Ecodrive-Fgp03 FK02
Ecodrive-Fgp03 FK02
Ecodrive-Fgp03 FK02
mannesmann
Rexroth
ECODRIVE03
Drive For General Automation
With Fieldbus-Interface
Functional Description: FGP-03VRS
7=78)1
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Rexroth
Indramat
Title
Type of Documentation
Document Typecode
ECODRIVE03 FGP-03VRS
Purpose of Documentation
Record of Revisions
Copyright
Description
Release
Date
Notes
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
02.00
first release
Validity
Published by
All rights are reserved with respect to the content of this documentation
and the availability of the product.
Rexroth Indramat GmbH
Bgm.-Dr.-Nebel-Str. 2 D-97816 Lohr a. Main
Telephone 09352/40-0 Tx 689421 Fax 09352/40-4885
http://www.rexroth.com/indramat
Dept. ECD (TH/JR)
Note
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ECODRIVE03 FGP-03VRS
Parameter Description:
A description of all parameters
used in the firmware
PA
Order designation:
DOK-ECODR3-FGP-03VRS**-PA01-EN-P
282801
Troubleshooting Guide:
-Explanation of the diagnostic states
-How to proceed when eliminating faults
WA
Order designation:
DOK-ECODR3-FGP-03VRS**-WA01-EN-P
282801
-FWA-ECODR3-FGP-02VRS-MS
Order designation:
DOK-ECODR3-FGP-03VRS**-FV01-EN-P
282801
CD: DRIVEHELP
Win3.1 and
Win95&NT
epart
V
282411
01
rsion:
number:
(6-:),)04
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Order designation
DOK-ECODR3-FGP-03VRS**-7302-EN-P
ECODRIVE03 FGP-03VRS
Notes
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ECODRIVE03 FGP-03VRS
Contents I
Contents
1
System Overview
1-1
1.1
1.2
1.3
1.4
2-1
2.1
Introduction..................................................................................................................................... 2-1
2.2
3-1
3.1
Introduction..................................................................................................................................... 3-1
3.2
Explanations................................................................................................................................... 3-1
3.3
3.4
3.5
3.6
Protection by protective low voltage (PELV) against electrical shock ........................................... 3-6
3.7
3.8
Protection against magnetic and electromagnetic fields during operations and mounting............ 3-8
3.9
4-1
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
II Contents
ECODRIVE03 FGP-03VRS
4.3
4.4
4.5
4.6
5-1
5.2
5.3
5.4
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ECODRIVE03 FGP-03VRS
Contents III
Profile Types
6.1
6-1
6.2
6.3
6.4
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IV Contents
ECODRIVE03 FGP-03VRS
Motor Configuration
7.1
7-1
7.2
7.3
7.4
7.5
Operating Modes
8-1
8.1
8.2
8.3
8.4
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ECODRIVE03 FGP-03VRS
Contents V
8.6
8.7
8.8
8.9
8.10 Operating mode: velocity synchronization with virtual master axis.............................................. 8-47
Pertinent Parameters ............................................................................................................. 8-47
Command Value Preparation for Velocity Synchronization with Virtual Master Axis ............ 8-47
8.11 Operating mode: velocity synchronisation with real master axis ................................................. 8-49
Pertinent Parameters ............................................................................................................. 8-49
Functional Principle................................................................................................................ 8-50
8.12 Operating mode: phase synchronisation with virtual master axis................................................ 8-50
Pertinent Parameters ............................................................................................................. 8-51
Command value preparation with phase synchronisation with virtual master axis ............... 8-51
8.13 Operating mode: phase synchronization with real master axis ................................................... 8-56
Pertinent Parameters ............................................................................................................. 8-56
Functional Principle................................................................................................................ 8-57
8.14 Operating mode: electronic cam shaft with virtual master axis.................................................... 8-57
Pertinent Parameters ............................................................................................................. 8-58
Command Value Preparation for Electronic Cam.................................................................. 8-58
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VI Contents
ECODRIVE03 FGP-03VRS
8.15 Operating mode: electronic cam shaft with real master axis ....................................................... 8-61
Pertinent Parameters ............................................................................................................. 8-61
Functional Principle................................................................................................................ 8-61
9-1
9.2
9.3
9.4
9.5
9.6
9.7
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ECODRIVE03 FGP-03VRS
Contents VII
9.9
10-1
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
VIII Contents
ECODRIVE03 FGP-03VRS
11 Glossar
11-1
12 Index
12-1
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ECODRIVE03 FGP-03VRS
System Overview
1.1
1.2
FWA-ECODR3-FGP-0xVRS-MS
In addition to the here documented firmware FWA-ECODR3-FGP03VRS-MS drive for general automation with fieldbus interfaces, there are
also two additional application-related firmware variants.
FWA-ECODR3-SMT-0xVRS-MS
drive for machine tool applications with SERCOS, analog and parallel
interface
FWA-ECODR3-SGP-0xVRS-MS
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1.3
ECODRIVE03 FGP-03VRS
Parallel interface
DKC11.3
Analog interface
DKC21.3
Parallel interface 2
DKC02.3
SERCOS interface
DKC03.3
Profibus-DP interface
DKC04.3
InterBus interface
DKC05.3
CANopen interface
DKC06.3
DeviceNet interface
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ECODRIVE03 FGP-03VRS
1.4
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ECODRIVE03 FGP-03VRS
Firmware Functions
Extensive diagnostics options
Basic parameter block that can be activated for a defined setting of the
drive parameters to default values.
Customer passwords
List of password-protected data
Error memory and operating hour counter
Supports five (5) languages for parameter names and units and
diagnoses (S-0-0095)
German
English
French
Spanish
Italian
Settable drive-internal position resolution
Evaluation of option (load-side) encoder for position and/or velocity
control
Evaluates absolute measuring system with setting of absolute
dimension
Modulo function
Parametrizable torque limit
Current limit
Velocity limit
Travel range limit:
via travel range limit switch and/or
position limit values
Drive-side error reactions:
error reaction "return limit"
best possible standstill "velocity command to zero"
best possible standstill "Torque free"
best possible standstill "velocity command to zero with ramp and
filter
power shutdown with fault
NC reaction with fault
E-Stop function
Control loop settings
base load function
acceleration precontrol
velocity mix factor
velocity precontrol
automatic control loop settings
Velocity control loop monitor
Position control loop monitor
Drive halt
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ECODRIVE03 FGP-03VRS
2.1
Introduction
Rexroth Indramat products represent state-of-the-art developments and
manufacturing. They are tested prior to delivery to ensure operating safety
and reliability.
The products may only be used in the manner that is defined as
appropriate. If they are used in an inappropriate manner, then situations
can develop that may lead to property damage or injury to personnel.
Note:
Before using Rexroth Indramat products, make sure that all the prerequisites for an appropriate use of the products are satisfied:
Personnel that in any way, shape or form uses our products must first
read and understand the relevant safety instructions and be familiar
with appropriate use.
If the product takes the form of hardware, then they must remain in
their original state, in other words, no structural changes are permitted.
It is not permitted to decompile software products or alter source
codes.
Do not mount damaged or faulty products or use them in operation.
Make sure that the products have been installed in the manner
described in the relevant documentation.
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2.2
ECODRIVE03 FGP-03VRS
Inappropriate use
The use of the firmware and the drive controllers outside of applications
other than specified in the system overview or under operating conditions
other than those specified in the project planning manual and not with the
use of the specified technical data is defined as inappropriate use.
Drive controllers may not be used if
they are subject to operating conditions that do not meet the above
specified ambient conditions. This includes, for example, operation
under water, in the case of extreme temperature fluctuations or
extremely high maximum temperatures or if
Rexroth Indramat has not specifically released them for that intended
purpose. Please note the specifications outlined in the general safety
instructions!
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ECODRIVE03 FGP-03VRS
3.1
Introduction
Read these instructions before the equipment is used and eliminate the
risk of personal injury or property damage. Follow these safety
instructions at all times.
Do not attempt to install, use or service this equipment without first
reading all documentation provided with the product. Read and
understand these safety instructions and all user documentation of the
equipment prior to working with the equipment at any time. If you do not
have the user documentation for your equipment contact your local
Rexroth Indramat representative to send this documentation immediately
to the person or persons responsible for the safe operation of this
equipment.
If the product is resold, rented or transferred or passed on to others, then
these safety instructions must be delivered with the product.
WARNING
3.2
Explanations
The safety warnings in this documentation describe individual degrees of
hazard seriousness in compliance with ANSI:
Warning symbol with signal
word
DANGER
WARNING
CAUTION
Fig. 3-1: Classes of danger with ANSI
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3.3
ECODRIVE03 FGP-03VRS
CAUTION
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ECODRIVE03 FGP-03VRS
3.4
General Information
Rexroth Indramat GmbH is not liable for damages resulting from
failure to observe the warnings given in these documentation.
Order operating, maintenance and safety instructions in your language
before starting up the machine. If you find that due to a translation
error you can not completely understand the documentation for your
product, please ask your supplier to clarify.
Proper and correct transport, storage, assembly and installation as
well as care in operation and maintenance are prerequisites for
optimal and safe operation of this equipment.
Trained and qualified personnel in electrical equipment:
Only trained and qualified personnel may work on this equipment or
within its proximity. Personnel are qualified if they have sufficient
knowledge of the assembly, installation and operation of the product
as well as an understanding of all warnings and precautionary
measures noted in these instructions.
Furthermore, they should be trained, instructed and qualified to switch
electrical circuits and equipment on and off, to ground them and to
mark them according to the requirements of safe work practices and
common sense. They must have adequate safety equipment and be
trained in first aid.
Only use spare parts and accessories approved by the manufacturer.
Follow all safety regulations and requirements for the specific
application as practiced in the country of use.
The equipment is designed for installation on commercial machinery.
European countries: see directive 89/392/EEC (machine guideline).
The ambient conditions given in the product documentation must be
observed.
Use only safety features that are clearly and explicitly approved in the
Project Planning manual.
For example, the following areas of use are not allowed: Construction
cranes, Elevators used for people or freight, Devices and vehicles to
transport people, Medical applications, Refinery plants, the transport
of hazardous goods, Radioactive or nuclear applications, Applications
sensitive to high frequency, mining, food processing, Control of
protection equipment (also in a machine).
Start-up is only permitted once it is sure that the machine, in which the
product is installed, complies with the requirements of national safety
regulations and safety specifications of the application.
Operation is only permitted if the national EMC regulations for the
application are met.
The instructions for installation in accordance with EMC requirements
can be found in the INDRAMAT document "EMC in Drive and Control
Systems.
The machine builder is responsible for compliance with the limiting
values as prescribed in the national regulations and specific EMC
regulations for the application.
European countries: see Directive 89/336/EEC (EMC Guideline).
U.S.A.: See National Electrical Codes (NEC), National Electrical
Manufacturers Association (NEMA), and local building codes. The user of
this equipment must consult the above noted items at all times.
Technical data, connections and operational conditions are specified in
the product documentation and must be followed at all times.
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3.5
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3.6
ECODRIVE03 FGP-03VRS
3.7
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3.8
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ECODRIVE03 FGP-03VRS
3.9
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ECODRIVE03 FGP-03VRS
CAUTION
Note:
Note:
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ECODRIVE03 FGP-03VRS
4.1
Parameter
Communication with the drive occurs (with a few exceptions) with the
help of parameters. They can be used for
Setting the configuration
parametrizing the control/drive settings
Accessing control/drive functions and commands
Cyclical or acyclical (depending on requirements) transmission of
command and actual values
Note:
The Data Status
Each parameter is provided with a data status, which can also be read. It
serves the following purposes:
Identifying the validity/invalidity of the parameter
Contains the command acknowledgement if the parameter acts as a
command
(see also Commands)
Parameter structure
There are seven different data block elements for each parameter. These
can be read/write accessed either via a user data interface by a higherranking control or a parametrization surface.
Element No.:
Designation:
Remarks:
ID Number
Parameter identification
Name
Attribute
Unit
7
Fig. 4-1:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Operating Data
actual parameter value
Data blocks or parameter structure
ECODRIVE03 FGP-03VRS
Only the operating data can be changed; all other elements can only be
read.
The operating data can be write-protected either continuously or
temporarily.
The write accessing of the operating data depends on the relevant
communications phase.
Reason:
Fig. 4-2:
Data Storage
Non-volatile Parameter Storage Registers
Various non-volatile parameter storage registers that buffer operating
data are contained in the drive.
The operating data apply to:
setting the configuration or
parametrizing the control drive settings
Each time operating data is written to it is stored.
The following modules contain non-volatile memory:
Control drive
Motor feedback (optional)
Programming module
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ECODRIVE03 FGP-03VRS
All operating data that apply only to the drive controller and that cannot be
changed by the user are stored in the digital drive.
This consists of the following parameters:
S-0-0110, Amplifier peak current
S-0-0140, Controller type
P-0-0190, Operating hours control section
P-0-0191, Operating hours power section
P-0-0192, Error recorder, diagnosis number
P-0-0193, Error recorder, operating hours control section
P-0-0520, Hardware code
P-0-4000, Current-zero-trim phase U
P-0-4001, Current-zero-trim phase V
P-0-4002, Current-amplify-trim phase U
P-0-4003, Current-amplify-trim phase V
P-0-4024, Test status
P-0-4035, Trim-current
P-0-4053, Intermediate DC bus voltage gain adjust
P-0-4054, Resolver input offset
P-0-4055, Resolver input, amplitude adjust
P-0-4058, Amplifier type data
P-0-4059, Braking resistor data
P-0-4061, Mains voltage gain adjust
P-0-4088, Serial number
P-0-4089, Production index
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ECODRIVE03 FGP-03VRS
Data Saving
Back-up & Restore-
To save the data of the axis, all important and changeable parameters of
the axis are stored in the list S-0-0192, IDN-List of backup operation
data. By saving the parameters listed there with the control or
parametrization surface, you can obtain a complete data backup of this
axis after the first set-up (Back-up & restore function).
Note:
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ECODRIVE03 FGP-03VRS
Note:
Password
The affected parameters are stored in S-0-0279, IDN-list of passwordprotected operation data. To secure these parameters against
unwanted or non-authorized changes, the customer password can be
activated.
By editing S-0-0279, IDN-list of password-protected operation data the
user can select the parameter which are to be protected with a password.
Note:
The default value of S-0-0279, IDN-list of passwordprotected operation data corresponds to the contents of
S-0-0192, IDN-list of backup operation data.
The password function can have three different states. Depending on the
sequence of symbols entered for S-0-0267 the current password status
can be changed.
The following illustrates possible password states and the symbol
sequence for parameter S-0-0267.
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ECODRIVE03 FGP-03VRS
Input string:
007_Kpassw_Kpassw
Input string:
Kpassw_007_007
Input:
customer password
Master password
FS0212f1.fh7
Fig. 4-3:
Note:
Note:
Commands
Commands are used to control complex functions in the drive. For
example, the functions "Drive-Controlled Homing Procedure" or
"Transition Check for Communication Phase 4" are defined as
commands.
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ECODRIVE03 FGP-03VRS
Command Types
There are 3 command types.
Drive-Controlled Command
- Eventually leads to an automatic drive operation or motion
- Can be started only when controller enable is set
- Deactivates the active operating mode during its operation
Monitor Command
- Activates or deactivates monitors or features in the control drive
Management Command
- executes management tasks; is not interruptable
data status
The Change Bit Command in the Drive Status Word helps the control
recognize a change in the command acknowledgement by the drive. The
bit is set by the drive if the command acknowledgement changes from the
condition in process (7) to the condition error, command execution not
possible (0xF) or command properly executed (3). The bit is cleared if the
master clears the input (0).
The control system will recognize if the drive sets the Command Change
Bit command. It can read the corresponding data status of the command
or the command itself, which was set sometime but has not been cleared.
The control system will recognize from this if the command ended with or
without an error in the drive. Afterwards this command should be cleared
by the control.
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Date of
command
parameter
= handcap
ECODRIVE03 FGP-03VRS
3
0
Beginning of
the command
Command finished
Handicap
t
Data status of
t abt. 64msec
the command
Command at work
parameter
7
=acknowCommand finished without error
3
ledgment
Command cleared
0
t
Sbit command
t ca. 64msec
change in drive
status message
1
t
Sv5021d1.fh5
Fig. 4-4:
Date of
command
parameter
= handcap
Beginning of the
command
3
0
Data status of OxF
the command
parameter
7
=acknow3
ledgment
0
Sbit command
change in drive
status message
1
Command cleared
Command at work
t ca. 64msec
t
Command finished
Handicap
t ca. 64msec
t
Sv5022d1.fh5
Fig. 4-5:
A delay time of up to 64ms can occur in the drive between receiving the
command input and setting the command acknowledgement.
Operating Modes
Operating modes define which command values will be processed in
which format, leading to the desired drive motion. They do not define how
these command values will be transmitted from a control system to the
drive.
One of the four selectable operating modes (S-0-0032S-0-0035) is
active when:
the control and power supply is ready for operation and the controller
enable signal is positive.
The drive displays "AF" in the H1 display.
Note:
All implemented operating modes are stored in parameter S-00292, List of all operation modes.
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Warnings
Warnings do not cause
automatic shutdowns
Exception: fatal wanings
Warning Classes
The warning class is evident
from the diagnostic message
Warning Class:
Diagnostic
Message:
E8xx
Drive Response:
reacts on its own specifically
in terms of any occurring
warnings
Note:
Error
Many areas are monitored in connection with operating modes and
parameter settings. An error message is generated if a condition is
encountered which no longer allows proper operation
Error Classes
Errors are separated into four different drives error response. The error
class is evident from the diagnostic message:
Error Class:
Diagnostic
Message:
Drive Response:
Fatal
F8xx
Travel range
F6xx
Interface
F4xx
Non-fatal
F2xx
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Clearing Errors
Errors are not automatically cleared; they are cleared externally by:
Initiating the command S-0-0099, C500 Reset class 1 diagnostic or
pressing the "S1" key or
positiv edge at the input "clear error".
If the error state is still present, then the error will be immediately detected
again.
operating hour
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4.2
ECODRIVE03 FGP-03VRS
parametrization
modus
communication phase 3
communications
phase 3 transition
S-0-0127
switching from
phase 4 to 2
P-0-4023
communication phase 2
Fig. 4-8:
Note:
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Checking validity of
communications parameters
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Checking validity
The drive controller reads the non-volatile memory, e.g., EEPROM, of the
drive controller operating data. If an error occurs during this process, then
command error:
C212 Invalid amplifier data (->S-0-0022) appears.
The ID number of the faulty parameter is written in
S-0-0022, IDN-list of invalid op. data for comm. phase 3.
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Check whether an internal position resolution has been set via parameter
S-0-0278, Maximum travel range which guarantees the correct
commutation of the motor. If not, then this command error appears:
C223 Input value for max. range too high.
Checking scaling
The physical values of parameters (input format with decimal places and
units) are converted to internal formats. This conversion is monitored. If
incongruencies are detected during this process, then command error
C203 Parameter calculation error (->S-0-0022)
is generated. The ID number of the faulty parameter is listed in
S-0-0022, IDN-list of invalid op. data for comm. phase 3
and must be corrected.
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4.3
Commissioning Guidelines
For commissioning drive controllers, the parametrization interface
DriveTop can be used.
The procedures for commissioning a drive controller with DriveTop entail
11 steps (IBS-1..11).
The sequence is illustrated below.
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ECODRIVE03 FGP-03VRS
Initial start-up, Establishing the initial state using command P-0-4094, C800
Load base parameters command
Velocity and acceleration values limited to small values / Position and torque limits
not active / Operating mode - velocity control / All optional functions are deactivated
MDD/MKD/MHD
motor
no
yes
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ECODRIVE03 FGP-03VRS
These guidelines are needed in the case where the motor used does not
have a motor feedback memory. It is necessary with these motors to
enter:
the parameters for motor features (peak current, maximum velocity,
etc.) using the data sheet or with DriveTop using data from the motor
data bank.
the parameters for the motor temperature warning and off thresholds
must be parametrized as well
and given a motor holding brake, these parameters must be properly
set also.
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-"Torque Limit",
-"Travel Range Limits" and
-"Limiting Velocity".)
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ECODRIVE03 FGP-03VRS
-"Drive Halt"
-"S-0-0013, Class 3 diagnostics"
-"S-0-0182, Manufacturer class 3 diagnostics"
-"Optional Drive Functions"
-"Language Selection"
"Current Limit")
With vertical axis, the weight compensation must be set so that the
current consumption with upwards and downwards motions of the axes
have the same minimum value.
Check the regenerated peak power and regenerated continuous power.
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4.4
ECODRIVE03 FGP-03VRS
Diagnostic Configurations
Drive-Internal Diagnostics
The current operating condition of the drive depends on:
any present errors
any present warnings
commands executed
the signal "Drive Halt"
the execution of an error reaction
the automatic drive check or self-adjustment
the active operating mode
Whether the drive is in preparation for operation or in parameter mode
also is displayed.
The current operating condition can be determined from
the 2-part seven-segment display (H1 display)
the diagnostic parameter S-0-0095, Diagnostic Message
the parameter S-0-0390, Diagnostic Message Number
the parameter P-0-0009, Error Message Number
the parameter S-0-0375, List of diagnostic numbers
The current diagnostic message with the highest priority is always shown
in the
H1 display,
S-0-0095, Diagnostic Message and
S-0-0390, Diagnostic Message Number.
The parameter P-0-0009, Error Message Number will contain a value
unequal to 0 if an error is present.
The last displayed diagnostic numbers are displayed in chronological
order in parameter S-0-0375, List of diagnostic numbers.
An overview of all diagnostic messages can be found in the diagnostic
description (Troubleshooting Guide).
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Error
P
R
Warning
I
O
Command error
R
I
T
Command active
Y
Ready to operate ?
yes
no
Operation lock
active
Communicationphase
Ready to
operate
Drive ready
Drive automatic
check
Drive error
reaction
Drive Halt
Drive is
following
operating mode
Da0001f1.fh7
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ECODRIVE03 FGP-03VRS
The H1 display alternates "F2" and "28". The diagnostic message number
appears in hexadecimal format in the parameter S-0-0390, Diagnostic
Message Number. In this example, this would be (0x)F228. The
diagnostic message number and the diagnostic text are contained as a
string F228 Excessive deviation in the parameter S-0-0095, Diagnostic
Message. The parameter P-0-009, Error message number contains
228 (dec).
H1-Display
The diagnostic number appears on the two-part seven-segment display.
The form of the display emerges from the graphic "Priority-Dependent
Display of the Diagnostic Message".
With the help of this display, it is possible to quickly determine the current
operating status without using a communication interface.
The operating mode cannot be seen on the H1-Display.
If the drive follows the operating mode and no command was activated,
then the symbol AF appears on the display.
Diagnostic Message
The diagnostic message contains the diagnostic number followed by the
diagnostic text, as shown in the example, Excessive Control Deviation.
It can be read with the parameter S-0-0095, Diagnostic Message and
directly displays the operation status on an operator interface.
The diagnostic message language can be changed.
Error Number
The error number contains only the error number without the diagnostic
text. It can be read with the parameter P-0-0009, Error Message
Number and can indicate an error condition without a language barrier.
This parameter contains a value unequal to 0 if an error is present in the
drive.
An error is formed from the bottom 3 digits of the diagnostic number. For
example, the error F228 Excessive deviation with the diagnostic
message number "(0x)F228" would produce the error number "228."
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ECODRIVE03 FGP-03VRS
0xA013
XXXX
50.
0xA012
0xA101
time
Drive enable is switched on,
operation mode e.g.
velocity control AF
S-0-0390, Diagnostic number
changes to A101
XXXX
50.
XXXX
50.
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
2.
XXXX
2.
A013
2.
XXXX
1.
A013
1.
A012
1.
S-0-0375
S-0-0375
S-0-0375
Tb0208f1.fh7
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ECODRIVE03 FGP-03VRS
There are bits for various warnings in this parameter. In the event of a
warning, a bit is set in this parameter. Simultaneously, bit Change bit
class 2 diagnostics is set in the drive status word. This change bit is
cleared by reading S-0-0012, Class 2 diagnostics. Via parameter
S-0-0097, Mask class 2 diagnostic warnings can be masked in terms of
their effect on the change bit.
The following bits are supported in class 2 diagnostics.
Bit 5:
Bit 6:
Bit 7:
Bit 8:
Bit 9:
reserved
reserved
reserved
reserved
Fig. 4-14:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
In position
| Following error (S-0-0189) | <
Position window (S-0-0057)
unequal to 0 ?
Yes
Bit change set in drive status message
Fig. 4-16: Generating the change bit of class 2 diagnostics
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Bit 6 : IZP
| S-0-0258, target pos. - act. pos. | < S-0-0057, pos. window
&&
|S-0-0189,lag error| < S-0-0057, pos. window
&&
|S-0-0040, act. velocity| < S-0-0124, standstill window
Bit 7 : Message 90% LOAD
Amplifier generating 90 % of present maximum torque
Bit 8 : IN_SYNCHRONISATION
Main operating mode with position control
|synch. pos.com.val. + Xadditive (S-0-0048)
- Xact(S-0-0051 or S-0-053)|
< S-0-0228, synchronously running position
Main operating mode velocity synchronization
|synchr. velo. com. val. + vel. comm. val. add. - act. vel. value|
< S-0-0183, synch. running window velocity
Bit 9 : synchronization completed
Bit 10 : IN_TARGET POSITION
| S-0-0258, target position - S-0-0051/53 act.pos.val.1/2 |
< S-0-0057, pos. window
Bit 11 : AHQ
drive halt && |act.vel.| < S-0-0124
Bit 12 : End position
| S-0-0258, target pos. - act. pos. | < S-0-0057, pos. window
&&
End of following block sequence has been reached
( only relevant in "Positioning block mode".)
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ECODRIVE03 FGP-03VRS
4.5
Language Selection
With the parameter S-0-0265, Language Selection you can switch
between several languages for
Parameter names and units
Diagnostic texts
The following languages are implemented:
Value of S-0-0265:
0
German
English
French
Spanish
4
Fig. 4-18: Language Selection
4.6
Language:
Italian
Fig. 4-19:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
7 segment
display
0x9002
dL / 00
0x9003
0x9004
0x9102
dL / 03
0x9103
0x9104
0x9200
dL / 06
Read error
0x9400
dL / 07
0x9402
dL / 0F
0x940A
dL / 08
0x960A
0x96E0
dL / 0b
Error message:
0x96E1
dL / 0C
0x96FF
dL / 09
0x9701
dL / 0d
0x9702
Fig. 4-20:
dL / 0E
CRC32 checksum faulty
SIS error of firmware loader
Note:
On a)
Prior to programming the FIL it is necessary to program modules
FGP, SGP or SMT.
On b)
Prior to programming FGP, SGP or SMT it is necessary to
program FIL.
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ECODRIVE03 FGP-03VRS
Clearing errors:
The drive firmware is to be restarted after the firmware was replaced. The
programming of modules FGP, SGP or SMT was incomplete (addition
checksum check went wrong).
Modules FGP, SGP or SMT must be reprogrammed.
The drive is in phase 3 and the drive firmware must be restarted. This can
only be done in phase 2.
Switch the drive into phase 2.
The drive is in phase 4 and the drive firmware must be restarted. This can
only be done in phase 2.
Switch the drive into phase 2.
Clearing errors:
Check address range in the *.ibf file. If it is alright, i.e., a memory module
is actually at that address, then the error can only be cleared by replacing
the firmware module ESF02.1.
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ECODRIVE03 FGP-03VRS
Clearing errors:
The flash must be cleared prior to the programming command. If the error
continues, then the firmware module ESF02.1 must be replaced.
Clearing errors:
Clearing errors:
Check whether the target address is actually in the RAM. If the error
continues, then the firmware module ESF02.1 must be replaced.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
9600
19200
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
115.2
57.6
10
57.6
15
38.4
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ECODRIVE03 FGP-03VRS
5.1
Bus-Independent Features
Profile
For drive technology that uses a fieldbus system it was necessary to
develop definitions for both process objects and status machines.
Familiar are, for example, the DriveCom profile 22 of the INTERBUS
Club, the ProfiDrive profile of the PROFIBUS User Organization and the
Drive Profile DS402 for CANopen protocols. These profiles control only a
small part of the necessary functions of a drive. The additional and
especially valuable functions continue to remain manufacturer-specific.
Rexroth Indramat offers the user advanced drive functions with a simpleto-use interface. This is the case, for example, with the referencing and
jogging functions in DriveCom which have been defined as an
independent operating mode. These take the form (as defined in
ProfiDrive as well) of a bit in the control word, thus offering the user a
considerably more comfortable interface.
Long years of experience has lead to an optimized drive interface which is
implemented so as to be fieldbus independent. The DriveCom and
ProfiDrive functionalities, will, however, remain covered and only the
position of the relevant bits in the control word and status word might
change. Additionally, all the operating modes defined in the drive will be
accessible via the fieldbus.
(see also chapter "Profile Types")
Pertinent Parameters
The following parameters are relevant to external communications via a
fieldbus:
P-0-4073, CANopen event mask
P-0-4074, Fieldbus data format
P-0-4075, Fieldbus watchdog time
P-0-4076, Fieldbus container object
P-0-4077, Fieldbus control word
P-0-4078, Fieldbus status word
P-0-4079, Fieldbus baudrate
P-0-4080, Real-time input object structure
P-0-4081, Real-time output object structure
P-0-4082, Length of real-time data channel In
P-0-4083, Length of parameter channel in DP
P-0-4084, profile type
P-0-4085, Fieldbus version
P-0-4087, Length of real-time data channel Out
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ECODRIVE03 FGP-03VRS
Object mapping
Each drive parameter has an object number as specified in the following
regulation. This makes it possible to best use the bus-specific
communications (e.g., PCP, SDO,...). It is addressed via a direct
computation of the SERCOS parameter number into an object number.
The allocation of an ID number to an index and sub-index (DKC03.3,
DKC04.3, DKC05.3) or class, instance and attribute (DKC06.3) is unit
dependent (see "
Command communications with DeviceNet").
The elements of the parameter can be addressed with the use of the subindex or attribute:
Sub-index/
attribute
Data type
Access
Description
UINT8
UINT16
R/W
visible String
Name
UINT16
Attribute
visible String
Unit
2..32Byte
R/W
UINT16
UINT16
R/W
10
2..32Byte
R/W
11...137
2...32Byte
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ECODRIVE03 FGP-03VRS
Note:
Default address: 99
H1
S1
S2
8
1
2
Switch S2
1
2
4
Switch S3
9
2
S3
Barcode
Fig. 5-2:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
2 .. 99
DeviceNet:
1 .. 64
CANopen:
1 .. 99
The slave address 0 does not exist and may not be used in
any applications.
16 bytes
R/W
Object 5E71
32 bytes
R/W
Object 5E72
64 bytes
R/W
Object 5E73
128 bytes
R/W
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ECODRIVE03 FGP-03VRS
Writing a parameter
->Read
The complete coding rules for the SIS protocol are specified in
Attachment A: "Serial Communication - SIS-protocol".
Telegram header
Byte
Name
Definition
STZ
CS
DatL
DatlW
repeat DatL
Cntrl
control byte
Dienst
ECODRIVE services
AdrS
address of sender
AdrE
address of receiver
Fig. 5-3:
Byte
Name
Definition
Ctrl - Byte
10
drive addr.
address ECODRIVE
11
ParaTyp
parameter type
12
ParaNumL
13
ParaNumH
Fig. 5-4:
Byte
Name
Definition
14
user data
15
user data
Fig. 5-5:
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Parameter number
Bit 0-11:
Parameter number
(0*0001...0*FFF)
Bit 12-14: Parameter set
(0...7)
0000
Bit 15:
Parameter type* 0001
0010
Bit 0-2:
Parameter type* 0100
1000
Bit 3-7:
Reserve
(always 0)
S-Parameter (drive)
P-Parameter (drive)
not used in the drive
not used in the drive
not used in the drive
*) Parameter type uses bit 15 in "Parameter number" and three further bits in the byte "Parameter type"
Bl0001f1.fh7
Fig. 5-6:
Bit 0-2:
Bit 3:
Bit 4:
Bit 5-7:
Fig. 5-7:
Fig. 5-8:
Bit 0-1:
reserved
Bit 2:
0 = transmission running
1 = last transmission
Bit 3-5:
Bit 6-7:
reserved
Bl0003f1.fh7
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ECODRIVE03 FGP-03VRS
Code numbers
0x00
protocol error
0xF0... 0xFF
execution error
0x01.... 0xEF
Code
Error description
Invalid service
0xF0
0xF1
Code
Error description
0x01
0x02
After sending a command telegram via a data exchange object, the drive
makes a reaction telegram available. This telegram can be read with a
read service via a data exchange object.
The SIS reaction telegram either contains data to be read or a diagnosis.
To find out which, it is necessary to interpret the SIS telegram.
The structure of an SIS telegram is as follows:
Telegram header
Byte
Name
Definition
STZ
CS
DatL
DatlW
repeat DatL
Cntrl
control byte
Service
ECODRIVE services
AdrS
address of sender
AdrE
address of receiver
Byte
Name
Definition
Status
10
Ctrl - Byte
control byte
11
AdrS
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Byte
Name
Definition
14
user data
15
user data
Telegram header
Byte
Name
Definition
Code
STZ
02
CS
checksum
xx
DatL
05
DatlW
repeat DatL
05
Cntrl
00
Dienst
ECODRIVE services
80
AdrS
address of sender *
00
AdrE
address of receiver *
05
*)
Byte
Name
Definition
Code
Ctrl - Byte
3C**
10
drive addr.
address ECODRIVE
05
11
ParaTyp
parameter type
00
12
ParaNumL
F2*
13
ParaNumH
8F*
Fig. 5-16: User data header in the command telegram (read P-0-4082)
*)
0x8FF2
=
Bit 15 = 1
FF2 = 4082 Dec. -> P-0-4082
**)
->
parameter
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Byte
Name
Definition
Code
STZ
02
CS
checksum
xx
DatL
05
DatlW
repeat DatL
05
Cntrl
10
Service
ECODRIVE services
80
AdrS
address of sender
05
AdrE
address of receiver
00
Byte
Name
Definition
Code
Status
00
10
Ctrl bytes
control byte
3C
11
AdrS
address of sender
(unit address ECODRIVE)
05
Byte
Name
Definition
Code
14
user data
0C
15
user data
0D
Note:
5.2
General Information
The drive controller ECODRIVE 03 has a PROFIBUS command
communications module which supports the PROFIBUS-DP protocol.
It is possible with this module to transmit real time data via the process
data channel. A master that only supports PROFIBUS-DP suffices.
Optional parameter channel
The drive can be parametrized via the optional parameter channel in the
cyclical channel.
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Function Overview
The PROFIBUS command communications module has the following
features:
The command module supports interfaces in accordance with
EN50170, vol. 2. Line types A and B as per EN50170, vol. 2, are also
supported.
All data rates as per EN50170, vol. 2, up to 12 Mbps if only
PROFIBUS DP is used.
Configurable process data channel up to 18 bytes in both data
directions, additionally optional up to 14 bytes for the parameter
channel.
Backwards compatible to PROFIBUS functions of the DKC3.1.
Process data channel monitored (watchdog function).
LEDs on the front panel of the command communications module for
easy diagnoses of bus functions and important communications
relationships between drive and fieldbus.
Upload/download function for all drive parameters including lists.
Direct or via 4 arrays of 16 to 128 bytes data length with parameter
channel are possible (Rexroth Indramat SIS protocol).
Support of Set-param service by PROFIBUS-DP for easy start ups.
PROFIBUS Interface
To ensure EN standards for EMC safety, the PROFIBUS interface is
completely galvanically decoupled.
As per EN50170, vol. 2, the module has a 9-pin D-subminiature plug-in
connector for coupling a PROFIBUS.
To switch through BUS signals to the other bus participants, Rexroth
Indramat plug-in connector INS 0450 is available.
Note:
To maintain the BUS functions it is necessary that the unit into which
the connector with bus connection is inserted, is always in operation.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Definition of Terms
Cyclical data channel
The fieldbus makes data containers available in which cyclical user data
is transported. This is defined as the cyclical data channel.
This cyclical data channel is broken down into
a process data channel (real time channel) and
an (optional) parameter channel.
Parameter channel
Parameter
Definition
P-0-4082
24
P-0-4087
24
P-0-4083
12
Parameter channel
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The control word is send in direction from the master to the slave. It is 16
bit wide and the single bits have the following meaning:
control word
Bit 0 - 3: Format
Bit 4 7: Length
Bit 8: Toggle
Bit 9: not used
Bit 10: Last Bit
Bit 11: not used
Bit 12: R/W Bit
Bit 13: not used
Bit 14: not used
Bit 15: C1 Bit
These bits describe the usage and meaning of the data in the
parameter channel. At the moment, only one format is defined.
Length:
These four bits specify the length of the valid data without the
control word in the parameter channel. The data in the rest of
the parameter channel is undefined.
Toggle:
This bit toggles with every new sent data. It is used for a
handshake between master and slave. The master is only
allowed to send this bit, when the toggle bit in the status word
has the same level as the toggle bit he sent in the control
word.
L:
Last bit. This bit is set when the last fragment of a data block
is sent. This tells the slave that the transmitted data segment
is complete.
R/W:
C1:
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Status word
The status word is in direction from the slave to the master. It is 16 bit
wide and the single bits have the following meaning:
Bit 0 - 3: Format
Bit 4 7: Length
Bit 8: Toggle
Bit 9: not used
Bit 10: Last Bit
Bit 11: not used
Bit 12: R/W Bit
Bit 13: not used
Bit 14: not used
Bit 15: C1 Bit
Length:
These four bits specify the length of the valid data without the
status word in bytes. The data in the rest of the parameter
channel is undefined.
Toggle:
This bit toggles with every new sent data. It is used for a
handshake between master and slave. The slave recognises
new data, when the toggle bit he receives (control word) is
different from the toggle bit in the status word.
L:
Last bit. This bit is set when the last fragment of a data block
is sent.
R/W:
Error bit:
This bit indicates an error that occurred within the slave. The
reason for the error is coded in the following data.
C1:
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Master
Slave
Read
Response
Read
Request
Read
Confirmation
Read
Indication
Fieldbus
Fig. 5-24: Master wants to read data
Master
Slave
Write
Response
Write
Request
Write
Confirmation
Write
Indication
Fieldbus
Fig. 5-25: Master wants to write data
Hereby, the request and the indication as well as the response and the
confirmation contain the same data, the difference is just the point of
view. (master or slave)
The first word is the control word, if a service request is sent from the
master to slave. If a service request is sent from slave to master the first
word is called status word. These words control the handshake for
parameter channel (PK).
When the transmitted data is longer than the length of the PK, the data
have to be fragmented. The necessary information for the fragmentation
is hereby also contained in the control/status word. The general usage of
the PROFIBUS DP channel can be seen in the following picture (Length
of PK: 3 words, length of process data channel: 3 words). The complete
length of the transferred data can be up to 128 bytes. It depends on the
used format, if further limitations exist.
Word 63 of PK
Word 64 of PK
...
Status / Control
word
...
Word 3 of PK
Word 4 of PK
Word 1 of PK
Word 2 of PK
Word 1 of
process data
Parameter channel PK
Word 2 of
process data
Word 3 of
process data
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Reading a value
Control word
C1
User data
Length
Format
Index (HB)
Index (LB)
0x20
0x01
Subindex
Data
Data
0x02
0x00
The slave will return a read response that contains the necessary data
(here 10 bytes). The length had been set to 6 and the toggle bit has the
same level as from the master defined. Also the last bit had not been set,
because only the first 6 byte of data could be sent in this fragment.
Another fragment will be necessary to send the remaining data.
Status word
C1
User data
Length
Format
Data
Data
Data
Data
Data
Data
Now the master has to toggle the toggle bit again to get the next
fragment. The R/W- and L-bit, as well as the length and the user data are
of no interest and will not be checked by the slave. However, the master
should set these bits as shown in the graphic below.
Control word
C1
User data
Length
Format
Index (HB)
Index (LB)
Subindex
Data
Data
Fig. 5-29: Read request for the next fragment by the master
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The slave will return the next fragment, containing the remaining 4 bytes
of data. The L-bit is set, because it is the last fragment, the length had
been set accordingly.
Staus word
C1
User data
Length
Format
Data
Data
Data
Data
Data
Data
The timing for the complete reading of a parameter can be seen in the
following graphic:
Master ->
Slave
Slave ->
Master
T
L
R
Data
T
L
R
Data
E
In case that an error will occur during the reading of the parameter, the
error timing diagram will look like this:
Master ->
Slave
Slave ->
Master
T
L
R
Data
T
L
R
Data
E
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Writing a value
User data
Length
Format
Index (HB)
Index (LB)
0x3F
0xBE
0x00
Subindex
Data
Data
0x07
The slave will return a read response that contains no user data. This
response just indicates the master, that the previous sent message had
been recognised and new data can be sent. The status word is just a
copy of the control word, just the length and the L-bit will be updated.
However, the master should not check the L-, R- and the length.
Status word
C1
User data
Length
Format
Data
Data
Data
Data
Data
Data
Now the master has to sent the rest of the data in the next write request.
Again, the toggle bit must be toggled, the length is updated and the L bit
must be set, because this is the last fragment.
Control word
C1
User data
Length
Format
Data
Data
Data
Data
Data
Data
The slave has now received all information and can process the masters
request. As an acknowledge to the master, write response will be sent
back to the master. It contains only the status word.
Status word
C1
User data
Length
Format
Data
Data
Data
Data
Data
Data
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ECODRIVE03 FGP-03VRS
The timing for the complete writing of a parameter can be seen in the
following graphic:
T
L
R
Data
Master ->
Slave
T
L
R
Data
E
Slave ->
Master
In case that an error will occur during the writing of the parameter, the
error timing diagram will look like this:
Master ->
Slave
Slave ->
Master
T
L
R
Data
T
L
R
Data
E
In case that the slave has detected an error, it will generate an error
message. It contains the error code as a 16 bit value. From the error
code, the user can examine the cause of the error. The error message
has the following arrangement for format 3:
Error messages
Status word
C1
User data
Length
Format
Error
code
Data
Data
Data
Data
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The error bit is set and the R and T bit will have the same value as the
masters sent bits. The error code is either a SIS error or an internal error
code. The definition and explanation of the internal error codes are listed
below. SIS errors are explained in a different chapter.
Error code
Description
0x0085
The sum of all fragments that had been collected is too long
0x0088
0x008A
0x008B
0x008C
0x008D
0x0090
0x0095
0x0096
0x009A
0x009B
0x009C
0x009D
0x00F0
Control word
C1
User data
Length
Format
Data
Data
Data
Data
Data
Data
Object mapping", the handling of the data within the data unit of the PK is
described.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
S parameters
P parameters
100D hex
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
It applies to both the process input data and output data that
changes in word length must always lead to modifications in
the data stored in the master that were intended for the slave.
This is why length changes in the DP channel do not become
effective until the drive has been switched on again or with
phase switching from parametrization into operating modes.
The structure and thus the number of words and their assignment with
objects (indices) for the process input data are illustrated in this
parameter.
The master can use this configuration to inform itself about the situation
of the individual real time data on the bus.
The structure of the process output (master slave) data is stored in this
parameter. Thus it is possible via this parameter channel to read the
current structure and thus the assignment at the BUS.
Note:
Data direction
The data types of the process data channel can only be words or double
words, not bytes. Length is specified in bytes for the sake of compatibility
to other bus systems.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The length of the process data channels can range between 1 to 9 words
or 2 to 18 bytes in either direction.
HB
LB
Word 1
P-0-4084
Profile type
HB
LB
Word 2
Number of
elements of
configuration list
n in bytes
P-0-4081 P-0-4080
Word 3
HB1
LB1
HB2
Word 4
LB2
Word 5
...
...
HBn
LBn
Word n
HBn+1
LBn+1
Word n+1
...
...
LED state
Definition
H30
ON
H31
Impulse
Parameter access
H32/H33
alt. flashing
H32/H33
steady flashing
All LEDs
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
5.3
General Information
The ECODRIVE03 uses an INTERBUS command communications
module that supports protocol
INTERBUS-S with PCP channel, ver. PCP 2.0.
This module makes it possible to transmit both real time data via the
process data channel and parameter and data via objects of the PCP, if
the master supports PCP communication.
PCP channel use optional
To achieve the highest possible flexibility within the system, all process
data can be reached via objects which can be allocated to the process
data channel as real time data and are thus also cyclically transmittable.
It is also possible to transmit process data via the acyclical channel by
using the INTERBUS PCP. However, objects (see also P-0-4081) defined
in the real time channel cannot be write accessed by the master via the
PCP.
Note:
Functional Overview
The INTERBUS-S command module has the following features:
INTERBUS-S real time channel and PCP 2.0 (G4) channel are
supported.
Configurable process data channel up to 18 words in both data
directions. The configuration can be read/write via PCP object 6000
and 6001 or parameter P-0-4080 or P-0-4081 of the drive.
Process data channel monitored (watchdog function).
LED diagnosis field on front panel of command module to simplify
diagnoses of BUS functions and the most important communications
between drive and fieldbus.
Direct accessing of drive parameters via PCP service R/W.
Upload/download function for all parameters of the drive including lists
of four arrays of 16 to 128 byte data lengths serviced with PCP
(Rexroth Indramat SIS protocol).
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
INTERBUS-S Interface
The command communications module supports the INTERBUS-S
remote bus interface
Baudrate
PCP services
ECODRIVE 03 supports PCP 2.0 version of the Phoenix contact with a 1
word PCP length. Optionally a four-word length can be also be set via
P-0-4083.
The use of a master circuit of the G4 group is recommended. However, a
G3 master can also be used without restrictions.
Note:
Initiate
establish connection
Abort
terminate connection
Reject
Identify
Status
Get-OV
Read
read variable
Write
write variable
Additional data and services are listed in the literature of the specific
master circuit.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Data type
PD
Object description
6000
PDB
Record
no
P-0-4080, Real-time
input object structure
6001
PDB
Record
no
P-0-4081, Real-time
output object structure
6002
Boolean
Variable
R/W
no
6003
u16
Variable
R/W
no
Also, all drive parameters are available via the PCP service R/W (to the
extent allowed). The assignment of objects (index and sub-index) on drive
parameters is described below.
Object definition:
S parameters
P parameters
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The max. object length ("Message Length") must be set to 240 bytes. To
do this, the description of the slaves, in the master, must be changed.
Note:
Using the CMD Tool from Phoenix Contact, this takes place in
the context menu of the slave in "Description Parameter
channel telegram length send and receive".
It applies to both the process input data and output data that
changes in word length must always lead to modifications in
the data stored in the master that were intended for the slave.
This is why length changes are not effective until the drive is
switched on again. Switching from parametrization into
operating does, however, not change the configuration.
Instead, a reconfiguration request is sent to the master to tell
him that the configuration will change with the next bus reset.
This makes a PC free configuration possible.
The structure and therefore the number of words and their assignment
with objects (indices) for the process input data is illustrated in this
parameter.
The user can read the existing structure via the PCP read service.
The master can use this configuration to obtain information about the
position of the individual objects in the BUS.
The structure of the process output data is stored here. This means that
the current structure and BUS assignment can be read out on the PCP.
Data direction input
This means slave to master.
Data direction output
This means master to slave.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Word 2
Word 3
Word 4
Word 5
Word 6
Data-Out
6040
607A H
607A L
6081 H
6081 L
5FF1
Data IN
6041
6064 H
6064 L
606C H
606C L
5FF6
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Byte no.
Value
Definition
0x0C
0x60
0x41
0x00
0x00
nd
nd
st
st
0x00
0x00
0x60
0x64
10
0x00
11
0x00
12
0x00
13
0x00
14
0x00
15
0x00
16
0x00
17
0x00
18
0x00
19
0x00
20
0x60
21
0x6C
22
0x00
23
0x00
24
0x00
25
0x00
26
0x00
27
0x00
28
0x00
29
0x00
30
0x00
31
0x00
32
0x5F
33
0xF1
34
0x00
35
0x00
36
0x00
37
0x00
rd
rd
th
th
th
th
th
th
th
th
th
th
th
th
th
th
th
th
th
th
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Word 2
Word 3
Word 4
Word 5
Word 6
Data-Out
6040
607A H
607A L
6081 H
6081 L
5FF1
Data IN
6041
6064 H
6064 L
606C H
606C L
5FF6
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Byte no.
Value
Definition
0x0C
0x60
0x40
0x00
0x00
nd
nd
st
st
0x00
0x00
0x60
0x64
10
0x00
11
0x00
12
0x00
13
0x00
14
0x00
15
0x00
16
0x00
17
0x00
18
0x00
19
0x00
20
0x60
21
0x6C
22
0x00
23
0x00
24
0x00
25
0x00
26
0x00
27
0x00
28
0x00
29
0x00
30
0x00
31
0x00
32
0x5F
33
0xF1
34
0x00
35
0x00
36
0x00
37
0x00
rd
rd
th
th
th
th
th
th
th
th
th
th
th
th
th
th
th
th
th
th
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The process data channel can only have words or double words not bytes
as a data type. The lengths are fixed in bytes in terms of the compatibility
to other bus systems.
Length of the PD channel
P-0-4082 = P-0-4087!
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Length cyclic
channel (P-04082)
ID code
0xF3
0x02
0xF3
0x03
0xF3
0x04
10
0xF3
0x05
12
0xF3
0x0E
14
0xF3
0x0F
16
0xF3
0x06
18
0xF3
0x07
10
0xF1
0x05
12
0xF1
0x0E
14
0xF1
0x0F
16
0xF1
0x06
18
0xF1
0x07
20
0xF1
0x15
22
0xF1
not possible
24
0xF1
0x16
Note:
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
LED status
Definition
Remote Check
H40/RC
green
command cable OK
Bus Active
H41/BA
green
Transmit/Receive
H42/TR
green
H43/RD
red
H44
green flashing
(1 Hz)
H44
Module status
H44
red
Reconfiguration
H44
as "Module status"
but 2 Hz
Operating LED
H45/UL
green
voltage source OK
Severe fieldbus
module error
red flashing
red
5.4
Interface,
General Information
A CANopen communications module is available for use by an
ECODRIVE03. It supports protocol
CANopen per DS301 version 3.0
PDO and SDO
With this module it is possible to transmit both real time data via the so
called process data objects (PDO) and parameters and data via the
Service data objects (SDO) of the CANopen services.
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Functional Overview
The CANopen command communication module has the following
features:
Simple configuration due to the use of predefined connection set and
boot-up per DS301
The baudrates specified by CANopen (per DS301) of 20, 50, 100, 125,
250, 500 kbps and 1 Mbps, except for 800 kbps, are supported.
Freely configurable process data channel but not with up to 9 words in
both data directions via SERCOS parameters of the drive.
Downwardly compatible to PROFIBUS functions of ECODRIVE01
possible with profile selection (I/O mode).
Monitoring of the process data channel (watchdog function)
Diagnostic LEDs on the front of the module for simple diagnoses of
BUS functions and important communications relationships between
drive and fieldbus.
All parameters of drive can be read direct via SDO and written to also
(if this is allowed).
Upload/download function for all parameters of the drive lists including
four arrays of 16 to 128 byte data length with SDO services possible
(Rexroth Indramat SIS protocol).
Event controlled transmission of real time data can be switched off
(default = not event controlled)
CANopen Interface
The command communication module supports
CANopen specification per DS301
To ensure EN standards for EMC safety, the CANopen interface is
completely galvanically decoupled.
As per DS301 the command communications module has a 9 pin Dsubminiature connector to couple to the bus. Assignment corresponds
to DS301.
The address determines the priority of the slave message whereby the
lowest address has the highest priority. Generally, the master has the
highest priority and thus the lowest address.
Each CANopen subscriber on the bus must send those messages that
are allocated to him. As per Predefined Connection Set of DS301a buswide unequivocal address of the slave is thus necessary. This address is
set on the inserted firmware module.
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
SDO Services
DKC05.3 supports the messages defined in Predefined Connection Set
of CANopen DS301:
This defines the following message identifiers(COB-ID):
COB ID
Definition
0x000
0x080
0x080 + address
0x180 + address
0x200 + address
0x280 + address
0x300 + address
0x380 + address
0x400 + address
0x580 + address
0x600 + address
For further information about services, see the literature of the master
circuit.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
S parameters
P parameters
The structure of the PDO sent from slave to master is described here as
well as the length and assignment of the PDO with objects (indices) for
the process input data.
The user can read out any existing structures via the SDO read services.
The master can use this configuration to know which object is transmitted
into which PDO at which location.
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Data direction
It applies to both the process input data and output data that
changes in word length must always lead to modifications in
the data stored in the master that were intended for the slave.
This means that PDO changes are not accepted until the drive
is switched off or the phase switched from parametrization to
operating mode.
The length of the process data channel can presently equal (max. 3 PDO)
2...18 bytes
for both directions separately.
The transmission is data consistent over the entire length.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
operating LED
LED design
LED state
Definition
H50
red
green
module OK
red
H51
wrong baudrate
cable defective
green
operation OK
SDO query
H52
green (impulse)
SYNC
H53
green
internal
synchronization
H54
(Alive LED)
off
red flashing
green flashing
PDO data
H55
green
Severe fieldbus
module error
All LEDs
flashing regularly
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
5.5
General Information
The ECODRIVE03 has a DeviceNet command communications module
available to it which supports protocol
DeviceNet per ODVA version 2.0.
With this module, both real time data can be transmitted via so-called
Polled I/Os as well as drive parameters via an Explicit Message of the
DeviceNet.
Note:
The real time data are always transmitted with polled I/Os.
Functional Overview
The DeviceNet command communication module has the following
features:
DeviceNet General Device per specification ODVA 2.0.
Easy configuration by using Group 2 only Server.
Support of all data rates: 125, 250 and 500 kbps.
Free configurable process data channel up to 9 words in data
directions via the SERCOS parameters P-0-4080 and P-0-4081 of the
drive.
Supplementary similar functions in comparison to other command
communications modules of the ECODRIVE03.
Monitoring of process data channel (Watchdog function).
LED diagnostic field in front panel of command communications
module for easy diagnoses of BUS functions and the most important
communications relationship between drive and fieldbus.
All parameters of the drive are directly write accessible via Explicit
Message and (if allowed) can be write accessed also.
Upload/download function for all drive parameters including lists over
four arrays of 16 to 128 byte data lengths with Explicit Message
services possible (Rexroth Indramat -SIS protocol).
Open Pluggable Connector corresponds to ODVA Spec. 2.0.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
DeviceNet Interface
The command communication module supports
DeviceNet specification per ODVA 2.0
To ensure standard EMC safety, DeviceNet interface completely
galvanically separated.
As per ODVA specification 2.0, communications module has a
Phoenix Combicon plug (Open Pluggable Connector) to connect to
bus.
Explicit Message
The DKC06.3 is a Group 2 only server and supports acyclic data
exchange via Explicit Message (see object directory).
For further information about services, see the literature of the master
circuit.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
S parameters
P parameters
parameter ID number
parameters
parameters
with S 0 xxxx or P 0 xxxx :
parameter ID number
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
UINT16
ARRAY of BYTE
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Data direction
Both for the process input data and output data it applies that
changes in the data length always require a modification of the
data stored in the master for the slave. Thus any changes in
these values are not effective until the drive has been switched
off and on or after phase transition from parametrization into
operating modes.
The length of the process data channel is present 2...18 bytes for each
direction and must be entered separately.
The transmission is data consistent over the entire length.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
H60
Module status
H61/MS
LED state
Definition
red
red flashing
green flashing
configuration error
green
ready OK
Explicit Message
query
H62
green (impulse)
Network status
H63/NS
off
not online
green flashing
green
red flashing
red
red flashing
green flashing
off
no I/O connection
green
green flashing
red flashing
flashing regularly
internal
synchronization
H64
(Alive LED)
I/O status
Severe fieldbus
module failure
H65/IO
all LEDs
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Profile Types
6.1
General Introduction
Drive
controller
Function
compatibility
Fieldbus or drive
operating mode
Description
FF80h
DKC03.3-xxx-7-FW
DKC04.3-xxx-7-FW
DKC05.3-xxx-7-FW
DKC06.3-xxx-7-FW
FF81h
DKC03.3-xxx-7-FW
DKC04.3-xxx-7-FW
DKC05.3-xxx-7-FW
DKC06.3-xxx-7-FW
FF82h
DKC03.3-xxx-7-FW
DKC04.3-xxx-7-FW
DKC05.3-xxx-7-FW
DKC06.3-xxx-7-FW
PDP03VRS
(2)
FGP01VRS
(3)
FGP02VRS
FGP02VRS
FGP02VRS
(1)
FF91h
DKC03.3-xxx-7-FW
DKC04.3-xxx-7-FW
DKC05.3-xxx-7-FW
DKC06.3-xxx-7-FW
FGP02VRS
drive internal
interpolation (lag free
with encoder 1)
FF92h
DKC04.3-xxx-7-FW
DKC05.3-xxx-7-FW
FGP02VRS
FF93h
DKC03.3-xxx-7-FW
DKC04.3-xxx-7-FW
DKC05.3-xxx-7-FW
DKC06.3-xxx-7-FW
Function
compatible to
profile type
velocity control 2
FFFEh
DKC03.3-xxx-7-FW
DKC04.3-xxx-7-FW
DKC05.3-xxx-7-FW
DKC06.3-xxx-7-FW
FGP02VRS
(makes possible
function
compatibility to
profile position
target setting)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
FWA-ECODRV-PDP-03VRS-MS
(2)
FWA-ECODR3-FGP-01VRS-MS
(3)
FWA-ECODR3-FGP-02VRS-MS
Definitions
Drive profilesA drive profile defines
the structure of fieldbus control and status words (P-0-4077, P-0-4078)
the structure and contents of real time channel (P-0-4080, P-0-4081)
active operating mode (S-0-0032, S-0-0033, S-0-0034, S-0-0035)
the behavior of any present status machines (I/O mode or Rexroth
Indramat status machines).
By selecting a profile type, the commissioning of fieldbus drives becomes
very easy for the user. The advantage of a profile is that the selection of
all the important settings for the desired drive functions can be performed
automatically. As profile types are defined independent of the bus, the
porting of applications from one fieldbus to the next also becomes easy.
Status machines
A state (e.g., drive halt, drive error and so on) represents a specific drive
condition which can be exited by means of a defined event (e.g., drive
command, operating mode commutations and so on). State transitions
are assigned to the events. The interaction of control and status bits as
well as the state transitions is defined as a status machine.
Abbreviations
i16:
i32:
u16:
u32:
ZKL1:
Status class 1
ZKL2:
Status class 2
ZKL3:
Status class 3
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
st
6.2
ECODRIVE03 FGP-03VRS
I/O Mode
In I/O mode the real time channel is made up of one word (16 bits), of
P-0-4077, Fieldbus control word and P-0-4078, Fieldbus status
word.
Slave Master
In real time channel of fieldbus, the data configured in P-0-4081, Realtime output object structure are transmitted from master to drive:
Parameter
Format
Format
Word1
Master Slave
Slave Master
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Bit
Assignment
Description
drive enable
1: drive enable
0: drive lockout
(S-0-0134, Bit14)
drive start
1: drive start
0: drive halt
(S-0-0134, Bit13)
drive-controlled to
zero (referencing)
(S-0-0148 = 11b)
(S-0-0148 = 0b)
strobe
positioning with
limited velocity
reset error
(F-Reset)
Jog +
1: jog forward
(P-0-4056, Bit0)
with P-0-4030, Jog velocity
Jog -
1: jog backwards
(P-0-4056, Bit1)
with P-0-4030, Jog velocity
8-13
14-15
not assigned
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Profile type
ECODRIVE03 FGP-03VRS
Bit
Assignment
Description
active mode
(in 0xFF80)
1: jog
0: positioning
warning
(in 0xFF81)
1: active
0: not active
(S-0-0135, Bit12)
E-Stop-Status
(in 0xFF81)
1: active
0: not active
(P-0-0223, Bit0)
In reference
1: drive homed
(S-0-0403, Bit0)
In motion
1: In motion
(S-0-0013, Bit1)
In Position
Error-Flag
1: no error
0: error
(S-0-0135, Bit13)
1: ready
(S-0-0135, Bit14)
power
1: power is on
(S-0-0135, Bit15)
P-0-4084=0xFF80
P-0-4084=0xFF81
P-0-4084=0xFF80
or
P-0-4084=0xFF81
8 - 13
14-15
not assigned
8-15
cam status
P-0-4084=0xFF80
P-0-4084=0xFF81
Display Ab
Fig. 6-4:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
yy
yy
drive error
(Fxxx)
status word=
yyyy.yyyy.000x.x011
*)
yyyy.yyyy.01xx.x001*)
oder
yyyy.yyyy.10xx-x001
yyyy.yyyy.00xx.x011*)
y
.y
yy
yy
yyyy.yyyy.00xx.x111*)
0
.0
yy
yyyy.yyyy.00xx.x001*)
xx
*)
11
0
.x
yyyy.yyyy.001x.xx00*)
yyyy.yyyy.xxxx.x0001*)
yyyy.yyyy.xxxx.x011*)
drive operation
(AF)
status word =
yyy.yyyy.111x.xxx0
yyyy.yyyy.xxxx.x011*)
clear error
(C5)
yyyy.yyyy.xxxx.x000*)
yyyy.yyyy.xxxx.x000*)
yyyy.yyyy.xxxx.x001*)
power ON
Attention:
Once operating power is switched on the drive
automatically goes from parametrization into operating
mode
parametrization mode
(P2)
status word =
yyyy.yyyy.001x.xxx0
P-0-4023,
transition to
communications
phase 2 (C4)
control voltage ON
Self-test, hardware initialization, parameter and motor
initialization
initialization mode
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Fd5032f1.fh7
ECODRIVE03 FGP-03VRS
Note:
The data for the fieldbus status word refer to the I/O mode with
block acknowledge (P-0-4084=0xFF80). In the other two types
(0xFF81 and 0xFF82) only in bit 0, 1 and bit 815 have a
different definition.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
6.3
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Name
Definition
Setpoint acceptance
absolute / relative
(only effective when
used with S-0-0282,
Positioning
command value)
Immediate block
change
(only effective when
used with S-0-0282,
Positioning
command value)
error delete
jog forward
1: jog forward
jog backwards
1: jog backwards
4056, Bit1=1)
setpoint operating
mode
00:
01:
10:
11:
10,11
reserved
--
12
IPOSYNC
13
drive halt
14
drive enable
15
drive ON
8, 9
(P-0-4056, Bit0=1)
(P-0-
main mode
(S-0-0134, Bit 8,9)
st
1 auxiliary mode (e.g., jog)
nd
2 auxiliary mode
rd
3 auxiliary mode
Fig. 6-6: Structure of P-0-4077, fieldbus control word in Rexroth Indramat profiles
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Bit
Name
0,1
operating modeacknowledge
Definition
10: Phase4 (operating mode)
01: Phase3
00: Phase 2 (parametrization mode)
In-reference
1: drive homed
(S-0-0403, Bit0)
In standstill
1: drive stands
(S-0-0013, Bit1)
Setpoint reached
operating mode-error
Status setpoint
processing
8, 9
actual operating
mode
00:
01:
10:
11:
10
Setpoint
acknowledge
11
Message ZKL3
12
warning ZKL2
13
main mode
st
1 aux. mode (e.g., jog)
nd
2 aux. mode
rd
3 aux. mode
(S-0-0135, Bit 8,9)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
110x.xx00.00xx.x01x*)
)
*)
1
1x 10x
.
.x
xy xxy
y
y.
xx .xx
xx xx
.x .x0
11
1x
x
*
drive error
(Fxxx)
status word=
0110.xxyy.100x.xxxx
x
01
.x
1x )
xx
x0 1x*
10
x.
1. er x x0
x0 od 1.01 xx.
.x
0
00
1x
xx 0.
11
x. xx0
1
.
11 1x
11
111x.xx01.10xx.x01x*)
oder
111x.xx01.01xx.x01x
homing (C6)
status word=
110x.xxyy.1xxx.xx10
11
111x.xxyy.xxxx.x01x*)
111x.xxyy.xxxx.x11x*)
xxxx.xxyy.xx1x.xxxx*)
*)
110x.xxYY.xxxx.xx1x*)
111x.xxYY.xxxx.xx1x*)
)
110x.xxYY.xxxx.xx1x*)
110x.xxYY.xxxx.xx0x*)
x*
x0
x.x 1x111x.xxYY.xxxx.xx1x*)
x
x
0
Y.x x.x
xY .xxx
x
000x.xxYY.xxxx.xx1x*)
.
0x YY
11 x.xx
1
11
control and power
sections ready (Ab)
)
000x.xxYY.xxxx.x01x*
status word =
100x.xxyy.10xx.xx10
)
*
110x.xxYY.xxxx.x01x
power ON
control section ready (bb)
status word =
010x.xxyy.10xx.xx10
000x.xxyy.xxxx.xx0x*)
PLL initialization
check control communications configuration
(timing, configuration lists,...)
Attention:
Once operating power is switched on the drive
automatically goes from parametrization into operating
mode
Input all write-accessed parameter including the
configuration parameter for control communications
(e.g., profile selection, parameter channel and so on)
Self-test, hardware initialization, parameter and motor
initialization
yy = operation mode selection or status bits
*) = control word
P-0-4023,
transition to
communications
phase 2 (C4)
000x.xxYY.xxxx.xx1x*)
parametrization mode (P2)
status word =
00xx.xxyy.1xxx.xx00
000x.xxYY.xxxx.xx0x*)
initialization mode
control voltage ON
Fd5033f1.fh7
Fig. 6-8: Rexroth Indramat status machine (phase transition via fieldbus)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Slave Master
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
In the real time channel of the fieldbus, the travel block data configured in
P-0-4081, Real-time output object structure are transmitted from the
master to the drive.
Parameter
Format
In the real time channel of the fieldbus, the travel blocks configured in
P-0-4080, Real-time input object structure are transmitted from the
drive to the master:
Parameter
Format
u16-> (1 word)
ECODRIVE03 FGP-03VRS
word2
word3
word4
word5
word6
Master Slave
P-0-4077
S-0-0258,H
S-0-0258,L
S-0-0259,H
S-0-0259,L
P-0-4076
Slave Master
P-0-4078
S-0-0051,H
S-0-0051,L
S-0-0040,H
S-0-0040,L
S-0-0390
In the real time channel of the fieldbus, the data configured in P-0-4081,
Real-time output object structure are transmitted from master to drive.
Parameter
Slave Master
Format
i16 (1 word)
In the real time channel of the fieldbus, the data configured in P-0-4080,
Real-time input object structure are transmitted from drive to master.
Parameter
Format
u16-> (1 word)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Master Slave
Word1
Word2
Word3
P-0-4077
S-0-0047,H
S-0-0047,L
P-0-4078 S-0-0051,H
S-0-0051,L
Slave Master
Fig. 6-10: Contents of real time channel in cyclic position control
Word4
P-0-4076
S-0-0390
In the real time channel of the fieldbus, the data configured in P-0-4081,
Real-time output object structure are transmitted from master to drive:
Parameter
Format
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
In the real time channel of the fieldbus, the configured data in P-0-4080,
Real-time input object structure are transmitted from drive to master.
Parameter
Format
u16-> (1 word)
word2
word3
word4
word5
word6
Master Slave
P-0-4077
S-0-0036,H
S-0-0036,L
P-0-4076
P-0-4076
P-0-4076
Slave Master
P-0-4078
S-0-0040,H
S-0-0040,L
S-0-0390
S-0-0051,H
S-0-0051,L
Master Slave
In the real time channel of the fieldbus the data configured in P-0-4081,
Real-time output object structure are transmitted from master to drive.
Parameter
Format
Object
6040
Optional setpoints
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Slave Master
In the real time channel of the fieldbus, the data configured in P-0-4080,
Process data input description are transmitted from drive to master:
Parameter
Format
Object
6041
Note:
word1
word2
...
Master Slave
P-0-4077
setpoint1
...
Slave Master
P-0-4078
actual value1
...
word n
6.4
Parametrization
To parametrize the analog mode
set profile type to freely configurable mode (P-0-4084 = 0xFFFE)
set the main mode to velocity control with filter and ramp (S-0-0032 =
10b)
(Also see: "operating mode: velocity control")
configure velocity setpoint at analog input 1 (P-0-0213 = S-0-0036)
the relevant evaluation of analog input must be set via P-0-0214
all entries in configuration list P-0-4080, P-0-4081, must be cleared (S0-0036 may not be cyclically configured!).
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Parametrization
To parametrize the positioning setting
set profile type to freely configurable mode (P-0-4084 = 0xFFFE)
set
main
operating
mode
to
positioning
command
(S-0-0032 = 10 0001 1011b) (Also see: "operating mode: drive-internal
interpolation"
Master Slave
Slave Master
In the real time channel of the fieldbus, the data configured in P-0-4081,
Real-time output object structure are transmitted from master to drive.
Parameter
Format
In the real time channel of the fieldbus, the data configured in P-0-4080,
Real-time input object structure are transmitted from drive to master.
Parameter
Format
U16-> (1 word)
word2
word3
word4
word5
word6
S-0-0282,H
S-0-0282,L
S-0-0259,H
S-0-0259,L
P-0-4076
S-0-0051,H
S-0-0051,L
S-0-0040,H
S-0-0040,L
S-0-0390
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Features
By using the multiplex channel, the number of cyclically transmitted
real time data can be increased.
Since S-0-0362, List index, MDT data container A is also configured,
single elements in list parameters (P-0-4006, P-0-4007 and P-0-4009)
can also be changed via the real time channel (multiplex channel).
By evaluating S-0-0368, Addressing for data container A and S-00362, List index, MDT data container A in the master, a check
(handshake) for the multiplex channel can be implemented.
Note:
Parametrization
To use the multiplex channel, the following parametrization is necessary:
set profile type to freely configurable mode (P-0-4084 = 0xFFFE)
set parameter S-0-0032, Primary mode of operation e.g., to
"positioning block mode, lag free with encoder 1"
The configuration lists of the multiplex channel S-0-0370, S-0-0371
can be parametrized as follows:
S-0-0370, Configuration list MDT
data container
Contents of S-0-0370
Index
Contents of S-0-0371
Index
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Parameter
Format
ECODRIVE03 FGP-03VRS
Slave Master
In the real time channel of the fieldbus, the data configured in P-0-4080,
Real-time input object structure are transmitted from drive to master.
Parameter
Format
word2
word3
word4
word5
word6
Master
Slave
P-0-4077
P-0-4026
S-0-0368
S-0-0362
S-0-0360,L
S-0-0360,H
Slave
Master
P-0-4078
P-0-4051
S-0-0051,H S-0-0051,L
S-0-0368,L
S-0-0362,L
word7
word8
S-0-0364,L
S-0-0364,H
word9
Fig. 6-14: Contents of real time channel in positioning block mode with multiplex
channel
Features
By using S-0-0144 and S-0-0145 16 more freely configurable control
and status bits become available.
Makes possible the start of commands which are entered in list
S-0-0399, IDN list of configurable data in the signal control word
via a bit in the signal control word (compare with signal control word).
Makes possible the reading of any bit in any parameter (compare with
signal status word).
Parametrization
The following settings are needed:
To configure the bit strips, use the configuration lists S-0-0026,
S-0-0328 (for S-0-0144) and S-0-0027, S-0-0329 (for S-0-0145).
To use the function, select profile type freely configurable mode"
(P-0-4084 = 0xFFFE).
Parameter S-0-0032, Primary mode of operation e.g., can be set to
"drive-internal positioning setting, lag error free with encoder 1".
The configuration lists P-0-4080 and P-0-4081 must be parametrized
as follows:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Master Slave
Slave Master
Parameter
Format
In the real time channel of the fieldbus, the travel block data configured in
P-0-4080, Real-time input object structure are transmitted from drive to
master.
Parameter
Format
I16-> (1 word)
word2
word3
word4
word5
word6
word7
Master
Slave
P-0-4077
S-0-0282,H
S-0-0282,L
S-0-0259,H
S-0-0259,L
S-0-0145
P-0-4076
Slave
Master
P-0-4078
S-0-0051,H
S-0-0051,L
S-0-0040,H
S-0-0040,L
S-0-0390
S-0-0144
Fig. 6-15: Contents of real time channel in interpolation with signal control and
status words
Parametrization
To parametrize the cam function with real master axis
set P-0-4084, Profile type =0xFFFE (freely configurable mode)
parameter S-0-0032, Primary mode of operation must be set to
cam, lag error free with encoder 1"
for an optional encoder, select for example., P-0-0075 = 5, for relative
master axis encoder
use S-0-0145, Signal control word and S-0-0144, Signal status
word, to transmit the mode-specific control and status bits in a cyclical
manner
parametrize configuration lists
(suggested values):
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
P-0-4080, P-0-4081
as
follows
ECODRIVE03 FGP-03VRS
Master Slave
Slave Master
In the real time channel of the fieldbus, the data configured in P-0-4081,
Process data output descriptions are transmitted from master to drive.
Parameter
Format
In the real time channel of the fieldbus, the real time data configured in
P-0-4080, Process data input description are transmitted from drive to
master.
Parameter
Format
I16-> (1 word)
word2
word3
word4
word5
word6
Master
Slave
P-0-4077
S-0-0145
P-0-0156
P-0-0157
Slave
Master
P-0-4078
S-0-0144
S-0-0040
word7
word8
P-0-4076
S-0-0390
Fig. 6-16: Contents of the real time channel in the cam with real master axis
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
6.5
Multiplex Channel
Overview
The multiplex channel makes it possible to update a limited cyclical data
channel. This also enables cyclical list element accessing with index
changes.
Note:
Pertinent Parameters
The following parameters are used:
S-0-0360, MDT Data container A
S-0-0362, List index, MDT data container A
S-0-0364, AT Data container A
S-0-0366, List index, AT data container A
S-0-0368, Addressing for data container A
S-0-0370, Configuration list for the MDT data container
S-0-0371, Configuration list for the AT data container
The IDNs are entered in parameter S-0-0370, Configuration list for the
MDT data container which are dependent on the index in S-0-0368,
Addressing for data container A, low byte, and transmitted to S-0-0360,
MDT Data container A. Write accessing S-0-0370 is only possible in
communications phase 2.
The IDNs are entered in parameter S-0-0371, Configuration list for the
AT data container A that are dependent on indices in S-0-0368,
Addressing for data container A, (high byte), and transmitted to
S-0-0364, AT Data container A. Write accessing S-0-0371 is only
possible in communications phase 2.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
0
Addressing MDT
31
31
S-0-0053
S-0-0048
S-0-0051
S-0-0047
Note:
Only bits 0..5 (for MDT) and bits 8..13 (for AT) are used for
addressing with parameter S-0-0368. The other bits are cut
off.
This is why no value exceeding 31 can be used for
addressing.
Note:
The drive copies the data of the source parameter into parameter
S-0-0364, AT Data container A.
The source parameter is that parameter addressed via S-0-0368 in the
configuration list (S-0-0370).
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
The following illustrates the processing of a list element with the use of
the multiplex channel.
S-0-0368, Addressing for data container A
0
1
Addressing MDT
Addressing AT
31
31
S-0-0040
P-0-4006
S-0-0051
S-0-0047
list1 prameter
0
element n
n-1
element n-1
n-2
element 2
element 1
1
0 list addressing MDT
P-0-4006
Tb0206f2.fh7
Fig. 6-2: Processing list elements with the multiplex channel, here for the MDT
container
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Diagnostic Messages
In conjunction with the multiplex channel, various checks are conducted:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The warnings can only occur if the lists has fewer ID number
entries than is maximally possible.
31
S-0-0051
31
S-0-0048
S-0-0047
S-0-0370, Configurationlist
for the MDT data container
Tb0207f1.fh7
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Notes
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Motor Configuration
7.1
MHD
2AD
ADF
1MB
MBW
MKE
LAR
MBS
LSF
LAF
Motor type
Motor
feedback
data memory
Sync./Async.
MHD/MKD/MKE
yes
synchronous
Temp. check
Motorencoder
interface
Load
default
Temp.
Sensor
fixed
fixed (1)
possible
PTC
2AD/ADF
no
asynchronous
param.
param.
no
NTC
1MB
no
asynchronous
param.
param.
no
NTC
LAF/LAR
no
asynchronous
param.
param.
no
PTC
LSF
no
synchronous
param.
param.
no
PTC
asynchronous
param.
param.
no
PTC
synchronous
param.
param.
Fig. 7-1: Characteristics of the Motor Types part 1
no
PTC
no
MBS
no
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Linear-Rotational
Units are
motordependent
ID number:
Rotational:
Linear:
S-0-0100
0,1 As/rad
0,1As/m
S-0-0113
0,0001 RPM
0,0001 mm/min
S-0-0116
Cycles/Rev.
0.00001 mm
P-0-0018
Pole pairs
0,1mm
P-0-0051
Nm/A
N/A
S-0-0348
mAs/rad
Fig. 7-2: Scaling in Linear or Rotary Motors
mAs/mm
The selected motor type also affects the scaling of the position data.
For example, it is impossible to set rotary motor settings for linear motors
and linear motor settings for rotary motors. This would generate the
command error C213 Position data scaling error during a phase
progression.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Synchronous-Asynchronous
Specific parameters are used only for synchronous motors, others only for
asynchronous motors.
There are differences in the use and review of the parameters in the
command S-0-0128, C200 Communication phase 4 transition check.
They are:
Synchronous:
Asynchronous:
Temperature Monitoring
The switch-off limit for the
motor temperature check is
fixed at one point for MHD-,
MKD, MKE motors.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
7.2
Automatic Setting of the Motor Type for Motors with Feedback Memory
MHD, MKD and MKE motors have a motor feedback data memory, in
which the motor type is stored (along with other information). The drive
controller recognizes these motor types automatically and the following is
executed:
the value of the parameter P-0-4014, Motor type is set to its proper
value and will be write-protected.
the value of the parameter P-0-0074, Feedback 1 type is set to the
defined value for the corresponding motor type.
all bits except bit 6 (for absolute/not-absolute) are set to "0" in the
parameter S-0-0277, Position feedback 1 type.
all motor-dependent parameters are read out of the motor feedback
data storage (see "Motor Feedback-Data Memory"). The parameter in
the motor feedback memory are set with parameter block number 7.
These are retrieved and copied into the relevant parameters with
parameter block number 0.
the value of S-0-0201, Motor warning temperature will be set to
145,0C, and the S-0-0204, Motor shutdown temperature will be set
to 155,0C.
The value of P-0-0525, Type of motor brake is set to "0". The value
of P-0-0526, Brake control delay is set to 150 ms.
This procedure is followed right after switching on as in the command
S-0-0128, C200 Communication phase 4 transition check. The
command error message, C204 Motor type P-0-4014 incorrect, will be
generated in case an MHD, MKD and MKE motor is selected in P-0-4014,
Motor type but the corresponding character sequence cannot be found in
the motor feedback data memory.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
7.3
Asynchronous Motors
With the Firmware, you can use asynchronous motors in the entire rpm
range, including constant power range.
In addition to the general motor parameters, you have to set the following
asynchronous motor parameters for specific motors according to the
Indramat default:
P-0-4004, Magnetizing current
P-0-4012, Slip factor
P-0-0530, Slip Increase
P-0-0531, Stall Current Limit
P-0-0533, Flux Loop Prop. Gain
P-0-0534, Flux Loop Integral Action Time
P-0-0535, Motor voltage at no load
P-0-0536, Motor voltage max.
The user has one additional parameters to adjust the drive to his
requirements.
P-0-0532, Premagnetization factor
PS1
2
n1
3
n2
n
Sv5025f 1.fh7
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Range 1:
The Basic RPM Range is defined by a constant torque and a fixed
torque/force constant (parameter P-0-0051). In idle, the programmed
magnetization current flows. The motor voltage is less than the maximum
control output voltage. The corner RPM n1 is directly proportional to the
DC bus voltage.
Range 2:
Range of Constant Power. The motor voltage is constant; the idle
voltage and the corresponding magnetization and torque constants fall
with increasing velocity. The slip is increased correspondingly.
The adjustment of magnetization current and slip is executed
automatically by the vector control. The voltage is decreased during idle
to the motor idle voltage (P-0-0535), and when fully in use it is increased
to the maximum motor voltage (P-0-0536).
Range 3:
Range of decreasing Peak Power. The motor works at the stability limit;
through the vector control, the current is maintained at an efficient and
stable level. According to the parameter "current stability limit," the peak
current will be decreased enough so that the maximum power cannot be
exceeded. An increase in current would lead only to wasted power and
reduced output power. The peak power in range 3 is proportional to the
square of the DC bus voltage. It is ensured that the maximum power
always is reached for each DC bus voltage without parameter adjustment.
The power in range 3 cannot be extended through the use of more
powerful controllers.
Torque Evaluation
100% torque refers to the motors nominal torque according to the ID
plate. Since the peak torque of asynchronous motors is limited to 2.5
times of the nominal value, you can reach torques up to 250%.
The significance of the torque values changes in the field-weakening
range since the torque in the controller is set equal to the torqueproducing current Iq. The torque, however, is the product of Iq and air gap
induction, which decreases in the field-weakening range.
The assignment of the torque values in the different velocity ranges is
displayed in the following picture:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
P
160
Pmax
100
100
Pn
<100
2
n1
3
n
n2
M
In this case160 per cent
corresponds to the
effective peak current
160
160
Mmax
<160
100
100
<100
3
n
Sv5026f 1.fh5
In range 1, the torque value is the actual torque. 100% = rated torque.
In range 2, the torque value corresponds to the power.
100% = rated power according to selection list. (The rated power of the
motor rating plate is not relevant here since it could relate to another DC
bus voltage.)
Range 3 is similar to the evaluation of range 2, except that the preset
torque decreases in correspondence to the increasing velocity of the peak
power. For high velocity, the maximum torque value can drop below
100%.
In braking mode, you can reach 50% higher torque values in this range
than in driving mode.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Md
100
pmf
100
pmf
50
pmf
50
pmf
lq
t
Dg5005f1.fh7
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
7.4
Synchronous Motors
With this drive firmware it is possible to run Rexroth Indramat housing
motors
MHD
MKD and MKE motors
plus rotary and linear synchronous kit motors MBS and LSF. Indramat
housing motors have stator, rotor, bearings and feedback built into the
housing. They are equipped with a motor feedback data memory in which
motor parameters
motor feedback parameters
synchronous motor-specific parameters and
default control parameters
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
are stored. These motors are recognized by the firmware and the correct
setting for them is automatic. The compensation between the physical
rotor position and the position supplied by the feedback is set at the
factory in these motors. The offset results are stored in parameter
P-7-0508, Commutation offset in the motor feedback memory
(synchronous motor parameter). Rexroth Indramat housing motors are
configured ready for operation at the factory meaning that they can be run
without having to make any motor settings.
ECODRIVE03 FGP-03VRS
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DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The motor has a motor encoder which makes the absolute rotor position
known.
In this case it is necessary
with the initial start up of the axis
or after the measuring system has been replaced
to determine the commutation offset one time.
WARNING
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Yes
No
No
No
Yes
No
10
Yes
11
Yes
Determing the
commutation offset of
frameless
synchronous motors
yes
linear- or
rotational
motor?
LSF-motor
with absolute
linear measure
motorfeedback with
absolute rotor position
information
linear or rotational
motor with
incremental
feedback
MBS-motor with
absolute rotor
position information
alternative
at initial set up
application type 1:
determing the commutation
offset by measuring the
relation between the primary
and secondary and starting
command P-0-0524
application type 2:
current applied,
start with command
P-0-0524, D300 command
commutation set up
no drive enable
no motor movement
Fd5029f1.flo
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
(*1)
DANGER
Pre-requisites:
Parameters involved:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Sequence:
Once the listed conditions have been met, then the value for parameter
P-0-0523, Commutation, probe value is entered using the following
formula:
P 0 0523 = d K mx
P-0-0523:Value determined for parameter P-0-0523
d:
Measured value of distance between front of primary part and the
secondary set screw
Kmx: Primary constant value
Fig. 7-10: Determining the value or commutation offset setting with linear servo
motor (LSF).
Note:
The distance is measured from the end which the motor power
cable is not attached.
power connection
north pole
(marked)
secondary part
primary
Ek5021f1.fh7
Fig. 7-11:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
DANGER
Used:
Parameters involved:
10
11
Fig. 7-12:
*)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
*)
ECODRIVE03 FGP-03VRS
More pre-requisites:
To execute this command, the drive must be in state A012 Control and
power sections ready for operation. The 7-segment display reads Ab
in this case.
Sequence:
DANGER
Use with:
Parameters involved:
Sequence
The drive starts the setting of the commutation offset with the values
stored in parameters P-0-0560, Commutation adjustment current and
P-0-0562, Commutation adjustment periodic time. If commutation
offset cannot be determined with these values, then they are changed and
a new attempt is started. This means that first P-0-0560, Commutation
adjustment current is increased to twice the motor standstill current.
Then P-0-0562, Commutation adjustment periodic time is increased to
128 milliseconds.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
Initial start up
For the procedure it is necessary to ensure that the axis can move freely
after drive enable is set by the control. If a holding brake or clamp is used,
then it must be opened before the control sets the drive enable. This is
guaranteed to occur if the holding brake is connected to the controller.
Hanging axes
Permanently clamped or blocked axes
Make sure that the axis is not at the dead stop when
the drive enable is set.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Diagnoses
In conjunction with the commutation setting, the following diagnoses can
occur:
D300 Command adjust commutation
The commutation setting command is set. Determining commutation
offset is running or has been executed.
D311 Commutation offset could not be determined.
Or
F811 Commutation offset could not be determined.
Commutation offset has not been determined because:
-
brake closed
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
7.5
The holding brake for Rexroth Indramat motor types MHD and
MKD is not a working brake. It wears down after about 20,000
motor revolutions if the brake is closed.
Pertinent Parameters
To set the motor holding brake, use parameters
P-0-0126, Maximum braking time
P-0-0525, Type of motor brake
P-0-0526, Brake control delay
P-0-0538, Motor function parameter 1
P-0-0540, Torque of brake
P-0-0541, B200 Brake check command
P-0-0542, B100 Command Release motor holding brake
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Fig. 7-13:
The behavior with a spindle
brake
Activating the motor holding brake always takes place with drive enable
removed if the actual velocity of the motor is smaller than 10 rpm or
10mm/min (linear motor).
At the end of maximum decel time (P-0-0126) the set error reaction is
completed and the drive goes torque free.
brake released
break engaged
Fig. 7-14:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
bit 1 = 0
brake engaged
power stage
brake delay
t / ms
P-0-0526, Brake control delay
Sv5082f1.fh5
Fig. 7-15: Chronological diagram with command value to zero and P-0-0525,
Holding brake type, Bit 1 = 0 (Servo brake) and actual braking time <
P-0-0126
power stage
brake engaged
brake delay
t / ms
P-0-0526, Brake control delay
Sv5122f1.fh7
Fig. 7-16:
Chronological diagram with command value to zero and
P-0-0525, Holding brake type, Bit 1 = 0 (Servo brake) and actual braking
time > P-0-0126
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
1
0
Activating the
motor brake
Motor brake
becomes
effective
1
0
1
End stage
release
0
P-0-0526, Brake control delay
0
50
100
150
200 t / ms
Sv5027f1.fh5
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Automatic Checks
Applying drive enable
When applying the drive enable, the opening of the brake is checked.
This means that the drive is run at maximum decel nominal torque.
If it is possible to move the motor at nominal brake torque, then the brake
has opened as it should.
If the motor cannot be moved, then the brake is closed. Error F269 Error
when releasing the motor holding brake is generated.
When switching drive enable off, the holding torque of the brake is
checked. This means that the nominal brake torque is applied to the
motor with the brake closed.
If no movement is possible, then the brake is in order.
If the motor moves during the check, then warning E269 Brake torque
too low is generated.
The warning remains pending until the monitor recognizes one of the
brakes as alright.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Operating Modes
8.1
Automatic programming of
operating mode parameters by
selecting a profile type
Main and auxiliary modes are automatically set depending on the value in
P-0-4084, Profile type. Only if profile type "free programmable operating
mode" (P-0-4084, Profile type = 0xFFFE), can parameters S-0-0032..35
be freely programmed.
(see also chapter: "Profile Types")
Note:
8.2
Activation dependent on
operating mode and profile
types set
are set, then there is only the choice of positioning block mode ( =
Primary Mode of Operation) and jog mode ( = Secondary Operating Mode
1). The selection is specified via bits 6 (jog positive) and 7 (jog negative)
in P-0-4077, Fieldbus control word.
If profile types
The fieldbus control word is always the first word to be transmitted in the
real time channel.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
8.3
ECODRIVE03 FGP-03VRS
Torque/power
command value
Fig. 8-1: Block diagram of torque control
Pertinent Parameters
S-0-0080, Torque/Force command
P-0-4046, Active peak current
P-0-0176, Torque/Force command smoothing time constant
Torque Control
The command value in S-0-0080, Torque/Force command is limited with
the effective peak current P-0-4046, Active peak current. This current is
based on the current and torque limits.
(See section: "Current Limit" and "Torque Control").
st
The limited torque command value is filtered through a 1 order filter. The
time constant of the filter is set in parameter P-0-0176, Torque/Force
command smoothing time constant.
After limiting and filtering, the effective torque-generating command value
is generated. It is the command value for the effective current control.
Using Analog output of predefined signals the effective command
current can be output as an analog value.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
P-0-4046, Active
Peak Current
P-0-176 Torque/Force
command smoothing
time constant
Torque/force creating
Command current IqCOMM
Diagnostic Messages
Operating mode-specific monitors are
Monitoring actual velocity for a 1.125 fold value of parameter S-00091, Bipolar velocity limit value.
(See section: "Limiting to Bipolar Velocity Limit Value").
If this value is exceeded, then error F879 Velocity limit S-0-0091
exceeded is generated.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
8.4
ECODRIVE03 FGP-03VRS
Pertinent Parameters
S-0-0037, Additive velocity command value
S-0-0036, Velocity command value
S-0-0091, Bipolar velocity limit value
P-0-1201, Ramp 1 pitch
P-0-1202, Final speed of ramp 1
P-0-1203, Ramp 2 pitch
P-0-1211, Deceleration ramp 1
P-0-1213, Deceleration ramp 2
P-0-1222, Velocity command filter
Command value
processing
Velocity control
Velocity command
value
Velocity controller
Current
controller
Torque/power
command value
Fig. 8-3: Velocity control block diagram
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
S-0-0036,
Velocity command
value
Velocity command
is active
P-0-1201,
Ramp 1 pitch
P-0-1222, Velocity
command filter
P-0-1202,
Final speed of ramp 1
P-0-1203,
Ramp 2 pitch
P-0-1213,
Deceleration ramp 2
P-0-1211,
Deceleration ramp 1
Fig. 8-4:
Velocity Controller
The effective velocity command value is added with S-0-0037, Additive
velocity command value.
Further it is limited to S-0-0091, Bipolar velocity limit value.
(See also chapter: "Limiting to Bipolar Velocity Limit Value")
If the resulting command value is at the limit, the warning E259
Command velocity limit active is displayed.
The velocity control difference is produced by including the feedback
velocity in the control loop. The unfiltered feedback velocities of the motor
and, if available, the external encoder can be combined into an effective
actual velocity value. (See also chapter: "Setting the Velocity Mix Factor".)
Via P-0-0004, Velocity loop smoothing time constant you can limit the
band of the control difference for the velocity controller.
This variable is then relayed to the current and torque limits.
(See also chapter: "Current Limit" and "Torque Limit".)
To filter mechanical resonance frequencies, a notch filter can be applied
to this torque/force command value. Using parameter P-0-0180,
Rejection frequency velocity loop and P-0-0181, Rejection bandwidth
velocity loop the frequency range which must be suppressed can be
parametrized.
(See also "Setting the Velocity Controller".)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
P-0-4046,Active peak
current
P-0-0180, Rejection
frequency velocity loop
P-0-0181, Rejection
bandwidth velocity loop
S-0-0080
Torque/
Force
command
Actual velocity
P-0-0004, Velocity loop smoothing
time constant
Current Controller
The current controller is parameterized with S-0-0106, Current loop
proportional gain 1 and S-0-0107, Current loop integral action time 1.
(See also chapter: "Setting the Current Controller".)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Diagnostic Messages
Operating mode specific monitors are
E259 Command velocity limit active
If the resulting command value is in the limit, then warning E259
Command velocity limit active is displayed.
E263 Velocity command value > limit S-0-0091 .
Parameter S-0-0036, Velocity command value is set to the value of
parameter S-0-0091, Bipolar velocity limit value. The warning E263
Velocity command value > limit S-0-0091 is generated.
8.5
Position
controller
Velocity
controller
Velocity command
value
Torque/power
command
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Current
controller
ECODRIVE03 FGP-03VRS
Vcommand =
Vcommand:
Command velocity
Fig. 8-8: Calculating the command velocity
Position
command
value
F237: Excessive position
command difference
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Position Controller
The position controller error is computed from the effective position
command value from the generator function of the active operating mode
and the position feedback value (encoder 1 or encoder 2) used for the
controller.
This is given to the position controller, whose control loop gain is set with
S-0-0104, Position Loop Kv-Factor.
Bit 3 in the operating mode parameters (S-0-0032..35) indicates if
positioning should be subject to the following errors.
Definition of bit 3 of operating mode parameters (S-0-0032 to S-0-0035)
Bit 3=1
lagless
Bit 3=0
with lag
I Acceleration/feedforward
(see Velocity control)
Position
command
value
Position actual value
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
S-0-0047,Position
command value
v
t
S-0-0091, Bipolar Velocity limit
resulting velocity=
position command
value difference
t
Generating the error F237
excessive position command
value difference
Sv5028f1.fh5
Fig. 8-11: Monitoring the position command value differences and generating the
error F237 Excessive position command difference
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
8.6
Pertinent Parameters
For the motion calculation the following are used:
S-0-0108, Feedrate override
S-0-0193, Positioning Jerk
S-0-0258, Target position
S-0-0259, Positioning Velocity
S-0-0260, Positioning Acceleration
S-0-0359, Positioning Deceleration
S-0-0393, Command value mode
For the status display the following parameter is used:
S-0-0182, Manufacturer class 3 diagnostics
Drive Internal
interpolation
Target
position
Position
controller
Position
command value
Velocity
controller
Velocity command
value
Current
controller
Torque/power
command value
Functional Principle
The target position can be cyclically programmed via parameter
S-0-0258, Target position.
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
CAUTION
Smoothing filter (or jerk filter)
Accel and decel are smoothed by using a jerk limit value and PT1 filtering.
This means that accel or decel do not become effective until after t= 5*TR.
The time constant TR of the smoothing filter (jerk filter) results from:
TR =
TR =
or
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
E249 E253
target position
S-0-0258
DriveXsoll
internal
interpolation
positioning speed
S-0-0259
positioning accel
S-0-0260
positioning jerk
S-0-0193
feedrate override
S-0-0108
Positioning Decleration
S-0-0359
FP5063F1.FH7
the
position
command
value
with
drive-internal
Fig. 8-14:
Bit 2:
Bit 3:
Bit 4:
Acceptance of positioning
command value
Not relevant in this mode!
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
E248 Interpolation
acceleration = 0
Status messages
In parameters S-0-0013, class 3 diagnostics and S-0-0182,
manufacturers class 3 diagnostics there are the following status
messages for this mode:
"target position reached", bit 12 of S-0-0013, Class 3 Diagnostics
"In target position", bit 10 of S-0-0182, Manufacturer Class 3
Diagnostics
(Is displayed on bit 4 of P-0-4078, Fieldbus status word)
"IZP", bit 6 of S-0-0182, Manufacturer Class 3 Diagnostics
The following profile explains how the status messages work:
V
Start state
target position
Sv5051f2.fh7
Fig. 8-15: Profile to explain how the interpolation status messages work
In this example, the drive is at the start position, when the new target
position is given.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
standstill
window
X
target
position
position comm.
position
feedback
start state
Positioning
window
Positioning
window
X
following
or lag
distance
(magnified)
1
0
S-0-0182, Bit 10
In target position
1
0
Positioning
window
t
S-0-0182, Bit 6
IZP
1
0
t
t0- new start state is given
Sv5050f2.fh7
Fig. 8-16: Generating the status bit of the operating modes with drive-internal
interpolation
8.7
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Pertinent Parameter
For the motion calculation the following are used:
S-0-0108, Feedrate override
S-0-0193, Positioning Jerk
S-0-0258, Target position
S-0-0259, Positioning Velocity
S-0-0260, Positioning Acceleration
S-0-0282, Positioning command
S-0-0346, Positioning command latch
S-0-0359, Positioning Deceleration
S-0-0393, Command value mode
For the status display the following parameter are used:
S-0-0419, Positioning command acknowledge
S-0-0182, Manufacturer class 3 diagnostics
Drive controlled
positioning
Positioning
command value
Position
controller
Position
command value
Geschwindigkeitsregler
Velocity command
value
Current
Controller
Torque/power
commend
Functional Principle
Target position or travel path is specified in parameter S-0-0282,
Positioning command. In bit 3 of parameter S-0-0393, Command value
mode it is set whether positioning command value is relative or absolute.
Absolute Positioning command
value
(S-0-0393, Bit 3=0)
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The drive generates the target position to be run to and the needed
position command value profile while maintaining all marginal conditions
set in
S-0-0259, Positioning Velocity
S-0-0260, Positioning Acceleration
S-0-0359, Positioning Deceleration
S-0-0193, Positioning Jerk
S-0-0108, Feedrate override
Effective positioning velocity
CAUTION
Smoothing filter (or jerk filter)
Accel and decel are smoothed using a jerk limit value and a PT1 filtering.
This means that accel or decel do not become effective until after t= 5*TR.
The time constant TR of the smoothing filter (jerk filter) results from:
TR =
TR =
bzw.
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
S-0-0393,
Command value
mode, Bit3
Command position
interpreter
0
S-0-0282,
Motion command
S-0-0258,
Target position
Profile generator
v
Position
command
value
+
t
S-0-0346,
Motion command
latch
S-0-0419,
Motion command
acknowledge
Fig. 8-19:
Bit 2:
Bit 3:
Bit 4:
Acceptance of positioning
command value
0: current target is run to
before new target
1: Positioning setpoint directly
run, previous target ignored
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
S-0-0282,
Positioning command
(k+3)
(k+1)
(k)
(k+2)
S-0-0346,
Positioning command latch
(k+1)
(k)
assumed positioning
command value
(k+2)
(k+3)
(k+3)
(k+1)
(k)
(k+2)
(k)
(k+1)
S-0-0419,
Positioning command acknowledge
(k+2)
(k+3)
t accept
Time taccept (see illustration above) defines the time between status
changes and acceptance bits from the control and the receipt of
acknowledge in the control. The time is made up of effective transmission
time and command and actual values and thus depends on the
configuration of the interface to the control (e.g., SERCOS/FieldbusTiming-Parameter).
Note:
Acknowledge if parameter
S-0-0393, setpoint mode,
Bit 4 = 0
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
(k)
(k+1)
S-0-0282, Positioning
command
(k)
(k+2)
drive-internal position
command value
(k+3)
(k+1)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
E255 Feedrate-Override
S-0-0108 = 0
Status messages
In parameters S-0-0013, Class 3 diagnostics and S-0-0182,
Manufacturer class 3 diagnostics there are the following status
messages for these modes:
"Target position reached, bit 12 of S-0-0013, Class 3 diagnostics
"In target position", bit 10 of S-0-0182, Manufacturer class 3
diagnostics
(Is shown on bit 4 of P-0-4078, Fieldbus status word)
"IZP", Bit 6 of S-0-0182, Manufacturer class 3 diagnostics
The following profile explains how the status messages work:
V
Start state
target position
Sv5051f2.fh7
Fig. 8-23:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
In this example, the drive is in start position when the new target position
is specified.
This results in the following time diagram:
V
vel. feedback value
0
t
standstill
window
X
target
position
position comm.
position
feedback
start state
Positioning
window
Positioning
window
X
following
or lag
distance
(magnified)
1
0
S-0-0182, Bit 10
In target position
1
0
Positioning
window
t
S-0-0182, Bit 6
IZP
1
0
t
t0- new start state is given
Sv5050f2.fh7
8.8
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Pertinent Parameters
P-0-4006, Process block target position
P-0-4007, Process block velocity
P-0-4008, Process block acceleration
P-0-4009, Process block jerk
P-0-4019, Process block mode
P-0-4026, Process block selection
P-0-4051, Process block acquittance
P-0-4052, Positioning block, last accepted
P-0-4057, Positioning block, input linked blocks
P-0-4060, Process block control word
P-0-4063, Process block deceleration
S-0-0346, Set-up flag for relative command values
S-0-0182, Manufacturer class 3 diagnostics
S-0-0259, Positioning Velocity
Note:
How it works
Positioning block elements
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Property damage !
CAUTION
Accel and decel are smoothed with the specification of a jerk limit value
using a PT1 filter. The accel or decel is thus reached after about five
times the time constant.
The time constant of this smoothing filter is computed:
T = P - 0 - 4008 / P - 0 - 4009
or
T = P - 0 - 4063 / P - 0 - 4009
P-0-4008, Process block acceleration
P-0-4009, Process block jerk
P-0-4063, Process block deceleration
Fig. 8-26: Determining the time constant
The same time constant is used for both accel and decel. The higher time
constant of the above relationship is used.
If parameter P-0-4009, Process block jerk is equal to zero, then the
smoothing filter is off, either accel or decel is being reached.
Positioning block control word
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Block selection
Absolute Positioning
Prerequisite: Parameter P-0-4019, Process block mode = 1
In an absolute positioning block, the target position is a fixed (absolute)
position within the machine co-ordinate system.
Prerequisites for the execution
of absolute positioning blocks:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Example
S-0-0124,
Standstill window
speed profil
x=700
x=200
P-0-4026,
Process block selection
P-0-4051,
Process block acquittance
01
01
~01
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
Standstill
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 1)
S-0-0346, Positioning
command latch
< 4 ms
Positioning inputs valid
Positioning acknowledgement outputs show the negated status of the positioning inputs
Positioning acknowledgement outputs do not show that after valid record acceptance the
position inputs are in an inverted condition
SV0001D2.fh7
Fig. 8-27:
Relative positioning
Prerequisite: Parameter P-0-4019, Process block mode = 2
Relative positioning blocks are executed if the drive has not been
referenced.
Reference position
Residual path
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
Example
S-0-0124,
Standstill window
speed profil
x=900
x=200
P-0-4026,
Process block selection
P-0-4051,
Process block acquittance
01
01
~01
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
Standstill
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 1)
S-0-0346, Positioning
command latch
< 4 ms
Positioning inputs valid
Positioning acknowledgement outputs show the negated status of the positioning inputs
Positioning acknowledgement outputs do not show that after valid record acceptance the
position inputs are in an inverted condition
SV0002D2.fh7
Fig. 8-28:
Example
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
S-0-0124,
Standstill window
speed profil
P-0-4026,
Process block selection
P-0-4051,
Process block acquittance
x=1050
x=350
x=200
01
~01
01
~01
01
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
Standstill
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 1)
S-0-0346, Positioning
command latch
< 4 ms
< 4 ms
=
Fig. 8-29:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
Relative positioning with residual path storage with target position = 700
without interruption (message: "End position reached" with position =
200).
Example
S-0-0124,
Standstill window
speed profil
x=900
x=200
P-0-4026,
Process block selection
P-0-4051,
Process block acquittance
01
01
01
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
Standstill
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 1)
S-0-0346, Positioning
command latch
< 4 ms
Positioning inputs valid
Positioning acknowledgement outputs show the negated status of the positioning inputs
Positioning acknowledgement outputs do not show that after valid record acceptance the
position inputs are in an inverted condition
Sv0000f1.fh7
Fig. 8-30:
Example
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
S-0-0124,
Standstill window
speed profil
x=200
x=800
P-0-4026,
Process block selection
P-0-4051,
Process block acquittance
02
~02
02
~02
02
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
Standstill
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 1)
Drive enable
S-0-0134, Master
control word, (Bit 15)
S-0-0346, Positioning
command latch
<
= 4 ms
<
= 4 ms
Sv5006d1.fh7
Fig. 8-31:
with
residual
path
storage
after
Example
Reference position
Behavior
Example
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Behavior
The drive runs back to the target position set prior to the interruption.
Note:
Reference position
speed profil
x=100
P-0-4026,
Process block selection
P-0-4051,
Process block acquittance
x=900
x=700
02
~01
01
~01
01
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
Standstill
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 1)
S-0-0346, Positioning
command latch
Jog+
P-0-4056, Jog inputs,
(Bit 0)
t
Positioning inputs valid
Positioning acknowledgement outputs show the negated status of the positioning inputs
Positioning acknowledgement outputs do not show that after valid record acceptance the
position inputs are in an inverted condition
Sv5005d1.fh7
Fig. 8-32:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Reference position
speed profil
> 10 ms
P-0-4026,
Process block selection
01
XX
P-0-4051,
Process block acquittance
01
01
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
Standstill
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 1)
S-0-0346, Positioning
command latch
XX
< 4 ms
State of positive inputs irrelevant
Positioning inputs valid, for example positioning block, 1
Positioning acknowledgement outputs show the negated status of the positioning inputs
Positioning acknowledgement outputs do not show that after valid record acceptance the
position inputs are in an inverted condition, for example positioning block, 2
Sv0003d2.fh7
Fig. 8-33:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Conditions to continue in
following block mode
There are two possibilities for continuing block mode. These are also
broken down into:
1) Position-dependent continue block mode
With position-dependent continue block mode, the following block is
switched into at the target position of the start block.
There are three different types of block transitions:
a) Block transition at old positioning speed (Mode 1)
P-0-4019, Process block mode = 11h: absolute block with following block
P-0-4019, Process block mode = 12h: relative block with following block
P-0-4019, Process block mode = 14h: infinite block in positive direction
with following block
P-0-4019, Process block mode = 18h : infinite block in negative direction
with following block
In this mode, the target position of the start block is run through at the
speed of the start block and then switched to the positioning speed of the
following block.
Definition
With relative and absolute blocks with sequential processing, the drive
runs in the direction of the target position. As soon as the target position
is
exceeded,
it
switches
to
the
next
block
n+1.
With infinite blocks, the drive runs positive or negative. As soon as the
target position is exceeded, the drive switches to next positioning
block n+1. ("n" represents the block currently in process).
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
speed profil
target position
block 1
P-0-4026,
Process block selection
P-0-4051,
Process block acquittance
target position
block 2
01
~01
01
02
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
S-0-0346, Positioning
command latch
t
Positioning inputs valid
Positioning acknowledgement outputs show the negated status of the positioning inputs
Positioning acknowledgement outputs do not show that after valid record acceptance the
position inputs are in an inverted condition
SV0007d2.fh7
Fig. 8-34:
The drive runs in the direction of the target position Xn (with infinite blocks
in set direction) set in current position block n. As the drive approaches
Xn, there is acceleration an to the next positioning speed vn+1 so that the
speed vn+1 can be achieved prior to target position Xn.
The switch to the next positioning block does not occur here either until
the next target position is overrun.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
speed profil
target position
block 1
P-0-4026,
Process block selection
P-0-4051,
Process block acquittance
target position
block 2
01
~01
01
02
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
S-0-0346, Positioning
command latch
t
Positioning inputs valid
Positioning acknowledgement outputs show the negated status of the positioning inputs
Positioning acknowledgement outputs do not show that after valid record acceptance the
position inputs are in an inverted condition
SV0008d2.fh7
Fig. 8-35:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
S-0-0124,
Standstill window
v
speed profil
target position
block 1
P-0-4026,
Process block selection
P-0-4051,
Process block acquittance
target position
block 2
01
~01
01
02
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
Standstill
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 1)
S-0-0346, Positioning
command latch
t
Positioning inputs valid
Positioning acknowledgement outputs show the negated status of the positioning inputs
Positioning acknowledgement outputs do not show that after valid record acceptance the
position inputs are in an inverted condition
SV5012d1.Fh7
Fig. 8-36:
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Definition
The drive switches to the next travel block n+1 as soon as the input for
the following block cam 1 goes from 0->1. If the target position is not
reached then the new positioning block is switched into while travelling.
The drive switches to the penultimate travel block n+2 as soon as the
input for the following block cam 2 goes from 0->1. If a following block
cam is actuated during this run, then the drive switches to the positioning
block after the next.
Reference position
Fig. 8-37:
Can 1
0->1
Drive reaction
drive runs to target
position of block n
block n+1 started
0->1
X
block n+2 started
Drive reaction with different switching signal sequences
X = Dont Care
n = positioning block selected via parallel inputs or parameter P-0-4026,
Process block selection.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
S-0-0124,
Standstill window
speed profil
target position
block 3
P-0-4026,
Process block selection
P-0-4051,
Process block acquittance
02
~02
01
02
03
cam 2
P-0-4057, Positioning block
input linked blocks, (Bit 1)
cam 1
P-0-4057, Positioning block
input linked blocks, (Bit 0)
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
Standstill
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 1)
S-0-0346, Positioning
command latch
t
Positioning inputs valid
Positioning acknowledgement outputs show the negated status of the positioning inputs
Positioning acknowledgement outputs do not show that after valid record acceptance the
position inputs are in an inverted condition
Sv0010d2.fh7
Fig. 8-38:
No switching signal for block
commutation
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
S-0-0124,
Standstill window
v
speed profil
P-0-4026,
Process block selection
P-0-4051,
Process block acquittance
01
~01
01
02
cam 1
P-0-4057, Positioning block
input linked blocks, (Bit 0)
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
S-0-0346, Positioning
command latch
t
Positioning inputs valid
Positioning acknowledgement outputs show the negated status of the positioning inputs
Positioning acknowledgement outputs do not show that after valid record acceptance the
position inputs are in an inverted condition
SV0011d2.Fh7
Fig. 8-39:
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Given an interruption (e.g., with drive halt), a restart will end the following
block chain.
The reference position is the original start position of the block chain.
Reference position
The chain is retained as only absolute and relative positioning blocks with
residual path storage are used in following block mode!
S-0-0124,
Standstill window
speed profil
Restart
x=100
P-0-4026,
Process block selection
P-0-4051,
Process block acquittance
x=500
x=700
01
01
~01
~01
01
02
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
Standstill
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 1)
S-0-0346, Positioning
command latch
< 4 ms
Positioning inputs valid
Positioning acknowledgement outputs show the negated status of the positioning inputs
Positioning acknowledgement outputs do not show that after valid record acceptance the
position inputs are in an inverted condition
SV5014d1.fh7
Fig. 8-40:
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Reference position
The conditions for the interruption of following blocks also apply after the
control voltage is switched off if an absolute encoder is used.
Interrupting a following block
chain with absolute following
blocks
Accel values that are too small can also cause problems which is why the
following should be taken into account with fixing the positioning blocks.
Minimum accel value
(v n+1 v n )
speed difference 2
acceleration >
=
2t arg etpositiondifference 2 (X n+1 X n )
2
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Fig. 8-41:
Note:
ECODRIVE03 FGP-03VRS
Explanation
S-0-0124,
Standstill window
speed profil
x=600
P-0-4026,
Process block selection
P-0-4051,
Process block acquittance
target position
block n+1
01
~01
01
02
03
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
Standstill
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 1)
S-0-0346, Positioning
command latch
t
Positioning inputs valid, for example positioning block, 1
Positioning acknowledgement outputs show the negated status of the positioning inputs
Positioning acknowledgement outputs do not show that after valid record acceptance the
position inputs are in an inverted condition, for example positioning block, 2
SV5020d1.fh7
Fig. 8-42:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
speed profil
P-0-4026,
Process block selection
~01
XX
01
P-0-4051,
Process block acquittance
~01
01
~02
XX
01
01
~01
01
AH
S-0-0134, Master
control word, (Bit 13)
target position reached
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 12)
Standstill
S-0-0182, Manufacturer
class 3 diagnostics, (Bit 1)
Drive enable
S-0-0134, Master
control word, (Bit 15)
S-0-0346, Positioning
command latch
t
<10 ms
XX
Fig. 8-43:
Single-turn encoder
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
Diagnostic messages
E248 Interpolation acceleration = 0
E249 Positioning velocity S-0-0259 > S-0-0091
E253 Target position out of travel range
E254 Not homed
E255 Feedrate-override S-0-0108 = 0
E258 Selected process block is not programmed
E264 Target position out of num. range
Hardware Connections
See project planning manual
8.9
Pertinent Parameters
P-0-4030, Jog velocity
P-0-4056, Jog inputs
S-0-0260, Positioning Acceleration
S-0-0193, Positioning Jerk
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
The parameters for the jog inputs are already present with
SERCOS and fieldbus interfaces even though hardware inputs
are not.
ECODRIVE03 FGP-03VRS
How it works
Activating the operating mode jogging:
The jogging mode is active with a fieldbus interface if such has been
selected via the control word.
The jog direction can be read out of parameter P-0-4056.
Fig. 8-44:
Drive
Display
00b
stand still
AF
01b
moving forward
JF
10b
moving backward
Jb
11b
stand still
Relationship of jog input to travel direction
AH
If one of the above conditions has not been satisfied, then the
drive continues to run infinitely in the set direction.
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Diagnostic Messages
Warning "E831 Position limit reached during jog is generated if the
drive positions at the position limit value.
The warning is cleared:
once the mode is changed and
after jogging in the opposite direction.
Velocity command
value
Fig. 8-45:
Current
controller
Velocity
controller
Torque/power
command value
Pertinent Parameters
S-0-0236, Master drive 1 revs.
S-0-0237, Slave drive 1 revs.
P-0-0083, Gear ratio fine adjust
P-0-0053, Master drive position
P-0-0108, Master drive polarity
P-0-0156, Master drive gear input revolutions
P-0-0157, Master drive gear output revolutions
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
P-0-0157 S-0-0237
*
*(1 + P-0-0083)]
P-0-0156 S-0-0236
dXSynch:
synchronous velocity command value
n:
probe cycle
Fig. 8-46: Generating the synchronous velocity value for rotary scaling
The fine adjustment of the gear ratio that can be configured as cyclical
data permits velocity changes at the slave axis at a constant master axis
speed. Velocity can also be changed by changing the master axis gear
parameter which can also be cyclically changed.
The following illustrates how the velocity command value is generated.
P-0-0142, Synchronization acceleration
P-0-0108, Master drive
polarity
P-0-0157, Master drive
gear output revolutions
Synchronization
S-0-0036, Velocity command
value
dXSynch
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Velocity
synchronization
Velocity
control
Velocity command
value
Current control
Torque/power
command value
Pertinent Parameters
The parameters listed in the sections "Velocity synchronisation with virtual
master axis" and "Master axis evaluation" are involved here.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Functional Principle
This mode combines the function of master axis encoder and velocity
synchronisation in the drive.
The master axis encoder supplies P-0-0052, Position feedback value 3,
which is copied by the drive into parameter P-0-0053, Master drive
position.
The function of the individual function blocks is described in the relevant
sections:
see chapter: "Master Axis Feedback Analysis"
see chapter: "Operating mode: velocity synchronization with virtual master
axis"
see chapter: "Velocity Controller"
see chapter: "Current Controller"
Note:
Position
controller
Position
command value
Velocity
controller
Velocity command
value
Current
controller
Torque/power
command value
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Pertinent Parameters
S-0-0048, Position command value additional
S-0-0236, Master drive 1 revolutions
S-0-0237, Slave drive 1 revolutions
P-0-0053, Master drive position
P-0-0108, Master drive polarity
P-0-0156, Master drive gear input revolutions
P-0-0157, Master drive gear output revolutions
P-0-0159, Slave drive feed travel
XSynch = P - 0 - 0053 *
P - 0 - 0157 S - 0 - 0237
*
P - 0 - 0156 S - 0 - 0236
XSynch:
synchronous position command value
Fig. 8-51: Generating the synchronous position command value with rotary
scaling
XSynch = P - 0 - 0053 *
P - 0 - 0157 P - 0 - 0159
*
P - 0 - 0156 S - 0 - 0236
XSynch:
synchronous position command value
Fig. 8-52: Generating the synchronous position command value with
translatory scaling
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Note:
Note:
ECODRIVE03 FGP-03VRS
Note:
Position
command
value
Synchronisation
Xsynch
S-0-0047,
Position command value
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
absolute
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The following graphics show the time flow of the velocity for the standard
and filter synchronisation modes.
Position command
value addition (S-0-0048)
dxsoll, synch
dt
dx
dt
dxsoll, synch
dt
"Synchronisation
mode"
P-0-0142
Velocity
adjustment
(step 1)
P-0-0142
P-0-0142
P-0-0143
P-0-0143
Position
adjustment
(step2)
t
"Synchronization completed"
(Manuf. class 3 diagnostics S-0-0182, Bit9)
t
Sv5029f1.fh5
Fig. 8-55:
dx
dt
Position command
value addition (S-0-0048)
dxsoll, synch
dt
dxsoll, synch
dt
"Synchronisation
mode"
P-0-0142
Velocity
adjustment
(step 1)
P-0-0142
P-0-0143
P-0-0060
Position
adjustment
(step2)
t
"Synchronization completed"
(Manuf. class 3 diagnostics S-0-0182, Bit9)
t
Sv5030f1.fh5
Fig. 8-56:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Master axis
feedback
analysis
Position
command value
Position
controller
Velocity command
value
Velocity
controller
Current
controller
Torque/power
command value
Pertinent Parameters
The parameters listed in sections: "Operating mode: phase
synchronisation with virtual master axis" and "Master Axis Feedback
Analysis" are involved in this mode.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Functional Principle
the modes "Phase synchronization with virtual master axis and the
master axis encoder evaluation are combined in the drive. The master
axis encoder evaluation gained in P-0-0052, Position feedback value 3
is copied by the drive into parameter P-0-0053, Master drive position.
The function of the individual function blocks is described in the relevant
sections.
see section: "Master Axis Feedback Analysis"
see section: "Operating mode: phase synchronisation with virtual master
axis"
see section: "Position Controller"
see section: "Velocity Controller"
see section: "Current Controller"
Note:
It applies:
P-0-0052[n] = P-0-0053[n] = Position of the master axis encoder directly
after detection of zero pulse.
P-0-0052[n-1] = P-0-0053[n-1] = Position of the master axis encoder
indirectly after detection of the zero pulse.
Maser axis
position
Position
controller
Position
command value
Fig 8-59:
Velocity
controller
Velocity command
value
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Torque/power
command value
Current
controller
ECODRIVE03 FGP-03VRS
Pertinent Parameters
S-0-0048, Position command value additional
P-0-0053, Master drive position
P-0-0061, Angle offset begin of profile
P-0-0072, Cam shaft profile 1
P-0-0085, Dynamical phase offset
P-0-0088, Cam shaft control
P-0-0089, Cam shaft status
P-0-0092, Cam shaft profile 2
P-0-0093, Cam shaft distance
P-0-0094, Cam shaft switch angle
P-0-0108, Master drive polarity
P-0-0144, Cam shaft distance switch angle
P-0-0156, Master drive gear input revolutions
P-0-0157, Master drive gear output revolutions
P-0-0158, Phase offset velocity
XF(L ) = h * tab( L *
Ga
- V ) + Xv
Ge
XF :
S-0-0047, Position command value
+/- : P-0-0108, Master drive polarity (P-0-0108=1 > -)
L :
P-0-0053, Master drive position
P-0-0061, Angle offset begin of profile
V :
h:
P-0-0093, Cam shaft distance
tab(): P-0-0072, Cam shaft profile 1 or P-0-0092, Cam shaft profile 2
Xv:
S-0-0048, Position command value additional
Ga:
P-0-0157, Master drive gear output revolutions
Ge:
P-0-0156, Master drive gear input revolutions
Fig. 8-60: Initializing the position command value
If a mode is activated then the differences of the master axis position are
processed to ensure a consistent run of the position command value
given changes in the cam offset or hub parameters.
The difference to the last control cycle is generated out of the cam table in
each control cycle and then processed in accordance with the formula.
If table limits are exceeded in a positive direction, then the table starts
over at the beginning. The same happens in a negative direction.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Ga
- V + d) + Xv )
Ge
+/- :
P-0-0108, Master drive polarity (P-0-0108=1 > -)
XF(n) : pos. com. value of slave drives S-0-0047 in current control cycle
XF(n-1) : pos. com. value of slave drives S-0-0047 in the last control cycle
L : P-0-0053, Master drive position
P-0-0061, Angle offset begin of profile
V :
dynamic angle offset, see following formula
d :
h:
P-0-0093, Cam shaft distance
tab(): P-0-0072, Cam shaft profile 1 or P-0-0092, Cam shaft profile 2
Xv:
S-0-0048, Position command value additional
Ga:
P-0-0157, Master drive gear output revolutions
Ge:
P-0-0156, Master drive gear input revolutions
Fig. 8-61: Bildung des Lagesollwertes fr den Folgeantrieb
Changes of P-0-0061, Angle
offset begin of profile
To avoid jumps of the table access angle, a new value for parameter
P-0-0061, Angle offset begin of profile does not immediately become
effective. Starting with the current value, a ramp-like approximation of the
new value is conducted. The approximation is conducted along the
shortest possible path. The ramp is set in parameter P-0-0158, Phase
offset velocity.
d =
Ga
)
Ge
Kv
L:
P-0-0053, Master drive position
P-0-0085:
Dynamical phase offset
Ga:
P-0-0157, Master drive gear output revolutions
Ge:
P-0-0156, Master drive gear input revolutions
Kv:
S-0-0104, Position loop Kv-factor
Fig. 8-62: Generating the dynamic angle offset
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Lagesollwert
Synchronization
P-0-0072,
Cam shaft
profile 1
Grip
S-0-0047, Position
command value
Lookup
angle
determination
Xsynch
Table
selection
logic
Fig. 8-63:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Master axis
feedback
analysis
Position
controller
Position
command value
Velocity command
value
Velocity
controller
Current
controller
Torque/power
command value
Pertinent Parameters
The parameters listed in the sections on "Operating mode: electronic cam
shaft with virtual master axis" and "Master Axis Feedback Analysis" are
involved in this operating mode.
Functional Principle
Operating mode electronic cam with real master axis combines the
modes "Electronic cam with virtual master axis" and the "Master axis
encoder evaluation". P-0-0052, Position feedback value 3 determined
by master axis encoder evaluation is copied into parameter P-0-0053,
Master drive position.
The function of the individual blocks is outlined in the relevant sections.
see section: "Master Axis Feedback Analysis"
see section: "Operating mode: electronic cam shaft with virtual master
axis"
see section: "Position Controller"
see section: "Velocity Controller"
see section: "Current Controller"
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
It applies:
P-0-0052[n] = P-0-0053[n] = Position of the master axis encoder directly
after detecting the zero pulse.
P-0-0052[n-1] = P-0-0053[n-1] = Position of the master axis encoder
indirectly after detecting the zero pulse.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
9.1
Operating
data = 100
S-0-0109
Unit = A
digits after
decimal = 3
Drive control
Fig. 9-1:
The operating data of the parameter S-0-0109 is given the value 100 in
the picture shown above. When combined, the unit A (ampere) that
belongs to this parameter and the number of decimal places produce the
physical value 0.100 A.
Each parameter can therefore be called up with a unit and the number of
decimal places. The combination of these two criteria is united under the
term scaling. When interpreting operating data, these must always be
included in the analysis. Units and number of decimal places are listed
along with all other parameter attributes in the Parameter Description.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Rotary Preferred
Scaling:
Linear Preferred
Scaling (mm):
Linear Preferred
Scaling (Inch):
Position data
0.0001 Degrees
0.0001 mm
0.001 Inches
Velocity Data
0.0001 RPM,
or 10^-6 Rev/s
10^-6 m/min
10^-5 in/min
Acceleration Data
0.001 rad/s
Fig. 9-2:
10^-6 m/s
Preferred scaling
--
With linear load reference, the scaled data from the motor format is
converted to feed constant format with the transmission ratio
S-0-0122, Output revolutions of load gear / S-0-0121, Input
revolutions of load gear and the feed constant S-0-0123, Feed
constant.
The following restrictions apply in relationship to the motor type being
used :
Rotary motor reference cannot be set with linear motors.
Linear motor reference cannot be set with rotary motors.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Bit 6:
Data relationship
0:
to the motor cam
1:
to the load
Bit 7:
Processing format
0:
Absolute format
1:
Modulo format
Bits 15-8: reserved
Fig. 9-3:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Data relationship
0:
to the motor cam
1:
to the load
Bits 15-7: reserved
Fig. 9-4:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Data relationship
0:
to the motor shaft
1:
to the load
Bits 15-7:
reserved
Fig. 9-5:
Rotary motors
Linear motors
Fig. 9-6:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
S-0-0048
S-0-0055,
Bit 0
S-0-0055,
Bit 1
S-0-0036
S-0-0043
Bit 0
Position
controller
S-0-0053
Position
feedback
value - 2
(encoder 2)
S-0-0043
Bit 1
S-0-0080
S-0-0085,
Bit 0
Velocity
controller
S-0-0051
Position
feedback
value - 1
(encoder 1)
S-0-0037
Torque/force
controller
S-0-0055,
Bit 2
Velocity
feedback
value
S-0-0055,
Bit 3
Fig. 9-7:
Torque/force
feedback
value
S-0-0043,
Bit 2
S-0-0085,
Bit 2
S-0-0040
S-0-0084
The polarity parameters affect only the display values, not the control
feedback values.
The drive software only allows all bits within a polarity parameter to be
inverted. If bit 0 is inverted, all other bits of the parameter are also
inverted. This protects against the danger of adding positive feedback into
the control loop (command and feedback values with opposing polarities)
due to incorrectly set command and feedback value polarities.
Transmission Ratio
The transmission ratio can be set with the parameters
S-0-0121, Input revolutions of load gear
S-0-0122, Output revolutions of load gear
The ratio between transmission input and transmission output is
parameterized here.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Example:
transmission input=
motor shaft
transmission output
Fs5003f1.fh5
Feed Constant
The feed constant defines how far the load moves linearly per
transmission output revolution. It is specified in the parameter S-0-0123,
Feed constant.
The value programmed here is used along with the transmission ratio for
converting the position, velocity, and acceleration data from motor
reference to load reference.
Example:
Transmission output
Carriage
Feed module
AP5030f1.fh5
Example:
In the illustration above, the feed module would cover 10 mm per
transmission output revolution. The proper parameterization for this would
be:
S-0-0123, Feed Constant = 10 mm/Rev
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Modulo Feature
When the modulo function is activated, all position data are displayed in
the range 0... (modulo value). Thus it is possible to implement an axis
which can move infinitely in one direction. There is no overrunning of the
position data.
The modulo value is set with the parameter S-0-0103, Modulo Value.
The modulo function is activated by the parameter S-0-0076, Position
Data Scaling Type.
(See also "Display Format of Position Data".)
S-0-0076, Position data scaling mode
Bit 7:
Processing format
0:
absolute format
1:
modulo format
Fig. 9-10:
Note:
Position
display
value
Modulo
value
Absolute position of
the measurement
system
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
S-0-0393 = 1
S-0-0393 = 2
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
9.2
ECODRIVE03 FGP-03VRS
Encoder interface 2:
Value in
P-0-0074/75
10
1+2
11
1+2
12
1+2
14
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The table illustrates that some combinations are not possible as each
encoder interface is only physically present once.
To display the actual position value of the individual measuring systems,
use parameters:
S-0-0051, Position feedback 1 value
S-0-0053, Position feedback 2 value
To set the absolute reference of actual position value 1/2 to the machine
zero point, use commands
S-0-0148, C600 Drive controlled homing procedure command or
P-0-0012, C300 Command Set absolute measurement
Motor Encoder
The measurement system which is directly coupled with the motor shaft
without a gearbox between them is called the motor encoder. As the
motor is usually coupled to the load with a mechanical gearbox and
possibly a feed unit, this is an indirect measurement system. If a second
measurement system is attached directly to the load, than this direct
measurement system (see "Optional encoder"). Hereafter, are shown
typical applications of indirect distance measuring.
Barcode
Typenschild
1 2 3 4
1 2 3 4 5 6 7 8 9
1
2
H30
H31
H32
H33
S2
5 6 7 8
1 2 3 4
H1
S1
S3
Barcode
2)
1 2 3 4
1)
Ap5134f1.fh7
Fig. 9-13:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
1
2
H30
H31
H32
H33
S2
Barcode
Barcode
Typenschild
1 2 3 4
1 2 3 4 5 6 7 8 9
H1
S1
S3
5 6 7 8
1 2 3 4
1 2 3 4
1)
Fig. 9-14:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Value in
P-0-0074
For
synchronous
motors
For
asynchronous
motors
no
yes
yes
yes
yes
yes
yes
yes
yes
yes
no
yes
10
yes
no
1+2
11
yes
no
1+2
12
yes
no
Measuring system:
1+2
14
yes
Fig. 9-15: Determining encoder interface for the motor encoder
Note:
no
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Depending on whether a rotary or linear motor is used, the units and the
number of decimal places are changed via S-0-0116, Feedback 1
Resolution.
(see also chapter: "Linear-Rotational")
Note:
Optional encoder
A control with a direct measuring system facilitates higher contour
precision of the machined workpieces in terms that it offers higher
positioning accuracy. With setting the operation mode, you can determine
that the position control in the drive is done with the position feedback of
the optional encoder. Additionally, the velocity control can be completely
or partially done with the velocity feedback signal of this measurement
system.
(See also sections: "Operating Modes" and "Setting the Velocity Mix
Factor".)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Barcode
Typenschild
1 2 3 4
1 2 3 4 5 6 7 8 9
2)
1
2
scale
H30
H31
H32
H33
S2
Barcode
H1
S1
S3
5 6 7 8
1 2 3 4
1 2 3 4
1)
H30
H31
H32
H33
S2
Barcode
Barcode
Typenschild
1 2 3 4
1 2 3 4 5 6 7 8 9
H1
S1
S3
5 6 7 8
1 2 3 4
1 2 3 4
1)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
These specify:
the feedback type which is used,
the resolution of the optional encoder,
the direction of movement, etc.
The parameter S-0-0053, Position feedback 2 value displays the
position of the optional encoder.
Set the reference measure to the machine zero point as follows:
S-0-0148, C600 Drive controlled homing procedure command
or, for absolute encoders,
P-0-0012, C300 Command Set absolute measurement
The optional encoder can be used for different purposes.
The evaluation mode for the optional encoder is set in parameter
P-0-0185, Function of encoder 2.
Value in P-0-0185,
Function of encoder 2
Meaning
Optional encoder as only load-side control encoder (only with rotary asynchronous
motors). In this case, there is no other motor encoder (P-0-0074 = "0). Parameter
P-0-0121, Velocity mix factor Feedback 1 & 2 must be set to 100%.
Interface
Value in
P-0-0075
not available
--
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
The bits in the position encoder type parameter are partly set
or cleared by the drive itself. There is following dependency:
Position feedback
value 1
Position feedback
value 2
no
yes
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Measurement system
DSF/HSF
300 rpm
EnDat
Multiturn resolver
300 rpm
Fig. 9-24: Velocity allowed during initialization
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The parameters for the encoder resolution are listed in the data sheets of
the measuring system or they are automatically read out of the feedback
memory if such a measuring system is present. The number of lines per
encoder revolution or the grid constant of a linear scale (distance per
division period) is set there. The parameter values for the multiplication
are calculated by the drive during command S-0-0128, C200
Communication phase 4 transition check. They describe the resolution
per division period (dp).
It thus applies for the drive-internal resolution:
for rotary motors:
resolution = multiplication * encoder resolution
Resolution:
drive-internal resolution of position data [Incr/rev]
multiplication:
value in S-0-0256 or S-0-0257 [Incr/dp]
encoder resolution:
value in S-0-0116 or S-0-0117 [dp/Incr]
Fig. 9-25: Drive-internal resolution of rotary motors
resolution =
multiplica tion
encoder resolution
Resolution:
drive-internal resolution of positon data [Incr/mm]
multiplication:
value in S-0-0256 or S-0-0257 [Incr/dp]
encoder resolution:
value in S-0-0116 or S-0-0117 [mm/dp]
Fig. 9-26: Drive-internal resolution of linear motors
Examples:
1. MKD motor, S-0-0116 = 4, S-0-0256 = 32768, therefore: driveinternal resolution = 131072 increments/motor revolution or 0.00275
degrees/increment.
2. Linear scale as optional measuring system, S-0-0117 = 0.02 mm
(grid division = 20m),
S-0-0257 = 32768, therefore: driveinternal resolution of approximately 1638400 increments/mm or
0.00061 m (How to compute the drive-internal resolution if an
optional encoder is used, is described in greater detail below).
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
multiplica tion=
2 31
travelrange encoderre solution
travel range:
travel range shown in encoder revolutions
multiplication:
value in S-0-0256 or S-0-0257
encoder resolution:
value in S-0-0116 or S-0-0117
Fig. 9-27: Relationship between maximum travel range and multiplication with
rotary measuring systems
Examples:
1. MHD motor with S-0-0116 = 512, maximum travel range 2048 motor
revolutions, therefore, a multiplication of 2^31 / (2048 512) = 2048.
2. MHD motor with S-0-0116 = 512, maximum travel range 20 motor
revolutions, therefore, a multiplication of 2^31 / (20 512) = 209715.
The highest possible value equals 32768, thus a multiplication =
32768.
for linear scales:
multiplica tion=
2 31 encoder resolution
travel range
travel range:
travel range shown in mm
multiplication:
value in S-0-0256 or S-0-0257
encoder resolution:
value in S-0-0116 or S-0-0117
Fig. 9-28: Relationship between maximum travel range and multiplication in
linear scales
Example:
1.) Linear scale with 0.02mm grid division, maximum travel range 5m,
therefore a multiplication of 2^31 0.02 / 5000 = 8589 ( 8192).
This results in a resolution of 0.02mm / 8192 = 0.002441 m.
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
=4
= 1000
travel range
= 50 revolutions
gear ratio
= 1:1
= 256
= 0.02 mm
Travel range
=5m
feed constant
= 10 mm
= 3:1
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
amax
51.471.854.040
rad
encoder resolution multiplication s
amax:
maximum acceleration of position command of the interpolator
encoder resolution:
value in S-0-0116
multiplication:
value in S-0-0256
Fig. 9-29: Maximum acceleration of the position command interpolator as
dependent on the drive-internal position data format
amax
amax:
maximum acceleration of position command of the interpolator
encoder resolution:
value in S-0-0116 in mm
multiplication:
value in S-0-0256
Fig. 9-30: Maximum acceleration of the position command interpolator as
dependent on the drive-internal position data format
Example:
MHD motor with S-0-0116 = 512, multiplication = 32768, equalling a
maximum acceleration of the position command interpolation of 3067
rad/s.
9.3
Measuring system
Absolute
encoder range
Interface
(input no.):
as motor
encoder:
as optional
encoder:
Single/MultiturnDSF/HSF
1rev./4096rev.
Standard(1)
yes
yes
Single/Multiturn
resolver
1TP./65535TP.
Standard(1)
yes
no
depends on
encoder lengths
Optional(8)
yes
yes
Single/Multiturn rotary
encoder made by
Heidenhain with EnDat
interface
1rev./4096rev.
Optional(8)
yes
yes
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The absolute encoder range which the drive can evaluate can
be limited with the use of S-0-0278 Maximum travel range. In
parameters S-0-0378 Absolute encoder range 1 or S-0-0379
Absolute encoder range 2 the drive displays those absolute
encoder ranges which can be evaluated.
S-0-0278, Max.
travel range
Absolute format
Modulo format
Absolute encoder
evaluation possible
< S-0-0378 /
S-0-0379
not relevant
yes
> = S-0-0378 /
S-0-0379
not relevant
no
S-0-0103
<= S-0-0378/S-0-0379
yes
S-0-0103
Fig. 9-32:
> S-0-0378/S-0-0379
no
Absolute encoder evaluation as depends on position format, modulo
format and maximum travel range
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Fig. 9-33:
When turning off the drive's power supply, the current actual position of
the axis is loaded into resident memory. When switching the axis back on,
the difference of the stored position and the newly initialized position of
the measuring system is calculated. If this difference is greater than the
parametrized position window in parameter P-0-0097, Absolute encoder
monitoring window, the error message F276 Absolute encoder out of
allowed window is given.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Optional
feedback:
S-0-0147
Bit 3:
S-0-0051, Position
feedback value 1:
S-0-0053, Position
feedback value 2:
absolute
not absolute
absolute
absolute value of
motor feedback
absolute value of
motor feedback
not absolute
absolute value of
motor feedback
absolute value of
motor feedback
not absolute
absolute
absolute value of
optional feedback
absolute value of
optional feedback
not absolute
absolute
absolute value of
optional feedback
absolute value of
optional feedback
absolute
absolute
arbitrary
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
S-0-0403,
Pos. status:
absolute value of
absolute value of
1
motor feedback
optional feedback
Fig. 9-34: Position feedback values of absolute measurement systems after
initialization
ECODRIVE03 FGP-03VRS
Note:
9.4
Drive Limitations
Current Limit
Controllers, motors and machines are subject to various limits to protect
them against damage from overload. This protection is based on a
dynamic drop of the current computed for the output stage of the
controller and the motor, in addition to parameters set by the user for
another purpose.
The maximum current that may flow for a short period of time or that is
available as continuous current is specified in the relevant parameters
P-0-4046, Active peak current and
P-0-4045, Active permanent current.
Pertinent Parameters
S-0-0110, Amplifier peak current
P-0-4004, Magnetizing current
S-0-0109, Motor peak current
S-0-0111, Motor current at standstill
S-0-0092, Bipolar torque/force limit value
P-0-0109, Torque/force peak limit
P-0-4011, Switching frequency
Functional Principle
P-0-4046, Active peak current
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Thermal
load of the
controller
Thermal
load of the
motor
pull-out
current limit
P-0-0109, Peak
Torque/Force Limit
P-0-4004,
Magnetizing
Current
S-0-0092, Bipolar
Torque/Force Limit
P-0-4046,
Active Peak
Current
MIN
Smallest value of
S-0-0109 and
S-0-0110
Dynamic reduction
because of thermal
overload
Reduction in
dependence on
magnetizing current
Fig. 9-35:
P-0-4045, Active permanent
current
Reduction by
bipolar torque/force
limit
P-0-4011,
Switching Frequency
P-0-4004,
Magnetizing Current
P-0-4046,
Active Peak Current
P-0-4045,
Active
Permanent
Current
Selection of permanent
current from switching
frequency and device
data
Fig. 9-36:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Reduction by
magnetizing current
ECODRIVE03 FGP-03VRS
It is the task of the thermal current limit of the controller to protect the
unit against overheating. To do so, the thermal controller load
(P-0-0141) is computed from
the controller-specific data,
the command current profile and
the selected switching frequency.
If this reaches 100%, then the peak current is reduced.
The maximum current that can be continuously supplied by the controller,
is displayed in parameter P-0-4045, Active permanent current. This
current also leads to a 100% load. To what extent and how quickly the
current can be reduced depends on how the actual current supplied by
exceeds the effective continuous current.
Should the current being supplied once again drop to under the effective
continuous current, then the load of the unit sinks and the maximum
possible current increases.
To monitor the thermal controller load, two warnings are issued:
E257 Continuous current limit active is issued when the load
reaches 100%.
E261 Continuous current limit pre-warning is issued when the load
reaches the value set in parameter P-0-0127, Overload warning.
This means that a response to any eventual overload is possible even
before a peak torque reduction. It makes sense to parametrize a value of
80% for this purpose. This value should not be exceeded when operating
the drive under normal conditions.
Thermal
overload
100
Value in P-0-0127
Overload warning
P-0-4046,
Active
peak
current
Duration current
limiting and
pre- warning active
(E261)
Duration current
limiting active (E257)
P-0-4045,
Active
permanent
current
Sv5031f1.fh7
Fig. 9-37:
Checking the thermal load of the
drive controller
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Thermal
Overload
in per cent
100
80
Treshold for overload
pre- warning (P-0-0127)
0
t
Writing an arbitrary value to P-0-0141, here 80 per cent
Sv5032f1.fh7
Fig. 9-38:
Motor current limit
The motor may be loaded for a maximum of 400 msec with the 4-fold
value of S-0-0111, Motor current at standstill. During continuous
operation, a 2.2-fold value is permitted. If the maximum value is exceeded
for an extended period, however, then the motor current limit reduces the
maximum motor current to 2.2-times the motor standstill current.
For the maximum motor current to increase again, it is necessary to first
reduce the load on the motor, i.e., the current must drop below the 2.2fold motor standstill current.
If the motor overload limit is active then
warning E225 Motor overload is generated and
Bit 0 (overload warning) in S-0-0012, Class 2 diagnostics is set.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Torque Limit
Parameters
S-0-0092, Bipolar torque/force limit value
P-0-0109, Torque/force peak limit
specify the per cent value of S-0-0111, Motor current at standstill *
Factor cooling type that can be maximally made available. The factor of
the cooling type is derived from that cooling type of the motor which has
been programmed in parameter P-0-0640:
Cooling mode
Parameter value
Factor
P-0-0640Cooling type
uncooled
100 %
cooled
150 %
water cooled
2
Fig. 9-39: Factor cooling type
190 %
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
F260 Command
current limit
shutoff
E260 Command
Current limit active
S-0-0080,
Torque/Force
Command Value
Torque/force
producing
command current
IqCOM
MIN
Current limit from
torque/force
limiting
Current limiting
Internal
calculation
Torque/force
limiting
P-0-4046, Active
Peak Current
MIN
P-0-4045, Active
permanent Current
S-0-0092, Torque/Force
Limit
P-0-0109, Torque/Force
Peak Limit
Fig. 9-40:
The current and torque limits both effect the limit of the torque-generating
command current displayed in parameter P-0-4046, Active peak current.
Note:
Warning and Errors:
If the peak current limitation is active, then the drive generates warning
E260 Command Current limit active. If the drive remains here for more
than 5s, then it shuts itself down with error message F260 Command
current limit shutoff.
This function can be switched on via P-0-0538, Motor function
parameter 1 bit 11 = 1. (Load base parameters shuts the function off.)
With main spindle axes, the drives are generally accelerated to the
current limit which is the reason why this function does not make sense.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Limiting Velocity
The following parameters limit the velocity of the drive:
S-0-0113, Maximum Motor Speed (nmax)
S-0-0091, Bipolar Velocity Limit Value
The parameter S-0-0091, Bipolar Velocity Limit Value is designed to
allow variable limits of the maximum velocity to values smaller than the
maximum allowable velocity during operation.
The parameter S-0-0113, Maximum Motor Speed (nmax)designates the
maximum possible motor velocity. It is contained in the motor encoder
data storage of MHD-, MKD and MKE motors and does not need to be
entered, but with other types of motors this value must be taken from the
motor parameter specifications.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Relevant Parameters
S-0-0049, Positive position limit value
S-0-0050, Negative position limit value
S-0-0055, Position polarities
S-0-0403, Position feedback value status
P-0-0090, Travel limit parameter
P-0-0222, Status Inputs travel range limits
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Effect of working
range limitation
Working range
Machine table
Software limitation
via NC control unit
Software limitation
via drive controller
Switch: evaluation
by drive controller
Switch: incorporated
in master
E-Stop circuit
Axis shut-down
(see NC control
unit manual)
Power down drive package,
see Section 7.6)
Power down, drive
package brakes at
maximum acceleration.
Master
E-Stop circuit,
power down
Xx0002f1.fh5
Bit 0 : Negation
0: Travel range switch input =24V,
=> travel range exceeded
1: Travel range switch input =0V,
=> travel range is exceeded
Bit 1 : Activation
0: Travel range switch is not active
1: Travel range switch is active
Bit 2 : Response
0: Exceeded travel range is handled as error
1: Exceeded travel range is handled as warning
Fig. 9-48: Setting the drive reaction to exceeding the travel range (bit 2)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
Torque control
If command values are given that would lead out of the allowable travel
range, the travel range error will be generated again.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
SS display:
Diagnostic message:
As an error
F643
F644
E843
As a warning
E844
Bit 0 : Negation
0: Travel range switch input =24V,
=> travel range exceeded
1: Travel range switch input =0V,
=> travel range is exceeded
Bit 1 : Activation
0: Travel range switch is not active
1: Travel range switch is active
Bit 2 : Response
0: Exceeded travel range is handled as an error
1: Exceeded travel range is handled as a warning
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
SS display:
Diagnostic message:
As an error
F629
F630
E829
As a warning
E830
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
9.5
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Function
P-0-0074/
P-0-0075
Interface
Note
HSF
absolute
cyclical
X4
Endat
absolutel
cyclical
X8
incremental with
sine signals
(1Vss signals
incremental
X8
incremental with
TTL signals
incremental
X8
Fig. 9-54:
20
increments per
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
ENDat
Incremental
encoder
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
9.6
ECODRIVE03 FGP-03VRS
Error
Class
Diagnostic
Messages
Drive Response
Fatal
F8xx
Travel range
F6xx
Interface
F4xx
Non-fatal
F2xx
F3xx
F4xx
non-fatal errors
F2xx
At the end of each error response, the drives torque is cut off with
fatal errors
F8xx
F6xx
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Response
Torque Disable
3
Return motion
Fig. 9-57: Setting options for Best possible Deceleration
Given an error, the drive will stop with command value = 0. The drive
stops with its maximum permissible torque.
(See also section: "Current Limit").
The procedure for the motor brake activation (if mounted) and the power
stage disable with velocity command value deceleration to zero (with
spindle brake) are displayed below.
1
0
Vbrake=
10Rpm
0
1
0
1
Control of the
motor brake
0
P-0-0526, Motor brake lag time
t / ms
Sv5033f1.fh5
Fig. 9-58:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
Note:
Disable Torque
Best possible standstill
P-0-0119 = 1
or fatal error
In the event of an error, the drive goes torque free and is braked only by
the frictional force, i.e., it "coasts". The actual time to standstill can be
considerable especially with spindles.
Note:
DANGER
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
n = 10/min
Fig. 9-59:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Endstage locked
t
Endstage enabled
Fig. 9-60:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Return motion
Best possible Deceleration
P-0-0119 =3
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Undervoltage as warning
Mains error
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Function
Drive proceeds the error reaction immediately
after recognition of an error.
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
If bit 2 has been set to treat it as an error, then the reaction selected in bit
1 is performed. The error diagnosis F434 Emergency-Stop (or F634
Emergency-Stop), E-stop activated appears, and bit 15 is set in
parameter S-0-0011, Class 1 diagnostics . Bit 13 is set in the drive
status word of the drive telegram, i.e., drive interlock, error with class 1
diagnostics is set. The error can be cleared via command S-0-0099, C500
Reset class 1 diagnostic, or the S1 button on the drive controller if the
E-stop input is no longer activated.
This function basically works as if an error had occurred in the drive. The
drive reaction is immediate, independent of parameter P-0-0117, NC
reaction on error.
Fig. 9-64:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
9.7
Determining the control loop settings requires expert knowledge. For this
reason, application-specific control parameters are available for all digital
Rexroth Indramat drives. These parameters are either contained in the
feedback data memory and can be activated through the command
S-0-0262, C700 Command basic load (with MHD, MKD and MKE
motors) or they must be input via the setup/service program.
(See also "Load Default Feature")
In some exceptions, however, it may be necessary to adjust the control
loop settings for a specific application. The following section gives a few
simple but important basic rules for setting the control loop parameters in
such cases.
In every case, the given methods should only be seen as guidelines that
lead to a robust control setting. Specific aspects of some applications may
require settings that deviate from these guidelines.
The control loop structure is made up of a cascaded (nested) position,
velocity and torque/force loop. Depending on the operating mode,
sometimes only the torque control loop or the torque and velocity control
loops become operative. The control is structured as depicted below:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
S-0-0189
Kv S-0-0104
S-0-0032
S-0-0036
S-0-0037
S-0-0040
S-0-0047
S-0-0051
S-0-0053
S-0-0080
S-0-0084
vist
motor
vist
ext. encoder
P-0-0121
0 - 100 %
TGL=
P-0-0004
5: ...
d: ...
8: ...
TGL=
P-0-0004
2ms
S-0-0084
Kpi= S-0-0106
TNi= S-0-0107
current
comman
d value
Iqcom
current control
Fp5007fq.fh7
S-0-0080
P-0-0004
P-0-0099
P-0-0121
P-0-0180
P-0-0181
P-0-0538
P-0-4046
S-0-0040
Kp=
S-0-0100
P-0-4046
8ms
P-0-0538, Bit7
S-0-0091
S-0-0100
S-0-0101
S-0-0104
S-0-0106
S-0-0107
S-0-0189
S-0-0348
S-0-0053
S-0-0037
nlimit=
S-0-0091
S-0-0036
E259
velocity control
KB= S-0-0348
S-0-0032,
Bit 3
actual
position
value Xact S-0-0032 ...35,
S-0-0051
P-0-0099
S-0-0047
position
command
value
Xcom
5: pos. com.val.diff.
position control
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Load Default
With the command Basic Load, you can activate the default control
parameters for motor types with motor feedback data memory such as
MHD
MKD
MKE
With these parameters, the relevant control parameters can be set for the
motor type used.
Note:
Before the user can reset the error and thus start the base
load function, the option of saving a specific set of controller
parameters is available.
Error F208 UL The motor type has changed can be reset in three
different ways:
1.)
2.)
Actuating key S1
3.)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
If the execution of load base values is not possible, then the relevant
command error of command S-0-0262, C700 Command basic load will
appear.
(See also section: "Error Conditions of the Load Default Settings
Procedure").
Diagnostic Message:
Cause:
C702
C703
C704
Parameters incorrect
Fig. 9-66:
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Warning
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
0.5 x critical
Velocity loop
Integral Action Time:
Kp = 0.5 Kpcrit
Tn = 2 Tncrit
Kp = 0.8 Kpcrit
Tn = 0
Kp = 0.5 Kpcrit
Tn = 0
Application Type:
Comments:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Bandwidth
Frequency f
0
-3
Fig. 9.68: Amplitude response of the rejection filter in terms of bandwidth qualitative
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
10
100
0
f
fg
-20
0,1
-40
0,01
Sv5053f1.fh7
Fig. 9-69: Frequency response of low pass filters with 1 pole and with 2 poles
Note:
Fig. 9-70:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Position
controller
Motor and
mechanical
system
Position
controller loop
model
S-0-0159,
Monitoring
Window
Peak value detector
P-0-0098,
Maximum Model
Deviation
Note:
settings
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Example:
Content of P-0-0098, Maximum Model Deviation:
0.1
Determination for the parameter S-0-159, Monitoring Window:
0.2
(= 2 x 0.1 )
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
AccelerationFeedforwar d=
JMotor +JLoad
1000
Kt
(P-0-0510)
(P-0-4010)
(P-0-0051)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Rotary table
100
P-0-0121,
Velocity mixfactor feedback 1 & 2
Ap5174f1.fh7
Fig. 9-73:
9.8
General Comments
To expedite drive parametrization, the firmware offers an automatic
control loop setting. Using parameters P-0-0163, Damping factor for
automatic control loop adjust and P-0-0164, Application for
automatic control loop adjust, it is possible to control (control loop
dynamics) the results.
Note:
WARNING
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
If bit15 of P-0-0165 has not been set, then the range in which the axis
may move with an automatic control loop setting is defined with
an upper limit position P-0-0166
and a lower limit position P-0-0167
This results in the value of P-0-0169, Travel distance for automatic
control loop adjust.
If Bit 15 of P-0-0165 is set, then the range in which the axis may move
with an automatic control loop setting is defined with
P-0-0169, Travel distance for automatic control loop adjust and
Start position (actual position) at the start of a command
This results in the value of P-0-0166, lower limit for automatic CL (start
position - travel range) and of P-0-0167, upper limit for automatic CL
(start position + travel range) in which the axis may move to execute the
command.
to modulo
P-0-0167 Upper
P-0-0166 Lower
value limited
position limit for
position limit for
position autom. control loop autom. control loop
adjust
adjust
S-0-0103,
Modulo value
startposition
absolute
position
Fig. 9-74: Travel range with automatic control loop settings with modulo scaling
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
Possible errors:
D905 Position range invalid,
P-0-0166 & P-0-0167
If the defined travel path equals less than two motor revolutions, then
command error D905 Position range invalid, P-0-0166 & P-0-0167 will
be generated.
If the axis is not within the above defined range at the start of the
command, then command error "D906 Position range exceeded" is
generated.
Command settings
All parameters used in the execution of the command must be
programmed before command start so that they are effective in the
automatic control loop setting.
P-0-0163, Damping factor for automatic control loop adjust
Use this parameter to select the desire control loop dynamics.
P-0-0164, Application for automatic control loop adjust helps
taking the mechanical conditions with controller optimization into
account.
P-0-0165, Selection
for automatic control loop adjust
Used to select functinalities (modes) of the automatic control loop
settings.
Possible causes for S-0-0092, Bipolar torque/force limit value
The maximum torque for the automatic control loop settings can be
command errors:
programmed with parameter S-0-0092, Bipolar torque/force limit
"D903 Inertia detection failed"
value. This can help limit the torque to prevent mechanical wear and
tear.
S-0-0108, Feedrate override
The velocity of the automatic control loop settings can be programmed
via the analog channel (Poti) with this parameter.
S-0-0259, Positioning Velocity
This sets the speed for the control loop settings. If the value is not high
enough, the command error D903 is generated.
S-0-0260, Positioning Acceleration
The maximum positioning speed is set here. If the value is not high
enough, then command error D903 is generated.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
Start command
Initiated by writing into parameter P-0-0162, D900 Command Automatic
control loop adjust with binary numeric value 3 (11b) (=command start).
Tripping a motion
An axis motion and thus the execution of a setting is only possible if the
signal Drive halt has not been set.
Otherwise, D900 Command automatic loop tuning at the appears in
the display start of the command and the axis does not move.
Triggering a motion by starting
command D900
velocity profile
AH/START
INBWG (moving)
time span of autom. control loop adjust
drive enable
start autom.
control loop
adjust
1)
diagnostic display
H1
Ab
AF
D9
AH
A
t
1) start of the automatic control loop adjust via start buttom in Drivetop or via
command (P-0-0162)
SV5008D1.fh7
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
velocity
profile
AH/START
INBWG (moving)
time span of autom. control loop adjust
drive enable
start autom.
control loop
adjust
1)
AF
diagnostic display
H1
Ab AH
D9
AH
1) start of the automatic control loop adjust via start buttom in Drivetop or via
command D9 (P-0-0162)
SV5010D1.Fh7
velocity profile
interrupt
AH/START
INBWG (moving)
time span of autom. control loop adjust
drive enable
start autom.
control loop
adjust
1)
diagnostic display
Ab
AF
D9
AF AH
t
1) start of the automatic control loop adjust via start buttom in Drivetop or via
command D9 (P-0-0162)
SV5009D1.Fh7
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
1 step:
2
nd
step:
rd
3 step:
th
Check speed control loop and correct controller parameter, if need be,
until correct behavior appears (depends on dynamics programmed).
th
4 step:
5 step:
th
6 step: END
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
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DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Bit 0 : reserved
Bit 1 : set speed control
Bit 2 : set position control
Bit 3 : set acceleration
feedforward
Bit 4 : determine load
Bit 5 : reserved
Bit 6 : determine maximum accel
Bit 7-13 : reserved
Bit 14 :
0: oscillation
1: motion in one direction only
Bit 15 : Fixing travel range
0: input limits
1: input travel range
Fig. 9-79: Select parameter for automatic control loop settings
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
9.9
Drive Halt
The drive halt function is used to bring an axis to a standstill with a
defined accel and defined jerk.
The function is activated:
by clearing the drive halt bit
due to setting drive halt bit to zero in fieldbus control word. The
structure of the control word depends on the set profile type. For
profile types I/O mode (profile type = FF80, FF81 or FF82) in bit 1, for
Rexroth Indramat profile types in bit 13 of fieldbus control word.
or by interrupting a drive control command (e.g., drive-guided
referencing).
Pertinent Parameters
Which parameters are active depends upon which operating mode was
interrupted by the drive halt command
Standstill for Operating Mode "Drive Internal Interpolation":
S-0-0359, Positioning Deceleration (or S-0-0260, Positioning
Acceleration, when S-0-0359 = "0")
S-0-0193, Positioning Jerk
Standstill for Operating Mode "Positioning Block Mode":
P-0-4063, Process block deceleration (or P-0-4008, Process block
acceleration, when P-0-4063 = "0")
P-0-4009, Process block jerk
Standstill for Operating Mode "Jogging":
S-0-0260, Positioning Acceleration
S-0-0193, Positioning Jerk
Standstill for Operating Mode without drive-internal position command
generation:
S-0-0138, Bipolar acceleration limit value
S-0-0349, Jerk limit bipolar
Standstill for Operating Mode "Velocity control" or "Torque Control":
P-0-1211, Deceleration ramp 1 ( or P-0-1201, Ramp 1 pitch, falls
P-0-1211 = "0")
P-0-1202, Final speed of ramp 1
P-0-1213, Deceleration ramp 2 ( or P-0-1203, Ramp 2 pitch, falls
P-0-1213 = "0")
The following parameters are used for diagnostic purposes:
S-0-0124, Standstill window
S-0-0182, Manufacturers status class 3
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Standstill takes place in position control with the use of previously active
decel and jerk limit values if an operating mode with drive-internal position
command value generation was previously active.
Operating modes with drive-internal position command generation are:
drive-internal interpolation
positioning block mode
jog mode.
If the decel parameter of the operating mode is zero, then the relevant
accel parameter of the operating mode is used.
Velocity
command
value
Drive
HALT
0
Operating mode
activ
Drive HALT
activ
Operating mode
activ
t / ms
Sv5037f1.fh5
Fig. 9-80: Principle of drive halt with previously active position control without
drive-internal position command value generation
Note:
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If the actual velocity falls below the value of the parameter S-0-0124,
Standstill window, the bit 11 "Drive Halt Confirmation" will be set in
S-0-0182, Manufacturer class 3 diagnostics.
The selected mode becomes active once again if:
by setting the drive halt bit in the fieldbus control word. The structure of
this word depends on the set profile type. For profile types I/ mode
(profile type = FF80, FF81 or FF82) in bit 1, for Rexroth Indramat
Profile types in bit 13 of fieldbus control word
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Pertinent Parameter
To run this feature, use the following parameters:
S-0-0148, C600 Drive controlled homing procedure command
S-0-0147, Homing parameter
S-0-0298, Reference cam shift
S-0-0299, Home switch offset
S-0-0052, Reference distance 1
S-0-0054, Reference distance 2
S-0-0150, Reference offset 1
S-0-0151, Reference offset 2
S-0-0041, Homing velocity
S-0-0042, Homing acceleration
P-0-0153, Optimal distance home switch - reference mark
S-0-0177, Absolute distance 1
S-0-0178, Absolute distance 2
S-0-0165, Distance coded reference offset 1
S-0-0166, Distance coded reference offset 2
The following parameters
S-0-0108, Feedrate override
S-0-0057, Position window
S-0-0349, Jerk limit bipolar
S-0-0403, Position feedback value status
also can be used.
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Fig. 9-81:
Note:
Overview of the Type and Allocation of Reference Marks of NonAbsolute Measuring Systems
For better a understanding, you can divide the measurement systems into
4 groups according to the type and configuration of their reference marks.
Type 1: Measurement systems with absolute single-turn range, such
as the Single-turn DSF or Resolver. These measurement systems
have an absolute range of one encoder revolution or fractions of it
(resolver). Typical systems are
the encoders for the MHD, MKD and MKE motors
the GDS measurement system.
Single-turn encoder with ENDAT-Interface from Heidenhain
Type 2: Incremental rotational measurement systems with a reference
mark for each encoder rotation, such as the ROD or RON types from
the Heidenhain Company.
Type 3: Incremental translation measurement systems with one or
several reference marks, such as the LS linear scaling of the
Heidenhain Company.
Type 4: Incremental measurement systems with distance coded
reference marks, such as the LSxxxC linear scaling of the Heidenhain
Company.
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Note:
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S-0-0042,
Homing
acceleration
S-0-0108,
FeedrateOverride
S-0-0041,
Homing
velocity
0
Starting point
Home point
X
Sv5038f1.fh5
Fig. 9-83: Position command profile with homing velocity and homing
acceleration
maximum velocity
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motional process
WARNING
If reference markers are available (type 2 to 4, see above), and if the
reference marker evaluation is activated, then the drive runs in homing
direction until it detects a reference marker. In distance-coded
measuring systems (type 4), two sequential reference markers must
be passed. The reference markers are always evaluated there
(independent of bit 6 in S-0-0147).
S-0-0147, Bit 7 = 0
The further action depends on how bit 7 has been set in S-0-0147,
Homing parameter. If bit 7 = 0 is programmed ("any position after
homing"), then the drive brakes with the programmed homing
acceleration up to standstill. If the value of the velocity feedback is less
than the value set in S-0-0124, Standstill window, then the coordinate system of the referenced encoder is set, and the command is
signalled as completed.
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The further course depends on what was set in bits 7 and 8 S-0-0147,
Homing Parameter. There are three options.
Stopping: After the necessary motions to detect the reference switch
or marker have been executed, the drive stops with the programmed
homing acceleration. Once a speed is reached that is less than the
value set in S-0-0124, Standstill window, then the switch to the coordinate system (position feedback value switching) is performed and
the successful completion of the command is signalled.
Positioning: After the necessary movements to detect the reference
switch or marker have been completed, the drive positions at the
reference point. This point for non-distance-coded measuring systems
is the sum of the position of the relevant reference mark/switch trigger
edge plus the reference dimension offset. The reference point for
nd
distance-coded encoders is the position of the 2 over-travelled
reference marker.
Running paths: During the homing procedure, the drive runs a specific
path. This mode is only possible with distance-coded measuring
systems. The path is fixed by what has been set in parameter
S-0-0165, distance-coded reference 1. By following off the path that
has been programmed here, it is assured that the drive will always
overrun two sequential markers. This function makes sense, for
example, in gantry axes (parallel, mechanically coupled axes)
equipped with distance-coded measuring systems. By activating this
mode in all of the coupled axes it is ensured that at the simultaneous
start of command S-0-0148, C600 Drive-guided reference every
drive will run the same profile.
Note:
If the "Run path" mode is used with gantry axes, then the
gantry axes are not automatically run in parallel by the
referencing procedure. The mechanically coupled axes only
run a relative path. Their shared position reference does not
change. (In contrast to the "Positioning" mode that is only
possible with non-distance-coded encoders, where the axes
are automatically run in parallel by the driveside referencing
procedure itself.)
S-0-0147
Bit 3:
Actual
feedback
value 1:
Actual
feedback
value 2:
Not
absolute
unchanged
reference
distance 2
not
absolute
absolute
reference
distance 1
unchanged
not
absolute
not
absolute
reference
distance 1
reference
distance 1
Motor
encoder:
Ext.
encoder:
absolute
not
not
1
reference
reference
absolute
absolute
distance 2
distance 2
Fig. 9-85: Position feedback values after the drive-controlled homing command
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The reference point can be shifted relatively to the reference mark (see
"Consideration of the reference offset").
Parameter S-0-0041, Homing velocity and
acceleration can now be set to their final values.
S-0-0042,
Homing
0
Starting
Reference marker
Home point
Sv5040f1.fh5
Fig. 9-86: Command value profile for positive reference offset and positive
homing direction
If the reference direction is negative, then the drive must reverse the
direction (with types 2 and 3) after passing the reference marker.
Reference Offset
V
0
Reference
Reference point
Starting point
Sv5043f1.fh5
Fig. 9-87: Command profile for positive reference offset and negative homing
direction
Negative reference offset
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Reference offset
V
0
Reference point
Reference mark
Starting point
Sv5042f1.fh5
Fig. 9-88: Command profile with negative reference offset and negative homing
direction
If the referencing direction is positive, then the drive must reverse the
travel direction (with types 2 and 3) after passing the reference marker.
Reference distance
V
0
Starting point
Reference marker
Home point
Sv5041f1.fh5
Fig. 9-89: Command profile with negative reference offset and positive homing
direction
Example:
Ap5047f1.fh7
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Note:
V
Command
value profile
0
X
Home switch
Homing direction at start
Sv5048f1.fh5
WARNING
V
Command
value profile
0
X
Home switch
Homing direction at start
Sv5049f1.fh5
0
Command
value profile
Starting point
Home switch
Homing direction at start
Sv5047f1.fh5
Fig. 9-93: Command profile with start position on the home switch
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= 1 Motor
revolution
Homing direction
SV5070f1.fh7
The distance between the home switch edge and the reference mark is
monitored for this reason.
If the distance between the home switch edge and the reference mark
becomes smaller than a certain value, the command error C602 Distance
home switch - reference mark erroneous will be generated.
The Critical Range for the distance is:
0.25 Distance between reference markers
Optimaler distance=
0,5 *Distance of reference marks
critical distance=
0,25 * Distance of reference marks
Distance of the
reference marks
Home switch in critical area
Homing direction
SV5071f1.fh7
Fig. 9-95: Critical and optimal distance between home switch and reference mark
The optimum distance between the home switch edge and the reference
marker is:
0.5 Distance between reference markers
To monitor the distance between the home switch and the reference
mark, the optimal distance is entered in P-0-0153, Optimal distance
home switch - reference mark.
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P-0-0153
Function
Rotary
Rotary
Linear
Linear
For every homing with home switch evaluation, the difference between
actual distance and optimal distance is monitored. The difference is
saved in parameter S-0-0298, Reference cam shift. The home switch
edge can be shifted mechanically for this value.
To avoid a mechanical shifting of the home switch edge, you can set this
procedure in the software with the parameter S-0-0299, Home switch
offset. The value in parameter S-0-0298, Reference cam shift is
transferred to parameter S-0-0299, Home switch offset.
Optimal distance=
0,5 * Distance of reference marks
Distance of
reference marks
S-0-0299, Home switch offset
Actual home switch
effective home switch
Homing direction at start
SV5072f1.fh7
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fen
= S - 0 - 0165 S - 0 - 0116
Fig. 9-98: Travel path when referencing with distance-coded reference marks
and in "Run path" mode for translatory measuring systems (linear
scales)
homing of a translatory optional
encoder (encoder 2)
fen
= S - 0 - 0165 S - 0 - 0117
Fig. 9-99: Travel path when referencing with distance-coded reference marks
and in "Run path" mode for translatory measuring systems (linear
scales)
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S Re
S-0-0165:
S-0-0116:
s Re fen
fen
Fig. 9-100: Travel path when referencing with distance-coded reference marks
and in "Run path" mode for rotary measuring systems
homing of a rotary optional
encoder (encoder 2)
S Re
S-0-0165:
S-0-0117:
s Re fen
fen
Abb. 9-101: Travel path when referencing with distance-coded reference marks
and in "Run path" mode for rotary measuring systems
In parameters
S-0-0165, Distance coded reference offset 1 and
S-0-0166, Distance coded reference offset 2
the greater and smaller distance of the reference mark must be entered.
These values can be retrieved from the encoder specification.
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501
503
502
1001
1001
1000
1000
Pitch unit:
in m
Input in:
ID No.: S-0-0166
Input in:
ID No.: S-0-0165
20
20
1000
1001
10
10
1000
1001
20
10
2000
2001
Pi5005f1.fh5
Fig. 9-102: Distance-coded measuring system specified with greater and smaller
distance
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WARNING
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If the home switch is not evaluated, the drive always covers the distance
in the selected homing direction which is necessary to capture 2 adjacent
marker positions. This distance is
v2
2 a
If the drive is closer to the travel limit in homing direction than the
necessary travel distance SRefmax, it can leave the allowed travel range
and do mechanical damage to the machine. To avoid this,
make sure that the distance of the axis to the travel limit at start of the
command S-0-0148, C600 Drive controlled homing procedure
command is greater than the max. necessary travel distance SRefmax,
or
evaluate the home switch.
Home switch evaluation
If the home switch is evaluated, and if at the command start the home
switch is already activated (S-0-0400, Home switch = 1), the drive
automatically starts in the opposite homing direction.
Therefore, the home switch must be mounted in such a way that it covers
at least the max. necessary travel distance SRefmax until reaching the travel
range limit in the homing direction.
travel range limits
SRefmax
correct mounting of the home switch
incorrect mounting of the home switch
Homing direction
SV5074f1.fh7
Fig. 9-104: Mounting the home switch with distance coded reference markers
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The home switch should be set up, so that the activation range
remains within the travel range of the axis. Otherwise, the
travel range may be overrun at command start if the start
position is in an unfavourable position. Damage to the system
is possible !
Travel range limits
Fig. 9-105: Configuration of the home switch in reference to the travel range
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Pertinent Parameters
The following parameters are relevant to the execution of commands:
P-0-0012, C300 Command Set absolute measurement
P-0-0612, Control word for setting absolute measurement
S-0-0147, Homing parameter
S-0-0052, Reference distance 1
S-0-0054, Reference distance 2
S-0-0403, Position feedback value status
S-7-0177, Absolute distance 1
S-7-0178, Absolute distance 2
Functional Principle
The motor is brought to a precise position. The value of the actual
position of the measuring system is entered in parameters S-0-0052,
Reference distance 1 (for motor encoders) or S-0-0054, Reference
distance 2 (for any other encoders).
Upon successful completion of command P-0-0012, C300 Command
Set absolute measurement, the actual position value is set to that
value entered in the relevant Reference dimension and after S-0-0403,
Position feedback value status has been set to "1".
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For bits 1 and 2 the difference as to whether drive enable is given or not
must be made.
Parameter Structure:
P-0-0612, Control word setting absolute dimension
Bit 0: Save absolute encoeder offset
0: resistant
1: not resistant
Bit 1: Activating the command setting
absolute dimension
0: Parameter
Bit 2: Switching the coordinate system
0: manual
1: automatic
The command
Note:
Case
P-0-0612
A1
Bit1 = 0
Bit2 = x
B1
Bit1 = 1
Bit2 = x
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Case B1:
Basically same procedure as with case A1, but the command is activated
by the flank at the zero switch input.
Note:
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Case
P-0-0612
C1
Bit1 = 0
Bit2 = 0
C2
D1
Bit2 = 1
Bit1 = 1
Bit1 = 0
Bit2 = 0
D2
Bit1 = 1
Bit2 = 1
Fig. 9-108: Overview: setting the absolute dimension with drive enable
Note:
Case C1:
In the event that the co-ordinate system switch does not automatically
take place drive-internally, (P-0-0612, bit 2 ="0"), then proceed as follows:
take the axis to the measured position
enter the actual position value wanted into the relevant reference
dimension actual position value parameter
Start command P-0-0012, C300 Command Set absolute
measurement (write "11b" into P-0-0012"). There is no switching of
position data as yet.
Start command S-0-0148, C600 Drive controlled homing procedure
command or remove drive enable. This function recognizes that it is
dealing with an absolute measuring system and conducts "Setting the
absolute dimension". In other words, the actual position value is set to
the reference dimension. The position command value is
simultaneously set to the same value (S-0-0047, Position command
value). If the drive is in "Position control" mode, then the position
command value must be read via the acyclic parameter channel (e.g.,
service channel with SERCOS) and the position command value of the
control set to this value before the referencing command is cleared.
Clearing command "C300 Set absolute measuring the absolute
dimension"
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In the event that the co-ordinate system is to be automatically and driveinternally switched at the start of command "Setting the absolute
dimension" (P-0-0612, Bit 2 ="1") then proceed as follows:
Bring the axis to the measured position.
Enter the desired actual position value in the relevant reference
dimension actual position value parameter.
Start command C300 Set absolute measuring the absolute
dimension (write "11b" into P-0-0012") and position data are also
automatically switched.
Drive-internally and automatically command S-0-0148, C600 Drive
controlled homing procedure command is started. With command
execution, the drive recognizes that it is dealing with an absolute
measuring system and conducts "Setting the absolute dimension". In
other words, the actual position value is set to the reference
dimension. The position command value is simultaneously set to the
same value (S-0-0047, Position command value). In position control
mode this automatically leads to the automatic switch of the coordinate system, but as the control cannot bring its command value
immediately up to the new actual value, there is an abrupt transition.
Clear command
measurement.
Case D1:
P-0-0012,
C300
Command
Set
absolute
In the event that the co-ordinate system switch is not automatic and driveinternal (P-0-0621, Bit 2 ="0"), then basically the same procedure as with
case C1 should be followed, but the command is here activated by a flank
at the zero switch input.
Activate the zero switch input by setting P-0-0612, Bit1="1".
Run the axis to the measured position (e.g., jog it there).
and so on ...
Note:
Case D2:
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Actual
position
value 2
any
Reference
dimension 1
Reference
dimension 1
absolute
any
Reference
dimension 2
Reference
dimension 2
absolute
absolute
Reference
dimension 1
unchanged
absolute
absolute
unchanged
Motor
encoder
Optional
encoder
S-0-0147
Bit 3:
absolute
not
absolute or
not there
not
absolute
Reference
dimension 2
Fig. 9-109: Actual position value after setting the absolute dimension
Diagnostic messages
While executing the command it is possible that command error "C302
Absolute measuring system not installed" is generated once
command P-0-0012, C300 Command Set absolute measurement is
started without an absolute measuring system having been installed.
Hardware Connections
See "project planning manual zero switch input (terminal X3 pin1).
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Notes
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10
Pertinent Parameters
These parameters are used with this function:
S-0-0144, Signal status word,
The desired bits are applied there.
S-0-0026, Configuration list signal status word,
ID number list with variable length to configure the bit strip.
S-0-0328, Assign list signal status word
Bit number list with variable length to configure the bit strip.
Bit number 0 (LSB) to 31 (MSB) can be specified. For each bit number of
this list there must be an ID number in the same list position in list
S-0-0026. Otherwise, the drive, when writing the bit number list, will issue
the error message "ID number not available". This is why list S-0-0026,
Configuration list signal status word must be written into before
S-0-0328, Assign list signal status word.
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A signal status word with the following configuration must be put together:
Bit no. in
S-0-0144, Signal
status word
ID number of
original
parameter
S-0-0013
Vist = 0
S-0-0182
IZP
S-0-0403
position status
P-0-0016
P-0-0015
specifying
memory address
of a drive-internal
counter.
Transmission is
from bit 4.
Fig. 10-1:
Signal status word output
Bit no. of
original
parameter
Definition
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Involved Parameters
The following parameters are used for the functions
S-0-0027, Configuration list signal control word
S-0-0329, Assign list signal control word
S-0-0145, Signal control word
S-0-0399, IDN list of configurable data in the signal control word
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For every bit number in list S-0-0329, Assign list signal control word
there must be an ID number at the same list position in the list in
S-0-0027, Configuration list signal control word. Otherwise, when
writing the bit number list from the drive, error message "ID number not
available" will be generated.
Note:
Example:
Bit no. In
S-0-0145
ID number
of the target
parameter
Bit no.
of the
target
parameter
Definition
P-0-4026
P-0-4026
P-0-4026
P-0-4026
P-0-4026
P-0-4026
S-0-0346
start (strobe)
S-0-0148
start referencing
command
P-0-4056
jog positive
9
Fig. 10-2:
P-0-4056
1
jog negative
Example for configuration signal control word ( = default setting)
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configuration
This first requires that their ID number be input in the signal select for
channel 1 (P-0-0420) or 2 (P-0-0423). The unit and the attribute (number
of decimal places) of the relevant scaling (P-0-0422 or P-0-0425) is set as
per the selected parameter. If the selected parameter depends on a
scaling mode, then the settings there apply to the scaling as well.
scaling
The expanded output only functions if the signal select for the channel
used (P-0-0420 or P-0-0423) is deactivated by inputting the ID number 0.
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The following list shows which signal is output with which signal number.
Signal number
P-0-0421/424
Output signal
Reference unit:
Evaluation factor 1.0000
0x00000001
0.5V/10V
0x00000002
motor encoder
cosine signal
0.5V/10V
0x00000003
0.5V/10V
0x00000004
0.5V/10V
0x00000005
Position command
difference on the
pos. controler
rot. 1000rpm/10V
0x00000006
DC bus power
1kW/10V
0x00000007
absolute DC bus
power amount
1kW/10V
lin. 100m/min/10V
0x00000008
effective current
S-0-0110/10V
0x00000009
relative current
S-0-0110/10V
0x0000000a
thermal load
100 % / 10V
0x0000000b
motor temperature
150C/10V
0x0000000c
magnetizing current
S-0-0110/10V
0x0000000d
velocity command at
the velocity controller
rot. 1000rpm/10V
synchronous
position command
value
synchronous velocity
lin. 100m/min/10V
FREE
FREE
...
0x00000014
0x00000015
2^20/10V
0x00000017
= S-0-0000
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= 0.1500
ECODRIVE03 FGP-03VRS
The bit and byte output is only possible if the signal selection for the used
channel (P-0-0420 or P-0-0423) is deactivated by inputting the ID number
0.
configuration
The selection of the function and the storage address takes place in the
parameters
P-0-0421, Analog output 1, expanded signal selection and
P-0-0424, Analog output 2, expanded signal selection.
In the high nibble (half byte with bits 28..31), byte output is activated with
a 1 and bit output with a 2. The least significant 24 bit of the parameter
inputs the storage address.
Bit 0..23
24 Bit adress
Bit 28 ..31:
Byteoutput 0x1
Bitoutput 0x2
Fig. 10-4: Parametrizing bit or byte output
scaling
Byte output
With byte outputs, the MSB of the byte to be output is interpreted as sign
bit. Voltages ranging from -10 to +10 volts are output.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Pertinent Parameters
The following parameters are available for the function:
P-0-0210, Analog input 1
P-0-0211, Analog input 2
P-0-0212, Analog inputs, IDN list of assignable parameters
P-0-0213, Analog input 1, Assignment
P-0-0214, Analog input 1, Scaling per 10V
P-0-0215, Analog input 2, Assignment
P-0-0216, Analog input 2, Scaling per 10V
P-0-0217, Analog input 1, Offset
P-0-0218, Analog input 2, Offset
E1-
Dcmpl2
P-0-0210
Analog input 1
16
E2+
+
A
E2-
Fig. 10-5:
Dcmpl2
P-0-0211
Analog input 2
16
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Fig. 10-6:
The unit of the parameter P-0-0214, Analog input 1, Scaling per 10V
complies with the unit of the assigned parameter.
Selection list
Note:
Example:
= S-0-0036
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Pertinent Parameters
P-0-0124, Assign IDN -> Digital output
S-0-0097, Mask class 2 diagnostic
Functional Principle
With parameter P-0-0124, Assignment IDN -> Digital output it is
possible to assign any parameter to these outputs.
Parameter structure
P-0-0124:
Example:
Parameter S-0-0144 is to be brought to the digital outputs of the drive
controller.
1.
2.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Hardware Requirements
DKC**.3
(*)
Bit 0
(*)
Bit 1
(*)
DKC01.3
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Signal selection:
0x00
--
0x01
0x02
0x03
Velocity control
deviation (S-0-0347)
0x04
Following error
Parameter (S-0-0189)
0x05
Torque/force command
value
Parameter S-0-0080
Percent
0x06
0x07
0x08
0x09
Fig. 10-8:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Note:
The trigger is activated by the control through bit 0 in the Trigger Control
Word. This makes it possible to transmit a trigger event to several drives.
This parameterization supports parameter P-0-0035, which is needed to
visualize the recording data.
Internal trigger
(P-0-0025 = 0x02)
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Trigger Edge:
Fig. 10-10:
Trigger signal:
Associated
trigger edge:
0x00
no trigger signal
not defined
0x01
0x02
0x03
Velocity deviation
Parameter S-0-0347
0x04
Following error
Parameter S-0-0189
0x05
If the expanded trigger feature is activated, then the trigger signal address
must be defined via the parameter P-0-00146 Expanded Trigger
Address. The associated trigger level is entered in the parameter
P-0-0145 Expanded Trigger Level.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The 16-bit value of the trigger edge is monitored and the trigger signal will
be ANDed with the trigger signal screen mask.
Trigger threshold
Trigger signal
Trigger status
(Bit 0)
Trigger delay
P-0-0033 Number of
Samples after Trigger
Recording length
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Bit 0:
Bit 1:
Bit 2:
Trigger action
(Input with external
triggering)
Trigger release
Oscilloscope
function active
The oscilloscope feature is activated by writing "1" into bit 2; i.e., the
internal probe value memory is continually written with the selected
measurement signals. If bit 1 is set, then the trigger monitor is activated,
and the oscilloscope feature waits for the selected edge to occur. If a valid
edge is recognized, then the probe value memory will be completed as
set in parameter P-0-0033, and the oscilloscope feature will be
deactivated by resetting bits 1 & 2 in the trigger control word.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Trigger
threshold
Trigger signal
Trigger status
(Bit 0)
P-0-0033: Number of
Samples after Trigger
Trigger delay
Trigger control
(Bit 0)
P-0-0035 Delay
from Trigger to Start
Recording length
Recording is running
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
You can read the absolute values of these signals at the time of a positive
or negative edge as well as their difference by parameters.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Only the first positive and the first negative signal edge of the
input will be evaluated after the 01 (rising) edge of the probe
enable. For each new measurement, the probe enable must
be reset to 0 and then to 1. When the probe enable is
cancelled, the corresponding probe-value latched parameters
are also cancelled.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
3
0
Probe Enable
Probe
Probe negative latched
Latching the selected signal
here at the negative edge
creates a new measurement
difference
Probe positiv latched
t / ms
Latching the selected signal
here at the positive edge
creates a new measurement
difference
Sv5081f1.fh5
Fig. 10-19:
Evaluation of probe signal edges, when positive and negative
signal edge evaluation are set in the probe control parameter
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Bit 0:
Bit 1:
Bit 2:
Bit 3:
Signal:
time
position feedback 3
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Value of P-0-0201:
Fig. 10-22:
Signal:
time
If the command is cancelled by the control after execution, then all regular
controller monitors are reactivated.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Start
Command
NC
Position command 0
values
Torque for
command values
Velocity
Command
0
acknowledgement
t
SV5001d1.fh7
Fig. 10-23: Time sequence when activating the command: Positive stop drive
procedure
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Pertinent Parameters
S-0-0139, D700 Command parking axis
Functional principle
The command may only be started without drive enable.
If the command is activated with drive enable applied, then the drive
generates command error D701 Park axis only without drive enable.
After starting command S-0-0139, D700 Command Parking axis it
follows:
that the measuring system monitors,
the control loop monitors and
the temperature monitors
are deactivated.
The measuring system initializations are conducted at the end of the
command. This means all initializations as with command S-0-0128,
C200 Communication phase 4 transition check are conducted. The
display reads "PA.
This drive no longer accepts the drive enable.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Pertinent Parameters
P-0-0131, Signal Select Position Switch
P-0-0132, Switch-On Treshold Position Switch
P-0-0133, Switch Off-Treshold Position Switch
P-0-0134, Position Switch Lead Time
P-0-0135, Status Position Switch
Time
PLS bit x
Fig. 10-24: General Function Diagram for the Programmable Limit Switch
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Time
Xon
Xoff
Time
Xoff
Xon
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Reference value
Theoretical reference value
Actual reference
value
On or off switch threshold
Time
Feature:
The P-0-0134,
Programmable Limit Switch
Lead Time parameter always
should be parameterized
completely (i.e., with all 16
elements), even if not using
the delay.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
"Absolute encoder emulation" means that the drive controller has the
option of emulating a real absolute encoder in SSI data format. The drive
controller thus offers the possibility of transmitting the position in SSI data
format to the connected control (NC). Thus the control is able to close the
position control loop.
Pertinent Parameters
P-0-4020, Encoder emulation type
P-0-0502, Encoder emulation, resolution
P-0-0012, C300 Command Set absolute measurement
Parameter
P-0-0503, Marker pulse offset
is used additionally for incremental encoder emulation.
Parameters
S-0-0076, Position data scaling type
S-0-0052, Reference distance 1
S-0-0051, Position feedback 1 value
S-0-0053, Position feedback 2 value
S-0-0047, Position command value
P-0-0053, Master drive position
P-0-0052, Position feedback value 3
S-0-0121, Input revolutions of load gear
S-0-0122, Output revolutions of load gear
S-0-0123, Feed constant
are used additionally for absolute encoder emulation.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Unit
lines / revolution
linear motors:
With motor encoders that achieve an absolute position within one motor
revolution after initialization, or within one electrical revolution with
resolvers, the zero pulse is always generated at the same motor position
each time the unit is switched on.
Non-absolute encoder
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
The drive can also conduct drive-guided referencing if the control permits
it.
As soon as the motor encoder internal reference point is detected, the
following is conducted:
general release of zero pulse output
immediate output of a zero pulse by the emulator
initialization of zero pulse so that it is always output at this absolute
motor position.
Note:
With rotary motors it is possible to offset the zero pulse using P-0-0503,
Marker pulse offset within a (electrical or mechanical) rotation in a
clockwise direction.
The unit of P-0-0503 is degrees. The input range for motor encoders that
are absolute after their initialization with unequivocal positions within a
motor revolution of 0..359.9999 degrees.
The input range for resolvers with an absolute, unequivocal position within
an electrical revolution is
0 ... 359.9999 degrees /number of pole pairs.
The maximum pulse frequency for devices is 1024 kHz. If this frequency
is exceeded, then pulses could be lost. The non-fatal error F253 Incr.
encoder emulator: pulse frequency too high is generated. A position
offset of the emulated position in contrast to the real position takes place.
I max =
f max 60
n max
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Compensation of delay
(deadtime) between real and
emulated positions
At the end of each time interval the signal level for a specific period can
remain constant. The output frequency may not be changed during the
time interval of TA. This is especially true of high frequencies, i.e., with a
large number of lines and/or at high speeds.
Cause:
Remedy:
Cycle +
1
Data
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
1 1 G23 G22 G21 G20 G19 G18 G17 G16 G15 G14 G13 G12 G11 G10 G9 G8 G7 G6 G5 G4 G3 G2 G1 G0 PFB
tm-T/2
1
1
1 G23 G22
Cycle
Tp
tm
tv
Serial data
G23
Monoflop P / S
G0
G23
m
T
tm
Tp
tv
PFB
=
=
=
=
=
=
=
=
G22
G0
PFB
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
emulated
position
position jump
2048
4096
homing point
motorposition in
revolution
Fs5007f1.fh7
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Pertinent Parameters
The following parameters are used to parametrize this function:
P-0-0185, Function of encoder 2
P-0-0220, D800 Command Measuring wheel operation mode
P-0-0221, Actual position filter time constant for measuring wheel
mode
Kv
velocity command value
+
P-0-0221, Actual position
filter time const. for
measuring wheel mode
optional
encoder
Fp5067f1.fh7
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Pre-Requisites
The optional encoder must be registered as a measuring wheel
encoder in parameter P-0-0185, Function of encoder 2.
Material is in roll feed and under the measuring wheel.
The roll feed is closed.
The measuring wheel encoder is pressed up against the material.
Activation
The function is activated with command P-0-0220, D800 Command
Measuring wheel operation mode.
At the start of the command, the drive sets actual position value 2
(measuring wheel encoder) on actual position value 1.
The active operating mode determines further drive behavior.
Drive in position control
Position control with the measuring wheel encoder remains active as long
as the command is set.
When the command is cleared, the drive sets actual position value 1 on
value 2 and then switches back to position control with encoder 1.
Note:
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
encoder resolution=
Diagnostic Messages
In conjunction with the command measuring wheel operation the following
error messages could be generated:
D801 Measuring wheel operation not possible
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Notes
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Glossar 11-1
ECODRIVE03 FGP-03VRS
11
Glossar
Data status
Every parameter has at its disposal a data status. It can be read by the
control via the required data channel. The information on the validity of
the parameter or the command acknowledgement of the command are
contained therein.
E-Stop
E-Stop (Emergency Stop) is the determination for a hardware input at the
drive controller. It is used to trigger the emergency stop function in the
drive.
External encoder
An external measuring system is optional. It is generally mounted directly
to the load. The position feedback value of the encoder can be seen in
S-0-0053, Position feedback 2 value. By activating the position control
operating mode with encoder 2, the position control loop is closed with the
help of the position feedback value of the external encoder.
Ident Number
Every parameter is designated unambiguously by its ident number (IDN).
It consists of these 3 components: S-SERCOS/P-Product specific,
parameter set (0..7) and a number (1..4096).
Modulo format
Both position feedback and command values can be processed in modulo
or absolute format. If modulo processing has been set, then the position
data move within the range of 0..S-0-0103, modulo value. With this
function, it is possible to realize an endlessly turning axis.
Motor encoder
The motor encoder is the measuring system that is used during
commutation. A measuring system is absolutely necessary. The position
feedback value of the encoder can be seen in S-0-0051, position
feedback value 1. By activating the position control operating mode with
encoder 1, the position control loop is closed with the help of the position
feedback of the motor encoder.
Operating data
The operating data is data block element 7 of a parameter. The value of
the parameter is stored there.
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
11-2 Glossar
ECODRIVE03 FGP-03VRS
Operating mode
Operating mode is set in parameters S-0-0032..35. It determines in what
way a command value is processed in the drive and eventually initiates an
axis movement. The operating mode does not define how the command
value reaches the drive.
Parameterization mode
The drive is in parameterization mode if communication phases 1..3 have
been set. The drive cannot be activated (drive enable signal applied).
Operating mode must first be switched into. Some parameters can only
be written into during parameterization mode.
Programming module
The programming module contains the software and parameter memory.
It is mounted in slot U5. When exchanging the controller, a simple
insertion of the programming module out of the old into the new unit
means that the features of the replaced unit have been transferred to the
new one.
Home Switch
If during the command S-0-0148, C600 Drive controlled homing several
reference marks can be reached within the travel range, its the home
switch which must specify one singular mark. The home switch is
connected to the respective input at the drive and activated by bit 5 in S-00147, Homing Parameter. This input is mirrored in the parameter
S-0-0400, Home switch.
Scaling
The combination of unit and number of decimal places of a parameter are
defined as scaling. It can be set for position, velocity and acceleration
data.
SERCOS interface
Digital interface for communication between control and drives in
numerically controlled machines. One or multiple ring structures are
implemented. The physical connection of the participants generally
implements a fiber optic cable.
Service Channel
The non-cyclic reading and writing of parameters via the SERCOSInterface is done in the service channel
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Index 12-1
ECODRIVE03 FGP-03VRS
12
Index
"
"Rexroth Indramat status machine " of the drive 6-9
0
0x1001, ID number not available 10-5
0x7008, Data not correct 10-5
0x9002 (dL / 00) Firmware was cleared 4-30
0x9003 Loading into phase 3 not allowed 4-31
0x9004 Loading into phase 4 not allowed 4-31
0x9102 (dL / 03) Firmware was cleared 4-31
0x9103 Restart in phase 3 not allowed 4-31
0x9104 Restart in phase 4 not allowed 4-31
0x9200 (dL / 06) Read error 4-31
0x9400 (dL / 07) Timeout during reset 4-31
0x9402 (dL / 0F) Address range not in flash 4-31
0x940A Reset only possible in loader 4-31
0x96E0 (dL / 0b) Error when verifying the flash 4-32
0x96E1 (dL / 0C) Timeout when programming the flash 4-32
0x96FF (dL / 09) Error when write accessing the RAM 4-32
0x9701 (dL / 0d) Wrong checksum 4-32
0x9702 (dL / 0e) CRC32 checksum faulty 4-32
1
1MB 7-1
2
2AD 7-1
7
7-Segment Display
Diagnostic Number 4-24
A
Abort 5-24
Absolute encoder
modulo evaluation 9-27
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
12-2 Index
ECODRIVE03 FGP-03VRS
Appropriate use
Introduction 2-1
B
Basic functions of I/O mode 6-4
Basic functions of Rexroth Indramat-Profile 6-9
Basic I/O mode function 6-4
Basic parameter block 4-4
Baud rate 4-34
bb 4-12
BB contact 9-50
BB relay 9-50
BB-contact 9-50
Best Possible Deceleration
as velocity command value decelerated to zero 9-45
Drive Error Reaction 4-9
Best possible standstill as speed command to zero with filter and ramp 9-48
Bipolar Velocity Limit
Limiting the Command Value 8-5
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Index 12-3
ECODRIVE03 FGP-03VRS
C
Cam mode with real master axis 6-21
Features 6-21
Parametrization 6-21
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
12-4 Index
ECODRIVE03 FGP-03VRS
D
Data container 6-23
Data direction 5-21, 5-26
Data Saving 4-4
Deactivation of the Position Control Loop Monitoring 9-67
Definition of the Critical Proportional Gain and P-0-0004, Smoothing Time
Constant 9-60
Detect marker position 10-24
Determining commutation offset 7-11
Determining encoder interface of optional encoder 9-16
Determining the Critical Integral Action Time 9-60
Determining the Critical Position Controller Gain 9-65
Determining the Encoder Interface of the Optional Encoder 9-16
Determining the Feedback Interface of the Master Axis Feedback 9-42
Determining the Feedback Interface of the Motor Feedback 9-13
Determining the Position Controller Setting 9-65
Determining the torque constant and load moment of inertia 9-35
Determining the Velocity Controller Setting 9-60
Determining/detecting the active mode 8-1
DeviceNet Interface 5-40
Diagnose-LED for DeviceNet 5-43
Diagnoses for LED for CANopen 5-37
Diagnoses when setting the commutation offsets 7-18
Diagnostic / error messages of the system status word 10-2
Diagnostic LEDs for INTERBUS 5-33
Diagnostic LEDs for PROFIBUS 5-22
Diagnostic Message 4-24
Composition of the Diagnostic Message 4-23
Diagnostic Message Display 4-22
Diagnostic Number 4-24
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Index 12-5
ECODRIVE03 FGP-03VRS
Dolfi 4-29
Dolfi can be used to establish a connection 4-33
Dolfi cannot open the ibf file 4-33
Dolfi signals timeout 4-33
Drive controlled positioning
block diagram 8-16
Pertinent Parameter 8-16
status messages 8-21
Drive-guided positioning
Acknowledging command value latch 8-19
functional principle 8-16
Monitoring and diagnosing 8-13
E
Electronic cam shaft 8-57, 8-61
Electronic Data Sheet for DKC05.3 5-35
Electronic Data Sheet for DKC06.3 5-40
Emergency-Stop
Activation 9-54
Error Messages
during drive-controlled homing 9-98
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
12-6 Index
ECODRIVE03 FGP-03VRS
Error Reaction
Drive Error Reaction 4-9
NC Response in Error Situation 9-53
to velocity command value deceleration to zero 9-45
F
Features of the I/O mode default setting 6-8
Features of the I/O mode freely expandable 6-9
Features of the I/O mode with cam 6-8
Feed Constant 9-7
Feedback error 4-25
Fieldweakening 7-18
Firmware Functions 1-5
Firmware loader 4-29
Firmware Update with the Dolfi program 4-29
Firmware was cleared 4-30
Following block chain
interruption 8-39
G
Gantry axes
Commutation offset 7-17
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Index 12-7
ECODRIVE03 FGP-03VRS
H
H1-Display 4-24
Hall encoder 9-10
Hardware Connections 9-105
Hardware Requirements Digital Output 10-12
Home switch
Connection to the connector X3 9-99
Use during Homing 9-89
Homing
Error Messages 9-98
Home switch 9-89
Position Feedback Values 9-86
Reference Offset 9-88
I
I/O mode 6-4
I/O Mode Default Setting 6-8
I/O mode freely expandable 6-9
I/O mode with cams ( P-0-4084= 0xFF81 ) 6-8
ID number not available 10-4
Identify 5-24
IDN List of Parameters 4-10
IDN-list of all operation data 4-10
IDN-list of all procedure commands 4-11
IDN-list of backup operation data 4-11
IDN-list of invalid op. data for comm. Ph. 2 4-11
IDN-list of invalid op. data for comm. Ph. 3 4-11
IDN-list of operation data for CP2 4-11
IDN-list of operation data for CP3 4-11
Inappropriate use 2-2
Consequences, Discharge of liability 2-1
J
Jogging mode functional sequence 8-46
K
Kit motors 7-11
L
LAF 7-1
Lag error 4-27
Language Selection 4-29
LAR 7-1
Length of process data channel in the ECODRIVE 03 5-31
Length of the PD channel 5-22
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
12-8 Index
ECODRIVE03 FGP-03VRS
M
Magnetization current 7-18
Main Function of the Probe Analysis 10-20
Manufacturer class 3 diagnostics 4-28
Manufacturer specific error 4-25
Manufacturer status class 3 8-21
Manufacturers class 3 diagnostics 4-28
Master axis 8-47
Master axis encoder 8-57, 8-61
features 9-42
function principle of evaluation 9-41
interface 9-42
Minimum values for accel and jerk with positioning blocks 8-41
MKD 7-1
Automatic Setting of the Motor Type 7-4
Temperature Monitoring 7-3
MKE 7-1
Motor feedback-data memory 7-2
Monitoring
Axis Limit Values 9-39
Position Command Values 8-10
Position Feedback Value 9-17
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Index 12-9
ECODRIVE03 FGP-03VRS
N
Non-volatile Parameter Storage Registers 4-2
notch filter 8-5
NTC 7-1
Number and length of PDO in ECODRIVE 03 5-37
Number and length of Polled I/O in DKC06.3 5-43
Number of Valid Probe Values 10-18
O
Object Directory CANopen specific 5-35
Object Directory DeviceNet specific 5-41
Object Directory INTERBUS-specific 5-25
Object Directory PROFIBUS specific 5-20
Object mapping with PROFIBUS communication 5-2
Operating mode 4-12
electronic cam shaft with real master axis 8-61
electronic cam shaft with virtual master axis 8-57
jogging 8-45
torque control 8-2
velocity synchronisation with real master axis 8-49
velocity synchronization with virtual master axis 8-47
Optional Encoder
Characteristics 9-19
Parameterization 9-15
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
12-10 Index
ECODRIVE03 FGP-03VRS
Resolution 9-17
P
PA 10-25
Parameter 4-1
Parameter channel 5-11
Parameter channel in the DP 5-11
Parameter Channel in the DP
Definition of Terms 5-11
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Index 12-11
ECODRIVE03 FGP-03VRS
Phase synchronisation
structure 8-50
Polarity
Actual Value Polarity 9-5
Command Value Polarity 9-5
Position switch
parameters 10-26
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
12-12 Index
ECODRIVE03 FGP-03VRS
Profile types
Abbreviations 6-2
Definitions 6-2
Drive profiles 6-2
Intel/ Motorola format 6-2
Status machines 6-2
PTC 7-1
Pull-out current limit 9-31
R
Ramp 9-48
Rated current
Saving in the motor feedback 7-2
reaction telegram
Telegram header 5-7
User data 5-8
User data header 5-7
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Index 12-13
ECODRIVE03 FGP-03VRS
S
S-0-0011, Class 1 diagnostics 4-25
S-0-0012, Class 2 diagnostics 4-26
S-0-0013, Class 3 diagnostics 4-27
S-0-0127, C100 Communication phase 3 transition check 4-13
S-0-0128, C200 Communication phase 4 transition check 4-14
S-0-0182, Manufacturer class 3 diagnostics 4-28
Safety Instructions for Electric Servo Drives and Controls 3-1
Scaling
Linear - Rotary 9-2
Motor Reference - Load Reference 9-2
of the Acceleration Data 9-4
of the Position Data 9-3
of the Velocity Data 9-4
Preferred Scaling - Parameter Scaling 9-2
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
12-14 Index
ECODRIVE03 FGP-03VRS
Status 5-24
Status class
class 1 diagnostics 4-25
class 2 diagnostics 4-26
class 3 diagnostics 4-27
mask class 2 diagnostics 4-27
mask class 3 diagnostics 4-27
T
Taking drive limits into account with following blocks 8-41
Temperature check 7-1
Temperature Monitoring
of the motor temperature 7-3
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
Index 12-15
ECODRIVE03 FGP-03VRS
Parameterization 9-37
U
Undervoltage 9-52
Undervoltage error 4-25
Unit master file for DKC03.3 5-20
Use See appropriate use and see inappropriate use
Using Rexroth Indramat positioning setting
parametrization 6-18
V
Velocity Command Value Reset 9-45
Velocity Command Value Set to Zero
Time Elapsed 9-45
Velocity Control
Diagnostic Messsages 8-4
Limiting the Command Value 8-4
W
Warning Classes 4-9
Warnings 4-9
Exceeding the Travel Range 9-38
Warning Classes 4-9
Write 5-24
Write Accessibility 4-2
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
12-16 Index
ECODRIVE03 FGP-03VRS
X
X3
Connection of the Emergency-Stop Input 9-54
Z
Zero pulse 10-31
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03
Drive For General
Automation With Fielbus-Interface
Supplement A
Serial Communication
FGP 03VRS
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
DOK-ECODR3-FGP-03VRS**-FK02-EN-P
ECODRIVE03 FGP-03VRS
Contents I
Contents
1
Serial Communication
1-1
1.1
An Overview................................................................................................................................... 1-1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
Index
2-1
3-1
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
II Contents
ECODRIVE03 FGP-03VRS
Notes
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Serial Communication
1.1
An Overview
The drive controller is equipped with a serial interface. It supports the
parametrization of the drive. Using this interface, it is possible to alter:
Parameters
Commands and
Diagnoses
Interface mode
Interface protocol
1.2
Pertinent Parameters
The data exchange which implements the serial interface is controlled by
means of the following parameters:
P-0-4021, Baud rate RS-232/485
P-0-4022, Drive address
P-0-4050, Delay answer RS-232/485
1.3
Function Principle
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Note:
Communications procedures.
H1
S1
S2
8
1
2
Switch S2
1
2
4
Switch S3
9
2
S3
Barcode
Fig. 1-1: Setting the address via the address switch on the programming module
RS485 mode
RS232 mode
This mode does not necessitate the setting of drive address because only
one participant is connected (peer-to-peer connection).
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
RS232
PC mit DriveTop
command interface(z.B.
parallel I/O bzw. fieldbus)
PLC
drive
n
drive
n+1
drive
n+2
drive
n+3
FS0004d1.fh7
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
RS232
RS485-Bus
RS232/RS485
Converter
PC with drivetop
PLC
command interface(z.B.
parallel I/O bzw. fieldbus)
drive
n
drive
n+1
drive
n+2
drive
n+3
FS0005d1.fh7
RS485-bus
PLC
command interface(z.B.
parallel I/O bzw. fieldbus)
drive
n
drive
n+1
drive
n+2
drive
n+3
FS0018d1.fh7
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
RS485-Bus
communnication
unit
PLC
command interface(z.B.
parallel I/O bzw. fieldbus)
drive
n
drive
n+1
drive
n+2
drive
n+3
FS0007d2.fh7
Fig. 1-5: Parametrization and diagnoses of drive groups using a control unit
1.4
Transmission Protocols
When switching on the 24V power voltage, an automatic protocol
detection is activated upon receipt of a symbol from the serial interface.
As soon as either:
a valid SIS start telegram
or a valid ASCII start sequence ("bcd:address")
has been received, there is an internal switching to the relevant protocol
and baud rate.
The drive supports two different protocols:
ASCII protocol
SIS protocol
These are explained below in greater detail.
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
ASCII Protocol
Features:
Transmission rates of: 9600 and 19200 baud
Maximum transmission path: 15m
8-bit ASCII protocol
no parity bit
a stop bit
SIS protocol
Features:
This is a binary protocol.
A checksum test is conducted (higher Hamming distance D).
All telegrams are identified by an unequivocal start symbol.
There is a defined telegram frame structure.
It is possible to trigger movements via an SIS telegram (e.g., jogging).
Fig. 1-6:
User data
head
User data
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
name
StZ
CS
This is the checksum byte. It is generated by adding all subsequential telegram symbols as well
as the start symbol StZ and concluding negation. In other words, the sum of all telgram symbols
always equals 0 if the transmission was successful.
DatL
The length of the subsequential user data and the variable part are in the frame protocol. Up to
247 bytes (255 - 7 {subaddresses} - 1 {running telegram number}) user data can be transmitted
in one telegram.
DatLW
The repetition of DatL takes place here. The telegram length is generated from the DatLW and
the fixed part of the frame protocol (byte 1 - 8), i.e., telegram length = DatLW + 8.
Cntrl
Bit 0 - 2:
Bit 3:
Bit 4:
Bit 5 - 7:
Service
This specifies the service that the sender is requesting of the receiver or which the receiver is
conducting.
general services
participant ID
terminate a data transmission
Flash operation
Initialization of SIS communication
Token Passing
presently reserved
special services for ECODRIVE
special services for SYNAX
special services for MT-CNC or MTC200
special services for ISP200
special services for CLC-GPS
special services for HMI system
presently reserved
AdrS
AdrE
AdrES1
Subaddress 1 of the receiver, if for Bit 0 - 2 if for byte control it applies that: > 000
10
AdrES2
Subaddress 2 of the receiver, if for Bit 0 - 2 if for byte control it applies that: > 001
11
AdrES3
Subaddress 3 of the receiver, if for Bit 0 - 2 if for byte control it applies that: > 010
12
AdrES4
Subaddress 4 of the receiver, if for Bit 0 - 2 if for byte control it applies that: > 011
13
AdrES5
Subaddress 5 of the receiver, if for Bit 0 - 2 if for byte control it applies that: > 100
14
AdrES6
Subaddress 6 of the receiver, if for Bit 0 - 2 if for byte control it applies that: > 101
15
AdrES7
Subaddress 7 of the receiver, if for Bit 0 - 2 if for byte control it applies that: > 110
16
PaketN
running telegram number (package number), if bit 3 in byte cntrl has been set
Fig. 1-7: SIS-Telgram head
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
It is differentiated between:
Command telegram
This is the telegram that the master sends to the slave (drive) !
Tel.-header
1Byte
1Byte
1Byte
Control
byte
Deviceaddress
Param.
type
1Byte
1Byte
Parameter No.
User data
Ta0001f1.fh7
Tel.-header
1Byte
1Byte
1Byte
Status
byte
Control
byte
Device
address
User data
Ta0002f1.fh7
The user data head describes the mode of transmission in the command
telegram.
Control byte
Unit address
The unit address set at the address switch must be entered here.
The parameter number has the format set in the SERCOS interface
specification. To be able to address control parameters as well, 1 byte is
set in front of the address to identify the parameter type.
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Parameter type
Parameter number
Bit 0-11:
Parameter number
(0*0001...0*FFF)
Bit 12-14: Parameter set
(0...7)
0000
Bit 15:
Parameter type* 0001
0010
Bit 0-2:
Parameter type* 0100
1000
Bit 3-7:
Reserve
(always 0)
S-Parameter (drive)
P-Parameter (drive)
not used in the drive
not used in the drive
not used in the drive
*) Parameter type uses bit 15 in "Parameter number" and three further bits in the byte "Parameter type"
Bl0001f1.fh7
1.5
Communications procedures
Element no.
Access posibilities
ID number
read
name
read
attribute
read
unit
read
read
read
operating data
read / write
Note:
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Step 2
Drive received character, drive sends
prompt if address is the same
no
yes
Timeout ?
yes
Step 3
Check receive buffer for
pattern."A##:>"
Pattern found
no
no
Transmission error
yes
Drive is "open"
-> ready for communication
FD5002B1.WMF
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
All data entered must correspond to the data type set in the
attribute (HEX, BIN, DEZ).
Step 1
Send request
e.g.:"P-0-4037,7,w,1000" (CR)
Step 2
Drive received character.
Drive repeats request (echo)
no
yes
Timeout ?
no
Contents of receiver buffer:
"P-0-4037,7,w,1000" (CR)
[#xxxx (CR)] "E01:>"
ja
Step 3
To check transmission compare request
with receiver buffer. (String compare)
Compare ok?
no
Transmission error
ja
Step 4
Delete request in receiver buffer.
All characters to 1st. "CR"
(inclusive).
yes
no
Parameter succesfully written
FD5001B1.WMF
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Step 2
Drive received character.
Drive repeats request (echo)
no
yes
Timeout ?
no
Inhalt des Empfangsbuffers:
"P-0-4040,7,r"(CR)"#xxxx"(CR)"E01:>"
oder
"P-0-4040,7,r"(CR)"1C3Fh"(CR)"E01:>"
ja
Step 3
To check transmission compare
request with receiver buffer.
(String-Compare)
Compare ok?
no
Transmission error
yes
Step 4
Delete request from receiver
buffer. All characters up to 1.
"CR" (inclusive).
yes
no
Evaluate parameter data. Read
access completed.
FD5000B1.WMF
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Step 2
Received signal from drive .
Drive repeats request (echo)
no
ja
Timeout ?
no
Contents of receiver
buffer:"P-0-4007,7,w,>"(CR)"?" oder
"P-0-4007,7,w,>"(CR)"#xxxx"(CR)"E01:>"
ja
Step 3
To check transmission, compare request
with receiver buffer (string-compare)
no
Compare ok?
transmission error
ja
no
ja
A
Part 2/A (next page)
Step 4
Enter list element and end with
(CR)
Step 5
Drive received character. Drive repeats
request (echo)
no
Timeout ?
Compare ok?
nein
ja
nein
keine Kommunikation mit
Antrieb mglich
-> Adresse prfen
-> Einstellungen prfen
-> Verbindung prfen
bertragungsfehler
ja
Schritt 7
Request aus dem Empfangsbuffer lschen. Alle Zeichen bis
zum 1. "CR" (inclusive).
B
Teil 2/B (nchste Seite)
FD5005B1.WMF
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
yes
no
More elements?
yes
no
Step 8
Close list, send end character
: "<" (CR)
no
Step 9
character received
yes
Step 10
Clear request from receiver buffer. All
characters to 1st "CR" (inclusive).
Next character
received"#" ?
yes
no
Parameter list successfully written.
FD5006B1.WMF
It is important to conclude the input with a "<" symbol as only then will be
the data be assumed in the drive.
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Step 2
Drive received character.
Drive repeats request
no
ja
Timeout ?
no
Contents of receiver buffer:
"P-0-4006,7,r"(CR)
"element 1" (CR)
"element 2" (CR)
:
"element n" (CR) "E01:>"
or
"P-0-4006,7,r"(CR)"#xxxx" (CR) "E01:>"
yes
Step 3
To check transmission compare
request with receiver
buffer.(string compare)
Compare ok?
no
Transmission error
yes
Step 4
Delete request in receiver buffer. All
characters to 1st."CR" (inclusive).
Replace last (CR) with "string end"
(e.g. "0"in C)
yes
no
no
yes
List succesfully read
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
FD5004B1.WMF
ECODRIVE03 FGP-03VRS
Starting a Command
Numerous commands can be conducted in the drive controller .
Command execution takes place automatically in the drive.
There are commands for:
Switching between operating and parametrization modes:
S-0-0127, C100 Communication phase 3 transition check
S-0-0128, C200 Communication phase 4 transition check
P-0-4023, C400 Communication phase 2 transition
S-0-0262, C700 Command basic load
S-0-0099, C500 Reset class 1 diagnostic
S-0-0148, C600 Drive controlled homing procedure command
P-0-0012, C300 Command Set absolute measurement
A command can be started, terminated and completed via the serial
interface. The status of command execution can also be read.
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
step 2
received signal from drive
drive repeats request (echo)
no
ja
Time out ?
no
contents of receiver
buffer:"P-0-0162,7,w,11b" (CR)
[#xxxx(CR)] "E01:>"
yes
step 3
to check transmission, compare request with
receiver buffer
compare ok?
no
transmission error
yes
step 4
delete request from receive
buffer. All characters up to 1.
"CR" (inclusive)
no
yes
step 5
read command
status"P-0-0162,1,w,0"(CR)
step 6
drive received character. Drive repeats
request (echo)
A
partl 2/A (next page)
no
Timeout ?
character sequence ":>" found in
receiver buffer?
ja
no
ja
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
yes
no
no
command status=
3h ?
command status=
Fh ?
ja
ja
command successfully
completed
1h
3h
5h
7h
Fh
command set and enabled, but not executed, as error present
Fig. 1-20: Status messages
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
The command status is transmitted in bit list form. The definition of the
individual bits is illustrated below.
reserved
Bit 0 :
0 : command not set in drive
1 : command set in drive
reserved
Bit 1 :
0 : command execution interrupted
in drive
1 : command execution enabled in
drive
Bit 2 :
0 : command executed
1 : command not executed
Bit 3:
0 : no error
1 : error: command execution not
possible
Bit 8 :
0 : operating data is valid
1 : operating data invalid
Fig. 1-21: Command acknowledgement (data status)
Ending a command
A command is ended as follows:
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Only after the drive has received at least a valid SIS telegram
is the SIS channel free for further communications.
The individual access modes are described briefly below before the
individual services are explained.
General information about read
accessing
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Reaction telegram
If there is no error, then the reaction telegram has the following structure:
Telegram head
Fig. 1-22:
Status byte
If there is an error, then user data containing the error codes are sent.
The user data head corresponds to the SIS specificaiton.
Telegram head
User data
head
User data
Fig. 1-23:
Note:
Error code 0x0F "Invalid service is sent in the status byte of the des
user data.
Telegram head
Fig. 1-24:
User data
head
Reaction telegram
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Reaction telegram
Bit 2 identifies the running / final transmission in the control byte of the
reaction telegram.
Note:
Reaction telegram
Any occurring errors are entered in the user data of the reaction
telegram.
Note:
Only list segments can be processed with this service that are
contained in the present list. If the actual list length is to be
changed, then this change must be specified. It is not possible
to operate in following telegram mode.
Reaction telegram
Note:
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Starting a command
Via the SIS interface all commands in the drive can be started with
Service 0x8F "write a parameter.
Telegram head
Fig. 1-25:
User data
head
Drive parameter
Parameter no. in
telegram
Drive-guided referencing
S-0-0148
0x0094
Reset C1D
S-0-0099
0x0063
Communications phase 3
transition check
S-0-0127
0x007F
Communications phase 4
transition check
S-0-0128
0x0080
Base load
S-0-0262
0x0106
Set absolute
measurement
P-0-0012
0x800C
P-0-4094
0x8FFE
Communications phase 2
transition check
P-0-4023
0x8FB7
P-0-4032
0x8FC0
0x80A2
Always set parameter type to 0x00. Thus only S and P parameters are
possible.
Default in user data byte
Effects
clears command
3
Fig. 1-27:
Note:
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
starts command
Command default
1.6
ECODRIVE03 FGP-03VRS
Error Messages
The error codes defined in the SERCOS interface specification are used.
(See SERCOS Interface specification, sec. 4.3.2.3 "Error messages in
service channel"). These codes are also used with faulty accessing of
control and system parameters.
Error code
Explanation
0x1001
0x1009
0x2001
0x2002
0x2003
0x2004
0x2005
0x3002
0x3003
0x3004
0x3005
0x4001
0x4002
0x4003
0x4004
0x4005
0x5001
0x5002
0x5003
0x5004
0x5005
0x6001
0x6002
0x6003
0x6004
0x6005
0x7002
0x7003
0x7004
0x7005
0x7006
0x7007
0x7008
0x7009
data password protected
Fig. 1-28: Error specification per SERCOS
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Explanation
0x9001
0x9002
0x9003
0x9004
0x9005
0x9006
0x9007
nonsense symbol in data
Fig. 1-29: Error messages during ASCII communications
Error code
An error code is transmitted in the first two bytes of the user data. It
describes the type of error.
The following errors can occur during parameter transmission:
Error code
Explanation
0x0000
no error
0x0001
0x0009
0x8001
0x8002
0x800B
Code number
transmission no error
0x00
protocol error
execution error
0x01 ... 0xEF
Fig. 1-31: Definition of status bytes
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Protocol error
"Invalid service
Code
Number
Error description
0xF0
"General protocol
violation
0xF1
Execution error
Code
Number
Error description
"Error during
parameter
transmission
0x01
Example:
Write accessing a write-protected parameter S-0-0106, Current loop
proportional gain 1:
The master is trying to write 0 to the parameter. The drive acknowledges
with error message 0x7004 ("data cannot be changed").
Command telegram:
Tel.-header
3C
00
04
Control
byte
Device
address
Param.
type
0B
00
Parameter No.
(LSB) (MSB)
00
00
User data
Reaction telegram:
Tel. header
01
3C
00
Status
byte
Control
byte
Device
address
04
70
User data
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
1.7
ASCII Protocol
Suppositions:
Several drives are connected with a PLC via an RS485 interface. The
drive address is 1.
Drive working in positioning mode. Four positioning blocks are used.
The target positions of the positioning blocks are to be changed via
RS485 interface.
Taking up communications with the relevant drive
BCD:01 (CR)
Note:
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
Input:
target
target
position
position
(CR)
block0
block1
ECODRIVE03 FGP-03VRS
SIS Protocol
Parameter read access (Service 0x80)
A single read acces is concluded with 1 transmission step. The master
enters the following information into the command telegram:
The desired element is selected in the control byte in bits 3-5
"Element". Bit 2 is set to 1 (last transmission).
The unit address is entered.
Parameter type and number are entered.
No user data are transmitted.
The answer to a read access is put together as follows:
The acknowledgement to a request is written in to the status byte.
The control byte is read out of the command telegram and copied
into the reaction telegram.
The unit address is read out of the command telegram and copied
into the reaction telegram.
The requested data is written into the user data.
Example:
Read parameter S-0-0044 (Velocity data scaling type) out of drive with
address 3. The value of the parameter is 0x0042.
Command telegram:
Tel. header
3C
03
00
Control
byte
Device
address
Param.
type
2C
00
Parameter No.
(LSB) (MSB)
Reaction telegram:
Tel. header
00
3C
03
Status
byte
Control
byte
Device
address
42
00
User data
(LSB) (MSB)
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
1 step:
Tel. header
3C
..
..
Control
byte
Device
address
Param.
type
..
..
Parameter No.
(LSB) (MSB)
Tel. header
..
38
..
Status
byte
Control
byte
Device
address
..
.. ..
..
..
Ta0008f1.fh7
Tel. header
step:
3C
..
..
Control
byte
Device
address
Param.
type
..
..
Parameter No.
(LSB) (MSB)
Tel. header
..
38
..
Status
byte
Control
byte
Device
address
..
.. ..
..
..
Ta0008f1.fh7
Last step
Tel. header
3C
..
..
Control
byte
Device
address
Param.
type
..
..
Parameter No.
(LSB) (MSB)
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
Tel. header
ECODRIVE03 FGP-03VRS
..
3C
..
Status
byte
Control
byte
Device
address
..
.. ..
..
..
Ta0015f1.fh7
Tel. header
3C
03
00
Control
byte
Device
address
Param.
type
2C
00
Parameter No.
(LSB) (MSB)
42
00
User data
Reaction telegram:
Tel. header
00
3C
03
Status
byte
Control
byte
Device
address
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
1 step:
Tel. header
38
..
..
Control
byte
Device
address
Param.
type
..
..
Parameter No.
(LSB) (MSB)
.. ..
..
.. ..
..
Ta0011 f1.fh7
Tel. header
..
38
..
Status
byte
Control
byte
Device
address
Tel. header
step:
38
..
..
Control
byte
Device
address
Param.
type
..
..
Parameter No.
(LSB) (MSB)
.. ..
..
.. ..
..
User data
Ta0011 f1.fh7
Tel. header
..
38
..
Status
byte
Control
byte
Device
address
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Final step:
Tel. Header
3C
..
..
Control
byte
Device
address
Param.
type
..
..
Parameter No.
(LSB) (MSB)
.. ..
..
.. ..
..
Tel. header
..
3C
..
Status
byte
Control
byte
Device
address
1.8
Connection Techniques
See Project Planning Manual.
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
Index 2-1
ECODRIVE03 FGP-03VRS
Index
0
0xFD and 0xFF) 1-30
A
A control unit 1-5
Actuating a drive via an SIS protocol 1-20
Actuating a specific bus user 1-10
ASCII protocol 1-3, 1-27
B
Base load 1-16
Basic state after switching control voltage on 1-1
C
Communicating with ASCII protocol 1-10
Communicating with SIS protocol 1-20
Communications via RS232 interface 1-3
Communications via RS485 interface 1-3
Connection techniques 1-32
E
Ending a command 1-19
Error during parameter transmission 1-25
Error with ASCII communication 1-25
Error with SIS communication 1-25
Execution and protocol acknowledgement 1-25
F
Features 1-3
Features: 1-3, 1-6
G
General parameter structure 1-9
O
Operating several drives with DriveTop 1-4
P
Parametrization and diagnosing with a PLC 1-4
Parametrization mode 1-16
Passive mode 1-1
Possible commands in drive 1-23
Q
Querying command status 1-18
R
Read accessing a parameter 1-12
Read accessing list parameters 1-15
Read accessing with following telegrams (Service 0x01) 1-29
RS232 mode 1-1
RS485 mode 1-1
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
2-2 Index
ECODRIVE03 FGP-03VRS
S
Service 0x01 Terminating a data transmission 1-21
Service 0x80 read parameter 1-21
Service 0x81 read a list segment 1-22
Service 0x8E write a list segment 1-22
Service 0x8F write eines Parameters 1-22
Set absolute measurement 1-16
Setting the drive address 1-2
Single read access (Service 0x00) 1-28
SIS protocol 1-6, 1-28
Starting a command 1-16, 1-23
Structure des Telegram heades 1-7
Structure of the user data field 1-9
Structure of the User Data Head 1-8
Structure, Telegram frame: 1-6
W
Write access with following telegrams (Service 0xFE) 1-31
Write accessing list parameters 1-13
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
Deutschland Germany
Vertriebsgebiet Mitte
Germany Centre
SALES
Service
+49 (0)9352/40-0
+49 (0)9352/40-4885
Vertriebsgebiet Sd
Germany South
SALES
Service
Vertriebsgebiet Mitte
Germany Centre
vom Ausland:
from abroad:
SALES
Service
Mannesmann Rexroth AG
Gesch.ber. Rexroth Indramat
Lilistrae 14-18
63067 Offenbach
Telefon: +49 (0) 69/82 00 90-0
Telefax: +49 (0) 69/82 00 90-80
Gebiet Sdwest
Germany South-West
SALES
Service
Mannesmann Rexroth AG
Vertrieb Deutschland VD-BI
Geschftsbereich Rexroth Indramat
Regionalzentrum Sdwest
Ringstrasse 70 / Postfach 1144
70736 Fellbach / 70701 Fellbach
Vertriebsgebiet Ost
Germany East
Vertriebsgebiet Nord
Germany North
SALES
Service
SALES
Service
Mannesmann Rexroth AG
Vertrieb Deutschland
Regionalzentrum West
Borsigstrasse 15
D - 40880 Ratingen
Telefon:
Telefax:
+49 (0)2102/409-0
+49 (0)2102/409-406
SALES
Service
Mannesmann Rexroth AG
GB Rexroth Indramat GmbH
Holzhuser Str. 122
04299 Leipzig
Telefon:
Telefax:
Vertriebsgebiet Nord
Germany North
SALES
Service
Mannesmann Rexroth AG
Vertriebsniederlassung Region Nord
Gesch.ber. Rexroth Indramat
Walsroder Str. 93
30853 Langenhagen
Telefon: +49 (0) 511/72 66 57-0
Telefax: +49 (0) 511/72 66 57-93
Vertriebsgebiet Ost
Germany East
ERSATZTEIL - Hotline
nur an Werktagen
- only on working days von 15 -18 Uhr
- from 15-18 oclock -
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
Europa Europe
Austria
SALES
Service
SALES
Service
Czech Rep.
England
SALES
Service
SALES
Service
Mannesmann-Rexroth, spol.s.r.o.
Hviezdoslavova 5
CS - 627 00 Brno
Telefon: +420 (0)5/48 126 358
Telefax:
+420 (0)5/48 126 112
France
France
SALES
Service
SALES
Service
Italy
Italy
SALES
Service
SALES
Service
Netherlands
Netherlands
SALES
Service
SALES
Service
Hydrocare B.V.
Kruisbroeksestraat 1
(P.O. Box 32)
NL - 5281 RV Boxtel
Telefon: +31 (0)411/65 19 51
Telefax:
+31 (0)411/67 78 14
Rumania
Russia
SALES
Service
SALES
Service
Tschudnenko E.B.
Arsenia 22
RUS - 153000 Ivanovo
Ruland
Telefon: +7 093/223 96 33
oder/or
+7 093/223 95 48
Telefax:
+7 093/223 46 01
Sweden
Slowenia
SALES
Service
Turkey
SALES
ECODRIVE03 FGP-03VRS
SALES
Service
Rexroth Indramat
elektromotorji d.o.o.
Otoki 21
SLO - 64 228 Zelezniki
Telefon: +386 64/61 73 32
Telefax:
+386 64/64 71 50
Belgium
SALES
Denmark
SALES
BEC AS
Zinkvej 6
DK-8900 Randers
Finland
France
SALES
Service
Telefon:
Telefax:
Service
+45 (0)87/11 90 60
+45 (0)87/11 90 61
SALES
Service
Rexroth Mecman Oy
Rexroth Indramat division
Ansatie 6
SF-017 40 Vantaa
Telefon: +358 (0)9/84 91-11
Telefax:
+358 (0)9/84 91-13 60
Hungary
Italy
SALES
Service
SALES
Service
Italy
Italy
SALES
Service
SALES
Service
Norway
Poland
SALES
Service
SALES
Service
Rexroth Mecman AS
Rexroth Indramat Division
Berghagan 1
or: Box 3007
N -1405 Ski-Langhus N -1402 Ski
Telefon: +47 (0)64 86 41 00
Telefax:
+47 (0)64 86 90 62
Spain
Spain
SALES
Service
SALES
Service
Goimendi S.A.
Divisin Rexroth Indramat
Jolastokieta (Herrera)
Apartado 11 37
E - 20017 San Sebastian
Telefon: +34 9 43/40 01 63
Telefax:
+34 9 43/39 17 99
Switzerland-East-
Switzerland-West-
SALES
Service
SALES
Service
Service
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
ECODRIVE03 FGP-03VRS
SALES
Service
Brazil
SALES
Service
Mannesmann Rexroth
Automao Ltda.
Diviso Rexroth Indramat
Rua Georg Rexroth, 609
Vila Padre Anchieta
BR - 09951-270 Diadema-SP
[ Caixa Postal 377 ]
[ BR-09901-970 Diadema-SP ]
Telefon:
+55 (0)11/745 90 60
+55 (0)11/745 90 70
Telefax:
+55 (0)11/745 90 50
e-mail: [email protected]
China
SALES
Service
Argentina
SALES
Service
Australia
Telefon:
Telefax:
e-mail:
Telefon:
Telefax:
Brazil
SALES
Service
Mannesmann Rexroth
Automao Ltda.
Diviso Rexroth Indramat
R. Dr.Humberto Pinheiro Vieira, 100
Distrito Industrial
BR - 89220-390 Joinville - SC
[ Caixa Postal 1273 ]
Tel./Fax:
Mobil:
e-mail:
China
SALES
Service
Telefon:
Telefax:
Canada
Japan
+91 (0)80/8 39 73 74
+91 (0)80/8 39 43 45
SALES
Service
India
SALES
Service
Service
Telefon:
Telefax:
Email:
China
+61 (0)3/95 80 39 33
+61 (0)3/95 80 17 33
[email protected]
SALES
Service
Telefon:
Telefax:
Telefon:
Telefax:
+1 905/335 55 11
+1 905/335-41 84
China
SALES
Service
SALES
Service
+86 20/8755-0030
+86 20/8755-0011
+86 20/8755-2387
Indonesia
SALES
Service
+86 21/58 66 30 30
+86 21/58 66 55 23
Hongkong
SALES
Service
Japan
+852 22 62 51 00
+852 27 41 33 44
SALES
Service
Telefon:
Telefon:
Telefon:
Telefax:
Telefax:
Mexico
+91 (0)22/7 61 46 22
+91 (0)22/7 68 15 31
SALES
Service
+62 21/4 61 04 87
+62 21/4 61 04 88
+62 21/4 60 01 52
Telefax:
Korea
SALES
Service
Telefon:
Telefax:
Telefon:
Telefon:
Telefax:
+81 (0)45/942 72 10
+81 (0)45/942 03 41
SALES
Telefax:
Service
+61 (0)3/93 59 02 28
+61 (0)3/93 59 02 86
Australia
+55 (0)47/473 58 33
+55 (0)47 974 66 45
[email protected]
Telefon:
Telefax:
SALES
Service
India
SALES
NAKASE
Servicio Tecnico CNC
Calle 49, No. 5764/66
RA - 1653 Villa Balester
Prov. - Buenos Aires
vom Ausland:
from abroad:
Telefax:
+52 5 754 17 11
+52 5 754 36 84
+52 5 754 12 60
+52 5 754 50 73
+52 5 752 59 43
Korea
+81 (0)52/777 88 41
+81 (0)52/777 88 53
+81 (0)52/777 88 79
+81 (0)52/777 89 01
SALES
Service
+82 (0)2/7 80 82 08
+82 (0)2/7 80 82 09
+82 (0)2/7 84 54 08
e-mail: [email protected]
Taiwan
SALES
Service
+886 2/2 68 13 47
+886 2/2 68 53 88
South Africa
SALES
Service
+27 (0)11/673 20 80
+27 (0)11/673 72 69
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
Auerhalb Europa
USA
SALES
Service
SALES
Service
Telefon: +1 847/6 45 36 00
Telefax:
+1 847/6 45 62 01
[email protected]
Telefon:
Telefax:
USA
SALES
ECODRIVE03 FGP-03VRS
+1 248/3 93 33 30
+1 248/3 93 29 06
USA
SALES
Service
SALES
Service
Telefon:
Telefon:
+1 860/8 44 83 77
+1 860/8 44 85 95
USA
Service HOTLINE
+1 770/9 32 32 00
+1 770/9 32 19 03
Service
USA
+1-800-860-1055
- 7 days / 24hrs -
+1 704/5 83 97 62
+1 704/5 83 14 86
DOK-ECODR3-FGP-03VRS**-FK02-DE-P
Printed in Germany
286653
Rexroth
Indramat