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1. Axis Valid Error ErrorID Value ParameterN umber Function Input Parameter Output Parameter Get Byte type data Axis Data Type AXIS_REF Enable Please refer to the Execution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details Axis Data Type AXIS_REF Valid Error ErrorID Please refer to the Status Logic Value Data Type BYTE Actual parameter value 156 TPM EasyPAC User Manual 5 6 5 15 SA ReadlntParameter Function Input Parameter Output Parameter Get integer type data AXIS Data Type AXIS REF Enable Please refer to the Execution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details AXIS Data Type AXIS REF Valid Error ErrorID Please refer to the Status Logic Value Data Type INT Actual parameter value 157 TPM EasyPAC User Manual 5 6 5 16 SA_ReadUsintParameter SA ReadUsintParameter_1 oafllcost ararme A y H K ead LI smtrarameter L Lan a S TTT L en Axis Enable Error ErrorlD Value ParameterN umber Function Input Parameter Output Parameter Get unsigned integer type data Axis Data Type AXIS_REF Enable Please refer to the Execution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details Axis Data Type AXIS_REF Valid Error ErrorID Please refer to the Status Logic Value Data Type USI
2. 192 256 449 Byte 56 The reference table 1s shown below Local DI TPM EasyPAC User Manual Non Retain INPUT Yol Motionnet DI Length Byte O 448 Motionnet Al 9 pe Local DO MEN Non Retain l OUTPUT Q no Motionnet DO 449 192 Motionnet AO 256 1 192 256 1 192 256 MB Coil MB Holding Register MB Discrete Input Non Retain MB Input Resister 1024 0 47999 User e iid VARCONF M Motion Single Motion Multiple Gateway mm mm User Define 13312 13312 10000000 10013311 Table 4 1 data type with memory occupation table Real variable 1 Q Jo YX Bit Input 6IX 1 2 means bit 2 of byte 1 1Q Bit Output WQX 2 3 means bit 3 of bye 2 2oIB Byte input IB 1 means byte 1 QB Byte output 7QB 2 means byte 2 Local 8DI 8DO is mapped to port 0 and can be accessed by IB 0 IX 0 0 IX 0 7 and QB 0 PQX 0 0 QX 0 7 Each Motionnet DIO slave module has 4 ports 0 3 and each port is 8 bit IW Word input This is used to get AI value by channel QW Word output This is used to set AO value by channel The maximum channel number of Motionnet AIO slave module is 8 0 7 ID Double Word Input This is used to get counter value by channel The maximum channel number of Motionnet counter module 1s 4 0 3 57 TPM EasyPAC User Manual VARCONF Virtual variable M oM X used for BOOL type MB used for BYTE type oM W used for WORD type MD used for D
3. so IZ Modul 106 A104 01 IP 61 X Mode Modbus Zero Base Decimal QW 401 QW 403 QW 405 QW 407 Figure 5 79 configure I O address of 106 A104 01 3 Add a new variable and name it as AI Channel_0 of 106 A180 01 Variable Properties EE Mame Definition scope Al Channel i amp Local Global Data Type Local Variable Groups WORD S Default Usage Global Variable Groups VAH RETAIN E Physical Hardware SN Configuration Eo Resource EJ Default 120 address E 54 GROUP zw 417 Initial value Description F F Hidden Show all variables of worksheets EDD UFE Initvalue as defaut Figure 5 80 add a variable of 106 A 180 01 4 Add anew variable and name it as AI Channel of 106 A180 01 Variable Properties Name Definition scope Al Channel 1 9 Local Global Data Type Local Variable Groups WORD EJ Default Usage Global Variable Groups VAR v RETAIN Eye Physical Hardware om Configuration gl Resource Initial value 2 Default 1 0 address EJ s amp GROUP lw 418 Description _ Hidden Show all variables of worksheets IPOD OPC Initvalue as default a Figure 5 81 add a variable of 106 A180 01 EasyPAC User Manual 193 TPM EasyPAC User Manual 5 Add a new variable and name it as AI Channel_2 of 106 A180 01 Variable Properties Name Definition scope DK
4. 18 31 248 Fs 255 FF 0831 248 Fs 255 FF rw 253 ID 253 30 iE QW 253 30 IE Iw 255 3 i Qw 255 31 IF AXIS 072 position 696 288 697 289 IB 33 264 108 271 lar 08 33 264 108 271 10F WIW 257 7 AXIS_07 3 current velocity 698 2BA 699 2BB aw 259 3 jn wow 259 33 21 sy AIW 263 fs 3s QW 263 35 23 woo ps Qw 267 AXIS 08 3 aw 9 7 jeQw27n 39 27 WIB 41 328 148 335 l4F OB 41 328 148 335 14F WIW 273 ID 273 40 28 leow 273 i w2s ju pe eQw27 a 29 Ew 279 43 ps QW 279 43 2B ZIR 45 360 168 367 16F 08 45 360 168 367 16F 11 ZIB 46 368 170 375 177 0846 368 170 375 177 IW 283 l4s om QW 283 45 2D AXIS 10 1 command 721 EW 287 47 Jr Qw 287 47 Fr 10 aw 291 j49 hi low 291 49 31 IB 51 408 198 415 lor leon 51 408 198 415 19F WIW 293 AXIS 11 1 command 730 2DA 731 2DB S EW295 S1 53 QW 295 51 33 11 13 ZIB 54 432 1B0 439 187 QB 54 432 180 439 187 ZN 299 s3 3s Qw 299 53 35 AXIS 114 lio status 736 2E0 rw 303 ss 37 Row 303 ss 37 i aw 307 s7 39 owm 57 39 12 IB 59 472 1D8 479 IDF 208 59 472 lms 479 IDF WIW 309 ID 309 58 3A Qw 309 AXIS 124 io status 745 2E9 s aw 3u s js eQw3ll 59 pB 2EB IW 313 Ten 313 60 3C Iw 313 60 3C 18 aw 315 a BD leow 315 61 3D 13 ZIR 64 512 200 519 207 08 64 512 20
5. Input Parameter Output Parameter Set double word type data AXIS Data Type AXIS REF Execute Please refer to theExecution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details Value Data Type DWORD The data to be set Axis Data Type AXIS REF Done Error ErrorID Please refer to theStatus Logic 168 TPM 5 6 5 27 GA_GroupEnable Function Input Parameter Output Parameter EasyPAC User Manual Enable the grouped motion function AxesGroup Data Type AXIS GROUP_REF Execute Please refer to theExecution Logic AxesGroup Data Type AXIS GROUP_REF Done Busy Error ErrorID Please refer to theStatus Logic 169 TPM 5 6 5 28 GA_GroupDisable Function Input Parameter Output Parameter EasyPAC User Manual Disable the grouped motion function AxesGroup Data Type AXIS GROUP REF Execute Please refer to theExecution Logic AxesGroup Data Type AXIS GROUP REF Done Busy Error ErrorID Please refer to theStatus Logic 170 TPM 5 6 5 29 GA_MoveLinearAbsolute G MoveLimear bsolute_2 Mm sal aman ka T 10WeL 17 ays hzo StartV elocity Active MaxYelocity Command Aborted T cc Error TDec ErrorID Curve Function Input Parameter Grouped absolute linear motion with T or S curve AxesGroup Data Type AXIS GROUP REF Execute Please refer to theExecution Logic PosArray EasyPAC User Manual Data
6. period 0 1ms GT l Trigger type Rise Fall Upper Limit Sec 0 4 294 967 295 Sec 0 4 294 967 295 When value lt Lower Limit or value gt Upper Limit Gate Counter is used to measure the number of pulses on the gate Example The input pulse source is Imm pulse encoder When the measured gate count is 1000 the length is 1 meter Only 2 channels are available in this mode INO Count0 IN2 Countl INI GateO IN3 Gatel i 3 DO Output PowerOn Value It is composed by 4 bits 050000 The power on state of DO can be set as ON or OFF If the value is 1 the output is ON when power on If the value is O the output is OFF when power on The bit sequence from left to right are DO3 DO2 DOI DOO correspondingly Safe Value It is composed by 4 bits 050000 Safe value of DO can be set here If the value is 1 the output is ON when the safe protection is triggered If the value is O the output is OFF when the safe protection is triggered The main purpose is to protect from hardware damage when the module failure TPM EasyPAC User Manual Operation B In this example INO and INI are connected with a signal generator Set Mode to Frequency Set Time with default value Set Average to 1 Press StartChannel to get the measured value Note please remember to save the set parameters to EEPROM in case the set parameters are gone after reboot Please go through AIO Module Operation subsection for reference
7. Al Channel 2 Local Global Cancel Data Type Local Vanable Groups WORD S Default Usage Global Variable Groups VAH RETAIN Ee Physical Hardware Initial value Er ye Configuration Eo Resource E Default 1 0 address E S4 GROUP SIM 421 Description PDD POPE Hen Mo 4 Show all variables of worksheets Figure 5 82 add a variable of 106 A180 01 6 Add variables AI Channel 3 AI Channel 4 AI Channel_5 AI Channel 6and AI Channel 7 of 106 A180 01 following the foregoing method Also add variables AO_Channel_0 AO Channel 1 AO Channel 2 and AO Channel 3 in the same way Download and monitor You can monitor the variables after the program was successfully downloaded we MULTIPROG Express AIO Code Untitled Configuration Resource HER File Edit View Project Build Objects Layout Online Extras Window 2 5 X Y Libraries L Data Types Group E Logical POUs Resource el v AI Channel 0 yoo 008 AO Channel 0 E Untitled Name Description a Stop di ADD Addition AL Chanzel 1 V001 voos AO Channel E Eo aei CTD Counter Down AI Channel 32 002 3r CTU Counter Up 1 1 UH MS Upload JdiRCTUD Counter Up Down AT Channel 3 003 dir Div Division L a 1 Error di EG Equal 3 YO011 AO Channel 3 FEF TRIG Falling Edge Detection AI Channel 4 V004 0 o d Y GE
8. Set SWI as 2 to activate MyLink server and power on Use MyLink to check the setting 1 106 A180 01 is set as shown below 190 TPM EasyPAC User Manual U 4120 10 007 10 007 10 007 110 007 110 007 110 007 10 007 Gain 10 007 Figure 5 72 parameters setting of an AI module 2 Test display of 106 A104 01 and 106 A 180 01 a AO RingO IP61 tm Jm al AI RingO IP62 cho 10 000 0 10 000 Chi 10 000 p 10 000 ch2 10 000 10 000 10 000 Ch3 10 000 Figure 5 73 display of 106 A104 01 and 106 A180 01 Create a MULTIPROG project Start MULTIPROG Figure 5 74 start MULTIPROG Click on File New Project wr MULTIPROG Express TPM Template E 535 Cod ES File Edit View Project Build Online Extras 2 D NewProjet H Figure 5 75 create a new project Use TPM Template as shown below 191 TPM EasyPAC User Manual Cancel Project Wizard sia ES Figure 5 76 new project template Click on Untitled LLLLLLILLIIIILL Data Types Logical POUs Figure 5 77 click on the Untitled Add new variable and set the I O address Check and set the I O address with MyDataCheck 1 Use MyDataCheck for 106 A180 01 Modul 106 A180 01 IP 62 Mode Modbus Zero Base Decimal 1 9eIW 417 2 9eIW 419 3 eIW 421 S 9 eIW 425 7 9eIW 429 Figure 5 78 configure I O address of 106 A180 01 192 TPM 2 Use MyDataCheck for 106 A104 01
9. wf col rl eol l lt a C3 aA Ol ol l cal eo rl ual wo rl eol l lt a ol Ol mi alol l ca eel lal wo Cl al al eal al al a cl al cal e 9p l 9 9 9 eal oe e oe e A A e e eil ei o oe l e e eol e e e e col e e eol e e en end e ee gt MEE e e e aaa exl exl exl ex ex ex ex ex exl ex ex ex ex ex exl ex ex ex ex ex exl ex ex ex ex e ex ex ex ex e e ex ex ex ex e ex ex ex e oe e ex ei o oe ox BORER PEEL CREE EE EEE EE EEE EEL EEE REE EE CCE ECE EE ELLE EE E EE EE EE Ce COP AN O AE CNY OO SYP WO NO HY OO DY CY SY ON OOP lt r WD MOTO OO HY CY SY EN OO in O E OOP DY O A CNY OO SY WO NO E OO DY CY SYN OOP io OP OO DY OC c 09 ST WO OP Ya Wa ay a AO AS A AS NOP NO WO NOY SO NWO WOT NO SOP SOP r E E Ej E E Ce Ge GO Ol 20 00 CO OO CO CO CO CO HY ON DY AY DY DY AL DY A AY CO o OY o dl P lt l Dl Dl Dl Dl Perl Dl Dl Bou Pl l Dl Pl Dl Bou Bru P Bou Dl Dl Dl Dl Perl ol Bru Dl Dl Dl Dl Dl Dl ol Pl ol Dl Dl Dl Bou Bou Bou Bou Bou Perl Dl Dl Bru Bou Bou Lo Ll O L Sa ONE e e 1 1 01 CNY 01 1 1 1 ala a ala aaa 0 01 a 1 1 a 1 01 a 1 1 aaa 1 1 01 a ala a ala dl 1 1 1 01 elelelelels esiselst eseleseseseleeseseleeseseleesesesseseselseseseese yu GOL Fo a El ES cnl E O o a E CNY OOP SE YO O Ge OO AT CY SY OY OO lt p Lel NOP OOP HY CY SYN ral TY NO CH OO DY CY SY NY OOP ST WD NOP DE OO HAL OY Sy EA BSa l rl ST SOP WP a Ya Wa a
10. 0 600 R_TRIG_1 TRIG Inside cail 1 Rising Edge Rising Edge Buffer value ale Figure 5 66 FB with debug function turned on This program is similar to binary output as shown below 1 2 4 8 16 32 64 128 256 512 1024 2048 4096 The output of SUB is in the following 0 1 3 7 15 31 63 127 255 511 1023 2047 and 4095 121 TPM EasyPAC User Manual LILITPLIT 1640007 Figure 5 67 FB with debug function turned on The OUT Ox FFF will be outputted from the DO module of IP 0 because the OUT was set to QW 1 122 TPM EasyPAC User Manual 5 6 Function Block This part is adopted from the PLCopen for motion control specification and includes additional information for functionality with TPM and other components Each function block is listed in alphabetical order and is also linked to the feature or function from the software environment A comprehensive list of axis parameters and error codes is at the back of the manual A subset of specific errors that each function block may generate is included under each function block description The other main concepts covered in this manual are the Motion State Diagram and documentation concerning the Data Types supplied with the Firmware Library 5 6 1 The State Diagram The state diagram shown defines the behavior of the axis at a high level when motion control function blocks are simultaneously activated This combination
11. 174 TPM EasyPAC User Manual 5 6 5 31 GA MoveCircularAbsolute GA_MoveCircular bsolute_2 Function Grouped absolute circular motion with T or S curve Input Parameter AxesGroup Data Type AXIS GROUP REF Execute Please refer to theExecution Logic AxisX Data Type AXIS REF X axis AxisY Data Type AXIS REF Y axis Cx Data Type DINT 134217728 4134217728 Center position in X axis Cy Data Type DINT 134217728 134217728 Center position in Y axis 175 TPM Output Parameter EasyPAC User Manual Ex Data Type DINT 134217728 134217728 End position in X axis Ey Data Type DINT 134217728 134217728 End position in Y axis StartVelocity Data Type DWORD Start Velocity MaxVelocity Data Type DWORD Maximum Velocity Tacc Data Type REAL Acceleration time in the unit of second Tdec Data Type REAL Deceleration time in the unit of second Curve Data Type BYTE Velocity profile O for T Curve 1 for S Curve Direction Data Type USINT 0 for positive direction 1 for negative direction AxesGroup Data Type AXIS GROUP REF Done Busy Active CommandAborted Error ErrorID Please refer to theStatus Logic 176 TPM EasyPAC User Manual 5 6 5 32 GA_MoveCircularRelative G MoveCircularRelative_2 Execute Axis Axis OffsetCx OffsetCy OffsetEx OffsetEy Start elocity MaxY elocity T cc TDec Curve Direction Function Grouped relative
12. 4 2 6 Single Axis Module Single Axis module is described in this section File nm Window Help B rs Master Fing en runs Command 0 Positio ed E Home Configuration Home_Mode Mode0 ORG_Logic LowActive EZ Logic LowActive EZ_Count 0 Ring IP ALM_Logic ALM_Mode INP_Logic INP_Enable ERC Logic ERC_Active_Time SD_Enable SD Logic SD Mode l 11 M121 LowActive EmgStop LowActive OFF HighActive _12usec OFF LowActive DecOnly OFF High Active ERC_Out No E Information lt lt PCS RAIM Figure 4 32 screenshot of single axis module Module status M121 module is identified and displayed in the above and is equipped with EEPROM Motion slave module without EEPROM will be limited by 1 No grouped axes motion and 2 SA LoadConfigFile is needed to download parameter Property 45 TPM EasyPAC User Manual There are 3 categories of setting Homing mode Driver I O interface Machine I O interface Please refer to GA_GetSensor in this manual 4 2 7 Grouped Axes Multiple axes can be grouped up together by right click on the Ring and select Set Axis Groups as shown below ll ME Master Figure 4 33 group up axes When the Set Axis Groups option 1s clicked a dialog will pop up as the following figure Group Figure 4 34 set group dialog The None option of the left and right side means the axes have not joined groups Select the non g
13. 65 IPM EasyPAC User Manual Digital input oe Discrete Discrete Input oM LLL eus ees ENEN TNI NUT NC E Table 4 9 digital input of virtual data Digital Input 1s described in the following MB 3 2048 Discrete Input 1544 Discrete Input 1551 oM X 3 2048 0 Discrete Input 1544 JMX 3 2048 1 Discrete Input 1545 oM X 3 2048 2 Discrete Input 1546 JMX 3 2048 3 Discrete Input 1547 JMX 3 2048 4 Discrete Input 1548 JMX 3 2048 5 Discrete Input 1549 oM X 3 2048 6 Discrete Input 1550 JMX 3 2048 7 Discrete Input 1551 Register MODBUS mODBUS Holding Input oM l M Registers Registers DEC HEX pec nex HEX ws ws 1024 128 so porjos jo Table 4 10 register of virtual data Virtual data 1s described in the following MW 3 1024 Holding Registers 128 MW 3 3072 Input Registers 128 4 3 3 Mapping Tables 66 PM EasyPAC User Manual D MODBUS DO MODBUS AI COUNTER MODBUS AO MODBUS el Begin End MQ Begin End ol Registers Q Registers Begin End B a r a a m a ma E E m E E L IB 0 7 7 0B0 7 7 AN r1 le s js F eosi1 ls s fis F len 199 e 19 jo Jo leow 193 o o rw 195 Q1 p eQwis 1 183 24 lis 31 IF 083 24 lis 31 IF l ag W199 BB QW 199 3 3 AXIS 014 Hio status IBS lo 283 47 pr 085 40 ps j 4 F B6 js 30 55 37 08B6 jas fo s 37 woo s Js QW 203 ls IW 205 ID 205 6 6 leow 2
14. B Other product names mentioned herein are used for identification purposes only and may be trademarks and or registered trademarks of their respective companies TPM EasyPAC User Manual Electrical safely B To prevent electrical shock hazard disconnect the power cable from the electrical outlet before relocating the system B When adding or removing devices to or from the system ensure that the power cables for the devices are unplugged before the signal cables are connected Disconnect all power cables from the existing system before you add a device B Before connecting or removing signal cables from motherboard ensure that all power cables are unplugged B Seek professional assistance before using an adapter or extension card These devices could interrupt the grounding circuit B Make sure that your power supply is set to the voltage available in your area B If the power supply is broken contact a qualified service technician or your retailer Operational safely B Please carefully read all the manuals that came with the package before installing the new device B Before use ensure all cables are correctly connected and the power cables are not damaged If you detect and damage contact the dealer immediately B To avoid short circuits keep paper clips screws and staples away from connectors slots sockets and circuitry B Avoid dust humidity and temperature extremes Do not place the product in any area where it may
15. InVelocity TRUE Axis X r E lt FALSE L TRUE jememe T V Mabe InVelocity TRUE mge M TRUE K L M are Boolean Variables V 0 E TRUE InVelocity TRUE Te Fase E Execute InVelocity Y The following timing diagram explains how it works Timing diagram for a usage of a single FB Commanded Velocity V Execute E Actual Velocity InVelocity Evni K TRUE L TRUE M TRUE Note The second InVelocity is set for only one cycle because the Execute has gone low before the Actual Velocity equals Commanded Velocity 129 TPM EasyPAC User Manual Example 2 Different FB instances control the motions of an axis Different instances related to the same axis can control the motions on an axis Each instance will then be responsible for one part of the global profile Cascaded Function Blocks FB1 FB2 FB3 The timing diagram Cascaded Function Blocks timing diagram 20 oM On AS role wewv LA da H H NNI TEN did di um ld A 20 Actual 49 Pa E MA OO E Velocity o Lom ES tp llo Events K true L true M true A corresponding solution written in LD looks like Cascaded Function Blocks with LD 130 TPM EasyPAC User Manual Standard behavior of 2 following absolute movements Basic example with two MC_MoveAbsolute on same axis Active 2 Velocity Position 131 TPM EasyPAC User Manual Axis_1 Start_1 xecute one Done
16. TPM EasyPAC User Manual on the same instance the FB won t return any feedback like Done or CommandAborted for the previous action Input parameters The parameters are read at the rising edge of the Execute input To modify any parameter it is necessary to change the input parameter s and trigger the Execute again Missing input parameters According to IEC 61131 3 if any parameter of a function block input is missing open then the value from the previous invocation of this instance will be used In the first invocation the default value is applied Position versus distance Position is a value defined within a coordinate system Distance is a relative measure the difference between two positions Sign rules The Velocity Acceleration Deceleration and Jerk are always positive values Position and Distance can be positive or negative Error Handling Behavior All blocks have two outputs which deal with errors that can occur while executing that Function Block These outputs are defined as follow Error Rising edge of Error indicates that an error occurred during the execution of the Function Block ErrorID Error number see the Error Code List at the end of the manual Done InVelocity indicate successful completion so these signals are logically exclusive to Error Types Of errors Function Block Error e g parameters out of range state machine violation attempted Co
17. 10000 o CELO CLR IO Status 0x4000 Low Active Mc Status U 3 i a ALM Mode EmgStop b Repeat INP Logic LowActive IMP Enable OFF ERC Logic HighActive ERC Active Time _120sec ZD Enable OEF SD Logic LowActive SD Mode DecOnly eb LTC OFF LTC Logic HighAchve ALM Logic ALM signal input logic Ring 0x0 Ring 1 0x1000 Target IP 192 168 1 110 Figure 5 96 configure and test the axis module 3 Save the configuration setting into the EEPROM Sample program description Create a new project with TPM template as described in previous section and add the following FB s Table 5 8 function blocks to be added Detailed settings are shown below S E poe REAL lems fe Dome Boor MAR Table 5 9 detailed settings of the parameters 200 TPM EasyPAC User Manual Test sample program Download and click on Debug on off to activate debug mode Figure 5 97 activate debug mode by this button 1 Override Exec to TRUE EP setCychcTime 1 Figure 5 98 override Exec to true The EP SetCyclicTime 1 is calculated and set it 2ms in this case 2 Override Init to TRUE MC Power 1 would initialize and enable the driver motor SA_WriteDwordParameter_1 will modify the maximum velocity limit as 5000000 pps then make InitFlag TRUE MC Power 1 SA WmnteLwoxiParamete 1 AXIS 08 ES 592 2 Figure 5 99 function block with debug mode activated MC_ReadStatus_1 and MC_ReadActu
18. 12DF 18 9 1257 18 7 H2BF 18 5 1277 18 3 12EF 18 1 11307 18 9 130F 18 7 1317 18 S 131F 18 3 1327 18 1 132F 18 9 11337 18 7 1133F 18 S 1347 18 3 134F 18 1 1357 18 9 135F 18 7 1367 18 S 136 18 3 1377 18 1 1137F 18 9 1387 18 7 138F 18 S 1397 18 3 139F 18 1 13A7 H8 9 13AF 18 7 H3B7 18 5 13BF 19 3 13C7 19 1 H3CF 19 9 13D7 19 7 H3DF 19 5 1357 19 3 13ER 19 1 13F7 19 9 13FF 19 7 1407 19 5 140F 19 3 1417 19 1 IF 19 9 1427 19 7 H42F 19 5 1437 19 3 143F 19 1 11447 19 d ci ac MODBUS Discrete Input HEX a 6 1280 47 4 1288 47 2 1290 47 o 1298 47 8 12A0 47 6 12A8 47 4 12B0 47 2 11288 47 o 12C0 48 8 11208 48 6 12D0 48 4 12D8 48 2 11280 48 o 1288 48 8 12F0 48 6 12F8 48 4 1300 48 2 1308 48 o 1310 48 8 1318 48 6 1320 49 4 1328 49 A le 8 1368 49 6 1370 49 4 1378 49 2 1380 49 o 1388 50 8 1390 50 6 1398 50 4 13A0 50 2 13A8 50 o 13B0 50 8 113B8 50 6 13C0 50 4 13C8 50 2 13D0 50 o 13D8 50 8 11380 50 6 11388 51 4 13F0 51 2 13F8 51 o 1400 51 8 1408 51 6 1410 51 4 1418 51 2 1420 51 o 1428 51 8 1430 51 6 1438 51 4 11440 51 Coil M JH EasyPAC User Manual TPM Virtual M 257 S S 2 Z Cc e a N Cl o Nf ww o O C SI e EE un L un e CN ed a tq 21 a ed ET EL a EX TA A A pe Sh 2 e e
19. 140 address t SA_GROUP Z2MX 1 0 1 Description Intvalue as default Show all variables of worksheets Contact Coil 9 Contact Figure 5 35 the contact coil properties Add a B type contact by selecting Contact right and modify the name as shown below 106 TPM EasyPAC User Manual PLCMODE_RUN Nia aa O Contact Coil Properties Name Definition scope Inside CoilO1 v Local Global c Cancel Data Type Local Variable Groups BOOL BJ Defaut Usage Global Variable Groups VAR v RETAIN Physical Hardware Initial value E Configuratior Resource 2 Defaul 1 0 address A sA GROUP Description l PDD OPC r Show all variables of worksheets nitvaiue a Contact Coil Contact Coil Figure 5 36 change type of the Inside coil01 Please change the name as Inside couU l and select BOOL VAR and B Type contact then click OK to finish The IO address is not assigned automatically and will be done later The use of FB s or FU s will be introduced in the next section 5 4 2 Function Block FB and LD A timer will be added to the above mentioned example Select TON Timer On Delay in the Edit Wizard by double clicks on it Group Funcion black Mame Description Jd CTO Counter Down Ji CTU Counter Up JE CTUD Counter Up Down JF THIS Falling Edge Detection JR TRIG Rising Edge Detection ERS Reset Dominant E SA Set Dominant HE
20. 514 7 1227 1798 515 S 122F 1800 516 3 1237 1802 517 1 123F 1804 518 9 1247 1806 519 7 124F 1808 520 S 1257 1810 521 3 125F 1812 522 1 1267 1814 523 9 126F 1816 524 7 1277 818 525 S 127F 1820 526 d ci ac MODBUS Discrete Input HEX 2 o 10B8 42 8 10Co 42 6 10C8 43 4 10D0 43 2 10D8 43 O 10E0 43 8 10E8 43 6 10F0 43 4 10F8 43 2 1100 43 o 1108 43 8 1110 43 6 1118 43 4 1120 43 2 1128 43 o 1130 44 8 1138 44 6 1140 44 4 1148 44 2 1150 44 o 1158 44 Seo jas alle 2 1140 45 0 11A8 45 8 11B0 45 6 11B8 45 4 11C0 45 2 11C8 45 o 11D0 45 8 11D8 45 6 11E0 45 4 1188 45 2 11F0 45 0 11F8 46 8 1200 46 6 1208 46 4 1210 46 2 1218 46 o 1220 46 8 1228 46 6 1230 46 4 1238 46 2 1240 46 o 1248 46 8 11250 46 6 1258 47 4 1260 47 2 1268 47 o 1270 47 8 1278 47 Coil M E 76 EasyPAC User Manual TPM Virtual 70M oO en eo Cr MODBUS Input Registers 70M NES a en a en a en a e Seo en eo e JEJEJEJE ES en eo e e en en eo DD en en e eo COPECO e eS ral e eo e e eo e e e COPECO e eS ral e e e e e e e e ral e eo e e eon e e eo m 5910 s 3912 54 3914 54 3916 55 Es 20 5923 3924 55 26 a s 30 32 M n m ml eol a cal co al olol ool lp a ol aA al ol l cal eo
21. B IntFlag ind IntFlagY ia Cer VOU os VOU Logo LogcPosY Encoder EncoderPos Y c Figure 5 111 function blocks monitoring group axes 5 Overwrite Group to TRUE GA GroupEnable 1 will enable Group2 Enable the group GA OroupEnable Z roupedFlag VUZ U VUZ VUZ 0 o Figure 5 112 enable the group 6 Overwrite Line2 to TRUE 207 TPM EasyPAC User Manual GA MoveLinearRelative 1 will make the axes move 100000 pulses in X and 120000 pulses in Y with velocity 10000 pps Linear Move DINT 100000 Dist amp rrav QUIC QU DINT 120000 DistArray 1 120000 GA MoveLinearkelatrye_ 1 O O000000 TLec D 1000000 Curve Figure 5 113 linear motion of a group 7 Overwrite MovePath to TRUE GA_PathSelect_1 will read the path file from rect1 kwpts and GA_MovePath_1 will execute the grouped linear motion Path Move GA Pathselect_ GA MovePath_1 Path File rect kwpts Figure 5 114 linear motion of a group 208 IPM EasyPAC User Manual 5 7 5 HMI DIO Module wiring 106 D422 NN is used in this case with IP 0 00 is connected to 20 and 10 is connected to 30 as shown below pa qo Jo E NT 033LED34 LEDIS 3 p a A Sy A AN AE AMAIA G IO a i r w W w w gwg RUN EPe Pwm 5 ON oc Qa CL UN 2 L CA y wu On LS TAN DN s 2 RIK 71 i 7 N N JA 4 P r lt po N j 3 iE Po Z a 6 M A a F E F Z F ANN 4 h f 3 n F
22. BEEEEEEEEPEPBPEPEPEPEPPREREPEPEPEPREEEREBBEPEPRREREPEPPPER DOLO C CO CO CO 6 al jl j j j j j j j jl Hb c3 3 03 03 03 03 03 03 03 03 03 03 03 ON 03 094 rdl dl 3 dl cnc 3 dl dl dl dl ed dl dl dl 3 l dl dl dl l l dl dl dl dl dl l l ce dl ces dl dl dl dl dl dl dl l dl dl dl dl dl dl l dl dl l dl dl l dl dl dl rl Leal eel dl l rl wal eel a l rl ul eel al l rl nl eel al al rl eal eol al al rl ul eol dl at rl ual eel al l rl wl eel al l rl enl el dl oa rl nl eel al Gl rl wal eel al a rl ol DIO Al Al A oo ef al wD Ol rl oo l AT O AI a cel enl te wal Oll l eol a cal al cal a enl ef eal wa ol rl cof a l lol I Ca cel ol l wf Ol rl l aol a O A a a ce CU CAL ral eo POOL en OP OO cal OOP en oO OOP cra lt l I Kl Kl lt r lt r Kl lt l rl lt r Kl Lr ET TT Nao oo ol NO Ol OT WO Kool Ko Ko lo DE CH CY e d cd cd d le cud d d cd Grs bra Grs brs Gra d bd d tt ot ot d nd tt tot ud ud d cud tot st tt ot d tot tt te tot tt d tt tl tt bcd bad gt S S LC S al ol l ol l ol l ol l ol l ol l ol l ol l ol l ol l ol cof S e S 22 S 2 S H S al ol l ol l ol l ol l ol l ol l ol l ol co CO S See SE ee Re CN COP SE Wa NOP De OO NE COP dl ON cl SEY YP NO OOP HY CY a CNY cel ST WO NO E HY CP SY OY OY Do WO OP Ce OO HYP CY SY CNY OO Bo WT NO CY OOP DY CY OY NY OO TY WO Oe OO SESE
23. CF Project RENE Y Code Untitled x R TRIG Rising Edge Detection D retain data 26 retain data D temp data instance 0 GO ou TON non retain data 26 retain data D temp data 10 instance 0 GO ou TP non retain data 26 retain data 0 temp data 10 instance 0 6 rou Untitled non retain data 518 retain data 0 temp data 10 instance 1 O Total non retain data 1876 retain data D instance 3 0 n m size 112 0 Process for Download IEC Project ended for resource Configuration Resource at 2011 2 11 F 06 31 39 i Build A Eros A Wamings h Infos PLC Emors A Print For Help press F1 Figure 5 136 download and monitor the program The HMI menu is shown below 90009 e 0 0 0 EEBSBESBE A 58 Figure 5 137 the HMI diagram 217
24. Curye T Tdec 0 1 see ments Edit Fath Curve Curve w Fara meters Figure 4 38 screenshot of the editing interpolation motion path This is the very first step to edit the motion path should be done before settings of the segments Edit 48 TPM EasyPAC User Manual the parameters and press the Edith Path Parameters button to update the file content at the right side The parameter will be described later Segments Two axes say X and Y are supposed to be selected to form a segment The X and Y need to be grouped already The corresponding IP of Y axis will be removed if the X axis has selected the one in advance X Axis mm X Axis v Y xis Y Axis B 32 Figure 4 39 picking IP of X and Y axis Parameters of Segment X Axis 1 Y xis 32 ka eT i segments Type ME Segl Type Lane C DistX 1000 meg Distl 1004 t E Seg Dist32 0 Cy DistY Ex Ey Lir ka mm Figure 4 40 parameters of a segment After setting of IP addresses of X and Y axis users could edit the parameters of the segment The first parameter is Type with options Line and Arc It needs DistX and DistY for type Line With respect to type Arc it takes five parameters Input all the necessary parameters then press Add Segment to add the settings as a new segment in the path file at right hand side Users could press gt gt to start a new segment or press lt lt to modify the previous ad
25. E Task CY Delete O Untitl 0 LD sgg Copy Ctrl C dE Global_Variat c t Rd IO Configura a EasyPAC User Manual Figure 5 60 get EasyPAC information from ProConOS Settings Please set the parameter as shown below and click OK Resource settings for IPC_40 Port 19200 A P COM1 Sto 1 C COM2 COM3 Sen i A COMA Parity None Simulation 1 imeout 2000 C Simulation 2 Stack check on PLC Array boundary check on PLC DLL Force BOOL8 for boolean variables Generate bootproject during compile DLL TCP IP Parameter ip 192 168 1 100 TO2000 PDD OPC All global variables All global variables Marked variables Marked variables Use reserve All POUs gt Marked POUs No reserve Figure 5 61 set the IP parameter Then click on Project Control icon me 118 TPM EasyPAC User Manual State Timeout Sto p Cold Download LI p load E iror Info Figure 5 62 the project control option Click on Download to download the program When users download the project please check the Include Bootproject Bootproject Download res ii Delete on Target F Delete on Target V Include Bootproject t ge Balade poe Include OPC data Download Source User Libraries Include User Libraries Include Frontend Code Include Pagelayouts Include Backend Code Delete Source on Target Download File Figure 5 63 include the Bo
26. EasyPAC User Manual TPM Virtual 70M KR gt E Se SS SIS e x zzxzSSSSSeSSeSzxxixeexseese999 955522222955 5995599z5cuu uus cl e e al e e e e e al e e e en e al e e end e e al e e e e en al e e e e al e e e al al e e e e cal cal col e en cal cal cal cnl en en cal col cal eo ay ol A waal ol l alal E a olni olal al al ol A GOU r l cal l al cel kl ual Ol vceleloe slamiuoiolmlimloel elel 1Ielolvelelelsiaiuololimimloe lal e e e e e e e e en co e enl cel e e e eol eol el cal Kaa eol ben ben ed bea bcn rl rl RE RE RI bon ee E Ea wal wal tl wo we wal up up pu p uv up A SG Ol Ol RO ayo 3 3 oy 3 3 dl 3 rd l ed dl dl dl 3 ed l dl dl OY l l dl dl dl dl l l dl dl l dl l d l dl dl dl rd l dl l dl dl rd l dl rdl dl dl dl d l l l rdl dl re C c co ol co ol co CO Al S 31 S SI el el el el el el eel el VES el e el el e el el SI S ral ERI ES Ol oj Ol SEES EE ERE EEE EE ECE EEE EEC EEE EEE CECE EEE ECE EEEE EEE CREEL DO A NY Oop SE Wo SOP Ea EA CO CNY ral LY YOY NO E COP DY CO ANY OO iO OO DY CYP FY CNY OOP TY WO NOP OO AY CY SY CNY col TY ol NO COP DY CP AEN cal P Lr ALA AT 1 0 01 OA AY 3 e e e e 9 aa cal e Oo SE SEP EIE Drd Drd l rlr rl YT YW V 1 NO SO NOT WO SO SOY Ol SO SOP O EEE UC LON CJ ONT e 1 CAT 1 01 01 CENT 01 1 01H 01 01 1 1 9 01 014 1 0 01 CA dl
27. Gey ep Ge Ge l Gey Ce el Dey Dey l Ge Ge al ey Ce eal ey l el el eal ep al ey al al eel l ey eal l ey ey ep Gey l el Ce Ce eel Dey Dey l al eal l Le Cl ex ONE e e e 1 CNY 1 1 1 1 dl 1 dl ala 9 1 1 1 1 1 1 1 1 dl a a ala 1 1 1 1 1 1 aj 1 alfa dl dl dl 1 1 01 Yl l al eleal elel el elel el elel el elel el elel el elel elel sl elel sl elel el elel al elel al elel elel elel elel elel al elel al elel al ele cy oa st wol wol rl owl l eal l ca oo rl wal wo rl co l ol dl cl eol rll Ol rl aol ALO ca co rl wl wal rl col APO SG A eo wall rl egl ALO val cal eol co uw ile col en cal en cal col col col el lt gt gt gt gt gt El l wal wal p uiii v v GS WO CO PO SO GS wo GP eoe c el rl l rl l e l al cof col cd co co 06 vol o5 rl rel ral rl rlr ral re he ere Gee eh e l rl mme merce 9 bee ral le Gel rel el lr ce ie ice rl rl rl rl rl rl rel rl Cel elre elre e G G e e a ca CAT A CAT CT a AT eT ca ex ca ex ex ex ea CA al al al al al cal al ex ca ca ca ex Ca ala al al al al ca cal al ca ca ca ca cA Ca ex a al eal ca ca ca e ala SERIE 2 S SIS RENARE REOR EE ERR RAE EEEN ENRERE RRR ERR RRE REPRE S a Baz col e eal eal len eol col E l RR RE gt Y E RB RI te a tr eal nl wal l a wal al GS WO Sl Se Ol l lol S OPE S e e ee be pel Gl l cof co agl ool eol 06 co eo rl rlr rel rel rl ral rel rlre a SS a a rel rl rel rel rel epee rele l l
28. I Specificat port of Motionnet E tem ecifications emar 108 A122 8 ch analog input and 4 ch analog output Yes No l EN EN a EN No Kingservo King servo motor amp driver No Table 1 1 Motionnet compatible devices 11 TPM EasyPAC User Manual 1 6 System Architecture eS dd 106 D422 106 M1x1 Indicator Lamp gjall iti d tt ec 106 D240 ILI wl m a m a m b m m m h r m h m h h h h h h h h h r h N A h m h h m h r h r m r LA MNET M3x PX duh td W W W W Analog IO Module d afi aui 4 106 A180 1 Pressure Sensor 106 A104 1 Led Lighting SSI ON DD OD OP CD UD OD UD ED UD CUP UD UP UP D UP UD ODD UD VID UD UD ED CD UD UD UD UD UID UD VD UD UP VD UD UP UD 9D UP UD DP UID E 15 Wem eee eee eee eee eee dd N AAPP h Figure 1 3 EasyPAC system architecture 1 7 24V DC Power Module Features Universal AC input Full range Protections Short circuit Overload Over Voltage 12 TPM Cooling by free air convection Can be installed on DIN rail TS 35 7 5 or 15 NEC class 2 LSP compliant LED indicator for power on DC OK relay contact No load power consumption 0 75W 100 full load burn in test Safety standards CE UL RU EasyPAC User Manual 13 IPM EasyPAC User Manual The detailed hardware specification 1s listed as the fo
29. Install Products as shown below to setup EasyPAC 90 TPM EasyPAC User Manual SE ctall tt Le he Y his will install EasyP nfiguration tools for windows OS Figure 5 5 procedure to setup EasyPAC Depending on the operating system users could select the right version of software and utilities The Win32 version is for Windows XP and Windows 7 32bit and Win64 version is for Windows 7 64bit operating system TN i Install coe See T T T GU i nsta EasyPAC Software a E o pi P K c KE A uo al ct oose an pplicati on to A E Figure 5 6 install the correct utilities for EasyPAC 5 1 1 Install EasyPAC Software and Tools The default installation location is C TPM EasyPAC It is easy to complete the installation by click on the Finish button as shown below 9 TPM EasyPAC User Manual EasyPAC Serial seo MEZ ithe d InstallShield Wizard Complete The InstallShield Wizard has successfully installed E asyPAC Serial Click Finish to exit the wizard Figure 5 7 click Finish button to complete the installation 5 1 2 Install MULTIPROG 5 35 252 Express Please press the Install MULTIPROG 5 35 252 Express button to install the software Install Easy PAC Software Please choose an application to install Install EasyPAC software and tools for Win32 3 Install MULTIPROG 5 35 252 Express Install MULTIPROG Patch F
30. NO CHT OO A O Sa dl OO ST ral MOL OH OO O Oj A CN OO SEY MO Ej OOP OA Oj A CNY OO SEY YO MO L Gal Gl O A aa ea imi C3 NNT 01 CNN CNY 01 01 e e 9 9 COP 9 oO e oo E34 Srp Den Sp SS rl rl SS LO AS LO LO Lo Ol WT WO SO SOT WO SO WOT SO WO O WO SO DY E Ej E N2 SO SO SO SOT NO NO NOT WO WO NOT AO AO OL NO Ol MOOT Ol NO NOT ND MO WOT SO Ol Ol NO Ol Ol WO WO WOT AO MO WOT NOT Ol OL O NO NOT MO WO WOT AO AO OL NO Ol SOOT Ol WO NOT AO Ol WOT AO COLON ONE e e CAT 1 1 1 0 01 01 ONE CA 0 0 a ala a 1 9 1 1 CNY CY 01 ala a 1 01 aj 1 1 CY 01 CNY x 01 1 0 a 1 1 1 1 dl 01 olololololololololololalolelolololololalalolelolololololololalololololololololalolololololololololalalolelolololo col AIO A ca co st wo wo rl cof a cal Ga ca co st Leal wo rl eol a ol SI cal ol rl eal Ol co APO SG cal eo ef un wo rl eol a ol A ca eo te wo wo rl eol a OP al cl co r Ae RRE RISE EJES Ea Ra Ra a Ra a Ral Pal al SSL SPS SPST SST SS SPS Ra Ra Ral Ra Ral Ral Ral Ra Ral Ra ST ST ST SI ol Rollo e dates sas arenas dao casos 5533555 35535 wimi t e co dd co co col co oo ol co od co cd cd l So So eol Gd GO So co od l co Gd GO oo cd col oo ool eo e HL al al al al al al AL AL al aL AL AL a aL AL AL ALS rdl 3 dl 3 dl dl dl dl dl dl dl dl dl cen dl dl dl dl dl dl dl dl dl dl ens dl dl dl dl dl dl dl dl cree dl dl dl d
31. PLCDEBUG POWER BOOL VARGLO XWX123 E PLC TICKS PER SEC NT VARGLO WW144 MM f PLC SYS TICK CNT DINT VAR GLO MD 1 52 a lE 4 m t Table 5 2 available VO table with the corresponding options Name Name can be English or Chinese characters The first character cannot be a number Type Several data types including BOOL BYTE WORD etc are supported Usage Can be local VAR or global variable VAR GLOBAL Description Comments can be entered here Address 3 types of address are I for input Q for Output M for virtual Oy ae a E Init Initial value before PLC start up 114 IPM EasyPAC User Manual The sample project is opened with default setting as shown below me MULTIPROG Express LD sample Variables LD sample 9 File Edit View Project Build Online Extras 2 3 iri O E Data Types Logical POUs E LD_sample PLCMODE RUN BOOL 8 INIT AXES Inside coil01 BOOL 8 Untitled L ean L v VAR Projet EE Havas Figure 5 53 the FBs dumped under Variables Double click on the LD_sample and the following window will pop up ESI pem Ei Default PLCMODE RUN jou WORD Vm aow Figure 5 54 the FB details Inside coilO1 could be used in other programs in the same project The usage must be set as VAR GLOBAL 001 PLCMODE RUN I In
32. Wa AA U9 AS MOF NO NO SOT NO SO SOP NO NO O Ej EE Ej E Ce GO CO BO CO COT CO BO CO CO CO HT O DY AL DY AL DY DY DY AL Oo Oo CO gt lt gt gt lt gt lt lal lt lt lt F REESE SE SE gt SE gt IIT 2 lalala El gt gt gt gt gt gt gt gt al 05 0 c e e exp aaa aa ex e e e e 3 e e e e aaa aa A Ap A AL AL AL AL AL AL AL e e e aa A AP AL AT AL e e1 3 e e ex e ex e e 1 0 agssscezosssseocosesusesdssescssctesszsez2252295zs925525558959288 ST WO Tn n WO a a UP U9 l NOT NOT NO SOT SO Ol SOP WO SO OL r De Ce be Ce De Ce Ce Ce rl GO OO OO CO COT O CO CO GO CO HNP YY DY AT OM Gl NY DY a CO CO CY S lalalala e EE EE lal EE E lt lt lt ll REESE ml SE SE SE SE SE SEE IT REESE SE gt gt gt gt gt gt SEL 0 Ol e e e e AL AL AL ALA ex AL ex e e e e e e e AL ex e ex e e e e e e e e e e e e e e aa e A e e aa e e e ex ex e A ex e e N cm e i al E al ES E ES Dal SI Dal o E el e Gl es e Gal e tal e Hal e ER e caf en cad e ES ES ES ES e Dal Gl G e e al e ea e Gl r l Ql Gl l x sz CQ AQ OE OF A D GO Ol i eS Sl O c glo x lolol aal oleo BY a s LI AQ CQ OY GO AY miu th th e Sl T al a e al ONY ONE e e e 01 91 1 1 01m e 1 1 3 e al
33. i8 H Au E in H JEE in n l 3 T H 215 SI ej alo gl St 2 lo e el el 2 ol al 8 el 9 el el 2 dl el al el el 2 ol el e el dl el el e e al ol e 8l el dol 81 e el al ol al 81 el S ol 81 el el 2 ol 81 8 8l 2 0 gl 81 2 Sl ol 8 el el 2 ol gl e el lola L21 eG Gl Ol Q Ul Of QA Gi Ol C Gl Ol C Ul Gy Ol 4 UO Gl OL 4 Ol C Ul GQ oj o C Gl Ol C OL 4 CG O 4 D C OL 4 Of C Ul CG UO 4 Ol Gl Ul PM ea fa a eg ea lea a ea ea stp a a eg als muje ca sm al egy on st ap af eal ca st bA al ea ca a af eal ca ta af eal ca tf a af eg ead tf ea a eat ca stp a a eg als maja as e ea st a leg ca P Las L Llan el ei el e el e es s esce sls eed eal cal eal cal eal eal pao pe eal eal ja ese al pa cal cot les se ed Lao oa el Lad E all cal al Ee ee al eal eed eal ee a el el Do el el en cer end sel een Le fo A A A A A A Bn vl cal ch calc cal el cal cel cal ch cal cl A val cal cal cl vat eel call cal el cal el cal etl vel cal cal cl echoed cal cl cal el cal el cal el cal AAA vel eal eal ol call cal cel cal AA PADA DA DADA BA B SPE EEE e ie sos ed iss es etis REE iss em enses a d se en ses en d iss ba ss enin ss en ids es ensis eh ses a 55 SEE Els s I E Q SLE ABB BRERA e e C2207 ERE 00 C LLL e Ala um vd leul M CN A rd lnl M Al A mie M tal tra wal wa ka SO Ol DI o9 6a 6a Sal So INI SII RI S SIG S SY S SI ASIF a Al Al al al al al me xs Is CA CAP en en en en en en CAP eem eml eml emn enl
34. oh ol al ERE EEE E E ia Ea Ea Po Pa Es E a COPE e e e e e e e e e e e e e e e e e e e cal e e e e OO eo eo OO eo eo eon eo eo eo eo eo OO ral ral OO eo eo e eo eo e eo eo e eo eo e eon eo PS aluo S o c o o x Qmm e A a enl thal we 09 lG CQ OP Ol al af oo SI cal oo i wal wal rl ecl al Ol Ol C Gl Ol esl al edl eel lal wal rl eel l l l C3 ol O i A aj O O AOA Ol Ol O Al ap Ol aj Ol cg GO ay aA ey O Ol O A EAN AEREA Gal al Lal Gl Gl GL Gl G al Gal Gal l OP olol SPO Sl OLS SL OPO SIL l ayy dl Ry dl dl dl j dl dl dl j dl dl dl dl j 3 3l 03 03 03 03 03 03 03 03 03 03 0X 03 091 T H PERE EE EEE CEE EEE EEE CEEEEEE EENAA AN ENNAN ENNAN ENAREN ENNEN OY aN OOP SP LO Ce OO DY O SY NY OOP lt l WO SO E SO DY CY AY Cd ral YY O OOP DY O A CNY OO SEP WO O Ef OO DY O NY OOP l WD MOT E OO HY OY afan Cl Cl Gl Gl Cl AL AL AL OY A OPO OP OPO OP OPO O Ol a SSIS dl dl Cl e ea e e 0 1 1 1 e e OL eo eo cal oo en eal eon eo mn lt l lt r nmn pl Dra 5mB OO COP OO CO OO oo co CO oo COP SPP Dor Dl lt r ol P P Dl Dra Dl Dl P P Pl ol Dl Dl ol Dl eee Pl Pl P COLON ONE ONT e aaa aaa 01 1 1 1 1 01 a 1 0 ala 1 0 01 1 9 1 a 1l 01 a ala 0 01 1 01 a ala 1 ajaj ajajajaj 1 01 Yl l al al eleal el elel el elel elel elel elel elel el elel el elel el elel el elel el elel el elel el elel elel el
35. option to carry on XT MULTIPROG 5 35 Express Build End User License Agreement Please read the following license agreement carefully KW Software GmbH Langenbruch 6 32657 Lemgo Software License Conditions aprii 2004 ATTENTION THE USE OF THIS SOFTWARE IS SUBJECT TO THE KW SOFTWARE LICENSE CONDITIONS THAT ARE STATED BELOW YOUR USE OF THE SOFTWARE SIGNIFIES YOUR CONSENT TO THE LICENSE TERMS AND CONDITIONS m T KW Software License Conditions The following license conditions regulate the use of the offered or enclosed software unless you have been provided with another written agreement with KW Software 1 Grantinq of License Figure 5 11 accept the license agreement 93 TPM EasyPAC User Manual Please leave the installation path as the default one and press Next to continue J MULTIPROG 5 35 Express Build 252 Setup Destination Folder Click Next to install to the default folder or dick Change to choose another Install MULTIPROG 5 35 Express Build 252 to Figure 5 12 leave the default path unchanged Please press Finish to finish the installation Completed the MULTIPROG 5 35 Express Build 252 Setup Wizard Click the Finish button to exit the Setup Wizard Figure 5 13 installation finish Then the wizard would lead to install MULTIPROG ProConOS AddOn automatically MULTIPROG ProConOS AddOn e E mi zm Figure 5 14 installation of
36. 01 91 01 f 01 9 9 01 01 3 9 1 9f o0 9 9 01 0 3 9 1 9p o0 9 9 0 0 0 9 1 9f 0 9 1 0 6 0 9 01 9 1 NN 01 lodo did 1311112 DO a Al eol st wo Cf aol ABP SO Sl ES eml l ol wl CE ce BPO GY aj al pl co WO rl eol BL al aj of e a Of rl 9 APO A AP co EA WO CS cof A ol GY aj co st uo DALAL AL AL AL A ALA A ALS o el ol l ol l ol SPS A val l 9 GY eal 5 9 9 A cal cal A o 1 e alla eol co e e Alma Al al SE ep se se SS e e PO LT od l 99 99 06 al 6 99 GO al al laal cd co ool ao ool 99 99 99 99 sol 99 l GO ol Go co ool ol 99 99 99 ca 99 99 ce al cD al al cd oo ex ALAA ex exp AL ex ex AL ex 3 e e e ex e e e e AL AL AL 3 3 AL e e 3 3 1 9 1 AL AL e e ex e ex e 1 9 9 1 ALA os DL OP Sa A cof st co OY co BPO Sl EN co st co wl rl co A CO GY m al FP vo WO rl ael BP OP SA ala Ld WO agl BPO sale m EA WO CL agl A cal GY ca co xm uo aaa aaa DY A DW AA S S e 2 2 2 2 2 212 al th td cal oa all cll Sar Sad SAT AT O AY SAY Cay CY Ca Gal Gal coy col co co Gl co Gl co SF I Se al Z 2 S a S e ets BY ESE amp eS AS e e3 e SB SPST EI SIS El ST S Sl Sl Z T d SE RIASASSRSASSAASESSSSERASASSdddddsssssssssddsdsssss sssssis Bh rdl 3 dl dl dl 0j 0 0 0 0 0 j dl dl 0j 0 0 dl 0 jJ cn j 0 0 f 0 0 dl dl 0j 0 0 0j 0 0 0 0 3j 0 dl
37. 01 1 I 01 1 1 1 1 01 01 01 Lo olol ol ol ol ol ol ol olol olol ol ole olol ololol ololo olol ola ol ol ol ololo olol ololo ol ol ololol olol ololo olol ol ololololo ADO Say ON OO SPY WP MO E OOP Oj O Ae Ea O Ef OO DY CP A Al cal lt r Ll MO E OO AI 3 A ON OO ST WT NO Ej COP DY CY aa io NO DY OO DY Ol a al en xm LO YO LOL YO YO YO YO YO WO YO WO WOT WO WO OOOO OP SO Ce Ce ete ce te ce cce 20 20 DO DO OY HO a a QHD AQAA ADA A AA A CP ol ey oa eojoojolo ojo jojojojojojojojojojojojojojojojo ojoj o ojo ojojo jo ojo o ojojojo ojojojojorjojojojol o olo o dl CONEY CY e 1 0 1f 1 1 9 9 9 1 9 01 1 3 0 01 1 1 9 01 9 9 9 9 e 1 1 x 01 0 1 9 01 9 1 9 1 9 9 9 1 9 0 1 3 9 01 1 01 A zszeuesesesss2sssssisss55395555s555Esessszsssesssssssssss5985999 e eer 221218 O I OI O al Sl SIS Sl SSS SIS S SISISISISISISISISISISISISI SI SISI Sl sS SS emen ene erem ew e e e e SR REER RER RER AEEA AEEA EEE EEE RREEAEEREN e ELO COP rl al OL o OO L a dl OY OOP rl WO NO GO OOP DY Ean AS lnl O OY OO DY OY SY NY ESA lt l ral OL OO HP CO SY CNY cel ST EA O ON eof mr Ea e OOO 019 9 09 0 9 OY dl lnl n COP 52 OO ll OOP Dru Dru Se rlr rl rlr rl r nn Mn nT QPEPREERRERARERRERERRRAREEERRRRRRERERRREPEREEPAREEERDRRERM e ea Registers tS 4 28 6 129 8 30 O 131 2 32 4 133 6 134 8 35 O 36 2 187 4 38 6 139 8 14
38. 181 QB 182 QB 183 QB 184 QB 185 QB 186 QB 187 QB 188 QB_189 QB 190 QB 191 QB 192 E Input Fol A ce ev en un Na i QB 168 s QB 169 1352 54 QB 170 130 123 PIB 69 EasyPAC User Manual TPM Virtual M MODBUS Coil fa ae ee eS MODBUS Holding MODBUS Discrete Input 70M sod MODBUS Registers ea oO O oO gi ea e ea CY oO m W ea e oO oO Wy oO rd C CY ex LU C gt FL oO e CO Ww T4 C go 30 5 po 83 30 84 30 8s 30 NET ss xo BA 30 8B 30 sc 130 LL s n 9o 31 91 31 92 3 Pu x os n LL pu ENT OB 31 or 31 AO 31 Al 31 A2 31 A3 31 A4 3 AS 131 A6 31 A7 3 AS 31 A9 51 AA 31 AB 131 AC 31 AD 31 AE 131 AF 31 BO 31 Bl 31 B2 31 B3 31 Eo be y z 2349813 2923289194 29 96 C C CO AE O A ON OO iO E COP ON Oj NY cel SEY MO L OO HY O A ONY rl rl Lal O E OO L O Ca eo rl oO E OOP A OY SY aa NO Ej OO DY Ol al cof t SEP YO YO vo v LOL LO ALO LO WOT YO SO SOP SO NO SOP SO SOP SOP OPO E lt tf cese 2 Ol 2 CO 2 oo co SY co D AAA AA A AA AL SO Oo o oy o J O Ol Sl S ol ol So o o ol o Sol o o o ol ol oS ol o o o ol o o o ol o ol o ol o o o ol o o o o o S o o o oS So o ol ol ol ol ol ml l COLON e e o e 1 0 0 0 01 01 0 01 01 0 01 0 0 01 0 CNET 09 091 01 0 0 0 01 1 1 I 01 01 01 CE 01 9
39. 2 7 SW1 assignment 2 3 2 Motionnet Baud Rate SW2 The SW2 is used to set the baud rate of Motionnet Rings User can choose the baud rate by switching SW2 The definition of this switch is as followed The default setting 1s Ring 0 10Mpbs Ring 1 10Mbps a ERO Ringe tt Big Ring Table 2 8 SW1 assignment 22 TPM EasyPAC User Manual 3 Motionnet Introduction 3 1 What Is Motionnet Motionnet is a super high speed serial communication system The G9000 devices provide input output control motor control CPU emulation and message communication with high speed serial communications up to 20Mbps all of which are required by current Factory Automation techniques Motionnet always transfers 4 bytes of data in 15 1 usec using cyclic communication to control input and output While this data is being transferred it can communicate at maximum of 256 bytes such as motor control data Communication times can be calculated using formulas allowing users to see that Motionnet guarantees the real time oriented support needed by FA industries 3 2 Motionnet Functions G9001A equipped Serial communications 20 M bps RS 485 half duplex multi drops pulse transformer center device 100m max AY Last local device No 64 devices max Figure 3 1 Motionnet system architecture Provides a communication protocol based on the RS483 standard Can communicate variable length of data from 1 to 128 w
40. BO COT CO GO COT 20 BO COT CO 20 COT CO CO COT CO DO COT CO 20 COT CO SO COT 20 CO COT CO 20 COT oO RRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRR WAL SOTO OO NP COP A CAL OO SY WY O E OOP DAY CO AE CNY OO SEP NO Ef OO DY O Eal CNY ESA lt l Lal O E OO HP CO SY NY OO ST WY NO lO ZION oO x o t oO Ol WA WA Way Way Wap NO NO NOT NO MO NOT NOY NOY AO a Ej Ef E E E E E E OO OO CO CO OO BO COT BO BO BOP DY DY DY DY A ADL DA A AL G Spo ay ojl o S ee e OO GO GO GO SOT SO GO COT CO CO CO BO CO OT OO CO COT BO 20 CO BO HO HO HO CO HO BO HO CO BO HO HO HO CO HO HO HO CO CO HO HO 20 CO 20 oO NEAT OS ON O NEW NEO 143333333333333333333333333333333333333323333334333433233 eeqpepepeempepepeeemm pee Discrete Input End HEX DEC HEX Virtual 70M Coil 85 EasyPAC User Manual TPM M MODBUS Input Registers VI Holding Registers p ERE MEE 7 NEN EL NEN A7T NEM AF NEM B7 NEN BE NEN Gr NEN CE NEN D7 m DF i E7 NEN EF EE 7 NEN E ES 3 MA Ej EN 7 LE Fl NEN 7 p Fl EA A NEN EP EN 7 p Fl p EL MEN Fi NEE 7 MEN EP NEN a E F NE 7 NER Fi mm A EN EP EN A7 EE AF MEN BRE M BEI Eg E i NEN ec NUN D7 p DF EN BE7 EA EF NE Too A FL NEN 7 ES Fl NN MN NEN Fl
41. Clll ee apes E A E e e e ex e ex e ex Al Al Al Al Al Al CT AT CAT ala CAT ex e CT Al Al CT exl Al Al A cal CAT Al l CAT eal CQ Al Al CT CT CT CT AT CT CT CA ex l ex eal e Al Al A CT ei al e al e Hal e al Hal e Dal e Dal C Res Dal ee G ee ca l G elm elm e gm e m e m e me m 152 mS Cl Dal E Dal C m Cl Dal l 52 e m elm elm i wl C l oO o o lt a a VO 0 A A am al mi m OP SI l BP AQ A col oo se p wal wol Oll rl rl eol eal l l ZE lt al a DO O A Al mM al m ey SO CO Sy SY ala PO ra GO ea aj aj aj mai a aj mi ea aj aj aj ma ral aj al O DD DOP C3 C3 C3 OI C3 C3 C3 C3 C3 C3 C3 OP O DO OP C3 C3 o C3 DO OO OOOO OP OU Ol SS OG OO ayo Al ey oy Al rdl dl rdl Al rdl rdl AA A dl 0 dl dl rdl dl j rdl dl rdl rdl dl rdl dl rdl dl rdl A dl A A AA A rdl rdl dl dl dl OY dl rdl col AP AL rl wol eol a AL rl wo ecl al a rl ol enl SP a tn eol ST l rl wal eol al aT rl ol eol cal a rl wol eol Gl ap rl wol eol a al rl wo eol cal al rl wo eol Ga ay rl wol eol Ea YY SO SO 1 LO SO l SS BOP AP AY al Z Ol Gl l cof D Sl al a AY l Gl S l l OL Eal l YD 20 T Gal al l O O SO G 20 DI DIO NEE lalola ASE S T Z el S e e e ala Z 3121 SIS o ele es ZI SIS F EI SPS SI SI I e e ex e x LIG e S STS e SI e e S S RPS ol ol ol l l ol l l l 5 SO al l cal cal dl al a l lal cal cal A e ex oe lalalala e e e e e e e e e e e e e eel e el EL rlr se gt
42. KB No of User Task 5 No of POU s 256 Global Variables 5000 Local Variables per POU 1500 Languages Support 5 MP Express 5 35 supports the following languages Textual Language Instruction List IL Structured Text ST Graphical Language Function Block Diagram FBD Ladder Diagram LD Sequential Function Chart SFC MP Express 5 35 supports the following data types X 1s bit operation B 1s byte operation W is word operation D is double word operation IEC 61131 PROGRAMMIERSYSTEM MULTIPROG EXPRESS 5 35 I is Input symbol Q is Output symbol M_ is Virtual symbol Example Yo LX 1 7 The 7th bit in 1st Byte at input data must be BOOL type 1B 100 The 100th Byte at input data must be SINT USINT BYTE type JP IW201 The 201th 202th Bytes at output data must be INT UINT WORD type QL100 The 100th to 107th Bytes at output data must be LREAL type MD3 1024 The 1024th to 1027th Bytes at virtual memory Must be DINT UDINT REAL TIME DWORD type 88 TPM EasyPAC User Manual 5 1 MPExpress5 35 installation Recommended Hardware Requirement PC Hardware PC or laptop with Intel Centrino up CPU Memory IGB RAM OS Windows 2000 XP Win7 32 64 LAN card RJ 45 10 100 1000 Mbps Software Installation Install EasyPAC software and tools Install MULTIPROG 5 35 252 Express Install MULTIPROG Patch Files Software Version Run the successfully installed MULTIPROG 5 35 Express as shown below ne M
43. MULTIPROG ProConOS AddOn After finishing this step all the KW development environment setup is completed 94 TPM EasyPAC User Manual 5 1 3 Install MULTIPROG Patch Files When MULTIPOROG completes its installation select Install MULTIPROG Patch Files at the main menu of the installation wizard stall EasyPAC Software T e choose an application to install Install MULTIPROG 5 35 252 Express Figure 5 15 install MULTIPROG patch file When the completion screen is shown means the patch file is successfully installed in the system Please take out the CD and keep it properly ee InstallShield Wizard Complete The InstallShield Wizard has successfully installed KW Add Click Finish to exit the wizard Cancel Figure 5 16 completion of installation of the patch file 95 TPM EasyPAC User Manual 5 2 The First MULTIPROG Project 5 2 1 Create a New Project The following figure shows how to create a project from a TPM template np MULTIPROG Express la Save Project As Zip Close Project amp Xd Delete Project orn E Save Save All Close Print 44 Print Preview Print Setup Print Project 1TPM Template E 535 mwe 2 AAA mwe 3 TPM Template E mwe 4 TPM template mwe 5 TEST mwe 6 ExpressExample eCLR mwe Figure 5 17 create a new project 96 TPM EasyPAC User Manual 5 2 2 DI Test Set V000 V003 as sho
44. NEN F EE 7 NEN E ES A FL EN 7 LE F NEN o p FL EA AT NEN AF EN B7 p BF p ci MEN CF NEE D7 MEN DE NEN B7 E BE NE E7 NER FFL mm I EN EP EN I 3 EE Fl MEN Ec M Fi Eg 7 NEN pl y NUN 7 p EL EN 7 EA EL NE 7 MEN EP NEN 7 ES Fl A E HE NER Fl MN 7 NEZ EP NEM ATL ur AF EN B7 NEN BF NER SO CO ON COP ay CNY OOP SP WO NOT Ge OO NF CO SY CNY cel lt l WY NO OH COP HY CY SYN cal STP O OY OO DY CY a ONY OOP SE WO OL Oe OO HYP CO SY NY OY TY WY NO OP DH OY a a SEY SY MOP a Ya ay a AS AS AMAS ASA NO NO NOP SO WO WOT WO SOP SOP OP E Ce E Ce E Ce Ce E OO GO l CO OO Ol CO OO CO CO DH DY DL DY DY AL DY DI AL A CO OC CO GO OO Ol GOT OO OO COT OO OO CO E 2 OO CO CO CO COT OO OO COT Er 2 BO CO CO HO COT OO CO COT OO CO CO OO OO CO CO Er 2 COT CO CO COT BO CO CO HO OO CO CO CO COT OO CO COT BY DY DAT AD COL ex ONE e e CAE aaa 01 01 0 1 0 1 1 01 a ala 1 1 01 CNY 01 0 1 1 1 1 01 aj 1f 1 1 01 CNY 0 0 91 0 1 1 1 1 1f 1 1 1 01 eleletelelelese eseeeeeeeeesseeeseeseleeeleselleeeleseessseeeseselesese OL CO o O A cox OOP O OO AY CO a cnl SE WO NO Ej COP A CY PCY OO ATP OP OO HY CY SN OOP id O E OO AYP OY a dl cl iO Ej COP HI CO CIN rl rlr ST rn Lra WO WO a Wa Wo a a Wa NOT WOT NOT
45. NO WO WOT WO WO WOT SOP El De Ce Ce Ce Ge E Ej Ej OO OO Ol COT OO OO COT OO CO CO HL HL AT OU A TY A AT DY CO OY Oo GO GOT OO GO COT OO CO COT OO GO COT OO GO COT OO GO COT OO CO COT OO GO COT OO OO COT OO DO COT OO CO COT OO DO COT OO CO COT OO CO COT OO OO COT OO OO SO OO CO COT OO CO COT CO A AT OS CAL ONE ONT ONT ONE 1 ONE 031 1 1 03 ON 3 1 ONE 031 1 1 01 031 1 3 CAL 03 CNY 1 ONE CN CN 1 1 01 033 03 ONT CAL ON CN 1 1 041 1 03 ONT ONE 01 0 1 1 031 0 0391 ONT 031 04 A zzxsseeeeedz29992929 99 955 zx ssseos922 2595259599559 mr SP m Ln enl WF a Wa Wo od a Wa NOT WOT SWOT WO WO WOT WO WO WOT OP DE DEE Oe Ce De Oe Ce Ce Ce OO OO OO COT OO CO CO oo CO CO DL HY AT A AI O DAL AL O CO GO GOT OO GO COT OO GO COT OO GO COT CO GO COT OO GO COT OO GO COT CO GO COT CO GO COT CO SO COT CO GO COT CO BO COT CO GO COT CO CO COT CO Ol COT CO OO COT CO HO COT CO BDO COT CO A HAT OS ONT ONE ONT ON ONE CAE J ONE 0 CNT 0 1 CNT 01 1 01 ON 1 0 01 ea 1 1 ONC 0 1 CAL 0 1 01 CAL 1 0341 CAL 1 01 ON 01 3 0 0 CAL CAL 0 CAL CT 0 1 041 OT CNT Bleu ef e al e al e Dal e Hal e al e al e al e in ASA ES ER ela e e G eL mu e rn ela e ul e al e al e Hal e al e al e al E A ea Hollol A val AY A eol eol se FY wal Wo OP SO rl el ecl el ll El lt E OQ GO DP C3 O OGO Ol a ae cal
46. NT NECA 01 61 1 CY p om 9 9 1 1 CAE 1l 1f 061 0 09 01 f 1I 9 1 1 061 01 01 COLON ONE 9 aaa aaa 1 1 01 1 9 01 9 9l 1 a ala aaa 01 1 1 1 1 1 1 alfa aj o l 1 01 1 1 1 ala a alfa ajajajaja 1 l al al el el elel el elel elel elel elel l elel el l el elel elel elel elel elel elel elel el l elel al l el elel elel elel elel elel el ele ALO Al Al of rl wal wel rl egl l cal Gl ca eo cof ol rl agl l cal ca co kll Ol rl aol BLO GI al eof kl wo ol rl ool APO al ca eo tf wal ol rl egl a al GI wm co rl wn Sl Ol eu ono oy e ei e eel e e e e e e eol e e ELE r gt BEBE gt al wal val ala wal wal nl l al Ol wol CO SO Ol lO ol GPO ve vel e e l e e e e e e e e e ex e ex ex oe e e e oe oe oe e oe oe oe oe oe al oe oe eu oe oe o al oe oe oe Met oe al al alalalal e e oe oe oe oe e e ex oe cal oe ex e e e exl ex e exl e ex ex ex e ex e ex ex ex oe exi e ex ex ex oe oe ee e ex oe oe e e e oe oe oe e e ey oe oen oe e e ey oe oe oe e e e oe oe ale SS GHE S S SES A AIS l GS SI SSSSSSSSSSEAS Qaa dsssssss5395555 5 SAU eu AT AL e AL AT e ex e e eo e e e e eo OP od Sey se ef gt te gt RR al wal wal alwa wal wal nl l al GO WO O Ol SO CO OS v GPO ele e ep ve e e e e e e e e e e e Mat oe oe e oe ey Mat o oe e oe oe oe oe oe e eb ex ou ool oJ oe o al al 0 3 o e e al Al Al cal e e ex oe oe oe e e e e e e e e e ex e e e ex e e
47. ONE CONE ON ONT ONE ONT ONT CNT ONT ONT ONE ONT ONT CONE ON ONE ONE ONT ON ONE ON ONT CNT ooo CONE ON ON ONE ON ONE CONE ON ON ONE ONT ON CONE ON ON ONE ON ON CT ON ON COL ONT OS ol co ol l ol l ol l ol co S 2 S 90 S 90 S 2 S cd ol l ol l ol l ol l ol l ol l ol l ol l ol l ol l ol l S 2 S 90 lal S H al l ol colo DE E COP AD O A O cal SEY O OY OO DA O a ON OOP l O E OO DY OY CNY OO LY WO NO Ej OOP DY O ES OO SPY WO WO E OO DY O CA OO iS O E OO DY CO STI NNN A APN A ALN A OP eo E38 COP e eo COP eo eo COP SS lar bl SSS LO ST LO OL LO uv TY LO NOT OOO SO SO OPO SO WO OY E SO O o o o o o o o o o l Gal o o o of G o o Cl Gl GO al C o G Cl G Cal o ope op of oy Op Op Oy OP OP Oy OP OP OY OP OP OC OY OP OY SO OP CO oO COLO OPO OL OP OL OL OP l OP OL eo en KSA OY OOP OL OY en eo eH OP aaa aa aaa eo eH Op OP OOo OL OL en OL eo oO OL OL oO OL LO eo eo eo eo Lolololololololofololalolololololofalafalolofolololofalolalolofolalalafololololololalalalalolololololalalolola P OOF DY Co AEN OO SEY 9 NO OY OO QA CY FY CNY OOP lt l WD OL OH OO DY CY SY Cd ra SY WO MO BY COP DY CO AY NY OO P Ln NO OY OO DY CY E NY OOP TY Lol OL yn OO o o STN AAA AA A CAL ENEN OPO OO COP E58 oO COP eo E54 COPS r SSS lar rl l SE PO PO POLO LT LO LO LO ORO SO SO SOT SO SO SO SO SO AO OT E eojo ojojojojojojojojojojojojojojo ojojojoj
48. ONE ON ON ONE ONT ON ONE ONT ON CONE ONT ON CNP ON ONT CNET ON ONT CNT ON ooo ON ONE ONT e ONE 3 ONT 3 3 01 CAL 1 1 1 3 0 CAL CAL CAL 1 9 031 3 1 3 CAL 1 0 CONT CAL 031 3 3 3 CA Al CAL 031 CAL 1 3 031 CNT 1 031 c EIC meme m ce m e me me me me mem e m eue Sp Da Sey Dal l Ba C al C me mel e memi elm e m e m e m e mc OD OG Omm im eyo l l Sy cal A col co ey te to ta SO SO aol cof ojal lt al a O C A Al al ml tal Gl el el l al cal A eol eol r x SO vlc 99 DOLO 5l CO CO od oO my S j Ry RY j j j j dl j c3 3 03 03 03 03 03 03 c3 3 03 03 03 CT 03 03 094 ea ONE ONT e e CNT CNT 3 3 ONE 0 CNT 3 1 3 CNT x3 J 01 0 e 031 CNT 1 3 3 CAE 1 0 e ea 1 1 03 CNT 31 3 3 3 ea e CNT 031 1 3 CNT 3 3 CNY aa 01 ni IN r m 5 ONT ofi e oO O OO CN c OO 9 ON cJ OO OT Oo cJ vs OO OS Cj m 5 J OS CEE OO mI ONT cJ VS 5 OS l ml 5 mI ON rm ral 8 0s SISSE six secius iiie ce Cl el ol el tle Eee ses e al Sl S Sl XS S sg SPS SPT SS SB SI SI SS ele xl eel a SY S SS ex e sel lv vol ST SS SS SI SPS SI STS SAY SS SIS SI SI SI ex e Cra Cra lt l lt l lt l rl lt l lt l ee TT Ln nh Ln MO FT NOT MOOT Ol O MOOT MOMO WOOT O AO O O NOT Ef ee UC ey UC UC l Ce Ef Ej E 20 OO CO SO oO CO GOT OO GO COT CO GO COT 20 GO COT OO GO COT 20 GO COT 20 20 COT CO BO COT 20 GO COT 20
49. OO AY CO Sy CNY cel SE Yo NO Ge COT DH SY dl 70M 7 7M 034 034 NNT 3 NEY 3 3 e 9 e e eo OOP eo oo eo eo Boy nmn ar Pl arl SS Pl lnl YT n YY Ll WT NO NO NOT WO WO Ko Ko WO SOT Ko WO WIP O LOA AO AO VO nl n O nl enl nl YP AO n AS AS AO O VO O AO TT L 2 esl leal wel rl eol l csl al rdl eol rl wal wal rl egl dl el val rdl eol wo wel rl egl al esl A cal cn rl wal wel rl eol l eel al rdl eol rll wel rl ecl lel al ca cof wo ol EA aw BS GOL 7 7 7 CA 01 NT NN 1 9 CAL 1 e e e e e e OP oo oo E38 eo Dru Dou sty Deu Dou Dou mI RI O MO AMO LOS AMAS enl LO OS AS OO NOT SOT WO SO WOT O SO SOT So WMA A A ALAA AA A AALA ALAL ALALA A Tn n n AL VT n n A O ALALA A AAA AA A A A A A A A A A A A A A A A AN N v Coil End 79 EasyPAC User Manual TPM M MODBUS Input Registers VI Holding Registers p oa MEE E7 NEN EF NEN 7 NEM F NEM a ND NEN Fl NEN 7 NEN Fl NEN 7 m Fl EA 7 NEN EL EE 7 NEN Fl ES C E EN 7 LE Fl NEN 7 p Fi EA i NEN EP EN 7 p Fl p A7 MEN AF NEE B7 MEN BE NEN AM i CE NE D7 NER DF mm E7 EN EF EN 2 NN EE FL MEN 7 M Ej Eg 7 NEN EP NUN 7 p EP EN 7 EA Fl NE 7 MEN Fl NEN 7 ES A NN NN NEN Fi MEM 7 NEE F EA i EA EL EN TL NEM EP NEN OL DO A NY OO SEP YO NO E OOP a O SYN OO SY
50. Operation 4 2 4 1 A104 amp A180 In this example 4 AO A104 channels are connected to the 4 AI A180 channels The remaining 4 channels of AI connect to ground 36 TPM EasyPAC User Manual File Tools Window Help c 149 Master EH Kanal ME Slavel9 A104 Slave48 A190 j King E Information Ring IP Type E Operation Gain Gain Gain2 Gain3 Gain4 Gain5 Gain6 Gain aid AL RingO 1P48 cho 4 850 Chi 5 724 ch2 10 00 Ch3 10 000 Figure 4 21 information of connected devices Module Status AO module with IP19 and AI module with IP48 are identified Property The property of AO module is similar to DIO module The input range property can be set here There are 8 channels with 4 ranges 1 25 2 50 5 0 10 0 Operation Move the track bar to change the output value of AO module and the value will also be shown in the AI module 4 2 4 2 108 A122 The only difference between 108 A122 and A104 A180 is 108 A122 has an EEPROM storage device The operation is almost the same as A104 A 180 illustrated later c Master E je Ringo v Slave 108 A122 tx Ring Figure 4 22 108 A122 slave module Module Status The property sub frame shows the information of 108 A122 with EEPROM 37 TPM EasyPAC User Manual E Information King l IF U Type 108 A 122 E Input Settins 1 Mode Mode SingleEnded E Input Set
51. REF Done Busy Error ErrorID Please refer to theStatus Logic 179 TPM 5 6 5 34 GA MovePath Function Input Parameter Output Parameter EasyPAC User Manual Continuous motion with multiple segments AxesGroup Data Type AXIS GROUP REF Execute Please refer to theExecution Logic PathFile Data Type STRING AxesGroup Data Type AXIS GROUP REF Done Busy Active CommandAborted Error ErrorID Please refer to theStatus Logic 180 TPM 5 6 5 35 GA_GroupReset Function Input Parameter Output Parameter EasyPAC User Manual Reset grouped axes to StandStill AxesGroup Data Type AXIS GROUP REF Execute Please refer to theExecution Logic AxesGroup Data Type AXIS GROUP REF Done Busy Error ErrorID Please refer to theStatus Logic 181 TPM 5 6 5 36 GA GroupStop Execute StopMode Function Input Parameter Output Parameter EasyPAC User Manual Grouped axes stop AxesGroup Data Type AXIS GROUP_REF Execute If Execute were TRUE Status 1s always Stopping If Execute changes from TRUE to FALSE status 1s Stopping while the axis is still moving Status will change to StandStill after the axis stops StopMode Data Type BOOL 0 for immediate stop 1 for SlowDone stop AxesGroup Data Type AXIS GROUP REF Done Busy Active CommandAborted Error ErrorID Please refer to theStatus Logic 182 TPM EasyPAC User
52. Sl l al cd eal eol eol r c wol al vol Ol rl pel eol eal l l Cl 0 Ol O LOI e Gal G m Gl al aL Gl Gl p l Gal GL GI l En AA Gl Gl Ll al al l Gl Gl Lal p al A l l PIP Silo o ol ol o ol a l al 5 l o l 5 l l ol ol ojo e dl dl dl dl dl dl l 9 dl dl jl dl dl dl Ra Ra a 3 c3 031 03 03 CAT CAT 03 03 03 cA 03 CAL 03 03 03 03 CAT CAT 03 CAT cA CAT WAP e Oo cv 9 o Ub vIe I o vo iv e a ONT CEE OO Ea C Ce O 5 ONE r rm 5 ON CJ ral I NT e Wn e mI OS cJ v ral mI ONT CEP e mI OS cJ ll c ASE 3 eel e ee SI SY S e3 S e SI sel SS AS Sl SI SPS SI e ST AV SIS ool Sl SI SIS e SI SPS SI ST SS sl e e O e e SI SIA vel el COL COL OL OL CL Cl Cl CL Ol Cl CO Cal Cal Col Cal Cal COL al Cl COL Ol Ol deal j 031 ea 1 0 03 091 0 03 0 0 03 cal 5 eS cal ea eon an CEE Ej E E OO OO OO CO COT GO CO COT BO CO SO BO CO COT Ol CO COT SO OO COT GO CO COT HO CO COT BDO OO COT CO OO COT BO OO COT BO OO COT CO CO COT CO SO COT CO BO SO oO elelole ele e ele e ele el ele elel e el ele el el e el e ele e ele e ele el ele el ele ele e ele e ele ele e ele e ele gt OL DO A AY OO l WO NO E OT DY O ALN OO STP O Ef OO AO A Al OO SEP Lal MOL OY OO HYP Oj aferro O E OOP OA Oj a CNY ral l nl MO OO HY Ol ES em Oojojojo orjojojo o o o 4 Sl SS 41 1 CA Cl CAL 1 CAL CAL 1 al OO ral COP e e COP OO ES
53. com3 Q Baudrate 1115200 Slave ID DataBit TCP Parameters R stopBit TimeOut Parity Figure 4 9 setting of Modbus parameter dialog cave oettings 31 TPM EasyPAC User Manual 4 1 2 6 Recover Factory Default Settings If users forget the changed password of admin or guest or the changed settings of the IP Modbus etc is not working a solution is to recover factory settings The step by step recovery from factory settings 1s as follows Recover Factory 1 Press the recovery button and then reboot 2 The EasyPAC would roll back to the default IP address 192 168 0 100 Now we could connect to it with MyConfig 3 The PAC info tab has previous set IP address shown in Saved IPAddress 4 2 MyLink MyLink is utility software used to test diagnose and verify the functions of the remote Motionnet slave modules The following slave modules are available DIO AIO gt Counter and Axis modules After successful installation MyLink exe with icon e could be found in the remote PC Recommended Hardware Requirement PC Hardware PC or laptop with Intel Centrino up CPU Memory IGB RAM OS Windows 2000 XP Win7 LAN card RJ 45 10 100 1000 Mbps Software Installation 1 executable file MyLink exe 4 2 1 Interface Tool Bar File Tools Window Help Figure 4 10 MyLink main functions There are 4 main functions in the tool bar o File This 1s used for file access especially for K
54. created by MyDataCheck Q0 a Ci mm Add Button objects and set the Modbus address Check and set the I O address of 106 D422 with MyDataCheck as shown below Hit Button hj General Label Advanced Visibility ID Mate Picture Shape E steral Label deua FG Color CAM Sw 1461 Pattern BG Color CA Operation O Se DN SetOFF Set ON Pulse Set OFF Pulse CO Momentan ON Momentary OFF 9 Invert Address Type Bit w Wite Adds Monitor Monitor Address identical to Write Address Figure 5 126 making of a button 213 IPM EasyPAC User Manual Duplicate multiple buttons EML i Page Tj Bring to Top Ya Send to Bottom Object Properties Anar Save as Default Save to Object Librany Copy Dir Number of Copies Columns 8 T o Rows 2 Spacing in Pixels Horizontal 2 Vertical 2 Y Increase Address oos dE fri ES 8 132 60 x 56 10096 S E23 EZ ST N a A N Increment 1 Figure 5 127 duplicate buttons oun E TO ES Figure 5 128 multiple buttons created Download The following menu will show up after successful download EBBEBEBE Figure 5 129 downloaded program 214 TPM EasyPAC User Manual 5 7 5 2 MULTIPROG Project Create a new project with TPM template Start MULTIPROG Mun MULTIPROG Express Figure 5 130 start MULTIPROG Click on File New Project Use TPM Te
55. dedicated cables Total cable length of one line 100 m 20 Mbps 32 local boards 10 Mbps 64 local boards Cable length between local boards 0 6 m or longer 3 3 Advantage of Motionnet Itis possible to connect from center to terminal controller parts by one cable _ e eS II Il Ml HI Ig Tae Ma WIRE SAVING LONG DISTANCE Figure 3 2 wire saving and long distance support Incyclic communication a communication cycle is as follows when a 20 Mbps speed is selected 8 Ol2ms If all of the local devices connected are I O devices 24 TPM EasyPAC User Manual Ni 256 inputfoutput points can be used 16 0 24 ms If all of the local devices connected are I O devices 512 input output points can be used 32 0 49 ms If all of the local devices connected are I O devices mo Mm 1024 input output points can be used 65 0 97 ms If all of the local devices connected are I O devices moo mem 2048 input output points can be used If a different number of local devices are connected or when the communication cycle is interrupted by data communications refer to the calculation formulas in the user s manual to calculate the time latency Slave Module d x 64 Slave CYCLE TIME 64 Slaves lt 1 04ms 64 NODE 32 512 DI 512 DO 1024 DI 1024 DO On 20Mbps Max Cycle Time 2 15 1 x NODE 71 4 FIFO Time in us HIGH SPEED TIME DETERMINISTIC Figure 3 3 high speed and time deterministic
56. detailed information of 108 P120 can be found in the manual The setting for this sample program is shown below 1 Configuration of 108 P120 195 TPM EasyPAC User Manual E Information de DevicelD l MCU Yer l IF 53 Type 108 P120 E Operation Cycle Time 2 E Settings 1 Mode ModeGroupll Frequency ModeGroupl Counter E Settuogs 2 Time Tune moup C Count up NE 0 15 2ms TuneGroupl C Count up hF 0 1 sP 2ms E Settings 3 Alarm mnt Alanou hD Normal Open Alanou h Normal Open Alana hz Normal Open AlannOutlhs Normal Open E Settings 4 Average Average hU 1 Average hl Average TOG 128 Average Chi 1 E Sethngs 5 PowerOn Value Power mV alue 050000 E Settings 6 Safe Value sate Value 050000 E Settings Ed pe 2d Figure 5 85 configuration of 108 P120 2 Test 108 P120 with MyLink Set as shown above and click on Start to get the value as shown below ad CounterForm RingO IP63 o E les Group Group Cho Che 430 00 He Chl ut 420 00 Hz Figure 5 86 screenshot of MyLink testing counter module Create a MULTIPROG project Start MULTIPROG Aun MULTIPROG Express Figure 5 87 start MULTIPROG Create with File New Project WF MULTIPROG Express TPM Template E 535 Cod ES Eile Edit View Project Build Online Extras 2 Ctrl M d Figure 5 88 create a new project 196 TPM Use with TPM Template Cancel Project Wizard RO ET EE Figure 5 89 new project template Double click on Lo
57. e e e e ea en in e e SIS I S SIRE E RA RA ALA s 8 655 28 o 663 29 8 671 29 Q 679 2A 8 687 2A 0 695 28 8 703 2B o 711 pc 8 719 c o 27 2D 8 1735 pp o 743 pE 8 751 DE o 759 pF s 767 pr o 775 30 8 783 30 o 791 31 8 799 31 o s07 32 8 815 32 o 823 33 8 831 33 o 839 34 S 847 34 o s55 35 8 863 35 o 871 36 8 879 36 0 887 37 8 895 37 o 903 38 8 911 38 o 919 39 8 927 39 o 935 BA 8 943 BA o 951 38 8 959 38 o 967 3C 8 975 3C o s83 3D 8 991 3D o 999 3E 8 1007 3E 0 1015 3F 8 1023 BF o 1031 40 8 1039 40 o 1047 41 8 1055 41 0 1063 42 8 1071 42 o 1079 43 8 1087 43 o 1095 44 8 1103 44 o 1111 45 8 1119 45 0 1127 46 8 1135 46 o 1143 47 8 1151 47 o 1159 48 8 1167 48 o 1175 49 8 1183 49 o 1191 4A 8 1199 4A o 1207 4B 8 1215 48 o 1223 4C 8 1231 4C o 1239 4D 8 1247 4D o 1255 4E 8 1263 4E 0 1271 lar ag oa MODBUS pesonas ET IB z PIB en IB TY DI Fol IB gt IB s IB 160 E 68 EasyPAC User Manual TPM Ring 0 DO MODBUS E es ez gt en e ae e e MODBUS ae ut Re E sters Input ED Y G ml A O O B Y e m e O ar O U E a PQ QB 161 QB 162 QB_163 QB 164 QB_165 s QB 166 QB 172 QB 173 QB 174 QB 175 QB 176 QB 177 QB 178 QB 179 QB_180 QB
58. e elm me m em m SSS e 8 e 8 8 8 8 8 8 8 el e 8 8 8 8 8 81 e e ecl olco Ol ca cal cd Cl t CA csl oof WO H CA cal eol WH FH CA OY al Wl 1alolcvlwi Iw lolelvl Io lolebo loelolcvluwi llw lolslvl 1o lolelwl lma Ale S a GS 0 A S S ala GS S S 2 a EER el SS 4 SPS 2 ee Al S 8 A 4 SG G SP S 2 SS S lt A e S 3 Z SG se sae oe Kec ry Ee ey ere onte me elec Est ht en ex ea ess ea arp cal cel cm ee eee eec e Ee s eec miss SSR PERS wv NOT OS OO O CY a CN OO SP WO NO E OOP DY O SY COP TY O E Gol DY O A Al cl lt p io O E OO OA l A AT cl SE YO NO E OOP DY O CNY OO TY MO Eau OO HY Oj OO OO OO OO COP OW DN DY A A NT AY DY ATL HY OY OPO OC OPO OS OPO OY MI ea CA CAT 3 1 09 01 CAN OO COP OO OO COP eo cal OOP cal eo SPP vm COLON ONE e e ONE 1 01 1 1 31 1 ESI 9 5 e OL OP e OL e OL e e OL e en Oo en OP eo oo OP eo oo on eo oo eo eo en eo eo eo eo eo aaa eo en e eo lolo o o ol o o ol ol o ol ol ol o o ol ol o ol ol o o ol o o olol o ol ol ole o ololol ol elo ol ololo olol ol ol olol ol ol olol oo alo O HII rdl dl eI 0 0 0 0 MODBUS Input Registers Registers MODBUS Holding MODBUS Discrete Input dE ete ere T ee ee ee ee Coil DEC HEX DEC HEX 76M do 75 EasyPAC User Manual TPM Virtual M Q ES SSA ones ERRE 2 S SI SIS So
59. explain the behavior of the Function Block execution The figure illustrates the sequence of three Function Blocks First Second and Third controlling the same axis These three Function Blocks could be for instance various absolute or relative move commands When 127 TPM EasyPAC User Manual First has completed the output First Done triggers Second Execute The output Second Done AND In13 trigger Third Execute Function blocks to perform a complex movement In13 First Second Third FB 1 FB2 FB3 Axis Axis Axis Start Execute Done Execute Done Execute Done Par Par Error Enor Par Ero First Execute a First Motion active Second Motion active mh Second Done TU e In13 eee Third Execute anns ae Third Motion active l Third Done Third Error gt Figure 5 70 function blocks sequence 128 TPM EasyPAC User Manual Example 1 Same Function Block instance controls different motions of an axis The figure below shows an example where the Function Block FB1 is used to control AxisX with three different values of Velocity In a Sequential Function Chart SFC the velocity 10 20 and 0 is assigned to V To trigger the Execute input with a rising edge the variable E is stepwise set and reset Single FB usage with a SFC K true MS MC_MoveVelocity
60. following table shows the hardware specifications of EasyPAC T Specifications PM EasyPAC 1 Vortex86DX 800 MHz 2 DDR2 RAM 256 MBytes FRAM 3 BIOS Flash MBytes 4 D SUB 15 Male Connector x 2 RS 422 x 1 RS 232 x 1 CN 1 IlLCFCardSocketx1 oP TPM EasyPAC User Manual TPM EasyPAC Specifications 1 4 Software There are two utilities provided to diagnose and test EasyPAC MyConfig and MyLink In addition to standard DIO AIO interfaces EasyPAC also supports Motion Function Block Motion FB used to program the Motionnet based motion control slave modules connected to Ring 1 MyConfig System configuration utility configures IP address system information etc MyLink A diagnostic utility used to test set and verify the functionalities of slave modules hooked up to Motionnet Motion FB Visualized functional block based on MULTIPROG It supports single and multiple axes 1 5 Motionnet Devices EasyPAC is equipped with 2 two Motionnet masters named Ring_0 and Ring 1 Ring U is mostly for digital VO and analog I O and Ring 1 is for motion control The detailed data is in the following table 06DUONX 2h digital impatwihNPN Ye No 106 D222 NN 16 ch digital input and 16 ch digital ouput with NEN Ye No 106 D204 XN 32 digital ouput with eN Ye No No No No No No No o No No o No No No No No o 10 EasyPAC User Manual IPM
61. lt l lt l lt l lt l lt l n Ln a T wot A OAO NO NOT NO MO NWOT NO NO NOP NO NOP De E ES Ei Uf Ej Ej Ce Ce Dey OO OO COT OO CO BO BO BO oo BO DI O DN DN ON AY GY NT DN COP COP e E30 COP e e e e SO OO e e COP e e e 5 OO e e E32 E38 e e COP e e e OO OO e e CO COP e e COE OO e e CO 5 5 e e E32 OO e e 9 9 e e e E38 e QSPRRPRRRRREPEERARMEMARARMEEEREAAEFAMAEMMMMMPEPEMEEER e o DAR Input Registers lo BS VI Holding Registers EC HEX w3 7 10BF 1708 470 5 10C7 1710 471 3 10CE 1712 472 1 10D7 1714 M73 9 10DF 1716 M74 7 1087 1718 475 S 10EF 1720 476 3 1087 1722 477 1 10FE 1724 M78 9 1107 1726 479 7 ii0F 1728 480 S 1117 1730 481 3 LF 1732 482 1 1127 1734 483 9 112P 1736 484 711137 1738 M85 S 113F 1740 486 3 1147 1742 487 1 114F 1744 488 9 1157 1746 489 7 i15F 1748 490 5 1167 1750 491 3 116F 1752 492 1 1177 1754 493 9 117F 1756 494 7 1187 1758 495 S 118F 1760 496 3 1197 1762 497 1 119F 1764 498 9 11A7 1766 499 7 11AF 1768 500 S 11B7 1770 501 3 11BF 1772 502 1 ler 1974 1508 9 11CF 1776 504 7 11071778 505 S 11DF 1780 506 3 1187 1782 507 1 11EF 1784 508 9 11F7 1786 509 7 11FF 1788 510 S 1207 1790 511 3 120F 1792 512 1 1217 1794 513 9 121F 1796
62. motion path file editing are listed below Path Count 8 StrVel 100 MaxVel 6000 Tacc 0 1 Tdec 0 1 Curve T Segment description Segl Type Line Segl Dist8 0 Segl Dist9 1000 Seg2 Type Arc Seg2 Ax 8 Seg2 Ay 9 Seg2 Cx 1000 Seg2 Cy 0 Seg2 Ex 1000 Seg2 Ey 1000 Seg2 Dir Cw No of path segments max 100 Start velocity unit is pps Value is 0 6666666 Maximum velocity unit is pps Value is 0 6666666 must be gt StrVel Acc time unit 1s sec data type 1s float Dec time unit is sec data type 1s float Velocity profile is T curve or S curve Start Point 1s 0 1000 Path type 1s line Axis with IPS is grouped 0 pulses Range Dist1 Dist32 Axis with IP9 is grouped 1000 pulses Range Dist Dist32 Path type is circle Axis with IP8 is assigned as X Axis Range 1 32 Axis with IP9 is assigned as Y Axis Range 1 32 Center of circle is 1000 relative to X Axis Range 134217728 134217727 Center of circle is 0 relative to Y Axis Range 134217728 134217727 End point in X Axis 1s 1000 Range 134217728 134217727 End point in Y Axis is 1000 Range 134217728 134217727 Clockwise circle 52 TPM EasyPAC User Manual Seg3 Type Line Path type is line Seg3 Dist8 2000 Axis with IPS is grouped 2000 pulses Range Dist Dist32 Seg3 Dist9 0 Axis with IP9 is grouped O pulses Range Dist1 Dist32 Seg4 Type Arc Path type is circle Seg4 Ax 8 Axis with IP8 is assig
63. n Tn t ALALA O vp O O O A A AOL ALO ND OO Ol Ol KK ND ND NOD NO QD CO Cal cd BD Gol LS o o QO GS cd o co CS OO S OO CY OO 5 CO 5 OO CY OO o CO o CO CO 2 Co CO ol DW OC FO CO Gol CO CO CO a CO HO OS BC CO BD CO oj co XO SO NO NO NOT ND ND NOT AO ND OL NOT NO NOT ND ND NOT ND ND WOT NO NO NOT NO NO NOP ND ND NOP NOP DY Ej EEE l e el 0 ey Ce l De Oe 0 L l ey 09 e e e 0 0 Ej C09 rdl 0 0 0j 0 0 0j 0 0 0 0 0 0 0 0j 0 0 Gami 0 0 dl 0 0 0j Samni 0 0 0 0 0j 0 0 0 0 0j 0 0 0 0 0 0 0 0j 0 0 0 AO af O OO SO SPY CN O OOP NO ST CNT O OO MOP rl ON DY OO NOP oe CY OOP NOP BF e Oj OOP NOP ST CNY CY OO WO l CA OY OOP WO e O aso OL SE e Of OO SOY lt lt e O OO so st Wap NO Be COP OO DY COP SA NY CAP cal SEY WY NO O Ef OO DY O O SY dl OO SLY LY NO Ce OO OO AP CO a YN OO TYP NO MOP DE OO HYP OY SO SEN cm SLY ST LO NOP ER SO COP o CA SO SOF NO SO NOP SO SO OY r r e Ce Ce Cee Ce Ce l Be GOL GO OO COT OO OO CO Gol Ol OO CO CO COT DN Gl AT Gl ON ANN CO AY AY APO O OPO Cal OPO OP Op Cal O olo WP ww Wap v n n AO AA n Py n n n n nn YP n LOS n a AO AA NO MO NJ Ol NO WOT ND Ol Ol O Ol NOT NO e ooo oo ooo eo ooo ooo e eo ee eee eo e e e elo eee ele e e el e e elo e e e el e e e el e e e gt YON OOP IO NO Ej COP A O A aa cal i
64. of motion profiles is useful in building a more complicated profile or to treat exceptions within a program The basic rule is that motion commands are always taken sequentially These commands act on the axis state diagram The axis is always in one of the following defined states Disable Initial Standstill no movement Homing movement to reference position Discrete Motion movement towards target position Continuous Motion jogging Stopping axis is stopped ErrorStop axis error occurred UP LEO ON 2 M x Group Moving movement towards target position of multiple axis Any motion command is a transition that changes the state of the axis and as a consequence modifies the way the current motion is computed A normal procedure would start in Standstill In this state the power can be switched on per axis via the Power command Also one can access the Homing state via the 1ssue of the Home command per axis which after normal completion returns to Standstill From here one can transfer an axis to either Discrete Motion or Continuous Motion Via the Stopping state one can return to Standstill ErrorStop is a state to which the axis transfers in case of an error Via a Reset command one can return to Standstill from which the machine can be moved to an operational state again Please note that the states define the functionality of the Function Blocks The diagram is focused on the states of a single axis The multiple
65. rl gt rl rlr Pe rl rl rl Epa el rl rl rlr rl rel peepee 5 rel vice rel rlr rlre rl ici ice mice Mel rlre rl rel 5 5 5 SS E RRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRR Ty Woy NO l OL YN oo xr t G Spa AY OP at WO OP Ce OO DP CY SY NY OO l ml Ko CH OOP DY CY SYN cm SEY NO Ce OO DY CY SY ONY OOP l WO NOT De OO HY C CO CO GO oo OOF CO DDD ON ON OOo Op Gl l Cl l l Cl Cal Cl Ol 6H eI 1 e e 9 0 1 1 e eo 5 e OOP e e en eo eo eo xr NO SO SO SO SOF SO LO NO NO NOT NOD Wf ND el Oe al l Ce l nl eal al Cal ael al l as l aal al en l anl esl Cal Ce el Cen l eal el Cal l el Cal l enl sl e l Cal ey ey Cal enl l L l RRR ERR EREEREER ERRE ceee eea deme pee Discrete Input End HEX DEC HEX Virtual 70M Coil 82 EasyPAC User Manual TPM SoM MODBUS Input Registers Er n ed DO AN Ops We O E OO DY O CA cnl l WO O E al DY O SCY OO TYPO O E OO DY Oj A CNY cal FE Lal NOP E OO DAY O Cd OO E WO NO Ce OOP DY CO Af NN oO r Lr OO NFAY AY Gl Gl ON AT IN A AY CO O OPO OP OPO OOP O SORE CAL 0 OT 01 03 CA ES OO OO COP OO ral OOP eo OOP OOP eo SE SEP Sty Sty sty xm CEE Ej Ce Ce Ej E OO OO COT OO OO CO OO OO 20 OO CO COT CO CO CO OO CO 20 OO CO COT CO CO COT OO OO CO OO CO COT CO CO CO HO HO CO CO CO COT CO CO HO 20 CO CO oo CAL EAN cl e CAE CNY 1 0
66. rl ml n nl ml n enl ral Vn enl ry NOT Ro mal ay a a a a a a dl aT RY S Ra 9 9 Ra a S Ra a S Ra RA a al il SI SI A dl I dl dl SI SI dl mI mI S mS dl RI S RI SI 9 CONEY CY e 1 0 ONE 1 9 1 9 9 1 9 1 1 3 0 01 NEY 9 9 9 9 9 01 9 NEC ONE 01 0 1 9 01 ONE 9 NEN e 9 1 9 1 1 NEY 01 1 01 a a Saja SAPS SYA SPI AA G SS A SY A E 9 E ka paba ba Ea Ea ka SI SPS gt S SST 0 0 03 Ea Ea n n et Sl Gl I ele pS SY A SS SS AA SA ey e e e e e e en en eo e w wm Dan Dar Dan Dan Dar Dan Dan Dan O OP O bht O O apap MO ere m a p m E zd m m im Ei a See eee eee QE AY COP ST WO OP CO AP CO AY wx ec De CO O e c3 oo mr E OPA NY Op rl Wo O yl OO DS YON eo tu gt oO Ay eo Sty L E COL Cl ol ol ol O ol Cl Cl Ol VTT OLI SO SO SOT NO O Cap be Ge Ce Ce rl Ce Ej CO GO GO 20 oo OO GO NEAL ALO C lani 3 Sj S j S S Sl QPPERPERREPERERERRERERRREEERRRRRERRERERERERRRREEERREREEREE o E 50 e 2 mh 455 997 liae bar der 3298 bar Ter 2063 SOF n1 2071 817 H1 2079 81 11 2087 827 11 2095 82F_ 11 2103 837 11 2111 838 H1 2119 847 11 2127 84F_ 11 2135 857 11 2143 85F_ 11 2151 867 11 2159 86F_ 11 2167 877 11 2175 878 11 9 12263 IE 8 2271 8DF 12 0 2279 8E7 12 2319 90F_ 12 2327 917 _ 12 2335 91F 2 2343 927 2 2351 92R_ 2 2359 937 TE 2367 93F 2 2375 947 12 2383 o4F 12 2391 957 12 2399
67. support 25 TPM EasyPAC User Manual 3 4 Motionnet Product Family ICOP Vortex86DX 800MHz CPU WinCE 5 0 with real time System Support 2 Motionnet Rings Support IEC 61131 3 SoftPLC from KW Support 1 PC 104 extension x ze E Do 106 D5xx 106 D2xx 106 D4xx 107 D1xx EZM D1xx v Slave Cunter v Slave Analog 108 P120 106 A104 1 106 A180 1 108 A122 KZ Slave 1 Axis B Slave Multi Axis 102 M1x1 for Panasonic 106 M1x1 106 M144 106 M244 Coming Soon ES slave 1 Axis Driver LL BCD 4020FU BCD 4020FB Ezi Servo Kingservo NDA 7000 2 phase Step Driver Micro Step Driver Close loop Step Motor Servo Motor Servo Motor Coming Soon Coming Soon Coming Soon Figure 3 4 EasyPAC and Motionnet product family 26 TPM EasyPAC User Manual 4 Software Utilities 3 different software utilities are developed to help users easily make use of EasyPAC 1 MyConfig 2 MyLink 3 MyDataCheck 4 1 MyConfig MyConfig is a software utility designed for EasyPAC Besides providing basic hardware information MyConfig also support online update so that users could set and view the hardware status though Ethernet Recommended Hardware Requirement PC Hardware PC or laptop with Intel Centrino up CPU Memory IGB RAM OS Windows 2000 XP Win7 LAN card RJ 45 10 100 1000 Mbps Software Installation EasyPAC needs 2 files MyConfigSvr exe and EZPACSDK dll PC needs 1 file MyConfig exe 4 1 1 Server on EasyPAC Before p
68. tH CAT O eoll A cal eol W HP CA cal cof WO rl CAL cal co Ol l eal csl co l HY A cal eol O ES Fa ol DO eol AL al A AY A cl kl al OO laal l SYS eal eol te F rl eal eol AL SO cal AT A el St te Ol Ol l eal AL l l lel eol l lO l ecl ol Of GC ol GPO ve eve i mI Eel el l cli e ve A col sol ol sol cd ool eol eol 00 co Zal Sd Col BI aL AL a al AL AL AI AL AIA ALS Sl OL Ol cal al Zal cl SP ol SIS So wi ww wal wll wl und tal unl tal inl tal tal tnt wl in in ial ww pw us pu ALAA ALA uu uw vue uu up up 9 9 Ko ol Ko Ko Ko G GP Gl G GP SG e elo elelele eje lelele e ello ele ele lll ele ele ele ele ele ele e e el ele el e e e es ral lm SO CHP OO OA COP SO OOP SE WO O OO AY Mo SY CA OO ro NO E OOP HY Oj A CNY OO SY O BY OO A O A ONY OO iO O E OO OA O CA OO ST WOT NO Ej oo a a SY SHINY I CA CA CY EY 1 Cd 9 e e e OP e e eo eo mn SPP lt r mI arl rl SS PO POMO LOS AS n O n AS OO NO Ol MO MO SWOT O WO WO So MISS v v v v Eg Ka Na v Ka wv v v v v v v Ka ee wv vv ee v v Ka vov wv nl ALAL ALALA Vn nn nl ee n ee a n nn ee Ka Ka a Ka Eg lol olol elo ol ol o ol ol o ololo ol ol ol ol o ol elo ololo ololo ololololol ol ole ol elo ol elo o elo ol ol ol ol ol ol olol ol olol o E Mm o ea COP SPW NOP GP OO A CY a ON OO SE Ll NOT OY OO L CO dl dl OO ST TO COP A Ol CNY OOP STP SO OY OO DY OY SY NY OOP SE YD SOP Ge
69. the illegal range 48 63 If the IP address of an axis module is not within the illegal range 1 32 would not be in the list Modules within legal IP range will be saved as kwcfg file in the PAC 3 EEPROM Modules with EEPROM are in the list Users could select modules need to save the profile in the EEPROM and then press Save to save the configuration profile in the EEPROM B Recovery The recovery dialog will show up if enters File Recovery Config From 47 TPM EasyPAC User Manual Source Recovery settings from File J Self EEPROM O Other Axis 1 Axis 0 1 Axis 2 1 Axis 3 1 Axis 9 1 Axis 43 Target gi Ring v 1 xis 0 l 1 xis 2 l xis 3 Fl1 Axis 9 1 Axis 43 Load All Cancel Figure 4 37 recovery dialog with file source l File The recovery source could be stored as a file Users could recover from the file to targets in the target list 2 Self EEPROM Targets could be multi selected to be recovered from self EEPROM 3 Other Axis It is to duplicate the axis configuration profile from one source axis to the designated target axes Press LoadAll to recover the configuration profile Edit Path File Users could edit the interpolation motion path and save it as a kwpts file under Tool Edit Path option Path Farameters of Fath Count 8 etVel 1000 MaxVel 2000 Toon D
70. the axis parameter from xxxx pccfg Axis Data Type AXIS REF Execute Please refer to the Execution Logic Axis Data Type AXIS REF Status Busy Active Error ErrorID Please refer to the Status Logic 136 TPM 5 6 5 2 MC_Power MC_Power_1 Function Input Parameter Output Parameter EasyPAC User Manual Enable Servo Step Driver for IP1 1P32 AXIS 01 AXIS 32 AXIS Data Type AXIS REF Execute Please refer to the Execution Logic AxisIP Data Type USINT Axis Data Type AXIS REF Status Busy Active Error ErrorID Please refer to the Status Logic 137 TPM 5 6 5 3 MC_Home StartV elocity MaxY elocity T cc Function Input Parameter EasyPAC User Manual Do homing of the axis Axis Data Type AXIS_REF Execute Please refer to the Execution Logic StartVelocity Data Type DWORD Start Velocity Max Velocity Data Type DWORD Maximum Velocity TAcc Data Type REAL Acceleration Time 1n the unit of second TDec Data Type REAL Deceleration Time 1n the unit of second Curve Data Type BYTE Velocity Profile 0 for T Curve 1 for S Curve 138 TPM Output Parameter Direction Data Type USINT 0 for Positive Direction 1 for Negative Direction Axis Data Type AXIS_REF Done Busy Active CommandAborted Error ErrorID Please refer to the Status Logic EasyPAC User Manual 139 TPM 5 6 5 4 MC_MoveAbsolute MC MoveAbsol
71. 0 S a iL oz DE pu Mala 106 0422 ONN i dd H kod 944 8 j Ooz S25 1106 0440 Buy Mpx u ig Ss Rm GN d Tm JA A 4 E V Ka Sf Ya Y v L p y APETECE T aso e oe Pa C e C3 Be ES PT Pr 2 NE T E UR rd Fe FAS i NOA MAA Nw SAA ee ei AA LLLA O Figure 5 115 wiring of the module 10 17 5 8 30 af Figure 5 116 terminal definition DI DO DI DO 00 20 10 30 06 26 16 36 Table 5 11 the wiring table Test with MyLink Set SW1 as 2 to activate MyLink server and power on and use MyLink to check the setting 209 TPM EasyPAC User Manual all DIO RingO IPO Figure 5 117 testing using MyLink Set with MyConfig Set SWI to 1 to activate the MyConfig server on EasyPAC and power on and set the Modbus setting with MyContig as shown below Modbus TCP Slave ID 1 TCP Parameters Port 502 TimeOut 3000 Login PAC Info Update AES code Modbus parameters Slave ID TCP Parameters Port TimeOut About MyConfig S MyConfig V11 209 0 1 RTU Parameters PortName Baudrate DataBit StopBit Parity Com4 115200 Recover Factory Figure 5 118 parameters setting using MyLink 5 7 5 1 HMI Project Create a new project HMI PT104 HMI is used in this case with Modbus TCP protocol Create a new project in the PM Designe
72. 0 O 4l 2 42 4 143 6 144 8 145 O 146 2 147 4 148 6 149 8 150 O 151 2 152 4 153 6 154 9A 8 155 O 56 2 159 4 158 6 159 8 160 O 161 2 162 4 163 6 164 8 165 0 166 2 167 4 168 6 169 8 170 O n7 21172 4 173 6 174 8 175 O 176 2 1197 4 178 6 179 8 80 O 81 2 82 LL 1551 60 1559 61 1567 61 1575 62 1583 62 1591 63 1599 63 1607 64 1615 64 1623 65 1631 65 1639 66 1647 66 1655 67 1663 67 1671 68 1679 68 1687 69 1695 69 O 1703 6A 8 1711 6A 0 719 6B 8 1727 6B 0 1735 lec 8 1743 6C 1751 6D 8 1759 6D 0 1767 6E 8 1775 6E 1783 6F 1791 6F 1799 70 1807 70 1815 71 1823 71 1831 72 1839 72 1847 73 1855 73 1863 74 1871 74 1879 75 1887 75 1895 76 1903 76 1911 77 1919 77 1927 78 1935 78 1943 79 1951 79 o 1959 7A 8 1967 7A o 1975 7B 8 1983 7B o 1991 7C 8 1999 7C 70 EasyPAC User Manual TPM Virtual CO oO MODBUS Input Registers iet Registers MODBUS Holding eo St T T S PI T T be os s E el eh s es el ol e e Los os es een on Des lo Lo lo E SE BIE E EA EEES E ES lea Doy Bn en S etes pm 007 0 2007 7D7 8 2015 7DF 11 015 0 2023 7E7 11 8 2031 7EF 11 2039 7F7 11 2047 7FF H1 2055 807 11 e exl Fed SL leo es cal ol eal ATS A us e m qa 5 2183 887
73. 0 519 207 grw 319 Je Qj leow 319 63 3F_ AXIS 134 io status IW 321 ID 321 64 40 leow 321 64 40 gt rw 323 J s la QW 323 65 41 AB 67 536 218 543 21F 608 67 536 218 543 21F WIW 325 Tenn 325 66 42 leow 325 less 42 sew 327_ 67 43 wow 327 67 43 14 RT 329 ID 329 68 44 QW 329 68 44 IE aw 331 69 as wow 2331 69 45 GIB 72 s76 240 583 247 08 72 576 240 583 247 ZN 335 m 47 leow 335 1 4 AXIS 152 position 768 300 769 301 15 m aw 339 73 j49 mow 73 49 MB 75 600 258 607 25F 08 75 600 258 607 25F o7 eI 33 5 AB OW 343 75 MB WIB 77 616 268 623 26F OB 77 616 268 623 26F WIW 345 AD 35 76 4C QW 345 AXIS 16 2 position 777 309 778 30A 19 eIW3 7 MD QW 347 77 4D 16 AXIS 16 3 current velocity 779 30B 780 30C_ AXIS 16 44 io status 781 30D 782 30E ZIR 80 640 280 647 287 QB so 640 280 647 287 Iw 351 lo F leow 351 AXIS 16 5 motion done 783 EasyPAC User Manual TPM a x M 2 SIS ES e a sters 927 MODBUS E SC ERIDE 4 310 78 6 312 78 8 314 78 o 316 79 2 1318 79 3 319 79 5 318 79 7 31D 79 9 31F so 1 321 80 2 322 80 4 324 80 6 326 80 8 328 80 o 32A 81 1 328 81 3 32D 81 5 32F 81 7 331 81 9 333 81 o 334 82 2 336 82 4 338 82 6 33A 82 8 33C 82 9 33D 83 1 33F 83 3 341 83 5 343 83 7 345 83 8 346
74. 0 2 Ol C a OI agl Ol l A al lal HY al eal oal Ol r AL eal Go ol H a cal agl CO HY A O 09 wlr A al aal wal H A l ewl CO rl CAT eal GO CO H cal ol Gd W O HY A O al CO alo 2 rl lel a OY a AP AT l Ht to GS GS l co GB OS SY GS uma me l EY WS WO rl SO Od BAL SO GY AYP all xe SO OY 00 al l Ol i al co FP OY Elo ol l GS BT a St x Fl lt r lwl to wal val wa wo WS A tr A wal Ol Ol Ol Ol O CO OF l ol CG CG OP BP e Se el e ele ele el E od l oo aol 00 20 00 agl od eol ol 0d Go a AL oO CP OP OL Le Lele Le pele cc c c ce e e 0 e 0 0 e 0 0 0 o o o o o o rl e o e ele e elre c rlre e o o rel rel e e SS RRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRR A lt l Pl yy Ln AS Ln AS LAOS AO Or NO Ol NOT NO Ol NOT Ol Ol Ol m E e e Ej Ej E Ej E Ce OO COT OO OO COT DO BO HOT BO BOT DT DY DY AL DY DY AY OD POP OP l Lll ll el elre Aan Aan Aan Aan Aan Aan Aan Aan Aan Aan Aan Aa Aan Aan Aa Aan Aan Aan Aan Aan Aan Aan Aan Aan Aan Aan Aan Las Aan Aan eicere elll vt vt vt vt o 14333333333333333333333333333333333333333333333333333333 O e MODBUS Registers a lp MODBUS Discrete Input Virtual M M MODBUS Coil 83 EasyPAC User Manual TPM M MODBUS Input Registers VI Holding Registers p TERM MEE 07 NEN OF NEN 7 NEM F NEM 772 NDA NEN 2B NEN 7 NEN Eo NEN 7 m F i 7
75. 05 6 6 SR S 64 o n 47 eoBs ho 71 47 wwov 7 p Qqw27 p p 2 IW 209 wm 209 lg s ow 209 s s 218 10 fso so s7 s7 wQs 10 lso so s7 57 j ewou s je jeowou e XR 12 96 60 103 67 QB 12 96 fod 103 aws l B QW2IS 11 B AXIS_03 2 position 660 294 661 295 _ ZIR 13 104 68 111 6F 0813 104 l g 111 F 3 arw 219 D QW219 13 D IB 15 120 78 127 HE amp QB 15 120 IW 221 ID 221 AXIS_03 5 motion done 666 29A 666 29A AB 16 128 eo 135 87 0816 128 lso 135 87 wrw22 lis Jr amp Qw223 15 F MB 17 136 88 143 RF 9QB 17 136 AXIS 04 2 position 669 29D 670 29E IB 18 fi44 90 151 97 wos18 144 Joo isi 97 jemw2zx 7 ju f ow 227 j7 ju 4 JB 19 152 log 159 9F QB 19 152 log 159 9F ZIR 20 i60 lao 167 so ew 231 fis J13 wow31 i9 13 AXIS 045 motion done 675 eB 22 176 so 183 87 amp QB 22 176 so 183 B7 mrw235 1 fis QW 235 21 is WIW 237 5 rw 239 925 17 Row 239 23 17 MB 26 208 po 215 p7 0826 208 po 215 D Ien 243 ls i9 low 243 ps 19 MB 27 216 ps 223 DF 08 27 216 Ins 223 DF ZR 28 4 leo 231 SENT 27 im QW 247 27 IB 6 AXIS_06 3 current velocity 689 281 690 282 WIB 29 232 es 239 EF 0829 232 Es 239 EF XB 30 240 fro 247 F7 wQB 30 240 fro 247 F aws im Qw 251 9 iD
76. 1 Start 2 gt ositio e Aborte CA_1 2000 1000 100 100 100 Aborting Timing diagram for example above with FB2 interrupting FB1 Aborting Mode 132 IPM EasyPAC User Manual Rules for the definition of Motion Control function blocks according to PL Copen The input output variables of the function blocks mandatory according to the PLCopen Standard are marked with the letter B in the defined tables in the definition of the function blocks Input output variables marked with the letter E are optional 1 e they can be implemented but are not mandatory Vendor specific input output variables i e added by the vendor are marked with the letter V According to the IEC 61131 3 specification the input variables may be unconnected or not parameterized by the user In this case the function block will use the value from the previous invocation of the function block instance or in case of the first invocation the initial value will be used 133 TPM EasyPAC User Manual 9 6 5 Motion Function Block List Name Rule FB s with MC prefix are developed according to the PLCopen standard FB s with SA_ GA or EP_ prefix are developed by TPM Execution Logic The execution can be activated either by rising edge or falling edge and the data type is BOOL In the case of rising edge Execute will be used as the parameter In the case of level trigger Enable is used as the parameter When level 1s HIGH it will be executed r
77. 11 2191 88F_ 11 2199 897 11 2207 89F_ 11 o 2215 8A7 11 a Slo 215 e feas Jas fn o 2231 887 11 8 2239 SBF 11 0 2247 8C7 11 s poss scr hi2 E e e 292 ye E p e Se 205 8 2287 SEF 12 2295 8F7_ 12 2303 8FF 12 2311 907 12 e e eae xe eil SOT al e M M 407 2415 96F 12 2423 977 2 2431 97F 2 2439 987 12 aip tii of le Wa SO E CO AYP CO YL CAP OO SE WO O E OOP DY O AE NY OOP SEP YO NOP CY OO DY OY A NY OO l rn O E OO AP OO SY Cd OO rl WOT NO Eo HY O A ES ESA TYP O E OO DY CT Eaa e O l O Ol ay I 9 ea Cd 01 CCE 01 1 1 9 e OO eS eo eo eon eo eo eo eo lt r SEP SPP Sy SEP rl SP SPP rl ml n nl ml n nl AS AS enl rl OL O ef Ra a a a a a mI a Ra S dl 9 9 S a 9 Ra a a Ra I mI a mI mI mmSI Ra RI dl Sl SJ RI SI Sl dl I mI S mI mI S mI dl dl mS 9 COL ONL ONE e e e 1 1 9 CY 0 1 1 1 91 9 1 1 01 01 9 01 9 1 1 01 1 1 9 CA 1 1 1 91 1 aaa 1 01 1 ala aj f 1 1 1 01 Lol ol ole ol olo ol ole ololo ololo ololo ololo ololo olol o olol o olol o olol o elo o olol o olol o olol o olol ol olol ol ola Wa SO E CO AP O A CNY OO SE ml O a DY O SAE CNY OO SEP YO NOT E OO A O SY NY OO TY O E OO AY O SY NY OO SE IO NO BY OOP DY Em Ean ES cal fl in NO E OO O Oj A eo o o o SS o ol dl dl NE 3 3 1 019 1 CAL CAL e e5 eo eo eo eon cal OO eo eo lt r SEP rlr lt r SP rl Se SEP
78. 11 ENV50204 EN55024 EN61000 6 2 EN61204 3 heavy industry level criteria A 301 7Khrs min MIL HDBK 217F 25 C OTHERS 40 30 100mm WH PACKING 0 3Kg 42pcs 13 6Kg 0 B2CUFT NOTE 1 All parameters NOT specially mentioned are measured at 230VAC input rated load and 25 of ambient temperature 2 Ripple amp noise are measured at 20MHz of bandwidth by using a 12 twisted pair wire terminated with a 0 1uf amp 47uf parallel capacitor 3 Tolerance includes set up tolerance line regulation and load regulation 4 The power supply is considered a component which will be installed into a final equipment The final equipment must be re confirmed that it still meets 5 Length of set up time is measured at first cold start Tuming ON OFF the power supply may lead to increase of the set up time SAFETY amp EMC Note 4 EMI CONDUCTION amp RADIATION Table 1 2 hardware specification 1 8 Package List Package list is as below EasyPAC EPC 1100 Specific power module System CF card with built in software license WinCE5 0 ProConOS Product CD Including manuals and installation tools 14 TPM EasyPAC User Manual Note that if you have any question for package please contact our local distributor or register on our web site We will offer the new library template and demo programs 15 TPM EasyPAC User Manual 2 Hardware Installation 2 1 Dimension The outline dimension of EasyPAC is show
79. 3 x ea aa 03 3 3 e en eo ONE cJ CAL CAL CAL CAE ONY ONE CAL CAL CA RS ES RS RS 011 1 0 09 CAL 0 0 3 3 OO eS e e eo en ea eo cal OL cal cal OL ea eo eo eo e eo OL e eo eo en eo eop en ena eo eo en ena eo e e e ex e ex e e e ex ala e ex e ex ex ex e e e e e e e exe cal ex ex ex ex ex e e e e ei ey ex e ox ex ex oe e oe e e ei e al ei oe ex oe o Gal e e Gul e al e al e e e ES l al ES Dal e Dal e 3 c e r r r r a t r j al l Hal rl Al G Gal GL G AYALA I Oo OS IS OLIO Gl GIO OO O Ol aaa aia Ol Ol OO aa m a Ol aj al aj a af a Ol a 9 a mf aj a Ol af a epee 9 9 a ey ey En WAP OOP dl E rm OO al KE e rm OO Kal ONE l Lr rah oa ONT e l a ral AE ONT Ce m ral 4 G Ce Lm OOF o o YO OO al CO l 09 OO al ONE UJ 9 ONY L Lm ral op OS Ce rm Cr Se DY DIS ALY Gl Sn TPO Gl SY DY S 2 aL AY 9 SPL O l NO Ll el DEY DI 21 A co al Sla OL l Sl DOP AY AY COP E ARAN Gl I QAI SI aa Oe ee ee OO DECOY Sy CAP OO SP EA NO E OOP AY CY AYN ral ST O Oe OO DY O Sa Al OO lt r WD NOP E OO QP COT Sa CNY cel SY WMO Ea HY CO AE CNY OO rl YO MO OO HY O ES em ors KI QT SQ 9 QT e SQ LOT e3 e e SET SET a cal cal Do a Baal ST o Dl el e tl Del O el EURU O 21 21 RT GP AGT ROT NOT NOT NOT NOT CI Coy C Cl C E Ee Eg Es 9 Nl 99 99 CONEY e NENT NEC 3 dl 9 0 NEN 9 9 01 dl 3 9 01 091 01 9 9 01 0 0 9 1 9 1 9 0 dl NEN 9 9 0 NEY 0 0 1 1 NEN 1 9 01 NEN QRPRRERERRRRREERERMERAMARR
80. 4 48 error message if not two axes are doing arc interpolating motion 4 3 MyDataCheck EasyPAC provides 2 kinds of data type for MULTIPROG and Modbus 1 The data type defined by I O Configuration on ProConOS is to be used for MULTIPROG 2 The data type defined by Modbus is to be used for HMI connection MyDataCheck is used to map easily and correctly the data in ProConOS to MULTIPROG and Modbus MyDataCheck is installed in the remote PC but the EasyPAC Recommended Hardware Requirement PC Hardware PC or laptop with Intel Centrino up CPU Memory IGB RAM OS Windows 2000 XP Win7 LAN card RJ 45 10 100 1000 Mbps Software Installation executable file MyDataCheck exe ProConOS MULTIPROG I O Configuration There are 3 types of memory INPUT 1 OUTPUT Q VARCONF 96M 55 TPM EasyPAC User Manual I O Configuration INPUT OUTPUT VARCONF INPUT User defined Input IBO 1 Task Figure 4 49 three tabs of each type of memory Ring 0 of EasyPAC supports up to 48 DIO modules and 16 IP48 IP63 AIO or PIO modules INPUT OUTPUT is explained in the following Total length of INPUT Local DI 1 Motionnet DI IPO 1P47 Motionnet AI IPA8 IP63 48 IP x 4 Port x 1 Byte 16 IP x 8 Channel x 2 Byte 192 256 449 Byte Total length of OUTPUT Local DO 1 Motionnet DO IP0 IP47 Motionnet AO IP48 IP63 1 48 IP x 4 Port x 1 Byte 16 IP x 8 Channel x 2 Byte
81. 49 o 49 o 49 o 49 o 49 o 49 o 49 o 49 o 50 o 50 E o 50 o 50 o 50 o 50 o 50 o 51 o 51 o 51 78 EasyPAC User Manual PULTE S JE MODBUS Input Registers Bes e fe rad ee cal cep l Gul eme me m e m e m Sg Dal e B gem eme jme m e me m ve m e me m ie m e me m e m e a Sey m Cl AH ala oa x l wal oG Gl Sl Gel l lt l lel L El Gal GB L L Dl Ol GO l a Gl Sl Sl el l cal cal ela x a a SO OY GE CO co o al lt lt a a o NO NOT NO NO NOT NO NO NOT NOT NO Ol NO NO NOT NO NO NOT NO NO NOT NO NO OL NO NO NOY NO O OO E BY E E e l ey l E l 0 E l Ej Ej E Ce Ej E tj bj l 0 Ej C9 Al 0 0 0 0j I I 0 I 0 0 j I 0 I 0 0 09 eI 0 Ii 0 0j 0 0 0 0 f 0 0 0 0 0 j 0 I 0 0 0 09 0 0 I 0 I 0 I Wa OOP ay CNT Dep WO OO Baal ONY De E BSA Bani ONT l Ln OO Bani ONT m cal gal ON rl WT rm gal ONE Mi n OO Boa NY DEP ral El ON Ce YO ral a ONT Ce rm crn o ONT A a cra al ON Be Lr Wa SOP be Be COP AY COP AE SAY NY OOP SE Ln WY NO BY COP DY DY COP E ON OO OO SEY A NO DEY Ce OO DAL OPS SN ral l A A NO DY OY DY DAY Op Era AY CO OP YO OY Ce ey ol LO SOF SO SO SOP LO OY Oe r r e Ce l Cee Ce Ce Ej Be GOL GO OO COT OO OO CO OO Ol OO CO CO A CN GN NY NT Gl A NT AY HY AP OO OPO Cal OPO ol o ol oj oj 4 a w v wv v v v v wv v nn v O vp O v T A Le v n v wv v A
82. 83 o 348 84 2 34A 84 4 34C 84 6 34E 84 7 34F 84 9 351 85 1 353 85 3 355 85 S 357 85 6 358 85 8 35A 85 o 35C se 2 35E 86 4 360 86 5 361 86 7 363 86 9 365 87 1 367 87 3 369 87 4 36A 87 6 36C 87 8 36E 87 o 370 88 2 1372 88 3 373 88 5 375 88 7 1377 88 9 379 89 1 37B 89 2 37C 89 4 375 so 6 380 89 8 382 89 384 1 385 90 3 387 90 5 389 90 7 38B 90 38D O 38E 91 2 390 91 4 392 91 6 394 91 8 396 91 9 397 s2 1 399 92 3 395 92 PE Es a 8 E 8 8 8 E 8 8 8 8 8 8 E 3 8 E 02 o 02 02 02 02 02 o 02 02 o 02 02 02 5 a BS al E la du 9 du sl 3 fol Slo al a aE sl Su st Sul 8 elo fo ae al Ele jel So 8 Blu l 8 En H al Shor al el Ol SP a el elo E ss el 2 ol Sb a el glaS ob elo a sv Bla s El ala e lalala ele a Bla ele la S aa 2 ol Bal PL ela BL e 8 9 BI gt aa j2sssnis2ssisiss2d2522 2 924222222225252825222 5 242 22422455222 522 2222282222222 42 225 ab A l o Fl SIG 2 Rl ul O Blo O a Bl ml G R ul O R ul O Bl ul Gg Rl ol O Rl O Flo O al R ul O Rl O R l O a R ul O R E S L Ql G Ql Ql OU 21 5 val UO eyes l i 2 OU eles vi l Wl Gl OU Ql YO Gl Ulloa vj OF 21 5 nl GL j G GU iA H 5 in n 4 st i8 n 5 in H i t in H zz E NT H 5 in H 15 in H RE id H 15 i8 H 215 Ta H JEE in H 15
83. 95F 12 2407 967 12 MODBUS Discrete Input 70M Coil psc ns oec hus M 71 EasyPAC User Manual TPM Virtual 70M SIS a MODBUS Registers Registers MODBUS Holding i ON E e 5 SISSE S s DD BAT i 9AF j2 por hz sur 2 EF 12 ar h2 AOT 2 AOF 12 A17 12 AIF 12 A27 12 A2F 12 A37 12 A3F 12 A47 12 A4F 12 AST 12 ASF 13 A67 13 AGF 13 A77 13 ATE 13 A87 13 ABE 13 A97 13 ASF 13 AA7 13 AAF 13 AB7 13 ABF 13 ACT 13 ACF 13 AD 13 ADE 13 AB7 13 AEE f3 Bor 3 BOE 13 B17 j3 527 3 pi Es SadggxsudescusssesscmougoE sS m sal F en 0 ca cal ea 246 247 247 248 249 250 251 23 252 253 254 255 255 256 227 258 259 259 260 261 262 2 2 2 2 2 2 2 2 2 z 2 2 2 2 2 P Z 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 Z 2 2 6 998 _ 4 9A0 2 9A8 0 9B0 8 9B8 LE 12 Do 0 ong 8 9EO 6 9E8 4 9FO_ 2 9F8 0 A00 8 A08 6 A10 4 A18 2 A20 0 A28 08 A30 6 A38 4 A40 2 A48 O A50 8 A58 6 A60 4 A68 2 A70 O A78 8 JA80 6 A88 04 A90 AM 16 Boo 4 BOS 2 B10 0 B18 8 B20 6 B28 4 B30 2 B38 0 B40 8 B48 6 B50 04 B58 MODBUS Discrete Input e lwolvelelieloi iwalwei iwlwolvelvloelioil inwaiweil 1wlwoveleielol eialwel Iwwvivwgslelolmalmelxive rl egl a Ol A ca co vo wo uil Yee O O OP SY SY
84. A eo eo lt r SP Sep rl SP SS II oral rol en Lr C bp OO SO CO GO BO SO OO CO OT BO CO CO HO HO HO HO CO HY HO HO CO CO HO HO HO CO HO HO DO CO CO HO DO HO CO HOT BO CO CO CO HO DO HO CO HO HO DO CO CO HO DO HS oO J4333333333333333333333333333334333333333433333333333333 lt O O eme pee Discrete Input End HEX DEC HEX Virtual 70M Coil 84 EasyPAC User Manual TPM M MODBUS Input Registers VI Holding Registers p E MEE CE NEN D7 NEN DF NEM E7 NEM EF NEN 7 NEN FL A 7 NEN Fl m 7 i EL NEN 7 EE EP NEN 4 E ES Fl A E EN Fl LE 7 NEN Fl p 7 EA Fi NEN 7 EN Fl p 7 p EP MEN 7 NEE Fl MEN AT NEN AF E B7 NE BE NER A mm CE EN D7 EN DF EE E7 MEN EF M 7 Eg F NEN 2 MN NUN Fl p 728 H EN Fl EA 7 NE Fi MEN 7 NEN Fl ES ANN NN BE y NEN 7 MEM EL NEE A EA Fl EA I EN EP NEM 7 NEN COP tp Yo SO Ce SO DY COP ay ES OOP SEY ml NOP OO AY l SY ON cel SE YP NO De OOP DY CY o0 OO SEY NO Ge OO HY CP o cal mn v OPO OO HY O A ox cel 5x WT OY E COT O Seopa ol Oj ol O al Sii spay ea ALAA AY AN cA A e COP eo eon OOP eo OO eon cal eo SPP r SPP SPP SP SSS SS a AMO AO LO LOA n o DY OP ON ONE GAT ON ON ONT ON OS GNP ESN GAT GAT ONT ONT ONT ON ON ONT ON ON ONT ON
85. Axis is executing homing motion when Homing is TRUE ConstantVelocity Data Type BOOL Axis 19 executing constant velocity motion when Constant Velocity 1s TRUE Accelerating Data Type BOOL Axis is accelerating when Accelerating is TRUE Decelerating Data Type BOOL Axis is decelerating when Decelerating is TRUE 153 TPM EasyPAC User Manual 5 6 5 12 MC_ReadActualPosition Function Input Parameter Output Parameter Get the axis actual position from encoder Axis Data Type AXIS_REF Enable Please refer to the Execution Logic Axis Data Type AXIS_REF Valid Error ErrorID Please refer to the Status Logic Logic Position Data Type DINT Logical commanded position Encoder Position Data Type DINT Encoder actual position 154 TPM EasyPAC User Manual 5 6 5 13 MC ReadBoolParameter MC ReadBoolParameter 1 va L pyy Lal Tacna m dn t Y G v ead Boolrlaramete E Function Input Parameter Output Parameter Get BOOL type data Axis Data Type AXIS_REF Enable Please refer to the Execution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details Axis Data Type AXIS_REF Valid Error ErrorID Please refer to the Status Logic Value Data Type BOOL Actual parameter value 155 TPM EasyPAC User Manual 5 6 5 14 SA ReadByteParameter ead Dte Parameter 1 SA R e a Hs A dd ES ead byte arame 18
86. B E CF Runtime system specific functions Runtime system specific function Bit manipulation functions E E 4 Figure 5 39 the help file The sample of TON is illustrated and the IL ST related information is also available FB can be moved behind the contact and connect it with direct wiring as shown below 108 TPM EasyPAC User Manual TON_1 PLCMODE RUN Inside coil01 Y E Figure 5 40 TON FB example with timer input PT Double click on the blue point of PT to enter the desired timer value In this example the name is given with T 1s or T 1000ms as shown below PLCMODE RUN Inside coil l k Variable Properties Name Definition scope Local Data Type Local Variable INT Default Figure 5 41 TON FB example with coil output Q Double click on the green point of Q to set the coil output as shown below PLCMODE RUN Inside coil amp 1 ki T 1 Variable Properties Name Definition scope Inside coil Local Data Type Local Variable Gi BOOL EJ Default Figure 5 42 TON FB example with coil output Q specified After setting name data type and usage users could select R_TRIG in the Edit Wizard and double click on it to name it as R_TRIG_1 and press OK Please then left click on the blue point of CLK to make it blue as shown below 109 TPM EasyPAC User Manual PLCMODE RUN Inside coil 1 e k 141 Inside_co101 Fu
87. COM port pin assignment 1460060069 5 6006006010 2 2 2 GPIO CN2 Pin Pin Mark Pin Description EX 2 R8232 RX3 RS232RX RS232 TX3 RS232TX NC o o 5 RS232 GND RS232GND Reserve NC 7 RS232 RTS3 R8232 RTS signal R R3232 CT33 Ro232 CTS signal 11 RS422 Ri RS422RX 1 1 z R3422 RX e EM NC 10 Reewe NC _ _ 13 RS422 T1 RS422 TXi RS422 Ti R5S422 TX RS422 1 GND RS422 GND Figure 2 4 CN1 pin assignment The pin definition of this SDI SDO connector is shown below EasyPAC User Manual 18 TPM EasyPAC User Manual Pin Pin Mark Pin Description 4 EXrNs Tapie nns s Ext agg neas EXT INS s Ean Tapie naat s seo cow Tape sor GPIO Output 0 CN2 GPIO Output 2 T Exrours GPIO Ouput3 EXT OUT4 GPIO Output 4 GPIO Output 5 Tie exrour GPIO Output7 E24V Figure 2 5 pin assignment of CN2 2 2 3 Ring 0 CN3 The Ring 0 of Motionnet on CN3 is used for digital input output and analog input output slave modules The pin definition of this connector 1s in the following 1 8 Nc Reserved 4 Nc Rem ES 6 Rss Motiomet protocol R Reserved Table 2 2 pin assignment of CN3 2 2 4 Ring 1 CN4 The Ring 1l of Motionnet on CN4 is used for motion control slave modules The pin definition of this 19 TPM connector is in the following 2 2 5 24V DC I
88. COP eo e en en e en eo cnl ea en al eo e cal eo OE OO eo cal OO cal cnl OO eo cal al eon oop oop mr SPP Do St Pl mI mI sey a rdl 0 0j 0 0 0 0 0 0j I 0 0 0 0 0j 0 0 0j 0 0 0 0 0 Sani 0 0 Sani 0 0 0j 0 0 0j 0 0 0 0 0 0j 0 0 0 0 0 0j 0 0 0 0 0 0 0 0 CO o Eje A DO O OO a ONY De OO SAE O De WO OO dl A EA ral SY A CP ral A O ve pen DO Ei e Oy fio e 0 l ral CA E t ral A So ajo ee a a e cA cy col Hl ST 9 Ol Gl slo o S I olaa lt a lol elsa a el alo ello Vl Se a G a AY a al SP a ajo eo o BEER CREE EEE EEE EEE EE EE EE EEE SEEEEEEERBEBEEREREERRREERESS DO A cal a st col of rl cof APO A caf en tf cn CO rl co BIO GI al eg YP Lal OL rl egl BI OP A ca eo bea LA OP co ALO GA caf en tf un Oo rl co ALO A ca en te EA D e el el Sl el eleal SI SP l ll Gl ll al ap ap AY ESN EN G AT a A EN EN aaa aaa ol Gl CO a COP SE lt lt TT PT S O o o EA EA e Ol El mI RR RP RP RM RM cc RM Rm RI gt Rm RB RB gt Rm RM RM RM RB RE Rm Rm Rm RB RM RM RM RI M Rm RB RE RB REIR gt gt lt gt gt m gt m mb cc S PR PAS o pn pe pe p ug pl e p Ps pi m p p p A Pp pe p pn e e pepe pem perm eme e rdl 0 0 0j 0 0 0 Registers 2 2 247 MODBUS Holding A EC HEX w 3 1287 18 1 128F 18 9 1297 18 7 H29F 18 5 12A7 18 3 12AF 18 1 12B7 18 9 12BF 18 7 H2C7 18 S 12CF 18 3 12D7 18 1
89. Convert BOOL to DWORI Converts EQOL 19 NT Convert BODE to LAE AL Converts 8001 to REAL Convert BOOL 10 SINT Convert BOOL to UDINT Converts COL 19 UNT Comat OO INT t EasyPAC User Manual Project Tree Window and Edit Wizard are shown in the above picture Double click on INIT AXES in the Project Tree Window to open the edit window as shown above There are 5 programming languages available in the MULTIPROG Express 5 35 tool The sample program with LD will be explained in the next section O 1 LD Ladder diagram 2 SFC Sequential Function Charts O 3 FBD Function Block Diagram o 4 ST Structured Text 5 IL Instruction List 5 4 1 Edit with LD Open a project with LD programming language as shown below 4 MULTIPROG Express lt ES File Edit View Project Build Online Extras 2 Libraries _ Data Types S INI Insert 0 Unt e Properties Figure 5 27 sequence to edit program Right click on the Logical POUs and select Insert Program and the following window will pop up Enter the file name in the Name text area select Type with Program and Select LD as the programming language 102 TPM EasyPAC User Manual Function Block Action Transition Step Worksheet Processor type Figure 5 28 insert a new program A pop up window shows Invalid name in this example All the symbols including space are not allowed to input as the na
90. D Version 2 SOC Type VortexS56DXx OS Version A saved IP Address T lane Figure 4 2 Hardware basic information 28 TPM EasyPAC User Manual Settings Setting IP Address E setting Admin Password Setting User Password Figure 4 3 change settings of IP admin password and guest password Note that only if the user 1s in the same network section can change the EasyPAC IP address Press the Save button would update the EasyPAC IP address after reboot The admin and guest password would change immediately when new a password is input and Save button is pressed 4 1 2 3 Update It provides online software update Please make sure the PC is connected to the internet before online update If the Check for Updates button is pressed it will show up the software versions on EasyPAC and user s PC at the top half At the bottom half shows the latest software versions provided from TPM 1 y Z MyConfig V11413 15 15 JA UM x PAC Info Update About MyConfig Software Version in KasyPAC PC Check for Updates Start Update l MyConfig VILA131515 E FF 7 AN oo cia lm Login PAC Info Update AES code Modbus parameters About MyConfig Software Version in EasyPAC PC OS Image Version 11 224 0 1 EZPACSDK d11 Version v dis dU E Soft MNetCE d11 Version s JUJ3 Ud MsgDevCE dll Version MyConfigSvr exe Version MyLinkSvr exe Version pewceb e
91. E CU e FEN REEL OE CURT ERE EFE ERE E EROR CHRIS ERE CH VU IUS ERE ES 23 3 1 WHAT IS MOTIONNET ee 23 GRAIN Irene M FON TON ERE 23 3 ADVANTAGE OF SIN E d E wm 24 34A MOTIONNET PRODUCT TE 26 e Ru a UTILITIES erenn A we we ew E E A E eee ee 27 AN le o 27 LAM lt S E SII BRENT 2 21 2 PE SI SECURUS E AT e e e Ur ES RIEN UI Exin E 27 TPM EasyPAC User Manual A e e 5 o A A E EOI 32 ZUR MELLON AC ERR 32 A o oO E o OF EE PP SE E 34 Ate DIO Module OPA EDO D m Eee 36 Az FO WONG OPA rt l ds 36 4 23 PIO Counter Module Operation ji scacciccavasn dexseseincavenneddvsageiasaveskidexseseahuavesiud esagiincaveshiduxtegeataavesied esagdingssecdidestedeees 42 Az DO 6015 Module RP CO UC 45 AME ERT r o EN m D om UM 46 2 NS IBI Np ize T 55 e H Data Address Mappi RM ERR T E E T T 59 AZ Fa S Mapping Table died 62 A A 66 5 MUETIPROG INTRODUCTIONS AAA o EPIS PESE VIR VUES C NPe FPES PIE 88 Jide IVIREXPRESS 0 90 INSTALLATION pe 89 SM MNT EIE ge Software and To Siri 91 3 12 Install MULTIPROG 3 33 292 2 ernesto daniel dic 92 5 1 3 Install MULTIPROG Patch Fes sss sese 95 dle VE FURST BIRU 6 GP ROME CW par O I DUMP DIM IINE 96 odd erg NEWTPEOIOOD iem tesi ten encuestas ve ism n esa e ee EUM codd M SIN M esu e EN 96 A A e UU E Son A 97 SCA
92. ERERMRRHERMRMRREEEEREAEERRRRERRREE O bebes MODBUS Input Registers BS vit Beto Jar oc Registers EC MODBUS Holding MODBUS Discrete Input HEX Coil M 74 EasyPAC User Manual TPM Virtual M El l Gl rl e e ual e Lal e al e Hual e Lal rl ee e Hual Cz gt Ea C E Cz e of e ul SPS SAL RY m lt l S trl wal So wo SESAR ea zs scs ss zzasossssmEsssad3s25555555555555333 LOI ga a pa pa pm pa pa l pa pa pa pns G G Gl Ga Gl Gl Gl p pr pr Gul Gl pa Gl pas Ens Gl Er Es E al ap ay ml mI mI I mI mI CANE OP i 5 OS cv rn OS cJ WO OO 9 NEE Lm OO 9 OS O OS l v 5 OS cC rm rn OS cJ ll OO I OS O e OS c O 0 cpi eI o a tl eal vole oof a Ol Sy cal rdl enl l wal nl Ol rl egl l l cl cal cd eel enl l co ol rl el col a Ol Gl a cal eo te enl al Sol rl eol a AL OO cal A co Pu uo elc col al co cd ol eol oo co BD aL a AL AL Al al al al al alLal al Slo ol cal al Slo Sl cal oO SI Cal al Sl A Gy a eal a a l a cal eal cal AT o1 o e 1 a e C col zol col en AS col col Ol enl enl Ol enl enl eml e col ol enl ool oof SP ep Se Se ee bed bed Se eee ee rl ee bed bci bed bed ed rl ee p Ql colo ol l ol l ol l ol l ol l ol l ol l ol l ol l ol eiglsieeslissssissiesisismsslesissiscisasoe tdueanmasssssgu sseexxzeeeeussesse sti iri ml d imd i n E En rl fo EA RAS e E IR ES nS E eR E
93. GetSensor SA GetSensor 1 Function Get the hardware sensor signal Input Parameter Axis Data Type AXIS REF Enable Please refer to the Execution Logic Output Parameter Axis Data Type AXIS REF Valid Error ErrorID Please refer to the Status Logic Ready Data Type BOOL 149 TPM EasyPAC User Manual Axis is enabled when Ready is TRUE and is disabled when Ready is FALSE Alarm Data Type BOOL Driver alarm 1s enabled when Alarm is TRUE MC Reset is needed to reset the system PositiveLimit Data Type BOOL Axis is on the Positive Limit when PostiveLimi is TRUE gt SA ErrorJog is applicable to move the axis MC Reset is needed to reset the system NegativeLimit Data Type BOOL Axis 1s on the Negative Limit when NegativeLimi is TRUE SA ErrorJog is applicable to move the axis MC Reset is needed to reset the system Origin Data Type BOOL Axis reaches the origin sensor when Origin is TRUE Direction Data Type BOOL When Direction is TRUE axis moves in positive direction When FALSE axis moves in negative direction Emergency Data Type BOOL Axis 1s in the emgerency stop status when Emergency is TRUE MC Reset is needed to reset the system ERC Data Type BOOL ERC out is HIGH when the value is TRUE and is LOW when is FALSE ZPhase Data Type BOOL 150 TPM EasyPAC User Manual Axis reaches the Zero phase when ZPhase is TRUE ClearCounter Data Type BOOL ClearCoun
94. Go Ala ALA AL ALA AL Ala AALS S ol el of S l Sl Sf el S Slol ele eee eu em S al al ala e 9 al ajaja CO GO GO GO GO GO GO CO CO CO COT OO CO COT Ex 0 BO COT BO BO HOF DY DY DY A Re RS ES DN NE DAE GN 2 nl NE nl NT FE NY Gl l On nl NY ON ON GNP GN ON CN QT GN CNT ON GT NT SN elelole eee ele e ele ele e elel e el ele el el e el e ele e ele e ele el ele eel e ele e ele e ele ele e ele e el el gt O COP Srp Wo MOP Ej OO AY O A CAP al lt l YY NO E OO OA CY CY OOP pio O Eo O SY CNY OOP ST ral O E OO AO A CN OO ST LT NO joo os mi NJ oo sty L ts oO Ala OR OI dl EY UY I OY OP cal COL OOP eon oo eon eo eo mr Dra r SP p pl SS WT UT po pro ra SO NO SO WOT ND LO Ko NE Np A DY AED OD Oy AL A AP AL AY AY ON ON QE DA DY AY DY AY AYP OD DY AP DO ON AT DAY AL APL AL AY AY ON OY AE A A AL AY DAL APL AY AY AY OS NP ON ONE OW NO J4333333333333333333333333333333333333333333333333333333 BII TO THI HI Discrete Input End HEX DEC HEX Virtual 70M Coil 86 EasyPAC User Manual TPM SoM Virtual 76M amp e3 el eel seil eol t A e e el SI RI end e xl e e e Sel el e c ST el el sil mi t 9 e e exl ST exl enl e xl v e e So exl e e ex exl eo e en eo COOL eo e e eoa eo e OOP e OO Dog T Dog Doy Do lt l rl lt r lt k Kl lt r lt r O Lra Lra Ln n n a v up uw us v NISI NI NI NISI SI o ol Lol Ko oO lu UI UI UU DO ONT
95. Greater Than Equal gt 65535 65535 dir GT Greater Than gt LE Less Than Equal lt aian m LT Less Than lt MOD Modulo Division di MOVE Assigns Value ux CONEEE MUL Multiplication dit NE Not Equal lt gt AI Channel 7 yoo dit NOT Complement T 65535 65535 OR Bitwise OR H TRIG Rising Edge Detection di ROL Rotate Left Code Untitea BR Im non retain data retain data temp data 10 inst variable non retain data retain data temp data 10 inst O ro Untitled non retain data retain data temp data 10 inst O Total non retain data retain data inst 0 PDD size 112 0 m Z lt gt Build A Errors A Wamings A Infos PLC Errors A Print For Help press F1 G9 Pijet EE ntu 138 54 D gt 2GB Za Figure 5 83 download and monitor the program 194 TPM EasyPAC User Manual 5 7 2 Counter Module Wiring 108 P120 is used together with TTL encoder in this case The wiring is shown below and the IP address is set to 63 aW Jil NN j T 1 Figure 5 84 wiring of a counter module Wiring table GND GND A phase NPN Open Collector connected to 24V B phase NPN Open Collector Table 5 7 counter module wiring table Configure 108 P120 with MyLink Set the EasyPAC mode to run MyLink and use MyLink to check the corresponding settings The
96. L AL AL AL ALA OP OP O O opa ay SO O Ol 4 n I M 03 01 01 01 ea CE 1 9 01 ral 95 e CX CI Cl 0 1 1 01 0 1 01 NTN CA dl 01 1 NEO ONE e e e e e e OOP e e e e e e e e E30 cal e e cl OO cal e e em 951 cal e cel cal 9 9 COL ex ONE e 9 aaa aaa 1 1 01 1 ala 91 ala a ala aaa 1 1 01 91 91 1 1 alfa aj ala 1 1 1 1 01 1 ala a alfa 1 1 1 01 oo ol ol o ol el ol el el ol el el ol o eel o gt ol ol o ol ol ol ol ol ol ol e ol ol e ol e ol ol e el ol olol ol olol ol ololololololololololo LO C OO A COL ON OOP SE WO MOP Ej OO HY OY OY OO ST WO O Ej OOP O O SY OO LY WO O Ef OO DY Oj A O COP aT ml O E OO DAP OI a Cd cel rm NO E OOP HY Oj A NS Ce Grp be OO OO OO OO OO GO oo OO OO CO A HL HEH AY AL AL A AL AY OP OPO oO OPO O Oj OY Ol Ea OE OY CA CA CAL CE CY Cl CAL CAL 0 e eo SNS ONT CAE ONE 1 ON 3 0 0 0 01 0 01 CAL 01 1 f 0 1 031 4 OO e e e eo eo ena eoa eo eo en en eo eo eo en cal eo eo rl eo cra eo eo eo eo eo eo en rl cal eo eo exp ALA e e e AL AL e ex e exp e exp exi e ee e e e oe oe oe oe ex oe e e oe ey oe oe e oe e oe ei oe oe e oe ex e oe oe oe oeil e e oe oe oe oe oe o AR RS a ela e al 2 AIS ajaja a aja a A AISI S 8 8 98 SIS E E aaa ala aa Sa aloja Salle tand bP Ej OO OO OO CO OO CO COT OO GO COL A HAL HEH DL AL AL DA ALA CP O Cl Cal CPO OP O O Ol al al j 3 3 03
97. MEM 7 NEE F EA 3 Ma EA Fi EN A NEM EL NEN Cay O CO SEP YO MO DP OO HY Of SY CNY OY lt l IO O E OO AO CA eo TY IO NO E OOP DY OY SYN OO TY OY Ea DY O aferro O E OO HY OY a Cd cal SPY nl O LO NOT SO SO MOP WO SO SOP OP WO Ef jj E EE E Ce Ce Ce OO OO OO OO OO OO CO CO COT CO HI AL AI DIAL DA AAPA A Cro O O O ol oll oq O ol ol ol ol al ala gt QP AP EON EON EON EON EON NT GN GN GAT NT NT CNT GN GN QT EON EON EON EON EON CNT GN GN GAT le NT NT NT Gl NN AY AT AT AT ATL DY DY OPO OP OPO fo Opa Oy Oop oy Op Oy Oy fo Lo Lo COLON ONE e 9 CAE 1 aaa CY 01 1 1 91 9 1 1 1 AY CY 01 1 01 1 1 1 1 1 1 al ajajaja 9 OL e e OO aa oO en e oo en eo lelelelslels esislelst esteleseseseleeseseleeeseseleesesesseseselseseseese Cay O OO SEP YO MO Elo Of A CY OY lt l WO O E OO AO CA OO TY WO NO Ce OOP HY OY SYN OO TY NO CY OO DY DY SY NY OP l WD NOT CE OO HY l GY dl cal SF nl O LO OP SO SO SOP WO Ol SOP SO WO Ol Ej E E E E Ce E 20 OO OO OO CO OO OO CO CO CO DI DIE DI DI DI AA AAA Cro O O O qo oqo cod aaa acc m Ea EON EEN EON EON BON EON EON ESN EON BON EON EON EON EON EON BON ESN ESN EON EON EON EON ESN ETN EON EON EON EON ESN EON EN ECN ESN EON ETN EON ENEN EST ETET Em Emmm m a EN ENEN EN ENEN EN ES ES EN ENEN EN e ext e ES ESI ES ENEN EN e ext e e exp ex e ex e e exp ex e ES ES e A soon 2gsewssesusessssissszsszsssssssss
98. Manual 5 6 6 EasyPAC Function Block List 5 6 6 1 EP_SetCyclicTime Le E F n gad EP SetCyclic Time_2 ime mM Baud E atel Error BaudRatel ErrorID DioCount CyclicTime AioCount AxisCount Function Set the cycle time and baud rate according to the number of slave modules Input Parameter Execute Please refer to theExecution Logic BaudRate0 Data Type USINT Ring 0 baudrate 0 gt 2 5MBps 1 gt 5MBps 2 gt 10MBps 3 gt 20MBps BaudRatel Data Type USINT Ring 0 baudrate 0 2 5MBps 1 5MBps 2 10MBps 3 gt 20MBps DioCount Data Type USINT No of DIO salve module 0 48 AioCount Data Type USINT No of AIO slave module O 16 AxisCount Data Type USINT No of Axis slave module 0 32 183 TPM Output Parameter Done Error ErrorID Please refer to theStatus Logic CyclicTime Data Type USINT Minimum cycle time in the unit of ms EasyPAC User Manual 184 TPM 5 6 6 2 EP GetVersion EP GetVerson 2 Function Input Parameter Output Parameter Get the system version Execute Please refer to theExecution Logic Done Error ErrorID Please refer to theStatus Logic Kernel Version Data Type INT Kernel version Kernel Version Data Type INT DLL version EasyPAC User Manual 185 TPM EasyPAC User Manual 5 6 6 3 EP CheckAesKey EP CheckAesKey 2 Function Check the AESkey set from EP SetAesK
99. N 8 01010 11 Eo 98 sx MB IU A E PO E OOO E o II A 99 a DD taa 99 dd INTERFACE DESCRIPTO Naranco ae 100 e CREATE ANO EDITARON anti 101 AA PEC EC e nn A 102 54 2 Function Block FB jand LD tada 107 AO Unos OF Register and VO 113 e A o o O a 116 9 9 DOWNLOADING AND DEBUGGING sico AAN A AA AAA AAA AA AAA AE AAA 117 OFUN CHON BLOCK quu P 123 AI AAA TP 123 TO are PAA GING PR Ao A e O Eo 125 25 0 3 Function Block Inter TO E sassa E E E E a 125 3 04 Why the Command Input Is Edge Sensitive iia 127 30 3 Motion Function Block Lis Erratas a A EEEE TE 134 5 6 6 EasyPAC Function Block List Mr M 183 sE IS e 0 E A A E Ron A E E E E E 188 0 0 Pico Block e HET E 189 TPM EasyPAC User Manual du SAMPLE PROGRAMS ii 190 A T O H 190 NIA s AT 195 IMS ESTIS IS SNNT T Om E ET 199 SNL MOINS M H 204 EC BUM ILS e e OP O E 9 M 209 TPM EasyPAC User Manual 1 Introduction EasyPAC EPC 1100 is a compact all in one Programmable Automation Controller PAC EasyPAC supports direct and wire saving connection of Motionnet slave modules EasyPAC contains abundant common used I O interfaces provides industrial automation control industry ea
100. NT Actual parameter value 158 TPM EasyPAC User Manual 5 6 5 17 SA_ReadDintParameter Function Input Parameter Output Parameter Get double integer type data AXIS Data Type AXIS REF Enable Please refer to the Execution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details AXIS Data Type AXIS REF Valid Error ErrorID Please refer to the Status Logic Value Data Type DINT Actual parameter value 159 TPM 5 6 5 18 MC ReadParameter Function Input Parameter Output Parameter EasyPAC User Manual Get unsigned double integer type data AXIS Data Type AXIS REF Enable Please refer to the Execution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details AXIS Data Type AXIS REF Valid Error ErrorID Please refer to the Status Logic Value Data Type UDINT Actual parameter value 160 TPM EasyPAC User Manual 5 6 5 19 SA ReadDwordParameter ParameterN umber Error Function Input Parameter Output Parameter Get double word type data AXIS Data Type AXIS REF Enable Please refer to the Execution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details AXIS Data Type AXIS REF Valid Error ErrorID Please refer to the Status Logic Value Data Type DWORD Actual parameter value 161 TPM EasyPAC User Manual 5 6 5 20 MC_WriteBoolParam
101. RMMREEMARE O bebe rdl 0 0j 0 0 0 0 MODBUS Input Registers 15352 BS EC vut Registers MODBUS Holding MODBUS Discrete Input DEC HEX D Coil M 73 EasyPAC User Manual TPM Virtual 70M ed pe Ed S ARSS eeeseesssseesssss9es2259 5559959999 IS zs ea eal cal e e e eal cal cal cal ep col en e en end en end col ep col e en e end en end col ep col co e en cnl en end end en en en e cel e e e end AL en en e e e e e e en e wlwlvelelel sialuioi al al ol l al eal a al el el olal al al ol A wal al ol l al al la eol ol olal a al ol Al al alol l alal hal eol ol oola a al WO Of GS oO CG ollel co CS co Of Sl K e G G ee PRL eA EPR EP ep eT od col co co al aol co eol co cd col co ol ca co AL AL aT aI AL A AL AL AL al al a rd l 3 3 rdl dl dl dl 3 rd l ed dl dl dl d l cree l dl dl dl l l dl dl dl dl rdl dl dl dl l ces dl d l dl dl dl cee 3 dl dl dl rd l dl rdl dl dl dl d l l l rdl dl A OO Ol oo Ol oo oj oo OO Ol oo O o 20 agzssssassssesossssss mal cal fal 65 fal a CEEEEECEEEEEEEEEEEEEELELEEEEEEEEEEEELEEEEEEEEEEEEE EE SO gt OO DI CY ay CNY OOP SE WO NOP Oe OO AP SY NY OO SY WY NO SOP DY OY SY NY OO TY LO NO CY OO DY CY AY CNY OY lt l WD OL OY OO HY o wo cal SEY WY NO aa CO A t Oe be be OO OO OO COT OO OO OO OO OO COP DH DI DL AL D
102. SINT 13 AXIS 14 AXIS USINT 14 AXIS_15 AXIS USINT 15 AXIS 16 AXIS USINT 16 AXIS 17 AXIS USINT 17 AXIS 18 AXIS USINT 18 AXIS 19 AXIS USINT 19 AXIS 20 AXIS USINT 20 AXIS 21 AXIS USINT 21 AXIS 22 AXIS USINT 22 AXIS 23 AXIS USINT 23 AXIS 24 AXIS USINT 24 AXIS 25 AXIS USINT 25 AXIS 26 AXIS USINT 26 AXIS 27 AXIS USINT 27 AXIS 28 AXIS USINT 28 AXIS 20 AXIS IISTNTA20 w Figure 5 22 MULTIPROG main window with 3 icons activated There are 3 icons highlighted in the above from left to right are individually 1 Project Tree Project Tree Window can display the project in a tree structure 2 Edit Wizard Edit Wizard provides the edition of instruction and FB 3 Message Message Windows displays the information about PLC A a 7 Group all FUs and FBs gt Name Description dur ABS T n o bu Af Cian Y COS Help on FB FU Y ADD Add to Favorites YH ADD T T 4 AND v Show Descriptions Y ASIN Arc Sine TY ATAN Arc T angent Y B BCD TO DINT Converts BCD BYTE to DINT Y B BCD TO INT Converts BCD BYTE to INT Y B BCD TO SINT Converts BCD BYTE to SINT BCD TO DINT Converts BCD ORD to DINT Y BOOL TO BYTE Converts BOOL to BYTE BOOL TO DINT Converts BOOL to DINT Y BOOL_TO_DWORD Converts BOOL to DWORD Y BOOL TO INT Converts BOOL to INT Y BOOL TO LPE AL Converts BOOL to LREAL Y BOOL TO REAL Converts BOOL to REAL Y BOOL TO SINT Co
103. T GN GAT ON ONT ONE ON ON ONE GAT GN ONT ONT ONT GAT ON ONT ONE ON ON ONE ONT GAT AT ONT ONT ONE ON ON ONE AT ON ONT ON COLON ONE e e CAE aaa CNY 1 01 01 1 9 1 a ala aaa 01 1 01 9 91 1 a 9l 01 aj 1 l 1 a 01 1 01 1 1 01 a alfa 1 1 1 01 Lol oleo ololo ololelol ololol ol olol ol ololol ol elo elel el elel elel olololol ololol ol olel ololol ol ol elo ololol ol ololo elo COP SP Wa O vcl OO A J a ox OOP Of E OO AY a e OO mr WO OL OE COP AY CY ALO OO id OL OP OO HY OO ONY iO Ej OO HY ex e AO A GO a Ol Sl ol ol ol ol ol l Sl x 0 3 1 03 0 3 1 1 e eo e OL en eon eo OOP e oo mr lt r xml xml xml xml iwl xml uv up um uuu us in L HN ONE ONT ON ONE ONT ON ONE ONT GN ONE ONT ON ONE ONT ON CL ONT ON ONT ONT ON ONE ONT ON ONE ONT ON ONE ONT DN CNT ONT ON CNT ON ON CONE ONT ONT CONE ONT ON CAE ONT ONT CONE ONT ONT CAE ONT ONT CAE ONT ONT CAT OS ea CJ ea e e 3 3 exa 3 03 0 CAL 0 1 3 03 03 3 3 CAL 0 3 3 1 3 3 CAL 0 0 031 0 3 0 031 3 3 3 Al 0 l CAL 3 1 3 63 CA 3 3 3 01 AS SSsssssssssssssssssssssssssesssssssssesxzssszsazsseses9 99 C oIo oc cocIio o mI m mM mim m ca cd 3 0 x AAL 01 1 AEN e e e e OP oo eo eo oo oo SFP lt r rl rl r lt r rlr pl uwupupwv TW Vn L HN ONE ONT ON ONG ONT ON ONE ONT ON ONE ONT ON ONE ONT ON ONE ONT GN CNT ONT ON ONE ONT ON ONG ONT ON ONE ONT ON ONT ONT ON
104. TOF Timer Off D elay Timer On Delay A TP Pulse Figure 5 37 select timer on delay of the FB The parameter setting window brought up by double clicks is like the following figure 107 IPM EasyPAC User Manual x Variable Properties Name Definition scope TON_1 9 Local Global Data Type Local Variable Groups TON BJ Default Usage Global Variable Groups VAR RETAIN Physical Hardware Initial value Gi Configuration E Resource Y Default 1 0 address Y SA_GROUP Description PDD OPC Hidden Show all variables of worksheets Initvalue as default Figure 5 38 parameters of the TON Right click on the FB FU the assistance document will be popped up E h z T 1 ka fete H A FTF A SIN WAO TON Gn Description This timer function block realizes an on delay timing If the input IN changes from FALSE to TRUE switching on is delayed for the time interval at input PT After PT has passed TRUE is issued at the output Q The time which has already elapsed is indicated at the output ET Parameter Data types Description IN BOOL If a rising edge is detected the on delay timing is started TIME preset time interval for the delay BOOL TRUE if IN TRUE and ET gt PT FALSE if IN FALSE or ET PT elapsed time interval j E Representation 1n IL Time diagram E Representation in T B Representation in the srap E TP E
105. TPM EasyPAC User Manual EasyPAC EPC 1000 User Manual Version V0 1 2011MO5 To properly use the product read this manual thoroughly is necessary Part NO 81 00EPC10 020 IPM EasyPAC User Manual Copyright 2011 TPM The product including the product itself the accessories the software the manual and the software description in it without the permission of TPM Inc TPM is not allowed to be reproduced transmitted transcribed stored in a retrieval system or translated into any language in any form or by any means except the documentation kept by the purchaser for backup purposes The names of products and corporations appearing in this manual may or may not be registered trademarks and may or may not have copyrights of their respective companies These names should be used only for identification or explanation and to the owners benefit should not be infringed without any intention The product s name and version number are both printed on the product itself Released manual visions for each product design are represented by the digit before and after the period of the manual vision number Manual updates are represented by the third digit in the manual vision number Trademark B MS DOS and Windows 95 98 NT 2000 XP Visual Studio Visual C Visual BASIC are registered trademarks of Microsoft B BCB Borland C Builder is registered trademark of Borland MULTIPROG is registered trademark of KW software
106. Type DISTARRAY 134217728 134217728 Absolute position Start Velocity Data Type DWORD Start Velocity MaxVelocity Data Type DWORD Maximum Velocity TAcc Data Type REAL Acceleration time in the unit of second TDec Data Type REAL Deceleration time in the unit of second 171 TPM Output Parameter Curve Data Type BYTE Velocity profile O for T Curve 1 for S Curve AxesGroup Data Type AXIS GROUP_REF Done Busy Active CommandAborted Error ErrorID Please refer to theStatus Logic EasyPAC User Manual 172 TPM 5 6 5 30 GA MoveLinearRelative G MoveLimearRelative 2 MaxVelocity Command A borted T cc Error TDec ErrorID Curve Function Input Parameter Grouped relative linear motion with T or S curve AxesGroup Data Type AXIS GROUP REF Execute Please refer to theExecution Logic DisArray EasyPAC User Manual Data Type DISTARRAY 134217728 134217728 Relatvie position StartVelocity Data Type DWORD Start Velocity Max Velocity Data Type DWORD Maximum Velocity TAcc Data Type REAL Acceleration time in the unit of second TDec Data Type REAL Deceleration time in the unit of second 173 TPM Output Parameter Curve Data Type BYTE Velocity profile O for T Curve 1 for S Curve AxesGroup Data Type AXIS GROUP_REF Done Busy Active CommandAborted Error ErrorID Please refer to theStatus Logic EasyPAC User Manual
107. ULTIPROG pT Crna le T1 gt l PAPC EI O Figure 5 1 installed MULTIPROG Express Make sure the software version by the following figure illustrates Me MULTIPROG Express About IEC 1131 b Help on Standard FB FU PLC Help x oum Rar tur Logical POUs Figure 5 2 figure out the software version info If the software version is not 5 35 Build 252 please install the correct version 89 TPM EasyPAC User Manual About MULTIPROG Expres Yv x Abo press m lanam n MULTIPROG Express Version 5 35 Build 252 Licence number O01 00002 M 01000 Copyright 2008 by EMS oftware GmbH Langenbruch 6 D 32657 Lemgo Germany Phone 49 5261 93730 Fac 49 5261 3373725 WEB https kw software com EMAIL supportiakw sottware de Figure 5 3 the software version window There is a CD that is shipped together with the EasyPAC Please follow these steps below to finish the installation Insert the CD into your PC and you will be asked to permit auto installation Please enter YES to allow auto installation as shown Taiwan Pulse Motion Support and software CD DVD 2011 02 11 Install Products Browse CD Contents j View Our Website j Register Now j TPH Exit Figure 5 4 install product CD If the auto installation does not work please try it manually Please go to Program Manager and run the Auto exe in the CD to start installation manually Users could click on
108. W Also this 1s used to set and save of axes module parameters or copy the parameters for other axes 32 TPM EasyPAC User Manual Backup Config to Recovery Config From Exit Figure 4 11 functions under file option Tools Provides functions for setting system parameters and initialize the system There are 3 sub functions l Initial Execute the Initialization Initialize Ring 0 and Ring 1 after setting the Motionnet parameters in Settings option 2 Settings Initialize hardware options of EasyPAC and USB L131 More detailed illustrations would be introduced later 3 Edit Path This option is only available when two axes module are grouped up Later we will discuss about the Group function Initial Ctrl I Settings Edit Path Figure 4 12 functions under tools option B Settings The supported master contains two kinds of devices EasyPAC and USB L131 If users select USB L131 the baud rate option of Ring 0 and Ring 1 would be enabled If users select EasyPAC as the master device the baud rate would keep disabled since that 1s set by switching the rotary switch SW2 on the front side of EasyPAC Settings IP Addr 192 168 1 100 Master EasvF AC UA bps ZUL bns Figure 4 13 screenshot of settings o Windows When multiple slave modules are displayed in the same time the related menu will be re arranged accordingly 33 TPM EasyPAC User Manual W
109. WORD type The following 8 non retain data types are designed for Modbus MB Coil is mapped to Tag for Modbus MB Holding Register is mapped to Output for Modbus MB Discrete Input is mapped to Input Tag for Modbus MB Input Register is mapped to Input for Modbus User Define 1s defined by user Motion Single Single Axis Data Motion Multiple Multiple Axis Data Gateway to be implemented Retain Memory is ranged from MB 3 10000000 to MB 3 10013311 G e 13312 Bytes Macon femo WMBSIS MB 3 2047 MB Discrete Input MB 3 2048 MB 3 3071 Motion Single nnan Tann Motion Mulley aa 3 45000 Jamesas O Table 4 2 MULTIPROG memory table MB Input Register MB 3 3072 MB 3 4095 EE 58 IPM EasyPAC User Manual To support connection with HMI by Modbus the following memory design is implemented Modbus Memory Modbus Memory is grouped into the following 4 sections Coil Output Tag Bit Real I O ranged from 0 to 1543 BOOL Virtual ranged from 1544 to 9735 BOOL Holding Register Output Data Word Real I O ranged fromO to 127 WORD Virtual ranged from 128 to 639 WORD Discrete Input Input Tag Bit Real I O ranged from 0 to 1543 BOOL Virtual ranged from 1544 to 9735 BOOL Input Register Input Data Word Real I O ranged from 0 to 127 WORD Virtual ranged from 128 to 639 WORD Please refer to the following summary table Type MB Co
110. a gt YA E Z EZ 8 3 ed a i A 2 6 e o Oo eS hm a gt ALONE ONT 0 CAT 1 1 0 03 0 a 0 03 e e eS OL cal e e OL en en ea cop Do rl Do stl ost Plr lt l ll rl l l E SEEN YT SOT ALALA SO COP WO Lol SOT Ko WAP WOE WaT Wo WOE WE UA WOE O WP WOE VO AO wn n V WO AO US UP AO UT O AO O Vn wh a UO YO A wn VA WOW VA OP OT WO A UT Oy Y AO VA UO YO WO US UT v X A a an E M S E GX en a U e e oi an E eoll wol of ce al APO olo x ero GI en Ren Fea Z Fea El Sl E Sl E E E E E nd N mj N e c3 a l V Cw IE a os en Ren DY DID BD mnc N LZ N x x E e El e a al a Ee a GU DD a el mm c s ae 627 Input Registers DEC HEX s ioo W 3 3984 58 3986 58 eee pn HEX aor isters MODBUS Holding Dy Thais hez h us im m xs 503 x ola 5520 11590 15527 5528 5535 5512 1588 5519 T pr pss an 5543 7 sre scs oss sce MODBUS Discrete Input T DEC A l 2 LIT fases 10 5575 157 2039 en 4277 dom en 271 2032 7 15552 liabo sse sp po26 le29 275 aora H o 7 5560 15B8 5567 15BF 2028 630 276 4076 630 276 A Coil sous ose hu PM JoM X o Jas o 45 o 45 o 45 o 46 o 46 o 46 o 46 o 46 o 46 o 46 o 46 o 46 o 46 o 47 o 47 o 47 o 47 o 47 o 47 o 47 o 47 o 47 o 47 o 48 i folis o M8 o 48 o 48 o 48 o 48 o 48 o 48 o 48 o 4 o 49 o
111. a Type AXIS REF Done Error ErrorID Please refer to the Status Logic 146 TPM 5 6 5 8 MC_Stop MC_Stop_1 Axis Execute StopMode Function Input Parameter Output Parameter EasyPAC User Manual Stop the motion of the assigned axis Axis Data Type AXIS_REF Execute If Execute were TRUE gt Status is always Stopping If Execute changes from TRUE to FALSE status 19 Stopping while the axis 1s still moving status will change to StandStill after the axis stops StopMode Data Type BOOL 0 for immediate stop 1 for stop with SlowDone velocity Axis Data Type AXIS_REF Done Busy Active CommandAborted Error ErrorID Please refer to the Status Logic 147 TPM 5 6 5 9 SA ErrorJog Done VelocityLevel Busy DistanceLevel Error Direction ErrorID Function Input Parameter Output Parameter EasyPAC User Manual Move the axis when limit switch is activated by jogging Axis Data Type AXIS_REF Execute Please refer to the Execution Logic Velocity_Level Data Type USINT 1 2 3 for 100 500 1000 in the unit of PPS Distance Level Data Type USINT 1 2 3 for 100 500 1000 in the unit of PULSE Direction Data Type USINT 0 for Positive direction 1 for Negative direction 2 for the last move direction Axis Data Type AXIS_REF Done Busy Error ErrorID Please refer to the Status Logic 148 TPM EasyPAC User Manual 5 6 5 10 SA
112. al POs TLAS 7142857 LA LIpuuml d Chanel 3 int IS Linee MS 3 Hirama AND Courter Dho Deiner Lip Laden Ligier Drazeri Last a 3 Falling Edge Detection Greater Than E qual s Giese Thar gt Lest Than Equal t Less Than Modula Dinter Arg Wiehe Multipkcation Hot Cquat Zx Lempiemeri Hilrnze UH fon kain dala xb restan data O leap data iha iB ror TF Tan ratin dat 20 retain data D temp deta LO inst Bo miiia Wh retain dat 516 retain data D teup data I Lest Duo m retain datas 187 reiain data n sat 131 Br sim 112 UE n B prer for Download BC Fooysct ended for resource Pon psg Laon Fez reg si 2011 27 11 T4 05 15 20 al din TAG Pisina Edas Detection T m Ld Figure 5 93 download and monitor the program 198 IPM EasyPAC User Manual 5 7 3 Single Axis A single axis sample is illustrated in this section The wiring method is described below Easy PAC 102 MT171 P A4 1102 M171 PA4A Figure 5 94 hardware configuration Setup parameters using MyLink 1 Confirm that the module model is correct Figure 5 95 modules shown in MyLink 2 Click on the corresponding parameter column and set it correctly as shown below 199 IPM EasyPAC User Manual File Tools Window Help K Eos Master Ge Rina 4 Is Ring IPB 10000 Reset Position
113. al eol al at rl ual en SG al rl nl cn Ga al rl wa eol al al ep eel Gl al rl wal eol al al eh wal al al ep unl ol apa rl Mol oo ES ol Gl rl Gel egl BLO dl a rdl eo st wal wo ol rl egl AT AT cal eal A eol col se co So rl l aol a eal SI cal rdl enl to nl Ol rl aal a ALO eal a co enl l val Ol rl Gl oo l C A wo Of co ol GPO ie ce rl rel Mi mic i ei mi e vc od al co co co al co 0d eol co cd So AL AL a ALA aL AL AL AL AL ALA ALS Ol OL Ol CO Ol cal S CO oO S l A wi wi ww wf wl inl tal tal tal tal tal tal tal tal tal tnd tal tal AP AL AL AL ww wp ww wl wp AL a Maa Va p p pm m p ue uu No GG Gl 9 v Ko G G Gl wo PA ol l ol l ol l ol l ol l ol l ol l ol l ol ool S 2 al a laol S al l ol l ol l ol l ol l ol l ol l ol l ol l ol l ol l ol l S GO al Gal a aol Fr AA A Ao RE Ol Ol Ol Ol E A aia a a ix am a uomo o mnm al S SY al SP A cal l OY SF FEF Spa SO OY EY Eolo a al lt a a O OY O dT WO oO Of O lOO Ola lO 9 ol v Ol CG CG w Ol CG l CO Of wo we GP SO E Ele elelelelelelelelelel elelel Ele el el H l G ele Bh rd l ed l 3 oI oO 3 ed 3 d l oY oO d l oO d l ed l rdl dl ed l rd l dl d l dl dl ed l dl dl dl dl d l d l dl dl d l d l f dl d l ed l dl dl f dl ed l dl dl f d l l oo dl ed l rdl 0 2 cal L co of o csl eoll rl A csl ool Ol HT CAT cal ool WO rl eal csl co WO tH CA cal egl WO
114. alPosition_1 will be executed when InitFlag is TRUE and are used to monitor the axis status The axis is 1n the StandStill status as shown below 201 TPM EasyPAC User Manual MC_Read ctus Position 1 Figure 5 100 StandStill status is true of the Axis 3 Override Run to TRUE MC MoveRelative 1 will make the axis move 100000 pulses with velocity 10000pps The status can be watched though MC ReadStatus 1 and MC ReadActualPosition 1 MC MoveKelatve 1 10000 TAcc VOZY 0 1000000 TDec VO30 U 0 1000000 Figure 5 101 axis status with Run signal turned on 4 Override Stop to TRUE MC Stop 1 will stop the axis with deceleration The status can be watched by MC ReadStatus 1 and MC ReadActualPosition 1 202 TPM EasyPAC User Manual MC 5top 1 Figure 5 102 axis status with Stop signal turned on 203 TPM EasyPAC User Manual 5 7 4 Grouped Axes Note that the hardware configurations are similar to a single axis in previous section As other axes users need to configure parameters using MyLink 1 Confirm that the module models are correct 2 Click on the corresponding parameter column and set it correctly 3 Add 2 axes on Ring to Group2 5 Click on the Group window Figure 5 104 select group axes 204 TPM EasyPAC User Manual EIER Command Position speed 10000 10000 10000 U OI Figure 5 105 setting of group parameters 6 Save the settings to EEPROM 7 Sen
115. am for at least as long as Busy is true because the outputs may still change For one axis several Function Blocks might be busy but only one can be active at a time Output Active The Active output is available on Function Blocks with buffering capabilities This output is set at the moment the function block takes control of the axis For unbuffered mode the outputs Active and Busy can have the same value Enable and Valid Status The Enable input is coupled to a Valid output Enable 1s level sensitive and Valid shows that a valid set of outputs is available at the FB The Valid output is TRUE as long as a valid output value is available and the Enable input is TRUE The relevant output values are refreshed while the input Enable is TRUE If there is a FB error the output is not valid Valid set to FALSE When the error condition disappears the values will reappear and Valid output will be set again The behavior of the Execute Done style FBs is as follows Execute CommandAborted Example 3 Figure 5 69 the FB behavior 5 6 4 Why the Command Input Is Edge Sensitive The Execute input always triggers the function with its rising edge New input values may be commanded during execution of a previous command because the inputs are only read once The Done output can be used to trigger the next part of the movement The example given below is intended to
116. ameter Figure 5 57 check input output parameters Name Enter the name here Task Select the task type 116 TPM EasyPAC User Manual Start address Set the start address as IB 0 1 e Byte 0 Length Enter the total length of input as 449 End address Set the end address as IB 448 1 e the last bye is 448 Comment Can be skipped if no comments are needed If the Driver Parameters button 1s pressed the driver information window would come up G Driver information of standard device T e e Driver name AL Parameter 1 Cancel Parameter 2 Description Parameter 3 Parameter 4 Datatype Figure 5 58 the driver information window Note that the only valid driver name is EasyPAC Any others will not be accepted The Datatype field could be left default 5 5 Downloading and Debugging Connect an EasyPAC correctly and turn the power on Use MyConfig to confirm the following setting Information Hardware ID 10 CPLD Version 7 SOC Type VortexS6DX 05 Version 10 1002 0 1 IP Address ios be Figure 5 59 EasyPAC information shown by MyConfig The default IP of EasyPAC is 192 168 1 100 Check the setting in the MULTIPROG with resource ProConOS Settings 117 TPM E qe Physical Hardware ww Configuration IPC_40 5 7 Create Global Variables from Externals Update External Variables from Globals Cd Tasks Insert
117. arameter Output Parameter Set unsigned integer type data Axis Data Type AXIS_REF Execute Please refer to theExecution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details Val ue Data Type USINT The data to be set Axis Data Type AXIS_REF Done Error ErrorID Please refer to theStatus Logic 165 TPM EasyPAC User Manual 5 6 5 24 SA WriteDintParameter SA WriteDintParameter_1 Function Input Parameter Output Parameter Set double integer type data Axis Data Type AXIS_REF Execute Please refer to theExecution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details Value Data Type DINT The data to be set Axis Data Type AXIS REF Done Error ErrorID Please refer to theStatus Logic 166 TPM 5 6 5 25 MC_WriteParameter MC WiryteParameter 1 3 ParameterN umber Error Value ErrorID Function Input Parameter Output Parameter EasyPAC User Manual Set unsigned double integer type data Axis Data Type AXIS REF Execute Please refer to theExecution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details Value Data Type UDINT Actual parameter value Axis Data Type AXIS REF Done Error ErrorID Please refer to theStatus Logic 167 TPM EasyPAC User Manual 5 6 5 26 SA WriteDwordParameter SA WnteDwordParameter 1 Tie l word Paramete Function
118. axis function blocks such as GA Moving change the state whereas these axes can have specific states 123 TPM MCc Gearln Slave MC Phasing Slave EasyPAC User Manual Synchronized Motion MC Gearln Slave MC Camlin Slave MC MoveAbsolute MC MoveAbsolute MC MoveRelative MC MoveRelative MC MoveAdditive M C PositionProfile MC PositionProfile Min conia MC Gearin Slave C Camln Slave McMoveVelocity MC GerOut HAC Camout HMC WelocityProfle A D a ie Drefile MC MoveSuperimposed MC MoveVelocity MC VelocityProfile AAA Robes Discrete Motion je MC Move Absolute Relative Additive Superimposed Pooli l GA_Moving ATN G Group Moving MC Stop A Stop Stopping ErrorStop Error W Y e X MC_Reset GA_Moving MC_Stop pr N Error 2 Done N 7 Done Homing StandStill MC_Home Note 1 MC Stop TRUE Note 2 Power Enable TRUE and there is an error in the Axis Note 3 Power Enable TRUE and there is no error in the Axis Note 4 MC Stop Done and not MC Stop Execute Note 5 Group axes is StandStill Note 6 Group axes is ErrorStop Note 7 GA Reset TRUE Note 8 GA Stop Done and not GA Stop Execute Continuous Motion MC Stop Error MC MoveVelocity MC VelocityProfHe MC AccelerationProfile MC Stop Note 1 Note 2 Disable Note 3 TPM EasyPAC User Manual 5 6 2 Error Handling All acce
119. become wet B If you encounter technical problems with the product contact a qualified service technician or the dealer TPM EasyPAC User Manual Contents CONTEN Sisi 4 UR EEG DIN eg a an AAA AAA AAA AAA 7 A A 7 1 1 1 Complete Industrial System Solution eee 7 1 1 2 Compact Size Motionnet High Extension and Integration sss esse eee eee eee 8 A A uund arauieus cavsnieiiutbiapieeceiaciaeie iad cpsuiiad Sexdbeetseu sues 9 1 3 HARDWARE E 5 9 s R ean T I 10 ES MOTONET DEVICES tos 10 UB oss MES e cidade ini 12 1 7 24V DC POWER MODULE iii Urat Tn 12 1 5 DAERAGE DIST eu iiie ne Mew DM Ii MI Ii Mi i 14 Zo HARDIWVAREINSTALELATION ss 16 Pe INEN e MER EE 16 PAN SE CONE O a M 16 2A L COMPO L OM a CN TERN 17 ASPEN E N LE EE E ASS 18 EAS R E N a o E E OE O A EAE 19 E A TEC A A A oO AOA 19 LAN NP GNI ea 20 ASA Sa 20 UAT AN RR 21 A e c eencuees 21 Dl TRN TT RT na 0 22 2 3 2 Motionnet Baud Rate RW2 etreso rererere rererere retener orere r erene PE PEPEE eose nenene ne nenenene 22 3 MOTIONNET INTRODUCTION iecur ee Pri CH VW EUIS ED CH ics cinta EU UIS Fes CR EX ERE E VERON MIA ER
120. circular motion with T or S curve Input Parameter AxesGroup Data Type AXIS GROUP REF Execute Please refer to theExecution Logic AxisX Data Type AXIS REF X axis AxisY Data Type AXIS REF Y axis OffsetCx Data Type DINT 134217728 4134217728 Relative center position in X axis OffsetCy Data Type DINT 134217728 134217728 Relative center position in Y axis 177 TPM Output Parameter EasyPAC User Manual OffsetEx Data Type DINT 134217728 134217728 Relative end position in X axis OffsetEy Data Type DINT 134217728 134217728 Relative end position in Y axis StartVelocity Data Type DWORD Start Velocity MaxVelocity Data Type DWORD Maximum Velocity TAcc Data Type REAL Acceleration time in the unit of second TDec Data Type REAL Deceleration time in the unit of second Curve Data Type BYTE Velocity profile O for T Curve 1 for S Curve Direction Data Type USINT 0 for positive direction 1 for negative direction AxesGroup Data Type AXIS GROUP_REF Done Busy Active CommandAborted Error ErrorID Please refer to theStatus Logic 178 TPM 5 6 5 33 GA PathSelect Function Input Parameter Output Parameter EasyPAC User Manual Select and download the continuous path from xxxx kwpts AxesGroup Data Type AXIS GROUP REF Execute Please refer to theExecution Logic PathFile Data Type STRING AxesGroup Data Type AXIS GROUP
121. d the path file rectl kwpts to EasyPAC File Tools Window Help Figure 5 106 import the path file Sample program description 1 Create a new project with TPM Template as in the previous section 2 Follow the single axis sample program and add the following Grouped Axes FBs Function Block User Library Description GA_GroupEnable MNet SA UL Enable the group function GA MoveLinearRelative MNet SA UL Make relative linear move GA PathSelect MNet SA UL Select the path file xxxx kwpts GA MovePath MNet SA UL Execute the grouped motion with specified path file Table 5 10 grouped axes function blocks to be added Test sample program Download and click on Debug on off to activate debug mode 205 TPM EasyPAC User Manual Figure 5 107 activate debug mode by this button 1 Overwrite Exec to TRUE EF Set vcheTime 1 Raud aie Figure 5 108 overwrite Exec to TRUE 2 Overwrite InitX to TRUE Initial AxisX ME Fower cA WrteLwordFarameter 1 300006 Figure 5 109 overwrite InitX to TRUE 3 Overwrite InitY to TRUE Initial AxisY MC Power 2 l SA WrteDwordParameter z 3000000 Figure 5 110 overwrite InitY to TRUE 4 The status of the grouped 2 axes can be monitored 206 TPM EasyPAC User Manual Monitor the 2 axes of the group Mi Readstatus 1 Mi Readitatus 2 MC Fead amp ctelPosrhon 1 MLC Read ctal Position 2 AXIS I AXE 5 AXE AXIS
122. ded segment If all the segments are finished the Save button in the Save Path to PAC area will be enabled to save the path to EasyPAC as shown below 49 TPM Here 1s an example that two axes form a round angle rectangular with interpolation Path Count 8 StrVel 100 MaxVel 6000 Tacc 0 1 Tdec 0 1 Curve T Curve T see ments cag Tvpe Line Segl Distl l000 sag Duist22 40 Serz T vpe Arc Sega Ayo Seg Ava Seg Cx 1000 Sega Cy Serz Ex 1000 Sers Ey 1000 Seg Dir Save Fath to PAC FathName Figure 4 41 motion profile formed by segments Dist Y Dist X Figure 4 42 motion path of two axes interpolation EasyPAC User Manual 50 TPM EasyPAC User Manual Segments Segl Type Line Segl Dists 0 Segl Dist9 1000 Seg2 Type Arc Seg2 Ax 8 Seg2 Ay 9 Seg2 Cx 1000 Seg2 Cy 0 Seg2 Ex 1000 Seg2 Ey 1000 Seg2 Dir Cw Seg3 Type Line Seg3 Dist8 2000 Seg3 Dist9 0 Seg4 Type Arc Seg4 Ax 8 Seg4 Ay 9 Seg4 Cx 0 Seg4 Cy 1000 Seg4 Ex 1000 Seg4 Ey 1000 Seg4 Dir Cw Seg5 Type Line Seg5 Dist8 0 Seg5 Dist9 1000 Seg6 Type Arc Seg6 Ax 8 Seg6 Ay 9 Seg6 Cx 1000 Seg6 Cy 0 Seg6 Ex 1000 Seg6 Ey 1000 Seg6 Dir Cw 51 TPM Seg7 Type Line Seg7 Dist8 2000 Seg7 Dist9 0 Seg8 Type Arc Seg8 Ax 8 Seg8 Ay 9 Seg8 Cx 0 Seg8 Cy 1000 Seg8 Ex 1000 Seg8 Ey 1000 Seg8 Dir Cw EasyPAC User Manual The path file stores each segment motion of each axis as a kwpts file Rules for
123. e 7 ca eq eq ec exl cq e e c3 EN Alo un e aN a E S 2 S in x S a a m d v a E pa 2 S Z a e e a m A c Z X M Ww e in N ES G N TA x X a e en 1 A S e A 7 in R Pf E A E a t e t c4 c4 e t a N E c4 c4 ed cd TUPLE COL DI OL iaa OP r WO foo o al Al OP TY DO OPT OO o Oj o e SOL OP DH OL RAL ON OL SPO A OD OY alien nO OO DY CO QI oJ l o Cl l l l SO 3 CARER CU 03 RN 3 3 OL e e OL OL en en cal cal al rl rl r lt l rl lt r ee wal wa WO OP YO WO wh Vn WO WT NO WA UA AAL ALAL UO A AL WOE WOE Y Xy Ua YO v Y n Vh V vw VA vv VY n Vn VS VY Y vp vv Vw Kv vs VY m vspvyI SY KV KYyS v Y iw UY Vh Lra Wa WI a V Y v CAL ONE CI 0 CAE 0 0 0 0 0 CAE 0 0 CAE 01 0 0 3 CAE CAE 0 6 CAE 01 e 0 CAE 6 CAE 1 9 9 6 1 0 CAE CAE 0 0 0 0 0 3 1 0 9 01 er TUPLE COL o OL RAL oc nO OD al ole nO Ela Oo Oj SLOP SOL OY Qo OL ou e POO ML OD al CU OP l O Aj al oO c a e gt gt S A m te e y A A v be br ed E An e gt s E N AD mN N E d M e 9H d d yd d m KX vs Zl qn y A ha Bon i E E t IH kR MT e e Y uw e un 1 Hf 1 1 un un t e eq ed a N a N a a a a a a a e CY a N a C3 e a a R eq m E X e z S Ola 7 E Nn 7 e E C e en e st S A e in a o S 00 e S S a al 7 a y a a x X a a id a a x yl e d A eS doo e pl un uad a 7 E ocu c on c N N N c N 2 eS M Q a Y oo oo S 3 2 S ed e i WA v e K C amp eS K
124. e Worksheet Shift F9 Object Properties Figure 5 32 functions of the contact After selecting the Object Properties the following window will show up Contact Coil Properties Name Definition scope COURS Local Global _ l Cancel Data Type Local Variable Groups BOOL v m Default murum Usage Global Variable Groups VAR_GLOBAL v F RETAIN Gy Physical Hardware Initial value Configuration Resource 3 Default 1 0 address E SA GROUP Description PDD OPC Hidden Show all variables of worksheet Initvalue as default Contact Coil Q9 Contact L Type L X Coil T TEE Figure 5 33 contact coil properties window Please enter the name in the Name field and select BOOL as the data type Enter either VAR or VAR_GLOBAL in the Usage field Note that VAR indicates that it will be used only by this POU and VAR_GLOBAL indicates that it can be accessed by other POU In the bottom users can select A or B type contact or coil Please follow the following diagram 105 TPM EasyPAC User Manual Figure 5 34 newly created contact named PLCMODE RUN Name PLCMODE RUN Data Type BOOL Usage VAR GLOBAL In this example the IO address will mapped as MX1 0 1 Contact Coil Properties Definition scope 9 Local 3lobal Local Variable Groups Default Global Variable Groups VAH GLOBAL v ia RETAIN E Physical Hardware Initial value e Configuration L A Default
125. ed EA RO rl eal A eal cal ES l lolol rl lal l l EN co lol aal eo l O SG EA Ga rl Ea wol r EN LO SOT SO WO SWOT Ol WO NOP NOT l r Oe Ce De Ce Ge e Ce Ge OO 00 GO CO OO OO CO OO CO COL OO AY DY HI AL DY AI ALD O O O O O al ol O O Oj al mI ml n mi EX gal Wop oP LO SV AOS AAA O AS AS UA US MV AS AO Ln AOS AS AA AUS O AA AO O US v Ln Ln AS AS AO Wo AO A Wa O ND NO MO NOT OO MOP ND NO NOT NO AO NOT NODI MO WOT NOD ex e e ex e e ex e e ex e e ex e e e e e e e e e ex e e e e e e e e ex e e ex ex e ex e 9 e e A e e 3 e e 3 e e 3 ex ex e ex e Pe reme im e m eme me m e gm erm ela A e m ep pm Cl Dal C1 al me mu e m elm e m e m ve gm em e m elm elm e m gm ve Dal o LO i cal cd rol eol st st wal ol wal LG rl e eol eal ll l El GO a LOL Oj O Ol al Ol al Gl al l l l cd al al lt SO tA SO lr l eol eel lel lt lt af a O OF A TI M2 NOT NO OP OL NO NO Ol ND NO NOT NO ND NOT NO ND Ol O Ol Ol ND NOT NOT NO ND NOT OT MO Ol O Ei E l E l l E l e ep a l e Ce l Saad l l Ej l e e l Ej E a rdl oy oy oy oy 0 RI 0 0 0 j Al oI Gani Gani dl rdl Gani Gani dl j Gani rdl Sani Gani f 0 0 j dl 0j 0 RI 0j 0 0 Sami 0 Oy dl 3 Y ea A Holding Registers D L d P 1 l1 03 MODBUS Discrete Input Virtual End mr wl cal Al a mul al ap a rl al eel al ay rl w
126. ejeje e e e ep Os s e 20 20 00 20 20 20 20 20 AIH I A ALAA A ALD S B S S O S O 9 S S al l emm m ul w gl e Rl e Gl ce H e ge med gm elm eme m ce mem elm el H em eme Rl rl trl e me m elm Mid didi ciii l l l l l l l l ll lC LC C C E C CC C ss sss lt q s x s x sx lt q s ss x sx x x lt q a al a a Ol a aj aj mM mM aj ea Sl l mw cal a aL rl wl eel al a rl eo Ba al rl Ml eol Sl ay rl wa eol a a ep col Sl a rl Ll eel ST at rl wl eol a al ef wl eel SP a rl wl col a ape wn mel oa eel ale 22 ca co 0 SB SP E so aj SY S SI A cal el lt SIS e col al S SI A al e NNA SC Sf a el S al all e l al E Ele a o Eee eee TW SO Ej OOP AY CY SY OY cl io NO OE OO HI OY SY NY OOP SE rl NOP OO HY CO A CP OO IO NO E OOP DY OY A ES OO SEP YO SO OO DY Ol GN OP aT WO NOT CO AO mS 3 e e 01 1 03 e e cal cal cal oop oof ony eo Dog Bol Pl rl l SS ASAS nl Lern rm eo NOT NO SO SOT ho SO SOT lo e Sj mI S S 9 9 S S Sl mI mI S mI mI mI S SI 1 S S S S Sl mI mmSI l mI mI S mS dl S 9 9 Q PERRRERRERPRERERRRRARRRERRARREREERARMAEMERARRAEERERRMEREM senec rdl 0 PE T E 3 1 9 7 5 3 1 9 7 5 3 1 9 7 5 3 L 9 7 5 3 L 9 7 5 3 9 7 5 3 L 9 7 5 3 L 9 7 5 3 L 9 7 5 3 1 9 7 5 3 1 9 7 5 3 Coil M 72
127. el el elel el elel el el elel ele CO dl A oof lt r O c o90 AY 4 OOP r OP rl GO e al dl A cal rl ral WO c COP AY CY REC e lt r YO O L GO A CP CA OOP lt r ral OL Elo AY Cal I NY e mr v NO l ll l AL Gl Gl l l AL l cal cl cl al oO Ol cal S Zal al dl cal dl m cal eal Cal AT ee 1 1 e e e e e col e e co e zol col eo spl EE p r Rm r E cl cl eml eml eo cel e aaa l gt gt RB RE gt gt M XM M gt El gt RI RI gt p RII gt XR pl gt ee XXE RII pl ex ex e e e exl ex e e exl e e e e ox e e e ox e e ex e e e oe 1 ox ex oe oe e e oe oe oe oe oe o1 y o o1 1 o o e oe o ala S15 51S 3 S 3 S13 S18 S S 3 SS S15 SS SI SS SSSA SA SA SSSA A S aya SS 4 SH S12 SIS EEEE E OOO AL ALA ALATA A COP O O OPO Oy Oy OC CO OR dl CAL 3 03 0 CU CU CU 0X 3 aa cnl e OO OOP OO OO OOP OO OO OOP mr 1 rl l Kl sey ost en al eal e eal eal e oof oo col sep l ER gt Se ae p lp RR REB MD ee pl ee gt ee gt eee IRI ee ee ee ed gt gt ee ee gt ee ex TAT ex ex CT ex e e AT e e e e e e CAT e e AT ex e e e oe 1 1 CAT ox oe oe A o e oe oe oe oe ex oe x oe oe AT CAT oe o1 oe AT o oe o m e E CI Dal S Dal e e e m es Gl e Gal e Gul rel l e e e RT Pal S Eal ESL ER L Dal ES e o tal es e l Gal e Gl Ga Gl G
128. eml em en en en CP eel eml en en sey EF SE SS St SS a Rcd Ped Rd ea Bcd ec cd Red Png rg eg ng EO Bg dng gg Og Dg gg Dg Pd a Dg S PD Dg De EE CEEE COREE EEE BEEBE EOE EG BEE EG BEEBE BEEBE EEEEEE SS Se SE Se Be BF Be SE BEY BF SF S Se Se Se BF Se Er A D CC E S 1 WID 433 BW 437 ID 437 BIW 439 EIW m ID 441 1 xut ID 445 IW 447 HIW 433 Ar COUNTER MODBUS AO MODBUS T 950 DEC Ewa n mw a uwa jn Ewa o a aras hb re fo a waor a muros as a Ew qu IW 389 mw m parser Io ENT a asas a asas a Ew e ano E CURT NN spas m Fol DOE NN oon n Ds E joe Ring 0 IL 5 MODBUS ON co ca Pal ec N mf AAA njo co Ry a ced cap st nl al a ms Ea Al Dp ape cay sty vo so 00 CN m iN Wi NO aa edo alele seelelelele ielesLiWeelelesjsisisejssssssu sess ssa Se e ARIK Sl al A A A ala ms SISIS SIR SIR ei ARR ISI SID a CY GO CO CO CO CO CO ca CO COT CA CNT ONT ON CNT ONT ONT ONE NT al al dl dl al dl mimm a d leal a Gani dl ed leal a m m m m Gani Bani kasi Cani Gani Bani e AQ AQ AQ AQ A Ad Ad maaa eo 9 091 A eo 091 9 A 91 a A 91 09 l a 09 9 9 9 9 al 9 9 9 9 9 91 9 09 91 aaa a aa 9 9 91 l aa aa 91 9 9 91 a l 91 a l a a 9 9 aa al 09 AAA m mmm B E seese Be Se SE dd LS BF BF BF Es 507 Pas e SIS 8g s 8s s38 8 amp e eed ex e e e Sn e
129. epeatedly until the level becomes LOW Status Logic The standard output includes Valid Done Busy Active CommandAborted Error and ErrorID The corresponding data type is BOOL except that ErrorID is INT Valid represents that FB 1s executable R W of parameter is successful when Valid is TRUE and is failed when Valid is FALSE Done represents that FB is executed Busy and Active represent that FB 1s being executed CommandAborted represents that FB is interrupted while being executed and is aborted therefore Error represents that the execution of FB 19 not correct ErrorID can be used to check Valid Done Busy Active CommandAborted and Error are mutually incompatible When Error is TRUE ErrorID is not 0 The available Motion FB of EasyPAC is listed in the following table SA_LoadConfigFile Load Single Axis configuration file MC_Power Enable Servo Step Driver for IPI IP32 AXIS_01 AXIS_32 5 6 5 8 MC_Stop Stop the motion of the assigned axis 5 6 5 10 SA_GetSensor Get the hardware sensor signal 5 6 5 11 MC_ReadStatus Read the status of the axis 5 6 5 12 MC ActualPosition Get the axis actual position from encoder 134 5 6 5 9 SA_ErrorJog Move the axis when limit switch is activated by jogging A TPM EasyPAC User Manual Table 5 3 available motion function blocks 135 TPM 5 6 5 1 SA_LoadConfigFile 54 LoadConfigFie 1 Function Input Parameter Output Parameter EasyPAC User Manual Download
130. eter MC_ Write ML BoolP TieHoolFarameier arameter 1 Function Input Parameter Output Parameter Set BOOL type data Axis Data Type AXIS_REF Execute Please refer to the Execution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details Value Data Type BOOL Actual parameter value Axis Data Type AXIS_REF Done Error ErrorID Please refer to theStatus Logic 162 TPM EasyPAC User Manual 5 6 5 21 SA WriteByteParameter Function Input Parameter Output Parameter Set byte type data AXIS Data Type AXIS REF Execute Please refer to theExecution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details Value Data Type BYTE The value to be set Axis Data Type AXIS_REF Done Error ErrorID Please refer to theStatus Logic 163 TPM EasyPAC User Manual 5 6 5 22 SA WritelntParameter A WnteIntParameter 1 m utum i m d D Yitelntlarame QE e S Function Input Parameter Output Parameter Set integer type data Axis Data Type AXIS REF Execute Please refer to theExecution Logic ParameterNumber Data Type INT Please refer to Ch 5 6 7 for details Value Data Type INT The value to be set Axis Data Type AXIS REF Done Error ErrorID Please refer to theStatus Logic 164 TPM EasyPAC User Manual 5 6 5 23 SA WriteUsintParameter Function Input P
131. ey 0000000000000000 9999999999999999 Input Parameter Execute Please refer to theExecution Logic Key1 Key16 Data Type INT SI key number from 0 to 9 Output Parameter Valid Error ErrorID Please refer to theStatus Logic 186 TPM EasyPAC User Manual 5 6 6 4 EP_SetAesKey EP SetdesKey 2 Keyl Key2 ErrorID Key3 Key4 Key5 Key Key Key8 Function Set AES key the range 0x0000000000000000 0xFFFFFFFFFFFFFFFF Input Parameter Execute Please refer to theExecution Logic Keyl Key Data Type WORD Set encrypted AesKey key no is from 0x0000 to Ox FFFF Output Parameter Done Error ErrorID Please refer to theStatus Logic 187 TPM EasyPAC User Manual 9 6 7 Axis Parameter List The following tables contain the axis parameters which can be read or written This is a comprehensive list that contains parameters that may not be applicable for all types of axes For each parameter the following information is available CommandedPosition DINT R Commanded position l Maximal allowed velocity of the axis in the MaxVelocityAppl DWORD R W 0 application Actual Velocity DWORD R o Actual velocity CommandedVelocity DWORD R Oo Commanded velocity Table 5 4 axis parameter list PN Parameter Number Parameter number applied to the input ParameterNumber of the function blocks mentioned above Name Parameter name Datatype Datatype of the axis parameter R W Read Write access para
132. ey 19d0 0441 8330 a8f0 0237 d37f 64c4 ab23 Figure 4 7 dialog window for generating AES key Secure ID display the hardware id of the EasyPAC Moreover the system integrator could input the hardware 1d of other EasyPAC in the Secure ID text box to generate the corresponding AES key EasyPAC provides an AES key encryption mechanism to protect our customers The SI key 1s supposed to be 16 numeric digits If the SI key 1s not 16 digits or it contains non numeric digits an error message will show up as figure below 30 PAC Info Update ABS code Modbus parameters About MyConfig Secure ID edoaon dlsevTlede01 SI Kew 12 dl a Enter error The input only can be 0 9 ABS Kew Figure 4 8 SI key could only accept numeric digits 4 1 2 5 Modbus Parameter figure PAC Info Modbus parameters About MyConfig ETU Parameters EasyPAC User Manual Generate The Modbus Parameters page let users edit Modbus related parameters for KW applications of EasyPAC Modbus requires settings of slave ID TCP and RTU parameters MyConfig provides sets of default settings in advance Users can change the settings and press the Save Settings button to transmit the settings to EasyPAC Next time when users login to MyConfig the settings set last time or the default values will be shown in the Modbus parameters page Users can always login to check in this page This page is shown in the following Har TLN ame
133. f NO foo DY O A ES OO ST WD O E OO HYP OY a NY OO p WT NO Oe OOP Oj Oj SY AY COP ELO O E OO DY Ol CJl cel lt l ml OL A LO SOF SO NO SOP SO SO SOP NO E Ej Ce Ce Ce Ce Ce Ej Be GOL GO OO COT OO OO CO OO OO COL HT HT Gl Gl Gl AY AL A AL EY OP OPO OP o ol ol ol O Cal mI I mI mI TALALTAL AL n PASAS MIS Vv I Lol Ln AS AO ee AG O LO VOS AO AO AO AGR AS ee AJA AO LOA o vo v O OL Ol Ol Ol Ol NODI EO AO MO BO EXO AO EXO EO BO OL NOD COLO ONE e e a af a a aj 1 0 01 1 01 01 1 1 91 01 1 0 1 1 1 9 1 a af aa 1 1 9 01 ala 1 01 1 1 01 01 1 01 ele elseleseleselesieleseseeselesessesseseseseeseeseseeseeselselsee d Bh 0 3 AO cnl ST WO NO l COP Gl CY dA cl STP O Ef OO DY Of OY COP io Ol E OO O SY ON OO r lO r OOP Aj Ol SY ea crn SY NO GO A O A CA cnl lt l ml wo vc eo WO SOT SO WO WOT WO WO MOP SOT l De De Fe Dep Oe Ge De Ce Ge OO 00 00 CO OO OO CO OO CO COL DH HI ATL DY AI ALD A AD CO O SO ol OIL OI OI OI ol Ol al m mim m mm e uv IO Wap Wa Wap WP n MO AO O MO O O AO LO v AO v LO O GP WA NOT NOP Ol Ol NOT Ol Ol NOT NSO WO WOOT ND NO MO MO MO MO NOD e al e ex cal cal ex e ex ex aa ex exx ex ex exx ex ex e ex ex exx e e exx e ex e exp ex e e ex e e ex e A ex e 9 ex e A e3 e 3 e e 3 OLL OL A ex e 5 All ral ol kl wol aal rel egl ALO Eal ale baa wo wl i co a ol ES co b
134. f second TDec Data Type REAL Deceleration Time 1n the unit of second 142 TPM Output Parameter Curve Data Type BYTE Velocity Profile O for T Curve 1 for S Curve Axis Data Type AXIS_REF Done Busy Active CommandAborted Error ErrorID Please refer to the Status Logic EasyPAC User Manual 143 TPM 5 6 5 6 MC_MoveVelocity MC MoveVelocitv 1 e TT r 2SUAAUMV 4 m 1 LA ww wwe Axis StartVelocity MaxVelocity TDec Function Input Parameter EasyPAC User Manual Velocity Move with T or S curve AXIS Data Type AXIS REF Execute Please refer to the Execution Logic Start Velocity Data Type DWORD Start Velocity MaxVelocity Data Type DWORD Maximum Velocity TAcc Data Type REAL Acceleration Time in the unit of second TDec Data Type REAL Deceleration Time 1n the unit of second Curve Data Type BYTE Velocity Profile 0 for T Curve 1 for S Curve 144 TPM Output Parameter Direction Data Type USINT 0 for Positive 1 for Negative Axis Data Type AXIS_REF Done Busy Active CommandAborted Error ErrorID Please refer to the Status Logic EasyPAC User Manual 145 TPM EasyPAC User Manual 5 6 5 7 MC_Reset MC Reset 1 ML Reset Function Input Parameter Output Parameter Reset the axis to standstill status Axis Data Type AXIS REF Execute Please refer to the Execution Logic Axis Dat
135. gical POUs Untitled n gt MULTIPROG Express Untitled Code Untitlec LLL w Data Types Logical POUs e Figure 5 90 click on the Untitled Add new variable and set the I O address Use MyDataCheck to get the correct I O address mapping as shown below l Select 108 P120 and set IP as 63 as shown Modul 108 P120 Y Ip 63 X Mode Modbus Zero Base Decimal Figure 5 91 set IP of the counter module EasyPAC User Manual 197 TPM 2 Add a new variable and name it as Channel U Variable Properties Name Channel 0 Data Type DWOR Local EasyPAC User Manual Definition scope Global Local Variable Groups EJ Default Usage VAR we RETAIN Initial value 10 address AID 433 Description Hidden Initralue as default mpoo FHorc Global Variable Groups El g Physical Hardware a Configuration eo Resource E S Default E s GROUP Show all variables of worksheets Figure 5 92 add a new variable of 108 P120 oF Download and monitor Add variables Channel_1 Channel_2 and Channel_3 following the foregoing method You can monitor the variables after the program was successfully downloaded Te View Project Build Objects Layout Online Extras Window 7 wed Libraries ij QP EXSYFAC L MN TA v NE EASYRAC_UL s UU Het ZA UL ios Dra Types i Chanel NOH je Lovr
136. gl oo vo Of LTO LO Of Of o OPO 9 OP 9 vo Of Of Of Of Of Of Of 9 O 9 O CO vo 9 of vo WO SO LO vo vo Ne o vo LO wl ol LO LO LO LO o o falolelelolelelelelelelelelelelelelelelelelelelelelelelelelelelelelelelelelelelelelclelelclclelclelelelclelclclel a a a a iee n e E m o DEC a3 1 1 1 1 1 TUE T MODBUS Discrete Input S Virtual 70M Coil mec fis oec hu 81 EasyPAC User Manual TPM M MODBUS Input Registers VI Holding Registers p S MEE a A 7TE NEN 87 NEM SEP NEM 97 NEN gpl NEN A7 NEN AF NEN B7 m BE i En NEN CE EE D7 NEN DE ES E7 BEI EN E7 LE FF NEN 07 p OB EA EL NEN IF A 43 NN p 2B p 78 MEN 3F NEE 471 MEN 4F NEN 78 y E SE NE 67 NER GE mm 71 EN TEL EN 87 EE SE MEN 97 M 9p Eg A7 NEN AF NUN B7 p BE EN sr EA CF NE D7 MEN DE NEN E7 ES EF A E7 NER FF MN 07 NEZ oF NEM 1 ur IF EN 27 NEN 2F NER CN COP SE Wo SOP De OO o COP a aferro NSO E OOP HY O CNY OO SEP WO NO Eo AO CNY OOP E ol O Ej OO AO A NY OO E oO E OOP oy O lc ral lt r Leal O Ej oo COP COP aaa ES Dru Dru Dra Dra Dra SPP ar Pl rl rl Lr Ln Ln PLA AUS AA LAO A AO LO NOT NO O NOT O MO NOP NO OO Ef E Ef Ej E Ef E OO OO OO OO CO OO CO CO oo l Op a l ey l ep el Ge el te
137. i Guwy User Define CdS Table 4 3 Modbus memory table 4 3 1 Data Address Mapping MyDataCheck 19 designed for data transforming of Motionnet slave modules supported by EasyPAC 59 TPM EasyPAC User Manual MyDataCheck Figure 4 50 MyDataCheck icon and main window Title MyDataCheck V11 126 0 1 is the version information Virtual is for virtual Memory Address mapping Ring_0 is for Motionnet DIO AIO PIO modules address mapping Ring l is for Motionnet Axis Module address mapping 4 3 1 1 Ring_0 Memory Address Mapping Ring 0 Modul v e pa Mode Modbus Zero Base Decimal Ps DiscreteImput Q Coil 1 IB 1 8 15 QB 1 8 15 2 IB 2 16 23 QB 2 16 23 Figure 4 51 Ring_0 memory address mapping Module Select the module model for Ring_0 IP slave module IP IPO IP47 is for DIO and IP48 IP63 is for AIO or PIO Mode Select the Modbus type 60 TPM EasyPAC User Manual 4 3 1 2 Ring_1 Memory Address Mapping Gy Ring 1 XIS 01 lt Modbus Zero Base Decimal 7 Figure 4 52 Ring_1 memory address mapping The available Axis module for Ring 1l is listed here IP IP1 IP32 is for single axis module IP1 AXIS_01 and IP32 AXIS 32 Mode Select the Modbus type 4 3 1 3 Virtual Memory Address Mapping Virtual Mode Modbus Zero Base Decimal Modbus Data Type Coil Modbus Data 1544 9735 1600 EasyPAC Data MX 3 0 0 MX 3 1023 7 xs Ufo E 1600 Figu
138. ile Mame CATPMiEasyFacitool axis pecie PACC kwee 1 108 A 122048 EEPROM 2 ies 3 4 t 7 108 P 12000 Cancel Figure 4 26 save configuration dialog There are two targets of configuration storage PAC and EEPROM l PAC This option is saving the configuration as an Al kwcfg file and then transferring to PAC for KW use It is not necessary to select devices from device list 1f the PAC checkbox 1s checked Press the Save button will finish the saving Note that the each AI IP address is supposed to be within 48 to 63 It will not be in the list if the IP address 1s out of range 2 EEPROM Users need to take few steps to save the configuration in the EEPROM as following 1 Check the EEPROM option and all the modules with EEPROM will show up in the list 2 Select modules need to store to EEPROM by checking the checkbox 3 Press Save button The status window displays the saving result with time stamps and messages 40 TPM Type 3 Normal 2 Error 3 Normal Duplication Time 2011 4 20 PF 05 23 35 2011 4 20 FF 05 23 35 2011 4 20 FF 05 23 35 EasyPAC User Manual Contect Backup to EEPROM success 1 module MO any Asis in PAC N save Al to PAC Success Figure 4 27 saving status window This function is made to efficiently duplicate configuration profiles among same type of modules For example users could duplicate the configuration profile to other 108 A122 from the setti
139. iles E Main Menu Figure 5 8 install MULTIPROG The installation procedure leads to install the relative libraries of MULTIPROG 5 35 252 Express and software development kit for KW applications The default location for the installation is C Program Files K W Software If the operating system is Windows 7 64bit the location would be C Program Files 86 K W Software The installation procedure installs the following software in sequence MICROSOFT Visual C 2005 runtime libraries MICROSOFT Visual C 2008 runtime libraries MULTIPROG 5 35 252 Express Build 252 MULTIPROG ProConOS AddOn The first step of the installation is a prompt of installation of MICROSOFT Visual C 2005 2008 runtime libraries Please select Install to start the installation 02 TPM EasyPAC User Manual D The following components will be installed on your machine Visual C 9 0 Runtime Libraries x86 Do you wish to install these cx If you choose Cancel setup will exit Install Figure 5 9 installation of MICROSOFT Visual C 2005 2008 runtime libraries The setup wizard will lead users to complete the rest of the installation Welcome to the MULTIPROG 5 35 Express Build 252 Setup Wizard The Setup Wizard will install MULTIPROG 5 35 Express Build 252 on your computer Click Next to continue or Cancel to exit the Setup Wizard Figure 5 10 screenshot of the setup wizard Please check the I accept the terms of
140. indow Cascade Tile Horizontal Tile Vertical Figure 4 14 functions under window option o Help This shows the MyLink revision number 4 2 2 Module Status After clicking the initial button the found and identified slave modules will be shown accordingly Click the check box in front of the slave module and the corresponding menu will pop up Except USB L131 it will show up two Motionnet masters at the top left corner Ring_0 and Ring_1 If the master is EasyPAC MyLink could save the profile according to data type designated for KW Moreover the slave modules besides axes control are supposed to connect to Ring_O and axes control is supposed to connected to Ring 1 Check the slave device at the check box will pop up the corresponding control window at the main frame of MyLink and the properties will show at the left bottom corner E S Master oo la Eing zl le Ring 1 code 77 Slave48 A180 L Figure 4 15 slave devices found by the Motionnet master Properties The related item will be shown according to the selected slave module type If the property 1s grayed out means it 1s read only E Information King IF 48 Type A180 E Operation Gaini 10 00 Crain 10 00 Crane 10 00 Gains 10 00 Crain4 10 00 Gaini 10 00 am 10 00 Crain 10 00 Figure 4 16 the property window If the parameter comes with a combo box means the input options are pre arranged If the inpu
141. l US Ce l Ce Ce Dey De r US r UU r r l r r ey r r l r l l Ej Ej COLON e e e dl 1 dl 1 01 1 1 1 dl 1 01 1 1 1 1 1 0 CT 1 1 1 1 1 1 01 1 cd 1 1 a al aa 1 1 1 dl 01 1 1 1 01 1 dl dl 0 01 elelelsteleelels esseseselesleselsseseleeeseleeselseseeseseleseseesseseleese WA SOTO CO AP CO SY CNY OO SE WT MO E OOP DY CO IN OO SP SO Ce OO DY O A NN OOP l WO oO E OO DY CO SY NY cal rl ml O DY COP DY CO A NY cal SEY MO CY OO DY CO Ean tm Ge be be Ej OO 00 OO OO OO COT OO OO CO OO A NE NT NT NY DY AL AY DY OPO O O al O O O Oy Oj a a apa Al CA I ONT NT CY CY e en LO SO NO NOP MOF WO WO WOT O AO MOF NO NO NOP ND Ol WOT Ol O Ol O NO NOT OP O fl El Ce Dey A A All Ce A All Dey Ce Ce Ce Ce Dep ey Ce Ce ey Ce Gey Ce Ce r A A Aj E Sa Cl CJ c NENT CY CY 1 031 0 01 9 01 9 3 9 0 ASIS 1 9 0 NNN 1 9 0 9 0 9 1 9 0 9 06 NONE 9l 0 1 1 9 NY NT 1 1 1 1 01 STS S S SI Sl el Sl e 3 el e Sl 21S 3 Sl SI SS el SI SIS SSI e e el e 8 SSIS S a aa SY A S IAL A SAS A AISI A A a I ILS Le Fe ta EEE faved Pas vy des vs iehe siete imc ea pa EI cr t aol DB OQ ala Tt vo we rl egl B OP A a al wal Ol rl co BPO GA caf cn tt wo Oo rl a la e xw t o0 OY AIA eof tt wo Of vello ES co AY ALA a cof ca co ala ala col ool stp sed BL lt se B B MI ll ol ol to va wo Ol ov Ol vo wo vo vo vo Ko Ko S e E el e elle el 00 00 e
142. l dl l dl cee l l dl dl dl dl dl dl rd eJ rl wl eel al l rl uml ol dl al rl und eel al cul rl ml eol al al ep wl cal dl al rl Mal eel al l rl wl eel dl al rl uml eol dl al rl wl eol a l rl Ea ca al a ew eel calo l COP EP O ALSOP l l DID Sl lt a l Sl Sl l QI Gl SI 29 SY DI al oY OY OY O Sl SO G 20 DL DY SAP YY Gal al TP OP Gl S DI a A NY co Srl ol i ATR Si 3x9 8 SIS SI ST ST SI S a gg SES T SYS SY 83 S SIS RY SY SI SIT SI SI ST SI IS SB SI am e se sS SY Ss S SI SIRI SI SI STS sl al al ay al ay l al a eal zal cl Al e ex ex oe e oe e e e a e e e eo col col en e cel e e e Se gt ee ee ae ee RE o obw uw uw ue vol ol O Of CO Ko Ko Wl Ko Ro Ko Ko Ko Ko Ko Ko Ko LO LO Ko Ko Ko Ko Ko Ko Ko Ko Ko Ko Ko Ko Ko Ko Ko Ko Ko Ro Ro Ro Ro Ro Ko Ro Rol Ro Bo Ro Ro Ko Ko Ko w Ko w w wo Discrete Input End HEX DEC HEX Virtual 70M MODBUS Coil ERE NEN NC ESN 80 EasyPAC User Manual TPM M MODBUS Input Registers Wr MO l 0 L Cal Ean ES cal rl lO l GO EN Eam Em EN al rll O LO Gl Gal Em EN cnl l ol OL L Ol GL ol dl CA cal rl ml O l GOL Ea Eam Ea EN OD SEY vere DY CO Ean n e el E L OO OO OO OO CO COT OO OO CO OO L AEN Gl G Gl Gl G AY Gal OPO l O Cl l l Cl l Oj A A l Al CA I XJ ea Al CXJ al dl cal e SO NOP SO SO NOT O Ol NOT O NO N2 O Ol NOT NO NO NOT O NO NOT NOY NO NOP O O Ei r E
143. llowing table uu SAM A SPECIFICATION MODEL MDR 40 24 1 7A 0 1 7A 40 8W 150mVp p Ps EE RIPPLE amp NOISE max Note 2 OUTPUT 24 30V VOLTAGE TOLERANCE Mote 3 1 055 LINE REGULATION 1 0 SETUP RISE TIME Note 5 500ms 30ms 230VAC 500ms 30ms 115VAC at full load HOLD UP TIME Typ 50msi230VAC 20ms T15VAC at full load VOLTAGE RANGE 85 264VAC 120 370VDC a AC CURRENT Typ 1 1A 15VAC 07A 230VAC 105 150 rated output power PROTECTION ia Protection type Constant current limiting recovers automatically after fault condition is removed 15 6 18V kun Protection type Shut down op voltage re power on to recover FUNCTION DC OK SIGNAL Relay contact rating max 30V 1A resistive 20 70 C Refer to output load derating curve WORKING HUMIDITY 20 90 RH non condensing ENVIRONMENT STORAGE TEMP HUMIDITY 40 485 C 10 95 RH 0 03 C 0 50 C Component 10 500Hz 2G 10min 1cycle period for 60min each along X Y Z axes Mounting Compliance to IEC60068 2 6 UL508 UL60950 1 TUV EN60950 1 approved NEC class 2 LPS compliant 12V 24V 48V only WP O P 3KVAC VP FG 1 5KVAC O P FG 0 5KVAC ISOLATION RESISTANCE l P O P P FG O P FG gt 100M Ohms 500VDC 25 C 70 RH Compliance to EN55011 EN55022 CISPR22 EN61204 3 Class B Compliance to EN61000 3 2 3 Compliance to EN61000 4 2 3 4 5 6 8
144. me and the first character could not be a number The following example is an example with legal name Program gt Function Function Block Action Use Reserve Transition Step VAR Mode Worksheet Data Types ibas Description 9 Append PLC type Processor type Figure 5 29 input name and select LD language Click OK and then users could start editing the program 103 TPM EasyPAC User Manual E MULTIPROG Express Untitled Code LD_sample EE Eile Edit View Project Build Objects Layout Online Extras Window 2 on na T r3 AAA Oil Tt ontact Figure 5 30 edit program window Click on the Code LD_sample tab so the LD editor will show up The function icons listed on the left including Network Contact right Parallel Coil right etc Left click on the space area and click on the Coil right button after the symbol showing up then a Contact will be created as shown below Figure 5 31 make a Contact right for instance Mouse click on the gray area and bring up the functions by right clicking on 1t 104 TPM EasyPAC User Manual a Undo Ctrl Z Y je Cut Ctrl X EF Copy Ctrl C r Delete Delete Connector Contact Right F7 Coil Right Contact Left Alt F7 Contact Below Ctrl F7 Contact Above Powerrail Right Powerrail Left Ctrl R Open instance m Build Cross References T_ Y Code Unt B Compil
145. meter can be read written Comments Short description of the parameter function 188 TPM EasyPAC User Manual 5 6 8 Function Block ErrorlD List PO Nemrapu 7 meaitaibemiidedakedy s fie axis was not initialed before o mis mer a tegatFB exeoute M Parameter number are not comeety 1s nap ot mate O armas read only 15 om fami block ype 19 Parameter isnot enough acconecty a 36 arte SSS a SSSS S 3 jmpNuEmbd iaa 0 Ts coun of the group ls than Table 5 5 function block error id list 7 11 12 14 15 17 18 19 21 26 2 28 20 30 Ring error message if there is a beep sound and the 7 segment displays an E please restart the EasyPAC by toggle the power switch 189 TPM EasyPAC User Manual 5 7 Sample Programs The sample program can be found in the following directory C TPM EasyPAC sample 1 AIO 2 Counter 3 Single Axis 4 Grouped Axes 5 HMI_DIO 5 7 1 Al O Module wiring 106 A104 01 and 106 A180 01 are used in this example The IP of 106 A104 01 is set as 61 and 106 A180 01 as 62 Make the wiring as shown below AOUTO of 106 A 104 01 is connected to the AINO of 106 A180 01 AGND of 106 A104 01 is connected to AINO AGND of 106 A180 01 And AIN4 AIN4 AGND of 106 A180 01 are connected together Figure 5 71 wiring for this example 106 A104 01 J T pq pq y Table 5 6 the wiring table Set the gain values of AI with MyLink
146. mmunication Error Amplifier Axis Error Instance errors do not always result in an axis error forcing the axis to StandStill The error outputs of the relevant FB are reset with falling edge of Execute Behavior of Done output The Done output is set when the commanded action has been completed successfully With multiple Function Blocks working on the same axis in a sequence the following applies When one movement on an axis 1s interrupted with another movement on the same axis without having reached the final goal Done of the first FB will not be set Behavior of CommandAborted output CommandAborted is set when a commanded motion is interrupted by another motion command The reset behavior of CommandAborted is like that of Done When CommandAborted occurs the other output signals such as In Velocity are reset Inputs exceeding application limits If a FB 1s commanded with parameters which result in a violation of application limits the instance of the FB generates an error The consequences of this error for the axis are application specific and thus should be handled by the application program Behavior of Busy output 126 TPM EasyPAC User Manual Busy output indicates that the FB is not finished Busy is SET at the rising edge of Execute and RESET when one of the outputs Done Aborted or Error is set It is recommended that this FB should be kept in the active loop of the application progr
147. mplate Project Wizard DEEP EE Figure 5 132 new project template Click on Untitled gt MULTIPROG Express Untitled Code Untitled Libraries Data Types Logical POUs aane E Untitled Figure 5 133 click on the Untitled Add new variable and set the I O address Check and set the I O address of 106 D422 NN with MyDataCheck as shown below 215 TPM Modul 106 D422 NN IP 0 Mode Modbus One Base Decimal Index m Discrete Input Q Coil 1 IB 1 9 16 QB 1 9 16 21 IB 2 17 24 QB 2 17 24 Figure 5 134 add parameters EasyPAC User Manual Add new variables and name them as IN Port O0 Byte IN Bit 0 Bool IN Bit 1 Bool IN Bit 2 Bool IN Bit 3 Bool IN Bit 4 Bool IN Bit 5 Bool IN Bit 6 Bool IN Bit 7 Bool Out Port 0 Byte Out Bit 0 Bool Out Bit 1 Bool Out Bit 2 Bool Out Bit 3 Bool Out Bit 4 Bool Out Bit 5 Bool Out Bit 6 Bool and Out Bit 7 Bool correspondingly as the screenshot below Variable Properties Hame Definition scope IN Port 0 Local Global Data Type Local Variable Groups BYTE j E3 Default Usage Global Variable Groups VAR RETAIN El 2 Physical Hardware Initial value E Configuration l l Gye Resource 2 Default 170 address J 54 GROUP IB 1 Descriptors ual Hidden F Show all variables of worksheets LjPDD Morc nitvalue as default m Figure 5 135 insert ne
148. n below OVH HHE OOO GiGi Gita WU LAO Orc 000000000 CCC noneepoepcococcc ie laal ARAR E T aa alaa al a a EE TL 130 mm B B B 6 B DODE DODO p Figure 2 1 outline and dimension 2 2 Connectors All connectors and switches of EasyPAC are shown below 16 TPM EasyPAC User Manual SW1 La 6 SW2 eee eee 0 900 eee eoo cr COM ER CN2 CN1 990 TT veo veo vvv USB Bm CN3 eee 9 9 LAN Oo g CN4 p Figure 2 2 Connections of EasyPAC Name Function COM D SUB COM port COM1 COM3 connector CN D SUB COM port COM2 COMA connector CN SCSI 20Pin Digital I O connector CN RJ 45 expanding connector of Motionnet DI O and AI O COM CNI CN2 CN3 RJ 45 expanding connector of Motionnet Motion CF LAN SWI SW2 LAN RJ 45 LAN 10 100 SWl o System operating mode setting SW2 o o Baud rate of Motionnet setting Table 2 1 EasyPAC connectors and switches 2 2 1 COM Port COM amp CNT EasyPAC is equipped with four COM ports two RS 232 and two RS 485 They are deployed in COM COMI RS 422 COMG RS 232 and CNT COM2 RS 422 amp COMA RS 232 separately that is the D SUB 15 pin connector The pin definition of this connector is in the following 17 TPM 160606085 LILET EU 1600001 Pin Pin Mark Pin Description 2 Tass X5 RS2S2RX gt 6 Reserve 7 RS232 RTS3 RS232 RTS signal R5232 CTS signal 10 Reserve NC Figure 2 3
149. nction Function Block Properties Definition scopt Name ES 9 Local Data Type Local Variable R TRIG Ej Default Figure 5 43 TON FB example with rising edge trigger properties set Click on the Contact icon to add a new a type contact and enter the name with Inside coil01 Then add a coil on the Q position by selecting Coil right icon and name it as Rising Edge as shown below R_TRIG_1 CLK Q Figure 5 44 add a right powerrail attached to Q Inside couU Add an ending on the right end by click the Right powerrail icon as shown below R TRIG 1 Inside coil01 Figure 5 45 add an ending on the end Use Connect lll to connect all nodes and powerrail as shown below 110 TPM EasyPAC User Manual Ol PLCMODE RUN Inside coil E 347 R TRIG 1 Inzide coil Risme Edge CLE Q Figure 5 46 all nodes are connected by Connect The program flow control will be illustrated in the following part This is similar to 1f then else in C language Open a B contact named as Rising Edge and add jump behind it and double click connector Jump and enter the name with jump00 as shown below 02 p ising Edge Figure 5 47 add a jump named jump00 Then add a multiplier MUL Figure 5 48 multiplier The help file of MUL can be accessed as shown below MUL Cn Wake Description This arithmetic function multiplicates the operands connected to the input Parameters Parame
150. ned as X Axis Range 1 32 Seg4 Ay 9 Axis with IP9 is assigned as Y Axis Range 1 32 Seg4 Cx 0 Center of circle is 0 relative to X Axis Range 134217728 134217727 Seg4 Cy 1000 Center of circle is 1000 relative to Y Axis Range 134217728 134217727 Seg4 Ex 1000 End point in X Axis is 1000 Range 134217728 134217727 Seg4 Ey 1000 End point in Y Axis is 1000 Range 134217728 134217727 Seg4 Dir Cw Clockwise circle The sequence of Seg5 Seg8 are similar to which of Segl Seg4 which are skipped here Operation All the signals are displayed in green background after the hardware properties are set The single axis motion window is shown in the following figure o0 1 Axis Ringl IP1 Command 0 Positio Speed 0 IO OxO Mc 0 repost svon mam RAIM os see Figure 4 43 screenshot of axis control window Before testing the axis it is necessary to make the motor servo on The SVON signal will become from green to red If the Servo Drive Alarm Reset is connected to the output signal the RALM must be pressed and the corresponding signal turns red If the Repeat option 1s checked the motion will go back and forth infinitely with the pre defined position The DIR signal will toggle as well With respect to the group axes the SVON action should be done as mentioned Users could check the eroup folder to bring up the axis group option 53 TPM The window of gro
151. ngs of the previous bought identical type product The steps to duplicate are as following Select File Recovery Config From from file option If the Recovery Config From Tools Window Help Backup Config to Recovery Config From Exit Figure 4 28 duplicate configuration option option 1s hit a new dialog will be popped up as figure below Source Recovery settings from File 7 Self EEPROM 9 Omer Axis 1 E Ring 108 A 12240 108 P 120 Target Recovery settings to E mi Ringo Po 108 A 12200 108 P 1208 108 P 120095 A Lead All Figure 4 29 recover profile dialog Here is the duplicating sequence 1 Select Other Axis from the radio button as the recovery source 11 Select the copy source from the module list 111 Select the destinations Users could select multiple devices by multi checking devices or check the Ring to select all devices under the Ring 41 TPM EasyPAC User Manual iv Press the LoadAll to finish the recovery The status window displays the recovery result with time stamps and messages Type Time Contect 3 Normal 2011 4 20 PF 05 48 54 Recovery from other axes settings success I Copied count Figure 4 30 recovery status window Note that the recovery is just recovering to the specified devices not saving to EEPROM If the profile needs to be saved eternally users still need to save it to
152. nput Pin definition of this connector is in the following Fm Pin Mark Pin Description 2 2 6 USB Connector I 2 RS485 NC NC 4 NC NC C C Pin Pin Mark ES 5 6 RS485 ED 7 N 8 N Pin Description Reserved Reserved Motionnet protocol Reserved Reserved Motionnet protocol Reserved Reserved Table 2 3 pin assignment of CN4 Table 2 4 main power connector pin assignment EasyPAC User Manual There are two sets of USB in the EasyPAC The pin definition of this connector is in the following 20 TPM EasyPAC User Manual 6 USRD s Gen Table 2 5 USB connector pin assignment 2 2 7 LAN Connector EasyPAC provides one LAN port with 10 100Mpbs The default IP address 1s 192 168 1 100 and user can modify it with MyConfig The pin definition of this connector is in the following LAN Signal Name LAN TDP LAN TDN 6 LAN RDN s ND Table 2 6 LAN connector pin assignment 2 3 Rotary Switch There are two rotary switches on EasyPAC One is to set the run mode of system and the other 1s to set the baud rate of Motionnet 2 TPM EasyPAC User Manual 2 3 1 System Mode Setting SW1 The SW1 is used to set the mode of EasyPAC User can choose the system mode by setting SW1 The corresponding setting of this switch 1s in the following Set default IP address MyContig Server Mode 192 168 1 100 My Config Server Mode CS A Table
153. nverts BOOL to SINT Y BOOL TO UDINT Converts BOOL to UDINT Y BOOL TO LINT Converts BOOL to LINT Y BOOL TO LSINT Converts BOOL to LISINT HH anni TN MET Coanvertec RONNI ta MTT Figure 5 23 approach to check FB FBs can be selected after the Edit Wizard 1s activated 100 TPM EasyPAC User Manual 5 4 Create and Edit a Project Users could create a new project from File New Project as shown below M MULTIPROG Express Untitled Code SS File Edit View Project Build Online Extras 2 Save Project As Zip Project As Close Project Figure 5 24 create a new project Please select TPM Template as the basic framework New Project s e Jes General L Figure 5 25 TPM Template in creation of a new project Press OK then the following window will be popped up as below 101 TPM A Z Z Leboa IPC a gt Ww Rrrr H L THE gt Tr S 3 Ted CTAC 2 iw Haun 2 INIT 175 T Ep Cital Tonan a D Coshganiea 8 cn TO ONT ZR KD TO NT ZB ET 10 50 Tmn tR Pa Y B00L 10 811 E noni T0 oT Y OOL TO REAL Z pnn TO Sn E S B00L TO UDNT 800 TO UNT Baw ws n Figure 5 26 main window of MULTIPROG Descriptor Rrrr of Sh Pe Coane Addition TIME ddr Liez AND kee Swe An Tangent Converts ECD BYTE ts MI Convert ECDBYTE to IN Converts SCD BYTE to ST Led BLO AWOND te C Converts SOOL to BYTE Convert EG L to DINT
154. o 8 inputs separately ex AOI Al A34 38 TPM EasyPAC User Manual A122 Form RingO IP48 Analog Input Alt 298 V Al 2 55 V A2 t 3263 V Ad 4 79 V Analog Output Y AO Y A02 J AO3 V A04 Y ALL Figure 4 24 screenshot of the example The program keeps polling of the analog input data There are only a few options users could change Input Setting 1 Mode single end or differential Input Setting 2 Gain voltage and the ValueType voltage output or raw data Users could change the output value by inputting the voltage value directly or by scrolling the slide bar Select the check box to choose which to output Retain Parameters As mentioned above 108 A 122 1s a module with an EEPROM for data storage and MyLink 1s a parameter setting utility It is very important to save the setting in the EEPROM so that users do not have to set the parameters every time when system is brought up Moreover users who do not thoroughly understand the settings could also use this module with the preset parameters Users could write the configuration in the EEPROM through File Backup Config to as following shown figure Tools Window Help Backup Config to Recovery Config From Exit Figure 4 25 save parameters to EEPROM If the Backup Config to option is hit a new dialog will be popped up as figure below 39 IPM EasyPAC User Manual Backup Config to PCCpecfg F
155. o sampling times The default value is 2ms and maximum at 200ms 2 Mode 5 modes are available Counter Frequency Period GT and GC Parameter Description 0 up count Time 1 down count Trigger type Rise Fall Counter o 0 to 4 294 967 295 Upper Limit l ME Maximum number for up count and initial number for down count o 0 to 4 294 967 295 Lower Limit o Initial number for up count and minimum number for down count Measured Value lt Lower Limit or AlarmOut Measured value Upper Limit Frequency mode 0 1s 1s 10s 100s the sampling period Time Is INx gets 1000 pulses within 1 second the measured frequency is IKHz Average unused Frequency m Edge Trigger Type Rise Fall Upper Limit Hz 0 4 294 967 295 Lower Limit Hz 0 4 294 967 295 Measured Value Lower Limit or AlarmOut Measured value Upper Limit Period measurement mode this 1s used to measure the ON OFF time of the incoming pulses the max measured time is 800ms 2ms 20m 200ms 800ms Period Set the max measure time for INx input pulse Time Example The period of INx input pulse is 1 5ms The most accurate measure value can be obtained by 2ms If the input pulse period ranges from 1 5ms to 500ms please use 800ms to measure 43 TPM EasyPAC User Manual Calculate the value with different number for average 2 means Average the period is averaged with 2 samples Gate Time To measure the Gate ON or OFF time with sampling
156. ojojojojojojojojojojoj ojljojojojojojojoj ojojojo oj oj o ojojojojoj ojo coc CAP COE e OO en e COL eo e e e e e e e e e e e eo e e e e e e e e e e e en e e eo e e e e e e e e e e e en e e eo e e e eo eo aaasssssssssssusssssessssssszssssssseesss2s35595525552599252555 e eee e e esc os o Ds mme m iiim al o po ST S S Sl a eie e else s a a Sl Sl S Sr S S SI S e eo ja ES Spay AY Opt WO OP CE OO HY l SY Al OO lt r al O l OOP HY OY GIN e Spay A Oop sty a NOP C OO HAP CO ay CAL ral rl WO NO a os e c3 co mr o oO Ol ol ol ol ol ol oll ol ol ol ol ol 2 2 c 2 2 c NAAN CHP Oe EEE E E Ej Ce OO OO CO BO CO COT OO 20 CO oO AEX OD OT OO AEX oO ojojo ojojojo o o o jo o o o o o o o o o o Oo o NEAT ONE OS GY ONE ONE OS CAE OS DYE ONG ON DN CAP DN QE NY ODS NEAT OD OO OO NEW A 3 A S A A A A A A A A mI A mS Ban 4434431441444 II4IIII III III AAA dd dd dd dd dd Ol cA cl ty eo OP E a DY MY a Cd cel TY YO Ej OOP O O ww e S La LN HR KAA ES cce el A cel el s SIE en LA ole e ees es S e Sod Go K SS S S S E ES KS S S S S ES S S MODBUS Discrete Input Coil cis asc hu 87 TPM EasyPAC User Manual 9 MULTIPROG Introductions MULTIPROG is an IEC 61131 Programming System developed by KW and MULTIPROG Express 5 35 is a compact version to be used with EasyPAC The main features of MP Express 5 35 are No of IO per project 128
157. ords when a 16 bit CPU is used An LSI center device G9001 controls the bus I O wiring can be greatly reduced by using a G9002 I O device Motor control wiring can be reduced by using a G9003 PCT Using a G9004 CPU emulation device reduces the wiring for general devices connected to a CPU Data can be exchanged between CPUs by changing the G9004 mode New devices can be added to the system on the fly 23 TPM EasyPAC User Manual Systems can be isolated using pulse transformers Transfer speed up to 20 Mbps Maximum 64 slave devices for each serial line on a master device Input output control of up to 256 ports 2048 points motion control of up to 64 axes Input output and status communication time for each device when inputting outputting and reading status data for each device the system automatically refreshes the center device RAM each communication cycle Cyclic communication 15 1 usec local device When 32 local devices are connected 1024 points of input output 0 49 msec When 64 local devices are connected 2048 points of input output 0 97 msec Data communication time cyclic communication can be interrupted with a command from the CPU Data communication time 19 3 usec to send or receive 3 bytes e g when writing feed amount data to the G9003 Data communication time 169 3 usec to send or receive 256 bytes Serial communication connection cable Multi drop connections using LAN cables or
158. os PLCEmors Figure 5 19 making a project 98 TPM 5 2 4 Download EasyPAC User Manual Please left click on Project Control to download the compiled file to EasyPAC as shown below CTU rov crm rov TOF l aem m NUR n neee Q rov Untitled b O total F Include Pagelayouts Include Backend Code Delete Source on Target Figure 5 20 download sequence 5 2 5 Debug Click the Debug on to activate the debug mode YO00 V001 YUUU 001 16805 16805 002 1003 VO02 V 003 16805 16805 Figure 5 21 enable the debug mode non non non non non non non non A retain data retain data retain data retain data retain data retain data retain data lt FA Build A Errors A Wamings A Infos Print 99 TPM EasyPAC User Manual 5 3 Interface Description i Libraries IF RUN THEN LA EASYPAC AXES READY FALSE La MNet SA AXIS Dl AXIS USINT 1 a QQ MNet SA UL AXIS 02 AXIS USINT 2 SL SA AXIS 03 AXIS USINT 3 amp My EASYPAC UL AXIS 04 AXIS USINTRA 1 Data Types AXIS 05 AXIS USINT 5 2 il Logical POUs AXIS_06 AXIS USINT 6 AXIS 08 AXIS USINT S E Untitled AXIS 09 AXIS USINT 9 AXIS 10 AXIS USINT 10 AXIS 11 AXIS USINTE11 AXIS 12 AXIS USINTE12 AXIS 13 AXIS U
159. otproject into the project to be downloaded PLC Run Mode is described in the following e Cold All data will be reset Including retain and non retain SPG is executed if a cold start is done 119 TPM EasyPAC User Manual o UO driver function Oo Shared Memory Input Output Var Warm The following data will be initialized Non retain SPG U is executed if a warm start is done I O driver function Shared Memory Input Output Var Stop The following states will happen All user defined tasks ProConOS calls the program SPG 2 1s executed 1f the program 1s stopped I O driver function EasyPAC ProConOS Boot The EasyPAC run mode depends on Rotary Switch 1 setting as shown below O o be c iy xl 9 C F Default IP address MyConfigSvr MyConfigSvr MyLinkSvr ProConOS Modbus RTU Server 7 Cold Start 8 Stop 9 Warm Start ProConOS Modbus TCP Server A Cold Start B Stop C Warm Start ProConOS D Cold Start E Stop F Warm Start Click on Debug on off icon Figure 5 64 the debug toggle button 120 TPM EasyPAC User Manual Buffer_valu UTPUT 2 i DINT 1 002 jumpO1 MOVE DINT 1 Buffer value 2 jumpoOl OUT 16 0001 Figure 5 65 FB with debug function turned on Jump is used to avoid fast continuous execution of Add GE means Great Equal MUL will be activated once after 1 sec TON 1 TU PLEMODE RUN C TOM IN O E Inside coilD1 o TIME 1S Pr ET
160. ough Ethernet or serial communications TPM EasyPAC User Manual ProConOSs MULTIPROG ES PLCopen Figure 1 1 EasyPAC offers complete software and tools 1 1 2 Compact Size Motionnet High Extension and Integration EasyPAC provides two Motionnet Rings O Ring 0 For digital I O analog I O and pulse counters B Supports up to maximum 64 slave modules B Transfer speed 2 5 5 10 20 Mbps Ring lI For motion control B Supports up to maximum 32 axes B Transfer speed 2 5 5 10 20 Mbps 1 Axis Motion JOALIG OM SIXY L Analog I O EasyPAC AR o S Y dj d 9 Counter Figure 1 2 EasyPAC and supported slave modules TPM EasyPAC User Manual 1 2 Features Fanless and compact size Standard PC interfaces LAN USB2 0 RS 232 RS 422 Compact Flash Disk Microsoft Windows CE5 0 embedded real time operating system Local digital I O interface DIx8 DOx8 Built in two Motionnet Masters Ring 0 and Ring 1 B Ring 0 For digital I O analog I O and pulse counters Supports up to maximum 64 slave modules B Ring 1 For motion control Supports up to maximum 32 axes Configurable Motionnet transfer rate up to 20M bps maximum Combine HMI Human Machine Interface by Modbus TCP or Modbus RTU System utility MyConfig Motionnet utility MyLink Programming software tool MULTIPROG 5 35 Express Power input spec B Output voltage 24V DC B Power Consumption 7W 1 3 Hardware The
161. owered up EasyPAC please make sure the SW1 is switched to position 1 PC is supposed to have the same network section as EasyPAC IP address 192 168 0 100 when the network cable is hooked up If these two settings are correct we can power up the EasyPAC It will beep an alert sound if the system 1s successfully brought up and MyConfigSrv exe will be started automatically If there is no beep for a while means Ethernet failure or the IP address 1s in conflict with someone else 4 1 2 PC Side Settings 4 1 2 1 Login Users can login MyConfig with EasyPAC IP address and password MyConfig provides two kinds of login account which have different privilege Default password for administrator is admin and default password for guest is guest The password could be updated after login The administrator has the privilege to view and change settings and the guest only could view the current settings 27 TPM EasyPAC User Manual After logging in there are five more tabs PAC info Update AES code Modbus parameters About MyConfig 8 MyConfig V114131515 Login PAC Info Update AES code Modbus parameters About MyConfig EP 192 168 1 100 PassWord Figure 4 1 MyConfig login page 4 1 2 2 PAC Info Users can see the EasyPAC basic hardware information at the top half of the page At the bottom half users could set up IP address admin password and guest password Information Hardware ID 10 CPL
162. r 210 IPM EasyPAC User Manual New Project TCP 20110211 C Program Files PM Designers Browse Link Properties IP Address 192 168 1 100 Timeout Time x 0 1 Sec Command Delay x 0 1 Sec Paty Count ink 1 Direct Link Ethernet Modicon Corp ModBus Device Slave TCP IP v E Figure 5 121 input parameters 211 TPM EasyPAC User Manual Add LED object and set the Modbus address Use MyDataCheck to check and set the corresponding I O address of 106 D422 NN as shown below i Modul 106 D422 NN IP o Mode Modbus One Base Decimal Index Discrete Input Q Coil 1 IB 1 9 16 QB 1 9 16 21 IB 2 17 24 QB 2 17 24 Figure 5 122 configure parameters using MyDataCheck Add and set a new LED General Label Visibility n Note o C Picture Shape External Label State Color FG Colo MI A Pattern BG Color CM Address Type Bit v Monitor Address 10008 Fal Figure 5 123 add a new led Duplicate multiple LEDs 212 TPM EasyPAC User Manual Ctrl X Duplicate Ctrl C Number of Copies Copy Direction Cancel Columns 8 o Rows 2 Spacing in Pixels Horizontal 2 z Vertical 2 Bring to Top V Increase Address a 21 EZ NIG tN Increment 1 Send to Bottom Object Properties Figure 5 124 duplicate multiple LEDs el Figure 5 125 multiple LEDs
163. re 4 53 virtual memory address mapping Mode Select the Modbus type Modbus Data Type Coil Output Tag Discrete Input Input Tag Holding Register Output Data or Input Register Input Data Modbus Data Modbus data is mapped to M of MULTIPROG EasyPAC Data M of MULTIPROG is mapped to Modbus data 61 TPM EasyPAC User Manual 4 3 2 Address Mapping Table Data type of Modbus is in the following table Primary tables Object type Type of Single bit Read Only Input Registers 16 bit word Read Only Holding Registers 16 bit word Table 4 4 data type of Modbus Ring 0 DIO Table 4 5 table of Ring 0 DI O IP L represents Local DI IB 0 and Local DO QB 0 0 1s the slave module with IP 0 Available IP ranges from 0 47 The following data type is available with same slave IP 32DI IB1 4 32DO QB1 4 or 16DI 16DO 1B1 2 QB 1 2 62 TPM EasyPAC User Manual Ring_0 AI O and Counter IP T i 2 Holding Registers COUNTER MODBUS T Ic M NN CON EN CRNN sowas B 5 owas amp 6 wa p p EN EN Table 4 6 table of Ring 0 AI O and counter us wwe 48 Available IP for AIO PIO is ranged from 48 to 63 and the total number is 16 The following data types are available with the same slave IP 8 Channel AI IW 193 207 8 Ch AO QB 193 207 and 4 Channel PI Counter ID 193 205 The data type of AIO is WORD Hex 0x0000 0xFFFF The engineering unit can be calcula
164. rouped axes with one of Groupl 7 specified and press the arrow button gt gt gt will make the selected axes group up as a group The grouped axes will show up in the device monitor as following E E Master Ts 7 Slavell M121 Figure 4 35 grouped axes In this example M121 is a grouped axis under AxisGroupl instead an independent axis SaveAnd Recover Configurations The reading and writing of configuration profile are almost the same as AI O in the previous section except one more place to save the configuration profile pc 46 TPM EasyPAC User Manual B Save As mentioned above a saving dialog will pop up if the Back Config to option 1s hit o EK ess Backup Config to Y PCCpecfg Ej Ringl 1 Axis 0 5 1 Axis 2 xis 3 1 Axis 9 File Name v PAC kweto ior A180 Axis 95 Y EEPROM c Ringl sof 1 Axis 9 Cancel Save Figure 4 36 the saving dialog for group axes la PC Users could select the axes to be saved in the tree diagram The File Path button let users change storage path at will Press Save to save the information including information interface I O pulse I O and operation in the PC 2 PAC If the PAC check box 1s checked all the modules to be saved would be in the list without selection needed If an AI module is not in this list means the IP address 1s not within
165. side coilD1 Contact Coil Properties Name Definition scope Inside coil01 y 9 Local Gl Local Variable Groups 3 Default Global Variable Groups Data Type BOO Er y Physical Hardware E 2 Configuration Gye Resource i E Defaul JJ SA GF 1 0 address ZMX 3 10000 0 Figure 5 55 set the usage as VAR GLOBAL for sharing with other programs 115 IPM EasyPAC User Manual 5 4 4 1 0 Configurations Double click on IO Configuration and the following window will pop up MULTIPROG Express LD sample Code LD sample File Edit View Project Build Online Extras LU mnn ee m mnn nnn b PT D t 1 B j d 1 mm al E u A U e FEB s Up Y E ya Physical Hardware ww Configuration IPC_40 ww Resource PROCONOS e Tasks MT Aes INIT AXES 120 Group Board 1 0 Module Range Task Comment a LD sample LD sample d L User defined Input 3 Global Variables ie l IO Configuration M 1 0 Configuration INPUT OUTPUT VARCONF gt Figure 5 56 the IO configuration window Select the designated input output and then hit the Properties button to check the properties Properties Ej Task Logical addresses Start address zip 0 Length 443 End address ZIB 448 Data configuration Retain Refresh Device by task Driver gt manual C Memory Board IO Module User defined Input Driver Par
166. sily access to the equipments The front of the EasyPAC system includes one standard LAN port two standard USB ports two Motionnet ports one GPIO connector 8 digital inputs and 8 digital outputs two rotary switches four COM ports two RS 232 and two RS 422 and one optional PC104 expansion slot EasyPAC also provides one external compact flash slot compatible with type II compact flash cards EasyPAC is running based on WinCE real time operating system with built in ProConOS kernel for running SoftPLC and two utilities for system diagnosis MyConfig and MyLink MyConfig is used to set the system configuration and MyLink is used to diagnose and test the functions of Motionnet slave modules 1 1 Basic The operating system for EasyPAC is Microsoft WinCE5 0 RTOS Real Time Operating System Based on the RTOS an application ProConOS which is a PLC operating system from KW 19 running on it Users can use the SoftPLC development tool named MULTIPROG to develop the application EasyPAC supports Modbus server over RTU TCP to be connected with HMI s that support Modbus protocol 1 1 1 Complete Industrial System Solution EasyPAC offers complete software and tools Built in ProConOS MULTIPROG PLCopen Functional Block Users are able to customize their own functionalities MyConfig Utility for setting of system parameters MyLink Utility for diagnose Motionnet slave modules o Communicate between HMI and main system thr
167. ss to the drive motion control is via Function Blocks Internally these Function Blocks provide basic error checking on the input data Function Blocks with centralized error handling First Second Third ErrorHandling FB1 FB2 FB3 ReadAxisError Axis a Axis A Execute Done Execute Done Execute Done True Enable A LAU Function blocks with decentralized error handling First Second Third FB1 FB2 FB3 Axis xus ooo Axis N Execute Done Execute Dcne Execute Done Error Eror Error ErroriD ErroriD ErroriD Recovery ErrorHandling FB100 FB200 Axis Axis Execute Done Execute Done ErroriD Error ErroriD Error ErroriD ErroriD Figure 5 68 function blocks with error handling 5 6 3 Function Block Interface General rules The following table provides general rules about the interface of the Motion Control function blocks Output exclusivity When Execute is true the outputs Busy Done Error and CommandAborted are mutually exclusive Output status The Done In Velocity Error ErrorID and CommandAborted outputs are reset with the falling edge of Execute However the falling edge of Execute does not stop or even influence the execution of the actual FB The corresponding outputs are set for at least one cycle if the situation occurs even if execute was reset before the FB completed If an instance of a FB receives a new Execute before it finishes as a series of commands 125
168. sssssssssassssssssss WO OP SO SO SOP SO OOOO El Ej EE E E OO OO OO OO CO OO OO CO CO BO THI DI DIDI AAA Aa ON oro OO O ol OD O qo ol eol ol ol cl ol clo SN EON EON EON EON EON EON EON EON BON EON EON ESN EON EON EON EON EON EON EON EON EON ESN EON EON EON EON ESN EON ENEN ESN EON ENEON ENEN ESN ENEN E T ET ETET Emmm m a e e e e AL e e e e e AL e e 1 e e e AT A A A A e e 9 e ex e e ex e ENI AT AT AT e e aos poy cm m Ll C E Eal CI S al S EH e e e e al e al e tal e al e Gal e ead ef 12 Sap ap SI EISI S Dai e En e e e es al e a e H o AL al lt lt a a OF OY A Al al ml tal ho ol l Sa al al sol eol xx a WO OT el l co DY al lt lt a a OF OF QQ Aj al mal th tal SO ol lalalala st ON ONE OUT ONE ONE 01 9 1 1 o1 1 COP e e e OP OY e cal OO COL 95 e e 9 cal e e cl e e e e OOP OO OO e e OO e oo oo COP Sep n SEP Se lt r BI MB NI NBI r AY AL ALAL e e ex e e ext e e ex e e exc e exp ex aaa e expe aaa aaa e e ex ex ex e ex e ex e e ex e e3 ex e e ex e e AL e e e e e CP Wap ral ay ONE De rn COP ay ONT DP ral ONT Ce YO ral SY ONY Ce iu OO a ON CE OO SON De WO QA Ej LO ral Ean DO Ef ral SPO E Lm ral ovv A ON Ej zx essseseszissxseesz5sess 9ssgszuJwiesezsssuisgeg9eumxeezmveevuesesesgsssdlsemagsguWsgs Sg messe cames ve e ales Z ale s se e el e e e e s e e eee e elm s xe ss eo cd co 26 co cd 20
169. t 1s a text box users should key in the value needed within the acceptable range The combo box for a parameter 34 TPM EasyPAC User Manual is Shown as the following figure E Operation Caml 10 00 e 10 00V A Galing Gaini Gaind Gain Camb T U Crain 10 00 Figure 4 17 screenshot of updating properties Description This is located below the property page The main purpose is illustration and suggestion Gaind Gain Figure 4 18 property description Ring Status Ring status is shown in the bottom Green means enabled and red means disabled Ring Oxi j Target IP Figure 4 19 Ring status Message There is a block above the ring status displaying responses from MyLink The responses include time stamp the event occurred and error or hint messages Type Time Contect 3 Normal 2011 4418 EF 11 59 28 Updated Settines finish 35 TPM EasyPAC User Manual 4 2 3 DIO Module Operation 6 Mylink File Tools Window Help 208 eti E Information Ring 0 IP 0 Type DIO 16In 160ut Figure 4 20 information of connected devices Module Status As shown in the above menu a DIO module is identified in Ring 0 This example is a 16 input 16 output module Property No setting is required for DIO module Operation The DO is connected with DI in the illustrated DIO module accordingly When turn on the DO channel both the DO and corresponding DI are ON 4 2 4 AIO Module
170. ted When the gain of Ch 0 of Al is 10V IW 193 0x0000 10V OxFFFF 10V The data type of PIO counter module is DWORD Hex 0x00000000 0xFFFFFFFF In the case of 108 P120 different modes can be set as described in the following l 2 Counter Count the no of pulses Frequency Measure the frequency of the input pulse Time 1s 0 1s 100s For example When Time is set to 1s and gets 1000 pulse from INO ID 193 0x000003ES The freq is KHz Period Measure the period of the incoming pulse in the unit of ns For example when the input pulse is with 2ms width in INO ID 193 0x001E8480 period is 2000000ns The freq 1s 500 Hz GT Measure the ON Off Time in the Gate sampling period is 0 1ms For example the signal in the gate is 2 seconds 2000ms 0 1ms 20000 ID 193 0x00004E20 GC Only 2 channels are available in this mode Channel 0 Channel 1 INO CountO IN2 Count INI GateO IN3 Gatel IN1 and IN3 Measure the Gate input time INO and IN2 Measure the pulse input Count 63 TPM Ring_1 Axis IP IP i Table 4 7 table of Ring_1 axis The available IP for Axis module 1s 1 32 Total no 1s 32 IP1 is for Axis 01 AXIS 01 1 command DWORD Command Position 0x00000000 0xFFFFFFFF Pulse AXIS 01 2 position DWORD Current Position 0xX00000000 0xFFFFFFFF Pulse AXIS 01 3 current velocity DWORD Current velocity 0xX00000000 0xFFFFFFFF PPS AXIS 01 4 10 status DWORD I O status of
171. ter Data types Description IN1 ANY NUM first input value IN ANY NUM second input value OUT ANY NUM output value Figure 5 49 help file for MUL Set the parameter initial value to 1 111 TPM EasyPAC User Manual Name Buffer value Data Type DINT y Usage VAR y RETAIN 1 These data types SINT INT DINT USINT UINT and UDINT can be set The reference table is listed below 0 255 Table 5 1 data types could be set Note that the IN1 gt IN2 gt OUT 3 of a MUL must be set with the same data type In this example users need to enter the name and value CONNECTOR JUMP Mame jump Connector Cancel Help Figure 5 50 specify the name and value for the MUL Enter jump00 as the Name and select Label and then click OK Complete the sample program and add a new GE FB as shown below 112 IPM EasyPAC User Manual Bof valu DIN T s 2768 Figure 5 51 consolidate all function blocks with SUB FB added Add a new MOVE with Label jump01 as shown below Select DINT_TO_WORD FB and add it on 03 L jump DIN m f mance Figure 5 52 MOVE with label jump01 5 4 3 Settings of Register and I O The hardware settings have VAR and VAR_GLOBAL types With GLOBAL means the I O could be shared 113 TPM EasyPAC User Manual ww Physical Hardware ww Configuration IPC_40 ge Resource PROCONOS 2 45 Tasks Task CYCLIC O Un
172. ter 1s activated when value is TRUE Latch Data Type BOOL Latch 1s activated when value is TRUE SlowDone Data Type BOOL SlowDone is activated when value is TRUE InPosition Data Type BOOL InPosition is activated when value is TRUE ServoON Data Type BOOL ServoON is activated when value is TRUE AlarmReset Data Type BOOL AlarmReset output is HIGH when value is TRUE AlarmReset output is LOW when value is FALSE 151 TPM EasyPAC User Manual 5 6 5 11 MC_ReadStatus MC_ReadStatus_1 Function Read the status of the axis Input Parameter Axis Data Type AXIS_REF Enable Please refer to the Execution Logic Output Parameter Axis Data Type AXIS_REF Valid Error ErrorID Please refer to the Status Logic Error Stop Data Type BOOL Axis is stopped with error when Error Stop is TRUE Disabled Data Type BOOL 152 TPM EasyPAC User Manual Servo Step driver is Disabled when value is TRUE Stopping Data Type BOOL Axis 1s decelerating to stop when Stopping is TRUE StandStill Data Type BOOL Axis is ready to execute motion command when StandStill is TRUE DiscreteMotion Data Type BOOL Axis is executing discrete motion when DiscreteMotion is TRUE ContinuousMotion Data Type BOOL Axis 19 executing continuous motion when Continuous Motion is TRUE SynchronizedMotion Data Type BOOL Axis is executing synchronized motion when SynchronizedMotion is TRUE Homing Data Type BOOL
173. th Bit0 RDY Bitl ALM Bit2 EL Bit3 EL Bit4 ORG Bit5 DIR Bit6 EMG Bit7 PCS Bit8 ERC Bit9 EZ Bit10 CLR Bit11 Latch Bit12 SD Bit13 INP Bitl4 SVON Bit15 RALM e axis 1 is ON 0 is OFF Bit16 Bit31 is reserved RDY pin input Alarm Signal Positive Limit Switch Negative Limit Switch Origin Switch DIR output Emergency signal input PCS signal input ERC pin output Index signal Clear Counter Input Latch signal input Slow Down signal input In Position signal input Servo ON output status Alarm Reset output status EasyPAC User Manual 64 TPM AXIS_01 5 motion done WORD EasyPAC User Manual Motion done is the axis status WORD value 1s 0x0000 0x000B OxOOOC OxFFFF is reserved 0x0000 Stop 0x0001 Wait STA 0x0002 Wait ERC finish 0x0003 Wait Dir change 0x0004 BackLashing 0x0005 Wait PA PB 0x0000 In FA motion 0x0007 In FL motion 0x0008 Acc 0x0009 In FH motion Ox000A Dec Ox000B Wait INP Virtual Data Digital output MODBUS Coil Cal Begin End eng Begin End NNNM EM o p Jo p ista isos ssi oor Table 4 8 digital output of virtual data Digital Output 1s described in the following MB 3 0 Coil 1544 Coil 1551 JMX 3 0 0 Coil 1544 JMX 3 0 1 Coil 1545 JMX 3 0 2 Coil 1546 JMX 3 0 3 Coil 1547 JMX 3 0 4 Coil 1548 JMX 3 0 5 Coil 1549 JMX 3 0 6 Coil 1550 JMX 3 0 7 Coil 1551
174. the EERPOM 4 2 5 PIO Counter Module Operation The PIO counter module operation is illustration in this chapter A signal generator 1s connected to channel 0 and channel 1 of a counter module MyLink V11 File Tools Window Help Ch2 L 109 P190 0 counts counts LIS Slave33 108 G180 e Slave48 108 A122 counts counts Start Channel Stop Channel E Operation CycleTime E Settings 1 Mode ModeGroup Counter ModeGroupl Counter E Settings 2 Time TimeGroupO C Count upYF 0 1s P TimeGroupl C Count upYF 0 1s P E Settings 3 AlarmOut AlarmOutCh0 Normal Open AlarmOviChl Normal Open AlarmOutCh2 Normal Open AlarmOutCh3 Normal Open Cycle Time 2ms 200ms Figure 4 31 MyLink control for counter module Module Status Displays counter modules found with corresponding IP address The module name is a little bit different with AI O and DI O There are five modes of counter configurable The frequency mode is adapted hereafter Property 42 TPM EasyPAC User Manual The 108 P120 extension properties include Mode Time AlarmOut Average Edge PowerOn SafeValue UpperLimit and LowerLimit Except the options of Mode and Time are set with Group as a unity other are set with each channel independently INO and INI are grouped up as GroupO and IN2 and IN3 are grouped up as Groupl The details of the properties are listed below l Cycle Time It is the time period between tw
175. ting 2 Gain Gain Channel 110 24V7 5 12 Gain Channelz 110 24V7 5 12 Crain Channel 3 110 24V7 5 12 Crain Channel4 110 24V7 5 12 Crain Channels 110 24V7 5 12 Crain Channel 110 24V7 5 12 Crain Channel 110 24V7 5 12 Crain Channels 110 24V7 5 12 E Input Setting 3 Value Type ValueType Voltage E Output Setting 1 Power nYalue FowerOnValue Chl 4 00 FowerOnValue Che 3 00 FowerOnValue Ch3 2 00 FowerOnValue Ch4 1 00 Figure 4 23 properties of 108 A 122 Property The extensions of 108 A 122 are inputs Mode Gain and ValueType and output PowerOnValue All parameter values could be stored in the EERPOM except the ValueType Mode select the input mode single end or differential end Gain select the input voltage range It is separated into 8 grades 80mV 160mV 320mV 640mV 1 28V 2 56V 5 12V 10 24 5 12V The input voltage larger than 5 12V is not recommended ValueType set the view of input output as transformed voltage or the raw data The rules to transform to the voltage value by calling APIs are as following 1 Take reference only on the positive voltage value Take 10 24V for example Range 10 24 2 Start 10 24 the result could be obtained by calling API a122 get input value 2 Input voltage Vin Value x Range 65536 Start 3 PowerOnValue when the power supplies the initial value of 108 A122 Default value is 0 Operation The demo program is cross connection from 4 outputs t
176. titled Untitled O INIT AXES INIT AXES ml sample LE sample JS Ue UL d IO Configuration circled by red rectangular shown above is used for I O address configuration Please refer to the following table TL e TL TA ss nn Jp nes Jf ime Rean Pr TANS 21 AXIS REF VARGO LH J TAXIS 25 AXIS REF VAR GLO i Jes Jrxs REF war ot te TANS 21T ANSREF J VARGIO T IANS 28 AXSRE VARGIO d a 29 1 AXSRE VARGIO 8H EF Jaxs30 JAXSRE VRGIO H f Ais 31 AXSRE VAR GLO Of Auis32 1 J AXSRE J VARGIO Ot G1 1 AXSGROUPR VARGLO Jm G2 A JAXSGROUPR VARGIO FM f 63 AXESGROUPR VARGLO amp H f G4 A AXSGROUPR VARGO 8 G G5 A AXSGROUPR VARGO OE G6 AXESGROUPR VARGO mg G7 J AXSGROUPPR VARGLO EE AXES READY BOL jVMRGIO EE E Default PLCMODE ON BOOL VARGLO jHeryou WMX100 D EF PLCMODE RUN BOOL MAR GLO Mx101 f PLCMODE STOP BOOL VAR GLO X Mx102 n f PLCMODE HLT BOOL VARGIO X MX103 E PLCDEBUG BPSET BOOL VARGLO 9 WMX1 14 E E PLCDEBUG FORCE BOOL VARGLO X Mx120 m E
177. uped axes properties 1s as the following figure Before running the axis please make sure the properties are set correctly Axis Group Ringl Group 10000 10000 Command Position Figure 4 45 axis group properties E Information King Croup E Operation MovelMode Lop nde VelProfile str vel Max Vel Tace Tdec InterpolationMode Cx Cy Ex Ey lu Relative SdStop TCurve 100 10000 0 1 0 1 Line 10000 0 10000 10000 Figure 4 46 axis properties window MoveMode the options are Relative or Absolute move StopMode the options are abrupt stop or slow down stop VelProfile the options are T curve or S curve InterpolationMode the options are Line or Arc Figure 4 44 check the group folder to update axis parameters Speed EasyPAC User Manual The group operation depends on the VelProfile Line Arc More than two axes could be joined together as a group in line interpolation mode 54 TPM EasyPAC User Manual Axis Group Rina Group3 List Command Position Speed 10000 U U U 10000 U 2 U 10000 U E U 1000 10 y f Figure 4 47 more than two axes are possible to run together in line interpolation mode Users could only choose exactly two axes to do arc interpolating motions More than two or less than two axes will cause an error message in the message window Type Time Contect os Error 20114421 PF 02 50 05 Please select two axes Any two Figure
178. ute 1 MC MoveAbsolule StartV elocity Active MaxVelocity Command Aborted T cc TDec Error ErrorID Curve Function Input Parameter EasyPAC User Manual Absolute move with T or S curve Axis Data Type AXIS_REF Execute Please refer to the Execution Logic Position Data Type DINT 134217728 134217728 Absolute Position StartVelocity Data Type DWORD Start Velocity Max Velocity Data Type DWORD Maximum Velocity TAcc Data Type REAL Acceleration Time 1n the unit of second TDec Data Type REAL Deceleration Time 1n the unit of second 140 TPM Output Parameter Curve Data Type BYTE Velocity Profile O for T Curve 1 for S Curve Axis Data Type AXIS_REF Done Busy Active CommandAborted Error ErrorID Please refer to the Status Logic EasyPAC User Manual 141 TPM 5 6 5 5 MC_MoveRelative MC MoveRelative 1 MLC Movekelave Axis Execute Done Distance Busy Start elocity Active MaxYelocity Command Aborted T cc TDec Curve Function Input Parameter EasyPAC User Manual Relative Move with T or S curve Axis Data Type AXIS REF Execute Please refer to the Execution Logic Distance Data Type DINT 134217728 134217728 Relative Position StartVelocity Data Type DWORD Start Velocity Max Velocity Data Type DWORD Maximum Velocity TAcc Data Type REAL Acceleration Time 1n the unit o
179. w parameters Download and monitor You can monitor the variable after successful download as shown below 216 TPM EasyPAC User Manual me MULTIPROG Express HMI DIO J E File Edit View Project Build Online Extras 7 E i EASYPAC Bree Li MNet SA IN Port 0 7000 Out Port 1 V 09 anes us E mars x U EASYPAC UL 1684 L 16444 1684 1684 4 E M MNet SA UL IN Bit 0 von Out Bit 0 V010 State Bun Name Description 2 iel Data Types 1 1 1 1 Cold Y amp DD Addition E Ya Logical POUs IN Bit 1 V002 Ovt Bit 1 V011 Reset Tem HAND Bitwise AND a n 0 0 0 0 CTD Counter Down E Unti a Ux IN Bit 2 V003 Ovt Bit 2 V012 ala aud Ee Up 1 1 1 1 ounter Up Down 4 IN Bit 3 V004 id Download Upload Div Division j T 0 0 Error EEO Equal s EF TRIG Falling Edge Detection IN pi 4 SS Oot Bit T0M Close Hep Ba Greater Than Equat gt dir GT Greater Than gt IN_Bit_5 Y006 Ovt Bit 5 V015 d LE Less Than Equal lt 0 0 0 0 LT Less Than lt Ovt Bit 6 V016 Uer IN Bit 6 yoo 1 1 dit MOD Modulo Division 1 1 dit MOVE Assigns Value wees E Out Bit 7 V017 dE MUL Multiplication Bit 0 0 0 0 dit NE Not Equal lt gt di NOT Complement 4 H Y OR Bitwise DR
180. wn below V000 I O address JoYB 1 IPO DI port input VYUO I O address Blank V002 I O address IB 2 IPO DI port2 input V003 I O address Blank mp MULTIPRO lacu Gin Egber Miedos f l l Ss Libraries Lih EASYPAC DP MNet SAY E EASYPAC UL UE MNet SA UL Data Types ogical POUS 5 Untitled M Undo Ctrl Z Rec Eri a Paste tn Insert Columns Ctrl 3 Delete Columns Ctrl 4 Insert Rows Ctrl 1 Delete Rows Ctrl 2 SFC Networl FE Tae e lt Worksheets Connector Jump Variable Properties R z om Definition scope 8 Local Global Local Variable Groups Default Global Variable Groups O Physical Hardware Er Configuration L 2 VAR RETAIN Initial value 170 address L ZIB 1 Description Hidden Show all variables of worksheets meo ore Initvalue as default PERDE Figure 5 18 edit a variablein MULTIPROG 97 TPM EasyPAC User Manual 5 2 3 Compile Click on the Make button to compile the project Message Window Generating IEC Code Collecting POUs used by RESOURCE Resource Generating specific Code for CONFIGURATI Generating specific Code for RESOURCE Re Creating data templates Processing code Processing data Creating task info Creating initialization code af O Error s O Varning s 4 m 4l t 4 FA Build Eros A Wamings A Inf
181. x e ex ex oe ee e ex ox oe e e e oe oe oe oe ey ey oeil oe oe oe oe e oeil oe oe e oe oe oe oe oe e e oe oe ol ol o tm e Gal e e 5 a ES Se ES C Dal e e Gl e e in e m e Gal e Gal e al e e al e e Gal gt Sey Se ES EZ Dal o ES Gl Gl e a 0 a os LO Ol l rl aol ecl l l C Ll Ol al o DT AY aue mimi mi mn oO l i l cal cy to eml se se wal wal WO SO rl rl oo cof a oy Cl lt am al lO C3 AP ai m GO al al OP SO Ss o GO ea ea mi al aj aj a aj aj aj aj ma Ol e aj a ea OOO UP C UO UP OPO UP UP UO UP UP UI OP C3 C UP UO UP C3 C3 DIO OL IDO OIDO Ul GI OI alana Al mp uw eel al al elu eel al af ce ul al al a ef ul cal GP a rl wl cal Gl a rl wl eel Sl ad ep eol Sl al el unl eol al al rl wal cal a al rl ual eol dl a rl nl eol Sl aye AO 2 SP POP STS Sl BD SP SP AO al TY VQ Ele QD O A AP a caf TY wg 9 Of e ela af al AP AP a ca I tg OL I Sal I DI a A a al FT o l BEER EERE Eee ALON OO ST WO O Ej OOP I O EC OO SEY NO OY OO DL CY SY OY Op a WO MOP Ej OO DL DO OY CA OO l OT NO E COP DY OY a ea cl PD NOL OO DY COP A OY OY lt r wo v ASS SS e E SESS eere SOT 9 1 ee 2 G0 DP oj aaa a ON DY DIO SI OPO SIO Sal Sal Gal Gal C4 C3 Cal Cal mim mim isis qs qs grs S mS j dl j j Al Mj j Ra ab c3 c3 c3 03 03 03 03 CY 03 03 03 CE CT CO 03 03 03 03 CY 03 03 03 CT 03 OT 03 Cc QUPERERARRRMPERERARRRARAREERRRABEPEERRMRMEEREA
182. xe Version HMI RTU 1l exe Version HMI TCP l exe Version WyConfig exe Version 11 03605 14 32 MyLink exe Version 1 0212 23 55 MyDataCheck exe Version Not Exist ey ld d 412 15 48 Start Update 101313555 2 oe 225 0 2 s SIS 1 218 0 1 Software Version in IPN OS Image Version 11 224 0 1 EZPACSDK dll Version gt 303 Hl MNetCE dll Version 303 MsgDevCE dll Version Recover MyLinkSvr exe Version 401 13 55 pcwceb exe Version 11 225 0 2 HMI RTU 1l exe Version s 218 dh HMI TCP 1 exe Version i18 1 c AE Recover PSU There are 4 files to update please go to PAGE Update Figure 4 4 update software page 29 TPM EasyPAC User Manual In this Update tab it would show up the software versions that are out of date There is also a hint message informing software needs to be updated Select files needed to be updated and press the Start Update button and then it will start updating and pop up a progress bar like below UpdateClient Figure 4 5 progress bar of software updating If the software update completes 1t will pop up a dialog saying the update completed EasyPAC needs to reboot to apply new software Information Update Compeleted LP Please reboot EasyPAC Figure 4 6 update complete dialog 4 1 2 4 AES Code Secure ID 76000013e71e6101 SI Key 1234567890123453 AES K

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