08.2012 Technology Option F01
Siemens AG 6SE7087-6QX70 (Version AN)
SIMOVERT MASTERDRIVES Compendium Motion Control 9-139
9.7.2.13 Configuring the SIMOLINK master
We are currently concerned with drive 2 of the application example,
which calculates the virtual master axis
and handles the SIMOLINK
dispatcher function.
The SIMOLINK drive interface is described in detail in the
"Communication" chapter of the Compendium and in [140...160]; the
hardware commissioning is detailed in the instruction manual of the
SLB board. The SIMOLINK master is configured from the "board
configuration" parameter menu (see the "Parameterizing Steps" of the
Compendium). In our example, drive 2 is only required to send two
double words, i.e. the path setpoint of the virtual master axis and a
reserve word (unused). Both drives receive the path setpoint of the
virtual master axis from SIMOLINK (including the master itself - this
safely eliminates a deadtime difference between the path setpoints for
drives 1 and 2).
; Configuration of the SIMOLINK master (dispatcher)
P60=4 ; Select the parameter menu "board configuration"
P740=0 ; The dispatcher always has SIMOLINK address "0"
P741=100ms ; Message timeout
P742=1 ; "Low output power" adequate with
; short cable
P743=2 ; No. of stations = 2 drives
P745=2 ; 2 channels (i.e. 2 send messages, 32 bits each)
; per station; all stations must have same setting
; based on the station that sends most messages
; in this case the master: 1 word for path setpoint
; of virtual master axis, 1 word reserved
;
P746=3,20 ; Set cycle time 3.2 ms for SIMOLINK ==>
; every 3.2 ms the master automatically sends a SYNC
; message, which synchronizes the sampling times of
; all stations. P746 should be set to the same
; sampling time in which the synchronization is
; nested (U953.32=4)
P749.01=0,0 ; 1st SIMOLINK receive double word KK7031 [150.7] =
; channel 0 of station 0 (i.e. of master)
P749.02=0,1 ; 2nd SIMOLINK receive double word KK7033 =
; channel 1 of master [150.7]
P60=0 ; Exit board configuration
P751.1=817 ; Connect output path setpoint KK817
P751.2=817 ; of virtual master axis [832.8] to send channel 0
; of SIMOLINK (assign the same double-connector to
; send words 1 and 2) [160.1]
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