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Softmotion: Driveinterface: Servostar

This document summarizes the SoftMotion DriveInterface for ServoStar drives. Key points: - It supports the ServoStar600 and ServoStar400 drives over a CAN bus interface requiring 3S_CANdrv.lib. - Configuration is done in the PLC config by setting parameters for the bus interface, axis group, and supported drive control types. - Features include drive control functions, parameter access, homing modes, and supported sync generators. - CAN traffic depends on cycle time, baud rate, and whether actual position/velocity values are transmitted. Up to around 5 drives can be controlled at 500kbps or 11 drives at 1Mbps.

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47 views5 pages

Softmotion: Driveinterface: Servostar

This document summarizes the SoftMotion DriveInterface for ServoStar drives. Key points: - It supports the ServoStar600 and ServoStar400 drives over a CAN bus interface requiring 3S_CANdrv.lib. - Configuration is done in the PLC config by setting parameters for the bus interface, axis group, and supported drive control types. - Features include drive control functions, parameter access, homing modes, and supported sync generators. - CAN traffic depends on cycle time, baud rate, and whether actual position/velocity values are transmitted. Up to around 5 drives can be controlled at 500kbps or 11 drives at 1Mbps.

Uploaded by

alinup
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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SoftMotion: DriveInterface: ServoStar

SoftMotion: DriveInterface: ServoStar

Last update: 04.12.2007

Hardware interface CAN; must support 3S_CANdrv.lib


Supported drives ServoStar600, ServoStar400 (Danaher Kollmorgen Seidel)
Runtimes x86
Author Hilmar Panzer
Components ServostarDrive.lib; 3S_CanDrv.lib; SM_CAN.lib;
SysLibCallback.lib; SysLibFile.lib
Version 1.9.4.0

CONTENT

1 PARAMETERS IN PLC CONFIG 2


1.1 BusInterface ........................................................................................................................2
1.2 AxisGroup ...........................................................................................................................2
1.3 supported Drive.wControlType..........................................................................................2
1.4 Additional structure ServoStar_AXIS_REF .......................................................................2
1.5 Firmware and configuration possibilities .........................................................................3

2 FEATURES 4

3 CAN-TRAFFIC 5

 3S - Smart Software Solutions GmbH


ServoStardrive.doc Page 1 of 5
SoftMotion: DriveInterface: ServoStar

1 Parameters in PLC config

1.1 BusInterface
wParam1 Not used
wParam2 Not used
dwParam1 Not used
dwParam2 Not used

1.2 AxisGroup
wParam1 CAN channel No (typically 0)
wParam2 Baudrate in kBit (125, 250, 500, 1000)
wParam3 SYNC generator:
0: PLC generates SYNC (only possible if PLC is highly precise);
2: SYNC device generates SYNC (additional hardware needed)
wParam4 Not used
dwParam1 Reserved
dwParam2 Reserved
dwParam3 Not used
dwParam4 Reserved

1.3 supported Drive.wControlType


T / - no V/V yes V/P yes P/P yes PV/PV yes V/- yes CONF yes
The cyclically sent/received data can consist of: fSet/ActPosition, fSet/ActVelocity, fSetCurrent.

1.4 Additional structure ServoStar_AXIS_REF


Name Type Description
byHomingDelay Byte Internal use: delays switching back from homing mode
strConfigFile STRING full name and path of config file
Acit internal use
byOperatingMode BYTE internal use: operation mode
wServoStarType WORD type of servostar (600/400)
crap Internal use
pParameterlist Internal use
wOldControl WORD Internal use
byOldOpMode BYTE Internal use
wControlWord WORD Control word (6040)
wStatusWord WORD Status word (6041)
wDRVSTATlw WORD Low word of DRVSTAT

 3S - Smart Software Solutions GmbH


ServoStardrive.doc Page 2 of 5
SoftMotion: DriveInterface: ServoStar

1.5 Firmware and configuration possibilities


The driver was implemented and tested on firmware version V7.12.
Because some problems could occur with former software versions, there are some possibilities to
adapt some parameters. The following global variables must be set during the first cycle of the
application:
g_uiWaitTimeAfterSYNCus Minimum time (µs), between sending the SYNC 500
and the first PDO
g_byServostarSYNCSOURCE Parameter SYNCSORC* 3
g_byServostarFPGA Parameter FPGA* 3

* normally the drive should work with SYNCSRC 3 and FPGA 3, when controlled via CAN. Former
firmware versions had some problems when running in this mode. Then it could help to set these
values to 0.

 3S - Smart Software Solutions GmbH


ServoStardrive.doc Page 3 of 5
SoftMotion: DriveInterface: ServoStar

2 Features

o RegulatorOn, DriveStart
o Detecting and acknowledging errors
o reading/writing SoftMotion and drive parameters (to access index 0xaabb subindex 0xcc
with length 0xdd in byte (only necessary for writing) use MC_Read/Write(Bool)Parameter with
parameter number -16#ddaabbcc)
o any gearing factors (dwRatioTechUnitsDenom/iRatioTechUnitsNum)
o linear/rotary axes
o drive internal homing (configure with object 0x6098 etc. or via ASCII commands
NREF/DREF)
o limit switches
o 32-Bit latching (only possible after homing): 1 channel; digital input must be defined
o configuration from file
o configuration from dialogs in PLC configuration
o controlling modes (SMC_SetControllerMode): position, velocity, current (switch regulator
off before switching them)
o supported SYNC generators (to be set in PLC Configuration, AxisGroup) : PLC, SYNC-
Device

 3S - Smart Software Solutions GmbH


ServoStardrive.doc Page 4 of 5
SoftMotion: DriveInterface: ServoStar

3 CAN-Traffic

base load:
Telegram Data Bit length 125 250 500 1 MBit/s
bytes kBit/s kBit/s kBit/s
SYNC 0 47 0,376 ms 0,188 ms 0,094 ms 0,047
ms
SDO 8 111 0,888 ms 0,444 ms 0,222 ms 0,111
ms
overall 1,264 ms 0,632 ms 0,316 ms 0,158ms

per drive:
Telegram Data Bit 125 250 500 1
bytes length kBit/s kBit/s kBit/s MBit/s
Control word and operation mode 3 71 0,568 0,284 0,142 0,071
ms ms ms ms
SetPosition/SetVelocity/SetCurren 4 79 0,632 0,316 0,158 0,079
t ms ms ms ms
Status word and actual position 8 111 0,888 0,444 0,222 0,111
ms ms ms ms
optional: actual velocity 3 71 0,568 0,284 0,142 0,071
ms ms ms ms
overall (no actual velocity) 2,656 1,328 0,664 0,332
ms ms ms ms
overall (with actual velocity) 3,288 1,644 0,822 0,411
ms ms ms ms

With/Without receiving the actual velocity, and with one SDO reserve it is possible to control n drives:
Cycle time 125 250 500 1
[ms] kBit/s kBit/s kBit/s MBit/s
1 0/0 0/0 1/1 2/2
2 0/0 1/1 2/2 4/5
3 0/1 1/1 3/4 6/8
4 1/1 2/2 4/5 9/11
5 1/1 2/3 5/7 10/13
8 2/2 4/5 9/11 18/23

 3S - Smart Software Solutions GmbH


ServoStardrive.doc Page 5 of 5

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