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1. TS Gearln TS Camln Error TS Reset Error TS ResetDrive Done TS Homing Figure 3 1 Axis behavior Technosoft 2009 12 TML LIB X20 User Manual The TML commands issued by the functions and function blocks are encapsulated according with the CAN protocol selected with TS BuildMessage function When the TS BuildMessage function is called it updates the registers of the CAN module and triggers the transmission of the CAN message The CAN messages received by the X20CS1070 module are stored in the reception registers and from there are read by TS InterpretMessage function which analyzes the message and saves the data in the array with axes information The information stored in the array is available to all library components Remark The user must map the CAN module registers to PV TO ADD MORE DETAILS Administrative functions and function Motion function blocks Array of Axis TS TS BuildMessage CAN bus s Technosoft Technosoft Technosoft drive motor drive motor drive motor Figure 3 2 TML LIB X20 functionality 3 2 TML LIB X20 requirements In order to use TML LIB X20 for B amp R PLC you must have the following minimal hardware configuration e Oneor more Technosoft drives motors connected through a CAN bus network e AB amp R X20 PLC e AB amp R X20C81070 CAN module The software required in order to implement an application on the prev
2. TS 0 6 RXidentO UDINT Automatic RxCANldent fier TS RXData0WordO UINT Automatic RxCANData_TS 0 RXData Word UINT Automatic FxCANData TS 1 RXData0Word2 UINT Automatic RxCANData_TS 2 RXData0Word3 UINT Automatic RxCANData TS 3 TXCount USINT Automatic 7510 TXDataSize USINT Automatic TS 1 TXident UDINT Automatic TS TXDataWordO UINT Automatic TxCANData TS 0 TXDataWord1 UINT Automatic TxCANData_TS 1 TXDataWord2 UINT Automatic TxCANData TS 2 TXDataWord3 UINT Automatic TxCANData_TS 3 Figure 3 Global variables mapping Technosoft 2009 7 TML LIB X20 User Manual 6 Add global variable to store Technosoft axes information Axes information must be stored in an array of type Axis TS The number of elements in the array must be equal with the number of Technosoft axes 7 Init the CANbuffer structures with the pointers of global variables The pointers of the global variables used to access the X20CS1070 must be grouped in 2 global variables of type CANbuffer one for reception and one for transmission Also each axis requires the pointer to the transmission buffer For correct operation of the library the initialization must be done before calling any TML lib X20 function or function block PROGRAM INIT RxBuffer pData ADR RxCANData 15 01 RxBuffer pIdentifier ADBR RxCANIdentifier TS RxBuffer pPara
3. o o 0 127 Current integrity counter value Remarks The function block just sends the PT points the motion mode is programmed with function block TS SetPT and therefore the TS PTPoint must follow TS SetPT call Technosoft 2009 36 TML LIB X20 User Manual 3 6 11 FB TS Homing ST prototype TS Homing BOOL Execute REAL HomePosition REAL HomeSpeed UINT HomingAddress BOOL Done BOOL Busy BOOL Error UINT ErrorlD Axis TS AxisDescription Parameters description Parameter Execute Data type Description Send the stop command at rising edge HomePosition The position set at the end of the homing procedure HomeSpeed The speed for searching the home condition HomingAddress Program memory address of the homing procedure Input Output AxisDescription Axis TS Axis information Done The homing procedure ended successfully Busy The function is waiting for homing procedure to end Output Error Signal if an error has occurred in the execution of the function block or an error message was received from the drive ErrorlD Information about the error occurred Description The function block starts a homing procedure programmed on the drive motor defined in structure Axis The search for the home position can be done in numerous ways In order to offer maximum flexibility the TML does not impose the homing procedures but lets you
4. Description The function block programs a drive motor to work in PT motion mode In PT motion mode the drive motor performs a positioning path described through a series of points Each point specifies the desired Position and Time i e contains a PT data Between the points the built in reference generator performs a linear interpolation Remarks The function block just programs the drive motor for PT mode the motion mode is activated from function block TS_PTPoint and therefore the TS_PTPoint must follow TS_SetPT call Also the function block TS_PTPoint sends the PT points to the drive motor The PT motion mode can be started only when the previous motion is complete However you can switch at any moment to another motion mode by calling a different function block with The PT mode can be relative ControlWord 0 0 or absolute ControlWord 0 1 In the absolute mode each PT point specifies the position to reach The initial position may be either the current position reference TML variable TPOS ControlWord 12 1 or a preset value read from the TML parameter PTPOSO ControlWord 12 0 In the relative mode each PT point specifies the position increment relative to the previous point In both cases the time is relative to the previous point i e represents the duration of a PT segment For the first PT point the time is measured from the starting of the PT mode Each time when a new PT point is received it is saved into the PT buf
5. LISE Motion Control Library for B amp R X20 Technosoft 2009 TECHNOSOFT TML LIB X20 User Manual P091 040 X20 UM 0309 Technosoft S A Rue de Buchaux 38 CH 2022 BEVAIX Switzerland Tel 41 0 32 732 5500 Fax 41 0 32 732 5504 contact technosoftmotion com www technosoftmotion com Read This First Whilst Technosoft believes that the information and guidance given in this manual is correct all parties must rely upon their own skill and judgment when making use of it Technosoft does not assume any liability to anyone for any loss or damage caused by any error or omission in the work whether such error or omission is the result of negligence or any other cause Any and all such liability is disclaimed All rights reserved No part or parts of this document may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by any information retrieval system without permission in writing from Technosoft S A About This Manual This book describes the motion library TML LIB X20 The TML LIB X20 is a IEC61131 3 compatible collection of motion function blocks which can be integrated in a B amp R Automation Studio application for the PLC family B amp R X20 With TML LIB X20 motion library you can quickly program the desired motion and control the Technosoft intelligent drives and motors with the drive integrated in the motor case
6. Disable the synchronization procedure Reserved 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 0 The master send its position to the drive motor with axis ID read from Slave structure The master send its position to drives motors members of group ID read from Slave structure Technosoft 2009 54 TML LIB X20 User Manual 3 6 22 FB TS Power ST prototype TS Power BOOL Execute BOOL Status BOOL Busy BOOL Error UINT ErrorlD Axis TS AxisDescription Parameters description Parameter Data type Description Input Enable BOOL Enable 1 enables power stage 0 disables power stage Input Output AxisDescription Axis TS Axis information Status Effective power stage state Busy Signal the function is waiting for power stage status Output Signal if an error has occurred in the execution of the Error function block ErrorlD Information about the error occurred Description The function block enables disables AxisOn AxisOff the power stage of the drive motor with axis ID read from structure Axis On detecting a rising edge at Enable input the function block enables the power stage If no error occurs the axis is transferred from Disable state to Standstill If the drive motor responds with an error message the axis is transferred from Disable to Errorstop The power stage of the drive motor is disabled when the Enable input is reset and the axis is transferred to Disab
7. 0 0 The PVT mode is relative 1 The PVT mode is absolute Target update mode 1 Generates new trajectory starting from the actual values of 0 position and speed reference i e don t update the reference values with load motor 1 position and speed Target update mode 0 Generates new trajectory starting from the actual values of 1 load motor position and speed i e update the reference values with load motor position and speed 6 2 0 Reserved 7 0 No change in the buffer low parameter 1 Change the buffer low parameter with the value specified in LowLevelvalue 11 8 0 Reserved If PVT mode is set as absolute the initial position is taken from TML parameter PVTPOSO default 0 The initial position is used to compute the distance to move up to 12 the first PVT point o If PVT mode is set as absolute the initial position is taken from TML variable TPOS The initial position is used to compute the distance to move up to the first PVT point 13 0 No change to the internal integrity counter 1 Change internal integrity counter with the value specified in PVTCounterValue 0 Integrity checking is active 14 em gt 1 Integrity checking inactive 15 0 Nothing Technosoft 2009 28 TML LIB X20 User Manual On detecting a rising edge at Execute input the function block reads the inputs and sends the motion commands to the drive motor The output Busy is set and remains set until
8. Gearlpist tec nettes tenta nte att os 45 Technosoft 2009 VII TML LIB X20 User Manual 3 6 17 3 6 18 3 6 19 3 6 20 3 6 21 3 6 22 3 6 23 3 6 24 3 6 25 3 6 26 3 6 27 3 6 28 3 6 29 3 6 30 3 6 31 3 6 32 3 6 33 3 6 34 3 6 35 FBIMCG GearQut i Enc ted ici loce red ee E OPE ET de a 47 5 o ade d ets he ee qae ee ne D a Ree aas 48 Garlic debes ke E RA 49 alii TO 52 FB TSXSelMASIGF aet ada d Ee I edd 53 EB TSSPOWOD c tede mtt est fot eda cta 55 15 uote te n t e en i e e HR eet in 56 FB Ts heselDriVe eh ehe bunten 57 FB TS 58 FBTS WrteEixedParamelter 2 mme e RR Hus 59 TS_WritelntegerParameter 60 FB TS _ReadActualPosition 61 FB 5_ 62 FB TS ReadFixedParameeter a aaa aaa E aa nena ananas 63 FB TS _ReadintegerParameter 64 FG TS ree e ei nee 65 FC TS 66 EG TS MIAS p LU 67 FC TS
9. Manual During motion execution the axis is transferred to DiscreteMotion state when the target position is reached Done output is set the axis is transferred to Standstill state Remarks 1 The function block requires the drive motor position loop to be closed During the drive motor setup select Position at Control Mode and perform the position controller tuning 2 If the application requires switching between discrete motion position control and continuous motion speed control you must also close the speed loop and perform the tuning of the speed controller Technosoft 2009 25 TML LIB X20 User Manual 3 6 6 FB TS MoveVelocity ST prototype TS MoveVelocity BOOL Execute REAL Velocity REAL Acceleration BOOL Done BOOL CommandAborted BOOL Busy BOOL Error UINT ErrorlD Axis TS AxisDescription Parameter description Parameters Data type Description Execute Send motion commands at rising edge In Velocity The jog speed expressed in TML speed internal units Acceleration rate expressed in acceleration internal Acceleration hits Input Output InVelocity Signal that commanded velocity reached The function block is aborted by another motion function block The function block is waiting for velocity to reach the target speed command Signal if an error has occurred in the execution of the Error function block or an error message was received from the drive ErrorlD Information about the
10. Master resolution is 0x80000001 IU Master position is received via communication channel Master position is read from 27 encoder or pulse amp direction inputs The acceleration is not limited Limit the acceleration Reserved for new features Technosoft 2009 46 TML LIB X20 User Manual 3 6 17 FB TS GearOut ST prototype TS GearOut BOOL Execute BOOL Slave BOOL CommandAborted BOOL Busy BOOL Error UINT ErrorlD Axis TS Slave Parameters description Parameter Data type Description Input Execute BOOL Start disengaging process at rising edge Input Output Slave Axis TS Slave axis information Done Disengaging completed Output Error Is set if drive s motor s error register is received while Done ErrorlD Information about the error occurred Description The function block disengages a slave drive motor in electronic gearing from its master On detecting a rising edge at the input Execute the function block sends the motion commands for decoupling from the master and sets the Busy output The Done output is set when the disengaging process was successfully executed The function block changes the slave axis state from SynchronizedMotion to ContinuousMotion keeping the velocity from the moment when the function block was called If the drive s motor s error register is received while the output Done is not set the output Error i
11. PTCounterValue Integrity checking is active Integrity checking inactive Nothing Clear PVT buffer Technosoft 2009 33 TML LIB X20 User Manual Remarks 1 The function block requires the drive motor position loop to be closed During the drive motor setup select Position at Control Mode and perform the position controller tuning 2 If the application requires switching between discrete motion position control and continuous motion speed control the speed loop must be closed also In the Drive setup dialogue select Position at Control Mode then enter the Advanced dialogue and close the speed loop After the selection perform the tuning of the position controller and speed controller Technosoft 2009 34 TML LIB X20 User Manual 3 6 10 FB TS PTPoint ST prototype TS PTPoint BOOL Execute BOOL Done BOOL CommandAborted BOOL Busy BOOL Error UINT ErrorlD PTRef PT REF Axis TS AxisDescription Parameter description Parameters Datatype Description Execute BOOL At rising edge the command is sent PTREF PT Ref Description of PT point Input Output AxisDescription Axis TS Axis information Signal the commanded motion is completed after the last point PT sent The motion command is aborted by another motion CommandAborted command Output Busy The function block is processing the command Signal if an error message was received from the drive
12. address This represents the address of the data memory location where the TML data exists Address ranges for TML data are from 0x0200 to OxO3AF and from 0x0800 to OxO9FF For user defined variables the address range is between 0x03B0 and OxOSFF On detecting a rising edge at the Enable input the function block sends the request message and sets the Busy output Busy remains set until the requested value is available moment when the function block sets the Done output and resets Busy The value received is transferred to output Value The output Done remain set until Enable input is reset Technosoft 2009 62 TML LIB X20 User Manual 3 6 30 FB TS ReadFixedParameter ST prototype TS ReadFixedParameter BOOL Execute UINT ParameterAddress BOOL Done BOOL Busy REAL Value Axis TS AxisDescription Parameter descriptions Data type Input BOOL Get parameter continuously while Enable 1 ParameterAddress DINT Data memory address from where the value will be read Input Output Output Description The function block requests the value of the TML variable parameter with data memory ParameterAddress The TML data can be of type fixed 32 bit fixed point data with the 16MSB for the integer part and the 16LSB for the factionary part The request is sent to the drive motor with axis ID found in Axis structure Each TML data parameters variables or registers has an associated address This represents the address of the data
13. equal with the value read from input Axis Remark your application requires group commands add an Axis TS structure for a dummy axis in the array with axes information In the first word of the structure set the Group ID you want to use 3 6 Functions descriptions The section presents the functions and function blocks implemented in the TML LIB X20 library The implemented function blocks are classified as e Motion related o TS MoveAbsolute TS MoveRelative TS MoveAdditive TS MoveSCurveAbsolute TS MoveSCurveRelative TS Movevelocity TS ExternalAnalogue TS ExternalDigital Q O O O O O Technosoft 2009 15 TML LIB X20 User Manual TS ExternalOnline TS SetPVT TS PVTPoint TS SetPT TS PTPoint TS Gearln TS GearOut TS Camin TS CamOut TS Stop TS Homing e Administrative no driving motion o TS ReadActualPosition TS ReadStatus TS Power TS CamTableSelect TS SetMaster TS WriteLongParameter TS WriteFixedParameter TS WritelntegerParameter TS ReadLongParameter TS ReadFixedParamter TS ReadlntegerParameter TS ResetFault TS ResetDrive TS AxisStatus TS SendCommand TS SaveParameters 0000000000 0 O0 O O OO 000000000 0 0 For each function you will find the following information e structured text prototype e Parameters description with their name and associated data type e functional description e Remarks regarding drive motor setup e Anexample that illustrates how to use the
14. error occurred CommandAborted Output Busy Description The function block commands a trapezoidal speed profile At the rising edge of the Execute input the motion command is sent and the output Busy is set The axis is transferred to ContinuousMotion state When the jog speed is reached the Done output is set and Busy is reset The CommandAborted is set if another function block starts sending motion commands If a drive s motion error register information is received during the execution of the function block the output Error is set and its value is passed to ErrorlD All outputs are reset when Execute is reset Remarks 1 The function block requires drive motor speed loop to be closed During the drive motor setup in the Drive Setup dialogue select Speed at Control Mode and perform the speed controller tuning 2 If the application requires switching between continuous motion speed control and discrete motion position control the position loop must be closed also In the Drive setup dialogue select Position at Control Mode then enter the Advanced dialogue and close the speed loop After the selection perform the tuning of the position controller and speed controller Technosoft 2009 26 TML LIB X20 User Manual 3 6 7 FB TS SetPVT ST prototype TS SetPVT BOOL Execute REAL PVTPOSO INT LowLevelValue INT PVTCounterValue UINT ControlWord BOOL Done BOOL CommandAborted BOOL Busy BOOL Erro
15. from a B amp R X20 PLC environment The TML LIB X20 uses the X20CS1070 communication module through which the B amp R PLC is connected with the Technosoft Drives motors via a CAN bus link The library supports both CAN bus standards the CAN 2 0A with 11 bit identifier and the CAN 2 0B with 29 bit identifier Scope of This Manual This manual applies to the following Technosoft intelligent drives and motors IDM240 IDM640 with firmware FOOOH or later revision letter must be or subsequent i e J etc e IDM680 all models with firmware F500A or later e ISCM4805 ISCM8005 all models with firmware or later 15 4803 CAN models with firmware 2 1812403 CAN models with firmware 2 or later 5110 CAN models with firmware 005 or later IM23x models IS MA with firmware F900H or later IMPORTANT For a correct operation these drives motors must be programmed with firmware revision H or later except for IDM680 EasySetUp Technosoft IDE for drives motors setup 1 EasySetUp is included in the LIB X20 installation package as a component of the EasyMotion Studio Demo version EasySetup can also be downloaded free of charge from the Technosoft website Technosoft 2009 TML LIB X20 User Manual includes a firmware programmer with which you can check your drive motor firmware version revision and if needed update your drive motor firmware
16. function block checks the inputs PositionControl SpeedControl TorqueControl and starts sending the motion commands according with the first input found set The output Busy is set and remains set until the last motion command is sent moment when the function block sets the Done output and resets Busy Technosoft 2009 40 TML LIB X20 User Manual The CommandAborted output is set if another motion function block sends motion commands to the same drive motor In position control you can limit the maximum speed at sudden changes of the position reference and thus to reduce the mechanical shocks In speed control you can limit the maximum acceleration at sudden changes of the speed reference and thus to get a smoother transition These features are activated by setting the LimitValue to a non zero value Technosoft 2009 41 TML LIB X20 User Manual 3 6 14 FB TS ExternalDigital ST prototype TS ExternalAnalogue BOOL Execute REAL LimitValue BOOL Done BOOL CommandAborted BOOL Busy BOOL Error UINT ErrorlD Axis TS AxisDescription Parameter description Parameters Input Execute Data type BOOL Description At rising edge the command is sent LimitValue REAL Acceleration limit value Input Output AxisDescription Axis TS Axis information Done The motion command send successfully CommandAborted The motion command is aborted by another motion command Busy The function block is p
17. gearing mode and its position is different from zero set Control Word 3 0 when the function block Technosoft 2009 53 TML LIB X20 User Manual is called This determines the master to send an initialization message to the slaves In electronic camming the ControlWord 3 must be set On detecting a rising edge at the input Execute the function block sends the configuration messages to the drive motor defined in the structure Master The function block sends the motion commands according with the selections made through ControlWord input The Done output is set when the last Value message is sent Outputs Error and ErrorlD have no associated functionality Table 3 11 ControlWord bits description Description Nothing Disable operation as master in electronic gearing camming Enable the operation as master in electronic gearing camming Don t enable the operation as master in electronic gearing camming Send the slave axis group ID Don t send the slave axis group ID Initialize the slaves with actual reference position in electronic gearing Don t initialize the slaves with actual reference position in electronic gearing The master sends its actual position The master sends its reference position Skip the synchronization procedure setup Change the synchronization procedure according with ControlWord 7 Enable the synchronization procedure with time interval read from SyncPeriod
18. installation of the X20CS1070 communication module see the user manual provided by B amp R together with the product For drives motors setup you can connect your PC to any drive motor using an RS232 serial link Through this serial link you can access all the drives motors from the network Alternately you can connect your PC directly on the CAN bus network if it is equipped with a CAN interface supported by EasySetUp See the on line help of EasySetUp for a list with CAN interfaces supported 2 2 Software installation In order to perform successfully the following software installations make sure that you have the Administrator rights 2 2 1 Installing EasySetUp On the TML LIB X20 installation CD you ll find the setup for EasyMotion Studio Demo version This application includes a fully functional version of EasySetUp and a demo version of EasyMotion Studio Start the setup and follow the installation instructions 2 2 2 Installing TML LIB X20 library Start the TML LIB X20 setup and follow the installation instructions 2 3 Drive motor setup Before starting to send motion commands from your PLC you need to do the drive motor setup according with your application needs For this operation you ll use EasySetUp EasySetUp is an integrated development environment for the setup of Technosoft drives and motors with the drive integrated in the motor case The output of EasySetUp is a set of setup data which can be downloaded to t
19. memory location where the TML data exists Address ranges for TML data are from 0x0200 to OxOSAF and from 0x0800 to OxO9FF For user defined variables the address range is between 0x03B0 and OxOSFF On detecting a rising edge at the Enable input the function block sends the request message and sets the Busy output Busy remains set until the requested value is available moment when the function block sets the Done output and resets Busy The value received is converted to real and transferred to output Value The output Done remain set until Enable input is reset Technosoft 2009 63 TML LIB X20 User Manual 3 6 31 FB TS ReadlntegerParameter ST prototype TS ReadlntegerParameter BOOL Execute UINT ParameterAddress BOOL Done BOOL Busy DINT Value Axis TS AxisDescription Parameters descriptions Data type Description Input BOOL Get parameter continuously while Enable 1 ParameterAddress UINT Data memory address from where the value will be read Input Output Output Description The function block requests the value of the TML variable parameter with data memory ParameterAddress The TML data can be of type fixed 32 bit fixed point data with the 16MSB for the integer part and the 16LSB for the factionary part The request is sent to the drive motor with axis ID found in Axis structure Each TML data parameters variables or registers has an associated address This represents the address of the data mem
20. or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Close the Drive setup dialogue with OK to keep all the changes regarding the motor and the drive setup Step 4 Download setup data to drive motor Press the Download to Drive Motor button to download your setup data in the drive motor non volatile memory in the setup table From now on at each power on the setup data is copied into the drive motor RAM memory that is used during runtime lt is also possible to Save the setup data on your PC and use it in other applications Step 5 Reset the drive motor to activate the setup data 2 4 Build a B amp R Automation Studio project with TML LIB X20 The TML LIB X20 library is designed to work with B amp R Automation Studio v3 0 SP3 The library is provided as a collection of structured text source files For each library component function or function block you will find a source code file with extension st identifiable by the file Technosoft 2009 5 TML LIB X20 User Manual name The next steps detail how to include the TML LIB X20 components in an Automation Studio project 1 Create a B amp R Automation Studio project Launch B amp R Automation Studio and create a new project For details o
21. position to reach plus the velocity maximum travel speed the maximum acceleration deceleration rate and the jerk rate The function block can be executed only from Standstill state During motion the parameters cannot be changed Therefore when executing successive motions with TS MoveSOCurveAbsolute function blocks you should wait for the previous motion to end before setting the new motion parameters and starting next motion When the motion is stopped with function block TS Stop the deceleration phase is done smooth using an S curve speed profile On detecting a rising edge at the Execute input the function block starts sending motion commands and sets the Busy output The Busy output remains set until the drive motor signals target reached moment when the function block sets the Done output and resets Busy The CommandAborted output is set if another motion function block sends motion commands to the same drive motor If a drive s error register information is received during the execution of the function block the output Error is set and its value is passed to ErrorlD All outputs remain set until Execute input is reset but at least for one block call Technosoft 2009 22 TML LIB X20 User Manual During motion execution the axis is transferred to DiscreteMotion state when the target position is reached Done output is set the axis is transferred to Standstill state Remarks 1 The function block requires drive
22. receives a message from the drive motor with PT status the function transfers its value to output PTStatus Technosoft 2009 35 TML LIB X20 User Manual Table 3 6 PT motion mode status BIT VALUE DESCRIPTION 15 PT buffer is not empty PT buffer is empty there is no PT point in the buffer and the execution of the current PT segment is over If PVTSENDOFF 0 default the drive motor will send the PVTSTS each time this bit goes from 0 to 1 14 PT buffer is not low PT buffer is low the number of PT points from the buffer is equal or less than the low limit set using SETPT If PVTSENDOFF 0 default the drive will send the PVTSTS each time this bit goes from 0 to 1 13 PT buffer is not full PT buffer is full the number of PT points from the buffer is equal with the buffer dimension If PVTSENDOFF 0 default the drive will send the PVTSTS each time this bit goes from 0 to 1 12 No integrity counter error Integrity counter error If the integrity counter error checking is enabled and PVTSENDOFF 0 default the drive will send the PVTSTS each time this bit goes from 0 to 1 11 Reserved 10 Normal operation Data received are PT points O O PVT point was received while PT mode is active The PVT point was discharged If PVTSENDOFF 0 default the drive motor will send the PVTSTS each time this bit goes from 0 to 1 0 Reserved
23. to revision or later The difference between the drives motors with CAN 2 0B compliant protocol and those with the CAN 2 0A compliant protocol resides only in the firmware all Technosoft products equipped with the CAN2 0A protocol have a firmware number starting with 2 i e the firmware code is F2xxY where 2xx is the firmware number and Y is the firmware revision Notational Conventions This document uses the following conventions Drive motor an intelligent drive or an intelligent motor having the drive part integrated in the motor case TML Technosoft Motion Language 10 drive motor internal units ACR 5 bit 5 of ACR data TMLCAN CAN communication protocol based on the CAN 2 0B standard The TMLCAN is the default CAN bus protocol for the Technosoft drives motors without CANopen TechnoCAN CAN communication protocol designed to permit the connection of Technosoft drives motors without CANopen in a CANopen network where messages are exchanged using CANopen protocol TechnoCAN and CANopen do not hinder each other and therefore can co exist on the same physical bus Related Documentation MotionChip 11 TML Programming part no P091 055 MCII TML UM xxxx describes in detail TML basic concepts motion programming functional description of TML instructions for high level or low level motion programming communication channels and protocols Also give a detailed description of each TML instruction incl
24. 1131 3 compatible library with motion function blocks which can be integrated in a PLC application based on one of the IEC 61131 3 standard languages 4 Combine Option 1 with Options 2 or 3 to really distribute the intelligence between the master host and the drives motors in complex multi axis applications Thus instead of trying to command each step of an axis movement you can program the drives motors using TML to execute complex tasks and inform the master when these tasks have been done TML LIB X20 is part of Option 3 It is an IEC61131 3 compatible motion library developed for the B amp R X20 family of PLCs The link between Technosoft drives motors and the PLC is done via the CAN bus using as interface the X20CS1070 communication module This solution embeds a Technosoft motion control unit in the X20 PLC environment providing simultaneous access to precise motion control and a large number of distributed peripherals Figure 1 1 This manual shows how to install and use the components of the TML LIB X20 library These were built following the guidelines described in PLC standards for motion control The functionality and the interface of these additional functions comply with the technical specifications of the standard Remarks e Option 4 requires using EasyMotion Studio instead of EasySetUp With EasyMotion Studio you can create high level motion functions in TML to be called from your PLC e EasyMotion Studio is also reco
25. ID BOOL Execute BOOL Done Axis TS AxisDescription Parameter description Data type Input PLCAxisID UINT The address of the PLC in the CAN network Execute BOOL Enable function execution Input Output AxisDescription Output BOOL Status of function execution Description The function enables the drive motor to send messages automatically when its state changes This feature is required for correct operation of the TML LIB X20 The function must be executed every time you power on or reset the drive motor Technosoft 2009 67 TML LIB X20 User Manual 3 6 35 FC TS SendCommand ST prototype TS SendCommand BOOL Execute UINT OpCode UDINT CommandDataW12 UDINT CommandDataW23 BOOL Done Axis TS AxisDescription Parameters description Parameter Data type Description Execute Send stop command at rising edge OpCode TML command operation code CommandDataW12 Data words 1 and 2 of TML command CommandDataW34 Data words 3 and 4 of TML command Length Number of data bytes Input Output AxisDescription Axis TS Axis information Output Done BOOL The TML command sent Description The function sends a TML command to the drive motor defined in structure Axis With the rising edge of Execute the function block builds and sends a TML command from it binary code The binary code can be found with Binary code viewer a tool integrated in EasyMotion Studio The Done output is when the command is sent suc
26. SendCommand iii 68 Technosoft 2009 VIII TML LIB X20 User Manual 1 Introduction The programming of Technosoft intelligent drives motors involves 2 steps 1 Drive motor setup 2 Motion programming For Step 1 drive motor setup Technosoft provides EasySetUp EasySetUp is an integrated development environment for the setup of Technosoft drives motors The output of EasySetUp is a set of setup data which can be downloaded to the drive motor non volatile memory or saved on your PC for later use The setup data is copied at power on into the RAM memory of the drive motor and is used during runtime The reciprocal is also possible i e to retrieve the complete setup data from a drive motor non volatile memory previously programmed EasySetUp can be downloaded free of charge from Technosoft web page It is also provided on the TML LIB X20 installation CD For Step 2 motion programming Technosoft offers multiple options like 1 Use the drives motors embedded motion controller and do the motion programming in Technosoft Motion Language TML For this operation Technosoft provides EasyMotion Studio an IDE for both drive setup and motion programming The output of EasyMotion Studio is a set of setup data and a TML program to download and execute on the drive motor 2 Use a DLL with high level motion functions which can be integrated in a host application written in C C Delphi Pascal Visual Basic or LabVIEW 3 Use a IEC6
27. T Data memory address where the value will be written Value DINT Value to be written Input Output Done BOOL Is set when the write data message is sent Output Busy BOOL The function block is processing the command Description The function block sends a write long ulong data message to the drive motor with axis ID read from Axis structure When the drive motor receives the message it will write the Value in the data memory location ParameterAddress The TML uses the following data types int 16 bit signed integer e uint 16 bit unsigned integer e fixed 32 bit fixed point data with the 16MSB for the integer part and the 16LSB for the factionary part long 32 bit signed integer ulong 32 bit unsigned integer The data type uint or ulong are reserved for the TML predefined data The user defined variables are always signed Hence you may declare them of type int fixed or long Each TML data parameters variables or registers has an associated address This represents the address of the data memory location where the TML data exists Address ranges for TML data are from 0x0200 to OxO3AF and from 0x0800 to OxO9FF For user defined variables the address range is between 0x03B0 and OxOSFF On detecting a rising edge at the Execute input the function block sends the write data message and sets the Busy output The Busy output remains set for one function block call in the next call the functi
28. VT points 1 A PT point was received while PVT mode is active The PT point was discharged If PVTSENDOFF 0 default the drive motor will send the PVTSTS each time this bit goes from 0 to 1 9 7 0 Reserved 6 0 0 127 Current integrity counter value Remarks The function block just sends the PVT points the motion mode is programmed with function block TS SetPVT and therefore the TS PVTPoint must follow TS SetPVT call Technosoft 2009 31 TML LIB X20 User Manual 3 6 9 FB TS SetPT ST prototype TS SetPT BOOL Execute REAL PTPOSO INT LowLevelValue INT PVTCounterValue UINT ControlWord BOOL Done BOOL CommandAborted BOOL Busy BOOL Error UINT ErrorlD Axis TS AxisDescription Parameter description Parameters Datatype Description Execute BOOL At rising edge the command is sent PTCounterValue INT The new counter value for the first PT point LowLevelValue INT The new value for low buffer signaling PTPOSO REAL The initial position for absolute PT mode ControlWord WORD Selects the block options Input Output Done Signal that PT motion mode programmed successfully CommandAborted The motion command is aborted by another motion command Busy The function block is processing the command Signal if an error has occurred in the execution of the Error function block or an error message was received from the drive ErrorlD Information about the error occurred Output
29. VT status send by the drive motor Description The function block activates the PVT motion mode and sends the PVT points to a drive motor previously programmed with function block TS_SetPVT to work in PVT motion mode In PVT motion mode the drive motor performs a positioning path described through a series of points Each point specifies the desired Position Velocity and Time i e contains a PVT data Between the points the built in reference generator performs a 3rd order interpolation The PVTRef structure contains the following elements Component Data type Description Position Represents the position to be reached at the end of the PVT segment Velocity Is the velocity at the of the PVT segment Represents the time interval of the PVT segment The maximum time interval is 511 IU Time The counter value for the current point The maximum value for the counter is Counter 127 On detecting a rising edge at Execute input the function block reads the inputs and sends the PVT point to the drive motor The output Busy is set and remains set until the drive signals the motion is complete moment when the Done output is set and Busy reset If the last point sent to has non zero velocity the drive motor signals the condition quick stop and the function block sets the output Error The function block sends a PVT point every time detects a rising edge at input Execute When the PLC receives a message from the drive moto
30. and speed The slave speed is not limited in absolute electronic camming Limit the slave speed in absolute electronic camming Reserved Technosoft 2009 51 TML LIB X20 User Manual 3 6 20 FB MC CamOut ST prototype TS CamOut BOOL Execute BOOL Done BOOL CommandAborted BOOL Busy BOOL Error UINT ErrorlD Axis TS Slave Parameters description Parameter Data type Description Input Execute BOOL Start disengaging process at rising edge Input Output Slave Axis TS Slave axis information Done Disengaging completed The motion command is aborted by another motion Output CommandAborted command Error Is set if the axis goes to ErrorStop while ErrorlD Information about the error occurred Description The function block decouples a slave drive motor set in electronic camming from its master On detecting a rising edge at the input Execute the function block sends the motion commands for decoupling from the master and sets the Busy output The Done output is set when the disengaging process was successfully executed The function block changes the slave state from SynchronizedMotion to ContinuousMotion keeping the velocity from the moment when the function block was called If the drive s motor s error register is received while the output Done is not set the output Error is set and its value is passed to ErrorlD All outputs remain set until Execute input is reset bu
31. ave actual position in the absolute mode SlaveAbsolute 1 the output of the cam table it s the slave target position The cam tables are first downloaded into the EEPROM memory of the drive motor then calling MC CamTableSelect the selected cam table is copied from the EEPROM memory into the drive motor RAM memory Through CamTable you select the active cam table The CamTable is an array with two elements the first represents the drive motor EEPROM address where the cam table was downloaded the second is the drive motor RAM address where the cam table is copied These addresses are drive motor specific If you are using EasyMotion Studio to create and or download the cam tables in Application General Information open Memory Settings dialogue If you have more than one cam table their addresses are obtained adding the cam length to the addresses reported in Memory Settings Remarks e The function must be called before enabling the electronic camming e During electronic camming slave mode only one cam table can be active at time Technosoft 2009 48 TML LIB X20 User Manual 3 6 19 FB TS ST prototype TS Gearln BOOL Execute REAL SlaveOffset REAL MasterScaling REAL SlaveScaling DINT MasterResolution REAL AccelerationLimit BOOL InGear BOOL CommandAborted BOOL Busy BOOL Error UINT ErrorlD Axis TS Master Axis TS Slave Parameter description Parameter Data type Descrip
32. block programs a relative positioning with an S curve shape of the speed This shape is due to the jerk limitation leading to a trapezoidal or triangular profile for the acceleration and an S curve profile for the speed You specify the position to reach plus the velocity maximum travel speed the maximum acceleration deceleration rate and the jerk rate The function block can be executed only from Standstill state During motion the parameters should not be changed Therefore when executing successive motions with TS_MoveSCurveAbsolute function blocks you should wait for the previous motion to end before setting the new motion parameters and starting next motion When the motion is stopped with function block TS Stop the deceleration phase is done smooth using an S curve speed profile On detecting a rising edge at the Execute input the function block starts sending motion commands and sets the Busy output The Busy output remains set until the drive motor signals target reached moment when the function block sets the Done output and resets Busy The CommandAborted output is set if another motion function block sends motion commands to the same drive motor If a drive s error register information is received during the execution of the function block the output Error is set and its value is passed to ErrorlD All outputs remain set until Execute input is reset but at least for one block call Technosoft 2009 24 TML LIB X20 User
33. buffer in terms of how much memory space is reserved is 63 3Fh words The drive motor automatically sends messages to the PLC when the buffer is full low or empty The messages contain the PVT status TML variable PVTSTS The buffer full condition occurs when the number of PVT points in the buffer is equal with the buffer size The buffer low condition occurs when the number of PVT points in the buffer is less or equal with a programmable value When ControlWord 7 1 the buffer low level is programmed with the value read from LowLevelValue input The buffer empty condition occurs when the buffer is empty and the execution of the last PVT point is over When the PVT buffer becomes empty the drive motor e Remains in PVT mode if the velocity of last PVT point executed is zero and waits for new points to receive e Enters in quick stop mode if the velocity of last PVT point executed is not zero Therefore a correct PVT sequence must always end with a last PVT point having velocity zero Remarks 1 The PVT and PT modes share the same buffer Therefore the TML parameters and variables associated with the buffer management are the same 2 Both the PVT buffer size and its start address are programmable via TML parameters int 0x0864 and PVTBUFLEN int 0x0865 Therefore if needed the PVT buffer size can be substantially increased Use TS WritelntegerParameter to change the PVT buffer parameters Table 3 3 ControWord bits description Description
34. ccurred Output Description The function block programs the drive motor to work with an external reference read via a communication channel Depending on the control mode chosen the external reference is saved in one of the TML variables EREFP which becomes the position reference if the input PositionControl is set EREFS which becomes the speed reference if the input SpeedControl is set EREFT which becomes the torque reference if the input TorqueControl is set EREFV which becomes voltage reference if the input VoltageControl is set Remark During the drive motor setup in the Drive setup dialogue you have to 1 Select the appropriate control type for your application at Control Mode 2 Perform the tuning of controllers associated with the selected control mode When the external reference is sent from the PLC use e Function block TS_WriteLongParameter to update the variable EREFP long 0x02A8 e Function block TS_WriteFixedParameter to update the variable EREFS fixed 0x02A8 e Function block TS_WritelntegerParameter to update the variable EREFT or EREFV int 0x02A9 Technosoft 2009 43 TML LIB X20 User Manual Table 3 8 Control type Axis state Control type Axis state Position PositionControl DiscreteMotion Speed SpeedControl ContinuousMotion Torque TorqueControl ContinuousMotion Voltage VoltageControl ContinuousMotion On detecting a rising edge at the Execute input the func
35. cessfully Technosoft 2009 68 TML LIB X20 User Manual TECHNOSOFT
36. city zero Busy BOOL The function waits for status register Description Function block makes the transition from ErrorStop to Disable by resetting the drive drive motor defined in structure Axis After a reset operation the drive motor requires a time period typically 20 ms for initialization during which the communication is not available The timer used internally by the function block is read from input TimerNumber Remark The function block reinitializes the drive motor with the setup data found in EEPROM If you changed the values of drive motor parameters during normal operation and want to use the same values after the reset call T5 SaveParameters prior function block TS_ResetDrive On detecting a rising edge at the Execute input the function block sends the reset commands and sets the Busy output The function block must be followed by a delay to allow the drive motor to complete the reset command Busy remains set until the last message is sent moment when the function block sets the Done output and resets the Busy The axis is transferred to Disable state Technosoft 2009 57 TML LIB X20 User Manual 3 6 25 FB TS WriteLongParameter ST prototype TS WriteLongParameter BOOL Execute UINT ParameterAddress DINT Value BOOL Done BOOL Busy Axis TS AxisDescription Parameters description Parameter Data type Description Execute BOOL Write long parameter at the rising edge Input ParameterAddress UIN
37. define your own according with your application needs The homing procedures are programmed and downloaded on the drive motor using EasyMotion Studio tool Technosoft provides for each intelligent drive motor a collection of up to 32 homing procedures You may use any of these homing procedures as they are or use them as a starting point for your own homing routines Steps to program the drive motor for homing e Start EasyMotion Studio and load the project associated to your application e Select from the list with all the defined homing procedures one or several to be used e Select the menu command Application Motion Build to compile and link the TML program the result is a file with out extension ready to be downloaded to the drive motor e Establish the communication with your drive and download the TML program with menu command Application Motion Download Program e Open the Command interpreter tool window and interrogate the drive motor about the program memory address of the homing procedure using the command HomingXX where XX is the homing procedure number Technosoft 2009 37 TML LIB X20 User Manual Command Interpreter nj L Homing2 oming2 is label with address 0 4031 L gt Homing9 ominq9 is label with address L gt e Inthe PLC program call TS Homing with the address of homing procedure and the home position On detecting a rising edge at the input Execute the
38. e axis behavior implemented in TML LIB X20 and the function blocks which have influence on the states The current state for each axis is stored on the PLC in an Axis TS structure Several axes must be grouped in an array of type Axis TS Table 3 1 shows the axis states and their corresponding values Table 3 1 Axis states State State State byte value Disabled 0 1 StandStill 1 2 Discrete Motion 2 4 Continuous Motion 3 8 Synchronized Motion 4 16 Stopping 5 32 ErrorStop 6 64 Homing 7 128 When the drive motor is powered up its state is set to Disabled In this state the drive motor power stage is disabled and none of motion function blocks is executed During Disabled state you must call TS InitAxis and TS Power The TS InitAxis function enables the drive motor to send automatically its status information towards the PLC This feature is required for proper operation of TML LIB X20 components With TS Power function block the power stage of the drive motor is enabled and if no error occurs the axis is transferred to StandStill state If the drive motor responds with an error message the axis is transferred to ErrorStop state When the axis reaches the state StandStill you can start sending motion commands From this moment each motion function block transfers the axis in its associated state Administrative functions no driving motion have no influence on axis state The axis is transferred to ErrorStop if on the driv
39. e motor an error occurs due to Invalid setup data e Protection triggered e Control error Technosoft 2009 11 TML LIB X20 User Manual The motion function block cannot be executed when the axis is ErrorStop state From this state the axis can be transferred to StandStill state with function block TS Reset or to Disabled state with function block TS ResetDrive Function block TS Reset resets all drive motor internal error and it must be followed by a TS Power call to re enables the power stage With function block TS ResetDrive you perform a reset of the drive motor If the drive motor parameters where changed during normal operation and you want to use the same parameters after drive motor reset execute function TS SaveParameters prior issuing TS ResetDrive call The function TS SaveParameters saves the drive motor actual parameters in the non volatile memory and thus enabling you to use them after a drive motor reset or power off Synchronized Motion Error TS Gearln TS Camln TS GearOut TS MoveAbsolute TS CamOut TS MoveRelative TS Stop TS Gearln TS Camln TS MoveAbsolute TS MoveRelative TS MoveAdditive ea ea a X a X TS MoveVelocity Done TS_Stop TS_MoveAbsolute TS_MoveRelative TS MoveAdditive Error TS 5 TS MoveSOCurveRelative TS MovePVT stopping TS MovePT stopping pping TS
40. er identification of the protocol supported Technosoft 2009 8 TML LIB X20 User Manual 9 Functions and function blocks declaration Each function or function block must be declared in the fun file associated to the project Open the fun file as text and then copy the function block declarations from TML_lib fun and insert them in the file Technosoft 2009 9 TML LIB X20 User Manual This page is empty Technosoft 2009 10 TML LIB X20 User Manual 3 TML LIB X20 description 3 1 Basic concepts The TML LIB X20 library allows you to implement motion control applications in a B amp R Automation Studio project with minimal knowledge of Technosoft Motion Language With the functions and the function blocks you can control the Technosoft drive motors individually or grouped by sending commands for simple TS MoveAbsolute complex TS SetPVT TS PVTPoint or synchronized TS Gearln motions The library is completed by several non motion driving functions and functions blocks necessary for drive motor administration TS Power TS WritelntegerParameter The TML LIB X20 elements were built following the guidelines described in PLC standards for motion control and developed using IEC61131 3 programming languages Each Technosoft drive motor is represented at the PLC level using the term Axis Its behavior is defined through up to 8 states During operation an axis can be in only one state Figure 3 1 presents th
41. ess BOOL Done BOOL Busy DINT Value Axis TS AxisDescription Parameter description Parameters Datatype Description RxBufferAddress CANBuffer Pointers to CAN module registers Input NoAxes USINT Number of Technosoft drives motors controlled from PLC AxesArray UDINT Pointer to the array with axes information Input Output Output CANStatus BYTE CAN module status returned by function FC111 CANRCV Description The function interprets CAN bus messages and saves the data received in the array with axes data The function should be called periodically every PLC cycle at the beginning of the main program so that the last information received be available in the same PLC cycle for the other function blocks Remarks The function processes only one CAN message per PLC cycle The TS InterpretMessage function has 2 source files TS InterpretMessage 11 bit st and TS InterpretMessage 29 bit st one for each CAN bus protocol The name of the source files are suffixed with the length of the CAN identifier for easier identification of the supported protocol i e for TMLCAN protocol 29 bit CAN identifier the name of the source file will be TS InterpretMessage 29 bit Add the source file corresponding to the actual CAN protocol used in the Step7 project before compiling the TS InterpretMessage function Technosoft 2009 66 TML LIB X20 User Manual 3 6 34 FC TS InitAxis ST prototype TS InitAxis UINT PLCAxis
42. fer The reference generator empties the buffer as the PT points are executed The PT buffer is of type FIFO first in first out The default length of the PT buffer is 7 PT points Each entry in the buffer is made up of 9 words so the default length of the PT buffer in terms of how much memory space is reserved is 63 3Fh words The drive motor automatically sends messages to the PLC when the buffer is full low or empty The messages contain the PT status TML variable PVTSTS The buffer full condition Technosoft 2009 32 TML LIB X20 User Manual occurs when the number of PT points in the buffer is equal with the buffer size The buffer low condition occurs when the number of PT points in the buffer is less or equal with a programmable value When ControlWord 7 1 the buffer low level is programmed with the value read from LowLevelValue input The buffer empty condition occurs when the buffer is empty and the execution of the last PVT point is over When the PT buffer becomes empty the drive motor hen the PT buffer becomes empty the drive motor keeps the position reference unchanged Remark 1 The PVT and PT modes share the same buffer Therefore the TML parameters and variables associated with the buffer management are the same 2 Both the PT buffer size and its start address are programmable via TML parameters int 0x0864 and PVTBUFLEN int 0x0865 Therefore if needed the PT buffer size can be substantially increased Use TS W
43. fully CommandAborted E block is aborted by another motion function Output Busy The function block is processing the command Signal if an error has occurred in the execution of the function block ErrorlD Information about the error occurred Error Description The function block programs the drive motor to work with an external analogue reference read via a dedicated analogue input 10 bit resolution The analogue signal can be interpreted as a position speed or torque analogue reference Through inputs PositionControl SpeedControl and TorqueControl you select the control type performed by the drive motor Table 3 1 shows the correspondence between the control type inputs and the axis state Remark During the drive motor setup in the Drive setup dialogue you have to 1 Select the appropriate control type for your application at Control Mode 2 Perform the tuning of controllers associated with the selected control mode 3 Setup the analogue reference You specify the reference values corresponding to the upper and lower limits of the analogue input In addition a dead band symmetrical interval and its center point inside the analogue input range may be defined Table 3 7 Control type Axis state Control type Input Axis state Position PositionControl DiscreteMotion Speed SpeedControl ContinuousMotion Torque TorqueControl ContinuousMotion On detecting a rising edge at the Execute input the
44. function block sends the home position and starts the homing procedure on the drive motor The Busy output is set and remains set until the drive motor signals homing procedure completed When the drive motor message is received the function block sets the Done output and resets Busy Outputs Error and ErrorlD have no associated functionality Technosoft 2009 38 TML LIB X20 User Manual 3 6 12 FB TS Stop ST prototype TS Stop BOOL Execute REAL Deceleration BOOL Done BOOL Busy BOOL Error UINT ErrorlD Axis TS AxisDescription Parameters description Parameter Data type Description Execute BOOL Send the stop command at rising edge Input 4 Deceleration rate expressed TML acceleration Deceleration REAL internal units p Input Output AxisDescription Axis TS Axis information Done Signal drive velocity zero Signal if an error has occurred in the execution of the Output Error function block or an error message was received from the drive ErrorlD Information about the error occurred Description The function block stops the drive motor motor with the deceleration rate set in Deceleration input The drive motor decelerates following a trapezoidal position or speed profile The stop command is sent to the drive motor defined in structure AxisDescription On detecting a rising edge at Execute input the function block sends the stop command and sets the Busy output Busy remains set until the drive moto
45. function or function block Remark The library components type i e function and function blocks is specified in the description title A function block title starts with FB while for a function it starts with FC Technosoft 2009 16 TML LIB X20 User Manual 3 6 1 FB TS MoveAbsolute ST prototype TS MoveAbsolute BOOL Execute REAL Position REAL Velocity REAL Acceleration Axis TS AxisDescription Parameters description Parameters Data type Description Execute Send motion commands at rising edge Position to reach expressed in TML position internal units The slew speed expressed in TML speed internal units Acceleration increment expressed in TML acceleration internal units Input Output AxisDescription STRUCT Axis information 0 2 Done Commanded position reached The function block is aborted by another CommandAborted motion function block Signal the function block is waiting for motion complete Signal if an error has occurred in the execution Error of the function block or an error message was received from the drive ErrorlD Information about the error occurred Position input Velocity Acceleration Output Busy Description The function block programs an absolute positioning with trapezoidal speed profile You specify the position to reach plus the velocity maximum travel and the acceleration deceleration rate The velocity and acceleration must be positive Negati
46. g 32 bit signed integer ulong 32 bit unsigned integer The data type uint or ulong are reserved for the TML predefined data The user defined variables are always signed Hence you may declare them of type int fixed or long Each TML data parameters variables or registers has an associated address This represents the address of the data memory location where the TML data exists Address ranges for TML data are from 0x0200 to OxO3AF and from 0x0800 to OxO9FF For user defined variables the address range is between 0x03B0 and OxOSFF On detecting a rising edge at the Execute input the function block sends the write integer data message and sets the Busy output Busy will remain set for one function block call in the next call the function block sets the Done output and resets Busy The output Done remain set until Execute input is reset Technosoft 2009 60 TML LIB X20 User Manual 3 6 28 FB TS ReadActualPosition ST prototype TS ReadActualPosition BOOL Execute UINT ParameterAddress DINT Value BOOL Done BOOL Busy Axis TS AxisDescription Parameter description Parameter Data type Description Input Execute BOOL Request the value of actual position continuously while enabled Input Output AxisDescription Axis TS Axis information 0000 Done The actual position read successfully The function block is waiting to receive the value of actual position Error Not used ErrorlD Not used Position Ac
47. g edge at the Execute input the function block converts the real value read from Value input to 32 bit fixed point data with the 16MSB for the integer part and the 16LSB for the factionary part After the conversion the write fixed data message is sent and the Busy output is set Busy will remain set for one function block call in the next call the function block sets the Done output and resets Busy The output Done remain set until Execute input is reset Technosoft 2009 59 TML LIB X20 User Manual 3 6 27 FB TS WritelntegerParameter ST prototype TS WritelntegerParameter BOOL Execute UINT ParameterAddress DINT Value BOOL Done BOOL Busy Axis TS AxisDescription Parameters description Write the parameter with the rising edge Input Data memory address where the value will be written Value to be written at the specified address Input Output AxisDescription Output BOOL Is set when the write data message is sent BOOL The function is processing the command Description The function block sends a write integer data message to the drive motor with axis ID read from Axis structure When the drive motor receives the message it will write the Value in the data memory location ParameterAddress The TML uses the following data types e int 16 bit signed integer e uint 16 bit unsigned integer e fixed 32 bit fixed point data with the 16MSB for the integer part and the 16LSB for the factionary part lon
48. gnal the function block is waiting for motion complete Signal if an error has occurred in the execution of Error the function block or an error message was received from the drive ErrorlD Information about the error occurred Distance In put Velocity Output Busy Description The function block programs a relative positioning with trapezoidal speed profile The position to reach is computed by adding the position increment to the previous position to reach independently of the moment when the command was issued You specify the position increment plus the velocity maximum travel speed and the acceleration deceleration rate The values of velocity and acceleration must be positive Negative values are taken in modulus on the drive motor On detecting a rising edge at the Execute input the function block starts sending motion commands and sets the Busy output The Busy output remains set until the drive motor signals target reached moment when the function block sets the Done output and resets Busy The CommandAborted output is set if another motion function block sends motion commands to the same drive motor If a drive s error register information is received during the execution of the function block the output Error is set and its value is passed to ErrorlD All outputs remain set until Execute input is reset but at least for one block call During motion execution the axis is transferred to DiscreteMoti
49. he drive motor non volatile memory or saved on your PC for later use A setup contains all the information needed to configure and parameterize a Technosoft drive motor This information is preserved in the drive motor non volatile memory in the setup table The setup table is copied at power on into the RAM memory of the drive motor and is used during runtime The reciprocal is also possible i e to retrieve the complete setup data from a drive motor non volatile memory previously programmed Steps to follow for commissioning a Technosoft drive motor Step 1 Start EasySetUp From Windows Start menu execute Start Programs EasySetUp EasySetUp or Start Programs EasyMotion Studio EasySetUp depending on which installation package you have used Technosoft 2009 4 TML LIB X20 User Manual Step 2 Establish communication EasySetUp starts with an empty window from where you can create a New setup Open a previously created setup which was saved on your PC or Upload the setup from the drive motor Before selection one of the above options you need to establish the communication with the drive motor you want to commission Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here you can find detailed information about how to setup your drive motor and do the connections Power on the drive motor and then close the Communication Setup dialogue w
50. he function block sets the InCam output and resets Busy While the output InCam is not set the function checks e f other motion function blocks start sending commands to the same drive motor In this case the function is aborted and the output CommandAborted is set e If the error register is received from the drive motor In this case the function block sets the output Error The value of error register is transferred at the output ErrorlD All outputs remain set until Execute input is reset but at least for one block call Table 3 10 ControlWord bits description Value Description 0 0 Send the cam table input scaling factor 1 Don t send the cam table input scaling factor 1 0 Send the cam table input scaling factor 1 Don t send the cam table input scaling factor 2 0 Send the cam table offset 1 Don t send the cam table offset 3 0 Send the master resolution 1 Don t send the master resolution Technosoft 2009 50 TML LIB X20 User Manual Use master resolution read from input MasterResolution Master resolution is 0x80000001 Master position is received via communication channel Master position is read from 2 encoder or pulse amp direction inputs Target Update Mode 1 TUM1 Generates new trajectory starting from the actual values of position and speed reference Target Update Mode 0 TUMO Generates new trajectory starting from the actual values of load motor position
51. in TML variable AAR uint 0x030C Use TS HReadlntegerParameter to read the value of the Axis ID and Group ID The Group ID represents a way to identify a group of axes for a multicast transmission This feature allows the PLC to send a command simultaneously to several axes for example to start or stop the axes motion in the same time When a function block sends a command to a group all the axes members of this group will receive the command For example if the axis is member of group 1 and group 3 it will receive all the messages that in the group ID include group 1 and group 3 Each axis can be programmed to be member of one or several of the 8 possible groups Table 3 2Definition of the groups 0000 0001b 0000 0010b 0000 0100b 0000 1000b 0010 0000b 0100 0000b 128 1000 0000b Remark In comparison with TMLCAN TechnoCAN has the following restrictions maximum number of axes is 31 possible Axis ID values 1 to 31 maximum number of groups is 5 possible Group ID values 1 to 5 16 32 64 0001 0000b FEE M MT By default the function blocks send the commands to one axis Several function blocks can also send commands to a group of axes The destination of the command single axis or group of axes is set through function block s input ControlWord If ControlWord 15 is set when the function block is executed the commands are sent to the axes having the Group ID
52. inters of global variables to access X20CS1070 registers transmission and reception The user must define the following RxCANData TS and TxCANData TS variables Array 0 4 of type UDINT used to access the CAN Rx and Tx data b RxCANIdentifiert TS and TxCANIdentifier TS variables of type UDINT used to access the CAN Rx and Tx identifier c RxCANParam TS and TxCANParam TS variables Array 0 1 of type USINT used to access the control registers of CAN Rx and CAN Tx buffers d RxCountLatch and TxCountLatch variables Array 0 1 of type USINT used to access the latch registers of CAN Rx and CAN Tx buffers Technosoft 2009 6 TML LIB X20 User Manual COPYRIGHT Technosoft File Global var RxCANIdentifier TS UDINT L1 0 TxCANldentfier TS UDINT o 0 RxCANData TS UINT O 4 0 TxCANData_TS UINT O 4 o 0 RxCANParam TS USINT 0 1 E 0 T CANParam TS USINT O 1 D 0 RxCountLatch USINT 0 1 0 TxCountLatch USINT 0 1 0 RxBuffer CANBuffer L1 0 TxBuffer CANBuffer 0 Figure 2 Global variables required by TML lib X20 to read write X20CS1070 registers 5 Map the global variables over the X20CS1070 module registers RXCount USINT Automatic RxCountLatch 0 RXCountLatch USINT Automatic RxCountLatch 1 TXCountReadBack LISINT Automatic TxCountLatch 0 TXCountlatchRead USINT Automatic TxCountLatch 1 RXDataSize USINT Automatic
53. ion is received during the execution of the function block the output Error is set and its value is passed to ErrorlD All outputs remain set until Execute input is reset but at least for one block call During motion execution the axis is transferred to DiscreteMotion state when the target is reached Done output is set the axis is transferred to Standstill state Remarks 1 The function block requires drive motor position loop to be closed During the drive motor setup select Position at Control Mode and perform the position controller tuning Technosoft 2009 19 TML LIB X20 User Manual 2 lf the application requires switching between discrete motion position control continuous motion speed control you must also close the speed loop and perform the tuning of the speed controller Technosoft 2009 20 TML LIB X20 User Manual 3 6 3 FB TS MoveAdditive ST prototype TS MoveAdditive BOOL Execute REAL Distance REAL Speed REAL Acceleration Axis TS AxisDescription Parameters description Parameters Data type Description Execute Send motion commands at rising edge Position increment expressed in TML position internal units The slew speed expressed in TML speed internal units Acceleration rate expressed in TML acceleration Acceleration internal units Input Output Done Signal the motion complete The function block is aborted by another motion CommandAborted function block Si
54. ious configuration consists of EasySetUp for setup of Technosoft drives motors e Automation Studio V3 0 SP3 for hardware configuration and programming of the PLC Technosoft 2009 13 TML LIB X20 User Manual 3 3 Internal units and scaling factors Technosoft drives motors work with parameters and variables represented in internal units IU The parameters and variables may represent various signals position speed current voltage etc Each type of signal has its own internal representation in IU and a specific scaling factor In order to easily identify each type of IU these have been named after the associated signals For example the position units are the internal units for position the speed units are the internal units for speed etc The scaling factor of each internal unit shows the correspondence with the international standard units SI The scaling factors are dependent on the product motor and sensor type Put in other words the scaling factors depend on the setup configuration In order to find the internal units and the scaling factors for a specific case select the application in the project window and then execute menu command Help Help Topics Setup Data Management Internal Units and Scaling Factors Important The help topic provides customized information function of the application setup If you change the drive the motor technology or the feedback device check again the scaling factors w
55. ith OK If the communication is established EasySetUp displays in the status bar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started EasySetUp tries to communicate with your drive motor via RS 232 and COM default communication settings If your drive motor is powered and connected to your PC port COM1 via an RS 232 cable the communication can be automatically established Step 3 Setup drive motor Press New button and select your drive motor type Depending on the product chosen the selection may continue with the motor technology for example brushless motor brushed motor or the control mode for example stepper open loop or stepper closed loop and type of feedback device for example incremental encoder SSI encoder This opens 2 setup dialogues for Motor Setup and for Drive setup through which you can configure and parameterize a Technosoft drive motor plus several predefined control panels customized for the product selected In the Motor setup dialogue you can introduce the data of your motor and the associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine
56. ith this command It may show you other relations 3 4 TML data The TML uses the following data types e int 16 bit signed integer e uint 16 bit unsigned integer e fixed 32 bit fixed point data with the 16MSB for the integer part and the 16LSB for the factionary part e long 32 bit signed integer ulong 32 bit unsigned integer Since the motion defining parameters i e position distance speed acceleration and jerk have different data types in TML for consistency they are represented at the PLC level using only data type real the conversion to TML data types is performed automatically by he function block 3 5 Axis ID Identification The data exchanged on the CAN bus is done using messages Each message contains one TML instruction to be executed by the receiver of the message Apart from the binary code of the TML instruction attached any message includes information about its destination an axis drive motor or a group of axes This information is grouped in the Axis Group ID Code Each drive motor has its own 8 bit Axis ID and Group ID Remarks 1 The Axis ID of a drive motor must be unique and is set during the drive motor setup phase with EasySetUp The LIB X20 doesn t contain a function or function block for changing the value of Axis ID 2 Adrive motor belongs by default to the group ID 1 Technosoft 2009 14 TML LIB X20 User Manual 3 The Axis ID and Group ID of drive motor are stored
57. le state The output Status reflects the effective power stage state If power fails i e during operation the input Enable is set and the drive motor power stage is disabled the axis is transferred to Errorstop state the Error output is set and ErrorlD becomes equal with OXFFFF Remark The function TS Axislnit must be executed prior MC Power call in order to initialize the automatic messages feature of the drive motor from the selected axis Technosoft 2009 55 TML LIB X20 User Manual 3 6 23 FB TS Reset ST prototype TS Reset BOOL Execute BOOL Done BOOL Busy BOOL Error UINT ErrorlD Axis TS AxisDescription Parameters description Parameter Data type Description Input Execute BOOL Reset the axis at the rising edge Input Output AxisDescription Axis TS Axis information Done The drive motor reached StandStill state The function block is waiting for drive motor power stage to be re enabled Signal if an error has occurred in the execution of the function block ErrorlD Information about the error occurred Busy Output Error Description The function block makes the transition from ErrorStop to Standstill by resetting drive motor FAULT status The function can be called only from ErrorStop state A drive motor enters in the FAULT status when an error occurs In the FAULT status e The drive motor is in AXISOFF with the control loops and the power stage deactivated e The TML program exec
58. meter ADBR RxCANParam 15 RxBuffer pLatchRegister ADR RxCountLatch TxBuffer pData ADR TxCANData 5 0 TxBuffer pIdentifier ADR TxCANIdentifier TS TxBuffer pParameter ADR TxCANParam TS IxBuffer pLatchRegister ADR TxCountLatch TS Axes 0 CANInterface ADR IxBuffer TS Axes 0 A xisID 255 TS Axes 1 CANInterface ADR IxBuffer TS Axes 1 A xisID 123 TS Axes 2 CANInterface ADR IxBuffer TS Axes 2 AxisID 222 TS Axes 3 CANInterface ADR TxBuffer TS Axes 3 AxisID 25 END PROGRAM Figure 4 CANbuffer initialization 8 Add TML LIB X20 source files Select Insert Add Object menu command to start the Add Object wizard and add the function and function blocks required by your application From the Add Object wizard select File category and then Existing File from templates Press Next button and browse for the source files installation folder default C Program Files Technosoft TML_LIB_X20 Library Once reached the installation folder select the functions required by your application and press Open button Remarks TS BuildMessage and TS InterpretMessage functions are mandatory for correct operation of the library so they must be included in all projects TS BuildMessage and TS InterpretMessage functions have 2 source files each for each CAN bus protocol TechnoCAN or TMLCAN The name of the source files are suffixed with the CAN identifier length for easi
59. mmended if your application includes a homing as it comes with 32 predefined homing procedures to select from and adapt if necessary Technosoft 2009 1 TML LIB X20 User Manual Figure 1 1 Technosoft drives motors connections with an X20 B amp R PLC Technosoft 2009 2 TML LIB X20 User Manual 2 Getting started 2 1 Hardware installation Figure 2 1 shows how to connect via a CAN bus link several drives motors with the B amp R X20 PLC the X20CS1070 communication module Technoso t drive motor woge with CAN A bus Technosoft drive motor Node with CAN 8 GND AXISID 255 X20 PLC Technosoft drive motor with bus i PC Host Address 3 120R 596 0 25W Technosoft drive motor with CAN b s CAN_GND External supply Figure 2 1 Multiple Axis CAN network Remarks e The 1202 terminating resistors between CAN HI and CAN LO are mandatory e Some Technosoft products do not require an external supply for the CAN interface Technosoft 2009 3 TML LIB X20 User Manual comparison with TechnoCAN has the following restrictions maximum number of axes is 31 possible Axis ID values 1 to 31 maximum number of groups is 5 possible Group ID values 1 to 5 For the hardware installation of the Technosoft drives motors see their user manual For the hardware
60. motor position loop to be closed During the drive motor setup select Position at Control Mode and perform the position controller tuning 2 If the application requires switching between discrete motion position control and continuous motion speed control you must also close the speed loop and perform the tuning of the speed controller Technosoft 2009 23 TML LIB X20 User Manual 3 6 5 FB TS MoveSCurveRelative ST prototype TS MoveSCurveRelative BOOL Execute REAL Distance REAL Speed REAL Acceleration REAL Jerk BOOL Done BOOL CommandAborted BOOL Busy BOOL Error UINT ErrorlD Axis TS AxisDescription Parameter description Parameters Data type Description Execute Send motion commands at rising edge Position increment expressed in TML position internal units The slew speed expressed in TML speed internal units Acceleration rate expressed in TML acceleration internal units Jerk Acceleration s maximum jerk expressed in TML jerk internal units Input Output Done The motion is complete The function block is aborted by another motion CommandAborted function block Signal the function block is waiting for motion complete Signal if an error has occurred in the execution of the Error function block or an error message was received from the drive ErrorlD Information about the error occurred Distance Speed Input Acceleration Output Busy Description The function
61. motor while Done ErrorlD Information about the error occurred PVTStatus The PVT status send by the drive motor Description The function block activates the PT motion mode and sends the PT points to a drive motor previously programmed with function block TS_SetPT to work in PT motion mode In PT motion mode the drive motor performs a positioning path described through a series of points Each point specifies the desired Position and Time i e contains a PT data Between the points the built in reference generator performs a linear interpolation The PTRef structure contains the following elements Component Data type Description Position REAL Represents the position to be reached at the end of the PT segment Time UINT Represents the time interval of the PT segment The maximum value for time interval is 65535 IU Counter INT The counter value for the current point The maximum value for the counter is 127 On detecting a rising edge at Execute input the function block reads the inputs and sends the PT point to the drive motor The output Busy is set and remains set until the drive signals the motion is complete moment when the Done output is set and Busy reset If the last point sent to has non zero velocity the drive motor signals the condition quick stop and the function block sets the output Error The function block sends a PT point every time detects a rising edge at input Execute When the PLC
62. n be relative or absolute In the relative mode the output of the cam table is added to the slave actual position In the absolute mode the output of the cam table is the target position to reach TML variable TPOS long 0x02B2 The electronic camming mode is set with function block MC CamTableSelect You can compress extend the cam table input Specify through input MasterScaling the correction factor by which the cam table input is multiplied For example an input correction factor of 2 combined with a cam offset of 180 degrees will make possible to execute a cam table defined for 360 degrees of the master in the last 180 degrees You can also compress extend the cam table output Specify through input SlaveScaling the correction factor by which the cam table output is multiplied This feature addresses the applications where the slaves must execute different position commands at each master cycle all having the same profile defined through a cam table In this case the drive motor is programmed with a unique normalized cam profile and the cam table output is multiplied with the relative position command updated at each master cycle On detecting a rising edge at the Execute input the function block starts sending the motion commands and sets the Busy output The function block sends the motion commands according with the selections made through ControlWord input Busy remains set until the drive motor signals coupling completed moment when t
63. n executed by the master Once at each slow loop sampling time interval the master sends either its load position ControlWord 4 0 or its position reference ControlWord 4 1 to the axis or the group of axes defined in the structure Slave When ControlWord 15 0 the Slave structure contains the axis ID of one slave When ControlWord 15 1 its content is interpreted as a group ID i e the group of slaves to which the master should send its data Remark You need to specify the Axis ID or the Group ID where master sends its position only the first time after power on when a drive is set as master If the master mode is later on disabled function block called with Control Word 0 1 then enabled function block called with ControlWord 1 0 again there is no need to set again the Axis ID or the Group ID as long as they remain unchanged In this case set the ControlWord 2 1 When ControlWord 5 1 you can change the synchronization procedure between the master and the slave axes The synchronization procedure is enabled when ControlWord 6 0 the time interval between synchronization messages is read from SyncPeriod input or disabled when ControlWord 6 1 Recommended starting value is 20ms When synchronization procedure is active the execution of the control loops on the slaves is synchronized with those of the master within a 10s time interval In electronic gearing if the master activation is done AFTER the slaves are set in electronic
64. n how to create the project read the online help of B amp R Automation Studio Configure X20CS1070 communication module Select Physical View of the project open the I O Configuration window of X20CS1070 module and make the changes listed below the remaining settings must remain with the default values a SetFunction model to default flat b Setthe CAN bus baud rate The value selected must match the baud rate set on Technosoft drives motors the default value for Technosoft drives motors is 500kbaud Set the CAN data object format to UINT type Add TML lib data types TML lib library uses the following structures to store various information across the function blocks a Axis TS structure containing the data and status of a Technosoft axis at PLC level b CANbuffer structure containing the pointers to X20CS1070 registers c PTref structure containing the data for a PT point d PVTref structure containing the data for a PVT point Remarks The Axis TS and CANbuffer types are mandatory PTref and PVTref are required only when the PLC application programs the drive motor for PT or PVT mode The data types should be declared as global data type within the Global typ file To insert the types open the fun file as text and then copy the data type declarations from TML lib typ and insert them in the file Add global variables required by TML lib to access to X20CS1070 registers TML lib it s using po
65. nefit from a key advantage of Technosoft drives their capability to execute complex motions without requiring an external motion controller thanks to their built in motion controller A demo version of EasyMotion Studio with EasySetUp part fully functional can be downloaded free of charge from Technosoft web page If you Need Assistance If you want to Contact Technosoft at Visit Technosoft online World Wide Web http www technosoftmotion com Receive general information World Wide Web http www technosoftmotion com or assistance Email contact technosoftmotion com Ask questions about product operation or report suspected problems Fax 41 32 732 55 04 Email hotline technosoftmotion com Make suggestions about or report errors in documentation Technosoft 2009 V TML LIB X20 User Manual This page is empty Technosoft 2009 VI TML LIB X20 User Manual Contents 1 Introd ction iii eo Re A et Sa 1 2 Getting Started Ere 2 1 Hardware installation 3 2 aug deae deat 3 2 2 Software installation eene nnns seni 4 2 2 1 Installing EasySetUp ede ede ae PR ink hes 4 2 2 2 Installing TML LIB X20 library 4 2 9 DBrive mototr setup otia eta cheat trea ele AT uere 4 24 Build a B amp R Automation Studio project with _ 20 5 3 LIB X20 descri
66. on block sets the Done output and resets Busy The output Done remain set until Execute input is reset Technosoft 2009 58 TML LIB X20 User Manual 3 6 26 FB TS WriteFixedParameter ST prototype TS WriteFixedParameter BOOL Execute UINT ParameterAddress REAL Value BOOL Done BOOL Busy Axis TS AxisDescription Parameters description Input Input Output Output Description The function block sends a write fixed data message to the drive motor with axis ID read from Axis structure When the drive motor receives the message it will write the Value converted to 32 bit fixed point in the data memory location ParameterAddress The TML uses the following data types e int 16 bit signed integer e uint 16 bit unsigned integer e fixed 32 bit fixed point data with the 16MSB for the integer part and the 16LSB for the factionary part long 32 bit signed integer e ulong 32 bit unsigned integer The data type uint or ulong are reserved for the TML predefined data The user defined variables are always signed Hence you may declare them of type int fixed or long Each TML data parameters variables or registers has an associated address This represents the address of the data memory location where the TML data exists Address ranges for TML data are from 0x0200 to OxOSAF and from 0x0800 to OxO9FF For user defined variables the address range is between 0x03B0 and OxOSFF On detecting a risin
67. on state when the target is reached Done output is set the axis is transferred to Standstill state Technosoft 2009 21 TML LIB X20 User Manual 3 6 4 FB TS MoveSCurveAbsolute ST prototype TS MoveSOCurveAbsolute BOOL Execute REAL Position REAL Speed REAL Acceleration REAL Jerk BOOL Done BOOL CommandAborted BOOL Busy BOOL Error UINT ErrorlD Axis TS AxisDescription Parameter description Parameters Data type Description Execute Send motion commands at rising edge Position to reach expressed in TML position internal units The slew speed expressed in TML speed internal units Acceleration rate expressed in TML acceleration internal units Jerk Acceleration maximum jerk expressed in TML jerk internal units Input Output Done Signal the motion complete The function block is aborted by another motion CommandAborted function block Signal the function block is waiting for motion complete Signal if an error has occurred in the execution of the Error function block or an error message was received from the drive ErrorlD Information about the error occurred Position Input Velocity Acceleration Busy Output Description The function block programs an absolute positioning with an S curve shape of the speed This shape is due to the jerk limitation leading to a trapezoidal or triangular profile for the acceleration and an S curve profile for the speed You specify the
68. ory location where the TML data exists Address ranges for TML data are from 0x0200 to OxO3AF and from 0x0800 to OxO9FF For user defined variables the address range is between 0x03B0 and OxOSFF On detecting a rising edge at the Enable input the function block sends the request message and sets the Busy output Busy remains set until the requested value is available moment when the function block sets the Done output and resets Busy The value received is transferred to output Value The output Done remain set until Enable input is reset Technosoft 2009 64 TML LIB X20 User Manual 3 6 32 FC TS BuildMessage The library s function blocks use internally the 5 BuildMessage to build the CAN messages No parameters are required from the user Remark The TS BuildMessage function has 2 source files TS BuildMessage 11 bit st and TS BuildMessage 29 bit st one for each CAN bus protocol supported by the library The name of the source files are suffixed with the length of the CAN identifier for easier identification of the protocol supported i e for TechnoCAN protocol 11 bit CAN identifier the name of the source file will be TS BuildMessage 11 bit Add the source file corresponding to the actual CAN protocol used in the Step7 project before compiling the TS BuildMessage function Technosoft 2009 65 TML LIB X20 User Manual 3 6 33 FC TS InterpretMessage ST prototype TS ReadLongParameter BOOL Execute UINT ParameterAddr
69. ption 11 3 1 Basic Conce plini manit de eA ah ede eee duda eee era 11 3 2 TML LIB 20 13 3 3 Internal units and scaling factors 14 3 4 SIME data zi stet mette toti metet 14 3 5 Axis ID Id ntfiCatiOn terne o ret eta Cet o esed e 14 3 6 Functions descriptions 15 3 6 1 FB TS MOVeADSOIlUl6e 5 uite iet tome rtc nip nae tepore 17 3 6 2 EB TS MovehelatiVOe nt 19 3 6 3 FB TS MoveAdditive 0 2220 0 0 0 0 0000 00 21 3 6 4 FB TS 22 3 6 5 FB TS MoveSOurveRelative sss anna 24 3 6 0 FBTS MovevVelocity ir 26 3 6 7 EB TS SEPT n seed atout mte t et a desee m dia antes 27 3 6 8 FB2IS PMTPOIDLZu union aie aient diete E oa 30 3 6 9 EBSLISzSelPIT exits tton 32 36 10 SFBZTS IBABOIDU rite ete iie tee ie ettet te foie 35 3611 RB TO HONOS cocci rete poa min tirent et oda Sans tenta 37 3 6 12 FB TS SIOD site e ctetu e dat he isset ie eee en enn died ede a 39 3 6 13 TS ExternalAnalogue Ente t eed taber en oon 40 3 6 14 FB TS ExternalDigital ii 42 3 60 15 Ext rnalOnLine 23 ete deve eee cds Ole f dede ad id ee 43 3 60 16 EBATIS
70. r UINT ErrorlD Axis TS AxisDescription Parameter description Parameters Datatype Description Execute BOOL At rising edge the command is sent PVTPOSO REAL The initial position for absolute PVT mode Input LowLevelValue INT The new value for low buffer signaling PVTCounterValue INT The new counter value for the first PVT point ControlWord WORD Selects the block options Input Output D Signal the path described through PVT points ended one correctly the last point has velocity zero The motion command is aborted by another motion CommandAborted Output The function block is processing the command Signal if an error has occurred in the execution of the function block or an error message was received from the drive ErrorlD Information about the error occurred Description The function programs a drive motor to work in PVT motion mode In PVT motion mode the drive motor performs a positioning path described through a series of points Each point specifies the desired Position Velocity and Time i e contains a PVT data Between the points the built in reference generator performs a 3rd order interpolation Remark The function block just programs the drive motor for PVT mode the motion mode is activated from function block TS PVTPoint and therefore the TS PVTPoint must follow TS SetPVT call Also the function block TS PVTPoint sends the PVT points to the drive motor A key factor fo
71. r containing the PVT status the function transfers its value to output PVTStatus Technosoft 2009 30 TML LIB X20 User Manual Table 3 4 PVT motion mode status BIT VALUE DESCRIPTION 15 0 PVT buffer is not empty 1 PVT buffer is empty there is no PVT point in the buffer and the execution of the current PVT segment is over If PVTSENDOFF 0 default the drive motor will send the PVTSTS each time this bit goes from 0 to 1 14 0 PVT buffer is not low 1 PVT buffer is low the number of PVT points from the buffer is equal or less than the low limit set using SETPVT If PVTSENDOFF 0 default the drive will send the PVTSTS each time this bit goes from 0 to 1 13 0 PVT buffer is not full 1 PVT buffer is full the number of PVT points from the buffer is equal with the buffer dimension If PVTSENDOFF 0 default the drive will send the PVTSTS each time this bit goes from 0 to 1 12 0 No integrity counter error 1 Integrity counter error If integrity counter error checking is enabled and PVTSENDOFF 0 default the drive will send the PVTSTS each time this bit goes from 0 to 1 11 0 The drive has kept the PVT motion mode after a PVT buffer empty condition because the velocity of the last PVT point was 0 1 The drive has performed a Quick stop following a PVT buffer empty condition because the velocity of the last PVT point was different from 0 10 0 Normal operation Data received are P
72. r getting a correct positioning path in PVT mode is to set correctly the distance in time between the points Typically this is 10 20ms the shorter the better If the distance in time between the PVT points is too big the 3rd order interpolation may lead to important variations compared with the desired path The PVT motion mode can be started only when the previous motion is complete However you can switch at any moment to another motion mode The PVT mode be relative ControlWord 0 0 or absolute ControlWord 0 1 In the absolute mode each PVT point specifies the position to reach The initial position may be either the current position reference TML variable TPOS ControlWord 12 1 or a preset value read from the TML parameter PVTPOSO ControlWord 12 0 In the relative mode each PVT point specifies the position increment relative to the previous point In both cases the time is relative to the previous point i e represents the duration of a PVT segment For the first PVT point the time is measured from the starting of the PVT mode Technosoft 2009 27 TML LIB X20 User Manual Each time when the drive receives a new PVT point it is saved into the PVT buffer The reference generator empties the buffer as the PVT points are executed The PVT buffer is of type FIFO first in first out The default length of the PVT buffer is 7 PVT points Each entry in the buffer is made up of 9 words so the default length of the PVT
73. r signals velocity zero moment when the function block sets the Done output and resets the Busy If the drive motor error register is received while the output Done is not set the output Error is set and the When the function block is called the axis is transferred to state Stopping and aborts the current motion function block In the Stopping state no motion function block can be called The axis remains in state Stopping until the input Execute is reset when the axis is transferred to state Standstill If a drive s motion error register information is received during the execution of the function block the output Error is set and its value is passed to ErrorlD Technosoft 2009 39 TML LIB X20 User Manual 3 6 13 FB TS ExternalAnalogue ST prototype TS ExternalAnalogue BOOL Execute BOOL PositionControl BOOL SpeedControl BOOL TorqueControl REAL LimitValue BOOL Done BOOL CommandAborted BOOL Busy BOOL Error UINT ErrorID Axis TS AxisDescription Parameter description Parameters Data type Description Execute At rising edge the command is sent PositionControl The analogue reference is a position reference Inputs SpeedControl The analogue reference is a speed reference TorqueControl The analogue reference is a torque reference Limit value Speed acceleration limit value for position speed control Input Output AxisDescription Axis TS Axis information Done Motion commands sent success
74. ritelntegerParameter to change the PT buffer parameters On detecting a rising edge at Execute input the function block reads the inputs and sends the motion commands to the drive motor The output Busy is set and remains set until the function block TS PTPoint signals motion mode active moment when the Done output is set and Busy reset Table 3 5 ControWord bits description Description The PT mode is relative The PT mode is absolute Target update mode 1 Generates new trajectory starting from the actual values of position and speed reference i e don t update the reference values with load motor position and speed Target update mode 0 Generates new trajectory starting from the actual values of load motor position and speed i e update the reference values with load motor position and speed No change in the buffer low parameter Change the buffer low parameter with the value specified in LowLevelvalue Reserved for new features If PT mode is set as absolute the initial position is taken from TML parameter PVTPOSO default 0 The initial position is used to compute the distance to move up to the first PT point If PT mode is set as absolute the initial position is taken from TML variable TPOS The initial position is used to compute the distance to move up to the first PT point No change to the internal integrity counter Change internal integrity counter with the value specified in
75. rocessing the command Output Error Signal if an error has occurred in the execution of the function block or an error message was received from the drive ErrorlD Information about the error occurred Description The function block programs the drive motor to work with an external digital reference provided as pulse amp direction or quadrature encoder signals In either case the drive motor performs a position control with the reference computed from the external signals Remarks 1 The function block requires the drive motor position loop to be closed During the drive motor setup select Position at Control Mode and perform the position controller tuning 2 If the application requires switching between discrete motion position control and continuous motion speed control the speed loop must be closed also In the Drive setup dialogue select Position at Control Mode then enter the Advanced dialogue and close the speed loop After the selection perform the tuning of the position controller and speed controller 3 The option for the input signals pulse amp direction or quadrature encoder is established during the drive motor setup in External Reference Setup dialog On detecting a rising edge at the Execute input the function block starts sending the motion commands The output Busy is set and remains set until the last motion command is sent moment when the function block sets the Done output and re
76. s set and its value is passed to ErrorlD All outputs remain set until Execute input is reset but at least for one block call Remark The function block requires the drive motor position and speed loops to be closed During the drive motor setup select Position at Control Mode and in Advanced dialogue choose option Close Position Speed and Current loop After the selection perform the controllers tuning Technosoft 2009 47 TML LIB X20 User Manual 3 6 18 FB MC CamrTableSelect ST prototype TS CamTableSelect BOOL Execute BOOL SlaveAbsolute BOOL Done BOOL Busy BOOL Error UINT ErrorlD Axis TS Master Axis TS Slave ARRAY CamTable Parameters description Parameters Data type Description Execute Send motion commands at rising edge Input Specifies the electronic camming type Absolute SlaveAbsolute ad Relative 0 Master Master axis information Input Output Slave Slave axis information CamTable Cam table reference Done Commanded position reached Signal the function block is waiting for motion complete Signal if an error has occurred in the execution of the function block ErrorlD Information about the error occurred Busy Output Error Description The function block sets the cam table used by the slave drive motor in electronic camming and the electronic camming type absolute or relative In the relative mode SlaveAbsolute 0 the output of the cam table is added to the sl
77. s_TS Master axis information Axis_TS Slave axis information InGear Is set when the gear ratio reached The function block is aborted by another function block The function block is waiting the salve to reach the gear ratio Is set if drive s motor s error register is received while InGear ErrorlD Information about the error occurred Input Input Output CommandAborted Output Busy Error Description The function block programs a drive motor to operate as slave in electronic gearing In electronic gearing slave mode the drive motor performs a position control At each slow loop sampling period the slave computes the master s position increment and multiplies it with its programmed gear ratio The result is the slave s position reference increment which added to the previous slave position reference gives the new slave position reference The gear ratio is a fixed value containing the result of the division RatioNumerator RatioDenominator RatioNumerator is a signed integer while the RatioDenominator is unsigned integer RatioNumerator sign indicates the direction of movement positive same as the master negative reversed to the master RatioNumerator and RatioDenominator are used by an automatic compensation procedure that eliminates the round off errors which occur when the gear ratio is an irrational number like 1 3 Slave 1 Master 3 The slave can get the ma
78. scription Parameters description Parameters Data type Description Execute Send motion commands at rising edge Position increment expressed in TML position internal units The slew speed expressed in TML speed internal units Acceleration rate expressed in TML acceleration internal units Input Output Done Signal the motion complete The function block is aborted by another motion CommandAborted function block Signal the function block is waiting for motion complete Signal if an error has occurred in the execution of Error the function block or an error message was received from the drive ErrorlD Information about the error occurred Distance Input Velocity Acceleration Output Busy Description The function block programs a relative positioning with trapezoidal speed profile You specify the position increment plus the velocity maximum travel speed and the acceleration deceleration rate The values of velocity and acceleration must be positive Negative values are taken in modulus On detecting a rising edge at the Execute input the function block starts sending motion commands and sets the Busy output The Busy output remains set until the drive motor signals target reached moment when the function block sets the Done output and resets Busy The CommandAborted output is set if another motion function block sends motion commands to the same drive motor If a drive s error register informat
79. sets Busy The CommandAborted output is set if another motion function block sends motion commands to the same drive motor You can limit the maximum acceleration at sudden changes of the external reference and thus to get a smoother transition This feature is activated by setting the LimitValue to a non zero value Technosoft 2009 42 TML LIB X20 User Manual 3 6 15 FB TS ExternalOnLine ST prototype TS ExternalOnLine BOOL Execute BOOL PositionControl BOOL SpeedControl BOOL TorqueControl REAL LimitValue BOOL Done BOOL CommandAborted BOOL Busy BOOL Error UINT ErrorID Axis TS AxisDescription Parameter description Parameters Data type Description Execute Send motion commands at rising edge PositionControl The external reference is a position reference SpeedControl The external reference is a speed reference Input TorqueControl The external reference is a torque reference VoltageControl The external reference is a voltage reference Speed acceleration limit value for position speed control Input Output AxisDescription Axis TS Axis information Done The motion commands sent successfully The motion command is aborted by another motion command LimitValue CommandAborted Busy The function block is processing the command Signal if an error has occurred in the execution of the Error function block or an error message was received from the drive ErrorlD Information about the error o
80. ster position in two ways 1 Via a communication channel ControlWord 5 0 from a drive motor set as master with function block 5 SetMaster 2 Via an external digital reference of type pulse amp direction or quadrature encoder ControlWord 5 1 When master position is provided via the external digital interface the slave computes the master position by counting the pulse amp direction or quadrature encoder signals The initial value of the Technosoft 2009 45 TML LIB X20 User Manual master position is set by default to 0 Use function block TS WriteLongParameter to change its value by writing the desired value in the TML variable APOS2 long 20x091 Remarks 1 The function block requires drive motor position loop to be closed During the drive motor setup select Position at Control Mode and perform the position controller tuning 2 If the application requires switching between synchronized motion position control and continuous motion speed control i e use TS GearOut you must also close the speed loop and perform the speed controller tuning 3 Use function block TS SetMaster to program a drive motor as master in electronic gearing 4 When the reference is read from second encoder or pulse amp direction inputs you don t need to program a drive motor as master in electronic gearing You can smooth the slave coupling with the master by limiting the maximum acceleration on the slave This is particularl
81. t at least for one block call Remark The function block requires the drive motor position and speed loops to be closed During the drive motor setup select Position at Control Mode and in Advanced dialogue choose option Close Position Speed and Current loop After the selection perform the controllers tuning Technosoft 2009 52 TML LIB X20 User Manual 3 6 24 FB TS SetMaster ST prototype TS SetMaster BOOL Execute DINT SyncPeriod UINT ControlWord BOOL Done BOOL Busy BOOL Error UINT ErrorlD Axis TS Master Axis TS Slave Parameters description Parameter Data type Description Execute BOOL Send the stop command at rising edge Input SyncPeriod DINT Time period for synchronization messages expressed in TML time internal units ControlWord UINT Selects the block options Axis TS Master axis information Axis TS Slave axis information Done Master configuration commands sent Input Output Busy The function is processing the commands Error Not used ErrorlD Not used Output Description The function block programs a drive motor as master in electronic gearing or camming The Master structure defines the master drive motor while the slave is defined in the Slave structure The master operation is enabled when the function block is called with ControlWord1 0 and disabled when the function block is called with ControlWord 0 1 In both cases these operations have no effect on the motio
82. the function block TS PVTPoint signals motion mode active moment when the Done output is set and Busy reset Remarks 1 The function block requires the drive motor position loop to be closed During the drive motor setup select Position at Control Mode and perform the position controller tuning 2 If the application requires switching between discrete motion position control and continuous motion speed control the speed loop must be closed also In the Drive setup dialogue select Position at Control Mode then enter the Advanced dialogue and close the speed loop After the selection perform the tuning of the position controller and speed controller Technosoft 2009 29 TML LIB X20 User Manual 3 6 8 FB TS PVTPoint ST prototype TS PVTPoint BOOL Execute BOOL Done BOOL CommandAborted BOOL Busy BOOL Error UINT ErrorlD PVTRef PVT REF Axis TS AxisDescription Parameter description Parameters Datatype Description Input Execute BOOL At rising edge the command is sent PVT REF PVTRef Description of PVT point Input Output AxisDescription Axis TS Axis information Done Signal that commanded velocity is reached The motion command is aborted by another motion CommandAborted command Busy The function block is processing the command Output Signal if an error message was received from the Error drive motor while Done ErrorlD Information about the error occurred PVTStatus The P
83. tion Execute BOOL At rising edge the command is sent SlaveOffset REAL Cam table offset expressed in TML position units MasterScaling REAL CAM table input scaling factor Input SlaveScaling REAL CAM table output scaling factor Master s position sensor resolution expressed in MasterResolution DINT LimitValue REAL Speed limit value expressed in TML speed units ControlWord UINT Selects the block options Master axis information Input opa Axis TS Slave axis information InCam Signal the cam is engaged for the first time The motion command is aborted by another CommandAborted motiorncommand Output Busy The function block is processing the command Error Is set if drive s motor s error register is received while ErrorlD Information about the error occurred Description The function block programs a drive motor to operate as slave in electronic camming The slave drive motor executes a cam profile function of the master drive motor position The cam profile is defined by a cam table a set of X Y points where X is cam table input i e the master position and Y is the cam table output i e the corresponding slave position Between the points the drive motor performs a linear interpolation The slave can get the master position in two ways 1 Via a communication channel ControlWord 5 0 from a drive motor set as master with function block 5 SetMaster 2 Via an external digital reference of
84. tion block checks the inputs PositionControl SpeedControl TorqueControl VoltageControl and starts sending the motion commands according with the first input found set The output Busy is set and remains set until the last motion command is sent moment when the function block sets the Done output and resets Busy The CommandAborted output is set if another motion function block sends motion commands to the same drive motor In position control you can limit the maximum speed at sudden changes of the position reference and thus to reduce the mechanical shocks In speed control you can limit the maximum acceleration at sudden changes of the speed reference and thus to get a smoother transition These features are activated by setting LimitValue to a non zero value Technosoft 2009 44 TML LIB X20 User Manual 3 6 16 FB TS Gearln ST prototype TS Gearln BOOL Execute RatioNumerator INT RatioDenominator UDINT MasterResolution REAL AccelerationLimit BOOL InGear BOOL CommandAborted BOOL Busy BOOL Error UINT ErrorlD Axis TS Master Axis TS Slave Parameter description Parameter Data type Description Execute Send motion commands at rising edge RatioNumerator Gear ratio numerator negative or positive RatioDenominator Gear ratio denominator only positive MasterResolution Master s position sensor resolution AccelerationLimit Acceleration limit when the slave is coupling ControlWord Selects the block options Axi
85. tual position expressed in TML position internal units Busy Output Description The function block requests the value of the actual position from the drive motor with axis ID found in Axis structure On detecting a rising edge at the Enable input the function block sends the request message and sets the Busy output Busy remains set until the requested value is available moment when the function block sets the Done output and resets Busy The value received is converted to real and transferred to output Position The output Done remain set until Enable input is reset Error and ErrorlD outputs are reserved for future development and have no associated functionality Technosoft 2009 61 TML LIB X20 User Manual 3 6 29 FB TS ReadLongParameter ST prototype TS ReadLongParameter BOOL Execute UINT ParameterAddress BOOL Done BOOL Busy DINT Value Axis TS AxisDescription Parameter descriptions Input Input Output BOOL Is set when the requested value is available Output BOOL D block is waiting to receive the requested DINT The requested variable content Description The function block requests the value of the TML variable parameter with data memory ParameterAddress The TML data can be of type long ulong 32 bit signed unsigned integer The request is sent to the drive motor with axis ID found in Axis structure Each TML data parameters variables or registers has an associated
86. type pulse amp direction or quadrature encoder ControlWord 5 1 When master position is provided via the external digital interface the slave computes the master position by counting the pulse amp direction or quadrature encoder signals The initial value of the master position is set by default to 0 Use function block TS WriteLongParameter to change its value by writing the desired value in the TML variable APOS2 long 0x091C Remarks 1 The function block requires drive motor position loop to be closed During the drive motor setup select Position at Control Mode and perform the position controller tuning Technosoft 2009 49 TML LIB X20 User Manual 2 If the application requires switching between synchronized motion position control and continuous motion speed control i e use MC CamOut you must also close the speed loop and perform the tuning of the speed controller 3 When the reference is read from second encoder or pulse amp direction inputs you don t need to program a drive motor as master in electronic camming Through input SlaveOffset you can shift the cam profile versus the master position by setting an offset for the slave The cam table input is computed as the master position minus the cam offset For example if a cam table is defined between angles 100 to 250 degrees a cam offset of 50 degrees will make the cam table to execute between master angles 150 and 300 degrees The electronic camming ca
87. uding syntax binary code and examples MotionChip Configuration Setup part no P091 055 MCII STP UM xxxx describes the MotionChip II operation and how to setup its registers and parameters starting from the user application data This is a technical reference manual for all the MotionChip Il registers parameters and variables Help of the EasySetUp software describes how to use EasySetUp to quickly setup any Technosoft drive for your application using only 2 dialogs The output of EasySetUp is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file At power on the drive is initialized with the setup data read from its EEPROM With EasySetUp it is also possible to retrieve the complete setup information from a drive previously programmed EasySetUp includes a firmware programmer with allows you to update your drive firmware to the latest revision EasySetUp can be downloaded free of charge from Technosoft web page Technosoft 2009 IV TML LIB X20 User Manual Help of the EasyMotion Studio software describes how to use the EasyMotion Studio to create motion programs using in Technosoft Motion Language TML EasyMotion Studio platform includes EasySetUp for the drive motor setup and a Motion Wizard for the motion programming The Motion Wizard provides a simple graphical way of creating motion programs and automatically generates all the TML instructions With EasyMotion Studio you can fully be
88. ution is stopped and all the TML functions called are cancelled e The error register MER uint 90x08FC shows the type of errors detected and the status register SRH 15 signals the fault condition e Ready and error outputs if present are set to the not ready level respectively to the error active level When available ready greed led is turned off and error red led is turned on Remark The following conditions signaled in MER do not set the axis in ErrorStop Command error Negative limit switch input on activate level Positive limit switch input on activate level Position wraparound Serial and CAN bus communication errors On detecting a rising edge at the Execute input the function block sends the reset commands and sets the Busy output Busy remains set until the drive motor power stage is re enabled moment when the function block sets the Done output and resets the Busy The axis is transferred to Standstill state If the power stage is not enabled the axis remains in ErrorStop and the Error output is set The value 0x0001 is transferred to ErrorlD output The function can be called only from ErrorStop state Technosoft 2009 56 TML LIB X20 User Manual 3 6 24 FB TS ResetDrive ST prototype TS ResetDrive BOOL Execute BOOL Done BOOL Busy Axis TS AxisDescription Parameters description Data type Input BOOL Send the commands at rising edge Input Output AxisDescription Output Done BOOL Signal drive velo
89. ve values are taken in modulus On detecting a rising edge at the Execute input the function block starts sending motion commands and sets the Busy output The Busy output remains set until the drive motor signals target reached moment when the function block sets the Done output and resets Busy The CommandAborted output is set if another motion function block sends motion commands to the same drive motor If a drive s error register information is received during the execution of the function block the output Error is set and its value is passed to ErrorlD All outputs remain set until Execute input is reset but at least for one block call During motion execution the axis is transferred into DiscreteMotion state when the target is reached Done output is set the axis is transferred to Standstill state Remarks 1 The function block requires drive motor position loop to be closed During the drive motor setup select Position at Control Mode and perform the position controller tuning Technosoft 2009 17 TML LIB X20 User Manual 2 If the application requires switching between discrete motion position control continuous motion speed control you must also close the speed loop and perform the tuning of the speed controller Technosoft 2009 18 TML LIB X20 User Manual 3 6 2 FB TS MoveRelative ST prototype TS MoveRelative BOOL Execute REAL Distance REAL Velocity REAL Acceleration Axis TS AxisDe
90. y useful when the slave must couple with a master running at high speed Setting ControlWord 7 and the maximum acceleration value LimitValue input activates the feature On detecting a rising edge at the Execute input the function block starts sending the motion commands The output Busy is set and remains set until the drive motor signals gear ratio reached moment when the function block sets the InGear output and resets Busy If another motion function block starts sending motion commands while the output InGear is not set the function block is aborted and the CommandAborted output is set Also if the drive error register is received while the output InGear is not set the output Error is set and the error register value is passed to ErrorlD All outputs remain set until Execute input is reset but at least for one block call During motion execution the axis is transferred into SynchronousMotion state and remains in this state until a new motion function block except TS Gearln and TS_Camln starts sending motion commands to the same drive motor Table 3 9 ControlWord bits description Value Description Reserved Enable operation as slave in electronic gearing Don t enable operation as slave in electronic gearing Send gear ratio parameters Don t send the gear ratio parameters Send the master resolution Don t send the master resolution Use master resolution read from input MasterResolution

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