Siemens simovert masterdrives - Page 689

02.2004 Communication / CBC CANopen Communication Board
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-131
Function diagram
87654321
Parameter file "Positioning with B-POS via CANopen"
MASTERDRIVES MC
17.12.03
MASTERDRIVES MC with B-Pos
- 8524 -
from V1.5
Parameter file for controlling positioning / setup via field bus interface CBC CANopen
The basic communication connections for data transfer via CANopen are made with these parameter settings. Some paramaters (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 application. 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:
- MCEPOS.SSC
(load this script file, applies
equally for Compact PLUS,
Compact and Chassis units)
CB parameter {FD-120-}: Receive PDOs P711.01=65281 P712.01=0 P713.01=0 P714.01=0 Transmit PDOs P715.01=65282 P716.01=0 P717.01=0 P718.01=0 CBC parameterization P719.01=4446 P720.01=4 P721.01=1 P722.01=0 P918.01=5 P053.00=7 Transmit data {FD-125-} Transmit PDO 1 P734.01=0431 P734.02=889 P734.03=432 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{FD-180-} P554.01=3100 P555.01=3101 P558.01=3102 P561.01=3103 P564.01=3108 P565.01=3107 Control word 2{FD-190-} P587.01=3211 Digital inputs {FD-90-} P648.01=4
;SRC1.OFF3(QStop) BICO DS1 ;SRC Inverter Enable ;SRC Setpoint Enable ;SRC Acknowledge ;SRC Master/slave drive ;Accept PosMeasV with falling edge
Status word 1 to Bin/Con converter 1{FD-720-} 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=136 U076.13=0 U076.14=0 U076.15=0 U076.16=0 U952.89=4 Status signals B-Pos to Bin/Con converter 2{FD-720-} U078.01=92 U078.02=93 U078.03=0 U078.04=126 U078.05=894 U078.06=201 U078.07=202 U078.08=477 U078.09=234 U078.10=3211 U078.11=893 U078.12=205 U078.13=877 U078.14=873 U078.15=872 U078.16=871 U952.90=4 Setpoint processing {FD -320-} P443.01=131 P772.00=648 Position sensing P130.00=3 Motor encoder {FD -330-} P172.00=880 P173.00=3200 P174.00=885 P175.01=889 P175.01=890 P179.00=891 P183.01=1 P183.02=0
;Ready to start at BIN/CON converter ;Ready to run at BIN/CON converter ;Operation at BIN/CON converter ;Fault active at BIN/CON converter ;OFF 2 active at BIN/CON converter ;OFF 3 active at BIN/CON converter ;Starting lockout at BIN/CON converter ;Alarm active at BIN/CON converter ;Freely connectable by user ;PCD control requested must always be 1 ;Target_reached at BIN/CON converter ;Overspeed: Internal Limit active PVM, SUM ;Speed=0, must be generated via FBS ;Following Error, generate via FBS ;Freely connectable by user ;Freely connectable by user ;Time slot ;FDS_Bit 0 ;FDS_Bit 1 ;BICO data set via FBS or from STW2 ;RFG active, from RFG ;SPV_RIE_ACKN from B-Pos ;Acceleration active from RFG ;Deceleration active from HLG ;Output limit monitor, Target reached PTM ;T(gr)act, I(gr)act,Int Limit Active PTM ;Master slave fed back from CBC ;REF_DRIVE from B-POS ;Enable pos. controller from RFG bypass ;PSR from B-POS mode manager ;SETUP from B-POS mode manager ;POS from B-POS mode manager ;REF from B-POS mode manager ;Time slot Src main setpoint BICO DS1 (from pos controller) ;Src Enable RFG bypass from inverter U258 ;Src PosSetV from Ref. Setpoint U874.02 ;Src Set Pos, Bit 0 from CBC receive con. ;Src PosCorr'nV from corr'n block B-POS ;POV from correction block B-POS ;NOV from correction block B-POS ;Src En MeasV mem. from corr'n blockB-POS ;PosSens for mot.enc, resolv or Enco enable ;No zero point offset from encoder
;RPDO 1 (Control word, asynchronous) ;RPDO 2 ;RPDO 3 ;RPDO 4 ;TPDO 1 (status word, modopdisplay async.) ;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 ;Status word B-Pos ;Status word 2 B-Pos to BIN/CON Conv 2 ;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 / OFF BICO DS1 ;SRC1.OFF2(coast) BICO DS1
;Src T(conseq) from simple RFG 2 ;Src position setpoint from B-Pos ;Src SetV PosSet (PosActV) ;Src Set PosSet from output OR U248 ;PRE PosReg from B-Pos ;Src1 Rel Pos Reg PSR from B-Pos ;Src Control Setp,TargetVelocity U018(SDO) ;Src Release Control,from Inverter U259 ;Axis cycle length B-Pos/SETUP, 0:Linear axis ;Axis cycle length CORR/REF,-1:Index2=Index1 ;ENABLE POS/REF ;REF ON from CBC, K3002, Bit 15 ;POS ON from CBC, K3002, Bit 14 ;SETUP ON from CBC, K3002, Bit 13 ;POS TYP from CBC, K3001,Bit6,abs/rel ;D_FWD from binary signal changeover U274 ;D_BWD from binary signal changeover U275 ;SPV_RIE from CBC,K3001,Bit4,New setpoint ;SPV_RIE_TYP from CBC,K3002,Bit8,1=SUM ;REF_TYP from fixed binector B-Pos ;REF_BWD_STOP,Outp OR U245,
reverse camn
;REF_FWD_STOP,Outp OR U246,reverse cam ;Position setpoint from fixed setpoint U874.01 ;V-set from analog changeover U182/U183 ;Analog signal changeover U170/U171 ;Analog signal changeover U172/U173 ;Reset Set setpoint from Status word 1 Bit 2,run ;Time slot ;Set Trigger SetV from timer for HM 35 ;ENABLE_POS from position controller enable ;v-set output analog ch. U184,U185 (stop) ;POS_OK window width = 100LU ;POS_OK decel time = 0,1s ;Software limit switch -plus ;Software limit switch -minus ;Time slot ;Set pos. setp. from timer due to HM 35 ;ENABLE_REF from pos. control enable ;Start-REF from OR U247,set pos||B212 ;Time slot
Torque limitation {FD-370-} P261.01=854 Position control {FD -340-} P190.01=882 P192.01=120 P193.01=628 P209.01=881 P210.01=877 P212.01=418 P213.01=649 B-Pos control signals {FD-788a-} U858.01=0 U858.02=-1 {FD-789a-} U866.01=1 U866.02=3215 U866.03=3214 U866.04=3213 U866.05=3106 U866.06=664 U866.07=665 U866.08=3104 U866.09=3208 U866.10=3209 U866.11=625 U866.12=626 U867.0=879 U868.0=529 U869.01=523 U869.02=524 U882.0=104 U953.60=4 {FD-789b-} U855.01=536 U855.02=220 U851.00=530 U859.00=100 U864.00=0,10 U865.01=0 U865.02=0 U953.61=4 {FD-789c-} U878.01=536 U878.02=220 U878.03=627 U953.62=4