0 Bewertungen0% fanden dieses Dokument nützlich (0 Abstimmungen)
51 Ansichten98 Seiten
SCHNEIDER ELECTRIC DOES not WARRANT the ACCURACY or COMPLETENESS of the INFORMATION, TEXT, GRAPHICS or LINKS available on or THROUGH this SITE. We regret the existence of any inadvertent technical, factual inaccuracies and / or typographical errors.
SCHNEIDER ELECTRIC DOES not WARRANT the ACCURACY or COMPLETENESS of the INFORMATION, TEXT, GRAPHICS or LINKS available on or THROUGH this SITE. We regret the existence of any inadvertent technical, factual inaccuracies and / or typographical errors.
SCHNEIDER ELECTRIC DOES not WARRANT the ACCURACY or COMPLETENESS of the INFORMATION, TEXT, GRAPHICS or LINKS available on or THROUGH this SITE. We regret the existence of any inadvertent technical, factual inaccuracies and / or typographical errors.
THE INFORMATION INCLUDED ON THIS WEB-SITE IS PROVIDED ON AN AS IS BASIS ONLY.
SCHNEIDER ELECTRIC DOES NOT WARRANT THE ACCURACY OR COMPLETENESS OF THE INFORMATION, TEXT, GRAPHICS OR LINKS AVAILABLE ON OR THROUGH THIS SITE AND EXPRESSLY DISCLAIMS LIABILITY FOR ERRORS OR OMISSIONS THEREIN. While we have undertaken reasonable measures to provide accurate and timely information, we regret the existence of any inadvertent technical, factual inaccuracies and/or typographical errors, and reserve the right to make changes and corrections any time, without notice. SCHNEIDER ELECTRIC HEREBY DISCLAIMS ALL WARRANTIES AND CONDITIONS WITH RESPECT TO THE CONTENT OF THIS WEBSITE AND ANY MATERIAL/DATA AVAILABLE FOR DOWNLOAD HEREIN, INCLUDING, BUT NOT LIMITED TO ALL IMPLIED WARRANTIES AND CONDITIONS OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE, AND NON- INFRINGEMENT. SCHNEIDER ELECTRIC SHALL NOT, IN ANY EVENT BE LIABLE FOR ANY SPECIAL, INDIRECT, EXEMPLARY, OR CONSEQUENTIAL DAMAGES OR ANY OTHER DAMAGES WHATSOEVER, INCLUDING BUT NOT LIMITED TO LOSS OF USE, DATA, OR PROFITS, WITHOUT RESTRICTION TO THE SPECIFIC FORM OF ACTION. PRINTING: The printed version of this document will not necessarily be an accurate representation of the information as presented on a computer monitor. Print formats can vary by printer type and driver configuration. Contact your Square D representative to inquire about a printed version of this document, which may be available for an additional charge. Technical documentation by Berger Lahr Online-Communication with Twin Line-controllers in the Fieldbus CAN Bus Operating system: 1.0xx Order no.: TLADOCCANME Edition: -001, 06.02 CAN Bus CAN Bus General Hazard Statement CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus General Hazard Statement HAZARD OF ELECTRIC SHOCK, BURN, OR EXPLOSION Read and understand this bulletin in its entirety before install- ing or operating Twin Line drive system products. Installation, adjustment, repair, and maintenance of these drive systems must be performed by qualified personnel. Disconnect all power before servicing the power controller. WAIT SIX MINUTES until DC bus capacitors discharge, then measure DC bus capacitor voltage between the DC+ and DC- terminals to verify that the DC voltage is less than 45 V. The DC bus LED is not an accurate indication of the absence of DC bus voltage. The motor can produce voltage at its terminals when the shaft is rotated! Prior to servicing the power controller, block the motor shaft to prevent rotation. DO NOT short across DC bus terminals or touch unshielded components or terminal strip screw connections with voltage present. Install all covers and close enclosure door before applying power or starting and stopping the drive system. The user is responsible for conforming to all applicable code requirements with respect to grounding all equipment. Many parts in this drive system, including printed wiring boards, operate at line voltage. DO NOT TOUCH. Use only electrically insulated tools. Before servicing drive system: Disconnect all power. Place a DO NOT TURN ON label on the drive system dis- connect. Lock the disconnect in open position. Failure to follow these instructions will result in death or serious injury. DANGER T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Table of Content CAN Bus V-1 Table of Content Glossaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . V-5 Abbreviations. . . . . . . . . . . . . . . . . . . . . . . . . . . V-5 Product name . . . . . . . . . . . . . . . . . . . . . . . . . . V-5 Technical Terms . . . . . . . . . . . . . . . . . . . . . . . . V-6 Written conventions and note symbols. . . . . . . . . . . . . V-8 1 CAN bus technology 1.1 CAN bus transmission technology . . . . . . . . . 1-1 1.2 Network topology . . . . . . . . . . . . . . . . . . 1-1 1.3 Accessing procedures . . . . . . . . . . . . . . . . 1-2 2 The Fieldbus device 2.1 System requirements . . . . . . . . . . . . . . . . 2-1 2.2 Fieldbus devices in CAN Bus network . . . . . . . 2-2 2.3 Operating modes and functions in Fieldbus operation 2-2 2.4 Twin-Line manuals and literature references . . . . 2-3 2.5 Regulations, norms . . . . . . . . . . . . . . . . . 2-3 3 Safety 3.1 Hazard categories . . . . . . . . . . . . . . . . . . 3-1 3.2 Safety instructions . . . . . . . . . . . . . . . . . . 3-2 3.3 Intended use . . . . . . . . . . . . . . . . . . . . . 3-3 3.4 Qualification of the personnel . . . . . . . . . . . . 3-3 3.5 Optimizing Network Performance . . . . . . . . . . 3-4 4 Communication in the Fieldbus 4.1 Control access to Twin Line controller . . . . . . . 4-1 4.1.1 Data exchange . . . . . . . . . . . . . . . . . . 4-3 4.1.2 Data structure . . . . . . . . . . . . . . . . . . 4-4 4.1.3 Identification . . . . . . . . . . . . . . . . . . . 4-5 4.1.4 Data framework for transmitted data . . . . . . . 4-5 4.1.5 Data framework for received data . . . . . . . . 4-6 4.2 Mechanism for monitoring and acknowledgment . . 4-9 4.2.1 Connection monitoring . . . . . . . . . . . . . . 4-9 4.2.2 Function of sf and rf bits . . . . . . . . . . . . 4-11 4.2.3 Command error bit cmderr . . . . . . . . . . . 4-12 4.2.4 Example of a positioning command . . . . . . . 4-13 4.3 Action and control commands . . . . . . . . . . . . 4-14 4.4 Replacing devices . . . . . . . . . . . . . . . . . . 4-17 V-2 CAN Bus Table of Content CAN Bus T L A D O C C A N M E ,
0 6 . 0 2 CAN Bus Table of Content CAN Bus V-3 8 Service, maintenance and warranty 8.1 Service information . . . . . . . . . . . . . . . . . 8-1 8.2 Shipping, storage and disposal . . . . . . . . . . . 8-2 9 Accessories 9.1 List of accessories . . . . . . . . . . . . . . . . . . 9-1 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1 V-4 CAN Bus Table of Content CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Glossaries CAN Bus V-5 Glossaries Abbreviations Product name Abbrevia- tion Meaning AC Alternating current ASCII American Standard Code for Information Interchange COS Controller Operating System DC Direct current E Encoder E/A Inputs / output EC European Community EMC Electromagnetic compatibility EU European Union GSD File with device master data HMI Human-Machine Interface, plug-in hand-held operating unit Inc Increment LED Light Emitting Diode LWL Fiber Optic M Motor NEMA National Electrical Manufacturers Association NFPA National Fire Protection Agency PC Personal Computer PLC Programmable logic controller Abbrevia- tion Product designation Term used TLC5xx Twin Line Controller 5xx Drive controller TLHMI Twin Line HMI HMI hand-held operating unit TLCT Twin Line Control Tool Commissioning Software TLHBC Twin Line Holding Brake Controller Holding Brake Controller TLBRC Twin Line Ballast Resis- tor Controller Ballast Resistor Controller V-6 CAN Bus Glossaries CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Technical Terms Actual position of the drive system The actual position of the drive system gives the absolute or relative positions of moved components in the system. Actual position of the motor See Angular position of the motor. Angular position of the motor The angular position of the motor corresponds to the angular position of the rotor in the motor housing, and refers to the zero point or index point of the position sensor. Asynchronous error Error which is recognized and reported by the monitoring facilities built- in to the controller. CAN-C Fieldbus module which connects the controller to a CAN Fieldbus. Control response Speed at which a controller reacts to a disturbance or to a change in the input signal. DC Bus The DC bus generates the necessary direct current for operating the motor and provides the amplifier with the necessary energy. The DC bus acts as a buffer to energy fed back by the motor. Default values Preset values for the parameters of the Twin Line controller before the first commissioning, factory settings. Direction of rotation Rotation of the motor shaft in a clockwise or counter-clockwise direction. A clockwise direction of rotation is given when the motor shaft rotates clockwise as the observer faces the end of the protruding shaft. Drive solution The drive solution comprises the drive system with its Twin Line control- ler and motor, as well as the system mechanics forming an integral part of the chain of motion. Drive system The drive system consists of the Twin Line controller, motor and auxiliary power and control devices (i.e. brake controller, HMI, etc.). Electronic gear An input speed is recalculated by the Twin Line controller using the val- ues of an adjustable gear ratio to produce a new output speed for the motor movement. Encoder Sensor for recording the angular position of a rotating element. Mounted on the motor, the encoder signals the angular position of the rotor. Error class Reaction of the Twin Line controller to an operational malfunction corre- sponding to one of five error classes. Forcing To change signal states irrespective of the hardware switching status in the controller; with the control tool, for example. The hardware signals remain unchanged. High/open Signal status of an input or output signal; when no signal is present, sig- nal voltage is high (high level). HMI Hand-held operating unit which can be plugged into the Twin Line con- troller. HMI: Human-machine interface. I 2 t monitoring Predictive temperature monitoring. On the basis of the motor current, the expected heating of controller components is calculated in advance. Should a limit value be exceeded, the Twin Line controller reduces the current. Incremental signals Angular steps of an encoder in the form of square-wave pulse sequences. Relative changes in position are signalled by the number of pulses contained in the pulse sequence. Index pulse Encoder signal for referencing the rotor position in the motor. The encoder sends one index pulse per revolution. T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Glossaries CAN Bus V-7 Input device Input device is the device which can be connected to the RS-232 inter- face for the purpose of commissioning; it is either the HMI hand-held operating unit or a PC with the Commissioning Software. Internal units The actual position of the drive system gives the absolute or relative positions of moved components in the system. Limit switch Switches which signal any overrun on the permissible travel. Low/open Signal status of an input or output signal; when no signal is present, sig- nal voltage is low (low level). Node guarding Monitoring function at the RS-232 interface. Optically isolated Electrical transmission of signals with electrical isolation. Parameter Device data and values which can be set by the user. Power amplifier This is the unit that controls the motor. The power amplifier generates currents for controlling the motor in accordance with the signals from the controller. Pulse direction signals Digital signals with variable pulse frequencies which signal changes in position and rotation direction via separate signal wires. Quick-stop This function is used to command rapid deceleration of the motor by the power amplifier. To achieve rapid deceleration, the power amplifier must be operational during the entire deceleration period, the motor must be dimensioned to allow for sufficient stopping torque, and the power ampli- fier must be able to absorb the system mechanical load energy/power during the deceleration. RS-232 interface Communications interface of the Twin Line controller for the connection of a PC or the HMI hand-held operating unit. Sincoder An encoder for registering the position of the rotor of the motor as an analog sine-cosine signal and as digital position data via the HIFA-C module. Motor data are held in the Sincoder and are read into the con- troller once the Twin Line controller is switched on. Synchronous error Error which is signaled by the controller when it is unable to carry out a command from the master device. User units A user unit corresponds to the maximum precision at which a distance, speed or acceleration value can be input. User units can be set for parameters involving speed, position and acceleration. Watchdog Device in the controller which detects internal faults. If a fault occurs, the amplifier is switched off immediately. V-8 CAN Bus Glossaries CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Written conventions and note symbols Action symbols This action symbol is used for step-by-step instructions which can be carried out as they are described. If one of the instructions leads to a noticeable response from the controller, this will be given after the description of the action to be carried out. In this way you will receive direct confirmation that a particular step has been properly executed. Enumeration symbol The enumeration symbol is used for listing individual points in a given information group in summary form. If the result of steps or sequences is described, the step to be performed is described first. Menu paths In the Twin Line Controller commissioning software, actions can be ini- tiated via "Menu menu item ...". For example, selecting "File Save" in the "File" menu under menu item "Save" will save data to the data storage medium. Parameter name Parameters are written in this handbook in the following description: parameter group.parameter name (Index:Subindex) Example: CtrlBlock1.n_max (19:5) for a parameter in the group CtrlBlock1 describing the maximal rotation. In the parameter chapter of the device book, more information can be found about parameters. They are sorted and listed there in groups. This symbol is used for general notes which give additional information about the controller. Passages which are preceded by this symbol may have to be discussed in more detail with customer service. Refer to "Service information" on page 8-1, for contact information. T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus CAN bus technology CAN Bus 1-1 1 CAN bus technology 1.1 CAN bus transmission technology The CAN bus was originally developed for fast, cost-effective data trans- mission for automotive engineering. In the meantime the CAN bus is also used in industrial automation technology, and has been further developed for communication at the Fieldbus level. The CAN bus is a standardized open bus, through which devices, sen- sors and actuators from different manufacturers communicate with each other. Twin Line controllers can be integrated with the Fieldbus module CAN-C in a CAN bus network. 1.2 Network topology CAN bus devices The CAN bus network consists of several CAN bus devices which are connected via a bus cable. Every CAN bus device can send commands if it is configured as a master device. If it is configured as a slave device, it can receive commands. Data between network devices are transmit- ted serially. Master Masters are active bus devices which control data traffic in the network. Examples of master devices are: Automation devices, e.g. PLCs PCs Programming devices Slaves Slaves are passive bus devices. They receive control commands and provide data for the master device. Examples of slave devices are: Input/output modules Drive controllers, e.g. Twin Line controllers Sensors and actuators 1-2 CAN Bus CAN bus technology CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 1.3 Accessing procedures Master-slave technique Data exchange with drive controllers is effected by means of the master- slave technique. The master device sends a command to the slave device, and waits for the slave to acknowledge the command. The slave responds after a command has been sent by the master. A drive controller is addressed by means of two identifiers which are derived from the slave devices address: Identifiers for transmitted data with which the controller recognizes a command addressed to it Identifiers for received data through which the master device identi- fies a message as confirmation of receipt Details on defining identifiers can be found in the chapter entitled "Com- munication in the Fieldbus" on page 4-1. T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus The Fieldbus device CAN Bus 2-1 2 The Fieldbus device 2.1 System requirements The Twin Line controller must be fitted with the CAN-C Fieldbus interface for operating in a Fieldbus. The network cable is available as an accessory. Fig. 2.1 Twin Line controller with Fieldbus fittings Item No. Designation Order No. 1 1 Twin Line controller with CAN-C module Drive controller TLC4xx, TLC5xx or TLC6xx TLCxxxxFxx2x4x 4 1 Manual for CAN Bus Instruction manual for corresponding con- trollers TLADOCCANME TLADOCxxxxE Item No. Designation Order No. 2 1 Network cable for CAN Bus TLACDCBAyyy 1) 1) Cable length yyy: 005, 015, 030, 050: 0.5 m, 1.5 m, 3 m, 5 m 3 1 Terminating plug for CAN-C module - 9-pole connector - 9-pole pins TLATA TLATB T w i n L i n e CAN-C 2-2 CAN Bus The Fieldbus device CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 2.2 Fieldbus devices in CAN Bus network Fieldbus devices from Berger Lahr can be operated in the same Field- bus segment. However, the commands for Twin Line controllers differ from those for other Berger Lahr devices in the Fieldbus. Fig. 2.2 Fieldbus devices from Berger Lahr in the network 2.3 Operating modes and functions in Fieldbus operation Depending on equipment and model, Twin Line controllers operate in a Fieldbus with the following operating modes and functions: Relative and absolute positioning Speed mode Electronic gear Reference movement and dimension setting Manual movement Operating functions include List control Teach Normalization Ramp functions Brake function Monitoring functions The Fieldbus can be used to call up and change Twin Line controller parameter settings, monitor inputs and control outputs, as well as to acti- vate diagnostic and fault monitoring functions. T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus The Fieldbus device CAN Bus 2-3 2.4 Twin-Line manuals and literature references Twin Line manuals Twin Line Controller 4xx, 5xx and 6xx manual for TLC4xx, TLC5xx and TLC6xx Controllers Twin Line HMI manual for the hand-held HMI device TLCT commissioning software manual for the Twin Line Control Tool software 2.5 Regulations, norms ISO/DIS 11519-1 ISO/DIS 11898 NEMA ICS 1.1: Safety Guidelines for the Application, Installation and Maintenance of Solid State Control. NEMA ICS 7.1: Safety Standards for the Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Sys- tems. 2-4 CAN Bus The Fieldbus device CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Safety CAN Bus 3-1 3 Safety 3.1 Hazard categories Safety notes and general information are indicated by hazard messages in the manual. In addition there are symbols and instructions affixed to the Twin Line controller that warn of possible hazards and help to oper- ate the controller safely. Depending on the seriousness of the hazard, the messages are divided into three hazard categories. The symbols shown emphasize the degree of hazard present. DANGER WARNING CAUTION The signal word is followed by a statement of the hazard (for example, electric shock) and may be accompanied by a pictogram depicting the hazard or additional descriptive information concerning the hazard. Following the statement of hazard is information on how to avoid or mitigate the hazard. The last portion of the hazard message states the consequences of failure to follow the information contained in the hazard message. DANGER DANGER indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. WARNING WARNING indicates a potentially hazardous situation which, if not avoided, can result in death or serious injury. CAUTION CAUTION indicates a potentially hazardous situation which, if not avoided, can result in minor or moderate injury. CAUTION CAUTION, used without the safety alert symbol, indicates a potentially hazardous situation which, if not avoided, can result in property damage. 3-2 CAN Bus Safety CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 3.2 Safety instructions HAZARD OF ELECTRIC SHOCK, BURN, OR EXPLOSION Read and understand this bulletin in its entirety before install- ing or operating Twin Line drive system products. Installation, adjustment, repair, and maintenance of these drive systems must be performed by qualified personnel. Disconnect all power before servicing the power controller. WAIT SIX MINUTES until DC bus capacitors discharge, then measure DC bus capacitor voltage between the DC+ and DC- terminals to verify that the DC voltage is less than 45 V. The DC bus LED is not an accurate indication of the absence of DC bus voltage. The motor can produce voltage at its terminals when the shaft is rotated! Prior to servicing the power controller, block the motor shaft to prevent rotation. DO NOT short across DC bus terminals or touch unshielded components or terminal strip screw connections with voltage present. Install all covers and close enclosure door before applying power or starting and stopping the drive system. The user is responsible for conforming to all applicable code requirements with respect to grounding all equipment. Many parts in this drive system, including printed wiring boards, operate at line voltage. DO NOT TOUCH. Use only electrically insulated tools. Before servicing drive system: Disconnect all power. Place a DO NOT TURN ON label on the drive system dis- connect. Lock the disconnect in open position. Failure to follow these instructions will result in death or serious injury. DANGER T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Safety CAN Bus 3-3 3.3 Intended use Before being used in a network, Twin Line controllers must be correctly installed and their functions tested in an initial start-up test. For intended use, also see the technical documentation of the controller. Twin Line controllers with the CAN-C module may be used in networks with cabling to CiA Draft Standard 102 V2.0. Network cabling must be installed to EMC specifications before a device may be started up in the network. 3.4 Qualification of the personnel Work on and with the controller may only be carried out by qualified per- sonnel. Qualified personnel are people who, by technical training, knowledge and experience, are able to assess the work to be done and to recognize and avoid possible hazards. Qualified personnel will be aware of the current standards, regulations, and accident prevention regulations which must be observed when working on the controller. LOSS OF CONTROL The designer of any control scheme must consider the poten- tial failure modes of the control signal paths and, for certain critical control functions, provide a means to achieve a safe state during and after a signal path failure. Examples of critical control functions are Emergency Stop and Overtravel Stop. Refer to NEMA ICS1.1 Safety Guidelines for the Application, Installation and Maintenance of Solid State Control and NEMA ICS7.1 Safety Standards for construction and Guide for Selec- tion, Installation and Operation of Adjustable Speed Drive Systems for further information Separate or redundant control paths must be provided for crit- ical control functions. System control signal paths may include communication links. Consideration must be given to the implications of unantici- pated transmission delays or failure of the link. Failure to follow these instructions can result in death or serious injury. WARNING 3-4 CAN Bus Safety CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 3.5 Optimizing Network Performance When structuring the information exchange requirements for a net- work, consider the speed of the communication required to implement the application properly. Use the communication method which best matches the speed requirements of the information exchange. Commu- nicate information only when required by the application. Minimize net- work traffic by design. For example, when controlling a simple process requiring only a few control functions, send only the necessary param- eters. This minimizes network traffic and maintains best overall network speed. This minimizes network traffic and maintains best overall network speed. For better network security, keep drive controllers and their associated control devices on the same local network. As far as possible, minimize or eliminate the need for control wiring to cross repeaters. Use distributed control where possible. The Twin Line controller has a large number of application functions which can be used in conjunction with network communications. Where possible, use these functions to allow local control by the controller while using the network to commu- nicate supervisory information. This minimizes the information exchange burden on the network and the controlling device. Understand the failure possibilities of the designed network. Provide control redundancies and contingencies appropriate for the intended application. Follow the cable routing practices described in section 5.1.1. Improp- erly installed network wiring can cause noisy or intermittent data trans- mission with resulting loss of network speed and deterioration of security. LOSS OF CONTROL Gateways in the communication link may keep the connection while the master of the Twin Line controller is out of order. Use timeout monitoring functions in master and Twin Line con- troller to insure correct network functioning. Check timeout monitoring function before starting or stopping the drive system. Failure to follow these instructions can result in death or serious injury. WARNING T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Communication in the Fieldbus CAN Bus 4-1 4 Communication in the Fieldbus 4.1 Control access to Twin Line controller UNINTENDED EQUIPMENT OPERATION Writing to parameters that are designated as reserved may cause unintended equipment operation. DO NOT write data to parameters unless the function to be performed is completely understood. Consult the TLC xxx technical documentation for additional details. Bit 0 is right-most (least significant) bit. Bit 15 is left-most (most significant) bit. Do not establish Fieldbus communication unless the commu- nication principles in the Fieldbus are completely understood. Consult the chapter Communication in the Fieldbus in this documentation. Failure to follow this instruction can result in death or serious injury, or equipment damage. WARNING LOSS OF CONTROL The designer of any control scheme must consider the poten- tial failure modes of the control signal paths and, for certain critical control functions, provide a means to achieve a safe state during and after a signal path failure. Examples of critical control functions are Emergency Stop and Overtravel Stop. Refer to NEMA ICS1.1 Safety Guidelines for the Application, Installation and Maintenance of Solid State Control and NEMA ICS7.1 Safety Standards for construction and Guide for Selec- tion, Installation and Operation of Adjustable Speed Drive Systems for further information Separate or redundant control paths must be provided for crit- ical control functions. System control signal paths may include communication links. Consideration must be given to the implications of unantici- pated transmission delays or failure of the link. Failure to follow these instructions can result in death or serious injury or equipment damage. WARNING 4-2 CAN Bus Communication in the Fieldbus CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Local and remote access Data exchange and control of Twin Line controllers can be carried out via various access channels: Locally via the RS-232 interface with the HMI hand-held operating device or TLCT commissioning software, or via the signal interface Remotely over the Fieldbus Fig. 4.1 Local and remote access to Twin Line controllers Automatic access security If an operating mode is set through an access channel, any active com- mands using this channel must be completed before another access channel can change mode. One exception exists for the Stop command. The Stop command is always active and may be entered from any inter- face. Channel access to the Twin Line device can be enabled and disabled using the Commands.On\Auto parameter. If this parameter has been set to 1, access via other channels is not available until the channel that has set the parameter resets it to 0, or the access port is interrupted (for example, using Fieldbus mode). If the drive is enabled by at least two enable input sources, the drive will remain enabled, even if one enable input source is withdrawn. Enable sources are Enable signal input, TLCT, TLHMI and Fieldbus. All enabling input sources must be withdrawn to disable the drive. If a movement command is initiated through the Fieldbus, no movement can be simultaneously triggered through a local device. This ensures that a running movement command can be completed in a controlled manner through the Fieldbus. In addition, local operating devices access to the Twin Line controller can be barred and released via Fieldbus commands. Local channels become available again when they are released by the master device or when Fieldbus operation is interrupted. STOP ESC CR Twin Line HMI PC with TLCT Signal interface with a switchboard Local Fieldbus LN Parameter Name Idx:Sidx TL-HMI Explanation and unit [ ] Range of values Default Value R/W rem. Commands.On\Auto 29:30 - Access to the mode setting UINT16 0: Access via all channels 1: Access only via the channel that has set this parameter 0 R/W - T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Communication in the Fieldbus CAN Bus 4-3 Communication via parameters The basis for communication between Twin Line controllers and the Fieldbus master device is formed by the Twin Line controller parameters. A Fieldbus command addresses each parameter through an index and sub-index. Fig. 4.2 Example of a parameter in a Fieldbus command The number of usable parameters depend on the Twin Line controller. A list of all parameters can be found in the Twin Line controller manual. The parameters are listed in their functional context to each operating mode and again at the end of the manual in a group overview. The number format of the parameter values in a Fieldbus command can be seen from the group overview in the chapter, 'Parameters' in the device manual. Example: for the parameter I_max (18:2), the conversion factor from cur- rent strength to values to be inputted is: 100=1Apk. If input is 100, it will set a current strength of 1Apk. 4.1.1 Data exchange Online command processing The master device sends a command to the Twin Line controller in order to have a movement assignment carried out, activate operating func- tions or request information from the controller. The controller carries out the command and acknowledges its successful execution. The exchange of data follows a fixed routine. The process is always viewed from the point of view of the master device: Fig. 4.3 Communication between master device and controller Initiating absolute point-to-point positioning Index: sub-index: 35:01 Parameter name: PTP.p_absPTP 01 35 Target position: 4650 increments ... 4650 Fieldbus command TLCxxx Controller CAN-Bus master device to master device from master device Buffer for Unit functions Received data Transmitted data Received data User program 4-4 CAN Bus Communication in the Fieldbus CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Transmitted data to the controller: The master device places a command in the data transmission memory. From there it is transmitted to the controller and carried out. Received data from the controller: The controller acknowledges the execution status of the command in the received data. If the master device receives an acknowledg- ment with no error message, the command has been correctly exe- cuted. The master device can send new commands as soon as it has received acknowledgment of the current command. Commands The master device transmits control commands and action commands with the transmitted data. After sending a control command, it receives an acknowledgment from the controller confirming whether the process- ing operation has been successfully carried out and completed. In the case of an action command, the controller merely reports back whether a process has been successfully initiated. The master device must thereafter continuously monitor for the end of the processing task, by requesting and evaluating data received from the controller. Details of both commands are described in the section entitled "Action and control commands" from page 4-14. 4.1.2 Data structure Besides command and control information, data transmitted and received also contain administration data for monitoring network opera- tion. These administration data are provided by the user program in the master device. To enable communication with the controller to function on the network, transmitted and received data must be exchanged, programmed and evaluated in an eight byte data framework. Fig. 4.4 Data structure of the data framework The first byte transmitted (byte 1) in the eight byte block contains acknowledgment information for co-originating data exchange. The data framework with transmitted and received data, and all byte, word and double word values are given in hexadecimal notation in the manual. Hexadecimal values are indicated by an h after the value, e.g. 31h. 7 6 5 4 3 2 1 0 1 2 3 4 1 2 1 2 3 4 5 6 7 8 Byte = 8 bits High byte High word Bit 1 byte 1 word Word = 2 bytes 1 double word Low byte Low word Double word = 4 bytes T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Communication in the Fieldbus CAN Bus 4-5 4.1.3 Identification Every device in the CAN bus is addressed through identifiers. The iden- tifier is calculated from the slave devices address and an offset to dis- tinguish between transmitted and received data. Identifier for transmitted data = Device address* 16 + 0 Identifier for received data = Device address* 16 + 8 Examples: The master device transmits to a slave device which has the address 126 (7Eh): Identifier transmitted data: 126 (7Eh) * 16 = 2016 (7E0h) The master device waits for the received data from the slave device through: Identifier for received data: 126 (7Eh) * 16 + 8 = 2024 (7E8h) For controller address 3, this results in: Identifier transmitted data: 48 (30h) Identifier received data: 56 (38h) Identifiers are transmitted with administration data, they do not form part of the eight byte data framework. 32 devices can be addressed in one network branch in the CAN bus Fieldbus, and up to 128 devices in a network which has been extended with repeaters. 4.1.4 Data framework for transmitted data The master device uses transmitted data to send a control or action command to the controller. Fig. 4.5 Transmitted data framework Index, 2 bytes Sub-index, 1 byte Requestdata Requestdata, 1 byte Commanddata Bit sf 7 2 0 0 0 0 0 0 0 1 0 0 6 5 4 3 1 0 1 2 3 4 5 6 7 Byte 8 sf 0 0 0 0 Bit Byte . . . 31 5 6 7 8 0 Commanddata, 4 bytes Read Write 4-6 CAN Bus Communication in the Fieldbus CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Byte 1: requestdata This byte contains control information for acknowledging and synchro- nizing as well for differentiating whether the command is a write com- mand or a read command. The acknowledgment mechanism via sf and rf is described on page 4-11. Byte 2...4: sub-index, index Index and sub-index are used to address the parameter which is evalu- ated as a command in the controller. The allocation of parameters for index and sub-index, and the parameter settings are described in the controller manual. Byte 5...8: commanddata These four bytes contain settings for the parameter transmitted to the controller as a command, e.g. the set speed for a PTP positioning maneuver. When a parameter of type INT16 or UINT16 is transmitted, the value is stored in commanddata in bytes 7 and 8, and the entries in bytes 5 and 6 have the value 0. The data types can be found in the controller's manual. 4.1.5 Data framework for received data Received data supply the controllers answer to a command. At the same time they include information on the controllers operating status. Fig. 4.6 Received data framework Bit Name Meaning 2 0: read value: The controller reads a value defined by index and sub-index, and places it on the bus. 1: write value: A parameter value is written to the controller. 7 sf (sf: sendflag) The master device flags a new command for the controller by changing the signal of the sf bit. Used together with rf in received data 1 2 3 4 5 6 7 Fb-statusword, 2 bytes Controldata, 1 byte Responsedata, 1 byte Responsedata cmderr=0: readdata, 4 bytes cmderr=1: errnum, 2 bytes Byte Bit Bit Bit Bit Byte Byte Bit rf 7 7 0 0 0 cmderr 0 0 0 0 x_end 0 Sign_SR 6 Controldata . . . . . . . . . ref_ok 0 mode pwin 6 5 5 4 4 x_err x_add_info 0 FltSig warning 15 15 31 14 13 9 8 7 6 5 3 Fb-statusword 8 5 6 7 8 7 8 cos 0 0 0 0 . . . 0 0 0 Readdata 3 1 2 0 Errnum cmderr=0: cmderr=1: 12 11 10 4 T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Communication in the Fieldbus CAN Bus 4-7 Byte 1: responsedata The first byte contains the response data from the controller on acknowl- edgment, synchronization and error detection, and on the identification of the Fieldbus service. The acknowledgment mechanism via sf and rf is described on page 4-11. Byte 2: controldata The controller uses the control data to provide information on the oper- ating mode set and to supply additional axis data. Control data can also be determined via the Low byte of the Status.xMode_act parameter (28:3). Bit Name Meaning 6 cmderr Command error (cmderr: command error), signal is only valid after correct acknowledgment of a data package. 0: Command was executed without error. 1: Command error, bytes 7 and 8 contain the error number errnum. 7 rf Controllers acknowledgment of receipt by changing rf bit (rf: receiveflag). rf = sf: Command recognized and initiated rf sf: New command not yet processed Bit Name Meaning 0..4 Mode Current axis operating mode, bit-coded Example: 00011 - PtP positioning 1: Manual movement 2: Referencing 3: PtP positioning 4: Speed mode 5: Electronic gear 5 ref_ok 0: No reference point fixed 1: Axis has been referenced 6 Pwin Standstill window, permissible control deviation 0: No standstill 1: Motor stopped in standstill window 4-8 CAN Bus Communication in the Fieldbus CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Byte 3, 4: fb-statusword The operating status of the controller is monitored by means of the sta- tus signals. This information can also be derived via the Low word of the driveStat parameter (28:2). Byte 5..8: readdata The readdata contains control information, e. g. the current position of the motor. The controller updates this control information before each message is sent to the master device. It sends this information to the master device with each receive data set. The master device requests new read data by means of a command with the status, read value, see "Data framework for transmitted data", page 4-5, byte 1. When a parameter of type INT16 or UINT16 is transmitted, the value is stored in readdata in bytes 7 and 8, and the entries in bytes 5 and 6 have no significance. The data types used can be found in the controller's manual. If no read value has been requested yet, the controller communicates the current axis position. Read data are transmitted when the command has been executed with- out error. Byte 7, 8: errnum If a command is not executed correctly, the command error bit cmderr in byte 1 signals an error. The cause of the error can be determined via the error number errnum. A list containing a description of the error numbers can be found in the manual in the chapter on diagnostics and error correction. Bit Name Meaning 0..3 Cos Operating status of the controller, bit-coded Details on the display and recognition of the operating sta- tus can be found in the manual in the chapter on diagnostics and error correction. 5 FltSig Internal monitoring signals 0: no error recognized 1: error recognized, cause via parameters Status.FltSig_SR (28:18) and Status.IntSigSr (29:34) 6 Sign_SR External monitoring signals 0: no error recognized 1: error recognized, cause via Status.Sign_SR (28:15) parameter 7 Warning Warning signal 0: no warning signal 1: warning signal, cause via parameters Status.FltSig_SR (28:18) and Status.IntSigSr (29:34) 13 x_add_ info Status bit for monitoring processing status, see page 4-14 14 x_end Status bit for monitoring processing status, see page 4-14 15 x_err Status bit for monitoring processing status, see page 4-14 T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Communication in the Fieldbus CAN Bus 4-9 4.2 Mechanism for monitoring and acknowledgment 4.2.1 Connection monitoring To ensure error-free data exchange, two monitoring mechanisms are continuously used on master and slave device sides. Timeout monitoring Acknowledgement mechanism Timeout monitoring A timeout time can be set in the slave device within which the master device must send a new message. If no message is received from the master in this time, the controller will halt the processing operation which has been triggered over the Fieldbus. The master device can report by sending a command, which is acknowl- edged by the controller. The time interval to the timeout signal can be set via the M4.toutCan parameter (24:26). Time interval 0 switches this monitoring off. When not using timeout monitoring, the loss of communication will not cause the controller to generate a fault. The controller will continue to fol- low the last valid command it received over the network. NOTE: Use this function during normal network operation. The timeout monitoring may be disabled during start-up and troubleshooting. The system designer must provide in this case alternate control paths for starting, stopping, and controlling the motor. Controller response on timeout monitoring fault can result in two differ- ent situations: If the drive was enabled via input signal, (IO-Mode= 2, for IO_mode=2 see technical documentation) the drive executes a quick stop when a movement is commanded over Fieldbus. If the drive was enabled via Fieldbus (IO-Mode=0 or 1, for IO_Mode=0,1 see technical documentation), the drive disables, no quickstop is executed and the output signals and forcing commands set via the Fieldbus are cleared. LOSS OF CONTROL Provide alternate control paths (Start, Stop and Speed): When not enabling timeout monitoring. When motor control is required while a communication fault exists. Failure to follow these instructions can result in death or serious injury or equipment damage. WARNING 4-10 CAN Bus Communication in the Fieldbus CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Acknowledgement mechanism A special acknowledgement mechanism is required for a slave device to identify and confirm a new command. The acknowledgement mecha- nism supervises the exchange of data between master device and con- troller, and synchronizes both devices when data transmission is cyclical on the Fieldbus. Only when a command has been acknowledged: Are the other received data valid as a response to the command Can a new command be processed by the controller Three bits are significant for the acknowledgement mechanism: The sf bit in the transmitted data The rf bit in the received data The cmderr bit in the received data The sf and rf bits are used to ensure data consistency for the trans- mitted or received data. A change of sf bit in the master device indi- cates that the Twin Line controller slave device needs to process the transmitted data sent by the master device. The Twin Line controller changes rf bit in the slave device to acknowledge the execution of a command. Error messages in CAN bus operation All devices in the CAN bus receive a command simultaneously. If one of the devices detects a transmission error, it sends an error message even if it the message was not addressed to it and the slave device to which it was addressed, has received the data correctly. As a result of the error message, the master device re-sends the com- mand. Recognition of a new or re-sent command is controlled by two bits in the data framework: The sf bit in the transmitted data The rf bit in the received data The sf bit/rf bit mechanism ensures that the controller does not exe- cute the command a second time. T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Communication in the Fieldbus CAN Bus 4-11 4.2.2 Function of sf and rf bits When Fieldbus operation is started, the sf and rf bits are defined as being at 0. New command from master device The master devices user software marks a new command by switching the sf bit. Evaluation by slave device The controller compares bits sf and rf: sf rf: command is new sf = rf: command has already been executed LOSS OF CONTROL Do not establish Fieldbus communication unless the commu- nication principle of sf-rf is completely understood. Critical commands may not be executed because of unchanged sf bit or invalid sf-rf-sf sequences. Failure to follow this instruction can result in death or serious injury or equipment damage. WARNING 4-12 CAN Bus Communication in the Fieldbus CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Fig. 4.7 Data exchange and synchronization with sf and rf bits Response from the slave device If the command has been carried out, the controller switches over the rf bit and sends the signal together with the response data back to the master device. If the controller receives a command which has already been carried out, it sends an acknowledgment back to the master device together with the latest status data. Evaluation by the master device The master device receives confirmation from the controller by means of rf=sf after the command has been carried out. 4.2.3 Command error bit cmderr The command error bit is valid when the command has been acknowl- edged. cmderr=0: command has been successfully carried out cmderr=1: a synchronous error has occurred In the case of a synchronous error, the controller returns an error num- ber errnum in bytes 7 and 8 of the received data, from which the cause of the error can be determined. The error numbers are given in the chap- ter on diagnostics and error correction in the manual. Information on synchronous errors can be found in the chapter entitled "Error handling" on page 7-1. Controller Master device sf=rf=0 rf=sf=0 sf rf sf = rf sf = rf sf rf 1 0 sf Execute command Execute command Acknowledge Acknowledge Acknowledge New command New command Old command rf Transmitted data Received data rf = sf rf=sf=1 rf=sf=1 rf: 0->1 1 1 1 . . . rf=sf=0 sf: 0->1 sf: 1->0 sf: 1 Evaluate answer Evaluate answer Evaluate answer rf = sf rf: 1->0 0 T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Communication in the Fieldbus CAN Bus 4-13 4.2.4 Example of a positioning command A relative positioning command is transmitted to the controller. Fig. 4.8 Positioning command The first command sets the speed, and the second initiates a positioning process. The bytes mean: Byte 1 (requestdata): send new command: switch over sf bit; write access with bit 2 =1: 4h Bytes 2-4: sub-index and index for the command: 05h:00 23h for PtP set speed PTP.v_target (35:5) 03h:00 23h for relative positioning PTP.p_relPTP (35:3) Bytes 5-8 (commanddata): setting value for the command 00 00 00 38h: PtP speed, here 38h = 56 units 00 00 13 E4h: positioning path, here 13E4h = 5.092 units Detailed examples on all operating modes of Twin Line controllers can be found in the chapter entitled "Examples for Fieldbus operation" from page 6-1. 04h 03h 00 23h 00 00 13 E4h 84h 05h 00 23h 00 00 00 38h Byte 1 Byte 2 Bytes 3+4 Bytes 5-8 sf=1 rf=1 sf=0 rf=0 rf=0 Master device Slave device Received data Received data 4-14 CAN Bus Communication in the Fieldbus CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 4.3 Action and control commands The master can send two types of commands, control commands or action commands. The controller reacts differently depending on the type of command. Control commands Control commands are carried out immediately and are completed once the received data are sent back. For example, control commands are used to change parameters or switch outputs. Fig. 4.9 Carrying out a control command If a command could not be correctly carried out, the controller sets the command error bit cmderr to 1 and reports a synchronous error. Action commands Action commands start a movement. The controller switches on the appropriate operating mode, and loads the required parameters. It sig- nals the start of the movement as confirmation of the command back to the master device. For example, an action command can initiate a posi- tioning process. Fig. 4.10 Carrying out an action command If an action was not able to be initiated correctly, the controller sets the command error bit cmderr to 1, and signals a synchronous error. Transmitted command data with sf rf cmderr = 0 ? no yes Command executed Master device Slave device Transmitted data Received data (acknowledge) Synchronous error Process command Received data framework Transmitted data framework sf rf ? no yes Acknowledge data framework Transmitted command date with sf rf cmderr = 0 ? no yes Command executed Master device Slave device Transmitted data Received data (acknowledge) Synchronous error Process command Received date framework Received date framework sf rf ? no yes Acknowledge data framework Action started T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Communication in the Fieldbus CAN Bus 4-15 Monitoring the operating status The operating status and the completion of the movement command must be continuously monitored by the master device via the status word fb-statusword in the received data. Fig. 4.11 Monitoring the operating status of the controller Status bits Internally the controller administers the operating status for every oper- ating mode via separate status bits. It only reports the status of the cur- rent operating mode on the Fieldbus. The status bits have the following meanings: Bit 13, x_add_info: Signal dependent on operating mode Bit 14, x_end: Processing status of operating mode 0: Processing running 1: Processing finished, motor stopped Bit 15, x_err: Error status during processing 0: Error-free operation 1: Error has occurred The information on the current operating mode can be used to evaluate the status report for the specific operating mode. The current operating mode is found in bits 0 to 4 ("mode") in "controldata". The allocation of operating mode and status bits is shown in the follow- ing table: As soon as processing is initiated by an action command, bit 14 x_end changes to 0. Once processing has been completed, bit 14 reverts to 1 thereby signalling clearance for further processing steps. The signal change is suppressed if one process is followed immediately by another in a different operating mode. Operating mode mode x_add_info x_end x_err Manual mode 1 0 manu_end manu_err Referencing 2 0 ref_end ref_err PtP positioning 3 Set position reached motion_end motion_err Speed mode 4 Set speed reached vel_end vel_err Electronic gear 5 0 gear_end gear_err 4-16 CAN Bus Communication in the Fieldbus CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Fig. 4.12 Monitoring the execution of an action command If bit 15 x_err changes to 1, an error has occurred which must be cor- rected before processing can continue. The procedure for testing for an asynchronous error or a warning is described in the chapter entitled "Error handling" on page 7-1. For example, checking during processing is only necessary if further dependent drives have to be stopped imme- diately. Changing operating modes The controller carry out further commands while it is executing an action command, e.g. in order to change the set speed of a running positioning process or switch operating modes. The command error bit cmderr shows whether the command has been successfully carried out. no x_end = 1 ? yes Master device Slave device Received data (acknowledge) Acknowledge data framework Transmitted data for dependent axes Processing finished Check for asynchronous error and warning Check for asynchronous error and warning Transmitted data framework with sf = rf Received data framework Action started Command executed T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Communication in the Fieldbus CAN Bus 4-17 4.4 Replacing devices After replacing a slave device, the new device should perform in exactly the same manner as the old one. To achieve this, the new device must have the same parameter value settings. In the case of IO_mode = 0, the device recognizes the values of the Fieldbus parameters via the signal interface inputs when it starts up. In the case of IO_mode 0, the Fieldbus parameters have to be set before- hand via the HMI or TLCT software, otherwise no communication is pos- sible with the device in the Fieldbus network. If the default values of other parameters are to be changed, these values can be stored in the master controller. They must be transmitted every time the Twin Line controller starts up, e.g. in ReadyToSwitchOn status. 4-18 CAN Bus Communication in the Fieldbus CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Installation and set-up CAN Bus 5-1 5 Installation and set-up 5.1 EMC When cables are used in an electromagnetically charged environment, EMC requirements must be taken into consideration when cables are laid and connected. EMC measures The following steps are necessary to ensure that the Fieldbus will work without interference. They are in addition to the device-specific steps to ensure EMC which can be taken from the controller manual. To protect against interference, screens on digital cables are connected at both ends. Voltage differences can lead to excessive current in the screen, and must be prevented by the use of bonding lines. For cables of up to 650 feet (200 m) in length, a cross section of 5 AWG (16 mm 2 ) is sufficient, but for longer cables 4 AWG (20 mm 2 ) must be used. 5.1.1 Fieldbus cable installation As a basic rule of cable layout, the Fieldbus cable must not be twisted, stretched, squeezed or pinched. For cabinet cabling, Fieldbus cables must be separated from all cables carrying AC\DC voltage of more than 60 volts. A minimum distance of 8 inches (20cm) must be kept between the signal cables and power cables having more than 60 volts. If the power cable is carrying a voltage above 230V, it has to be laid in a separate duct or pipe, keeping a distance of at least 8 inches (20cm) from all other cables carrying between 60V and 230V. For outdoor, underground installation, please make sure that the cables are suitable for underground layout. Please ensure that all cables can withstand the temperatures that the cable will be exposed to. Please consider necessary protective circuit with surge protection for protection against lightning. EMC measures Effect Use cables with braided and foil screening. Deflect interference volt- ages Fieldbus cables can be laid in one cable duct with signal wires and analog wires. But do not lay them with AC or DC cables carrying over 60 V. Avoid mutual interfer- ence coupling Use bonding lines in wide-area systems with differ- ent voltage feeds and networks spanning more than one building. Deflect interference cur- rents Use fine-core bonding lines in order to shield from even high-frequency interference current. Protection from even high-frequency interfer- ence current 5-2 CAN Bus Installation and set-up CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 5.1.2 Grounding and shielding of systems with potential equalization In order to ensure maximum electromagnetic compatibility, the bus shieldings should form a continuous envelope and be connected to the metal cases of the connected bus devices, if possible. Since the system design requires multiple grounding of the bus cable shielding, correct potential equalization is very important. T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Installation and set-up CAN Bus 5-3 5.2 Installation 5.2.1 Installation and set-up of controller Correct mechanical and electrical installation of the Twin Line controller and successful setup are a prerequisite for its installation in the network. Set the controller up in accordance with the manual. Please refer to the Installation and Commissioning chapters of the Twin Line controller manual for details. The Twin Line controller is then ready for use in the network. 5.2.2 Address and baud rate settings Up to 32 controllers can be addressed in a CAN bus network, and up to 127 in an extended network. The network address for a Twin Line con- troller is preset to 127. The baud rate is preset at 125 kbaud. Setting address and baud rate There are two ways of defining address and baud rate. The Set- tings.IO_mode parameter (29:31) can be used to set the controller up for one or other of the two ways: IO_mode = 0: Setting via signal interface IO_mode = 1 or 2: Setting via parameters When using the setting facility through the signal interface, the controller interprets the switching states of inputs ADR_1 to ADR_64 as the net- work address and the BAUD_1 and BAUD_4 inputs as the baud rate set- ting. A description of possible pin assignments and settings for the interface can be found in the chapter in the manual on connecting the signal interface. When setting address and baud rate via parameters, the address is input locally in parameter M4.addrCan (24:24) with a hand-held oper- ating unit, and the baud rate in parameter M4.baudCan (24:25). The baud rate must be set to the same rate for all devices in the Field- bus. The new address and baud rate is recognized only during power up of 24 V. UNINTENDED EQUIPMENT OPERATION Unintended equipment operation may happen if address or baud rate is changed during operation. Failure to follow this instruction can result in death, serious injury or equipment damage. WARNING 5-4 CAN Bus Installation and set-up CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 5.2.3 Connecting the Twin Line controller Twin Line controllers are equipped with the CAN-C module in slot M4 for connection to a CAN bus network. Module interface The CAN-C module is fitted with a sub-D plug and a sub-D socket, both 9-pole with UNC thread. Pin assignment is identical for both interface connections. Fig. 5.1 Fieldbus module interface connections with plug and socket. For controllers with a hood, the cable must be led downwards from the connection. Cable specification Screened cable Minimum cross section of signal wires: 25 AWG (0.14 mm 2 ) Twisted-pair cables Screen to be earthed at both ends Maximum length is dependent on number of devices, baud rate and signal transmission times. The higher the baud rate, the shorter the bus cable has to be. Guideline: 131 ft. (40 m) at 1 Mbits/s, 1640 ft. (500 m) at 100 kbits/s Display The LED on the CAN-C module lights for approximately 2 seconds when Fieldbus data have been correctly received. - - CAN_HIGH GND - - GND CAN_LOW - 1 5 9 6 - 6 2 7 3 - GND CAN_HIGH - - - CAN_LOW GND - - 1 5 9 6 CAN-OK Shield (ground) Pin Signal Color 1) Pairs Meaning I/O 1 - - 1 Not assigned - 6 GND Green 1 Earth - 2 CAB_LOW White 2 Data line, inverted I, O 7 CAN_HIGH Brown 2 Data line I, O 3 GND Grey 3 Earth - 8 - Pink 3 Not assigned - 4 - - - Not assigned - 9 - - - Not assigned - 5 - - - Not assigned - 1) Color details refer to the cable available as an accessory. T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Installation and set-up CAN Bus 5-5 5.2.4 Termination Fieldbus devices are connected in segments with a linear structure, con- sisting of 32 master and slave devices. Every segment must be termi- nated at both ends with an active bus terminator or a terminating resistor of 120 . When using the Twin Line controllers network accessory cable, termination can be effected by means of a switch in the connect- ing plug to external bus devices. Fig. 5.2 Termination of a bus segment via plug or terminator (T) When there are more than 32 devices, individual segments are con- nected by means of repeaters. Each segment must then be terminated separately. 5-6 CAN Bus Installation and set-up CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 5.3 Set-up 5.3.1 Initiating network operation Network operation with the Twin Line controller is started via the master device. This can be a PLC or a PC with the corresponding software with which the user can enter commands and read received data. When the HMI hand-held operating unit is plugged into the Twin Line controller, the user can watch transmitted and received data on the dis- play in the 2.6 Fieldbus diagnostics menu. Switch on the Twin Line controller. Start network operation and test the network connection with a command. For example, it is possible to read off the current position of the motor through the Status.p_act parameter (31:6). Index is 1Fh, sub-index 6h: Enter the following command: 80h 06h 001Fh 0000.0000h. Response from the controller: 80h xxh 000xh 0000.0138h This is the current position 138h=312 increments. The values of x depend on the current operating status of the controller. In order to test timeout functionality: Clear error memory (use TLCT or HMI) Enable timeout monitoring Establish periodic connection to the controller Check the periodic connection to the controller is functioning Stop or switch off the master Check in error memory for recognition of timeout situation (use TLCT or HMI) Please refer to section 4.2.1 for timeout monitoring details. 5.3.2 Troubleshooting If no answer is received from the controller, check the following settings: Is the controller switched on and master device started up for net- work operation? Cable connections mechanically sound? Is the LED at the Fieldbus input of the controller lit? If not, either network operation or the polling process are not working. The LED shows data movement across the network interface. Has the correct address been set on the controller? Have the identifiers for transmitted and received data been correctly calculated? Has the baud rate been set at the same rate for master device and controller? Is the status display on the Twin Line controller showing 3, 4 or 6 without blinking? If not, there is an operating fault on the control- ler. Information on the causes for errors and on ways to correct them can be found in the manual. T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-1 6 Examples for Fieldbus operation 6.1 Structure of program examples Overview The program examples show practical applications for the use of Twin Line controllers in networks. The following elements are shown: Description of task Initial conditions Commands required in transmitted data framework Response of the controller in receiving Possible limitations on command execution In order to be able to understand the examples, the following details are needed: Operating concept and functional scope of the Twin Line controller Fieldbus protocol and connection to master controller Functional scope of Fieldbus profile Fieldbus manuals are used for different device types. Some commands are not available for all types. In many examples information under Usable device types can be found on the available functions for that device. If there isnt any information specified for a command, then the examples can be carried out with all device types. Transmitted and received data Send and receive data are shown in hexadecimal notation. The master command is given in each case. The response of the con- troller after carrying out the command correctly, is only shown if this is necessary for a further description. Otherwise positive acknowledgment of the command is assumed. Transmit data Fig. 6.1 Transmit data coding Object Req Six Index Data Description TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 0002h Requirement: power amplifier switch on: Set bit 1 ID for transmit process (Master -> Controller) Enquiry Sub-index in hex Index in Hex Para- meter Parameter group Sub-index Index Index Data Description Six Req Object TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 00002h Request for amplifier to be switched on: : Set bit 1 6-2 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 The data type of the value written can be taken from the value range column in the parameter description of the manual. When an INT16 or UINT16 value is transmitted, the value is stored in bytes 7 and 8 0 must be entered in bytes 5 and 6. Receive data Fig. 6.2 Receive data coding The data type of the value written can be taken from the value range column in the parameter description in the manual. When an INT16 or UINT16 value is read, the value is stored in bytes 7 and 8 and bytes 5 and 6 show 0. The error number for a synchronous fault message is stored as a UINT16 value, and in responsedata a fault is designated by cmderr=1. Irrelevant values Values which are not relevant for the example are shown by an x. Value units If read or write data are given in user-defined units [usr], they must be converted using normalization factors. Information on this can be found in the manual in the chapter entitled "Using operating functions" under "Normalization" on page 6-27. Acknowledgment bits In all examples, the value 0 is assumed before the first transmit com- mand for acknowledgment bits sf and rf. The first command must therefore transmit with sf = 1. This also applies when the description of a subject is split across several examples. A new command can be rec- ognized by the change in level. Data framework In the examples only the 8 byte-sized data framework for Twin Line con- trollers is shown. The control bytes specific to the Fieldbus must be added by the master devices user program in accordance with the Field- bus protocol. Manual The examples are designed to complement the function descriptions in the manuals. The basic way in which operating modes and functions work are described in the manual. A list of all parameters which apply to the operating modes and functions are also available in the manual. The number format of the parameter values in a Fieldbus command can be taken from the group overview in the chapter entitled 'Parameters' in the manual. Example: the conversion factor from current strength to input values for the parameter, I_max (18:2) is: 100=1Apk. If 100 is entered, a current of 1Apk is set. Res Ctrl fb-stat Data Description RxD 80h xxh xxx4h xxxx xxxxh Status transition not yet effected cos=4, ReadyToSwitchOn ID for receive process (controller - > master) Responsedata Controldata Fb-statusword fb-stat Data Description Ctrl Res RxD 80h xxh xxx4h xxxx xxxxh Status transition not yet completed cos=4, "ReadyToSwitchOn" T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-3 6.2 Operating status The requirements for starting an operating mode are operational readi- ness and correct initialization of the controller. Detailed information on the controllers operating states and a status diagram numbering the individual states can be found in the manual for the Twin Line controller under Operating displays and transitions. 6.2.1 Checking the operating status The operating status on the Twin Line controller is displayed by the 7- segment display. The controller is ready for operation when the display is showing 6. The operating status is evaluated over the Fieldbus by means of the first three bits in the status word fb_statusword. The status word is trans- mitted with every received data set. Fig. 6.3 Displaying the operating status of the controller Operating states 0..3, 5, 8 and 9 are transitional states in which the con- troller does not dwell in if it is working correctly. If the controller remains in operating status 1, 2 or 3 when the 24 V power supply is switched on, then a fault has occurred during initialization. Help in correcting the fault can be found in the Controllers User Manual in the chapter titled Installation, under Installation Troubleshooting. Bit 3..0 cos x x x x x x x x Fb-statusword: x x x x 0 0 0 0 Byte 4 Byte 3 Bits 3..0 Operating status Meaning - - 24-V switched on ...0001 1 - Start Initialization of controllers electronics ...0010 2 - Not ready to switch on Amplifier is not ready to switch on. ...0011 3 - Switch on disabled Amplifier can not be switched on. ...0100 4 - Ready to switch on Amplifier is ready to switch on. ...0101 5 - Switched on Amplifier is switched on. ...0110 6 - Operation enable Controller is working in the operating mode set. ...0111 7 - Quick Stop active Quick stop is executed. ...1000 ...1001 8 - Fault reaction active 9 - Fault Fault reaction has been activated. Fault display 6-4 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 6.2.2 Changing the operating status The operating status of the Twin Line controller is transmitted in bits cos in fb-statusword. The coding corresponds to the status display on the controller. Depending on the status of the controller, the operating status can be changed by means of Fieldbus commands. For example, Ready- toSwitchOn status can only be activated if the following conditions are met: The controller has started up after the 24 V power supply was acti- vated DC bus voltage activated No fault present Changes of status in the controller are activated by means of the Com- mands.driveCtrl parameter (28:1). The value is always 0 with the result that write access to a bit automatically triggers an edge change, 0 1. Switching on the power amplifier Switch on the power amplifier. The controllers 7 segment display should read 4 indicating that the controller is in ReadyToSwitchOn state and that the parameter settings in the controller are correct. Bits 3..0 Control word Meaning 0 0 0 1 Disable Switch off amplifier 0 0 1 0 Enable Switch on amplifier 0 1 0 0 Quick-Stop Trigger halt through quick stop 1 0 0 0 Fault Reset Acknowledge fault signal UNINTENDED EQUIPMENT OPERATION Commands entered in this parameter may be executed imme- diately upon receipt by the drive controller. Before sending any commands, ensure that the machine is clear and ready for motion. Failure to follow these instructions can result in death or serious injury. WARNING Object Req Six Index Data Description TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 0002h Requirement power amplifier switch on: Set bit 1 Res Ctrl fb-stat Data Description RxD 80h xxh xxx4h xxxx xxxxh Status transition not yet effected: cos=4, ReadyToSwitchOn T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-5 If the status transition to the OperationEnable status has been suc- cessful, the controller signals the following: As long as the OperationEnable status has not been reached, internal monitoring signals bit 5 (FltSig) and bit 15 (x_err) are activated in the fb- statusword. Switching off the power amplifier Switch off the power amplifier. The controller must first be in the OperationEnable status, i.e. 6 must be displayed on the 7 segment display. If the status transition to the ReadyToSwitchOn status has been suc- cessful, the controller signals the following: As soon as the OperationEnable status has been left, internal moni- toring signals in bi t5 (FltSig) and bit15 (x_err) are activated in the fb- statusword. Res Ctrl fb-stat Data Description RxD 80h xxh xxx6h xxxx xxxxh Status transition effected: cos=6, OperationEnable Status fb-statusword x_err (bit 15) fb-statusword FltSig (bit 5) OperationEnable 1 1 = OperationEnable 0 0 Object Req Six Index Data Description TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 0001h Request to switch off power amplifier: Set bit 0 Res Ctrl fb-stat Data Description RxD 80h xxh xxx6h xxxx xxxxh Status transition not yet effected: cos=6, OperationEnable Res Ctrl fb-stat Data Description RxD 80h xxh xxx4h xxxx xxxxh Status transition effected: cos=4, ReadyToSwitchOn Status fb-statusword x_err (bit 15) fb-statusword FltSig (bit 5) OperationEnable 1 1 = OperationEnable 0 0 6-6 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Interruption to movement by software stop Interrupt a current positioning operation by means of a software stop. The following conditions must be met: The controller must be in OperationEnable status, see page 6-4. All the necessary settings must have been made via the functions, see page 6-24. All the necessary settings must have been made for the operating modes, see page 6-12. If the QuickStopActive status has been successfully activated, the fol- lowing message is sent: As soon as the drive has stopped, the following message is generated: If the drive is at standstill, the interruption status can be cancelled by means of FaultReset see page 6-35. Acknowledging fault message How to acknowledge a fault message can be found under "Resetting faults (FaultReset)" on page 6-35. Object Req Six Index Data Description TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 0004h Request for software stop: Set bit 2 Res Ctrl fb-stat Data Description RxD 80h xxh 8027h xxxx xxxxh In fb-statusword: x_err=1,FltSig=1,cos=7: QuickSto- pActive Res Ctrl fb-stat Data Description RxD 80h xxh C027h xxxx xxxxh In fb-statusword: x_err=1,x_end=1,FltSig=1,cos=7: QuickStopActive T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-7 6.3 Setting processing parameters 6.3.1 Non operating mode specific processing parameters The various settings for non-specific processing parameters are inde- pendent of the operating mode which the user sets. Non operating mode specific parameters are assigned to one of the following parameter groups: Settings Commands Motors CtrlBlock1, CtrlBlock2 Motion Teach List List1Data0..List1Data63, List2Data0..List2Data63 Capture I/O M1..M4 ErrMem0..ErrMem19 For further information, please refer to the functions of the controller chapter of the controller manual. Object Req Six Index Data Description TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 0001h Disable amplifier 6-8 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 6.3.2 Operating mode specific processing parameters The various settings for operating mode specific processing parameters depend on the operating mode which the user sets. Non operating mode specific parameters are assigned to one of the following parameter groups: Manual VEL PTP Gear Home Record RecoData0..RecoData49 Setting the speed for fast manual movement Set the speed for fast manual movement to 500 usr = 01F4h usr. Initially, the set speed must not be greater than the entry in Motion.v_target0. The controller must be in Operation Enable status (see chapter "Changing the operating status" on page 6-4) and the Manual.n_fastMan parameter must be available on the Twin Line con- troller. The speed for fast manual movement can be set before initiating the movement or while it is taking place. Object Req Six Index Data Description TxD 41.5 Manual.n_fastMan 84h 05h 0029h 0000 01F4h Setting fast manual movement speed 500 usr = 1F4h usr T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-9 6.4 Reading device information The following actions are carried out after write access: The current processing value is shown. The data to be shown in the read data if they are accessed again, are defined. These data continue to be shown until new values are determined as a result of them being accessed again. A parameter value can be read and the data type it corresponds to can be found in the description of parameters in Chapter 12 of the Twin Line controller manual. All values in the parameter list in the R/W column marked with R can be read. The data type can be found in the value range column. 6.4.1 Reading parameter settings The current setting of a processing value can read from the controller by means of a read value. Reading the speed for fast manual movement Read the current speed setting for fast manual movement. The read value must be available on the controller and in the current sta- tus. If a 16-bit value is accessed, the value read in bytes 7 and 8, and the value of bytes 5 and 6 shall read as 0. Object Req Six Index Data Description TxD 41.5 Manual.n_fastMan 80h 05h 0029h 0000 0000h Requesting the speed [usr] for fast manual movement Res Ctrl fb-stat Data Description RxD 80h xxh xxx6h 0000 00B4h Speed in bytes 5 to 8: B4h = 180 usr 6-10 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 6.4.2 Reading status information There are various read values available in the Status parameter group, with the help of which the processing status can be read off the control- ler. Status information can be dependent on or independent of the operating mode. Status information which is not dependent on the operating mode is communicated in controldata and fb-statusword, and the coding cor- responds to the assignment of the Status.driveStat parameter. Status information independent of operating mode For example, find out the motor speed, Status.n_act [r.p.m.], and set it as a cyclical read value. The read value must be available on the controller and in the current sta- tus. If a 16-bit value is accessed, it will be found that the value read in bytes 7 and 8, and the value of bytes 5 and 6 are 0. Status information dependent on operating mode Every operating mode has its own acknowledgment object. The status information for PTP positioning, for example, is provided by the PTP.StatePTP parameter. Request detailed status information on the PTP positioning operat- ing mode. The read value must be available on the controller and in the current sta- tus. If a 16-bit value is accessed, it will be found that value read in bytes 7 and 8, and the value of bytes 5 and 6 are 0. Object Req Six Index Data Description TxD 31.9 Status.n_act 80h 09h 001Fh 0000 0000h Requesting the actual speed in [r.p.m.] Res Ctrl fb-stat Data Description RxD 80h xxh xxx6h 0000 03E8h Actual speed in bytes 7 and 8: 3E8h=1000 r.p.m. Object Req Six Index Data Description TxD 35.2 PTP.StatePTP 80h 02h 0023h 0000 0000h Requesting status information on PTP positioning Res Ctrl fb-stat Data Description RxD 80h xxh 6xx6h 0000 6000h Acknowledgment in bytes 7 and 8: motion_end and set position reached active T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-11 6.5 Processing inputs/outputs Depending on the setting of Settings.IO_mode, certain inputs and out- puts are free for the user to use. Further information can be found in the chapter entitled Connection to the signal interface in the manual. Reading inputs Read the signal level at input word 0. Writing to outputs Set output Q0 to high and outputs Q1..Q4 to low. The processing state is that Settings.IO_mode does not equal 2: inputs / outputs have been assigned. Write access is only possible to the free outputs Q0..Q4. Reading the status of outputs Find out the current signal level at outputs. In the received data, bi t0 to bi t4 correspond to outputs Q0 to Q4, bit 5 to output ACTIVE_CON and b it6 to output TRIGGER/ALARM. UNINTENDED EQUIPMENT OPERATION Commands entered in this parameter may be executed imme- diately upon receipt by the drive controller. Before sending any commands, ensure that the machine is clear and ready for motion. Failure to follow these instructions can result in death or serious injury. WARNING Object Req Six Index Data Description TxD 33.1 I/O.IW0_act 80h 01h 0021h 0000 0000h Requesting the signal level at input word 0 Res Ctrl fb-stat Data Description RxD 80h xxh xxxxh 0000 000Fh High level on inputs I0..I3 Object Req Six Index Data Description TxD 34.1 I/O.QW0_act 84h 01h 0022h 0000 0001h Output Q0=high, outputs Q1..Q4=low Object Req Six Index Data Description TxD 34.1 I/O.QW0_act 80h 01h 0022h 0000 0000h Requesting the signal level at output word 0 Res Ctrl fb-stat Data Description RxD 80h xxh xxx6h 0000 0036h Outputs Q1, Q2, Q4 and ACTIVE_CON are set. 6-12 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 6.6 Use of operating modes The Twin Line controller is capable of working in different operating modes. Processing values specific to the operating mode and others which are not specific to it, are available for configuring the processing sequence. The operating modes can be determined via certain parameters, and the processing status in relation to all operating modes or specific to one. The status of a processing operation or movement can be read off from x_err and x_end in fb-statusword: If an asynchronous fault occurs during processing, x_err is immedi- ately set to 1 (bit15) and the drive stopped. Because the drive stops, x_end is set to 1 (bi t14). If 2:I/O assigned has been set via Settings.IO_mode, input AUTOM must equal 1 to enable access to the operating modes. 6.6.1 Point-to-Point Positioning Device types which can be used TLC5xx A pallet is to be moved two stations along a continuous conveyor at a speed of 200 usr (e.g. 200 r.p.m.). All values are given in user-defined units [usr], as the real values depend on the normalization factor used. Fig. 6.4 Moving the pallet x_err x_end Processing status 0 0 Processing/movement active and no fault 0 1 Processing/movement completed and no fault 1 0 Processing/movement active and fault detected 1 1 Processing/movement completed and fault detected UNINTENDED EQUIPMENT OPERATION Commands entered in this parameter may be executed imme- diately upon receipt by the drive controller. Before sending any commands, ensure that the machine is clear and ready for motion. Failure to follow these instructions can result in death or serious injury. WARNING T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-13 The first station is 324 usr (e.g. 324 mm) away from the reference posi- tion 0. The station is reached by means of an absolute positioning pro- cess. The second station is a further 500 usr away and is reached by means of relative positioning. The journey to position 2 is interrupted by a STOP signal. After the fault has been corrected, the interrupted journey is to be resumed and com- pleted. The following conditions must be met in order to be able to carry out this task: All the necessary function settings must have been made, see page 6-24. The 0 position must be defined, see page 6-18. There must be no homing movement active. Carrying out absolute positioning Set the absolute motor movement to position +324 usr with a set speed of 200 usr. The controller must be in the OperationEnable status, see page 6-4. The processing status can be seen from x_end in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1. The set speed can be changed during the movement by accessing PTP.v_target. Carrying out relative positioning Initiate a relative motor movement by +500 usr at the set speed. The controller must be in the OperationEnable status, see page6-4. Object Req Six Index Data Description TxD 35.5 PTP.v_target 84h 05h 0023h 0000 00C8h Setting the set speed to 200usr = 00C8h usr Object Req Six Index Data Description TxD 35.1 PTP.p_absPTP 04h 01h 0023h 0000 0144h Start of absolute positioning to 324 usr = 0144h usr Res Ctrl fb-stat Data Description RxD 00h x3h 0006h xxxx xxxxh Motor movement active Res Ctrl fb-stat Data Description RxD 00h 2xh 6xx6h xxxx xxxxh Motor movement completed Object Req Six Index Data Description TxD 35.3 PTP.p_relPTP 84h 03h 0023h 0000 01F4h Start of relative positioning by +500 usr = 01F4h usr Res Ctrl fb-stat Data Description RxD 80h x3h 0006h xxxx xxxxh Motor movement active 6-14 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 The processing status can be seen from x_end in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1. The set speed can be changed during the movement by accessing PTV.v_target. Completing interrupted movement Complete the movement interrupted by the STOP signal. The following conditions must be met in order to be able to resume and complete the interrupted movement: PTP positioning has been interrupted by STOP. The controller is in the QuickStopActive status. The cause of the fault has been corrected, i.e. the STOP signal is no longer active. The drive must first be changed to the OperationEnable status by means of FaultReset, see page 6-35. The processing status can be taken from x_end in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1. The set speed can be changed during the movement by accessing PTP.v_target. Res Ctrl fb-stat Data Description RxD 80h 23h 6006h xxxx xxxxh Motor movement completed Object Req Six Index Data Description TxD 35.4 PTP.continue 84h 04h 0023h 0000 0000h Initiating resumption of interrupted positioning operation Res Ctrl fb-stat Data Description RxD 80h 23h 0006h xxxx xxxxh Motor movement active Res Ctrl fb-stat Data Description RxD 80h 23h 6006h xxxx xxxxh Motor movement completed T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-15 6.6.2 Speed mode Device types which can be used TLC5xx Set the speed to 2000 usr - the user wants to monitor whether the speed has been reached. Use the set speed to bring the drive to a halt and make sure that the the movement has been completed. All the necessary settings must have been made via the functions, see page 6-24. The controller is in the OperationEnable status, see page 6-4. There is no homing movement active. Setting the speed: x_add_info in fb-statusword can be used to check whether the set speed has been reached. When the set speed has been attained, x_add_info changes from 0 to 1. Bringing the drive to a standstill: The processing status can be taken from x_end in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1. UNINTENDED EQUIPMENT OPERATION Commands entered in this parameter may be executed imme- diately upon receipt by the drive controller. Before sending any commands, ensure that the machine is clear and ready for motion. Failure to follow these instructions can result in death or serious injury. WARNING Object Req Six Index Data Description TxD 36.1 VEL.velocity 84h 01h 0024h 0000 07D0h Setting the speed: +2000 usr = 07D0h usr Res Ctrl fb-stat Data Description RxD 80h x4h 2006h xxxx xxxxh Motor movement active, set speed reached Object Req Six Index Data Description TxD 36.1 VEL.velocity 04h 01h 0024h 0000 0000h Setting the speed: 0 usr = 0h usr Res Ctrl fb-stat Data Description RxD 00h x4h 6006h xxxx xxxxh Motor movement completed 6-16 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 6.6.3 Electronic Gear Device types which can be used TLC5xx Processing reference pulses Apply the gear ratio of 7/5 to pulses arriving at the guidance sensor. Only take those pulses into account which are detected after the gear has been activated (immediate synchronization). Correct the gear ratio to 8/5 during operations. Set the gear to Disable status, and wait until the drive has stopped. All the necessary settings must have been made via the functions, see page 6-24. The controller is in the OperationEnable status, see page 6-4. There is no homing movement active. Applying gear ratio 7/5 to pulses: Gear processing is now active. Correcting gear ratio to 8/5: UNINTENDED EQUIPMENT OPERATION Commands entered in this parameter may be executed imme- diately upon receipt by the drive controller. Before sending any commands, ensure that the machine is clear and ready for motion. Failure to follow these instructions can result in death or serious injury. WARNING Object Req Six Index Data Description TxD 38.8 Gear.denGear 84h 08h 0026h 0000 0005h Gear ratio denominator = 5 Object Req Six Index Data Description TxD 38.7 Gear.numGear 04h 07h 0026h 0000 0007h Gear ratio numerator = 7 allows the denominator to be adopted. Object Req Six Index Data Description TxD 38.1 Gear.startGear 84h 01h 0026h 0000 0001h Starting gear processing with immedi- ate synchronization (command- data=1) Object Req Six Index Data Description TxD 38.7 Gear.numGear 04h 07h 0026h 0000 0008h Gear ratio numerator = 8 denominator is retained. T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-17 Set gear to Disable status and wait until drive has stopped: The processing status can be taken from x_end in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1. The new gear ratio is activated when the numerator is transmitted. There are various setting options available in parameter group Gear for processing the operating mode. Superimposing PTP offset positioning Correct the gear output position by a relative offset of -100 inc with an offset positioning set speed of 200 r.p.m. All the necessary settings must have been carried out via the func- tions, see page 6-24. The controller is in OperationEnable status, see page 6-4. There is no homing movement active. Gear processing is active. Object Req Six Index Data Description TxD 38.1 Gear.startGear 84h 01h 0026h 0000 0000h Deactivating gear processing (com- manddata=0) Res Ctrl fb-stat Data Description RxD 80h x5h 0006h xxxx xxxxh Motor movement active Res Ctrl fb-stat Data Description RxD 80h x5h 4006h xxxx xxxxh Motor movement completed Object Req Six Index Data Description TxD 39.5 Gear.n_tarOffs 84h 03h 0027h 0000 00C8h Setting the offset positioning speed to 200 r.p.m. = 00C8h r.p.m. Object Req Six Index Data Description TxD 39.3 Gear.p_relOffs 04h 03h 0027h 0000 0064h Starting relative offset positioning by 100 inc = 64h inc Object Req Six Index Data Description TxD 39.2 Gear.StateOffs 80h 02h 0027h 0000 0000h Request: Acknowledgment of offset positioning Res Ctrl fb-stat Data Description RxD 80h x6h xxx6h 0000 0000h Acknowledgment in bytes 7 and 8:offset_motion_end = 0,offset posi- tion reached = 0.offset processing running. 6-18 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 The processing status of the offset positioning operation is available in the read data via offset_motion_end. When offset positioning has been completed, offset_motion_end changes from 0 to 1. The set speed of the offset movement can be changed during the move- ment by accessing Gear.n_tarOffs. There are various setting options available in the parameter group Gear for processing the PTP offset positioning operation. 6.6.4 Homing In order to be able to carry out the examples on homing, the following conditions must be met: All the necessary settings must have been carried out via the func- tions, see page 6-24. The controller is in OperationEnable status, see page 6-4. There is no homing movement active. Dimension setting Set the current drive position to a value of 1000 usr. The value serves as a reference point for further movements. For this task the drive must be at standstill. Dimension setting is carried out as soon as the controller is called up. x_end and x_err in fb-statusword can be used to check whether it has been carried out successfully. Res Ctrl fb-stat Data Description RxD 80h x6h xxx6h 0000 6000h Acknowledgment in bytes 7 and 8: offset_motion_end = 1,offset position reached = 1.offset processing com- pleted. UNINTENDED EQUIPMENT OPERATION Commands entered in this parameter may be executed imme- diately upon receipt by the drive controller. Before sending any commands, ensure that the machine is clear and ready for motion. Failure to follow these instructions can result in death or serious injury. WARNING Object Req Six Index Data Description TxD 40.3 Home.startSetp 84h 03h 0028h 0000 03E8h Dimension setting position +1000usr = 03E8h usr Res Ctrl fb-stat Data Description RxD 80h x2h 4006h xxxx xxxxh Dimension setting successfully carried out T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-19 After referencing has been successfully carried out, the ref_ok bit in controldata is set to 1. Carrying out a homing movement Carry out a homing movement in a negative direction to the addi- tional reference switch. The search run to the switch is to be made at a speed of 500 usr. The processing status can be taken from x_end in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1. After homing has been successfully carried out, the ref_ok bit in con- troldata is set to 1. There are various setting options available in the parameter group Home for processing the operating mode. Object Req Six Index Data Description TxD 40.4 Home.v_Home 84h 04h 0028h 0000 01F4h Speed of search run to reference switch: 500 usr = 01F4h usr Object Req Six Index Data Description TxD 40.1 Home.startHome 04h 01h 0028h 0000 0003h Starting homing movement to the additional reference switch in a nega- tive direction Res Ctrl fb-stat Data Description RxD 00h x2h 0006h xxxx xxxxh Homing movement active Res Ctrl fb-stat Data Description RxD 00h x2h 4006h xxxx xxxxh Homing movement completed 6-20 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 6.6.5 Manual movement There are two different movement profiles available for manual move- ments. Profiles can be selected by means of Manual.typeMan. Initiate a classic manual movement in a positive direction of rotation with a set slow sense of rotation. Then change the values to enable a classic manual movement to be carried out in a positive direction of rotation at a fast speed. Terminate the manual movement and check whether the movement has been completed. In order to be able to carry out the example, the following condition must be met: All the necessary settings must have been made via the functions, see page 6-24. The controller is in OperationEnable status, see page 6-4. There is no homing movement active. Carrying out a manual movement and changing the speed: Complete manual movement and check for standstill: The processing status can be taken from x_end in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1. UNINTENDED EQUIPMENT OPERATION Commands entered in this parameter may be executed imme- diately upon receipt by the drive controller. Before sending any commands, ensure that the machine is clear and ready for motion. Failure to follow these instructions can result in death or serious injury. WARNING Object Req Six Index Data Description TxD 41.1 Manual.startMan 84h 01h 0029h 0000 0001h Selection: positive direction of rota- tion, slow speed (Manual.n_slowMan) Object Req Six Index Data Description TxD 41.1 Manual.startMan 04h 01h 0029h 0000 0005h Selection: positive direction of rota- tion, fast speed (Manual.n_fastMan) Object Req Six Index Data Description TxD 41.1 Manual.startMan 84h 01h 0029h 0000 0000h Selection: no direction of rotation, i.e. complete manual movement T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-21 There are various option settings available in the parameter group Man- ual for processing the operating mode. 6.6.6 Data set operation The movement data for the Data set operation operating mode are stored in data set memories, RecoData0..RecoData49. RecoData0.TypeReco can be used to choose between PTP Set and VEL Set; data set operation of the selected type can be initiated via Reco.startReco. The following examples provide a description of the sequence for setting up the PTP data set, initiating data set operation and resuming an inter- rupted data set operation via Record.continue. All the necessary settings must have initially been made via the func- tions, see page 6-24. Device types which can be used TLC4xx Setting PTP data sets Set the data set data for the PTP data set. Set data set 15 with the following processing values: Dimension system: relative Set position: 1000 usr Set speed: 300 usr Ramp selection: 2 (settings in Record.UpRamp2 and Record.DownRamp2) All ramp parameters must first be configured in Record.UpRamp2 and Record.DownRamp2. Setting the data set parameters for the PTP data set: Res Ctrl fb-stat Data Description RxD 80h x4h 6006h xxxx xxxxh Manual movement completed UNINTENDED EQUIPMENT OPERATION Commands entered in this parameter may be executed imme- diately upon receipt by the drive controller. Before sending any commands, ensure that the machine is clear and ready for motion. Failure to follow these instructions can result in death or serious injury. WARNING Object Req Six Index Data Description TxD 1000.1 RecoData0.TypeReco 84h 01h 03E8h 0000 0001h Select: PTP-data set 6-22 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Processing values in data set 15: Initiating PTP data set operation Activate the PTP data set 15, and check the movement sequence. In order to be able to carry out the example, the following conditions must be met: The controller is in OperationEnable status, see page 6-4. The data set data have been set. The processing status can be taken from x_end in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1. Complete interrupted data set operation Complete data set operation interrupted by STOP signal. In order to be able to resume and complete an interrupted data set oper- ation, the following conditions must be set: The data set operation has been interrupted by STOP. The controller is in QuickStopActive status. The cause of the fault has been corrected, i.e. the STOP signal is no longer active. The drive must first be put into OperationEnable status by means of FaultReset, see page 6-35. Object Req Six Index Data Description TxD 1015.2 RecoData15.PosSys- tem 04h 02h 03F7h 0000 0002h Data set 15, selection of dimension system: relative Object Req Six Index Data Description TxD 1015.3 RecoData15.PosReco 84h 03h 03F7h 0000 03E8h Data set 15, selection of set position: 1000 usr = 03E8h usr Object Req Six Index Data Description TxD 1015.4 RecoData15.VelReco 04h 04h 03F7h 0000 012Ch Data set 15, selection of set speed: 300 usr = 012Ch usr Object Req Six Index Data Description TxD 1015.5 RecoData15.RmpChoice 84h 05h 03F7h 0000 0002h Data set 15, ramp selection: 2 Object Req Six Index Data Description TxD 45.1 Record.startReco 84h 01h 002Dh 0000 000Fh Initiating data set 15 Res Ctrl fb-stat Data Description RxD 80h x7h 0006h xxxx xxxxh Motor movement active Res Ctrl fb-stat Data Description RxD 80h 27h 6006h xxxx xxxxh Motor movement completed T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-23 The processing status can be taken from x_end in fb-statusword. When the processing operation or movement has been completed, x_end changes from 0 to 1. Object Req Six Index Data Description TxD 45.17 Record.continue 84h 11h 002Dh 0000 0000h Initiating resumption of interrupted data set operation Res Ctrl fb-stat Data Description RxD 80h x7h 0006h xxxx xxxxh Motor movement active Res Ctrl fb-stat Data Description RxD 80h x7h 6006h xxxx xxxxh Motor movement completed 6-24 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 6.7 Using operating functions 6.7.1 List control The processing data for the list control function are stored in list data memories L1Data0..L1Data63 (list 1) or L2Data0..L2Data63 (list 2). L1Data0.typeList or L2Data0.typeList can be used to choose between Pos-Signal list and Speed list. List processing can be initi- ated via List.startList. The following example describes the sequence for setting up a position/ signal list on list 1, and initiation of list processing with monitoring of the processing status. Fig. 6.5 Positioning with position / signal list All the necessary settings must have initially been made by the functions that are described in this chapter, Using operating functions.
Graph (Fig. 6.5) refer- ence point Number of the list 1100:x...1163:x Listentype 1xxx:1 Position 1xxx:2 Triggersignal 1xxx:3 Speed 1xxx:4 0 1100 1 10 0 0 1 1101 1 50 1 0 2 1102 1 120 0 0 3 1103 1 200 1 0 4 1104 1 300 0 0 5 1105 1 470 1 0 6 1106 1 490 0 0 - ... ... ... 0 0 T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-25 Setting list data Draw up list 1 as a position/signal list Set the values in the list. By way of an example, the solution is shown for list entry 0 with the following values: Comparative position: 10 usr Trigger signal level: 0 Set the starting and finishing number of the list range: Starting number = 0 Finishing number = 6 Setting list 1 as a position/signal list: Example of list entry 0 with processing values: The setting of the other list points 1..6 is made in a similar way via index L1Data1..L1Data6. Setting the starting and finishing numbers of the list range: Object Req Six Index Data Description TxD 1100.1 L1Data0.typeList 84h 01h 044Ch 0000 0001h Selection: 1 = position/signal list Object Req Six Index Data Description TxD 1100.2 L1Data0.posList1 04h 02h 044Ch 0000 000Ah List 1.entry0: comparative position = 10 usr = 000Ah usr Object Req Six Index Data Description TxD 1100.3 L1Data0.sign.List1 84h 03h 044Ch 0000 0000h List1.entry0: signal status = 0 Object Req Six Index Data Description TxD 44.6 List.bgnList1 04h 06h 002Ch 0000 0000h Setting the starting number of list 1 to 0 Object Req Six Index Data Description TxD 44.7 List.endList1 84h 07h 002Ch 0000 0006h Setting the finishing number of list 1 to 6 6-26 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Activating list control Activate list 1 from the example shown above, and monitor the pro- cessing sequence For the example, the following conditions must be met: The controller must be in OperationEnable status, see page 6-4. The list type, list data, starting and finishing numbers of the range to be processed are set in list 1. When processing has been completed, list_end changes from 0 to 1. The number of the list entry last activated can be interrogated via List.actList. The level of the output TRIGGER can be set via I/O.OutTrig when list control is inactive. Object Req Six Index Data Description TxD 44.1 List.startList 84h 01h 002Ch 0000 0001h Activation of list processing 1 = list1 Object Req Six Index Data Description TxD 44.2 List.stateList 04h 02h 002Ch 0000 0000h Reading the status of list processing Res Ctrl fb-stat Data Description RxD 00h xxh xxx6h xxxx 0001h Acknowledgment in bytes 7 and 8: list_err = list_quit = 0 bits 0 and 1: 1 = list1 active list control running Res Ctrl fb-stat Data Description RxD 00h xxh xxx6h 0000 4000h Acknowledgment in bytes 7 and 8: list_quit = 1list control completed T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-27 6.7.2 Teach-in The current absolute position in user-defined units [usr] can be stored in a selected list or data set memory as a position value using the Teach- in function. The following example describes the process by which list 1 is set up for Teach-in as a position/signal list, and how the actual Teach-in process is carried out. Execution is monitored. All the necessary settings must have initially been carried out via the functions which are described in this chapter Using operating func- tions. Preparing Teach-in Set list 1 as the memory for Teach-in processes. Set list 1 as a position/signal list. Carrying out Teach-in Carry out Teach-in in order to store the current motor position in list 1 under entry 5. Monitor the processing status. The Teach process is carried out as soon as it is called up. If a fault is detected, it is reported as a synchronous fault. The processing status of the Teach process can be read by means of Teach.stateTeac. If processing has been carried out successfully, teach_err=0 and teach_end=1 are reported. 6.7.3 Normalization Position, speed and acceleration values are stored in the controller in user-defined units. Normalization converts user-defined units to the controller's units and vice versa. The normalization factor is set by spec- ifying the numerator and denominator; the value is adopted when the numerator is transmitted. More detailed information can be found in this manual under Normalization. It is only possible to change values when the power amplifier is switched off e.g. in ReadyToSwitchOn status. The values specified in [usr] are converted into control values when the power amplifier is activated, and the threshold values are checked. Values stored in the controller in [usr] lead to changed processing values when the relevant normalization factor is changed. Therefore, the safety distance of a homing movement Home.p_outHome must be adjusted when the position normalization is changed. Object Req Six Index Data Description TxD 43.3 Teach.memNrTeac 84h 03h 002Bh 0000 0001h Selection: 1 = list1 Object Req Six Index Data Description TxD 1100.1L1Data0.typeList 04h 01h 044Ch 0000 0001h Selection: 1 = position/signal list Object Req Six Index Data Description TxD 43.1 Teach.storeTeac 84h 01h 002Bh 0000 0005h Activation of teach process: Current position value in [usr] is stored under L1Data5.posList1. 6-28 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 The normalization factor describes the connection between the value in user-defined units [usr] and the value in the units of the controller: Fig. 6.6 Calculation of the normalization factor Setting position normalization Set position normalization so that changing the user position by 1000 usr results in one revolution of the motor. Value user = 1000 usr Value control = 1 rev Fig. 6.7 Calculation of position normalization factor For this task the power amplifier must be switched off, i.e. the controller is in ReadyToSwitchOn status, see page 6-4. Normalization factor Controller value User value = Value User Factor Value Controller Position [usr] Position normalization 1 rev. (motor revolution) Speed [usr] Speed normalization 1 r.p.m. Acceleration/deceleration [usr] Acceleration normaliza- tion 1 rev/(min*s) Position normalization Position value controller Position value user = 1 1000 = Object Req Six Index Data Description TxD 29.8 Motion.pNormDen 84h 08h 001Dh 0000 03E8h Position normalization factor: denomi- nator = 1000 = 03E8h Object Req Six Index Data Description TxD 29.7 Motion.pNormNum 04h 07h 001Dh 0000 0001h Position normalization factor: numera- tor = 1;results in numerator and denominator being adopted T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-29 6.7.4 Fast position value capture Device types which can be used TLC5xx Preparing position capture The current position of the motor in [inc.] is to be captured as soon as the signal level at the CAPTURE1 input changes from 0 to 1. Connect position capture on channel 1 with the CAPTURE1 input. Set the signal level for capture to 01-edge. All the necessary settings must have been made via the functions which are described in this chapter Using operating functions. Object Req Six Index Data Description TxD 20.13 Capture.TrigSign 84h 0Dh 0014h 0000 0000h Selection: bit 0..1 = 0, i.e. setting up recording via channel 1, triggered by the input CAPTURE1 Object Req Six Index Data Description TxD 20.15 Capture.TrigLevl 04h 0Fh 0014h 0000 0001h Selection: bit 0 = 1, i.e. setting trigger level to 01-edge on channel 1 6-30 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Starting and monitoring position capture Start capture recording. Monitor the processing status. Determine the value recorded. The following conditions must be met. All the necessary settings must have been made via the functions which are described in this chapter, Using operating functions. Position capture must be set up, see previous example. The module for the position sensor must be present and connected to the sensor. The processing status must be monitored cyclically; the status of the processing operation is given in the data returned. The position value saved in [inc.] can now be read: Object Req Six Index Data Description TxD 20.16 Capture.TrigStart 84h 10h 0014h 0000 0001h Selection: bit 0 = 1, i.e. position cap- ture on channel 1 Object Req Six Index Data Description TxD 20.17 Capture.TrigStat 00h 11h 0014h 0000 0000h Reading the status of position capture Res Ctrl fb-stat Data Description RxD 00h xxh xxxxh xxxx 0001h Acknowledgment in bytes 7 and 8: bit 0 = 1, i.e. position capture carried out on channel 1 Object Req Six Index Data Description TxD 20.18 Capture.TrigPact1 80h 12h 0014h 0000 0000h Reading the position value saved Res Ctrl fb-stat Data Description RxD 80h xxh xxxxh xxxx 1234h The position value in [inc.] is given in the data returned: 1234h = 4660 inc. T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-31 6.8 Examples of fault processing Detailed information on fault handling in Fieldbus mode can be found in the chapter entitled "Error handling" on page 7-1. 6.8.1 Synchronous faults Synchronous faults only occur in response to a command. When a com- mand is transmitted, an immediate check is made whether it can be car- ried out correctly. If this is not the case, the controller returns an error number in response to the command, and cmderr=1 is set in byte Responsedata. The controller status does not change as a result of this action. Creating a synchronous fault Carry out write access to a non-existent parameter (index: 0, sub- index: FFh). The controller must first be in the OperationEnable status, see page 6-4. Object Req Six Index Data Description TxD 0.255 non-existent parameter 84h FFh 0000h xxxx xxxxh Write access to non-existent parame- ter Res Ctrl fb-stat Data Description RxD C0h xxh 6xx6h 0000 1003h Cmderr=1. The error number (errnum) is contained in bytes 7 and 8. 6-32 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 6.8.2 Asynchronous faults The occurrence of asynchronous faults does not depend on commands sent. If the external and internal monitoring signals detect an fault, the controller adopts an fault status. The controller status may change depending on the fault class. The fault status can be interrogated or is available in fb-statusword in cyclical transmissions. Internal monitoring signals A blinking 1 on the 7-segment display of the controller appears when a fault has occurred. Evaluate the cause of the fault. In order to generate the fault, the following conditions must be met: The controller is in OperationEnable status, see page 6-4. The 220V power supply is switched off. If the capacitors are com- pletely discharged, a blinking 1 appears in the 7-segment display which signals undervoltage. The user can evaluate the cause of the fault in detail via the internal monitoring signals. If bit 7 in fb-statusword is active, the warning messages via Sta- tus.FltSig_SR and Status.IntSigSR can be read. If the drive is at standstill, the interruption status can be cancelled again with FaultReset see page 6-35. Res Ctrl fb-stat Data Description RxD 00h xxh E029h xxxx xxxxh In fb-statusword: x_err=1,x_end=1,FltSig=1,cos=9: Fault Object Req Six Index Data Description TxD 28.18 Status.FltSig_SR 80h 12h 001Ch xxxx xxxxh Res Ctrl fb-stat Data Description RxD 80h xxh E029h 0000 0002h Internal monitoring signal: bit 1 active, i.e. cause of fault DC Bus undervolt- age Lim1 Object Req Six Index Data Description TxD 29.34 Status.IntSigSR 00h 22h 001Dh xxxx xxxxh Res Ctrl fb-stat Data Description RxD 00h xxh E029h 0000 8000h Internal monitoring signal: bit 15 active, i.e. Power amplifier not active T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-33 External monitoring signals A positioning operation has been interrupted by a light barrier at the STOP input. Evaluate the cause of the fault. In order to generate the fault, the following conditions must be met: The monitoring signal STOP is enabled by means of Set- tings.SignEnabl; STOP is activated. The controller is in QuickStopActive status. The cause of the fault can be evaluated in detail via the internal moni- toring signals. If the drive is at standstill, the interruption status can be cancelled again by means of FaultReset see page 6-35. Res Ctrl fb-stat Data Description RxD 00h xxh E047h xxxx xxxxh In fb-statusword: x_err=1,x_end=1,SignSr=1,cos=7: QuickStopActive Object Req Six Index Data Description TxD 28.15 Status.Sign_SR 80h 0Fh 001Ch xxxx xxxxh Res Ctrl fb-stat Data Description RxD 80h xxh E047h 0000 0004h Internal monitoring signal: bit 2 active, i.e. STOP 6-34 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 6.8.3 Other faults If x_err (bit 15) is activated in fb-statusword, but neither SignSr (bit 6) nor FltSig (bit 5) are set, an internal control fault is detected which can only be read as an error number via Status.StopFault (32:7). Determination of error number Faults which force the controller to quit OperationEnable status, are not only entered in the bit line for external and/or internal monitoring signals, but also in the error memory. The cause of the last change of status can be directly accessed. Read the cause of the last interruption from the controller's error memory. The controller must have been interrupted via the STOP input. If the faults have been reset or the 24 V power supply has been switched off and on again, the cause of the last interruption is deleted. If more than one fault has been detected, only the fault which has led to the interruption of the drive, i.e. to the controller leaving OperationEn- able status, is stored as the cause of the last interruption. Any conse- quential faults, which may occur, are stored in chronological order in the normal error memory. Object Req Six Index Data Description TxD 28.15 Status.StopFault 80h 07h 0020h 0000 0000h Request: cause of last interruption Res Ctrl fb-stat Data Description RxD 80h xxh Cx47h xxxx 1846h In fb-statusword: x_err=1,x_end=1,SignSr=1.error num- ber 1846h in bytes 7 and 8. T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-35 6.8.4 Resetting faults (FaultReset) Fault states QuickStop or Fault can be left with the aid of FaultReset if there are no fault causes active, otherwise the fault status is retained. Once FaultReset has been successfully performed, the error number of the last interruption is deleted. FaultReset can only be performed if the drive is at standstill (x_end=1). Fault-Reset Reset the interruption to the movement which has been caused by the STOP input. In order to be able to perform this task, the following conditions must be met: The controller is in QuickStopActive status as a result of the STOP input being activated. The cause of the fault is no longer active, i.e. the STOP input is deactivated. The drive is at standstill (x_end=1). If the fault has been successfully reset, the controller quits fault status. The controller enters OperationEnable status. The fault entry in the error memory is not deleted as a result of this action. Res Ctrl fb-stat Data Description RxD 00h xxh E047h xxxx xxxxh In fb-statusword: x_err=1,x_end=1,SignSr=1,cos=7: QuickStopActive Object Req Six Index Data Description TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 0008h Request: set bit 3 FaultReset Res Ctrl fb-stat Data Description RxD 80h xxh 6xx6h xxxx xxxxh In fb-statusword: x_err=0,cos=6: OperationEnable 6-36 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 6.8.5 Reading and deleting the error memory All fault messages are entered in the controller's error memory in chro- nological order. There can be a maximum of 20 entries in the error mem- ory. Besides the error number, the following information can also be read from the error memory: Fault class Time of fault since power amplifier was switched on Number of AMPON cycles (activation of amplifier) Additional information on the fault ErrMem0 contains the information on the oldest fault entry, ErrMem 1 on the second oldest, etc. If there are no entries in the error memory, the error number = 0. Faults of fault class 2 and higher are stored in non-volatile memory and are not deleted when the controller is switched off. There is a special command available for deleting the error memory. Reading the error memory The oldest fault entry is an interruption to the movement caused by the STOP input. The controller is in QuickStopActive status. Read all the information on the oldest fault entry from the error memory. Object Req Six Index Data Description TxD 900.1 ErrMem0.ErrNum 80h 01h 0384h 0000 0000h Request: error number in ErrMem0 Res Ctrl fb-stat Data Description RxD 80h xxh Cx47h 0000 1846h In fb-statusword: x_err=1,x_end=1,SignSr=1.error num- ber 1846h in bytes 7 and 8 Object Req Six Index Data Description TxD 900.2 ErrMem0.Class 00h 02h 0384h 0000 0000h Request: fault class Res Ctrl fb-stat Data Description RxD 00h xxh Cx47h 0000 0001h Fault class = 1 in bytes 7 and 8 Object Req Six Index Data Description TxD 900.3 ErrMem0.Time 80h 03h 0384h 0000 0000h Request: Time of fault since power amplifier was switched on Res Ctrl fb-stat Data Description RxD 80h xxh Cx47h 0000 035Dh Time of fault 035Dh = 861sec T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Examples for Fieldbus operation CAN Bus 6-37 Access to the other fault entries, ErrMem1 to ErrMem19 is achieved in a similar manner, with the index for the parameter having to be changed accordingly; e.g. ErrMem5, index = 905 = 389h. Deleting the error memory Delete all entries in the error memory. The entries in the error memory will be deleted regardless of whether or not the cause of the fault is still active. Object Req Six Index Data Description TxD 900.4 ErrMem0.AmpOnCnt 00h 04h 0384h 0000 0000h Request: number of amplifier switch- on cycles Res Ctrl fb-stat Data Description RxD 00h xxh Cx47h 0000 006Eh Switch-on cycles 6Eh = 110 cycles Object Req Six Index Data Description TxD 900.5 ErrMem0.ErrQual 80h 05h 0384h 0000 0000h Request: additional information for assessing fault Res Ctrl fb-stat Data Description RxD 80h xxh Cx47h 0000 0000h Value = 0; no additional information available Object Req Six Index Data Description TxD 32.2 Commands.del_err 80h 02h 0020h 0000 0000h Request: delete contents of error memory 6-38 CAN Bus Examples for Fieldbus operation CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Error handling CAN Bus 7-1 7 Error handling 7.1 Error messages The master device receives error messages during network operation through the received data. Differentiation is made between reports of Synchronous errors Asynchronous errors Reports of synchronous errors are sent to the master device directly in the way of a response when the command transmitted has not been able to be carried out. A synchronous error is recognized by the cmderr bit. Asynchronous errors are reported by the monitoring facilities in the con- troller as soon as a fault in the controller occurs. In order to recognize an asynchronous error, the master device continually monitors the status word fb_statusword. The controller supplies status information only at the request of the mas- ter device. If the timeout monitoring function is activated, the master device must request status information again before the timeout time expires. Otherwise the controller reports a timeout error. 7-2 CAN Bus Error handling CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 7.2 Synchronous errors A synchronous error is reported through the command error bit cmderr in the first byte of the received data: cmderr=0: Command has been successfully executed. cmderr=1: An error has occurred. Fig. 7.1 Evaluation of synchronous errors Causes of errors Possible causes of a synchronous error are: Unknown command, syntax error or incorrect transmitted data for- mat Parameter value outside permissible range Illegal action or control command during running process Error in carrying out an action or control command cmderr is only valid after the command has been acknowledged. The controller sends back an error number errnum in bytes 7 and 8 of the received data, and from this number the cause of the error can be deter- mined. A table with the error numbers can be found in the manual in the chapter on diagnostics and error correction. Command correctly executed Evaluate error number "errnum" cmderr = 0 ? no yes Check execution of command Check of synchronous error Error response T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Error handling CAN Bus 7-3 7.3 Asynchronous errors In order to recognize an asynchronous error, error bits must be moni- tored in the status word, fb_statusword. Bit 15, x_err: Error status during processing, evaluate cause via bit 5 and bit 6 Bit 7, Warning: Warning message from the controller, e.g. I 2 T- amplifier fault Bit 6, Sign_SR: Report from external monitoring signal, e.g. movement interrupted by STOP input Bit 5, FltSig: Report from internal monitoring signal e.g. overtemperature in amplifier Signal status 1 flags an error or warning message. Fig. 7.2 Status word for evaluating asynchronous errors Warning message In a warning message, the movement command continues to be pro- cessed, and the error information is input in parameters Sta- tus.FltSig_SR (28:18) or Status.IntSigSr (29:34). Bit 15 Bit 7..5 fb-statusword: Bit 5: FltSig Bit 6: Sign_SR Bit 7: warning Bit 15: x_err 0 x x x x x x x 0 0 0 x x x x x Byte 4 Byte 3 7-4 CAN Bus Error handling CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Error message If the controller sets the x_err signal, it immediately interrupts the movement operation and depending on the class of fault, it reacts either by braking or by immediately switching off the amplifier. Besides the x_err bit, the bits FltSig or Sign_Sr are also set. The meaning of the error message must be determined through the relevant parameters. Fig. 7.3 Evaluation, asynchronous errors Parameters, fault classes and measures for correcting faults are all described in the manual in the chapter on diagnostics and error correc- tion. Evaluate "Status.StopFault" (32:7) Check for asynchronous error Monitor slave device status x_err = 1 ? yes Warning Evaluate "Status.FltSig_SR" (28:18) "Status.IntSigSR" (29:34) Evaluate "Status.FltSig_SR" (28:18) "Status.IntSigSR" (29:34) Evaluate "Status.Sign_SR" (28:15) warning =1? yes no no FltSig = 1 ? yes no Sign_Sr = 1? yes no Internal signal External signal Other error T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Service, maintenance and warranty CAN Bus 8-1 8 Service, maintenance and warranty 8.1 Service information Technical and commercial service requests, including warranty and on- site services, should be directed to your Square D authorized distributor or the Square D Customer Support Center at 1-888-SQUARED (1-888- 778-2733). Maintenance The Twin Line controller requires no maintenance. Periodically check the control cabinet filter at the Twin Line control- lers location. Inspection intervals are determined by ambient condi- tions at the site. Repairs to the Twin Line controller are to be carried out only by Schneider Electric authorized personnel. Warranty Unauthorized disassembly of the controller will void the warranty. 8-2 CAN Bus Service, maintenance and warranty CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 8.2 Shipping, storage and disposal HAZARD OF ELECTRIC SHOCK, BURN, OR EXPLOSION Read and understand this bulletin in its entirety before install- ing or operating Twin Line drive system products. Installation, adjustment, repair, and maintenance of these drive systems must be performed by qualified personnel. Disconnect all power before servicing the power controller. WAIT SIX MINUTES until DC bus capacitors discharge, then measure DC bus capacitor voltage between the DC+ and DC- terminals to verify that the DC voltage is less than 45 V. The DC bus LED is not an accurate indication of the absence of DC bus voltage. The motor can produce voltage at its terminals when the shaft is rotated! Prior to servicing the power controller, block the motor shaft to prevent rotation. DO NOT short across DC bus terminals or touch unshielded components or terminal strip screw connections with voltage present. Install all covers and close enclosure door before applying power or starting and stopping the drive system. The user is responsible for conforming to all applicable code requirements with respect to grounding all equipment. Many parts in this drive system, including printed wiring boards, operate at line voltage. DO NOT TOUCH. Use only electrically insulated tools. Before servicing drive system: Disconnect all power. Place a DO NOT TURN ON label on the drive system dis- connect. Lock the disconnect in open position. Failure to follow these instructions will result in death or serious injury. DANGER T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Service, maintenance and warranty CAN Bus 8-3 Deinstallation Save the parameter settings of the controller: With the commissioning software, select File Save to save all values on the PC's data storage medium. With the Human-Machine Interface, select menu 8.1 Read Param. to copy the parameter set into the Human-Machine Interface copy memory. Switch the controller off. Disconnect the power supply. Mark all connections to the controller. Disconnect the motor cable. Pull out the interface connector. Remove the controller from the control cabinet. Shipping The controller must be protected against impact while in transit. Use the original packing material for this purpose. Storage Store the controller within the specified storage limits for room temper- ature and humidity. Protect the controller from dust and dirt. Disposal When servicing or decommissioning, dispose of this equipment in accordance with the applicable standards for this classification of equip- ment. The controller is made from many recyclable materials. Some materials may require special disposal procedures. For recycling purposes, split the controller into the following parts Housing, screws and terminals for ferrous metal recycling Cables for copper recycling Connectors, hood for plastics recycling Circuit boards and electronic components must be disposed of sepa- rately in accordance with the relevant environmental protection laws. Check with and conform to local laws and procedures before disposing of these components. 8-4 CAN Bus Service, maintenance and warranty CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Accessories CAN Bus 9-1 9 Accessories 9.1 List of accessories Accessories for the controller are: Qty. Designation Order No. 1 Commissioning software TLCT with online doc- umentation on data carrier TLAPSCA 1 RS-232 programming cable, 5 m RS-232 programming cable, 10 m TLACDPBG050 TLACDPBG100 1 HMI hand-held operating unit with manual TLAPH00 1 TLHMI cable to fit TLACDCBGzzz 1) 1) Cable length zzz: 015, 030, 100: 1.5 m, 3 m, 10 m 1 Network cable for CAN bus TLACDCBAyyy 2) 2) Cable length yyy: 005, 015, 030, 050: 0.5 m, 1.5 m, 3 m, 5 m 1 Terminating plug for CAN-C module - 9-pole socket - 9-pole pins
TLATA TLATB 9-2 CAN Bus Accessories CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Index CAN Bus A-1 Index A Accessories Order number 9-1 Acknowledgment mechanism 4-11 Action commands 4-14 Address settings 5-3 Addressing of transferred data 4-5 Asynchronous errors 7-3 Axis information 4-7 C CAN bus Connecting the Twin Line controller 5-4 Fieldbus devices 2-2 CAN-C-interface 2-1 CAN-Interface, connecting 5-4 cmderr (command error) Bit in received data 4-7 Function 4-12 Command Action commands 4-14 Control commands 4-14 Read value (ccs=0) 4-6 Write value (ccs=4) 4-6 Command error 4-12 Commanddata, Byte in transmitted data 4-4, 4-6 Commissioning software TLCT Local access with 4-2 Order number 9-1 Connection monitoring 4-9 Control commands 4-14 Controldata Allocation of operating mode 4-15 Byte in received data 4-7 cos, Bits in receive data 4-8 D Data framework 4-4 Transmitted data 4-5, 4-6 Data structure 4-4 Deinstallation 8-2 Diagram Carrying out a control command 4-14 Carrying out an action command 4-14 Evaluation, Asynchronous errors 7-4 Evaluation, Synchronous errors 7-2 Monitoring the execution of an action command 4-16 Disposal 8-3 E EMC measures 5-1 errnum, Byte in received data 4-8 A-2 CAN Bus Index CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 Error Asynchronous 7-3 Synchronous 7-2 Error message, monitoring with "x_err" 4-8 Error number "errnum" 4-8 Examples Device information 6-9 Electronic gear 6-16 Fault processing 6-31 FaultReset 6-35 Homing 6-18 Inputs 6-11 List control 6-24 Manual movement 6-20, 6-21 Normalization 6-27 Operating functions 6-24 Operating modes 6-12 Operating status 6-3 Outputs 6-11 Parameter settings 6-9 Point-to-Point Positioning 6-12 Position value capture 6-29 Processing parameters 6-7 Speed mode 6-15 Status information 6-10 Structure 6-1 Teach-in 6-27 F fb-statusword Byte in received data 4-8 Evaluating asynchronous errors 7-3 Fieldbus Cable installation 5-1 Network topology 1-1 Operating modes with Twin Line devices 2-2 Transmission technology 1-1 Fieldbus interface CAN-C 2-1 FltSig, Bit in received data 4-8 H h, see hexadecimal value Hazard categories 3-1 Hexadecimal value 4-4 HMI hand-held operating unit Local access with 4-2 Manual 2-3 Monitoring Fieldbus operation 5-6 Order number 9-1 I Identification 4-5 Identifier, calculating 4-5 Index, Byte in transmitted data 4-4, 4-6 Information, for service 8-1 T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 CAN Bus Index CAN Bus A-3 Installation Address settings 5-3 Connecting the Twin Line controller 5-4 Device installation 5-3 L Local access 4-2 M Maintenance 8-1 Master-slave technique 1-2 Mode, Bit in framework of received data 4-7 Monitoring Error of controller with "x_err" 4-8 External error with "Sign_SR" 4-8 Internal error with "FltSig" 4-8 Operating status with "x_add_info" 4-8 With "x_end" 4-8 Monitoring the operating status 4-15 O Online command processing 4-3 Operating status Changing 6-4 Checking 6-3 Evaluate 4-8 Monitoring with "x_end" 4-8 Operation, Monitoring end of operation with "x_end" 4-8 Optimizing network performance 3-4 P Program examples, Structure 6-1 pwin, Bit in received data 4-7 Q Qualification of the personnel 3-3 R readdata, byte in received data 4-8 Received data Communication 4-4 Examples 6-1 Identifier 4-5 ref_ok, Bit in received data 4-7 Repeater 5-5 responsedata, Byte in received data 4-7 rf (receive flag) Acknowledgment mechanism 4-11 Bit in received data 4-7 S Safety notes 3-1, 3-2 Service information 8-1 Set-up Initiating network operation 5-6 Troubleshooting 5-6 A-4 CAN Bus Index CAN Bus T L A D O C C A N M E ,
- 0 0 1 ,
0 6 . 0 2 sf (send flag) Acknowledgment mechanism 4-11 Bit in transmitted data 4-6 Shipping 8-3 Shipping, storage and disposal 8-2 Sign_SR, Bit in received data 4-8 Signal interface, addressing with 5-3 Slaves Devices 1-1 Task 1-1 Status information 4-8 Storage 8-3 Sub-index, Byte in transmitted data 4-4, 4-6 Synchronous error 7-2 System requirements 2-1 T Termination 5-5 Transmitted data Communication 4-4 Data framework 4-5, 4-6 Examples 6-1 Identifier 4-5 U Unit address, identifier for 4-5 W Warning Bit in received data 4-8 Warning message with "warning" 4-8 Warranty 8-1 X x_add_info, Bit in received data 4-8 x_end, Bit in received data 4-8 x_err Bit in receive data 4-8 Error message 7-4