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TG drives TGZ Manual

Digital servoamplifiers profinet rt communication
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TGZ
DIGITAL SERVOAMPLIFIERS
- PROFINET RT Communication -

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  • Page 1 DIGITAL SERVOAMPLIFIERS - PROFINET RT Communication -...
  • Page 2 Note: Technical changes that improve the properties of the device may be made without prior notice! This document is the intellectual property of TG Drives. All rights reserved. No part of this work may be reproduced in any form (by copying or otherwise), processed, copied or distributed electronically without the written permission of TG Drives.

  • Page 3: Table Of Contents

    Tasks ..............................12 Jog ............................... 12 Error codes ............................12 Relationship between TGZ coordinates and PROFIdrive values ............14 Speed control mode and normalised values ..................15 Using TGZ in TIA Portal ....................... 16 Positioning mode with telegram 111 ....................16 Supported control bits in ConfigEPos ....................

  • Page 4: About This Manual

    This manual describes the setup of the TGZ drive in the PROFINET network. The TGZ drives must be programmed with the corresponding PROFINET firmware. The TGZ user’s manual must be thoroughly read and used before the drive can be used in PROFINET environment.

  • Page 5: General

    RT data. For two axes servo drive variant, exact synchronization (electronic gearing) inside one TGZ is also possible. 2.1 Cycle time of RT data TGZ fastest cycle time for the PROFINET RT data is 1 ms (firmware from August 2022 or newer). The maximal response jitter is 250 µs. TG Drives, s.r.o.

  • Page 6: Network Setup

    OUT) connector. Use the IN connector in the direction to the PLC and the OUT connector to connect other PROFINET devices in the chain. The TGZ servo amplifier has built-in PROFINET bridge functionality, so for small number of devices and simple configuration a dedicated PROFINET managed switch is not needed.

  • Page 7: Fast Guide To Setup

    • Check the installation and assembly. Consult all the safety instructions in the user’s manual. • Connect PC to X11 Ethernet service connector and start TGZ GUI service program. • Setup the MAC address of the device. • The MAC address shall start with 00 (two zeros) and 0A. The last four numbers could be arbitrary, but unique in the PROFINET network.
  • Page 8 • Select the right telegram number according to the PROFINET project and type of the mechanism controlled by the TGZ servo. • Set the telegram type for both axes in the case of two axes servo amplifier variant.

  • Page 9: Ip Address And Device Name

    • Select the PC network adapter which is connected to the PROFINET network and double click on line Update accessible devices. • Connected devices will appear after a while, for example: TG Drives, s.r.o. Tel.: +420 548 141 811 - 9 - Olomoucká...
  • Page 10 MAC address and double click on Online & diagnostics. Enter a unique IP address and appropriate subnet mask (usually 255.255.255.0) and click the Assign IP address button. TG Drives, s.r.o. Tel.: +420 548 141 811 - 10 - Olomoucká...

  • Page 11: Homing Modes

    Assign name. • Optionally, the check box LED flashes can be used to locate the device in the field. TGZ blinks with letters “Pd” on its LED segment display (Pd stands for PROFIdrive). 3.3 Homing modes The drive must be in operational state with positioning mode set (telegrams 7, 9 or 111).

  • Page 12: Tasks

    3.4 Tasks The TGZ amplifier allows up to ten tasks to be used in positioning mode. The task number are set by SATZANW signal in telegrams 7, 9 or 111. The task parameters can be set by TGZ_GUI.
  • Page 13 TGZ error code. Similarly the telegram 352 has fields for WARN (PZD5) and FAULT (PZD6), they are coded in the same manner. The TGZ error codes are bit oriented, i.e. there are up to 32 errors possible, and they are cumulative, i.e. several bit can be set at the same time.

  • Page 14: Relationship Between Tgz Coordinates And Profidrive Values

    3.7 Relationship between TGZ coordinates and PROFIdrive values The TGZ drive uses 64 bit values for position. This value consists of number of revolutions in upper 32 bits, and number of increments within one turn. On the other hand, PROFIdrive standard uses only 32 bit values for position.

  • Page 15: Speed Control Mode And Normalised Values

    Complete access (read/write) is possible by direct TGZ parameters access, register numbers are 0x211B for axis 1 and 0x221B for axis 2. See also chapter TGZ registers. Note that the PNU 60 000 is read as float value, while the direct TGZ register access is always by 32 bit integer.

  • Page 16: Using Tgz In Tia Portal

    4.1 Positioning mode with telegram 111 The most used operating mode is the positioning mode using the basic positioner of TGZ and the TIA Portal function block SinaPos with telegram 111. Following are the possible steps to create a new project with two TGZ servo amplifiers, both in two axes variant.
  • Page 17 • Open the project view. Install the XML GSD files describing the TGZ device in PROFINET network. There are two types of files, one for the single axis variant, called GSDML-V2.4-TGDrives-TGZ-S-xxxxx.xml and the second for the double axis TGZ variant GSDML-V2.4-TGDrives-TGZ-D-xxxxx.xml (where xxxxx stands for file creation date).
  • Page 18 • Enter the source path where the GSDML files are stored, select the appropriate file and click on Install button (note that both files can be installed simultaneously). • In the Project tree on left top, double click on the Add new device item. TG Drives, s.r.o. Tel.: +420 548 141 811 - 18 - Olomoucká...
  • Page 19 • Select the PLC controller used in the hardware project. For this tutorial, the PLC S7- 1200 is used. Be careful to choose the right firmware version (V4.1 here). TG Drives, s.r.o. Tel.: +420 548 141 811 - 19 - Olomoucká...
  • Page 20 Devices & networks in the Project view and open the window by double click. • Now it is time to add TGZ drives to the project. In the Catalog pane, open the Other field devices item, and navigate to PROFINET IO|Drives|TGDrives|tgz-d|tgz-d. Add the device to the project by double click.
  • Page 21 • Do it two times to add two TGZ servo drives. Use tgz-s item to work with single axis TGZ variant. The Devices & network window should look like: •...
  • Page 22 • Do the same for the second TGZ. • Optionally use the Topology view and connect the PLC and TGZ devices by mouse in the same manner as in reality. This step is not necessary.
  • Page 23 Activate the connection in the PLC box (green rectangle) and in the Properties pane below use the Ethernet addresses item. Enter the right IP address in the text box, together with the Subnet mask (usually 255.255.255.0). TG Drives, s.r.o. Tel.: +420 548 141 811 - 23 - Olomoucká...
  • Page 24 • In a similar way assign the IP addresses to other devices. • Switch to Device view (on the top right) and select the first TGZ device (tgz_1) by the combo box. In the hardware catalog on the right, double click on Siemens telegram 111.
  • Page 25 • Rename the axes (slots 1 and 2) according to the real hardware project. • Do the same for the second TGZ drive and get something like: • Download the project to the PLC by using the icon Download to device or by using menu command Online|Download to device.
  • Page 26 • It is necessary to find the PLC. Click on the Start search button in the following dialog. • After a while the PLC should appear in the Select target device list box. Select it and click on the Load button. TG Drives, s.r.o. Tel.: +420 548 141 811 - 26 - Olomoucká...
  • Page 27 • The Load preview dialog box summarizes the load status. • Click on Load and then on the Finish button. TG Drives, s.r.o. Tel.: +420 548 141 811 - 27 - Olomoucká...
  • Page 28 • Check the hardware configuration. Click on the Go online icon in the command bar. TG Drives, s.r.o. Tel.: +420 548 141 811 - 28 - Olomoucká 1290/79 Fax:...
  • Page 29 • Switch back to offline mode by the Go offline command. • Expand the PLC_1 item in the Project view to Program blocks|Main [OB1] and open it by double click. • A new window with PLC blocks will open. TG Drives, s.r.o. Tel.: +420 548 141 811 - 29 - Olomoucká...
  • Page 30 • Find the SinaPos function block (FB) in the Instructions pane on the right. The search edit box can be used for that. TG Drives, s.r.o. Tel.: +420 548 141 811 - 30 - Olomoucká...
  • Page 31 • Drag and drop the SinaPos block to the Network 1 line and assign the Data block name. Preferably use the same name as for axes (slots) assigned in the previous steps. • Connect the telegram with the HWIDSTW and HWIDZSW inputs of the function block. TG Drives, s.r.o. Tel.: +420 548 141 811 - 31 - Olomoucká...
  • Page 32 • The result should be something like: • Repeat the SinaPos FB drag and drop and axis assignment for Network 2 together with Axis_2. TG Drives, s.r.o. Tel.: +420 548 141 811 - 32 - Olomoucká...
  • Page 33 • The same process is for drive tgz_2 and Axis_3 and Axis_4. TG Drives, s.r.o. Tel.: +420 548 141 811 - 33 - Olomoucká 1290/79 Fax: +420 548 141 890 E-mail: info@tgdrives.cz...
  • Page 34 Status must be 16#7002 for the correct behavior of the function block. See the online documentation for the SinaPos for additional information how to operate this FB. • Optionally create additional watch tables for working with other axes. TG Drives, s.r.o. Tel.: +420 548 141 811 - 34 - Olomoucká...

  • Page 35: Supported Control Bits In Configepos

    SINA_POS function to add it to the Main’s Network line. The TGZ servo drive now supports startup modes Advanced and Legacy. The Legacy mode is used for S7-300 or S7-400. The modified GSDML files (PNIO version 2.4) are available at the TGDrives website.

  • Page 36: Speed Mode Using Standard Telegram 3

    4.4 Speed mode using standard telegram 3 • Create a new project and name it TGZ-S-Tele3. • Open the project view. TG Drives, s.r.o. Tel.: +420 548 141 811 - 36 - Olomoucká...
  • Page 37 • Double click on Add new device. • Select the right PLC controller, together with its version. TG Drives, s.r.o. Tel.: +420 548 141 811 - 37 - Olomoucká 1290/79...
  • Page 38 • Select Network view and expand the tree in the Hardware catalog to item Other field devices|PROFINET IO|Drives|TGDrives|tgz-s|tgz-s. • Double click on tgz-s, the device will be added to the project in the Network view. TG Drives, s.r.o. Tel.:...
  • Page 39 • Rename the TGZ device and give it a name of the device – the same which was set during commissioning as described in chapter 3.2. • For this example we use name tgz_2.
  • Page 40 • The result should look like: • Assign IP address to the PLC. Use the address used during devices commissioning. TG Drives, s.r.o. Tel.: +420 548 141 811 - 40 - Olomoucká...
  • Page 41 • Assign IP address to the TGZ servo drive. Again use the address already stored to the TGZ device. • Select the telegram 3 to the slot 1 of the TGZ.
  • Page 42 • Double click on Standard telegram 3 item sets the telegram automatically. • Download the hardware configuration to PLC: TG Drives, s.r.o. Tel.: +420 548 141 811 - 42 - Olomoucká...
  • Page 43 • Click on Start search button. • The PLC should appear in the list box. TG Drives, s.r.o. Tel.: +420 548 141 811 - 43 - Olomoucká 1290/79 Fax:...
  • Page 44 • Click on Load button, wait for compilation to finish and in the following dialog box select Stop all modules and click on Load button again. • Finish the loading by click on Finish button. TG Drives, s.r.o. Tel.: +420 548 141 811 - 44 - Olomoucká...
  • Page 45 • If not yet selected, choose telegram number 3 in the TGZ GUI service program. • Save parameters and restart the TGZ drive. • Switch TIA portal to Online mode, there should be green check marks in the Project view.
  • Page 46 • If there are some errors, Stop and Start the PLC. Also check that PD_SetDataCounter parameter is increasing in the TGZ GUI service program. • Expand the PLC_1|Technology object|Add new object item and double click on it.
  • Page 47 • Select Motion control and TO_PositioningAxis. Optionally give a suitable name for the object. • Select PROFIdrive radio button in the Axis_1 window in the Basic parameters|General. TG Drives, s.r.o. Tel.: +420 548 141 811 - 47 - Olomoucká...
  • Page 48 • Switch to Basic parameters|Drive and select the right drive. • Update the Reference and Maximum speed if necessary according to the machinery. TG Drives, s.r.o. Tel.: +420 548 141 811 - 48 - Olomoucká...
  • Page 49 • When finished, switch to offline mode and download the modified project to the PLC by menu command Online|Download to device. The process is the same as described above. TG Drives, s.r.o. Tel.: +420 548 141 811 - 49 - Olomoucká...
  • Page 50 • Switch back to online mode and double click on the Commissioning item in the Project view. • Click on the Activate button on the top of the window. TG Drives, s.r.o. Tel.: +420 548 141 811 - 50 - Olomoucká...
  • Page 51 • It is possible now to Jog the axis, perform Homing and/or Positioning, depending to the selected command. For the detailed description of the technology object see the online documentation. TG Drives, s.r.o. Tel.: +420 548 141 811 - 51 - Olomoucká...

  • Page 52: Profidrive Parameters

    5 PROFIdrive parameters TGZ servo drive supports parameters access through slots 1 and 2 (slot 2 for two axes variant only). Three record data object indexes can be used to access parameters of the TGZ: •...

  • Page 53: Tgz Registers

    For example the parameter number 0x2119 belongs to group 1 (Motor) and its index is 25 (0x19 = 16#19 = 25 DEC). The single axis TGZ variant does not use the axis 2 parameters. To access the parameters through PROFINET, only the parameter number is needed to fully specify the right parameter.
  • Page 54 0x3504 0x3604 PD_State State diagram mode 0x3505 0x3605 TGZ supports up to 10 traversing blocks for independent use. Each block consists of mode, acceleration, deceleration, velocity and target position: PD_Task1 Name Description Number axis 1 Number axis 2 Mode (0 – relative, 1 – absolute) 0x3922...
  • Page 55 Parameter numbers are 0x3952 – 0x3957 for axis 1 and 0x3A52 – 0x3A57 for axis 2. PD_Task10 Parameter numbers are 0x3958 – 0x395D for axis 1 and 0x3A58 – 0x3A5D for axis 2. TG Drives, s.r.o. Tel.: +420 548 141 811 - 55 - Olomoucká...

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