Материал: ServoStardrive
SoftMotion: DriveInterface: ServoStar
SoftMotion: DriveInterface: ServoStar
Last update: 16.04.2007
Hardware interface |
CAN; must support 3S_CANdrv.lib |
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Supported drives |
ServoStar600, ServoStar400 (Danaher Kollmorgen Seidel) |
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Runtimes |
x86 |
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Author |
Hilmar Panzer |
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Components |
ServostarDrive.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 |
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1.1 |
BusInterface ........................................................................................................................ |
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1.2 |
AxisGroup ........................................................................................................................... |
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1.3 |
supported Drive.wControlType.......................................................................................... |
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1.4 |
Additional structure ServoStar_AXIS_REF ....................................................................... |
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1.5 |
Firmware and configuration possibilities ......................................................................... |
3 |
2 |
FEATURES |
4 |
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3 |
CAN-TRAFFIC |
5 |
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© 3S - Smart Software Solutions GmbH
ServoStardrive.doc |
Page 1 of 5 |
SoftMotion: DriveInterface: ServoStar
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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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 |
Reserved |
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1.3supported Drive.wControlType
T / - no |
V/V yes |
V/P yes |
P/P yes |
PV/PV yes |
V/- yes |
CONF yes |
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The cyclically sent/received data can consist of: fSet/ActPosition, fSet/ActVelocity, fSetCurrent.
1.4Additional structure ServoStar_AXIS_REF
Name |
Type |
Description |
byHomingDelay |
Byte |
Internal use: delays switching back from homing mode |
strConfigFile |
STRING |
full name and path of config file |
Acit |
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internal use |
byOperatingMode |
BYTE |
internal use: operation mode |
wServoStarType |
WORD |
type of servostar (600/400) |
crap |
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Internal use |
pParameterlist |
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Internal use |
wOldControl |
WORD |
Internal use |
byOldOpMode |
BYTE |
Internal use |
wControlWord |
WORD |
Control word (6040) |
wStatusWord |
WORD |
Status word (6041) |
wDRVSTATlw |
WORD |
Low word of DRVSTAT |
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© 3S - Smart Software Solutions GmbH
ServoStardrive.doc |
Page 2 of 5 |
SoftMotion: DriveInterface: ServoStar
1.5Firmware and configuration possibilities
The driver was implemented and tested on firmware version V7.12.
Because some problems could occur with former software versions, there are some possibilities to adapt some parameters. The following global variables must be set during the first cycle of the application:
g_uiWaitTimeAfterSYNCus |
Minimum time (µs), between sending the SYNC |
500 |
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and the first PDO |
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g_byServostarSYNCSOURCE |
Parameter SYNCSORC* |
3 |
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g_byServostarFPGA |
Parameter FPGA* |
3 |
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* normally the drive should work with SYNCSRC 3 and FPGA 3, when controlled via CAN. Former firmware versions had some problems when running in this mode. Then it could help to set these values to 0.
© 3S - Smart Software Solutions GmbH
ServoStardrive.doc |
Page 3 of 5 |
SoftMotion: DriveInterface: ServoStar
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) use MC_Read/Write(Bool)Parameter with parameter number -16#ddaabbcc)
o any gearing factors (dwRatioTechUnitsDenom/iRatioTechUnitsNum)
o linear/rotary axes
odrive internal homing (configure with object 0x6098 etc. or via ASCII commands NREF/DREF)
o limit switches
o 32-Bit latching (only possible after homing): 1 channel; digital input must be defined
o configuration from file
o configuration from dialogs in PLC configuration
ocontrolling modes (SMC_SetControllerMode): position, velocity, current (switch regulator off before switching them)
osupported SYNC generators (to be set in PLC Configuration, AxisGroup) : PLC, SYNCDevice
© 3S - Smart Software Solutions GmbH
ServoStardrive.doc |
Page 4 of 5 |
SoftMotion: DriveInterface: ServoStar
3 CAN-Traffic
base load: |
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Telegram |
Data |
Bit length |
125 |
250 |
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500 |
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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 |
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0,047 |
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ms |
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SDO |
8 |
111 |
0,888 ms |
0,444 ms |
0,222 ms |
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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 |
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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 |
250 |
500 |
1 |
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bytes |
length |
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kBit/s |
kBit/s |
kBit/s |
MBit/s |
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Control word and operation mode |
3 |
71 |
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0,568 |
0,284 |
0,142 |
0,071 |
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ms |
ms |
ms |
ms |
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SetPosition/SetVelocity/SetCurren |
4 |
79 |
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0,632 |
0,316 |
0,158 |
0,079 |
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t |
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ms |
ms |
ms |
ms |
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Status word and actual position |
8 |
111 |
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0,888 |
0,444 |
0,222 |
0,111 |
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ms |
ms |
ms |
ms |
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optional: actual velocity |
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3 |
71 |
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0,568 |
0,284 |
0,142 |
0,071 |
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ms |
ms |
ms |
ms |
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overall (no actual velocity) |
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2,656 |
1,328 |
0,664 |
0,332 |
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ms |
ms |
ms |
ms |
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overall (with actual velocity) |
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3,288 |
1,644 |
0,822 |
0,411 |
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ms |
ms |
ms |
ms |
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With/Without receiving the actual velocity, and with one SDO reserve it is possible to control n drives:
Cycle time |
125 |
250 |
500 |
1 |
[ms] |
kBit/s |
kBit/s |
kBit/s |
MBit/s |
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1 |
0/0 |
0/0 |
1/1 |
2/2 |
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2 |
0/0 |
1/1 |
2/2 |
4/5 |
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3 |
0/1 |
1/1 |
3/4 |
6/8 |
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4 |
1/1 |
2/2 |
4/5 |
9/11 |
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5 |
1/1 |
2/3 |
5/7 |
10/13 |
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8 |
2/2 |
4/5 |
9/11 |
18/23 |
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© 3S - Smart Software Solutions GmbH
ServoStardrive.doc |
Page 5 of 5 |