Kollmorgen SERVOSTAR S300 Repair manual

PROFIBUS DP
Fieldbus Interface for S300 / S400 / S600 / S700
Edition: December 2019
Translation of the original manual
For safe and proper use, follow
these instructions.
Keep them for future reference.

Previous editions
Revision Remarks
05 / 1999 Preliminary version
10 / 1999 First edition
06 / 2002 new layout, several corrections, valid from firmware 3.54
11 / 2005 Valid for the S300/S400/S600 series, several corrections, company name changed, front- and back-
page new design
12 / 2005 Language improvements in the english version
09 / 2006 New Design
08 / 2007 Branding, S700 new, Symbols, Standards
12 / 2008 Several corrections, PNU1785 expanded
07 / 2009 Product branding
12 / 2009 Several minor corrections, Symbols according to ANSI Z535
12 / 2010 Company name new
07 / 2014 Warning notes updates, design cover page
04 / 2016 Safe voltage changed to 50V, warning symbols updated, european directives updated
04 / 2017 Use as directed updated, hints for PDF usage new, PNU930 "-7" Servo Pump new, opmode -7 new
11 / 2018 Layout of the warning notes updated, user expertise updated, new readers note on cover page
12 / 2019 Layout updated, PRBASE (PNU1790) corrected
Trademarks
WINDOWS is a registered trademark of Microsoft Corporation.
SINEC is a registered trademark of Siemens AG
Technical changes which improve the performance of the device may be made without prior notice!
This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be reproduced
in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic
means without the written permission of Kollmorgen.
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1 Table of Contents
1 Table of Contents 3
2 General 7
2.1 Über dieses Handbuch 7
2.2 Target group 7
2.3 Using the PDF Format 8
2.4 Use as directed 8
2.5 Symbols Used 8
2.6 Abbreviations used 9
3 Installation / Setup 10
3.1 Mounting, Installation 10
3.1.1 Inserting the ExpansionCard (S300, S600 und S700) 11
3.1.1.1 Front view 11
3.1.1.2 Setup of Station Address and Baud Rate 11
3.1.1.3 Connection technology 11
3.1.1.4 Connection diagram 12
3.1.2 Profibus master module setup 13
3.1.2.1 Configuration of the master controller (e.g. Siemens S7) 13
3.1.3 Standard function block for date exchange with the servo amplifier 14
3.2 Setup 14
3.2.1 Guide to setup 14
3.2.2 Important amplifier configuration parameters 15
3.2.3 Setup Software 16
3.2.3.1 Screen page PROFIBUS 16
3.2.3.2 Screen page PROFIBUS Status Maschine 17
4 Device profile 18
4.1 Parameter channel 19
4.1.1 Parameter ID (PKE) 19
4.1.1.1 Interpretation of the response IDs 19
4.1.1.2 Response ID 7: Profile specific error numbers 20
4.1.2 Index IND 20
4.1.3 Parameter value PWE 21
4.2 The process data channel (PZD) 21
5 Parameter channel (PKW) 22
5.1 Read/write an amplifier parameter 22
5.2 Summary of the parameter numbers 22
5.2.1 List of the parameters 23
5.2.2 Profile Parameters 26
5.2.2.1 PNU 904/911: PPO-Type write/read 26
5.2.2.2 PNU 918: PROFIBUS node address 26
5.2.2.3 PNU 963: Baud rate 26
5.2.2.4 PNU 965: PROFIDRIVE profile number 26
5.2.2.5 PNU 970: Default parameters 26
5.2.2.6 PNU 971: Non volatile saving of parameters 26
5.2.2.7 PNU 930: Selection Switch for Operating Modes 27
5.2.3 Manufacturer specific parameters 28
5.2.3.1 PNU 1000: Instrument ID 28
5.2.3.2 PNU 1001: Manufacturer specific error register 28
5.2.3.3 PNU 1002: Manufacturer specific status register 29
5.2.4 Position control parameters 30
5.2.4.1 PNU 1894: Velocity multiplier 30
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5.2.4.2 PNU 1807: Axis type 30
5.2.5 Position data for the position control mode 30
5.2.5.1 PNU 1790: Position 30
5.2.5.2 PNU 1791: Velocity 30
5.2.5.3 PNU 1785: Motion task type 31
5.2.5.4 PNU 1783: Acceleration time 31
5.2.5.5 PNU 1784: Acceleration jolt limiting 32
5.2.5.6 PNU 1786: Deceleration time 32
5.2.5.7 PNU 1787: Deceleration jolt limiting 32
5.2.5.8 PNU 1788: Next motion task 32
5.2.5.9 PNU 1789: Start delay 32
5.2.5.10 PNU 1310: Copy motion task 32
5.2.5.11 PNU 1311: Position, 32 bit floating decimal point format 32
5.2.5.12 PNU 1312: Velocity, 32 bit floating decimal point format 32
5.2.6 Setup mode Position 33
5.2.6.1 PNU 1773: Homing type 33
5.2.6.2 PNU 1644: Homing direction 33
5.2.7 Actual values 33
5.2.7.1 PNU 1401: Speed 33
5.2.7.2 PNU 1402: Incremental position, actual value 33
5.2.7.3 PNU 1800: Actual position value in SI (User) units 33
5.2.7.4 PNU 1414: Actual position, 32 bit floating decimal point format 33
5.2.7.5 PNU 1415: Actual velocity, 32 bit floating decimal point format 33
5.2.8 Digital I/O Configuration 34
5.2.8.1 PNUs 1698/1701/1704/1707: Digital input configuration 34
5.2.8.2 PNUs 1775/1778: Digital output configuration 34
5.2.9 Analog configuration 34
5.2.9.1 PNU 1607: Analog input configuration 34
5.2.9.2 PNUs 1613/1614: Analog output configuration 34
5.2.10 Manufacturer specific object channel (from PNU 1600) 35
6 Process data channel 37
6.1 Instrument control 38
6.1.1 Control word (STW) 40
6.1.2 Status word (ZSW) 41
6.2 Operating modes(Opmodes) 41
6.2.1 Positioning(Opmode 2) 42
6.2.2 Digital speed (Opmode 1) 43
6.2.3 Analog speed (Opmode -1) 43
6.2.4 Digital torque (Opmode -2) 44
6.2.5 Analog torque (Opmode -3) 44
6.2.6 Electronic gearing (Opmode -4) 44
6.2.7 Trajektory (Opmode -5) 44
6.2.8 Digital speed & Servo Pump (Opmode -7) 45
6.2.9 ASCII channel (Opmode -16) 45
6.2.10 Operating mode after switch-on (Opmode -126) 45
7 Appendix 46
7.1 Setup examples for all servo amplifier models 46
7.1.1 Zero telegram (for initialization) 46
7.1.2 Setting the Opmode 46
7.1.3 Enable the servo amplifier 46
7.1.4 Start jog mode (on positioning opmode) 47
7.1.5 Set reference point 47
7.1.6 Start homing run 47
7.1.7 Start a motion task 49
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7.1.8 Start a direct motion task 49
7.1.9 Polling a warning or error message 49
7.1.10 Writing a parameter via parameter channel 49
7.1.11 Reading actual values 50
7.1.12 Write a parameter via the ASCII channel 51
7.2 Index 53
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S300-S400-S600-S700 PROFIBUS |
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2 General
2.1 Über dieses Handbuch
This manual describes the wiring, setup, range of functions and software protocol for the
SERVOSTAR 300 (S300), SERVOSTAR 400 (S400), SERVOSTAR 600 (S600) and S700.
S300, S600 and S700
The expansion card -PROFIBUS- offers PROFIBUS compatible connectivity to these servo amp-
lifiers. The expansion card and it's mounting is described in the instructions manual.
The expansion card for S300 and S700 is different from the card for S600. The text "PROFIBUS
DP" on the front label marks the card for S300/S700, the text "PROFIBUS" the card for S600.
S400-PROFIBUS
This manual is part of the complete documentation of the digital servo amplifiers.
The installation and setup of the servo amplifier, as well as all the standard functions, are
described in the corresponding instructions manuals.
Other parts of the documentation of the digital servo amplifiers:
Title Publisher
Instructions manual for the Servo Amplifier Kollmorgen
Online-Help with Object Reference Guide Kollmorgen
Further documentation:
Title Publisher
Installation Guideline for PROFIBUS DP/FMS PNO
Profile for Variable Speed Drives PNO
SINEC Produktinformation S79200-A0737-X-02-7437 Siemens
SINEC Installationsanleitungen S79200-A0737-X-01-7419 Siemens
SINEC Einführung CP5412 (A2) C79000-G8900-C068 Siemens
SINEC DP-Masterbetrieb mit dem COML DP projektieren C79000-G8900-C069 Siemens
SINEC DP-Programmierschnittstelle C79000-G8900-C071 Siemens
2.2 Target group
This manual addresses personnel with the following qualifications:
Transport: only by personnel with knowledge of handling electrostatically sensitive
components.
Unpacking: only by electrically qualified personnel.
Installation: only by electrically qualified personnel.
Setup: only by qualified personnel with extensive knowledge of electrical engin-
eering and drive technology.
Programming: Software developers, project-planners, experienced PLC programmers
with PROFIBUS DP expertise.
The qualified personnel must know and observe the following standards:
IEC 60364, IEC 60664, and regional accident prevention regulations.
Qualified Personnel only!
During operation there are deadly hazards, with the possibility of death, severe injury or material
damage.
The user must ensure that the safety instructions in this manual are followed.
The user must ensure that all personnel responsible for working with the servo amplifier have
read and understood the instructions manual.
Training courses are available on request.
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S300-S400-S600-S700 PROFIBUS | 2 General
2.3 Using the PDF Format
This document includes several features for ease of navigation
Cross References Table of contents and index include active cross references.
Table of contents and
index
Lines are active cross references. Click on the line and the appro-
priate page is accessed.
Page/chapter numbers in
the text
Page/chapter numbers with cross references are active links.
2.4 Use as directed
Please observe the chapter "Use as directed” in the instructions manual for the servo amplifier.
The PROFIBUS interface serves only for the connection of the servo amplifier to a master with
PROFIBUS connectivity.
The servo amplifiers are components that are built into electrical apparatus or machinery, and can
only be setup and operated as integral components of such apparatus or machinery.
We only guarantee the conformity of the servo amplifier with the directives listed in the EU Declar-
ation of Conformity, if the components that we specify are used, and the installation regulations
are followed.
2.5 Symbols Used
Symbol Indication
Indicates a hazardous situation which, if not avoided, will result in
death or serious injury.
Indicates a hazardous situation which, if not avoided, could result
in death or serious injury.
Indicates a hazardous situation which, if not avoided, could result
in minor or moderate injury.
Indicates situations which, if not avoided, could result in property
damage.
This symbol indicates important notes.
Warning of a danger (general). The type of danger is specified by
the text next to the symbol.
Warning of danger from electricity and its effects.
Warning of danger from automatic start.
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2.6 Abbreviations used
Abbrev. Meaning
AGND Analog ground
BTB/RTO Ready to operate
CLK Clock signal
COM Serial interface for a PC-AT
DGND Digital ground
DIN German Institute for industrial Standards
Disk Magnetic storage (diskette, hard disk)
EEPROM Electrically erasable programmable memory
EN European standard
IEC International Electrotechnical Commission
INC Incremental Interface
LED Light-emitting diode
MB Megabyte
NI Zero pulse
NSTOP Limit-switch input for CCW rotation (left)
PZD Process data
PSTOP Limit-switch input for CW rotation (right)
RAM Volatile memory
RES Resolver
ROD A quad B encoder
PLC Programmable logic controller
S300 SERVOSTAR 300
S400 SERVOSTAR 400
S600 SERVOSTAR 600
SSI Synchronous serial interface
VAC AC voltage
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S300-S400-S600-S700 PROFIBUS | 3 Installation / Setup
3 Installation / Setup
3.1 Mounting, Installation
High Voltages up to 900V!
Risk of electric shock. Residual charges in the capacitors can still have dangerous levels several
minutes after switching off the supply voltage. Power and control connections can still be live,
even though the motor is not rotating.
Install and wire up the equipment only while it is not electrically connected.
Make sure that the control cabinet is safely isolated (lock-out, warning signs etc.).The indi-
vidual supply voltages will not be switched on until setup is carried out.
Measure the voltage in the intermediate (DC-link) circuit and wait until it has fallen below 50V.
Automatic Start!
Risk of death or serious injury for humans working in the machine. Drives with servo amplifiers
in fieldbus systems are remote-controlled machines They can start to move at any time without
previous warning.
Implement appropriate protective measures to ensure that any unintended start-up of the
machines cannot result in dangerous situations for personnel or machinery.
The user is responsible for ensuring that, in the event of a failure of the servo amplifier, the
drive is set to a state that is functional safe, for instance with the aid of a safe mechanical
brake.
Software limit-switches are not a substitute for the hardware limit-switches in the machine.
Install the servo amplifier as described in the instructions manual. The wiring for the analog set-
point input and the positioning interface is not required.
Because of the internal representation of the position-control parameters, the position controller
can only be operated if the final limit speed of the drive does not exceed:
rotary
at sinusoidal² commutation: max. 7500 rpm
at trapezoidal commutation: max. 12000 rpm
lineary
at sinusoidal² commutation: max. 4 m/s
at trapezoidal commutation: max. 6,25 m/s
All the data on resolution, step size, positioning accuracy etc. refer to calculatory values. Non-lin-
earities in the mechanism (backlash, flexing, etc.) are not taken into account.
If the final limit speed of the motor has to be altered, then all the parameters that were pre-
viously entered for position control and motion blocks must be adapted.
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3.1.1 Inserting the ExpansionCard (S300, S600 und S700)
The expansion card for S300/S700 is different from the card for S600.
The text "PROFIBUS DP" on the front label marks the card for S300/S700, the text "PROFIBUS"
the card for S600.
To fit the PROFIBUS expansion card into the servo amplifier, proceed as follows:
1. Remove the cover of the option slot (see installation manual of the servo amplifier.)
2. Take care that no small items (such as screws) fall into the open option slot.
3. Push the expansion card carefully into the guide rails that are provided, without twisting it.
4. Press the expansion card firmly into the slot, until the front cover touches the fixing lugs. This
ensures that the connectors make good contact.
5. Use the screws on the expansion card to secure it in the drive.
3.1.1.1 Front view
Shown is the expansion card for S300/S700.
3.1.1.2 Setup of Station Address and Baud Rate
During setup it makes sense to use the keypad on the front panel to preset the station addresses
for the individual amplifiers (see chapter "Setup" in the instructions manual).
After changing the station address you must turn the 24V auxiliary supply for the servo amplifier
off and on again for the new address to take affect.
Possible ways for setup:
keypad on the front panel of the servo amplifier (see instructions manual)
setup software: screen page “CAN / Fieldbus” (see online help)
serial interface with a sequence of ASCII commands:
ADDR nn → SAVE → COLDSTART (with nn = address)
The Baudrate is defined by the hardware configuration in the master controller. Baudrates up to
12 MBaud are possible. During bus initialization, the master controller sends the amplifier the
desired baud rate.
3.1.1.3 Connection technology
Cable selection, cable routing, shielding, bus connector, bus termination and transmission times
are all described in the “Installation guidelines for PROFIBUS-DP/” from PNO, the PROFIBUS
User Organization.
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S300-S400-S600-S700 PROFIBUS | 3 Installation / Setup
3.1.1.4 Connection diagram
With S600, the terminals AGND and DGND (connector X3) must be joined together !
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3.1.2 Profibus master module setup
3.1.2.1 Configuration of the master controller (e.g. Siemens S7)
The graphics interface makes it very easy to configure the Siemens S7 for the PROFIBUS net-
work. After you have set up the control layout, configure the interface module that is used as fol-
lows: Use our library file KOLL045D.GSD to configure the Profibus master for the servo amplifier.
The following shows a Siemens PLC. Other machine controllers can also be configured for the
Kollmorgen Profibus expansion card.
Open the Hardware catalog and drag the symbol for the corresponding field unit onto the rep-
resentation of the bus system. A window opens automatically for the general parameterization of
the field unit (Attention: the S300/S700 are displayed here like a S600). Enter the address of the
participant here.
Next, use the same method as above to drag the module from the Hardware catalog into the box
for the field unit, whereby the 4-word module must lie in Cell 0 and the 6-word module in Cell 1.
Another window opens, in which you can set the parameters for the module.
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S300-S400-S600-S700 PROFIBUS | 3 Installation / Setup
3.1.3 Standard function block for date exchange with the servo amplifier
Kollmorgen supplies a S7-function block (FB10) for use Siemens PLC that make it possible to
handle the servo amplifier control functions very simply.
This function block and its description can be found as a text file on the CDROM and in the down-
load section of our website.
3.2 Setup
3.2.1 Guide to setup
Only properly qualified personnel with professional expertise in control and drive technology
are permitted to setup the servo amplifier.
Automatic Start!
Automatic Start! Risk of death or serious injury for humans working in the machine. The drive per-
forming unplanned movements during commissioning cannot be ruled out. Make sure that, even
if the drive starts to move unintentionally, no danger can result for personnel or machinery. The
measures you must take in this regard for your task are based on the risk assessment of the
application.
Check assembly
and installation
Check that all the safety instructions, which are included in both the instruc-
tions manual for the servo amplifier and in this manual, have been
observed and implemented.
Connect PC, start
setup software
Use the setup software for setting the parameters for the servo amplifier.
Setup the basic
functions
Now setup the basic functions of the servo amplifier including tuning the
servo loops. This part of setup is described in the online help system of the
setup software
Save parameters When the optimization is finished, save the controller parameters in the
servo amplifier.
Test the bus
connection
Remove the Enable signal (Terminal X3) and switch off the mains power
supply for the servo amplifier.
The 24V DC auxiliary voltage remains switched on.
f the PROFIBUS connection and the interface to the PROFIBUS master.
Check the PROFIBUS-DP parameter settings and the station con-
figuration.
Check the parameter settings for the PROFIBUS interface module.
Check the PLC user
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3.2.2 Important amplifier configuration parameters
The following parameters configure the amplifier for the Profibus interface. They can be set using
the setup software for the amplifier.
EXTWD (PNU 1658)
With this parameter, the observation time (watch dog) for the fieldbus-slot communication can be
set. The observation is only active, if a value higher than 0 is assigned to EXTWD (EXTWD=0,
observation switched off) and the output stage is enabled. If the set time runs out, without the
watchdog-timer being newly triggered by the arrival of a telegram, then the warning n04
(response monitoring) is generated and the drive is stopped. The amplifier remains ready for oper-
ation and the output stage enabled. Before a new driving command (setpoint) is accepted, this
warning must be deleted (function CLRFAULT or INxMODE=14).
ADDR (PNU 918)
With this command, the node address of the amplifier is set. When the address has been
changed, all parameters should be saved to the EEPROM and the amplifier switched off and on
again.
Since the modular structure of the S400 as a multi-axis system requires its own addressing, there
is the additional parameter ADDRFB (PNU 2012) for this series, with which a field bus address dif-
ferent from the internal device address (ADDR) can be defined. As long as ADDRFB = 0, ADDR
is the bus address. If ADDRFB > 0, then ADDRFB is the bus address. ADDR is set automatically
by the S400 master module in descending order.
AENA (PNU 1606)
With this parameter, the state of the software-enable after switch-on can be defined. The software-
enable allows an external control to enable/disable the output stage. For amplifiers with analog
setpoints (OPMODE=1,3) the software-enable is set automatically after switch-on and the devices
are ready for operation immediately (if hardware-enable is present). For all others, soft-
ware-enable will be set to the value of AENA. The variable AENA also has functionality when
resetting the amplifier after an error (by digital input 1 or the CLRFAULT command). If an error can
be reset by the software, the software-enable is set to the value of AENA after the error is cleared.
In this way the behavior of the amplifier after a software-reset is similar to after the drive is
switched on.
INPT, INPT0 (PNU 1904)
With INPT (S300/S700: INPT0) a delay for the in-position message can be set. With the start of a
motion task the in-position message is deleted and the monitoring of the position is activated after
expiration of the adjusted time. This function is particularly important for positioning procedures
within the in-position window. In this case the in-position message is delayed for a defined time.
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S300-S400-S600-S700 PROFIBUS | 3 Installation / Setup
3.2.3 Setup Software
3.2.3.1 Screen page PROFIBUS
This screen will only appear, if the PROFIBUS hardware is built into the servo amplifier. The
screen page displays the PROFIBUS-specific parameters, the bus status, and the data words in
the transmit and receive directions, as seen by the bus-master. This page is helpful when search-
ing for errors and commissioning the bus communication. The picture below shows the
S300/S700 screen.
Baudrate The baud rate set by the PROFIBUS master.
PNO Identno. The PNO identification is the number for the servo amplifier from the list of
ID-numbers set by the PROFIBUS user organization.
Address Station address of the amplifier (setting see (➜# 11))
PPO Type Servo amplifier only supports PPO-type 2 of the PROFIDRIVE profile.
PROFIBUS inter-
face states
Shows the present status of the bus communication. Data can only be trans-
ferred across the PROFIBUS when the “Communication OK” message is
black (not shown in gray).
Input The last PROFIBUS object received by the master.
Output The last PROFIBUS object sent by the master.
The data for input/output are only transferred, if the threshold monitoring for the servo amplifier
has been activated in the master’s hardware configuration.
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3.2.3.2 Screen page PROFIBUS Status Maschine
On this screen page the individual bits of the control word (STW) and the status word (ZSW) are
shown. The device status resulting from the status word is visualized in the status machine. The
current status is shown as black, all others are grey. Additionally the previous status is shown by
emphasizing the number of the appropriate arrow. The picture below shows the S300/S700
screen.
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S300-S400-S600-S700 PROFIBUS | 4 Device profile
4 Device profile
The PROFIBUS profile PROFIDRIVE includes the following parameter process-data objects
(PPO):
The servo amplifier only uses the PPO-type 2 (with 4 words PKW-section and 6 words PZD-sec-
tion). The PKW-section is used mainly for the transmission of parameters for the servo amplifier,
the PZD-section is used principally for handling motion functions.
The telegram can be divided into two sections or data channels:
1. PKW section (4 words, Bytes 1 to 8)
2. PZD section (6 words, Bytes 8 to 20)
The PKW data channel can also be termed the service or parameter channel. The service chan-
nel only uses confirmed communication services, and is used by the servo amplifier as a para-
meter channel.
The PKW channel has no real-time capability.
The PZD data channel can also be termed the process data channel. The process data channel
uses unconfirmed communication services. The response of the servo amplifier to an unconfirmed
service can only be seen in the reaction of the amplifier (status word, actual values).
The PZD channel has real-time capability.
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4.1 Parameter channel
4.1.1 Parameter ID (PKE)
Marked lines in the table are valid for the servo amplifier
Master —> Slave Slave —> Master
Task ID Function Response ID positive Response ID negative
0 no task 0 0
1 request parameter value 1,2 7
2 alter parameter value [W] 1 7/8
3 alter parameter value [DW] 2 7/8
4 request description element 3 7
5 alter description element 3 7/8
6 request parameter value [A] 4,5 7
7 alter parameter value [A/W] 4 7/8
8 alter parameter value 5 7/8
9 request number of array elements 6 7
10 - 15 reserved
4.1.1.1 Interpretation of the response IDs
Marked lines in the table are valid for the servo amplifier
Response ID Interpretation
0 no task
1 transmit parameter value
2 transmit parameter value
3 transmit description element
4 transmit parameter value
5 transmit parameter value
6 transmit number of array elements
7 task not possible (with error no.)
8 no operating authority for PKW interface
9 spontaneous message [W]
10 spontaneous message [DW]
11 spontaneous message [A/W]
12 spontaneous message [A/DW]
Abbreviations in the tables:
A:Array, W:Word, DW:Double-word
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S300-S400-S600-S700 PROFIBUS | 4 Device profile
4.1.1.2 Response ID 7: Profile specific error numbers
Error no. Description
0 illegal PNU
1 parameter value cannot be changed
2 Lower or upper limit violated
3 Erroneous sub-index
4 no array
5 Incorrect data type
6 setting not allowed (can only be reset)
7 Descriptive element cannot be changed
8 PPO-write, requested in IR, not available
9 descriptive data not available
10 access group incorrect
11 No parameter change rights
12 Password incorrect
13 Text cannot be read in cyclic data transmission
14 Name cannot be read in cyclic data transmission
15 text array not available
16 PPO-write missing
17 opmode switch over not possible at STW Bit 10 = 1 (PZD enable)
18 other error
19-100 reserved
101 faulty task ID
102 software error (command table)
103 only possible in disabled state
104 only possible in enabled state
105 BCC-error in the EEPROM data
106 only possible after task is stopped
107 wrong value [16,20]
108 wrong parameter (OCOPY x [y] z)
109 wrong motion block no. (0,1..180,192..255)
110 wrong parameter (PTEACH x [y])
111 EEPROM write error
112 wrong value
113 BCC-error in motion block
114 Object is read only or write only
115 not possible due to operation status (e.g. output stage enabled)
>115 reserve
4.1.2 Index IND
An Index (IND) unequal to 0 is used for reading and writing amplifier parameters with PNUs >
1600. See (➜# 35, Manufacturer specific object channel (from PNU 1600) ) for further descrip-
tion.
20 Kollmorgen | kdn.kollmorgen.com | December 2019