Keba Kemro K2 Installation and operation manual

Kemro K2
SANMOTION C FM 299/A GA1060 Field bus
master module
Project Engineering Manual V 1.1

© KEBA 2006
Specifications are subject to change due to further technical developments. Details presented may be subject to correction.
All rights reserved.
Document: version 1.1 / article no.: 1000296
Filename: fm299pjen.doc, last saving on: 3. 10. 2006
A: KEBA AG, Gewerbepark Urfahr, A-4041 Linz, Tel.: [phone], Fax: [phone], E-Mail: [email protected]
D: KEBA GmbH Automation, Leonhard-Weiss-Straße 40, D-73037 Göppingen, Tel.: [phone],
Fax: [phone], E-Mail: [email protected]
US: KEBA Corp., 100 West Big Beaver Road, Troy, MI 48084, US,Tel.: [phone], Fax: [phone],
E-Mail: [email protected]
CN: KEBA Ltd., Unit 2107 Air China Plaza, Xiaoyun Road 36 #, Chaoyang District, Beijing, 100027, China,
Tel.: [phone], Fax: [phone], E-Mail: [email protected]
www.keba.com
Notes on This Manual
At various points in this manual you will see notes and precautionary
warnings regarding possible hazards. The meaning of the symbols used is
explained below.
DANGER
!
•DANGER indicates an imminently hazardous situation which, if not avoided, will
result in death or serious injury.
WARNING
!
•WARNING indicates a potentially hazardous situation which, if not avoided,
could result in death or serious injury.
CAUTION
!
•CAUTION indicates a potentially hazardous situation which, if not avoided, may
result in minor or moderate injury.
CAUTION
•CAUTION used without the safety alert symbol indicates a potentially hazardous
situation which, if not avoided, may result in property injury.
This symbol reminds you of the possible consequences of touching
electrostatically sensitive components.
Note
Notes on use of equipment and useful practical tips are identified by the
“Notice” symbol. Notices do not contain any information that draws
attention to potentially dangerous or harmful functions.

GA1060 Field bus master module Contents
Project Engineering Manual, version: 1.1 / article no.: 1000296 3
© KEBA 2006
History
Modification
from / to Date Modified pages Description Author
V1.0 / 100106 meis
V1.0 / V1.1 030806 10, 11 Changes to chapter "Creation of cfg-file" meis

Contents SANMOTION C FM 299/A
4 Project Engineering Manual, version: 1.1 / article no.: 1000296
© KEBA 2006

GA1060 Field bus master module Contents
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© KEBA 2006
Contents
1Brief description..............................................................................................................7
2General safety instructions ............................................................................................8
3Configuration...................................................................................................................9
Configuration with the KEMRO.Manager...........................................................................9
Creation of cfg-file............................................................................................................10
Setting the K-Bus address...............................................................................................11
4Connections, wiring ......................................................................................................12
SDC Bus interface...........................................................................................................12
General information..............................................................................................12
Connector.............................................................................................................12
Cable....................................................................................................................12
Cable routing ...................................................................................................................13
Bus topology....................................................................................................................13
Schematic diagram of the bus topology bus terminating board.......................................14
5Operation and displays.................................................................................................15
Status LED.......................................................................................................................15
GA1060 Bus Status LEDs ...............................................................................................15
6Technical data................................................................................................................16

Contents SANMOTION C FM 299/A
6 Project Engineering Manual, version: 1.1 / article no.: 1000296
© KEBA 2006

GA1060 Field bus master module Brief description
Project Engineering Manual, version: 1.1 / article no.: 1000296 7
© KEBA 2006
1 Brief description
The FM 299/A module is a K2-200 field bus master module for the Sanyo
Denki drive bus.
FM 299/A
CN1
STATUS
CN2
RXTX
Front view FM 299/A module
Two FM 299/A modules can be operated on one control CPU.

General safety instructions SANMOTION C FM 299/A
8 Project Engineering Manual, version: 1.1 / article no.: 1000296
© KEBA 2006
2 General safety instructions
zThe device is defined as an "open type equipment" so that it must be
installed in a control cabinet.
zThe safety instructions in the project engineering handbook "K2-200
automation system” are to be complied with.
CAUTION
•Turn off the power supply before inserting or removing the module. Otherwise,
the module can be destroyed or undefined signal states can lead to damage of
the control system.

GA1060 Field bus master module Configuration
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© KEBA 2006
3 Configuration
Only a name has to be assigned for the configuration of the FM 299/A. In
addition, the GA1060 bus must be configured, also with its name and the
cycle time.
The FM 299/A can be configured at the CPU module in two different ways:
•Via Kemro.manager
•through the creation of cfg-files with a text editor
Two FM 299/A modules can be operated on one CPU.
Configuration with the KEMRO.Manager
The Kemro.managers can be used to configure all modules of a systems as
well as the Sanyo Denki converters of the QSE series.
At selection of the FM 299/A one column is automatically created for the
bus connection, which is then used to connect the drives.
Once all modules have been specified in the system and after all
parameters have been adjusted the Kemro.manager creates the necessary
cfg-files.

Configuration SANMOTION C FM 299/A
10 Project Engineering Manual, version: 1.1 / article no.: 1000296
© KEBA 2006
Creation of cfg-file
The FM 299/A and the GA1060 bus do not have any special parameters
except for their name and cycle time.
The configuration file is used to configure also the drives operated at the
GA1060 – see the following example.
Example:
[IO.ONBOARD.KBUS:0]
name = "Kbus"
cycleTime = 0.001
traceWord = 0
[IO.ONBOARD.KBUS:0.FM299:0]
name = "FM299_Interface"
traceWord = 0
[IO.ONBOARD.KBUS:0.FM299:0.GA1060B:0]
name = "GA1060B_Bus"
cycleTime = 0.002
traceWord = 0
The following information describes the configuration of one of SDC’s QSE-
drive controller. Please refer to the relevant drive documentation for a
description of the parameters and additional information.
[IO.ONBOARD.KBUS:0.FM299:0.GA1060B:0.QSE:0]
name = "Axis_0"
address = 0
MOCODE = 16#1017
ENCODE = 16#800B
ENTYPE = 16#8300
driverMode = 3
positionMode = 1
maxPositionExponent = 32
positionOffset = 0.0
posUnitsToIncrements = 16.00
velUnitsToRpm = 11.777
torqueUnitsToPercent = 13.66
comBank = 16 // default = 17
resBank = 65 // default = 66
periodNum = 10
periodDenom = 200
traceWord = -1
[IO.ONBOARD.KBUS:0.FM299:0.GA1060B:0.QSE:0.BANK1]
DAT2 = 16#0001
DAT3 = 16#0001
DAT4 = 16#0005
DAT5 = 16#0000
DAT6 = 16#0032
DAT7 = 16#0090

GA1060 Field bus master module Configuration
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© KEBA 2006
DAT8 = 16#0000
DAT9 = 16#0000
[IO.ONBOARD.KBUS:0.FM299:0.GA1060B:0.QSE:0.BANK8]
DAT2 = 16#0030
DAT3 = 16#1000
DAT4 = 16#0000
DAT5 = 16#0050
DAT6 = 16#0020
DAT7 = 16#0100
DAT8 = 16#0000
DAT9 = 16#0000
For user with a higher userlevel the following configuration entry is
available:
[IO.ONBOARD.KBUS:0.FM299A:0]
optional=0 / optional configuration:
/ 0 ... when the module is not available
/ an "Error" occurs
/ 1 ... when the module is not avialable
/ a "Warning" occurs
Setting the K-Bus address
The modules are addressed via the address switch. A maximum of two FM
299/A modules can be operated on one K2-200 control CPU.
The address switch is located on the right side underneath the lower cover.
The K-Bus plug is located underneath the upper cover.
ADR0
ADR1
Position of the address switch
On leaving the factory the FM 299/A module is set to address 0 and both
covers are closed.

Connections, wiring SANMOTION C FM 299/A
12 Project Engineering Manual, version: 1.1 / article no.: 1000296
© KEBA 2006
4 Connections, wiring
SDC Bus interface
General information
To ensure adequate stability the GA1060 drive bus must be built as fully
shielded interface. Consequently the entire bus periphery must be provided
with an uninterrupted shield connection.
Connector
9-pole D-SUB socket connector with completely conductive shell.
The cable shielding must be connected plane with the shield cover of the
plug. An additional connection of the shield and the ground is not
necessary.
Pin assignment:
Pin Meaning
Pin1 GA1060 Bus +
Pin2 GA1060 Bus -
Pin3 – 8 GND
Pin9 n.c.
Cable
Cable type
Shielded, twisted pair data cables with a characteristic impedance of 100 –
120 Ω.
Structure
Twisted pair, shielded with signal ground.
Twisted pair data cables (GA1060 Bus+,
GA1060 Bus-)
Signal ground (SGND)
Shield with signal ground
A multi-core twisted cable can also be used. Attention must be paid that the
GA1060 Bus+ and the GA1060 bus-lines are guided in a common twisted
pair of wires.

GA1060 Field bus master module Connections, wiring
Project Engineering Manual, version: 1.1 / article no.: 1000296 13
© KEBA 2006
Cable routing
Signal and data lines that are foreign to the system and not connected to
the Kemro-control must not be routed in the same cable as the system’s
own signal and data lines. All shielded signal, data and low voltage supply
lines with contacted shields on either side can be routed parallel to one
another and parallel to the energy supply lines.
Bus topology
•The GA1060 drive bus is a bus system that must be closed on
either end with a bus terminating board.
•The FM 299/A can be operated at the end of the bus line or at any
section of the bus line. CN1 and CN2 can be located anywhere
•The total bus length must not exceed 10 meters, whereby the gaps
between the individual participants can be freely selected.
Drive controls
BT
FM 299/A
CN1
STATUS
CN2
RXTX
BA
Drive controls
BT
FM 299/A
CN1
STATUS
CN2
RXTX
Drive controls
BT
BT … bus terminating board

Connections, wiring SANMOTION C FM 299/A
14 Project Engineering Manual, version: 1.1 / article no.: 1000296
© KEBA 2006
Schematic diagram of the bus topology bus terminating board
If the FM 299/A is connected at one bus terminating board of a GA1060
drive bus, a terminating board must be connected to the free plug. This is
done by soldering a resistance with 120 Ωin between the Pins 1 and 2
(GA1060 Bus).
6
15
9
GND
GND
GND
n.c.
GA1060 Bus+
GA1060 Bus-
GND
GND
GND
120 Ω
GA1060-Bus interface with activated bus terminating board

GA1060 Field bus master module Operation and displays
Project Engineering Manual, version: 1.1 / article no.: 1000296 15
© KEBA 2006
5 Operation and displays
Status LED
LED color Function
orange System start-up
green Communication alive, no error
red After switch-on -> module faulty
In cyclical mode -> Communication error, no communication
possible
GA1060 Bus Status LEDs
LED color Labeling Function
yellow TX Indicates transmission activity
green RX Indicates receiving activity

Technical data SANMOTION C FM 299/A
16 Project Engineering Manual, version: 1.1 / article no.: 1000296
© KEBA 2006
6 Technical data
General information
Logic supply 5V via K-Bus
Power consumption: Max. 1.0 W
Safety class: III according to EN 61131-2
Displays on the front panel: LEDs for transmission and receipt and for the status display
Max. number of modules at one CPU module 2
GA1060 Interface
Data transmission rates 10 Mbit/s
Max. cable length 10 m (between first and last participant)
Dimensions:
Footprint:
Module height: 120 mm
Mounting depth: 100 mm
Front panel width: 22.5 mm
Module width (incl. K-Bus plug): 32.5 mm
Weight: 130 g
Standards:
The module conforms to the following standards:
General information
UL 508 UL – listed
Product standard for
programmable controllers:
IEC 61131-1:2003 General information
IEC 61131-2:2003 Hardware