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MFB for Modicon M340 using Unity Pro

1. 1o 200 ao do so e 70 ado a0 1000 Time ms Recording Trigger Tuning Available signals Timebase zj oms z lt Double click to delete signal from the list command Enable on E PONER on O Use double click to clear thid display aceon 4 off 6 Op Enable Off Fstop Reset Exclusive Lexium CT M2 P Press to dear list __ DEVomdinterf Modbus Connected COM1 248 19200 3606480076831 P091200V003401 3400 Z4 Use double click to clear thid display 35013563 05 2010 97 Lexium 32 for MFBs Description Buttons The buttons below can be accessed by clicking ggk E ese eae AEBe 66600606O6OO600e Start recording Stop recording Zoom in y axis Zoom out y axis Infinitely variable zoom x axis and y axis Zoom selected rectangle Ind display of values for a specific time Change displayed values for first display 2nd display of values for a specific time 10 Change displayed values for second display 11 Restore original display 12 Invert y axis 13 Display table of recorded values 14 Enter description 15 Show hide configuration 16 Print recording OONOA BRAWN Recording The desired parameters are selected in the Available signals input field A maximum of 4 parameters can be selected If a parameter is no long
2. Tuning the Lexium 32 1 0 2 0 eee eee eee Tuning the Lexium 32 0 1 ee tte Debugging the Lexium 32 0 0 cece eee Lexium 15MP HP LP Implementation for Motion Function BIOCKS 0000 e eee eee Adapting the Application to the Lexium 15MP HP LP Application Architecture with Lexium 15MP HP LP Software Requirements 0 000 e cece tte eee Hardware Requirements 0 00 e eee eee eee eee CANopen Bus Configuration Lexium 15MP HP LP Configuration of the CANopen Slave on CANopen bus 57 58 59 60 61 63 64 65 67 69 71 71 73 74 76 79 81 81 83 83 85 86 87 88 89 90 92 92 95 96 97 99 100 101 102 103 104 104 35013563 05 2010 10 3 Configuring the Lexium 15MP HP LP 0 00 e cee eee 106 Basic Parameters for Lexium 15MP using Unilink MH 107 Basic Parameters for Lexium 15LP using Unilink L 109 Specific Parameters for Lexium 15 MP HP LP using Unilink 112 10 4 Tuning the Lexium 15MP HP LP 00 00 c eee eee 114 Debugging the axis 1 2 0 eee 114 Chapter 11 ATV 31 Implementation for Motion Function Blocks 117 11 1 Adapting the Application to the ATV 31 0 0 02 eee eee 118 Application Architecture with an ATV 31 0c e eee eee 119 Software Requirements 0 000 120 Hardware Requirements
3. 126 35013563 05 2010 ATV 31 for MFBs Step Action 3 In the BDCO line the CANopen bus speed must be set to 500 4 Close the window to disconnect Note it is possible to adjust the servodrive s settings with the same procedure Result the following screen is displayed showing the data saved locally Powersuite Eile Action Display Tools I ey at oF A to point multidrop J Ethernet Modbus TCP al DEVICE Reference ATV31 H037M2 Hardware type Product on heatsink Range Europe Nominal power 0 37kW 0 5HP Supply voltage 220 240 single phase Continuous output current 3 3 A Max transient current 5A DEVICE Serial number XXX43E009309 Version V1 2IE03 Vendor name TELEMECANIQUE Serial number Unknown Version V12IE03 HMI board Version V1 11E02 Configuration Configurations confi ATV31 ATV31_MFB ATV31H037M2 35013563 05 2010 127 ATV 31 for MFBs Configuring the ATV 31 with the User Interface Overview A user interface is integrated in the ATV 31 With this interface you can e put the device online e configure the device e carry out a diagnostic Interface Menu Structure The following graphic presents an overview of access to the interface s main menus Power up Displays the drive status is bFr Motor frequency the factory setting is only visible the first time the drice is powered up OJ End lt lt EEK
4. Configuration The following table describes the procedure for setting the parameters of the MAST task Step Action 1 In the Project Browser expand the Program directory The MAST directory is displayed 2 Right click on the MAST directory and then execute the Properties command in the contextual menu 3 Click on Properties and the following dialog box appears MAST Properties General _Comment Name Configuration mast sw Periodic Period 20 24 ms r Cycl i Watch Dog 250 1 ms OK Cancel Apply Help Select the Periodic type of scanning Set the task period to 20 Set the Watchdog value which must be greater than the period value NIOJ A Click on OK to confirm the configuration 28 35013563 05 2010 Application Configuration 2 3 CANopen Bus Configuration Subject of this Section This section presents the CANopen bus configuration methodology What s in this Section This section contains the following topics Topic Page Implementation Methodology for a CANopen Bus 30 Configuration of the CANopen port 31 Configuration of the CANopen Slave 32 Checking the CANopen Bus Configuration 34 35013563 05 2010 29 Application Configuration Implementation Methodology for a CANopen Bus Overview The following flowchart shows the implementation methodology
5. 0 0 eee eee ete 121 11 2 CANopen Bus Configuration ATV 31 0 eee eee 122 Configuration of the CANopen Slave ATV 31 on CANopen bus 122 11 3 Configuring the ATV 31 2 0 cece cee 124 Configuring the ATV 31 in PowerSuite 00 0 c eee eee 125 Configuring the ATV 31 with the User Interface 128 11 4 Tuning the ATV ST zoini Goocies os Sots See ee ea gO ety doe ae ee 130 Tuning the ATV 31 with PowerSuite 0 000 e eee eee 130 Chapter 12 ATV 71 Implementation for Motion Function Blocks 131 12 1 Adapting the Application to the ATV 71 0 00 ee eee eee 132 Application Architecture with an ATV 71 0 0 0 ee eee eee 133 Software Requirements aana cece tees 134 Hardware Requirements 0 cee eee eet 135 12 2 CANopen Bus Configuration ATV 71 0 0 eee ee 136 Configuration of the CANopen Slave ATV 71 on CANopen bus 136 12 3 Configuring the ATV 71 2 0 cece ee 139 Configuring the ATV 71 in PowerSuite 0 00 0 e eee 140 Configuring the ATV 71 with the User Interface 143 12 4 Tuning th ATV Ti raea ete areca t aie a OROS EA S WE Eee 145 Tuning the ATV 71 with PowerSuite 0 00 c eee eee eee 145 Chapter 13 IclA Implementation for Motion Function Blocks 147 13 1 Adapting the Application to the IcIA 2 0 0 2 00 eee eee ee 148 Application Architecture with an ICIA 2
6. Step Action 1 Connect see page 45 to the Lexium 05 2 After a connection and transfer of the device s configurations PowerSuite opens a new window with the configuration screen which gives access to device control tuning and monitoring functions The following figure shows part of the new window This lower window provides access to Lexium 05 command functions Speed contal mode preus 1006860 usr Geren ral ies HALT inactve p_actusr 1066303 ust S Faut 0x0000 nef 0 1min Inactive Local access nat 0 1min m i Lisa DEVemdinterf CANOpen Idq_act 0 03 Apk Standard profile jen Connested Place the Command zone cursor on Active Place the Enable zone cursor on On Click the Reset button to clear any problems Click the Test Run button Enter the value 0 1 in the CUR_I_target zone OINI OJA AJ w Place the CURref zone cursor on On Result the motor runs and the sub window is animated Ta Power Curentcontrol mode pretus 59247117 usr Enabled HALT nacive 11997029 ust Aoive 990 TT e 990 eats sru sete Ineotive B Taw Exclusive Powersuite rel 1772 imin CURRAN DEVomdinte CANOpen idg act 005 Apk Standard profile en Connected Commend CURref 4 Min Reset Place the Command zone cursor on Inactive once tuning has been finalized 64 35013563 05 2010 Application Debugging Using
7. The table below describes a procedure for finding faults following an error or warning code Step Action 1 The AxisFault output parameter equals 1 Al AXIS_OK Z c MC_STOP_Z ERROR MC_RESET_ZERROR MC_POWER_Z ERROR HOME_Z ERROR ABSOLUTE1_Z ERROR ABSOLUTE2_Z ERROR UPLOAD_Z ERROR DOWNLOAD_Z ERROR READSTATUS_Z ERROR OR IN1 IN2 INS IN4 INS ING IN7 IN8 INQ IN10 OUT 3 k p Axis_Ref The AxisFaultld output parameter displays an error value The graph below shows the error generated MC ReadAxisError Axis Error Enable Valid Busy Errorld AxisFault 0 AxisFault d 4194304 AxisDiagld 41760 AxisWarning AxisWarningId 0 orld 9 MSGErrotld 0 74 35013563 05 2010 Maintenance Step Action 2 Refer to the CANopen documentation of the Lexium 05 and look for the code SigLatched 301C 08 3 The AxisFaultID value is set to 4194304 This binary value means that bit 22 is set to one Refer to the CANopen documentation of the Lexium 05 and look for the code SigLatched 301C 08 Bit 22 for SigLatched designates a lag error Reduce the speed constants in absolute block or external load or acceleration Execute the MC_Reset block 35013563 05 2010 75 Maintenance Replacing a Faulty Servodri
8. Block Library block s PARAMETERSET input parameter taken from the MFB library and useful for recipe creation or for replacing the axis if it is faulty The variable name may be modified using the Recipe_x properties of the axis The recipe can be included in the application The application can be updated with a storage in the inital values either with update Init Values with Current values command or using the S94 bit Consequently the STU or XEF file will include the values got from the drive after a TE_Upload calling Finally tick the Initial Values saving Enabled checkbox to make this functionality available NOTE By default Initial Value saving Enabled checkbox is not ticked NOTE Initial Values saving Enabled functionality is available for M340 V2 0 or later firmware versions 42 35013563 05 2010 Application Configuration Motion Directory Configuration Result In the Project Browser The following diagram shows the tree structure for the Motion directory after configuration Project Browser Ts Structural View Eb Station 9 Configuration Derived Data Types Bj 1 Derived FB Types K seceees 51 Variables amp FB Instances Oo Recipe_0 a vereren Communication Gl Program Animation Table 9 Operator Screens h Documentation In the Data Editor The following screen shows the variables that are
9. Lexium 32 for MFBs Connecting to Lexium 32 This table describes the procedure for connecting to Lexium 32 Step Action 1 Start Lexium CT Click on Connection and then select ModbusSerialLine connection connection The Connection window is displayed Connection 19200 gt Est zi Modbus Pontto Point Select the COM Port Validate by OK Connection supervision De activate Coo E Moe oK The following screen appears Loading configuration Schneider Electric 3606480076831 P091200V003401 mS s t CS When configuration has been established this general screen appears oo Lexum 32 Name Value Unit Description Range Modbus O All parameter Ofunet_DI0 TouchProbe_1 Funcion Input DIO H 1794 EQ Simply start JOfunct_DI1 Reference switch REF Function Input Dit 1796 240 Basic configuration Ofunct_DI2 Positive imit switch LIMP Function Input DI2 1798 O In Pulse control TOfunct DIS Negative limit switch LIMN Function input DI3 1800 40 In Position control JOfunct_Di4 Free available Function Input D14 1802 AKO EEE Ohne DIS Free avaiable Funcion input D5 1o 1 F 10 functions IOfunct DQO No fault Function Output DQO 1810 1240 10 parameters TOn Dat Adve Function Outp
10. Analog Application Setup Gearing Application Setup Motion Task Application Setup or Complete Setup Click Next and Previous to move between screens or move directly to any screen by clicking in the tree on the left Click the Refresh toolbar button to bring back the original data for the screen currently showing Select Type of Setup Wizard Quick Motor Drive Setup Analog Application Setup C Gearing Application Setup Motion Task Application Setup Complete Setup Select the Complete Setup on the screen Result the browser with all configurations links appears Click on the Basic Setup on the browser Result the Basic Setup screen in the main frame appears Amplifier Hardware Drive 3A Firmware Ohms V1 23 DRIVE Rev create d Aug 09 16 56 39 lex Regen Powel serial Run Time Name ta 0 oox o Power Supply p Regen Resistor G Intemal Value C External Mains Voltage Set Software Enable on Bootup 230 v Response to loss Input Phase Three Phase Current Limit This screen is used to set parameters of the power supply 110 35013563 05 2010 Lexium 15MP HP LP for MFBs Step Action 4 Click on the Units Mechanical on the browser The Units Mechanical screen in the main frame
11. Axis_Ref_Z jAXIS ERRORID CAN SLAVE_ACTIV_2 corresponds to the active slave bit created by the IODDT T_COM_CO_BMX The input parameter NETWORKOPERATIONAL must be assigned to a bit that validates the correct operation of the CANopen network The assignment of this parameter left to the discretion of the developer It depends on the philosophy of the process and the way the bus is managed For example this parameter may be connected to an object or to a T_COM_CO_BMxX see Modicon M340 with Unity Pro CANopen User manual type IODDT equation 35013563 05 2010 55 Application Programming Management of the Axis Operating and Stop Modes At a Glance This section is made up of the following MFB blocks e MC_POWER see Unity Pro Motion Function Blocks Block Library which is used to disable or enable the servodrives e MC_STOP see Unity Pro Motion Function Blocks Block Library which is used to stop any movement in progress e MC_RESET see Unity Pro Motion Function Blocks Block Library which is used to initialize the function blocks and to acknowledge servodrive faults Contents The screen below shows a part of the section to develop MC_POWER_Z MC_POWER 1 Axis_Ref_Z_ AXIS ERROR Cmd_Run_Z ENABLE STATUS ERRORID MC_STOP_Z MC_STOP 2 Axis_Ref_Z AXIS ERROR Cmd_Stop_Z 7EXECUTE DONE BUSY ERRORID COMMANDABORTED MC_RESET_Z MC_RESET 3 Axis_Ref_Z AXIS ER
12. 00 0 Last build Last build 0510402 15 40 07 Compaibiliy PLC Run after Transfer Transfer Cancel 4 Activate the Transfer command If the project has not been generated in advance the screen below will be displayed allowing you to generate it before the transfer Rebuild All then Transfer or interrupt the transfer Cancel Transfer Transfer Project to PLC Project is not built Sud te peel ead renee il Rebuild al hen transfer Bansal ranir 6 Transfer progress is displayed on screen At any moment you can interrupt the transfer by using the Esc key In this case the PLC project will be invalid Note In the event that the project is transferred to a Flash Eprom memory card the transfer can take several minutes 62 35013563 05 2010 Application Debugging Subject of this Chapter This chapter describes the possibilities for debugging the application using Unity Pro and PowerSuite for Lexium 05 What s in this Chapter This chapter contains the following topics Topic Page Tuning the Lexium 05 with PowerSuite 64 Using Data via the Animation Tables 65 Program Debugging 67 Using Data via the Operator Screens 69 35013563 05 2010 63 Application Debugging Tuning the Lexium 05 with PowerSuite In Advance We recommend tuning the axis kinematic before the program automatically starts it Tuning Example The following table gives an example of kinematic tuning
13. 106 35013563 05 2010 Lexium 15MP HP LP for MFBs Basic Parameters for Lexium 15MP using Unilink MH At a Glance Unilink is a commissioning tool for axes intended for motion control applications Its graphic user interface provides a simple method for configuring the parameters of a Lexium 15MP type servodrive Connecting to Lexium 15MP This table describes the procedure for connecting to Lexium 15MP Step Action 1 Start Unilink MH via Start Program gt Unilink gt Unilink MH A communication window is displayed on main window of Unilink MH COMI COME COM2 COM com3 come com COMS COMS COM10 ome Pepa If the port that you are using is available i e is not being used by other devices or programs the name COM1 COM2 COM3 COM4 COM5 COM6 COM7 COM 8 COM9 COM10 appears in black Otherwise it appears in grey 2 Click on one of these communication ports the port that you use on your PC to transfer the values of the servodrive parameters to your PC When communication has been established this general screen appears 7 Servodrive2 DRIVEO leks HH OPMODE Slot Torque Jo Digital speed 23 lt gt Araby 0 Position am Cures LS Speed s lt gt _ Digiavo o1 ROD SSI Encoder Feedback Oo Input ResoWver Molor Motor selestion As 36 Ee Disabled e Disch
14. Data via the Animation Tables At a Glance The animation table is the Unity Pro basic tool for viewing and forcing the status of variables NOTE Unity Pro also offers a graphic tool called Operator Screens which is designed to facilitate use of the application see page 69 An animation table is divided into 3 areas that include e the Mode area e the Command area e the Display area Animation table Mode selection zone Command zone L BELG Type Comment Display zone Creating an Animation Table The table below presents the procedure for creating an animation table Step Action 1 Right click on the Animation Tables directory in the project browser Result the contextual menu is displayed Select New Animation Table Result a table properties window is displayed Click on OK to create the table which is given a default name Result the animation table is displayed 35013563 05 2010 65 Application Debugging Adding Data to the Animation Table The table below presents the procedure for creating data to view or force in the animation table Step Action 1 In the Table window click on the empty line in the Name column 2 There are two possible ways of adding data e Enter the variable directly e Click onthe LJ icon to display the instance selection window in order to select the variable 3 Ent
15. Drive Communication Lexium 05 Program Animation Tables Network type Operator Screens CANOper amp Documentation OK Cancel Help 38 35013563 05 2010 Application Configuration Step Action 4 Inthe Axis Parameters tab select e the reference of the servodrive e the minimum version of the servodrive s firmware In this tab the Axis_Z is configured as follows Project Browser fg Structurial view fy Station Configuration General Axis parameters Variables name Derived Data Types Derived FB Types Part Num aise amp FB instances TDaw05ab10777 t Sofware version Communication TO Gy Program Animation Tables Operator Screens 1 403 amp fk Documentation Cancel Help Note You are advised to check for consistency between the version of the servodrive s firmware and the version declared in Unity Pro The version is used to define the drive parameters During the servodrive init by the CAN_ HANDLER MFB function block the vesrsion is tested 5 Inthe Variables Name tab enter e aname for the Axis_Ref type variable linked to the servodrive e aname for the Can_Handler type variable linked to the servodrive In this tab the Axis_Z is configured as follows Project Browser fa Structurial view 7 Station Configuration General Axis parameters Variables name Derived Data Types g eis F
16. Fi dS c eje ma rE oron ee a i 0 He o Cid ale 7 enue ELS como 9j a Fn eje a Ha ELERE ea i i 2 en at 2 FO communication 1 e EDE pa efine 9 Basic Settings The following table describes the procedure for entering basic settings CANopen address and speed with the interface Step Action 1 Press the ENT button on the interface Result the SET Setting menu is displayed on the interface s status indicator 2 Press the P button several times to access the COM menu Result the COM Communication menu is displayed on the interface s status indicator 3 Press the ENT button on the interface Result the COAD CANopen Address submenu is displayed on the interface s status indicator 128 35013563 05 2010 ATV 31 for MFBs Step Action 4 Press ENT again Result a value corresponding to the device s CANopen address is displayed Press the V button to decrease or the A button to increase the CANopen address value Press ENT when the desired CANopen address is displayed 4 Result the value is confirmed and the COAD CANopen Address submenu is displayed again Press the P button to access the COBD CANopen Baud submenu Press ENT Result a value corresponding to the device s CANopen speed is displayed Press the P button to increase or the A button to decrease the CANopen baud rate value Press E
17. Inactive once tuning has been finalized 130 35013563 05 2010 ATV 71 Implementation for Motion Function Blocks 1 2 Aim of this Chapter This chapter presents the implementation of an ATV 71 servodrive according to the methodology see page 19 described in the quick start guide see page 13 witha Lexium 05 It only details the differences and actions for an ATV 71 What s in this Chapter This chapter contains the following sections Section Topic Page 12 1 Adapting the Application to the ATV 71 132 12 2 CANopen Bus Configuration ATV 71 136 12 3 Configuring the ATV 71 139 12 4 Tuning the ATV 71 145 35013563 05 2010 131 ATV 71 for MFBs 12 1 Adapting the Application to the ATV 71 Aim of this Section This section presents adaptation of the application to the ATV 71 with an architecture and hardware and software requirements What s in this Section This section contains the following topics Topic Page Application Architecture with an ATV 71 133 Software Requirements 134 Hardware Requirements 135 132 35013563 05 2010 ATV 71 for MFBs Application Architecture with an ATV 71 Overview The proposed architecture is simple and designed to assimilate the implementation principles of motion control Other equipment can be added to this realistic architecture in order to manage several axes Illustration The following figur
18. OMODE2 NOTE For further information please refer to the Unilink software user manual NOTE Once the parameters have been correctly set you are advised to save them in EEPROM and to make a backup copy of them in a file 116 35013563 05 2010 ATV 31 Implementation for Motion Function Blocks 1 1 Aim of this Chapter This chapter presents the implementation of an ATV 31 servodrive according to the methodology see page 19 described in the quick start guide see page 13 witha Lexium 05 It only details the differences and actions for an ATV 31 What s in this Chapter This chapter contains the following sections Section Topic Page 11 1 Adapting the Application to the ATV 31 118 11 2 CANopen Bus Configuration ATV 31 122 11 3 Configuring the ATV 31 124 11 4 Tuning the ATV 31 130 35013563 05 2010 117 ATV 31 for MFBs 11 1 Adapting the Application to the ATV 31 Aim of this Section This section presents adaptation of the application to the ATV 31 with an architecture and hardware and software requirements What s in this Section This section contains the following topics Topic Page Application Architecture with an ATV 31 119 Software Requirements 120 Hardware Requirements 121 118 35013563 05 2010 ATV 31 for MFBs Application Architecture with an ATV 31 Overview The proposed architecture is simple and designed to
19. Overview The proposed architecture is simple and designed to assimilate the implementation principles of motion control Other equipment can be added to this realistic architecture in order to manage several axes Illustration The following figure shows the architecture used in the application that includes a Lexium 05 LEXIUM 05 35013563 05 2010 23 Application Configuration Software Requirements Overview To implement the example it is essential to have certain items of software on single PC In particular this will allow you to configure set parameters for and operate the various devices used The software architecture is composed of e Unity Pro which is used to control the servodrive via the CANopen bus by programming movements e Powersuite which is used to set parameters and adjust the Lexium 05 servodrive It is nonetheless possible to go without PowerSuite in certain cases by using the Lexium 05 front panel user interface see page 48 Versions The following table lists the hardware and software versions used in the architecture see page 23 enabling the use of MFBs in Unity Pro Hardware Softvare version used in the example Firmware Version Modicon M340 Unity Pro V5 0 F Lexium 05 PowerSuite for Unity V5 0 V2 5 patch V2 2 0B V1 403 24 35013563 05 2010 Application Configuration Hardware Requirements References of the Hardware Used The following table list
20. PLC Min OS version Description Modicon M340 BMX P34 1000 CPU 340 10 Modbus BMX P34 2000 CPU 340 20 Modbus BMX P34 2010 CPU 340 20 Modbus CANopen BMX P34 20102 CPU 340 20 Modbus CANopen2 BMX P34 2020 CPU 340 20 Modbus Ethernet BMX P34 2030 CPU 340 20 Modbus CANopen BMX P34 20302 CPU 340 20 Modbus CANopen2 BMX PRA 0100 Peripheral Remote I O Adaptor Premium E Quantum Project Setting Setting File To see all PLC versions click on the box Show all versions Select the processor you wish to use from those proposed To create a project with specific values of project settings check the box Settings File and use the browser button to localize the XSO file Project Settings file It is also possible to create a new one If the Settings File box is not checked default values of project settings are used 6 Confirm by clicking OK The application inserts a rack and a power supply by default 35013563 05 2010 27 Application Configuration Master Task Configuration General The first operation you need to perform to create a program is to select the type of Tasks You are advised to program the servodrive movements using MFB blocks in the MAST task This task must be scanned at regular intervals A CAUTION MFB BLOCKS UNEXPECTED BEHAVIOR Do not mixe MAST and FAST tasks It is possible to use the FAST task to program the MFBs Failure to follow these instructions can result in injury or equipment damage
21. Selection Current Resolver buttons to declare the motor and the feedback parameters Note for information on how to declare the motor correctly please refer to the motor documentation 4 Click OK to confirm the basic configuration Result the basic setup is saved and the main screen is displayed again Note when certain ASCII parameters have been enabled a window appears asking you to save changes to the servodrive s EEPROM memory Click on OK to restart the servodrive and update the memory 5 Click on Exit 108 35013563 05 2010 Lexium 15MP HP LP for MFBs Basic Parameters for Lexium 15LP using Unilink L At a Glance Unilink is a commissioning tool for axes intended for motion control applications Its graphic user interface provides a simple method for configuring the parameters of a Lexium 15LP type servodrive Connecting to Lexium 15LP This table describes the procedure for connecting to Lexium 15LP Step Action 1 Start Unilink L via Start Program gt Unilink gt Unilink L Result a window ask you if you would like to connect to the drive Click on the Yes button Result a window to select the device appears Select RS 232 and click on the OK button Result a window of RS 232 settings appears Set the serial port COM1 to COM10 the Baud Rate 38400 the Timeout 2000ms Click on the OK button Result Unilink L software appears i Unti
22. The following table lists the hardware and software versions used in the architecture see page 101 enabling the use of MFBs in Unity Pro Device Software version used in the example Version of firmware Modicon M340 Unity Pro V4 0 Lexium 15LP Unilink V1 5 V1 45 only MFB Function V2 36 Managed by MTM Lexium 15MH Unilink V4 0 Compatible since V6 64 102 35013563 05 2010 Lexium 15MP HP LP for MFBs Hardware Requirements References of the Hardware Used The following table lists the hardware used in the architecture see page 101 enabling implementation of Lexium 15MP MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 2030 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 Lexium 15MP Servodrive LXM15MD28N4 Lexium 15MP connection cable to CANopen port of the PLC TLA CD CBA eee CANopen connector for Lexium 15MP AMO 2CA 001 V000 Motor for Lexium 15MP BPH055ee The following table lists the hardware used in the architecture see page 101 enabling implementation of Lexium 15LP MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 2030 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 Lexium 15LP Servodrive LXM15LD13M3 Lexium 15MP connection cable to CANopen port of the PLC TLA CD CBA eee CANopen connector for Lexium 15LP AMO 2CA 001 V000
23. and Axis Error Code Section 000 c eee eee eee Backup and Transfer of the Servodrive Parameters Transferring the Project between the Terminal and the PLC Application Debugging 00e eee eee eee Tuning the Lexium 05 with PowerSuite 000000 ee ae Using Data via the Animation Tables 0 00 ee eae Program Debugging ec eee ett Using Data via the Operator Screens 00 cece Operating the Application 0 00eeeeeeee Management of the Recipes 00 c eee eee eee Application Maintenance 00c eee eee eee Error Example seis gfente dete aoe a hide fa Gos eS Anode ads EA aie anes Replacing a Faulty Servodrive 0 0 0 c cece eee eee Multi Axis Application 0000eeeeee FOFOWOrdsic 6 soc race oh aw tee eee ee ee Gea i Application Architecture with All Servodrives 200005 Compatibility of motion applications with Unity VersSlIONS sive Ohba ee hie ves Shae ee See Lexium 32 Implementation for Motion Function Blocks Adapting the Application to the Lexium 32 20 000 Application Architecture with Lexium 32 0 0 eee eee Software Requirements 0 000 e cece eee Hardware Requirements 0 00 ua eens CANopen Bus Configuration Lexium 32 00 0c eee eee Configuring the Lexium 32 00 00 eects Basic Parameters for Lexium 32 using Lexium CT
24. between the Modicon M340 and ATV 71 VW3CANTAP2 servodrive RJ45 programming cable with RS485 RS232 adapter between the ACC2CRAAEF030 junction box and servodrive ATV 71 servodrive ATV71H075N2Z NOTE The terminating resistor is integrated in the junction box and must be ON 35013563 05 2010 135 ATV 71 for MFBs 12 2 CANopen Bus Configuration ATV 71 Configuration of the CANopen Slave ATV 71 on CANopen bus Overview The implementation methodology for a CANopen bus using Modicon M340 is to configure see page 31 the CANopen port of the CPU declarate the slave chosen from the hardware catalog see paragraph bellow configure the slave enable the configuration using Unity Pro check see page 34 the CANopen bus in the Project browser 136 35013563 05 2010 ATV 71 for MFBs How to Configure the CANopen Slave This table describes the procedure to configure the CANopen slave Step Action 1 double click on CANopen Result The CANopen window appears In the Unity Pro Project Browser fully expand the Configuration directory and then E CANopen CIE Bus Comectionsconfigured D i La ik 2 Select Edit New device Result The New Device window appears Topological Adress 1 63 3 Node D 3 OK Part Number Desorption E CANopen drop Carcel TEL D
25. clAlFE ed ipen clAlFS eds sed an proiles DSI VADI and DSPAOZ VZO ELC DCXI70 CANopen TEDCXIO7 DIOE eck DNGAP Upei ENUNG MEB EDS F Cen eP Roe TELRUTLP UTE Zea ESS fortesi TSMPHP sevodrie TELXMTSMAOGETE sds seoser saie raay FLL eroi TEXCCSELOTOOE ei Drop endcommunicetor Step Action 1 In the Unity Pro Project Browser fully expand the Configuration directory and then double click on CANopen Result The CANopen window appears E CANopen IE Bus HF Comections configured 0 a 3 2 Select Edit New device Result The New Device window appears New Device Topologed Adress 1 63 3 MNode D 3 ak Part Number Description E CANopen drop Carcel E tee a 122 35013563 05 2010 ATV 31 for MFBs Step Action 3 Set 4 in Topological Address For the slave device choose ATV31_V1_2 4 Click on OK to confirm the choice Result The CANopen window appears with the new device selected CANopen I Bus Connections configured 1 5 Select Edit Open module lf MFB has not already been selected choose it in the Function area 6 You will be asked to validate your modifications when closing the Device and CANopen windows 35013563 05 2010 123 ATV 31 for MFBs 11 3 Configuring the ATV 31 Aim of this Section
26. created in the data editor during the creation of the axes To access this screen double click on the Variables amp FB instances directory in the project browser Data Editor LILI Variables DDT types Function blocks DFB types p Filter Y nme MET V DDT 1 10DDT Name pe w Addre w Value Comment a Recipe_0 ARRAY 0 190 OF BYTE Axis_Ref Z AXIS_REF Variable declared for axis Axis_Z AxisParamDesc_0 ARRAY 0 218 OF UINT Type 306 Ref 12592 Ver 103 p The variable Can Handler zZz may be accessed by clicking on the Function blocks tab 35013563 05 2010 43 Application Configuration 2 5 Configuring the Lexium 05 Aim of this Section This section describes the basic servodrive configurations using PowerSuite for Lexium 05 and the servodrive s front panel user interface What s in this Section This section contains the following topics Topic Page Configuring the Lexium 05 in PowerSuite 45 Configuring the Lexium 05 with the User Interface 48 44 35013563 05 2010 Application Configuration Configuring the Lexium 05 in PowerSuite Overview With PowerSuite users can define installed device bases and describe their associated configurations and communication settings PowerSuite then gives access to a group of actions for editing or transferring the configur
27. is performed by the TE_DOWNLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks Block Library block This MFB library block is used to e load parameters to a new servodrive if the previous one is faulty e load anew recipe to a servodrive during a production change for example You can delete the recipe if you can not use it NOTE The memory size of unlocated data for the management of a recipe by servodrive type is around 2 Kwords 40 35013563 05 2010 Application Configuration The Variables Axis_Ref Can_Handler AxisParamDesc and Recipe At a Glance Can_Handler Axis Ref AxisParamDesc For each axis creation four variables are created e ACan_Handler type variable automaticaly created by motion browser which can be renamed using the axis directory e AnAxis Ref type variable which can be renamed using the axis directory e A byte table type variable ARRAY OF BYTE named by default Recipe x where x is a value but which can be renamed using the Recipe _ x directory e An unsigned integer table type variable ARRAY OF UINT named AxisParamDesc_x where xis a value and which may not be renamed This variable is an EFB type variable It is named after the CANopen manager variable It is declared in the Variables Name tab during Axis Creation see page 38 It must be used in the program as the instance of the CAN HANDLER see page 54 MFB function block This variable is an AXI
28. page 45 These initial settings are used to configure a recipe 35013563 05 2010 71 Operating the Application Step Action 4 Perform a backup of the parameters using the TE_UPLOADDRIVEPARAM see Unity Pro Motion Function Blocks Block Library block in the buffer variable Recipe Z The backup was successful if the bits of the MC_READSTATUS see Unity Pro Motion Function Blocks Block Library block are as follows e DOWNLOADING see Unity Pro Motion Function Blocks Block Library is set to 0 e STANDSTILL see Unity Pro Motion Function Blocks Block Library is set to 1 Transfer the data backed up in the Recipe _Z buffer variable to the Recipe _0 variable Repeat steps 3 and 4 to transfer the data backed up in the Recipe _Z buffer variable to the Recipe_1 variable The following programming presents a data transfer example based on the value of PRODUCTION IF UPLOAD _Z DONE AND PRODUCTION 0 THEN Recipe 0 Recipe 2Z END_IF IF UPLOAD Z DONE AND PRODUCTION 1 THEN Recipe _1 Recipe_ 2 END_IF Transfer Data from the Recipes The table describes the procedure to transfer recipe data to the servodrive for a production change for example Step Action 1 Reload the Recipe Z buffer variable based on the value of PRODUCTION type of production requested IF Cmd_Download_Z AND PRODUCTION 0 THEN Recipe Z Recipe 0 END_ IF IF Cmd_Download_Z AND P
29. tcose 0 ms Time delay during closing of holding brake 0 1000 1296 bly top ESiMscale 4096 ine Encoder simulation setting of resolution 5 05635 1322 EQ Communication MIDispPara_ DeviceStatus HMI display when motor rotates 0 2 i852 ra HMilocked not locked Lock HMI o1 14850 IOsigLimP normaly closed Signal evaluation LIMP 0 2 1568 A IOsigLimN normaly closed Signal evaluation LIMN 0 2 1566 OdigRet normaly closed Signal evaluation REF h2 fise SPV_SW_Limit none Monitoring of sofware imit switches os fisa SPVswLimNusr 2147483848 usr Negative positon imit for sofware imit switch 1546 SPVswLimPusr 2147483647 usr Positive postion limit for software imit switch 15 Command Enable i Hi iSTOP Use double click to clear thid display neat Lexium CT M2 stop Press to dlear list DEVemdinterf none 3 Use double click to clear thid display 35013563 05 2010 93 Lexium 32 for MFBs Basic Parameters This table describes the procedure for inputting the basic parameters Step Action 1 Click on the Basic Configuration The Basic Configuration window appears Signal selection positon interface DeviceNet address node number CANopen address node number CANopen Baud rate Speed limitation Cur n simulation seting of resolubon Mains choke Definiton of direction of rotation fo Reduced input mains v
30. the application 1 Configuration of the hardware using Unity Pro De claration and configuration of the CANopen bus using Unity Pro y Configuration of the axes via MFB using Unity Pro Yy Hardware configuration of the servodrives y Programming the application using the MFB library y Debugging y Operation y 8 Maintenance The table below details the tasks to be performed for each stage of the flowchart Step Description 1 In Unity Pro e create the project and select the processor In Unity Pro open a CANopen bus configuration choose the CANopen slave in hardware catalog attribute a topological address to the new device check or set MFB function in the configuration window of device enable CANopen configuration check the accuracy of the configuration using the CANopen configuration tree structure in the project browser Create the axes in the project browser s Motion directory Define the variables associated with these axes during their creation With the PowerSuite software e connect to the device e enter the required parameters for the correct operation of the CANopen communication address speed etc 35013563 05 2010 19 Foreword Step Description Program the motion sequences using the appropriate functions blocks from the MFB library Associate the variabl
31. 0 lt V2 0 Partially compatible in case of usage of Lexium15 NC gt V4 0 PC FC aborted NC Not compatible The motion parts are ignored during the import PC Partially compatible the new axis type are ignored with an error message during the import the application is imported by the sections using the drives that are in error The new firmware version are downgraded to the highest available in the Unity version with a warning during import if the drives is present in the catalog for Mirano CPU If not the import is FC Fully compatible NOTE 1 The news EFB causes errors in the sections using them NOTE 2 Processor M340 gt V2 0 initial value saving enabled support 35013563 05 2010 83 Compatibility of STA files Unity Target Unity Souce Version Version V3 x V4 0 application without motion V3 x V4 0 with gt V4 0 with M340 lt V2 0 M340 gt V2 0 V3 x FC PC NC gt V4 0 FC FC FC NC Not compatible PC Partially compatible compatible only for applications with drive supported by the Unity which is opening the application in case of drives type or firmwire versions evolutions The application can be opened but can not be modified deeply FC Full compatible 84 35013563 05 2010 Lexium 32 Implementation for Motion Function Blocks Aim of this Chapter This chapter presents the implementation of Lexium 32 ser
32. 013563 05 2010 145 ATV 71 for MFBs 146 35013563 05 2010 IclA Implementation for Motion Function Blocks 1 3 Aim of this Chapter This chapter presents the implementation of an IclA servodrive according to the methodology see page 19 described in the quick start guide see page 13 witha Lexium 05 It only details the differences and actions for an IcIA What s in this Chapter This chapter contains the following sections Section Topic Page 13 1 Adapting the Application to the IclA 148 13 2 CANopen Bus Configuration IclA 152 13 3 Configuring the IclA 155 13 4 Tuning the IclA 156 35013563 05 2010 147 IclA for MFBs 13 1 Adapting the Application to the IclA Aim of this Section This section presents adaptation of the application to the IclA with an architecture and hardware and software requirements What s in this Section This section contains the following topics Topic Page Application Architecture with an IclA 149 Software Requirements 150 Hardware Requirements 151 148 35013563 05 2010 IclA for MFBs Application Architecture with an IclA Overview The proposed architecture is simple and designed to assimilate the implementation principles of motion control Other equipment can be added to this realistic architecture in order to manage several axes Illustration The following figure shows the architecture used
33. 2 ee 149 Software Requirements uaaa e eee ete eee 150 Hardware Requirements 0 0 0 eects 151 13 2 CANopen Bus Configuration IcIA 0 0 0 0 cee ee 152 Configuration of the CANopen Slave IclA on CANopen bus 152 13 3 Configuring the IcIA 1 tees 155 Configuring the IcIA with DIP Switches 0 0000 e eeu 155 13 4 Tuning the IGA i a eee ec ee obs wads dk ete eee es 156 Configuring the IcIA in IcIA Easy 0 0 0 cece 157 Tuning the IclA with IcIA Easy s nananana 160 INGO ie tower ar oie wets Cera VERS ee ees 161 35013563 05 2010 7 35013563 05 2010 Safety Information ZZ Important Information NOTICE Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure injury if the instructions are not followed This is the safety alert symbol It is used to alert you to potential personal injury hazards Obey all safety messages that follow this The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists which will result in personal A symbol to avoid possible injury or death A DANGER DANGER indicates an imminently hazardous situatio
34. 2 connection cable to CANopen port of the PLC TCSCCN4F 3M3T CAN CANopen Line terminator TCSCAR013M120 Motor for Lexium 32 BSH055e 35013563 05 2010 89 Lexium 32 for MFBs CANopen Bus Configuration Lexium 32 Overview The implementation methodology for a CANopen bus using Modicon M340 is to Upgrade the hardware catalog Configure see page 31 the CANopen port of the CPU Declare the slave chosen from the hardware catalog see paragraph below Configure the slave Enable the configuration using Unity Pro Check see page 34 the CANopen bus in the Project browser How to Upgrade the Hardware Catalog This table describes the procedure to configure the CANopen slave Step Action 1 Open the Hardware Catalog Start Program Schneider Electric Socollaborative UnityPro gt Hardware Catalog Manager Result The Hardware Catalog Manager window appears Hardware Catalog Manager File Edit View Service Help Ek CANopen drop Distributed I Os Motion amp Drive Motor control Safety Sensors Third party products Import Export In the menu tab click on File gt Import User Devices then import the LXM32_MFB cpx file in the directory Application Data Schneider Electric ConfCatalog Database Motion this file can be located in a hidden directory 90 35013563 05 2010 Lexium 32 for MFBs How to Confi
35. 35013563 04 MFB for Modicon M340 using Unity Pro Start up Guide 05 2010 www schneider electric com Schneider Electric The information provided in this documentation contains general descriptions and or technical characteristics of the performance of the products contained herein This documentation is not intended as a substitute for and is not to be used for determining suitability or reliability of these products for specific user applications It is the duty of any such user or integrator to perform the appropriate and complete risk analysis evaluation and testing of the products with respect to the relevant specific application or use thereof Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for misuse of the information contained herein If you have any suggestions for improvements or amendments or have found errors in this publication please notify us No part of this document may be reproduced in any form or by any means electronic or mechanical including photocopying without express written permission of Schneider Electric All pertinent state regional and local safety regulations must be observed when installing and using this product For reasons of safety and to help ensure compliance with documented system data only the manufacturer should perform repairs to components When devices are used for applications with technical safety requirements the relevant i
36. ANopen address value Press ENT when the desired CANopen address is displayed 3 Result the value is confirmed and the COAD CANopen Address submenu is displayed again Press ESC once to return to the COAD submenu Press the P button to access the COBD CANopen Baud submenu Press ENT Result a value corresponding to the device s CANopen speed is displayed Press the A button to decrease or the P button to increase the CANopen baud rate value Press ENT when the desired CANopen speed is displayed 500 Result the value is confirmed and the COBD CANopen Baud submenu is displayed again 9 Press ESC several times to return to the main display RDY by default 35013563 05 2010 49 Application Configuration 50 35013563 05 2010 Application Programming Subject of this Chapter This chapter describes the various development phases of the application program What s in this Chapter This chapter contains the following topics Topic Page Declaration of Variables 52 Programming the Example 53 The CAN_HANDLER Function Block 54 Management of the Axis Operating and Stop Modes 56 Motion Control 57 Motion Monitoring 58 Status and Axis Error Code Section 59 Backup and Transfer of the Servodrive Parameters 60 Transferring the Project between the Terminal and the PLC 61 35013563 05 2010 51 Application Programming Declarat
37. B D9 Way female connector bended at 90 additional SUB D9 Way connector to connect a PC on the bus TSX CAN KCDF 90TP CANopen preassembled cordset with moulded female SUB D9 Way connectors at both end TSX CAN CADDO3 Dongle PCAN PS 2 for IclA Easy parallel to CAN converter IPEH 002019 CANopen cable TSX CAN CA50 IclA servodrive IFS61 2 CAN DS I B54 0 001RPP41 NOTE The terminating resistor is integrated in the IcIA and must be ON see page 155 35013563 05 2010 151 IclA for MFBs 13 2 CANopen Bus Configuration IclA Configuration of the CANopen Slave IclA on CANopen bus Overview The implementation methodology for a CANopen bus using Modicon M340 is to configure see page 31 the CANopen port of the CPU declarate the slave chosen from the hardware catalog see paragraph bellow configure the slave enable the configuration using Unity Pro check see page 34 the CANopen bus in the Project browser How to Configure the CANopen Slave This table describes the procedure to configure the CANopen slave 152 35013563 05 2010 IclA for MFBs Step Action i CANopen m m E Bus 3 Eapen cor Connections configured 0 X 1 In the Unity Pro Project Browser fully expand the Configuration directory and then double click on CANopen Result The CANopen window appears 2 Select Edit New device
38. B Types Axis reference variable name ariables amp FB instances Motion Axis_Ref_Z i CANopen handler variable name uae Can_Handler_Z Animation Tables Operator Screens Rp Documentation OK Cancel Help 6 Click on OK to confirm the selections 35013563 05 2010 39 Application Configuration Step Action 7 Right click on the Recipe_0 sub directory and then select Properties in the contextual menu It is then possible to modify the recipe and parameter variables created by default when creating the axis Notes Tick the Initial Values saving Enabled checkbox allows to include the recipe in the application This functionality is available for M340 V2 0 or later firmware versions see the recipe variable see page 41 In this window the variables for the Axis_Z are named by default as follows Project Browser tg Structurial view x Station i 3 Configuration 3 Derived Data Types i Q Derived FB Dpes G Variables amp FB instances 2 Motion Si Axis_Z Recipeo Communication amp 3 Program Animation Tables Operator Screens Documentation Parameter description variable name Initial values saving Enabled Cancel Help Click on OK to confirm the configuration NOTE It is possible to create several recipes for the same axis there is one by default Loading of the required recipe depending on the request
39. Baud submenu is displayed again Press ESC several times to return to the main display RDY by default 144 35013563 05 2010 ATV 71 for MFBs 12 4 Tuning the ATV 71 Tuning the ATV 71 with PowerSuite In Advance We recommend tuning the axis kinematic before the program automatically starts it Tuning Example The following table gives an example of kinematic tuning Step Action 1 Connect see page 140 to the ATV 71 2 After a connection and transfer of the device s configurations PowerSuite opens a new window with the configuration screen which gives access to device control tuning and monitoring functions The following figure shows part of the new window This lower window provides access to ATV 71 command functions Stop a EE ase Peen un Active Ray sanen on Inactive Standard profile fen Connected g Place the Command zone cursor on Active Click the Reset button to clear any problems Enter the value 10 in the Frequency reference zone oO oa A w Click the Test Run button Result the motor runs and the sub window is animated 7 LSP HSP 2 RUN forward Command _Rowtion gq 1013 50 0 POWER Operation enabled Active Forward ENABLE Inactive Reverse Frequency reference Test sop Standard profile fen Connected 4 Place the Command zone cursor on Inactive once tuning has been finalized 35
40. CANopen bus is represented in the Configuration directory of the project browser After having selected and enabled the CANopen configuration the CANopen slaves appear in the Project Browser The topological address of the CANopen bus is calculated automatically by Unity Pro This value cannot be modified The diagram below shows the CANopen bus with slave device from the tutorial example Project Browser fa Structural View ee a Station Be 6 EE TRO PLC bus To Boxer 0800 PPJP BMX CPS 2000 By 2 BMx P34 2030 CANopen lt v Ethernet ivi M2 ze M3 Topological address of o td the CANopen bus no cannot be modified livs UIs fiv Slave address z3 CANopen 7 Ow2 CANopen drop eed Mv 00 Lexium05_MFB Derived Data Types N Derived FB Types Deve maine Variables amp FB Instances Motion 34 35013563 05 2010 Application Configuration 2 4 Axis Configuration using the Motion Tree Manager Subject of this Section This sub section describes the Motion directory added to Unity Pro s project browser It also presents a procedure for creating the axis in this directory What s in this Section This section contains the following topics Topic Page Motion Directory 36 Axis Creation and Configuration 38 The Variables Axis_Ref Can_Handler AxisParamDesc and Recipe 41 Motion Directory Configuration Result 43 35013563 05 2010 35 Application Configuration Motion Di
41. Lexium 05 with the User Interface Overview A user interface is integrated in the Lexium 05 With this interface you can e put the device online e configure the device e carry out a diagnostic Interface Menu Structure The following graphic presents an overview of access to the interface s main menus Power On First Setup __end not done F5ur ES First Setup Save First Setup done A esd r i nb lt ide C Drive Configuration Se A E i 9 9 enus a Jol AS JOGModes ojo a E E CoN eo N a ELi Faut eje a Ea fi n F alke a GER j Status Information 48 35013563 05 2010 Application Configuration Basic Settings The following table describes the procedure for entering basic settings CANopen address and speed with the interface Step Action 1 Press the ENT button on the interface Result the SET Setting menu is displayed on the interface s status indicator Press the P button several times to access the COM menu Result the COM Communication menu is displayed on the interface s status indicator 3 Press the ENT button on the interface Result the COAD CANopen Address submenu is displayed on the interface s status indicator 4 Press ENT again Result a value corresponding to the device s CANopen address is displayed Press the V button to decrease or the O button to increase the C
42. Motor for Lexium 15LP AKM 31E NOTE the line terminator is an interrupter built into the AMO 2CA 001 V000 CANopen connector 103 Lexium 15MP HP LP for MFBs 10 2 CANopen Bus Configuration Lexium 15MP HP LP Configuration of the CANopen Slave on CANopen bus Overview The implementation methodology for a CANopen bus using Modicon M340 is to configure see page 31 the CANopen port of the CPU declarate the slave chosen from the hardware catalog see paragraph bellow configure the slave enable the configuration using Unity Pro check see page 34 the CANopen bus in the Project browser How to Configure the CANopen Slave This table describes the procedure to configure the CANopen slave Step Action 1 In the Unity Pro Project Browser fully expand the Configuration directory and then double click on CANopen Result The CANopen window appears I CANopen io Bus Connectons configured O 2 Select Edit New device Result The New Device window appears New Device Topological Address 4 63 Node ID Part Number Description CANopen drop TH Distributed TOs Tl Motion amp Drive var lopen 5 Mtivar 31 CANopen Save E OSPUY TEATSTIE eds Allivar 31 CANopen Slave 117E eds EmA 31 CANopen Slave f eds 11 7E eds Avn TENT TE eds lopen Icl iS tee SFE CANopen d HERTE eds TA TES Alope n ICIA IFS eds T
43. NT when the desired CANopen speed is displayed 500 Result the value is confirmed and the COBD CANopen Baud submenu is displayed again 8 Press ESC several times to return to the main display RDY by default 35013563 05 2010 129 ATV 31 for MFBs 11 4 Tuning the ATV 31 Tuning the ATV 31 with PowerSuite In Advance We recommend tuning the axis kinematic before the program automatically starts it Tuning Example The following table gives an example of kinematic tuning Step Action 1 Connect see page 125 to the ATV 31 2 After a connection and transfer of the device s configurations PowerSuite opens a new window with the configuration screen which gives access to device control tuning and monitoring functions The following figure shows part of the new window This lower window provides access to ATV 31 command functions Active H Status Stop E Inactive F Gee Device in fault Connected en Place the Command zone cursor on Active Click the Reset button to clear any problems if status is red Enter the value 1 in the Frequency reference zone OJo w Click the Test Run button Result the motor runs and the sub window is animated Active Forward LSP HSP H Status Run forward o0 m 500 SIA A Inactive F Reverse Sleet SEE Command Rotation Frequency reference EEJ Reset Connected en Place the Command zone cursor on
44. P LP for MFBs How to start service for Lexium 15MH The table below explains how to use a service function with a Lexium 15MH Step Action 1 On the field Service select one of the service functions see page 116 described below Click on the Parameters button Set the corresponding parameter Then start the function by using the Start button ajA JOJN The function will continue to be performed until you click on the Stop button or press the function key F9 Illustration for Lexium 15LP The screen below can be accessed by clicking the folder Oscilloscope on the Unilink L browser s E E pene ne pen en nnn 1 9 400 Zeit Kits nist K tin_gol Kits nist Ktn VEUS Channels Trigger Recording Scope Files Motion Service Tuning Record 7 Start Resolution Chanel 1 v_emd M Auto scale Auto Svaling Mode normal Chanel 2 v_act Auto scale Auto Svaling Mode Refresh Time Div Chanel 3 fI_cmd F Auto scale Auto Svaling Mode 100 ms Restore ZIMS Chanel 4 fi_act Auto scale Auto Svaling Mode Oscillo 35013563 05 2010 115 Lexium 15MP HP LP for MFBs How to start service for Lexium 15LP The table below explains how to use a service function with a Lexium 15LP Step Action 1 Click on the Motion Services t
45. PPLICATION BEHAVIOR Before sending the ASCII command ensure that is appropriate to the equipment Failure to follow these instructions can result in injury or equipment damage 35013563 05 2010 113 Lexium 15MP HP LP for MFBs 10 4 Tuning the Lexium 15MP HP LP Debugging the axis Pre requisite You are recommended to debug the axis dynamics before it is automatically started by the program Description The oscilloscope is one way of carrying out the debug operation It allows you to Illustration for Lexium display up to three variables simultaneously as a function of time save the recorded measurements to a data medium in CSV format can be used with MS Excel load a CSV data file and restore the curves on the oscilloscope diagram use certain services 15MH The screen below can be accessed by clicking on the Unilink MH menu s Tools gt Oscilloscope Oscilloscope 101 com Ae Jee Rom A o 0 0 Ee a aa at A L D002 0004 0 006 0 008 Record Resolution Channel Auto min mex Trigger signal _ Trigger level bee vor eM ev Trot ql e TimeDison gyal M Trigger postion Trigger edge Load os Sila l_ soa L Postive F Seme eit c Param p 2st aol T7 Mem Retesh Defeu ose 114 35013563 05 2010 Lexium 15MP H
46. Parameter x x x x x X MC_ReadActualPosition X xX X X MC_ReadActualVelocity 1 X X X X X X MC_Reset xX X xX xX X X MC_Stop xX X Xx xX X Xx MC_Power X X Xx X X xX MC_MoveAbsolute X X X X MC_MoveRelative X X X MC_MoveAdd ditive Xx xX Xx MC_Home X X X X MC_MoveVelocity X X X X X X MC_ReadAxisError X X X X X X MC_ReadStatus X X X X X X MC_TorqueControl 1 X X X X 3 MC_ReadActualTorque 1 X X X X X MC_Jog 2 X X X except X 15 LP Parameter set save TE_UploadDriveParam X X X 6 X X X and restore functions TE DownloadDriveParam X x X 6 x x x for management of recipes or replacement of faulty servodrives 35013563 05 2010 17 Foreword Type Block name ATV31 ATV71 Lexium 32 Lexium05 Lexium15 IclA ATV312 7 HP MP LP IFA IFE IFS Advanced functions for Lxm_GearPos X 4 X 5 the Lexium Lxm_GearPosS x x 4 X5 Lxm_UploadMTask X Lxm_DownloadMTask X Lxm_StartMTask X X System function CAN_Handler X X X X X X NOOROND PLCopen V0 99 extension part 2 Not PLCopen standard Only for firmware version gt 6 73 Only for firmware version gt 1 403 Only for firmware version gt 2 36 The parameter list is a Lexium32Advanced drive parameter list Through an ATV 31 V1 7 CANopen Device configuration 18 35013563 05 2010 Foreword Methodology Overview The fl owchart below lists the various stages involved in installing
47. REA CANopen TENSA UTENS 25 EDS for Terum TSP sss TEU TERE eds 5 MPHP servodrive TEI SMH ESTEET TXM32 WFS UXM32_MFBEDS SD 328 CANopen eee B TWEEDS Motor Control Sensors E pariy products 104 35013563 05 2010 Lexium 15MP HP LP for MFBs Step Action 3 Set 3 in Topological Address For the slave device choose Lexium15LP_V1_4 for a Lexium 15LP or Lexium15MH_V6_61for a Lexium 15MP 4 Click on OK to confirm the choice Result The CANopen window appears with the new device selected I CANopen BE Bus Connections configured 4 5 5 Select Edit Open module If MFB has not already been selected choose it in the Function area 6 You will be asked to validate your modifications when closing the Device and CANopen windows 35013563 05 2010 105 Lexium 15MP HP LP for MFBs 10 3 Configuring the Lexium 15MP HP LP Aim of this Section This section describes the basic servodrive configurations using Unilink L MH for Lexium 15MP HP LP What s in this Section This section contains the following topics Topic Page Basic Parameters for Lexium 15MP using Unilink MH 107 Basic Parameters for Lexium 15LP using Unilink L 109 Specific Parameters for Lexium 15 MP HP LP using Unilink 112
48. RODUCTION 1 THEN Recipe Z Recipe 1 END_IF 2 Transfer the parameter data using the Recipe Zbuffer variable s TE_DOWNLOADDRIVEPARAM see Unity Pro Motion Function Blocks Block Library block to the servodrive 3 The transfer was successful if the bits of the MC_READSTATUS see Unity Pro Motion Function Blocks Block Library block are as follows e DOWNLOADING see Unity Pro Motion Function Blocks Block Library is set to 0 e STANDSTILL see Unity Pro Motion Function Blocks Block Library is set to 1 72 35013563 05 2010 Application Maintenance Subject of this Chapter This chapter describes the procedure involved in replacing a servodrive after a fault has been diagnosed What s in this Chapter This chapter contains the following topics Topic Page Error Example 74 Replacing a Faulty Servodrive 76 35013563 05 2010 73 Maintenance Error Example At a Glance Error Codes Finding Errors The MC_ReadAxisError function is used to recover system errors If an error or warning occurs the block specifies a code by applying a value to the AXISFAULTID AXISDIAGID and AXISWARNINGID output parameters The following table shows the Lexium 05 error codes Lexium 05 AxisFaultId SigLatched 301C 08 AxisDiagId WarnLatched 301C 0C AxisWarningId StopFault 603F 0 NOTE refer to the CANopen documentation for Lexium 05 to identify the error
49. ROR Cmd_Reset_Z 7jEXECUTE DONE BUSY ERRORID The blocks are instantiated to variables input directly in the Instance zone of the FFB Input Assistant to facilitate subsequent diagnostics using the animation tables 56 35013563 05 2010 Application Programming Motion Control At a Glance Contents This programming section is made up of the following MFB blocks e MC_HOME see Unity Pro Motion Function Blocks Block Library which allows a homing reference point to be set for the axis before then launching it in absolute motion e MC_MOVEABSOLUTE see Unity Pro Motion Function Blocks Block Library which allows the axis to make an absolute movement The screen below shows the part of the section HOME Z MC_HOME 1 Axis_Ref_Z AXIS ERROR Cmd_home_Z EXECUTE DONE 0 POSITION RUSY 2000 SPEED COMMANDABORTED 34 HTYPE ERRORID ABSOLUTE1_Z MC_MOVEABSOLUTE 2 Axis_Ret_Z AXIS ERROR Cmd_Mvt_Z _ EXECUTE DONE 50000 PosITION BUSY 2000 veLociry COMMANDABORTED 0 ACCELERATION ERRORID p 0 DECELERATION ABSOLUTE2_Z MC_MOVEABSOLUTE 3 Axis_Ref_Z AXIS ERROR EXECUTE DONE 50000 POSITION BUSY 2000 yeLocity COMMANDABORTED O ACCELERATION ERRORID gt DECELERATION For the tutorial example the section is made up of a type of sequence of reversing mov
50. Result The New Device window appears New Device Topological Adress 1 63 Node ID Part Number El CANopen drop __ E Discrete El Motion Lexium05_MFB Teim bP VA H E Alvar 31 CANopen Slave DSP402 TEATV311 1E eds z A31 V12 Altvar31 CANopen Slave DSP402 TEATV3112E eds Z ANBITM_3 Altvar31 CANopen Slave DSP402 TEATV31T13E eds ATV61 TEATVO111E eds AI TEATVTTE eds IcIAIFA CANopen clAIFA eds IcIAIFE CANopen cIAIFE eds IcIAIFS CANopen AIFS eds IcIANO65 based on profiles DS301V4 01 and DSP4UZ V20 BLIC DCXxt70 CANopen TEDCX107_O100E eds LaVMO5APLCopen CEXIUMOS MFB EDS ro EDS or Lexitim TSLP servodrive TELXMISLP_0142 eds Lexum 5MH_V6_61 EDS forLexium TSIMPHP servodrive TELXMI51VH_O661E eds Osicoder Osicoder absolute rotary multum encoders TEXCC3B_OTOUE eds Other Cancel EE ee Help rDrop end communicator 35013563 05 2010 153 IclA for MFBs Step Action 3 Set 6 in Topological Address For the slave device choose IclA_IFS 4 Click on OK to confirm the choice Result The CANopen window appears with the new device selected E CANopen Be Bus 4 Connections configured 1 5 Select Edit Open module If MFB has not already been selected choose it i
51. S_REF type structured variable named after the axis reference variable It is declared in the Variables Name tab during Axis Creation see page 38 It must be specified in the input parameter for each MFB block used by the axis This variable is an unsigned integer table type variable ARRAY OF UNIT It is automatically created during Axis Creation see page 38 It is named after the parameter description variable which can be seen inthe Recipe _ x properties of the axis This variable must be specified in the TE_UPLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks Block Library and TE_DOWNLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks Block Library blocks PARAMETERLIST input parameter taken from the MFB library and useful for recipe creation or for replacing the axis if it is faulty This variable e cannot be modified e is identical if the axes declared in the application have the same references and firmware version 35013563 05 2010 41 Application Configuration Recipe This variable is a byte table type variable ARRAY OF BYTE It is automatically created during Axis Creation see page 38 It is named after the recipe variable which can be seen in the Recipe_x properties of the axis This variable must be specified in the TE_UPLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks Block Library or TE_DOWNLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks
52. This section describes the basic servodrive configurations using PowerSuite for ATV 31 and the servodrive s front panel user interface What s in this Section This section contains the following topics Topic Page Configuring the ATV 31 in PowerSuite 125 Configuring the ATV 31 with the User Interface 128 124 35013563 05 2010 ATV 31 for MFBs Configuring the ATV 31 in PowerSuite Overview Connecting to the ATV 31 With PowerSuite users can define installed device bases and describe their associated configurations and communication settings PowerSuite then gives access to a group of actions for editing or transferring the configurations and for connecting to the devices PowerSuite s navigation principle associates a configuration interface with each device type making it possible to control tune and monitor them This table describes the procedure for connecting to the ATV 31 Step Action 1 Connect your PC on which PowerSuite for ATV 31 is installed to the RJ45 connector on the servodrive to be configured 2 Start PowerSuite for ATV 31 Result the following start up screen is displayed Eile Action Display Tools E ae el at 3 Choose Action and then Connect Result a text box is displayed 4 Type a project name ATV31_MFB and then click on OK Result a transfer confirmation window is displayed 5 Press Alt F to start transferring data from the servodrive to the co
53. Z me ae DownLoad Z w Velocity_Z cmd_Run_Z cmd_Reset_2Z Cmd_Home_Z Cmd_Mvt_Z Cmd_Upload_Z cmd_Download_zZ 35013563 05 2010 69 Application Debugging 70 35013563 05 2010 Operating the Application Management of the Recipes At a Glance The TE_UPLOADDRIVEPARAM see Unity Pro Motion Function Blocks Block Library and TE_LDOWNLOADDRIVEPARAM see Unity Pro Motion Function Blocks Block Library blocks are used to manage the production recipes An example of the procedure for creating and managing recipes is described in this section NOTE for flexible machines it is possible to manage several parameter recipes Creating and backing up the recipes The table describes the procedure for creating recipes Step Action 1 Create the recipes see page 38 using the Axis_Z directory Result new recipe variables Recipe 0 Recipe_1 etc are automatically created in the Data Editor see page 43 Create a variable corresponding to the type of recipe variables This variable is named in the Recipe _Z tutorial example Recipe _Z acts as a buffer when backing up or transferring data Note it is essential to check Allow dynamic arrays ANY_ARRAY_XXX located in Tools Project options Tab Language extensions Zone Data type to be able to use table type variables such as the recipes Configure the servodrive s parameters using Powersuite see
54. _HANDLER Function Block At a Glance The use of the CAN_HANDLER see Unity Pro Motion Function Blocks Block Library MFB function block is essential and mandatory in the programming of the axis The program section with this MFB function block must be associated with the same task of the CANopen bus master see page 31 It allows you to check e the CANopen communication e consistency between the software configuration and the connected physical device This block uses the two variables that belong to the axis directory The Can_ Handler Z variable must be used as instance and the Axis Ref_Z variable must be assigned to the block s AXIS input parameter Inserting and Instantiating a Block This table describes the procedure for inserting and select the instance of a block in a program section Step Action 1 Right click in an empty field in the FBD section to display the contextual menu 2 Execute the FFB Input Assistant command in the contextual menu Result The Function Input Assistant opens Click on the icon on the FFB Type line Result the FFB Type Selection window opens Expand Libraries MotionFunctionBlock and click on MFB Result all of the blocks from the MotionFunctionBlock library are displayed on the right hand side of the FFB Type Selection window Select the CAN_ HANDLER block and confirm your choice by clicking on OK Result The FFB Input Assistant window is displ
55. a iin eAJFA J elAIFA CANopen QA FAeds l AFE elAIFE CANopen QAFE eds 0 l i AIFS IelAIFS CANopen AIFS eds l aM IclA NO65 IcIANO65 based on profiles DS301V4 01 and DSP4C2 V720 BLIC pe Lexum DCXT70 CANopen TEDCXTO _OT00E eds oe Lexum MFB CXMOAPLCopen LEXIUIMOS_MFB EDS isim P Vi g EDS for Lexitim ToLP sernodiwe TELXMTSLP_0142 eds DREZ Lexum SMH V66 EDS forLexium T5MPAP servodrive TELXVI5MA_0661E eds i sicoder Osicoder absolUte tolary multum encoders TEXCC3B_OTOUE eds o a Drop end communicator 32 35013563 05 2010 Application Configuration Step Action 3 Set 2 in Topological Address Choose Lexium05_MFB for the slave device 4 Click on OK to confirm the choice Result The CANopen window appears with the new device selected Bus IE Connections configured 1 fe 5 Select Edit Open module If MFB has not already been selected choose it in the Function area 6 Select the tab Error Control Verify that Node Heartbeat Producer time value is equal to 300ms 7 You will be asked to validate your modifications when closing the Device and CANopen windows 35013563 05 2010 33 Application Configuration Checking the CANopen Bus Configuration At a Glance The
56. ab Select one of the service functions see page 116 described below Click on the Parameters button Set the corresponding parameter Then start the function by using the Start button O o AJ OJN The function will continue to be performed until you click on the Stop button Service Functions The table below explains how to use a service function Direct current Apply a direct current to the motor with adjustable size and electrical field vector angle The changeover from speed control to current control is made automatically commutation is made independently of the feedback resolver or similar The rotor locks onto a stator pole Speed Operates the drive at constant speed An internal digital setpoint is provided speed is adjustable Torque Operates the drive with constant current An internal digital setpoint is provided current is adjustable The changeover from speed control to current control is made automatically commutation is made independently of the feedback resolver or similar Reversing mode Operates the drive in reversing mode with separately adjustable speed and reversing time for each direction of rotation Motion task Starts the motion task that is selected in the screen page Entry of service parameters Zero Function used for feedback setting in conjunction with the positioning phase This function can only be accessed in
57. ample This part contains the following chapters Chapter Chapter Name Page 7 Foreword 81 8 Compatibility of motion applications with Unity versions 83 9 Lexium 32 Implementation for Motion Function Blocks 85 10 Lexium 15MP HP LP Implementation for Motion Function Blocks 99 11 ATV 31 Implementation for Motion Function Blocks 117 12 ATV 71 Implementation for Motion Function Blocks 131 13 IclA Implementation for Motion Function Blocks 147 35013563 05 2010 79 Multi Axis Application 80 35013563 05 2010 Foreword Application Architecture with All Servodrives Overview Following is a presentation of the usage of available hardware servodrives via an architecture for implementing Motion Function Blocks in Unity Pro Illustration servodrives al Modicon M340 LEXIUM 15 LEXIUM 05 CANopen Junction box The following figure shows the architecture used in the application that includes all jum 32 PowerSuite for ATV 31 and for Lexium 05 PowerSuite OLATA Lexium CT for Lexium 32 35013563 05 2010 81 Foreword 82 35013563 05 2010 Compatibility of motion applications with Unity versions 8 Compatibility of XEF files Unity Target version Unity Source version V3 x V4 0 M340 Proc lt V2 0 gt V4 0 M340 Proc gt V2 0 V3 x M34
58. appears User Units Position pm Velocity rpm Velocity Loop Counts s Position Loop Acceleration ms gt VLIM x m Mechanical Conversion 10000 Counts Resolution 4 Motor Revs For the tutorial example from this screen set or select the following e Inthe User Units zone e the acceleration in ms gt VLIM the speed in rom the position in um 5 Click on the CAN Field Bus Settings on the browser The CAN Field Bus Settings screen in the main frame appears r General Field Bus Settings Address External Watchlog Fieldbus 3 100 ms r CAN Bus Settings Baud Rate 500 x KBaud For the tutorial example from this screen set or select the following e Inthe General Field Bus and CAN Bus Settings zones e the CANopen address to 3 e the baud rate of the bus to 500 Kbauds 6 Click on the Motor Resolver folders on the browser to declare the motor and the feedback parameters Note for information on how to declare the motor correctly please refer to the motor documentation 7 Save the parameters via Drive Save to EEPROM Result the basic setup is saved and the main screen is displayed again 35013563 05 2010 111 Lexium 15MP HP LP for MFBs Specific Parameters for Lexium 15 MP HP LP using Unilink At a Glance Specific parameters are entered in addition to the basic see MFB using Unity Pro Start up Guide parameters These specific parameters supplement the configuration of Lexium 15 MP HP LP by m
59. assimilate the implementation principles of motion control Other equipment can be added to this realistic architecture in order to manage several axes Illustration The following figure shows the architecture used in the application that includes an ATV 31 Unity Pro Ga E m men lt lt Modicon M340 PowerSuite for ATV 31 Junction box amp L 35013563 05 2010 119 ATV 31 for MFBs Software Requirements Overview Versions As regards the software requirements presented in the quick start guide see page 13 PowerSuite is used for configuring and tuning the ATV 31 Powersuite for Lexium 05 enables on lining of the axis and guarantees a simple method for configuring the parameters of a Lexium 05 servodrive PowerSuite for ATV 31 does the same but for an ATV 31 servodrive It is nonetheless possible to go without PowerSuite in certain cases by using the ATV 31 front panel user interface see page 128 The following table lists the hardware and software versions used in the architecture see page 119 enabling the use of MFBs in Unity Pro Hardware Earliest version of software Version of firmware Modicon M340 Unity Pro V4 0 ATV 31 PowerSuite for ATV 31 V2 00 V1 7 Entry existing on Unity V3 1 new MEB profile for V4 0 NOTE ATV31 V1 7 compatible with V1 2 functions 120 35013563 05 2010 ATV 31 for MFB
60. ations and for connecting to the devices PowerSuite s navigation principle associates a configuration interface with each device type making it possible to control tune and monitor them NOTE The required signals i e LIMN LIMP REF must be wired or deactived by the tuning software Connecting to the Lexium 05 This table describes the procedure for connecting to the Lexium 05 Step Action 1 Connect your PC on which PowerSuite for Lexium 05 is installed to the RJ45 connector on the servodrive to be configured Start PowerSuite for Lexium 05 Result the following start up screen is displayed PowerSuite File Action Display Tools Help M E AK i E 7 Connections My devices standardjen 35013563 05 2010 45 Application Configuration Step Action 3 Choose Action and then Connect Result a text box is displayed 4 Type a project name Lexium05_MFB and then click on OK Result a transfer confirmation window is displayed 5 Press Alt F to start transferring data from the servodrive to the connected work station Basic Lexium 05 Configuration This table describes the procedure for entering basic settings Step Action 1 Following a connection and transfer of the device s configurations PowerSuite displays a configuration screen in a new window that gives access to device control tuning and monitorin
61. ayed set up by the CAN_HANDLER block Click on the icon on the Instance line Result the FB Instance Selection window opens 54 35013563 05 2010 Application Programming Step Action 7 Select the Can Handler _Z instance and confirm your choice by clicking on OK Result The Can Handler _Z variable is displayed in the Instance field Function Input Assistant FFB type CAN_HANDLER EA Instance Can_Handler_Z vll Prototype Name Type No Comment Entry field E S lt inputs gt NET BOOL I Specify if the netw AXIS AXIS_REF 2 Axis reference Trigge EA lt Outputs gt 1 AXIS BOOL 1 Indicate if the com ERR BOOL 2 Error code amp lt Inputs Add Pin Remove Pin s Help on Type Special Assistant OK Cancei Help cursor 8 Confirm the block configuration by clicking on OK Result the FDB section is displayed again A symbol is added to the mouse inserted in the FDB section 9 Click on an empty field in the FDB section Result the CAN_ HANDLER block instantiated by the Can_Handler _Z variable is 10 Specify the input and output parameters as defined in the contents Contents The screen below shows the section result CAN_HANDLER_Z CAN_HANDLER 1 CAN SLAVE_ACTIV_2 NETWORKOPERATIONAL AXISREADY Axis_OK_Z
62. cifications Standards The MFB using Unity Pro offer is a new motion control functionality Using the CANopen bus it provides you with simplified access to the basic functions on servodrives and variable speed drive VSD This functionality which may be accessed via the project browser allows you to e declare and configure axes in Unity Pro e create motion control variables e control the axes by using motion control elementary function blocks The purpose of the proposed application is to e manage the operating modes of a linear axis using a Lexium 05 type servodrive e move the axis to the home position carry out reversing movements or move the axis to various positions e provide the possibility of interrupting the motion in progress with a Stop command All provisions shall be taken to perform fault diagnostics and acknowledgement The MFB library blocks comply with e PLCopen standard 16 35013563 05 2010 Foreword Availability of Blocks on the Various Servodrives Motion Function Blocks Not all blocks are available on all hardware platforms The blocks available on your Modicon M340 platform with CANopen fieldbus can be found in the following tables Type Block name ATV31 ATV71 Lexium 32 Lexium05 Lexium15 IclA ATV312 7 HP MP LP IFA IFE IFS PLCopen MC_ReadParameter X X X X X X motioncontrol V1 1 MC_Write
63. d to determine the drive status see Unity Pro Motion Function Blocks Block Library e MC_READAXISERROR see Unity Pro Motion Function Blocks Block Library which is used to determine the error values according to the type of errors on the drive and to deduce their causes see Unity Pro Motion Function Blocks Block Library Contents The screen below shows a part of the section READSTATUS_Z MC_READSTATUS 1 Axis Ref Z AXIS ERROR TRUE ENABLE VALID BUSY ERRORID ERRORSTOP STOPPING STANSTILL DISCRETEMOTION CONTINUQUSMOTION SYNCHRONISEDMOTION MOTIONTASKMOTION REFERENCED DOWNLOADING DISABLED HOMING READERROR_Z MC_READAXISERROR 2 y Axis Ref_Z AXIS ERROR i VALID OR 3 BUSY ENABLE AXIS_OK_Z c IN1 ERRORID MC_STOP_Z ERROR IN2 AXISFAULT MC_RESET_Z ERROR IN3 AXISFAULTID MC_POWER_Z ERROR N4 AXISDIAG HOME_Z ERROR INS AXISDIAGID gt ABSOLUTE1_Z ERROR N6 Pa ABSOLUTE2_Z ERROR IN7 UPLOAD_Z ERROR IN8 AXISERRORID DOWNLOAD_Z ERROR IN9 MSGERRORID READSTATUS_Z ERROR IN10 The UPLOAD Z ERROR and DOWNLOAD _Z ERROR variables must be added to the OR block after the recipe see page 60 section has been created 35013563 05 2010 59 Application Programming Backup and Transfer of the Servodrive Parameters At a Glance This
64. e shows the architecture used in the application that includes an ATV 71 Unity Pro PowerSuite for ATV71 Junction box 35013563 05 2010 133 ATV 71 for MFBs Software Requirements Overview As regards the software requirements presented in the quick start guide see page 13 PowerSuite is used for configuring and tuning the ATV 71 PowerSuite for Lexium 05 enables on lining of the axis and guarantees a simple method for configuring the parameters of a Lexium 05 servodrive PowerSuite for ATV 71 does the same but for an ATV 71 servodrive It is nonetheless possible to go without PowerSuite in certain cases by using the ATV 71 front panel user interface see page 143 Versions The following table lists the hardware and software versions used in the architecture see page 133 enabling the use of MFBs in Unity Pro Hardware Earliest version of software Version of firmware Modicon M340 Unity Pro V4 0 ATV 71 PowerSuite for ATV 71 V2 00 Compatible since V1 1 V 1 7 managed by MTM 134 35013563 05 2010 ATV 71 for MFBs Hardware Requirements References of the Hardware Used The following table lists the hardware used in the architecture see page 133 enabling implementation of ATV 71 MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 2030 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 CANopen junction box
65. ements 00000 00 eee eee eee eee Configuration of the Application using Unity Pro Creating the Project 00 cece eee Master Task Configuration 0 CANopen Bus Configuration Implementation Methodology for a CANopen Bus Configuration of the CANopen port Configuration of the CANopen Slave Checking the CANopen Bus Configuration Axis Configuration using the Motion Tree Manager Motion Directory 0 0 0 cee eee ee Axis Creation and Configuration The Variables Axis_Ref Can_Handler AxisParamDesc and Recipe Motion Directory Configuration Result Configuring the Lexium 05 2 0055 Configuring the Lexium 05 in PowerSuite Configuring the Lexium 05 with the User Interface Application Programming Declaration of Variables 05 Programming the Example The CAN HANDLER Function Block Management of the Axis Operating and Stop Modes 11 13 15 16 17 19 21 22 23 24 25 26 27 28 29 30 31 32 34 35 36 38 41 43 44 45 48 51 52 53 54 56 35013563 05 2010 Chapter 4 Chapter 5 Chapter 6 Part Il Chapter 7 Chapter 8 Chapter 9 9 1 9 2 9 3 Chapter 10 10 1 10 2 Motion Control nc 4 0 08 ni e ta adi be eee ede Motion Monitoring 0 cee eee ete Status
66. ements The outward motion is conditioned by the Cmd_Mvt_Z bit from the operator screen see page 69 The return motion is conditioned by the end of the outward motion The position unit is USR and the velocity unit is rpm The Homing type HTY PE value 34 corresponds to an homing within a single turn positive direction of rotation 35013563 05 2010 57 Application Programming Motion Monitoring At a Glance This section is made up of the MC_READACTUALPOSITION see Unity Pro Motion Function Blocks Block Library and MC_READACTUALVELOCITY see Unity Pro Motion Function Blocks Block Library MFB blocks These blocks are used to determine the exact position and speed of the axis Contents The screen below shows a part of the section to develop Axis_Ref_Z Axis_OK_Z Axis_Ref_Z AXIS ENABLE AXIS AXIS_OK_Z ENABLE POSIT_Z MC_READACTUALPOSITION 1 ERROR VALID BUSY ERRORID POSITION Position_Z VELOC_Z MC_READACTUALVELOCITY 2 ERROR VALID BUSY ERRORID VELOCITY Velocity_Z Whilst the Axis OK_Z bit is enabled the position and speed values are continuously displayed on the operator screen see page 69 58 35013563 05 2010 Application Programming Status and Axis Error Code Section At a Glance This section is made up of the following MFB blocks e MC_READSTATUS see Unity Pro Motion Function Blocks Block Library which is use
67. er or select the respective variables Cmd_Home_Z to issue an return axis to home position command Cmd_Mvt_Z to issue a move axis command Cmd_Run_Z to issue a run axis command Cmd_Stop_Z to issue a stop axis command Cmd_Reset_Z to issue an axis acknowledgement command Cmd_Upload_Z to issue a save axis data to a recipe table command Cmd_Download_Z to issue a transfer data from the recipe table to the axis command Axis OK_Z to view the axis recognized by the CANopen bus e Position_Z to determine the value of the axis position Velocity _Z to determine the value of the axis speed Result the animation table looks like this I Table Bee Fame amp t F R ESH Name Value Type w Comment BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL DNT DINT be Velocity Z a 66 35013563 05 2010 Application Debugging Program Debugging At a Glance Modification Mode Modifying Values After transferring the program and running the axis using Powersuite for Lexium 05 the process is commissioned An animation table is a commissioning solution used to monitor modify and or force the values of variables The sets of parameters of the axis may be accessed and modified in Unity Pro using the MFB messaging blocks MC_READPARAMETER see Unity Pro Motion Function Blocks Block Library and MC_WRITEPARAMETER see Unity Pro Motion Func
68. er required it can be deselected by a double click on the name of the parameter The desired recording increment is select in the Timebase input field The smaller the Time base the smaller the maximum recording time will be Recording Trigger Tuning Available signals Timebase in 10 ms fa lt Double click to delete signal from the list 98 35013563 05 2010 Lexium 15MP HP LP Implemen tation for Motion Function Blocks 10 Aim of this Chapter This chapter presents the implementation of Lexium 15MP HP LP servodrives according to the methodology see page 19 described in the quick start guide see page 13 with a Lexium 05 It only details the differences and actions for Lexium 15MP HP LP What s in this Chapter This chapter contains the following sections Section Topic Page 10 1 Adapting the Application to the Lexium 15MP HP LP 100 10 2 CANopen Bus Configuration Lexium 15MP HP LP 104 10 3 Configuring the Lexium 15MP HP LP 106 10 4 Tuning the Lexium 15MP HP LP 114 35013563 05 2010 99 Lexium 15MP HP LP for MFBs 10 1 Adapting the Application to the Lexium 15MP HP LP Aim of this Section This section presents adaptation of the application to the Lexium 15MP HP LP with an architecture and hardware and software requirements What s in this Section This section contains the following topics Topic Page Applicatio
69. erating mode and for setting specific parameters top section e Display of status information bottom section The user can switch between the tabs in the Operating Modes window without interfering with a currently active operating mode In the operating mode Profile Velocity the drive accelerates to an adjustable target speed of rotation You can set a motion profile with values for acceleration and deceleration ramps Sv Operating modes Pointto point SPeedmode Homing Manualmovement Electr gear Oscilator Speed 0 1 min Ok v 0 0 96 35013563 05 2010 Lexium 32 for MFBs Debugging the Lexium 32 Pre requisite You are recommended to debug the axis dynamics before it is automatically started by the program Description The commissioning software provides the Recording Tuning function for visualizing internal device data during movements The connected device stores the movement data to an internal memory for a defined recording period and then sends it to the PC The PC processes the data and displays it in the form of charts or tables Recorded data can be saved on the PC and can be archived or printed for documentation purposes Use the menu Item Functions Record Tuning to start the record function Illustration The screen below can be accessed by clicking on the Oscilloscope tab gjella T el
70. es defined during creation of the axis with the MFB blocks Debug the axis using PowerSuite In Unity e debug the program via the animation table e use the data via the operator screens manage the production recipes using the appropriate function blocks from the MFB library e create and back up the recipes e transfer data from the recipes Data backup and restore procedures 20 35013563 05 2010 Application Configuration Subject of this Chapter This chapter describes the various stages involved in configuring the application What s in this Chapter This chapter contains the following sections Section Topic Page 2 1 Hardware and Software Environments 22 2 2 Configuration of the Application using Unity Pro 26 2 3 CANopen Bus Configuration 29 2 4 Axis Configuration using the Motion Tree Manager 35 2 5 Configuring the Lexium 05 44 35013563 05 2010 21 Application Configuration 2 1 Hardware and Software Environments Subject of this Section This sub section describes the hardware and software environments used in the application What s in this Section This section contains the following topics Topic Page Application Architecture with a Lexium 05 23 Software Requirements 24 Hardware Requirements 25 22 35013563 05 2010 Application Configuration Application Architecture with a Lexium 05
71. f a project at the same time carry out the following actions Step Action 1 Activate the Rebuild All Project command in the Build menu Result the project is analyzed and generated by the software Any errors detected are displayed in the information window at the bottom of your screen Project Backup To back up the project carry out the following actions Step Action 1 Activate the Save As command in the File menu 2 If necessary select the directory to which the project will be saved disk and path Enter the file name MFB_Lexium05 Confirm with Save Result the project is saved as MFB_Lexium05 STU Transferring the Project to the PLC You must carry out the following actions to transfer the current project to a PLC Step Action 1 Use the PLC Define the address command Enter SYS if you are using a USB media that is directly connected from the PC terminal to the PLC Switch to online mode using the PLC Connection command 35013563 05 2010 61 Application Programming Step Action 3 Activate the PLC Transfer Project to PLC command Result the screen used to transfer the project between the terminal and the PLC is displayed Transfer Project to PLC PG Project Overwntten PLC Project Name invalid project Name Station Version Version
72. for a CANopen bus using Modicon M340 7 Using Unity Pro lt Be Configuration of the CANopen port of the CPU the master Declaration of the slave choosen in the Hardware catalog y Configuration of the slave Enabling the configuration using Unity Pro y Checking the CANopen bus in the Project Browser 30 35013563 05 2010 Application Configuration Configuration of the CANopen port At a Glance With Unity Pro you can define the CANopen bus The CANopen bus master is a port integrated in the CPU First the bus master must be configured How to Configure the CANopen Bus Master This table describes the procedure to configure the CANopen port using Unity Pro Step Action 1 In the Unity Pro Project Browser fully expand the Configuration directory and then double click on PLC bus Double click on CANopen port of PLC Result The port configuration window appears E 0 0 CANopen CANopen comm head 0 Communicator head CANopen A CANopen comm head Fil Config 5 A huts Oupus i Maintain RESET No ofwords MW 132 Sl No ofwords MW 32 Index offirst MW 0 4 Index of first MW 0 2 No of bits M 37 kal No ofbits 4M 32 4 Index offirst M 0 Index of first M 0 El Bus parameters Transmission speed 500 xl kBaud SYNC Message COB ID 1 SYNC Me
73. g functions In the tree structure displayed choose CANopen in the Communication directory Result the following window is displayed Ex Eile Parameters Command Display Configuration Tools 2 LORA TETEL 34 Find Code W T Lexium05 Code Short label Long label Mini Maxi Current Default Logical address User ia All parameters ID_COAD CANadr _ pen address node _1 127 3 127 5892 gt Simply start ID_COBD CANbaud_ CANopen 50KB IMB 500KB 25KR 5894 0 Basic configuration In speed control 10V In Current control 10V In Gear mode In position control onfiguration NA2 analogue input External braking resistor Holding brake Encoder simulation HMI Reference and limit switches Position scaling PWM Profile generator Supervision ettings ANA 1 analogue input Regulation loop Limitations Stanstill 0 Motion E p Speed I mod fi 1 88 7 4 Speed control mode _p_refusr 1066883 usr ee Mstae HALT inactive p_actusr 1066883 usr ieee m oes Fault 0x0000 nef 0 1min Local acci n_i 0 l min DEVcmdinterf CANOpen _Idg 0 03_Apk Standard profile jen Connected 2 Double click on the value in the ID_COAD line Current Value column and type the Lexium 05 CANopen address 3 Double click on the value in the ID_COBD line Current Value column and choose the CANopen bus baud rate Save the CANopen settings to EEprom with the command Configuration Save to EEprom Note it is possible to adjust the servod
74. gs to the MC_POWER see Unity Pro Motion Function Blocks Block Library block Result the servodrive switches to Disable see Unity Pro Motion Function Blocks Block Library mode Change the servodrive The new servodrive must have the same references as the faulty servodrive Note make sure you take all the necessary precautions when changing the servodrive Configure the new servodrive with the basic parameters see page 45 CANopen address speed or using the keypad on the front panel Enable the block s input parameter Execute Result the servodrive switches to Downloading see Unity Pro Motion Function Blocks Block Library mode The data table assigned to the input parameter PARAMETERSET loads the input PARAMETERLIST which corresponds to the servodrive parameter 35013563 05 2010 77 Maintenance 78 35013563 05 2010 Multi Axis Application Aim of this Part What s in this Part This part describes the other hardware available for the Motion Function Blocks offer with a Modicon M340 running Unity Pro The Lexium 05 servodrive was used in the previous part to carry out an example This part begins with a presentation of the following servodrives in a full architecture ATV 31 ATV 71 IclA Lexium 32 Lexium 15 Following this presentation configuration of each of the servodrives is described detailing differences with the Lexium 05 so as to carry out the same ex
75. gure the CANopen Slave This table describes the procedure to configure the CANopen slave Step Action 1 In the Unity Pro Project Browser fully expand the Configuration directory and then double click on CANopen Result The CANopen window appears H CANopen O0 es a e comectonscentguret 0 Select Edit gt New device Result The New Device window appears New Device Topological Address 4 63 Node ID Part Number T fopen drop E Distributed TOs TE Motor Control Salen i Sensors E Third party produ Set 3 in Topological Address For the slave device choose Lexium 32 Click on OK to confirm the choice Result The CANopen window appears with the new device selected E CANopen oo Bus Connections configured 1 Select Edit Open module If MFB has not already been selected choose it in the Function area You will be asked to validate your modifications when closing the Device and CANopen windows 35013563 05 2010 91 Lexium 32 for MFBs 9 2 Configuring the Lexium 32 Basic Parameters for Lexium 32 using Lexium CT At a Glance Lexium CT is a commissioning tool for axes intended for motion control applications Its graphic user interface provides a simple method for configuring the parameters of a Lexium 32 type servodrive 92 35013563 05 2010
76. he command Configuration gt Disconnect to disconnect Result the following screen is displayed showing the data saved locally File Action Display Tools Help 64 08 7 fw Ely My devices D ATV71 5 Modbus network monodrop P Modbus keypad monodrop 1 Connections P Serial monodrop aP Serial multidrop P Bluetooth i Ethernet bridge monodrop Ethernet bridge multidrop Ethernet TCP ATV71 Characteristics Reference ATV71HO7SNAZ Nominal OISW Power i Supply Voltage 380 480 V1 Maximum transient current Continuous output current Structure Altivar 71 lt Card Reference Serial number Version Vendor name Device ATV71H075N4 921782131792143 1 VLEO Tele mecanique Control Control part Board number 024613 10245256 V1 1IEO1 Telemecanique Power part Motor number 2211280153 VL HEOI Tele mecanique Configuration s Name ATV71 Software release V1 1E01 Standard fen 142 35013563 05 2010 ATV 71 for MFBs Configuring the ATV 71 with the User Interface Overview A user interface is integrated in the ATV 71 With this interface you can e put the device online e configure the device e carry out a diagnostic NOTE There is a more user friendly graphic display terminal for instance for diagnosing faults Interface Menu Structure The following graphic presents an overv
77. he following topics Topic Page Configuring the IclA in IclA Easy 157 Tuning the IclA with IclA Easy 160 156 35013563 05 2010 IclA for MFBs Configuring the IcIA in IclA Easy Overview With IclA Easy users can define installed device bases and describe their associated configurations and communication settings IclA Easy then gives access to a group of actions for editing or transferring the configurations and for connecting to the devices IcIA Easy s navigation principle associates a configuration interface with each device type making it possible to control tune and monitor them NOTE The required signals i e LIMN LIMP REF must be wired or deactived by the tuning software Connecting to the IcIA This table describes the procedure for connecting to the IclA Step Action connector on the servodrive to be configured 1 Connect your PC on which IclA Easy is installed to the Dongle PCAN PS 2 2 Start IclA Easy for IclA i Icla Easy Result the following start up screen is displayed File Edit_ Connection Parameter Functions Diagnose BA va 2 SRRA PRAN sa soj lt gt Profi P DISABLED at POWER Not Connected 35013563 05 2010 157 IclA for MFBs Step Action Choose the command Connection CAN Connection Result a text box is displayed agg CAN connection Connection to Pea
78. iew of access to the interface s main menus Power up Displays the drive status Communication 35013563 05 2010 143 ATV 71 for MFBs Basic Settings The following table describes the procedure for entering basic settings CANopen address and speed with the interface Step Action 1 Press the ENT button on the interface Result the SET Setting menu is displayed on the interface s status indicator Press the P button several times to access the COM menu Result the COM Communication menu is displayed on the interface s status indicator Press the ENT button on the interface Result the COAD CANopen Address submenu is displayed on the interface s status indicator Press ENT again Result a value corresponding to the device s CANopen address is displayed Press the V button to decrease or the A button to increase the CANopen address value Press ENT when the desired CANopen address is displayed 5 Result the value is confirmed and the COAD CANopen Address submenu is displayed again Press the P button to access the COBD CANopen Baud submenu Press ENT Result a value corresponding to the device s CANopen speed is displayed Press the P button to increase or the A button to decrease the CANopen baud rate value Press ENT when the desired CANopen speed is displayed 500 Result the value is confirmed and the COBD CANopen
79. in the application that includes an IclA IFS Unity Pro CANopen Icla IFS 35013563 05 2010 149 IclA for MFBs Software Requirements Overview Versions As regards the software requirements presented in the quick start guide see page 13 IcIA Easy is used for configuring and tuning the IclA PowerSuite for Lexium 05 enables on lining of the axis and guarantees a simple method for configuring the parameters of a Lexium 05 servodrive IclA Easy does the same but for an IclA servodrive It is nonetheless possible to go without Icla Easy for basic settings by using the IclA switches see page 155 since this is the only way to configure such settings The following table lists the hardware and software versions used in the architecture see page 149 enabling the use of MFBs in Unity Pro Hardware Earliest version of software Version of firmware Modicon M340 Unity Pro V4 0 IclA EasylclA V1 104 IclA IFA compatible since V1 1007 IclA IFE compatible since V1 1007 IclA IFS compatible since V1 1007 150 35013563 05 2010 IclA for MFBs Hardware Requirements References of the Hardware Used The following table lists the hardware used in the architecture see page 149 enabling implementation of IclA MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 2030 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 CANopen SU
80. ion of Variables At a Glance In addition to the variables associated with the axis when it is created in the Motion directory other variables must be declared They must be assigned to e Input or output parameters of the MFB blocs e Operator Screen see page 69 objects They allow you to use certain data and to control the axis with blocks from the MotionFunctionBlock library Declaration in the Data Editor The table below summarizes the variables to be created in the data editor for the tutorial example Name Type Comment Cmd_Home_Z BOOL Return axis to home position command Cmd_Mvt_Z BOOL Move axis command Cmd_Run_Z BOOL Run axis command Cmd_Stop_Z BOOL Stop axis command Cmd_Reset_Z BOOL Acknowledge axis command Cmd Upload Z BOOL Save axis data in a recipe table command Cmd_Download_Z BOOL Transfer data from recipe table to axis command Axis_OK_Z BOOL Axis recognized by CANopen bus Position Z DINT Value of axis position Velocity Z DINT Value of axis speed Recipe Z ARRAY 0 190 OF BYTE Buffer variable for management of recipes CAN T_COM_CO_BMX IODDT that manages CANOpen port NOTE the size of the recipe management table complies with that of the recipes created by the Motion directory 52 35013563 05 2010 Application Programming Programming the Example At a Glance Just after declaration and parameter setting of the hardware
81. iscrete E Motion He ANI VII Alivar31 CANopen Slave DSP402 TEATV3111E eds ANGI V2 Allvar31 CANopen Slave DSP402 TEATV3112E eds AMBIT VI 3 Alivar31 CANopen Slave DSP402 TEATS ITI eds ANGLIA ATVO1 TEATV611 Eeds AWI VIJ AVA TEAVE s GAJFA bIAIFACANopen ildA IFAeds GIAIFE CANopen JAFE eck IAIFS CANopen IAIFS eds clA NO65 FANGES based on profles DSS0TV4 OT and ESPO VAO BLE LexurDS BOXT70 CANopen TEUCRO UTOE ede Lexium0b_MFB DXIMOBA PLCopen LEXILIVOb_IVFB EDS TexiumiSl VIA EDS for Lexi TUP servodriv TELXMISLP C142 eds Lexum SMH v B1 EDS for Lexi TSMPAP servodrive TELAIW SIVA OGSTE eds Osicoder Osicoder absuluie Tolary multum encoders EXCCSEVTOUE eds Other Drop endcommunicator 3 Set 5 in Topological Address For the slave device choose ATV71_V1_1 35013563 05 2010 137 ATV 71 for MFBs Step Action 4 Click on OK to confirm the choice Result The CANopen window appears with the new device selected E CANopen Bee Camections configured 1 G Select Edit Open module If MFB has not already been selected choose it in the Function area You will be asked to validate your modifications when closing the Device and CANopen windows 138 35013563 05 2010 ATV 71 for MFBs 12 3 Configuring the ATV 71 Aim of this Section This section describes the basic
82. k CAN converter Baudrate 500 kBaud CAN address 6 Hardware LPT1 v IRQ 7 lO address 0378 Node guarding Deactivate Value in seconds Abort The Baudrate must be set to 500 Kbaud The CAN address must be set to 6 The Hardware must be set to LPT1 Dongle PCAN PS 2 Result a data transfer from the servodrive to the connected work station is begun 158 35013563 05 2010 IclA for MFBs Basic IclA Configuration An example is given to illustrate modification of the acceleration value This table describes the procedure for entering this setting Step Action 1 Following a connection and transfer of the device s configurations IclA Easy displays a screen that gives access to device control tuning and monitoring functions 2 Choose the Motion parameter in the Parameter Groups Result the Parameter window is displayed Icla Easy Parameter File Edit Connection Parameter Functions Diagnose Windows oq e eeel eE flied liz a Parameter groups Config Wane Value Unt Desorption Sire no direction inversion Definition of direction of rotation 0 1 Control rpmis Deceleration of Quick Stop 1 250000 Gear CAN Default setpoint speed ol Acceleration 10 Homing Manual Progl0Q ProglO1 Progl02 Progl03 Enable caved B m DISABLED of 6 Op Enable Connected CAN Adresse 6 Baudrate 500KBit s In
83. le F12 Enable ShitiE12 ae Servodrive Corfiguration 35013563 05 2010 107 Lexium 15MP HP LP for MFBs Basic Parameters This table describes the procedure for inputting the basic parameters Step Action 1 Click on the Basic Setup button in the general screen The Basic Setup window appears r Sotware Version Servodrive Hardware N35 KS283 Drive 1A Hardware Version 49 01 Firmware j Auxiliary Power Supply V663 DRIVE Rev oreated xxx Seoni Fieldbus address Serial number Address Baudrate Regen power 770269611 3 0 500 Khaud 80 v Runtime Name Auto Ext WD Rn NETE VEE A0 h PRVE oF 600 230V Mains phase Unts missing Acceleraton Speed Position No message ms gt VLIM Rpm um OK _Carcel Apply This screen is used to set parameters for the servodrive s CANopen address the bus speed and the units used for acceleration speed and position 2 For the tutorial example from this screen set or select the following e In the servodrive zone e the CANopen address to 2 e the baud rate of the bus to 500 Kbaud see page 31 e Inthe Unit see Unity Pro Motion Function Blocks Block Library zone e the acceleration in ms gt VLIM e the speed in rpm e the position in um 3 Click on the Motor
84. motion programming is the second development phase of the tutorial example Axis programming is divided up into e declaration of variables e an operator screen which is used to view and control the axis e structured programming in several sections Declaring the Sections The table below presents a summary of the program sections to create Section name Language Description CAN_Handler FBD This section allows you to check that the parameters see page 54 of the axis correspond to reality Operating_mode FBD This section allows you to power up the servodrives see page 56 and to check the axes Cmd_Mvt FBD This section allows you to set a homing reference point see page 57 for the axis and to then control it in absolute motion Control_Mvt FBD This section is used to determine the position and see page 58 speed of the axis Status_Axes FBD This section is used to determine the status of the axis see page 59 and to carry out diagnostics for an event Recipe see page 60 FBD This section allows you to save or restore a servodrive s data The diagram below shows the program structure after the programming sections have been created Ta Structural View Ber Sections Fo CAN_Handler fog Operaing_mode 0B Cmd Mv FoB Control Mit 7 Animation Tables EQ Cperaor Screens Screen 35013563 05 2010 53 Application Programming The CAN
85. n Architecture with Lexium 15MP HP LP 101 Software Requirements 102 Hardware Requirements 103 100 35013563 05 2010 Lexium 15MP HP LP for MFBs Application Architecture with Lexium 15MP HP LP At a Glance The proposed structure represents a simple structure which is designed to assimilate the motion control implementation principles This realistic structure may well be expanded upon with other devices in order to manage several axes Illustration The figure below shows the structure used in the application Unity Pro Modicon M340 CANopen Line terminator LEXIUM 15 BSH or BDH Motoree 35013563 05 2010 101 Lexium 15MP HP LP for MFBs Software Requirements Overview As regards the software requirements presented in the quick start guide see page 24 PowerSuite is used for configuring and tuning the Lexium 05 PowerSuite for Lexium 05 enables on lining of the axis and guarantees a simple method for configuring the parameters of a Lexium 05 servodrive Unilink L MH for Lexium 15 does the same but for Lexium 15 servodrive Functional Diagram for the Lexium 15 The following diagram shows the different functions performed by the PLC and the servodrive Unity Pro PLC Application program MFB Servodrive Lexium 15e y BSH or BDH Motion Tasks Motoree Sets of parameters Versions Position
86. n the Function area 6 You will be asked to validate your modifications when closing the Device and CANopen windows 154 35013563 05 2010 IclA for MFBs 13 3 Configuring the IclA Configuring the IclA with DIP Switches Overview The address and baud rate are set with DIP switches on the IclA IFX drive DIP Switches The following graphic presents the DIP switches inside the drive ON OFF Pere el ON OFF Basic Settings a Bit 6 5 4 High address Hex kBaud S4 0 7 5 0 1 50 amp 7 5 2 100 9 3 125 o o 4 250 gt A 5 500 98 L 6 800 7 1000 8 F S2 ON OFF 1234 res OFF Bit 3210 interface mode Low address ON A B OFF PULSE DIR terminating resistor ON on res OFF The baud rate is set with the S4 switch on position 5 for a baud rate of 500 The CANopen address is set with the S1 and S2 switches Set S2 3 and S2 2 ON for the drive to have address 6 By default as shown in the graphic above all the switches on S1 and S2 are set ON except the first switch on S1 which gives address 127 Set S3 2 ON to activate the terminating resistor 35013563 05 2010 155 IclA for MFBs 13 4 Tuning the IclA Aim of this Section This section gives an example of tuning the IclA with IclA Easy What s in this Section This section contains t
87. n which if not avoided will result in death or serious injury A WARNING WARNING indicates a potentially hazardous situation which if not avoided can result in death or serious injury 35013563 05 2010 9 PLEASE NOTE A CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in minor or moderate injury CAUTION CAUTION used without the safety alert symbol indicates a potentially hazardous situation which if not avoided can result in equipment damage Electrical equipment should be installed operated serviced and maintained only by qualified personnel No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material A qualified person is one who has skills and knowledge related to the construction and operation of electrical equipment and the installation and has received safety training to recognize and avoid the hazards involved 10 35013563 05 2010 About the Book At a Glance Document Scope This manual presents using a documented example how to use motion function blocks MFB with Modicon M340 using Unity Pro These blocks enable simplified management of servodrives and servo amplifiers using the CANopen bus Expert knowledge of Unity Pro software is required in order to use MFBs with it since their implementation requires use of its standard functions data edito
88. nnected work station 35013563 05 2010 125 ATV 31 for MFBs Basic ATV 31 Configuration This table describes the procedure for entering basic settings Step Action 1 Following a connection and transfer of the device s configurations PowerSuite displays a configuration screen in a new window that gives access to device control tuning and monitoring functions Use the command Display Configuration In the tree structure displayed choose Communication in the Communication directory Result the following window is displayed Powersuite ATV31_MFB Edit in connected mode Eile Configuration Display Tools g EE a Lj lotor control Motor characteristics lt Switching mode Speed scale erminal Configuration cinputs Outputs Control command Control command On FLO Forced local mode Not assigned cRamps configuration COurrent limitation CANopen reset speed choice roset speed values ADCO Drive CANopen address 4 IC injection BDCO CANopen trans speed 500 kbit s v Pl regulator J speed ERCO Error registry CANopen 0 rake sequence lt Manage limit switche ult Management Fault behaviour CFault validation cStop on fault mode ommunication 4 sCommunication Inputs summary y Active E Staus Sop kri T Dewce in faut HE Connected enl A In the ADCO line the CANopen address must be set to 4
89. nstructions must be followed Failure to use Schneider Electric software or approved software with our hardware products may result in injury harm or improper operating results Failure to observe this information can result in injury or equipment damage 2010 Schneider Electric All rights reserved 35013563 05 2010 Document Set Related Documents The following related documentation may be consulted e Unity Pro Online Help e MFB library on Unity Pro Online Help e CD Documentation Lexium 15 delivered with the product e CD Documentation Lexium 05 delivered with the product e Unilink L for Lexium 15LP and Unilink MH for Lexium 15MP HP Online Help e PowerSuite for ATV Online Help e PowerSuite for Lexium 05 Online Help e Lexium CT for Lexium 32 Online Help 35013563 05 2010 35013563 05 2010 Table of Contents Part I Chapter 1 Chapter 2 2 1 2 2 2 3 2 4 2 5 Chapter 3 Safety Information 0 5 About the Book 00ee eee Start up Guide for a Single Axis Application Foreword eek ec ek wade Soe ba General soete tredanen Ea peated detent Availability of Blocks on the Various Servodrives Methodology ec eee eee eee eens Application Configuration Hardware and Software Environments Application Architecture with a Lexium 05 000e ee eee Software Requirements 0 000 Hardware Requir
90. odifying certain ASCII codes using the Terminal window Specific Parameters This table describes the procedure for inputting the specific parameters of Lexium 15 MP HP LP Step Action E Click on the Terminal icon on the general page The Terminal window is displayed EE Terminal 3 DRIVEO Command DRVCNFG 1050670 ok Cancel Apply This screen is used to fully configure the connection point of a Lexium 15MP HP LP 2 For Lexium 15 MP HP i enter in the Command field e DRVCNFG 1050670 For Lexium 15 LP enter in the Command field e INPT2 x1 5 task time or IN20Mode42 either MAST or FAST Click on Apply to confirm the configuration of this ASCII parameter For Lexium 15 MP HP repeat the steps by entering in the Command field e DRVCNFG2 64 e INPT x1 5 task time MAST or FAST e ENGAGE 1 112 35013563 05 2010 Lexium 15MP HP LP for MFBs Command Step Action 5 Click on OK to confirm the last Command and return to the general page 2 Click on the fr Save icon on the general page to save the basic and specific parameters to the servodrive s EEPROM memory 7 Close the general window and click on DIS to disconnect from the servodrive Enter the ASCII command here with the corresponding parameters Confirm the entry with RETURN or press the APPLY button to start the transmission CAUTION UNEXPECTED A
91. oltage on 1 phase devices HO Motion e O Motion Sequence config bones O Intemal braking resistor This screen is used to set parameters for the servodrive s CANopen address the bus speed and the units used for acceleration speed and position For the tutorial example from this screen set or select the following e Inthe servodrive zone e The CANopen address to 2 e The baud rate of the bus to 500 Kbaud see MFB using Unity Pro Start up Guide Click Items Parameter Save device parameters in EEPROM to confirm the SIMPLYSTART_BASICCONFIGURATION Result The SIMPLYSTART_BASICCONFIGURATION is saved and the main screen is displayed again 4 Click on Exit NOTE For information on how to adjust parameters correctly please refer to the drive documentation 94 35013563 05 2010 Lexium 32 for MFBs 9 3 Tuning the Lexium 32 Aim of this Section This section gives an example of tuning the Lexium 32 with Lexium CT What s in this Section This section contains the following topics Topic Page Tuning the Lexium 32 96 Debugging the Lexium 32 97 35013563 05 2010 95 Lexium 32 for MFBs Tuning the Lexium 32 Operating modes Profile Velocity The various operating modes can be selected from the tabs in the Operating modes windows The windows is subdivided into two sections e Tabs for the selected op
92. peed mode Temperature Deg Celsius 11000 error er Motor current Sja end kend Speed rpm waming acive Position 1255571 Increment referenced ref_ok Enable e T Fault POWER n m DISAB_ED Of 6 0p Enable Reset Connecied CAN Adresse 6 Baudrale SO0KBils Place the Enable zone cursor on OFF once tuning has been finalized 160 35013563 05 2010 Index C configuring the application ATV 31 117 ATV 71 131 IclA 147 Lexium 05 27 Lexium 15LP MP HP 99 Lexium 32 85 configuring the axis 35 configuring the CANopen bus 29 configuring the servodrives ATV 31 124 ATV 71 139 IclA 155 Lexium 05 44 Lexium 15LP MP HP 106 Lexium 32 92 D debugging the application 63 M motion function blocks 13 ATV 31 117 ATV 71 131 IclA 147 Lexium 05 27 Lexium 15LP MP HP 99 Lexium 32 85 methodology 19 quick start 13 O oscilloscope 97 P programming the application 51 35013563 05 2010 161 Index R recipes 77 replacing servodrives 76 T tuning the servodrives ATV 31 130 ATV 71 145 IclA 156 Lexium 05 64 Lexium 15LP MP HP 114 Lexium 32 95 162 35013563 05 2010
93. programming section is made up of the following MFB blocks e TE_UPLOADDRIVEPARAM see Unity Pro Motion Function Blocks Block Library which is used to back up the configuration of a servodrive in a data table e TE_DOWNLOADDRIVEPARAM see Unity Pro Motion Function Blocks Block Library which is used to transfer the data table parameters to a servodrive Contents The screen below shows the Recipe section UPLOAD_Z TE_UPLOADDRIVEPARAM 1 Axis_Ref_Z AXIS ERROR Cmd_Upload_Z ENABLE DONE AxisParamDesc_0 PARAMETERLIST BUSY COMMANDABORTED PARAMETERSET Recipe_Z SIZE ERRORID ERRPARAMNUMBER DOWNLOAD_Z TE_DOWNLOADDRIVEPARAM 2 Axis_Ref_Z jAXIS ERROR Cmd_Download_Z 4 ENABLE DONE BUSY Recipe Z jPARAMETERSET COMMAND AxisParamDesc_0 PARAMETERLIST ERRORID ERRPARAMNUMBER If Cmd_Upload_Zis enabled the servodrive configuration is saved in the data table Recipe _Z buffer variable for the recipes If Cnd_Download_Z is enabled the servodrive configuration is restored by the data table Recipe Z 60 35013563 05 2010 Application Programming Transferring the Project between the Terminal and the PLC At a Glance Transferring a project allows you to copy the current project from the terminal to the current PLC s memory PLC that has its address selected Project Analysis and Generation To perform analysis and generation o
94. r IODDT etc Moreover it is advisable to have expert knowledge of the specialist area of motion control before developing and commissioning an application involving implemen tation of axis movements Validity Note This documentation is valid from Unity Pro v5 0 User Comments We welcome your comments about this document You can reach us by e mail at techcomm schneider electric com 35013563 05 2010 11 12 35013563 05 2010 Start up Guide for a Single Axis Application Subject of this Part What s in this Part This Part presents in the form of a tutorial an example of a motion control application implementing MFBs using Unity Pro This part contains the following chapters Chapter Chapter Name Page 1 Foreword 15 2 Application Configuration 21 3 Application Programming 51 4 Application Debugging 63 5 Operating the Application 71 6 Application Maintenance 73 35013563 05 2010 13 Single Axis Application 14 35013563 05 2010 Foreword Subject of this Chapter This chapter presents the specifications of the application as well as the methodology used in its development What s in this Chapter This chapter contains the following topics Topic Page General 16 Availability of Blocks on the Various Servodrives 17 Methodology 19 35013563 05 2010 15 Foreword General Introduction Spe
95. rectory At a Glance The Motion directory of the structural view of the project allows you to access the declaration and configuration of the servodrives When declaring a servodrive various information is required such as the name given to the servodrive the type of servodrive the CANopen address of the servodrive the reference of the servodrive the version of the servodrive the input of variable names associated to the axis The following diagram shows an example of a tree structure for the Motion directory Project Browser Pe Structural View La 1 Derived FB Types 41 Variables amp FB Instances Motion A Ferner DRecipet beavers DRecipe2 Communication Program 2 Animation Table f Operator Screens Documentation Motion Tree Manager In this diagram the name given to the servodrive is Axis_Z A recipe is linked by default each time an axis is created It is possible to create several recipes see page 60 36 35013563 05 2010 Application Configuration Accessible Services The Motion directory gives you access to the following services which can be reached via the contextual menu Directory Service Motion New axis allows you to create a new axis Axis New recipe allows you to create a new recipe Delete allows you to delete an axis Properties allows you to access the axis properties Recipe Delete allows yo
96. rive s settings with the same procedure 46 35013563 05 2010 Application Configuration Step Action 5 Once the settings have been adjusted use the command Configuration gt Disconnect to disconnect Result the following screen is displayed showing the data saved locally PowerSuite File Action Display Tools Help B44 08 Fw Ely My devices PTY LEXUS LEXIUM_MFB m Motor Modbus keypad multidrop My configurations El Connections 0 eee Characteristics Serial monodrop Serial multidrop Reference LXMO5AD10M2 Bluetooth Nominal Ethernet bridge monodrop Power iq Ethernet bridge multidrop 5 Wy Vol 3001240 V1 AREEN TC v tage 200 2 l ig Ethernet TCP upply Voltage f p 0 75kW Maximum transient 10 Apk current peak Maximum continuous 4 Arms current rms CANopen Modbus Interface RTU P D 4 10V Structure n Serial R Card Reference Version Vendor name number P P840 10 Device LXMO5AD10M2 015 10007438 ki 1 aie Telemecanique Control Control part Board number BSH0551T Family BSH Telemecanique Motor si Telemecanique Configuration s Name LEXIUM_MFB Software release P840 10V 1 01E03 6 The Lexium 05 must be turned off and then turned back on in order to apply the new settings 35013563 05 2010 47 Application Configuration Configuring the
97. ro Modicon M340 CANopen Line terminator BSH Motor 35013563 05 2010 87 Lexium 32 for MFBs Software Requirements Overview Following the software requirements presented in the Quick Start Guide see page 24 Lexium CT is used for configuring and tuning the Lexium 32 Functional Diagram for the Lexium 32 The following diagram shows the different functions performed by the PLC and the servodrive E Lexium CT fa Servodrive Lexium 32 Application program BSH Motion Tasks Motor MFB Sets of parameters Position Versions The following table lists the hardware and software versions used in the Architecture see page 101 enabling the use of MFBs in Unity Pro Device Software version used in the example Version of firmware Modicon M340 Unity Pro V5 0 gt 2 0 Lexium 32 Lexium CT V1 0 V1 x for Lexium 32 Advanced V1 y for Lexium 32 Modular 88 35013563 05 2010 Lexium 32 for MFBs Hardware Requirements References of the Hardware Used The following table lists the hardware used in the architecture see page 87 enabling implementation of Lexium 32 MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 20302 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 Lexium 32 Advanced LXM32AU90M2 Lexium 3
98. s Hardware Requirements References of the Hardware Used The following table lists the hardware used in the architecture see page 119 enabling implementation of ATV 31 MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 2030 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 CANopen junction box between the Modicon M340 and ATV 31 VW3CANTAP2 servodrive PC connection kit VW3A8106 ATV 31 servodrive ATV31H037M2 NOTE The terminating resistor is integrated in the junction box and must be ON 35013563 05 2010 121 ATV 31 for MFBs 11 2 CANopen Bus Configuration ATV 31 Configuration of the CANopen Slave ATV 31 on CANopen bus Overview The implementation methodology for a CANopen bus using Modicon M340 is to How to Configure the CANopen Slave This table describes the procedure to configure the CANopen slave configure see page 31 the CANopen port of the CPU declarate the slave chosen from the hardware catalog see paragraph bellow configure the slave enable the configuration using Unity Pro check see page 34 the CANopen bus in the Project browser AVIVI ANGI v2 Temi VFS e TecumiSiP VIA Tum OE stoder Eie Aivar 31 CANopen Slave DSP402 TEATV34 IE eds Aliver31 CANopen Slave DSP402 TEATV Aivar 31 CANopen Slave DSP402 TEAVA TISE eds ipen
99. s the hardware used in the architecture see page 23 enabling implementation of Lexium 05 MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 2030 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 CANopen junction box between the Modicon M340 and Lexium 05 VWW3CANTAP2 servodrive RJ45 programming cable with RS485 RS232 adapter between the ACC2CRAAEF030 junction box and servodrive Lexium 05 servodrive LXM05AD10M2 Lexium 05 motor BSH0551T NOTE The terminating resistor is integrated in the Lexium 05 35013563 05 2010 25 Application Configuration 2 2 Configuration of the Application using Unity Pro Subject of this Section This sub section describes the hardware configuration using Unity Pro What s in this Section This section contains the following topics Topic Page Creating the Project 27 Master Task Configuration 28 26 35013563 05 2010 Application Configuration Creating the Project At a Glance Developing an application using Unity Pro involves creating a project associated with a PLC Procedure for Creating a Project The table below shows the procedure for creating the project using Unity Pro Step Action 1 Launch the Unity Pro software 2 Click on File then New then select a PLC New project Show all versions
100. servodrive configurations using PowerSuite for ATV 71 and the servodrive s front panel user interface What s in this Section This section contains the following topics Topic Page Configuring the ATV 71 in PowerSuite 140 Configuring the ATV 71 with the User Interface 143 35013563 05 2010 139 ATV 71 for MFBs Configuring the ATV 71 in PowerSuite Overview With PowerSuite users can define installed device bases and describe their associated configurations and communication settings PowerSuite then gives access to a group of actions for editing or transferring the configurations and for connecting to the devices PowerSuite s navigation principle associates a configuration interface with each device type making it possible to control tune and monitor them Connecting to the ATV 71 This table describes the procedure for connecting to the ATV 71 Step Action 1 Connect your PC on which PowerSuite for ATV 71 is installed to the RJ45 connector on the servodrive to be configured Start PowerSuite for ATV 71 Result the following start up screen is displayed PowerSuite Eile Action Display Tools Help Aa OzF 8 H A Connections a My devices standard en Choose Action and then Connect Result a text box is displayed Type a project name ATV71_MFB and then click on OK Result a transfer confirmation window is displayed Press Alt F to star
101. ssage period 100 ms Function E T Task MAST In the Bus parameters area set 500 kBaud for the transmission speed In the Task area select MAST In the Outputs area select Reset radio button Strongly recommended Validate the configuration Note We recommend using the IODDT T_COM_CO_BMX that corresponds to the CANopen port for the rest of the programming Enter CAN for the prefix name Close the window 35013563 05 2010 31 Application Configuration Configuration of the CANopen Slave How to Configure the CANopen Slave This table describes the procedure to configure the CANopen slave Step Action 1 In the Unity Pro Project Browser fully expand the Configuration directory and then double click on CANopen Result The CANopen window appears I CANopen Be Bus 3 ANopen comir 101 00 Connections configured O X 2 Select Edit gt New device Result The New Device window appears New Device Topological Adress 1 63 2 Node ID 2 oes r Jescription F CANopen drop i Cei G Discrete Motion Help R AM3 vi Altivar31 CANopen Slave DSP402 TEATV3111E eds i AIV8IVI_2 ___ Alvar31 CANopen Slave DSP402 TEATV3112E eds i ico ANVIL VI_3 Ativar 31 CANopen Slave DSP402 TEATVSTT1SEeds ee oe AIVGLVI 41 ATVOI TEATVOINIEeds l l a aa AIM LAWI EAV Eeds l l aa
102. t transferring data from the servodrive to the connected work station 140 35013563 05 2010 ATV 71 for MFBs Basic ATV 71 Configuration This table describes the procedure for entering basic settings Step Action 1 Following a connection and transfer of the device s configurations PowerSuite displays a configuration screen in a new window that gives access to device control tuning and monitoring functions In the tree structure displayed choose Communication in the Communication directory Result the following window is displayed PowerSuite ATV71 ATV71 command Display Configuration Tools 2 a Find Code Y Code Short label Minimum value Maximum value Current value Default ADCO CANopen address OFF 127 Fy BDCO CANopen bit rate Baud rate 50kbps Baud rate 1Mbps Baud rate 00 Kbps 125KB 6 Input summar sina Start Seitings Motor Control Inputs Outputs configuration Command Applicative functions 0 CANopen config O Forced local mode LSP HSP ache REVERE Frequency reference Standard profile en Connected 2 In the ADCO line the CANopen address must be set to 5 35013563 05 2010 141 ATV 71 for MFBs Step Action In the BDCO line the CANopen bus speed must be set to 500 Note it is possible to adjust the servodrive s settings with the same procedure Once the settings have been adjusted use t
103. the acc line the acceleration can be set to 1000 Save the CANopen settings to EEprom with the command Parameter Send parameter group to drive Note it is possible to adjust the servodrive s settings with the same procedure 5 Once the settings have been adjusted use the command File Close to disconnect 35013563 05 2010 159 IclA for MFBs Tuning the IcIA with IclA Easy In Advance We recommend tuning the axis kinematic before the program automatically starts it Tuning Example The following table gives an example of kinematic tuning Step Action 1 Connect see page 157 to the IclA 2 The following figure shows part of the new window This lower window provides access to IclA command functions Enable Fault E Power DISAB_ED 4 Rdy Switch On Connected CAN Adresse 6 Baudrate 500kKBit s Click the Reset button to clear any problems Place the Enable zone cursor on ON Choose the command Functions Operating modes Result Operating modes windows is displayed Choose the Speed mode tab Enter the value 200 in the Setpoint value zone Result the motor runs and the sub window is animated Qi cla Easy File Edit Gannection Parameter Functions Diagnose Windows Operating Modes Foineto point Speed mode Horning Manual Movement Elect geer Setpoint velve 200 mm v 0 0 Actual values Operation Voltage Pan S
104. the axis is referenced 4 To rotate the axis set the variable Cmd_Mvt_Zto 1 Result the axis starts to turn and the values of the variables Position_Z and Velocity_Z are no longer set to 0 5 To stop the axis from rotating e set the variable Cmd_Stop_Zto1 e set the variable Cmd_Mvt_Z to 0 Result the axis stops rotating 6 To start to rotate the axis again and complete the movement e set the variable Cmd_Stop_zZ to 0 e set the variable Cmd_Mvt_zto1 Result the axis starts to rotate again and completes its movement 68 35013563 05 2010 Application Debugging Using Data via the Operator Screens At a Glance When a project is created it common for there to be no input cards output cards and supervision To lessen the impact of this problem using the Unity Pro operator screen associated with unlocated bits and words allows you to carry out initial debugging of the program In the tutorial example the operator screen is used to e view data from the servodrives e send commands to the servodrives Representation The representation below symbolizes the operating example which is used to control the axis and indicate the variables to be assigned to the objects push button LED Speed Text Positio and text Axis_OK Position AXIS_Z Text Axis_OK_Z Commands Run lt A lt Reset lg Home j J ___ Motion T a Stop m lt UpLoad
105. tion Blocks Block Library The following screen shows the animation table in modification mode H Table LE Modify Force l T E TAER E sE Name y Value Type Comment ye Cmd Home Z BOOL by CMa MiZ BooL a Cmd Run Z BOOL f Cmd Stop Z BooL Cmd Reset Z BOoL 4 Cmd_Upload Z BOOL ee Cmd Download Z BOOL peA Ais OKZ BOOL Postion z DINT DNT BOOL l i This table is used to determine the status of the MC_ POWER block s input and output parameters To access this mode click on the Modify button in the mode selection zone NOTE this operation may be assigned to other function blocks NOTE the animation table is dynamic only in online mode display of variable values The tutorial example uses Boolean variables To modify a Boolean value carry out the following actions Step Action 1 Use the mouse to select the Boolean variable you wish to modify 2 Click on the button corresponding to the desired value or execute the Set to 0 or Set to 1 commands in the contextual menu 35013563 05 2010 67 Application Debugging Starting the System The following table describes the procedure for starting the system used in the example Step Action 1 Set the variable Cmd_Run_Z to 1 Result the variable Axis OK _Z changes to 1 Set the variable Cmd_Reset_Z to 1 3 Set the variable Cmd_Home_Z to 1 Result
106. tled Unilink L BE File Edit Communication Drive Tools View Help nee SB Qk2 4 OR n os A Ate a OP 0 Digital Velocity od aa Vises Power Supply Amplifi N Setup Wizar i Hardware 5 Basic Setup Regen Resis Drive 3A Units Mechanical A A CAN Field Bus Set Internal Vale _ Firmware Faodback Cereal z eae V1 23 DRIVE Rev create d Aug 09 16 j Motor max Regen Power i 1 ty Current Loop s Serial Run Time Nam 4 Velocity Loop o XXXXXK o amp Position Loop a iA Position Data Mains Voltage Set Software Enable on Bootup A Position Registers A Electronic Gearing 250 v iA Encoder Emulation Response to loss Input Phase Analog I O Three Phase Current Limit v Digital I O 3 Motion Service Status jE Monitor E Homing h Motion Tasks Ml Oscilloscope Next gt Bode Plot 2 Terminal f Ready OnLine Disabled Warning notnormed NUM Browser Main Frame 35013563 05 2010 109 Lexium 15MP HP LP for MFBs Basic Parameters This table describes the procedure for inputting the basic parameters Step Action 1 Click on the Setup wizard on the browser Result the Drive Setup screen in the main frame appears Welcome to the Drive Setup This Setup Wisardwill help you configure your drive Start by choosing the type of set up from the list below Quick Motor Drive Setup
107. u to delete a recipe Properties allows you to access the recipe properties 35013563 05 2010 37 Application Configuration Axis Creation and Configuration General Creating an Axis The Motion directory is used to declare an axis This creation allows you to simplify the management and programming of an axis using Unity Pro NOTE For any modification to a device on the CANopen bus those servodrives unaffected by the modification do not need to be reconfigured Carry out the following actions Step Action 1 Right click on the Motion directory and then execute the New axis command in the contextual menu Clicking on the New axis command will open a dialog box with three tabs 3 In the General tab enter aname e select e aservodrive from the list e a compatible CANopen address Note If the CANopen addresses have not as yet been defined leave lt No link gt in the list It is possible to continue development of the application if lt No link gt is assigned to a compatible CANopen address When the CANopen addresses have been defined select an adress in the compatible drive list In this tab the Axis_Z is configured as follows Project Browser Ta Structurial view r Station E Configuration amp Derived Data Types General laxis parameters Variables name E Derived FB Types Name Variables amp FB instances g Motion Axis Z T List of available
108. ut Dat GA Extemal braking resistor lOfunct DQ2 Free available Function Output DA2 5 1814 t 40 Holding brake SPVnim 10 Almin Speed limitation via input 1 9999 1596 f Encoder simulation ESIM Pvz amp 110 Amin Spoed imit for Zero Clamp 0 1000 1616 f QHM Svim 100 Curent limitation via input 0 3000 1614 4O Reference and imit switches spvonewinTn 0 ms Monitoring of ime window 0 9099 1504 1 0 Position scaling SPVp_DittWin 0 0010 revolt Monitoring of positon deviation 0 0 8080 1586 Profle genersior SPVn_DiftWin 10 Almin Monitoring of speed deviation 1 9999 1588 17O Supenision SPVn_Thresho 10 nin Monitoring of speed value 1 9989 1500 Power anplter SPV Thveshal 1 0 Monitoring of curent value 0 3000 1592 aoa SPvsaEron o Fistsaleotve erroni sss fisme i SPVSelEror2 0 Second selective error entry 0 05635 15118 1 O Roatan top SPvSetWamt 0 First selective waring entry 0 65596 15120 Hors re H SPVSeiWam2 0 Second selective waming entry 0 05636 15122 T 0 Libations RESint_ext internal Resistor Braking resistor contol o1 fiz 1 ED shemi RESetP 10 W Nominal power of extemal braking resistor 1 32767 i316 50 maton RESexLR 100 00 Ohm Resistance value of external braking resistor 1 927 67 1318 ra RESextton 1 ms Max permissible switch on time of extemal braking 1 30000 1314 1 eR muma canta ark vaese o Tne delay arg operingreleasing he dng be 1000 1204 Hea ret BRI
109. ve At a Glance Data Backup If the servodrive fails it may be necessary to swap it for an identical servodrive reference To do this you are advised to save the adjustment parameters to a data table using the TE_UPLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks Block Library block The TE_DOWNLOADDRIVEPARAM see page 60 block then allows you to restore the saved data to a new servodrive The table below describes the procedure used to back up the servodrive s data using the TE_UPLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks Block Library block Step Action 1 Disable the Enable parameter which belongs to the MC_POWER see Unity Pro Motion Function Blocks Block Library block Result the servodrive switches to Disable see Unity Pro Motion Function Blocks Block Library mode Enable the input parameter Execute Result the servodrive switches to Downloading see Unity Pro Motion Function Blocks Block Library mode The data table assigned to the output parameter PARAMETERSET is filled in Note Please back up data to a DAT file using PLC Transfer PLC data to the file if the PLC has no memory card 76 35013563 05 2010 Maintenance Restoring Data The table below describes the procedure used to restore the servodrive s data using the TE_DOWNLOADDRIVEPARAM see page 60 block Step Action 1 Disable the Enable parameter which belon
110. vodrives according to the methodology see page 19 described in the quick start guide see page 13 witha Lexium 05 It only details the differences and actions for Lexium 32 What s in this Chapter This chapter contains the following sections Section Topic Page 9 1 Adapting the Application to the Lexium 32 86 9 2 Configuring the Lexium 32 92 9 3 Tuning the Lexium 32 95 35013563 05 2010 85 Lexium 32 for MFBs 9 1 Adapting the Application to the Lexium 32 Aim of this Section This section presents adaptation of an application to the Lexium 32 with an architecture hardware and software requirements In this section Lexium 32 means else a Lexium 32 Advanced reference LXM 32A else a Lexium 32 Modular reference LXM 32 M What s in this Section This section contains the following topics Topic Page Application Architecture with Lexium 32 87 Software Requirements 88 Hardware Requirements 89 CANopen Bus Configuration Lexium 32 90 86 35013563 05 2010 Lexium 32 for MFBs Application Architecture with Lexium 32 At a Glance Illustration The proposed structure represents a simple structure which is designed to demonstrate motion control implementation principles This realistic structure may well be expanded upon with other devices in order to manage several axes The figure below shows the structure used in the application Unity P

MFB for Modicon M340 using Unity Pro

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