SERCOS

Drive parameters

The following parameters must be set in the drive in order to use the measurement function:

Refer to the drive documentation for details of the parameters supported by the relevant drive.

In addition, a digital input of the drive amplifier may have to be parameterised as a measurement input. For details, refer to the drive amplifier documentation.

Real-time bits

The two real-time status bits and one real-time control bit are required for the measurement. The real-time status bits transfer the following information from the drive to the NC kernel:

In addition, a real-time control bit is required to activate the edge evaluation of the measurement input in the drive (enable measurement).

Assignment of the control and status bits used by the NC kernel is set in the NC kernel by the parameter P-AXIS-00060. In addition, parameters must be set accordingly in the drive amplifier.

The table below shows the assignment of P-AXIS-00060 in the NC kernel to the status and control bits used.

P-AXIS-00060

Control bits

Status bits

 

Measurement
Enable

measurement
done

Measuring probe
activated

0, no entry

Real-time control bit
1

P-AXIS-00106

Real-time status bit
2

1

Real-time control bit
1

Real-time status bit
1

Real-time status bit
2

2

Real-time control bit
2

Real-time status bit
2

Real-time status bit
1

We recommend setting P-AXIS-00060 either to value 1 or 2. Value 0 is only present for reasons of backwards compatibility and requires additional settings in P-AXIS-00106.

Measuring probe control parameters

The measuring probe control parameter (S-0-0169) is used to configure which measuring probe and which edge of the probing signal is to be used in the drive. This parameter determines where the positions detected are stored in the various SEROS IDs. The SERCOS IDs must then be transferred in the cyclic actual value telegram of the drive.

Measuring probe/edge

Measuring probe control parameters
S-0-0169

Measured value identification

Measuring probe 1, positive edge

S-0-0169 = 1

S-0-0130

Measuring probe 1, negative edge

S-0-0169 = 2

S-0-0131

Measuring probe 2, positive edge

S-0-0169 = 4

S-0-0132

Measuring probe 2, negative edge

S-0-0169 = 8

S-0-0133

Parameterisation of the cyclic telegram

The measured value ID specified in the table above must be configured in the cyclic actual value telegram depending on the value of the measuring probe control parameter.

Axis parameter

For SERCOS drives, the following entries must be assigned in the axis parameter lists:

P-AXIS-00516

(old:P-AXIS-00116)

Measuring by drive:     kenngr.measure.signal   DRIVE

P-AXIS-00518

(old: P-AXIS-00113)

Latch at positive or negative probing signal edge:     kenngr.measure.edge     POS / NEG

Parameterise a SERCOS drive

The steps required to parameterise a SERCOS drive are presented in a flowchart on the following pages.

SERCOS 1:
Configuration of SERCOS measurement real-time bit no. 1
SERCOS 2:
Configuration of SERCOS measurement real-time bit no. 2

Example

Axis parameter

The following parameters are necessary in the drive and in the NC kernel to configure the measurement function of a SERCOS drive on the rising edge of measuring probe 1 using the real time and status bits 1.

kenngr.hub_messtaster                   2000
kenngr.vb_messen                        2000
kenngr.messachse                        1
kenngr.measure.signal                   DRIVE
kenngr.echtzeit_bit_nr                  1

Cyclic telegram

Identification S-0-0130 must also be configured when a cyclic telegram is configured:

SERCOS 3:
Configuration of Ident. S-0-0130

Drive

The real time bits 1 and measuring probe 1 are used:

SERCOS 4:
Real-time bits in the Editor

Measuring probe control word

The value 1 must be entered in the measuring probe control word:

S-0-0169 = 1 (measuring probe 1 positive edge)

SERCOS 5:
Probe control word with value 1