BECKHOFF AX2000 User Manual
Communication profile
PROFIBUS DP for
AX2000 / AX2500
Reference Guide, Setup
Keep all product manuals as a product component
during the life span of the servo amplifier.
Pass all product manuals to future
users / owners of the servo amplifier.
Edition 12/05
Previous editions
Edition Comments
12/ 05 First version
SINEC is a registered trademark of Siemens AG
Technical changes to improve the performance of the equipment may be made without prior notice!
Printed in the Federal republic of Germany
All rights reserved. No part of this work may be reproduced in any form (by printing, photocopying, microfilm or any other
method) or stored, processed, copied or distributed by electronic means, without the written permission of BECKHOFF.
BECKHOFF 12/05 Contents
page
1 General
1.1 About this manual ....................................................................... 5
1.2 Use as directed ......................................................................... 5
1.3 Symbols used in this manual ............................................................... 6
1.4 Abbreviations used in this manual ........................................................... 6
2 Installation / Setup
2.1 Installation ............................................................................. 7
2.1.1 Safety notes....................................................................... 7
2.1.2 Inserting the expansion card (AX2000) .................................................. 8
2.1.2.1 Front view ..................................................................... 8
2.1.2.2 Setup of Station Address and Baud Rate ............................................. 8
2.1.2.3 Connection technology ........................................................... 8
2.1.2.4 Connection diagram ............................................................. 9
2.1.3 Profibus master module setup ........................................................ 10
2.1.3.1 Configuration of the master controller ( e.g. Siemens S7)................................ 10
2.1.4 Standard function block for date exchange with the AX2000/2500 ............................ 11
2.2 Amplifier setup ......................................................................... 11
2.2.1 Guide to setup .................................................................... 11
2.2.2 Important amplifier configuration parameter.............................................. 12
2.2.3 Setup Software ................................................................... 13
2.2.3.1 Screen page PROFIBUS......................................................... 13
2.2.3.2 Screen page PROFIBUS instrument control .......................................... 14
3 Profile of AX2000/2500
3.1 Parameter channel...................................................................... 16
3.1.1 Parameter ID (PKE) ................................................................ 16
3.1.1.1 Interpretation of the response IDs .................................................. 16
3.1.1.2 Response ID 7: Profile specific error numbers ........................................ 17
3.1.2 Index IND........................................................................ 17
3.1.3 Parameter value PWE .............................................................. 18
3.2 The process data channel (PZD) ........................................................... 18
4 Using the parameter channel (PKW)
4.1 Read/write an amplifier parameter .......................................................... 19
4.2 Summary of the parameter numbers ........................................................ 19
4.2.1 List of the parameters .............................................................. 20
4.2.2 Standard PROFIDRIVE parameters ................................................... 22
4.2.2.1 PNU 940/911: PPO type write/read................................................. 22
4.2.2.2 PNU 918: PROFIBUS node address................................................ 22
4.2.2.3 PNU 963: baud rate............................................................. 22
4.2.2.4 PNU 965: PROFIDRIVE profile number ............................................. 22
4.2.2.5 PNU 970: default parameters ..................................................... 22
4.2.2.6 PNU 971: non volatile saving of parameters .......................................... 22
4.2.2.7 PNU 930: Selection Switch for Operating Mode ....................................... 23
4.2.3 Manufacturer specific parameters ..................................................... 24
4.2.3.1 PNU 1000: instrument ID ........................................................ 24
4.2.3.2 PNU 1001: manufacturer specific error register ....................................... 24
4.2.3.3 PNU 1002: manufacturer specific status register ...................................... 25
4.2.4 Position control parameters .......................................................... 26
4.2.4.1 PNU 1894: velocity multiplier...................................................... 26
4.2.4.2 PNU 1807: axis type ............................................................ 26
PROFIBUS for AX2000/2500 3
Contents 12/05 BECKHOFF
page
4.2.5 Position data for the position control mode .............................................. 26
4.2.5.1 PNU 1790: position ............................................................. 26
4.2.5.2 PNU 1791: velocity ............................................................. 26
4.2.5.3 PNU 1785: motion task type ...................................................... 27
4.2.5.4 PNU 1783: acceleration time...................................................... 27
4.2.5.5 PNU 1784: acceleration jolt limiting................................................. 27
4.2.5.6 PNU 1786: deceleration time ..................................................... 28
4.2.5.7 PNU 1787: deceleration jolt limiting................................................. 28
4.2.5.8 PNU 1788: next motion task ...................................................... 28
4.2.5.9 PNU 1789: start delay ........................................................... 28
4.2.5.10 PNU 1310: copy motion task...................................................... 28
4.2.5.11 PNU 1311: position, 32 bit floating decimal point format................................. 28
4.2.5.12 PNU 1312: velocity, 32 bit floating decimal point format .................................28
4.2.6 Setup mode: position ............................................................... 29
4.2.6.1 PNU 1773: homing type ......................................................... 29
4.2.6.2 PNU 1644: homing direction ...................................................... 29
4.2.7 Actual values ..................................................................... 29
4.2.7.1 PNU 1401: speed .............................................................. 29
4.2.7.2 PNU 1402: incremental position, actual value......................................... 29
4.2.7.3 PNU 1800: actual position value in SI (User) units ..................................... 29
4.2.7.4 PNU 1414: actual position, 32 bit floating decimal point format............................29
4.2.7.5 PNU 1415: actual velocity, 32 bit floating decimal point format............................ 30
4.2.8 Digital I/O configuration ............................................................. 30
4.2.8.1 PNUs 1698/1701/1704/1707: digital input configuration ................................. 30
4.2.8.2 PNUs 1775/1778: digital output configuration ......................................... 30
4.2.9 Analog configuration ............................................................... 30
4.2.9.1 PNU 1607: analog input configuration............................................... 30
4.2.9.2 PNU 1613/1614: analog output configuration ......................................... 30
4.2.10 Manufacturer specific object channel (from PNU 1600)..................................... 31
5 Process data channel
5.1 Instrument control ...................................................................... 34
5.1.1 Control word (STW) ................................................................ 36
5.1.2 Status word (ZSW)................................................................. 37
5.2 Operating modes ....................................................................... 37
5.2.1 Positioning (operating mode 2) ....................................................... 38
5.2.2 Digital speed (operating mode 1) ...................................................... 39
5.2.3 Analog speed (operating mode -1)..................................................... 39
5.2.4 Digital torque (operating mode -2) ..................................................... 40
5.2.5 Analog torque (operating mode -3) .................................................... 40
5.2.6 Electronic gearing (operating mode -4) ................................................. 40
5.2.7 Trajectory (operating mode -5) ....................................................... 40
5.2.8 ASCII channel (operating mode -16) ................................................... 41
5.2.9 Operating mode after switch-on (operating mode -126)..................................... 41
6 Appendix
6.1 Example telegrams ..................................................................... 43
6.1.1 Zero telegram (for initialization) ....................................................... 43
6.1.2 Setting the Opmode ................................................................ 43
6.1.3 Enable the AX2000/2500 ............................................................ 44
6.1.4 Start jog mode (on positioning opmode) ................................................ 44
6.1.5 Set reference point................................................................. 44
6.1.6 Start homing run .................................................................. 45
6.1.7 Start a motion task ................................................................. 47
6.1.8 Start a direct motion task ............................................................ 47
6.1.9 Polling a warning or error message .................................................... 47
6.1.10 Writing a parameter (via parameter channel PKW) ........................................ 48
6.1.11 Reading actual values .............................................................. 48
6.1.12 Write a parameter via the ASCII channel................................................ 49
6.2 Index ................................................................................ 50
4 PROFIBUS for AX2000/2500
BECKHOFF 12/05 General
1 General
1.1 About this manual
This manual describes the wiring, setup, range of functions and software protocol for the
AX2000/2500.
AX2000
The expansion card -PROFIBUS- offers PROFIBUS compatible connectivity to these servo ampli
fiers.
AX2500
PROFIBUS functionality is built-in on delivery.
This manual is part of the complete documentation of the AX2000/2500 family of digital servo ampli
fiers. The installation and setup of the servo amplifier, as well as all the standard functions, are des
cribed in the corresponding manuals.
Other parts of the documentation of the AX2000/2500 family of digital servo amplifiers:
Title
Manual Setup Software BECKHOFF
Manual Assembly, Installation, Setup BECKHOFF
ASCII Object Reference BECKHOFF
Further documentation:
l
l
This manual is intended for the use of qualified personnel with the following knowledge:
Wiring: trained electro-technical personnel
Programming: experienced PLC programmers with PROFIBUS DP expertise
We offer training and familiarization courses on request.
:
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-PROFIBUS:
Publisher
“Installation Guideline for PROFIBUS DP/FMS” published by PNO
"Profile for Variable Speed Drives" published by PNO
-
-
1.2 Use as directed
Please observe the chapter "Use as directed” in the setup manual for the servo amplifier.
The PROFIBUS interface serves only for the connection of the servo amplifier to a master with
PROFIBUS connectivity.
The servo amplifiers are components that are built into electrical apparatus or machinery, and can
only be setup and operated as integral components of such apparatus or machinery.
We can only guarantee the conformity of the servo amplifier with the following standards for
industrial areas when the components that we specify are used, and the installation regula
tions are followed:
EC EMC Directive 89/336/EEC
EC Low-Voltage Directive 73/23/EEC
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PROFIBUS for AX2000/2500 5
General 12/05 BECKHOFF
1.3 Symbols used in this manual
danger to personnel from
electricity and its effects
ð p.
see ... (cross-ref.) l special emphasis
1.4 Abbreviations used in this manual
The abbreviations used in this manual are explained in the table below.
Abbrev. Meaning
AGND Analog ground
BTB/RTO Ready to operate
CLK Clock signal
COM Serial interface for a PC-AT
DGND Digital ground
DIN German Institute for industrial Standards
Disk Magnetic storage (diskette, hard disk)
EEPROM Electrically erasable programmable memory
EN European standard
IEC International Electrotechnical Commission
INC Incremental Interface
LED Light-emitting diode
MB Megabyte
NI Zero pulse
NSTOP Limit-switch input for CCW rotation (left)
PZD Process data
PSTOP Limit-switch input for CW rotation (right)
RAM Volatile memory
RES Resolver
ROD A quad B encoder
PLC Programmable logic controller
SSI Synchronous serial interface
VAC AC voltage
VDC DC voltage
general warning
general instructions
mechanical hazard
6 PROFIBUS for AX2000/2500
BECKHOFF 12/05 Installation / Setup
2 Installation / Setup
2.1 Installation
2.1.1 Safety notes
Install and wire up the equipment only while it is not electrically connected. Make sure that
the control cabinet is safely isolated (lock-out, warning signs etc.).
The individual supply voltages will not be switched on until setup is carried out.
Residual charges in the capacitors can still have dangerous levels several minutes after
switching off the supply voltage. Measure the voltage in the intermediate (DC-link) circuit
and wait until it has fallen below 40V.
Power and control connections can still be live, even though the motor is not rotating.
Install the servo amplifier as described in the installation manual. The wiring for the analog
setpoint input and the positioning interface, as shown in the wiring diagram in the
installation manual, is not required.
Never break any of the electrical connections to the servo amplifier while it is live. This
could result in destruction of the electronics.
Electronic equipment is basically not failure-proof. The user is responsible for ensuring that,
in the event of a failure of the servo amplifier, the drive is set to a state that is safe for both
machinery and personnel, for instance with the aid of a mechanical brake.
Drives with servo amplifiers and PROFIBUS expansion cards are remote-controlled
machines. They can start to move at any time without previous warning. Take appropriate
measures to ensure that the operating and service personnel is aware of this danger.
Implement appropriate protective measures to ensure that any unintended start-up of the
machines cannot result in dangerous situations for personnel or machinery. Software
limit-switches are not a substitute for the hardware limit-switches in the machine.
Because of the internal representation of the position-control parameters, the position
controller can only be operated if the final limit speed of the drive does not exceed:
rotatory
at sinusoidal² commutation: 7500 rpm
at trapezoidal commutation: 12000 rpm.
linear
at sinusoidal² commutation: 4 m/s
at trapezoidal commutation: 6.25 m/s
All the data on resolution, step size, positioning accuracy etc. refer to calculatory values.
Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account.
If the final limit speed of the motor has to be altered, then all the parameters that were
previously entered for position control and motion blocks must be adapted.
PROFIBUS for AX2000/2500 7
Installation / Setup 12/05 BECKHOFF
2.1.2 Inserting the expansion card (AX2000)
To fit the PROFIBUS expansion card into an AX2000, proceed as follows:
l
Remove the cover of the option slot (see installation manual of the servo amplifier.)
l
Take care that no small items (such as screws) fall into the open option slot.
l
Push the expansion card carefully into the guide rails that are provided, without twi
sting it.
l
Press the expansion card firmly into the slot, until the front cover touches the fixing
lugs. This ensures that the connectors make good contact.
l
Use the screws on the expansion card to secure it in the drive.
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2.1.2.1 Front view
2.1.2.2 Setup of Station Address and Baud Rate
During setup it makes sense to use the keypad on the front panel to preset the station addresses
for the individual amplifiers (see chapter "Setup" in the installation manual).
After changing the station address you must turn the 24V auxiliary supply for the servo
amplifier off and on again for the new address to take affect.
Possible ways for setup:
l
keypad on the front panel of the servo amplifier (see installation manual)
l
setup software: screen page “CAN / Fieldbus”
l
serial interface with a sequence of ASCII commands:
ADDR nn Þ SAVE Þ COLDSTART (with nn = address)
The Baudrate is defined by the hardware configuration in the master controller. Baudrates up to 12
MBaud are possible. During bus initialization, the master controller sends the amplifier the desired
baud rate.
2.1.2.3 Connection technology
Cable selection, cable routing, shielding, bus connector, bus termination and transmission times are
all described in the “Installation guidelines for PROFIBUS-DP/” from PNO, the PROFIBUS User
Organization.
8 PROFIBUS for AX2000/2500
BECKHOFF 12/05 Installation / Setup
2.1.2.4 Connection diagram
AX2000/2500
With AX2000 terminals AGND and DGND (connector X3) must be joined together !
PROFIBUS for AX2000/2500 9
Installation / Setup 12/05 BECKHOFF
2.1.3 Profibus master module setup
2.1.3.1 Configuration of the master controller ( e.g. Siemens S7)
The graphics interface makes it very easy to configure the Siemens S7 for the PROFIBUS network.
After you have set up the control layout, configure the interface module that is used as follows: Use
our library file KOLL045D.GSD to configure the Profibus master for the servo amplifier. The follo
wing shows a Siemens PLC. Other machine controllers can also be configured for the BECKHOFF
Profibus expansion card. Open the Hardware catalog and drag the symbol for the corresponding
field unit onto the representation of the bus system. A window opens auto- matically for the general
parameterization of the field unit. Enter the address of the participant here.
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Next, use the same method as above to drag the module from the Hardware catalog into the box for
the field unit, whereby the 4-word module must lie in Cell 0 and the 6-word module in Cell 1.
Another window opens, in which you can set the parameters for the module.
10 PROFIBUS for AX2000/2500
BECKHOFF 12/05 Installation / Setup
2.1.4 Standard function block for date exchange with the AX2000/2500
BECKHOFF supplies a S7-function block (FB10) for use Siemens PLC that make it possible to
handle the AX2000/2500 control functions very simply.
This function block and its description can be found as a text file on the CDROM and in the
download section of our website.
2.2 Amplifier setup
2.2.1 Guide to setup
Only properly qualified personnel with professional expertise in control and drive
technology are permitted to setup the servo amplifier.
Check assembly
+ installation
Connect PC,
start setup software
Setup the
basic functions
Save
parameters
Test the
bus connection
Check that all the safety instructions, which are included in both the
installation manual for the servo amplifier and in this manual, have
been observed and implemented.
Use the setup software for setting the parameters for the servo am
plifier.
Caution!
Make sure that any unintended movement of the drive cannot
create a danger to personnel or machinery.
Now setup the basic functions of the servo amplifier including tuning
the servo loops. This part of setup is described in the setup software
manual and in the online help system of the setup software.
When the optimization is finished, save the controller parameters in
the servo amplifier.
Remove the Enable signal (Terminal X3) and switch off the mains
power supply for the servo amplifier.
The 24V DC auxiliary voltage remains switched on.
Test the installation of the PROFIBUS connection and the interface
to the PROFIBUS master.
Check the PROFIBUS-DP parameter settings and the station confi
guration.
Check the parameter settings for the PROFIBUS interface module.
Check the PLC user program and the parameter settings for the
function block.
-
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PROFIBUS for AX2000/2500 11
Installation / Setup 12/05 BECKHOFF
2.2.2 Important amplifier configuration parameter
The following parameters configure the amplifier for the Profibus interface. They can be set using
the setup software for the amplifier.
EXTWD (PNU 1658)
With this parameter, the observation time (watch dog) for the fieldbus-slot communication can be
set. The observation is only active, if a value higher than 0 is assigned to EXTWD (EXTWD=0,
observation switched off) and the output stage is enabled. If the set time runs out, without the
watchdog-timer being newly triggered by the arrival of a telegram, then the warning n04 (response
monitoring) is generated and the drive is stopped. The amplifier remains ready for operation and the
output stage enabled. Before a new driving command (setpoint) is accepted, this warning must be
deleted (function CLRFAULT or INxMODE=14).
ADDR (PNU 918)
With this command, the node address of the amplifier is set. When the address has been changed,
all parameters should be saved to the EEPROM and the amplifier switched off and on again.
Since the modular structure of the AX2500 as a multi-axis system requires its own addressing,
there is the additional parameter ADDRFB (PNU 2012) for this series, with which a field bus
address different from the internal device address (ADDR) can be defined. As long as ADDRFB =
0, ADDR is the bus address. If ADDRFB > 0, then ADDRFB is the bus address. ADDR is set auto
matically by the AX2500 master module in descending order.
-
AENA (PNU 1606)
With this parameter, the state of the software-enable after switch-on can be defined. The soft
ware-enable allows an external control to enable/disable the output stage. For amplifiers with analog setpoints (OPMODE=1,3) the software-enable is set automatically after switch-on and the devices are ready for operation immediately (if hardware-enable is present). For all others,
software-enable will be set to the value of AENA. The variable AENA also has functionality when
resetting the amplifier after an error (by digital input 1 or the CLRFAULT command). If an error can
be reset by the software, the software-enable is set to the value of AENA after the error is cleared.
In this way the behavior of the amplifier after a software-reset is similar to after the drive is switched
on.
INPT, INPT0 (PNU 1904)
With INPT a delay for the in-position message can be set. With the start of a motion task the
in-position message is deleted and the monitoring of the position is activated after expiration of the
adjusted time. This function is particularly important for positioning procedures within the in-position
window. In this case the in-position message is delayed for a defined time.
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12 PROFIBUS for AX2000/2500
BECKHOFF 12/05 Installation / Setup
2.2.3 Setup Software
2.2.3.1 Screen page PROFIBUS
This screen will only appear, if the PROFIBUS hardware is built into the servo amplifier. The screen
page displays the PROFIBUS-specific parameters, the bus status, and the data words in the trans
mit and receive directions, as seen by the bus-master. This page is helpful when searching for
errors and commissioning the bus communication.
-
Baudrate: The baud rate set by the PROFIBUS master.
PNO Identno.: The PNO identification is the number for AX2000/2500 from the list
of ID-numbers set by the PROFIBUS user organization.
Address: Station address of the amplifier (setting see p.8).
PPO type: AX2000/2500 only supports PPO-type 2 of the PROFIDRIVE profile.
PROFIBUS Interface states:
Shows the present status of the bus communication. Data can only be
transferred across the PROFIBUS when the “Communication OK”
message is black (not shown in gray).
Input: The last PROFIBUS object received by the master.
Output: The last PROFIBUS object sent by the master.
The data for input/output are only transferred, if the threshold monitoring for the
AX2000/2500 has been activated in the master’s hardware configuration.
PROFIBUS for AX2000/2500 13
Installation / Setup 12/05 BECKHOFF
2.2.3.2 Screen page PROFIBUS instrument control
On this screen page the individual bits of the control word (STW) and the status word (ZSW) are
shown. The device status resulting from the status word is visualized in the status machine. The
current status is shown as black, all others are grey. Additionally the previous status is shown by
emphasizing the number of the appropriate arrow.
14 PROFIBUS for AX2000/2500
BECKHOFF 12/05 Profile of AX2000/2500
3 Profile of AX2000/2500
The PROFIBUS-profile PROFIDRIVE includes the following parameter process-data objects (PPO):
AX2000/2500 only uses the PPO-type 2 (with 4 words PKW-section and 6 words PZD-section). The
PKW-section is used mainly for the transmission of parameters for the servo amplifier, the
PZD-section is used principally for handling motion functions.
The telegram can be divided into two sections or data channels:
1. PKW-section (4 words, Bytes 1 to 8)
2. PZD-section (6 words, Bytes 8 to 20)
The PKW data channel can also be termed the service or parameter channel. The service channel
only uses confirmed communication services, and is used by AX2000/2500 as a parameter channel.
This channel has no real-time capability.
The PZD data channel can also be termed the process data channel. The process data channel
uses unconfirmed communication services. The response of the servo amplifier to an unconfirmed
service can only be seen in the reaction of the amplifier (status word, actual values).
This channel has real-time capability.
PROFIBUS for AX2000/2500 15
Profile of AX2000/2500 12/05 BECKHOFF
3.1 Parameter channel
3.1.1 Parameter ID (PKE)
Marked lines in the table are valid for AX2000/2500
Master —> Slave Slave —> Master
Task ID
0 no task 0 0
1 request parameter value 1,2 7
2 alter parameter value [W] 1 7/8
3 alter parameter value [DW] 2 7/8
4 request description element 3 7
5 alter description element 3 7/8
6 request parameter value [A] 4,5 7
7 alter parameter value [A/W] 4 7/8
8 alter parameter value 5 7/8
9 request number of array elements 6 7
10 - 15 reserved
Function
Response ID positive Response ID negative
3.1.1.1 Interpretation of the response IDs
Marked lines in the table are valid for AX2000/2500
Response ID Interpretation
0 no task
1 transmit parameter value
2 transmit parameter value
3 transmit description element
4 transmit parameter value
5 transmit parameter value
6 transmit number of array elements
7 task not possible (with error no.)
8 no operating authority for PKW interface
9 spontaneous message [W]
10 spontaneous message [DW]
11 spontaneous message [A/W]
12 spontaneous message [A/DW]
Abbreviatoins in the tables:
A: Array
W: Word
DW: Double-word
16 PROFIBUS for AX2000/2500
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