S700K_e_0408.qxd

04.08.2008

14:15 Uhr

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S 700 K point machine

Setting points reliably

www.siemens.com/mobility

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Putting you on the right track
Point machines are an important factor in the safety of rail services. They need to operate with precision, be reliable and withstand high loads. Siemens provides a state-of-the-art and tried-and-tested solution the S 700 K point machine for points with external locking. It is economical and versatile, making it suitable for use in mass transit and mainline transport with points of all types and gauges.
Benefits > Economical operation low life-cycle costs > High level of availability proven operational reliability > Universal application wide range of variants > Reliable mode of operation robust, compact design > Long service life (one million throwing operations) > Long maintenance intervals > Short out-of-service periods
The S700 K point machine efficiently and reliably performs the following functions: > > > > operation of points retention of point blades in end positions mechanical securing or point locking electrical indication of throwing operations and blade end positions to the interlocking > opening of the trailing clutch when points are trailed and issuing of point trailed indications to the detection facility The high-quality components used by Siemens enable a high level of availability to be attained and hence increase the efficiency of rail services. The mean time between failures (MTBF) of the point machine is around 550,000 hours. Universal application wide range of variants The S700 K point machine from Siemens can be used for points with external locking in a wide range of applications: > > > > > > points of all types and gauges derailers and moveable frogs mass transit and mainline transport high-speed lines centralized or decentralized use temperature range 30 C to +70 C
Economical operation low life-cycle costs The S 700 K point machine achieves a high level of operating reliability on account of its robust and compact design. It has proven itself by its durability in a wide range of applications and climatic conditions. The fact that a general overhaul is recommended only after one million throwing operations speaks for itself. The machine can thus be used economically in short- and long-distance passenger traffic by all rail operators worldwide. Long maintenance intervals and short out-of-service periods keep the life-cycle costs low. High level of availability proven operational reliability Reliable heavy-duty points are a decisive factor for optimal line utilization. Particularly with the growing demands on modern railways for example in mainline services where very high speeds on the turnout leg are no longer exceptional. Even in mass transit and freight traffic, extremely high loads are generated and impact the points.
The EBA (German Federal Railways Office)approved S700 K point machine opens up a number of additional applications and possibilities. Besides cost-effectiveness, operational reliability and a high level of availability, the S700 K also offers customer-specific advantages of interest to demanding rail operators, you too could benefit from:

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> versatility, with configurations tailored to requirements > low power consumption and highly efficient operation > large control range > overall height does not extend above top of rail > light-weight, compact design > vandal-proof construction with robust cover > reversible during power failures (crank handle) > direction of movement reversible in mid-stroke The S700 K point machine can be used with geographical-circuitry, electromechanical and electronic interlockings. The maximum possible control distance is determined by the maximum possible core resistance. This in turn depends on the type (AC or DC) and magnitude of the control voltage, the throwing force and throwing time of the point machine. This is between 2 and 54 depending on the motor variant. Various versions of the point machine are available. The following customer-specific options are possible: > > > > > > > trailable or non-trailable right- or left-hand mounting with or without point detectors various motor types variable throwing stroke variable throwing force variable throwing time

Reliable mode of operation robust, compact design All the components are accommodated in a castiron housing with a key-locked, hot-galvanized sheet-steel cover. Parts which need to be checked during interlocking inspections and maintenance work are easily accessible. The point machine housing conforms to degree of protection IP54 as per IEC 60529. The interior is ventilated and the cover has a built-in lock. The motive power is transmitted via the transmission gearing to the ball spindle drive, which converts the rotary movement of the motor into a longitudinal motion. The throwing force of the machine is limited by an adjustable transmission clutch. An optional trailing clutch designed as a notched clutch enables the points to be trailed. The throw bar, which is connected to the points, is held with a defined force in the end positions by the trailing clutch. During the trailing of a trailable point machine, it is released once the retention force is exceeded. For fail-safe detection of the blade end positions, the point machine is equipped with detector slides. The detector slides are linked to the point blades via the detector rods and prove whether the blades have reached the end position. The end position of the point blades is detected continuously.
Once the end position has been reached, the motor is switched off by control contacts. In accordance with the position of the detecting and motor contacts in the point machine, the end positions reached, throwing and trailing of the points, and, if necessary, any faults are evaluated by the detection facility downstream of the contacts.

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Worldwide application Satisfied customers Rail operators the world over have come to appreciate the proven S700 K point machine, regardless of where it is used and under what conditions. More than 30,000 point machines of this type are in use worldwide.

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Dimensions (in mm)
Technical data Motor 400 V AC, 50/60 Hz, 3~; 110 V DC to 136 V DC (others on request) Throwing force 5,500 N Retention force 7,000 N Max. permitted restoring force of point blades 1,400 N Trailing resistance 9,000 + 500 N Throwing stroke 150 mm, 220 mm (others on request) Throwing time *) for 150 mm stroke: 5 s for 220 mm stroke: 6 s Rated current *) 2 A Starting current *) 8 A Maximum permissible line resistance 54 Weight approx. 120 kg Degree of protection IP54 to IEC 60529 Temperature range 30 C to +70 C

for 400 V three-phase AC / 50 Hz and a core resistance of 45

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Siemens AG Industry Sector Mobility Division P.O. Box 3327 D-38023 Braunschweig, Germany Phone: (+49) (5 31) 2 26-Fax: (+49) (5 31) 2 26-Siemens AG 2008 Printed in Germany PPGPA08081.5 Order No.: A19100-V100-B802-V3-7600
The information in this document contains general descriptions of the technical options available, which do not always have to be present in individual cases. The required features should therefore be specified in each individual case at the time of closing the contract.

www.siemens.com

Another window opens, in which you can set the parameters for the module.
Standard function block for date exchange with the servo amplifier
Kollmorgen supplies a S7-function block (FB10) for use Siemens PLC that make it possible to handle the servo amplifier 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.

Amplifier setup

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
Check that all the safety instructions, which are included in both the instructions 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 amplifier. Make sure that any unintended movement of the drive cannot create a danger to personnel or machinery.
Setup the basic functions Save parameters Test the bus connection
Now setup the basic functions of the servo amplifier including tuning the servo loops. This part of setup is described 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 configuration. Check the parameter settings for the PROFIBUS interface module. Check the PLC user program and the parameter settings for the function block.
Important amplifier configuration parameters
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 S400 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 automatically by the S400 master module in descending order.

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. The picture below shows the S300/S700 screen.
The PROFIBUS-profile PROFIDRIVE includes the following parameter process-data objects (PPO): The servo amplifier 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 the servo amplifier as a parameter channel. The PKW 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). The PZD channel has real-time capability.

Device Profile 3.1

Parameter channel

Parameter ID (PKE)

Marked lines in the table are valid for the servo amplifier
Master > Slave Function no task request parameter value alter parameter value [W] alter parameter value [DW] request description element alter description element request parameter value [A] alter parameter value [A/W] alter parameter value request number of array elements reserved Slave > Master Response ID positive Response ID negative 1,1 7/7/7/8 4,4 7/7/7

Task ID 10 - 15

3.1.1.1
Interpretation of the response IDs
Response ID 12 Interpretation no task transmit parameter value transmit parameter value transmit description element transmit parameter value transmit parameter value transmit number of array elements task not possible (with error no.) no operating authority for PKW interface spontaneous message [W] spontaneous message [DW] spontaneous message [A/W] spontaneous message [A/DW]
Abbreviatoins in the tables: A: W: DW: Array Word Double-word

3.1.1.2

Response ID 7: Profile specific error numbers
Error no. 18 19->115 Description 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 opmode switch over not possible at STW Bit 10 = 1 (PZD enable) 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 not possible due to operation status (e.g. output stage enabled) reserve

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.
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 numbers are described on page 17.
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 servo amplifier 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, p. 23). In all operating modes, data word 1 of the process data (PZD1) in the direction from control system to servo amplifier is used for instrument control, and in the direction from servo amplifier 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. When the servo amplifier 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).
The digital servo amplifiers of the servo amplifier 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.
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 servo amplifier can be transferred to the non-volatile memory by using the command non-volatile parameter save (PNU 971). Telegram layout:

4.2.3.3

PNU 1002: manufacturer specific status register
The bit assignment can be seen in the following table:
Bit Description Warning 1: It threshold exceeded (set, as long as Irms is above the threshold) Warning 2: Regen power exceeded (set, as long as the set regen power is exceeded) Warning 3: Following error Warning 4: Threshold monitoring (field bus) active Warning 5: Mains supply phase missing Warning 6: Software limit-switch 1 has been activated Warning 7: Software limit-switch 2 has been activated Warning 8: Faulty motion task has been started Warning 9: No reference point was set at the start of the motion task Warning 10: PSTOP active Warning 11: NSTOP active Warning 12: Motor default values were loaded (HIPERFACE or EnDat feedback) Warning 13: Expansion card is not working properly Warning 14: Sine encoder commutation not carried out Warning 15: Speed - current table error INxMODE 35 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.

with nmax in turns/second

4.2.5.3

PNU 1785: motion task type
Bit 0 Value Meaning The position value that is given is evaluated as an absolute position. 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 Bit 6 = 1, previously by a corresponding input signal. Only for following motion tasks and Bit 4 = 1: from the target position for the previous motion 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 times for the motion task. the deceleration/aceleration ramps are interpreted in mm/s 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 S300/S700 only: a motion task with trapezoid profile is started S300/S700 only: a table motion task (sin2 profile) is started. Bit 9 must be set to 0.
Bits 0 to 15 are transmitted as motion task type in PZD 6 (mode "positioning") with direct motion tasks. Bit 16 is not affected by the motion task type transmitted with the process data in PZD 6 and therefore must be written with PNU 1785 to the parameter channel.

4.2.5.4

PNU 1783: acceleration time
This parameter defines the total time or rate (depending on the type of units selected for acceleration) to reach the target velocity for the motion task.

4.2.5.5

PNU 1784: acceleration jolt limiting
For S400/S600 only. This parameter defines the form of the acceleration ramp. If a value 0 is entered here, then a sin-ramp (S-curve) is used to reach the target velocity. To employ sine-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.

4.2.5.6

PNU 1786: deceleration time
This parameter defines the total time or rate (depending on the type of units selected for deceleration) to reduce the velocity to 0 at the target position.

4.2.5.7

PNU 1787: deceleration jolt limiting
For S400/S600 only. This parameter defines the form of the braking/deceleration ramp. If a value 0 is entered here, then a sin-ramp (S-curve) is used for braking/deceleration.

4.2.5.8

PNU 1788: next motion task
S400/S600: 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). S300/S700: The motion task number of the motion task to be started can be from 1 bis 200 (motion tasks in EEPROM) or 201. 300 (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 (PZD 5 & 6) and the target 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
For S400/S600 only. 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
For S400/S600 only. 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, identical PNU 1791. Use: Controls that support only 16 Bit integer and 32 Bit floating decimal point.

Index short description Unit Access Data type Value range Default value EEPROM
1/11h/ 21h depending on the object no. (see above) read/write a parameter see corresponding ASCII-command see corresponding ASCII-command see corresponding ASCII-command see corresponding ASCII-command see corresponding ASCII-command
2/12h/ 22h depending on the object no. (see above) read lower limit see corresponding ASCII-command Read only see corresponding ASCII-command see corresponding ASCII-command
3/13h/ 23h depending on the object no. (see above) read upper limit see corresponding ASCII-command Read only see corresponding ASCII-command see corresponding ASCII-command
4/14h/ 24h depending on the object no. (see above) read default value see corresponding ASCII-command Read only see corresponding ASCII-command see corresponding ASCII-command
5/15h/ 25h depending on the object no. (see above) read object format Read only see corresponding ASCII-command see corresponding ASCII-command
Desription: The following object formats are possible: Function (no parameters write only) Function (32-Bit parameter) Function (32-Bit parameter with weighting 3) 8-Bit integer 8-Bit unsigned integer 16-Bit integer 16-Bit unsigned integer 32-Bit integer 32-Bit unsigned integer 32-Bit integer (weighting 3)
6/16h/ 26h depending on the object no. (see above) read object control data Read only UNSIGNED32 0.
Description: 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 short description Unit Access Data type Value range Default value EEPROM 7/17h/ 27h and 8/18h/ 28h reserved Read only UNSIGNED32 0. 232 - 1
Objects with format 0 (index 5) must not be accessed reading (response identification = 1)
The process data channel is used for real-time communication. This channel is divided into two telegram 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. Setpoint / actual values depending on the operating mode. Setpoints and actual values such as position, velocity and current are exchanged in this section.

PZD2-6:

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.
Process data channel 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 operating modes. The following diagram shows different amplifier states for the servo amplifier.
Output stage not switched on Start
Error Eror response active

Not ready to switch-on

Switch-on inhibited

Ready for switch-on

Ready for operation

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 servo amplifier is not ready for switch-on. No operation readiness (BTB) is sigNot ready for switch-on naled from the amplifier software. servo amplifier is ready for switch-on. Parameters can be transferred, DC bus Switch-on inhibited link can be switched on, motion functions cannot be carried out yet. DC bus link voltage must be switched on. Parameters can be transferred, Ready for switch-on motion functions cannot be carried out yet. DC bus link voltage must have been switched on. Parameters can be transferred, motion functions cannot be carried out yet. Output stage is switched on Ready for operation (enabled). No error present. Output stage is switched on, motion functions are enabled. Operation enabled Drive has been stopped, using the emergency stop ramp. Output stage is switFast stop activated ched on (enabled), motion functions are enabled. If an amplifier error occurs, the servo amplifier 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 response active/error 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).

Operating modes

The selection of a new operating mode is described in detail on p. 23. This procedure must be followed for proper amplifier operation. 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.
Positioning (operating mode 2)
Direction Controller to Amplifier Amplifier to Controller *: for jogging/homing PZD 1 STW ZSW PZD 2 motion task no. or vcmd* nact (16-bit) PZD 3 PZD 4 PZD 5 manufacturerspecific status PZD 6 -

actual position (32-bit)

Alternative assignment when STW Bit 14=1 (Direct Motion Task):
Direction Controller to Amplifier Amplifier to Controller PZD 1 STW ZSW PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 motion block type -
direct motion task: Vcmd (32-bit) nact (16-bit)
position setpoint (32-bit) manufacturerspecific status
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). Speed Setpoint (vcmd) 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 n act overspeed VOSPD n act16 = 215 VOSPD Actual position (32-bit) The range for the incremental position covers values from -231 to (231-1), whereby one turn corresponds to 2PRBASE increments. Position is always reported in internal units. 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: PGEARI v SI, max = n max 2PRBASE or, as an incremental value, from: PGEARO 250ms n max = 2PRBASE , in each case with nmax in revs/sec v incr. max. = n max 2PRBASE 1sec 4000 Position setpoint for a direct motion task The servo amplifier 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 -231 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 n = 2PRBASE , 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 PGEARI for PGEARI <= PGEARO, or -231 *.(231 - 1) * PGEARO PGEARO for PGEARI > PGEARO -231.(231 - 1) Motion block type The various types of motion block are described in chapter 4.2.5.3.

Actual position (32-bit) The range for the incremental position covers values from -231 to (231-1). Here one turn corresponds to 2PRBASE 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: I[mA] = (DIPEAK = amplifier peak current) digital current setpoint DIPEAK [mA] 3280
Analog torque (operating mode -3)
Direction Controller to Amplifier Amplifier to Controller PZD 1 STW ZSW PZD 2 Iact = IQ PZD 3 PZD 4 incremental actual position (32-bit, value range 24-bit) PZD 5 manuf.-specific status PZD 6 -
Electronic gearing (operating mode -4)
Direction Controller to Amplifier Amplifier to Controller PZD 1 STW ZSW PZD 2 nact PZD 3 PZD 4 actual position (32-bit) PZD 5 manuf. status PZD 6 -
Actual speed (16-bit) The representation of the 16-bit actual speed value is normalized to the parameter for the n act overspeed VOSPD n act16 = 215 VOSPD Actual position (32-bit) The range for the actual position covers values from -231 to (231-1). Here one turn corresponds to 2PRBASE 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.
Trajectory (operating mode -5)
Direction Controller to Amplifier Amplifier to Controller PZD 1 STW ZSW PZD 2 nact PZD 3 PZD 4 incremental actual position (32-bit) PZD 5 manuf. status PZD 6 -
Actual speed (16-bit) The representation of the 16-bit actual speed value is normalized to the parameter for the n act overspeed VOSPD n act16 = 215 VOSPD Actual position (32-bit) The range for the actual position covers values from -231 to (231-1). Here one turn corresponds to 2PRBASE increments.

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.
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 0F*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.
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 process 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 Velocity Motion task type 135000 mm mm 20000 s - relative to actual position - 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
2 0F*PZD1 STW Byte 0000 PZDPZD2 velocity setpoint 1110 PZD0010 0000

Byte 0100

PZD5 PZD6 position setpoint motion task type * F stands for a transition edge, the state of Bit 6 STW also depends on the previous state.
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.

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 servo amplifier. Parameter number: Parameter value: m/s 0000

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 servo amplifier 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:
PKE/AK PKE/PNU IND PWE Request 1 Parameter number of the actual values 0= read no significance Response 2 as transmitted 0 actual value

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_1.985. Here the understroke stands for a space. Since every telegram 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 0000 PZD1 STW Byte 0000 PZD4 _ 1. 1101 PZD2 M 1110 PZD8 L 1001 G 1000 PZDPZD3 Q 0101 0001
Wait for the transition edge on Bit 12 ZSW Continue writing data to PZD 2.6 and invert Bit 12 STW
Byte 0000 PZD1 STW PZD2 CR LF 1010 5.0000 PZD3.6

4. 5. 6. 7. 8.

Wait for the transition edge on Bit 12 ZSW Wait until Bit 13 ZSW = 1 Invert Bit 14 STW Wait until Bit 14 ZSW = 1 The servo amplifier sends a response telegram
Byte 0010 PZD1 ZSW Byte 0000 PZD4 _ 1. 1101 PZD2 M 1110 PZD8 L 1001 G 1000 PZDPZD3 Q 0101 0001
Repeat steps 5 to 8 until a response telegram indicates EOT.
Byte PZD1 ZSW PZD2 CR LF PZD3 EOT 7.0000 PZD4.6
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.

Appendix 6.2

abbreviations. 6 acceleration time. 27 actual position value incremental. 29 SI-units. 29 analog inputs. 30 analog outputs. 30 axis type. 26 baud rate. 22 complete documentation. 5 Connection diagram PROFIBUS. 9 control word. 36 data format, parameter. 18 deceleration time. 28 default parameters. 22 digital inputs. 30 digital outputs. 30 error numbers. 17 error register. 24 Fitting the expansion card. 8 homing. 45 homing direction. 29 homing type. 29 incremental position. 26 Index IND. 17 installation. 7 instrument control. 34 instrument ID. 24 instrument profile. 15 interface modules. 10 jog mode. 44 jolt limiting acceleration. 28 deceleration. 28 M motion task copy. start. type. next motion task. 27 28

operating modes. 37 parameter channel. 16 parameter description. 22 parameter ID. 16 parameter numbers. 20 parameter value. 18 parameterization of the amplifier. 18 PNU list. 20 position data. 26 process data channel. 18 PROFIDRIVE profile number. 22 read actual values. 48 read/write amplifier parameter. 19 response IDs. 16 sample telegram. 43 saving. 22 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 Target group. 5 Use as directed. 6 velocity. 26 velocity multiplier. 26
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