Communication / CBC CANopen Communication Board 02.2004
6SE7087-6QX70 (Version AD) Siemens AG
8.5-132 Compendium Motion Control SIMOVERT MASTERDRIVES
Function diagram
87654321
Parameter file "Positioning with B-POS via CANopen"
MASTERDRIVES MC
01.10.01
MASTERDRIVES MC with B-Pos
- 8525 -
from V1.5
Parameter file for the control of positioning/setup via CBC field bus interface CANopen
The basic communication
interconnections 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
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:
DriveMonitor for
WINDOWS 95
and later:
- MCEPOS.SSC
(Load this script file,
applies equally to
Compact PLUS, Compact
and chassis units)
Free block interconnections
Target Reached Profile Velocity Mode{FD-740-}
U136.01=151
U136.02=418
U137.00=500
U138.00=2.00
U139.00=2
U951.18=4
Target Reached Profile Torque Mode{FD-740-}
U141.01=241
U141.02=525
U142.00=1000
U143.00=2.00
U144.00=2
U952.49=4
{FD-750-}
Wiring of setpoints, Stop in some modes
U168.00=3211
U169.01=241
U951.19=4
Changeover Acceleration in PPM,SUM or HM
U170.00=3215
U171.01=877
U171.02=406
U951.21=4
Changeover Deceleration in PPM,SUM or HM
U172.00=3215
U173.01=878
U173.02=406
U951.60=4
Target Torque for PTM, implementation of Stop
U174.00=618
U175.01=0
U175.02=408
U951.76=4
Changeover Profile Velocity in PPM,SUM or HM
U182.00=3215
U183.01=416
U183.02=876
U951.77=4
Stop in PPM, SUM and HM
U184.00=3202
U185.01=0
U185.02=874
U952.08=4
{FD-765-}
Changeover signal for analog changeover for Stop in PTM
U238.01=3108
U238.02=104
U238.03=3211
U952.92=4
;Speed setpoint
Output of fixed setpoint U018,60FF n.mapped
Smoothing time constant
;Hysteresis tolerance range 2%
;Mode A=B
;Time slot
;Torque actual-value
;Output of analog signal changeover U175
;Smoothing time constant
;Hysteresis tolerance range 2%
;Mode A=B
;Time slot
;Bit 11 of CB receive connector 2,1=PTM
;Torque actual-value
;Time slot
;Bit15 of CB receive connector 2,1=HM
;Fixed conn. B-POS U873.2, accel. n. mapped
;Fixed connector U006,accel. setp. in HM
;Time slot
;Bit15 of CB receive connector 2,1=HM
;Fixed conn. B-POS U873.2,decel. n. mapped
;Fixed connector U006,deceleration in HM
;Time slot
;Output AND element U238
;
;Fixed connector U008, torque setp. in PTM
;Time slot
;Bit15 of CB receive connector 2,1=HM
;Fixed connector U016,V-setp for PPM,SUM
;Fixed connector B-POS U873.1,V in HM
;Time slot
;Bit2 2.CBC K3002,0=Stop forPPM,SUM,HM
;Valid speed setpoint B-Pos
;Time slot
;Stop for PVM and PTM
;Operation from status word 1
;Bit11 from CBC K3002,1=PTM
;Time slot
REF_BWD_STOP, wiring of CBC depending on HM
U245.03=0
U951.93=4
REF_FWD_STOP,wiring of CBC depending on HM
U246.03=0
U952.10=4
Measured value valid for reference block B-POS (HM 35)
U247.01=212
U247.02=3200
U247.03=0
U952.11=4
Set Pos Setp for position controller
U248.01=3200
U248.02=105
U248.03=0
U952.40=4
{FD-770-}
Inverter U258 to P772 (Src EnRGenByp)
U258.00=3212
U952.41=4
Inverter U259 to P213 (Src Release Ctrl)
U259.00=877
U952.53=4
NAND U268 to U470.05 (set simple RGEN 2 for PTM)
U268.01=3101
U268.02=3102
U268.03=3111
U952.94=4
Binary changeover U274 to
B-Pos D_FWD,changeoverHMandPPM/SUM
U274.01=3215
U274.02=3111
U274.03=882
U951.65=4
Binary changeover U275 to
B-PosD_BWD,changeoverHMandPPM/SUM
U275.01=3215
U275.02=3112
U275.03=883
U951.96=4
{FD-780-}
Time element U302-U304 to U855.01 and U878.01 from
B-POS
U302.00=3200
U303.01=0,002
U304.00=2
U951.99=2
{FD-732-}
Shift multiplier U442,U443 to U469.03,Src SetV RGen
U442.01=-16
U443.01=522
U953.36=4
;01,02 wired from CBC
;Time slot
;01,02 wired from CBC
;Time slot
;Measured value valid from position sensing
;Bit 0 from K3002, set position from HM 35
;Time slot
;Bit 0 from K3002, set position from HM 35
;No operation from status word 1
;Time slot
;Bit 12 from K3002, 1=PVM
;Time slot
;PSR from B-POS
;Time slot
;OFF 2 from CBC, K3001 bit 1
;OFF 3 from CBC, K3001 bit 2
;Bit 11 from CBC, K3002, 1=PTM
;Time slot
;Bit 15 from CBC K3002, 1=HM
;Bit 11 from CBC K3001
;D_FWD from fixed binector, B-POS
;Time slot
;Bit 15 from CBC K3002, 1=HM
;Bit 12 from CBC K3001
;D_BWD from fixed binector, B-POS
;Time slot
;Set position from CBC K3002, bit 0
;2ms time delay
;ON/OFF delay
;Time slot
;Division by 2^16, adjustment KK-->K
;Select torque SetV, changeover U168,169
;Time slot
;Analog changeover U174/U175 for stop
;Output shift multiplier setting value
;Set, output NAND element U268
;Torque Slope, 200% per second
;100%, upper torque limit value
;-100%, lower torque limit value
;Time slot
;Output current
;Bit 1 from 2nd CBC receive connector
;Time slot
{FD-786b-}
Simple RGen for PTM U469-U472,K854 = Tset
U469.01=525
U469.02=0
U469.03=618
U470.01=0
U470.02=0
U470.03=0
U470.04=0
U470.05=688
U471.01=32768
U471.02=0
U472.01=16383
U472.02=-16384
U472.03=0
U953.56=4
Display parameter r047.05: output current{FD-30-}
P046.05=242
F151 Initialization fault{FD-710-}
U064.00=3201
U952.62=7
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