Problem: our ASDA-A2 servo drive is a very good high-end servo drive, except for the fact that it does not support PROFINET until now, and for one of our potential costumers we needed such functionality.
This document explains the solution that we did for such problems.
System structure: the system is basically to control a load with our ASDA-A2-M servo drive, which has CANOpen communication. The controller is a PROFINET Master (e.g. Siemens S7 PLC).
Here we used a gateway, to bridge the connection between PROFINET and CANOpen, the gateway used was IXXAT CME/ PN from HMS.
ASDA-A2 configuration: the servo drive’s parameters were adjusted to the connected motor, and to be controlled by a CANOpen Master, below are the main parameters for such a configuration:
|P1-01||0x000B||Control Mode and Output Direction (CANopen Mode)|
|P1-44||1000||Electronic Gear Ratio (1st Numerator) (N1)|
|P1-45||1||Electronic Gear Ratio (Denominator) (M)|
|P3-00||0x0004||Communication Address Setting|
|P3-01||0x0403||Transmission Speed (1.0M bits / second)|
The ASDA-A2-M CANOpen interface supports up to 4 PDOs duplex (transmit and receive), each PDO has a length of 8 bytes.
For an explanation for the commands needed to control the drive from CANOpen, please refer to the document CANopen for ASDA-A2_M_EN_20120921
IXXAT CME/PN gateway: this gateway can be parametrized using its own software (CANopen Configuration Studio for IXXAT CME-PN 2.1). In the software the ESD file for the ASDA-A2 can be loaded, and the values that need to be transferred are selected. The variables selected for this application are as follows:
|Index||Sub-Index||Size (Bits)||Parameter name|
|6060||00||8||Modes of operation|
|6077||00||16||Torque actual value|
|6078||00||16||Current actual value|
|6064||00||32||Position actual value|
|606C||00||32||Velocity actual value|
After the configuration has been made, a compilation is done in the software, and then the GSDML file is exported to be used in the PROFINET master as a device .
full screen is recommended
And the last step is to download the configuration to the IXXAT gateway using the USB cable (mini USB port).
PROFINET Master: here in this case a Siemens PLC is used (CPU1516-3 PN), first step in the hardware configuration the GSDML file is loaded, and then the device is inserted in the HW configuration. After inserting the device, it will automatically assign inputs and outputs areas for the mentioned variables, where they can be used later in the PLC program to control the servo drive.
we hope this will be of help to your application.