3), the setting in p2038 is retained. Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Function diagrams (see SINAMICS S List Manual) ● 2410 PROFIBUS address, diagnostic ● ... ● 2483 Send telegram, free interconnection via BICO (p0922 = 999) 10.1.3.2 Monitoring: telegram failure Description After a telegram failure and a monitoring time has elapsed (p2047), bit r2043.0 is set to \"1\" and alarm A01920 is output. Binector output r2043.0 can be used for an emergency stop, for example. After a delay time has elapsed (p2044), fault F01910 is output. Fault F01910 triggers fault response OFF2 (pulse inhibit) for the supply and fault response OFF3 (emergency stop) for SERVO/VECTOR. If no OFF response is to be triggered, the fault response can be reparameterized accordingly. Fault F01910 can be acknowledged immediately. The drive can then be operated even without PROFIdrive. S&\\FOLFWHOHJUDPVIURPPDVWHUW547)7SU$ Figure 10-8 Monitoring: telegram failure Example: emergency stop with telegram failure Assumption: ● A drive unit with an Active Line Module and a Single Motor Module. ● VECTOR mode is activated. ● After the ramp-down time has elapsed (p1135), the drive is at a standstill. Settings: ● CU p2047 = 20 ms ● A_INF p2044 = 2 ms ● VECTOR p2044 = 0 ms Sequence: After a telegram failure and the monitoring time has elapsed (p2047), binector output r2043.0 of drive object CU switches to \"1\". At the same time, alarm A01920 is output for the A_INF Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 353 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive drive objects and alarm A01920 and fault F01910 are output for VECTOR. When F01910 is output, an OFF3 is triggered for the drive. After a delay time (p2044) of two seconds has elapsed, fault F01910 is output on the infeed and triggers OFF2. 10.1.3.3 Description of control words and setpoints Note This chapter describes the assignment and meaning of the process data in SINAMICS interface mode (p2038 = 0). The reference parameter is also specified for the relevant process data. The process data is generally normalized in accordance with parameters p2000 to r2004. The following scalings apply: A temperature of 100°C = 100% and 0°C = 0% An electrical angle of 90° = 100 % and 0° = 0%. Overview of control words and setpoints Table 10-3 Overview of control words and setpoints Name Control word 1 Control word 2 Speed setpoint A (16-bit) Signal number 1 3 5 Data type 1) U16 U16 I16 Interconnection parameters (bit serial)2) (bit serial)2) p1155 p1070(ext. setpoint.) p1155 p1070(ext. setpoint.) p1430(DSC) p0480[0] p0480[1] p0480[2] (bit serial) p1190 p1191 p1542 p0682 (bit serial) (bit serial) p26 p22 p23 Abbreviation STW1 STW2 NSOLL_A NSOLL_B Speed setpoint B (32-bit) 7 I32 G1_STW G2_STW G3_STW A_DIGITAL XERR KPC MT_STW SATZANW PosSTW Over MDIPos MDIVel Encoder 1 control word Encoder 2 control word Encoder 3 control word Digital outputs Position deviation Position controller gain factor Control word for probe Pos block selection Pos control word Pos velocity override Pos MDI position Pos MDI velocity 9 13 17 22 25 26 101 130 201 203 205 221 223 U16 U16 U16 U16 I32 I32 I16 U16 U16 U16 I16 I32 I32 TORQUERED Torque reduction 354 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Abbreviation MDIAcc MDIDec MDIMode E_STW1 CU_STW Name Pos MDI acceleration override Pos MDI deceleration override Pos MDI mode Control word for INFEED Control word for Control Unit (CU) Signal number 225 227 229 320 500 Data type 1) I16 I16 U16 U16 U16 Interconnection parameters p24 p25 p2654 (bit serial)2) (bit serial) 1. 1) Data type according to PROFIdrive profile V4: I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32 2. 2) Bit-serial interconnection: refer to the following pages CTW1 (control word 1) See function diagram [2442] Table 10-4 Bit 0 ON/OFF1 Description of CTW1 (control word 1) Meaning 0/1 0 Comments ON Pulse enable possible OFF1 Braking with the ramp-function generator, then pulse cancellation and power-on inhibit. No OFF2 Enable possible Immediate pulse cancellation and power-on inhibit BI: p0844 BICO BI: p0840 1 OFF2 1 0 Note: Control signal OFF2 is generated by ANDing BI: p0844 and BI: p0845. 2 OFF3 1 0 No OFF3 Enable possible Emergency stop (OFF3) Braking with OFF3 ramp p1135, then pulse cancellation and power-on inhibit. BI: p0848 Note: Control signal OFF3 is generated by ANDing BI: p0848 and BI: p0849. 3 Enable operation 1 0 4 Enable ramp-function generator 1 0 5 1 0 Enable operation Pulse enable possible Disable operation Cancel pulses Operating condition Ramp-function generator enable possible Inhibit ramp-function generator Set ramp-function generator output to zero Start ramp-function generator Freeze ramp-function generator BI: p1141 BI: p1140 BI: p0852 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 355 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit Meaning Comments BICO Note: The ramp-function generator cannot be frozen via p1141 in jog mode (r0046.31 = 1). 6 Enable speed setpoint 1 0 7 Acknowledge fault 0/1 0 Enable setpoint Inhibit setpoint Set ramp-function generator input to zero Acknowledge fault No effect BI: p2103 BI: p1142 Note: Faults are acknowledged at a 0/1 edge via BI: p2103 or BI: p2104 or BI: p2105. 8 9 10 reserved reserved Master ctrl by PLC - - 1 - - Master ctrl by PLC This signal must be set so that the process data transferred via PROFIdrive is accepted and becomes effective. 0 PLC has no master control Process data transferred via PROFIdrive is rejected - i.e. it is assumed to be zero. Note: This bit should not be set to \"1\" until the PROFIdrive has returned an appropriate status via STW1.9 = \"1\".. 11 12 13 Direction reversal Reserved 1 0 0 14 Motorized potentiometer, lower setpoint 1 0 Motorized potentiometer, setpoint, raise 1 Direction reversal No direction reversal Motorized potentiometer, setpoint, raise Motorized potentiometer setpoint raise not selected Motorized potentiometer, lower setpoint Motorized potentiometer setpoint lower not selected BI: p1036 BI: p1035 BI: p1113 - - BI: p0854 Note: If motorized potentiometer setpoint raise and lower are 0 or 1 simultaneously, the current setpoint is frozen. 15 reserved - - - STW1 (control word 1), positioning mode, p0108.4 = 1 See function diagram [2475] Table 10-5 Bit 0 ON/OFF1 Description of STW1 (control word 1), positioning mode Meaning 0/1 0 Comments ON Pulse enable possible OFF1 Braking with the ramp-function generator, then pulse cancellation and power-on inhibit. BICO BI: p0840 356 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit 1 OFF2 Meaning 1 0 Comments No OFF2 Enable possible OFF2 Immediate pulse cancellation and power-on inhibit BICO BI: p0844 Note: Control signal OFF2 is generated by ANDing BI: p0844 and BI: p0845. 2 OFF3 1 0 No OFF3 Enable possible Emergency stop (OFF3) Braking with OFF3 ramp p1135, then pulse cancellation and power-on inhibit. BI: p0848 Note: Control signal OFF3 is generated by ANDing BI: p0848 and BI: p0849. 3 Enable operation 1 0 4 5 6 Reject traversing task Intermediate stop Activate traversing task 1 0 1 0 0/1 0 Note: The interconnection p29 = 0 is also made. 7 8 Acknowledge fault Jog 1 0/1 0 1 Acknowledge fault No effect Jog 1 ON See also the SINAMICS S List Manual, function diagram 3610 No effect Jog 2 ON See also the SINAMICS S List Manual, function diagram 3610 No effect Control via PLC This signal must be set so that the process data transferred via PROFIdrive is accepted and becomes effective. No control via PLC Process data transferred via PROFIdrive is rejected - i.e. it is assumed to be zero. BI: p0854 BI: p2590 BI: p25 BI: p2103 Enable operation Pulse enable possible Disable operation Cancel pulses Do not reject traversing task Reject traversing task No intermediate stop Intermediate stop Enable setpoint No effect BI: p2631, p2650 BI: p20 BI: p1140 BI: p0852 0 9 Jog 2 1 0 10 Master ctrl by PLC 1 0 Note: This bit should not be set to \"1\" until the PROFIdrive has returned an appropriate status via ZSW1.9 = \"1\". 11 Start referencing 1 0 Start referencing Stop reference BI: p2595 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 357 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit 12 13 14 15 Reserved Meaning - 0/1 0 Reserved Reserved - - - External block change Comments - External set change is initiated No effect - - - - BICO BI: 2632 CTW2 (control word 2) See function diagram [2444] Table 10-6 Bit 0 1 2 3 4 5...6 7 Description of CTW2 (control word 2) Meaning Drive data set selection DDS bit 0 Drive data set selection DDS bit 1 Drive data set selection DDS bit 2 Drive data set selection DDS bit 3 Drive data set selection DDS bit 4 Reserved Parking axis - - - - - - 1 0 8 Travel to fixed endstop 1 - Request parking axis (handshake with ZSW2 bit 7) No request Select \"Travel to fixed stop\" The signal must be set before the fixed stop is reached. Deselect \"Travel to fixed stop\" The signal must be set before the fixed stop is reached - - Motor switchover complete No effect User data integrity (4-bit counter) CI: p2045 - - BI: p0828[0] BI: p1545 Comments Drive data set selection (5 bit counter) BICO BI: p0820[0] BI: p0821[0] BI: p0822[0] BI: p0823[0] BI: p0824[0] - BI: p07 1/0 9 10 11 12 13 14 15 Reserved Reserved Motor switchover Drive unit sign-of-life bit 0 Drive unit sign-of-life bit 1 Drive unit sign-of-life bit 2 Drive unit sign-of-life bit 3 - - 0/1 0 - - - - E_CTW1 (control word for INFEED) See function diagram [20] 358 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Table 10-7 Bit 0 ON/OFF1 Description of E_CTW1 (control word for INFEED) Meaning 0/1 0 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Comments ON Pulse enable possible OFF1 Reduce DC link voltage via ramp (p3566), pulse inhibit/line contactor open No OFF2 Enable possible OFF2 Immediate pulse cancellation and power-on inhibit BICO BI: p0840 1 OFF2 1 0 BI: p0844 Note: Control signal OFF2 is generated by ANDing BI: p0844 and BI: p0845. 2 3 Reserved Enable operation - 1 0 4 5 Reserved Inhibit motor operation - 1 - Enable operation Pulse enable is present Disable operation Pulse inhibit is present - Inhibit motor operation Motoring operation as step-up converter is inhibited. Enable motor operation Motoring operation as step-up converter is enabled. - BI: p3532 - BI: p0852 0 Note: When \"Inhibit motoring operation\" is present, power can still be drawn from the DC link. The DC link voltage is then no longer controlled. The voltage level is the same as the rectified value of the current line voltage. 6 Inhibit regenerating 1 0 Inhibit regenerative operation Regenerative operation is inhibited. Enable regenerative operation Regenerative operation is enabled. BI: p3533 Note: If regenerative operation is inhibited and power is fed to the DC link (e.g. by braking the motor), the DC link voltage increases (F30002). 7 Acknowledge error 0/1 Acknowledge error BI: p2103 Note: Faults are acknowledged at a 0/1 edge via BI: p2103 or BI: p2104 or BI: p2105. 8 9 10 Reserved Reserved Master ctrl by PLC - - 1 - - Control via PLC This signal must be set so that the process data transferred via PROFIdrive is accepted and becomes effective. No control via PLC Process data transferred via PROFIdrive is rejected - i.e. it is assumed to be zero. - - BI: p0854 0 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 359 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit Meaning Comments BICO Note: This bit should not be set to \"1\" until the PROFIdrive has returned an appropriate status via STW1.9 = \"1\".. 11 12 13 14 15 Reserved Reserved Reserved Reserved Reserved - - - - - - - - - - - - - - - SATZANW (positioning mode, p0108.4 =1) See function diagram [2476] Table 10-8 Bit 0 1 2 3 4 5 6 ... 14 15 Description of BLOCKSEL (positioning mode, p0108.4 =1) Meaning 1 = block selection, bit 0 (20) 1 = block selection, bit 1 (21) 1 = block selection, bit 2 (22) 1 = block selection, bit 3 (23) 1 = block selection, bit 4 (24) 1 = block selection, bit 5 (25) Reserved Activate MDI - 1 0 - Activate MDI De-activate MDI Comments Block selection Traversing block 0 to 63 BICO BI: p2625 BI: p2626 BI: p2627 BI: p2628 BI: p2629 BI: p2630 - p27 Note: See also: SINAMICS S Function Manual, Function module \"basic positioner\" PosSTW (positioning mode, p0108.4 =1) See function diagram [2477] Table 10-9 Bit 0 1 2 3 Tracking mode Set reference point Reference cam Fixed stop sensor active Description of PosSTW (positioning mode, p0108.4 =1) Meaning 1 0 1 0 1 0 1 Comments Activate tracking mode Tracking mode de-activated Set reference point Do not set reference point Reference cam active Reference cam not active The sensor for the fixed stop is active BI: 2637 BI: 2612 BI: 2696 BICO BI: 2655 360 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit 4 5 6 ... 15 Reserved Meaning 0 - 1 0 Reserved - Jogging, incremental - Comments The sensor for the fixed stop is inactive - Jogging incremental active Jogging velocity active - - BICO BI: 2591 Note: See also: SINAMICS S Function Manual, Function module \"basic positioner\" NSOLL_A (speed setpoint A (16-bit)) ● Speed setpoint with a 16-bit resolution with sign bit. ● Bit 15 determines the sign of the setpoint: – Bit = 0 --> positive setpoint – Bit = 1 --> negative setpoint ● The speed is normalized via p2000. NSOLL_A = 4000 hex or 16384 dec ≐ speed in p2000 NSOLL_B (speed setpoint B (32-bit)) ● Speed setpoint with a 32-bit resolution with sign bit. . ● Bit 31 determines the sign of the setpoint: – Bit = 0 --> positive setpoint – Bit = 1 --> negative setpoint ● The speed is normalized via p2000. NSOLL_B = 4000 0000 hex or 1 073 741 824 dec ≐ speed in p2000 QSKH[KH[162//B$162//B% Figure 10-9 Normalization of speed Gn_STW (encoder n control word) This process data belongs to the encoder interface. XERR (position deviation) The position deviation for dynamic servo control (DSC) is transmitted via this setpoint. Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 361 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive The format of XERR is identical to the format of G1_XIST1. KPC (position controller gain factor) ) The position controller gain factor for dynamic servo control (DSC) is transmitted via this setpoint. Transmission format: KPC is transmitted in the unit 0.001 1/s Range of values: 0 to 4000.0 Special case: When KPC = 0, the \"DSC\" function is deactivated. Example: A2C2A hex ≐ 666666 dec ≐ KPC = 666.666 1/s ≐ KPC = 40 1000/min MDIPos (pos MDI position) This process data defines the position for MDI sets. Normalization: 1 corresponds to 1 LU MDIVel (pos MDI velocity) This process data defines the velocity for MDI sets. Normalization: 1 corresponds to 1000 LU/min MDIAcc (pos MDI acceleration) This process data defines the acceleration for MDI sets. Normalization: 4000 hex (16384 dec) = 100 % The value is restricted to 0.1 ... 100% (internally). MDIDec (pos MDI deceleration override) This process data defines the percentage for the deceleration override for MDI sets. Normalization: 4000 hex (16384 dec) = 100 % The value is restricted internally to 0.1 ... 100% MDIMode (pos MDI mode) This process data defines the mode for MDI sets. Requirement: p2654 > 0 MDIMode = xx0x hex –> Absolute MDIMode = xx1x hex –> Relative MDIMode = xx2x hex –> Abs_pos (with modulo correction only) MDIMode = xx3x hex –> Abs_neg (with modulo correction only) 362 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Over (pos velocity override) This process data defines the percentage for the velocity override. Normalization: 4000 hex (16384 dec) = 100 % Range of values: 0 ... 7FFF hex Values outside this range are interpreted as 0%. TORQUERED (torque reduction) ) This setpoint can be used to reduce the torque limit currently active on the drive. When you use manufacturer-specific PROFIdrive telegrams with the TORQUERED control word, the signal flow is automatically interconnected up to the point where the torque limit is scaled. 0BOLPLWBS0205('>@HJE\\0BOLPLWBSSS6FDOLQJS>@S[SSWRS6FDOLQJSS! +H[S! +H[S>@SWRS[S Figure 10-10 TORQUERED setpoint TORQUERED specifies the percentage by which the torque limit is to be reduced. This value is converted internally to the amount by which the torque is to be reduced and normalized via p1544. MT_STW CU_STW A_DIGITAL This process data is part of the central process data. Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 363 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive 10.1.3.4 Description of status words and actual values Description of status words and actual values Note This chapter describes the assignment and meaning of the process data in SINAMICS interface mode (p2038 = 0). The reference parameter is also specified for the relevant process data. The process data is generally normalized in accordance with parameters p2000 to r2004. The following scalings apply: a temperature of 100°C = 100% an electrical angle 90° also = 100 %. Overview of status words and actual values Table 10-10 Overview of status words and actual values Abbreviation STW1 STW2 NACT_A NACT_B G1_STW G1_XIST1 G1_XACT2 G2_STW G2_XIST1 G2_XACT2 G3_STW G3_XIST1 G3_XACT2 E_DIGITAL IAIST_GLATT ITIST_GLATT MIST_GLATT PIST_GLATT NIST_A_GLATT MELD_ NAMUR Status word 1 Status word 2 Speed setpoint A (16 bit) Speed setpoint B (32 bit) Encoder 1 status word Encoder 1 actual position value 1 Encoder 1 actual position value 2 Encoder 2 status word Encoder 2 actual position value 1 Encoder 2 actual position value 2 Encoder 3 status word Encoder 3 actual position value 1 Encoder 3 actual position value 2 Digital inputs Absolute actual current smoothed Current actual value, torque-generating Actual torque smoothed Power factor, smoothed Actual speed smoothed VIK-NAMUR message bit bar Name Signal number 2 4 6 8 10 11 12 14 15 16 18 19 20 21 51 52 53 54 57 58 Data type 1) U16 U16 I16 I32 U16 U32 U32 U16 U32 U32 U16 U32 U32 U16 I16 I16 I16 I16 U16 U16 Comment r20[0] (bit serial)2) r20[1] (bit serial)2) r0063 (servo) r0063[0] (vector) r0063 (servo) r0063[0] (vector) r0481[0] r0482[0] r0483[0] r0481[1] r0482[1] r0483[1] r0481[2] r0482[2] r0483[2] r20[2] r0068[1] r0078[1] r0080[1] r0082[1] r0063[1] r3113 3 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Abbreviation MELDW MSOLL_GLATT AIST_GLATT MT_ZSW MT1_ZS_F MT1_ZS_S MT2_ZS_F MT2_ZS_S AKTSATZ PosZSW XistP FAULT_CODE WARN_CODE E_ZSW1 CU_ZSW Message word Total speed setpoint Torque utilization Status word for probe Name Signal number 102 120 121 131 132 133 134 135 202 204 206 301 303 321 501 Data type 1) U16 I16 I16 U16 U16 U16 U16 U16 U16 U16 U16 U16 U16 U16 U16 Comment r20[2] (bit serial)2) r00079[1] r0081 r0688 r0687[0] r0686[0] r0687[1] r0686[1] r2670 r2683 r2521 r2131 r2132 r9, r2139 (bit serial)2) r20[1] Probe 1 measuring time, falling edge Probe 1 measuring time, rising edge Probe 1 measuring time, falling edge Probe 2 measuring time, rising edge Pos selected block Pos status word Pos position actual value Fault code Alarm code Status word for INFEED Status word for Control Unit (CU) 1) Data type according to the PROFIdrive profile V4: I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32 2) Bit-serial interconnection: Refer to the following pages, r20 via binector-connector converter STW1 (status word 1) See function diagram [2452] Table 10-11 Description of STW1 (status word 1) Bit 0 Meaning Ready to power-up 1 Comments Ready to start Power supply on, electronics initialized, line contactor released if necessary, pulses inhibited. Not ready to start Ready to operate BO: r09.1 Voltage at Line Module (i.e. line contactor closed (if used)), field being built up. Not ready to operate Reason: No ON command has been issued. Operation enabled Enable electronics and pulses, then ramp up to active setpoint. Operation inhibited BO: r09.2 BICO BO: r09.0 0 1 Ready to run 1 0 2 Operation enabled 1 0 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 365 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit 3 Fault active Meaning 1 Comments Fault active The drive is faulty and, therefore, out of service. The drive switches to power-on inhibit once the fault has been acknowledged and the cause has been remedied. The active faults are stored in the fault buffer. No fault present No active fault in the fault buffer. No OFF2 active Coasting active (OFF2) An OFF2 command is present. No OFF3 active Fast stop active (OFF3) An OFF3 command is present. Power-on disable A restart is only possible by means of OFF1 and then ON. No power-up inhibit Power-up is possible. Alarm present The drive is operational again. No acknowledgement necessary. The active alarms are stored in the alarm buffer. No alarm present No active alarm in the alarm buffer. Setpoint-actual value monitoring within tolerance band Actual value within a tolerance band; dynamic overshoot or shortfall permitted for t < tmax permissible, e.g. n = nsetp± f = fsetp±, and, tmax can be parameterized 0 Setpoint/actual value monitoring not within tolerance band BICO BO: r2193.3 0 4 Coasting active (OFF2) 1 0 5 Fast stop active (OFF3) 1 0 6 Power-on disable 1 BO: r09.4 BO: r09.5 BO: r09.6 0 7 Alarm present 1 BO: r2139.7 0 8 Speed setpoint-actual value deviation within tolerance band 1 BO: r2197.7 9 Control requested 1 Control required BO: r09.9 The PLC is requested to assume control. Condition for applications with isochronous mode: drive synchronized with PLC system. Local operation Control only possible on device f or n comparison value reached or exceeded. f or n comparison value not reached. BO: r2199.1 0 10 f or n comparison value reached or 1 exceeded 0 Note: The message is parameterized as follows: p2141 Threshold value p2142 Hysteresis 11 I, M or P limit reached or exceeded 1 0 I, M or P limit not reached I, M or P limit reached or exceeded BO: r1407.7 (inverted) 366 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit 12 13 14 15 Meaning Holding brake open No motor overtemperature alarm n_act >= 0 Alarm, drive converter thermal overload 1 0 1 0 1 0 1 0 Comments Holding brake open Holding brake closed Motor overtemperature alarm not active Motor overtemperature alarm active Actual speed > = 0 Actual speed < 0 No alarm present Alarm, converter thermal overload The overtemperature alarm for the converter is active. BICO BO: r09.12 BO: r2135.14 (inverted) BO: r2197.3 BO: r2135.15 (inverted) STW1 (status word 1), positioning mode, p0108.4 = 1 See function diagram [2479] Table 10-12 Description of STW1 (status word 1, positioning mode) Bit 0 Meaning Ready to power-up 1 Comments Ready to start Power supply on, electronics initialized, line contactor released if necessary, pulses inhibited. Not ready to start Ready to operate BO: r09.1 Voltage at Line Module (i.e. line contactor closed (if used)), field being built up. Not ready to operate Reason: No ON command has been issued. Operation enabled Enable electronics and pulses, then ramp up to active setpoint. 0 3 Fault active 1 Operation inhibited Fault active The drive is faulty and, therefore, out of service. The drive switches to Power-on inhibit once the fault has been acknowledged and the cause has been remedied. The active faults are stored in the fault buffer. 0 4 Coasting active (OFF2) 1 0 5 Fast stop active (OFF3) 1 0 No fault present No active fault in the fault buffer. No OFF2 active Coasting active (OFF2) An OFF2 command is present. No OFF3 active Fast stop active (OFF3) An OFF3 command is present. BO: r09.5 BO: r09.4 BO: r2193.3 BO: r09.2 BICO BO: r09.0 0 1 Ready to run 1 0 2 Operation enabled 1 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 367 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit 6 Meaning Power-on disable 1 Comments Power-on disable A restart is only possible by means of OFF1 and then ON. No power-up inhibit Power-up is possible. Alarm present The drive is operational again. No acknowledgement necessary. The active alarms are stored in the alarm buffer. 0 No alarm present No active alarm in the alarm buffer. Setpoint-actual value monitoring within tolerance band Actual value within a tolerance bandwidth; The tolerance bandwidth can be parameterized. 0 Setpoint/actual value monitoring not within tolerance band BICO BO: r09.6 0 7 Alarm present 1 BO: r2139.7 8 Following error within the tolerance 1 range BO: r2684.8 9 Control requested 1 Control required BO: r09.9 The PLC is requested to assume control. Condition for applications with isochronous mode: drive synchronized with PLC system. Local operation Control only possible on device Target position reached Target position not reached Reference point set Reference point not set Acknowledgement, traversing block No effect Drive at standstill Drive not at standstill – – – – BO: r2199.0 BO: r2684.12 BO: r2684.11 BO: r2684.10 0 10 11 12 13 14 15 Target position reached Reference point set Acknowledgement, traversing block activated Drive at standstill Reserved Reserved 1 0 1 0 0/1 0 1 0 – – STW2 (status word 2) See function diagram [2454] Table 10-13 Description of STW2 (status word 2) Bit 0 1 2 3 Meaning DDS eff., bit 0 DDS eff., bit 1 DDS eff., bit 2 DDS eff., bit 3 – – – – Comments Drive data set effective (5-bit counter) BICO BO: r0051.0 BO: r0051.1 BO: r0051.2 BO: r0051.3 368 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit 4 7 8 5, 6 Reserved Parking axis Meaning DDS eff., bit 4 – – 1 0 Travel to fixed endstop 1 0 – 1 0 – – – – – Comments – BICO BO: r0051.4 Axis parking active Axis parking not active Travel to fixed endstop No travel to fixed stop – Data record changeover active No data set changeover active User data integrity (4-bit counter) BO: r06.0 BO: r1406.8 – BO: r0835.0 Implicitly interconnected 9, 10 Reserved 11 12 13 14 15 Data set changeover Drive unit sign-of-life bit 0 Drive unit sign-of-life bit 1 Drive unit sign-of-life bit 2 Drive unit sign-of-life bit 3 NACT_A (Speed setpoint A (16 bit)) ● Actual speed value with 16-bit resolution. ● The speed actual value is normalized in the same way as the setpoint (see NSOLL_A). NACT_B (Speed setpoint B (32 bit)) ● Actual speed value with 32-bit resolution. ● The speed actual value is normalized in the same way as the setpoint (see NSOLL_B). Gn_ZSW (encoder n status word) Gn_XIST1 (encoder n position actual value 1) Gn_XIST2 (encoder n position actual value 2) This process data belongs to the encoder interface. ITIST_GLATT The actual current value smoothed with p0045 is displayed. MELDW (message word) See function diagram [2456] Table 10-14 Description of MELDW (message word) Bit 0 Meaning Ramp-up/ramp-down completed / ramp-function generator active 1 Comments Ramp-up/ramp-down completed. • The ramp-up procedure is completed once the speed setpoint has been changed. BICO BO: r2199.5 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 369 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit Meaning Comments 1/0 Ramp-up starts. The start of the ramp-up procedure is detected as follows: • The speed setpoint changes, and • the defined tolerance bandwidth (p21) is exited. 0 Ramp-function generator active • The ramp-up procedure is still active once the speed setpoint has been changed. BICO 0/1 Ramp-up ends. The end of the ramp-up procedure is detected as follows: • The speed setpoint is constant, and • The actual speed value is within the tolerance bandwidth and has reached the speed setpoint, and • The waiting time (p2166) has elapsed. 1 Torque utilization < p2194 1 Torque utilization < p2194 BO: r2199.11 • The current torque utilization is less than the set torque utilization threshold (p2194), or • Ramp-up is not yet complete. Torque utilization > p2194 • The current torque utilization is greater than the set torque utilization threshold (p2194). 0 Application: This message indicates that the motor is overloaded and appropriate measures need to be taken to rectify the situation (e.g. stop the motor or reduce the load). 2 |n_act| t p2161 1 |n_act| < p2161 The actual speed value is less than the set threshold value (p2161). |n_act| ≥ p2161 The actual speed value is greater than or the same as the set threshold value (p2161). BO: r2199.0 0 Note: The message is parameterized as follows: p2161 Threshold value p2150 Hysteresis Application: To protect the mechanics, the gear stages are not switched mechanically until the speed is less than the set threshold value. 3 |n_act| v p2155 1 |n_act| ≤ p2155 BO: r2197.1 The actual speed value is less than or the same as the set threshold value (p2155). |n_act| > p2155 The actual speed value is greater than the set threshold value (p2155). 0 370 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit Meaning Note: The message is parameterized as follows: p2155 Threshold value p2140 Hysteresis Application: Speed monitoring. Comments BICO 4 5 6 Reserved Reserved No motor overtemperature alarm 1 0 1 0 1 – - – – No motor overtemperature alarm The temperature of the motor is within the permissible range. Alarm, motor overtemperature The temperature of the motor is greater than the set motor temperature threshold (p0604). – - BO: r2135.14 (inverted) 0 Note: • When the motor temperature threshold is exceeded, only an alarm is output initially to warn you of this. The alarm is canceled automatically when the temperature no longer exceeds the alarm threshold. • If the overtemperature is present for longer than the value set via p0606, a fault is output to warn you of this. • Motor temperature monitoring can be switched-out via p0600 = 0. Application: The user can respond to this message by reducing the load. thereby preventing the motor from shutting down with the \"Motor temperature exceeded\" fault after the set time has elapsed. 7 No thermal overload in power section alarm 1 No thermal overload in power unit alarm The temperature of the heat sink in the power section is within the permissible range. Thermal overload in power unit alarm The temperature of the heat sink in the power unit is outside the permissible range. If the overtemperature remains, the drive switches itself off after approx. 20 s. 8 Speed setp - act val deviation in tolerance t_on 1 The speed setpoint/actual value is within the BO: r2199.4 tolerance p2163: The signal is switched on after the delay specified in p2167 has elapsed. The speed setpoint/actual value is outside the tolerance. - - Pulses enabled The pulses for activating the motor are enabled. 0 Pulses inhibited Application: Armature short-circuit protection must only be switched on when the pulses are inhibited. This signal can be evaluated as one of many conditions when armature short-circuit protection is activated. 14 15 Reserved 1 0 - - - BO: r09.11 - BO: r2135.15 (inverted) 0 0 9... 12 13 Reserved Pulses enabled 1 0 1 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 371 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive MSOLL_GLATT The torque setpoint smoothed with p0045 is displayed. AIST_GLATT Torque utilization smoothed with p0045 is displayed. E_DIGITAL MT_STW MT_n_ZS_F/MT_n_ZS_S CU_ZSW This process data is part of the central process data. IAIST_GLATT The actual current value smoothed with p0045 is displayed. MIST_GLATT The actual torque value smoothed with p0045 is displayed. PIST_GLATT The active power smoothed with p0045 is displayed. MELD_NAMUR Display of the NAMUR message bit bar WARN_CODE Display of the alarm code (see function diagram 8066) FAULT_CODE Display of the alarm code (see function diagram 8060) E_STW1 (status word for INFEED) See function diagram [26] Table 10-15 Description of E_STW1 (status word for E_INF) Bit 0 Meaning Ready to power-up 1 0 Comments Ready to power-up Not ready to start BICO BO: r09.0 372 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit 1 Meaning Ready to run 1 0 Comments Ready to run DC link pre-charged, pulses inhibited Not ready Operation enabled Vdc = Vdc_setp Operation inhibited Fault active No fault No OFF2 active OFF2 active – Power-on disable Fault active No power-up inhibit Alarm present No alarm – Control required The PLC is requested to assume control. Condition for applications with isochronous mode: drive synchronized with PLC system. Local operation Control only possible on device – Bypass energized Pre-charging is complete and the bypass relay for the pre-charging resistors is energized. Bypass not energized Pre-charging not yet complete. Line contactor activated Line contactor not energized – BICO BO: r09.1 2 Operation enabled 1 0 BO: r09.2 3 4 5 6 Fault active No OFF2 active Reserved Power-on disable 1 0 1 0 – 1 0 BO: r2139.3 BO: r09.4 – BO: r09.6 7 8 9 Alarm present Reserved Control requested 1 0 – 1 BO: r2139.7 – BO: r09.9 0 10 11 Reserved Bypass energized – 1 – BO: r09.11 0 12 Line contactor activated 1 0 13... Reserved 15 – BO: r09.12 – PosZSW See function diagram [35] Table 10-16 Description of PosZSW (status word, positioning mode) Bit 0 1 Meaning Tracking mode active Speed limiting active 1 0 1 0 Comments Tracking mode active Tracking mode not active Active Not active BO: r2683.1 BICO BO: r2683.0 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 373 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Meaning Setpoint static Reserved Axis moves forwards Axis moving backwards Software limit switch minus approached Software limit switch plus approached Actual position value <= cam switching position 1 Actual position value <= cam switching position 2 Direct output 1 via the traversing block Direct output 2 via the traversing block Fixed stop reached Fixed stop, clamping torque reached Travel to fixed stop active Reserved 1 0 – 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 – Setpoint static Comments Setpoint not static – Axis moves forwards Axis stationary or moving backwards Axis moving backwards Axis stationary or moving forwards Software limit switch minus approached Software limit switch minus not approached Software limit switch plus approached Software limit switch plus not approached Actual position value <= cam switching position 1 Cam switching position 1 passed Actual position value <= cam switching position 2 Cam switching position 2 passed Direct output 1 active Direct output 1 not active Direct output 1 active Direct output 1 not active Fixed stop reached Fixed stop is not reached Fixed stop, clamping torque reached Fixed stop, clamping torque is not reached Travel to fixed stop active Travel to fixed stop not active – – – BICO BO: r2683.2 BO: r2683.4 BO: r2683.5 BO: r2683.6 BO: r2683.7 BO: r2683.8 BO: r2683.9 BO: r2683.10 BO: r2683.11 BO: r2683.12 BO: r2683.13 BO: r2683.12 AktSatz See function diagram [3650] Table 10-17 Description AktSatz (active traversing block/MDI active) Bit 0 1 2 3 4 5 15 Meaning Active traversing block, bit 0 Active traversing block, bit 1 Active traversing block, bit 2 Active traversing block, bit 3 Active traversing block, bit 4 Active traversing block, bit 5 MDI active – – – – – – – 1 0 – MDI active MDI not active Comments Active traversing block (6-bit counter) BICO BO: r2670.0 BO: r2670.1 BO: r2670.2 BO: r2670.3 BO: r2670.4 BO: r2670.5 – BO: r2670.15 6..14 Reserved 374 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive XistP Actual position value is displayed Normalization: 1 corresponds to 1 LU 10.1.3.5 Control and status words for encoder Description The process data for the encoders is available in various telegrams. For example, telegram 3 is provided for speed control with 1 position encoder and transmits the process data of encoder 1. The following process data is available for the encoders: ● Gn_CTW encoder n control (n = 1, 2, 3) ● Gn_ZSW encoder n status word ● Gn_XIST1 encoder n act. pos. value 1 ● Gn_XIST2 encoder n act. pos. value 2 Note Encoder 1: Motor encoder Encoder 2: Direct measuring system Encoder 3: Additional measuring system Encoder 3 can be connected via p2079 and extension of the standard telegrams. Example of encoder interface 352),%860DVWHU*B=6:*B=6:*B;,67*B;,67*B67:*B67:6ODYH*B;,67 Figure 10-11 Example of encoder interface (encoder-1: two actual values, encoder -2: an actual value) Encoder n control word (Gn_CTW, n = 1, 2, 3) The encoder control word controls the encoder functions. Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 375 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Table 10-18 Description of the individual signals in Gn_STW Bit 0 1 2 3 Name Find reference mark or flying measurement Functions Bit 0 1 2 3 0 1 2 3 Note: • Bit x = 1 Bit x = 0 Request function Do not request function Meaning Function 1 Function 2 Function 3 Function 4 Function 1 Function 2 Function 3 Function 4 Reference mark 1 Reference mark 2 Reference mark 3 Reference mark 4 Probe 1 rising edge Probe 2 falling edge Probe 3 rising edge Probe 4 falling edge Signal status, description If bit 7 = 0, then find reference mark request applies: If bit 7 = 1, then find flying measurement request applies: • The following applies if more than 1 function is activated: The values for all functions cannot be read until each activated function has terminated and this has been confirmed in the corresponding status bit (STW.0/.1/.2/.3 \"0\" signal again). • Find reference mark It is possible to search for a reference marker. • Equivalent zero mark • On-the-fly measurement Positive and negative edge can be activated simultaneously. 4 5 6 Command Bit 6, 5, 4 000 001 010 011 7 0... 12 13 Reserved Request cyclic absolute value Mode 1 0 - 1 Request cyclic transmission of the absolute position actual value in Gn_XIST2. Used for (e.g.): • Additional measuring system monitoring • Synchronization during ramp-up 0 14 15 Parking encoder Acknowledge encoder error 1 0 0/1 No request Request parking encoder (handshake with Gn_ZSW bit 14) No request Request to reset encoder errors Meaning - Activate function x Read value x Terminate function (x: function selected via bit 0-3) Measurement on-the-fly (fine resolution via p0418) Find reference marker (fine resolution via p0418) 376 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit Name Signal status, description *QB=6:(QFRGHUHUURU*QB67:$FNQRZOHGJHHQFRGHUHUURU*QB=6:(QFRGHUIDXOWDFNQRZOHGJHDFWLYH&OHDUHUURU6LJQDOPXVWEHUHVHWE\\XVHU0 No request Example 1: Find reference mark Assumptions for the example: ● Distance-coded reference mark ● Two reference markers (function 1/function 2) ● Position control with encoder 1 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 377 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive 0RGH*B67: )LQGUHIHUHQFHPDUN)XQFWLRQ*B67: 5HIHUHQFHPDUN5HIHUHQFHPDUN)XQFWLRQ*B67: 5HIHUHQFHPDUN5HIHUHQFHPDUN&RPPDQG*B67: $FWLYDWHIXQFWLRQ$FWLYDWHIXQFWLRQ*B67: 5HDGYDOXH5HDG9DOXH5HDG9DOXH)XQFWLRQDFWLYH*B=6: )XQFWLRQDFWLYH)XQFWLRQDFWLYH*B=6: )XQFWLRQDFWLYH9DOXHH[LVWV*B=6: 9DOXHH[LVWV9DOXHH[LVWV*[B;,67$FWXDOSRVLWLRQYDOXH$FWXDOSRVLWLRQYDOXHDWUHIHUHQFHPDUNDWUHIHUHQFHPDUN5HIHUHQFHPDUN$FWXDOYDOXHWUDQVIHU6LJQDOPXVWEHUHVHWE\\XVHU Figure 10-12 Flowchart for \"find reference mark\" Example 2: Flying measurement Assumptions for the example: ● Measuring probe with rising edge (function 1) ● Position control with encoder 1 378 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive 0RGH*B67: 0HDVXUHPHQWRQWKHIO\\)XQFWLRQ*B67: 0HDVXULQJSUREHULVLQJHGJH&RPPDQG*B67: $FWLYDWHIXQFWLRQ$FWLYDWHIXQFWLRQ5HDGYDOXH*B67: 5HDGYDOXH)XQFWLRQDFWLYH*B=6: )XQFWLRQDFWLYH9DOXHH[LVWV*B=6: 9DOXHH[LVWV3UREHGHIOHFWHG*B=6:0HDVXULQJSUREHHGJH$FWXDOYDOXHWUDQVIHU6LJQDOPXVWEHUHVHWE\\XVHU Figure 10-13 Function chart for \"measurement on-the-fly\" Encoder 2 control word (G2_CTW) ● See G1_CTW (table 4-19) Encoder 3 control word (G3_CTW) ● See G1_CTW (table 4-19) Encoder n status word (Gn_STW, n = 1, 2, 3) The encoder status word is used to display states, errors and acknowledgements. Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 379 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Table 10-19 Description of the individual signals in Gn_STW Bit 0 1 2 3 Name Signal status, description Status: Find Valid for find reference marker and measurement on-the-fly. Function 1 - 4 reference Bit Meaning mark or flying active 0 Function 1 Reference marker 1 measurement Probe 1 rising edge 1 2 3 Function 2 Function 3 Function 4 Reference marker 2 Probe 1 falling edge Reference marker 3 Probe 2 rising edge Reference marker 4 Probe 2 falling edge Note: • Bit x = 1 function active Bit x = 0 function inactive 4 5 6 7 5 6 7 Value 2 Value 3 Value 4 Status: Value 1 - 4 available Valid for find reference marker and measurement on-the-fly. Bit 4 Meaning Value 1 Reference marker 1 Probe 1 rising edge Probe 1 falling edge Probe 2 rising edge Probe 2 falling edge Note: • Bit x = 1 value available Bit x = 0 value not available • Only one value can be fetched at a time. Reason: There is only one common status word Gn_XIST2 to read the values. • The probe must be configured to a \"high-speed input\" DI/DO on the Control Unit. 8 9 10 11 Probe 1 deflected Probe 2 deflected Reserved Encoder fault acknowledge active - 1 Encoder fault acknowledge active Note: See under CTW.15 (acknowledge encoder error) 0 12 13 Reserved Transmit cyclic absolute value - 1 Acknowledgement for Gn_STW.13 (request cyclic absolute value) Note: Cyclic transmission of the absolute value can be interrupted by a function with higher priority. • See Fig. 1-9 • See Gn_XACT2 0 14 Parking encoder 1 No acknowledgement Parking encoder active (i.e. parking encoder switched off) No acknowledgement active 1 0 1 0 Probe deflected (high signal) Probe not deflected (low signal) Probe deflected (high signal) Probe not deflected (low signal) 380 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit 15 Name Encoder error Signal status, description 0 1 No active parking encoder Error from encoder or actual-value sensing is active. Note: The error code is stored in Gn_XACT2. 0 No error is active. Encoder 1 actual position value 1 (G1_XACT1) ● Resolution: Encoder lines ∙ 2n n: fine resolution, no. of bits for internal multiplication The fine resolution is specified via p0418. ● Used to transmit the cyclic actual position value to the controller. ● The transmitted value is a relative, free-running actual value. ● Any overflows must be evaluated by the master controller. ,QWHUQDOPXOWLSOLFDWLRQ(QFRGHUOLQHV%LWb)LQHLQIRUPDWLRQSIRU*[B;,67HQFRGHUWR)DFWRU\\VHWWLQJ Figure 10-14 Subdivision and settings for Gx_XIST1 ● Encoder lines of incremental encoder – For encoders with sin/cos 1Vpp: Encoder lines = no. of sinusoidal signal periods ● After power-up: Gx_XIST1 = 0 ● An overflow in Gx_XIST1 must be viewed by the master controller. ● There is no modulo interpretation of Gx_XIST1 in the drive. Encoder 1 actual position value 2 (G1_XACT2) Different values are entered in Gx_XACT2 depending on the function. ● Priorities for Gx_XIST2 The following priorities should be considered for values in Gx_XIST2: Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 381 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive 3823DUNHGHQFRGHU\"*[B=6: n : fine resolution, no. of bits for internal multiplication ,QWHUQDOPXOWLSOLFDWLRQ(QFRGHUOLQHV)LQHLQIRUPDWLRQ11098IRUUHIHUHQFHPDUNRUIO\\LQJ)DFWRU\\VHWWLQJPHDVXUHPHQWWKHIROORZLQJDSSOLHVSSIRU*B;,67HQFRGHUSSIRU*B;,67HQFRGHU)RUUHDGDEVROXWHYDOXH(Q'DWHQFRGHUSIRU*B;,67HQFRGHUSIRU*B;,67HQFRGHU Figure 10-16 Subdivision and settings for Gx_XIST2 ● Encoder lines of incremental encoder – For encoders with sin/cos 1Vpp: Encoder lines = no. of sinusoidal signal periods Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Error code in Gn_XIST2 Table 10-20 Error code in Gn_XIST2 n_XIST2 1 2 3 4 Meaning Encoder error Zero marker monitoring Abort parking sensor Abort find reference marker Possible causes / description One or more existing encoder faults. Detailed information in accordance with drive messages. – • Parking drive object already selected. • • • • • • A fault exists (Gn_ZSW.15 = 1) Encoder has no zero marker (reference marker) Reference marker 2, 3 or 4 is requested Switchover to \"Measurement on-the-fly\" during search for reference marker Command \"Read value x\" set during search for reference marker Inconsistent position measured value with distance-coded reference markers. 5 Abort, retrieve reference value • More than four values requested • No value requested • Requested value not available 6 Abort flying measurement • No probe configured p0488, p04 • Switch over to \"reference mark search\" during flying measurement • Command \"Read value x\" set during flying measurement Abort get measured value • • • • • Abort absolute value transmission on Function not supported More than one value requested No value requested. Requested value not available Parking encoder active Parking drive object active 7 8 3841 • Absolute encoder not available • Alarm bit absolute value protocol set – Encoder 2 status word (G2_STW) ● See G1_STW (table 4-20) Encoder 2 actual position value 1 (G2_XACT1) ● See G1_XIST1 Encoder 2 actual position value 2 (G2_XACT2) ● See G1_XIST2 Encoder 3 status word (G3_STW) ● See G1_STW (table 4-20) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 383 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Encoder 3 actual position value 1 (G3_XACT1) ● See G1_XIST1 Encoder 3 actual position value 2 (G3_XACT2) ● See G1_XIST2 Function diagrams (see SINAMICS S List Manual) ● 4720 Encoder interface, receive signals, encoders n ● 4730 Encoder interface, send signals, encoders n ● 4735 Find reference marker with equivalent zero mark, encoders n ● 4740 Measuring probe evaluation, measured value memory, encoders n Overview of key parameters (see SINAMICS S List Manual) Adjustable parameter drive, CU_S parameter is marked ● p0418[0...15] Fine resolution Gx_XACT1 ● p0419[0...15] Fine resolution Gx_XACT2 ● p0480[0...2] CI: Signal source for encoder control word Gn_STW ● p0488[0...2] Measuring probe 1 input terminal ● p04[0...2] Measuring probe 2 input terminal ● p0490 Invert measuring probe (CU_S) Visualization parameters drive ● r0481[0...2] CO: Encoder status word Gn_ZSW ● r0482[0...2] CO: Encoder position actual value Gn_XIST1 ● r0483[0...2] CO: Encoder position actual value Gn_XIST2 ● r0487[0...2] CO: Diagnostic encoder control word Gn_STW 10.1.3.6 Central control and status words Description The central process data exists for different telegrams. For example, telegram 391 is used for transferring measuring times and digital inputs/outputs. The following central process data is available: 384 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Receive signals: ● CU_STW Control Unit control word ● A_DIGITAL digital outputs ● MT_STW probe control word Transmit signals: ● CU_ZSW Control Unit status word ● E_DIGITAL digital inputs ● MT_CTW Probe status word ● MTn_ZS_F Probe n measuring time, falling edge (n = 1, 2) ● MTn_ZS_S Probe n measuring time, rising edge (n = 1, 2) CU_STW (control word for Control Unit, CU) See function diagram [2448] Table 10-21 Description of CU_STW (control word for Control Unit, CU) Bit 0 1 7 12 13 14 15 Meaning Synchronization flag RTC PING Acknowledging faults Controller sign-of-life bit 0 Controller sign-of-life bit 1 Controller sign-of-life bit 2 Controller sign-of-life bit 3 – – – 0/1 – – – – – Remarks BICO This signal is used to synchronize the joint system time between the BI: p0681[0] controller and drive unit. This signal is used to set the UTC time using the PING event. – Acknowledging faults – Controller sign-of-life BI: p3104 – BI: p2103 – CI: p2045 2...6 Reserved 8...11 Reserved A_DIGITAL (digital outputs) This process data can be used to control the Control Unit outputs. See function diagram [2449] Table 10-22 Description of A_DIGITAL (digital outputs) Bit 0 Meaning Digital input/output 8 (DI/DO 8) – Remarks DI/DO 8 on the Control Unit must be parameterized as an output (p0728.8 = 1). BICO BI: p0738 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 385 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit 1 2 3 4 5 6 7 8... 15 Meaning Digital input/output 9 (DI/DO 9) Digital input/output 10 (DI/DO 10) Digital input/output 11 (DI/DO 11) Digital input/output 12 (DI/DO 12) Digital input/output 13 (DI/DO 13) Digital input/output 14 (DI/DO 14) Digital input/output 15 (DI/DO 15) Reserved – – – – – – – – Remarks DI/DO 9 on the Control Unit must be parameterized as an output (p0728.9 = 1). DI/DO 10 on the Control Unit must be parameterized as an output (p0728.10 = 1). DI/DO 11 on the Control Unit must be parameterized as an output (p0728.11 = 1). DI/DO 12 on the Control Unit must be parameterized as an output (p0728.12 = 1). DI/DO 13 on the Control Unit must be parameterized as an output (p0728.13 = 1). DI/DO 14 on the Control Unit must be parameterized as an output (p0728.14 = 1). DI/DO 15 on the Control Unit must be parameterized as an output (p0728.15 = 1). – BICO BI: p0739 BI: p0740 BI: p0741 BI: p0742 BI: p0743 BI: p0744 BI: p0745 – Note: The bidirectional digital inputs/outputs (DI/DO) can be connected as either an input or an output (see also transmit signal E_DIGITAL). MT_STW Control word for the \"central probe\" function. Display via r0685. Table 10-23 Description of MT_STW (control word for Control Unit) Bit 0 1 2 3 4 5 8 9 10 11 12 13 Meaning Falling edge probe 1 Falling edge probe 2 Falling edge probe 3 Falling edge probe 4 Falling edge probe 5 Falling edge probe 6 Rising edge probe 1 Rising edge probe 2 Rising edge probe 3 Rising edge probe 4 Rising edge probe 5 Rising edge probe 6 – – – – – – – – – – – – – – – – Activation of measuring time determination with the next rising edge For telegram 392, in addition, probes 3 and 6 Remarks Activation of measuring time determination with the next falling edge For telegram 392, in addition, probes 3 and 6 BICO CI: p0682 6...7 Reserved 14... Reserved 15 CU_ZSW (status word for Control Unit, CU) See function diagram [2458] 386 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Table 10-24 Description of CU_ZSW (status word for Control Unit) Bit 3 Meaning – 1 0 4...6 Reserved 7 8 12 13 14 15 Alarm present SYNC – 1 0 – – 9...11 Reserved – Fault active No fault present – Alarm present No alarm present – – Slave sign of life Fault active Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Remarks – BICO BO: r2139.3 – BO: 2139.7 BO: r09.8 – Implicitly interconnec-ted 0...2 Reserved Drive unit sign-of-life bit 0 – Drive unit sign-of-life bit 1 – Drive unit sign-of-life bit 2 – Drive unit sign-of-life bit 3 – E_DIGITAL (digital inputs) See function diagram [2459]. Table 10-25 Description of E_DIGITAL (digital inputs) Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Meaning Digital input/output 8 (DI/DO = 8) Digital input/output 9 (DI/DO = 9) Digital input/output 10 (DI/DO = 10) Digital input/output 11 (DI/DO = 11) Digital input/output 12 (DI/DO = 12) Digital input/output 13 (DI/DO = 13) Digital input/output 14 (DI/DO = 14) Digital input/output 15 (DI/DO = 15) Digital input 0 (DI 0) Digital input 1 (DI 1) Digital input 2 (DI 2) Digital input 3 (DI 3) Digital input 4 (DI 4) Digital input 5 (DI 5) Digital input 6 (DI 6) Digital input 7 (DI 7) – – – – – – – – – – – – – – – – Remarks DI/DO 8 on the Control Unit must be parameterized as an input (p0728.8 = 0). DI/DO 9 on the Control Unit must be parameterized as an input (p0728.9 = 0). DI/DO 10 on the Control Unit must be parameterized as an input (p0728.10 = 0). DI/DO 11 on the Control Unit must be parameterized as an input (p0728.11 = 0). DI/DO 12 on the Control Unit must be parameterized as an input (p0728.12 = 0). DI/DO 13 on the Control Unit must be parameterized as an input (p0728.13 = 0). DI/DO 14 on the Control Unit must be parameterized as an input (p0728.14 = 0). DI/DO 15 on the Control Unit must be parameterized as an input (p0728.15 = 0). Digital input DI 0 on the Control Unit Digital input DI 1 on the Control Unit Digital input DI 2 on the Control Unit Digital input DI 3 on the Control Unit Digital input DI 4 on the Control Unit Digital input DI 5 on the Control Unit Digital input DI 6 on the Control Unit Digital input DI 7 on the Control Unit BICO BO: p0722.8BO: p0722.9BO: p0722.10 BO: p0722.11 BO: p0722.12 BO: p0722.13 BO: p0722.14 BO: p0722.15 BO: r0722.0 BO: r0722.1 BO: r0722.2 BO: r0722.3 BO: r0722.4 BO: r0722.5 BO: r0722.6 BO: r0722.7 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 387 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Bit Meaning Remarks BICO Note: The bidirectional digital inputs/outputs (DI/DO) can be connected as either an input or an output (see also receive signal A_DIGITAL). MT_ZSW Status word for the \"central probe\" function. Table 10-26 Description of MT_ZSW (status word for the \"central probe\" function) Bit 0 1 2 3 4 5 8 9 8 9 8 9 Meaning Digital input probe 1 Digital input probe 2 Digital input probe 3 Digital input probe 4 Digital input probe 5 Digital input probe 6 Sub-sampling probe 1 Sub-sampling probe 2 Sub-sampling probe 3 Sub-sampling probe 4 Sub-sampling probe 5 Sub-sampling probe 6 – – – – – – – – – – – – – – – – Not yet carried out. For telegram 392, in addition, probes 3 and 6 Remarks Display of digital inputs For telegram 392, in addition, probes 3 and 6 BICO CO: r0688 6...7 Reserved 10... Reserved 15 MTn_ZS_F and MTn_ZS_S Display of the measuring time determined The measuring time is specified as a 16-bit value with a resolution of 0.25 μs. Features of the central probe ● The time stamps from probes in more than one drive can be transferred simultaneously in a single telegram. ● The time in the controller and drive unit is synchronized via the CU_STW and the CU_ZSW. Note: The controller must support time synchronization! ● A higher-level controller can then use the time stamp to determine the actual position value of more than one drive. ● The system outputs a message if the measuring time determination function in the probe is already in use (see also p0488, p04, and p0580). 388 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Example: central probe Assumptions for the example: ● Determination of the time stamp MT1_ZS_S by evaluating the rising edge of probe 1 ● Determination of the time stamp MT2_ZS_S and MT2_ZS_F by evaluating the rising and falling edge of probe 2 ● Probe 1 on DI/DO 9 of the Control Unit (p0680[0] = 1) ● Probe 2 on DI/DO 10 of the Control Unit (p0680[1] = 2) ● Manufacturer-specific telegram p0922 = 391 is set. 07B67:3UREH9DOXHH[LVWV07B=6B607B67:07B67:3UREH9DOXHH[LVWV07B=6B69DOXHH[LVWV07B=6B) Figure 10-17 Function chart for central probe example 10.1.3.7 Motion Control with PROFIdrive Description The \"Motion control with PROFIBUS\" or \"Motion Control with PROFINET\" function can be used to implement an isochronous drive link between a master and one or more slaves via the PROFIBUS field bus or an isochronous drive link via PROFINET. Note The isochronous drive link is defined in the following documentation: Reference: /P5/ PROFIdrive Profile Drive Technology Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 3 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Properties ● No additional parameters need to be entered in addition to the bus configuration in order to activate this function, the master and slave must only be preset for this function (PROFIBUS). ● The master-side default setting is made via the hardware configuration, e.g. B. HW Config with SIMATIC S7. The slave-side default setting is made via the parameterization telegram when the bus is ramping up. ● Fixed sampling times are used for all data communication. ● The Global Control (GC) clock information on PROFIBUS is transmitted before the beginning of each cycle. ● The length of the clock cycle depends on the bus configuration. When the clock cycle is selected, the bus configuration tool (e.g. HW Config) supports: – High number of drives per slave/drive unit -> long cycle – High number of slaves/drive units -> long cycle ● A sign-of-life counter is used to monitor user data transfer and clock pulse failures. Overview of closed-loop control ● Sensing of the actual position value on the slave can be performed using: – Indirect measuring system (motor encoder) – Additional direct measuring system ● The encoder interface must be configured in the process data. ● The control loop is closed via the PROFIBUS. ● The position controller is located on the master. ● The current and speed control systems and actual value sensing (encoder interface) are located on the slave. ● The position controller clock cycle is transmitted across the field bus to the slaves. ● The slaves synchronize their speed and/or current controller cycle with the position controller cycle on the master. ● The speed setpoint is specified by the master. 390 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive 3RVLWLRQFRQWUROORRS,QGLUHFWPHDVXULQJV\\VWHPPRWRUHQFRGHU162//B%6SHHGFRQWURO*B;,670DVWHUZLWKWKHIXQFWLRQ0RWLRQ&RQWUROZLWK352),%86&ORVHGORRSFXUUHQWFRQWU0a*&ORFNF\\FOH*$GGLWLRQDOPHDVXULQJV\\VWHP Figure 10-18 Overview of \"Motion control with PROFIBUS\" (example: master and 3 slaves) Structure of the data cycle The data cycle comprises the following elements: 1. Global Control telegram (PROFIBUS only) 2. Cyclic part – Setpoints and actual values 3. Acyclic part – Parameters and diagnostic data 4. Reserve (PROFIBUS only) – Transmission of token (TTH). – For searching for a new node in the drive line-up (GAP) – Waiting time until next cycle Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4 391 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive 3RVLWLRQFRQWUROF\\FOH3RV&RQWUC1C2C3 0DVWHUDSSOLFDWLRQF\\FOHWLPH&; &RQWUROWDVN'DWDIORZ&RPPXQLFDWLRQF\\FOH5HVHUYH3RVLWLRQDFWXDOYDOXHWUDQVIHU&\\FO'DWDH[FKDQJH6HWSRLQWWUDQVIHU$F\\FO'DWDH[FKDQJH5HVHUYH&\\FO'DWDH[FKDQJH$FWXDOYDOXHDTXLVLWLRQ6HWSRLQWWUDQVIHU'DWDIORZ6SHHGFRQWUROF\\FOH'2DSSOLFDWLRQR1R1R1R1R1R1R1R15 0RWRUFRQWUROWDVN Figure 10-19 Isochronous drive link/Motion Control with PROFIdrive 10.1.4 10.1.4.1 Acyclic communication General information about acyclic communication Description With acyclic communication, as opposed to cyclic communication, data transfer takes place only when an explicit request is made (e.g. in order to read and write parameters). The read data set/write data set services are available for acyclic communication. The following options are available for reading and writing parameters: ● S7 protocol This protocol uses the STARTER commissioning tool, for example, in online mode via PROFIBUS. ● PROFIdrive parameter channel with the following data sets: – PROFIBUS: Data set 47 (0x002F) The DPV1 services are available for master class 1 and class 2. – PROFINET: Data set 47 and 0xB02F al global access, data set 0xB02E as local access 392 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
因篇幅问题不能全部显示，请点此查看更多更全内容
Copyright © 2019- gamedaodao.com 版权所有 湘ICP备2022005869号-6
违法及侵权请联系：TEL:199 18 7713 E-MAIL:2724546146@qq.com
本站由北京市万商天勤律师事务所王兴未律师提供法律服务