BECKHOFF AX2000 User Manual

Download

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:

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.

-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

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:

Remove the cover of the option slot (see installation manual of the servo amplifier.)

Take care that no small items (such as screws) fall into the open option slot.

Push the expansion card carefully into the guide rails that are provided, without twi sting it.

Press the expansion card firmly into the slot, until the front cover touches the fixing lugs. This ensures that the connectors make good contact.

Use the screws on the expansion card to secure it in the drive.

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:

keypad on the front panel of the servo amplifier (see installation manual)

setup software: screen page “CAN / Fieldbus”

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.

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.

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.

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

BECKHOFF 12/05 Profile of AX2000/2500

3.1.1.2 Response ID 7: Profile specific error numbers

Error no. Description

0 1 2 3 4 5 6 7 8

9 10 11 12 13 14 15 16 17 18

19-100

101 102 103 104 105 106 107 108 109 110 111 112 113 114 115

>115

illegal PNU parameter value cannot be changed Lower or upper limit violated Erroneous sub-index no array Incorrect data type setting not allowed (can only be reset) Descriptive element cannot be changed PPO-write, requested in IR, not available descriptive data not available access group incorrect No parameter change rights Password incorrect Text cannot be read in cyclic data transmission Name cannot be read in cyclic data transmission text array not available PPO-write missing task cannot be executed due to operating status other error reserved faulty task ID software error (command table) only possible in disabled state only possible in enabled state BCC-error in the EEPROM data only possible after task is stopped wrong value [16,20] wrong parameter (OCOPY x [- y] z) wrong motion block no. (0,1..180,192..255) wrong parameter (PTEACH x [y]) EEPROM write error wrong value BCC-error in motion block Object is read only or write only Incompatible object (SDO channel only) reserve

3.1.2 Index IND

An Index (IND) unequal to 0 is used for reading and writing amplifier parameters with PNUs > 1600. See page 31 for further description.

PROFIBUS for AX2000/2500 17

Profile of AX2000/2500 12/05 BECKHOFF

3.1.3 Parameter value PWE

The data for the PNU-variable is contained in the PWE, and is placed flush right (PKE):

4-byte data (double-word) PWE 5-8 (PWE 8 LSB)

Commands are transferred right justified with task ID 3. If a command cannot be executed, the response identification AK = 7 signals the error, and an error number is given out. The error num bers are described on page 17.

3.2 The process data channel (PZD)

Cyclical data are exchanged across the PROFIBUS through the process data section of the 20-byte telegram. Each PROFIBUS cycle triggers an interrupt in the AX2000/2500 and new process data is exchanged and processed. The interpretation of the PZD by the amplifier depends on the operating mode that is set. The operating mode is set through a PROFIBUS parameter (PNU 930,

ð p. 23).

In all operating modes, data word 1 of the process data (PZD1) in the direction from control system to AX2000/2500 is used for instrument control, and in the direction from AX2000/2500 to control system it has the function of a status indicator for the amplifier.

The interpretation of the process data PZD2 – PZD6 changes depending on the operating mode, as can be seen in Chapter 5.2.

Caution: When the AX2000/2500 is switched on, the PROFIDRIVE operating mode that is always set to –126 (safe state). Before changing the operating mode, bit 10 of the control word STW must always be set to 0. The new operating mode only becomes active when bit 10 of the control word is set to 1 (see p. 23).

18 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Using the parameter channel (PKW)

4 Using the parameter channel (PKW)

The digital servo amplifiers of the AX2000/2500 series have to be adapted to the circumstances of your machine. The parameters for the controllers are set using either the setup software or via the PROFIBUS.

4.1 Read/write an amplifier parameter

Read (AK = 1) or write (AK = 3) amplifier parameters

To read or write an amplifier parameter through PROFIBUS, the corresponding PNU must be used. The parameters that are written to the AX2000/2500 can be transferred to the non-volatile memory by using the command “non-volatile parameter save” (PNU 971).

Telegram layout:

Request Response

PKE/AK 1 (read) / 3 (write) 2 (OK) / 7 (error) PKE/PNU see 4.2.1 as transmitted

PWE

for AK = 3 see p.20ff for data type for AK = 1 data type irrelevant

for AK = 3 returns the PWE of the request for AK = 1 see p.20f for data type

4.2 Summary of the parameter numbers

All the parameter numbers (PNUs) for AX2000/2500 are listed in numerical order in the table on page 20ff, with a short description. The parameter numbers in the range 900 – 999 are profile-spe cific for the PROFIBUS drive profile PROFIDRIVE. Parameter numbers > 999 are manufacturerspecific.

For better understanding, you can look up the ASCII commands which are in the column “ASCII command” in the online help the setup software. A description of all ASCII commands can be found in the ASCII reference lists (referring to the servo amplifier type) located on the product CDROM and on our website.

Parameter numbers >1600 use the object channel (see p.31ff).

Note! Some amplifier parameters (e.g. GV) have 2 PNU numbers in the AX2000/2500. Both of them can be used to read and write the parameter (e.g. PNU 1200 and PNU 1672).

PROFIBUS for AX2000/2500 19

Using the parameter channel (PKW) 12/05 BECKHOFF

4.2.1 List of the parameters

PNU Data type Access Description

Profile parameter

904 UINT32 ro Number of the supported PPO-write, always 2 - 904 911 UINT32 ro Number of the supported PPO-read, always 2 - 911 918 UINT32 ro Participant address on PROFIBUS ADDR 918 930 UINT32 r/w Selector for operating mode - 930 963 UINT32 ro PROFIBUS baud rate - 963 965 Octet-String2 ro Number of the PROFIDRIVE profile (0302H) - 965 970 UINT32 wo Load default parameter set RSTVAR 970 971 UINT32 wo non-volatile parameter save SAVE 971

Manufacturer-specific parameters General parameters

1000 Visible String4 ro Instrument ID - 1000 1001 UINT32 ro Manufacturer-specific error register ERRCODE 1001 1002 UINT32 ro Manufacturer-specific status register - 1002

Speed controller parameters

1672 UINT32 r/w Kp – gain factor for speed controller GV 1200 1677 UINT32 r/w Tn – integral-action time for speed controller GVTN 1201 1676 UINT32 r/w PID – T2 – time constant for speed controller GVT2 1202 1601 UINT32 r/w Setpoint ramp+, speed controller ACC 1203 1634 UINT32 r/w Setpoint ramp-, speed controller DEC 1204 1637 UINT32 r/w Emergency stop ramp, speed controller DECSTOP 1205 1890 UINT32 r/w Maximum speed VLIM 1206 1895 UINT32 r/w Overspeed VOSPD 1207 1642 UINT32 r/w Count direction DIR 1208

Position controller parameters

1894 UINT32 r/w Velocity multiplier for jogging/homing VMUL 1250 1807 UINT32 r/w Axis type POSCNFG 1251 1798 INTEGER32 r/w InPosition window PEINPOS 1252 1799 INTEGER32 r/w Following error window PEMAX 1253 1860 INTEGER32 r/w Position register 1 SWE1 1254 1862 INTEGER32 r/w Position register 2 SWE2 1255 1864 INTEGER32 r/w Position register 3 SWE3 1256 1866 INTEGER32 r/w Position register 4 SWE4 1257 1803 UINT32 r/w Denominator resolution PGEARO 1258 1802 UINT32 r/w Numerator resolution PGEARI 1259 1814 UINT32 r/w Minimum acceleration/braking time PTMIN 1260 1669 UINT32 r/w Feed-forward factor for position controller GPFFV 1261 1666 UINT32 r/w KV - factor for position controller GP 1262 1671 UINT32 r/w KP - factor for position controller GPV 1263 1670 UINT32 r/w Tn - integral-action time for position controller GPTN 1264 1816 UINT32 r/w Maximum velocity for positioning mode PVMAX 1265 1856 UINT32 r/w Configuration variable for software switch SWCNFG 1266

Position data for the position control mode

1790 INTEGER32 r/w Position O_P 1300 1791 INTEGER16 r/w Velocity O_V 1301 1785 UINT32 r/w Motion task type O_C 1302 1783 INTEGER16 r/w Starting time (acceleration) O_ACC1 1304 1786 INTEGER16 r/w Braking time (deceleration) O_DEC1 1305 1784 INTEGER16 r/w Jolt limiting (acceleration) O_ACC2 1306 1787 INTEGER16 r/w Jolt limiting (deceleration) O_DEC2 1307 1788 UINT32 r/w Number of next motion task O_FN 1308 1789 UINT32 r/w Start delay for next motion task O_FT 1309 1310 2 * UINT16 wo Copy a motion task OCOPY 1310 1311 special r/w Position, 32 bit floating decimal point format 1311 1312 special r/w Velocity, 32 bit floating decimal point format 1312 1857 UINT32 r/w Configuration variable 2 for software switch SWCNFG2 1267

ASCII com

mand

PNU (old)

20 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Using the parameter channel (PKW)

PNU Data type Access Description

Position set-up mode

1773 UINT32 r/w Homing type NREF 1350 1644 UINT32 r/w Homing direction DREF 1351 1602 UINT32 r/w Acceleration ramp (jogging/homing) ACCR 1352 1636 UINT32 r/w Braking ramp DECR 1353 1831 UINT32 r/w Reference offset ROFFS 1354 1896 UINT32 ro Homing run velocity VREF 1355 1889 UINT32 ro Jogging velocity VJOG 1356

Actual values

1400 INTEGER32 ro Actual position 20 bits/turn PRD 1400 1401 INTEGER32 ro Speed 1401 1402 INTEGER32 ro Incremental position, actual value 1402 1800 INTEGER32 ro SI-position, actual value PFB 1403 1815 INTEGER32 ro SI-velocity, actual value PV 1404 1797 INTEGER32 ro SI following error PE 1405 1688 INTEGER32 ro RMS current I 1406 1880 INTEGER32 ro SI-speed, actual value V 1407 1873 INTEGER32 ro Heatsink temperature TEMPH 1408 1872 INTEGER32 ro Internal temperature TEMPE 1409 1882 INTEGER32 ro DC-bus (DC-link) voltage VBUS 1410 1792 INTEGER32 ro Regen power PBAL 1411 1689 INTEGER32 ro I2t - loading I2T 1412 1876 INTEGER32 ro Running time TRUN 1413 1414 special ro Position, 32 bit floating decimal point format 1414 1415 special ro Velocity, 32 bit floating decimal point format 1415

Digital I/O configuration

1698 UINT32 r/w Function of digital input 1 IN1MODE 1450 1701 UINT32 r/w Function of digital input 2 IN2MODE 1451 1704 UINT32 r/w Function of digital input 3 IN3MODE 1452 1707 UINT32 r/w Function of digital input 4 IN4MODE 1453 1699 INTEGER32 r/w Auxiliary variable for digital input 1 IN1TRIG 1454 1702 INTEGER32 r/w Auxiliary variable for digital input 2 IN2TRIG 1455 1705 INTEGER32 r/w Auxiliary variable for digital input 3 IN3TRIG 1456 1708 INTEGER32 r/w Auxiliary variable for digital input 4 IN4TRIG 1457 1775 INTEGER32 r/w Function of digital input 1 O1MODE 1458 1778 INTEGER32 r/w Function of digital input 2 O2MODE 1459 1776 UINT32 r/w Auxiliary variable for digital output 1 O1TRIG 1460 1779 UINT32 r/w Auxiliary variable for digital output 2 O2TRIG 1461

1852 UINT32 r/w

Analog configuration

1607 UINT32 r/w Configuration of the analog input functions ANCNFG 1500 1613 UINT32 r/w Configuration monitor function analog output 1 ANOUT1 1501 1611 UINT32 r/w Offset voltage for analog input 1 ANOFF1 1502 1617 UINT32 r/w Filter time constant for analog input 1 AVZ1 1503 1897 UINT32 r/w Scaling factor for velocity, analog input 1 VSCALE1 1504 1713 UINT32 r/w Scaling factor for current, analog input 1 ISCALE1 1505 1614 UINT32 r/w Configuration monitor function analog output 2 ANOUT2 1506 1612 UINT32 r/w Offset voltage for analog input 2 ANOFF2 1507 1898 UINT32 r/w Scaling factor for velocity, analog input 2 VSCALE2 1508 1714 UINT32 r/w Scaling factor for current, analog input 2 ISCALE2 1509

Motor parameters

1735 UINT32 r/w Brake configuration MBRAKE 1550 1753 UINT32 r/w Motor number from motor database MNUMBER 1551

Manufacturer specific object channel

³1600 Þ p. 31 and description of the ASCII-commands on the CDROM or in the online help. ³1600

State of 4 digital inputs, Enable, 2 digital outputs

ASCII com

STATIO 1462

mand

PNU (old)

Abbreviations in the “Access” column

Abbrev. Description

wo “write only” access

ro “read only” access

r/w read and write access

PROFIBUS for AX2000/2500 21

Using the parameter channel (PKW) 12/05 BECKHOFF

4.2.2 Standard PROFIDRIVE parameters

4.2.2.1 PNU 940/911: PPO type write/read

These parameters describe the numbers of the supported PPO-types write und read. Since only PPO-type 2 is supported (see Chapter 3), this parameter is always set to 2.

4.2.2.2 PNU 918: PROFIBUS node address

With this parameter the PROFIBUS - node address of the amplifier can be read.

AX2000/2500

The range of addresses can be extended from 1..63 to 1..127 with the ASCII-command MDRV.

Setting up the station address, see page 8.

4.2.2.3 PNU 963: baud rate

This parameter defines the index of the baud rate that is used for PROFIBUS communication, and can only be read. The baud rate is given out by the PROFIBUS-master. The table below shows the indices with the according baud rates (in kBaud):

Index 0 123456789 Baud rate

12000 6000 3000 1500 500 187.5 93.75 45.45 19.2 9.6

4.2.2.4 PNU 965: PROFIDRIVE profile number

This parameter can be used to read out the number of the PROFIDRIVE profile. Profile Number 3, Version 2 is used.

4.2.2.5 PNU 970: default parameters

With this parameter you can reject all the parameters that are set and load the manufacturer’s default values.

4.2.2.6 PNU 971: non volatile saving of parameters

With this parameter you can save all the parameter settings to the EEPROM. To do this, the para meter must have the value PWE = 1 when the transfer takes place.

22 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Using the parameter channel (PKW)

4.2.2.7 PNU 930: Selection Switch for Operating Mode

The “Selector for operating modes” is defined by the drive profile, and mirrors the operating modes of the drive profile to the operating modes of the AX2000/2500. The following table shows a sum mary of the operating modes:

If process data are exchanged across the PROFIBUS, then the operating modes of the drive profile must only be selected with PNU 930.

Operating

mode of

drive profile

2 8 Positioning mode according to PROFIDRIVE profile 1 0 Digital speed control according to PROFIDRIVE profile 0 - reserved

-1 1 Speed control, analog setpoint

-2 2 Torque control, digital setpoint

-3 3 Torque control, analog setpoint

-4 4 Position control, electronic gearing

-5 5 Position control, external trajectory

-6 to -15 - reserved

-16 - ASCII channel for expanded parameterization

-17 to -125 - reserved

-126 - Initial settings when amplifier is switched on

Operating mode AX2000/2500 (ASCII command “OPMODE”)

Description

The individual operating modes are described in chapter 5.2. A change of operating mode can only be undertaken in connection with the control word.

The operating mode must be changed according to the following sequence:

1. Inhibit setpoints and process data Bit 10 in the control word is set to 0, so that no new setpoints will be accepted by the servo amplifier and no new control functions can be initiated. A new operating mode can, however, be selected while a motion function is being performed. The control word is only inhibited to the extent that the servo amplifier can always be switched into a safe state.

2. Select the new operating mode with PNU 930 The new operating mode is selected with parameter 930 through the parameter channel, but not yet accepted.

3. Set/receive the setpoints and actual values Enter the corresponding setpoints in the setpoint area of the process data. Here you must take note that the normalization and data formats depend on the operating mode that is selected. The interpretation of the actual values is also altered (see Þ p. 15 and p. 37ff). The user program must respond accordingly.

4. Enable the setpoints Bit 10 of STW is set to 1. The setpoints are immediately accepted and processed. The new actual values are output with the appropriate normalization and data format.

After switch-on or after a coldstart the servo amplifier is always in the safe operating mode. In the safe operating mode (-126), no motion functions can be initiated via the PROFIBUS. However, it is possible to perform motion functions with the the setup Software. If the operating mode is changed, then motion functions can only be operated via the PROFIBUS. If the operating mode is changed via another communication channel, then the amplifier is emergency braked and the error F21 (Handling error, expansion card) is signaled.

PROFIBUS for AX2000/2500 23

Using the parameter channel (PKW) 12/05 BECKHOFF

4.2.3 Manufacturer specific parameters

4.2.3.1 PNU 1000: instrument ID

The instrument ID consists of four ASCII characters, with the contents “Sxyz”.

- x stands for the servoamplifier family

- yz stands for the current level of the output stage

4.2.3.2 PNU 1001: manufacturer specific error register

The assignment of the error register can be seen in the following table. The explanation of the indi vidual errors can be found in the assembly & installation instructions for the servo amplifier.

Bit Description

0 Error F01: Heatsink temperature 1 Error F02: Overvoltage 2 Error F03: Following error 3 Error F04*: Feedback 4 Error F05: Undervoltage 5 Error F06*: Motor temperature 6 Error F07*: Auxiliary voltage 7 Error F08: Overspeed 8 Error F09*: EEPROM

9 Error F10*: Flash-EEPROM 10 Error F11*: Mechanical holding brake 11 Error F12*: Motor phase 12 Error F13: Internal temperature 13 Error F14*: Output stage 14 Error F15: I²t max. 15 Error F16: Mains supply-BTB 16 Error F17*: A/D-converter 17 Error F18*: Regen circuit 18 Error F19: Mains supply phase 19 Error F20*: Expansion card error 20 Error F21*: Handling error, plug-in card 21 Error F22: Earth short 22 Error F23: CAN-Bus off 23 Error F24: Warning 24 Error F25: Commuation error 25 Error F26: Limit switch 26 Error F27: AS functionality

27-30 Error F28 - F31*: reserved

31 Error F32*: System error

When the cause of the error has been cleared, the error state can be canceled by setting Bit 7 in the control word (STW). The error response of the AX2000/2500 to the reset will differ, depending on the error that has occurred: For errors that are marked by an asterisk (*), setting the reset bit initiates a cold-start of the ampli

fier, whereby the PROFIBUS communication to this amplifier will also be interrupted for several seconds. Depending on the circumstances, this break in communication may have to be separately handled by the PLC. For the other errors, the reset leads to a warm start, during which the communication will not be interrupted.

A description of the individual errors and recommendations for removing them can be found in the amplifier's installation manual.

24 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Using the parameter channel (PKW)

4.2.3.3 PNU 1002: manufacturer specific status register

The bit assignment can be seen in the following table:

Bit Description

0 Warning 1: I²t threshold exceeded (set, as long as I 1 Warning 2: Regen power exceeded (set, as long as the set regen power is exceeded) 2 Warning 3: Following error 3 Warning 4: Threshold monitoring (field bus) active 4 Warning 5: Mains supply phase missing 5 Warning 6: Software limit-switch 1 has been activated 6 Warning 7: Software limit-switch 2 has been activated 7 Warning 8: Faulty motion task has been started 8 Warning 9: No reference point was set at the start of the motion task

9 Warning 10: PSTOP active 10 Warning 11: NSTOP active 11 Warning 12: Motor default values were loaded (HIPERFACE 12 Warning 13: Expansion card is not working properly 13 Warning 14: Sine encoder commutation not carried out 14 Warning 15: Speed - current table error INxMODE 35 15 Warning 16: Reserve

Motion task active (is set as long as a position control task is active - motion task, jogging, homing).

Reference point set (is set after a homing run, or when an absolute position (multi-turn) encoder is used.

This is canceled when the amplifier is switched on, or when a homing run is started. Actual position = home position (is set as long as the reference switch is activated).

InPosition (is set as long as the difference between the target position for a motion task and the actual position is smaller than PEINPOS. The InPosition signal is suppressed if a following task is started at

the target position. Position latch set (positive edge) – this is set if a rising edge is detected on the INPUT2 (IN2MODE=26)

that is configured as a latch. This is canceled if the latched position is read out (LATCH16/LATCH32) —

Position 1 reached (is set if the configured condition for this signal (SWCNFG, SWE1, SWE1N) is met. Depending on the configuration, this bit is set on exceeding SWE1, or going below SWE1, on reaching

the InPosition window SWE1...SWE1N or on leaving the InPosition window SWE1...SWE1N. Position 2 reached (see above)

Position 3 reached (see above)

Position 4 reached (see above)

Initialization completed (is set if the internal initialization of the amplifier is completed).

—

Speed = 0 (is set as long as the motor speed is below the standstill threshold VEL0).

Safety relay has been triggered (is set as long as the safety relay is open AS)

Output stage enabled (is set when software and hardware enables are set).

Error present (is canceled when the amplifier is switched on, or if the function “Cancel error” is called.

In the process data, Bits 16 to 31 of the manufacturer-specific status register are given out.

Warnings 3 and 4 can be reset through Bit 13 in the control word.

is above the threshold)

rms

or EnDat®feedback)

PROFIBUS for AX2000/2500 25

Using the parameter channel (PKW) 12/05 BECKHOFF

4.2.4 Position control parameters

4.2.4.1 PNU 1894: velocity multiplier

This parameter is used to enter a multiplier for the jogging/homing velocity. In Positioning opmode, the velocity for jogging/homing is set through PZD2 jogging/homing is started using bit 8/ bit 11 in the control word (STW). The actual jog velocity is calculated according to the following formula:

V Bit V Bit velocity multipli

() ()32 16

Jog vel Jog PZD,. ,

=´er Bit()16

The default value for PNU 1894 is 1.

4.2.4.2 PNU 1807: axis type

This parameter is used to define the axis type.

Value AX2500 AX2000

0 Linear axis Linear axis 1 Rotary axis Rotary axis 2 Modulo axis Modulo axis

4.2.5 Position data for the position control mode

4.2.5.1 PNU 1790: position

Since the AX2000/2500 calculates all positioning operations internally only on an incremental basis, there are limitations on the usable range of values for distances that are given in SI (user) units. The range for the incremental position covers the values from -2 The resolution that is determined by the PGEARO (PNU1803 ind1) and PGEARI (PNU1802 ind1) parameters and the variable PRBASE fix the sensibly usable range for positioning operations. The variable PRBASE determines, through the equation motor turn. The value of PRBASE can only be 16 or 20. PGEARO contains the number of increments that must be traversed when the distance to be moved is PGEARI. The default values for PGEARO correspond to one turn. The number of turns that can be covered are given as follows:

-2048..+2047 for PRBASE=16 and -32768..+32767 for PRBASE=20 The sensibly usable position range is derived as follows:

PGEARI

31 31

--221

* ...( )*

PGEARO

31 31

...( )

--221

4.2.5.2 PNU 1791: velocity

The usable range for the velocity is not limited by the available data area. It is limited by the maxi mum applicable speed nmax, which is given by the speed parameter VLIM as the final limit speed for the motor.

The maximum velocity is thus given by:

=´ ´2

,max max

PGEARI

PGEARO

PGEARI

PGEARO

PRBASE

to (231-1).

PRBASE

= 2

, the number of increments per

for PGEARI <= PGEARO or

for PGEARI > PGEARO

with n

in turns/second

max

or, in incremental units, as:

250

incr

. max. max

=´ ´ = ´2

PRBASE PRBASE

max

sec

1 4000

with n

in turns/second

max

26 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Using the parameter channel (PKW)

4.2.5.3 PNU 1785: motion task type

Bit Value Meaning

The position value that is given is evaluated as an absolute position.

9 10 11

15 -

The position value that is given is evaluated as a relative traversing distance.

The two following bits then determine the type of relative motion. If Bit 1and Bit 2 are set to 0 and Bit 0 set to 1, then the relative motion task is performed

according to the “InPosition” bit. The new target position is given by the old target position plus the traversing distance.

Bit 1 has priority over Bit 2. If Bit 1and Bit 2 are set to 0 and Bit 0 set to 1, then the relative motion task is performed

according to the “InPosition” bit. The new target position is given by the actual position plus the traversing distance.

no following task available

There is a following task, but it must be defined through parameter O_FN, PNU 1788

Change over to next motion task, with braking to 0 at the target position.

Change over to next motion task, without standstill at the target position.

The type of velocity transition is determined by Bit 8. Change over to next motion task, without evaluating inputs.

A following motion task is started by a correspondingly configured input.

Start the next motion task by Input State = low or if bit 7 = 1after the delay set in

PNU 1789. Start the next motion task by Input State = high or if bit 7 = 1after the delay set in

PNU 1789. The next motion task is started immediately.

The next motion task is started after the delay time set by PNU 1789 or, if Bit6=1,previ

ously by a corresponding input signal. Only for following motion tasks and Bit4=1:from the target position for the previous moti-

on task onwards, the velocity is altered to the value for the following motion task. The change of velocity is made so that the velocity at the target position of the previous

motion task matches the value given for the following motion task.

reserved

Accelerations are calculated according to the run-up/acceleration and run-down/braking ti-

mes for the motion task. the deceleration/aceleration ramps are interpreted in mm/s²

The target position and target velocity of a motion task are interpreted as increments.

The target position and target velocity are recalculated as increments before the start of

the motion task. The parameters PGEARI and PGEARO are used for this purpose. The programmed velocity is used as the velocity for the motion task.

The velocity for the motion task is determined by the voltage present on analog input 1at

the start of the motion task. reserved

4.2.5.4 PNU 1783: acceleration time

This parameter defines the total time or rate (depending on the type of units selected for acceler ation) to reach the target velocity for the motion task.

4.2.5.5 PNU 1784: acceleration jolt limiting

This parameter defines the form of the acceleration ramp. If a value ¹ 0 is entered here, then a sin²-ramp (S-curve) is used to reach the target velocity. To employ sine²-ramps, the configuration variable SPSET has to be set to 2 (via the ASCII-channel or the ASCII-terminal in the setup software) and to be saved.

PROFIBUS for AX2000/2500 27

Using the parameter channel (PKW) 12/05 BECKHOFF

4.2.5.6 PNU 1786: deceleration time

This parameter defines the total time or rate (depending on the type of units selected for deceler ation) to reduce the velocity to 0 at the target position.

4.2.5.7 PNU 1787: deceleration jolt limiting

This parameter defines the form of the braking/deceleration ramp. If a value ¹ 0 is entered here, then a sin²-ramp (S-curve) is used for braking/deceleration.

4.2.5.8 PNU 1788: next motion task

The motion task number of the motion task to be started can be from 1 to 180 (motion tasks in EEPROM) or 192 to 255 (motion tasks in RAM).

4.2.5.9 PNU 1789: start delay

This parameter is used to set a delay time before the start of a motion task.

4.2.5.10 PNU 1310: copy motion task

This parameter can be used to copy motion tasks. The source motion task must be entered in the high-value portion of PWE (PZD5&6)andthetarget motion task must be entered in the low-value portion of PWE (PZD 7 & 8).

4.2.5.11 PNU 1311: position, 32 bit floating decimal point format

With this object the target position for motion task 0 (direct motion task, see ASCII – command O_P) can be set in 32 Bit Floating decimal point format (IEEE). Right of decimal point positions will be truncated. This objekt is, aside from the data format, identical PNU 1790. The defaults are indicated in micrometers.

Use:

Controls that support only 16 Bit integer and 32 Bit floating decimal point.

4.2.5.12 PNU 1312: velocity, 32 bit floating decimal point format

With this object the velocity for motion task 0 (direct motion task, see ASCII – command O_V) can be set in 32 Bit Floating decimal point format (IEEE). Right of decimal point positions will be truncated. This objekt is, aside from the data format, identi cal PNU 1791.

Use:

Controls that support only 16 Bit integer and 32 Bit floating decimal point.

28 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Using the parameter channel (PKW)

4.2.6 Setup mode: position

4.2.6.1 PNU 1773: homing type

This parameter can be used to determine which type of homing run should be applied. The assignment can be seen in the following table:

PWE Type of homing run

Reference point at the present position

Initiator with resolver zero mark

Hardware limit-switch resolver zero mark

Initiator without resolver zero mark

Hardware limit-switch without resolver zero mark

Zero mark / feedback unit

Reference point at the actual position

Hardware limit-switch with resolver zero mark

Absolute SSI-position

Move to Mechanical Stop

4.2.6.2 PNU 1644: homing direction

This parameter can be used to determine the direction of motion for homing runs. If set equal 0, then the direction of motion is negative; for a value 1 it is positive, and fora2itdepends on the dis tance to the reference point in the direction in which the homing run started.

4.2.7 Actual values

4.2.7.1 PNU 1401: speed

The parameter value is the actual speed of the motor in increments / 250 µsec, which are the amplifier’s internal units.

4.2.7.2 PNU 1402: incremental position, actual value

The parameter value is the actual position value in increments.

4.2.7.3 PNU 1800: actual position value in SI (User) units

The parameter value is the actual SI (user unit) position value.

4.2.7.4 PNU 1414: actual position, 32 bit floating decimal point format

With this object the actual position (see ASCII-command PFB) can be read in a 32 Bit Floating deci mal point format (IEEE). Right of decimal point positions will be truncated. This object is, aside from the data format, identi cal to PNU1800.

Use:

PLC Controls that support only 16 Bit integer and 32 Bit floating decimal point.

PROFIBUS for AX2000/2500 29

Using the parameter channel (PKW) 12/05 BECKHOFF

4.2.7.5 PNU 1415: actual velocity, 32 bit floating decimal point format

With this object the actual velocity (see ASCII-command PV) can be read in a 32 Bit Floating deci mal point format (IEEE). Right of decimal point positions will be truncated. This object is, aside from the data format, identi cal to PNU1815.

Use:

PLC Controls that support only 16 Bit integer and 32 Bit floating decimal point.

4.2.8 Digital I/O configuration

All settings for the digital inputs and outputs only become effective after being saved in the EEPROM and then switching off and on again, or making a cold start of the AX2000/2500. Details on each configuration setting can be seen in the user manual for the setup software.

4.2.8.1 PNUs 1698/1701/1704/1707: digital input configuration

This parameter can be used to configure the digital inputs 1 to 4 individually. The configurable functions depend on the used amplifier and are described in the ASCII Object Reference.

4.2.8.2 PNUs 1775/1778: digital output configuration

These parameters can be used to configure the two digital outputs individually. The configurable functions depend on the used amplifier and are described in the ASCII Object Reference.

4.2.9 Analog configuration

All settings for the analog inputs and outputs only become effective after being saved in the EEPROM and then switching off and on again, or making a cold start of the AX2000/2500. The significance of the functions can be seen in the user manual for the setup Software.

4.2.9.1 PNU 1607: analog input configuration

This parameter can be used to configure the two analog inputs together. The configurable functions depend on the used amplifier and are described in the ASCII Object Reference.

4.2.9.2 PNU 1613/1614: analog output configuration

This parameter can be used to configure the two analog outputs individually.

PWE Function

Off

n act

I act

n setp

I setp

S_fault

Slot

30 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Using the parameter channel (PKW)

4.2.10 Manufacturer specific object channel (from PNU 1600)

With PNUs>1600 you can programm each ASCII-parameter/command of the AX2000/2500. The PNU can be calculated by the object number with a specific offset (ASCII command reference list: DPR). All PNUs described in this manual can be reached with index=1. In the ASCII reference list you find for every parameter the PNU and the referring index. More functions of the object channel can be used with the indices listed below.

The offset and the indices that must be used depend on the object number:

Objekt number Offset PNUs Index

0 ...447 1600 1600 ...2047 00h ...08h (1 ... 8dez)

448 ...847 1200 1648 ...2047 10h ...18h (16 ... 24dez)

848 ...1047 800 1648 ...2047 20h ...28h (32 ...40dez)

Index 0/10h/ 20h depending on the object no. (see above) short description Number of entries Unit — Access — Data type UNSIGNED8 Value range 0 ... 2 EEPROM —

-1

Index 1/11h/ 21h depending on the object no. (see above) short description read/write a parameter Unit see corresponding ASCII-command Access see corresponding ASCII-command Data type see corresponding ASCII-command Value range see corresponding ASCII-command Default value — EEPROM see corresponding ASCII-command

Index 2/12h/ 22h depending on the object no. (see above) short description read lower limit Unit see corresponding ASCII-command Access Read only Data type see corresponding ASCII-command Value range see corresponding ASCII-command Default value — EEPROM —

Index 3/13h/ 23h depending on the object no. (see above) short description read upper limit Unit see corresponding ASCII-command Access Read only Data type see corresponding ASCII-command Value range see corresponding ASCII-command Default value — EEPROM —

Index 4/14h/ 24h depending on the object no. (see above) short description read default value Unit see corresponding ASCII-command Access Read only Data type see corresponding ASCII-command Value range see corresponding ASCII-command Default value — EEPROM —

PROFIBUS for AX2000/2500 31

Using the parameter channel (PKW) 12/05 BECKHOFF

Index 5/15h/ 25h depending on the object no. (see above) short description read object format Unit — Access Read only Data type see corresponding ASCII-command Value range see corresponding ASCII-command Default value — EEPROM —

Desription:

The following object formats are possible:

0 Function (no parameters – write only) 1 Function (32-Bit parameter) 2 Function (32-Bit parameter with weighting 3) 3 8-Bit integer 4 8-Bit unsigned integer 5 16-Bit integer 6 16-Bit unsigned integer 7 32-Bit integer 8 32-Bit unsigned integer 9 32-Bit integer (weighting 3)

Index 6/16h/ 26h depending on the object no. (see above) short description read object control data Unit — Access Read only Data type UNSIGNED32 Value range 0 ... 2 Default value — EEPROM —

Description:

–1

0x00010000 when altered, the variable has to be saved and the amplifier reset 0x00020000 variable will be saved in the serial EEPROM 0x00200000 variable is read-only, must not be written via PROFIBUS

Index 7/17h/ 27h and 8/18h/ 28h short description reserved Unit — Access Read only Data type UNSIGNED32 Value range 0 ... 2 Default value — EEPROM —

-1

Objects with format 0 (index 5) must not be accessed reading (response identification = 1)

32 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Process data channel

5 Process data channel

The process data channel is used for real-time communication. This channel is divided into two tele gram sections:

PZD1: Control word (STW) /Status word (ZSW) – instrument control

The control word and the status word are used to control the amplifier and monitor the amplifier's status.

PZD2-6: Setpoint / actual values depending on the operating mode.

Setpoints and actual values such as position, velocity and current are exchanged in this section.

The availability of a process data channel is determined in the PROFIDRIVE drive profile. The data that can be transferred is defined according to the operating mode (see “Setting the operating mode s” chapter 4.2.2.7). The process data that are used are determined in such a way that the real-time capability of this channel is optimally used. In this chapter the instrument control is described first, and then the functions and details of each operating mode .

PROFIBUS for AX2000/2500 33

Process data channel 12/05 BECKHOFF

5.1 Instrument control

The control of the amplifier through PROFIBUS is described with the aid of the status machine shown below. The status machine is defined in the drive profile by a flow diagram valid for all opera ting modes. The following diagram shows different amplifier states for the AX2000/2500.

Output stage not switched on

Not ready to

Start

switch-on

Switch-on

inhibited

Ready for switch-on

Ready for operation

Error

Eror response

active

Error

Output stage switched on

Operation

enabled

Fast stop

The following table describes the amplifier states and the transitions.

States of the status machine

State Description

Not ready for switch-on

Switch-on inhibited

Ready for switch-on

Ready for operation

Operation enabled

Fast stop activated

Error response active/error

AX2000/2500 is not ready for switch-on. No operation readiness (BTB) is signa led from the amplifier software. AX2000/2500 is ready for switch-on. Parameters can be transferred, DC bus link can be switched on, motion functions cannot be carried out yet. DC bus link voltage must be switched on. Parameters can be transferred, motion functions cannot be carried out yet. DC bus link voltage must have been switched on. Parameters can be transfer red, motion functions cannot be carried out yet. Output stage is switched on (enabled). No error present. Output stage is switched on, motion functions are enabled. Drive has been stopped, using the emergency stop ramp. Output stage is swit ched on (enabled), motion functions are enabled. If an amplifier error occurs, the AX2000/2500 changes to the amplifier state “Error response active”. In this state, the power stage is switched off immediately. After this error response has taken place, it changes to the state “Error”. This state can only be terminated by the bit-command “Error-reset”. To do this, the cause of the error must have been removed (see ASCII command ERRCODE).

34 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Process data channel

Transitions of the status machine

Transition Description

Event Reset / 24V supply is switched on

Action Initialization started Event Initialization successfully completed, AX2000/2500 switch-on inhibit

Action none

Bit 1 (inhibit voltage) and Bit 2 (fast stop) are set in the control word

Event

The state transitions are affected by internal events (e.g. switching off the DC-link voltage) and by the flags in the control word (Bits 0, 1, 2, 3, 7).

(command: shutdown). DC bus link voltage is present. Action none Event Bit 0 (switch-on) is also set (command: switch-on) Action Output stage is switched on (enabled). Motor has torque. Event Bit 3 (operation enabled) is also set (command: operation enable) Action Motion functions are enabled, depending on the operating mode that is set. Event Bit 3 is canceled (command: inhibit)

Motion functions are disabled. Action

Motor is braked, using the relevant ramp (depends on operating mode). Event Bit 0 is canceled (ready for switch-on). Action Output stage is switched off (disabled). Motor has no torque. Event Bit 1 or Bit 2 is canceled. Action (Command: “Fast stop” or “Inhibit voltage”) Event Bit 0 is canceled (operation enabled -> ready for switch-on) Action Output stage is switched off (disabled) - motor has no torque. Event Bit 1 is canceled (operation enabled -> switch-on inhibited) Action Output stage is switched off (disabled) - motor has no torque. Event Bit 1 or 2 are canceled (ready for operation -> switch-on inhibited) Action Output stage is switched off (disabled) - motor has no torque. Event Bit 4 is canceled (operation enabled -> fast stop)

Drive is stopped, using the emergency ramp. The output stage remains enabled. Setpoints are Action

canceled (e.g motion block number, digital setpoint). Event Bit 1 is canceled (fast stop -> switch-on inhibited) Action Output stage is switched off (disabled) - motor has no torque. Event Error response active Action Output stage is switched off (disabled) - motor has no torque. Event Error Action none Event Bit 7 is set (error -> switch-on inhibited) Action Acknowledge error (depending on error – with/without reset) Event Bit 4 is set (fast stop -> operation enabled) Action Motion function is enabled again. Event Bit 2 is canceled Action Switch-on inhibited, output stage disabled

PROFIBUS for AX2000/2500 35

Process data channel 12/05 BECKHOFF

5.1.1 Control word (STW)

With the aid of the control word, you can switch from one amplifier state to another. In the diagram for the state machine you can see which instrument states can be reached by which transitions. The momentary amplifier state can be taken from the status word. Several states may be passed through during one telegram cycle, e.g.

Ready for switch on ® Ready for operation ® Operation enabled. The bits in the control word can be (operating-) mode-dependent or mode-independent. The following table describes the bit assignment in the control word.

Bit Name Commentary

Switch on —

Inhibit voltage —

Fast stop, switch-on inhibited

Operation enabled —

Fast stop (inhibit rfg)

Pause (stop rfg) Operating mode dependent, 1 -> 0 stops motion

Setpoint enable Operating mode dependent (see table below)

Reset Fault only effective with errors

Jogging (on/off) Operating mode dependent (see table below)

reserved —

PZD (enable/inhibit) —

Start homing run (edge) Operating mode dependent (see table below)

Manufacturer-specific reset the position

Manufacturer-specific acknowledge warnings

Manufacturer-specific

Manufacturer-specific Operating mode dependent, digital speed

Depending on the bit combination in the control word, a corresponding control command is defined. The following table shows the bit combinations and also determines the priorities of the individual bits, in case several bits are altered in one telegram cycle.

1 -> 0 drive decelerates using emergency ramp, axis is disabled

(See also ASCII-commands STOPMODE and DECDIS)

1 -> 0 drive decelerates using emergency ramp, the amplifier remains enabled

only position opmode: Bit14 = 1: PZD section is interpreted as direct motion block (velocity 32-bit, position 32-bit, motion block type 16-bit Bit14 = 0: PZD section (HSW) is interpreted as motion block number

Command Bit 13 Bit 7 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Transitions

Shutdown XXXX1 1 0 2,6,8 Switch-on XXXX1 1 1 3 Inhibit voltage XXXXX 0X7,9,10,12 Fast stop (amplifier is disabled) XXXX0 1X7,10,11->12 Fast stop (amplifier remains enabled) X X 01111 11 Inhibit operation X X X 0111 5 Enable operation X X 11111 4,16 Reset error X 1 XXXXX 15 Acknowledge warnings 1 XXXXXX -

Bits labeled with X are irrelevant.

Opmode-dependent bits in the control word:

Mode Bit 5 Bit 6 Bit 8 Bit 11

Motion block

The parameter that is set in the mo

Position

Digital speed

Digital current reserved Setpoint enable, start movement reserved reserved Analog speed reserved reserved reserved reserved Analog current reserved reserved reserved reserved Trajectory reserved reserved reserved reserved

tion block is used.

Setup operation

The parameter that is set as a ramp for homing and jogging is used Drive brakes, using the preset speed ramp.

Start a motion task with every

transition edge (toggle bit).

Setpoint enable, start movement reserved reserved

Start jogging

Start homing

Priority of the Bits 6, 8, 11 in position-control mode: 6 (high), 11, 8 (low).

36 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Process data channel

5.1.2 Status word (ZSW)

With the help of the status word, the amplifier state can be represented and a transmitted control word can be verified.

If the amplifier does not react to changes of the control word (STW) as expected, the marginal con ditions like (enable of the output stage – hardware + software, application of the DC bus link vol

tage) must be checked.

The bits in the status word can be mode-dependent or mode-independent. The following table describes the bit assignment in the status word.

Bit Name Commentary

Ready for switch-on ---

Switched on ---

Operation enabled ---

Error see ASCII command ERRCODE

Voltage inhibited ---

Fast stop ---

Switch-on inhibit ---

Warning see ASCII command STATCODE

Setpoint / actual value monitoring only in position-control opmode: following error indicator

Remote not supported, fixed to 1

Setpoint reached only in position mode: In Position

Limit active not supported at present

Depends on mode used in ASCII-mode

Manufacturer-specific used in ASCII-mode

Manufacturer-specific reserved

States of the status machine:

State Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Not ready for switch-on Switch-on inhibit 1 X X 0000 Ready for switch-on 0 1 X 0001 Ready for operation 0 1 X 0011 Operation enabled 0 1 X 0111 Error 0 X X 1 X X X Error response 0 X X 1000 Fast stop active 0 0 X 0111

0XX0000

5.2 Operating modes

The selection of a new operating mode is described in detail on p. 23. This procedure must be follo wed for proper amplifier operation.

WARNING Appropriate precautionary measures against damage caused by faulty presentation of data formats or normalization of the setpoints must be taken by the user.

The possible operating modes are described below. PROFIBUS operating modes with a positive number (1,2) are defined in the drive profile. Operating modes with a negative number (-1,-2...) are labeled in the drive profile as being manufacturer-specific modes.

PROFIBUS for AX2000/2500 37

Process data channel 12/05 BECKHOFF

5.2.1 Positioning (operating mode 2)

Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6

Controller to Amplifier STW motion task no. or v

(16-bit)

Amplifier to Controller ZSW

*: for jogging/homing

act

Alternative assignment when STW Bit 14=1 (Direct Motion Task):

Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6

Controller to Amplifier STW

Amplifier to Controller ZSW

direct motion task: V

(16-bit)

act

Motion task number

The motion task number of the motion task to be started can lie in the range 1 to 180 (motion tasks in EEPROM) or 192 to 255 (motion tasks in RAM).

*- - - -

cmd

actual position (32-bit)

(32-bit)

cmd

actual position (32-bit)

position setpoint (32-bit)

manufacturerspecific status

block type manufacturerspecific status

motion

Speed Setpoint (v

cmd

)

This is just when jogging or homing is selected. PNU 1894 provide the scaling for this value. See chapter 4.2.4.1 for more detail.

Actual speed (16-bit)

The representation of the 16-bit actual speed value is normalized to the parameter for

overspeed VOSPD

act

VOSPD

Actual position (32-bit)

The range for the incremental position covers values from -2 turn corresponds to 2

PRBASE

increments. Position is always reported in internal units.

act

2=´

to (231-1), whereby one

Reporting in User Units (SI) is not supported.

Manufacturer-specific status

In the process data, the upper 16 bits of the manufacturer-specific status register (PNU 1002) are made available. The numbering starts again from 0. Details of the status register bits can be found in the table in chapter 4.2.3.3.

Speed setpoint for a direct motion task

The usable range for the speed is not limited by the available data area. It is limited by the maximum achievable speed nmax, which is given by the speed parameter VLIM as the final limit speed for the motor. Maximum speed is derived from the following formula:

=´ ´2

,max max

incr

. max. max

PGEARI

PGEARO

=´ ´m=´2

PRBASE PRBASE

PRBASE

or, as an incremental value, from:

250

sec

1 4000

max

, in each case with n

in revs/sec

max

Position setpoint for a direct motion task

The AX2000/2500 calculates all position values internally on an incremental basis only, so there are limitations on the usable range of values for distances that are given in SI (user) units. The range for the incremental position covers the values from -2

to (231-1). The resolution that is determined by the PGEARO (PNU1803) and PGEARI (PNU1802) parameters and the variable PRBASE fix the usable range for position values. The variable PRBASE determines, through the equation

PRBASE

= 2

, the number of increments per motor turn. The value of PRBASE can only be 16 or 20. PGEARO contains the number of increments that must be traversed when the distance to be moved is PGEARI. The default values for PGEARO are 1048576 (PRBASE = 20) or 65536 (PRBASE = 16) and correspond to one turn. Number of turns that can be covered :

-2048..+2047 for PRBASE=16 and -32768..+32767 for PRBASE=20 The sensibly usable position range is derived as follows:

PGEARI

31 31

--221

* ...( )*

PGEARO

31 31

...( )

--221

PGEARI

PGEARO

for PGEARI <= PGEARO, or

for PGEARI > PGEARO

Motion block type

The various types of motion block are described in chapter 4.2.5.3.

38 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Process data channel

5.2.2 Digital speed (operating mode 1)

Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6

Controller to Amplifier STW n

Amplifier to Controller ZSW

cmd

act

Alternative assignment of the process data sections with STW Bit 14=1:

Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6

Controller to Amplifier STW n

Amplifier to Controller ZSW

cmd

act

Alternative assignment of the process data sections with STW Bit 15=1:

Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6

Controller to Amplifier STW n

Amplifier to Controller ZSW

Actual speed n

act

(16-bit)

cmd

act

The representation of the 16-bit actual speed value is normalized to the parameter for the

overspeed VOSPD

act

VOSPD

-- -

(32-bit) - -

(32-bit)

-- -

2=´

incremental actual position

32-bit

incremental actual position

32-bit

position (20 bits/turn and 16

turns)

manuf.-specific

status

manuf.-specific

status

manuf.-specific

status

Actual position (32-bit)

The range for the incremental position covers values from -2 Here one turn corresponds to 2

PRBASE

increments. Reporting the information in User

to (231-1).

Units (SI) is not supported.

Manufacturer-specific status

In the process data (PZD5), the upper 16 bits of the manufacturer-specific status register (PNU 1002) are made available. The numbering starts again from 0. The significance of the status register bits can be seen in the table in Chapter 4.2.3.3.

Speed setpoint n

cmd

(16-bit)

The 16-bit speed setpoint is normalized to the parameter for the overspeed VOSPD.

cmd

VOSPD

cmd

2=´

Position

The actual position value is an incremental value with a resolution of 24 bits. Her one turn corresponds to 2

24 - PRBASE

So 2

Speed values n

turns can be represented.

(32-bit)

act

PRBASE

increments.

The digital speed values are converted according to the formula.

60 4000

32 2

PRBASE

with 2

PRBASE

ninrpmn

()

cmd/ act cmd /act, dig.

=´

= Increments per Motor turn, 60s/min,

4000 = Number of position controller cycles / sec.

5.2.3 Analog speed (operating mode -1)

In this operating mode the control word (STW) can only be used to enable and disable the amplifier.

Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6

Controller to Amplifier STW - - - - -

Amplifier to Controller ZSW

act

incremental actual position

32-bit

manuf.-specific

status

PROFIBUS for AX2000/2500 39

Process data channel 12/05 BECKHOFF

5.2.4 Digital torque (operating mode -2)

Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6

Controller to Amplifier STW I

Amplifier to Controller ZSW

cmd

act

Actual position (32-bit)

The range for the incremental position covers values from -2 Here one turn corresponds to 2

PRBASE

----

incremental actual position

(32-bit, value range 24-bit)

manuf.-specific

to (231-1).

status

increments.

Manufacturer-specific status

In the process data, the upper 16 bits of the manufacturer-specific status register (PNU 1002) are made available. The numbering starts again from 0. The significance of the status register bits can be seen in the table in Chapter 4.2.3.3.

Digital current values (16-bit)

The digital current values are converted as follows:

digital current setpoint

=´

[]

1640

setp

5.2.5 Analog torque (operating mode -3)

In this operating mode the control word (STW) can only be used to enable and disable the amplifier.

Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6

Controller to Amplifier STW - - - - -

Amplifier to Controller ZSW

=IQ

act

incremental actual position (32-bit, value range 24-bit)

manuf.-specific

status

5.2.6 Electronic gearing (operating mode -4)

Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6

Controller to Amplifier STW - - - - Amplifier to Controller ZSW n

act

actual position (32-bit) manuf. status -

Actual speed (16-bit)

The representation of the 16-bit actual speed value is normalized to the parameter for the

overspeed VOSPD

VOSPD

act

2=´

Actual position (32-bit)

The range for the actual position covers values from -2 Here one turn corresponds to 2

PRBASE

increments.

Manufacturer-specific status

5.2.7 Trajectory (operating mode -5)

Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6

Controller to Amplifier STW - - - - Amplifier to Controller ZSW n

Actual speed (16-bit)

The representation of the 16-bit actual speed value is normalized to the parameter for the

overspeed VOSPD

act

incremental actual position (32-bit) manuf. status -

act

VOSPD

act

2=´

to (231-1).

Actual position (32-bit)

The range for the actual position covers values from -2 Here one turn corresponds to 2

PRBASE

increments.

to (231-1).

40 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Process data channel

5.2.8 ASCII channel (operating mode -16)

Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6

Controller to Amplifier STW 10 bytes of ASCII-data Amplifier to Controller ZSW 10 bytes of ASCII-data

The operating mode “ASCII-channel” is used for parameterizing the AX2000/2500.

With this channel, just as with any terminal program, ASCII data can be exchanged with the servo amplifier via the RS232 interface. The control of the communication is performed by handshake bits in the control and status words. The assignment is as follows:

Bit 12:

Bit 13:

Bit 14:

When transmitting ASCII data, you must observe:

1. Every ASCII command must be terminated by the “CR LF” character sequence.

2. If the ASCII command (with CR LF) is shorter than the 10 characters that are available,

Control word

Any transition edge on this bit informs the AX2000/2500 that valid ASCII data are available in its process data input section, i.e. that with effect from this moment valid data must have been entered into the PZD transmission section PZD 2 - PZD 6 by the control system.

Status word

The AX2000/2500 confirms that it has accepted the ASCII data, by a transition edge on this bit.

Status word

The AX2000/2500 uses a “1” in this bit to signal that the ASCII buffer now contains valid data. A transition edge of Bit 14 in the control word STW can be used to make the AX2000/2500 write the buffer contents to the PZD reception section of the bus-master.

Control word

Any transition edge on this bit requests the AX2000/2500 to write the contents of its filled ASCII buffer to the receive process data of the bus master

Status word

The AX2000/2500 uses a transition edge on this bit to signal that the ASCII buffer data have been written to the process data.

then the rest of the telegram must be filled up with bytes with a content 0x00.

3. ASCII commands that are longer than 10 characters must be divided into more than one telegram, whereby a maximum of 30 characters can be sent before the buffer must be read out once.

When evaluating the responses to the transmitted ASCII command, you must observe:

1. The ASCII response is always terminated by an “End of Text” (EOT = 0x04) character.

2. Response telegrams can include less than 10 bytes of user data, without the response being concluded. The telegram must then be filled up with bytes with the value 0x00.

3. After reading out the buffer, Bit 13 of the status word is reset to “0”, until the buffer is filled again. The designation of the end of the ASCII response is in all cases “End of Text”.

5.2.9 Operating mode after switch-on (operating mode -126)

In this state, it is possible to control the state machine, but motion functions cannot be initiated (see page 23).

PROFIBUS for AX2000/2500 41

Process data channel 12/05 BECKHOFF

This page is deliberately left blank.

42 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Appendix

6 Appendix

6.1 Example telegrams

6.1.1 Zero telegram (for initialization)

At the beginning of PROFIBUS communication via the parameter channel and after communication errors, a zero telegram should be sent:

Byte 1 2345678

0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000

PKE IND PWE

The AX2000/2500 answers, by likewise setting the first 8 byte of the telegram (PKW) to zero.

6.1.2 Setting the Opmode

After switch-on or a reset (coldstart) the AX2000/2500 is in the PROFIBUS operating mode -126, in which it cannot perform any motion functions. For example to carry out positioning operations (motion tasks, jogging, homing), it must be set to the position-control mode. The procedure to do this is as follows:

a) Set the control word Bit 10 (PZD1, Bit 10) to 0.

This invalidates the process data for the AX2000/2500.

Byte 9 10 11 12

xxxx x0xx xxxx xxxx xxxx xxxx xxxx xxxx

STW HSW

b) Transmit PNU 930 through the parameter channel to set the operating mode.

Byte 1 2345678

0011 0011 1010 0010 xxxx xxxx xxxx xxxx 0000 0000 0000 0000 0000 0000 0000 0010

PKE IND PWE

The bits in the PKE section of the PKW have the following significance:

Bit 0 to 10 = PNU 930, Bit 12 to 15 = AK 3 (see also Chapter 3.1.1)

The AX2000/2500 sends a response telegram with AK = 2 and mirrors (identical) the values for the PNU (parameter number) and PWE (parameter value).

c) Switch on the new operating mode by setting the control word (STW) Bit 10 to 1.

This validates the process data.

If, for example, point a) is not observed, the AX2000/2500 transmits a negative answer: (response ID=7)

Byte 1 2345678

0111 0011 1010 0010 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0001 0001

PKE IND PWE

And the number that is transferred in the PWE section represents the error number, and can be loo ked up in the table in Chapter 3.1.1.2. In this case, error no. 17, “Task impossible because of opera ting state” will be signaled.

PROFIBUS for AX2000/2500 43

Appendix 12/05 BECKHOFF

6.1.3 Enable the AX2000/2500

The hardware enable signal (24V) must be applied, as a precondition for enabling the AX2000/2500 via the PROFIBUS. The enable through PROFIBUS can be made by setting the bit combination for the “Operation enabled” state in the control word (STW).

Byte 9 10 11 12

xxx0 x1xx 0011 1111 xxxx xxxx xxxx xxxx

STW HSW

The AX2000/2500 then reports back the corresponding state in its status word (ZSW), or indicates a warning or error message.

Byte 9 10 11 12

xxxx xx1x 0010 0111 xxxx xxxx xxxx xxxx

ZSW HSW

6.1.4 Start jog mode (on positioning opmode)

Jog mode is started in a similar manner to homing. To start, Bit 8 STW must be set. The jog velocity is given by the product of the 16-bit main setpoint in PZD2 and the multiplier defined by PNU 1894. The sign of the main setpoint determines the direction of movement.

It is not necessary to have a reference point set for jogging.

6.1.5 Set reference point

Take care that the position of the reference point permits the following positioning operations. The parameterized software limit-switches in the AX2000/2500 may not be effective. The axis could then drive up to the hardware limit-switch or the mechanical stop. There is a danger of damage being caused.

The control word (STW) Bit 12 = 1 defines the present position as being the reference point. The positioning functions are enabled. The shifting of the zero point (NI-offset) is ineffective. The replay “Reference point set” is made through Bit 17 in the manufacturer-specific status register (PNU 1002) or Bit 1 (manufacturer status of the process data).

Conditions:

PNU930 ¹ -16 No motion function active manufacturer specific status, process data 5 bit 0

44 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Appendix

6.1.6 Start homing run

After switching on the 24V auxiliary voltage the system must first of all carry out a homing run. Take care that the position of the machine zero point (reference point) permits the following positioning operations. The parameterized software limit-switches in the AX2000/2500 may not be effective. The axis could then drive up to the hardware limit-switch or the mechanical stop. There is a danger of damage being caused. If the reference point (machine zero point) is approached too fast, with high moments of inertia in the system, then it might be overrun, and the axis could then drive up to the hardware limit-switch or the mechanical stop. There is a danger of damage being caused.

The homing run is started by the control word (STW) Bit 11 = 1. The start of the homing run is detected by a positive transition edge for Bit 11. If Bit 11 is set to 0 again, before the reference point has been reached, then the homing run is can celed. Status word (ZSW) Bit 17 remains at 0 (reference point not set).

A set reference point is a precondition for all the positioning functions of the linear axis. The reference point switch is wired up to a digital input on the AX2000/2500. Depending on the type of homing run, you can freely shift the zero crossing point of the motor shaft within one turn, by using the parameter “Zero-point offset” (NI-offset). Furthermore, you can fix the position value to be the reference point by using the reference offset.

After the homing run, the amplifier signals “InPosition”, thereby enabling the position controller. The velocity for the homing run is transmitted with the setpoint HSW (PZD 2), as a 16-bit value. Multiplying this by the value of PNU 1894 determines the 32-bit speed. The sign is not evaluated.

Conditions :

State of the state machine = “Operation enabled” No warning message (ZSW Bit7=0)

The following diagram uses the homing run Type 1 (negative direction of motion, positive rotation, starting point in negative direction relative to the reference switch) as an example to illustrate the signal sequence of the relevant bits in the manufacturer-specific state.

PROFIBUS for AX2000/2500 45

Appendix 12/05 BECKHOFF

After the homing run has been completed, Bit 11 STW must be set to 0 again.

Alternatively, the reference point can also be set at the actual position. This can be achieved by setting Bit 12 STW, or by setting the homing run type 0 with PNU 1773 and subsequent start of the homing run by Bit 11 STW .

46 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Appendix

6.1.7 Start a motion task

Motion tasks are started by a transition edge (positive or negative) at Bit 6 STW. Bit 14 STW is used to decide whether a stored motion task or a direct motion task should be carried out.

Conditions:

Hardware enable is present. Amplifier is in the “Operation enabled” state. For linear axis: reference point is set.

Example: start the EEPROM motion task number 10:

Byte 9 10 11 12

0000 0100 0F*11 1111 0000 0000 0000 1010

STW HSW

* F stands for a transition edge, the state of Bit 6 STW also depends on the previous state.

By setting bit 5 in the manufacturer-specific status, the amplifier indicates that it has accepted the motion task and is carrying it out.

6.1.8 Start a direct motion task

If the motion task data is to be directly sent from the controller, then a direct motion task must be used. In this case, the target position, velocity and type of motion task are transferred using the pro cess data channel (PZD), together with the call of the motion task. If required, further parameters for this motion task (e.g. ramps) can be transferred previously by parameter tasks.

Target position 135000 mm

Velocity 20000

Motion task type - relative to actual position

Byte 1 23456

0100 0100 0F*11 1111 0000 0000 0000 0000 0100 1110 0010 0000

PZD1 PZD2 PZD3

STW velocity setpoint

Byte 7 8 9 10 11 12

0000 0000 0000 0010 0000 1111 0101 1000 0010 0001 0001 1101

PZD4 PZD5 PZD6

* F stands for a transition edge, the state of Bit 6 STW also depends on the previous state.

- with following motion task

- without pause

- target velocity for the following task should already be reached at the target position (only makes sense if there is no change of direction)

- use SI (user) units

position setpoint motion task type

6.1.9 Polling a warning or error message

If a warning or error message is present, then parameter 1001 or 1002 can be interrogated to find out the number of the warning or error.

PROFIBUS for AX2000/2500 47

Appendix 12/05 BECKHOFF

6.1.10 Writing a parameter (via parameter channel PKW)

Parameter v_max is used as an example to show how control parameters are transmitted from the master to the AX2000/2500.

Parameter number: 1816 111 0001 1000 Parameter value: 350000 µm/s 0000 0000 0000 0101 0101 0111 0011 0000

Byte 1 2345678

0011 0111 0001 1000 0000 0100 0000 0000 0000 0000 0000 0101 0101 0111 0011 0000

PKE IND PWE

Note: after an error has occurred in parameter transmission (AK = 7), a “Zero telegram” should be transmitted, i.e. the first 8 bytes of the transmit telegram from the PLC should be kept at 0, until the AX2000/2500 has responded with a zero telegram.

6.1.11 Reading actual values

Cyclical actual value request

This PKW task switches on the reading of an actual value. The actual value will now be transmitted with each cyclical telegram – until a new PKW task is presented.

Telegram layout:

Request Response

PKE/AK

PKE/PNU

IND

PWE

Parameter number of the actual values as transmitted

0 = read 0

no significance actual value

48 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Appendix

6.1.12 Write a parameter via the ASCII channel

The KP value for the current controller is to be set through the ASCII channel. The command is then MLGQ_0.985. Here the understroke stands for a space. Since every tele gram only has 10 positions available for the transmission of ASCII characters, the termination of the line (“CR LF”) must be transmitted in a second telegram. Conditions:

ASCII mode is switched on (PNU 930 = -16) Bit 13 STW = 0 (if necessary, toggle Bit 14 STW until Bit 13 ZSW = 0)

Procedure:

1. Write data to PZD 2..6 and invert Bit 12 STW

Byte 1 23456

0001 0000 0000 0000 0100 1101 0100 1100 0100 0111 0101 0001

PZD1 PZD2 PZD3

STW “M” “L” “G” “Q”

Byte 7 8 9 10 11 12

0010 0000 0011 0000 0010 1110 0011 1001 0011 1000 0011 0101

PZD4 PZD5 PZD6

“_” “0” “.” “9” “8” “5”

2. Wait for the transition edge on Bit 12 ZSW

3. Continue writing data to PZD 2..6 and invert Bit 12 STW

Byte 1 2 3 4 5..12

0000 0000 0000 0000 0000 1101 0000 1010 0000 0000

PZD1 PZD2 PZD3..6

STW “CR” “LF”

4. Wait for the transition edge on Bit 12 ZSW

5. Wait until Bit 13 ZSW = 1

6. Invert Bit 14 STW

7. Wait until Bit 14 ZSW = 1

8. The servo amplifier sends a response telegram

Byte 1 23456

0110 0010 0000 0000 0100 1101 0100 1100 0100 0111 0101 0001

PZD1 PZD2 PZD3

ZSW “M” “L” “G” “Q”

Byte 7 8 9 10 11 12

0010 0000 0011 0000 0010 1110 0011 1001 0011 1000 0011 0101

PZD4 PZD5 PZD6

“_” “0” “.” “9” “8” “5”

9. Repeat steps 5 to 8 until a response telegram indicates “EOT”.

Byte 1 234567..12

0000 0010 0000 0000 0000 1101 0000 1010 0000 0100 0000 0000 0000 0000

PZD1 PZD2 PZD3 PZD4..6

ZSW “CR” “LF” “EOT”

Note: The sequence of response telegrams shown above is only one of many

possibilities (for the same response from the servo amplifier). Because of the transmission rate and the internal synchronization mechanism, it can happen that process data sections remain empty and so the response is broken into segments. This could possibly alter the number of response telegrams.

PROFIBUS for AX2000/2500 49

Appendix 12/05 BECKHOFF

6.2 Index

A abbreviations ..................6

acceleration time ................27

actual position value

incremental ................29

SI-units...................29

analog inputs ..................30

analog outputs .................30

axis type ....................26

B baud rate ....................22

C complete documentation ............5

Connection diagram PROFIBUS ........9

control word ..................36

D data format, parameter ............18

deceleration time ................28

default parameters ...............22

digital inputs ..................30

digital outputs .................30

E error numbers .................17

error register ..................24

example telegram ...............43

F Fitting the expansion card ............8

H homing .....................45

homing direction ................29

homing type ..................29

I incremental position ..............26

Index IND ...................17

installation ....................7

instrument control ...............34

instrument ID ..................24

instrument profile................15

interface modules ...............10

J jog mode ....................44

jolt limiting

acceleration ................27

deceleration ................28

M motion task

N next motion task ................28

O operating modes ................37

P parameter channel ...............16

R read actual values ...............48

S saving .....................22

U Use as directed .................5

V velocity .....................26

copy ....................28

start ....................47

type ....................27

parameter description .............22

parameter ID ..................16

parameter numbers ..............20

parameter value

parameterization of the amplifier ........18

PNU list ....................20

position data ..................26

process data channel .............18

PROFIDRIVE profile number .........22

read/write amplifier parameter .........19

response IDs ..................16

set reference point ...............44

Setup ......................11

Setup software .................13

speed......................29

standard function blocks ............11

start delay ...................28

status machine .................34

status register .................25

status word ...................37

velocity multiplier ................26

................18

50 PROFIBUS for AX2000/2500

BECKHOFF 12/05 Appendix

This page has been deliberately left blank.

PROFIBUS for AX2000/2500 51

BECKHOFF AX2000 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

BECKHOFF 12/05 Contents

1 General

1.1 About this manual

1.2 Use as directed

1.3 Symbols used in this manual

1.4 Abbreviations used in this manual

2 Installation / Setup

2.1 Installation

2.1.1 Safety notes

2.1.2 Inserting the expansion card (AX2000)

2.1.2.1 Front view

2.1.2.2 Setup of Station Address and Baud Rate

2.1.2.3 Connection technology

2.1.2.4 Connection diagram

2.1.3 Profibus master module setup

2.1.3.1 Configuration of the master controller ( e.g. Siemens S7)

2.1.4 Standard function block for date exchange with the AX2000/2500

2.2 Amplifier setup

2.2.1 Guide to setup

2.2.2 Important amplifier configuration parameter

2.2.3 Setup Software

2.2.3.1 Screen page PROFIBUS

2.2.3.2 Screen page PROFIBUS instrument control

3 Profile of AX2000/2500

3.1 Parameter channel

3.1.1 Parameter ID (PKE)

3.1.1.1 Interpretation of the response IDs

3.1.1.2 Response ID 7: Profile specific error numbers

3.1.2 Index IND

3.1.3 Parameter value PWE

3.2 The process data channel (PZD)

4 Using the parameter channel (PKW)

4.1 Read/write an amplifier parameter

4.2 Summary of the parameter numbers

4.2.1 List of the parameters

4.2.2 Standard PROFIDRIVE parameters

4.2.2.1 PNU 940/911: PPO type write/read

4.2.2.2 PNU 918: PROFIBUS node address

4.2.2.3 PNU 963: baud rate

4.2.2.4 PNU 965: PROFIDRIVE profile number

4.2.2.5 PNU 970: default parameters

4.2.2.6 PNU 971: non volatile saving of parameters

4.2.2.7 PNU 930: Selection Switch for Operating Mode

4.2.3 Manufacturer specific parameters

4.2.3.1 PNU 1000: instrument ID

4.2.3.2 PNU 1001: manufacturer specific error register

4.2.3.3 PNU 1002: manufacturer specific status register

4.2.4 Position control parameters

4.2.4.1 PNU 1894: velocity multiplier

4.2.4.2 PNU 1807: axis type

4.2.5 Position data for the position control mode

4.2.5.1 PNU 1790: position

4.2.5.2 PNU 1791: velocity

4.2.5.3 PNU 1785: motion task type

4.2.5.4 PNU 1783: acceleration time

4.2.5.5 PNU 1784: acceleration jolt limiting

4.2.5.6 PNU 1786: deceleration time

4.2.5.7 PNU 1787: deceleration jolt limiting

4.2.5.8 PNU 1788: next motion task

4.2.5.9 PNU 1789: start delay

4.2.5.10 PNU 1310: copy motion task

4.2.5.11 PNU 1311: position, 32 bit floating decimal point format

4.2.5.12 PNU 1312: velocity, 32 bit floating decimal point format

4.2.6 Setup mode: position

4.2.6.1 PNU 1773: homing type

4.2.6.2 PNU 1644: homing direction

4.2.7 Actual values

4.2.7.1 PNU 1401: speed

4.2.7.2 PNU 1402: incremental position, actual value

4.2.7.3 PNU 1800: actual position value in SI (User) units

4.2.7.4 PNU 1414: actual position, 32 bit floating decimal point format

4.2.7.5 PNU 1415: actual velocity, 32 bit floating decimal point format

4.2.8 Digital I/O configuration

4.2.8.1 PNUs 1698/1701/1704/1707: digital input configuration

4.2.8.2 PNUs 1775/1778: digital output configuration

4.2.9 Analog configuration