Keba Kemro K2 Project Engineering Manual

Kemro K2

SANMOTION C FM 299/A GA1060 Field bus

master module

Project Engineering Manual V 1.1

Notes on This Manual

At various points in this manual you will see notes and precautionary
warnings regarding possible hazards. The meaning of the symbols used is
explained below.

• DANGER indicates an imminently hazardous situation which, if not avoided, will

result in death or serious injury.

• WARNING indicates a potentially hazardous situation which, if not avoided,

could result in death or serious injury.

!

DANGER

!

WARNING

!

CAUTION

• CAUTION indicates a potentially hazardous situation which, if not avoided, may

result in minor or moderate injury.

CAUTION

• CAUTION used without the safety alert symbol indicates a potentially hazardous

situation which, if not avoided, may result in property injury.

This symbol reminds you of the possible consequences of touching
electrostatically sensitive components.

Note

Notes on use of equipment and useful practical tips are identified by the
“Notice” symbol. Notices do not contain any information that draws
attention to potentially dangerous or harmful functions.

© KEBA 2006
Specifications are subject to change due to further technical developments. Details presented may be subject to correction.

All rights reserved.
Document: version 1.1 / article no.: 1000296

Filename: fm299pjen.doc, last saving on: 3. 10. 2006

A: KEBA AG, Gewerbepark Urfahr, A-4041 Linz, Tel.: [phone], Fax: [phone], E-Mail: [e-mail]
D: KEBA GmbH Automation, Leonhard-Weiss-Straße 40, D-73037 Göppingen, Tel.: [phone],

Fax: [phone], E-Mail: [e-mail]

US: KEBA Corp., 100 West Big Beaver Road, Troy, MI 48084, US,Tel.: [phone], Fax: [phone],

E-Mail: [e-mail]

CN: KEBA Ltd., Unit 2107 Air China Plaza, Xiaoyun Road 36 #, Chaoyang District, Beijing, 100027, China,

Tel.: [phone], Fax: [phone], E-Mail: [e-mail]

www.keba.com

GA1060 Field bus master module Contents

History

Modification

from / to

V1.0 / 100106 meis

V1.0 / V1.1 030806 10, 11 Changes to chapter "Creation of cfg-file" meis

Date Modified

pages

Description Author

Project Engineering Manual, version: 1.1 / article no.: 1000296 3

© KEBA 2006

Contents SANMOTION C FM 299/A

4 Project Engineering Manual, version: 1.1 / article no.: 1000296

© KEBA 2006

GA1060 Field bus master module Contents

Contents

Brief description..............................................................................................................7

1

2 General safety instructions ............................................................................................8

3 Configuration...................................................................................................................9

Configuration with the KEMRO.Manager...........................................................................9

Creation of cfg-file............................................................................................................10

Setting the K-Bus address...............................................................................................11

4 Connections, wiring ......................................................................................................12

SDC Bus interface...........................................................................................................12

General information..............................................................................................12

Connector.............................................................................................................12

Cable....................................................................................................................12

Cable routing ...................................................................................................................13

Bus topology....................................................................................................................13

Schematic diagram of the bus topology bus terminating board.......................................14

5 Operation and displays.................................................................................................15

Status LED.......................................................................................................................15

GA1060 Bus Status LEDs ...............................................................................................15

6 Technical data................................................................................................................16

Project Engineering Manual, version: 1.1 / article no.: 1000296 5

© KEBA 2006

Contents SANMOTION C FM 299/A

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© KEBA 2006

GA1060 Field bus master module Brief description

1 Brief description

The FM 299/A module is a K2-200 field bus master module for the Sanyo

Denki drive bus.

FM 299/A

STATUS

CN1

CN2

RXTX

Front view FM 299/A module

Two FM 299/A modules can be operated on one control CPU.

Project Engineering Manual, version: 1.1 / article no.: 1000296 7

© KEBA 2006

General safety instructions SANMOTION C FM 299/A

2 General safety instructions

z The device is defined as an "open type equipment" so that it must be

installed in a control cabinet.

z The safety instructions in the project engineering handbook "K2-200

automation system” are to be complied with.

CAUTION

• Turn off the power supply before inserting or removing the module. Otherwise,

the module can be destroyed or undefined signal states can lead to damage of
the control system.

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© KEBA 2006

GA1060 Field bus master module Configuration

3 Configuration

Only a name has to be assigned for the configuration of the FM 299/A. In

addition, the GA1060 bus must be configured, also with its name and the

cycle time.

The FM 299/A can be configured at the CPU module in two different ways:

• Via Kemro.manager

• through the creation of cfg-files with a text editor

Two FM 299/A modules can be operated on one CPU.

Configuration with the KEMRO.Manager

The Kemro.managers can be used to configure all modules of a systems as

well as the Sanyo Denki converters of the QSE series.

At selection of the FM 299/A one column is automatically created for the

bus connection, which is then used to connect the drives.

Once all modules have been specified in the system and after all

parameters have been adjusted the Kemro.manager creates the necessary

cfg-files.

Project Engineering Manual, version: 1.1 / article no.: 1000296 9

© KEBA 2006

Configuration SANMOTION C FM 299/A

Creation of cfg-file

The FM 299/A and the GA1060 bus do not have any special parameters
except for their name and cycle time.

The configuration file is used to configure also the drives operated at the
GA1060 – see the following example.

Example:

[IO.ONBOARD.KBUS:0]
name = "Kbus"
cycleTime = 0.001
traceWord = 0

[IO.ONBOARD.KBUS:0.FM299:0]

name = "FM299_Interface"
traceWord = 0

[IO.ONBOARD.KBUS:0.FM299:0.GA1060B:0]

name = "GA1060B_Bus"
cycleTime = 0.002
traceWord = 0

The following information describes the configuration of one of SDC’s QSE­drive controller. Please refer to the relevant drive documentation for a
description of the parameters and additional information.

[IO.ONBOARD.KBUS:0.FM299:0.GA1060B:0.QSE:0]

name = "Axis_0"
address = 0
MOCODE = 16#1017
ENCODE = 16#800B
ENTYPE = 16#8300

driverMode = 3
positionMode = 1

maxPositionExponent = 32

positionOffset = 0.0
posUnitsToIncrements = 16.00
velUnitsToRpm = 11.777
torqueUnitsToPercent = 13.66

comBank = 16 // default = 17
resBank = 65 // default = 66

periodNum = 10
periodDenom = 200

traceWord = -1

[IO.ONBOARD.KBUS:0.FM299:0.GA1060B:0.QSE:0.BANK1]

DAT2 = 16#0001
DAT3 = 16#0001
DAT4 = 16#0005
DAT5 = 16#0000
DAT6 = 16#0032
DAT7 = 16#0090

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GA1060 Field bus master module Configuration

DAT8 = 16#0000

DAT9 = 16#0000

[IO.ONBOARD.KBUS:0.FM299:0.GA1060B:0.QSE:0.BANK8]

DAT2 = 16#0030

DAT3 = 16#1000

DAT4 = 16#0000

DAT5 = 16#0050

DAT6 = 16#0020

DAT7 = 16#0100

DAT8 = 16#0000

DAT9 = 16#0000

For user with a higher userlevel the following configuration entry is

available:

[IO.ONBOARD.KBUS:0.FM299A:0]

optional=0 / optional configuration:

/ 0 ... when the module is not available

/ an "Error" occurs

/ 1 ... when the module is not avialable

/ a "Warning" occurs

Setting the K-Bus address

The modules are addressed via the address switch. A maximum of two FM

299/A modules can be operated on one K2-200 control CPU.

The address switch is located on the right side underneath the lower cover.

The K-Bus plug is located underneath the upper cover.

ADR0

ADR1

Position of the address switch

On leaving the factory the FM 299/A module is set to address 0 and both

covers are closed.

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Connections, wiring SANMOTION C FM 299/A

4 Connections, wiring

SDC Bus interface

General information

To ensure adequate stability the GA1060 drive bus must be built as fully
shielded interface. Consequently the entire bus periphery must be provided
with an uninterrupted shield connection.

Connector

9-pole D-SUB socket connector with completely conductive shell.
The cable shielding must be connected plane with the shield cover of the
plug. An additional connection of the shield and the ground is not
necessary.

Cable

Pin assignment:

Pin Meaning

Pin1 GA1060 Bus +
Pin2 GA1060 Bus ­Pin3 – 8 GND
Pin9 n.c.

Cable type

Shielded, twisted pair data cables with a characteristic impedance of 100 –
120 Ω.

Structure

Twisted pair, shielded with signal ground.

Twisted pai r data c ables (GA 1060 Bus+,
GA1060 Bus-)

Signal ground (SGND)

Shield with signal ground

A multi-core twisted cable can also be used. Attention must be paid that the
GA1060 Bus+ and the GA1060 bus-lines are guided in a common twisted
pair of wires.

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GA1060 Field bus master module Connections, wiring

Cable routing

Signal and data lines that are foreign to the system and not connected to

the Kemro-control must not be routed in the same cable as the system’s

own signal and data lines. All shielded signal, data and low voltage supply

lines with contacted shields on either side can be routed parallel to one

another and parallel to the energy supply lines.

Bus topology

• The GA1060 drive bus is a bus system that must be closed on
either end with a bus terminating board.

• The FM 299/A can be operated at the end of the bus line or at any
section of the bus line. CN1 and CN2 can be located anywhere

• The total bus length must not exceed 10 meters, whereby the gaps
between the individual participants can be freely selected.

Drive contr ols

FM 299/A

STATUS

CN1

BA

CN2

RXTX

FM 299/A

STATUS

Drive contr ols

CN1

BT

BT

Drive contr ols

BT

CN2

RXTX

BT … bus terminating board

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© KEBA 2006

Connections, wiring SANMOTION C FM 299/A

Schematic diagram of the bus topology bus terminating board

If the FM 299/A is connected at one bus terminating board of a GA1060
drive bus, a terminating board must be connected to the free plug. This is
done by soldering a resistance with 120 Ω in between the Pins 1 and 2
(GA1060 Bus).

120

1

6

GND
GND
GND

n.c.

9

5

GA1060-Bus interface with activated bus terminating board

Ω

GA1060 Bus+
GA1060 Bus­GND
GND
GND

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© KEBA 2006

GA1060 Field bus master module Operation and displays

5 Operation and displays

Status LED

LED color Function

orange System start-up

green Communication alive, no error

red After switch-on -> module faulty

In cyclical mode -> Communication error, no communication
possible

GA1060 Bus Status LEDs

LED color Labeling Function

yellow TX Indicates transmission activity

green RX Indicates receiving activity

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© KEBA 2006

Technical data SANMOTION C FM 299/A

6 Technical data

General information

Logic supply 5V via K-Bus
Power consumption: Max. 1.0 W
Safety class: III according to EN 61131-2
Displays on the front panel: LEDs for transmission and receipt and for the status display
Max. number of modules at one CPU module 2

GA1060 Interface

Data transmission rates 10 Mbit/s
Max. cable length 10 m (between first and last participant)

Dimensions:

Footprint:
Module height: 120 mm
Mounting depth: 100 mm
Front panel width: 22.5 mm
Module width (incl. K-Bus plug): 32.5 mm
Weight: 130 g

Standards:

The module conforms to the following standards:
General information

UL 508 UL – listed

Product standard for
programmable controllers:
IEC 61131-1:2003 General information
IEC 61131-2:2003 Hardware

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© KEBA 2006