Siemens simovert masterdrives

Communication / CBC CANopen Communication Board 02.2004
6SE7087-6QX70 (Version AD) Siemens AG
8.5-122 Compendium Motion Control SIMOVERT MASTERDRIVES
Function diagram
87654321
Parameter file "positioning with F01 via CANopen"
MASTERDRIVES MC
01.10.01
MASTERDRIVES MC F01
- 8515 -
from V1.5
Parameter file for the control of positioning/synchronous operation via CBC field bus interface CANopen
The basic communication connections for data transfer via CANopen are made with these parameter settings. Some parameters (in shaded boxes) will need to be adapted to your application. Open the script file on your DriveMonitor CD using a text editor and enter the settings appropriate to your appication. Then save the file and load it to the device using DriveMonitor. You will then need to set the motor and controller parameters. The script file is stored under the following name on your DriveMonitor CD ROM:
DriveMonitor for WINDOWS 95 and later:
- MCF01.SSC
(load this scriptfile, applies
equally to Compact PLUS, Compact and chassis units)
CB parameters : Receive PDOs P711.01=65281 P712.01=0 P713.01=0 P714.01=0 Transmit PDOs P715.01=65281 P716.01=0 P717.01=0 P718.01=0 CBC parameterization P719.01=4546 P720.01=4 P721.01=1 P722.01=0 P918.01=5 P053.00=7 Transmit data Transmit PDO 1 P734.01=0431 P734.02=0315 P734.03=0315 P734.04=0250 Transmit PDO 2 P734.05=0 P734.06=0 P734.07=0 P734.08=0 Transmit PDO 3 P734.09=0 P734.10=0 P734.11=0 P734.12=0 Transmit PDO 4 P734.13=0 P734.14=0 P734.15=0 P734.16=0 Control word 1 P554.01=3100 P555.01=3101
Technology option F1 U531.00=432 U532.00=415 U533.00=416 U535.00=120 U530.00=860
P558.01=3102 P561.01=3103 P562.01=3104 P563.01=3105 P564.01=3106 P565.01=3107
;Src1 OFF3(QStop) BICO DS1 ;Src InvRelease ;Src RampGenRel ;Src RampGen Stop ;Src Setp Release ;Src Fault Reset
Status word 1 at bin/con converter 1 U076.01=100 U076.02=102 U076.03=104 U076.04=106 U076.05=108 U076.06=110 U076.07=112 U076.08=114 U076.09=0 U076.10=1 U076.11=476 U076.12=0 U076.13=0 U076.14=0 U076.15=0 U076.16=0 U952.89=4 Setpoint processing {FD -320-} P443.01=131 P772.00=648 Positioon sensing motor encoder {FD -330-} P172.00=302 P174.00=301 P175.02=304 P178.00=16 Closed-loop position control {FD -340-} P210.01=1 P212.01=530
;Ready to start at BIN/CON converter ;Ready to operate BIN/CON converter ;Run at BIN/CON converter ;Fault active at BIN/CON converter ;OFF2 active at BIN/CON converter ;OFF3 active at BIN/CON converter ;Starting lockout at BIN/CON converter ;Alarm active at BIN/CON converter ;Freely connectable by user ;PZD control must always be 1 ;target_reached at BIN/CON converter ;reserved ;reserved ;reserved ;Freely connectable by user ;Freely connectable by user ;Time slot ;Src
MainSetpoint BICO DS1 (from position controller)
;Src EnRGenByp ;Src Pos SetV ;Src Pos Corr'n ;Src Rough pulse BIN input 4 ;Src1 RelPosReg ;Src Ctrl Setp
;RPDO 1 (RPDO 1,asynchronous) ;RPDO 2 ;RPDO 3 ;RPDO 4 ;TPDO 1 (RPDO 1,asynchronous) ;TPDO 2 ;TPDO 3 ;TPDO 4 ;Device, device response to lifeguarding ;CAN bus baud rate (125 kB) ;CAN profile selection (CANopen) ;Message failure time ;CB bus address ;Parameterization enable ;Status word via BIN/CON converter ;Positioning status word, high ;Positoning status word, low ;Faults/alarms ;TPDO 2 word 1 ;TPDO 2 word 2 ;TPDO 2 word 3 ;TPDO 2 word 4 ;TPDO 3 word 1 ;TPDO 3 word 2 ;TPDO 3 word 3 ;TPDO 3 word 4 ;TPDO 4 word 1 ;TPDO 4 word 2 ;TPDO 4 word 3 ;TPDO 4 word 4 ;Src ON/OFF1 BICO DS1 ;Src1.OFF2(electr.) BICO DS1
;Src GFunc MDI ;Src Position MDI (KK30xx) ;Src Speed MDI (KK30xx) ;Src PosAct V ;Src Ctr Signals
Formation of positioning signals U710.01=3200 U710.02=3201 U710.03=3202 U710.04=3203 U710.05=3204 U710.06=617 U710.07=3206 U710.08=3207 U710.09=0 U710.10=0 U710.11=0 U710.12=0 U710.13=0 U710.14=0 U710.15=0 U710.16=0 U710.17=0 U710.18=0 U710.19=0 U710.20=0 U710.21=0 U710.22=0 U710.23=0 U710.24=0 U710.25=3208 U710.26=3209 U710.27=3210 U710.28=3211 U710.29=3212 U710.30=3213 U710.31=3214 U710.32=3215 Time slots U953.30=4 U953.32=4
;TGL_I (Toggle-Bit Input) ;RIE (Delete distance to go) ;STA (Start) ;CRD(Delete distance to go) ;ACK_M (Acknowledgement M function) ;FUM (Follow-up mode) ;RST (Reset) ;SIST (Single step) ;MDI_NO/PROG_NO 2^0 ;MDI_NO/PROG_NO 2^1 ;MDI_NO/PROG_NO 2^2 ;MDI_NO/PROG_NO 2^3 ;MDI_NO/PROG_NO 2^4 ;MDI_NO/PROG_NO 2^5 ;MDI_NO/PROG_NO 2^6 ;MDI_NO/PROG_NO 2^7 ;OVERRRIDE 2^0 ;OVERRRIDE 2^1 ;OVERRRIDE 2^2 ;OVERRRIDE 2^3 ;OVERRRIDE 2^4 ;OVERRRIDE 2^5 ;OVERRRIDE 2^6 ;OVERRRIDE 2^7 ;BLSK (Skip block) ;J_BWD (Jog backwards) ;F_S (Quick/slow) ;J_FWD (Jog forwards) ;MODE_IN 2^0 ;MODE_IN 2^1 ;MODE_IN 2^2 ;MODE_IN 2^3 ;Control signals positioning ;Positioning