MOTOR POWER GSDML Duet AD Low Voltage Servo Motor User Guide

TIA Portal – Configuration guide

The GSDML file can be found in the software folder of the download area at www.motorpowerco.com. Install the GSDML-file in TIA-Portal in the menu “Options / Manage general station description files (GSD)”.

• The DUET AD device can be found in the hardware catalogue under “Other field devices → PROFINET IO→ I/O→ Hilscher Gesellschaft fur Systemautomation mbH→ PNS”. Add the “MPC DUET AD PNS V5.3.1” to the project and connect it with your PROFINET network.

• By calling up the object properties, the DUET AD should be assigned a unique PROFINET name and the IP address be checked for plausibility. The name of the configured device must later be assigned to the physical device.

• When the configuration of the DUET AD has been completed in the hardware configurator, it can be loaded into the PLC. In order for the device to be found by the PROFINET controller, the PROFINET device name must be assigned to the device. To do this, use the “Assign device name” function, which you can access with the right mouse button or in the Online menu when the device is selected. Use the “Refresh list” button to search the network for PROFINET stations. With “Assign Name” the PROFINET device name can be assigned to the device.

Profinet wirings

• There are two Profinet M12 connectors on DUET AD device. The image below shows the standard position of Profinet input and Profinet output connectors:

• Refer to table below for specific signal functions:

Male

Profinet cyclic communication

DUET AD exchanges 32 bytes on the fieldbus; 16 bytes are set as controller inputs and 16 bytes are set as controller output

• Controller data input:

6041h of DS402.
2| | Mode of Operation Display  | Drive’s mode of operation | INT8| Canopen drive operation mode as object 6061h of DS402; modes of operation supported are profile position and profile velocity mode.
3-6 | | Velocity / Position actual value | Drive’s actual position / velocity | INT32| Canopen drive actual position or velocity as objects 6064h and 606Ch of DS402. The object switches automatically when the operation mode changes
7| | Spare| Spare byte| BYTE|
8-9 | | Actual motor current| Motor current consumption| INT 16 | Actual motor current expressed in per thousand of motor nominal current
10-15| | Spare| Spare bytes| BYTES|

• Controller data output:

6041h of DS402.
2| | Mode of Operation| Drive’s mode of operation| INT8| Canopen drive operation mode as object 6060h of DS402; modes of operation supported are profile position and profile velocity mode.
3| | Homing Method| Drive’s homing method| INT8| Canopen homing method as object 6098h of DS402.
4-7| | Velocity / Position target value| Drive’s target position / velocity | INT32 | Canopen drive target position or velocity as objects 607Ah and 60FFh of DS402. The object switches automatically when the operation mode changes
8-9| | Current limitation | Motor current limitation| INT 16 | Motor current limitation expressed in per thousand of motor nominal current. When 0 this function is disabled.
10-15| | Spare| Spare bytes| BYTES|

Profinet acyclic communication

The controlle can send read/write telegram to the device. Each telegram is composed by 16 or 32 bits, below a table with description, size and address of each object:

Name| Type| Index| Description| R/W| Unit| Range
---|---|---|---|---|---|---
Current Ki| unit16| 135| Current PI – integral factor| R / W| | 0 … 65536
Current Kp | unit16| 134| Current PI – proportional factor| R / W| | 0 … 65536
Velocity Ki| unit16| 137| Velocity PI – integral factor| R / W| | 0 … 65536
Velocity Kp | unit16| 136| Velocity PI – proportional factor| R / W| | 0 … 65536
Position Kp| unit16| 138| Position PI – proportional factor| R / W| | 0 … 65536
Nominal current| unit16| 142| Motor nominal current| R / W| Arms| 0 … 65536
Peak current| unit16| 143| Motor peak current| R / W| Arms| 0 … 65536
Load Inertia| unit16| 261| Load inertia| R / W| kgcm^2| 0 … 65536
Save to EEPROM| unit16| 514| Store actual parameters| W| | 0…1
Firmware version| unit16| 640| Firmware version del drive| Read| | 0 … 65536
Serial number| unit32| 648| Serial number del drive| Read| | 0 … 4294967296
Actual DC BUS voltage| unit16| 653 | Actual DC BUS voltage | Read| Vdc| 0 … 65536
Drive temperature| unit16| 662| Actual drive temperature100| Read| °C | 0 … 65536
Bootloader version| unit16| 666| Bootloader version| Read| | 0 … 65536
Fault register| unit16| 669| Fault register| Read| | 0 … 65536
Actual position| int32| 693| Actual incremental position | Read| | -2147483648 … 2147483648

Fault register description

Telegram 669 size 16bits returns the actual error/errors active on the drive:

Motor Power Company s.r.l.
Via Leonardo Da Vinci. 4
42024 Castelnovo Sotto Reggio Emilia – Italia
Tel. +39 0522 682710 – Fax 4-39 0522 683552
info@motorpowerco.it – motorpowerco.com
Cap. Soc. 250.00e,00e i.v. – R.E.A. di RE 175521
Iscr.Reg.Impr di RE n.01308390358 – N. Mecc. RE 010210
C.F. e P.IVA IT 01308390358

References

• Motion Control & Mechatronics: Motor Power Company

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