Материал: KEBcombicomdrive
SoftMotion: DriveInterface: KEBcombicomCAN
SoftMotion: DriveInterface: KEBcombicom
Last update: 16.04.2007
Hardware interface |
CAN; must support 3S_CANdrv.lib |
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Supported drives |
KEB F5-S, F5-M, F5-G (open loop) |
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Runtimes |
all |
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Author |
Hilmar Panzer |
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Components |
KEBcombicomDrive.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 |
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1.2 |
AxisGroup ........................................................................................................................... |
2 |
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1.3 |
supported Drive.wControlType.......................................................................................... |
2 |
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1.4 |
Additional structure KEBcombicom_AXIS_REF ............................................................... |
2 |
2 |
FEATURES |
4 |
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3 |
CAN-TRAFFIC |
5 |
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© 3S - Smart Software Solutions GmbH
KEBcombicomdrive.doc |
Page 1 of 5 |
SoftMotion: DriveInterface: KEBcombicomCAN
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 no |
PV/PV yes |
V/- no |
CONF no |
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The cyclic send data must consist of: fSetPosition, fSetVelocity.
The cyclic receive data must consist of: fActPosition, fActVelocity.
1.4Additional structure KEBcombicom_AXIS_REF
name |
Type |
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wStatusWord, |
WORD |
status and control word received/sent |
wControlWord |
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from/to drive |
dwSetPosition, |
DWORD |
Set position, act position received/sent |
dwActPosition |
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from/to drive |
iSetVelocity, |
INT |
Set velocity, act velocity received/sent |
iActVelocity |
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from/to drive |
wErrorResetCounter, |
WORD |
internal use |
wHomingCounter |
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bOldStartReference, |
BOOL |
internal use |
bSetQuickstop |
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© 3S - Smart Software Solutions GmbH
KEBcombicomdrive.doc |
Page 2 of 5 |
SoftMotion: DriveInterface: KEBcombicomCAN
byDriveState |
BYTE |
internal use |
strConfigFile |
STRING |
Path and file name of ASCII configuration |
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file |
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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© 3S - Smart Software Solutions GmbH
KEBcombicomdrive.doc |
Page 3 of 5 |
SoftMotion: DriveInterface: KEBcombicomCAN
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
Note: when the homing is interrupted by MC_Stop, a quickstop inside the drive is performed (ramps inside the drive are used), before the trajectory mode is applied again
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
© 3S - Smart Software Solutions GmbH
KEBcombicomdrive.doc |
Page 4 of 5 |
SoftMotion: DriveInterface: KEBcombicomCAN
3 CAN-Traffic
base load: |
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Telegram |
Data |
Bit length |
125 |
250 |
500 |
1 MBit/s |
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bytes |
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kBit/s |
kBit/s |
kBit/s |
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SYNC |
0 |
47 |
0,376 ms |
0,188 ms |
0,094 ms |
0,047 |
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ms |
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SDO |
8 |
111 |
0,888 ms |
0,444 ms |
0,222 ms |
0,111 |
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ms |
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overall |
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1,264 ms |
0,632 ms |
0,316 ms |
0,158ms |
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per drive :
Telegram |
Data |
Bit |
125 kBit/s |
250 kBit/s |
500 kBit/s |
1 MBit/s |
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bytes |
length |
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PDO (set position, set velocity, |
8 |
111 |
0,888 ms |
0,444 ms |
0,222 ms |
0,111 ms |
control word) |
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PDO (act position, act velocity, |
8 |
111 |
0,888 ms |
0,444ms |
0,222 ms |
0,111ms |
status word)) |
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overall |
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1,776 ms |
0,888 ms |
0,444ms |
0,222 ms |
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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 |
3 |
7 |
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3 ms |
0 |
2 |
5 |
12 |
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4 ms |
1 |
3 |
7 |
16 |
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6 ms |
2 |
5 |
12 |
24 |
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8 ms |
3 |
7 |
16 |
32 |
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© 3S - Smart Software Solutions GmbH
KEBcombicomdrive.doc |
Page 5 of 5 |