Pilz Motion Control PMC User manual

Motion Control PMC
User manual – Item No. 21 522-02
Communication profile PROFIBUS DP for PMCtendo DD4

Previous editions
Edition Comments
01 / 2004 First edition
10 / 2005 Appendix added, some changes, Revision
Page 2 User manual PROFIBUS DP PMCtendo DD4
Copyright
Copyright 2005 Pilz GmbH & Co. KG
All rights reserved. No part of this document may be reproduced in any form (print, photocopy, microfilm or any other for
-
mat), or modified, duplicated by electronic means, without written authorization by Pilz GmbH & Co. KG.
Notes
Pilz GmbH & Co. KG reserves the right to make amendments to this document at any time.
The examples given serve only as illustrations. No guarantee is given for their suitability in particular applications. Alt
-
hough the utmost care has been taken in the production of this document, no liability can be accepted for any mistakes
that it may contain. We welcome any suggestions for the improvement of our products, or documentation.
We reserve the right to make technical changes, which lead to the improvement of the product!
PMCtendo is a registered trademark of the Pilz GmbH & Co. KG

Page
Contents ...........................................................3
Safety instructions ..................................................5
Directives and standards .............................................6
-conformance ....................................................6
Contents
User manual PROFIBUS DP PMCtendo DD4 Page 3
Contents
Contents
1 General
2 Important
2.1 About this manual ...................................................................................9
3 Installation / Setup
3.1 Hard- and Software installation........................................................................11
3.1.1 Parameterization of the master-interface modules ...................................................12
3.1.1.1 Configuration of the control .................................................................12
3.1.2 Standard functions for data exchange with PMCtendo DD4 ............................................13
3.2 Setup ...........................................................................................13
3.2.1 Setup of the basic functions of the servo amplifier ...................................................13
4 Profile of PMCtendo DD4
4.1 Parameter channel .................................................................................16
4.1.1 Parameter ID (PKE) ..........................................................................16
4.1.1.1 Interpretation of the response IDs ............................................................16
4.1.1.2 Profile-specific error numbers with response ID 7 ................................................17
4.1.2 Subindex IND ...............................................................................17
4.1.3 Parameter value PWE .........................................................................18
4.2 The process data channel ...........................................................................18
5 Using the parameter channel
5.1 Read/write an amplifier parameter .....................................................................19
5.2 Summary of the parameter numbers ...................................................................19
5.2.1 List of the parameter numbers ..................................................................19
5.2.2 Profile parameters ............................................................................22
5.2.2.1 PNU 904/911: PPO-type write/read...........................................................22
5.2.2.2 PNU 918: PROFIBUS - node addresse........................................................22
5.2.2.3 PNU 930: selector for operating modes........................................................23
5.2.2.4 PNU 963: baud rate .......................................................................24
5.2.2.5 PNU 965: PROFIDRIVE profile number .......................................................24
5.2.2.6 PNU 970: default parametersr ...............................................................24
5.2.2.7 PNU 971: non-volatile saving of parameters ....................................................24
5.2.3 General parameters ..........................................................................25
5.2.3.1 PNU 1000: instrument ID...................................................................25
5.2.3.2 PNU 1001: manufacturer-specific error register .................................................25
5.2.3.3 PNU 1002: manufacturer-specific status register ................................................26
5.2.4 Position controller parameters...................................................................27
5.2.4.1 PNU 1250: velocity multiplier................................................................27
5.2.4.2 PNU 1251: axis type ......................................................................27
5.2.5 Position data for the position-control mode .........................................................27
5.2.5.1 PNU 1300: position .......................................................................27
5.2.5.2 PNU 1301: velocity .......................................................................27
5.2.5.3 PNU 1302: motion task type ................................................................28
5.2.5.4 PNU 1304: acceleration time ................................................................28
5.2.5.5 PNU 1305: deceleration time................................................................28
5.2.5.6 PNU 1306: acceleration jolt limiting ...........................................................29
5.2.5.7 PNU 1307: deceleration jolt limiting...........................................................29
5.2.5.8 PNU 1308: next motion task ................................................................29
5.2.5.9 PNU 1309: start delay .....................................................................29
5.2.5.10 PNU 1310: copy motion task ................................................................29
5.2.5.11 PNU 1311: Position, 32 Bit floating decimal point format ..........................................29
5.2.5.12 PNU 1312: Velocity, 32 Bit floating decimal point format ..........................................29
5.2.6 Setup mode: position..........................................................................30
5.2.6.1 PNU 1350: homing .......................................................................30
5.2.6.2 PNU 1351: homing direction ................................................................30
5.2.7 Actual values ................................................................................30
5.2.7.1 PNU 1401: speed ........................................................................30

Page
Contents
Page 4 User manual PROFIBUS DP PMCtendo DD4
Contents
5.2.7.2 PNU 1402: incremental position: actual value ...................................................30
5.2.7.3 PNU 1403: SI-position: actual value ..........................................................30
5.2.7.4 PNU 1414: Actual position, 32 Bit floating decimal point format .....................................30
5.2.7.5 PNU 1415: Actual velocity, 32 Bit floating decimal point format .....................................31
5.2.8 Digital I/O-configuration ........................................................................31
5.2.8.1 PNU 1450 .. 1453: function of the digital inputs..................................................31
5.2.8.2 PNU 1458/1459: function of the digital outputs ..................................................32
5.2.9 Analog configuration ..........................................................................32
5.2.9.1 PNU 1500: configuration of the analog input functions ............................................32
5.2.9.2 PNU 1501/1506: configuration of the analog outputs .............................................32
5.2.10 Manufacturer specific object channel (from PNU 1600) ...............................................33
6 Process data channel
6.1 Instrument control ..................................................................................35
6.1.1 Control word (STW)...........................................................................38
6.1.2 Status word (ZSW) ...........................................................................39
6.2 Operating modes ..................................................................................39
6.2.1 Positioning (operating mode 2) ..................................................................40
6.2.2 Digital speed (operating mode 1) ................................................................41
6.2.3 Analog speed (operating mode -1) [in preparation] ...................................................41
6.2.4 Digital torque (operating mode -2)................................................................42
6.2.5 Analog torque (operating mode -3) [in preparation] ..................................................42
6.2.6 Electronic gearing (operating mode -4) ............................................................42
6.2.7 ASCII-channel (operating mode -16)..............................................................43
6.2.8 Initial setting after switch-on (operating mode -126) ..................................................43
7 Setup software
7.1 Screen page PROFIBUS ............................................................................45
7.2 Screen page PROFIBUS instrument control .............................................................46
8 Sample telegrams
8.1 Important communication parameter ...................................................................47
8.2 Zero telegram .....................................................................................48
8.3 Setting the operating mode...........................................................................48
8.4 Enable the PMCtendo DD4 ..........................................................................49
8.5 Start jog mode ....................................................................................49
8.6 Set reference point .................................................................................49
8.7 Start homing run ...................................................................................50
8.8 Start a motion task .................................................................................52
8.9 Start a direct motion task ............................................................................52
8.10 Polling a warning or error message ....................................................................52
8.11 Writing a parameter ................................................................................53
8.12 Read actual values .................................................................................53
8.13 Write a parameter via the ASCII channel ................................................................54
9 Appendix
10 Index

Safety instructions
lOnly properly qualified personnel is permitted to carry out activities such as
transport, installation, setup and maintenance. Properly qualified persons
are those who are familiar with transport, installation, assembly, setup and
operation of the products, and who have the appropriate qualifications for
their job. The qualified personnel must know and observe the following
directives and standards:
IEC 364 and CENELEC HD 384 or DIN VDE 0100
IEC-Report 664 or DIN VDE 0110
national accident prevention regulations or BGV A2
lRead all the documentation for the servo amplifier before carrying out
installation and setup. Incorrect handling of the servo amplifier can lead to
injury to persons or material damage. It is vital that you keep to the technical
data and information on connection requirements (nameplate and
documentation).
lThe manufacturer of the machine must generate a hazard analysis for the
machine, and take appropriate measures to ensure that unforeseen
movements cannot cause injury or damage to any person or property.
lThe servo amplifiers contain electrostatically sensitive components, that
may be damaged by incorrect handling. Discharge your body before
touching the servo amplifier. Avoid contact with highly insulating materials
(artificial fabrics, plastic films etc.). Place the servo amplifier on a
conductive surface.
lDo not open the units. Keep all covers and switchgear cabinet doors closed
during operation. Otherwise there are deadly hazards with the possibility of
severe damage to health or property.
lDepending on the degree of enclosure protection, servo amplifiers can have
hot surfaces, and bare components that are live. Control and power cables
may carry a high voltage, even when the motor is not rotating.
lServo amplifiers may have hot surfaces during operation. Since the front
panel is used for cooling, it can reach temperatures above 80°C (176°F).
lNever undo the electrical connections of the servo amplifier when it is live.
In unfavorable circumstances this can produce electrical arcing that is
damaging both to persons and the equipment.
lWait at least two minutes after disconnecting the servo amplifier from the
supply voltage, before touching any normally live sections of the equipment
(e.g. contacts, screwed connections) or undoing connections. Capacitors
can have dangerous voltages present up to two minutes after switching off
the supply voltages. To be sure, measure the voltage in the intermediate
circuit (DC-link) and wait until it has fallen below 40V.
Safety instructions
User manual PROFIBUS DP PMCtendo DD4 Page 5
Safety instructions

Eurpoean directives and standards
Servo amplifiers are components that are intended to be incorporated into electrical machines and plant.
When the servo amplifiers are incorporated into machines or plant, the intended operation of the servo ampli-
fier is forbidden until it has been established that the machine or plant fulfills the requirements of the
EC Machinery Directive 98/37/EEC and the EC EMC Directive (89/336/EEC). EN 60204 and EN 292 must
also be observed.
The manufacturer of the machine must generate a hazard analysis for the machine, and take appropri-
ate measures to ensure that unforeseen movements cannot cause injury or damage to any person or
property.
In connection with the Low Voltage Directive 73/23/EEC, the harmonized standards of the EN 50178 series
are applied to the servo amplifiers, together with EN 60439-1, EN 60146 and EN 60204.
The manufacturer of the machine or plant is responsible for ensuring that the machine or plant meets the lim-
its that are laid down by the EMC regulations. Advice on the correct installation for EMC – such as shielding,
grounding, arrangement of filters, handling of connectors and laying out the cabling – can be found in the as
-
sembly and installation instructions for the servo amplifier.
- conformance
Conformance with the EC Directive on EMC 89/336/EEC and the Low Voltage Directive 73/23/EEC is manda-
tory for the supply of servo amplifiers within the European Community.
The servo amplifiers of the series have been tested by an authorized testing laboratory in a defined configura-
tion with the system components which are described in this documentation. Any divergence from the
configuration and installation described in this documentation means that you will be responsible for the perfor-
mance of new measurements to ensure that the regulatory requirements are met.
UL and cUL- Conformance
UL (cUL)-certified servo amplifiers (Underwriters Laboratories Inc.) fulfil the relevant U.S. and Canadian stan-
dard (in this case UL 840 and UL 508C).
This standard describes the fulfilment by design of minimum requirements for electrically operated power con
-
version equipment, such as frequency converters and servo amplifiers, which is intended to eliminate the risk
of fire, electric shock, or injury to persons, being caused by such equipment. The technical conformance with
the U.S. and Canadian standard is determined by an independent UL (cUL) inspector through the type testing
and regular check-ups.
Apart from the notes on installation and safety in the documentation, the customer does not have to observe
any other points in direct connection with the UL (cUL)-certification of the equipment.
UL 508C
UL 508C describes the fulfilment by design of minimum requirements for electrically operated power conver
-
sion equipment, such as frequency converters and servo amplifiers, which is intended to eliminate the risk of
fire being caused by such equipment.
UL 840
UL 840 describes the fulfilment by design of air and insulation creepage spacings for electrical equipment and
printed circuit boards.
Directives and standards
Page 6 User manual PROFIBUS DP PMCtendo DD4
Directives and standards

Abbreviations used in this manual
The abbreviations used in this manual are explained in the table below.
Symbols used in this manual
danger to personnel from
electricity and its effects
general warning
general instructions
mechanical hazard
ðp. see page (cross-ref.) lspecial emphasis
Keys on the servo amplifier panel :
U
press once : move up one menu item, increase number by one
press twice in rapid succession : increase number by ten
U
press once : move down one menu item, decrease number by one
press twice in rapid succession : decrease number by ten
U
U
hold right key pressed, and then press left key as well :
to enter number, “Return” function
Kürzel / Symbole
User manual PROFIBUS DP PMCtendo DD4 Page 7
Kürzel / Symbole
Abbrev. Meaning
AGND Analog ground
AS Restart Lock, option
BTB/RTO Ready to operate
CAN Fieldbus (CANopen)
CE Communité Européenne (EC)
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
EMC Electromagnetic compatibility
EMI Electromagnetic interference
EN European standard
ESD Electrostatic discharge
IEC International Electrotechnical Commission
IGBT Insulated Gate Bipolar Transistor
INC Incremental Interface
ISO International Standardization Organization
LED Light-emitting diode
MB Megabyte
MS-DOS Operating system for PC-AT
Abbrev Meaning
NI Zero pulse
NSTOP Limit-switch input for CCW rotation (left)
PC-AT Personal computer with 80x86 Processor
PELV Protected low voltage
PGND Ground for the interface
PSTOP Limit-switch input for CW rotation (right)
PWM Pulse-width modulation
RAM Volatile memory
Rregen Regen resistor
RBext External regen resistor
RBint Internal regen resistor
RES Resolver
ROD 426 A quad B encoder
PLC Programmable logic controller
SRAM Static RAM
SSI Synchronous serial interface
SW/SETP. setpoint
UL Underwriters Laboratory
VAC AC voltage
VDC DC voltage
VDE Verein deutscher Elektrotechniker
XGND Ground for the 24V supply

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Page 8 User manual PROFIBUS DP PMCtendo DD4

1 General
2 Important
2.1 About this manual
This manual describes the wiring, setup, range of functions and software protocol for the PMCtendo
DD4. It is part of the complete documentation of the PMCtendo DD4 family of digital servo ampli-
fiers.
The installation and setup of the servo amplifier, as well as all the standard functions, are described
in the corresponding manuals.
Further documentation for the PMCtendo DD4 series:
Installation manual PMCtendo DD4
User manual PDrive
This manual is intended for the use of qualified personnel with the following knowledge:
Wiring: trained electro-technical personnel
Programming: experienced PLC programmers with PROFIBUS DP expertise
The required files for the drive handling blocks can be found in the folder
"fieldbus\Profibus\Profibus for tendo DD4" of the "Motion Control Tools"-CD ROM.
User manual PROFIBUS DP PMCtendo DD4 Page 9
1 General

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Page 10 User manual PROFIBUS DP PMCtendo DD4
2 Important

3 Installation / Setup
3.1 Hard- and Software installation
Install and wire up the equipment only while it is electrically dead. Make sure that the
switchgear cabinet is safely isolated (lock-out, warning signs etc.).
The individual supply voltages will not be switched on until setup is carried out.
Residual charges in the capacitors can still have dangerous levels several minutes after
switching off the supply voltage. Measure the voltage in the intermediate (DC-link) circuit
and wait until it has fallen below 40V.
Power and control connections can still be live, even though the motor is not rotating.
Electronic equipment is basically not failure-proof. 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 safe for both
machinery and personnel, for instance with the aid of a mechanical brake.
Drives with servo amplifiers and PROFIBUS expansion cards are remote-controlled ma-
chines. They can start to move at any time without previous warning. Take appropriate mea-
sures to ensure that the operating and service personnel is aware of this danger.
Implement appropriate protective measures to ensure that any unintended start-up of the
machines cannot result in dangerous situations for personnel or machinery. Software
limit-switches are not a substitute for the hardware limit-switches in the machine.
Install the servo amplifier as described in the installation manual. The wiring for the analog
setpoint input and the positioning interface, as shown in the wiring diagram in the installa -
tion manual, is not required.
Use the valid connection diagram in the amplifier installation manual for the connection to a
PROFIBUS network.
Never break any of the electrical connections to the servo amplifier while it is live. This
could result in destruction of the electronics. 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 at sinusoidal² commutation is not more than 7500 rpm. At trapezoidal
commutation, the permitted maximum speed is 12000 rpm. All the data on resolution, step
size, positioning accuracy etc. refer to calculatory values. Non-linearities 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 previ-
ously entered for position control and motion blocks must be adapted.
User manual PROFIBUS DP PMCtendo DD4 Page 11
3 Installation / Setup

3.1.1 Parameterization of the master-interface modules
3.1.1.1 Configuration of the control
The graphics interface makes it very easy to configure the Siemens S7 for the PROFIBUS network.
After you have set up the control layout, configure the interface module that is used as follows: Use
our library file DD4_045D.GSD for the planning. Open the Hardware catalog and drag the symbol
for the corresponding field unit onto the representation of the bus system. A window opens auto-
matically for the general parameterization of the field unit. 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.
Page 12 User manual PROFIBUS DP PMCtendo DD4
3 Installation / Setup

3.1.2 Standard functions for data exchange with PMCtendo DD4
Pilz supplies a function block package (DRIVE_FC). The function block package includes a number
of function blocks that make it possible to handle PMCtendo DD4 control functions very simply.
A description of the individual function blocks can be found as a pdf file on the CD-ROM.
3.2 Setup
3.2.1 Setup of the basic functions of the servo amplifier
Only properly qualified personnel with professional expertise in control and drive technol-
ogy are permitted to setup the servo amplifier.
Check that all the safety instructions, which are included in both the
installation manual for the servo amplifier and in this manual, have
been observed and implemented.
Use the setup Software PDrive for setting the parameters for the servo
amplifier.
Caution!
Make sure that any unintended movement of the drive cannot cre-
ate a danger to personnel or machinery.
Now setup the basic functions of the servo amplifier and optimize the
current and speed controllers. This part of setup is described in the
“Quickstart” setup manual.
When the optimization is finished, save the controller parameters in the
servo amplifier.
Remove the Enable signal (Terminal X3.16) and switch off the power
supply for the servo amplifier.
The 24V DC auxiliary voltage remains switched on.
Test the installation of the PROFIBUS connection and the interface for
the PROFIBUS master.
Check the PROFIBUS-DP parameter settings and the station configu-
ration.
Check the parameter settings for the PROFIBUS interface module.
Check the PLC user program and the parameter settings for the func-
tion block packages.
Setup the position controller, as described in the “Quickstart” setup
manual.
User manual PROFIBUS DP PMCtendo DD4 Page 13
3 Installation / Setup
Setup the
basic functions
Save
parameters
Test the
bus connection
Setup the
position controller
Test the
communication
Check assembly
+ installation
Connect PC,
start PDrive

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Page 14 User manual PROFIBUS DP PMCtendo DD4
3 Installation / Setup

4 Profile of PMCtendo DD4
The PROFIBUS-profile PROFIDRIVE includes the following parameter process-data objects (PPO):
PMCtendo DD4 only uses the PPO-type 2 (with 4 words PKW-section and 6 words PZD-section).
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 instrument profile can be divided into two sections or data channels:
1. PKW-section (4 words)
2. PZD-section (6 words)
The PKW data channel can also be termed the service channel. The service channel only uses
confirmed communication services, and is used by PMCtendo DD4 as a parameter channel.
This 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 instrument (status word, actual values).
This channel has real-time capability. - A.4.016.3/1
User manual PROFIBUS DP PMCtendo DD4 Page 15
4 Profile of PMCtendo DD4

4.1 Parameter channel
4.1.1 Parameter ID (PKE)
Bold lines in the table are valid for PMCtendo DD4
Master —> Slave Slave —> Master
Task ID Function Response ID positive Response ID negative
0 no task 0 0
1 request parameter value 1,27
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
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]
Abbreviatoins in the tables:
A: Array
W: Word
DW: Double-word - A.4.016.3/3
Page 16 User manual PROFIBUS DP PMCtendo DD4
4 Profile of PMCtendo DD4

4.1.1.2 Profile-specific error numbers with response ID 7
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 task cannot be executed due to operating status
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 Incompatible object (SDO channel only)
>115 reserve
4.1.2 Subindex IND
- A.4.016.3/3
User manual PROFIBUS DP PMCtendo DD4 Page 17
4 Profile of PMCtendo DD4

4.1.3 Parameter value PWE
The data for the PNU-variable is contained in the PWE, and is placed flush right:
4-byte data (double-word) PWE 5-8 (PWE 8 LSB)
Commands are transferred with task ID 3. If a command cannot be executed, the response identifi-
cation AK = 7 signals the error, and an error number is given out. The error numbers are described
on page 17.
4.2 The process data channel
Cyclical data are exchanged across the PROFIBUS through the process data section of the 20-byte
telegram. Each PROFIBUS cycle triggers an interrupt in the PMCtendo DD4. This has the effect
that new process data are exchanged and processed. The interpretation of these process data
depends on the operating mode that is set. The operating mode is set through a PROFIBUS param-
eter (PNU 930, ðp. 23).
In all operating modes, the data word 1 of the process data (PZD1) in the direction from control sys-
tem -> PMCtendo DD4 is used for instrument control, and in the direction from PMCtendo DD4 ->
control system it has the function of a status indicator for the drive.
The interpretation of the process data PZD2 – PZD6 changes, depending on the operating mode,
as can be seen in Chapter 6.2.
Caution:
When the PMCtendo DD4 is switched on, the operating mode that is set is always –126 (safe
state). Before changing the operating mode, bit 10 of the control word STW must always be
set to 0. The new operating mode only becomes active when bit 10 of the control word is set
to 1. - A.4.016.3/3
Page 18 User manual PROFIBUS DP PMCtendo DD4
4 Profile of PMCtendo DD4

5 Using the parameter channel
The digital servo amplifiers of the PMCtendo DD4 series have to be adapted to the circumstances
of your machine. The parameters for the controllers are set using either the setup Software PDrive
or via the PROFIBUS.
5.1 Read/write an amplifier parameter
Read (AK = 1) or write (AK = 3) amplifier parameters
To read or write an amplifier parameter, which is recognized by the parameter number (PNU), to the
volatile memory of the PMCtendo DD4. The parameters that are stored in the PMCtendo DD4 can
be transferred to the non-volatile memory by using the command “non-volatile parameter save”
(PNU 971).
Telegram layout:
Request Response
PKE/AK 1 (read) / 3 (write) 2 (OK) / 7 (error)
PKE/PNU see 5.2.1 as transmitted
PWE for AK = 3 see 5.2.1 for data type
for AK = 1 data type irrelevant
for AK = 3 returns the PWE of the request
for AK = 1 see 5.2.1 for data type
5.2 Summary of the parameter numbers
All the parameter numbers for PMCtendo DD4 are listed in numerical order in the table in Chapter
5.2.1, with a short description. The parameter numbers in the range 900 – 999 are profile-specific
for the PROFIBUS drive profile PROFIDRIVE. Parameter numbers > 999 are manufacturer- spe-
cific.
For better understanding, you can look up the ASCII commands which are in the column
“PMCtendo DD4 ASCII command” in the user manual for the Setup Software PDrive.
This section deals only with parameters that refer to the PROFIBUS expansion card and have not
already been described in the setup software manual. The attachment runs via the ASCII-com-
mands.
5.2.1 List of the parameter numbers
PNU Data type Access Description PMCtendo DD4
ASCII command
Profile parameter
904 UINT32 ro Number of the supported PPO-write, always 2 -
911 UINT32 ro Number of the supported PPO-read, always 2 -
918 UINT32 ro Participant address on PROFIBUS ADD
930 UINT32 r/w Selector for operating mode -
963 UINT32 ro PROFIBUS baud rate -
965 Octet-String2 ro Number of the PROFIDRIVE profile (0302H) -
970 UINT32 wo Load default parameter set RSTVAR
971 UINT32 wo non-volatile parameter save SAVE
1204 UINT32 r/w Setpoint ramp-, speed controller DEC
1205 UINT32 r/w Emergency stop ramp, speed controller DECSTOP
1206 UINT32 r/w Maximum speed VLIM
1207 UINT32 r/w Overspeed VOSPD
1208 UINT32 r/w Count direction DIR
User manual PROFIBUS DP PMCtendo DD4 Page 19
5 Using the parameter channel

PNU Data type Access Description PMCtendo DD4
ASCII command
Manufacturer-specific parameters PMCtendo DD4
General parameters
1000 Visible String4 ro Instrument ID -
1001 UINT32 ro Manufacturer-specific error register ERRCODE
1002 UINT32 ro Manufacturer-specific status register -
Speed controller parameters
1200 UINT32 r/w Kp– gain factor for speed controller GV
1201 UINT32 r/w Tn– integral-action time for speed controller GVTN
1202 UINT32 r/w PID – T2– time constant for speed controller GVT2
1203 UINT32 r/w Setpoint ramp+, speed controller ACC
1204 UINT32 r/w Setpoint ramp-, speed controller DEC
1205 UINT32 r/w Emergency stop ramp, speed controller DECSTOP
1206 UINT32 r/w Maximum speed VLIM
1207 UINT32 r/w Overspeed VOSPD
1208 UINT32 r/w Count direction DIR
Position controller parameters
1250 UINT32 r/w Velocity multiplier for jogging/homing VMUL
1251 UINT32 r/w Axis type POSCNFG
1252 INTEGER32 r/w InPosition window PEINPOS
1253 INTEGER32 r/w Contouring error window PEMAX
1254 INTEGER32 r/w Position register 1 SWE1
1255 INTEGER32 r/w Position register 2 SWE2
1256 INTEGER32 r/w Position register 3 SWE3
1257 INTEGER32 r/w Position register 4 SWE4
1258 UINT32 r/w Denominator resolution PGEARO
1259 UINT32 r/w Numerator resolution PGEARI
1260 UINT32 r/w Minimum acceleration/braking time PTMIN
1261 UINT32 r/w Feed-forward factor for position controller GPFFV
1262 UINT32 r/w KV- factor for position controller GP
1263 UINT32 r/w KP- factor for position controller GPV
1264 UINT32 r/w Tn- integral-action time for position controller GPTN
1265 UINT32 r/w Maximum velocity for positioning mode PVMAX
1266 UINT32 r/w Configuration variable for software switch SWCNFG
1267 UINT32 r/w Configuration variable 2 for software switch SWCNFG2
Position data for the position control mode
1300 INTEGER32 r/w Position O_P
1301 INTEGER16 r/w Velocity O_V
1302 UINT32 r/w Motion task type O_C
1304 UINT32 r/w Starting time (acceleration) O_ACC1
1305 UINT32 r/w Braking time (deceleration) O_DEC1
1306 UINT32 r/w Jolt limiting (acceleration) O_ACC2
1307 UINT32 r/w Jolt limiting (deceleration) O_DEC2
1308 UINT32 r/w Number of next motion task O_FN
1309 UINT32 r/w Start delay for next motion task O_FT
1310 2 * UINT16 wo Copy a motion task OCOPY
Position set-up mode
1350 UINT32 r/w Homing type NREF
1351 UINT32 r/w Homing direction DREF
1352 UINT32 r/w Acceleration ramp (jogging/homing) ACCR
1353 UINT32 r/w Braking ramp DECR
1354 UINT32 r/w Reference offset ROFFS
1355 UINT32 ro Homing run velocity VREF
1356 UINT32 ro Jogging velocity VJOG
Page 20 User manual PROFIBUS DP PMCtendo DD4
5 Using the parameter channel