AN-SERV-009 - AutomationDirect Technical Support
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1. 4 Luis Miranda AN SERV 009 ees Select and set the communication parameters Set P3 00 parameter to the desired slave address In this case we will use the value 2 that is servo drive slave 2 Then set a value 3 in P3 01 that defines the transmission rate as 38400 kbps Kilo bits per second This value also must be set in the configuration of PLC port 2 P3 02 defines the protocol and the configuration of the same port In this case let us select 8 Finally we set the P3 05 value for RS 232 with a value of 0 This servo configuration is done with the keypad of the servo drive Notice that the PLC can communicate at a higher baud rate of 115 2 kbps The communication parameters in the j CLICK Programming Software primer proyecto ckp Mai PLC are configu red with the CLICK i File Edit View sae Program Instruction PLC Monitor windo programming software and we show here 53 ig 4 System Configuration T the values in the figure below To get to PEDET Com Fort Setup this dialog box you have to click on the M svigstion x ea a hee c menu SETUP and then select COMM ocr Password Setup J Ctrl Shift P PORT SETUP Then select the SETUP 77 Interrupt Setup Es M CPU Built in 1O Setygn button a Software Setup See more details on the port 2 set up in EA the CLICK user manual Then we must A connect the PLC with the servo drive Com Port Setup Details w Protocol Basi2. Bring to Front ey Send to Back mPa Bring Forward Send Backward i naou Object gt Library 5 Object Properties i Associate this tag to DS30 You can relocate the objects to align with the upper ones In the same way you will change the properties of the numeric display to show now the current target related to DD1 and the number of digits can be changed to 3 You may change the frame to other to distinguish from the previous one In the same way you can continue to set other objects as follows Target entry as numeric entry other object that allows to enter a number to be transferred to the PLC related to DD1 The result and the tags related to each object are shown on the following figure ropfect SPT ATE Froject SCO Froject to panel x gt CURRENT POSION A A 123 mm i Current target 423 mm TARGET ENTRY m 123 mm Ist Ed 5 09 Luis Miranda 21 AN SERV 009 Ep This project can be downloaded to the panel for testing purposes by clicking on the button Send Project to Panel You can also simulate the behavior of the panel on the PC by clicking the button Simulate panel This function provides the possibility to show what you will see on the panel For example you can click on the numeric entry object and the display will show a keypad that can be clicked to enter a
3. 6 s The load is 1000 Ib and the friction on the wheels has a coefficient of about 0 1 Typically the operator will set the information of the target position on the operator interface and he will need to move it in the range of O to 830 mm from the Home position with the best precision possible Considering that the chain does not have stretching At the start of the job when the servo system is enabled the machine shall go to the Home position located at 100 mm from the driving sprocket the Home is determined by a proximity sensor There are also overtravel limit switches We have selected to use a PLC CO 05DD1 D and an operator interface EA7 T10C allowing the operator to control the target position of the tool Ist Ed 5 09 Luis Miranda 1 AN SERV 009 Ep See mechanical considerations on the application note AN SERV 007 From there it can be seen that the motor to be used is one of 1 kW Use of MODBUS with Sureservo A characteristic of the Sureservo drive is the possibility of linking the registers of the servo as slave to a PLC as a master using MODBUS RTU What happens if we desire to change the desired position by a distance selected by an operator The desired displacement can be set though an operator interface by selecting one of the eight positions in the preset target positions Or can be set in the memory of the PLC by MODBUS and the operator interface will just write the desired displacement amount The Clic
4. JOG RE bit Ol JOG Fro A ciis H Cil H C315 z1 a j a g T JOG REw bit JOG Fut bit Ol JOG RE H C116 H C115 H C3216 33 WP Aap rT Page 3 of 4 Total Pages Ist Ed 5 09 Luis Miranda 39 AN SERV 009 Ep Sprocket click Main Program Pag _Aluays_ OH Pask SCI Ol serwo enable Ol JOG REY 23 csi csis Packed servo Dls H OH Single Packed serra Dls H OH Pd OF word m os34 Meat 2 rungs counts the writing commands per second _1sec_ Clock scr 24 E CTO Witting per second m Osi002 Sending H C13 25 I _lsec_Clock scr 26 END Page 4 of 4 Tota 40 Luis Miranda
5. Luis Miranda AN SERV 009 Final version of the ladder code Rung to initiate the program _1st_SCAN H Ec CONSTANTS m ossi P2_30 is 0 Heat 2 rungs counts the sending commands per second _1sec_ Clock scr 2 A cToi Readings per second m s100 Receiving Success H C2 H CTi 3 _lsec_Clock scr t Ferel Receiving from serwo Pz a0 P2 30 is 0 ACI Mosio Ho H C4 reading data from serwo in O54 to D511 Receive Port 2 MOOBUS Receiving trom f Slave ID I Serva P2 30 is O Sending Commi int_k Function Code 03 HCI H C4 Bci i Slave 400005 ba 7 Pecera OFF Receiving Success H C2 SMECEL Bror in receiwing BCs Error s Wm os2001 Comm int_k H ct SET Gi MOP J Forcing a constant into P2 30 IF P2 30 has a content of O Send Port 2 Sending a 4 P2 30 is Slave ID HB Cio os10 mi H C4 Function Code w Serding f lave ae Success sending 5 ci CONSTANT S sa ven m o5501 Error in sending 4 i Ciz Error s 0s2010 Page 1 of 4 Total Page Ist Ed 5 09 Luis Miranda 3 AN SERV 009 Ep Main Program F Sending a P2 30 is 0 P2 30is O Cid H C4 H C4 J ka rT rn P2 30 is 4 TERESIN Hs Acs four This mng forces the value in O01 to be at the most 830 mm oe 230 _Always_OH 5C1 10 gt po 30 Target in mm Ooi P2 30 is 5 P2_s0 l ACS Wj Osi0 Target in mm mooi 11 o Curent target m Os30 Calculation to transform the linear position into rewolutions Math Tot
6. Reverse overtravel limit opens on overtravel 0 N A 6 DI7 23 Forward overtravel limit opens on overtravel 0 N A 7 DI8 21 External fault stop opens on fault 0 N A 8 DI9 108 Command Trigger predefined 1 C109 9 D0 111 PCSO Bit de selection O de position predefined 1 N A 10 D11 112 PCS1 Bit de selection 1 de position predefined 1 N A 11 D12 113 PCS2 Bit de selection 2 de position predefined 1 N A 12 D13 102 Alarm reset predefined 1 C113 13 DI14 127 Home search command predefined 1 C114 14 DI15 137 JOG Forward predefined 1 CATS 15 D16 138 JOG Reverse predefined 1 C116 PLC bits are the corresponding bits to be created to link the commands from the C more panel We have defined the PO 11 parameters and subsequent in such way than they are the values of position in P1 15 PO 11 P1 16 PO 12 and the digital inputs with PO 13 that is P4 07 Therefore the code of line 9 so that it is written in 3 consecutive registers and the MODBUS function code will be 16 instead of 6 In this way we should set the parameters as follows with the keypad PO 11 will be desired revolutions with the value 10Fpex equivalent to P1 15 This is the value by default PO 12 will be desired counts with the value 110peyx equivalent to P1 16 This is the value by default PO 13 will be the word with the digital inputs with the value 407 equivalent to P4 07 The next ones are not impo
7. motor shall not be locked anymore and the Home search will begin to move backwards to detect the position on the home sensor The output DO2 will turn ON when the Home is completed and this will activate the PLC input C202 After the Home is completed there is no need to do home search again unless you want to return to the zero position Ist Ed 5 09 Luis Miranda 31 AN SERV 009 32 The indicator at the top of the screen will turn on accordingly For example after doing home search and the the home has been found the screen will display an screen as the following figure When the Home is pesson SERREISIRINE Avostin voo EERIE completed the PLC CURRENT POSITION 0 mm clears the current counts And Current target 0 mm revolutions to get JOG reverse JOG FORWARD the O counts at this Mt A O time and allow a n a gt proper indication of the Current position TARGET ENTRY Transactions second e a 25 ms 0 mm commanding the clear command through MODBUS We have transferred the C bit data to the servo though MODBUS This is one way to implement it Another is to use a real input on the drive TRIGGER At this time we can test again the program Write a number such 800 mm in the numeric entry Target entry by touching the object The numeric keypad will show up Then write 800 and press ENT We have loaded the number 800 in t
8. than 18 words We will change the Receive instruction to read from PO 04 to PO 10 for now according to the following table for convenience in the programming for reasons to be seen later in this document Parameter Value Function Vaa aaa Description PO 04 1 Current revolutions 40005 DS5 Current revolutions PO 05 O Current counts 40006 DS6 Current counts PO 06 6 Current rpm 40007 DS7 Current rpm PO 07 11 Current torque 40008 DS8 Current torque PO 08 13 DC Bus voltage 40009 DS9 DC Bus voltage PO 09 21E As par P2 30 40010 DS10 Used as 5 to avoid writing EEPROM PO 10 409 As par P4 09 40011 DS11 To read output data thru MODBUS Explanation on the setting of block transfer parameter PO 09 It is necessary to consider the following The servo drive has two types of memory RAM and EEPROM In RAM memory data can be written at any time but the memory EEPROM can only be written to a limited number of times of the order of 100 000 times The parameters that do not change in time are written typically in EEPROM memory and with this memory it is not necessary to maintain the drive powered When powering the servo drive these values will be still stored in the memory This is not possible with RAM memory and the data only stays stored if the servo drive is powered ON If we want to write continuously to the drive memory we should set the value of P2 30 parameter as 5 but
9. the PLC to an arbitrary memory DS30 This integer number has to be scaled by 120000 331and separated into 2 numbers The ladder code below explains how to to this Target in mm Boot Target in mm Boo _Always OM Math HS1 CO1 120000 331 m02 Result q Math Desired revs 0531 1000 Mos32 Result Math bo O0932 10000 Boos Result Desired Counts Mos3s Ist Ed 5 09 Luis Miranda 1 7 AN SERV 009 C more programming It could be important for operation to show the operator the current target We will create a numeric display on the operator interface that shows the value similar to the adjacent figure It may also be important to the operator to show the current position The servo will report the current revolutions and the counts We will have to scale those values into mm to show the current position It is time to describe the C more operator interface programming We will describe here how to program the objects on the operator interface Open the C more program and create a new project by clicking on button Start a project Give a project name for example AN 009 then select the HMI the HMI type will be the one you are using In this application note we used a 10 inch C more panel The PLC protocol will be Automation Direct MODBUS CLICK and the baud rate will be 38400 kbps the default for the port 1 Click 1 PLC and then click OK The next screen will show up C more Programming Softwar
10. the code in next page This is a simple RECEIVE instruction that will be executing as often as possible Connect the port 2 of the PLC to the servo as shown previously When the servo brake is released by applying 24 VDC to the coil of the servo brake Yellow and orange wires on the power cable and the axis of the motor turns freely the data that is contained in the memories PO 00 up to PO 08 can be seen changing We will attempt to read data from the servo with MODBUS RTU These memories have addresses 40001 up to 40009 as it is in the table below Note Luis Miranda Parameter Value MODBUS address as Description A ae res be memory addressing has 6 digits PO 00 2105 40001 DS1 Software version The parameters PO 04 PO 01 14 40002 DS2 Fault code to PO 08 should be PO 02 0 40003 DS3 Display code changed to be able to PO 03 1 40004 DS4 Analog monitor read data that makes PO 04 O 40005 DS5 Status monitor 1 sense PO 05 0 40006 DS6 Status monitor 2 The adjacent second PO 06 O 40007 DS7 Status monitor 3 table shows what is to PO 07 O 40008 DS8 Status monitor 4 e set on each PO 08 O 40009 DS9 Status monitor 5 parameter with the Parameter Value N ieee Description nep of the Keypad In order to be able to PO 00 2 105 40001 DS1 Software version read the data from the PO 01 14 40002 DS2 Fault code ania drive oad 46 PO O2 O 40003 DS3 Drive Statu
11. 3 AN SERV 009 E P1 00 External Pulse Input Type 2 P1 01 Control Mode and Output Direction 101 P1 02 Velocity and Torque Limit 0 P1 03 Output Polarity Setting 0 P1 04 Analog Monitor Output Scaling 1 CH1 100 P1 05 Analog Monitor Output Scaling 2 CH2 100 P1 06 Analog Velocity Command Low pass Filter 0 P1 07 Analog Torque Command Low pass Filter 0 P1 08 Position Command Low pass Filter 0 P1 09 Preset Velocity Command Limit 1 100 P1 10 Preset Velocity Command Limit 2 200 P1 11 Preset Velocity Command Limit 3 300 P1 12 Preset Torque Command Limit 1 100 P1 13 Preset Torque Command Limit 2 100 P1 14 Preset Torque Command Limit 3 100 P1 15 Position 1 Command Revolutions 2 P1 16 Position 1 Command Counts 253 P1 17 Position 2 Command Revolutions 0 P1 18 Position 2 Command Counts O P1 19 Position 3 Command Revolutions O P1 20 Position 3 Command Counts 0 P1 21 Position 4 Command Revolutions 0 P1 22 Position 4 Command Counts O P1 23 Position 5 Command Revolutions O P1 24 Position 5 Command Counts O P1 25 Position 6 Command Revolutions O P1 26 Position 6 Command Counts 0 P1 27 Position 7 Command Revolutions 0 P1 28 Position 7 Command Counts O P1 29 Position 8 Command Revolutions O P1 30 Position 8 Command Counts 0 P1 31 Motor Code 21 P1 32 Motor Stop Mode Selection 1 P1 33 Position Control Mode 0 P1 34 Acceleration Time Internal Inde
12. 3 DI3 P2 13 Digital Input Terminal 4 D14 P2 14 Digital Input Terminal 5 DI5 P2 15 Digital Input Terminal 6 DI6 P2 16 Digital Input Terminal 7 DI7 P2 17 Digital Input Terminal 8 DI8 P2 18 Digital Output Terminal 1 DO1 P2 19 Digital Output Terminal 2 DO2 P2 20 Digital Output Terminal 3 DO3 P2 21 Digital Output Terminal 4 DO4 P2 22 Digital Output Terminal 5 DO5 P2 23 Notch Filter Resonance Suppression P2 24 Notch Filter Attenuation Resonance Suppression P2 25 Low pass Filter Resonance Suppression P2 26 External Anti Interference Gain P2 27 Gain Boost Control P2 28 Gain Boost Switching Time P2 29 Gain Boost Switching Condition P2 30 Auxiliary Function P2 31 Auto and Easy Tuning Mode Response Level P2 32 Tuning Mode P2 33 Reserved P2 34 Overspeed Fault Threshold P2 35 Position Deviation Fault Window P2 36 Position 1 Velocity P2 37 Position 2 Velocity P2 38 Position 3 Velocity P2 39 Position 4 Velocity P2 40 Position 5 Velocity P2 41 Position 6 Velocity P2 42 Position 7 Velocity P2 43 Position 8 Velocity P2 44 Digital Output Mode 1st Ed 5 09 AN SERV 009 10000 HEX 44 5000 30000 2174 400 1000 1000 1000 1000 1000 1000 Luis Miranda 35 AN SERV 009 E P2 45 Index Mode Output Signal Delay Time P2 46 Index Mode Stations P2 47 Position Deviation Clear Delay Time P2
13. 48 Backlash Compensation Index Mode P2 49 Jitter Suppression P2 50 Clear Position Mode P2 51 Servo Enable Command P2 52 Dwell Time 1 Auto Index Mode P2 53 Dwell Time 2 Auto Index Mode P2 54 Dwell Time 3 Auto Index Mode P2 55 Dwell Time 4 Auto Index Mode P2 56 Dwell Time 5 Auto Index Mode P2 57 Dwell Time 6 Auto Index Mode P2 58 Dwell Time 7 Auto Index Mode P2 59 Dwell Time 8 Auto Index Mode P2 60 Electronic Gear Numerator 2 P2 61 Electronic Gear Numerator 3 P2 62 Electronic Gear Numerator 4 P2 63 Velocity and Position Deviation Scaling Factor P2 64 Advanced Torque Limit Mixed Mode P2 65 Special Input Functions i P3 00 Communication Address P3 01 Transmission Speed P3 02 Communication Protocol P3 03 Communication Fault Action P3 04 Communication Watchdog Time Out P3 05 Communication Selection P3 06 Reserved P3 07 Communication Response Delay Time P3 08 Digital Input Software Control Mask HEX FFO3 P4 00 Fault Record Most recent N 14 P4 01 Fault Record N 1 11 P4 02 Fault Record N 2 11 P4 03 Fault Record N 3 11 P4 04 Fault Record N 4 13 P4 05 JOG Function 100 P4 06 Force Outputs Command 0 P4 07 Input Status O P4 08 Reserved 0 P4 09 Output Status 20 P4 22 Analog Velocity Input Offset 0 P4 23 Analog Torque Input Offset 0 OO OO OC OD OO OO Da 0 CO Oo OC Oo Go L gt lt O OOOO UN 36
14. AN SERV 009 N THIS INFORMATION PROVIDED BY AUTOMATIONDIRECT COM TECHNICAL SUPPORT IS SUPPLIED AS IS WITHOUT ANY GUARANTEE OF ANY KIND These documents are provided by our technical support department to assist others We do not guarantee that the data is suitable for your particular application nor do we assume any responsibility for them in your application PRODUCT FAMILY SureServo Number AN SERV 009 Subject Sureservo with CLICK PLC Date issued May 20 2009 Revision First Edition This is a similar example as the application note AN SERV 007 but with a Click PLC This simple example demonstrates how to use a Sureservo to control a linear movement It is shown how to program a Click PLC the servo drive and operator interface The machine is shown in the simple diagram below C more CLICK PLC operator ma interface Servo drive Tool car Motor amp Gearbox 1200 mm Home sensor This is a device that moves horizontally a 1000 Ib tool car with the help of a chain and sprockets through a maximum distance of 830 mm from the Home position at a desired distance entered by an operator This could be for example a device similar to a garage door opener but could also be a picking machine or an X Y table where only the X axis is shown The mechanical department has defined that the sprocket is a 26 teeth ANSI 40 sprocket and the maximum speed of motion is 1 0 m second The acceleration and deceleration time is 0
15. Be sure that the motor is not connected to the load and it is firmly secured to a bracket to avoid that the motion may cause some injury or damage to property Note that the transactions per second may be in the order of 25 ms 0 if there is no communication if there is no communication turn off and on the RUN STOP switch on the PLC in order to temporarily make it work Obviously something else has to be done there We will look after this test to fix the problem Servo disabled Home not yet found At position Mo fault servo not ready CURRENT POSITION 0 mm Current target 0 mm JOG reverse JOG FORWARD TERO RISE NDEi Transactions second 0 mm disabled Touch the button Servo enable on the operator panel that should be gray at the touch the button turns green The virtual digital output C301 in the PLC will turn ON The brake will be released with the help of the PLC output Y4 The shaft of the motor shall be locked since now the servo is enabled and you will hear a typical sound of current flowing through the windings of the servomotor Touch again the Servo enable button on the operator panel to disable the servo The shaft of the motor should be loose again if the brake is released Touch the button Servo enable on the operator panel for next operations Press the button Home search on the operator panel The virtual digital output C309 will turn ON The shaft of the
16. If you want to see the action in the PLC you can physically test them by relating temporarily the bits to a physical output of the PLC When the output is ON the corresponding LED will turn ON These actions test the objects that have been created in the C more panel These actions complete the test of the C more and the PLC for now Reading servo output status from PLC Let us go back to continue making the PLC program Put the cable going to the Servo back and the SC1 N C contacts on rungs where there is a SEND or RECEIVE commans shall be removed When the communication has been established we can see that the baud rate is 47 kbps in the register DS1001 using Data View We are reading the outputs in PO 11 or in other words P4 09 Luis Miranda AN SERV 009 eee Let us analyze what do we want to have here with the help of the following table Parameter Value Description Action expected P2 18 102 DO1 defined as Servo ON ON when servo is enabled P2 19 109 DO2 defined as Homing completed ON after the Home as been found P2 20 105 DO3 defined as At position ON every time servo reaches the target P2 21 107 DO4 defined as Active fault ON every time the servo has a fault P2 22 101 DO5 defined as Servo ready ON when servo is powered and no faults Each of the first 5 bits of this word represents the status of the digital outputs DO s we use the UNPACK Copy instruction to get the dat
17. Let us determine what the value of parameter P3 08 has to be The values of virtual or real digital inputs are defined by the content in P4 07 P3 08 is a mask parameter that allow us to control digital inputs with MODBUS Each one of the parameter bits has a predefined function or defined with other parameters If any of the eight less significant bits on P3 08 is a 1 digital inputs DI1 to DI8 are used as virtual digital inputs with MODBUS we call them virtual digital inputs as opposed to real digital inputs We can imagine each bit of P3 08 as a permissive to use MODBUS for each one of the defined functions The 8 most significant bits have preassigned functions Therefore before defining P3 08 we have to arbitrarily define the digital inputs to be defined in P4 07 See following table for the selected values for this specific example Bit Digital cog ae ee 4 a ode Description assigne value 0 DI 101 Servo Enable 1 1 DI2 104 Clear command 1 2 2 DI3 124 Home sensor O 3 DI4 0 Disabled 0 4 DI5 0 Disabled 0 5 DI6 22 Reverse overtravel limit switch opens on overtravel 0 0 6 DI7 23 Forward overtravel limit switch opens on overtravel 0 7 DI8 21 External fault stop opens on fault 0 8 DI9 108 Command Trigger predefined 1 9 DI10 111 PCSO Bit de selection O de position predefined 1 F 10 DI11 112 PCS1 Bit de selection 1 de posit
18. Miranda 1 3 AN SERV 009 Ej Main parameter setting We will enable the servo with a virtual digital input we have to connect the home sensor directly to servo and we will define acceleration and deceleration the operation mode and other constants that are listed next others are left as default P1 01 Operation mode that by default is O set as 1 Pr mode P1 32 Selection of the stop mode changed to 1 from value 0 P1 33 set as 0 absolute mode P1 34 Acceleration time it was defined as 600 ms P1 35 Deceleration time 600 ms to arrive at 0 P1 36 S curve set as 30 arbitrarily P1 47 Home search definition set as 223 P1 48 Home search fast speed set as 600 rpm arbitrarily P1 49 Home search creep speed set as 60 rpm arbitrarily P1 50 Revolutions offset from home sensor P1 51 Count offset from home sensor P1 55 left as 2174 rpm P2 10 DI1 set as 101 that is servo enable P2 11 DI2 set as 104 clear command to zero the counts after home position P2 12 DI3 set as 124 defined as a home sensor normally open that closes when the Home sensor is detected P2 13 DI4 set as O disabled P2 14 DI5 set as O disabled P2 15 DI6 set as 22 as reverse overtravel limit it is a normally closed contact P2 16 DIZ set as 23 as forward overtravel limit it is a normally closed contact P2 17 DI8 set as 21 as external fault stop it is a normally closed contact N
19. P2_30 P2 30 is 0 4 ae reading data from servo in D55 to D511 Receive Port 2 MOOBLS Receiving trom 5 IO 2 Serva P2 30 is O Sending Comm irt_k 03 B Ci H C4 cis cs 400005 5 7 Receluing CFF Receiving Success C2 SLRCE SE Error in receiving H C3 Error a m os2001 Comm irt_k ce SET Gi MOP 4 Forcing a constant into P2 30 IF P2 30 has a content of dai Send Port 2 Sending a P2 30 is O Slave IO 2 HB ci moo H c4 Function Code 16 cerelire r 3 ia Success sending 5 OFF B Cii CONSTANT 5 ar m s501 Eror in sending HB Ci Eror s m s2010 Notice that we had to force a value of 5 into the content of the register that corresponds to P2 30 For that we have to set a register DS501 with a constant 5 In order to test this step turn off the servo and P2 30 will reset to off Then when turning the servo on you can monitor DS10 with Data View to see the value there We added rung 1 for settings we will need later Ist Ed 5 09 Luis Miranda 1 1 AN SERV 009 a You will observe that the PLC did not take notice that the servo was powered off Then it is necessary to create an interlock in such a way that the PLC resets C4 when the servo goes from servo not ready to servo ON For this we should read the output status thru MODBUS We will discuss this later Note that the transactions per second value went down Explanation on setting of parameter P3 08 For this step we have to set P3 08
20. Shot Execute one time Cancel Help 1st Ed 5 09 Luis Miranda 29 AN SERV 009 Ep Now we have to set a word DH2 that has to be transferred to the servo which will have the bits related to the virtual digital inputs defined in the range C301 to C316 When this relationship is defined we can Senp the data to the register that corresponds to P4 07 See the code in the figure below Pack _Aways_ON sci enable DI JOG REY 4 Bl c301 C316 Packed servo Dis Sending rung 24 Receiving in rung 5 Execute Digital Inputs Sending in rung 6 Sending in rung 13 IB C20 Eci Bl c7 E c10 C13 Execute Digital Inputs Bl c rst This is the minimum code that we need remember to add the END instruction We can now test the program together with the operator panel In order to be sure that there is communication we will add a numeric display showing the transactions per second as in the figure below Servo disabled Home not yet found Mo fault Servo not ready CURRENT POSITION Omm Cumenttarget Current target Omm 0 mm JOG reverse JOG FORWARD K gt gt TARGET ENTRY Transactions second 0 mm oero disabled TRIGGER 30 Luis Miranda AN SERV 009 N Testing the program The Click programming software can be now disconnected from the PC to make the port 1 of the PLC free Power up the C more panel and be ready to run the servo motor
21. a as follows _Always_ON E sci Packed servo DOs H OHI OO semra on Bl c201 Bl C216 Note that P4 09 was read with MODBUS and transformed into hexadecimal DH1 Then the content of DH1 was unpacked to C201 to C216 Of course only bits C205 to C210 are used NA DI8 DI6 D4 DI2 How did we test this relationship In order to turn the nee gig gig i outputs ON we can use the parameter P4 06 See the A ate Ti T figure at the right to see the next explanation P4 06 shall be set to 1 to force DO1 to ON When the U8 ES ENTER key is pressed the servo display will show OP 01 ee On ie Off and the bit C201 of the PLC will turn ON In the same Of On On On On manner when set to 2 and then when the ENTER key is pressed the servo display will show OP 02 and the bit C202 of the PLC will turn ON and so on The effect will be seen on the register DS11 on in C201 to C205 with the help of Data View 4 B 21 ee eon crt f 23 D cz02 DO Home completed ff See the adjacent figure 124 C205 DO at position On We are now ready to implement more logic s B c204 DO active Fault off in the PLC 26 Byceos DO servo ready on CURRENT POSITION 123 mm Ist Ed 5 09 Luis Miranda 27 AN SERV 009 Ep 28 Virtual digital input programming Recall that we want to set the digital inputs with the help of parameter P4 07 that is written by the C bits defined previously in the C more panel We will rea
22. al counts P2 30 is 5 D01 120000 331 displaced H cs moii 12 Ferul Math Desired rews Doz 7 10000 m oss Ferl Math Desired counting OO OS32 10000 m Oo Peru Single Desired counting Oo Desired counts m Os33 Calculation to tranfonm the cument position into a linear distance _Always_ OH Math Raw current position sci 055 10000 O36 i O04 13 Math Curent position in DO4 331 120000 mm m os20 Page 2 of 4 T 38 Luis Miranda AN SERV 009 eee Sprocket click Main Program Page 3 of 4 Sending data to the 3 registers on servo Send Port 2 Sending Pr 30 is 4 Receiving fram serwa Comm int_k Slave ID Cis Ch Aci ics Function Code 14 J ef Serding SEDDI Sending Success cid Desired rews m Os32 Sending Error cis Comm int_k RST 7 This mng transtomme the data in PH S digital outputs on serwo into bits C207 to C205 _Always_ OH sci 14 Packed serwo O0s H OHI Copy Unpack Packed serwo DOs ore H OHI OO semo on H C201 H C216 Sermo enabled Ol serwo enable HB citi HB C201 16 OUT Brake release H Yoo4 OUT DI servo enable D0 Home completed DI Clear command HB C301 H cror H C307 7 Cp Trigger bit DI tigger Acids B Caia 18 ee OUT Alarm reset bit DO active fault Ol alanm reset HB C113 H C204 H C313 ie a re Home search bit Ol Home search BH Cii4 B C314 70 E OUT JOG FiO bit
23. anguage Use tag for Decimal Point Tag Language 1 w Description Label This is the text that shows on top or bottom to identify the numeric display We elect not to use any label in this case Text Size Click on the down arrow to select the Text Size of the number to be displayed In this case we will select 16 Data Type Click on the down arrow to select the type of data that will be displayed In this case we will select SIGNED DECIMAL Number of Digits Click on the Up or Down arrows to select the number of Total and Fractional digits to be displayed set as TOTAL 3 amp FRACTIONAL O Suffix Click on the field to enter a common EAA Suffix value that will always be displayed ooo Ee In this case we will select mm E Tag Name Edit No M 4 34 Data Display Tag Click on the down arrow to select a Tag Name In this case we will select Current position Click on the PLCAddess button at the right with 3 dots and other memoyType Address dialog box will show up as in the adjacent 3 figure Fill up according to the data on the adjacent figure 5 09 Luis Miranda 1 9 AN SERV 009 Ep The other fields are not important at this time You can read more on the online help Click on the button ADD to return to the main dialog box and then click OK Note that the object is displayed where you have made the rectangle Drag it to the top right of the screen You should see the following You can set no
24. c Configuration Wiring Details Node Address 1 247 Port R5 232C Non isolation Baud Rate bps 6 pin Female modular Panty RIL phone jack Stop Bik Advanced Configuration 4 Time out Setting Character Time out 2 1000ms r S RTS ON Delay 0 5000ms RTS OFF Delay 0 S000ms Response Delay Time 0 S000rn0s ar gt Fee Ist Ed 5 09 Luis Miranda 5 AN SERV 009 E First set a value of 10 in the P2 08 parameter with the keyboard to configure all the values of the servo as default values It may appear errors ALE14 ALE15 and ALE13 on the servo drive display and this would be normal if not wired properly You may need to wire the overtravel limit switches to get rid of the alarms or simply disable the inputs for now The fault ALE14 in the servo display indicates that the overtravel limit switch is activated and this is true since of P2 15 default that corresponds to the DI6 input function it set as 22 P2 16 that corresponds to the DI7 input function is set as 23 and P2 17 that corresponds to the DI8 input function is set as 21 In order to clear the faults press the arrows up and down keys on the keypad simultaneously clearing any error that may be there or it is also possible to power cycle the servo drive to get the same function Next be sure that the value of the motor code is set in the P1 32 parameter Read status from servo on the PLC Set up the PLC according to
25. connected to the machine it might be necessary to tune the servo This can only be done when the machine is connected The program Sureservo PRO is very useful for this operation This shows one simple positioning method Of course it will depends on the ingenuity of the programmer to make more complicated logic and to utilize more features of the C more panel Recall that we have a problem when the system is initially powered up The communication was not established until the PLC went into program mode and then back to run mode One option is simply to have the servo powered up 1 second before the PLC is powered up It seems that the servo does not accept communications before 1 second after it is powered up This will require a hardwired timer turned on 1 second after the digital output Servo Ready is ON DI5 On the next pages we show the list of parameters and the final ladder code List of parameters on the servo drive Parameter Value PO 00 Software Version 2105 P0 01 Drive Fault Code 0 P0 02 Drive Status Front panel display 0 P0 03 Analog Monitor Outputs 0 P0 04 Status Monitor 1 1 P0 05 Status Monitor 2 O P0 06 Status Monitor 3 6 P0 07 Status Monitor 4 11 P0 08 Status Monitor 5 13 P0 09 Block transfer parameter 1 21E PO 10 Block transfer parameter 2 409 P0 11 Block transfer parameter 3 10F PO 12 Block transfer parameter 4 110 P0 13 Block transfer parameter 5 407 Ist Ed 5 09 Luis Miranda 3
26. d continuously the status of the servo but and we will continuously write the digital inputs as well as the desired target position There are 2 positions and one word with the digital inputs to be written The 2 word position information are calculated in DS32 and DS33 and are to be written into registers P1 15 and P1 16 respectively These registers are not consecutive but with the help of block transfers we are able to set one SEND writing to PO 11 and PO 12 We will interlock the RECEIVE instruction with the C bit C8 as in the following figure to avoid that the SEND and RECEIVE functions operate at the same time sending data to the 3 registers on servo Sending P2 30185 Receiving from sewo Comm int k Slave ID B c13 cs E c1 E cs Modbus Function Code Slave Addr 40001 2 Fencing 5 Sending Success Lh a No of Master Addresses Hci Desired revs Success Sending Error Bc Comm inti Ecs RT In a similar way we can write the word to change P4 07 to PO 13 P4 07 will take some values depending on the digital inputs active at any given time The rung for the receive instruction has been modified and can be seen in the final version for the ladder code at the end of the document We should prepare the corresponding data to make it logical with the ladder code in the following figure When the servo is enabled the PLC output Y4 shall be turned ON to release the brake See the logic in the ladder code of the next figu
27. e AN O09 eap 1 Screen 1 c File Edit View Tool Object Screen Database Setup Panel ji Help E E Hd aR a fj M Bw Language Language1 v Start aProject Simulate Project Send Project to panel a Navigation x A E Object List Screen Function Panel Object Librar OD X Shape Line L Rectangle J Circle Triangle O Frame Button 1 Screen 1 E Parts List Default e 1 Screen 1 Object Help Top Layer V Ss 1 Screen 1 NN c Background Background Cr v Draw ft dt 3 IESS Poadwv 18 Luis Miranda AN SERV 009 eee Next we will create a numeric display object to show the current position Click on the menu Object and then select Indicator and then Numeric display and click on it The cursor will turn into a cross and then drag it by holding the left mouse button and form a rectangle with it When you finish the dragging the numeric display dialog box will show up and then you can fill up the data See it on the adjacent figure The main features are explained below Numeric Display Mame General Option NumencDisplay Label Font amp Color Display Format Text Size Data Type Unsigned Decimal s E DRD Pasian Number of Digits Color Total Fractional Test Blink 5 a g l Back Blink z Prefix Suffis 12345 Comma Separator Display Frame a i Data Display Tag dustity Leading Spaces iL L
28. e Align Text Size Align 12 Font 12 Font Display Frame Push Button Tag Name SERVO ENABLE L Indicator Light Tag Name Language ENABLED m Lal Language 1 Object Style Object Type Description Toggle Momentan On SetOn O Momentary Of CO Set Off Style 1 Style 2 Tag Name Database Cancel Help below The button will activate in toggle mode the bit C101 Servo enable button tagname is associated to C101 Enabled light tagname is associated to C201 for now The button has been programmed you can transfer the program to the panel and see how it looks It should be similar to the next figure CURRENT POSITION 0 mm Desired target 0 mm TARGET ENTRY 0 mm Servo disabled 24 Luis Miranda AN SERV 009 In the same way create the rest of the buttons AS SIMPLE MOMENTARY PUSHBUTTONS associating the tag name to the defined C bits The screen program will look similar to the following figure CURRENT POSITION Current target 123 mm JOG reverse JOG FORWARD 123 mm C116 TARGET ENTRY 123 mm C101 C109 TRIGGER This can be saved to the C more panel and it seems a good time to test the functionality together with the PLC Of course having only 2 communication ports presents small problems The port 2 will be used for the panel and then we will have to remove the cable to the servo We wi
29. ent versus rotation of thre servo shaft Test the program together with the servo Add the revolutions and counts of displacement and scale it to show the current displacement Read servo output data To be used the status data in P4 09 to create logic for the operation Test the program and correct any errors Prepare documentation to describe to the operator what it is necessary to operate the machine Create operating instructions on the C more panel as screen text data on the Operator panel accessible from the main page Ist Ed 5 09 Luis Miranda 3 AN SERV 009 a Harware design One possibility is to link the PLC to the servo and operator interface with cables as shown in the following figure using RS 232 with the cable SVC 232RJ12 CBL 2 The power supply shown here could be for example PS24 075D or it could be the one from the Click family the part CO 01AC Connect the servo to the PLC on port 2 wire the inputs and outputs to the Ziplink module and use port 1 of the PLC for programming it Suppl AC Power To supply 24V for servo brake coil EA 2CBL VC Orange Brake coil Yellow 0000 D z O x ST 232RJ12 CBL 2 EA7 T10C _ interface ZIPLink Kit Cable connects to SureServo drive CN1 connector L Home sensor Brown Black NPN t g AM1 AN 1A Home sensor FAULT STOP REVERSE LIMIT Q E Oo O LL
30. functions in PO 04 to PO 08 parameters allows to monitor what it is desired _ did Data View DataView operator panel When the parameter changes have Edit Fill Down been done you can move the shaft Nov Address Nickname Current value of the servomotor if the brake is released and it will be possible to version 2105 Inte observe with Data View that the DS6 oe i Drive status 0 Inte memory shows the same number as Analog monitor T Inte the display on the servo when the e 5 aaa shaft of the motor moves See the Current counts 3078 Inte figure below showing the Data View Current RPM 0 Inte information with nicknames Ura e E a DC bus voltage 313 Inte This allows checking that the communication has been established Export i Ist Ed 5 09 Luis Miranda 7 AN SERV 009 Ep Measuring transactions per second How can we measure the PLC scan time and how many transactions are happening per second tware primer proyecto ckp Main Program Scan time rogram Instruction She Monitor Window Help JAA UC Connect Using the menu PLC gt Online Project Information ays on as in the adjacent figure to monitor the scan time a f Read Data from PLC write Data into PLC ee Read Project From PLE Ctrl F9 Online Project Information Write Project into PLC Shift F9 Online Project Information Project Name Sprocket click BLT Status e nn Sie iedeca TENET CPU Ty
31. he PLC memory and the PLC will scale into revolutions and send to the servo into parameters P1 15 and P1 16 It is checked that the number is not greater than 829 mm If greater or equal than ec vo value and forces a 830 on the target CURRENT POSITION The scaled data has been transferred to the servo and then the servo is ready to move from the home position to the desired position indicated as 800 mm 0 mm Current target 800 mm JOG FORWARD JOG reverse i TARGET ENTRY 800 mm Cancel Enter AN SERV 009 ees When this is done we can then trigger the motion with the button The servo should move forward to the corresponding number of revolutions and counts The numeric display for current position should show the displacement in real time To come back to other lower position we can repeat the action Write a number such as 8 mm in the numeric entry Target entry by touching the object The numeric keypad will show up Then write 8 and press ENT We have loaded the number 8 in the PLC The PLC transforms the new data into the proper desired revolutions we can then trigger the motion with the button TRIGGER The servo will move backwards to the corresponding number of revolutions and counts While the servo is enabled the operator can use the buttons Jog Forward or Jog reverse to move in one or other direction for example to test the overtravel limits When
32. ing data and OFF when stopped 8 Luis Miranda AN SERV 009 You can read DS1001 in Data View and can see that iiNet yee the result is about 50 counts every second Since there are 1000 milliseconds in a second 1000 50 Edit O miom O wean ms is approximately 20 ms See the adjacent figure firmare e euvent vaue vi om fE DSI version 2105 Ir This it is a good method to determine the transmission speed When already proven the comm link between the PLC and the servo we should look at what Counts 2346 Ir algorithms to do in the PLC to be able to give the speer 3 orque r servo the proper values on the different parameters eaa bu 7 Remember that we are still in the stage of creation of the program on the master PLC Also it is necessary to define what data and how much data will be written to the servo drive 50 Ir Data should be written in such a way to avoid that SEND and Receive instructions execute at the same time For that purpose we should do an interlock between the reading and the writing Note that only one transaction per time is possible The PLC will be reading or writing only once at the time in sequence Defining the block transfer parameters Let us go now to the detail of block transfer registers Block transfer parameters PO 09 to PO 16 are configurable that is the parameters can be changed to read or write any desired address in the servo drive Parameters PO 09 to PO 16 ma
33. ion predefined 1 11 DM2 113 PCS2 Bit de selection 2 de position predefined 1 12 D13 102 Alarm reset predefined 1 13 DI14 127 Home search command predefined 1 F 14 D15 137 JOG Forward predefined 1 15 D16 138 JOG Reverse predefined 1 This results in a binary string as 1111 1111 0000 0011 which corresponds to FFO3 In this case we must set P3 08 as FFO3 The default value is O 12 Luis Miranda AN SERV 009 N By now we have the MODBUS RTU read function working but we have not configured the parameters for position operation The parameter P3 08 has to be written to the servo with the keypad when P2 30 is set to 0 The servo register stores FFO3 when the servo drive is powered cycled Let us go back to the ladder program The following step shows the definition of a constant 5 into DS501 an arbitrary register used for storage only AF Math 5 Moss Result E C4 O ORT 1st SCAM H Sc Optionally we can use the LOOPY command to set a value of 5 into DS501 Notice that in order to force a 5 into DS501 we use a MATH instruction we could have used a copy instruction to get the same result We can also increase the number of addresses to be read from the servo drive in rung 5 to include from PO 05 to PO 11 See the change done in the next figure Slave ID E c4 Modbus Function Code 5 Slave Ack NO of Master Addresses Word Swap Master Moss Ist Ed 5 09 Luis
34. k PLC can use port 2 with up to 115 2 kBaud Software allows the programming of instructions SEND and RECEIVE in a very simple way The writing of the target positions is one of many possibilities it has of course the possibility to read the status the current position the current torque the speed as a number and not only through one analog signal With these data we can change other parameters such as the acceleration and deceleration the torque and speed limits etc A group of status registers PO 04 to PO 08 are available in the Sureservo drive as well as a group of block data transfer registers PO 09 to PO 16 These consecutive register blocks can be used to group miscellaneous drive parameters together allowing you to read and write the desired parameters in one communication block instead of having to use a read or write instruction for each parameter These are used extensively in this application note You can easily create a control system with servo using a serial MODBUS network Let us see in the next pages one way to implement this control project Control concept In this example we will need to run the motor with a target position given by the operator directly in mm entered in the operator interface This value should be scaled to transform the desired linear distance into revolutions and fractions of a revolution on the servo shaft The operator would see where the tool is located at any given time The acce
35. leration maximum speed and deceleration are fix values The home search is done by an operator command from the C more panel The brake is released when the servo is enabled The motion in this case is ideally suited to be absolute motion with internal registers This will define the parameter P1 01 as 1 or 101 and parameter P1 33 as 0 2 Luis Miranda AN SERV 009 eee Steps for the execution of the control This is the sequence of operations that shall be followed in this example to get the system up and running Define the control hardware to be used Select and set the communication parameters Read the status of the servo though MODBUS using the Receive instruction Measure the communication speed in transactions per second Be sure that the servo is set to write data in RAM memory only Make the details of the block transfer parameters Define the values of parameter group PO Define the value of P3 08 Define the main parameters in the servo Define the factor of revolutions versus displacement Some C more programming concepts defined Define the digital inputs to be used for commanding the servo Operator would order the system to search for the home position When the Home is found and the servo is stopped the current count shall be zeroed Reading the servo status from PLC Operator shall write the desired target position and send to the PLC Create the scaling of the displacem
36. ll not have the servo linked to the PLC but we can connect the panel to the port 2 of the servo with the cable EA 2CBL Since we have commands in the ladder program to write to a slave in port 2 the PLC expects a slave connected to it The C more panel is a master by itself There will be communication errors if we do not disable the communications One temporary way to do that is to use normally closed contacts with SC1 in the rungs where there is a SEND and a RECEIVE instruction This is what we have done in our test In order to test the proper function let us write a number in the numeric entry such as 687 and we will observe that the word DD1 will get the same number You should activate the button SEND TARGET TO SERVO for that to execute The math in the section Factor of revolutions versus displacement takes the value of desired target in mm into DS32 for the corresponding revolutions and the register DS33 for the counts For example by entering 331 mm we can see with Data View that DS32 is 12 and DS33 is 0 that corresponds to the ratio explained earlier You can test with any other acceptable value See the following figure with Data View for this case Ist Ed 5 09 Luis Miranda 25 AN SERV 009 26 Ek a _ view Override C TARAN h Single lit Fill Down wi write All New Values aA EDD i wn 331 n Current target Integer m0830 Hosso D S l Integer Input 331 cs Send target to servo On On Off Sl a
37. n 1 gt C101 Servo enable it shall be set by the operator Momentary Button 2 gt C109 Move trigger The trigger shall be commanded by the operator Momentary Button 3 gt C113 Alarm reset this should be commanded by operator Momentary Button 4 gt C114 Home search this should also be commanded by operator Momentary Button 5 gt C115 Jog forward this should be commanded by operator Momentary Button 6 gt C116 Jog reverse this should be commanded by operator These commands shall be transferred to the servo with a word in the PLC that is linked to P4 07 with MODBUS addressing of 41032 We have to add a JOG forward and a JOG reverse in this project for the rare case that the tool car gets the overtravel limit switch activated or any need to test the motion With these considerations we will implement more ladder code in the PLC Ist Ed 5 09 Luis Miranda 23 AN SERV 009 Ep Let us create the buttons Button 1 Put the cursor over the Indicator button on the right pane where it says Object list and select it then drag it to the left bottom side of the screen 1 it will pop up the Indicator button dialog box Fill with the data shown on the figure indicator Button Name General Option Password lndicatorButtor _ Label OFF Text ON Text Servo disabled Servo enabled Position Text Color mm Blink Text Color mm _ Blink Back Color Blink Back Color Blink simulate ON Text Siz
38. number as you do on the panel More instructions are found in the On line Help of the software CURRENT POSITION 231 mm Desired target 639 mm TARGET ENTRY Simulation rx Cl amp Screen List 639 mm 11 Screen Tag List Tag Name PLC Address Data Type Value C5 CS Discrete OFF CE CE Discrete OFF OLD TARGET 0512 signed Int 16 2al TARGET 1530 aE int 16 TARGET ENTRY DDI Unsigned int 32 639 We should calculate the current position in DS20 arbitrarily defined after reading the revolutions and fractions from the servo drive See the ladder code on the figure of next figure that shows how to to implement this _Always _OH Math Raw cument position Bl sc 1 O55 10000 O56 s l po Lr 155127 Math Current position in mm pots 231 120000 i pom We know that the current revolutions are in DS5 and the current counts in DS6 We executed a calculation to get the current position in mm Current position checking First let us check that the PLC calculation of the current position in DS20 is correct Move the shaft of the servo in such a way that there are 12 revolutions We know that 12 revolutions will correspond to 331 mm If DS20 in Data View shows 331 this is doing the calculation correctly 22 Luis Miranda AN SERV 009 eee The operator will enter the target in to the numeric entry associated to DD1 The desired target position is what the operator has entered into the servo In orde
39. ote from the tables on the next page that the bits 8 to 15 are predefined functions P2 18 DO1 as 102 that is the output Servo ON P2 19 DO2 as 109 that is the output Home completed P2 20 DO3 as 105 that is the output At position P2 21 DO4 as 107 that is the output Active fault P2 22 DO5 as 101 that is the output Servo Ready P2 36 Position 1 velocity set to 2174 rpm P2 50 Clear command set to 1 P3 08 DI control mask set to FFO3 14 Luis Miranda AN SERV 009 ees The concept of absolute position control will be so that after the operator enables the servo drive with an output from the PLC linked to DI1 The servo system can make the home search after the operator touches one button in the touch screen panel as one option in the example on AN SERV 007 this is done with a timer after enabling the servo When the servo finds the home position we will zero the position O revs and O counts and then at any time the PLC will be able to write the absolute target position on P1 15 and P1 16 P4 07 is the value that contains the digital inputs Recall that we have arbitrarily associated the following digital inputs to P4 07 Bit Digital eer Assigned value PLC order ae ee eee in P3 08 bit O DI1 101 Servo Enable 1 C101 1 DI2 104 Clear command 1 C102 2 DI3 124 Home sensor O N A 3 DI4 0 Disabled 0 N A 4 DI5 0 Disabled 0 N A 5 DI6 22
40. pe CO OAR D Firmware ver Yer1 00 l Error History Program Size Total 8 000 steps Error Details Clear Memory MBProgram Size 189steps 2 36 Update Firmware Free 4rea 7 811 steps 97 64 oj E E A y E 0 5 000 ScanTime about 2 ms current scan time Current 3 ms i 5010 i Project File Total 256 000 bytes i See at the left figure the d ialog Ffroject File Size 6 6l2bytest 2 58 Minimum 3 ms 1 5011 box where it is indicated the scan time Free Area 249 388 bytes 97 42 Maximum Ti ms s02 Transactions per second As we know when a communication transaction begins C1 will turn ON and then we can count how many times this contact closes in 1 second for example with a simple counter Remember that a counter counts whenever there is a transition of the input from OFF to ON See the diagram of the figure below with the corresponding ladder code and the explanations in each line _1sec_Clock The edge contact SC7 closes one scan every second the copy instruction copies the current value of the count into DS1001 Every time C1 closes the count increases by one The current count of CTI1is loaded into CTD1 The count is reset every second Mosio01 M9999 Here the RECEIVE instruction SlavelbD reads 9 words from Modbus Function Code addresses 40001 to 40009 in Slave Addr NO of Master Addresses the servo and transfer the TAUTA SAE data into DS1 to DS9 Master C1 turns ON while transmitt
41. r to transfer it the operator should press the Send target to servo momentary pushbutton associated to C5 We will test later that the panel communication link is working together with the servo The way to do that is to force some values but we have not done all the set up so far Definition of the commands to the servo Next we have to program the different digital inputs and outputs of the servo drive Recall that we have previously defined the functions of the operator interface as follows Bit Digital ay Assigned value PLC order at Secale in P3 08 bit 0 DI1 101 Servo Enable 1 C101 1 DI2 104 Clear command 1 N A 2 DI3 124 Home sensor O N A 3 DI4 0 Disabled 0 N A 4 DI5 0 Disabled 0 N A 5 DI6 22 Reverse overtravel limit opens on overtravel 0 N A 6 DI7 23 Forward overtravel limit opens on overtravel 0 N A 7 DI8 21 External fault stop opens on fault 0 N A 8 DI9 108 Command Trigger predefined 1 C109 9 D10 111 PCSO Bit de selection O de position predefined 1 N A 10 DI11 112 PCS1 Bit de selection 1 de position predefined 1 N A 11 D12 113 PCS2 Bit de selection 2 de position predefined 1 N A 12 DI13 102 Alarm reset predefined 1 C113 13 Dl14 127 Home search command predefined 1 C114 14 DI15 137 JOG Forward predefined 1 C115 15 DI16 138 JOG Reverse predefined 1 C116 Momentary indicator Butto
42. re Luis Miranda AN SERV 009 eee See the figure below for the following explanations 16 17 16 15 20 2 22 Semo enabled DI servo enable C101 E c301 our Brake release Yoo4 out DI servo enable DO Home completed DI Clear command El c301 El C202 E C302 SS ee Trigger bit DI trigger C109 C309 poy Alarm reset bit DO active fault Dl alarm reset El 113 E c204 E C313 ee o Home search bit DI Home search C114 E csi4 Qt JOG FD bit JOG REW bit Ol JOG FVD El 115 El 116 E 315 pg N JOG REY bit JOG FD bit DI JOG REY El C116 El 115 El C316 OUT In order to put the bits into one word we can use PACK Copy instruction The bits C301 to C316 can be Pack Copyed to DH2 The PACK Copy mode of the Copy Instruction combines the status of up to 16 Source C Bit Memory Addresses and copy the combined status into a Destination Data Register DH2 The Source field represents the range of the Bit Memory Addresses C301 to C316 bits that are related to the commands as shown on the ladder diagram of figure above Destination Identify the ending einen Source w C301 a to w c316 Destination i Memory Address aeran P Pack Copy DH1 in this case Destination w DH1 kal to DH2 will be the n memory to transferred to the servo register Block Copy Unpack Copy b e Option About Error Flags 5C43 Out of Range 5C44 Address Error AO 1 03 2 P4 0 7 _ One
43. rtant in this specific example You may select other block transfer parameters if it is necessary in your application Ist Ed 5 09 Luis Miranda 15 AN SERV 009 Ep The parameters PO 04 to PO 13 are now set as follows Parameter VAL Meu FEE Description address memory 1 PO 04 1 40005 DS5 Current revolutions Z PO 05 O 40006 DS6 Current counts 3 PO 06 6 40007 DS7 Current rom PO 07 11 40008 DS8 Current torque 5 PO 08 13 40009 DS9 DC Bus voltage 6 PO 09 21E 40010 DS10 Set not as default as parameter P2 30 i PO 10 409 40011 DS11 Set not as default as parameter P4 09 8 PO 11 10F 40012 DS12 Set as position command 1 revolutions 9 PO 12 110 40013 DS13 Set as position command 1 counts 10 PO 13 407 40014 DS14 Set as P4 07 digital input word The idea is to be able to read parameters PO 04 to PO 09 read and write into PO 09 and write into PO 11 to PO 13 PO 10 is used to read the digital output status at any time PO 11 and PO 12 are configured to be able to write the revolutions and the counts desired that will correspond to the target position We have selected a set of memories beginning in DS5 on the PLC for the purpose of receiving the data coming from PO 04 to PO 11 Luis Miranda 16 AN SERV 009 eee Factor of revolutions versus displacement The PLC will have to make some math to relate the linear distance to revolutions and coun
44. s PO 03 1 40004 DS4 Analog monitor verify that the PO 04 1 40005 DS5 Current revolutions connections ar PO 05 O 40006 DS6 Current counts Correct we suggest to P0 06 6 40007 DS7 Current rpm run the program PO 07 11 40008 DS8 Current torque shown in the following P0 08 13 40009 DS9 DC Bus voltage diagram AN SERV 009 eee Ladder code for Reading data from Servo A B E AF H Irsk Instructio Modbus Function Coide Slave Addr NO of Master Addresses Word Swap Master O51 2001 Timer Co Timer Count Advance This is the explanation of the operation On the first scan the RECEIVE instruction is executed Data in memory 40001 thru 40008 are read and the content is copied from DS1 to DS8 C1 is a bit in the PLC that turns ON when there is communication It is called Receiving and indicates when the PLC is transmitting data through the communication in port 2 and turns OFF when the data transmission is completed Let us say that the PLC scan takes 2 ms when beginning the transmission the contact C1 closes indicating that the rung is true to allow the transmission be executed When establishing the transmission C1 turns ON when the transaction completes C1 is OFF again and C2 is turned ON then another transaction begins and thus it follows continuously Typically the transmission takes more than the PLC scan time In this case it is approximately 20 ms We will see later how to measure this value Also the
45. t unction Panel 1234 mm Object L 3 sa CES er ee Re een Shape ee N Line me aiii C Recta Drag a line from the top left to the right under the numeric display and then go to the menu Edit and hit Copy Then get other submenu Paste AN OO9 eap View Tool Object Screen Database Setup Panel Window Help el Gok a lk j m m m Language Lanquage 1 v HY a Project Simulate Project Send Project to panel vigation x ee A eee eee eee eee sees tM Objec unctian Panel 1234 mm Object l i i n sn Shape ee eed ela lad lake al ed PE E PO lola chal ol dahl leah ed R PO EAER SE AA AN ER A A PE FR A A A ER clashed A BAA fi w Line Cl Recta A copy will show up over the original set offset and showing dots on the corners Drag it to under the existing one 20 Luis Miranda AN SERV 009 Now we can right click on the bottom text object and a submenu will show up Click on the submenu Object Properties as shown below When this is done the dialog box will show up and then you can change the text to Current Target amming Software AN 009 eap 1 Screen 1 a Tool Object Screen Database Setup Panel Window Help Ot QO dm MM Language Language 1 v Project Simulate Project Send Project to pane in Panel CURRENT POSITION 1234 mm Object re i g i eee Se SS N Line CURRENT POSITION ow a sci pcm Copy A Tria eee O Frat i Button
46. t loo Target in mm 331 331 d Integer Math Total counts Toss Rave 0 Integer DD1 120000 331 d sate A RP DS6 Counts 721 Integer It i 3 os Speed 13393 Integer 120000 F D58 Torque 0 Integer Math Desired revs T ipss DC bus voltage 3083 Integer DD2 10000 a m D532 Jips10 P2_30 5 Integer 12 Hios 8 Integer Math Desired counting L psi2 Target 4 revs 2 Integer DD D0832 10000 MDD3 I D513 Target 4 counts 253 Integer n T psi4 Target A speed 400 Integer Mosis 253 Integer Copy a single lesired counting L psi6 400 Integer Src B DD3 L517 100 Integer 0 Desired counts Fosso Current target 331 830 nall Integer Result Mm os33 d arget in thousant ore er T0531 target in th t ore 0 p D532 Desired revs 12 Integer 1 jps33 Desired counts 0 Integer Math Raw current position i meeseannan moe manna The pushbuttons can be tested by creating the elements in Data View 2 and seeing that the C bits will turn ON or OFF depending on the touch of the buttons See the figure below for an example in Data View Bizio Servo enabled CFF Bit Bizios Trigger bit CFF 4 Bit Bicii3 Alarm reset bit CFF A Bit C114 Home search bit OFF cal Bit 2115 JOG FWD bit OFF call Bit 5116 JOG REY bit OFF call Bit The servo enable button is a toggle switch that is the bit C101 will be turned ON one time and then turned OFF when touched again The others including the JOG commands are momentary pushbuttons that are ON only when the object is touched
47. this value is not retained in memory EEPROM Clearly it is not possible that the setting of this value be done by the machine operator when the servo powers on Therefore it is necessary to write a value of 5 to this memory when the drive powers ON or otherwise the servo will eventually reach the limit of writings and the device will not be functional anymore One of several ways is to use a compare instruction reading the content of P2 30 parameter and on the basis of that value execute a subroutine with a SEND instruction writing to that parameter a value of 5 That is if the reading of that parameter shows that the value is not 5 we execute a SEND instruction to force a 5 into the same memory See the code on the next page for this explanation Luis Miranda AN SERV 009 It can be created an interlock with C4 such that this function is not executed anymore when P2 30 MODBUS address 40543 or 21E in hexadecimal format has a5 in its content For that we will configure PO 09 Modbus address 40010 with the keyboard By default with value 407 as 21E that causes that this parameter be defined as P2 30 Then we will include the reading of parameter PO 09 in the Receive instruction Rung to initiate the program _ist_SC AN CONSTANT 5 SC2 Heat 2 rungs counts the sending commands per second _lsec_Clock BSc t Readings per second 051001 Receiving Success H C CTI _1sec_Clack Bsc Receiving from serwo
48. ts This is what we will explain now Since the circumference of the sprocket is about 330 995 mm or close to 331 mm and we use a gearbox or ratio 12 1 we can obtain the factor with the following relationships 12 revolutions of the servo will result in a distance of 331 mm That is one mm of displacement will be 12 0 331 revolutions or 0 03625 revolutions that corresponds to 362 5 counts If the operator wants to move to an arbitrary number of let s say 234 mm the total counts will be about 234x12 331 8 4833 revolutions This is less than one revolution on the gearbox output If the operator wants to move to another arbitrary number of let s say 687 mm the total counts will be about 687x12 331 24 9063 revolutions This is more than one revolution on the gearbox output The error for the total displacement 830 mm can be determined with the following We know that 830 330 995 2 500037651 When we calculate 830 331 2 50755287 and then the error is 0 3 that is negligible in this case This is the math we have to implement in the PLC Notice that there are integer revolutions and fractions The revolution value 8 or 24 respectively in the examples above should go to the parameter P1 15 The counts 4833 or 9063 respectively will go to the parameter P 16 The operator will only define the millimeters to be displaced from the Home position Now recall that we have an operator interface that will write a number such as 687 in
49. w a Static text to describe what you have on the rectangle Let us call CURRENT POSITION C more Programming Software AN 009 eap 1 Screen 1 EJ Fie Edit view Tool Object Screen Database Setup Panel Window Help jo Wd Oa a 2 O B wl Language Language 1 v Start aProject Simulate Project Send Project to panel A B Object List Object Librar E Navigation x Screen Function Panel SSS Shape D x B H K N Line e ae gt SLEET TE OEO Ce a SoD Pee a DOTO ie i x z LJ Rectangle D Circle Triangle O Frame Ruttoan For this action we will click on the menu Object and then select Text and after that Static text and click on it The cursor will turn into a cross and then drag it by holding the left mouse button and form a rectangle with it When you finish the dragging the dialog box will show up and then you can fill up the text to be shown In this case we will write CURRENT POSITION Drag it to the left of the numeric display if necessary you can also give other size and shape We will do a similar row with the current target For this we can copy both objects and then modify them as follows See the figure below to follow the explanation Programming Software AN O09 eap 1 Screen 1 W View Tool Object Screen Database Setup Panel Window Help W em Qo AMM Mm Language Language1 w MT a Project Simulate Project Send Project to pane vigation x A BE Objec
50. xer 600 P1 35 Deceleration Time Internal Indexer 600 P1 36 Accel Decel S Curve 30 P1 37 Inertia Mismatch Ratio 5 P1 38 Zero Velocity Output Threshold 10 P1 39 Target Velocity Output Threshold 3000 P1 40 Max Analog Velocity Cmd or Velocity Limit 3000 P1 41 Max Analog Torque Cmd or Torque Limit 100 P1 42 On Delay Time of Electromagnetic Brake 20 P1 43 Off Delay Time of Electromagnetic Brake 20 P1 44 Electronic Gear Numerator 1 1 P1 45 Electronic Gear Denominator 1 P1 46 Encoder Output Scaling Factor 1 P1 47 Homing Mode 0223 P1 48 Homing Velocity 1 Fast Search Velocity 600 P1 49 Homing Velocity 2 Creep Velocity 60 P1 50 Home Position Offset Revolutions 2 34 Luis Miranda P1 51 Home Position Offset Counts P1 52 Regenerative Resistor Value P1 53 Regenerative Resistor Capacity P1 54 In Position Window P1 55 Maximum Speed Limit P1 56 Output Overload Warning Threshold P2 00 Position Loop Proportional Gain KPP P2 01 Position Loop Gain Boost P2 02 Position Feed Forward Gain KFF P2 03 Smoothing Constant of Position Feed Forward Gain P2 04 Velocity Loop Proportional Gain KVP P2 05 Velocity Loop Gain Boost P2 06 Velocity Loop Integral Compensation KVI P2 07 Velocity Feed Forward Gain KVF P2 08 Factory Defaults and Password P2 09 Debounce Filter P2 10 Digital Input Terminal 1 DI1 P2 11 Digital Input Terminal 2 DI2 P2 12 Digital Input Terminal
51. y be changed to our convenience or left as they are For reasons to be described later let us define PO 09 to PO 13 as follows Parameter Value Function o let Description address memory PO 09 21E As par P2 30 40010 DS10 Default is P4 07 Input status PO 10 409 As par P4 09 40011 DS11 Default is P1 09 Velocity command 1 PO 11 10F As par P1 15 40012 DS32 Default is P1 15 Target 1 revolutions PO 12 110 As par P1 16 40012 DS33 Default is P1 16 Target 1 counts PO 13 407 As par P4 07 40013 DS34 Default is P2 36 Target 1 velocity In this case we will be using some of the parameters for other functions explained after this section In this example it is convenient to define PO 09 as P2 30 PO 10 as P4 09 PO 11 as P1 15 PO 12 as P1 16 and PO 13 as P4 07 The rest can continue to be the default value Notice that the values there are to be written only by the keypad and this is not reported by the report that Sureservo PRO software generates However when the values are written there and the servo drive is power cycled the setting is retained in EEPROM memory Ist Ed 5 09 Luis Miranda 9 AN SERV 009 Ep 10 The final servo setting is shown in the parameter table at the end of the document Note that as an option to reduce the transactions per second figure we can eliminate parameters PO 00 to PO 03 on the reading We can also decide to read up to PO 13 thus transferring less
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