Online-Communication with Twin Line-units in the field bus
DeviceNet
Operating system: 1.0xxOrder no.: 98441113169Edition: -000, 11.00
A product from:
SIG Positec BERGERLAHRGmbH & Co. KGBreslauer Str. 7D-77933 Lahr
Tel. +49 (0) 7821 - 946 - 01Fax +49 (0) 7821 - 946 - 313http://www.sig-berger.de
Advice, Service and Sales:SIG Positec Automation GmbHBreslauer Str. 7D-77933 Lahr
Tel. +49 (0) 7821 - 946 - 02Fax +49 (0) 7821 - 946 - 220http://www.sig-positec.de
DeviceNet
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DeviceNet
98441113169, -000, 11.00DeviceNetTable of contents
Table of contents
Glossaries. . . . . . . . . . . . . . . . . . . . . . . . . . . V-5Abbreviations. . . . . . . . . . . . . . . . . . . . . . . . . . V-5Product name . . . . . . . . . . . . . . . . . . . . . . . . . V-5Technical Terms . . . . . . . . . . . . . . . . . . . . . . . . V-6Written conventions and note symbols. . . . . . . . . . . . . V-81DeviceNet technology . . . . . . . . . . . . . . . . . . . . .1-11.11.21.3
DeviceNet transmission technology . . . . . . . . . 1-1Network topology . . . . . . . . . . . . . . . . . . 1-1Accessing procedures . . . . . . . . . . . . . . . . 1-1
2The field bus device . . . . . . . . . . . . . . . . . . . . . .2-12.12.22.32.42.5
System requirements . . . . . . . . . . . . . . . . 2-1Field bus devices in DeviceNet network . . . . . . . 2-2Operating modes and functions in field bus operation
2-3
Twin-Line manuals and literature references . . . . 2-3Regulations, norms . . . . . . . . . . . . . . . . . 2-3
3Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-13.13.23.33.4
Danger categories . . . . . . . . . . . . . . . . . . 3-1Safety instructions . . . . . . . . . . . . . . . . . . 3-2Intended use . . . . . . . . . . . . . . . . . . . . . 3-2Qualification of the personnel . . . . . . . . . . . . 3-2
4Communication in the field bus . . . . . . . . . . . . . . . .4-14.14.1.14.1.24.1.34.1.44.1.54.24.2.14.2.24.2.34.2.44.3
98441113169, -000, 11.00Control access to Twin Line units . . . . . . . . . . 4-1Data exchange . . . . . . . . . . . . . . . . . . 4-2Data structure . . . . . . . . . . . . . . . . . . 4-3Identification . . . . . . . . . . . . . . . . . . . 4-4Data framework for transmitted data . . . . . . . 4-4Data framework for received data . . . . . . . . 4-5Mechanism for monitoring and acknowledgment . . 4-8Connection monitoring . . . . . . . . . . . . . . 4-8Function of “sf“ and “rf“ bits . . . . . . . . . . . 4-9Command error bit “cmderr“ . . . . . . . . . . 4-10Example of a positioning command . . . . . . 4-10Action and control commands . . . . . . . . . . . 4-11Replacing devices . . . . . . . . . . . . . . . . . 4-14
4.4
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Table of contentsDeviceNet
5Installation and set-up. . . . . . . . . . . . . . . . . . . . . 5-15.1EMV . . . . . . . . . . . . . . . . . . . . . . . . 5-15.2Installation . . . . . . . . . . . . . . . . . . . . . 5-25.2.1Installation and set-up of unit . . . . . . . . . . . 5-25.2.2Address and baud rate settings . . . . . . . . . . 5-25.2.3Connecting the Twin Line unit . . . . . . . . . . 5-35.2.4Termination . . . . . . . . . . . . . . . . . . . . 5-45.3Set-up . . . . . . . . . . . . . . . . . . . . . . . 5-55.3.1Initiating network operation . . . . . . . . . . . . 5-55.3.2Electronic Data Sheet (EDS) . . . . . . . . . . . 5-55.3.3
Troubleshooting . . . . . . . . . . . . . . . . . . 5-5
6Examples for field bus operation. . . . . . . . . . . . . . . 6-16.1Structure of program examples . . . . . . . . . . 6-16.2Operating status . . . . . . . . . . . . . . . . . . 6-46.2.1Checking operating status . . . . . . . . . . . . 6-46.2.2Changing the operating status . . . . . . . . . . 6-56.3Setting processing parameters . . . . . . . . . . . 6-86.3.1Non operating mode specific processing
parameters 6-86.3.2Operating mode specific processing parameters 6-96.4Reading device information . . . . . . . . . . . . 6-106.4.1Reading parameter settings . . . . . . . . . . 6-106.4.2Reading status information . . . . . . . . . . . 6-116.5Processing inputs/outputs . . . . . . . . . . . . . 6-126.6Use of operating modes . . . . . . . . . . . . . . 6-136.6.1Point-to-Point Positioning . . . . . . . . . . . . 6-136.6.2Speed mode . . . . . . . . . . . . . . . . . . 6-166.6.3Electronic gear . . . . . . . . . . . . . . . . . 6-176.6.4Homing . . . . . . . . . . . . . . . . . . . . . 6-196.6.5Manual movement . . . . . . . . . . . . . . . 6-216.6.6Data set operation . . . . . . . . . . . . . . . 6-226.7Using operating functions . . . . . . . . . . . . . 6-246.7.1List control . . . . . . . . . . . . . . . . . . . 6-246.7.2TeachIn . . . . . . . . . . . . . . . . . . . . . 6-276.7.3Normalisation . . . . . . . . . . . . . . . . . . 6-286.7.4Fast position value capture . . . . . . . . . . .
6-30
6.8Examples of fault processing . . . . . . . . . . . . 6-326.8.1Synchronous faults . . . . . . . . . . . . . . . 6-326.8.2Asynchronous faults . . . . . . . . . . . . . . 6-336.8.3Other faults . . . . . . . . . . . . . . . . . . . 6-356.8.4Resetting faults (FaultReset) . . . . . . . . . . 6-366.8.5
Reading and deleting the error memory . . . . 6-37
7Error handling . . . . . . . . . . . . . . . . . . . . . . . . . 7-17.1Error messages . . . . . . . . . . . . . . . . . . 7-17.2Synchronous errors . . . . . . . . . . . . . . . . 7-27.3
Asynchronous errors . . . . . . . . . . . . . . . . 7-3
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98441113169, -000, 11.00DeviceNetTable of contents
8Service, maintenance and warranty . . . . . . . . . . . . . .8-18.1
Service address . . . . . . . . . . . . . . . . . . . 8-1
9Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . .9-19.1
List of accessories . . . . . . . . . . . . . . . . . . 9-1
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
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V-4DeviceNet
98441113169, -000, 11.00DeviceNetGlossaries
Glossaries
Abbreviations
Abbrevia-tionACASCIICANCOSDCEI/OEDSEMCHMIIncLEDLWLMMAC IDODVAPCPLCZK
ExplanationAlternating current,
American Standard Code for Information Interchange; standard code for text charactersController Area NetworkController Operating System, Direct current
Encoder; coding device, incremental encoderInputs/outputs
Electronic Data Sheet; contains characteristics of the device electro-magnetic compatibility
Human Machine Interface, plug-in hand-held operating unitincrements
Light Emitting Diode fibre optic cableMotor
Media Access Control Identifier
Open DeviceNet Vendor Association; organisation for maintain-ing and refining the DeviceNet specificationPersonal Computer
programmable logic controllerDC-line
Product name
Abbrevia-tionTLC5xxTL HMITL CTTL HBCTL BRC
98441113169, -000, 11.00Product designationTerm used
Twin Line Controller 5xxDrive control unitTwin Line HMI
HMI hand-held operating unit
Twin Line Controll ToolOperating SoftwareTwin Line Holding Brake Controller
Holding Brake Controller
Twin Line Ballast Resis-Ballast Resistor Controllertor Controller
DeviceNetV-5
GlossariesDeviceNet
Technical Terms
Actual position of the drive systemThe actual position of the drive system gives the absolute or relative positions of moved components in the system.Actual position of the motorSee Angular position of the motor
Angular position of the motorThe angular position of the motor corresponds to the angular position of the rotor in the motor housing, and refers to the zero point or index point of the position sensor.
asynchronous errorError which is recognized and reported by the monitoring facilities built-in to the controller
CAN-CField bus module which connects the positioning controller to a CAN field bus. By selecting a field bus profile, you can define whether the device is to operate with CAN bus, CANOpen or DeviceNet protocolsControl dynamicismSpeed at which a controller reacts to a disturbance or to a change in the input signal
DC lineThe DC line generates the necessary direct current for operating the motor and provides the amplifier with the necessary energy. The DC line acts as a buffer to energy fed back by the motor.
Default valuesPreset values for the parameters of the Twin Line Unit before the first commissioning, factory settings
Direction of rotationRotation of the motor shaft in a clockwise or anticlockwise direction. A clockwise direction of rotation is given when the motor shaft rotates clockwise as the observer faces the end of the protruding shaft.Drive solutionThe drive solution comprises the drive system with its Twin Line Unit and motor, as well as the system mechanics forming an integral part of the chain of motion.
Drive systemThe drive system consists of the Twin Line Unit and the motor.Electronic gearAn input speed is recalculated by the Twin Line Unit using the values of an adjustable gear ratio to produce a new output speed for the motor movement.
EncoderSensor for recording the angular position of a rotating element. Mounted on the motor, the encoder signals the angular position of the rotor.Error classReaction of the Twin Line Unit to an operational malfunction correspon-ding to one of five error classes
ForcingTo change signal states irrespective of the hardware switching status in the unit; with the control tool, for example. The hardware signals remain unchanged.
HIFA-CModule with Hiperface interface for connecting an encoder made by Messrs Stegmann
High/openSignal status of an input or output signal; when no signal is present, sig-nal voltage is high (high level).
HMIHand-held operating unit which can be plugged into the Twin Line Unit. HMI: Human-machine interface.
I2t monitoringPredictive temperature monitoring. On the basis of the motor current, the expecting heating of unit components is calculated in advance. Should a limit value be exceeded, the Twin Line Unit reduces the unit current.
Index pulseEncoder signal for referencing the rotor position in the motor. The enco-der sends one index pulse per revolution.
V-6DeviceNet
98441113169, -000, 11.00DeviceNetGlossaries
Incremental signalsInput deviceAngular steps of an encoder in the form of square-wave pulse sequences. The pulses signal changes in position.
Input device is the device which can be connected to the RS232 inter-face for the purpose of commissioning; it is either the HMI hand-held operating unit or a PC with the Operating Software.
The resolution of the power amplifier with which the motor can be posi-tioned. Internal units are given in increments.
Switches which signal any overrun on the permissible travel.
Signal status of an input or output signal; when no signal is present, sig-nal voltage is low (low level)
Monitoring function at the RS232 interface
Normalisation factors are used to change the accuracy of a user-defined unit with reference to one revolution of the motor.Electrical transmission of signals with electrical isolationDevice data and values which can be set by the user
This is the unit that controls the motor. The power amplifier generates currents for controlling the motor in accordance with the positioning sig-nals from the control unit.
Digital signals with variable pulse frequencies which signal changes in position and rotation direction via separate signal wires.
This function is used in the event of faults, the stop command or in an emergency for rapidly braking a motor.
Analog encoder for determining the angular position of the rotor. It is used for returning the actual position of the motor for phase-accurate control of the motor.
Communications interface of the Twin Line unit for the connection of a PC or the HMI hand-held operating unit
The signal status is calculated from the differential voltage of one posi-tive and one inverted negative signal. Two signal wires must therefore be connected for one signal.
The signal status is calculated from the differential voltage of one posi-tive and one inverted negative signal. Two signal wires must therefore be connected for one signal.
An encoder for registering the position of the rotor of the servomotor as an analog sine-cosine signal and as digital position data via the HIFA-C module. Motor data are held in the Sincoder and are read into the unit once the Twin Line Unit is switched on.
Error which is signaled by the controller when it is unable to carry out a command from the master device
A user unit corresponds to the maximum precision at which a distance, speed or acceleration value can be input. User units can be set for all normalizable parameters.
Device in the unit which detects internal faults. If a fault occurs, the amplifier is switched off immediately.
Internal unitLimit switchLow/openNode guardingNormalisation factorsOptically isolatedParametersPower amplifierPulse direction signalsQuick-stopResolverRS232 interfaceRS422 levelRS485 levelSincoderSynchronous errorUser units98441113169, -000, 11.00WatchdogDeviceNetV-7
GlossariesDeviceNet
Written conventions and note symbols
Action symbols “̈“This action symbol is used for step-by-step instructions which can be carried out as they are described. If one of the instructions leads to a noticeable response from the unit, this will be given after the description of the action to be carried out. In this way you will receive direct confir-mation that a particular step has been correctly carried out.
Enumeration symbol “•“The enumeration symbol is used for listing individual points in a given information group in summary form. If the result of steps or sequences is described, the step to be carried out is described first.
Menu paths“©“In the Twin Line Control Tool operating software, actions can be initiated via \"Menu © menu item © ...\". For example, selecting \"File © Save\" in the \"File\" menu under menu item \"Save\" will save data from a PC’s memory to a data carrier.
Parameter nameParameters are written in this handbook in the following description:parameter groupe.parameter name (Index:Subindex)
Example: “CtrlBlock1.n_max (19:5)“ for a parameter in the groupe ' CtrlBlock1' describing the maximal rotation.
In the parameter chapter of the device book you find more informations about parameters. They are sorted and listed there in groups.
This symbol is used for general notes which give additional information about the unit.Passages which are preceded by this symbol may have to be discussed in more detail with SIG Positecs customer service. You will find contact addresses for SIG Positec under “Service address“, page 8-1.V-8DeviceNet
98441113169, -000, 11.00DeviceNetDeviceNet technology
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1.1
DeviceNet technology
DeviceNet transmission technology
DeviceNet was developed as an open field bus standard based on the CAN protocol. The communication protocol and specification are main-tained by the Open DeviceNet Vendor Association (ODVA), and can be acquired by the ODVA by anyone interested.
DeviceNet is a simple network solution which cuts down the time and money needed to be spent on the installation of industrial automation devices. DeviceNet provides a cost-effective solution for connecting limit switches, optical sensors, electrical drives or operating consoles in a single network.
Twin Line controllers from SIG Positec can be integrated with the CAN-C field bus module into a DeviceNet network.
1.2Network topology
DeviceNet devicesThe DeviceNet network consists of several DeviceNet devices which are connected via a bus cable. Any DeviceNet device can transmit com-mands if it is configured as a master. Configured as a slave, it can receive commands. The data are transmitted serially between network devices.
Masters are active bus devices which control data traffic in the network. Examples of master devices are:•••
Automation devices, e.g. PLCsPCs
Programing devices
MasterSlavesSlaves are passive bus devices. They receive control commands and provide data for the master device. Examples of slave devices are:•••
Input/output modules
Drive controllers, e.g. Twin Line unitsSensors and actuators
1.3Accessing procedures
devices can be addressed per network branch in a DeviceNet field bus system.
Addressing via MACIDIn a DeviceNet every device is addressed via the Media Access Controll Identifier (MACID). The MACIdentifier is part of the 11-bit CAN Identi-fier which is transmitted in addition to the 8 byte data frame.
The MACIdentifier corresponds to the device address which can be set via M4.addrCan or via inputs ADR_1 to ADR_32.
You will find details on defining identifiers in the chapter entitled “Com-munication in the field bus“ on page 4-1.
98441113169, -000, 11.00DeviceNet1-1
DeviceNet technologyDeviceNet
1-2DeviceNet
98441113169, -000, 11.00DeviceNetThe field bus device
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2.1
The field bus device
System requirements
The Twin Line unit must be equipped with the CAN-C field bus interface for operating in a field bus. Depending on the setting, the device can be operated in a CAN bus, CANOpen or DeviceNet environment.
ItemNo.14
11
Designation
Twin Line unit with CAN-C module Drive control unit TLC5xxManual for DeviceNet
Order No.Type code98441113169
The network cable is available as an accessory.
ItemQty2
1
Designation
Order number
6250 1446 yyy1)field bus cable for CAN-C module (the col-ours used match CAN guidelines. Remember
that the colours do not correspond to the DeviceNet specification.)
terminating plug for CAN-C module, 9-pin socket, 9-pin
6250 1518 002 6250 1518 003
31
1)cable length yyy: 005, 015, 030, 050: 0.5 m, 1.5 m, 3 m, 5 m
98441113169, -000, 11.00Fig. 2.1Twin Line unit with field bus fittings
DeviceNet2-1
The field bus deviceDeviceNet
2.2Field bus devices in DeviceNet network
Field bus devices from SIG Positec can be operated in the same field bus segment. The commands for Twin Line units differ however from those for other SIG Positec devices in the field bus.
Fig. 2.2Field bus devices from SIG Berger Lahr in the network
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98441113169, -000, 11.00DeviceNetThe field bus device
2.3Operating modes and functions in field bus operation
Depending on equipment and model, Twin Line units operate in a field bus with the following operating modes and functions: ••••••
Relative and absolute positioningSpeed modeElectronic gear
Reference movement and dimension settingdata set operationManual movement.
Operating functions include••••••
List controlTeachNormalisationRamp functionsBrake functionMonitoring functions.
The field bus can be used to call up and change Twin Line unit param-eter settings, monitor inputs and control outputs, as well as to activate diagnostic and fault monitoring functions.
2.4Twin-Line manuals and literature references
Twin Line-manualsTwin Line Controller 5xx, 4xx, manual for TLC5xx. 4xx Positioning Controllers
Twin Line HMI manual for the hand-held HMI device
TL CT operating software manual for the Twin Line Control Tool software
ODVAOpen DeviceNet Vendor Association20423 State Road 7 Suite 499Boca Raton, Florida 33498 USAwww.odva.org
The ODVA maintains and refines the DeviceNet specification. CAN in Automation (CiA)Am Weichselgarten 26D-91058 Erlangenwww.can-cia.de
CAN interest group2.5
98441113169, -000, 11.00Regulations, norms
EN 50325–2ISO/DIS 118
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The field bus deviceDeviceNet
2-4DeviceNet
98441113169, -000, 11.00DeviceNetSafety
3
3.1
Safety
Danger categories
Safety notes and general information are indicated by special symbols in the manual. In addition you will find symbols and instructions affixed to your Twin Line unit which warn you of possible dangers and help you to operate the unit safely.
Depending on the seriousness of the danger, danger symbols are divided into three danger categories. The symbols shown emphasize the danger situation to which the warning applies. DANGER!
This is an indication of direct personal danger.Can lead to serious injuries with fatal consequences if not observed.WARNING!
Indication of a recognizable danger.If the warning is ignored, the danger can lead to serious injury with fatal consequences, and to the unit or system parts being permanently damaged.CAUTION!
Indication of a danger.If this is ignored, minor personal injury and light damage to the unit or system may be the result.98441113169, -000, 11.00DeviceNet3-1
SafetyDeviceNet
3.2Safety instructions
DANGER!
Electric shock from high voltage!Follow safety rules when working on electrical systems:•Switch off the power to the unit
•Make sure the unit cannot be switched on again inadvertently•Confirm that no voltage is present
•
Cover or shield neighboring system parts which are live.
DANGER!
Electric shock from high voltage!Before working on Twin Line unit amplifier connections or on motor terminals, wait for the discharge time of 4minutes, or 6minutes for TLCx38 units, and then meas-ure the residual voltage on the DC line terminals “DC+“ and “DC-“. The residual voltage may not exceed 48Vworking on the connections.DC before Pay attention to the following for TLCx1x stepping motors: If additional DC-line capacitors are fitted, the discharge time increases to up to 10 inutes. Wait for this length of time, and then measure the residual voltage.DANGER!
Danger of injury and damage to system parts from unsu-pervised movements initiated by the control unit! When field bus operation is started, the connected control units are usually out of sight of the user, and can not be directly observed. Only start field bus operation when there is nobody in the action radius of moving system compo-nents, and the system can be safely operated.3.3Intended use
Twin Line units with the CAN-C module may be used in networks with cabling to “CiA Draft Standard 102V2.0“. (CiA: CAN in Automation, see page 2-3).
Before being used in a network, Twin Line units must be correctly installed and their functions tested in an initial start-up test.
Network cabling must be installed to EMC specifications before a device may be started up in the network.
3.4Qualification of the personnel
Work on and with the Twin Line devices may only be carried out by qualified personnel.
Qualified personnel can use their technical training, knowledge and experience to assess the work to be done and to recognize and avoid possible dangers.
Qualified personnel will be aware of the current standards, regulations and accident prevention regulations which must be observed when working on the unit.
3-2DeviceNet
98441113169, -000, 11.00DeviceNetCommunication in the field bus44.1Communication in the field busControl access to Twin Line unitsLocal and remote accessData exchange and control of Twin Line units can be carried out via var-ious access channels:••locally via the RS232 interface with the HMI hand-held operating device or TL CT operating software, or via the signal interfaceremotely over the field bus.Fig. 4.1Local and remote access to Twin Line unitsLocally the Twin Line unit controls access rights and channel clearance automatically. A running movement command via local devices can not be interrupted by means of field bus commands.If a movement command is initiated through the field bus, no movement can be simultaneously triggered through a local device. This ensures that a running movement command can be completed in a controlled manner through the field bus.In addition, local operating devices’ access to the Twin Line unit can be barred and released via field bus commands. Local channels become available again when they are released by the master device or when field bus operation is interrupted. Communication via parametersThe basis for communication between Twin Line units and the field bus master device is formed by the Twin Line unit parameters. A field bus command addresses each parameter through an index and sub-index.98441113169, -000, 11.00Fig. 4.2Example of a parameter in a field bus commandDeviceNet4-1Communication in the field busDeviceNet
The number of usable parameters depends on the Twin Line unit. You will find a list of all parameters in your Twin Line unit manual. The param-eters are listed there firstly in their functional context to each operating mode, again at the end of the manual in an overview by groups.
The number format of the parameter values in a field bus command can be seen from the group overview in the chapter, ’Parameters’ in the device manual. Example: for the parameter I_max (18:2), the conversion factor from cur-rent strength to values to be inputted is: 100=1Apk. If you input 100, you have set a current strength of 1Apk.
4.1.1Data exchange
Online command processingThe master device sends a command to the Twin Line unit in order to have a movement assignment carried out, activate operating functions or request information from the controller. The controller carries out the command and acknowledges its successful execution.
The exchange of data follows a fixed routine. The process is always viewed from the point of view of the master device:
Fig. 4.3Communication between master device and controller
•
“Transmitted data“ to the control unit:
the master device places a command in the data transmission memory. From there it is transmitted to the controller and carried out.
•
Received data“from the control unit:
the controller acknowledges the execution status of the command in the received data. If the master device receives an acknowledgment with no error message, the command has been correctly executed.
4-2DeviceNet
98441113169, -000, 11.00DeviceNetCommunication in the field bus
The master device can send new commands as soon as it has received acknowledgement of the current command.
The following description of the 8-byte data frame represents the sequence in which the data are held in the receive or transmission data memories of the slave controller. Depending on the type and settings of the master controller, the bytes must be swapped from the user programme when writing to and reading from the memories.CommandsThe master device transmits control commands and action commands with the transmitted data. After sending a control command, it receives an acknowledgment from the controller confirming whether the process-ing operation has been successfully carried out and completed.In the case of an action command, the controller merely reports back whether a process has been successfully initiated. The master device must thereafter continuously monitor for the end of the processing task, by requesting and evaluating data received from the controller.Details of both commands are described in the section entitled “Action and Control Commands “ from page 4-11.
4.1.2Data structure
Besides command and control information, data transmitted and
received also contain administration data for monitoring network opera-tion. These administration data are provided by the user program in the master device.
To enable communication with the control unit to function on the net-work, transmitted and received data must be exchanged, programed and evaluated in an eight byte data framework.
Fig. 4.4
98441113169, -000, 11.00Data structure of the data framework
The first byte transmitted (byte 1) in the eight byte block contains acknowledgment information for co-ordinating data exchange.The data framework with transmitted and received data, and all byte, word and double word values are given in hexadecimal notation in the manual. Hexadecimal values are indicated by an ”h” after the value, e.g. “31h“.
DeviceNet4-3
Communication in the field busDeviceNet
4.1.3Identification
DeviceNet is based on the standard CAN protocol. This allows an 11-bit Identifier to be used for messages – the so-called Connection Identifier. 6 bits of it are used for the device address (max. devices). These 6 bits are called the Media Access Control Identifier (MAC ID). The Con-nection Identifier also contains the code for the Message Group – the Message Identifier. The Message Identifier defines the significance of the message in the system. There are four Message Groups available depending on the application model.
Twin Line units communicate via Message Group 2 by means of I/O messaging (polled I/O). This establishes a classic master-slave relation-ship between controller and device.
The Connection Identifier is transmitted with the administration data and is not part of the 8-byte data frame.
4.1.4Data framework for transmitted data
The master device uses transmitted data to send a control or action command to the controller.
Fig. 4.5Transmitted data framework
Byte 1: requestdataThis byte contains control information for acknowledging and synchro-nizing as well for differentiating whether the command is a write com-mand or a read command.
BitNameMeaning
2
–
0: read value: The controller reads a value defined by index and sub-index, and places it on the bus.
1: write value: A parameter value is written to the controller..7sf
(sf: sendflag)
The master device flags a new command for the controller by changing the signal of the “sf“ bit. Used together with “rf“ in received data
The acknowledgment mechanism via “sf“ and “rf“ is described on page 4-9.
4-4DeviceNet
98441113169, -000, 11.00DeviceNetCommunication in the field bus
Byte 2...4: sub-index, indexIndex and sub-index are used to address the parameter which is evalu-ated as a command in the controller. The allocation of parameters for index and sub-index, and the parameter settings are described in the controller manual.
These four bytes contain settings for the parameter transmitted to the controller as a command, e.g. the set speed for a PTP positioning maneuver.
When a parameter of type INT16 or UINT16 is transmitted, the value is stored in commanddata in bytes 7 and 8, and the entries in bytes 5 and 6 have the value 0.
You will find the data types used in the positioning controller’s manual.
Byte 5...8: commanddata4.1.5Data framework for received data
Received data supply the controller’s answer to a command. At the same time they include information on the controller’s operating status.
Fig. 4.6Received data framework
98441113169, -000, 11.00DeviceNet4-5
Communication in the field busDeviceNet
Byte 1: responsedataThe first byte contains the response data from the controller on acknowl-edgment, synchronization and error detection, and on the identification of the field bus service.
BitNameMeaning
6
cmderr
Command error (cmderr: command error), signal is only valid after correct acknowledgment of a data package.0: Command was executed without error.
1: Command error, bytes 7 and 8 contain the error number “errnum“.
7rf
Controller’s acknowledgment of receipt by changing “rf“ bit (rf: receiveflag).
rf = sf: Command recognized and initiatedrf ≠ sf: New command not yet processed
The acknowledgment mechanism via “sf“ and “rf“ is described on page 4-9.
Byte 2: controldataThe controller uses the control data to provide information on the oper-ating mode set and to supply additional axis data. Control data can also be determined via the Low byte of the “Status.xMode_act“ parameter (28:3).
BitNameMeaning
0..4
mode
Current axis operating mode, bit-codedExample: 00011 - PtP positioning1: manual movement2: referencing3: PtP positioning4: speed mode5: electronic gear
5ref_ok0: no reference point fixed. 1: axis has been referenced.
6
pwin
Standstill window, permissible control deviation0: no standstill
1: motor stopped in standstill window.
4-6DeviceNet
98441113169, -000, 11.00DeviceNetCommunication in the field bus
Byte 3, 4: fb-statuswordStatus messages are used to monitor the operating status of the con-troller. This information corresponds to the UINT32 value in the „Status.driveStat“ parameter (28:2).
Bit0..3
Namecos
Meaning
Operating status of the controller, bit-coded
You will find details on the display and recognition of the operating status in the manual in the chapter on diagnostics and error correction.
Internal monitoring signals 0: no error recognized
1: error recognized, cause via parameters “Status.FltSig_SR“ (28:19) and “Status.IntSigSr“ (29:34)
5FltSig
6
Sign_SRExternal monitoring signals
0: no error recognized
1: error recognized, cause via
“Status.Sign_SR“ (28:15) parameter
Warning signal
0: no warning signal
1: warning signal, cause via parameters “Status.FltSig_SR“ (28:19) and “Status.IntSigSr“ (29:34)
Status bit for monitoring processing status, see page 4-11Status bit for monitoring processing status, see page 4-11Status bit for monitoring processing status, see page 4-11
7 warning
131415
x_add_infox_endx_err
Byte 5..8: readdataThe \"readdata\" data contain control information, e.g. the current posi-tion of the motor. The controller updates this control information before each message is sent to the master device. It sends this information to the master device with each receive data set.
The master device requests new read data by means of a command with the status, \"read value\Seite 4-4, byte 1.
When a parameter of type INT16 or UINT16 is transmitted, the value is stored in readdata in bytes 7 and 8, and the entries in bytes 5 and 6 have no significance.
You will find the data types used in the positioning controller's manual.If no read value has been requested yet, the control unit communicates the current axis position.
Read data are transmitted when the command has been executed with-out error.
Byte 7 , 8: errnum98441113169, -000, 11.00If a command is not executed correctly, the command error bit “cmderr“ in byte 1 signals an error. The cause of the error can be determined via the error number “errnum“. You will find a list containing a description of the error numbers in the manual in the chapter on diagnostics and error correction.
DeviceNet4-7
Communication in the field busDeviceNet
4.2Mechanism for monitoring and acknowledgment4.2.1
Connection monitoring
To ensure error-free data exchange, two monitoring mechanisms are continuously used on master and slave device sides.•Timeout monitoring
•
Checking of received characters.
Timeout monitoringA timeout time can be set in the slave device within which the master device must send a new message. If no message is received from the master in this time, the controller will halt the processing operation which has been triggered over the field bus.
The master device can report by sending a command, which is acknowl-edged by the controller.
The time interval to the timeout signal can be set via the “M4.toutCan“ parameter (24:26). Time interval “0“ switches this monitoring off.
Error messages in DeviceNetAll devices in the DeviceNet receive a command simultaneously. If one operationof the devices detects a transmission error, it sends an error message even if it the message was not addressed to it and the slave device to which it was addressed, has received the data correctly.
As a result of the error message, the master device re-sends the com-mand. Recognition of a new or re-sent command is controlled by two bits in the data framework:•the “sf“ bit in the transmitted data•
the “rf“ bit in the received data
The “sf“ bit/“rf“ bit mechanism ensures that the controller does not execute the command a second time.
4-8DeviceNet
98441113169, -000, 11.00DeviceNetCommunication in the field bus
4.2.2Function of “sf“ and “rf“ bits
When field bus operation is started, the “sf“ and “rf“ bits are defined as being at “0“.
New command from master deviceEvaluation by slave deviceThe master device’s user software marks a new command by switching the “sf“ bit.
The control unit compares bits “sf“ and “rf“:••
“sf“ ≠ “rf“: command is new
“sf“ = “rf“: command has already been executed
Fig. 4.7Data exchange and synchronisation with “sf“ and “rf“ bits
Response from the slave deviceIf the new command has been carried out, the control units switches over the “rf“ bit and sends the signal together with the response data back to the master device.
If the controller receives a command which has already been carried out, it sends an acknowledgment back to the master device together with the latests status data.
Evaluation by the master deviceThe master device receives confirmation from the controller by means of “rf“=“sf“ after the command has been carried out.
98441113169, -000, 11.00DeviceNet4-9
Communication in the field busDeviceNet
4.2.3Command error bit “cmderr“
The command error bit is valid when the command has been acknowl-edged. •“cmderr“=0: command has been successfully carried out•
“cmderr“=1: a synchronous error has occurred.
In the case of a synchronous error, the control unit returns an error number “errnum“ in bytes 7 and 8 of the received data, from which the cause of the error can be determined. The error numbers are given in the chapter on diagnostics and error correction in the manual.You will find information on synchronous errors in the chapter entitled “Error handling“ on page 7-1.
4.2.4Example of a positioning command
A relative positioning command is transmitted to the controller.
Fig. 4.8Positioning command
The first command sets the speed, and the second initiates a positioning process. The bytes mean: •Byte 1 (requestdata): send new command: switch over “sf“ bit; write access with bit 2 =1: 4h.
•
Bytes 2-4: sub-index and index for the command: 05h:00 23h for PtP set speed “PTP.v_target“ (35:5)
03h:00 23h for relative positioning “PTP.p_relPTP“ (35:3).•
Bytes 5-8 (commanddata): setting value for the command 00 00 00 38h: PtP speed, here 38h = 56 units
00 00 13 E4h: positioning path, here 13E4h = 5.092 units.
You will find detailed examples on all operating modes of Twin Line units in the chapter entitled “Examples for field bus operation“ from page 6-1.
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98441113169, -000, 11.00DeviceNetCommunication in the field bus
4.3Action and control commands
The master can send two types of commands, control commands or action commands. The controller reacts differently depending on the type of command.
Control commandsControl commands are carried out immediately and are completed once the received data are sent back. Control commands are used for exam-ple to change parameters or switch outputs.
Fig. 4.9Carrying out a control command
If a command could not be correctly carried out, the controller sets the command error bit “cmderr“ to “1“ and reports a synchronous error.
Action commandsAction commands start a movement. The control unit switches on the appropriate operating mode, and loads the required parameters. It sig-nals the start of the movement as confirmation of the command back to the master device. An action command can for example initiate a posi-tioning process.
98441113169, -000, 11.00Fig. 4.10Carrying out an action command
If an action was not able to be initiated correctly, the control unit sets the command error bit “cmderr“ to “1“, and signals a synchronous error.
DeviceNet
4-11
Communication in the field busDeviceNet
Monitoring the operating statusThe operating status and the completion of the movement command must be continuously monitored by the master device via the status word “fb-statusword“ in the received data.
Fig. 4.11Monitoring the operating status of the control unit
Status bitsInternally the control unit administers the operating status for every operating mode via separate status bits. It only reports the status of the current operating mode on the field bus. The status bits have the follow-ing meanings: •Bit 13, “x_add_info“: Signal dependent on operating mode•
Bit 14, “x_end“: Processing status of operating mode 0: Processing running
1: Processing finished, motor stopped.•
Bit 15, “x_err“: Error status during processing 0: Error-free operation 1: Error has occurred.
The information on the current operating mode can be used to evaluate the status report for the specific operating mode. The current operating mode is found in bits 0 to 4 (\"mode\") in \"controldata\".
The allocation of operating mode and status bits is shown in the follow-ing table:
Operating modemodex_add_infox_endx_errManual mode10manu_endmanu_errReferencing20
ref_endref_errPtP positioning3set position motion_endmotion_errreachedSpeed mode4set speed vel_endvel_errreachedElectronic gear
5
0
gear_end
gear_errdata set operation7
VEL: set record_endrecord_err
speedreachedPTP: set posi-tion reached
4-12DeviceNet
98441113169, -000, 11.00DeviceNetCommunication in the field bus
As soon as processing is initiated by an action command, bit 14 “x_end“ changes to “0“. Once processing has been completed, bit 14 reverts to “1“ thereby signaling clearance for further processing steps. The signal change is suppressed if one process is followed immediately by another in a different operating mode.
Fig. 4.12Monitoring the execution of an action command
If bit 15 “x_err“ changes to “1“, an error has occurred which must be corrected before processing can continue. The procedure for testing for an asynchronous error or a warning is described in the chapter entitled “Error handling“ on page7-1. Checking during processing is only nec-essary if for example further dependent drives have to be stopped immediately.
Changing operating modesThe control unit carry out further commands while it is executing an action command, e.g. in order to change the set speed of a running positioning process or switch operating modes. The command error bit “cmderr“ shows whether the command has been successfully carried out.
98441113169, -000, 11.00DeviceNet4-13
Communication in the field busDeviceNet
4.4Replacing devices
After replacing a slave device, the new device should behave in exactly the same fashion as the old one. To achieve this, the new device must have the same parameter value settings.
In the case of IO_mode = 0, the device recognises the values of the field bus parameters via the signal interface inputs when it starts up. In the case of IO_mode ≠ 0, the field bus parameters have to be set before-hand via the HMI or TL CT software, otherwise no communication is possible with the device in the field bus network.
If the default values of other parameters are to be changed, these values can be stored in the master controller. They must be transmitted every time the Twin Line unit starts up, e.g. in „ReadyToSwitchOn“ status.
SIG Positec supplies drivers for controlling Twin Line units through PLCs made by Siemens. If you require these drivers, please contact SIG Positec’s customer service department. 4-14DeviceNet
98441113169, -000, 11.00DeviceNetInstallation and set-up
5
5.1
Installation and set-up
EMV
When cables are used in an electromagnetically charged environment, EMC requirements must be taken into consideration when cables are laid and connected.
EMC measuresThe following steps are necessary to ensure that the field bus will work without interference. They are in addition to the device-specific steps to ensure EMC which can be taken from the manual.
EMC measures
Use cables with braided and foil screening
Effect
deflect interference volt-ages
Field bus cables can be laid in one cable duct with avoid mutual interfer-signal wires and analog wires. But do not lay them ence coupling with AC or DC cables carrying over 60 V.
Use bonding lines in wide-area systems with differ-deflect interference cur-ent voltage feeds and networks spanning more than rentsone building
Use fine-core bonding lines in order to shield from even high-frequency interference current
protection from even high-frequency interfer-ence current
To protect against interference, screens on digital cables are connected at both ends. Voltage differences can lead to excessive current in the screen, and must be prevented by the use of bonding lines. For cables of up to 200 m in length, a cross section of 16mm2 is sufficient, but for longer cables 20 mm2 must be used.
98441113169, -000, 11.00DeviceNet5-1
Installation and set-upDeviceNet
5.2Installation
5.2.1
Installation and set-up of unit
Correct mechanical and electrical installation of the Twin Line unit and successful setup are a prerequisite for its installation in the network. Set the unit up in accordance with the manual. The Twin Line unit is then ready for use in the network.
5.2.2Address and baud rate settings
Up to controllers can be addressed in on DeviceNet network branch. Every device is identified via a unique address between 0 and 63. The network address for a Twin Line unit is preset to 63.
The baud rates for a DeviceNet network are 125kbaud, 250kbaud and 500kbaud. The baud rate for Twin Line units is preset to 125kbaud.
Setting address and baud rateThere are two ways of defining address and baud rate. The
“Settings.IO_mode“ parameter (29:31) can be used to set the unit up for one or other of the two ways:•“IO_mode“ = “0“: Setting via signal interface•
“IO_mode“ = “1“ or “2“: Setting via parameters.
When settings are made via the signal interface, the controller interprets the switching states of inputs ADR_1 to ADR_ as the network
address, and those of inputs BAUD_1 and BAUD_4 as the baud rate set-ting. You will find a description of the assignment and setting options of the interface in the device manual in the chapter on signal interface con-nections.
When setting address and baud rate via parameters, the address is input locally in parameter “M4.addrCan“ (24:24) with a hand-held oper-ating unit, and the baud rate in parameter “M4.baudCan“ (24:25).The baud rate must be set to the same rate for all devices in the field bus.
Setting the field bus profileYou can use the „M4.profilCan“ parameter (24:23) to determine whether the device is operated in a CAN bus network or in a CANOpen or DeviceNet environment:•0: CAN bus (default setting)•1: CANOpen•
2: DeviceNet.
The setting can be made via the „M4.profilCan“ parameter or via the MODE_1 and MODE_2 inputs.
̈In order to run the device in a DeviceNet environment, you must set the value „2“.
5-2DeviceNet
98441113169, -000, 11.00DeviceNetInstallation and set-up
5.2.3Connecting the Twin Line unit
Twin Line units are equipped with the CAN-C module in slot M4 for con-nection to a DeviceNet network.
Module interfaceThe CAN-C module is fitted with a sub-D plug and a sub-D socket, both 9-pole with UNC thread. Pin assignment is identical for both interface connections.
Fig. 5.1
Pin162738495
Signal-Color1)-
Field bus module interface connections with plug and socket.Pairs1
Meaningnot assigned
I/O-
GNDgreen1CAB_LOWCAN_HIGHGND ----whitebrowngreypink---2233---
earth -data line, inverteddata lineearthnot assignednot assignednot assignednot assigned
I, OI, O-----
1)Color details refer to the cable available as an accessory.
For units with a hood, the cable must be led downwards from the con-nection.
Cable specification•••••
Screened cable
Minimum cross section of signal wires: 0.14mm2 Twisted-pair cables
Screen to be earthed at both ends
maximum length dependent on the number of devices, the baud
rate and signal times. The higher the baud rates, the shorter the bus cable has to be. Guide values: 100m at 500kbit/s, 500m at 125kbit/s
98441113169, -000, 11.00DeviceNet5-3
Installation and set-upDeviceNet
DisplayThe „CAN-OK“ LED on the CAN-C module displays the status of the DeviceNet node:
DeviceNet statusdisplay
OFFLINE
flashes (0.2sec on / 0.8sec off)
ONLINE (Duplicate MAC ID flashes (0.8sec on / 0.2sec off) Check)LINK_OK
on
TIMEOUT/FAILURE
flashes (0.2sec on / 0.2sec off)
5.2.4Termination
Field bus devices are connected in linear segments consisting of up to master and slave devices. Every segment must be terminated at both ends by a termination resistor of 120Ω.
Fig. 5.2Termination of a bus segment via plug or terminator (T)
5-4DeviceNet
98441113169, -000, 11.00DeviceNetInstallation and set-up
5.35.3.1
Set-up
Initiating network operation
Network operation with the Twin Line unit is started via the master device. This can be a PLC or a PC with the corresponding software with which you can enter commands and read received data.
When you plug the HMI hand-held operating unit into the Twin Line unit, you can watch transmitted and received data on the display in the “2.6 field bus diagnostics“ menu.̈Switch on the Twin Line unit.
̈Start network operation and test the network connection with a command. You can for example read off the current position of the motor through the “Status.p_act“ parameter (31:6). Index is 1Fh, sub-index 6h:̈Enter the following command:80h 06h 001Fh 0000.0000h
Response from the controller: 80h xxh 000xh 0000.0138hThis is the current position 138h=312 increments. The values of “x“ depend on the current operating status of the controller.
5.3.2Electronic Data Sheet (EDS)
The specific characteristics of a DeviceNet device are made available in the form of an electronic data sheet (Electronic Data Sheet EDS). You will find the EDS for your Twin Line unit on the CD-ROM supplied with the unit.
All the configuration parameters required for operating the unit in the DeviceNet are stored in the EDS to enable them to be read and proc-essed by a PC based configuration programme.
5.3.3Troubleshooting
If you do not receive any answer from the unit, check the following settings: •••
Units switched on and master device started up for network opera-tion?
Cable connections mechanically sound?
Is the LED at the field bus input of the controller lit? If not, either network operation or the polling process are not working. The LED shows data movement across the network interface.Has the correct address been set on the controller?
Have the identifiers for transmitted and received data been correctly calculated?
Has the baud rate been set at the same rate for master device and controller?
Is the status display on the Twin Line unit showing “3“, “4“ or “6“ without blinking? If not, there is an operating fault on the unit. You will find information on the causes for errors and on ways to correct them in the manual.
••
98441113169, -000, 11.00••
DeviceNet5-5
Installation and set-upDeviceNet
5-6DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
6
6.1
Examples for field bus operation
Structure of program examples
OverviewThe program examples show practical applications for the use of Twin Line units in networks. The following elements are shown:•••••
Description of taskInitial conditions
Commands required in transmitted data frameworkResponse of the unit in receiving
Possible limitations on command execution.
In order to be able to following the examples, you should be aware of the following:•••
Operating concept and functional scope of your Twin Line unit. You will find information on this in your manual.
Field bus protocol and connection to master controller Functional scope of field bus profile.
As field bus manuals are used for different device types, and some commands are not available for all types, in many examples you will find information under „Usable device types“ on which types the functions described are available for. If no information is specified, the examples can be carried out with all device types.Transmitted and received dataSend and receive data are shown in hexadecimal notation.
The master command is given in each case. The response of the unit after carrying out the command correctly, is only shown if this is neces-sary for a further description. Otherwise positive acknowledgment of the command is assumed:
98441113169, -000, 11.00DeviceNet6-1
Examples for field bus operationDeviceNet
Transmit dataObject
ReqSixIndexDataDescription
TxD
28.1 Commands.driveCtrl
84h
01h
001Ch
0000 0002h
requirement: power amplifier switch on : set bit1
Fig. 6.1Transmit data coding
The data type of the value written can be taken from the „value range“ column in the parameter description of the manual. When an INT16 or UINT16 value is transmitted, the value is stored in bytes 7 and 8 – 0 must be entered in bytes 5 and 6.
Receive dataRes
Ctrlfb-statDataDescription
RxD
80h
xxh
xxx4h
xxxx xxxxh
Status transition not yet effected cos=4, „ReadyToSwitchOn“
Fig. 6.2Receive data coding
The data type of the value written can be taken from the „value range“ column in the parameter description in the manual. When an INT16 or UINT16 value is read, the value is stored in bytes 7 and 8 – and bytes 5 and 6 show 0. The error number for a synchronous fault message is stored as a UINT16 value, and in responsedata an fault is designated by cmderr=1.
Irrelevant valuesValues which are not relevant for the example are shown by an x. Value unitsIf read or write data are given in user-defined units [usr], they must be converted using normalisation factors. You will find information on this in your manual in the chapter entitled „Functions“ under „Normalisation“ and on page6-28.
6-2
DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
Acknowledgment bitsIn all examples, the value „0“ is assumed before the first transmit com-mand for acknowledgment bits „sf“ and „rf“. The first command must therefore transmit with „sf“ = 1. This also applies when the description of a subject is split across several examples. A new command can be rec-ognised by the change in level.
In the examples only the 8 byte-sized data framework for Twin Line units is shown. The control bytes specific to the field bus must be added by the master device’s user program in accordance with the field bus protocol. The examples are designed to complement the function descriptions in the manuals. You will find the basic way in which operating modes and functions work, described in the manual. You will also find a list there of all parameters which apply to the operating modes and functions.
Data frameworkManualThe number format of the parameter values in a field bus command can be taken from the group overview in the chapter entitled ’Parameters’ in the manual. Example: the conversion factor from current strength to input values for the parameter, I_max (18:2) is: 100=1Apk. If you enter 100, you are set-ting a current of 1Apk.
98441113169, -000, 11.00DeviceNet6-3
Examples for field bus operationDeviceNet
6.2Operating status
The preconditions for starting an operating mode are operational read-iness and correct initialisation of the unit.
You will find detailed information on the unit’s operating states and a sta-tus diagram numbering the individual states in the manual for your Twin Line unit under „Operating displays and transitions“.
6.2.1Checking operating status
You can recognize the operating status on the Twin Line unit by the 7-segment display. The unit is ready for operation when the display is showing “6“.
The operating status is evaluated over the field bus by means of the first three bits in the status word “fb_statusword“. The status word is trans-mitted with every received data set.
Fig. 6.3Displaying the operating status of the unit
Bits 3..0Operating statusMeaning--24-V switched on
...00011 - Start
Initialization of unit’s electronics ...00102 - Not ready to switch onAmplifier is not ready to switch on....00113 - Switch on disabledAmplifier can not be switched on. ...01004 - Ready to switch onAmplifier is ready to switch on....01015 - Switched onAmplifier is switched on.
...01106 - Operation enableUnit is working in the operating mode set.
...01117 - Quick Stop activeQuick stop is executed.
...10008 - Fault reaction activeFault reaction has been activated....1001
9 - Fault
Fault display
Operating states 0..3, 5, 8 and 9 are transitional states which unit does not dwell in if it is working correctly.
If the unit remains in operating status 1, 2 or 3 when the 24 V power sup-ply is switched on, an fault has occurred during initialisation. You will find help in correcting the fault in the manual at the end of the chapter on installation.
6-4DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
6.2.2Changing the operating status
The operating status of your Twin Line unit is transmitted in bits „cos“ in „fb-statusword“. The coding corresponds to the status display on the unit.
Depending on the status of the unit, the operating status can be
changed by means of field bus commands. For examples, the status, „ReadyToSwitchOn“ can only be activated if the following conditions are set: •••
Unit has started up after the 24 V power supply was activated DC line voltage activatedNo fault present.
Changes of status in the unit are activated by means of the
„Commands.driveCtrl“ parameter (28:1). The value is always 0 with the result that write access to a bit automatically triggers an edge change, 0© 1.
Bits 3..0Control word0 0 0 10 0 1 00 1 0 01 0 0 0
DisableEnableQuick-StopFault Reset
Meaning
Switch off amplifierSwitch on amplifier
Trigger halt through quick stopAcknowledge fault signal
Switching on the power amplifier̈Switch on the power amplifier.
Preconditions are that „4“ can be read on the unit's 7 segment display, that the unit is in „ReadyToSwitchOn“ status and that the parameter set-tings in the unit are correct.
Object
TxD
28.1 Commands.driveCtrl
Req84h
Six01h
Index001Ch
Data0000 0002h
Description
requirement power amplifier switch on : Bit1 setzen
Res
RxD
80h
Ctrlxxh
fb-statxxx4h
Dataxxxx xxxxh
Description
Status transition not yet effected: cos=4, „ReadyToSwitchOn“
If the status transition to the „OperationEnable“ status has been suc-cessful, the unit signals the following:
Res
RxD
98441113169, -000, 11.00Ctrlxxh
fb-statxxx6h
Dataxxxx xxxxh
Description
Status transition effected: cos=6, „OperationEnable“
80h
DeviceNet6-5
Examples for field bus operationDeviceNet
As long as the „OperationEnable“ status has not been reached, internal monitoring signals bit5 (FltSig) and bit15 (x_err) are activated in the fb-statusword.
Status
fb-statusword x_err fb-statusword FltSig (bit15)(bit5)≠ OperationEnable11= OperationEnable
0
0
Switching off the power amplifier̈Switch off the power amplifier.
A precondition is that the unit is in the „OperationEnable“ status, i.e. „6“ must be displayed on the 7 segment display.
Object
ReqSixIndexDataDesciption
TxD
28.1 Commands.driveCtrl
84h
01h
001Ch
0000 0001h
Request to switch off power amplifier: Set bit0
Res
Ctrlfb-statDataDescription
RxD
80h
xxh
xxx6h
xxxx xxxxh
Status transition not yet effected: cos=6, „OperationEnable“
If the status transition to the „ReadyToSwitchOn“ status has been suc-cessful, the unit signals the following:
Res
Ctrlfb-statDataDescription
RxD
80h
xxh
xxx4h
xxxx xxxxh
Status transition effected: cos=4, „ReadyToSwitchOn“
As soon as the „OperationEnable“ status has been left, internal moni-toring signals in bit5 (FltSig) and bit15 (x_err) are activated in the fb-statusword.
Status
fb-statusword x_err fb-statusword FltSig (bit15)(bit5)≠ OperationEnable11= OperationEnable
0
0
Interruption to movement bysoftware stop̈Interrupt a current positioning operation by means of a software stop. The following conditions must be met: •The unit must be in OperationEnable status, see page 6-5.•All the necessary settings must have been made via the functions, see page 6-24.
•
All the necessary settings must have been made for the operating modes, see page 6-13.
Object
ReqSixIndexDataDescription
TxD
28.1 Commands.driveCtrl
84h
01h
001Ch
0000 0004h
Request for software stop: Set bit2
6-6DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
If the „QuickStopActive“ status has been successfully activated, the fol-lowing message is sent:
Res
RxD
80h
Ctrlxxh
fb-stat8027h
Dataxxxx xxxxh
Description
In fb-statusword: x_err=1,FltSig=1,
cos=7: „QuickStopActive“
As soon as the drive has stopped, the following message is generated:
Res
RxD
80h
Ctrlxxh
fb-statC027h
Dataxxxx xxxxh
Description
In fb-statusword: x_err=1,x_end=1,FltSig=1,
cos=7: „QuickStopActive“
If the drive is at standstill, the interruption status can be cancelled by means of „FaultReset“ – see page6-36.
Acknowledging fault messageYou will find how to acknowledge an fault message under “Resetting faults (FaultReset)“ on page6-36.
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6.3Setting processing parameters
6.3.1
Non operating mode specific processing parameters
The various settings for non-specific processing parameters are inde-pendent of the operating mode which the user sets. Non operating mode specific parameters are assigned to one of the following parameter groups: •Settings•Commands•Servomotors
•CtrlBlock1, CtrlBlock2•Motion•Teach•List
•List1Data0..List1Data63, List2Data0..List2Data63•Capture•I/O•M1..M4
•
ErrMem0..ErrMem19
Signal enable for monitoringparameters̈Deactivate limit switch monitoring as the system only has reference switches and stop switches.In order to be able to carry out the task, the unit must be set to „Ready-ToSwitchOn“ status, see page 6-6.
Object
ReqSixIndexDataDescription
TxD
28.13 Settings.SignEnabl
84h
0Dh
001Ch
0000 000Ch
Activate monitoring inputs REF and STOP
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98441113169, -000, 11.00DeviceNetExamples for field bus operation
6.3.2Operating mode specific processing parameters
The various settings for operating mode specific processing parameters depend on the operting mode which the user sets. Non operating mode specific parameters are assigned to one of the following parameter groups:•••••••
ManualVELPTPGearHomeRecord
RecoData0..RecoData49
Setting the speed for fast manualmovemenẗSet the speed for fast manual movement to 500usr = 01F4husr. Preconditions are that the set speed is not greater than the entry in „Motion.v_target0“, that the unit is in „Operation Enable“ status (see chapter “Changing the operating status“ on page6-5) and that the„Manual.n_fastMan“ parameter is available on your Twin Line unit.
Object
TxD
41.5 Manual.n_fastMan
Req84h
Six05h
Index0029h
Data0000 01F4h
Description
Setting fast manual movement speed 500usr = 1F4husr
You can set the speed for fast manual movement before initiating the movement or while it is taking place.
98441113169, -000, 11.00DeviceNet6-9
Examples for field bus operationDeviceNet
6.4Reading device information
The following actions are carried out after write access:•The current processing value is shown.
•
The data to be shown in the read data if they are accessed again, are defined. These data continue to be shown until new values are determined as a result of them being accessed again.
You can find whether a parameter value can be read and what data type it corresponds to, in the description of parameters in Chapter 12 of the your Twin Line unit manual. All values in the parameter list in the „R/W“ column marked with „R“ can be read; you will find the data type in the „value range“ column.
6.4.1Reading parameter settings
The current setting of a processing value can read from the unit by means of a read value.
Reading the speed for fast manualmovemenẗRead the current speed setting for fast manual movement. The precondition is that the read value is available on your unit and in your current status.
Object
ReqSixIndexDataDescription
TxD
41.5 Manual.n_fastMan
80h
05h
0029h
0000 0000h
Requesting the speed [usr] for fast manual movement
Res
Ctrlfb-statDataDescription
RxD
80h
xxh
xxx6h
0000 00B4h
speed in bytes 5 to 8: B4h = 180usr
If you access a 16-bit value, you will find the value read in bytes 7 and 8, and the value of bytes 5 and 6 is 0.
6-10DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
6.4.2Reading status information
There are various read values available in the Status parameter group, with the help of which the processing status can be read off the unit. Status information can be dependent on or independent of the operating mode. Status information which is not dependent on the operating mode is communicated in controldata and fb-statusword, and the coding cor-responds to the assignment of the „Status.driveStat“ parameter.
Status information independent ofoperatating modeBy way of an example, find out the motor speed, Status.n_act [r.p.m.], and set it as a cyclical read value.
The precondition is that the read value is available on your unit and in your current status.
Object
TxD
31.9 Status.n_act
Req80h
Six09h
Index001Fh
Data0000 0000h
Description
Requesting the actual speed in [r.p.m.]
Res
RxD
80h
Ctrlxxh
fb-statxxx6h
Data0000 03E8h
Description
actual speed in bytes 7 and 8: 3E8h=1000r.p.m.
If you access a 16-bit value, you will find the value read in bytes 7 and 8, and the value of bytes 5 and 6 is 0.
Status information dependent onoperating modeEvery operating mode has its own acknowledgment object. The status information for PTP positioning, for example, is provided by the „PTP.StatePTP“ parameter.
̈Request detailed status information on the PTP positioning operat-ing mode. The precondition is that the read value is available on your unit and in your current status.
Object
TxD
35.2 PTP.StatePTP
Req80h
Six02h
Index0023h
Data0000 0000h
Description
Requesting status information on PTP positioning
Res
RxD
80h
Ctrlxxh
fb-stat6xx6h
Data0000 6000h
Description
acknowledgment in bytes 7 and 8: „motion_end“ and „set position reached“ active
If you access a 16-bit value, you will find the value read in bytes 7 and 8, and the value of bytes 5 and 6 is 0.
98441113169, -000, 11.00DeviceNet6-11
Examples for field bus operationDeviceNet
6.5Processing inputs/outputs
Depending on the setting of „Settings.IO_mode“, certain inputs and out-puts are free for the user to use. You will find further information in the chapter entitled „Connection to the signal interface“ in your manual.
Reading inputs̈Read the signal level at input word 0.
Object
Req
SixIndexDataDescription
TxD
33.1 I/O.IW0_act
80h
01h
0021h
0000 0000h
Requesting the signal level at input word 0
Res
Ctrlfb-statDataDescription
RxD
80h
xxh
xxxxh
0000 000Fh
High level on inputs I0..I3
Writing to outputs̈Set output Q0 to „high“ and outputs Q1..Q4 to „low“.
The condition is that „Settings.IO_mode“ does not equal „2: inputs / out-puts have been assigned“.
Object
ReqSixIndexDataDescription
TxD
34.1 I/O.QW0_act
84h
01h
0022h
0000 0001h
output Q0=high, outputs Q1..Q4=low
Write access is only possible to the free outputs Q0..Q4.
Reading the status of outputs̈Find out the current signal level at outputs.
Object
ReqSixIndexDataDescription
TxD
34.1 I/O.QW0_act
80h
01h
0022h
0000 0000h
Requesting the signal level at output word 0
Res
Ctrlfb-statDataDescription
RxD
80h
xxh
xxx6h
0000 0036h
Outputs Q1, Q2, Q4 and ACTIVE_CON are set.
In the received data, bit0 to bit4 correspond to outputs Q0 to Q4, bit 5 to output ACTIVE_CON and bit6 to output TRIGGER/ALARM.
6-12DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
6.6Use of operating modes
Your Twin Line unit is capable of working in different operating modes. Processing values specific to the operating mode and others which are not specific to it, are available for configuring the processing sequence. The operating modes can be determined via certain parameters, and the processing status in relation to all operating modes or specific to one.
The status of a processing operation or movement can be read off from „x_err“ and „x_end“ in fb-statusword:
x_err0011
x_end0101
processing status
processing/movement active and no faultprocessing/movement completed and no faultprocessing/movement active and fault detectedprocessing/movement completed and fault detected
If an asynchronous fault occurs during processing, x_err is immediately set to 1 (bit15) and the drive stopped. Because the drive stops, x_end is set to 1 (bit14).
If „2:I/O assigned“ has been set via „Settings.IO_mode“, input „AUTOM“ must equal 1 to enable access to the operating modes. 6.6.1Point-to-Point Positioning
TLC5xx
A pallet is to be moved two stations along a continuous conveyor at a speed of 200usr (e.g. 200r.p.m.). All values are given in user-defined units [usr], as the real values depend on the normalisation factor used.
Device types which can be usedFig. 6.4Moving the pallet
The first station is 324usr (e.g. 324mm) away from the reference posi-tion „0“. The station is reached by means of an absolute positioning process. The second station is a further 500usr away and is reached by means of relative positioning.
The journey to position „2“ is interrupted by a STOP signal. After the fault has been corrected, the interrupted journey is to be resumed and com-pleted.
98441113169, -000, 11.00The following conditions must be met in order to be able to carry out this task: •••
All the necessary function settings must have been made, see page 6-24.
The 0 position must be defined, see page 6-19.There must be no homing movement active.
DeviceNet6-13
Examples for field bus operationDeviceNet
Carrying out absolute positioning̈Set the absolute motor movement to position +324usr with a set speed of 200usr. The precondition is that the unit is in the „OperationEnable“ status, see page 6-5.
Object
ReqSixIndexDataDescription
TxD
35.5 PTP.v_target
84h
05h
0023h
0000 00C8h
Setting the set speed to 200usr = 00C8husr
Object
ReqSixIndexDataDescription
TxD
35.1 PTP.p_absPTP
04h
01h
0023h
0000 0144h
Start of absolute positioning to 324usr = 0144husr
Res
Ctrlfb-statDataDescription
RxD
00h
x3h
0006h
xxxx xxxxh
motor movement active
The processing status can be seen from „x_end“ in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1.
Res
Ctrlfb-statDataDescription
RxD
00h
2xh
6xx6h
xxxx xxxxh
motor movement completed
The set speed can be changed during the movement by accessing „PTP.v_target“.
Carrying out relative positioning̈Initiate a relative motor movement by +500usr at the set speed.It is a precondition that the unit is in the „OperationEnable“ status, see page6-5.
Object
ReqSixIndexDataDescription
TxD
35.3 PTP.p_relPTP
84h
03h
0023h
0000 01F4h
Start of relative positioning by +500usr = 01F4husr
Res
Ctrlfb-statDataDescription
RxD
80h
x3h
0006h
xxxx xxxxh
motor movement active
The processing status can be seen from „x_end“ in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1.
Res
Ctrlfb-statDataDescription
RxD
80h
23h
6006h
xxxx xxxxh
motor movement completed
The set speed can be changed during the movement by accessing „PTP.v_target“.
6-14DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
Completing interrupted movemenẗComplete the movement interrupted by the STOP signal.
The following conditions must be met in order to be able to resume and complete the interrupted movement: •••
PTP positioning has been interrupted by STOP.The unit is in the „QuickStopActive“ status.
The cause of the fault has been corrected, i.e. the STOP signal is no longer active.
The drive must first be changed to the „OperationEnable“ status by means of „FaultReset“, see page6-36.
Object
TxD
35.4 PTP.continue
Req84h
Six04h
Index0023h
Data0000 0000h
Description
Initiating resumption of interrupted positioning operation
Res
RxD
80h
Ctrl23h
fb-stat0006h
Dataxxxx xxxxh
Description
motor movement active
The processing status can be taken from „x_end“ in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1.
Res
RxD
80h
Ctrl23h
fb-stat6006h
Dataxxxx xxxxh
Description
motor movement completed
The set speed can be changed during the movement by accessing „PTP.v_target“.
98441113169, -000, 11.00DeviceNet6-15
Examples for field bus operationDeviceNet
6.6.2Speed mode
Device types which can be usedTLC5xx
̈Set the speed to 2000 usr - we want to monitor whether the speed has been reached.̈Use the set speed to bring the drive to a halt and make sure that the the movement has been completed. •All the necessary settings must have been made via the functions, see page 6-24.
•The unit is in the „OperationEnable“ status, see page6-5•
There is no homing movement active.
Setting the speed:
Object
ReqSixIndexDataDescription
TxD
36.1 VEL.velocity
84h
01h
0024h
0000 07D0h
Setting the speed: +2000usr = 07D0husr
„x_add_info“ in fb-statusword can be used to check whether the set speed has been reached. When the set speed has been attained, x_add_info changes from 0 to 1.
Res
Ctrlfb-statDataDescription
RxD
80h
x4h
2006h
xxxx xxxxh
motor movement active, set speed reached
Bringing the drive to a standstill:
Object
ReqSixIndexDataDescription
TxD
36.1 VEL.velocity
04h
01h
0024h
0000 0000h
Setting the speed: 0usr = 0husr
The processing status can be taken from „x_end“ in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1.
Res
Ctrlfb-statDataDescription
RxD
00h
x4h
6006h
xxxx xxxxh
motor movement completed
6-16DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
6.6.3Electronic gear
TLC5xx
̈Apply the gear ratio of 7/5 to pulses arriving at the guidance sensor. Only take those pulses into account which are detected after the gear has been activated (immediate synchronisation). ̈Correct the gear ratio to 8/5 during operations.
̈Set the gear to „Disable“ status, and wait until the drive has stopped. •••
All the necessary settings must have been made via the functions, see page 6-24.
The unit is in the „OperationEnable“ status, see page6-5There is no homing movement active.
Device types which can be usedProcessing reference pulsesApplying gear ratio 7/5 to pulses:
Object
TxD
38.8 Gear.denGear
Req84h
Six08h
Index0026h
Data0000 0005h
Description
gear ratio denominator = 5
Object
TxD
38.7 Gear.numGear
Req04h
Six07h
Index0026h
Data0000 0007h
Description
gear ratio numerator = 7allows the denominator to be adopted.
Object
TxD
38.1 Gear.startGear
Req84h
Six01h
Index0026h
Data0000 0001h
Description
Starting gear processing with immedi-ate synchronisation (command-data=1)
Gear processing is now active. Correcting gear ratio to 8/5:
Object
TxD
38.7 Gear.numGear
Req04h
Six07h
Index0026h
Data0000 0008h
Description
gear ratio numerator = 8 denominator is retained.
Set gear to „Disable“ status and wait until drive has stopped:
Object
TxD
38.1 Gear.startGear
Req84h
Six01h
Index0026h
Data0000 0000h
Description
Deactivating gear processing (com-manddata=0)
Res
98441113169, -000, 11.00Ctrlx5h
fb-stat0006h
Dataxxxx xxxxh
Description
motor movement active
RxD80h
DeviceNet6-17
Examples for field bus operationDeviceNet
The processing status can be taken from „x_end“ in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1.
Res
Ctrlfb-statDataDescription
RxD
80h
x5h
4006h
xxxx xxxxh
motor movement completed
The new gear ratio is activated when the numerator is transmitted. There are various setting options available in parameter group „Gear“ for processing the operating mode.
Superimposing PTP offsetpositioning̈Correct the gear output position by a relative offset of -100an offset positioning set speed of 200r.p.m.inc with •All the necessary settings must have been carried out via the functions, see page 6-24.
•The unit is in „OperationEnable“ status, see page6-5•There is no homing movement active. •
Gear processing is active.
Object
ReqSixIndexDataDescription
TxD
39.5 Gear.n_tarOffs
84h
03h
0027h
0000 00C8h
Setting the offset positioning speed to 200r.p.m. = 00C8hr.p.m.
Object
ReqSixIndexDataDescription
TxD
39.3 Gear.p_relOffs
04h
03h
0027h
0000 00h
Starting relative offset positioning by 100inc = hinc
Object
ReqSixIndexDataDescription
TxD
39.2 Gear.StateOffs
80h
02h
0027h
0000 0000h
request: acknowledgment of offset positioning
Res
Ctrlfb-statDataDescription
RxD
80h
x6h
xxx6h
0000 0000h
acknowledgment in bytes 7 and 8:offset_motion_end = 0,offset posi-tion reached = 0.offset processing running.
The processing status of the offset positioning operation is available in the read data via „offset_motion_end“. When offset positioning has been completed, „offset_motion_end“ changes from 0 to 1.
Res
Ctrlfb-statDataDescription
RxD
80h
x6h
xxx6h
0000 6000h
acknowledgment in bytes 7 and 8: offset_motion_end = 1,offset position reached = 1.offset processing com-pleted.
6-18DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
The set speed of the offset movement can be changed during the move-ment by accessing „Gear.n_tarOffs“.
There are various setting options available in the parameter group „Gear“ for processing the PTP offset positioning operation.
6.6.4Homing
In order to be able to carry out the examples on homing, the following conditions must be met: •••
All the necessary settings must have been carried out via the functions, see page 6-24.
The unit is in „OperationEnable“ status, see page6-5.There is no homing movement active.
Dimension setting̈Set the current drive position to a value of 1000usr. The value serves as a reference point for further movements. It is a condition of this task that the drive is at standstill.
Object
TxD
40.3 Home.startSetp
Req84h
Six03h
Index0028h
Data0000 03E8h
Description
Dimension settting position +1000usr = 03E8husr
Dimension setting is carried out as soon as the unit is called up. „x_end“ and „x_err“ in fb-statusword can be used to check whether it has been carried out successfully.
Res
RxD
80h
Ctrlx2h
fb-stat4006h
Dataxxxx xxxxh
Description
dimension setting successfully car-ried out
After referencing has been successfully carried out, the „ref_ok“ bit in controldata is set to 1.
Carrying out a homing movemenẗCarry out a homing movement in a negative direction to the addi-tional reference switch. The search run to the switch is to be made at a speed of 500usr.
Req84h
Six04h
Index0028h
Data0000 01F4h
Description
Speed of search run to reference switch: 500usr = 01F4husr
Object
TxD
40.4 Home.v_Home
Object
TxD
40.1 Home.startHome
Req04h
Six01h
Index0028h
Data0000 0003h
Description
Starting homing movement to the additional reference switch in a nega-tive direction
98441113169, -000, 11.00Res
RxD
00h
Ctrlx2h
fb-stat0006h
Datenxxxx xxxxh
Beschreibung
Homing movement active
DeviceNet6-19
Examples for field bus operationDeviceNet
The processing status can be taken from „x_end“ in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1.
Res
Ctrlfb-statDataDescription
RxD
00h
x2h
4006h
xxxx xxxxh
Homing movement complete
After homing has been successfully carried out, the „ref_ok“ bit in con-troldata is set to 1.
There are various setting options available in the parameter group „Home“ for processing the operating mode.
6-20DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
6.6.5Manual movement
There are two different movement profiles available for manual move-ments. You can select the type by means of „Manual.typeMan“. ̈Initiate a classic manual movement in a positive direction of rotation with a set slow sense of rotation. Then change the values to enable a classic manual movement to be carried out in a positive direction of rotation at a fast speed.̈Terminate the manual movement and check whether the movement has been completed. In order to be able to carry out the example, the following condition must be met:•••
All the necessary settings must have been made via the functions, see page 6-24.
The unit is in „OperationEnable“ status, see page6-5.There is no homing movement active.
Carrying out a manual movement and changing the speed:
Object
TxD
41.1 Manual.startMan
Req84h
Six01h
Index0029h
Data0000 0001h
Description
Selection: positive direction of rota-tion, slow speed (Manual.n_slowMan)
Object
TxD
41.1 Manual.startMan
Req04h
Six01h
Index0029h
Data0000 0005h
Description
Selection: positive direction of rota-tion, fast speed (Manual.n_fastMan)
Complete manual movement and check for standstill:
Object
TxD
41.1 Manual.startMan
Req84h
Six01h
Index0029h
Data0000 0000h
Description
Selection: no direction of rotation, i.e. complete manual movement
The processing status can be taken from „x_end“ in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1.
Res
RxD
80h
Ctrlx4h
fb-stat6006h
Dataxxxx xxxxh
Description
manual movement completed
There are various setting options available in parameter group „Manual“ for processing the operating mode.
98441113169, -000, 11.00DeviceNet6-21
Examples for field bus operation DeviceNet
6.6.6 Data set operation
The movement data for the „data set operation“ operating mode are stored in data set memories, RecoData0..RecoData49.
„RecoData0.TypeReco“ can be used to choose between „PTP-Satz“ and „VEL-Satz“; data set operation of the selected type can be initiated via „Reco.startReco“.
The following examples provide a description of the sequence for setting up the PTP data set, initiating data set operation and resuming an inter-rupted data set operation via „Record.continue“.
It is a condition that all the necessary settings have been made via the functions, see page 6-24.
Device types which can be usedTLC4xx
Setting PTP data sets̈Set the data set data for the PTP data set.
̈Set data set 15 with the following processing values: • Dimension system: relative• Set position: 1000 usr• Set speed: 300 usr
• Ramp selection: 2 (settings in „Record.UpRamp2“ and „Record.DownRamp2“).It is a precondition that all ramp parameters have been set in „Record.UpRamp2“ and „Record.DownRamp2“Setting the data set data for the PTP data set:
Object Req Six Index Data Description
TxD 1000.1 RecoData0.TypeReco 84h 01h 03E8h 0000 0001h Select: PTP-data set
Processing values in data set 15:
Object Req Six Index Data Description
TxD 1015.2 RecoData15.
04h 02h 03F7h 0000 0002h data set 15, selection of dimension
PosSystem
system: relative
Object Req Six Index Data Description
TxD 1015.3 RecoData15.PosReco84h 03h 03F7h 0000 03E8h data set 15, selection of set position:
1000usr = 03E8husr
Object Req Six Index Data Description
TxD 1015.4 RecoData15.VelReco 04h 04h 03F7h 0000 012Ch data set 15, selection of set speed:
300usr = 012Chusr
Object Req Six Index Data Description
TxD 1015.5 RecoData15.
84h 05h 03F7h 0000 0002h data set 15, ramp selection: 2
RmpChoice
6-22 DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
Initiating PTP data set operation̈Activate PTP data set 15, and check the movement sequence. In order to be able to carry out the example, the following conditions must be met: ••
The unit is in „OperationEnable“ status, see page6-5.The data set data have been set.
Six01h
Index002Dh
Data0000 000Fh
DescriptionInitiating data set 15
Object
TxD
45.1 Record.startReco
Req84h
Res
RxD
80h
Ctrlx7h
fb-stat0006h
Dataxxxx xxxxh
Description
motor movement active
The processing status can be taken from „x_end“ in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1.
Res
RxD
80h
Ctrl27h
fb-stat6006h
Dataxxxx xxxxh
Description
motor movement completed
Complete interrupted data setoperation̈Complete data set operation interrupted by STOP signal. In order to be able to resume and complete an interrupted data set operation, the following conditions must be set: •••
The data set operation has been interrupted by STOP.The unit is in „QuickStopActive“ status.
The cause of the fault has been corrected, i.e. the STOP signal is no longer active.
The drive must first be put into „OperationEnable“ status by means of „FaultReset“, see page6-36.
Object
TxD
45.17 Record.continue
Req84h
Six11h
Index002Dh
Data0000 0000h
Description
Initiating resumption of interrupted data set operation
Res
RxD
80h
Ctrlx7h
fb-stat0006h
Dataxxxx xxxxh
Description
motor movement active
The processing status can be taken from „x_end“ in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1.
98441113169, -000, 11.00Res
RxD
80h
Ctrlx7h
fb-stat6006h
Dataxxxx xxxxh
Description
motor movement completed
DeviceNet6-23
Examples for field bus operationDeviceNet
6.7Using operating functions6.7.1
List control
The processing data for the list control function are stored in list data memories L1Data0..L1Data63 (list 1) or L2Data0..L2Data63 (list 2). „L1Data0.typeList“ or „L2Data0.typeList“ can be used to choose
between „Pos-Signal list“ and „speed list“. You initiate list processing via List.startList.
The following example describes the sequence for setting up a position/signal list on list 1, and initiation of list processing with monitoring of the processing status.
ᕌᕃᕄᕅᕆᕇᕈFig. 6.5
Positionioning with position / signal list
Graph-Number of the list Listtype 1xxx:1Position 1xxx:2Triggersignal Speed 1xxx:4icpoint1100:x...1163:x1xxx:3011001100011101150102110211200031103120010411041300005110514701061106149000-...
...
...
0
0
It is a precondition that all the necessary settings have been made via the functions which are described in this chapter, „Using operating functions“.
6-24DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
Setting list datäDraw up list 1 as a position/signal list
̈Set the values in the list. By way of an example, the solution is shown for list entry 0 with the following values: ••
Comparative position: 10 usrTrigger signal level: 0
̈Set the starting and finishing number of the list range: ••
Starting number = 0Finishing number = 6.
Setting list1 as a position/signal list:
Object
TxD
1100.1 L1Data0.typeList
Req84h
Six01h
Index044Ch
Data0000 0001h
Description
Selection: 1 = position/signal list
Example of list entry 0 with processing values:
Object
TxD
1100.2 L1Data0.posList1
Req04h
Six02h
Index044Ch
Data0000 000Ah
Description
List 1.entry0: comparative position = 10usr = 000Ahusr
Object
TxD
1100.3 L1Data0.sign.List1
Req84h
Six03h
Index044Ch
Data0000 0000h
Description
List1.entry0: signal status = 0
The setting of the other list points 1..6 is made in a similar way via index L1Data1..L1Data6.
Setting the starting and finishing numbers of the list range:
Object
TxD
44.6 List.bgnList1
Req04h
Six06h
Index002Ch
Data0000 0000h
Description
Setting the starting number of list 1 to 0
Object
TxD
44.7 List.endList1
Req84h
Six07h
Index002Ch
Data0000 0006h
Description
Setting the finishing number of list 1 to 6
98441113169, -000, 11.00DeviceNet6-25
Examples for field bus operationDeviceNet
Activating list control̈Activate list 1 from the example shown above, and monitor the processing sequenceFor the example, the following conditions must be met:•The unit must be in OperationEnable status, see page6-5.•
The list type, list data, starting and finishing numbers of the range to be processed are set in list 1.
Object
ReqSixIndexDataDescription
TxD
44.1 List.startList
84h
01h
002Ch
0000 0001h
Activation of list processing 1 = list1
Object
ReqSixIndexDataDescription
TxD
44.2 List.stateList
04h
02h
002Ch
0000 0000h
Reading the status of list processing
Res
Ctrlfb-statDateaDescription
RxD
00h
xxh
xxx6h
xxxx 0001h
acknowledgment in bytes 7 and 8: list_err = list_quit = 0 bits 0 and 1: 1 = list1 active list control running
When processing has been completed, „list_end“ changes from 0 to 1.
Res
Ctrlfb-statDataDescription
RxD
00h
xxh
xxx6h
0000 4000h
acknowledgment in bytes 7 and 8: list_quit = 1list control completed
The number of the list entry last activated can be interrogated via „List.actList“.
The level of the output „TRIGGER“ can be set via „I/O.OutTrig“ when list control is inactive.
6-26DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
6.7.2TeachIn
The current absolute position in user-defined units [usr] can be stored in a selected list or data set memory as a position value using the Teach-in function.
The following example describes the process by which list 1 is set up for Teach-in as a position/signal list, and how the actual Teach-in process is carried out. Execution is monitored.
It is a precondition that all the necessary settings have been carried out via the functions which are described in this chapter „Using operating functions“.
Preparing Teach-in̈Set list 1 as the memory for Teach-in processes. ̈Set list 1 as a position/signal list.
Object
TxD
43.3 Teach.memNrTeac
Req84h
Six03h
Index002Bh
Data0000 0001h
DescriptionSelection: 1 = list1
Object
TxD
1100.1L1Data0.typeList
Req04h
Six01h
Index044Ch
Data0000 0001h
Description
Selection: 1 = position/signal list
Carrying out Teach-in̈Carry out Teach-in in order to store the current motor position in list 1 under entry 5. Monitor the processing status.
Req84h
Six01h
Index002Bh
Data0000 0005h
Description
Activation of teach process: Current position value in [usr] is stored under L1Data5.posList1.
Object
TxD
43.1 Teach.storeTeac
The Teach process is carried out as soon as it is called up. If an fault is detected, it is reported as a synchronous fault.
The processing status of the Teach process can be read by means of „Teach.stateTeac“. If processing has been carried out successfully, teach_err=0 and teach_end=1 are reported.
98441113169, -000, 11.00DeviceNet6-27
Examples for field bus operationDeviceNet
6.7.3Normalisation
Position, speed and acceleration values are stored in the unit in user-defined units. Normalisation converts user-defined units to the position-ing controller’s units and vice versa. The normalisation factor is set by specifiying the numerator and denominator; the value is adopted when the numerator is transmitted. You will find more detailed information on this in the manual under „Normalisation“.
It is only possible to change values when the power amplifier is switched off – e.g. in „ReadyToSwitchOn“ status. The values specified in [usr] are converted into control values when the power amplifier is activated, and the threshold values are checked.
Values stored in the unit in [usr] lead to changed processing values when the relevant normalisation factor is changed. For example, there-fore, the safety distance of a homing movement „Home.p_outHome“ must be adjusted when the position normalisation is changed. The normalisation factor describes the connection between the value in user-defined units [usr] and the value in the units of the controller:
Fig. 6.6Calculation of the normalisation factor
value userfactor
value controllerposition [usr]position normalisation1 rev. (motor revolution)speed [usr]
speed normalisation
1 r.p.m.
acceleration/deceleration acceleration normalisa-1 rev/(min*s)[usr]
tion
Setting position normalisation̈Set position normalisation so that changing the user position by 1000 usr results in one revolution of the motor. value user = 1000 usrvalue control = 1 rev
Fig. 6.7Calculation of position normalisation factor
6-28DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
For this task the power amplifier must be switched off, i.e. the controller is in „ReadyToSwitchOn“ status, see page6-5.
Object
TxD
29.8 Motion.pNormDen
Req84h
Six08h
Index001Dh
Data0000 03E8h
Description
position normalisation factor: denomi-nator = 1000 = 03E8h
Object
TxD
29.7 Motion.pNormNum
Req04h
Six07h
Index001Dh
Data0000 0001h
Description
position normalisation factor: numera-tor = 1;results in numerator and denominator being adopted
98441113169, -000, 11.00DeviceNet6-29
Examples for field bus operationDeviceNet
6.7.4Fast position value capture
Device types which can be usedTLC5xx
Preparing position captureThe current position of the motor in [inc.] is to be captured as soon as the signal level at the „CAPTURE1“ input changes from 0 to 1.
̈Connect position capture on channel 1 with the „CAPTURE1“ input.̈Set the signal level for capture to 0©1-edge.
It is a precondition that all the necessary settings have been made via the functions which are described in this chapter „Using operating func-tions“.
Object
ReqSixIndexDataDescription
TxD20.13 Capture.TrigSign
84h
0Dh
0014h
0000 0000h
Selection: bit 0..1 = 0, i.e. setting up recording via channel 1, triggered by the input „CAPTURE1“
Object
ReqSixIndexDataDescription
TxD
20.15 Capture.TrigLevl
04h
0Fh
0014h
0000 0001h
Selection: bit 0 = 1, i.e. setting trigger level to 0©1-edge on channel 1
Starting and monitoring positioncapturëStart capture recording.̈Monitor the processing status.̈Determine the value recorded. The following conditions must be met.•All the necessary settings must have been made via the functions which are described in this chapter, „Using operating functions“. •Position capture must be set up, see previous example.
•
The module for the position sensor must be present and connected to the sensor.
Object
ReqSixIndexDataDescription
TxD
20.16 Capture.TrigStart
84h
10h
0014h
0000 0001h
Selection: bit 0 = 1, i.e. position cap-ture on channel 1
Object
ReqSixIndexDataDescription
TxD
20.17 Capture.TrigStat
00h
11h
0014h
0000 0000h
Reading the status of position capture
The processing status must be monitored cyclically; the status of the processing operation is given in the data returned.
Res
Ctrlfb-statDataDescription
RxD
00h
xxh
xxxxh
xxxx 0001h
acknowledgment in bytes 7 and 8: bit 0 = 1, i.e. position capture carried out on channel 1
6-30DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
The position value saved in [inc.] can now be read:
Object
TxD
20.18 Capture.TrigPact1
Req80h
Six12h
Index0014h
Data0000 0000h
Description
Reading the position value saved
Res
RxD
80h
Ctrlxxh
fb-statxxxxh
Dataxxxx 1234h
Description
The position value in [inc.] is given in the data returned: 1234h = 4660 inc.
98441113169, -000, 11.00DeviceNet6-31
Examples for field bus operationDeviceNet
6.8Examples of fault processing
You will find in-depth information on fault handling in field bus mode in the chapter entitled “Error handling“ on page 7-1.6.8.1Synchronous faults
Synchronous faults only occur in response to a command. When a com-mand is transmitted, an immediate check is made whether it can be car-ried out correctly. If this is not the case, the unit returns an error number in response to the command, and cmderr=1 is set in byte „response-data“. The unit status does not change as a result of this action.
Creating a synchronous faulẗCarry out write access to a non-existent parameter (index: 0, sub-index: FFh).It is a precondition that the unit is in „OperationEnable“ status, see page6-5.
Object
ReqSixIndexDataDescription
TxD
0.255 non-existent parameter
84h
FFh
0000h
xxxx xxxxh
write access to non-existent parame-ter
Res
Ctrlfb-statDataDescription
RxD
C0h
xxh
6xx6h
0000 1003h
cmderr=1 The error number (errnum) is contained in bytes 7 and 8.
6-32DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
6.8.2Asynchronous faults
The occurrence of asynchronous faults does not depend on commands sent. If the external and internal monitoring signals detect an fault, the unit adopts an fault status. The unit status may change depending on the fault class. The fault status can be interrogated or is available in fb-sta-tusword in cyclical transmissions.
Internal monitoring signals̈You will see a blinking 1 on the 7-segment display of your unit, i.e. an fault has occurred. Evaluate the cause of the fault. In order to generate the fault, the following conditions must be met:••
The unit is in „OperationEnable“ status, see page6-5.
The 220V power supply is switched off. If the capacitors are com-pletely discharged, a blinking 1 appears in the 7-segment display which signals undervoltage.
Ctrlxxh
fb-statE029h
Dataxxxx xxxxh
Description
In fb-statusword: x_err=1,x_end=1,Flt-Sig=1,cos=9: „Fault“
Res
RxD
00h
You can evaluate the cause of the fault in detail via the internal monitor-ing signals.
Object
TxD
28.18 Status.FltSig_SR
Req80h
Six12h
Index001Ch
Dataxxxx xxxxh
Description
Res
RxD
80h
Ctrlxxh
fb-statE029h
Data0000 0002h
Description
Internal monitoring signal: bit1 active, i.e. cause of fault „DC line undervolt-age Lim1“
Object
TxD
29.34 Status.IntSigSR
Req00h
Six22h
Index001Dh
Dataxxxx xxxxh
Description
Res
RxD
00h
Ctrlxxh
fb-statE029h
Data0000 8000h
Description
Internal monitoring signal: bit15
active, i.e.„power amplifier not active“
If bit7 in fb-statusword is active, you can read off the warning messages via „Status.FltSig_SR“ and „Status.IntSigSR“.
If the drive is at standstill, the interruption status can be cancelled again with „FaultReset“ – see page6-36.
98441113169, -000, 11.00DeviceNet6-33
Examples for field bus operationDeviceNet
External monitoring signals̈A positioning operation has been interrupted by a light barrier at the „STOP“ input. Evaluate the cause of the fault. In order to generate the fault, the following conditions must be met: •The monitoring signal „STOP“ is enabled by means of „Settings.SignEnabl“; STOP is activated.•
The unit is in „QuickStopActive“ status.
Res
Ctrlfb-statDataDescription
RxD00h
xxh
E047h
xxxx xxxxh
In fb-statusword:
x_err=1,x_end=1,SignSr=1,cos=7: „QuickStopActive“
You can evaluate the cause of the fault in detail via the internal monitor-ing signals.
Object
ReqSixIndexDataDescription
TxD
28.15 Status.Sign_SR
80h
0Fh
001Ch
xxxx xxxxh
Res
Ctrlfb-statDataDescription
RxD
80h
xxh
E047h
0000 0004h
Internal monitoring signal: bit2 active, i.e. „STOP“
If the drive is at standstill, the interruption status can be cancelled again by means of „FaultReset“ – see page6-36.
6-34DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
6.8.3Other faults
If „x_err“ (bit15) is activated in fb-statusword, but neither „SignSr“ (bit6) nor „FltSig“ (bit5) are set, an internal control fault is detected which can only be read as an error number via „Status.StopFault“ (32:7).
Determination of error numberFaults which force the unit to quit OperationEnable status, are not only entered in the bit line for external and/or internal monitoring signals, but also in the error memory. You can access the cause of the last change of status directly.
̈Read the cause of the last interruption from the unit's error memory.It is a precondition that the unit has been interrupted via the „STOP“ input.
Object
TxD
28.15 Status.StopFault
Req80h
Six07h
Index0020h
Data0000 0000h
Description
Request: cause of last interruption
Res
RxD
80h
Ctrlxxh
fb-statCx47h
Dataxxxx 1846h
Description
In fb-statusword: x_err=1,x_end=1,
SignSr=1.error number 1846h in bytes 7 and 8.
If the faults have been reset or the 24 V power supply has been switched off and on again, the cause of the last interruption is deleted.
If more than one fault has been detected, only the fault which has led to the interruption of the drive, i.e. to the unit leaving „OperationEnable“ status, is stored as the cause of the last interruption. Any consequential faults which may occur, are stored in chronological order in the normal error memory.
98441113169, -000, 11.00DeviceNet6-35
Examples for field bus operationDeviceNet
6.8.4Resetting faults (FaultReset)
Fault states „QuickStop“ or „Fault“ can be left with the aid of „FaultReset“ if there are no fault causes active, otherwise the fault status is retained. Once „FaultReset“ has been successfully performed, the error number of the last interruption is deleted. „FaultReset“ can only be performed if the drive is at standstill (x_end=1).
Fault-ReseẗReset the interruption to the movement which has been caused by the „STOP“ input. In order to be able to perform this task, the following conditions must be met:•The unit is in „QuickStopActive“ status as a result of the STOP input being activated.
•The cause of the fault is no longer active, i.e. the STOP input is deactivated.
•
The drive is at standstill (x_end=1).
Res
Ctrlfb-statDataDescription
RxD00h
xxh
E047h
xxxx xxxxh
In fb-statusword: x_err=1,x_end=1,SignSr=1,
cos=7: „QuickStopActive“
Object
ReqSixIndexDataDescription
TxD
28.1 Commands.driveCtrl
84h
01h
001Ch
0000 0008h
Request: set bit3 „FaultReset“
If the fault has been successfully reset, the unit quits fault status. The unit enters „OperationEnable“ status.
Res
Ctrlfb-statDataDescription
RxD
80h
xxh
6xx6h
xxxx xxxxh
In fb-statusword: x_err=0,
cos=6: „OperationEnable“
Der The fault entry in the error memory is not deleted as a result of this action.
6-36DeviceNet
98441113169, -000, 11.00DeviceNetExamples for field bus operation
6.8.5Reading and deleting the error memory
All fault messages are entered in the unit’s error memory in chronolog-ical order. There can be a maximum of 20 entries in the error memory. Besides the error number, the following information can also be read from the error memory:••••
Fault class
Time of fault since power amplifier was switched on Number of AMPON cycles (activation of amplifier)Additional information on the fault
ErrMem0 contains the information on the oldest fault entry, ErrMem 1 on the second oldest, etc. If there are no entries in the error memory, the error number =0.
Faults of fault class 2 and higher are stored in non-volatile memory and are not deleted when the unit is switched off.
There is a special command available for deleting the error memory.
Reading the error memoryThe oldest fault entry is an interruption to the movement caused by the „STOP“ input. The unit is in „QuickStopActive“ status.
̈Read all the information on the oldest fault entry from the error memory.
Object
TxD
900.1 ErrMem0.ErrNum
Req80h
Six01h
Index0384h
Data0000 0000h
Description
Request: error number in ErrMem0
Res
RxD
80h
Ctrlxxh
fb-statCx47h
Data0000 1846h
Description
In fb-statusword: x_err=1,x_end=1,
SignSr=1.error number 1846h in bytes 7 and 8
Object
TxD
900.2 ErrMem0.Class
Req00h
Six02h
Index0384h
Data0000 0000h
DescriptionRequest: fault class
Res
RxD
00h
Ctrlxxh
fb-statCx47h
Data0000 0001h
Description
Fault class = 1 in bytes 7 and 8
98441113169, -000, 11.00Object
TxD
900.3 ErrMem0.Time
Req80h
Six03h
Index0384h
Data0000 0000h
Description
Request: Time of fault since power amplifier was switched on
Res
RxD
80h
Ctrlxxh
fb-statCx47h
Data0000 035Dh
Description
time of fault 035Dh = 861sec
DeviceNet6-37
Examples for field bus operationDeviceNet
Object
ReqSixIndexDataDescription
TxD
900.4 ErrMem0.AmpOnCnt
00h
04h
0384h
0000 0000h
Request: number of amplifier switch-on cycles
Res
Ctrlfb-statDataDescription
RxD
00h
xxh
Cx47h
0000 006Eh
switch-on cycles 6Eh = 110cycles
Object
ReqSixIndexDataDescription
TxD
900.5 ErrMem0.ErrQual
80h
05h
0384h
0000 0000h
Request: additional information for assessing fault
Res
Ctrlfb-statDataDescription
RxD
80h
xxh
Cx47h
0000 0000h
value = 0; no additional information available
Access to the other fault entries, ErrMem1 to ErrMem19 is achieved in a similar fashion, with the index for the parameter having to be changed accordingly; e.g. ErrMem5, index=905=3h
Deleting the error memorÿDelete all entries in the error memory.
Object
Req
SixIndexDataDescription
TxD
32.2 Commands.del_err
80h
02h
0020h
0000 0000h
Request: delete contents of error memory
The entries in the error memory will be deleted regardless of whether the cause of the fault is still active.
6-38DeviceNet
98441113169, -000, 11.00DeviceNetError handling
7
7.1
Error handling
Error messages
The master device receives error messages during network operation through the received data. Differentiation is made between reports of••
synchronous errorsasynchronous errors.
Reports of synchronous errors are sent to the master device directly in the way of a response when the command transmitted has not been able to be carried out. A synchronous error is recognized by the “cmderr“ bit.Asynchronous errors are reported by the monitoring facilities in the con-troller as soon as a fault in the unit occurs. In order to recognize an asyn-chronous error, the master device continually monitors the status word “fb_statusword“.
The controller supplies status information only at the request of the mas-ter device. If the timeout monitoring function is activated, the master device must request status information again before the timeout time expires. Otherwise the controller reports a timeout error.
98441113169, -000, 11.00DeviceNet7-1
Error handlingDeviceNet
7.2Synchronous errors
A synchronous error is reported through the command error bit “cmderr“ in the first byte of the received data: •“cmderr“=0: Command has been successfully executed.•
“cmderr“=1: An error has occurred.
Fig. 7.1Evaluation of synchronous errors
Causes of errorsPossible causes of a synchronous error are:•Unknown command, syntax error or incorrect transmitted data format
•Parameter value outside permissible range
•Illegal action or control command during running process,•
Error in carrying out an action or control command.
“cmderr“ is only valid after the command has been acknowledged. The controller sends back an error number “errnum“ in bytes 7 and 8 of the received data, and from this number the cause of the error can be determined.
You will find a table with the error numbers in the manual in the chapter on diagnostics and error correction.
7-2DeviceNet
98441113169, -000, 11.00DeviceNetError handling
7.3Asynchronous errors
In order to recognize an asynchronous error, error bits must be monitored in the status word, “fb_statusword“. ••••
Bit 15, “x_err“: error status during processing, evaluate cause via bit 5 and bit 6.
Bit 7, “warning“: warning message from the controller, e.g. I2T- amplifier fault
Bit 6, “Sign_SR“: report from external monitoring signal, e.g. movement interrupted by STOP input
Bit 5, “FltSig“: report from internal monitoring signal e.g. overtemperature in amplifier.
Signal status “1“ flags an error or warning message.
Fig. 7.2Status word for evaluation of asynchronous error
Warning messageIn a warning message, the movement command continues to be processed, and the error information is input in parameters “Status.FltSig_SR“ (28:18) or “Status.IntSigSr“ (29:34).
98441113169, -000, 11.00DeviceNet7-3
Error handlingDeviceNet
Error messageif the controller sets the “x_err“ signal, it immediately interrupts the movement operation and depending on the class of fault, it reacts either by braking or by immediately switching off the amplifier. Besides the “x_err“ bit, bits “FltSig“ or “Sign_Sr“ are also set. The meaning of the error message must be determined through the relevant parameters.
Fig. 7.3Evaluation, asynchronous errors
Parameters, fault classes and measures for correcting faults are all described in the manual in the chapter on diagnostics and error correction.
7-4DeviceNet
98441113169, -000, 11.00DeviceNetService, maintenance and warranty
8
8.1
Service, maintenance and warranty
Service address
Please address questions or problems to your SIG Positec contact per-son or directly to SIG Positec. SIG Positec will be happy to give you the name of its customer service outlet in your area.
Hardware hotline
For questions concerning the unit, service or on-site commissioning Telephone: +49 (07821) 946 257 Fax: +49 (07821) 946 430
Lotus Notes: Hotline, Hardware
Internet e-mail: hw.hotline@sig-positec.de
Software hotline
For questions concerning software or field busTelephone: +49 (07821) 946 360 Fax: +49 (07821) 946 430
Lotus Notes: Hotline, Software
Internet e-mail: sw.hotline@sig-positec.de
RED office
Repair and spare parts serviceTelephone: +49 (07821) 946 606 Fax: +49 (07821) 946 202
Lotus Notes: RED, Buero
Internet, e-mail: red@sig-positec.de
98441113169, -000, 11.00DeviceNet8-1
Service, maintenance and warrantyDeviceNet
8-2DeviceNet
98441113169, -000, 11.00DeviceNetAccessories
9
9.1
Accessories
List of accessories
Accessories for the positioning controller are:
Qty11111
Designation
Order number
TL CT operating software with online documenta-250 1101 803tion on data carrier, German
RS232 programming cable, 5 m RS232 program-6250 1441 050 ming cable, 10 m6250 1441 100HMI hand-held operating unit with manualmatching TL HMI cable
9844 1113 091 6250 1442 yyy 1)
field bus cablel for CAN-C module (The colours 6250 1446 yyy 1)used match CAN guidelines. Remember that the colours do not match the DeviceNet specifica-tion.)
terminator plug for CAN-C module, 9-pin sokket, 6250 1518 002 9-pin6250 1518 003
1
1)cable length yyy: 005, 015, 030, 050: 0.5 m, 1.5 m, 3 m, 5 m
98441113169, -000, 11.00DeviceNet9-1
AccessoriesDeviceNet
9-2DeviceNet
98441113169, -000, 11.00DeviceNetIndex
Index
A
Accessories
Order number 9-1
Acknowledgment mechanism 4-9Action commands 4-11Address settings 5-2
Addresses, for service 8-1Addressing
MAC ID 1-1
asynchronous errors 7-3axis information 4-6
B
bus termination, see termination
C
CAN Bus
Connecting the Twin Line unit 5-3CAN bus
Field bus devices 2-2CAN interest group 2-3
CAN-Interface, connecting 5-3cmderr (command error)
Bit in received data 4-6Function 4-10Command
Action commands 4-11Control commands 4-11read value (ccs=0) 4-4write value (ccs=4) 4-4command
communication principle 4-3Command error 4-10
commanddata, Byte in transmitted data 4-5Connection monitoring 4-8Control commands 4-11controldata
allocation of operating mode 4-12Byte in received data 4-6cos, Bits in receive data 4-7D
Danger categories 3-1Data framework 4-3
Received data 4-5Transmitted data 4-4data sheet, electronic 5-5Data structure 4-3
98441113169, -000, 11.00DeviceNetA-1
IndexDeviceNet
Diagram
Carrying out a control command 4-11Carrying out an action command 4-11Evaluation, asynchronous errors 7-4Evaluation, synchronous errors7-2
Monitoring the execution of an action command 4-13double word value 4-3
E
EDS 5-5
Electronic Data Sheet 5-5EMC measures 5-1
errnum, Byte in received data 4-7Error
asynchronous 7-3synchronous 7-2Error handling 7-1
error message, monitoring with ’x_err’ 4-7Error number \"errnum\" 4-7Error number ’errnum’‘ 4-7Example
operating modes 6-13Examples
Data set operation 6-22device information 6-10Electronic gear 6-17
Fast position value capture 6-30Fault processing 6-32FaultReset 6-36Homing6-19inputs 6-12list control 6-24
manual movement 6-21Normalisation 6-28
operating functions 6-24Operating status6-4outputs 6-12
parameter settings 6-10
Point-to-Point Positioning 6-13processing parameters 6-8Speed mode6-16
status information 6-11structure 6-1TeachIn6-27F
fb-statusword
Byte in received data 4-7
evaluating asynchronous errors 7-3Field bus
Network topology 1-1
Operating modes with Twin Line devices 2-3Transmission technology1-1
Field bus interface, device module 2-1FltSig, Bit in received data 4-7
A-2
DeviceNet
98441113169, -000, 11.00DeviceNetIndex
H
h, see hexadecimal valuehexadecimal value 4-3
HMI hand-held operating unit
local access with 4-1
monitoring field bus operation 5-5Order number 9-1I
Identification 4-4
index, Byte in transmitted data 4-5Installation
Address settings 5-2
Connecting the Twin Line unit 5-3device installation 5-2L
Literature references
manual 2-3Local access 4-1
M
MAC ID 1-1Master
device types 1-1function 1-1
mode, Bit in framework of received data 4-6Monitoring
error of controller with ’x_err’ 4-7external error with ’Sign_SR’ 4-7internal error with ’FltSig’ 4-7
operating status with ’x_add_info’ 4-7with ’x_end’ 4-7
Monitoring the operating status 4-12
O
Online command processing 4-2Operating software TL CT
local access with 4-1Operating status
changing 6-5checking 6-4evaluate 4-7
monitoring with ’x_end’ 4-7
Operation, monitoring end of operation with ’x_end’ 4-7P
Program examples, Structure 6-1pwin, Bit in received data 4-6
98441113169, -000, 11.00Q
Qualification of the personnel 3-2
DeviceNetA-3
IndexDeviceNet
R
readdata, byte in received data 4-7Received data
communication 4-2Data framework 4-5Examples 6-1
ref_ok, Bit in received data 4-6
requestdata, Byte in Sendedaten 4-4responsedata, Byte in received data 4-6rf (receive flag)
acknowledgment mechanism 4-9Bit in received data 4-6S
Safety notes 3-1, 3-2Service address 8-1Set-up
Initiating network operation 5-5Troubleshooting 5-5sf (send flag)
acknowledgment mechanism 4-9Bit in transmitted data 4-4Sign_SR, Bit in received data 4-7Signal interface, addressing with 5-2Slaves
devices 1-1task 1-1
Status information 4-7
sub-index, Byte in transmitted data 4-5synchronous error 7-2System requirements 2-1T
Termination 5-4
Timeout monitoring 4-8TL CT operating software
Order number 9-1Transmitted data
communication 4-2Data framework 4-4Examples 6-1
W
warning
Bit in received data 4-7warning message 7-3
warning message with ’warning’ 4-7word value 4-3
X
x_add_info, Bit in received data 4-7x_end, Bit in received data 4-7x_err
Bit in receive data 4-7error message 7-4
A-4
DeviceNet
98441113169, -000, 11.00
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