. 3- . 1. .

CHANt (chantengri@mail.ru), san(pupena_san@ukr.net)

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.
3-,

 . 3- . 1. .

1.
, .
, , .
, ,
,

1.
.

(PLC, PC-base)

(Fieldbus)
1

(,
/, )

.1.

?
1.
(.1. .1),
/ (I/O Data).
(PLC, PAC, PC-base),
, (/ ,
) ( ,
, , ). ,
, .

(4-20 , 0-10, 0-5), (0/24)
() .
, . , ,
/ , ,
.
, ( )
.
,
. ,
, .
, .
, /
/ , .
2. /,
(Device Parameters)
(.2. .1).
,
, , " ".

 . 3- . 1. .

/ ,
. , .
3.
(peer to peer device, .3..1).
,
.

/.
4.
( , .4..1).
,
.
, ,
, ( ,
). , ,
. , PDS ,
- . ,
. ,
( ),
.
?

.


(.1. .1)
:
1. .
.
2. . . ,
. .

?

:
1. / .
2. .

, .
, .

, .
, , .
, ,
.
, . ,
, ,
. ,
:
- ,
;

 . 3- . 1. .

-
(, PROFIBUS Preparation, CANOpen - Preoperational);
- .
- .
(
) . ,
.
,
. ,
.
-

?
. ,
, () ,
, .
,
.
, .

, ,
.
,
?
,
, . , , CANOpen,
,
, .. ,

. Plug&Play.
, .
() ,
.
?
.
, FC Danfoss I/O Profile Altivar.
.
.
:
1. CiA 402 (CAN in Automation);
2. CIP Motion (ODVA);
3. PROFIDrive (PROFIBUS International);
4. SERCOS (SERCOS International).
5. DRIVECOM (INTERBUS).
DRIVECOM 7- IEC 61800 "Adjustable
speed electrical power drive systems".
?
, . ,
-. , ,
.

 . 3- . 1. .

,
. , CANOpen ,
, CiA 402, , CiA
402 Modbus, Profibus, WorldFIP ..
, PROFIBUS
PROFIDRIVE ( FC Danfoss, DRIVECOM Lenze).

`2. .
?

, , ,
, , (.2). ,
(
, , )
( , , ).

/
Command

:
, ,

Status

Set-Points

Position

Velocity

Torque

:
, , ,

Actual Values
Position
Velocity
Torque

SE

.2.
, IEC 61800-7.

, COMMAND. 16- ,
.
,
STATUS. 16- ,
.
, ,
(SetPoints),

 . 3- . 1. .

(ActualValues). ,
,
, , -. ,
.
,
?
. (Faulted State),
. ,
. (No Faulted)
(Reset Fault) , (
).
Warning.
. ,
: ,
. , ( ,
/ ),
(operating). not operating ,
.
,
: local control -
( / ); remote control -
.

Operating Remote Control.
, not operating local control.
Operate operating not operating. -
Local/Remote .

3. PROFIDRIVE
PROFIDRIVE?
PROFIdrive (Profile Drive Technology) - (
), PROFIBUS & PROFINET International
PROFIBUS PROFINET.
PROFIdrive PROFIBUS DP.
PROFIBUS.
,
( , , ).
.
IO Data, .
PROFIDRIVE ?
PROFIDRIVE Control Words
(STW), Status Words (ZSW). ZSW STW
.
/ ( )
.
.
PROFIDRIVE ,
?

 . 3- . 1. .

. " " No
Fault (ZSW1.3 = 0, 3- ZSW1 0) " " Fault Present
(ZSW1.3 = 1). :
Warning Present (ZSW1.7 = 1) No Warning (ZSW1.7 = 0).
Fault Acknowledge (STW1.7 = 1).
(,
). ,
, .
.
PROFIDRIVE
, .3. S1-S5. Operation (S4)
.
(Operation Enabled - ZSW1.2 = 1). Not Operating PROFIdrive
: Switching On Inhibited, Ready for Switching On, Switched On
Switching OFF.
:
- Control Requested (ZSW1.9 = 1);
- Control By PLC (STW1.10 = 1), ,
;
- ON (STW1.0 = 1), ;
- Ready To Operate
(ZSW1.1 = 1).
.3 ,
. ,
. Standstill detected
. S1 (
b).

 . 3- . 1. .

.3. PROFIDrive.
PROFIDRIVE
PROFIdrive
(Application Class, AC).
1 "Standard Drive". .4
SatndardDrive
..

 . 3- . 1. .

.4. PROFIDrive StandardDrive

1 PROFIdrive 4,5,6,8,9
SatndardDrive.

1
PROFIdrive ( 1)

Command
IEC 61800-7

OPERATE

PROFIdrive

STW1

1 - ON
0 OFF (OFF1)

1 No Coast Stop (No OFF2)

0 Coast Stop (OFF2)

1 - No Quick Stop (No OFF3)

0 Quick Stop (OFF3)
1 Enable Operation
0 Disable Operation

2
3

/
. OFF1,

(), ,
.
OFF2
.

().
.
/
.

 . 3- . 1. .

RESET
FAULT

REMOTE
LOCAL

1 Enable Ramp Generator

0 Reset Ramp Generator
1 Unfreeze Ramp Generator
0 Freeze Ramp Generator
1 Enable Setpoint
0 Disable Setpoint
1 Fault Acknowledge
0 No Significance
1 JOG1 ON
0 JOG1 OFF
1 JOG2 ON
0 JOG2 OFF
1 Control By PLC
0 No Control By PLC

7
8

.

1

10

2 PROFIdrive, 4,5,6,8,10
SatndardDrive.
2
PROFIdrive ( 1)

STATUS
IEC 61800-7

Operating
Faulted

Warning

Remote control

PROFIdrive

ZSW1

1 Ready To Switch On
0 Not Ready To Switch On
1 Ready To Operate
0 Not Ready To Operate
1 - Operation Enabled
0 Operation Disabled
1 Fault Present
0 No Fault

1 Coast Stop Not Activated

(No OFF 2)
0 Coast Stop Activated
(OFF 2)
1 Quick Stop Not Activated
(No OFF 3)
0 Quick Stop Activated (OFF
3)
1 Switching On Inhibited
0 Switching On Not Inhibit
1 - Warning Present
0 - No Warning
1 Speed Error Within
Tolerance Range
0 Speed Error Out Of
Tolerance Range
1 Control Requested
0 No Control Requested
1 f Or n Reached Or
Exceeded
0 f Or n Not Reached

1
2
3

0- STW1.0
/

7
8

=1
(-)

=1 -

=1 - /

10

 . 3- . 1. .

4. CiA402
CiA402?
CiA402 CAN in Automation
DS-402.
CANOpen, ETHERNET Powerlink ETHERCat. CiA402
CANOpen. ,
CANOpen CiA402
(DS-402).
PROFIDRIVE ?
CiA402 Controlword ( CANOpen
604016), Statusword ( CANOpen
604116).
/
. CANOpen,

600016. , ,
:
- - Controlword (ID 604016);
- - Statusword (ID 604116);
- - Target velocity (ID 604216);
- - velocity actual value (ID 604416).
CiA 402 ,
?
. Fault (3-
Statusword = 1) No Fault (3- Statusword = 0). Fault
Reset (7- Controlword = 1).
, . ,
Ready To Switch On.
.
CiA402 .5, 5.
not operating CiA402 .
:
- Not ready to Switch On , ;
- Switch On Disabled ,
, ,
;
- Ready to Switch ON ,
.
- Switched On , ,
;
- Operation Enabled , ,
,
.
- Fault Reaction Active , ;
.
- Fault , , ;
- Quick Stop Active .

 . 3- . 1. .

.5. CiA-402
Statusword,
, Controlword. 3
.

Ready to
Switch ON

2
0
0
0
0
1
1
1
0
0

1
0
0
0
1
1
1
1
0
0

0
0
0
1
1
1
1
1
0
0

006F*

Switched On

6
5
4
3
0
x
x
0
1
x
x
0
0
1
x
0
0
1
1
0
0
1
1
0
0
0
1
0
0
x
x
1
0
0
x
1
0
1
x
1
x
* - 16- , 006F

Not Ready To Switch ON

Switch On Disabled
Ready to Switch ON
Switched On
Operation Enabled
Quick Stop Active
Fault Reaction Active
Fault

Operation
Enabled

Fault

Voltage
Enabled

Quick Stop
Active

Switch On
Disabled

Statusword (604116)

0040
0021
0023
0027
0007
0008
0028

4
Controlword, .
4

Controlword (604016)
Fault

Enable

Quick

Enable

Switch On

16-

 . 3- . 1. .

Reset
Operation
7
3
Shutdown
x
x
Switch On
x
x
Enable Operation
x
1
Disable Operation
x
0
Disable Voltage
x
x
Quick Stop
x
x
Fault Reset
0->1*
x
* -

Stop
2
1
1
1
1
x
0
x

Voltage
1
1
1
1
1
0
1
x

0
0
1
1
1
x
x
x

0006
0007
000F
0007
0000
0002
0080

5 ,
. .5.
5
,

Start

Not Ready To
Switch ON

Switch On
Disabled
Ready to
Switch ON
Switched On

3
4
5
6
7
8
9
10

11
12

Operation
Enabled
Switched On
Ready to
Switch ON
Operation
Enabled
Operation
Enabled
Switched On

Operation
Enabled
Quick Stop
Active

13

14

Fault Reaction
Active
Fault

15

16

Quick Stop
Active

Not Ready To
Switch ON
Switch On
Disabled

Ready to
Switch ON
Switched On
Operation
Enabled
Switched On
Ready to
Switch ON
Switch On
Disabled
Ready to
Switch ON
Switch On
Disabled
Switch On
Disabled
Quick Stop
Active
Switch On
Disabled
Fault Reaction
Active
Fault

Shutdown

Switch On

Enable Operation

Disable Operation

Shutdown

Quick Stop

Shutdown

Disable Voltage

Disable Voltage Quick

Stop

Quick Stop


Disable Voltage

Switch On
Disabled

Fault Reset

Operation
Enabled

Enable Operation

,

,

Fault
Reset

CiA-402 . CiA-402
Profile Velocity mode.
No Halt (8 Controlword = 0), - Halt (8- Controlword = 1).
Target velocity ( CANOpen - 604216), - Velocity
actual value ( CANOpen - 604416).
, :

 . 3- . 1. .

- Target Reached ( 10) - Halt=1, - 0 , , 1

; Halt=0, - 0 , , 1
;
- Speed ( 12) - 0 - , 1 - .

6.
6

Command
IEC 61800-7

OPERATE

RESET
FAULT

CiA-402

Controlword

Switch ON
Enable Voltage

0
1

Quick Stop
Enable Operation

Fault Reset

2
3
4
5
6
7

Halt

=1,
=0,

=0,
=1,

11-15

=1 (
,
)

7.
7

STATUS
IEC 61800-7

Statusword

Ready to Switch ON

Switched On

Operation Enabled
Fault
Voltage Enabled

2
3
4

Quick Stop Active

Switch On Disabled

5
6

Warning

Warning

Remote control

Remote

7
8
9

Target Reached

10

=1,

=1,

=1,
=1,
=1, Disable
Voltage
=0,
=1,

=1,

=1, CANOpen, =0

HALT:
/
/

Operating
Faulted

CiA-402