TwinCAT Configuration for CX1000

The CX1000 is configured remotely on the PC. The easiest way to configure the I/O is to scan devices and scan boxes in Config Mode. After scanning the Profibus Master the Operating Mode of the Profibus has to be changed to DP/MC Equidistant. To use Profidrives on a CX1000 it is requiered to have firmware v2.57 or higher on the profibus master.

TwinCAT Configuration for CX1000 1:

If the 611u drives report the error "life counter set to zero" once they have been enabled, then it might be because of failed profibus cycles.

TwinCAT Configuration for CX1000 2:

One cause is if the NC access time for the Profibus card is to low. The standard setup is 15% (= 300us at 2ms Cycle Time), this is too low for the CX-Profibus Master. The Task Access Time/Task Cycle Time should be increased. The reason for this is the TwinCAT jitter on the CX1000. Additionally, the Reduced MC-Jitter flag needs to be activated and the Sync-Master for the CX1500-M1500 has to be selected. After setting up and checking the MC configuration it is required to Calculate the MC-Times.

TwinCAT Configuration for CX1000 3:

The ADS NetID is set automatically by TwinCAT.

TwinCAT Configuration for CX1000 4:

The profibus node address of the 611u drive is automatically scanned in.

TwinCAT Configuration for CX1000 5:

For asynchronous communication it is required to activate the PKW interface. For the proper function of the profibus it is important to setup the telegram type of the 611u in the System Manager as it is setup in the drive. If the telegram type is changed then this must be done and saved in the drive and in the System Manager and the NC axes needs to be linked to the drive again. On a double drive also the telegram type of the B drive needs to be adjusted.

TwinCAT Configuration for CX1000 6:

The Pll Window for the synchronization in the drive is set to 12 bit-times = 1us, which is the standard setup for a 611u.

TwinCAT Configuration for CX1000 7:

The CX1500-M310 requires that the latency warning is activated. The TwinCAT jitter is higher then usual, if Profibus MC is used because TwinCAT must adjust to the Profibus Master (Sync Master Mode). The latency warning should be set to a large value like 200us.

TwinCAT Configuration for CX1000 8:

At the end activate the configuration on the CX1000 and start the TwinCAT System.