communication with nc-module - promess montage · 2015-04-20 · 3 ã promess montage- und...

UFMNC-Module

CommunicationWith NC-Module

Telegram

Description

PLC / NC-Modul Interbus-S

UD74

Content:1 GENERAL...........................................................................................................................................3

2. INTERFACES.....................................................................................................................................4

3. CONNECTIONS .................................................................................................................................4

3.1 SUPPLY VOLTAGE, INTERFACE, DIGITAL INPUT/OUTPUT.........................................................................43.2 RS 232 PORT .................................................................................................................................43.3 RS485 PORT ..................................................................................................................................53.4 INTERBUS - S CONNECTION ..............................................................................................................53.4.1 SHIELD........................................................................................................................................6

4 COMMUNICATION BASICS................................................................................................................6

4.1.1 FUNCTION OF THE NC-MODULE .....................................................................................................64.1.2 COMMUNICATION BETWEEN HOST AND NC-MODULE .........................................................................64.1.3 TIME RESPONSE ...........................................................................................................................64.1.4 ERROR ANALYSIS..........................................................................................................................64.1.5 PCP-COMMUNICATION ..................................................................................................................64.1.6 COMMUNICATION CONFIGURATION AND ADJUSTMENT OF THE COMMUNICATION RELATIONSHIP LIST.........8

5 THE TELEGRAM.................................................................................................................................9

6 COMMUNICATION BETWEEN HOST AND NC-MODULE. .................................................................9

6.1 DESCRIPTION OF THE PROTOCOL SIGNS..............................................................................................96.2 DATA FORMAT I/O HOST ÞNC MODULE..........................................................................................116.3 BIT USAGE EA LEVEL HOST ÞNC MODULE ......................................................................................126.4 DATA FORMAT NC MODULE Þ HOST ...............................................................................................136.5 BIT POSITION I/O LEVEL NC Þ HOST................................................................................................146.6 DATA FORMAT VARIABLES HOST ÞNC MODULE..............................................................................166.7 BIT CONDITION VARIABLES RANGE HOST ÞNC MODULE....................................................................176.8 DATA FORMAT VARIABLES NC MODULE ÞHOST ..............................................................................196.9 BIT POSITION VARIABLES RANGE NC MODULE -> HOST ......................................................................196.10 DATA FORMAT ID NUMBER HOST Þ NC MODULE ..........................................................................216.11 BIT USAGE ID NUMBER HOST ÞNC MODULE .................................................................................226.12 DATA FORMAT ID NUMBER NC MODULE ÞHOST ...........................................................................236.13 BIT CONSISTENCE ID NUMBER NC MODULE ÞHOST ......................................................................246.14 DATA FORMAT MOTION LEVEL HOST Þ NC MODULE ......................................................................266.15 BIT USAGE MOTION HOST ÞNC MODULE .....................................................................................276.16 DATA FORMAT MOTION NC MODULE ÞHOST.................................................................................296.17 BIT CONSISTENCE MOTION NC MODULE ÞHOST............................................................................306.18 STATUS INFORMATION ..................................................................................................................31

7 COMMAND STRUCTURE OF THE NC MODULE .............................................................................32

8 SIGNAL DESCRIPTION ....................................................................................................................33

8.1 HOMING AFTER SWITCH-ON .............................................................................................................338.2 HOMING WITHOUT REQUEST ............................................................................................................338.3 CYCLE START ................................................................................................................................348.4 E-STOP DURING A MOVE .................................................................................................................358.5 E-STOP AT IN-POSITION (NO MOVE) ..................................................................................................358.6 CHANGING PROGRAM – NUMBER......................................................................................................36

3ã Promess Montage- und Prüfsysteme GmbH Berlin

INTERBUS-S / UFM NC-Modul V 4.x

1 General

This document describes the communication between the NC-Module and the host. The protocol is simpleand can easily be implemented into existing PC/PLC-systems. The interface is based on a RS232 or RS 422and depends on the number of stations, which are connected to the PC.

Installation of Interbus-Module

The NC-Module may not be mounted, when the servo drive is powered.

The complete functions of the NC-Module are run via the serial interface.



2. Interfaces

The interface at the NC module is done via several 9-pin connectors at the bottom.

Connections on the Interbus-Module:

3. Connections

3.1 Supply voltage, interface, digital Input/output

The supply voltage is provided by the servo-amplifier. Only the interfaces – RS232/RS422 and the digitalinputs and outputs are located on the lower side of the NC-Module.The RS232 is specified with 19200 baud, 8 Data bits, 1 stop bit and no parity. The RS422 (4-wire) has avariable baud-rate up to 38400. The digital outputs are also located on the D-Sub-Min-connector (RS 422)and operate on a 5V-logic (TTL).

3.2 RS 232 Port

WARNING! The RS232 Port is not electrically isolated.

Diagram RS232: D-Sub 9-pin, male connector.

Pin Signal-description1 Shield2 TXD3 RXD4 DTR5 GND6 DSR7 RTS8 CTS9 NC

1 2 3 4 5

6 7 8 9



3.3 RS485 Port

WARNING ! The digital outputs and inputs are electrically not isolated!

Diagram RS422: D-Sub 9-pin, female connector.

Pin Signal-description1 0V2 /TX3 /RX4 DI0 – Digital output 05 DI1 – Digital output 16 TX7 RX8 DO0 – Digital input 09 0V – Digital E / A

The digital I/Os are 5V-logic (TTL) and not electrical-isolated. To connect the I/O's to a PLC, a voltageconverter is required (e.g. PHOENIX).

3.4 Interbus - S connection

UD74 have two Interbus-S 9-way D-Type connectors -Remote Bus In (A) and Remote Bus Out (B). The incoming cable must beconnected to the Remote Bus In connector, and the link to nodes downstream must be connected to the Remote Bus Out connector.The connections are shown below

The pin out of the connectors are:

Function 9 way D-type

DO 1 Data OUT line

/DO 6 Data OUT line

Dl 2 Data IN line

/Dl 7 Data IN line

Last Node 5 Terminate network ring

Last Node 9 Terminate network ring

0V common 3 0V cornrnon

Shield Shell Cable screen

1 2 3 4 5

6 7 8 9



3.4.1 Shield

The shield of the cable must be connected to the housing of the connector.

4 Communication Basics

4.1.1 Function of the NC-Module

The NC-Module is a Interbus-S participant with several levels. These levels are defined by a 3-bit-combination in the header (1st data word) of the participant.Level 0 defines a simple I/O-level, which is used for start, stop and status. Start and Stop for the press aregenerally transferred from the PLC to the NC module. The NC module will then execute the motioncommands immediately after receiving. Before the execution however, the status of the NC-Module has tobe analyzed, as different conditions are possible within the NC-Module. To transfer data, different data-levelsare provided. The data are separated concerning direction and content. The exact design of the bytes isdescribed in this manual, suffix A.

The level-architecture within the NC-Module looks like this:

Bit # Description000 I/O-level Start / Stop / GOOD / BAD / homing /Input / Output001 Data-level Variables / setting or reading of measuring points010 ID-number ID Data from the PLC to the PC011 Motion level Motion and position feedback combined level

Each Interbus- S command is divided into words with 32 bit length.

4.1.2 Communication between host and NC-Module

The NC Module is able to communicate to different hosts, like PLC or PC. The communication is alwaysstarted by the host. The NC Module is always passive and waits for a command via the serial link.

4.1.3 Time Response

The time response of a Interbus – S network with n bus sharing units can approximately calculated asfollows:

Cycle time = 350 + 53 x N x 4 [µs]

The process data communication and update of the drive parameter is done within the Interbus – S cycletime + 1 ms update time of the UD70.

4.1.4 Error Analysis

When the Interbus is started the first time, the UD74 activates a network control, which analyses the numberof cycles per control time. You can read out the control time in ms in parameter #20.11. If there are no buscycles during the control time, an error is created by the UD74. The drive reacts as programmed inparameter #17.14. A change of the parameter #17.14 is only activated after storing the parameters.

4.1.5 PCP-Communication



To communicate beside the exchange of process data via the Interbus – Scommunication channel, you have to setup the „Communication relation list (CRL)“.

In the CRL the information’s about the communication potentialities of the slave arestored, like:- Communication reference- Remote address- needed buffer size- assisted services (read, write ...)

The master stores the CRL entries for every connected slave. The data in the CRL have tocorrespond to the communication possibilities of the slave. For the UD74 you have to dothe following entries:

Communication reference:The “relative address” by which the member is addressed. The communication referencehas to be assigned without a gap for each slave starting at 2.

Remote address:Displays the real position within the bus system. Counting starts at 1. Only PCP capableslaves are seen.

Max PDU-Length for req./resp.-low: Enter please 33 Hex.

Max PDU-Length for ind./conf.-low: Enter please 9F Hex.

Supported services by the slave:They are displayed in 6 byte encrypted bit by bit. For the UD74 you have to enter:8030 Hex0080 HexB000 HexIn the following you see an example, that could be done by the Phoenix Contact programSYS SWT. The sequence is divided in three parts. In the first part the bus is activated, thecommunication relation list for user 1 is adjusted and the communication to the drive isstarted. In the second it is displayed, how to read and write drive parameter. In the thirdpart the communication channel is closed. The example is related to one participant(Unidrive / UD74)



4.1.6 Communication configuration and adjustment of the communicationrelationship list.

004C: Hex Warm start-ReqOOOÜ Hex Parameter Counter 0 - no parameter follow

Positive Acknowledgement: NoAcknowledgement

002? Hex Start - Bus-CycIe- Req0000 Hex Parameter Counter 0 - no parameter followPositive Acknowledgement: OOCA Hex

0001 Hex Start - Bus-CycIe- ReqOOOÜ Hex Parameter Counter 0 - no parameter followPositive Acknowledgement: OORS Hex

0053 Hex Receive-KBL-ReqWith this service the CRL fort he UD74 is adjusted

OOüa Hex Parameter Counter 8 - 8 parameter follow00 Ü2 KR 201 01 Remote _adr l0A 33 Max_pdu_send_1 33 Hex0C 9F Max_pdu_recv_1 9F Hex0D 06 Services_supp 6 Byte; coding the

supportedservices

80 30 00 Hex 00 Hex00 80 00 Hex S0HesB0 00 B0 Hex 00 HexPositive Acknowledgement: 00E8 Hex

0054 Hex lnit-Communication-Req0000 Hex Parameter Counter 0 - no parameter follow

Positive Acknowledgement: 00E9 Hex

008B Hex Initiate request0002 Hex02

Parameter counter 2 - 2 parameter follow



00 02 Invoce_id KR00 00 Password acc_Groups

Positive Acknowledgement: 818BHex

Now the communication to the Unidrive is established. The data exchange via the PCP channel can start.

5 The telegram

The communication parameters are predefined for the NC-Module at 1,5 Mbit and is implemented in aninternal hardware board of the module. Two connectors are available for Interbus standard-connectors.

The module is integrated with other clients in a bus, one client is the PLC/PC. The clients are connected viaa two wire-cable. The PLC/PC therefore must have at least one Interbus-module or a corresponding board.The protocol has been developed by the user organization and clearly defines the data-exchange. Afterreceiving a valid protocol and acknowledging by handshake, the data are taken into the NC-Module. Thishappens after a positive acknowledgment to avoid, that wrong data are written into the NC-Module.

The last client should have the terminating resistor enabled, which is often integrated into theconnector housing. In any case, the user must follow the valid standards.

6 Communication between host and NC-Module.

The NC-Module can communicate with different hosts like the PLC or a PC. The communication is alwaysstarted by the host, the NC-Module generally is passive and waits for a command via the serial interface.

6.1 Description of the protocol signs

Bit name description bit range

CST1: consistence Bit 2 (‚0‘ – ‚1‘)CMD0 – CMD2: command level (‚000‘ – ‚111‘)NU00 – NU08: not usedIN_07 – IN_00: Virtual inputs 1 – 8 (‚00000000‘ – ‚11111111‘)PRG0 – PRG7: Program Selector via PRG_S (‚00000‘ – ‚11111‘)PRG_S: Program strobe (‚0‘ – ‚1‘)STEP: step mode (‚0‘ – ‚1‘)START: Start program (‚0‘ – ‚1‘)REF: Start homing (‚0‘ – ‚1‘)CST0: consistence Bit (‚0‘ – ‚1‘)IO: Part status Ok (‚0‘ – ‚1‘)NIO: Part status NOk (‚0‘ – ‚1‘)REF_R: home request (‚0‘ – ‚1‘)CYC_E: Cycle end (‚0‘ – ‚1‘)STEP_E: step end (‚0‘ – ‚1‘)Out_07 – Out_00: Virtual outputs (‚00000000‘ – ‚11111111‘)STA00 – STA03: Status information (,0000‘ – ‚1111‘)KB: Keyboard lock. (‘0’ – ‘1’)

This disabled any command from the PC executing a motion.M_UP: Motion upward

(Moves the press up with the reference motion speed settings).M_DWN: Motion downward

(Moves the press down with the reference motion speed settings).



ID_00 – ID_07: Identification number bits (‘0’ – ‘1’)If documentation is required then the PLC has to transmit the IDnumber to the NC module.

WHEEL Wheel active (‚0‘ – ‚1‘)MOVE Move to input position (Level4) (‚0‘ – ‚1‘)SEL_n Binary type selection (‚00 ‘ – ‚11‘)IDX_n Binary addresse (‚00000000‘ – ‚11111111‘)

ATTENTION: By running the function M_UP , M_DWN , WHEEL and MOVE, the nominal Force willwork as overload.

The bit CST0 and CST1 represents the consistency of the data between these two bits. The data betweenCST0 and CST1 are valid only, if both bits have the same condition.

CST0 =‚0‘ – CST1 = ‚0‘ or CST0 = ‚1‘ – CST1 = ‚1‘.

A change within the bits can change the status of CST0 and CST1, therefore the status of these two bitsmust be checked to make sure, that the data and command bits are valid. The consistency bits are sent backto the PLC after reception.

REMARK: If data are transferred via CANopen and the data must be arranged in the PLC, the level bitsshould be set to 1 at level 7 first (CMD0 – CMD2), otherwise misinterpretations might happen on the bus. Ifthe words are than correct in regard to their consistency, the level-selection can be set to the right level.



6.2 Data format I/O Host Þ NC Module

The command structure is:

Standard structure of data byte 0-level_000.

The structure of the protocol is

The design of the protocol is shown as bits in the following description. These are shown in MSB after LSBfor the first data byte of the NC-Module.

Host Protocol:

IN_04 IN_03 IN_02 IN_01 IN_00 PRG5 PRG4 PRG3BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08

PRG2 PRG1 PRG0 PRG_S STEP START REF NUBIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00

CST1 CMD2 CMD1 CMD0 NU00 NU01 NU02 NU03BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_09 BIT_08

NU04 NU05 NU06 NU07 NU08 IN_07 IN_06 IN_05BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00

NU NU NU NU NU NU NU NUBIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08

NU NU NU NU M_DWN M_UP KB CST0BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00



6.3 Bit usage EA level Host Þ NC module

Data word 1BIT # Name Description

15 IN_04 Input bit 414 IN_03 Input bit 313 IN_02 Input bit 212 IN_01 Input bit 111 IN_00 Input bit 0, used to influence the program-flow.10 PRG5 Program Selection bit 5.9 PRG4 Program Selection bit 4.8 PRG3 Program Selection bit 3.7 PRG2 Program Selection bit 2.6 PRG1 Program Selection bit 1.5 PRG0 Program Selection bit 0. (up to 512 Programs can be coded)4 PRG_S Program strobe to take over a selected program (PRG0 – PRG5).3 STEP Single step of the actual program.2 START Start of the actual program. (can be executed after homing, when the unit

has been switched on.)1 REF Start homing. End of homing is defined by REF_R Bit.0 NU Not used


15 CST1 Consistency Bit 1 must match to CST0 to declare tha data valid.14 CMD2 Selection of level 2.13 CMD1 Selection of level 112 CMD0 Selection of level 0. To select the function needed 0 = I/O, etc.11 NU00 Not used10 NU01 Not used9 NU02 Not used8 NU03 Not used7 NU04 Not used6 NU05 Not used5 NU06 Not used4 NU07 Not used3 NU08 Not used2 IN_07 Input bit 7.1 IN_06 Input bit 6.0 IN_05 Input bit 5.



Data word 3

BIT # Name Description15 NU Not used14 NU Not used13 NU Not used12 NU Not used11 NU Not used10 PRG8 Program Selection bit 8.09 PRG7 Program Selection bit 7.08 PRG6 Program Selection bit 6.07 NU Not used06 NU Not used05 NU Not used04 NU Not used03 M_DWN Manual motion down.02 M_UP Manual motion up.01 KB Keyboard lock.00 CST0 consistence Bit 0 must match to to CST1 to declare the data valid

6.4 Data format NC Module Þ host

Standard structure of data word_1 - level_000.

NC Protocol:

data word 1

Out_04 Out_03 Out_02 Out_01 Out_00 PRG5 PRG4 PRG3BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08

PRG2 PRG1 PRG0 PRG_S STEP_E CYC_E REF_R NUBIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00

data word 2

CST1 CMD2 CMD1 CMD0 STA05 STA04 STA03 STA02BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_09 BIT_08

STA01 STA00 QUIT IO NIO Out_07 Out_06 Out_05BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00

data word 3

NU NU NU NU NU PRG8 PRG7 PRG6BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08

NU NU NU NU A_DWN A_UP KB CST0BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00



6.5 Bit position I/O level NC Þ host

The data of the CANopen is divided into 4 words a 16 bits. It is recommended to use data consistency for thedata transfer since this guarantees valid data in any case.Data word 1BIT # Name Description

15 Out_04 Output bit 4.14 Out_03 Output bit 3.13 Out_02 Output bit 2.12 Out_01 Output bit 1.11 Out_00 Output bit 0.10 PRG5 Ack. program selection bit 5.9 PRG4 Ack. program selection bit 4.8 PRG3 Ack. program selection bit 3.7 PRG2 Ack. program selection bit 2.6 PRG1 Ack. program selection bit 1.5 PRG0 Ack. program selection bit 0.4 PRG_S Program strobe to acknowledge a selected program (PRG0 – PRG5).

Change from Low -> High = Program was loaded3 STEP_E End of a step in the actual program.2 CYC_E End of program (Low -> High).1 REF_R End reference motion is defined by REF_R Bit.0 NU ab consistence Bit 1 must match with CST0 to declare the data valid.


15 CST1 Consistence Bit 1 must match CST0 to declare the data valid14 CMD2 Level selection 2.13 CMD1 Level selection 1.12 CMD0 Level selection 0. Defines, which function was selected (0 = I/O, etc...).11 STA_LL Program strobe to acknowledge a selected program (PRG0 – PRG5).

Change from Low -> High = Program was loaded10 STA_UL Status bit 4 (upper limit exceeded)09 STA_NF Ack. program selection bit 1.08 STA_FEA Status Bit 2 (force limit exceeded in preposition)07 STA_REF Status Bit 1 (Reference)06 STA_OL Status Bit 0. Additional information about a fault in the program (0 = no

fault, etc..).05 QUIT Ack. For input signals04 IO Good part (OK)03 NIO Bad part (After program end the status information „bad part“ (NOK),

„Good part“ (OK) are set)02 Out_07 Output bit 7.01 Out_06 Output bit 6.00 Out_05 Output bit 5.



Data word 3

BIT # Name Description15 NU STA_1214 STA_LST Cycle - Start lost13 STA_ADC ADC limit reached12 STA_RES Reset11 CTRL Drive enabled10 PRG8 Ack. program selection bit 8.09 PRG7 Ack. program selection bit 7.08 PRG6 Ack. program selection bit 6.07 STA_MAX Max. position "Press to Force (Signal)" reached06 STA_FER Max. permitted positioning fault crossed05 STA_FT Force transducer max. deviation of 10% exceeded04 PC_LIFE PC connected and ready03 A_DOWN Acknowledge motion down.02 A_UP Acknowledge motion up.01 KB Acknowledge keyboard lock.00 CST0 Consistence Bit 0 must match CST1 to declare the data valid



6.6 Data format Variables Host Þ NC Module

To request variable / gauging values the selection bits SEL_0 & SEL_1 have to be set accordingly.

SEL_0 SEL_1 data type0 0 Variables1 0 Gauging values0 1 Not used1 1 Not used

The variables 1 to 8 and are then addressed via the index (IDX_0 - IDX_3) as a binary Offset.IDX_0 IDX_1 IDX_2 IDX_3 Variable0 0 0 0 1 Variable1 0 0 0 2 Variable0 1 0 0 3 Variable1 1 0 0 4 Variable0 0 1 0 5 Variable1 0 1 0 6 Variable0 1 1 0 7 Variable1 1 1 0 8 Variable0 0 0 1 9 Variable1 0 0 1 10 Variable0 1 0 1 11 Variable1 1 0 1 12 Variable

With gauging values the index bits IDX_3 & IDX_4 have to be used to determine the gauging number. Forthe data type the lower significant bits IDX_0 to IDX_2 have to be used.

IDX_0 IDX_1 IDX_2 Data type0 0 0 Status

(0 = Sample taken / Basecondition)(2 = acquisition active)(4 = single position triggeractive)

1 0 0 Position (Start)0 1 0 Position (End)1 1 0 Upper limit0 0 1 Force / analog value1 0 1 Lower limit1 1 0 Acquisition position.

IDX_3 IDX_4 Gauging value0 0 1 Gauging value1 0 2 Gauging value0 1 3 Gauging value1 1 4 Gauging value

Standard structure of level_001.

NC Protocol:

Data word 1



D_SGN D_29 D_28 D_27 D_26 D_25 D_24 D_23BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08

D_22 D_21 D_20 D_19 D_18 D_17 D_16 D_15BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00

Data word 2

CST1 CMD3 CMD2 CMD1 READ WRITE SEL_1 SEL_0BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_09 BIT_08

IDX_7 IDX_6 IDX_5 IDX_4 IDX_3 IDX_2 IDX_1 IDX_0BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00

Data word 3


D_06 D_05 D_04 D_03 D_02 D_01 D_00 CST_0BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00

6.7 Bit condition variables range Host Þ NC Module

1. Data word (most significant bits of variable)

BIT #[DW] Name Description15 DATA_SGN Sign of variable (0 = positive, 1 = negative)14 DATA_29 Data bit 29 (MSB), this carries the value*1000, which has been

collected in the NC-Module (e.g. 1234,560 = 1234560), thePLC must therefore divide the integer number by 1000, to getthe real value.

13 DATA_28 Data bit 2812 DATA_27 Data bit 2711 DATA_26 Data bit 2610 DATA_25 Data bit 2509 DATA_24 Data bit 2408 DATA_23 Data bit 2307 DATA_22 Data bit 2206 DATA_21 Data bit 2105 DATA_20 Data bit 2004 DATA_19 Data bit 1903 DATA_18 Data bit 1802 DATA_17 Data bit 1701 DATA_16 Data bit 1600 DATA_15 Data bit 15



2. Data word (control bits)

BIT #[DW] Name Description15 CST1 Consistency Bit 1 must be the same as CST0 to declare the

values valid.14 CMD2 Level selection 2.13 CMD1 Level selection 1.12 CMD0 Level selection 2. To define the selected function: 0 = EA, 1 =

Variables, 2 = Measuring values.11 READ Read, at Bit 1 wait, until the NC-module has reflected the status.10 WRITE Write. At Bit 1 wait until the NC-module has reflected the status.09 SEL_1 Selector 1

(MSB) type of variable (0 = Variable, 1 = Measuring value)08 SEL_0 Selector 007 IDX_7 Index 7 (MSB) range 0 – 255.

The offset (number) of variable is set06 IDX_6 Index 605 IDX_5 Index 5

BIT #[DW] Name Description04 IDX_4 Index 403 IDX_3 Index 302 IDX_2 Index 201 IDX_1 Index 100 IDX_0 Index 0 (LSB)

3. Data word (least significant bits of variable)BIT #[DW] Name Description

15 DATA_14 Data bit 1414 DATA_13 Data bit 1313 DATA_12 Data bit 1212 DATA_11 Data bit 1111 DATA_10 Data bit 1010 DATA_09 Data bit 0909 DATA_08 Data bit 808 DATA_07 Data bit 707 DATA_06 Data bit 606 DATA_05 Data bit 505 DATA_04 Data bit 404 DATA_03 Data bit 303 DATA_02 Data bit 202 DATA_01 Data bit 101 DATA_00 Data bit 000 CST0 Consistency Bit 0 must be the same as CST1 to declare the

values as valid.



6.8 Data format Variables NC Module Þ Host

Standard structure of data word _0 - level_001.

NC Protocol:

Data word 1D_SGN D_29 D_28 D_27 D_26 D_25 D_24 D_23BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_08 BIT_08


Data word 2CST1 CMD3 CMD2 CMD1 READ WRITE SEL_1 SEL_0

BIT_15 BIT_14 BIT_13 BIT_12 BIT_11 BIT_10 BIT_09 BIT_08

IDX_7 IDX_6 IDX_5 IDX_4 IDX_3 IDX_2 IDX_1 IDX_0BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00

Data word 3D_14 D_13 D_12 D_11 D_10 D_09 D_08 D_07



6.9 Bit position variables range NC Module -> Host1. Data word (most significant bits of variable )BIT #[DW] Name Description

15 DATA_SGN Sign of variable (0 = positive, 1 = negative)14 DATA_29 Data bit 29 (MSB), this carries the value*1000, which has been


13 DATA_28 Data bit 2812 DATA_27 Data bit 2711 DATA_26 Data bit 2610 DATA_25 Data bit 2509 DATA_24 Data bit 2408 DATA_23 Data bit 2307 DATA_22 Data bit 2206 DATA_21 Data bit 2105 DATA_20 Data bit 2004 DATA_19 Data bit 1903 DATA_18 Data bit 1802 DATA_17 Data bit 1701 DATA_16 Data bit 1600 DATA_15 Data bit 15



2. Data word (control bits).BIT #[DW] name Description

15 CST1 Consistency Bit 1must be the same asCST0, to declare the datavalid

14 CMD2 Level selection 2.13 CMD1 Level selection 1.12 CMD0 Level selection 2. To define the selected function :0 = I/O, 1 =

Variable, 2 = Measuring values.11 READ Read, at Bit 1 wait, until the NC-module has reflected the status.10 WRITE Write. At Bit 1 wait until the NC-module has reflected the status.09 SEL_1 Selector 2

(MSB) type of variable (0 = variable, 1 = Measuring value)08 SEL_0 Selector 007 IDX_7 Index 7 (MSB) range 0 – 255.

The offset (number) of variable is set06 IDX_6 Index 605 IDX_5 Index 504 IDX_4 Index 403 IDX_3 Index 302 IDX_2 Index 201 IDX_1 Index 100 IDX_0 Index 0 (LSB)

3. Data word (least significant bits of variable)

BIT # Name Description15[1] DATA_14 Data bit 1414[1] DATA_13 Data bit 1313[1] DATA_12 Data bit 1212[1] DATA_11 Data bit 1111[1] DATA_10 Data bit 1010[1] DATA_09 Data bit 0909[1] DATA_08 Data bit 808[1] DATA_07 Data bit 707[1] DATA_06 Data bit 606[1] DATA_05 Data bit 505[1] DATA_04 Data bit 404[1] DATA_03 Data bit 303[1] DATA_02 Data bit 202[1] DATA_01 Data bit 101[1] DATA_00 Data bit 000[1] CST0 consistency bit 0 must be the same as CST1, to declare the

values as valid



6.10 Data Format ID Number Host Þ NC Module

Consistency of Data word 1 - Ebene_011.

The Identification Bytes can be used from 1 to 20 and will be selected via the index(IDX_0 & IDX_1 & IDX_2 & IDX_3 & IDX_4 ).

IDX_0 IDX_1 IDX_2 IDX_3 IDX_4 Ident Byte No.0 0 0 0 0 11 0 0 0 0 20 1 0 0 0 31 1 0 0 0 40 0 1 0 0 51 0 1 0 0 60 1 1 0 0 71 1 1 0 0 80 0 0 1 0 91 0 0 1 0 100 1 0 1 0 111 1 0 1 0 120 0 1 1 0 131 0 1 1 0 140 1 1 1 0 151 1 1 1 0 160 0 0 0 1 171 0 0 0 1 180 1 0 0 1 191 1 0 0 1 20Standard consistence of Data word 0 - level_002.

NC Protocol:

Data word 1N.U. N.U. N.U. N.U. N.U. N.U. N.U. N.U.


ID_07 ID_06 ID_05 ID_04 ID_03 ID_02 ID_01 ID_00BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00

Data word 2CST1 CMD3 CMD2 CMD1 READ WRITE N.U. N.U.


N.U. N.U. N.U. IDX_4 IDX_3 IDX_2 IDX_1 IDX_0BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00



N.U. N.U. N.U. N.U. N.U. N.U. N.U. CST_0BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00



6.11 Bit usage ID Number Host Þ NC Module

1. Data word (most significant bits of Variable)BIT # Name Description

15 N.U. Not used.14 N.U. Not used.13 N.U. Not used.12 N.U. Not used.11 N.U. Not used.10 N.U. Not used.09 N.U. Not used.08 N.U. Not used.07 ID_07 Identification data bit 706 ID_06 Identification data bit 605 ID_05 Identification data bit 504 ID_04 Identification data bit 403 ID_03 Identification data bit 302 ID_02 Identification data bit 201 ID_01 Identification data bit 100 ID_00 Identification data bit 0

2. Data wordBIT # Name Description

15 CST1 Consistency Bit 1 must match CST0 to make the contents of thebits valid.

14 CMD2 Level selection bit 2.13 CMD1 Level selection bit 1.12 CMD0 Level selection bit 0. These bits determine the level that should

be used0 = EA, 1 = Variables / gauging values, 2 = ID number.

11 READ Read. With the Bit high the NC module has to mirror the bit highto read the ID number.

10 WRITE Write. With the bit high the NC module has to mirror the bit highto take over the ID number.

09 N.U. Not used.08 N.U. Not used.07 N.U. Not used.06 N.U. Not used.05 N.U. Not used.04 IDX_4 Index 4 (MSB)03 IDX_3 Index 302 IDX_2 Index 201 IDX_1 Index 100 IDX_0 Index 0 (LSB)



2. Data word

BIT # Name Description15 N.U. Not used.14 N.U. Not used.13 N.U. Not used.12 N.U. Not used.11 N.U. Not used.10 N.U. Not used.09 N.U. Not used.08 N.U. Not used.07 N.U. Not used.06 N.U. Not used.05 N.U. Not used.04 N.U. Not used.03 N.U. Not used.02 N.U. Not used.01 N.U. Not used.00 CST0 Consistency bit 0 must match the condition of CST1 to make

the data valid.

6.12 Data format ID Number NC Module Þ Host

Standard consistence of Data word 1 – level 010.

NC Protocol:



ID_07 ID_06 ID_05 ID_04 ID_03 ID_02 ID_01 ID_00BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00

Data word 2CST1 CMD3 CMD2 CMD1 READ WRITE N.U. N.U.


N.U. N.U. N.U. IDX_4 IDX_3 IDX_2 IDX_1 IDX_0BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00



N.U. N.U. N.U. N.U. N.U. N.U. N.U. CST_0BIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00



6.13 Bit consistence ID Number NC Module Þ Host

1. Data word ( ID Data area )

BIT # Name Description15 N.U. Not used.14 N.U. Not used.13 N.U. Not used.12 N.U. Not used.11 N.U. Not used.10 N.U. Not used.09 N.U. Not used.08 N.U. Not used.07 ID_07 Identification data bit 706 ID_06 Identification data bit 605 ID_05 Identification data bit 504 ID_04 Identification data bit 403 ID_03 Identification data bit 302 ID_02 Identification data bit 201 ID_01 Identification data bit 100 ID_00 Identification data bit 0

2. Data word

BIT # Name Description15 CST1 Consistency Bit 1 must match the condition of CST0 to declare

the data as valid.14 CMD2 Level selection 2.13 CMD1 Level selection 1.12 CMD0 Level selection 0. This determines the level to be used.

0 = EA, 1 = Variables / gauging values, 2 = ID number.11 READ Read. When set high the NC module has to mirror the bit back

to read the ID number.10 WRITE Write. When set high the NC module has to mirror the bit back

to acknowledge that the number has been written.09 N.U. Not used.08 N.U. Not used.07 N.U. Not used.06 N.U. Not used.05 N.U. Not used.04 IDX_4 Index 4 (MSB)03 IDX_3 Index 302 IDX_2 Index 201 IDX_1 Index 100 IDX_0 Index 0 (LSB)



3. Data word

BIT # Name Description15 N.U. Not used.14 N.U. Not used.13 N.U. Not used.12 N.U. Not used.11 N.U. Not used.10 N.U. Not used.09 N.U. Not used.08 N.U. Not used.07 N.U. Not used.06 N.U. Not used.05 N.U. Not used.04 N.U. Not used.03 N.U. Not used.02 N.U. Not used.01 N.U. Not used.00 CST0 Consistency Bit 0 must match the condition of CST1 to declare

the data as valid.



6.14 Data Format Motion level Host Þ NC Module

Consistency of Data word 1 - level_011.

The combination for the selection bits go from 1 to 3 and will select the value that is being transmitted overthe CANopen (SEL_0 & SEL_1).

SEL_0 SEL_1 Function0 0 1 Position1 0 2 Force0 1 3 Analog 11 1 4 Analog 2

Standard consistence of Data word 0 - level_011.

NC Protocol:



Data word 2CST1 CMD3 CMD2 CMD1 SEL_1 SEL_0 KB NU


NU NU M_DWN M_UP WHEEL MOVE NU NUBIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00






6.15 Bit usage Motion Host Þ NC Module

1. Data word (most significant bits of value )BIT #[SEL_n]

Name Description

15[0] DATA_SGN Sign of variable (0 = positive, 1 = negative)14[0] DATA_29 Data bit 29 (MSB), this carries the value*1000, which has been


13[0] DATA_28 Data bit 2812[0] DATA_27 Data bit 2711[0] DATA_26 Data bit 2610[0] DATA_25 Data bit 2509[0] DATA_24 Data bit 2408[0] DATA_23 Data bit 2307[0] DATA_22 Data bit 2206[0] DATA_21 Data bit 2105[0] DATA_20 Data bit 2004[0] DATA_19 Data bit 1903[0] DATA_18 Data bit 1802[0] DATA_17 Data bit 1701[0] DATA_16 Data bit 1600[0] DATA_15 Data bit 15

2. Data word (control word)

BIT # Name Description15 CST1 Consistency Bit 1 must match CST0 to make the contents of the

bits valid.14 CMD2 Level selection bit 2.13 CMD1 Level selection bit 1.12 CMD0 Level selection bit 0. These bits determine the level that should

be used0 = EA,1 = Variables / gauging values,2 = ID number,3 = Motion

11 SEL_1 Selection for type of value that will be transmitted.SEL_1 = 0 & SEL_0 = 0 -> PositionSEL_1 = 0 & SEL_0 = 1 -> ForceSEL_1 = 1 & SEL_0 = 0 -> Analog 1SEL_1 = 1 & SEL_0 = 1 -> Analog 2

10 SEL_0 Dito.BIT # Name Description

09 KB Keyboard lock08 N.U. N.U.07 N.U. N.U.06 N.U. N.U.05 M_DWN Manual motion down.04 M_UP Manual motion up.03 WHEEL Sets the turn wheel motion active.



02 MOVE Move to input value01 N.U. N.U.00 N.U. N.U.

3. Data word (least significant bits of variable)

BIT #[SEL_n]

Name Description

15[0] DATA_14 Data bit 1414[0] DATA_13 Data bit 1313[0] DATA_12 Data bit 1212[0] DATA_11 Data bit 1111[0] DATA_10 Data bit 1010[0] DATA_09 Data bit 0909[0] DATA_08 Data bit 808[0] DATA_07 Data bit 707[0] DATA_06 Data bit 606[0] DATA_05 Data bit 505[0] DATA_04 Data bit 404[0] DATA_03 Data bit 303[0] DATA_02 Data bit 202[0] DATA_01 Data bit 101[0] DATA_00 Data bit 000[0] CST0 consistency bit 0 must be the same as CST1, to declare the

values as valid



6.16 Data format motion NC Module Þ Host

The combination for the selection bits go from 1 to 4 and will select the value that is being transmitted overthe CANopen (SEL_0 & SEL_1).

SEL_0 SEL_1 Function0 0 1 Position1 0 2 Force0 1 3 Analog 11 1 4 Analog 2

Standard consistence of Data word 1 - level_011.

NC Protocol:



Data word 2CST1 CMD3 CMD2 CMD1 SEL_1 SEL_0 NU NU


QUIT LIFE M_DWN M_UP WHEEL MOVE_INPOS NU REF_RBIT_07 BIT_06 BIT_05 BIT_04 BIT_03 BIT_02 BIT_01 BIT_00






6.17 Bit consistence Motion NC Module Þ Host

1. Data word (most significant bits of value )

BIT #[SEL_n]

Name Description

15[0] DATA_SGN Sign of variable (0 = positive, 1 = negative)14[0] DATA_29 Data bit 29 (MSB), this carries the value*1000, which has been


13[0] DATA_28 Data bit 2812[0] DATA_27 Data bit 2711[0] DATA_26 Data bit 2610[0] DATA_25 Data bit 2509[0] DATA_24 Data bit 2408[0] DATA_23 Data bit 2307[0] DATA_22 Data bit 2206[0] DATA_21 Data bit 2105[0] DATA_20 Data bit 2004[0] DATA_19 Data bit 1903[0] DATA_18 Data bit 1802[0] DATA_17 Data bit 1701[0] DATA_16 Data bit 1600[0] DATA_15 Data bit 15

2. Data word (control word)BIT # Name Description

15 CST1 Consistency Bit 1 must match the condition of CST0 to declarethe data as valid.

14 CMD2 Level selection 2.13 CMD1 Level selection 1.12 CMD0 Level selection 0. This determines the level to be used.

0 = EA, 1 = Variables / gauging values, 2 = ID number.11 SEL_1 Selection acknowledge for type of value that will be transmitted.

SEL_1 = 0 & SEL_0 = 0 -> PositionSEL_1 = 0 & SEL_0 = 1 -> ForceSEL_1 = 1 & SEL_0 = 0 -> Analog 1SEL_1 = 1 & SEL_0 = 1 -> Analog 2

10 SEL_0 Dito.09 NU NU08 NU NU07 NU NU06 LIFE PC connected and ready for data storage (must be monitored by the

plc to make sure the data storage is set to 100%).05 M_DWN Acknowledgment for motion down.04 M_UP Acknowledgment for motion up.03 WHEEL Indication that the turn wheel motion is active.02 MOVE_IPOS Acknowledgment for motion (in Position)01 NU NU00 REF_R Reference request. Drops low when the reference has been

run.



3. Data word (least significant bits of value)BIT #[SEL_n]

Name Description

15[0] DATA_14 Data bit 1414[0] DATA_13 Data bit 1313[0] DATA_12 Data bit 1212[0] DATA_11 Data bit 1111[0] DATA_10 Data bit 1010[0] DATA_09 Data bit 0909[0] DATA_08 Data bit 808[0] DATA_07 Data bit 707[0] DATA_06 Data bit 606[0] DATA_05 Data bit 505[0] DATA_04 Data bit 404[0] DATA_03 Data bit 303[0] DATA_02 Data bit 202[0] DATA_01 Data bit 101[0] DATA_00 Data bit 000[0] CST0 consistency bit 0 must be the same as CST1, to declare the

values as valid

6.18 Status information

Possible status messages

STA_LST start lostSTA_ADC ADC limit reachedSTA_RES ResetSTA_MAX max position "Press to Force (Signal)" reachedSTA_FT Force transducer max. deviation of 10 % exceededSTA_FER max. permitted positioning fault crossedSTA_FEA force transducer not centeredSTA_LL lower limit violatedSTA_UL upper limit violatedSTA_NF force not reachedSTA_FEA force in preposition reachedSTA_REF reference requestSTA_OL overload

The error messaged have to be evaluated when the program cycle is finished.



7 command structure of the NC module

Command Bit(s) Description Level

Start of program START,CYC_E

Start of program by setting the start bit,end of program by reading the CYC_EBits.

‘000’

Homing REF_R,REF

When the REF_R Bits is set, homing isnecessary. End of homing by readingthe REF_R Bits.

‘000’

Step start STEP,STEP_E

Start of the actual step by setting theSTEP Bit. End of step by reading theSTEP_E bit.

‚000‘

Part status OK, NOK General status information about thepart after program end.

‚000‘

Read variable READ,SEL_n,IDX_n

Numbers are multiplied with 1000 andcopied into the data-structure, after that,READ is set to “1” and you have to wait,until the NC-Module reflects the “1”(after that reflection, the data are read)

‚001‘

Write variables WRITESEL_n,IDX_n

Numbers are multiplied with 1000 andcopied into the data-structure, after that,WRITE is set to “1” and you have towait, until the NC-Module reflects the“1” (after that reflection, the data areaccepted.)

‚001‘

Read gauging values(1 - 4)

READ,SEL_n = 1,IDX_n.

Numbers will be multiplied by 1000 andcopied into the data structure. To readthe values the read bit has to be set to 1and the PLC has to wait until the NCmodule mirrors the 1 back so the datagets declared valid.

‚001‘

Read ID number(1 – 20)

ID_xx,READ,IDX_n.

ID numbers can only be read segmented.To read the number the index bits (IDX_0– IDX_4) will have to be set and theREAD bit also. Then the PLC has to waitfor the NC module to acknowledge theread command (with mirroring the readbit). Then the ID byte can be taken fromthe data area. Then the read bit has to bereset.

‚010‘

Write ID Number(1 - 20)

ID_xx,WRITE,IDX_n.

Writing a ID number can be achieved bysetting the index bits , the data bits (IDnumber) and changing the write bit from 0to 1. The NC module will then signal thereception by mirroring the write bit backto the PLC. Then the write bit has to bereset.

‚010‘

Read value SEL_n = 0-3, Read the values permanent0 – Position1 – Kraft2 – Analog 13 – Analog 2

‚011‘

Wheel function Wheel Select the wheel function ‚011‘Positioning Move Move to the position, witch is insert at the

data word‚011‘



8 Signal description

8.1 Homing after switch-on

Homing request (REF_R)

Quitt (QUIT)

Start homing

DescriptionWhen the NC-Module has been switched on, the homing request and „QUITT“ are set,the PLC sets the signal „homing“,the NC-Module acknowledges the signal by resetting the QUITT-signal,The PLC resets the signal „homing“, when the signal „homing request“ has been reset by the NC-Module,The NC-Module acknowledges the reset of the signal „homing“ by setting the QUITT signal.

If the signal „homing“ is reset during the homing procedure, the PC stops the homing and the signal homingrequest stays active.

8.2 Homing without request

Homing request (REF_R)

Quitt (QUIT)

Start homing

Description

The PLC sets the signal „homing“,The NC-Module acknowledges the signal by resetting the signal „QUITT“ and setting the signal „homingRequest“,The PLC resets the signal „homing“, when the signal „homing request“ has been reset,The NC-Module acknowledges the reset of the signal „homing“ by setting the Signal „QUITT“.

If the signal „homing“ is reset during the homing procedure, the PC stops the homing and the signal homingrequest stays active.

5

4

3

2

1

5

4

3

2

1



8.3 Cycle start

DescriptionThe PLC sets the signal „START,The NC-Module acknowledges the signal by resetting the signal „QUITT“and resetting OK or NOK.The signal OK, or NOK informs the PLC, that the cycle has been finished.The NC-Module acknowledges the reset of the start-signal by setting the QUITT-signal.

If the start-signal is rest during the cycle, the NC-Module stops the move and the signal QUITT and OK andNOK are set.

ts

tbta

Home request

tprg

5

4

3

2

1

Life Bit

Start

Ack

OK

NOK



8.4 E-stop during a move

E-stop

Quitt (QUIT)

Start (START)

Hom. reque. (REF_R)

DescriptionThe E-stop opens the e-stop-circuit,The assembly unit reacts with a stop of the move,the OK and NOK signals are set,The PLC resets the start signal, when the PLC has seen the e-stop situation,

When the e-stop-problem has been solved, the e-stop-circuit is closed and the PC acknowledges the signal-change with the signal „QUITT“, when the start-signal has been reset. After a new start the signal „QUITT“and OK and NOK are reset.

8.5 E-stop at in-position (no move)

E-stop

Quitt (QUIT)

Description

In case of a e-stop-situation, the e-stop-circuit is opened,The NC-Module acknowledges by resetting the signal „QUITT“,When the e-Stop-circuit is closed again, the NC module resets the signal „QUITT“.

4

3

2

1

5

4

3

2

1



8.6 Changing program – number

Description:

Setting of binary coded program numberSetting of the strobe for handing overMirroring of the program numberSrobe for delivery confirmation after loading of the porgramResteo strobe by the PLC and the NC-Module

I Prog. Bit 1

I Prog. Bit 2

I Prog. Bit n

I Strobe

O Prog. Bit 1

O Prog. Bit 2

O Prog. Bit n

O Strobe

I Home -Start

I Start

5

42

1

3



Appendix ADefinition of the function levels:

Ebene Bits Funktion BeschreibungInput/output ‚000‘ Start / Stop /

Status / EALevel 0:CMD0 =0,CMD1 = 0 and CMD2 =0

Data / Measuring values ‚001‘ Level 1:CMD0 =1,CMD1 = 0 und CMD2 =0

ID number ‚010‘ Level 2:CMD0 =0,CMD1 = 1 und CMD2 =0

Wheel function ‚011‘ Level 3:CMD0 =1,CMD1 = 1 und CMD2 =0

‚100‘‚101‘‚110‘

Program information ‚111‘

communication with nc-module - promess montage · 2015-04-20 · 3 ã promess montage- und...

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