Beckhoff AX2000 PROFIBUS DP communication profile User Manual

Reference Guide, SetupKeep all product manuals as a product componentduring the life span of the servo amplifier.Pass all product manuals to futureuse

2.1.3 Profibus master module setup2.1.3.1 Configuration of the master controller ( e.g. Siemens S7)The graphics interface makes it very easy to config

2.1.4 Standard function block for date exchange with the AX2000/2500BECKHOFF supplies a S7-function block (FB10) for use Siemens PLC that make it poss

2.2.2 Important amplifier configuration parameterThe following parameters configure the amplifier for the Profibus interface. They can be set usingthe

2.2.3 Setup Software2.2.3.1 Screen page PROFIBUSThis screen will only appear, if the PROFIBUS hardware is built into the servo amplifier. The screenpa

2.2.3.2 Screen page PROFIBUS instrument controlOn this screen page the individual bits of the control word (STW) and the status word (ZSW) areshown. T

3 Profile of AX2000/2500The PROFIBUS-profile PROFIDRIVE includes the following parameter process-data objects (PPO):AX2000/2500 only uses the PPO-type

3.1 Parameter channel3.1.1 Parameter ID (PKE)Marked lines in the table are valid for AX2000/2500Master —> Slave Slave —> MasterTask IDFunctionRe

3.1.1.2 Response ID 7: Profile specific error numbersError no. Description0illegal PNU1parameter value cannot be changed2Lower or upper limit violated

3.1.3 Parameter value PWEThe data for the PNU-variable is contained in the PWE, and is placed flush right (PKE):4-byte data (double-word) PWE 5-8 (PWE

4 Using the parameter channel (PKW)The digital servo amplifiers of the AX2000/2500 series have to be adapted to the circumstances ofyour machine. The

Previous editionsEdition Comments12/ 05 First versionSINEC is a registered trademark of Siemens AGTechnical changes to improve the performance of the

4.2.1 List of the parametersPNU Data type Access DescriptionASCII com-mandPNU (old)Profile parameter904 UINT32 ro Number of the supported PPO-write, a

PNU Data type Access DescriptionASCII com-mandPNU (old)Position set-up mode1773 UINT32 r/w Homing type NREF 13501644 UINT32 r/w Homing direction DREF

4.2.2 Standard PROFIDRIVE parameters4.2.2.1 PNU 940/911: PPO type write/readThese parameters describe the numbers of the supported PPO-types write und

4.2.2.7 PNU 930: Selection Switch for Operating ModeThe “Selector for operating modes” is defined by the drive profile, and mirrors the operating mode

4.2.3 Manufacturer specific parameters4.2.3.1 PNU 1000: instrument IDThe instrument ID consists of four ASCII characters, with the contents “Sxyz”.- x

4.2.3.3 PNU 1002: manufacturer specific status registerThe bit assignment can be seen in the following table:Bit Description0 Warning 1: I²t threshold

4.2.4 Position control parameters4.2.4.1 PNU 1894: velocity multiplierThis parameter is used to enter a multiplier for the jogging/homing velocity. In

4.2.5.3 PNU 1785: motion task typeBit Value Meaning00The position value that is given is evaluated as an absolute position.1The position value that is

4.2.5.6 PNU 1786: deceleration timeThis parameter defines the total time or rate (depending on the type of units selected for deceler-ation) to reduce

4.2.6 Setup mode: position4.2.6.1 PNU 1773: homing typeThis parameter can be used to determine which type of homing run should be applied. Theassignme

1 General1.1 About this manual ... 51.2 Use as directed ...

4.2.7.5 PNU 1415: actual velocity, 32 bit floating decimal point formatWith this object the actual velocity (see ASCII-command PV) can be read in a 32

4.2.10 Manufacturer specific object channel (from PNU 1600)With PNUs>1600 you can programm each ASCII-parameter/command of the AX2000/2500. ThePNU

Index 5/15h/ 25h depending on the object no. (see above)short description read object formatUnit —Access Read onlyData type see corresponding ASCII-co

5 Process data channelThe process data channel is used for real-time communication. This channel is divided into two tele-gram sections:PZD1: Control

5.1 Instrument controlThe control of the amplifier through PROFIBUS is described with the aid of the status machineshown below. The status machine is

Transitions of the status machineTransition Description0Event Reset / 24V supply is switched onAction Initialization started1Event Initialization succ

5.1.1 Control word (STW)With the aid of the control word, you can switch from one amplifier state to another. In the diagramfor the state machine you

5.1.2 Status word (ZSW)With the help of the status word, the amplifier state can be represented and a transmitted controlword can be verified.If the a

5.2.1 Positioning (operating mode 2)Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6Controller to Amplifier STW motion task no. or vcmd*- - - -Amplifier

5.2.2 Digital speed (operating mode 1)Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6Controller to Amplifier STW ncmd-- -Amplifier to Controller ZSWnact

4.2.5 Position data for the position control mode ... 264.2.5.1 PNU 1790: position ...

5.2.4 Digital torque (operating mode -2)Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6Controller to Amplifier STW Icmd----Amplifier to Controller ZSWIa

5.2.8 ASCII channel (operating mode -16)Direction PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6Controller to Amplifier STW 10 bytes of ASCII-dataAmplifier to Co

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6 Appendix6.1 Example telegrams6.1.1 Zero telegram (for initialization)At the beginning of PROFIBUS communication via the parameter channel and after

6.1.3 Enable the AX2000/2500The hardware enable signal (24V) must be applied, as a precondition for enabling the AX2000/2500via the PROFIBUS. The enab

6.1.6 Start homing runAfter switching on the 24V auxiliary voltage the system must first of all carry out a homingrun.Take care that the position of t

After the homing run has been completed, Bit 11 STW must be set to 0 again.Alternatively, the reference point can also be set at the actual position.T

6.1.7 Start a motion taskMotion tasks are started by a transition edge (positive or negative) at Bit 6 STW.Bit 14 STW is used to decide whether a stor

6.1.10 Writing a parameter (via parameter channel PKW)Parameter v_max is used as an example to show how control parameters are transmitted from themas

6.1.12 Write a parameter via the ASCII channelThe KP value for the current controller is to be set through the ASCII channel.The command is then MLGQ_

1 General1.1 About this manualThis manual describes the wiring, setup, range of functions and software protocol for theAX2000/2500.AX2000:The expansio

6.2 Index50 PROFIBUS for AX2000/2500Appendix 12/05 BECKHOFFA abbreviations ...6acceleration time ...27actual position valu

This page has been deliberately left blank.PROFIBUS for AX2000/2500 51BECKHOFF 12/05 Appendix

1.3 Symbols used in this manualdanger to personnel fromelectricity and its effectsgeneral warninggeneral instructionsmechanical hazardð p.see ... (cro

2 Installation / Setup2.1 Installation2.1.1 Safety notesInstall and wire up the equipment only while it is not electrically connected. Make sure thatt

2.1.2 Inserting the expansion card (AX2000)To fit the PROFIBUS expansion card into an AX2000, proceed as follows:lRemove the cover of the option slot

2.1.2.4 Connection diagramWith AX2000 terminals AGND and DGND (connector X3) must be joined together !PROFIBUS for AX2000/2500 9BECKHOFF 12/05 Install