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MULTIPROG Programming Manual

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1. m p c pal R L T S D L GG s ge oo oo Zl oe E Gl oc HE m i E uri pel c a gal peal 3 ll pal uni p wil E M 2 a Lm Ed on fs pt ex tal cl ar e ced sol ed a E G il il a al K S e Z al eal zs SL RE S n E ei E en Ea eel en eel erd rni a ee KZ a a Gl Cl wx wu xa E E oo ce Sil oo PEPER E l l E exp on x G2 6 EE oo cel El oe ac Se So ae ae ax ac ac aof ac x COL oo 00 an ac og Tal Ea gt 3 Ea E E E E Ea ea 9 8 Ea Eas Ea La E Seg e Ee Cn Ea L Ka Si L lal e ca a eal wo CA c el m cg mu i E cll cole x Cl nd Gl l C A r1 EE cr no ch aS E Ch l cedi ay m ws wr 9 m a rm a6 oo z al al eal eel SE us ale ole SL EE a Ex trul eal geal geal ems gra CH pe F ZI a a en QI Ern br bs Er E s xp se WS sm e 4 s S SES NC D eS DE B RBBERRERRBERS DEBE KISS gd pps n 2 i cal cal cal a e e E 3 A rdl re us F 61 KE E dr Be Dect c lala ol elm x rJ i b Est E Een Fed a Z er xm S E Ez fa fa ra a 7 a se l ep l me DR pal ra asm e 20 Sl 20 Sl Zl ds m en es Z EE SEE Wy MG en es e es Zl e ES ai S l l 20 Z mi r H c1 cg r mi al ex EE pp cg c e ed Z EE cr rl l Z EE bas Al cp cp rg ca oci cd cs c i d R eee EEE el Adoos G S E e em rl Lu e ra 0n el L pa wl z Cl Gal cij e ala a pj c 55 e E
2. 35 EasyPAC User Manual TPM MODBUS MODBUS pgc HEX XM MODHBUS Lhscrete Input eu A HH AL JL H H mum E2F se a E A pe 23 afr bows peo hen G na FEU m IB ID 2 o sos r beo pomo E EE 2822 Gare 1636 l HH PT b f lt I tn SZ IE E SL el Gaf T EEs e R p E e lo al e E E E ES al agg Lr ry tr lT x E e SI A aaa c A Al A SE in co G m in t m is is iri B in E Bi SL n Ij izi cry al c GO O E 113 L En 15 EN LC TU M c Cri Te pr CRI m T Way mm oa CA ED i vi Jo E l ex cl c1 n ci xe css aG in n z Z 4 Z ze Fa x El ele Cy OC GC l CN CI CP i E E n E a Ct d i E 31 e T S E En HE a AR m T A a CN G aja 22 A aja EE ga ig as a E si E E ui S SE Era Eri En AE La Lm E m pn p m m Lm Lm Le EE r ca E dal ca e e EE am ee els alo SI SEE I LCD N D Iz ia FA e Fal M d pr E M e i m n d Ju e D E z b Es go SEI i i I m LA p g K e E E Z Pal D fe bal ey Eal a l a l D mj Ta papa Kae l Pa Es l Pe e l e o THT T ms elele SERRE ele TR de l iJ end E sola an E rl a ol t Ex E Se En s E e e e
3. e ja p ee FELD i fas haoh O 1447 o ques p es Dr un os ee f PARRES E Em Je E 3 c4 pe Z L Al pN en BEBE SEEREPPBPREPEF G wea urs uns e el e c ci ci cu Ej ca cg ca EJE eS S ur kx E E e ci e e c1 eal ei Cl Hr Ht c n lala DIEA E m am E2 4 a 8 eo s T oo DI a ri T Ed ES e e ry G a ES uu m gm m ra ri ra am ra ua a um a ri E u wap wil oi aad Ml t Ep I a c1 aj a hs al SEE ESES ES a i 7 ig em urs z CL ws bl I ry KE eal gal wd wv uns l fl l a 30 TPM EasyPAC User Manual Virtual T am MODBUS MODBUS MODBUS MODBUS Cal Oo XM Discrete Input gree Bein pad ER B Registers H Lt pets amp C HEX egin ER RES ED X NN SERRE D RR RR RR E M ase fase Jo fase LEE 2 ES ETE NETTE L448 5199 as fes P hss Fr fons fase c os sos fo sos fr pos iss fears fuse Joso ss pia ose Jos foun aso jasa o sa PME 2507 lo 2507 7 5216 mel 2 587 ico heo p heo Fr os fesos Jo fesos fr as tes oss ee pont ss Jose poo ss Pac Sh pec 462 faea Jo jaa 0 s pac parto fo jo Pesio 7 Toa ae Tues To ues r 4 io sass 1487 psu psi Jo si B iC her p her se fans poss fas ia psa bo psi 7 2se 952 1592 250 ass Jass lo 46s io ani faor psi sis o esis fr aee eo bani Jus host sap poa s faor L
4. cr Bepmerating DEC Code Collecting POUs used by RESOURCE Resource can Generating specific Code for CONFIGURATI Generating Code for RESOURCE Re Creating data templates Processing code Processing data Creating task info Creating initialization code xu Error s D Tarning s Figure 6 21 making a project 53 IPM EasyPAC User Manual 2 2 4 Download Please left click on Project Control to download the compiled file to EasyPAC as shown below i CI non retain data FOU TOF hon retain data Grow TON mm retain data Bros T mon relain data zs S Untitled mon retain data Include Frontend Code S pg F Include Pagelsyouts 1 Include Backend Code Delete Source on T arget Figure 6 22 download sequence 2 2 5 Debug Click the Debug on to activate the debug mode HI 0011 1001 7001 16405 7002003 voa vi 16805 16805 Figure 6 23 enable the debug mode 54 TPM EasyPAC User Manual 2 3 Interface Description LA ERTYFAC UB Hen Z DEJ Met SL UL i nice LS Din Tep wo Legal PO El INIT AXES a Uude FEADY FALJE O DELTA rrr b i F EE A DEVE t ARERAAERRBRRARERRRREARRRRAARERRARRRR gt EEE FE E C i Ca d Pa N Ba xA pr T rat ne d P N Ba Lae HAJ M i d bod gH ZEE zi UENTA S DELTA UZINT E II a 5 d oB bob H B 8 UECH
5. 2 buea Juro leen ar bas Des lo bas Tr T4484 Dh E pot ssec p ep da 7 4480 1180 4487 Ape peh pi en pen so hase nes Jue 10814575 7 E lisas ico ssi 7 4552 118 4559 7 Jasso 11p0 4567 E 355 ra ee e S ol ul S 4 ee ed W u ua Z e K eva pru rni pr rni prp rm T K C K Y KR PEER S ka in ci PA En T 2 T pis 1085 4287 zoe oe noo p Exe Tr az lnn 428 5 po pap p 7 4288 oenas focz enn poen fo own Tr Joss Poco a PT es 368 Sl 346 347 348 lp 349 ESA 15 257 353 354 155 356 est E 360 o 361 l 362 o ESI 364 165 aes 366 Jo 356 ELM m 7 eaj es j oo a ied Le dn in eI i se fous px p pus rss Juste fuse pos fos pec fos p pe l 2 SIL zel HEBE 1 a ae pi p EE ao ob Els e l ee EE G Jo pea SREE al cap cm unu we 133333 E l ca ex e E mij ca enl mel uv zizix x Ka x c Ka mbl r Fc C 2 p c3 S em e L en e TE o fae 7 Jasa SEE SEE z er ae Sal e E EIE ca E a u 4 as a 3i 1 BE cy M a d dl eH i 7 Jasse izo ees 2s Dass 2037 lo bear tr a I e pi a o 3 amp 9 L 92 o foo Jo eo fr heer ass her Js as pos b pes fr iso hi 1238 e pi h poi Tr ber hae
6. Figure 6 72 function blocks sequence 83 TPM EasyPAC User Manual Example 1 Same Function Block instance controls different motions of an axis The figure below shows an example where the Function Block FB1 is used to control AxisX with three different values of Velocity In a Sequential Function Chart SFC the velocity 10 20 and 0 is assigned to V To trigger the Execute input with a rising edge the variable E 1s stepwise set and reset Single FB usage with a SFC K tue jeweme 7 Mc Monty InVelocity TRUE Axe X EMIL LL IEEE E Execute InVelocity Y In Velocity TRUE ez iz M TRUE InVelocity TRUE E FALSE The following timing diagram explains how it works Timing diagram for a usage of a single FB Commanded 10 Velocity V Execute E Actual Velocity In Velocity E ci Events K TRUE L TRUE M TR Note The second InVelocity is set for only one cycle because the Execute has gone low before the Actual Velocity equals Commanded Velocity 84 TPM EasyPAC User Manual Example 2 Different FB instances control the motions of an axis Different instances related to the same axis can control the motions on an axis Each instance will then be responsible for one part of the global profile Cascaded Function Blocks FB1 FB2 FB3 The timing diagram Cascaded Function Blocks timing diagram 20 sua pta cor
7. Figure 6 15 install MULTIPROG patch file When the completion screen is shown means the patch file is successfully installed in the system Please take out the CD and keep it properly The InstalfsFueld Wizard has successfully mstaled Kw Add Cisk Fireth to eit the varad Figure 6 16 completion of installation of the patch file 49 TPM EasyPAC User Manual 2 1 4 Uninstall All the software installed could be easily removed by selecting Uninstall all for Win32 Uninstall all for Win64 button The uninstall shield will lead you to remove EasyPAC related software as following figures Welcome Modify repair ar remove the program Welcome to the Kw Add Setup Maintenance program This program lets you modify the curent installation Click one of the options below C Modify Select new program components to add or select currently installed components to remove Reinstall all program components installed by the previous setup Remove all installed components InstallShield Maintenance Complete InstallShield Wizard has Finished performing maintenance operations an E asyPAC Serial Figure 6 18 finishing uninstallation 50 TPM EasyPAC User Manual 2 2 The First MULTIPROG Project 2 2 1 Create a New Project The following figure shows how to create a project from a TPM template gg Close Project gq Delete Project pus M Save All A Close l Proc wizaid Template for
8. Path File rect kwpts Figure 6 116 linear motion of a group 160 TPM EasyPAC User Manual 2 7 5 HMI DIO Module wiring 106 D422 NN is used in this case with IP 0 00 1s connected to 20 and 10 is connected to 30 as shown below EE a ps ar MOT ep o iu SESE gy06 0440 Mix ds Ee TOST TTE TES Figure 6 118 terminal definition DI DO DI DO 00 20 10 30 06 26 16 36 Table 6 11 the wiring table Test with MyLink Set SW 1 as 2 to activate MyLink server and power on and use MyLink to check the setting 161 TPM EasyPAC User Manual a DIO RingO IPO Figure 6 119 testing using MyLink Set with MyConfig Set SWI to 1 to activate the MyConfig server on EasyPAC and power on and set the Modbus setting with MyContig as shown below Modbus TCP Slave ID 1 TCP Parameters Port 502 TimeOut 3000 Login PAC Info Update AES code Modbus parameters Slave ID TCP Parameters Port TimeOut About MyConfig amp MyConfig V11 209 0 1 RTU Parameters PortName Baudrate DataBit StopBit Parity Com4 115200 Recover Factory Figure 6 120 parameters setting using MyLink 2 5 1 HMI Project Create a new project HMI PT104 HMI is used in this case with Modbus TCP protocol Create a new project in the PM Designer 162 IPM EasyPAC
9. e m e 3lals EEE iL ceil e EE t 1 na cal l val ll rak ral Gl E ad Els gt 5 Pio 5 Sl LAL FA we x pr SEE BE e S E ze cl ae ci r T tal re Fh pjs E Als Y xis i i aia i Ju E e E ea Zl uu Fa ze Lua Z Ts en a im en nns Laad E e La Z E Las E le E EM Jr ma c c c mi Cae cd H el ps cd BEBBEER PARRE sl e l eni mE uns 3 cj E E cn i E K LC al CR A cay cs c ct c cg cg os e in CIE uns Z Fa pp El pl E pay C L alla tad Jo E S Fi Pg Py Fa e Ea ri E ILI EP c EL E HE S Z G zl 1 1 D bns L Lda E e un I pe BBB s s ls la AA ted e E Iz ed E ary er a E e S a ral ca e cal oa ea ra ra e oa c3 c4 c e hd K rn La Z n r r r ES e cy cr La MPs Ed ril c e ed ES LC rl cl X leal e cd e fan Er A al wa E gt 7 eM ome c4 c fe n3 E EN e px c ea c3 c i i 2170 su os fs es n Ti 542 25 Tia ba fuer fs fe a lie Teen Ta 13e puo c hse L p p L ca C2n uel Lube Begin RE e i e 7 a 2 i dals al Eu Fr Ls Dp p e Ch QS Aaa a ss ae exe E it L L H K may e cal ca c4 c 04 M1 ay ea C c4 C Al an e al Ex dd dd ds o ler zz 0 C A ao cay cay cay or k ea ay SE eal Eh j cal al CH Z E c4 c e cal cal cs ca c4 e od oa E c4 64 61 SEREEREEE ofala un i eI sl a La
10. Relative functions are listed mI Select the system file generated by MyLink Save Save the result in text format which is readable and editable by Excel Mode Select the Modbus data format 1 1 4 Mapping Tables 19 IPM EasyPAC User Manual CE ums ass uml e MODBUS T Em ERI SES WO Begin hec Regisers igs fux pum E al DECIHEXIDECI HEX Lamo g g CA A m 9 p P 3e mu o t AAA sm dis po is u so 2 hie do fa 1 CC p senis LI q _E T ee ma fo o jw pr eons m po pw im aw 195 S se RR 59 fe see fis put or far em po ps o pe moss e be fo e ewm som amp Dp powo fe XS 015 fen de pst or ui OS k CO pi CU TC CU po Pi CN AE Le reo Jess fase ja ema o s e jr eoo m2 is m fer AXIS 024 bo statas 655 2s 556 290 608 10 80 50 87 57 qom 10 ao so er 57 AXIS 025 Emotion done 657 291 657 291 a AXIS 031 kommand 658 292 659 293 so por fos qur je T p Joe y eB ta uz jue y agp is ua po us 7 em i pon ps for pe aoa i5 qus pa qur pe RS amp QB 16 IS pua sms fiaa o Tis for feon ie fiaa po fis for am 19 52 fos iso or eon 19 152 jos iso for IB 20 60 ao 167 lar amp Qs 2 160 Ad 167 fa ore pass EF OR ene Jon INTA AXIS 03 3 current velocity 662 206 663 297 Qx__AE A mm fps LA pU o ST a G id G
11. Standstill or Disable state bat 107 TPM EasyPAC User Manual 2 6 5 16 MC ReadActualPosition LogicPostion EncoderPosition Function Get the axis actual position from encoder Input Parameters BOOL Get the value of the parameter continuously while enabled Output Parameters DINT Logical commanded position DINT Encoder actual position 108 IPM EasyPAC User Manual 2 6 5 17 MC ReadAcutalVelocity MC Read amp ctualVelocity 1 m a z Function Get the axis actual velocity from encoder Input Parameters BOOL Get the value of the parameter continuously while enabled Output Parameters BOOL A valid output is available at the FB BOOL Signal that an error has occurred within the FB INT Please refer to the Status Logic at section 6 6 8 DWORD The current position from encoder feedback 109 TPM EasyPAC User Manual 2 6 5 18 MC ReadAxislnfo Function Get the axis information Input Parameters BOOL Get the value of the parameter continuously while enabled Output Parameters USINT The group number Checking the axis is grouped If the axis is grouped up TRUE IsGrouped BOOL it is not allowed to do single axis control If it returns FALSE grouped control is not allowed SWLimitPos BOOL Checking the axis reaches the positive limit SWLimitNeg BOOL Checking the axis reaches the negative limit 110 TPM EasyPAC User Manual 2 6 5 19 MC ReadBoolParame
12. 7 hois pcs 1005 face paso bz Jo J207 7 3200 jcso 3207 C87 2255 ES 0 bass 7 3284 cps 3295 cor 2266 ET pee p us pos 7 3184 czo 3191 Jo coo fa cor fz 2263 MARTA a is fer Je hen fr jn feno oes Jun 220 2229 ATACAR O qe 7 oes c10 foss et pos hioa fo poe pr Pose fers pos ferr 22 oce fo 22 7 ose Te 7 3208 loss 3215 R 13168 4 E 172 7 2920 20 e S E m m E U zl ot poi fo 204 205 lo 182 7 2000 Bes 3007 eer 2230 2230 Jo 2230 7 5000 pps ono jo 183 7 3008 eco 3015 BC7 2231 lo ies 7 3104 cazo 3111 JCz7 2243 2243 o 2243 7 3104 C 196 fios o f oh 3t o 21s lo 2 220 L S fo fr fase oo f 1303 er pae aes lo 2267 7 3296 CEO _ 220 lo 205 D 208 4 rf a E Gi Pm Es S US l kwa ig E 8 p wo ao pmi S UR un zi 152 T VE 206 206 fo 206 207 208 208 E 26 EasyPAC User Manual Virtual i E M TPM L m e L e ui T s ya mS em E E L e 0 zeul re EE EE L rt ri Ni w e oy a E F zl e T ri ci e BE zl E S te at ej e el eu el ca c2 e cie I lt a CN S S 6 mE c SISI G O S e S S SE sis i Laad EEE c a c E
13. B ous x Global Variable pg Ej gs Phuuca Hardware E ee Donhgurson E um Arouse Daimi EA GROUP m Dies J1 Ebes all vanabkes of vro baes Do rub aun at dels ume J Figure 6 83 add a variable of 106 A180 01 145 TPM EasyPAC User Manual 5 Add a new variable and name it as AI Channel 2 of 106 A180 01 Deinton seepe B Local L r Local V anable Groups Cancel A Diet aut M is Geb V nna Diit ge Phyncal Hademe Ege Caria aon gt pe Hace E Deis G ca GROUP Heiden Show ali vanables of work sheets Inai i del mult Figure 6 84 add a variable of 106 A180 01 6 Add variables AI Channel 3 AI Channel 4 AI Channel_5 AI Channel 6and AI Channel 7 of 106 A180 01 following the foregoing method Also add variables AO Channel 0 AO Channel 1 AO Channel 2 and AO Channel 3 in the same way Download and monitor You can monitor the variables after the program was successfully downloaded T MuLTPROO Ep mu ANS eod m ale E a mank Mb Eee Le view Boer hdd biron Leyes Online Extra Medos J 8 x KI Chan BTR E AL Cil E ina a hana il Chica MM gt Chamail Cari a i TUE D Cli a MES pu al Chair I TD d Ti AO Charm Dos hehe Falir E dae eet kl Chana gt Ti g e Phas mano ihn oe Geg Ci l Kaz um EEE lA A Canne i FID ESFI ENNES dl Chamel 1 TOT 02312 gis
14. BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 119 TPM EasyPAC User Manual 2 6 5 27 MC WriteParameter Function Set the logical position value Input Parameters Output Parameters BOOL Completion of the command execution BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 120 TPM EasyPAC User Manual 2 6 5 28 SA_CheckSystemConfig Function Check the system configuration Input Parameters BOOL Please refer to the Execution Logic at section 6 6 5 Output Parameters Check to see if the system configuration matches with MyLink IsMatched BOOL l settings BOOL Completion of the command execution BOOL The FB is not finished and new output values are to be expected BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 121 TPM EasyPAC User Manual 2 6 5 29 SA ErrorJog aA Enmaorlz 1 Function Move the axis out of limit sensor Input Parameters DINT Distance The relative position 134217728 134217728 Output Parameters BOOL Completion of the command execution BOOL The FB 19 not finished and new output values are to be expected BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 122 TPM EasyPAC User Manual 2 6 5 30 SA_GetSensor
15. S 4 ae jas fe pela E Re B 2 pm E Z x z Z cal c EE c cu 29 ci gri D Z e KA e m v A mw K ral c K c1 Ke zu Fa Ug ecl eal ea eal ea e Ke Ea Ka el AES P ea E ajo all e ri EL c i A L s a 6 s ol oom a CER CER 4 s 8 ox s o o CERN M E SISSE E kokiki e Ec HEX DEC HEX Begin us Pena ys ape A p ec d pet TL FE E io b jos his apos Eee EIAS ps 7 la 3 47 3 Ja z 47 7 ER 7 ps 7 fas ao 410 fo Jaro 7 baz 1208 4821 12 TOR TTS GN i 7 4832 1250 4839 fu fr fisio Hes RT H E 412 us 4172 E sez zs ZIS ah ool S cel ae SIS S S E Tu 4 essais dee 2473 Jo 2473 7 4944 1 2472 lo 2472 7 4936 dl f sdh kh d aci b oc e rper pee ge e x la um g gt Ea 205 xc S 247 ce um cel c e Te lo TN Thora piso pes pass aeo Jaco fo Paes Fr pz fia m Fel I i koi koa Es 7 4920 1338 zr ase pero aro fo pao fr fco fos fs isms pro ess her Pen peri fo pez fr je o 422 lo 423 lo 424 L 422 423 m 427 423 ER 3s lS E A e S EEE el Ee i EE ER best 434 435 en lt 2a ear al 4i6 pas 1 es al 31 e m ea ed KR L E md k slo Tos 7 5129 i4 6 o 2496 5128 14 L Z E Fl Sl oA f
16. dT ll rr E n d 11 1l B FB1 Execute FA InVelocity FB3 Execuls FB3 InVelocity Actual 10 SS S Velocity g Htet Events Ka true Lx ire Mz vue A corresponding solution written in LD looks like Cascaded Function Blocks with LD 85 TPM EasyPAC User Manual Standard behavior of 2 following absolute movements Basic example with two MC MoveAbsolute on same axis fT IP ls A bae ha Kl 1 AAT Less Aha wh sham i BA L EJE Lor 1 2 1a a i 86 TPM EasyPAC User Manual 87 TPM EasyPAC User Manual Rules for the definition of Motion Control function blocks according to PLCopen The input output variables of the function blocks mandatory according to the PLCopen Standard are marked with the letter B in the defined tables in the definition of the function blocks Input output variables marked with the letter E are optional 1 e they can be implemented but are not mandatory Vendor specific input output variables i e added by the vendor are marked with the letter V 88 TPM EasyPAC User Manual 2 6 5 Motion Function Block List Name Rule FB s with MC_ prefix are developed according to the PLCopen standard FB s with SA_ GA_ or EP_ prefix are developed by TPM Execution Logic The execution can be activated either by rising edge or falling edge and the data type is BOOL In the case of rising edge Execute will be used as the parameter In the c
17. mem paja dub 238 Fabija Bla Bem pu o Bala de rabiosa Bul nnm pa os Bala Sd patios Pala HII We pataje Bala TEDE petajs diia i Oro ik 113 im S LRT Es Wenn kie 41 For Hale prem H um Figure 6 85 download and monitor the program 146 TPM EasyPAC User Manual 2 2 Counter Module Wiring 108 P120 is used together with TTL encoder in this case The wiring is shown below and the IP address is set to 63 aW Jil NN j T 1 Figure 6 86 wiring of a counter module Wiring table o GND A phase NPN Open Collector connected to 24V B phase NPN Open Collector Table 6 7 counter module wiring table Configure 108 P120 with MyLink Set the EasyPAC mode to run MyLink and use MyLink to check the corresponding settings The detailed information of 108 P120 can be found in the manual The setting for this sample program is shown below 1 Configuration of 108 P120 147 TPM EasyPAC User Manual Type 108 P12n E Operation Cycle Tune 2 3 Settings 1 Mode ModeGroup Frequency ModeGroupl Connter E Settings 2 Time Tone roup C Conant np NEUI 1 si 2m ToneGroup C Connt op NEUI 1 s P 2s E Settings 3 AlurmOmt AlammOus N Normal Open Albam hl Normal Open Alsrmiut h2 Normal Open Ales hs Normal Open E Sethings 4 Average Avea ret hi 1 AverageChl 1 Apr reL MZ 128 Average hi 3 Settings 5 Pow
18. 3944 564 234 506 ls D zx one a ged ox af f D 23 FE c Z CS Z Z Ea Ea eal c E E El S N El L m bal EZ ES U A ls Ter CB 20 s76 240 E pets EE BE e EZ ur m E ps B M kt US LA SIE pan c JEF U f Ete z E SL Pr ch T l e c cal Cy rd ofa fenat E Le e iz el cal 74 el Et p 13F H ES vi M m uuo pu parui SIS ZTS E ES A Z Zal Zul Z cu c Sel e al e cg 0m aS Eis aay co seal tans al ural uns ur ma l se oo cx c EEE K m PP P PE ES Ln KO La aO La iun La eu es ex Kak eal eal ex a eg C B E np vs p G cal Ss Eal K E r it elt i Ze P Ha ail La e e e e El i es es s a E ES en elel eral e en en pri en l l S S RA d a a od 6 o s a hi E cat z Ol e m A DS ES rif maf ra ra pi r mi a LK m un e ri La wi Nh d ol Sry Gap nl ws e3 S 29 E m E zm N E ze e El SERERE on er eu T e La dl c ca a c cb c Lp 49 uste E o 2448 la 4 SES as eal ca ax i i jo basa Tr esos OE 9 lo 2459 7
19. A single axis sample is illustrated in this section The wiring method is described below Easy PAC 102 MT171 P A4 1102 M171 PA4A Figure 6 96 hardware configuration Setup parameters using MyLink 1 Confirm that the module model is correct Figure 6 97 modules shown in MyLink 2 Click on the corresponding parameter column and set it correctly as shown below 151 IPM EasyPAC User Manual File Tools Window Help K Eos Master Ge Rina 4 Is Ring IPB 10000 Reset Position 10000 o CELO CLR IO Status 0x4000 Low Active Mc Status U 3 i a ALM Mode EmgStop b Repeat INP Logic LowActive IMP Enable OFF ERC Logic HighActive ERC Active Time _12nsec ZD Enable OEF SD Logic LowActive ZD Mode DecOnly ZD LTC OEF LTC Logic HighAchve ALM Logic ALM signal input logic Ring 0x0 Ring 1 0x1000 Target IP 192 168 1 110 Figure 6 98 configure and test the axis module 3 Save the configuration setting into the EEPROM Sample program description Create a new project with TPM template as described in previous section and add the following FB s Table 6 8 function blocks to be added Detailed settings are shown below S E poe REAL lems fe Dome Boor MR o H Table 6 9 detailed settings of the parameters 152 IPM EasyPAC User Manual Test sample program Download and click on Debug on off to activate debug mode Figure 6 99 act
20. Description This arithmetic function multiplicates the operands connected to the input parameters Parameter Data types Description IN1 ANY NUM first input value IN ANY NUM second input value OUT ANY NUM output value Figure 6 51 help file for MUL Set the parameter initial value to 1 Name Bulfer value 5 Data Type DINT Usage VAR Initial valus RETAN These data types SINT INT DINT USINT UINT and UDINT can be set The reference table is listed below Short Integer 128 127 52768 32767 DINT Double Integer 2 147 483 648 2 147 483 647 UDINT Unsigned DINT 0 4 294 967 295 UINT Unsigned INT 0 65535 USINT Unsigned SINT 0 255 Table 6 1 data types could be set Note that the INI gt IN2 gt OUT 3 of a MUL must be set with the same data type In this example users need to enter the name and value 66 TPM EasyPAC User Manual Figure 6 52 specify the name and value for the MUL Enter jump00 as the Name and select Label and then click OK Complete the sample program and add a new GE FB as shown below L PLCMODE RUN Inside coil01 HH Bufo ww dem OUTPUT Figure 6 53 consolidate all function blocks with SUB FB added Add a new MOVE with Label jump01 as shown below Select DINT TO WORD FB and add it on 67 IPM EasyPAC User Manual 500 2 DIN TS Figure 6 54 MOVE with label jump01 2 4 3 Settings of Register and I O The hardware settings have
21. EH cl TFI pw s si ra wl la 125 pos Bast Jaro jp d BER 9112 2398 Jono sel o 0 02 o lt lt ub Begin 9 ct o posf purp E 3 I 1 u e E oh 7 jn E 2074 pee S IF oco dr pano CCP A B S S E O poss fr ese f2 Ll LI a 1 5155 i e n3 e AAA 2 co a X J RA SR o p porn pr deos paso poss 7 8936 2288 8943 2285 2072 2972 o pop jose pos fs bois pore pop 7 Tonge 2340 loosi 2247 2983 2083 lo 2983 17 9024 2340 o051 T2 pua peit oem e os E puis oe pucr 262 pose fr fesse pon p mm pon ONE 2973 7 lesa 2997 o 2997 7 E pee Td 3H7 uc uf c Ll C4 i re c D G ij En E a rdl i 138 7 Tos 2380 Jonas 44 T oos lass 9103 23 lo Joss foros 2390 ori 2397_ pic feae p pn Tr po Esos fono os 1994 2091 o 994 bo To 07 DTO 08 y 3 9080 2378 ogg c E 23 40 9127 EAD o E ee E SM pi EAT IM 4 3 oec nex pec Tes 224 2408 9231 o40r 3008 3008 Jo 2008 7 9224 Caio Begin End 2120 LL LS En C 4 M S SOL JE rp C cl BECEE Er dus Lh c Dp LL t pr rl MP de th uc T i Cl a de th Ir p
22. H pre a AE mei ere E AXIS 05 2 position 578 245 lero 247 15 053 bab AXIS 05 4 in statas 682 aAA pee 2AB z dane 684 2AC 684 MAC S 0 amp 1 mmm Jut G Pas AXIS 063 e her pares Do GR tose L leo har a mps done 693 255 603 255 o oos eos ab sbona ess ous 85 IB 3 154 ps 151 er amp QB 23 isa es ion sr S 257 am 237 poo ie egw 2 7 fe 16 HB 192 co 199 cr eon ss os foo i99 cr xis To taras n lo Pew x1 st au w is egw mi 3 Jis PW M3 ds Jie egw ss as 19 ws was ps Jia onw us ps A S A eee ee DW uo ep 25 25 ic pegw ws s pc aman ps ho sow ps 09 S TNCS ZR CUR PW 255 UH Jr mw 255 31 IF sas jaja qm sowas faja gt Pew 259 E E aow 2 33 2 ts le om js a A T w ps n A aaa OE IE a M 267 37 25 E sty sws unas ps CE AXIS 08 4 sme pus fos por Ew am da lar wow zr fas z1 axis 0 amp 5 motion done 711 207 711 2C7 aw wma ja ps egw ors je ps TC kommma VIH cs 13 cs Ew zi jar amas Boo Ks or Kr 606 3s no Ks oo Kr GIB 26 pos bo x5 eo 25 po 215 n pde pr 108 271 tor eos 33 254 os EIN r EI Das j statas TD SRC TOL 28D motion done command do 286 702 2BE 28F 704 200 mmu prs uo rs us eos m2 ue ms 117 xa si per us per ur faces Duo usc pst jor WB 36 ms 120 29s 127 eos 36 288 120 ENIM d BRISE addas Ja d go oo
23. Overwrite nitX to TRUE Initial AxisX MC Fower cA WrteLwordFarameter 1 300006 Figure 6 111 overwrite InitX to TRUE 3 Overwrite InitY to TRUE Initial AxisY MC Power 2 l SA WrteDwordParameter 2 3000000 Figure 6 112 overwrite InitY to TRUE 4 The status of the grouped 2 axes can be monitored 158 IPM EasyPAC User Manual Monitor the 2 axes of the group Mi Readstatus 1 Mi Readitatus 2 MLC Fead amp ctelPosrhon 1 MLC Read ctal Position 2 AXIS I AXE 5 AXE AXIS B IntFlag ind IntFlagY ia Cer VOU 102 VOU Logo LogcPosY Encoder Enor Y c Figure 6 113 function blocks monitoring group axes 5 Overwrite Group to TRUE GA GroupEnable 1 will enable Group2 Enable the group GA OroupEnable Z roupedFlag VUZ U VUZ VUZ 0 o Figure 6 114 enable the group 6 Overwrite Line2 to TRUE 159 IPM EasyPAC User Manual GA MoveLinearRelative 1 will make the axes move 100000 pulses in X and 120000 pulses in Y with velocity 10000 pps Linear Move DINT 100000 Dist amp rrav QUIC QU DINT 120000 DistArray 1 120000 GA MoveLinearkelatrye_ 1 O O000000 TLec D 1000000 Curve Figure 6 115 linear motion of a group 7 Overwrite MovePath to TRUE GA_PathSelect_1 will read the path file from rect1 kwpts and GA_MovePath_1 will execute the grouped linear motion Path Move GA Pathselect_ GA MovePath_l
24. Positive Linut NecativeLinit Function Move the axis out of limit sensor Input Parameters BOOL Get the value of the parameter continuously while enabled Output Parameters BOOL A valid output is available at the FB BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 BOOL Axis 1s enabled when Ready 1s TRUE and is disabled when FALSE 123 TPM EasyPAC User Manual Driver alarm 1s enabled when Alarm is TRUE MC Reset is needed to Alarm BOOL reset the system MEM Axis is on the positive limit when PostiveLimi is TRUE SA ErrorJog PositiveLimit BOOL l l l l is applicable to move the axis MC_Reset is needed to reset the system Axis is on the negative limit when NegativeLimi is TRUE NegativeLimit SA_ErrorJog is applicable to move the axis MC_Reset is needed to reset the system BOOL Axis reaches the origin sensor when Origin is TRUE EE When Direction is TRUE axis moves in positive direction else it Direction BOOL l l o moves in negative direction Axis is in the emergency stop status when Emergency is TRUE Emergency BOOL l MC Reset is needed to reset the system AlarmReset output is HIGH when value is TRUE AlarmReset output is AlarmReset BOOL l LOW when value is FALSE 124 TPM EasyPAC User Manual 2 6 5 31 SA_LoadConfigFile eA LoadConticFile 1 Function Move the axis out of limit sensor Input Parameters BOOL Plea
25. Print TPM M Print Preview a Print Setup Print Project ITEM Template 535 mwe f AAA mwe 3 TPM Template E mwe TPM template mwe 5 TEST rre 6 ExpressExample eCLR mwe L L AE a B Figure 6 19 create a new project 51 TPM EasyPAC User Manual 2 2 2 DI Test Set V000 V003 as shown below V000 I O address IB 1 IPO DI port input VYUO I O address Blank V002 I O address IB 2 IPO DI port2 input V 003 I O address Blank Pm P E EFi be y ue P814 LE Toe m e BFF E a r ie eee el m A aeta al MU m m ELM lt La o E Br T yg an wol ta L a 1 Build gt ts le me REER at M a n a bad Y ms Bou Libraries Li EASYPAC UP MNet 24A m M EASYPAC UL Y Y MNet SA UL B unde Ctl Z Insert Colurnns Ctrl 3 Delete Columns Ctrl 4 Insert Rows Ctrl 1 Delete Rows Ctrl 2 S o ET vonage Worksheets Connector lump S m amp Local Global Global Venable Groups RETAIN E e Physica Hardware rahia vade E ya Configuration j El oo Aesource EJ 54 GROUP PF f Hidderi E lez ol Le i HED ESO fel nug as dela J Showy all variables ol worksheet Figure 6 20 edit a variable in MULTIPROG 52 IPM EasyPAC User Manual 2 2 3 Compile Click on the Make button to compile the project
26. e amp SP Sl Ed Ei S LR Sl oH c El Bb Eb T eal er ol Se oe a SI c E le ei e TU CM C c1 pnl gl is D BITS a pipe IX ao Gh E EE a a a e e 63 5 ci Ix m a en Wu JE ed a GE E on ab x in L Wa e ur ps lt l ZD CG op oc m E pu 2120 e pua Ll TES 2180 2188 cil el el e oec ux pec nc LL LL teat a e wal Twat 1 7 6384 foco 8391 20c7 2903 2903 o 2903 y 6354 zoco s391 facer POPE y son pace faaoo 20CF ben f L lo quM D e eee 21 1 m x a bs a um Ex Lol Al cal ea cal e zi BNE 74 r4 RAS ES EEE per uw zn Es T ala Pg e io rae fis D S 249 dress po o p 2050 llas AA LL ES p o 2928 8584 o 2951 8768 2240 2952 lo 2952 7 ferro Tazas eres bur TITO ul ERA D A S el a P E eu Hm c4 7 2930 fo fs m a E x sumi l cmi c x G c E E s S SU Sy U jes o Gr z Cr C m d zum CH eal c e eal e CE Bh ESE EA ES LA LZ La S Ux r ni cil ril E E P v El E pr TE TE el zal eal ERE al E np Ex L ma mt Ed KI e cN exa ex i ZEE SI A Z oe F
27. 223 x pore hz ea ca o pez hice 4224 3060 ex Dosz hese laes cr fare less ice wr Boss ase pose pese fet ino Feras ica hoo s En DEUS ma 7 3872 F20 _ 3879 E27 3880 oe 7 3856 7 3864 Fis 38 foo ea Ema Fa ha 336 17 3848 Dual De al 2165 acs LI i pe 23 ri 23 23 ERE 235 i 2341 zs o pes sr peo fi as ese ai 5 2352 zz jo posa fr pn 3984 F90 3991 ro7 2353 2353 o 2353 F IA 439 TT o 7 ct rz 5 en al E cd i m n E Lie Fd e a 2351 2354 2354 lo ERES R b Bos pr Joos ras ois ear pase pase fo pase fy b po pois enojo eur esr fs fo pas o LES a Ei fas T 3887 poe T 2s iX DEC HEX ruo Es puris AT T pap fs panes bp ose freo pons feer Jasa peer p peer fr pose e Soo foo p o p pos pe pen pe pu pae pe us 301 301 lo soi y 3952 F70 3959 F77 2349 2349 Jo 2349 y 3952 T jos fees hon fene sse bs 4 U LL op EE ur r a nl 73 C ul v ZEE k E rio pS E Ea en u wn G Al e Ea EE E ES a eh il mi ra a r af al zal cal x Es aj
28. 4 borted Error ErrorlD Function Grouped axes stop Input Parameters Output Parameters AXIS GROUP REF Reference to the group of axes BOOL Standstill or Disabled state is reached E BOOL The FB 19 not finished and new output values are to be us d expected 94 TPM EasyPAC User Manual 2 6 5 5 GA_MoveCircularAbsolute Active Command 4A borted tart Velocity Max Velocity T cc T Der Curve Function Make a grouped axes absolute circular motion with T curve or S curve Input Parameters Please refer to the Execution Logic at section 6 6 5 95 TPM EasyPAC User Manual Output Parameters E BOOL The FB is not finished and new output values are to be US expected 96 TPM EasyPAC User Manual 2 6 5 6 GA_MoveCircularRelative GA MoveCicularRelatiee 2 i ark elatine Amst Active Offset Command borted Offset OfiseiBx OffzetE y atadWYelocity MaxV elocity T cc TDec Curve Function Make a grouped axes relative circular motion with T curve or S curve Input Parameters Please refer to the Execution Logic at section 6 6 5 97 TPM EasyPAC User Manual Output Parameters The FB is not finished and new output values are to be Busy BOOL expected 98 IPM EasyPAC User Manual 2 6 5 7 GA MoveLinearAbsolute G MoveLimearhbsnlute 2 e tartV elociby Active MaxVelocity Command Aborted TAce Tec Curve Function Make
29. 6054 378 178 383 TUDE CUEUBUSECBTESE IE ICE 46 PE Eurum 47 IF am a pu uo for pr es a psc roe toria iit a mr _A ___ ajos pos jas jor sop s1 jes or as jor pA sm 5 ex jas lasi iar so a RT forjar s for io fos ir as se 162 pae os Ji prr 608 55 430 185 fas IBF QB 55 440 iBS ee7 IBF AIW 301 sm 300 ss 36 RIS ss Jus ics ess fier agn s Jus fico ess Tic COEUR y fear fe y ad Sw 305 4D 305 s6 38 wow sos 56 ss awm um s ja o Jagua ss les 10 31 da xs unas e DEN so 7 CO mng 69 e CER L anw 297 et 397 52 aa ecw x7 HCH d DECRE 53 35 Sow xoi 54 56 SB 58 464 IDO faro ID7 mom 58 464 ino faro 107 saw an Ter ps Tar 57 39 606 59 472 ibe faro IGE feos 59 lara fiba 479 IDF A ter 58 3A BIB 60 450 IEO fas 17 L 60 aso NEO fas IET Ew ee S SD 59 58 SIE 61 458 1ES japs IEF som 6l ass Es eos IEF arw 33 emba eo 0 wow 313 so sc 06 62 Hoa iro 503 NiF eos 62 laos Fo 503 107 UN CEIC er a 618 63 504 FS 511 IFF SOB 63 504 s 511 IFF RW 317 3 7 je E egw si ea BE GIB 64 5 2 oo 515 HL 6s 512 oo 519 207 as Je pe sev as 63 BF E wo hom je queri a 40 16 g Ee ib 142k E I s E es es rs es o Ad ae uA PE ques ut E AT E Ix E J GIB 66 528 mo 535 217 L 66 1528 210 535 21 waa E
30. Bit Input 1X 1 2 means bit 2 of byte 1 1Q Bit Output WQX 2 3 means bit 3 of bye 2 2oIB Byte input IB 1 means byte 1 QB Byte output 7QB 2 means byte 2 Local 8DI 8DO is mapped to port 0 and can be accessed by IB 0 IX 0 0 IX 0 7 and QB 0 PQX 0 0 QX 0 7 Each Motionnet DIO slave module has 4 ports 0 3 and each port is 8 bit YC IW Word input This is used to get AI value by channel QW Word output This is used to set AO value by channel The maximum channel number of Motionnet AIO slave module is 8 0 7 YC lD Double Word Input This is used to get counter value by channel The maximum channel number of Motionnet counter module 1s 4 0 3 TPM EasyPAC User Manual VARCONF Virtual variable M oM X used for BOOL type MB used for BYTE type oM W used for WORD type MD used for DWORD type The following 8 non retain data types are designed for Modbus MB Coil 19 mapped to Tag for Modbus MB Holding Register is mapped to Output for Modbus MB Discrete Input is mapped to Input Tag for Modbus MB Input Register is mapped to Input for Modbus User Define is defined by user Motion Single Single Axis Data Motion Multiple Multiple Axis Data Gateway to be implemented Retain Memory is ranged from MB 3 10000000 to MB 3 10013311 G e 13312 Bytes Macon HT ema MB 3 2047 MB Discrete Input MB 3 2048 MB 3 3071 Motion Single aa 340000 fame 3 4909 Moti
31. Dively ES Ste AD FA T 78 PAX ORAN WOU Tal TH 80 2 0 3 Funcion Block TO aC esis ctscosssansaesseaidadavtaoniaasoabanisedeanncntaabbaanntannannisandoadsbaamsandeabsaanasansanadeebhosaetansaendgabbonewseoiiondoes 80 2 6 4 Why the Command Input Is Edge Sensitive esse sees 82 23059 Motom Fonction BIOK EN ini 89 2 0 0 Easy PAC Funcion Block Last c 136 E TAKS T T E E E m Emm 140 26 5 Function Block ErroriD Lleras 141 E T IRI RO A e nO Eo E E 142 TPM EasyPAC User Manual A ere ere 142 DATA BO m e IP A 147 2 590 INST OS PA UE nr e E PE E PH SM Sd o Por FR O IP MED DS UP UUEUE 151 UE A O E POSO A DET 156 A A OEP PO E I Pa 161 TPM EasyPAC User Manual 1 Software Utilities A software utility is developed to help users easily make use of data type conversion for MULTIPROG MyDataCheck 1 1 MyDataCheck EasyPAC provides 2 kinds of data type for MULTIPROG and Modbus 1 The data type defined by I O Configuration on ProConOS is to be used for MULTIPROG 2 The data type defined by Modbus is to be used for HMI connection MyDataCheck is used to map easily and correctly the data in ProConOS to MULTIPROG and Modbus MyDataCheck is installed in the remote PC but the EasyPAC Recommended Hardware Requirement PC Hardware PC or laptop with Intel Centrino up CPU Memory IGB RAM OS Windows 2000 XP Wi
32. E S a ci E Pi c cl Pd RIO e3 on l al ea C A eal oF r4 ral ei D el ga c4 cd ci ci cl ci ra MA E Th rar cnl cal eal ens revdl cn ce S E e ci iu ri c de m 4 zr cum Se mg LT j ri E A Le A Z C e m 41 eal e e ca e c D ci e e e Es ce 107 bees Di 1p mz pes ce L ri mH ni rd Z SI s zi S UR Lana e pa r md E E en ri E ri zos ca E 5 Z vi S r1 S SE C an Hr r4 Pi ri r ri r pa T E E mi c rr SIE Fi 5 ral el alle e en ery pr Pa s e Eh a al ral oa PE c ca c c cc i c ci ci cd c peg T E liao Jaco 4 ec a S fece poss fece ooo pus fos Pos Jue os DB ET prd DC D prd pr i i i in zl iE ha TES LE n E B c nds ETE m T cal ed r Fa T r C Ar 1 e a al AE e o a Pei sa ral eis mi aja SEE Z a Z ES ei P sE Pr m EE ub 2 Y ari ii ESSE Wu urs L 2 5 a B5 S E or em ma L a 1124 eal eal c ri c Eu r E t ah S G K Et i PIE dE E m gt a put C0 als Le G e e3 c i c Ed c3 EE ci a ca Ch mm et ex em HBE E Al E Lua i L C pal d M KA Ka L cd cu m p T el X cd Cl E ral calc ri r cal ci a Er Er d 7 2448 ooo 2455 las E C2 dvl T fay e i x oc 3 Tl rd T Er C Jalg al SEEREEREEREELE mnt L a i x a B Ed E Le e 2159 7
33. E EL E m pe IRE SEE ES LA pes T i maj c e e ee e l ed ci Be ck el E a gl er E Fa ra e ed TA Td T ex M ep EA S Pe en d ETH ral 74 ei m Pil pa d dl E EER mi Ss ri mt m 4 LC LC 5 in Pis in 5 e GE z Z pal lup FA Z C4 e 5 t mm mil ee s e x ca n n vi pd rdg i rmi E Eb m x C a zu ci A S 5 e EN Le e HE Ed ed nr E ma cal r H c c0 pi pul i S 5 S a E al CH c3 c El PEZ e pen L o cel ca ee ob a e em e Wo dans Wri e PRERE a alla rey e vi Jes p G BERRE m Lm eb ra z exea C C4 LS Ky te x S E e E a 5 mm mil er fel C E D l lt g us L z A lt mM esl ral p M r m SIL zi ak mn Wi em K Z e rm Le E SE e eel c mb I EE CH E A YR Oo oo c a rake m a En a S 2 a g l geal em sns enu 8m La ac E Aa C SI laa l eal Es pr EE Pal eil cd i ei c ch e l eed ISS ci SE ch may cal cal cel vel cms S H E x geal cnl sn ey G M ed 6s ix cap cM ca cg ca C a Kl cal es e eal a l esa S E aaa ET e we m Fal Pd P eri 1 ea e e e e es ei ea e Un RIA zl E ur y E Wi PE E rr e OR ne E J E P G oe P lc eel a eel cal cel C o 4 mA e E E sss ERE d v BE ral E E e L i Lc Lors Lu er aut en or Gal L El BE 2 SEE E E Pal e c ral c eu C mm C E SI ool oe Z E E z r dm I F pr ex T T o Z E i K an A ej
34. SE r4 SSK E SU E Ex E SGS BEE a E E E ES El Z on SI sn 9n S en on el sn on E E eR on LE 4 Gl eal c il P3 a Lu p c cl D E ed E c4 r r4 cg cl el ES 24422 A sis de SE 14224444442 SEE ide e e ola rs o a p a m e AE Kak DEC HEX pec ugx Ti pLi Begin X 3 o 741 130 7479 3789 lo 2739 7 7472 hpsop47 bp Lb 5742 lo 742 7 7480 ibas 7487 ipar 2790 2790 lo 2790 7 7456 1p3s 7487 DFI 1 1 1 7472 741 SZT 742 z 7488 ip40 7495 1p47 2701 2791 lo 2791 7488 iuo pass i 1 1 1 743 lo 743 E 743 H ae L He n LL 2 m Ei k p SRI gt S mal paf Eas l Pa Pre ale a E A E pa n re C En A ps hoj mae 74 HE ra rl Le Dal ers a SL E z Hf Z m cm T e gt op d anm a c e ei ei ei C alle eal ek ej ei CE ei ase EE Le SEEBEEEEEEE ra E Ee 74 al aram M o SE e apa 7 RS SERERE p faa mw cr SEE PRE C4 DU E S E el T alo euo i kad 4 SEE a m i Gr rr SIS EREI El deals T i puso pns Jos pass fs p pss i pu en ns G c 5 00 CR c ale Wi mij i er ge G uni CN Ue 31313 i Ca z 1 cay ta a e e 2 c 5 z e en en en J 00 sol a ac EUER ES A oc AE e Ed 4 alo Fey a ed Es ed m 2 e d eu d e e 1 EE ch Es e E 125 1 gt n l il EE 2
35. The Velocity Acceleration Deceleration and Jerk are always positive values Position and Distance can be positive or negative Error Handling Behavior All blocks have two outputs which deal with errors that can occur while executing that Function Block These outputs are defined as follow Error Rising edge of Error indicates that an error occurred during the execution of the Function Block ErrorID Error number see the Error Code List at the end of the manual Done InVelocity indicate successful completion so these signals are logically exclusive to Error Types of errors Function Block Error e g parameters out of range state machine violation attempted Communication Error Amplifier Axis Error Instance errors do not always result in an axis error forcing the axis to StandStill The error outputs of the relevant FB are reset with falling edge of Execute Behavior of Done output The Done output is set when the commanded action has been completed successfully With multiple Function Blocks working on the same axis in a sequence the following applies When one movement on an axis 1s interrupted with another movement on the same axis without having reached the final goal Done of the first FB will not be set Behavior of CommandAborted output CommandAborted is set when a commanded motion is interrupted by another motion command The reset behavior of CommandAborted is like that
36. VAR and VAR GLOBAL types With GLOBAL means the I O could be shared wm Physical Hardware Configuration IPC 40 ww Resource PROCONOS d Task CYCLIC O Untitled Untitled IO Configuration circled by red rectangular shown above is used for I O address configuration Please refer to the following table 68 A A TPM EasyPAC User Manual __E AXIS jAxs 26 i BL i JA i S TR BE l PLCMODE HALT 00 AXES GROUP ET jVAR GLO E JE AXES GROUP R VAR GLO B TE mj amp ES GR P TU E mj AXES READY VAR GLO TZ Default l l l l PLOMODE ON BOOL WAR GLO Here you WMX 1 0 0 TEN PLCMODE RUN R C a lag PLCMODE STOP 6 T P 1 PLC SYS TIC K CNT Va Table 6 2 available VO table with the corresponding options Name Name can be English or Chinese characters The first character cannot be a number Type Several data types including BOOL BYTE WORD etc are supported Usage Can be local VAR or global variable VAR GLOBAL Description Comments can be entered here Address 3 types of address are I for input Q for Output M for virtual Init Initial value before PLC start up 69 TPM EasyPAC User Manual The sample project is opened with default setting as shown below Z MULTIPROG Express LD sample Variables LD_sampl
37. Z L x e L LS EE EI eS m P L g Ix w S C EE e m na C p EE pe E E 7 T P gal E Kal a l D Eje E CC c 3BE D s m 4 erl eal egl il ral il ral ral ral ral m vj e eal eal ill il il ni ral ral ni e l sal eel ee SL IL e le n y Ea d m i a n e ri er il ral rai orc E ra ra E ra ral e l mi ef eal rl eab ra s 4 s o s a o s s kd 8 4 5 o E s S i g 5 CER a o gt a Hi EM m Wi S rm D ur n ue SL Ma rA o E ix E SZ e ra z S m zu ry S a y 7 T i A E EE o ZEE kb SIE a BR sp por T Hal pi T Ji pr 5 e ar Jaro ip uso ore CO fo rm Ux TN iss 3 EJ Bor fira Tias Dor fire 5 rhe fos ire ses Dos Tiro DE 1mo se isa nus fs aa 18 a ra ra T 1178 1180 dus Jas EJ mi 4 ES a Wu Z SERERE 1 2 ze Lr ley A S mij e eid e il ll ill a cal 1 S Le Lat IHS El pe E pe E ral ca E ca ci E E rj zal cu lale 75797 as arf fee h il eal ey EET LLL m ATTI e ca en ES E er oe Ol c c el un G Vs Zl ME l H COL CO 921 CG GEZ OC ES E em eJ e em emn em i ga E EE T zt m E I L E ES 23 El e eJ Cay ca cg ee u cn x cs pue E fia Re 29 e oe s Si ci ei Eal zi aj kal Lar Xa wig l wi wd wu wd La P e m if al na 5 n a C br ea e nt cC K l d 8 4 a 4 a ei s DI ae Lu m ze i El x r E ems zb n E SISI e
38. a grouped axes absolute linear motion with T curve or S curve Input Parameters AXIS GROUP REF Reference to the group of axes BOOL Please refer to the Execution Logic at section 6 6 5 DISTARRAY PosArray Absolute position 134217728 4134217728 Output Parameters AXIS GROUP REF Reference to the group of axes BOOL Standstill or Disabled state is reached The FB is not finished and new output values are to be Busy BOOL expected Command is aborted by another command 99 TPM EasyPAC User Manual 2 6 5 8 GA_MoveLinearRelative GA MoveLinearkelatve 7 s tartV elacitv Active MaxVelocity Command A borted T cc T Der Curve Function Make a grouped axes relative linear motion with T curve or S curve Input Parameters AXIS GROUP REF Reference to the group of axes BOOL Please refer to the Execution Logic at section 6 6 5 DISTARRAY DisArray Relative position 134217728 4134217728 Output Parameters AXIS GROUP REF Reference to the group of axes BOOL Standstill or Disabled state is reached The FB is not finished and new output values are to be Busy BOOL expected Command is aborted by another command 100 TPM EasyPAC User Manual 2 6 5 9 GA_MovePath GL MovePath 1 Moverat Axes raup Axesrroup Execute seementindex Repeat_ount RepeatDione Function Make a continuous motion with multiple segments Input
39. a2 rln e LC FF SIE 43 c cz lalala lar uri re fa en 7 Wi al Ke E mi m ud Wig ui U a wap uw ui e su Es La ma ten Dh Dp D ar CREP P l E l im E aa M Ez uni i Thou fins fo hair fs roro fo poss io gs aM AGI TIGER 2 2 pos fr joo t fo sss 7 z77s lens 1725 tacos fosos fo 1z ae AER so fas ph se 1620 5671 m o fases fr pest uoo hen i D a E rm E MEE IBE Ch Cp E wi ur dele alae S ES ES el HERE la dsg BE a BE ARE gal s n LL i p S d ae se zu E wl E n T SEE un wn vi ES vi ES ESI zl Le b Ti E da er e ej en mm al cs mz zz m EA n e l unb G ee uri zl emm us M ala ni 5 eil ea cal ex cl n Dd ELS L Zl rap c x E W W Ws ur n inl i ves n ES i gal vs ka L bbb l ALI EEE EEE TEDEH Em irs c a i C d Say ES a a S a anl Jar en o pus ica O Es Ee p uj AAA KI m G cal ei ch E ei el lt d m KM MK Ka L e Fa E Es Ex ES ui uil eil ui A Ee Ex ui wi uei weil ul us tra und uns el N wi v el wwe ww ui uil ws Y 2 ES K en lt le lw saja ei Es Eo E e col sr al LE E e sal leal e al E laa ao cal ca EH cal cl r4 Ze 7 ee mm e lt l sel gt va n i Pa wil v ol asl e et unu wal ui wil ui e wH un pa wi K u ul val wh w wh K ha Wi un un wa ar v i Gy EasyPAC User Manual
40. any area where it may become wet B If you encounter technical problems with the product contact a qualified service technician or the dealer TPM EasyPAC User Manual Contents CONTENTS data A A H E R 5 o 2p 7 1 DOTES pasta 7 1ed AY DATA C Tee E O O 7 I T T Data e Te 5 PTT 11 DW SA o Am A a E e En 14 1 1 3 Making Memory Address Table from System Fle sss 18 IN Mappias Pablo oia 19 2 MUENPROS INTRODUCTION S cursos a a conten stacacsusecoudeneas 41 ZA MP EXPRESS 90 INSTALLATION 42 2 1 1 Install EasyPAC Software and Tools sss 45 21 2 Install MULTIPROG 5 535 252 BXDEOSS zioni irit eo bue AE a 45 2 1 5 T stall MU ETIPROCG Patch Piles airada 49 up IES e P n 50 PON posi ST VI MEI GIONE PROIE anciana 51 2L B re i NOWIPIGIESL assessed A E o DUM E UNE od PEL WU PME T 22 18 WI E E E n 53 PAM Ree m E E e UE E TA 54 EAS LS BS I ON UA y e E OE 05 o 54 E DIMER RACE DESCRIPTION oia 55 E GREATE AND EDI Nd 56 S AE INED A o 5 A ETE T 57 22 SIT eB Block FB jand DN E E 62 E e anas Oi Rester and T T EEEE ene E AE 68 AA VOC On e 71 229 DOWNLOADING AND Ra el 72 LEON a GHG ehe TTT 78
41. axis 1 1s ON 0 1s OFF Bit16 Bit31 is reserved RDY pin input Alarm Signal Positive Limit Switch Negative Limit Switch Origin Switch DIR output Emergency signal input PCS signal input ERC pin output Index signal Clear Counter Input Latch signal input Slow Down signal input In Position signal input Servo ON output status Alarm Reset output status EasyPAC User Manual 16 TPM AXIS 01 5 motion done WORD EasyPAC User Manual Motion done is the axis status WORD value is 0x0000 0x000B OxOOOC OxFFFF is reserved 0x0000 Stop 0x0001 Wait STA 0x0002 Wait ERC finish 0x0003 Wait Dir change 0x0004 BackLashing 0x0005 Wait PA PB 0x0000 In FA motion 0x0007 In FL motion 0x0008 Acc 0x0009 In FH motion Ox000A Dec Ox000B Wait INP Virtual Data Digital output MODBUS Coil Coll Begin End ena Begin End NNNM EM o p Jo p ista isos ssi oor Table 5 8 digital output of virtual data Digital Output is described in the following MB 3 0 Coil 1544 Coil 1551 MX 3 0 0 Coil 1544 MX 3 0 1 Coil 1545 MX 3 0 2 Coil 1546 MX 3 0 3 Coil 1547 JMX 3 0 4 Coil 1548 MX 3 0 5 Coil 1549 MX 3 0 6 Coil 1550 MX 3 0 7 Coil 1551 17 IPM EasyPAC User Manual Digital input m Discrete Discrete Input oM Midi ENEN aa a eee ae Table 5 9 digital input of virtual data Digital Input is described in the following MB
42. download as shown below 168 TPM EasyPAC User Manual me MULTIPROG Express HMI DIO J E File Edit View Project Build Online Extras 7 E i EASYPAC Bree Li MNet SA IN Port 0 7000 Out Port 1 V 09 anes us E mars U EASYPAC UL 1684 16444 1684 1684 4 E M MNet SA UL IN Bit 0 von Out Bit 0 V010 State Bun Name Description 2 iel Data Types 1 1 1 1 Cold Y amp DD Addition E Ya Logical POUs IN Bit 1 V002 Ovt Bit 1 V011 Reset Tem HAND Bitwise AND a bma 0 0 0 0 CTD Counter Down E Unti a Ux IN Bit 2 V003 Ovt Bit 2 V012 a oy Ee Up 1 1 1 1 ounter Up Down 4 IN Bit 3 V004 id Download Upload DIV Division j T 0 0 Error EEO Equat s EF TRIG Falling Edge Detection Bit Oot Bit T0M Close Hep Ba Greater Than Equat gt dir GT Greater Than gt IN_Bit_5 Y006 Ovt Bit 5 V015 d LE Less Than Equal lt 0 0 0 0 LT Less Than lt Ovt Bit 6 V016 Uer IN Bit 6 yoo 1 1 dit MOD Modulo Division 1 1 dit MOVE Assigns Value wees E Out Bit 7 V017 dE MUL Multiplication Bit 0 0 0 0 dit NE Not Equal lt gt di NOT Complement 4 m dr OR Bitwise OR CF Project RENE Y Code Untitled x b TRIG Rising Edge Detection D retain da
43. eh LZ SIE e Z ex zx z pa JE S T E E le E E m a CM C C E SE e g un Z N KN im im L L L ig wa a z GS a e a v uu ri a A G rm r md gj E F ES e age ea e 2 9 Sa o8 a 5 e Ea E E oo ed co e g S 5 SISI S ze at s a DIS E ale Ol ela Ala S T KS fen KS KaK KS KS S E E E E E E ES ES SEE Af E n ds dass EEPPERE olle x all delas das 2 i hs i Wi GEL ES bral Fe eee ESTE SED KC US ra fer wl uni h uri uri 3 ara urs ur wn l ws L E a dd E RRR dd SES EREE TR C a E e b ES Lak C uz 621 re E G pa Joa EI ee 20 Pa th e 5 Lar G E SEBE h KNS E ke d e 3 pe E t He Fo e l l wl ses Fl rel rl pel 00 GD E pa SIS Cal Gp Ch C c aes cal cal cal mi mM nM Bc al u er uu r rs L E z ry Uu wl wh U n F S e hr a S Wu aes Vl ur la G Wu Ne uw wu EE 4 Snl c1 n4 741 les r4 c i ci c i c1 rc cl cay ca cay c3 c ca c cq t Exi c C4 ri c r c3 E E E TH r 34 c4 EE E ES E isis dold dde dd dd dodo dodo dol S delaletle r1 ue mi m erp mm C2 Ht E G Pe D B p e Z F Er 5 Z Z z El L I2 url uni un Z A Z Z Z T Z Z T Z ER a Z EE La EE cl La t4 ve c1 c1 t4 R c c4 ex ca c3 EE EE L cy c ale el al L J o c E mL ca er DIG e c1 LIE EE m e3 ea e a cal a DE E E S Fal I as eiit zzz ad 7 Wig ui Es zi ur L uri L Wi 4 Z re A Wi ed 2 2 9 51 ral Z i ea eal e e i 63 62 ed l e e eal eal eal e ei el e 1 el BEEREE E ISSS e s e s 29 a
44. elocitv MaxVelocitv Command Aborted T cc T Der Curve Function Make an absolute motion with T curve or S curve Input Parameters Absolute target position of the motion Output Parameters BOOL Signal that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 104 TPM EasyPAC User Manual 2 6 5 13 MC_MoveRelative MC MoveRelative_ 1 n Mover elate s tartV elociby Active MaxVelocity Command A barted T cc T Der Curve Function Make a relative motion with T curve or S curve Input Parameters Relative target position of the motion Output Parameters Please refer to the Status Logic at section 6 6 8 105 TPM EasyPAC User Manual 2 6 5 14 MC_MoveVelocity MC Move Velocity 1 m s tartV elocity Max V elocity Active T cc Command amp borted T Der Curve Direction Function Make a velocity motion with T curve or S curve Input Parameters U for positive direction 1 for negative direction Output Parameters InVelocity BOOL Commanded velocity reached first time reached BOOL The FB is not finished and new output values are to be expected Indicates that the FB has control of the axis 106 TPM EasyPAC User Manual 2 6 5 15 MC Power Function Enable Servo Step Driver for IPI IP32 AXIS 01 AXIS 32 Input Parameters Output Parameters Standstill or Disabled state is reached
45. installation manually Users could click on Install Products as shown below to setup EasyPAC 43 IPM EasyPAC User Manual e ry T ba mw ME ER P LJ Ar s or pP Bc E B E E E F Al k FE T Iu ES oe E A D Li B L eS T E a e w r D An n rar aran n Lao fu Figure 6 5 procedure to setup EasyPAC Press option Install EasyPAC Software and Tools to start setup EasyPAC related software and utilities Figure 6 6 install the correct utilities for EasyPAC 44 IPM EasyPAC User Manual 2 1 1 Install EasyPAC Software and Tools The default installation location is C TPM EasyPAC It is easy to complete the installation by click on the Finish button as shown below The lritalfS herd Wizard hat succerstul ratalled EatyPAC Se al KK Finish to exit fre vazad Figure 6 7 click Finish button to complete the installation 2 1 2 Install MULTIPROG 5 35 252 Express Please press the Install MULTIPROG 5 35 252 Express button to install the software E pur Ee or Software IO bento ina Figure 6 8 install MULTIPROG The installation procedure leads to install the relative libraries of MULTIPROG 5 35 252 Express and software development kit for KW applications The default location for the installation is C Program 45 TPM EasyPAC User Manual Files K W Software If the operating system is Windows 7 64bit the location would be C Program Files 86 K W Software
46. m SE E Z Bal cn r us E E EE fa je f ja il al cal Zal 04 ea EA E GN ES D r ar Mari e us E aa dd E ES AFFE MER E ABE zs ZEE zgje cd C H x an EXE E J A pl Z a 5 WP xe p BE Z Z T ei E T TRE RR J urs 1 ch rit Esi Ww m pe E De S SIE pt Pa BES pt E el Ti Tul pat pe ed pi er pr c cl r4 el r4 r4 el ti E El e H Sl a ka ur co 5 SI jor og A HE E 9 E Pa e x e m Z Ca e z e Z H Lad td aa P AL E pl En Z Z cal e c px ci ed zw c4 c4 r4 c Ml e ed E ri t4 x pe p c a E on zlo Esa l G Z SE f S z rp ES Tr m E L L Lid S pat ra Era c ns E e Era ETE ca u el Li el ed e f pp e r i Ee Ej E ea el Lm Fd ca rl ri r P3 c el A jos E C zc EE MDS E B n EBE x o o s a s 4 x i a DEDI o o s nd gy t Qu E Oc BIO lt d E un pa E z T Z e Ws OC r H G 2 x e a S a gt p Dp C p in i c t p es Le l e ca PL wu ux uu E Pa L T mi lnd lad C p i ala G CU G rdl eal 2 S lt A E ta zzz ES f al 2 a l ri LAC 3672 428 MODBUS ked P a A E 3660 FE F EIE 425 m lab Bent Jos jan Toc 04 aa ml x jus Tino ros Jus Tino e fur hee Peno fee pne t o T 42 MODBUS d lt f au on e fa TT E uu Woy 0 Pr mii m mif mp me a
47. new project Use TPM Template New Project C Cancel Figure 6 134 new project template Click on Untitled Figure 6 135 click on the Untitled Add new variable and set the I O address Check and set the I O address of 106 D422 NN with MyDataCheck as shown below 167 TPM Modul 106 D422 NN IP 0 Mode Modbus One Base Decimal Index m Discrete Input Q Coil 1 IB 1 9 16 QB 1 9 16 21 IB 2 17 24 QB2 17 24 Figure 6 136 add parameters EasyPAC User Manual Add new variables and name them as IN Port O0 Byte IN_Bit_O Bool IN Bit 1 Bool IN_Bit_2 Bool IN Bit 3 Bool IN Bit 4 Bool IN Bit 5 Bool IN Bit 6 Bool IN Bit 7 Bool Out Port 0 Byte Out Bit O0 Bool Out Bit 1 Bool Out Bit 2 Bool Out Bit 3 Bool Out Bit 4 Bool Out Bit 5 Bool Out Bit 6 Bool and Out Bit 7 Bool correspondingly as the screenshot below Variable Properties Hame Definition scope IM Port_O Local Global Data Type Local Variable Groups BYTE j E3 Default Usage Global Variable Groups VAR RETAIN El 2 Physical Hardware Initial value el qu Configuration l l Gye Resource 2 Default 170 address J 54 GROUP SIP 1 Descriptors ual Hidden F Show all variables of worksheets LjPDD Morc nitvalue as default m Figure 6 137 insert new parameters Download and monitor You can monitor the variable after successful
48. of Done When CommandAborted occurs the other output signals such as In Velocity are reset Inputs exceeding application limits If a FB 1s commanded with parameters which result in a violation of application limits the instance of the FB generates an error The consequences of this error for the axis are application specific and thus should be handled by the application program Behavior of Busy output 81 TPM EasyPAC User Manual Busy output indicates that the FB is not finished Busy is SET at the rising edge of Execute and RESET when one of the outputs Done Aborted or Error is set It is recommended that this FB should be kept in the active loop of the application program for at least as long as Busy is true because the outputs may still change For one axis several Function Blocks might be busy but only one can be active at a time Output Active The Active output is available on Function Blocks with buffering capabilities This output is set at the moment the function block takes control of the axis For unbuffered mode the outputs Active and Busy can have the same value Enable and Valid Status The Enable input is coupled to a Valid output Enable 1s level sensitive and Valid shows that a valid set of outputs is available at the FB The Valid output is TRUE as long as a valid output value 1s available and the Enable input is TRUE The relevant output values are refreshed w
49. rebl M Meee A Pyle Mc_Move Absolute Relative AGciteme MC Stop Sup er imposed 1 Error G Moving c7 GA Stop Group Moving GA Moving Standstill Note 1 Note 2 Note 3 Note 4 Note 5 Note 6 Note 7 Note 8 MC Stop TRUE Power Enable TRUE and there is an error in the Axis Power Enable TRUE and there is no error in the Axis MC Stop Done and not MC Stop Execute Group axes is StandStill Group axes is ErrorStop GA Reset TRUE GA Stop Done and not G Stop Execute EasyPAC User Manual NH Ga aida MC C arru nt Slava MAH a lea E y MC Cem ME VelocityF rofite MC MoveVvelocity MC ValocityP rofile Continuous Motion MC Moveclupermpoposed 1 d MC Movevelocity MA Vieloc i y Pole MC E celeration erate TPM EasyPAC User Manual 2 6 2 Error Handling All access to the drive motion control is via Function Blocks Internally these Function Blocks provide basic error checking on the input data Function Blocks with centralized error handling First Second Third ErmmHandling Fai Fa FBS Henn hms Error Axis Bars Pais Axis Function blocks with decentralized error handling First Second Third FEZ FB3 Axis Pas Eror Eror Erol Erowid EmorHandling Ars Ensaio Dona Execute Dona ErrariD Error Frond Eror Emani Erori Figure 6 70 function blocks with error handling 2 6 3 Function Block Interface General rules
50. saw aos or je e eds ios les raros jm sos ios sa fogw sos 106 sa sra hr ia mw sm 107 sm rw ago mm se llos dec paow ace ios lec awra CN Mw ali pos pep Aw 13 110 ee mw un qe OW als 111 oF rw atz mm ary i2 poo jeow ar TEI yo kis 5p ow aa P113 71 IW 421 BID 631 fila 73 uw aal Jus p COEM ENTUM NN mW in 115 73 wa wma us Du eow s us ja mre 4r o ju os er ar 117 75 mrwax a rr egw asa 19 77 AW 433 4m 233 20 re ew ass 120 7 amp MM E agw azs IR C S ae SN fanar hi pe eo acr us pe rio es po pea ses Tis fr merde utr Il pain pr o A 193 ree essi Tone one foot 27 AXIS 19 4 bowers 908 325 eos 305 AXIS 19 5 mcrien dome sto 32A atg 124 AXIS 24 1 Eommand Bii 325 812 12 AXIS 203 Destien 813 2n s14 125 AXIS 20 3 fures velocity 15 30F 816 330 aga it E OA A RES EUER URN ommand titi PE ee sacer Tes 53s 9s ae AXIS 214 Ba sasi amp 26 13A 827 33 AXIS 21 5 motion dome mmand KIS oso Tap AXIS 222 fornion a Tar 832 340 22 ANTS 22 3 aret velocity 833 34 laa per AMIS 224 ha sams 5 343 836 344 AXIS 23 1 kommando 18 346 936 347 aM rent velocity 42 ua laa ua AXIS TT ZEH 1c 25 2m ANIS D IS L AXIS 241 kommando 547 Tar 543 150 AXIS 247 ition o 549 lag 850 352 AXIS 24 3 lore velocity 551 153 n52 354 K tp AXIS 24 5 mo
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55. 3 2048 Discrete Input 1544 Discrete Input 1551 JMX 3 2048 0 Discrete Input 1544 JMX 3 2048 1 Discrete Input 1545 MX 3 2048 2 Discrete Input 1546 JMX 3 2048 3 Discrete Input 1547 JMX 3 2048 4 Discrete Input 1548 JMX 3 2048 5 Discrete Input 1549 JMX 3 2048 6 Discrete Input 1550 JMX 3 2048 7 Discrete Input 1551 Register MODBUS MopBUS Holding Input oM l M Registers Registers DEC HEX pec uex HEX ws ws 1024 128 so porjos so Table 5 10 register of virtual data Virtual data 1s described in the following MW 3 1024 Holding Registers 128 MW 3 3072 Input Registers 128 1 1 3 Making Memory Address Table from System File By using the function of MyLink the system configuration file could easily be generated It is a time efficient approach to make the memory address table by importing the MyLink generated config file The imported memory address table 1s illustrated as the following table 18 TPM EasyPAC User Manual MyDataCheck Y11 930 0 1 Import System File File Path CXTPMEasyPAC tool Sys mcg L Save Mode Modbus Zero Base Decimal tn un un position current velocity io status motion done command _32 2 position Pu 32 923 132 AXIS 32 4 jio status 32 AXIS 32 5 motion done alallala ala 1 1 1 1 1 1 1 1 ke ek m Figure 5 6 generated memory address table by mcg file
56. 53 a e e er pA E I ad kalk e e kas le us La T 42 N3 28 A oe MIB 38 pos 130 311 137 eos chao 47 203 L y IB 39 pi s 319 iar agp 39 512 i38 Tis i3 Liu iud mm ao poo fico Bur er feos so oo Deo far par sm px poe pa 5r pos toe fiso per Taar uo pu iss po fir eon i3 pac fiss D ise 2 gw Ja 159 IW 277 SID 277 2A eow 277 laa 2A 9 AXIS 09 3 cursest velocity 716 2CC 717 2CD c 720 ao 720 200 Asi sms pu pira qa ESCOCIA bee 1 A TA AXIS 10 3 cursest velocity 725 205 726 2D6 px TIN i Er AXE 10 5 L a e an ae A ans 11 2 positis 732 2DC 733 20D l as ai farat oct GED 0 AXIS 114 ba stabas 736 280 737 E1 AXIS 11 5 motion done 138 282 738 282 S ES ki ess Ta sr jes 143 187 744 ES 45 359 m VEA 47 DERIT zn 48 pecho IED ce perpe rr y 752 2F0 753 2F1 _ S EMMAN ticz PAPIA nu prs par ea US 14 4 ic 153 058 754 2FC bes behest AXS 1 ams Duc Pee o Der x15 fret aay re pot p RD he aa nd fone 775 es mS os axis 163 TA oos frre for xs 163 urea veloci pa 308 ERO DC AXIS 164 a states 781 sop 752 WE AXIS 16 5 motion done 783 30F 783 30F Enc OR si e pe perpe sas a is ps es Je SB IS a o BG 43 2B ron CER jes x jsqw2u ju pc MIB 46 pes 170 375 i77 98 as 368 io 375 177 spa de m aow 45 D 605 47 176 i7 amp 383 TUE
57. 598 1435 59F SIR 180 1440 540 1407 547 os 180 1440 SA0 1447 547 SIB 181 1448 548 1455 SAF GOB 181 1448 545 1455 54 F amp IB 182 1456 580 1463 587 eos 182 1456 580 1463 587 SIR 163 1464 SRS 1471 SBF eos 163 1464 588 1471 SBF pers 164 i472 500 1475 507 eos 184 1472 500 1479 SCT SER Les fiago sCs 1487 SCF 260 185 1480 5038 1487 SCF IB 166 1485 SOO 1495 507 eos 185 1458 500 1495 507 SR 187 iage sos T1803 Tap eos 187 iage ane 1503 SDF SIE 168 1504 SEO 1501 587 ec 188 1504 so 1511 587 pera 189 1912 583 sio ser feos 189 ista ses 1519 SEF Perm 190 1520 SPO 1437 SFT 608 190 1 30 sF 1537 SET IB 192 1536 oO 1143 J607 won 192 1536 J600 1543 507 S y i El Ii TIE MEI ttt ie HH Eh T lt 1 j i l AA A E AELLELLELLEELELLLEL TEL ELLE EL LL LE TTT 22 EasyPAC User Manual TPM Virtual MODBUS MODBUS MODBUS MODBUS i em mu ee xr us GN Es pa L oe GO ae 65 00 a 2 rr ES ei ze lt del e l l w e un E rx cp ens ced cni ced eni E EL m A vi i d e IEEE J E a E X vi m E Eo us z T r1 E E Z EE eee frear fee foss o fsc pose faao fac E zl pe ij e
58. 9 0 3 Ring 0 Index l Discrete Input 0 Coil l 8 15 rs 16 28 0 00 000000 MBS 24 31 000 00000 4 32 39 Figure 5 3 Ring 0 memory address mapping Module Select the module model for Ring O IP slave module IP IPO IP47 is for DIO and IP48 IP63 is for AIO or PIO Mode Select the Modbus type 12 TPM EasyPAC User Manual 1 1 1 2 Ring_1 Memory Address Mapping MyDataCheck 11 619 0 3 Ringl E Ioj x IP Mode Modbus Zero Base Decimal gt Index Description Input Registers Begin Input Registers End AXIS 01 1 AXIS 01 2 AXIS 01 3 AXIS 014 i S 01 4 AXIS 01 5 Figure 5 4 Ring 1 memory address mapping The available Axis module for Ring 1 is listed here IP IP1 IP32 is for single axis module IP AXIS 01 and IP32 AXIS 32 Mode Select the Modbus type 1 1 1 3 Virtual Memory Address Mapping MyDataCheck V11 819 0 3 Y 11tual l El x Mode Modbus Zero Base Decimal gt Modbus Data Type Coil gt Modbus Data 1544 9735 1600 gt Yah 3 7 0 EasyPAC Data MX 3 0 0 20MXx 3 1023 7 MX3 p fo lenp Figure 5 5 virtual memory address mapping Mode Select the Modbus type Modbus Data Type Coil Output Tag Discrete Input Input Tag Holding Register Output Data or Input Register Input Data 13 TPM EasyPAC User Manual Modbus Data Modbus data is mapped to M of MULTIPROG EasyPAC Data M of MULTIPROG is map
59. BE n a EE S A G C SIS one E an O BI RIA E A S in I i Sk 1 z m Ei tral iri ai uri eri Fa Le Tr E 1 Ch zz m E Sl G lt Beal Bi 2 Fx Ea Fa E wu ag Jo Ja m Z SEE CH dod oo eI Fig E eJ e Ea a CJ C c E spa ERP SEE T SPE EEE Qe AA pa aps a a a a jm G 4 D H mj nu 4 mpm m m m m t au ug c z D als go x D elj 3 ely a oc ch m E A rdl e 2 pi BE de x uc up uu D x z fa L lt wc EE E D el el D eel eh E i e ZI o E a L Z Dr kE aj E p Eel D rre d Ea E a a P E l D mmmmmmmnm LESE BR SE REEL cr in 2 P FA ER NI uud Ld Ll Led Ka SEE Es Es xm D Rm m D La m a rev pg m c zl em 2 sl EZ oS zl p pe Ka se G pu unt pa e E E N C p D LA g reh a h S rsl Eas l pa Sel a pl a mM E e El Kl E E E m c SIS El E Z e M rp oun cz a M r3 rn e C JE Be u 2n p k H 4 vi LL d ty L C C Dx C E ES 36 HELE HII pepe EasyPAC User Manual 8327 2087 1 y AA E Ch d E d ao ch pe EAE Ep 2883 lo 2883 7 8224 2020 231 2027 1 1 2882 Jo 2882 7 8216 2018 8223 oe J P LL E ja p pese jes pas fest PF 7 s208 2010 8215 anz pss pss p EC s CE SS M M M bus ieee pes ues 1 Jose leo re
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61. Co r Figure 6 58 the IO configuration window Select the designated input output and then hit the Properties button to check the properties lE as 8 Figure 6 59 check input output parameters Name Enter the name here Task Select the task type 71 TPM EasyPAC User Manual Start address Set the start address as IB 0 1 e Byte 0 Length Enter the total length of input as 449 End address Set the end address as IB 448 1 e the last bye is 448 Comment Can be skipped if no comments are needed If the Driver Parameters button is pressed the driver information window would come up Driver information of standard device N Driver nane Parameter 1 Parameter 2 Parameter 3 0 Parameter 4 0 Datatype L 4 i p Figure 6 60 the driver information window Note that the only valid driver name is EasyPAC Any others will not be accepted The Datatype field could be left default 2 5 Downloading and Debugging Connect an EasyPAC correctly and turn the power on Use MyConfig to confirm the following setting Information Hardware 10 CPLD Version SUL Type OS Version IP Address Figure 6 61 EasyPAC information shown by MyConfig The default IP of EasyPAC is 192 168 1 100 Check the setting in the MULTIPROG with resource ProConOS gt Settings 72 TPM EasyPAC User Manual E z S Rad aa ARA E Configurston
62. D fags 7 E 5 y 2514 7 5272 1498 52 252 4004 594 232 Ss pais fo ps 2515 7 5280 14A0 s 253 oos s95 253 2516 2516 lo 2516 7 5288 TAS S S am pac ot a par p psi pose ramo A 470 470 o faro y 5304 HE 2518 2518 lo 2518 7 5304 1488 Sa bec on f ie fo fos z 5212 1 2519 2si9 lo os19 7 5312 Jaco 35 he 6 MEAR hand 5287 la 14AF 25 14B7 25 1 14BF 25 1407 25 2 a p fea p poo pace sor pace n 2520 lo 52 i 5320 race 5327 ace 19s eoo ase leote Teno Toss ERE lass es Tes lo Tess 7 5283 jaslar ie hop he frios mo 473 lara o 473 f7 5328 14D0 5335 ee O pad ti pe qwe 474 474 o 74 vy 5336 SA 2 psz y pue paps pis odia goz la hozo eto asa aas je po fars fr post fao fesi Y xb 2523 lo pss T 2 psu paco post pae Ex M eee poesi pues cus S s o Deae ir ee ES sx aie Dre feor fose Juas feor fas kn herr p per pr peo peo ser Ber Pros sas o Pros orco aer fea Qoa feos faan Boot Jes asn 1 478 478 o 7s 7 5368 14F8 5375 14FF sas fosas fo pos fr sass h nas s 75 Decr hoso feos pss nas fes 479 Taro lo has fr Tos 1500 5383 1507 2527 2527 lo 2527 7 5376 1500 5383 1507 1982 eo7 25F iro iso Jo eo fos aos soi sor sas pan p san fr Teast son poi soe pont Joos oso oss Jos faeo 481 481 Jo jasi 7 5392 fisio 5399 1517 2529 2529 482 482 o 482 7 5400 1518 5407 151F 2530 2530 D 2520 17 5400 i18 5407 ISIE 969 W610 1262 U i610 126
63. E OF THE SOFTWARE SEHFES YOUR COMSENT TO THE LICENSE TERME AND CONDITIONS KW Software License Conditions 6 following icenas eaedtens regulae the use of fhe offered or enciesed software unless you have been provided with another written agreement with KVi Software Figure 6 11 accept the license agreement Please leave the installation path as the default one and press Next to continue Ck Hex lo Fetal to de default eider ar dick Change ta choose another install MUL TIPACK 35 Express Bud 257 ho Program Files KW Software YA 1 TIPROG 5 35 Express Buld 2571 Figure 6 12 leave the default path unchanged Please press Finish to finish the installation _ rin Completed the MULTIPROG 5 35 Express Build 252 Setup Wizard Figure 6 13 installation finish 47 TPM EasyPAC User Manual Then the wizard would lead to install MULTIPROG ProConOS AddOn automatically MULTIPROG ProConOS AddOn gull Please wait while Windows configures MULTPROG PreConOs AddOn Gatherng required mformation Figure 6 14 installation of MULTIPROG ProConOS AddOn After finishing this step all the KW development environment setup is completed 48 TPM EasyPAC User Manual 2 1 3 Install MULTIPROG Patch Files When MULTIPOROG completes its installation select Install MULTIPROG Patch Files at the main menu of the installation wizard 8 j A Y vrl TN oo ee n ip a ee M
64. EE C4 dl ei esi Elk CH c3 cj ada al col all nci La L M a e eal ea e ex e e ei c3 S G en EE SERE i SEE ui m 2 ue x Ln S S Z Le Es L D a cl m e CI 2714 7 les pns pr STE 2716 7 pm paces o less Tr js un e LU oH 6576 iopo 6583 1987 2677 2677 lo 2677 7 6576 1989 less3 fop7 do d A 3 C AE mii d sois LAcojes mir LEE eC alu 5632 1958 6639 luns 2684 2684 To 2684 E ren LE p 268s ifen J B32 7 eseo 19A0 6567 1047 2675 2675 lo 2675 7 6568 19A8 6575 19AF eM Begin End x 3 amp 27 lo 627 o8 1628 o 625 529 629 o lead 7 630 ln e30 631 les lo 631 632 lo lesa 7 s33 lo e33 634 Jo lew zm p 635 vi ats 2 K 7 6592 1ocn 6599 2679 o 2679 7 eso2 acn Jesoo 197 O T 19D8 le 960 6631 1987 2683 2683 Jo 2683 7 laez opo lees bos TT L 7 6584 roms 6591 lane 3673 2678 lo 2678 v essa laps lesa rope 1 RIE paso Jer per o hen tr ens hasolers hast Y 1 TT jeu LANG pape pen D pee Facit cass ec ai AA 7 6616 19D 6623 2682 lo 268 Jr 6624 e lero Dlado
65. Hardware a Configuration eo Resource E S Default EJ s GROUP Show all variables of worksheets Figure 6 94 add a new variable of 108 P120 oF Download and monitor Add variables Channel 1 Channel_2 and Channel_3 following the foregoing method You can monitor the variables after the program was successfully downloaded Te View Project Build Objects Layout Online Extras Window 7 wed Libraries ij QP EASYFAC L MN TA v M EASYFAC UL s UU Het ZA UL ios Dra Types i Chanel NOH je Lovral POs TLAS 7142857 LA LIpuuml d Chanel 3 int Q Decree MS 3 Hirama AND Courter Down Deiner Lip Laden Ligier Drazeri Last a 3 Falling Edge Detection Greater Than E qual s Giese Thar gt Lest Than Egat t Less Than Modula Dinter Arg Wiehe Multipkcation Hot Cquat Zx Lempiemeri Hilrnze UH fon kain dala xb restan data O leap data iha iB ror TF Tan ratin dat 20 retain data D Leap deta l inst Bo miiia Wh retain dat 516 retain data D teup data I Lest Duo m retain datas 187 reiain data n sat 131 GPE sim 112 UE n B prer for Download BC Fooysct ended for resource Pon psg Laon Fez reg si 2011 27 11 T4 05 15 20 al l din TAG Pisina Edas Detection T m Ld Figure 6 95 download and monitor the program 150 IPM EasyPAC User Manual 2 7 3 Single Axis
66. IPC_40 i Ba B de Tasks Insert el se CY Delete Delete Unt a RIT de Cut Culex DI LD s gy ae Ctrl C Global_Yanst r n G I Configura Create Global Vanables from Externals Update External Variables from Globals Figure 6 62 get EasyPAC information from ProConOS Settings Please set the parameter as shown below and click OK Resource oa settings Sk ooo OO 4 19200 1 B Hone 20000 Stack check on PLC 7 Array boundary check on PLC MF Force BOOLS for boolean variables F Generate bootproject during compie p 192 168 1 100 TO2000 All global variables Marked variables Use reserve All POLI Figure 6 63 set the IP parameter Then click on Project Control icon 73 TPM EasyPAC User Manual Download Upload Eita Info Figure 6 64 the project control option Click on Download to download the program When users download the project please check the Include Bootproject ED Include LIserLibranes Include Frontend Lode Include Pagelayauts Include Backend Code Delete Source on Target D ovendoud File Dee Heb Figure 6 65 include the Bootproject into the project to be downloaded PLC Run Mode is described in the following Cold All data will be reset Including retain and non retain SPG is executed if a cold start is done 74 TPM EasyPAC User Manual UO dr
67. L P EE zw Es e gral m wm TE bp l ume a cal ci a a E 4 geal Sl CEDE ae e t e d 2s GI C G C a a i c ra A i E ARA RA Eal E 4 ja ps E ta i E E ara en en pr i cal cal cd cd e e cu co ril ill cilc cal c c c rag x Um 3 1 P i m a Pr 1 i a c3 C E em bi S e F E BIS mm La el Ki el ea K a r eee w al al elel elel e cl ce pra BEBEG A gaj er m z e E i 2n TTT AEE ALL LLL HELL HII ULL HH Ea a eri pr phi i en er E cal cal ca c e e ea cay c eal oa c SIS HE E E z2 ac B x c a LEE S S S E ge ary ary S L n Es LS ti l t e 08 E at SE CS KALS LI REER at T r el D P P r amp mm Ls e RAS ES ZU ZU ei e raj cal e eal ci cel c S EEE ZU ZU Z 5 E S x 3 CN en e 2 2 2 2 2 2 2 s s SU be 2 oy S E S Pap c9 cag u A u 61 r H 601 Er ral pru ral cn E don S 3 mm mm ETH e a 3 ex cag o dels L a c1 N eal ell BE p E SE f E Td ri a S 3 c 2 E Z a eal ea i c HI ti z N L Era E i in 2 T nl ae Bl i vp a Qu Gl os os a CR ca c E g iil oe E L E S s CK S EE dia F f Si IRRE SEEE E SE ZEE El 74 Al c x p R ese Jon fa TAO E NE EE EN NEN NND 7 pus poe pas PP S L EL DL H J SN Lee 107 YAA n A34F zmED 0 d l1 d s jz287 1 j 2251 l EE
68. LE ELE ELLE LL ELE T LLL LLL 1 Jc el als bn a T uri tu GO to e en en en en en SIS CA s BE m 2 l aH P 5 E a al A O E mE ES Z Z WE up wu S L E CA un Cc MODBUS MODBUS LLL ll lo i la Lat WIE EX e C CR Gra er o Qu z ur Cy oy JE E S S EE Z Z S E i Dv E E i dz J P E Es Es ca Esc Esc EL aja x keni maf rf gf HBE E E E bd Ka ma E E E t HE E pie c4 c Den ra ix 1 D S O c r4 He E ar cd E L Dm ae oe c ser SEERPEREPERFERPRRRFRPEREEEREER US a rJ ei hi Dx ed 3 cJ cs c LE L CN ci SIS P Eae l Fal PA Eal Dr eal A P E pe r1 ra LS L ru S L E alt al ea L m ta mp Ee ES E gt cal rl ca cd ca cl zi Et ci er cul El un ge c a d fi E SE ea ca ea E z S E E tal sa ey el ej e Fal Ed eal ea eal ea l 1 P ma ae e EJ el E ZEE aL Z SL Iz S Toj Ea pj Ela p ell rr D 7 c i cil e e EA 2n ES ox 4 d s sa ad pem aoe a s oe 4 a 8 S 4 o oom DI ao m ph mn z eal es ES Z zi S Z fy a 4 a u uU Ss a a m zs z E E Ko E EX 5567 6575 1194 F 11940 bm Ee B 2 560 oF 7 le Discrete Input pEC HEX DEC HEX ofr Jess sodes Harel E tt 7 7 lesas 14FO o3 S E araje 7 5568 1948 p Jesse da SG spa dada ap bl us Esa re eae ea EE R
69. Parameters AXIS_GROUP_REF Reference to the group of axes BOOL Please refer to the Execution Logic at section 6 6 5 UINT The path repeat count for a motion Output Parameters AXIS_GROUP_REF Reference to the group of axes BOOL Standstill or Disabled state 1s reached BOOL The FB is not finished and new output values are to be expected BOOL Signal that an error has occurred within the FB INT Please refer to the Status Logic at section 6 6 8 101 TPM EasyPAC User Manual 2 6 5 10 GA_PathSelect GA Pathselect_1 Patheelec Axesiroup AxesGroup Execute nesmen ount FathFile Done Busy Error Function Select and download the continuous path from xxxx kwpts Input Parameters AXIS_GROUP_REF Reference to the group of axes BOOL Please refer to the Execution Logic at section 6 6 5 l The path string indicating the motion path which is PathFile STRING du edited in MyLink Output Parameters AXIS GROUP REF Reference to the group of axes UINT The segment count of the file opened 102 TPM EasyPAC User Manual 2 6 5 11 MC Home MC Home 1 ML Home s tartV elociby Max Velocity T cc Command A borted ILec Error Curve ErorlD Direction Function Do homing of the axis Input Parameters Output Parameters Please refer to the Status Logic at section 6 6 8 103 TPM EasyPAC User Manual 2 6 5 12 MC MoveAbsolute MC MoveAbsolute 1 n z s tartV
70. Please do not modify the default location in case of patch failure hereafter The installation procedure installs the following software in sequence MICROSOFT Visual C 2005 runtime libraries MICROSOFT Visual C 2008 runtime libraries MULTIPROG 5 35 252 Express Build 252 MULTIPROG ProConOS AddOn The first step of the installation is a prompt of installation of MICROSOFT Visual C 2005 2008 runtime libraries Please select Install to start the installation 5 MULTIPROG 5 351 EXPRESS CHINA Setup f LI The following components wil be installed on your machine f Viewal C Aumime Libraries i Do you wish to install these components E you choose Cano setup will ext Figure 6 9 installation of MICROSOFT Visual C 2005 2008 runtime libraries The setup wizard will lead users to complete the rest of the installation Welcome to the MULTIPROG 5 35 Express Build 252 Setup Wizard The Setup Wizard vil install MULTIPROG 5 35 Express Budd 252 on your computer Cick Next to continue or Canoe Lo poit the Sa ge Wizard Figure 6 10 screenshot of the setup wizard Please check the I accept the terms of option to carry on 46 IPM EasyPAC User Manual Please read the drer kerge agreement Cr eh duy KW Software GmbH Langenbruch 6 32657 Lemgo Software License Conditions ipi 2004 ATTENTKOGH THE VSE OF THE SOFTWARE E SUBJECT TO THE EW SOFTWARE LICENSE CONDITIONS THAT ARE STATED BELOW YOUR US
71. RD cH coll ca my cl le 9 pec EST a eg eg o3 a rb Ug m f Eg LS KEL E d Ea ABE oo o C puni 9335 irap R L all cJ cN ca E ta E E 7 15200 oso 207 cer hase es Diar sass 335 nf ie H E gens 46 AL E K Z Z 256 o 2221 7 a ere lean TU pp He 32 Se ee o 2266 7 7 Toss cos E S G A LL E a RH coo o m n 3 2 22 2 77 mi Wri en rr 9 LE l e EA ES eaj cal eal cal e eal be eal E CRI cu cg r LA ell ej el Des ed cu ca rea eal eal eal eal mal e e KS S Es m el Z dl C CE AG S zL E KS Eri el a c G ui m 2246 a rdl c 2253 uL a E mi T egl D E AL 15 CSF 215 ERE Lento za ral e mif ri ral oe 1 7 1136 c40 4 52 C60 3175 peo 2919 pez 2219 2319 lo 2219 7 papes pea e ue ee pue oet qon f a bie ces iss lost Ta pes sar nsr 2o pao jo pao 17 foo es sor faer h3 315 cso 58 3167 045 312 3032 4 31 l H 7 3150 lc 3 2304 ces pu Ic S pass Paes ERE T E a et 2 pue cx nre pne es p ele eno ci ios bris Tr b pe pr 99 3 3112 C28 fa119 cor 2244 2244 lo 2244 7 3112 7 3192 C78 pros fer pase pase o
72. S ay E Sf A Tasso faon ser faor pos pss fess ss Te 74 2175 FEE S be s gt M A ions re bra Pe ct cg S E q a ED Z z a E G Z mj Se e E pars pe ea wa D on S e o E Ee E E Ee Ee ES E E EE E ES ra c3 cal c cag ca c ciu c c ca n3 ca c 219 rir fase Jas os a a a fl Cl KZ SO pr rr r gt C3 m un Pe E E 2 2 4 2 2 2 2 2 S 21 2 pe PF ri ri M D EE rai md m rl cea 2 e t CA E SIE p 5 eal es H ex cs pa c sol a S Sr Sr 3 EF Tn 3 SI E3 T A Z Z Z 7 Z 7 Z a A ha Ka ne po fu m 206 i a a e cl eal ei ei ei at el eM el e E e oo c E el e E g E es s E K E Kal 5 EE al dh E eq e bai C Z Est om e Pa Ls SI 53 Pr Lr SEE ali 3EEBE ea e e ea eg c n eg 6d n3 e l 71 3l ed eal E c4 ca e c c We ae 04 T a le o fr es facs Baer Jas 13 771 8 708 NIE 20 a puel pc g j N ei e m aE SE o ferzo 1 lz bpe her ler Traes so ea Ts 250 X D D D D D D AES 171 E lco osos Jacz ner bie o 2173 ese pao fos po ports q saz pss pa D 2 2176 UN CNN P ss az pun b z cria E T
73. S en G pel pu a p B mu i EE e cal sal c ao l a co Es JBE e e x el E SEE A ca E SES lt tal aa RE E Z E ma 2E lt E SIS ES EE ix ZE S E afele ERE Nay REPPER e a e ss SEBBE ril pae Z a es LN EE A chi E eal K E en e SEE SIS Ea foes E Es Eo ei rail fe eism mm lp Sal pa P BE oO ae TEM R tt SERRE My rl 6 L GS c H uu ua pg m C3 al e le el lt l heal el m re M E S S c4 el utu x ee Ja En EG EO ES ESTE Pe Ba E SES aS Ch X EH c JE CIE CES E x en es e Bead Dead esl ed Sl Pest Sl Sl esl exl el ue 1 ARRE Tap npn cay cg cap cu mg cu c cg rcl E EEBEE l ca ed E r4 c4 ca cg c4 c c 2322428 H J aaa dll ddddddddddd dada lelalelalala ul w cd m oo oh a e L ray od P rll S E FE B ui on T I ej Ea Es SI aes SISSIG zx eh EE EE RE EE v Z Z E3l el 3 SIE el BE el ed e SEE ed e G E E adds SEE SERRE jd ab PP eem v1 zs sg d 4 3 i 1 m lm n a P es Ch D ep o6 LER a 00 00 a oal i uj 2 EE S ae S P aS ed 23 y pa ES l e x E El x E g l ed Eo E m E E Ej e ry cen E L L E JE E 5 S ali Er EL pt a all 2 2 gt 2 2 a l a sal 2 a a 2 a 8 l eem uen eem a 4H 4 24143 HE E E E m s 2 3E E En E A Eu SE Z al rs anf enl Cl cal us en c3 Cp ra Pri ri E De um e C1 cel ur Mal E E mE ERI ch eo ey o a Je zz a il il cal cal m 9 C rM cl Aei xx 2 m Z S Z e aw ac e cz a so ca cC LL e
74. Sequential Function Charts O 3 FBD Function Block Diagram o 4 ST Structured Text 5 IL Instruction List 2 4 1 Edit with LD Open a project with LD programming language as shown below MULTIPROG Express Untitled Code m PA Ts a r FR m INT Imert aj Unt I Properties Figure 6 29 sequence to edit program Right click on the Logical POUs and select Insert Program and the following window will pop up Enter the file name in the Name text area select Type with Program and Select LD as the programming language Insert ei MULTIPROG Express o Luv abid name Procerror type independeni independent m Figure 6 30 insert a new program 57 TPM EasyPAC User Manual A pop up window shows Invalid name in this example All the symbols including space are not allowed to input as the name and the first character could not be a number The following example is an example with legal name VAR Dsi Types esenphon PLL type SEDE Ur Figure 6 31 input name and select LD language Click OK and then users could start editing the program Hine t ew Dues M Quee eeu Onine tpm or 2 LEA i SH we EP Figure 6 32 edit program window Click on the Code LD sample tab so the LD editor will show up The function icons listed on the left incl
75. Sp a y LE Ea r d zu aE DOA irj uil in 12 alas mi ees 2 214 EE asus HE i v HE i uri a wi H H ral Ww wal ur np ur Mi HE eq ala e eg vg 6 U cg cl cal ea e el y lala exl e ca ale Hr el Hr eJ 1 ed ea c el cd Y c3 u c Ht Em t x Lac e ci arj pub pm mi pri a Eri i ae e eal Z 4D pa e VES De 53 S i i i i i i E i i i ON emm mi e A SHS 313 ps a p ala T D C cu ge zl e el S pert SIS a C3 zie xc X E G a SA F B 9 Ka KS 2 on wr 3 P s E Z Ws G i L aaa Al ci ci i c E Ea EE cal c i CRI c1 ES ES e Z EE ed c e ca e c c E ed e El ca RE e rr xe zs c1 S a 5 Li e E x C Tal r a er e HBE E 3 pr er TE z EN Ly e il r ui LNK E d e e SIS A gt a SARAAN ERRAR 2 T TP v lalalala zs uz e 23 3 08 snl el e e ma BE zi e E uri sal w G G G LN n ui G L C E mj pa a ar a K E E E ES a EA C E E a a rr rn E E et ery Lu Lar pry rel rel ei E E E eel ens pl cel rel 77 EEE BEER ds dd se et rr i S 2 m T F HE dt i we i T 2 5 d Z Z SIS S E E E Cru E EI E gt i gt 4 L i E ti z HE c 5 ei S a mi ET mi E co E 0 4i ao cn Z v L a EE Kn E M L EA C ze zx EA i a C C Laad E er ES n T L SL SIG E DGIE FER vi Z ei W 2 Z z m A Wri el lle ej 1 tal ea eal e i e tal zal eal e el e el 3L Mi M al e ya Z S a ES a a E t uc S E Ei C E SIE oo SIE LS M u Kr i te ur pa u e e ca r4 TH e
76. TER DEIA UZINTA Leet bun L Com Pe ed l sd n SRRRRERRRRRRRRERRRRRRRKRERRRRRR L S 84 Bd rB kt hg Ra e Fa Lp 1 4 dg Ba FR LL H A ka LB kh A Pa Lp do 93 STREO LEAG E mE i 1 IL Lr E Figure 6 24 MULTIPROG main window with 3 icons activated There are 3 icons highlighted in the above from left to right are individually 1 Project Tree Project Tree Window can display the project in a tree structure 2 Edit Wizard Edit Wizard provides the edition of instruction and FB 3 Message Message Windows displays the information about PLC l Apn E Rann Y ASIN Anc Sine TE ATAN fue Tanger B BOCD TO DIMHT Converts BEO EYrTE bo DINT B HCD TO IMT Converts BCD E STE to INT Y B BCD TO 5IMT Corvette BCD BYTE be SINT af BCD TO COINT Converts BED DAD to DIMT Y BODL TO BYTE Coretta BOOL to BYTE Y BOOL TO DINT Converts BOOL to DIN T Y BODL TO D saRD Corrects BOOL te DsDRD W BOOL TO IHT Corera BOOL to INT He BOOL TO LREAL Converts BOOL to LAEAL Y BooL TO REAL Corrects BOOL to REAL Y BOOL TO SINT Converts BOOL to SINT 4H BoDL TO LDINT Correr BOOL te UCIN T SY BOL TO LINT Converts BOOL to LHINT HR BODL TO LISIHT Corais BOOL ta LISINT Jm nno TO SAO L neeg A AN Figure 6 25 approach to check FB FBs can be selected after the Edit Wizard 1s activated 55 TPM EasyPAC User Manual 2 4 Create and Edit a Project Users could create a new project from File New Project as s
77. TPM EasyPAC User Manual MULTIPROG Programming Manual Version V1 0 2011N24 To properly use the product read this manual thoroughly is necessary TPM EasyPAC User Manual Revision History IPM EasyPAC User Manual Copyright 2014 TPM The product including the product itself the accessories the software the manual and the software description in it without the permission of TPM Inc TPM is not allowed to be reproduced transmitted transcribed stored in a retrieval system or translated into any language in any form or by any means except the documentation kept by the purchaser for backup purposes The names of products and corporations appearing in this manual may or may not be registered trademarks and may or may not have copyrights of their respective companies These names should be used only for identification or explanation and to the owners benefit should not be infringed without any intention The product s name and version number are both printed on the product itself Released manual visions for each product design are represented by the digit before and after the period of the manual vision number Manual updates are represented by the third digit in the manual vision number Trademark B MS DOS and Windows 95 98 NT 2000 XP Visual Studio Visual C Visual BASIC are registered trademarks of Microsoft B BCB Borland C Builder is registered trademark of Borland MULTIPROG is registered tr
78. The following table provides general rules about the interface of the Motion Control function blocks Output exclusivity When Execute is true the outputs Busy Done Error and CommandAborted are mutually exclusive Output status The Done In Velocity Error ErrorID and CommandAborted outputs are reset with the falling edge of Execute However the falling edge of Execute does not stop or even influence the execution of the actual FB The corresponding outputs are set for at least one cycle if the situation occurs even if execute was reset before the FB completed If an instance of a FB receives a new Execute before it finishes as a series of commands 80 TPM EasyPAC User Manual on the same instance the FB won t return any feedback like Done or CommandAborted for the previous action Input parameters The parameters are read at the rising edge of the Execute input To modify any parameter it is necessary to change the input parameter s and trigger the Execute again Missing input parameters According to IEC 61131 3 if any parameter of a function block input is missing open then the value from the previous invocation of this instance will be used In the first invocation the default value is applied Position versus distance Position is a value defined within a coordinate system Distance is a relative measure the difference between two positions Sign rules
79. Tl el 4 ci el el C va ed ES S a ERE zz o Ed al E L z PEE Mr IE TEE RRR E HBE en Y lt A Zi E ea mi mi ea al m Lan G E B X PE mij EE ke al a L ES zx x 3 E M n ARE A mi ala ci E e E mau mdi cum a s B od i EE itd 1 P 1 a SR um Rs a e EN le e c a ES E A pub SEL e e Z S Z Z Z Ws Ta A z KS Er pa X E SIG C 24 935 TES T 9613 961 9640 MEO 9447 amp AO IE n FT 2550 255 2560 ET 3440 xs Pes PT 9552 9560 r pano us p 25 mm 7 feas aco louis 303 aga y 9416 24C8 9423 pace 3082 posa o D 3032 P pus fics pa Fal C4 oS a M LT xs rE pz Bl T m ja IES ES i dl a 9480 I 5487 2 07 hon boo fos 3040 me 9480 lane 250r 7 ots Po paos Ps son Doni o 3041 paa pii eus pis bros rs 3034 Jo 5034 Hi 24 paste pap poss 3033 Jn 3033 NE EHS 2455 o455 3036 Jo bo apie pro ei p E D 30 o peo fr aer fears pez eer oss ons a T nu s RR ATTA E 3 fosas 2480 7 j9352 2488 RL d aga 1093 ohor 9496 asus os str oa Posa fo hoz je iss fe 085 L pea pea o os lo a7 L E 975 ore v os 1 E TUM I 975 Qe MII n n 2 40 TPM EasyPAC User Manual 2 MULTIPROG Introductions MULTIPROG is an IEC 61131 Programming System developed by KW and M
80. ULTIPROG Express 5 35 is a compact version to be used with EasyPAC The main features of MP Express 5 35 are No of IO per project 128 KB No of User Task 5 No of POU s 256 Global Variables 5000 Local Variables per POU 1500 Languages Support 5 MP Express 5 35 supports the following languages Textual Language Instruction List IL Structured Text ST Graphical Language Function Block Diagram FBD Ladder Diagram LD Sequential Function Chart SFC MP Express 5 35 supports the following data types X is bit operation B is byte operation W is word operation D is double word operation IEC 61131 PROGRAMMIERSYSTEM MULTIPROG EXPRESS 5 35 I is Input symbol Q is Output symbol oM is Virtual symbol Example Yo LX 1 7 The 7th bit in 1st Byte at input data must be BOOL type 1B 100 The 100th Byte at input data must be SINT USINT BYTE type QW 201 The 201th 202th Bytes at output data must be INT UINT WORD type QL100 The 100th to 107th Bytes at output data must be LREAL type MD3 1024 The 1024th to 1027th Bytes at virtual memory Must be DINT UDINT REAL TIME DWORD type 41 TPM EasyPAC User Manual 2 1 MPExpress5 35 installation Recommended Hardware Requirement PC Hardware PC or laptop with Intel Centrino up CPU Memory IGB RAM OS Windows 2000 XP Win7 32 64 LAN card RJ 45 10 100 1000 Mbps Software Installation Install EasyPAC software and tools Install MULTIPROG 5 35 252 E
81. User Manual New Project TCP_20110211 C Program Files PM Designer Browse Link Properties IP Address 192 168 1 100 Timeout Time x 0 1 Sec Command Delay x 0 1 Sec Paty Count ink 1 Direct Link Ethernet Modicon Corp ModBus Device Slave TCP IP v E Figure 6 123 input parameters 163 TPM EasyPAC User Manual Add LED object and set the Modbus address Use MyDataCheck to check and set the corresponding I O address of 106 D422 NN as shown below i Modul 106 D422 NN IP o Mode Modbus One Base Decimal Index Discrete Input Q Coil 1 IB 1 9 16 QB 1 9 16 21 IB 2 17 24 QB 2 17 24 Figure 6 124 configure parameters using MyDataCheck Add and set a new LED General Label Visibility n Note 0 0 0 0 0 0 0 0 jJ Picture Shape External Label State Color FG Colo MI A Pattern BG Color CM Address Type Bit v Monitor Address 10008 ESI Figure 6 125 add a new led Duplicate multiple LEDs 164 TPM EasyPAC User Manual Ctrl X Duplicate Ctrl C Number of Copies Copy Direction Cancel Columns 8 o Rows 2 Spacing in Pixels Horizontal 2 z Vertical 2 Bring to Top V Increase Address S 21 EZ EST NIG tN Increment 1 Send to Bottom Object Properties Figure 6 126 duplicate multiple LEDs el Figure 6 127 multiple LEDs create
82. Z L E Fl c d rh E il 3 Pay 3 cH 53 or for pa pr S pr dd 2x ies E ar TE hep bss Des hep iL Em 194 foot 404 ss 4s 195 EX Ens c i2 pen Ju piad MODBUS ES mm Je IE EC ns qo pei Lan Dem E er SEL uns m E E L l wn ry L rer 1213 be G el cd S B el m S dl al pot Sim a EE i e SE A El et d ei E LI I5 m E a um EIS 5 el r c al pe a EE Pn aar Ed E Begin End DEC HEX DEC HEX 7 3656 leas 3663 E4F pops ques teso qe pes ust pos Jus pz jos Jus piapa Eques rh io T 2278 pee EZ x pese foes pas per o Eu pom pen per un LER mE SORR T pras Y pus pre oss ar pon pec ies ases Pee hes 2289 a E peus E 1o pss m 33 22 Lose e To ri 2288 Er pss ec Jos ios pe po pesa pee Ju os 77 im CN fasrs fp x he helo fez a T 2312 A LLL Lo E 2301 7 3568 A ja 2298 EET J 7 ac pei p pes p pes eo Tess fear OO Pres I Por em Por hsr pes pec pp per fr pese feas ees fear pair 2312 lo T 32 zs Ts lo hos Tr NDA bri fea anlan do 1323 D 7 3744 EAO E EE m 2276 lo z E if ES 349 a pss ser bes 200 ao o foo raso pes Por pas Js feso frre
83. a pH O geal geal em eng em al ets alo P SPEEL en eps Eo ica s sels m m EE SEZ RERE EE S I lan k i i i 7E p TK KE kial EESTI Gil CE ELA LR UL re LE JRR Eb CE z a sel a a E a Lami Lae Lal AA i r ey rl ca p l CJ Ix aks zu cl el SEE ele a Igazissxsezssz EB Sssszsaess 2 SE S ES ERES ES en eni e en 66 06 en em n6 eni em e ens sz e mm SEES SSS SS SARRA ANNEE JENER REGER tl HE HEN 290 lt xo TT 327 bu pr poss pos T Pe p al R F Er Ka mI EU FP 3 e er zm j 5 el S K L Z pl 1 ll k wb a a a S K S a La Z y pr kwa zz 3 c i E S S Lui ele eh el E Z E S Z 3 C3 Q ML ze e ep c stale 1144s Wi md E es SBE mr e ha zx m SEIL E Laa en L 3960 ea 3967 F7F_ 2350 2350 lo 2350 ral ei ed ei S E Ti EES mi e JE cg c S Z qn a em d er sale mE un E ei c CN r4 d t p 1318 lo 5 o 291 lo 292 E 93 Ka ZI 2 ei T3 KE um EL x Es Z e o ac 50 o Jo 304 a 327 27 ae TUM SR eed eee n v P 4 4 sp o 233 TATA 2n 302 200 29 lo 291 202 294 S 0 CA 317 317 o 317 ae Tous I JU 28 EasyPAC User Manual TPM Virtual zat T deb b C EIS EE Xr ue r a e pc Ea ES HBE le G be Be ps E E PR 5 ea T E m E Un E En E i bel E Eo E Bt a i ESI ui a a E a E 5 i 5 in ua ir C EI
84. ademark of KW software B Other product names mentioned herein are used for identification purposes only and may be trademarks and or registered trademarks of their respective companies TPM EasyPAC User Manual Electrical safely B To prevent electrical shock hazard disconnect the power cable from the electrical outlet before relocating the system B When adding or removing devices to or from the system ensure that the power cables for the devices are unplugged before the signal cables are connected Disconnect all power cables from the existing system before you add a device B Before connecting or removing signal cables from motherboard ensure that all power cables are unplugged B Seek professional assistance before using an adapter or extension card These devices could interrupt the grounding circuit B Make sure that your power supply is set to the voltage available in your area B If the power supply is broken contact a qualified service technician or your retailer Operational safely B Please carefully read all the manuals that came with the package before installing the new device B Before use ensure all cables are correctly connected and the power cables are not damaged If you detect and damage contact the dealer immediately B To avoid short circuits keep paper clips screws and staples away from connectors slots sockets and circuitry R Avoid dust humidity and temperature extremes Do not place the product in
85. ase of level trigger Enable 1s used as the parameter When level is HIGH it will be executed repeatedly until the level becomes LOW Status Logic The standard output includes Valid Done Busy Active CommandAborted Error and ErrorID The corresponding data type is BOOL except that ErrorID is INT Valid represents that FB 1s executable R W of parameter is successful when Valid is TRUE and is failed when Valid is FALSE Done represents that FB is executed Busy and Active represent that FB is being executed CommandAborted represents that FB is interrupted while being executed and is aborted therefore Error represents that the execution of FB 19 not correct ErrorID can be used to check Valid Done Busy Active CommandAborted and Error are mutually incompatible When Error is TRUE ErrorID is not 0 The available Motion FB of EasyPAC is listed in the following table Index Description 89 6 6 5 13 MC MoveRelative Relative Move with T or S curve el PM EasyPAC User Manual Check the system configuration Get the hardware sensor signal Table 6 3 available motion function blocks TPM EasyPAC User Manual 2 6 5 1 GA_GroupDisable GA OroupLusable 1 roupLHhsable Axesiroupe Axesirroug Function Disable the grouped motion function Input Parameters AXIS GROUP REF Reference to the group of axes BOOL Please refer to the Execution Logic at section 6 6 5 Output Parameters AXIS GROUP REF Referen
86. c1 C SS ABE S S S CN CH c1 c4 c SEE 3E ex e e e ow r4 e 77 vll r 25 05 alle SE els eh S es pa 2 fay esee l sel pl ral el ral Pa Sacra ca E p c S mE S Ri l RS ERE g SIsisis Ss F p S SSS S SEE SEE e e e l e lL EEG E EL E LE E is E Ma Ma er C m Q E C 12 C f al L E E pes Ela Ha D l D x dal 2 un KS c E E R E Ele Zl A ral ui en d n rl uni rel a E rl srl nni nm cm m dau rel eI cA D al re x TA so eE E ol EE cal em ead e S m Fa E zm Z SEDE L e ep Ganl ZI npa e S PIE ae zs y Js EE EE Jo EE Dr Fa e E dl E A A A a a eels EE k ka ka 00 oe 00 T mi mi a e E oe oe o4 oe Do 3 o 32 3 3 3 sal x gl l e eoe sdl 3 d l sal lt el x l 3 3 24 e a a col ca on ca on ca e oo So ao ls Oo ca OO Co oo Cal co Gal Gl ca zz ex e m md ES rd m x ELE EA aoo E ka ben E E ES S Es EEZ t srl cJ xl ve sl ol lt ca siz C s SEL E E Fel eri S E El aja S Q e SERE i eJ n pe ari a D E V t7 L E E go on uc E EIE pags esa d CE EE EEE CEE EE EEE EREE ei eil ra x e E E an ed ri S e en e ES e Da RRRRRRRRRRRRRRRRRRRRRRRREREEREEEEEEREERRRREREEE af e q r Pi Pi Fd 3 n A M 1 sa 3 el 4 3 cal ea a 2 EX H un 235 EasyPAC User Manual TPM i MODBUS MODBUS MODBUS F gt pr TE La Ch mS BG G 12 5 Ly 1515 A 1 ec EE G 2 en kas E
87. ce to the group of axes BOOL Standstill or Disabled state is reached BOOL The FB is not finished and new output values are to be expected BOOL Signal that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 9 TPM EasyPAC User Manual 2 6 5 2 GA_GroupEnable GroupEnable 1 roupEnable AxesGraup A 76213 OUR Function Enable the grouped motion function Input Parameters AXIS GROUP REF Reference to the group of axes BOOL Please refer to the Execution Logic at section 6 6 5 Output Parameters Standstill or Disabled state is reached BOOL The FB 19 not finished and new output values are to be expected BOOL Signal that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 92 TPM EasyPAC User Manual 2 6 5 3 GA_GroupReset GA GroupReset 1 1 irroupr ese Axessroup Areso np Function Reset grouped axes to StandStill Input Parameters AXIS GROUP REF Reference to the group of axes BOOL Please refer to the Execution Logic at section 6 6 5 Output Parameters Standstill or Disabled state is reached BOOL The FB 19 not finished and new output values are to be expected BOOL Signal that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 93 TPM EasyPAC User Manual 2 6 5 4 GA_GroupStop GA Groupstop 1 stapMode Active Command
88. d by MyDataCheck Q0 a Ci mw Add Button objects and set the Modbus address Check and set the I O address of 106 D422 with MyDataCheck as shown below Hit Button hj General Label Advanced Visibility ID Note Picture Shape T External Label S FD Color CAM Sw 1461 Pattern BG Color CA Operation O Se DUN SetOFF Set ON Pulse Set OFF Pulse CO Momentan ON Momentary OFF 9 Invert Address Type Bit w Wite Adds Monitor Monitor Address identical to Write Address Figure 6 128 making of a button 165 IPM EasyPAC User Manual Duplicate multiple buttons EML i Page Tj Bring to Top Ya Send to Bottom Object Properties Hoa Save as Default Save to Object Library Copy Dir Number of Copies Columns 8 T Rows 2 Spacing in Pixels Horizontal 2 Vertical 2 Y Increase Address oos dE fri ES 8 132 60 x 56 10096 S E23 EZ ST N a A N Increment 1 Figure 6 129 duplicate buttons oun ME 1118 Figure 6 130 multiple buttons created Download The following menu will show up after successful download EBBEBEBE Figure 6 131 downloaded program 166 TPM EasyPAC User Manual 2 7 5 2 MULTIPROG Project Create a new project with TPM template Start MULTIPROG le MULTIPROG Express Figure 6 132 start MULTIPROG Click on File New Project Figure 6 133 create a
89. e MERERI RE ee ek EET Lem LE N la L KAD a me S TES id m L Dan Types Jun Hame Usage Descripbt E je Logica NOUS LD samples y E INIT AXES EL VAR 3 Untided Is Th aa TOR Hs Buffer rc ul DINT VAR dean o _ BOOL VAR ourur TON VAR Figure 6 55 the FBs dumped under Variables Double click on the LD_sample and the following window will pop up ELEME WMX 3 10000 1 Jue value NT VAR m3 10008 i Kem C VAR 1 WMK330N03 OUTPUT DN X vR MD310012 OUT WORD VAR J QW Figure 6 56 the FB details Inside coilO1 could be used in other programs in the same project The usage must be set as VAR GLOBAL M PLCMODE RUNDE LL amp Local Gi Local V anable Groups rad a d Global Vanable Gece E sa Pree ical Had aie Sl e Loin on E al Resource A Dels Hj sA GF Figure 6 57 set the usage as VAR_GLOBAL for sharing with other programs 70 TPM EasyPAC User Manual 2 4 4 I O Configurations Double click on IO_Configuration and the following window will pop up 2 MULTIPROG Express LD sample Code LD sample io File Edt View Protect Build Online Extras BA Pain aana IPC air las E WO Contiguration iw Task CUE O IMIT amp E5 ENIT AES OL LD sample LD sample Ca Cr o
90. er umber Error ErroxID Value Function Get the parameter value of type integer Input Parameters Output Parameters BOOL A valid output is available at the FB BOOL Signals that an error has occurred within the FB INT Please refer to the Status Logic at section 6 6 8 INT Actual parameter value 129 TPM EasyPAC User Manual 2 6 5 36 SA_ReadUsintParameter FarameterNumber Error ErrorlD Value Function Get the parameter value of type unsigned integer Input Parameters Output Parameters BOOL A valid output is available at the FB BOOL Signals that an error has occurred within the FB INT Please refer to the Status Logic at section 6 6 8 USINT Actual parameter value 130 TPM EasyPAC User Manual 2 6 5 37 SA WriteByteParameter Function Get the parameter value of type BYTE Input Parameters Output Parameters BOOL Completion of the command execution BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 131 TPM EasyPAC User Manual 2 6 5 38 SA WriteDintParameter Function Get the parameter value of type double integer Input Parameters Output Parameters BOOL Completion of the command execution BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 132 TPM EasyPAC User Manual 2 6 5 39 SA WriteDwordParameter Function Get the
91. erOn Valme Powerln Value ILLI E Settings 6 Safe Value Safe Y alue bL E Settings Ed ge m Figure 6 87 configuration of 108 P120 2 Test 108 P120 with MyLink Set as shown above and click on Start to get the value as shown below Figure 6 88 screenshot of MyLink testing counter module Create a MULTIPROG project Start MULTIPROG 2l MULTIPROG Express Figure 6 89 start MULTIPROG Create with File New Project pia ste E 535 Cock Figure 6 90 create a new project 148 IPM EasyPAC User Manual Use with TPM Template Figure 6 91 new project template Double click on Logical POUs Untitled V Den Types ee Lopa POUR Figure 6 92 click on the Untitled Add new variable and set the I O address Use MyDataCheck to get the correct I O address mapping as shown below 1 Select 108 P120 and set IP as 63 as shown ing Modul 108 P120 Y Ip 63 X Mode Modbus Zero Base Decimal Figure 6 93 set IP of the counter module 149 TPM 2 Add a new variable and name it as Channel U Variable Properties Name Channel 0 Data Type DWOR Local EasyPAC User Manual Definition scope Global Local Variable Groups EJ Default Usage VAR we RETAIN Initial value 10 address AID 433 Description Hidden Initralue as default mpoo FHorc Global Variable Groups El g Physical
92. est fr ss fisco prs hsc pos Je zr px dest ferr 576 Seas eee ae eee a Core eee ee T Hope pom ee 7 s lo 558 1spo sse DO EG fossa Jo 553 7 sss Ti s or p por fr peo paso peor fs Ps sss fo Js Pr peo hse eor sez Goss Jess Jaro Lone Jess Ja sos os To Eos pr eos fises Bess fer osse sse fo pese fr se isos ers SEF Af eA S pois p SS Eee p O PES PSN RETR PII Re o ceni o fio bo bio p bean hiss fs SEE ae E air learns GS R ed a oo 9 I ER 1 I3 3l EasyPAC User Manual TPM be m Bal E Sl m v Bola m 4 4 ad o hs ao s o s al m af i i m s s P MODBUS a de m T E A Eal D D d e e US i a i 4 le smi ae a MODBUS 07 A Y 4 2594 rub pois ie A O 2 D m G P Es In i DGA 3 gd n E ri mm D J i i 4 i e L 4 le 5 s o s e a o Ti Dn D a p T DIE E Z ed S he S A G G G G B MM MODHBUS ca Ja un m pp a s s S x a a Ek T 2 gt 8 Lens ess hese ns Becr so poss fo fesso esos pr b tt TTT Eni isnot hears fs 5807 tal E E E E uri ra ch m Wi Kra m E zh unm nn e p uni en E cm rA E a IE E
93. fal a Z 4S5 vb el Le F n Au Z E cal E dnl wu e d o u Z aoe 4 Ths faca poer fac pam pan po 2200 Lese ATHAT lo 152 o 153 o 157 m ise pes o pee p pes pep heo T izo li7o Jo o f7 2904 mu 168 i168 157 T 25 EasyPAC User Manual Virtual M ICE xi 1 LLL CE xi E E E CT E ET E m hn phi Ek S TPM E 2n EISE E EE E 3 en B en em e za ri A mi pit rij e r ei eal rr md K rei K i e al e ll ll ral e e EA ay v Lp tn Zal cap SE E 2 SE Z on a e K Ka Ka Eg e en en LOG EL 5 F mi ey m Z m pr T Aa T N Tl r ER um s r4 x Ep T cil 5 E ci E EA EE EE ee E T m e ol er rm m pi pal La bur Lu ur ES 3 E N ll vah y en E ae l ll ll esl ll all al a ral ll vah vah vah val ee val p eu E elo a SE ABE dan L IE S E m m g en Ea m A EX Z a ea ny E reap ni ri kr Pal ra Ed 3 i a Ei ed 2 ed El Ed JE Ea A mi m al ch d cx Fl 5 A E SBE Eb E ur 212 p E M i EL al e l mm mE uns O Mal Mal wp Ma Penh eal eal enl ewm emu e LE 26 146 147 28 i48 L E ix a on E Z e E CGL al ri a e 04 cN 8 a pz Gray Mal Mal ung Sn e emp open eee n AA eal e ex ens E n T KS KS Ka KS i i i
94. fase feso wi pri SL d T G GR ZL T 20 gn z n e LE e a Le i ari C 4 C3 S E r1 al c e c1 e v m cal ci eal a eu c pas las Mm DBO 35 2 DBs 35 T ET pens 2325 lo 2325 79760 emo 37 L sf fs EA L MODBUS lass loe max L eng pni uni ed he Le un rc n4 el d cp a a A C CH E 5 z a De Hr g 7 fsa peo ura por fase A A A FF Tis pas iss for feee e A ppe pn p pn 239 339 o z39 y 3456 EOF 7 13368 pas 3375 Dor Djs eso q 7 3560 D EM 5 274 Et 26 d pin ee pae um 241 lo 241 252 o 253 253 lo 2 253 DLL Ib 265 ln Par 277 lo 2 277 343 271 36 ICE xi O O E O CE CC E E E CT ET G 276 25T PDT 228 e hs p fst pr posos fas D pae fae fo pe f7 so peo s 240 ao Jo puo Tr see pss bari per ases 2288 ue joe p pe pr posa a fro fear aat A o 2324 3752 EAs 37 LM S pas qo so Joso bo bs M 2n 357 24 EasyPAC User Manual Virtual TPM L LAA LAB Jero 427 LAB ca ES th ra en m E Ka ZEE F e G sl ea ems v s S S oo S ao elo S d E m en ei I G e a 5 A 4 x E P4 e en L x La e z 2 Z A Z 7 TT t E el 2n Ca ES o m3 P S B 5 a z SE ee rij e rif rg rm tj Ei Ea E E d P 5 za zs z m LA m a m n t wl eel OR als E Z
95. fonction Mocks E Taser Een bon Heels Parameter Datatypes Description z CTD b Ini Boot fa rng dos ig detected the on SD delay ening re started Si E SS F_TRIG PT TIME preset Eme interval for the delay T E q BOOL TRUE F IN TRUE and ET gt PT 1 SE Gr a E a FALSE IN FALSE or ET lt PT ay TOF ET TIME elapsed bme sterval 2 Barnes 15 Venable dee Bartan 18 Repormatabon n IL A Ketpar sabon a ST 4 Eeporsalabon s te gag m E TF y EN ENO K gp Rusos peio specie Tie Ba eo i recen aorta i IU im Figure 6 41 the help file The sample of TON is illustrated and the IL ST related information is also available FB can be moved behind the contact and connect it with direct wiring as shown below PLCHMODE RUN nade coil A FT Figure 6 42 TON FB example with timer input PT Double click on the blue point of PT to enter the desired timer value In this example the name is given with T 1s or T 1000ms as shown below PLOMODE_ RUN lnd s cou k Variable Properties TRI amp Local Data Type Local V anable IMT Default Figure 6 43 TON FB example with coil output Q Double click on the green point of Q to set the coil output as shown below 63 TPM EasyPAC User Manual PLCMODE RUN Inade coil i HH Tf Variable Properties Dehribion scope 3 Local Local Vanable Gi T 3 Chef ad Figure 6 44 TON FB example with coil output Q specif
96. for aser ps E B I LT pee ee mM M X3 798 lo 7as 799 lo 799 H 3 TYR T E k b sol e lel ac eG ec l ZEE ole lalo un SEE an EIL lt rahe ead oa SE an Es of Es Bl in Ea Haf ens Laa Era 4m Ea iu H E zr aai EA od aj ma 4m La ys ERE dell SES EE ES s Es S e E SI SEE PRE all ca J als EEE an ae 09 oo op oo ae as ac o5 o6 el ac SS E ttt 222 ETE e E alejes en nni am Gl 06 06 oc 00 me rar 812 lo s23 lo s25 lo 834 p 835 ens sns lo sos os te eo s e o joo 7 8016 1r50 8023 sio sio o 10 7 s024 1rss 8031 sa SAEI SR E pue ps LEGS zum E E21 817 T a 21 822 823 BJ RS PE 824 TPM Z E E E S SE a a240 una s280 Z cl E Z GE por Jas por as sie fse p fie NES 12 FE sr pore se pe p peer tr ez bors Br PS A IS aa Jess To fea 7 fase Does sor poe sas leas 847 EMITE js GST aes ss ose uoc e ane 7 7 2 e d Es Z Z E el o A en E KE EE LS o D S 2 El Ela lr m ta I S E a zl E a a ZR C LL a E el E d ELa 3 i 2 EE i o ax ca c ej c PN c eil a al eal al eal n d egl a l i zl 2 G C E z E Ls Las ed k d SE nm 5 215 212 3 E SPEI m dae v C i CS Mal ur e a C e zl T E Es c il ll ri zz ra a D S p ajaja
97. hile the input Enable is TRUE If there is a FB error the output is not valid Valid set to FALSE When the error condition disappears the values will reappear and Valid output will be set again The behavior of the Execute Done style FBs is as follows LL L LL Figure 6 71 the FB behavior 2 6 4 Why the Command Input Is Edge Sensitive The Execute input always triggers the function with its rising edge New input values may be commanded during execution of a previous command because the inputs are only read once The Done output can be used to trigger the next part of the movement The example given below is intended to explain the behavior of the Function Block execution The figure illustrates the sequence of three Function Blocks First Second and Third controlling the same axis These three Function Blocks could be for instance various absolute or relative move commands When 82 TPM EasyPAC User Manual First has completed the output First Done triggers Second Execute The output Second Done AND In13 trigger Third Execute Function blocks to perform a complex movement Sla Par Pe Engr Enar Par Emw First Execute sss IA First Motion active rd L T amor n mns a s TS Second Execute A s T Second Motion active 1 Second Done j oio a a s Ee J ge A a sn ma macs O 1 A Third Motion active r1 Third Done mier io y
98. hown below Save Project A As Zip Project A As i x Delete Project Figure 6 26 create a new project Please select TPM Template as the basic framework Figure 6 27 TPM Template in creation of a new project Press OK then the following window will be popped up as below 10309 DR a IK E 4 d PIE xm n NT ma AS Rn s DX a na XI AE am o SE 7 atii amet inar cmm E XC AED XE LE T d gus le Lagen a ict at s EM duo inr V mre ALIM MUI a SIE EA Lr O qe en 0 L T au ak UER abt EEN Le Nea daro mne Vm be ge H adi Si e mam CE u Dn GTO ET SE BiR mw dl el i T ri EIL a P ND D NI mam PL 9 35 L T d T FA mcam ADE 7 za IB oil da L i i a E 7 ag RT SE a3 ri eem IKE 73 acid acr s nk dca tar Tascam IKE x DC Z aer s mu i i aE Kd Bidk X OE Lean XL MAS i m EIER LIST renn RIL 6 N MESE AEN SEN PT eem FLAG RE E 7 ALMA AIT REDE REALM an vN ierant a rE i BEM eit vE z SUELE e T Raa F Arm Ta agis BITE n rom ui T lt a 1 Figure 6 28 main window of MULTIPROG 56 TPM EasyPAC User Manual Project Tree Window and Edit Wizard are shown in the above picture Double click on INIT_AXES in the Project Tree Window to open the edit window as shown above There are 5 programming languages available in the MULTIPROG Express 5 35 tool The sample program with LD will be explained in the next section O 1 LD Ladder diagram o 2 SFC
99. ied After setting name data type and usage users could select R_TRIG in the Edit Wizard and double click on it to name it as R_TRIG_1 and press OK Please then left click on the blue point of CLK to make it blue as shown below Mame Definition scopi S Local Data Type Local Variable A_TRIG Bj Default Figure 6 45 TON FB example with rising edge trigger properties set Click on the Contact icon to add a new a type contact and enter the name with Inside coil01 Then add a coil on the Q position by selecting Coil right icon and name it as Rising_Edge as shown below R IRIG 1 Figure 6 46 add a right powerrail attached to Q Add an ending on the right end by click the Right powerrail icon as shown below 64 TPM EasyPAC User Manual KR TRIG 1 Insde coll Figure 6 47 add an ending on the end Use Connect EE to connect all nodes and powerrail as shown below Figure 6 48 all nodes are connected by Connect The program flow control will be illustrated in the following part This is similar to if then else in C language Open a B contact named as Rising Edge and add jump behind it and double click connector Jump and enter the name with jump00 as shown below 02 p ising Edge m Figure 6 49 add a jump named jump00 Then add a multiplier MUL Figure 6 50 multiplier The help file of MUL can be accessed as shown below 65 TPM EasyPAC User Manual MUL Co
100. igure 6 69 FB with debug function turned on The OUT OxI FFF will be outputted from the DO module of IP 0 because the OUT was set to QW 1 JH TPM EasyPAC User Manual 2 6 Function Block This part is adopted from the PLCopen for motion control specification and includes additional information for functionality with TPM and other components Each function block is listed in alphabetical order and is also linked to the feature or function from the software environment A comprehensive list of axis parameters and error codes is at the back of the manual A subset of specific errors that each function block may generate is included under each function block description The other main concepts covered in this manual are the Motion State Diagram and documentation concerning the Data Types supplied with the Firmware Library 2 6 1 The State Diagram The state diagram shown defines the behavior of the axis at a high level when motion control function blocks are simultaneously activated This combination of motion profiles is useful in building a more complicated profile or to treat exceptions within a program The basic rule is that motion commands are always taken sequentially These commands act on the axis state diagram The axis is always in one of the following defined states Disable Initial Standstill no movement Homing movement to reference position Discrete Motion movement towards target position Contin
101. introduced in the next section 2 4 2 Function Block FB and LD A timer will be added to the above mentioned example Select TON Timer On Delay in the Edit Wizard by double clicks on it Function blocks Name CTO Y cru E cruo F F_TRIG F_TRIG Hrs E ER Y TOF Descnplion Counter Down Counter Up Counter Up Down Falling Edge Detection Rising Edge Detection Reset Dominant Set Dominant Timer Off Delay ETP Timer On Delay Pulse Figure 6 39 select timer on delay of the FB The parameter setting window brought up by double clicks is like the following figure Variable Properties LAD acres r Desenpiior Loca Global LOCA TD 2 Local Variable Groupe B Das Hep Global Variable Groupe Dte gt K 30 Hardy EJ sa GROUP Figure 6 40 parameters of the TON Right click on the FB FU the assistance document will be popped up 62 TPM EasyPAC User Manual m HM A a3 FED ROO S Help on Parco and Pencbon Eie iaaii mg TEC ati facias 5 9 TEC 61131 3 function Mre Tha timer function block realzes an on delay Um D aiy A NG 9 If the inet IN changes from FALSE to TRUE mertehurvg Gn ie delayed for the E Esstablo Tupe gag blocks ima wiarval at ingut PT After PT has passed TRUE is ited at the output E Edge detection fenchan block D Tha Gert Peth has aleeady elagaed i mdicaied at the output ET E Canter
102. ivate debug mode by this button 1 Override Exec to TRUE EP setCychcTime 1 Figure 6 100 override Exec to true The EP SetCyclicTime 1 is calculated and set it 2ms in this case 2 Override Init to TRUE MC Power 1 would initialize and enable the driver motor SA_WriteDwordParameter_1 will modify the maximum velocity limit as 5000000 pps then make InitFlag TRUE MC Power 1 SA WmnteLwoxiParamete 1 AXIS 08 ES 592 2 Figure 6 101 function block with debug mode activated MC ReadStatus 1 and MC ReadActualPosition 1 will be executed when InitFlag is TRUE and are used to monitor the axis status The axis is in the StandStill status as shown below 153 TPM EasyPAC User Manual MC Resd ctus Position 1 Figure 6 102 StandStill status is true of the Axis 3 Override Run to TRUE MC MoveRelative 1 will make the axis move 100000 pulses with velocity 10000pps The status can be watched though MC ReadStatus 1 and MC ReadActualPosition 1 MC MoveKelatve 1 10000 TAcc VOZY 0 1000000 U TDec VO30 U 0 1000000 Figure 6 103 axis status with Run signal turned on 4 Override Stop to TRUE MC Stop 1 will stop the axis with deceleration The status can be watched by MC ReadStatus 1 and MC ReadActualPosition 1 154 IPM EasyPAC User Manual MC 5top 1 Figure 6 104 axis status with Stop signal turned on 155 TPM EasyPAC User Manual 2 7 4 Grouped Axes Note that the ha
103. iver function Oo Shared Memory Input Output Var Warm The following data will be initialized Non retain SPG 0 is executed if a warm start is done I O driver function Shared Memory Input Output Var Stop The following states will happen All user defined tasks ProConOS calls the program SPG 2 1s executed if the program 1s stopped I O driver function EasyPAC ProConOS Boot The EasyPAC run mode depends on Rotary Switch 1 setting as shown below O o be c iy xl 9 C F Default IP address MyConfigSvr MyConfigSvr MyLinkSvr ProConOS Modbus RTU Server 7 Cold Start 8 Stop 9 Warm Start ProConOS Modbus TCP Server A Cold Start B Stop C Warm Start ProConOS D Cold Start E Stop F Warm Start Click on Debug on off icon Figure 6 66 the debug toggle button 75 TPM EasyPAC User Manual DINTA1 affer value Figure 6 67 FB with debug function turned on Jump is used to avoid fast continuous execution of Add GE means Great Equal MUL will be activated once after 1 sec TON 1 A ToT IN Q inside coil 1 0 TMEF1S PT ETE 0 600 R_TRIG_1 Iriside com Figure 6 68 FB with debug function turned on This program 19 similar to binary output as shown below 1 2 4 8 16 32 64 128 256 512 1024 2048 4096 The output of SUB 1s in the following 0 1 3 7 15 31 63 127 255 511 1023 2047 and 4095 76 TPM EasyPAC User Manual F
104. l y I f F M CA Gh Lal Sy ce ea il mif mi mij mi E E e pl E e a GC K a zi ba E e GG EE rel cs 5 EEE Es D AEE Sl s AE 7 S c SISI DI ens us EEE mij E coy ca es mE SRERRR SKK 5 a Ea a la a SERRET md r cl r CM cl sol cl a a E ml cl SB EE Cp P Z A GI on T3 rl v eh sal rd rd GO ch L E mi ES S re ne n a re sel vr paj mj pj Eal Sas Eal pel rp rme pe i D Pe Kas l Eal Da p D i E D a l ey re Eal Kae l P Do a 44444 H EEE a py Z ER PIE eq e up x a foi pons 21 Ea L2 m Ex ES P leal al co ell zeal al ral S Ey Ge m Tal Tn F F l g ung un re al DI Dg oo o0 00 el Fei cle lee i E an E E E E E E E i E E E E Fa SL ias E E a Dal ea oa mal c a aja E ci an pe pe E E EE a Ln r4 i Er ra c4 pn ar pr r H cay cg c cg c cg c hr c c an pn pp zaul l MM an cr pg ux un m L E E E rl L eee mme d Ese Fa Fed Ped Fes Ped k ea ea Z Pa S ra ra L t ws pP m E 3 ra EFIE DEP D Lil D Ee l Eal Pal Fal Pes C E m E als N ca Um S c EN ta E E an Hal oa E ta pe EJ C ale CE EN me Kms Co Je 2 T pu fal 5 m el Z Z ele el S el CS mE Z EIE ees ei el e el E El pS pe pe LL S E EE e E lt dla eiu EE i zu eel m m m e s i 8 3 d al o ae nj ai 4 4 E LE E 2 L a e d rif rl il ral ra ri ral ri oe class po EL i dl am 1 19 222 TETTE oi m ci en ch EL Kas S S E E e ZE E
105. lezz TA 2 125 LAEZ E ee fone pa 7 leer Lapsles79 ha 7 6880 AEO 6887 1A 7 fosos raro esos LA h 6784 F r fesio fia bu P TE un OL ga ol z d D 7 dd z E lo 652 A bee Jena passio lo 647 Jo 653 lo lero amp 71 ez lo s71 7 e017 Tusco leors fip o 657 ses Jess Jo fees 7 sass Ea ia eco Jeco To Te 660 lo 648 lo 849 p 650 e fes fo desi Jero Haeojerss pasao 2699 e p pap aao Et HE lo l s jo le Jo l s jo les jo les D 66 o les e 547 545 649 5650 652 653 an a m amp 547 Le E 649 50 652 B S D 653 pa pi ee ee En ess ees To less T Ios 54 gas leas Jo leas E eoe Tess lo le 666 667 mim cal LE SR B3 527 528 529 630 632 34 EasyPAC User Manual TEE ATAN HA HII ULL HH CAL Ze l E C3 L l y G 5 i S EE o alo aua A d a a a P Fel Fa K Ti ACIE 4 s el i sd sd L eH w Lh E e E pa m Re el CAE Dp nl renl a coi
106. lock ErrorlD List Missing axis configuration parameters Invalid axis IS IC e midas 000 OT Theaxishadbeenimitialed already 9 Theaxiswasnotimitialedbefore 0 H QOuofaxsmmber Mega FB execute ooo 14 Parameter number are not correctly 00000 15 Datatypenotmatch E qPaameerismadonly 000000000 IS fut of function block type 000000 IC IT gt a Oo B a A o 089 0 IS o 083 0 E rg omnia er Table 6 5 function block error id list 2 2 2 2 2 Parameter is not enough or correctly 7 11 12 14 15 17 18 19 1 6 7 8 9 30 3 32 33 34 141 TPM EasyPAC User Manual 2 Sample Programs The sample program can be found in the following directory C TPM EasyPAC sample 1 AIO Counter Single Axis Grouped Axes HMI DIO Lh dA WON 2 7 1 Al O Module wiring 106 A104 01 and 106 A180 01 are used in this example The IP of 106 A104 01 is set as 61 and 106 A180 01 as 62 Make the wiring as shown below AOUTO of 106 A104 01 is connected to the AINO of 106 A180 01 AGND of 106 A104 01 is connected to AINO AGND of 106 A180 01 And AIN4 AIN4 AGND of 106 A180 01 are connected together Figure 6 73 wiring for this example 106 A10 01 J o p pq y Table 6 6 the wiring table Set the gain values of AI with MyLink Set SW as 2 to activate MyLink server and power on Use MyLink to check the setting 1 106 A180 01 is set as shown below 142 TPM Eas
107. loz y 94 fod lo fos 7 2296 ses 2303 SF pss p p fr sot poo ss por purpur f 143 Tr peor ooo us por Jas Jas pe Jus h E ez i E a Pa ZI oo S m Ti ue d W gt Ld c e LEX eal M E E ral c Li Ka E K 2 a EM ar gt E em E Lam zi CE d 117 U 3 fee pe A 24 EasyPAC User Manual MODBUS Virtual MODBUS TPM 7 T 23 ddd N G E ol ot aa o Vp l 22 Fal d 21 sel oe d eg ey ca c 1 en gl 5 o5 N BEHE El en en eel eel eri en em em em ce E SE zac al y dele mal Z 2 Z s l el s l eal ssl esl n a E EA eal ci eil cal es E H 3310 247 e7 er fis fee pna pe es m I S zi ET N i i i MZ u ra Aa Ew F4 ES T6 ET p H LE m i MODBUS r Discrete Ec Pas Ja FE acp OC 7 2504 7 A der dia IEX LL 7 2496 m e T e 155 rr pl ea en 2165 E pano pa 2166 7 2488 24 2 ale G zm xl Em xa I fs Mi es Fl Z4 e oq Z Z d E z D E G E J C X 4 cx M ey EN Mal Le m TU e Md ry er eri eru en er ea e enl s ET en Lua pre L CA al rm 4 a Wr L Z Z r E Ex Exi En eal eal c c eN E ei C a I2 ser ema l mt 233 S E P q pd da L e i mL e e e E eal c3 c 71 ed SH ei
108. m users can select A or B type contact or coil Please follow the following diagram Figure 6 36 newly created contact named PLCMODE RUN Name PLCMODE RUN Data Type BOOL Usage VAR GLOBAL In this example the IO address will mapped as MX1 0 1 60 TPM EasyPAC User Manual Definition s e Local Ta Local Variable Groups BODL Defaut Usage Global Vanable Groups VAR GLOBAL et Physical Haedware Initial val ie E a Lonhgurahon B Resource F ET 10 BS 54 GROUP SMS 1 0 1 Das criphion Hidden Ln w Ske 5t Cela d Show al vanables ol work zheet Figure 6 37 the contact coil properties Add a B type contact by selecting Contact right and modify the name as shown below E i v Contact Coil Properties E Nan Si Inside CailD1 B Local Global Data Tope Local Vanable Groups seu Canela FOOL ad Lel a d Help Usage Global Vanable Groups VAR RETAIN Ei ys Physical Hardware Iritial value i e Lonhguraten i zj e Hesource 1 Delauh 140 address Es 54 GROUP Daesenplion PDD OPC Adm Show all vanablas of wodoabheel Ea riehe as dels ll Contact Col e Contaci Cad Figure 6 38 change type of the Inside_coil01 Please change the name as Inside_coil01 and select BOOL VAR and B Type contact then click OK to finish 61 TPM EasyPAC User Manual The IO address is not assigned automatically and will be done later The use of FB s or FU s will be
109. mi ER em erg een Hus LU x EA LA CA E Z z gt e E e E GE G ri a ala S E He ra E lt eh r prl M e I K G lt le BE He E D I H E LC L or LL C L a L E E Ela El Ir db a rra l uri pe En Em eu G S ree uri pra Es pm ES ER en eJ 5 G a rl re zn Z E rel rel al a als E Z E a e WA e D D K ha l us ac x x GP on P E E S e oe ex oo l m a oo kaps E E S eel al ex os ez Ea pe Ea EEA E FAE pr S 20 I El cH eal ed e T ra GI SIDI Fa E SZ GUI LE a a en 4 mi S E A M EE ERE ES ERES e W i T SEE ddz e SREE RE PEPE asses A n k la wi wg uw e s a uo S e ae So HEE SEBE H S PETE ll red l up H e th SRR SES SS Es Bs l cu eg Goel l ad ral a 212 gt en W uni a un ui ui uri E SISI SS rebos el zel c3 oo zel oop oo c EH zz p exp Ez z2 a als EL Sl Ss S SI SISSE r4 ca r H c4 c4 rl r4 Cd SSS SS E t ci El r c9 c4 rdl Ea cl SIS E EE ril Pn c c4 REPERI EEE H rij 2x ui ur cle e HRE C r ga e e E S S mit SIE sso See 5 z Se cl eu cl l c4
110. n7 LAN card RJ 45 10 100 1000 Mbps Software Installation executable file MyDataCheck exe ProConOS MULTIPROG I O Configuration There are 3 types of memory INPUT 1 OUTPUT Q VARCONF 96M LO Group Board 140 Module Range Task INPUT User defined Input TAB W Task Figure 5 1 three tabs of each type of memory Ring 0 of EasyPAC supports up to 48 DIO modules and 16 IP48 IP63 AIO or PIO modules INPUT OUTPUT is explained in the following Total length of INPUT Local DI 1 Motionnet DI IPO IP47 Motionnet AI IP48 IP63 TPM EasyPAC User Manual 48 IP x 4 Port x 1 Byte 16 IP x 8 Channel x 2 Byte 14 192 256 449 Byte Total length of OUTPUT Local DO 1 Motionnet DO IPO IPA7 Motionnet AO IP48 IP63 48 IP x 4 Port x 1 Byte 16 IP x 8 Channel x 2 Byte 192 256 449 Byte The reference table 1s shown below Local DI TPM EasyPAC User Manual Non Retain INPUT Yol Motionnet DI Length Byte O 448 Motionnet Al 9 pe Local DO a Non Retain l OUTPUT Q no Motionnet DO 449 192 Motionnet AO 256 1 192 256 1 192 256 MB Coil MB Holding Register MB Discrete Input Non Retain MB Input Resister 1004 0 47999 User R Rg VARCONF M Motion Single Motion Multiple Gateway mm mm User Define 13312 13312 10000000 10013311 Table 5 1 data type with memory occupation table Real variable I Q IX
111. nS d TTE 8 AXIS 29 AXIS 29 3 curmemt velocity 856 380 897 151 AXIS 394 a masaa ss 352 apo 353 paus 2o s nane ene pen ps poc 384 ELE 901 1 amp 5 902 135 asm e pe x3 387 oa 15 AXIS 90 3 current velocity 905 385 506 BA O PEE ENS pus sac command 915 157 520 os as 522 sa AXIS 321 feo AX leen fs Eu eus popu B Jota 390 AXIS T 935 pios 395 21 IPM EasyPAC User Manual a l MODBUS ro MoDBUS Ar Fomr moms 4o P gary Coil T ar Eal MODALES Iunut Register S e T A Input Begin Ead Begin Ead Registers zI DBC HEX DEC HEX DEC HEX DBC HEX EIB 161 1233 lars 1265 sor eos 161 1235 508 1295 s0F m IB 162 1295 s10 1303 517 eos 162 1295 s10 1303 517 EIB 163 1304 513 M0 SIF ob 163 1 4 sis 1211 518 RIB 165 1100 523 1107 sf os 155 1320 528 1327 52F y B 165 1122 0 11129 537 eos 166 1328 550 1315 537 PRIB 167 1396 135 1343 15 PROB 167 1336 538 1343 53FP MEIB 168 1144 540 1351 547 eos 168 1244 540 1151 347 HEEB 169 1102 168 1399 14 i 169 1343 548 1109 54E IB 171 1168 139 11371 i 136 1558 137 55P SR 173 1354 568 1561 56 608 173 1364 568 1361 56F SIR 176 1408 580 1415 567 mos 175 1408 560 1415 587 SIR 175 1424 550 1431 597 eos 178 1024 590 1031 597 SIR 179 1432 598 1435 E eos 179 1432
112. o her har pee pao o bao fr hen hizo a 5ss Toss To es fr fasas 1228 14635 13 Sa sas etn BB exse Fr Era 29 EasyPAC User Manual TPM Virtual M M Hum Caio mM SM IN xi M O E CE CC O E E E ET E L 5e s T E 399 dz mi el s E pall d rp c3 cap ca vc E ral r pa quel ala El L Hi 7 un ui Lu E ue eig a qu pe E Fa Ee Ee Q S en a 3 Kaz mA m en aad M E 4 ka F ala m E Le ze aeo n UR 5 m o E ry T cane ig p fior f sia ra ra ra a ra am am at re L am zi EI c cag cg c x eua cg c c el n a ck aalala ees er pa paia SES ESI Es LA W w u i wa Wa u ul u Lu E A Z E A A d u 4 p ry La zh na T a ERE eel F sa as E ed c lt ral cal ca cal ci ci ci S ei v oral ws par pes s mr ch LL Em Le G G En w mif cal c3 A r r4 Pr C r ET C1 1 el e PI 3 c c3 c cl 227 m Tas E rl ci C eg cd E c e i we c a e e gi Cal Ci ES Ere zm El ra c c4 sdl e l cd c c el e 3 c3 CAH C4 p x w dl c3 Le 0 2o ose peo a 892 894 ca E T i pl z F et di Es EE E ci ir K Kn c E gt 2 m Ery t K m o aed e s s e m i a pi el s a o o a A a j pu ri M T i E 2 inl 345 DE 1 oo i sel s e d m x e ra EAR GI a l e ETH Z da 234
113. ollowing l 2 Counter Count the no of pulses Frequency Measure the frequency of the input pulse Time is 0 1s 100s For example When Time is set to 1s and gets 1000 pulse from INO ID 193 0x000003ES The freq is KHz Period Measure the period of the incoming pulse in the unit of ns For example when the input pulse is with 2ms width in INO ID 193 0x001E8480 period is 2000000ns The freq 1s 500 Hz GT Measure the ON Off Time in the Gate sampling period is 0 1ms For example the signal in the gate is 2 seconds 2000ms 0 1ms 20000 ID 193 0x00004E20 GC Only 2 channels are available in this mode Channel 0 Channel 1 INO CountO IN2 Count INI GateO IN3 Gatel IN1 and IN3 Measure the Gate input time INO and IN2 Measure the pulse input Count 15 IPM Ring 1 Axis IP 1 IP i Table 5 7 table of Ring_1 axis The available IP for Axis module is 1 32 Total no is 32 IP1 1s for Axis 01 AXIS 01 1 command DWORD Command Position 0x00000000 0xFFFFFFFF Pulse AXIS 01 2 position DWORD Current Position 0xX00000000 0xFFFFFFFF Pulse AXIS 01 3 current velocity DWORD Current velocity 0xX00000000 0xFFFFFFFF PPS AXIS 01 4 10 status DWORD I O status of th Bit0 RDY Bitl ALM Bit2 EL Bit3 EL Bit4 ORG Bit5 DIR Bit6 EMG Bit7 PCS Bit8 ERC Bit9 EZ Bit10 CLR Bit11 Latch Bit12 SD Bit13 INP Bitl4 SVON Bit15 RALM e
114. on Mulley aa 3 45000 Jamesas O Table 5 2 MULTIPROG memory table MB Input Register MB 3 3072 MB 3 4095 So 10 IPM EasyPAC User Manual To support connection with HMI by Modbus the following memory design is implemented Modbus Memory Modbus Memory 1s grouped into the following 4 sections Coil Output Tag Bit Real I O ranged from 0 to 1543 BOOL Virtual ranged from 1544 to 9735 BOOL Holding Register Output Data Word Real I O ranged from0 to 127 WORD Virtual ranged from 128 to 639 WORD Discrete Input Input Tag Bit Real I O ranged from 0 to 1543 BOOL Virtual ranged from 1544 to 9735 BOOL Input Register Input Data Word Real I O ranged from 0 to 127 WORD Virtual ranged from 128 to 639 WORD Please refer to the following summary table Type MB Coi Guwy UserDefine Cid Table 5 3 Modbus memory table 1 1 1 Data Address Mapping MyDataCheck is designed for data transforming of Motionnet slave modules supported by EasyPAC 11 TPM EasyPAC User Manual MyDataCheck Y11 819 0 3 lani xi S ring o Ring SS Import System File Figure 5 2 MyDataCheck icon and main window Title MyDataCheck V11 819 0 3 1s the version information Virtual is for virtual Memory Address mapping Ring 0 is for Motionnet DIO AIO PIO modules address mapping Ring l is for Motionnet Axis Module address mapping 1 1 1 1 Ring 0 Memory Address Mapping MyDataCheck 11 61
115. ots fase boss h 6 2086 Jo 2086 7 3048 2358 bos ss A tp i 2985 Jo 2985 7 040 2350 on47 2357 ANOTAR 9333 or oor bor Doer Er cs 2200 q TW L m ex pes pop PRI oe oo e e E Peu DA e ED 7 lema Domo lens 12987 1 an E T GE E oos 2332 pois s S dis 7 so72 2370 9 Tb 2380 9143 2 ar 2368 1907 950 la id ed b p Tiss foe ear o 91 p ot o ot p o a o az o faz o fa o 92 jo 92 jo fa o az o a o a o a lo az o faz o 93 lo g3 lo 034 lo laas lo 336 H 35 047 lo 945 O 949 H 2 312 7 8157 916 917 918 919 20 ozo 931 9727 aa 974 gs amp 926 927 928 SS 7 935 936 j gg en ge e rr ms am v pr al per pe jo per fr pass paco pose o som Joso fo 7 posz baro f K E E aue M JAg be ps 39 EasyPAC User Manual Virtual TPM eb pa 25 cem exu c MODBUS MODBUS ra ER __AMAAH gt A gt 560 O ee ee NE TT Thess aso fesso less TI R LOOT pa
116. parameter value of type double word Input Parameters Output Parameters BOOL Completion of the command execution BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 133 TPM EasyPAC User Manual 2 6 5 40 SA_WritelntParameter Parameter umber Error Value bro D Function Get the parameter value of type integer Input Parameters Output Parameters BOOL Completion of the command execution BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 134 TPM EasyPAC User Manual 2 6 5 41 SA WriteUsintParameter Function Get the parameter value of type unsigned integer Input Parameters Output Parameters BOOL Completion of the command execution BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 135 TPM EasyPAC User Manual 2 6 6 EasyPAC Function Block List 2 6 6 1 EP_SetCyclicTime EP RE Time 2 Baud R atel Error Baud Rate ErrorlD Luo ount Cycle Time dio ount dma ount Function Set the PLC cycle times and baud rates according to the number of slave modules Input Parameters BOOL Get the value of the parameter continuously while enabled Baud rate of Ring U BaudRateO USINT 0 2 5Mbps 1 5Mbps 2 IO0Mbps 3 gt 20Mbps Baud rate of Ring _1 BaudRatel USINT 0 2 5Mbps 1 5Mbps 2 10Mbps 3 gt 20Mb
117. ped to Modbus data 1 1 2 Address Mapping Table Data type of Modbus 19 in the following table Primary tables Object type Type of Single bit Read Only Input Registers 16 bit word Read Only Holding Registers 16 bit word Table 5 4 data type of Modbus DI MODBUS End HEX HEX 7 2 Ring 0 DUO NN aM 16 jo EMIT m pe 7 F am wv Won qm p Table 5 5 table of Ring 0 DI O 17 7 IP L represents Local DI IB 0 and Local DO QB 0 0 is the slave module with IP 0 Available IP ranges from 0 47 The following data type is available with same slave IP 32DI IB1 4 32DO QB1 4 or 16DI 16DO IB 1 2 QB1 2 14 TPM EasyPAC User Manual Ring 0 AI O and Counter IP T i 2 Holding Registers COUNTER MODBUS T Ic M NN CON EN CRNN sowas B 5 owas amp 6 wa p p EN EN Table 5 6 table of Ring 0 AI O and counter us wwe 48 Available IP for AIO PIO is ranged from 48 to 63 and the total number is 16 The following data types are available with the same slave IP 8 Channel AI IW 193 207 8 Ch AO JOB 193 207 and 4 Channel PI Counter ID 193 205 The data type of AIO is WORD Hex 0x0000 0xFFFF The engineering unit can be calculated When the gain of Ch 0 of Al is 10V IW 193 0x0000 10V OxFFFF 10V The data type of PIO counter module is DWORD Hex 0x00000000 0xFFFFFFFF In the case of 108 P120 different modes can be set as described in the f
118. ps USINT Number of DI O slave modules O 48 USINT Number of AI O slave modules 0 16 USINT Number of motion slave modules 0 32 Output Parameters BOOL Completion of the command execution BOOL Signals that an error has occurred within the FB EmolD NT Please refer to the Status Logic at section 6 6 8 CycleTime USINT Minimum cycle time in the unit of millisecond 136 TPM EasyPAC User Manual 2 6 6 2 EP GetVersion EP GetVeraon Z Function Set the PLC cycle times and baud rates according to the number of slave modules Input Parameters BOOL Please refer to the Execution Logic at section 6 6 5 Output Parameters UserLib Version User library version 137 TPM EasyPAC User Manual 2 6 6 3 EP_CheckAesKey Function Check the AESkey set from EP_SetAesKey Input Parameters BOOL Please refer to the Execution Logic at section 6 6 5 Keyl Keyl6 SI key with number from 0 to 9 Output Parameters BOOL A valid output is available at the FB BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 138 TPM EasyPAC User Manual 2 6 6 4 EP_SetAesKey Function Set the AES key in the system non volatile memory Input Parameters BOOL Please refer to the Execution Logic at section 6 6 5 Keyl Key8 WORD Set the encrypted AesKey which is from 0x0000 to OXFFFF Output Parameters Name BOOL Completion of the command execu
119. r Function Set BOOL type data Input Parameters If Execute were TRUE status 1s always Stopping If Execute changes from TRUE to FALSE status 1s Stopping Execute BOOL l uA l l while the axis 1s still moving status will change to StandStill after the axis stops Please refer to section 6 6 7 for details BOOL Actual parameter value to be set Output Parameters BOOL Completion of the command execution BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 117 TPM EasyPAC User Manual 2 6 5 25 MC_WriteEncoderPosition Function Set the encoder value Input Parameters BOOL Please refer to the Execution Logic at section 6 6 5 DINT EncoderPosition Encoder position value 134217728 134217728 Output Parameters BOOL Completion of the command execution BOOL The FB is not finished and new output values are to be expected BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 118 TPM EasyPAC User Manual 2 6 5 26 MC_WriteLogicPosition Function Set the logical position value Input Parameters BOOL Please refer to the Execution Logic at section 6 6 5 DINT LogicPosition Logical position value 134217728 134217728 Output Parameters BOOL Completion of the command execution BOOL The FB is not finished and new output values are to be expected
120. rdware configurations are similar to a single axis in previous section As other axes users need to configure parameters using MyLink 1 Confirm that the module models are correct 2 Click on the corresponding parameter column and set it correctly 3 Add 2 axes on Ring to Group2 5 Click on the Group window Figure 6 106 select group axes 156 IPM EasyPAC User Manual EIER Command Position speed 10000 10000 10000 U I NN Figure 6 107 setting of group parameters 6 Save the settings to EEPROM 7 Send the path file rectl kwpts to EasyPAC File Tools Window Help Figure 6 108 import the path file Sample program description 1 Create a new project with TPM Template as in the previous section 2 Follow the single axis sample program and add the following Grouped Axes FBs Function Block User Library Description GA_GroupEnable MNet SA UL Enable the group function GA MoveLinearRelative MNet SA UL Make relative linear move GA PathSelect MNet SA UL Select the path file xxxx kwpts GA MovePath MNet SA UL Execute the grouped motion with specified path file Table 6 10 grouped axes function blocks to be added Test sample program Download and click on Debug on off to activate debug mode 157 IPM EasyPAC User Manual Figure 6 109 activate debug mode by this button 1 Overwrite Exec to TRUE EF Set vcheTime 1 BaudRatet Figure 6 110 overwrite Exec to TRUE 2
121. se refer to the Execution Logic at section 6 6 5 Output Parameters BOOL Indicates that the FB has control of the axis BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 125 TPM EasyPAC User Manual 2 6 5 32 SA_ReadByteParameter Function Get the parameter value of type BYTE Input Parameters Output Parameters BOOL A valid output is available at the FB BOOL Signals that an error has occurred within the FB INT Please refer to the Status Logic at section 6 6 8 BYTE Actual parameter value 126 TPM EasyPAC User Manual 2 6 5 33 SA _ReadDintParameter ParameterNumber Error ErroxID Value Function Get the parameter value of type double integer Input Parameters Output Parameters BOOL A valid output is available at the FB BOOL Signals that an error has occurred within the FB INT Please refer to the Status Logic at section 6 6 8 DINT Actual parameter value 127 TPM EasyPAC User Manual 2 6 5 34 SA Head Dw ord Parameter Farameterumber Error ErroxlD Value Function Get the parameter value of type double word Input Parameters Output Parameters BOOL A valid output is available at the FB BOOL Signals that an error has occurred within the FB INT Please refer to the Status Logic at section 6 6 8 DWORD Actual parameter value 128 TPM EasyPAC User Manual 2 6 5 35 SA ReadlntParameter Paramet
122. ss Js ELE Ee awas e e ew ss es Ts as jasa ja Ja ora Ju ja saw wwa a ss teow 353 ies leg E xm aes as os Pe aos ss 55 rw wo 87 sr Jegw 367 fer 57 EasyPAC User Manual MOD BLS SS T RT UNTEN Kn anr Taal TG PIR TLE AXIS ie fazna mel ine 291 317 AXIS 17 5 rection dese T92 315 E o2 us AXIS 182 fomes pss usp AXIS 18 5 current velocity 797 HD ms Jia GA o er 94 Taz oro isp 27 ee 94 7s2 faro T 9 ET em 8 Tea 310 1 317 age se rea 310 791 317 er 10 ers 33o 3 337 age wm ss 330 e73 337 Mera 103 fe 31s e31 33E woe 103 pex 338 1 ar 15 p er fio ero 47 eon la Jar Ho eae 347 eB 107 fess 358 ee3 35F aoe tor sse ase s53 35F EES Oe Re EE RUE E O ERR TUE singer er jer joe peas in ee fos je tor er 112 es sso 903 387 woe 112 656 360 903 387 EEEIDS A EM e IB 116 bos fino ss a 608 116 sae Gao sas 347 IL A pers 130 pec Doo per c em 130 lso eo ber Bor Tm EZ aR TR RRR a su i O farr aas 127 hore pers S 12 fresa fats fios fene sca 125 1632 Joos 1935 0E o A SEE EE eor a CEC s CET EC S ln x ow 37 al Co EE RO ow 381 RDS A M NEUEM E ew sss fos SF EEN 185 SD 385 56 ew ass es ww m 3 es e equ ass ios oa EE NN Ww 395 101 jes DW 37 em 3s 02 ee wow 397 102 es Rs T per Te ew aa 103 er pelar 401 wm so pos es wgw ani 104 es
123. ta 26 retain data D temp data instance 0 GO ou TON non retain data 26 retain data D temp data 10 instance 0 GO ou TP non retain data 26 retain data 0 temp data 10 instance 0 6 rou Untitled non retain data 518 retain data 0 temp data 10 instance 1 O Total non retain data 1876 retain data D instance 3 0 n m size 112 0 Process for Download IEC Project ended for resource Configuration Resource at 2011 2 11 F 06 31 39 i Build A Eros A Wamings h Infos PLC Emors A Print For Help press F1 Figure 6 138 download and monitor the program The HMI menu is shown below 90009 e 0 0 0 AAS TTT A Figure 6 139 the HMI diagram 169
124. ter Parameter umber Error Errorl Value Function Get the axis value of type BOOL Input Parameters Output Parameters BOOL A valid output is available at the FB BOOL Signal that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 BOOL Actual parameter value 111 TPM EasyPAC User Manual 2 6 5 20 MC ReadParameter ParameterNumber Error brod D Value Function Get the axis value of type UDINT Input Parameters Output Parameters BOOL A valid output is available at the FB BOOL Signal that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 BOOL Actual parameter value 112 TPM EasyPAC User Manual 2 6 5 21 MC_ReadStatus MC Read zans 1 m 9 62 3 U F Dizcyete Motion L ontmunausMnation nC ronsed Motion Homing Constant elocity Accelerating Deceleratmg Function Get the axis status Input Parameters BOOL Get the value of the parameter continuously while enabled Output Parameters Disabled BOOL Servo Step driver is disabled when value is TRUE BOOL Axis 19 stopped with error when Errorstop is TRUE Stopping BOOL Axis 19 decelerating to stop when the value is TRUE l Axis is ready to execute motion command when this value is StandStill BOOL D TPM Name DiscreteMotion ContinuousMotion SynchronizedMotion Homing ConstantVelocity Accelerating Decelerating EasyPAC User Man
125. tion BOOL Signals that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 139 TPM EasyPAC User Manual 2 6 7 Axis Parameter List The following tables contain the axis parameters which can be read or written This is a comprehensive list that contains parameters that may not be applicable for all types of axes For each parameter the following information is available PN Name ape RW Comments 1 CommandeaPosiion DINT R Commanded positon 2 sWLmis DINT RW Positive softwarelimitswich s RAM BOOL RNV Driveralarmresetoutpat 5 MaxvdociyApi DWORD RIW aaa allowed velocity ear 10 faeus DWORD R tad 00000000 11 CommandedVelocity DWORD R Commanded velocity The time to transit the state to ErrorStop when hardware signals Alarm PositiveLimit ErrorStopMode USINT R W NegativeLimit are triggered 0 once the signals are triggered immediately 1 the hardware is stopped physically Default FALSE 22 FixSpeedRange BOOL R W Fix Speed Range by Max VelocityAppl PN9 Table 6 4 axis parameter list PN Parameter Number Parameter number applied to the input ParameterNumber of the function blocks mentioned above Name Parameter name Datatype Datatype of the axis parameter R W Read Write access parameter can be read written Comments Short description of the parameter function 140 TPM EasyPAC User Manual 2 6 8 Function B
126. tion deme EES 157 654 157 e 155 857 155 AXIS 25 2 painia EEE 15A n59 35B AXIS current velocity 860 150 861 15D AXIS 2 SI E E E ER 64 o Jana 160 es 361 ase 362 57 363 Jasa 164 o n4 425 v CORA OR IET OS ESCORT DG E as oo sus mc E E gar eiB 136 1085 ERT fea Jepe 135 icas jeso ross TYE er 15 oes ess forjar eo 157 U ees ro jeep SR 138 1 04 faso 1111 fas reis 138 itoa jaso 1111 fas mm rs fuia fass Dusjese sos is CO EC RR A ee H RM mu I vv RE puis RTT SI DI feat r AXIS 27 5 metis doze 852 372 a82 372 poes 26 amas fas o fas na zl S T E 470 AT jar sis fies as pui TE peas ie riat jes pus here erm Led usa jaso 1159 fos eos ts t52 eso 1059 fan SER 147 rote fas 1183 eSF eros 147 1076 fas 1083 aF perm 149 noz faas 1199 fear mob 149 HG23 feas 1199 AAF so meo aro 1207 AT OR 15 G i OT 1687 RIB 155 Ize ao TS ect PRB 152 1216 foco 1323 ect PRIB 154 1792 ao 1239 fao PROB 154 11232 jano 1239 laD7 S Ce CEE c KIR 156 124 ao 1394 fa eos 156 1243 lba 1235 4E E ieda IFA EI A DZ Tester A ced A E TN a J AXIS mm Current veio 587 377 Cae AXIS 284 omms 1 09 s aso 174 AXIS 28 5 motion doma 591 178 ria
127. ual BOOL AXIS 19 executing discrete motion when this value is TRUE BOOL AXIS 19 executing continuous motion when this value is TRUE BOOL Axis is executing synchronized motion when this value is TRUE BOOL Axis is executing homing motion when this value is TRUE BOOL AXIS 1s executing constant velocity motion when this value is TRUE BOOL Axis 19 accelerating when this value is TRUE BOOL Axis 1s decelerating when this value is TRUE 114 TPM EasyPAC User Manual 2 6 5 22 MC Reset MC Rest 1 MIL Rese Function Reset the axis to Standstill status Input Parameters BOOL Please refer to the Execution Logic at section 6 6 5 Output Parameters BOOL Standstill or Disabled state is reached BOOL Signal that an error has occurred within the FB Please refer to the Status Logic at section 6 6 8 115 TPM EasyPAC User Manual 2 6 5 23 MC_Stop MC Stop 1 ML stop hop hM ode Command borted Function Grouped axes stop Input Parameters If Execute were TRUE status 1s always Stopping If Execute changes from TRUE to FALSE status 1s Stopping Execute BOOL l IDEA l l l while the axis 1s still moving status will change to StandStill after the axis stops StopMode BOOL 0 for immediate stop 1 for SlowDown stop Output Parameters Standstill or Disabled state is reached 116 TPM EasyPAC User Manual 2 6 5 24 MC_WriteBoolParamete
128. uding Network Contact right Parallel Coil right etc Left click on the space area and click on the Coil right button after the symbol showing up then a Contact will be created as shown below 58 TPM CTC Figure 6 33 make a Contact right for instance Mouse click on the gray area and bring up the functions by right clicking on it gf Undo Cul Z ip Cut Ctrl x a Copy Ctrl C 3 ah Delete Delete Connector Contact Right F7 Coil Right Contact Lei Alt F7 Contact Below Ctrl F7 Contact Above Powerrail Rsght Powerrail Left Ctrl R Open instance Im Build Cross References T_ e Code Unt a amp Compile Worksheet Shitt F9 Figure 6 34 functions of the contact After selecting the Object Properties the following window will show up EasyPAC User Manual 59 TPM EasyPAC User Manual Contact Cas Properties lm tmt Mane nN Deiren poge NU af Tinha l Data Type Local V aale Groupe EDOL B de Help Usage Global Vanable soup VAR GLOBAL RE TAIN ldd vse 100 address E 5a GROUI Uere POD OPC Contact Cod Contaci Cod i Figure 6 35 contact coil properties window i Please enter the name in the Name field and select BOOL as the data type Enter either VAR or VAR GLOBAL in the Usage field Note that VAR indicates that it will be used only by this POU and VAR GLOBAL indicates that it can be accessed by other POU In the botto
129. uous Motion jogging Stopping axis is stopped ErrorStop axis error occurred UP LEO ON 2 M x Group Moving movement towards target position of multiple axis Any motion command is a transition that changes the state of the axis and as a consequence modifies the way the current motion is computed A normal procedure would start in Standstill In this state the power can be switched on per axis via the Power command Also one can access the Homing state via the 1ssue of the Home command per axis which after normal completion returns to Standstill From here one can transfer an axis to either Discrete Motion or Continuous Motion Via the Stopping state one can return to Standstill ErrorStop is a state to which the axis transfers in case of an error Via a Reset command one can return to Standstill from which the machine can be moved to an operational state again Please note that the states define the functionality of the Function Blocks The diagram is focused on the states of a single axis The multiple axis function blocks such as GA Moving change the state whereas these axes can have specific states 78 TPM MC GeariniSiawe MC Phasingt Slave MC Movesuperimposed Slave Synchronized Gena Motion MC Cearini Have MC Camin Slave Mc_MoveAbsolute MC MoveRelative MC MoseAddgive MC FositionPratile Discrete Motion MC MoveAdditive 4 Ful N EN Dead ds e Mana 4 a
130. x on on Tj i did ids E ES IES T iss EL G L T Ix lt a on zi SISI T ril C ni D EE 1 lei TU Biss 7 jeseo 2170 leser pps p CC G pae as p soe Tr ees f Exe 22 G HAE Re puse oo 2940 o poe pr pe pass Bes as O O 7 8576 2180 8583 2187 2027 2927 lo 2927 8576 2 eMe 2904 om ren ea O pos 7 essa 2188 8501 218F 2028 2928 1 lereo zs jerez oae 2950 T Pues EMO EIS Eu pe 2951 7 Jeano 2120 ese 2 scs ses Jo sos Tr sass 2128 8495 2 to pe p fies LL 7 sess LET pap py mom a dle Lele on m PATAT loes ln 867 ae lo ls x BIB 879 lo amp 79 sso sso fo sso jo js KE 39 Jo 892 me jo 856 m o las jo ss D lse L X 4 8ss lo ass 856 857 ass seo SRL ses To B64 n 2 907 ETE mm AA L eerie econ Gem et 2929 lo 2929 INIRE iss pos Joos fo fos fr Jere s Pos pos priu fas fos fas fas pss pes p Js pr sete fics o eo Fo Jo bor Fr je o s NU 38 EasyPAC User Manual Virtual M M TPM ral EE al al el ea c KA ew c ral ge ll rl uns kr A i E m mu GI G Je io amp EP E al a Lm Eur E Es L E S E m F mij cM m ur e i a hu Kal Cal ea e ce eS ene ET sem aj PE P E
131. x CN el l ca L L L el e a CHI cg ot dalel E pb dd de 5 sss delia 1 ml f ej D Et We pd pe al WO e d E lll SR e r H 1 a4 E E E EX e r lt l C z Z E E L ET ee als E L al BL D rm DL S end pel f Z en cs EE ae 00 oc ga o EI D w fea np Pn ta l uni rn al uni iy enl ey onl oe ex c Al vi So FA Za ecl e wka om EN es eap cd e aei l il i val cal cal c n rsl ata Ex e i c ral eal cal Bo a ES E E KA KS zz z dl ezl cs KZ SD EH E E SISI SS cg O 006 ds spl ex ao E zaj ae e eri A a El a el Cp SE c wl L a E gt 2 2 2 2 EEE ae e ae ai EZ a a E ES SIS 2 2 3 ed Ja ale 5 r ci mm e ae l i ale ale z UR SGL c Go Gh SRE EE E D Zh d Erg uml T D T T S EE ei L pF l ri e i A Ler Ep E ES A fp ttt m e EA EE Sl col bel FA col acl ce eni uni i l l Cal ca sel 9 Lr s 55129 29 ba ka EE al Bras pra SEBE oe eel es ex 6 ui En q uri Wi E Ex Yo k a RR sa r E en Gh za p pe Tu p e pr un cs C r EJE uu a E mn G zz T SS X zi alui L v uni wn u E Z ral E ls LA El aa en 2 pr u aol c a EIH SIM S un um pa ui Mh um un L 7 S E E SS I l spI DI H d 33 EasyPAC User Manual Virtual Mi TPM A A ALL HL BELLE ILLE ELE E
132. x E al 1 eal oa eal e a e EE y sif n E S pr dolo lalala m JT s a 4 a 8 i wie oo a o l a Ma A M e ES e m C a E a S B i ES ei ei d 3 zs al LA ajaj as a ra ae oa 5 m a an E 70 f pos licas rasa cse rese farsa o rss 7 azar ese past b per pr pus ps s rsa EA E a CS CRS PEGA A 2757 lo 2757 7 7216 1C30 7223 5h 695 607 n a el en r SI SIS Fa E p pal Pe D cl 2 E EZ E ar BOS cu ros ps jo pos p 7208 TARAIA e ore pr Jr ficos fs Y bx fu Je tr 7192 ica nw fic S 2 a oo p oo zou asm ESAE m ga mim EE SEE Bo RE ri ra eel l d Oo z ril 5 2 la a ri i l 1 enl T i S r j e i IS LG l E OL 0 DICIT A rA SIS SIG Es LZ e e3 nim m x Bg a Beal Beal S Brad Bra C7 Pra 707 707 o 707 un E j D ABE fl a so 5 z FHA EH dl r ES E d EP EA ka m La ix J Um E E E e Sl l ss m i ds e IS IS 1 5532 leane lic KS pr pem ces Peor ie 732 EE i3 7 7408 1CFO 7 S T TR EEN T3 i pues wl ok L pal PP Pre Pen U Lw E E val E eG en c they Es ral c e oa an Es El S SF Fa enl Ea CP E K Kas t E p E N Pd p Ka Ka Kas E E p krg EI
133. x c mab r4 7l e 13 m ers ub Meal p Mal STER SUN Zl a EEE ES 37 EasyPAC User Manual ere TPM TUE TTT ALLELE Ga HT su RERE eem NEN uM NES EM um ib El JE cz Wu Da i ZI SI S E po ed E Ci iti Mc cN C8 2s A ec Ce cn col oo o c lA wn uw ae Gal E e oe c ERES el c a raj cj e l c9 04 KLL A c oma pp ce SL e E N aol gs e e aeo AL Go Gb Ob oe BARS SMR kras l MO E mg CE 12 C G C G G Er ral ci c4 c delelclelole Sl Wray MO Ed Gr 24943 cal e dal r cs wie ral Ol BP oi C A wal el vl uns G ei eil eil ed EM El ay 03 cal CE 948 Als sl n ea ea e e 63 ei mal en em me oo zel zel ae ae A lel els EE ES ES Be bn E E ea cal c c4 es asias El pa mi ER pe pe s zm ES E ay ccn e il cal ral mi mi cal e m3 073 e rn eal cal cah cal val cal val va E c cg a sca eg cag eg rl E 3 1 EA ev cau a cJ c1 j cau cu ci tel uU D E Lu APR ERE e gens Zl eal es ES 4 te Eri eh Lp ES L 2 Ed EE el ER C E C Gr fa Pe 2 eel e a A Pa ew c eg c1 6l e E E Guo i c3 e C ri z pf ff E AI IS ri E is Ey eal ea x x ci c E ej ps wd va zm TA de Lo E ex oo Es S en S a male ca CH cd SIE M c ES c E cj ol P E ws EIE 3 ES e BEE
134. xpress Install MULTIPROG Patch Files Software Version Run the successfully installed MULTIPROG 5 35 Express as shown below Figure 6 1 installed MULTIPROG Express Make sure the software version by the following figure illustrates C MULTIPROG Express TENER 55 mE IS Ele Edit View Project Build Online Extras 2 i Contents ip en About IEC 1131 ee Help on Standard FB FU E al Libraries gy Help 1 Data Types Logical FOUs Figure 6 2 figure out the software version info If the software version is not 5 35 Build 252 please install the correct version 42 TPM EasyPAC User Manual Kh J MULTIPROG Express Vernon 5 35 Budd 252 001 DODO M OOOO Copper 2008 Ear EM Soltwme GmbH Langerbeuch 6 D 32657 Lemgo Germany Phone 49 5261 33720 Fax 435261 3373725 WEB RS hver or solteros com EMAIL suppert kw solbwire de Figure 6 3 the software version window There is a CD that is shipped together with the EasyPAC Please follow these steps below to finish the installation Insert the CD into your PC and you will be asked to permit auto installation Please enter YES to allow auto installation as shown Taiwan Pulse Motion Support and software CD DVD V3 0 2011 07 Emo Figure 6 4 install product CD If the auto installation does not work please try it manually Please go to Program Manager and run the Auto exe in the CD to start
135. yPAC User Manual Figure 6 74 parameters setting of an AI module 2 Test display of 106 A104 01 and 106 A180 01 d AD Ring IP61 cho 10 000 chi 10 000 Ch2 10 000 Ch3 10 000 Figure 6 75 display of 106 A104 01 and 106 A180 01 Create a MULTIPROG project Start MULTIPROG Imp MULTIPROG Express L i l Figure 6 76 start MULTIPROG Click on File New Project Figure 6 77 create a new project Use TPM Template as shown below 143 IPM EasyPAC User Manual Figure 6 78 new project template Click on Untitled Z MULTIPROG Expresa Unsitied Code Uncle iW ble Edt Wew project Budd Oglee Extras ve Dii Types ee Lopa POUR Figure 6 79 click on the Untitled Add new variable and set the I O address Check and set the I O address with MyDataCheck 1 Use MyDataCheck for 106 A180 01 Figure 6 80 configure I O address of 106 A180 01 144 TPM EasyPAC User Manual 2 Use MyDataCheck for 106 A104 01 3 Add a new variable and name it as AI Channel 0 of 106 A180 01 4 Add a new variable and name it as AI Channel of 106 A180 01 Pippo Figure 6 81 configure I O address of 106 A104 01 E pa Physcal Haedeane J onhan y Rerouce S Chet sul id 5A GROUP EU Hidden S heres all v mules of werk haat U0PL legale as deja Lal s oes Y VADE T i Figure 6 82 add a variable of 106 A180 01 id Local kota Local y anable Groupt l s

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