Setup with PROFIBUS

Valid for S300, S400, S600, S700

General

Before the drive is run with the PROFIBUS, it must be configured according to the application and tested with the PC setup software. To do that you need to disable the watchdog:

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).

To start the servo amplifier with PROFIBUS please follow these steps.

Null Telegram

At the beginning of the communication via the parameter channel and in case of a communication error a null telegram must be sent:

Byte 1, 2	Byte 3, 4	Byte 5, 6	Byte 7, 8
PKE	IND	PWE
0000	0000	0000	0000

The servo amplifier  will answer by also setting the first 8 bytes of the telegram to zero.

Set Operation Mode

After power up the servo amplifier will always be in the so-called safe operation mode – 126, no matter which operation mode has been set with the setup software. To operate the drive, the PNU 930 must be set to the required operation mode using the parameter channel.

The example shows how to set operation mode 2, Positioning.

Task ID (AK) = 3; PNU 930 = 0x3A2, Parameter Value (PWE) = 2

Byte 1, 2	Byte 3, 4	Byte 5, 6	Byte 7, 8
PKE	IND	PWE
33A2	0000	0000	0002

In case of successfull writing the drive will answer with Response ID (AK) 2 and show the parameter number as well as the parameter value:

Byte 1, 2	Byte 3, 4	Byte 5, 6	Byte 7, 8
PKE	IND	PWE
23A2	0000	0000	0002

In case of AK = 7 (PKE = 0x73A2) PWE will show an error number.

Error no.	Description
0	illegal PNU
1	parameter value cannot be changed
2	Lower or upper limit violated
3	Erroneous sub-index
4	no array
5	Incorrect data type
6	setting not allowed (can only be reset)
7	Descriptive element cannot be changed
8	PPO-write, requested  in IR, not available
9	descriptive data not available
10	access group incorrect
11	No parameter change rights
12	Password incorrect
13	Text cannot be read in cyclic data transmission
14	Name cannot be read in cyclic data transmission
15	text array not available
16	PPO-write missing
17	task cannot be executed due to operating status
18	other error
19-100	reserved
101	faulty task ID
102	software error (command table)
103	only possible in disabled state
104	only possible in enabled state
105	BCC-error in the EEPROM data
106	only possible after task is stopped
107	wrong value (16,20)
108	wrong parameter (OCOPY x (- y) z)
109	wrong motion block no. (0,1..180,192..255)
110	wrong parameter (PTEACH x (y))
111	EEPROM write error
112	wrong value
113	BCC-error in motion block
114	Object is read only or write only
115	Incompatible object (SDO channel only)
>115	reserve

One reason for an error may be that no null telegram had been sent before.

Up to here the parameter channel has been used (bytes 1 – 8). The following steps will be done via the process data channel. The parameter channel can be set to zero to be ready for the next read or write access.

Enable Drive

Now the internal state machine can be switched to "Operation Enabled" using the control word (STW). This will enable the drive.

Byte 1, 2	Byte 3, 4	Byte 5, 6	Byte 7 ,8	Byte 9, 10
PKE	IND	PWE		PZD 1
				STW
0000	0000	0000	0000	043F

If the hardware enable signal is switched on, the motor will get current now. Because bit 10 of the STW (PZD enable) is set, actual position and speed values should be sent from the servo amplifier. This can be seen looking onto the PROFIBUS page of the set up software. HIW and PZD4 in the line Input should change.

 Jog Mode

Before a reference move has been executed, the motor can only be moved in jog mode. To do this bit 8 of the STW must be set additionally and a speed setpoint must be written in byte 6 (PZD 2 = Main Setpoint HSW), in the example 10000 (2710hex).

Byte 1, 2	Byte 3, 4	Byte 5, 6	Byte 7, 8	Byte 9, 10	Byte 11, 12
PKE	IND	PWE		PZD 1	PZD 2
				STW	HSW
0000	0000	0000	0000	053F	2710

The speed at the motor results from this value multiplied with the adjustable multiplier PNU 1250. The default value of this parameter is 1. The resolution set with the PC setup software is taken into account (ASCII parameters  PGEARI, PGEARO). The sign of the speed determines the move direction.

Reference Move

The mode and the direction of the reference move can be set with the PC setup software or with the PNUs 1350 and 1351 (see PROFIBUS manual). In the STW the reference (home) bit must be set in addition, and a speed setpoint must be written in the HSW (PZD 2). The speed at the motor results from this value multiplied with the adjustable multiplier PNU 1250. The default value of this parameter is 1. The resolution set with the PC setup software is taken into account (ASCII parameters  PGEARI, PGEARO). For the reference move the sign of the speed does not matter.

Byte 1, 2	Byte 3, 4	Byte 5, 6	Byte 7, 8	Byte 9, 10	Byte 11, 12
PKE	IND	PWE		PZD 1	PZD 2
				STW	HSW
0000	0000	0000	0000	0C3F	2710

The drive will show the start of the reference move with the bit "Motion Task active", bit 0 of PZD 5. (Bits 16 – 31 of the manufacturer specific status are transferred here.) The answer may look as follows:

Byte 9, 10	Byte 11, 12	Byte 13, 14	Byte 15, 16	Byte 17, 18	Byte 19, 20
PZD1	PZD 2	PZD 3	PZD 4	PZD 5	PZD 6
ZSW	HIW			manufacturer specific status
02A7	zzzz	zzzz	zzzz	4401	0000

When the reference move is finished, the bit "Motion Task active" will be reset and – assumed the in position window is set to a reasonable value – bit 3 of PZD5, "In Position", is set.

Attention! The bit "Reference Point set" is active once the drive internally knows its reference position. At this time the motor ay still be moving.

Start a Direct Motion Task

For a direct motion task bit 14 in the STW (PZD1) must be set. The motion task type is chosen according to the table for PNU 1302 (see PROFIBUS manual) and the setpoints transferred as described in chapter 5.2.1 "Process Data Channel/Operating Modes/Positioning OPMODE2" of the manual. In this example the drive will go to the absolute position of 440000 μm with a speed of 50000 μm/s.

Byte 9, 10	Byte 11, 12	Byte 13, 14	Byte 15, 16	Byte 17, 18	Byte 19, 20
PZD 1	PZD 2	PZD 3	PZD 4	PZD 5	PZD 6
STW	Vsoll		position setpoint		motion task type
447F	0000	C350	0006	B6C0	2000

Every edge of bit 6 in the STW will start a motion task. Start and end of the motion task will be notified by the bits "Motion Task active" and "In Position" as described for the reference move.

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