Материал: AMCDigiflexdrive
SoftMotion: DriveInterface: AMCDigiflexCAN
SoftMotion: DriveInterface: AMCDigiflex
Last update: 16.04.2007
Hardware interface |
CAN; must support 3S_CANdrv.lib |
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Supported drives |
Advanced Motion Controls: Digiflex |
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Runtimes |
all |
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Author |
Edwin Schwellinger/Hilmar Panzer |
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Components |
AMCDigiflexDrive.lib; 3S_CanDrv.lib; SM_CAN.lib; |
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SysLibCallback.lib; SysLibFile.lib |
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Version |
1.9.3.0 |
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CONTENT |
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1 PARAMETERS IN PLC CONFIG |
2 |
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1.1 |
BusInterface ........................................................................................................................ |
2 |
1.2 |
AxisGroup ........................................................................................................................... |
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1.3 |
supported Drive.wControlType.......................................................................................... |
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1.4 |
Additional structure AMCDigiflex_AXIS_REF ................................................................... |
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2 |
FEATURES |
4 |
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2.1 |
Time stamp.......................................................................................................................... |
4 |
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2.2 |
Pvt cycle time...................................................................................................................... |
4 |
3 |
CAN-TRAFFIC |
5 |
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© 3S - Smart Software Solutions GmbH
AMCDigiflexdrive.doc |
Page 1 of 5 |
SoftMotion: DriveInterface: AMCDigiflexCAN
1 Parameters in PLC config
1.1BusInterface
wParam1 |
Not used |
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wParam2 |
Not used |
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dwParam1 |
Not used |
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dwParam2 |
Not used |
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1.2AxisGroup
wParam1 |
CAN channel No (typically 0) |
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wParam2 |
Baudrate in kBit (125, 250, 500, 1000) |
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wParam3 |
SYNC generator: |
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0: PLC generates SYNC (only possible if PLC is highly precise); |
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1: not supported by the drive |
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2: SYNC device generates SYNC (additional hardware needed) |
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wParam4 |
Not used |
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dwParam1 |
Reserved |
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dwParam2 |
Reserved |
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dwParam3 |
Not used |
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dwParam4 |
Not used |
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1.3supported Drive.wControlType
T / - no |
V/V no |
V/P no |
P/P yes |
PV/PV no |
V/- no |
CONF no |
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The cyclically sent data must consist of: fSetPosition, fSetVelocity.
The received data can consist of: fActPosition.
1.4Additional structure AMCDigiflex_AXIS_REF
name |
Type |
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wStatusWord, |
WORD |
status and control word received/sent |
wControlWord |
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from/to drive |
wOldControl, |
WORD |
last status and control word |
wOldStatus |
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byModeofOperation |
BYTE |
actual mode of operation |
byOldOpMode |
BYTE |
last mode of operation |
dwBufferedPVTs |
DWORD |
Actual number of pvts stored in the drive |
dwEmergencyMessage |
DWORD |
last 4 bytes of emergency message |
strConfigFile |
STRING |
Path and file name of ASCII configuration |
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file |
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© 3S - Smart Software Solutions GmbH
AMCDigiflexdrive.doc |
Page 2 of 5 |
SoftMotion: DriveInterface: AMCDigiflexCAN
acit |
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Initialization telegrams |
srcan |
SMC_ReadCANParameter |
internal use |
swcan |
SMC_WriteCANParameter |
internal use |
crap |
SMC_CANReadAllParams |
internal use |
pParameterlist |
POINTER TO |
internal use |
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CAN_InitTelegram |
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bCaptureOccured, |
BOOL |
internal use |
bCaptureStarted |
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generatePVT |
AMCDigiflexGeneratePVT |
internal use |
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© 3S - Smart Software Solutions GmbH
AMCDigiflexdrive.doc |
Page 3 of 5 |
SoftMotion: DriveInterface: AMCDigiflexCAN
2 Features
o RegulatorOn, DriveStart
o Detecting and acknowledging errors
oreading/writing SoftMotion and drive parameters (to access index 0xaabb subindex 0xcc with length 0xdd in byte (only necessary for writing) either use MC_Read/Write(Bool)Parameter with parameter number -16#ddaabbcc)
o any gearing factors (dwRatioTechUnitsDenom/iRatioTechUnitsNum)
o linear/rotary axes
o controlling modes: position
odrive internal homing (first configure Object 16#6098, 16#6099.16#609A)
Note: when enabled, the home position cannot be set in the drive. Therefore MC_Home generates an error, when its input Position doesn’t fit the content of 607Ch.
o latching: TriggerNumber (1 -> rising edge, 2 -> falling edge, 3 -> rsing or falling edge)
olimit switches should be connected to the drive. If configured in the drive, an error is set if one of them gets FALSE.
o configuration from dialogs in PLC config
osupported SYNC generators (to be set in PLC Configuration, AxisGroup): PLC, SYNCDevice
2.1Time stamp
The controller sends a time stamp object (16#0100) with a time period defined in the global variable g_uiTimeStampPeriod (default: 10000 = 10s), if g_ bProduceTimeStamps is TRUE (default).
If the controller receives an emergency message, which tells that the time stamp object was not accepted by the drive (reason: time bases are too different between PLC and drive), it sets the variable g_bTimeStampNotAccepted to TRUE.
2.2Pvt cycle time
A minimum cycle time for pvt telegrams can be set with the global variable g_byMinPVTTime [ms]. When the PLC cycle is faster than this value, non every cycle a pvt message is sent:
Example:
G_byMinPVTTime = 30
Cycle time t#4ms
è every 8th cycle a pvt with 32 ms is produced and sent
When the global variable g_bUsePLLForPVTs is set to TRUE (default), a PLL controls the time value of pvts. This applies, when the time bases of controller and drive differ. The PLL automatically adadpts the time of pvts to make sure, that the number of stored pvt objects inside the drive stays about constant.
© 3S - Smart Software Solutions GmbH
AMCDigiflexdrive.doc |
Page 4 of 5 |
SoftMotion: DriveInterface: AMCDigiflexCAN
3 CAN-Traffic
base load: |
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Telegram |
Data |
Bit length |
125 |
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250 |
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500 |
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1 MBit/s |
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bytes |
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kBit/s |
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kBit/s |
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kBit/s |
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SYNC |
0 |
47 |
0,376 ms |
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0,188 ms |
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0,094 ms |
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0,047 |
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ms |
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SDO/time |
8 |
111 |
0,888 ms |
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0,444 ms |
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0,222 ms |
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0,111 |
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stamp |
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ms |
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overall |
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1,264 ms |
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0,632 ms |
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0,316 ms |
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0,158ms |
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per drive : |
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Telegram |
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Data |
Bit |
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125 kBit/s |
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250 kBit/s |
500 kBit/s |
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1 MBit/s |
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bytes |
length |
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Control Word, operation mode |
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3 |
71 |
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0,568 ms |
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0,284 ms |
0,142 ms |
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0,071 ms |
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(RPDO2) |
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pvt (RPDO21) |
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8 |
111 |
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0,824 ms |
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0,412 ms |
0,206 ms |
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0,103 ms |
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Status Word, operation_mode |
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7 |
103 |
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0,888 ms |
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0,444 ms |
0,222 ms |
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0,111 ms |
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_display , actposition |
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(TPDO26) |
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Pvt Buffer status (TPDO24) |
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4 |
79 |
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0,632 ms |
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0,316 ms |
0,158 ms |
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0,079 ms |
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overall |
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2,912 ms |
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1,456 ms |
0,728 ms |
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0,364ms |
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According to that, the following table shows the maximum number of drives per cycle time:
Max. number of |
125 |
250 |
500 |
1 |
drives |
kBit/s |
kBit/s |
kBit/s |
MBit/s |
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2 ms |
0 |
1 |
2 |
5 |
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3 ms |
1 |
2 |
4 |
8 |
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4 ms |
1 |
2 |
5 |
10 |
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6 ms |
2 |
4 |
6 |
16 |
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8 ms |
2 |
5 |
8 |
21 |
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© 3S - Smart Software Solutions GmbH
AMCDigiflexdrive.doc |
Page 5 of 5 |