AX-V PROGRAMMING MANUAL Global Programmable Logic
Contents
1. PROGRAM MING MANUAL Global Programmable Logic Controller Release 2 1 Date 10 12 2001 Supported M odels AX V family drives Configuration tool AXV Cockpit Phase otion Control s r l Lungobisagno Istria 14D 27 16141 Genova Italy Tel 39 010 8359001 Fax 39 010 8355355 e mail support phase it 1 INDEX MM sc 2 A Spies e 4 GENERA EEA TURES D 4 STANDARD FUNCTIONS SHE SHR ROL ROR TUDCHOTS e xad ose re vi opi atio sz REI RR RD ERR HER TTC LEE MAX MIN f nctliOns esee enne tt tnnt then tetto LUM IT UD EDIT o iremos ceo up UE IE LUE LE EE E E M 17 kizlel lige GPLC PROJECT COM PONEN S bete Source anle Ul T EE 2 5 PROGRAM 19 FEATURES COMPILER eee COM MUNICATION INTERFACE attirer t erra teen etiam Et eb roseo M 6 PARAMETERS INTERFACE 22 INIRODUC TIONS PARAMETERS and VARIABLES 7 FIRMWARE DRIVE INTERFACE hac 25 INPU2. Compile button Text editor Predisposizione encoder 10 pEncType ST Enc_Type pCyRev Enc_CyRev Npoles Motor_Poles LD pEncSup LIMIT 0 110 ST TMod2 Limite di corrente LD ST pCurr Imax Message Window Data monitor window Not connected Line 1 Col 1 NUM The main GPlc elements are Source module Editor Compiler Communication interface Data monitor With the above order the elements perform the different steps to create a PLC application the steps are e Editing the source code Compiling the source code Sending the originated code to the driver e Program debugging by displaying the run time variables An output window is always available to display compiling errors and the GPlc executive messages id EDITOR The integrated editor features are typical of Windows environment editors and provide with Text selection Cut copy and paste command Find and replace Drag and drop selected text Move selected text The above commands are accessible from the Edit menu which is activated when at least one text file is open The command File Open opens a PLC source file or any other text file M oreover following features are available Row and column number displaying in the status bar Automatic positioning on compiling errors To position on th
3. Source files Image file Parameters Task Parameters file basic par Browse Plc file basicpar plc Browse Annulla gt id Finally in the Task dialog box insert the names you will use for the programs corresponding to the three tasks see task paragraph of this manual Source files Image file Parameters Task Fast per 250 us fast Slow per 8 ms slow Init ini Press OK to complete the project creation The files window will be filled with the files you added to the project baseapp Gplc View Project Communication Help amp mmm e nx Baseapp files E slow plc E init plc E Fast plc E std lib plc E 11 Connected Now the project is created and ready to be compiled It is possible to open the files and complete the editing without creating the project again If the message Invalid Memory Image File appears while compiling it means that either the file axv img in the directory or the filename chosen in the project settings is missing To download it from the driver connect to the driver selecting the option Communication Connect the driver must be connected and the 24 V signaling lamp switched on then select Communication Upload Image File If any error occurs check the connection the interface 232 485 the 2 dip switches must be set ON and the communication s
4. Sp PosLoop Rg_PosspLim MOTOR NegspLim Current loop IsqRef Inverse gt gt 1 D 1 S vsv PWM Sys D 1 gt lt Y gt EET Md MOTOR M Transf Ic_IsdRef PN 4 P Toa VsdReq g x Ct DFak Park Transf a Rho lv Test lu Test 36 Velocity position loop Spl AccFak Spl PeSp 5 Spl VelFak N N Imax A ty a Spl_Out lc IsgRef gt 3X gt rad Spl TurRef Imax Filtro Rg_LinOut 4 Spl_PosRef Spl PosErr E tj 1 E T gt M 07x E E Spl PosFak pum gt Spl ViPo 5 SpliFak PosErr gt Spl_PerLim Sys Pos Err PosErr Spl PosCor Ramp generator Sp Rg_LinOut lt 0 5 CcwDec Rg_LinOut P Rg LinOut Rg_Cont Rg_ExpRamp Rg_LinOut sont Rg_cont 0 E _ Rg_LinOut lt Rg_Sp CcwAcc b M Rg_LinOut gt 0 CwDec 37 8 APPLICATION EXAMPLE DESCRIPTION In order to help the user to create the first application GPlc and
5. become familiar with this manual a simple application is explained The application to be developed in speed control takes the reference alternatively from the analog input 0 or from a parameter depending on the digital input 1 value The enabling command is carried out by the digital input 0 Moreover the possibility to change the ramp slope parameters and the loop gain through an Ax V Cockpit table are foreseen The first step is to create the source files one for each executive tasks and one with the common variable definition CREATING A PROJECT Create a folder for the project Run GPLC and create three new files File gt New and save them in the newly created folder with the following names basicinit plc basicslow plc basicfast plc Copy to the project folder also the AxwVarsXX plc and file from any of the existing projects in the Phase Motion Control Apps folder Select File New Project and choose the destination directory and the project basic name Select Project gt Settings In the Source Files the dialog box add one by one the files you created and the axwarsXX plc file In the Image file dialog box set the name for the AXV memory image file axv img In the parameters dialog box select the name for the AXV Cockpit file the system will create with your application parameters basic par and the internal file the system will create to declare the parameters variables basicpar plc Project Settings
6. code download The download status is displayed in the Output window The connection status is displayed in the status bar When the driver firmware version is not compatible with the file IMG the download is disabled see paragraph 0 In this case either select a different IMG file for the project or upload the data memory map into the selected IMG file using the option Communication Upload IMG file DATA MONITOR The user can enter in the Watch window the program variable names to be displayed during the program execution While the connection is enabled the current variables value is displayed and constantly updated To use the data monitor follow this procedure Compile the current project When not connected enable the communication interface using the option Communication Connect in the GPlc menu Download the code Use the mouse to point the first free cell in the Symbol column of the Watch window click the mouse left button to enable the editing and enter the wished variable name Or e Select a variable name in the editor and use the mouse to drag it to the Watch window When several variables have the same name a dialog box will allow to select the wished variable f the name displayed in the Watch window doesn t correspond to any variable in the field Value object not found will appear The Location and the Value fields display the
7. impressed in motor phases The maximum current value must be written in variable Imax before starting this procedure This procedure is normally started from Init task and the Fast and Slow tasks are started after the procedure end Example in program Init LD 200 ST Imax set 2 Arms as phasing current LD wait enabling in inpO ST StartFas after first enabling the phasing starts LD FasatOk wait phasing end ST stFastTsk start program Fast ST stSlow Tsk start program Slow me we in StartFas BOOL Start automatic phasing procedure BOOL Phasing ended ENCODER SIGNALS REPETITION The encoder signal used for speed position feedback loop can be repeated with the desired ratio on connector S1 This connector can be setup either as input or output to enable signal repetition set bit abrenc 1 The ratio is settled by means of two variables multiplication and division coefficient The repetition frequency limit is 500 kHz when this frequency is exceeded the drive puts alarm on as some counts could be lost Modifying the variable Se SpM ax value enables the threshold alarm decreasing in order to protect external reading device with limited pass band The index can be repeated with a desired impulses step limited to 2 After enabling index repetition the programmer can set the position of the first repeated index with reference to the first master index Note The next index will be repeat
8. to prova par Not connected Each externally accessible parameter is identified inside the GPLC code with the name pParName Each externally accessible variable is identified inside the GPLC code with the name vParName For example parameter IDM will be used inside the program code as follows LD pIDM ST Imax To add a new parameter open the parameters window press the Add new parameter button and select the parameter type BOOL INT etc The system will assign the first free Index of the corresponding DataBlock for the new parameter Each parameter is characterized by the following fields Parameter index Automatically assigned by the system M ENU gt Indicates the AXV Cockpit display menu to which the parameter 15 associated lt NAME gt A mnemonic name used to identify the parameter lt PARTYPE gt Type of the parameter shown in the table see example below VAL Displayed value of the parameter M IN gt Minimum value accepted for the parameter MAX M aximum value accepted for the parameter lt VARTYPE gt Type of the parameter sent to the drive SCALE M ultiplying factor between displayed value and sent value OFFS Offset between displayed value and sent value lt UNIT gt M easure unit displayed in the field unit lt DESCR gt Parameter description displayed in the Description field lt NOTE gt This field is displayed as footnote of the paramete
9. ROGRAM slow VAR InpAbil BOOL Define two local variables OutAbil BOOL END_VAR Manage inputs Verify the user enabling command LD on digital input 0 ST inpAbil Ramps Read ramps slopes from parameters LD pCwAcc ST CwAcc LD pCcwAcc ST CcwAcc LD pCwDec ST CwDec LD pCcw Dec ST CcwDec LD 1 ST Rg_ExpRamp Read loop gains from parameters Gains LD pKint ST Spl IntFak LD pKPos ST Spl PosFak LD pKSpd ST Spl VelFak LD pKAcc ST Spl AccFak Set clockwise and anti clockwise speed limits Speed limits LD 209000 ST Rg PosspLim ST Rg NegspLim Driver enabling Enable drive LD inpAbil ST EnableDrive ST outAbil a id Manage outputs LD outAbil ST out0 END_PROGRAM enabled turn on the digital output 0 FAST PROGRAM basicfast plc This program is used to read the high frequency speed reference from the analogue input 0 Open the basicsfast plc file and insert the following code PROGRAM fast VAR RifAna BOOL Temp32 DINT END VAR Manage inputs LD 1 ST RifAna LD RifAna JMPCN rifparam LD ST temp32 MUL 16 DIV 5 ST Rg SpRef JMP refok rifparam LD pSpRef ST Rg SpRef refok END PROGRAM Local variable definition Verify the reference selection from analog input or parameter If no reference jump to rifparam Read input ainpO ainpO extention to 32 bit for compatibility with Rg_SpRef Scale span ad
10. T OUTPUT AND DATA ttt tt tna to breuem FIRMWARE INTERFACE FILES er rere rece ANALOGO ENCODER SIGNALS eee INCREMENTAL ENCODER AUTOMATING PHASING ENCODER SIGNALS REPETITION EE amp T Eee Meum 31 POSITION VELOCITY 32 BoP CONTR nen eden vy artist 34 BLOCK DIAGRAM OP 35 cote T A 35 RU RR Rm 36 Current 36 Velocity position irae tei iut pla diputada 37 Ramp generator 37 B APPLICATION EXAMPLE na a A In TE 38 38 CREATING PROJECT E 38 INIT PROGRAM file RE pp neta 40 SLOW PROGRAM OW scene tact Er 41 FAST PROGRAM basltfast rentur 42 VARIABLE AND PARAM ETERS basicpar plc sss 43 AX V COCKPIT PARAM ETERS TABLE icc neo racha do IERI D GS ac a Rie ins 43 COMPILE THE PROJECT s epee eee itt atit de toate aita eet n ctus 43 2 INTRODUCTION GENERAL FEATURES GPlc is an application program designed for Windows 95 NT Operating Sys
11. ariables are visible only inside the the function itself Local variables do not conserve their value with two consecutive function calls The structure of a Function is as follws FUNCTION nomeFunzione TypeOfReturnValue VAR INPUT Input variables declaration END VAR VAR Local variables declaration VAR Instruction list END FUNCTION The result of the function must be stored into a variable with the same name as the Function itself It is possible to use the instruction RET inside a function with associated modifiers C and N to execute a return on condition to the invoking program A Function cannot acces to global variables included system variables A Function is called from the main program placing the name of the function itself in the list of instructions When a function is called the first parameter passed is the value of the accumulator additional parameters should follow the function name separated by colon The output value of the function is placed in the accumulator A function can call another function ae 7 Example Following function returns the square of a 16 bit the return value is 32 bit FUNCTION Pow2 DINT VAR_INPUT Val DINT END VAR LD Val LE 1648000 Check if max value is exceeded JMPC lExeMul LD 1 Conventional value to indicate an error ST Pow2 RET lExeMul LD Val calculate square value MUL Val ST Pow2 store result int
12. ccessible in the option Project Settings of the M enu Bar Source modules The source modules are made of ASCII files with PLC extension not compulsory The text must be in accordance with the previous paragraphs and the IEC 1131 3 standard The source text can be edited using the integrated text editor or any other ASCII editor gt 17 IMG Files IMG files include the description and the values of the driver memory map where the machine code will be stored An IMG file is linked one to one to a driver firmware version This means that a single IMG file exists for each firmware version and vice versa A 32 bit code included in the IMG file and in the firmware performs the link between them The IMG ASCII file must not be modified with editors or similar applications Usually the IMG files linked to the driver firmware versions are included in the PLC project directory A missing IM G file can be downloaded from the driver The machine code originated by the PLC compiler includes the IMG file identifier code This way the driver establishes whether the received code is compatible with its own firmware if not the PLC execution is disabled TASK GPlc foresees the link between the drive executive tasks and the programs declared in the source code with the structure PROGRAM END PROGRAM This link is carried out with the GPlc dialog box Project Settings Presently the AXV versions provide three tasks w
13. ccumulator and operand Addition SUB All except BOOL Subtraction MUL All except BOOL M ultiplication DIV All except BOOL Division GT All except BOOL Comparison gt GE All except BOOL Comparison gt EQ All except BOOL Comparison NE All except BOOL Comparison lt gt LE All except BOOL Comparison lt LT All except BOOL Comparison lt JMP C N label Jump to label The delayed operation is executed The foreseen modifiers are C N and they mean C the instruction will be executed only if the accumulator is boolean TRUE e N the operand BOOL is reversed before to be used in the operation e the operation execution has to be delayed until the operator Examples The instruction JMPC beginning means that the jump to the label beginning is done only if the accumulator is TRUE JMPCN beginning means that the jump to the label beginning is done only if the accumulator is FALSE The instruction ANDN alarm is interpreted as accumulator accumulator AND NOT alarm s AND OR 1 is interpreted as accumulator accumulator AND inpO OR inp1 FUNCTION The construct FUNCTION END FUNCTION allow to declare block of GPLC code defined as Function A Function is charcterised by a name a list of input parameters and by the type of output data It is possible to declare local variables inside a function These v
14. e current revolution and it is always a positive number between 0 and xx ViPu Whereas ViTu represents the number of revolutions carried out and is a 32 bit signed number The speed values are calculated as a difference between two ticks 125 us and entered in xx PeSp registers Variables Name Ad_ViPo Ad ViTu Ad ViPu Ad PeSp An ViPo An ViTu An PeSp Di ViPo Di ViTu Di ViPu Di PeSp Ha ViPo Ha ViTu Ha PeSp Type UDINT DINT UDINT DINT UINT DINT INT UDINT DINT UDINT DINT UINT DINT INT Description Position on the revolution track AD Revolutions number track AD Pulse number per revolution with resolution enhancement Speed AD with resolution enhancement Position on the revolution track AN Revolutions number track AN Speed AN with resolution enhancement Position on the revolution track DI Revolutions number track DI Pulse number per revolution with resolution enhancement Speed DI with resolution enhancement Position on the revolution track HA Revolutions number track HA Speed HA with resolution enhancement Variables useful to read and use the index signals Name First AdIndex First Dilndex Ad IndexOk Di IndexOk lad ViPo lad ViTu Idi ViPo Type BOOL BOOL BOOL BOOL DINT DINT DINT Description First index indicator AD crossed after the system switch on First index indicator DI crossed after the system switch on The sy
15. e For this reason a stepper not absolute track waveform of thousands pulses per revolution is used This waveform can be digital square pattern pulses or analog sine pattern pulses in this last case the drivers AX V apply an interpolation within a single pulse enhancing the resolution of 2 and providing a very high precision performance for low speed axe blocked applications By means of a period meter the digital signals are interpolated too getting a resolution increment of 2 but this interpolation is impossible when the axe is blocked this is why this solution should not be used when the common use is axe blocked After the first index intervention as the index mechanical position is known the field modulation too is based on the sensor absolute signal with the best resolution An automatic phasing routine is foreseen as well allowing the use of an encoder without absolute tracks when a type 4 or 7 see later encoder is selected this routine is automatically activated upon the first system switch on and recognizes the electrical position through a vibration see paragraph Stepper Encoder Automatic Phasing ae Ff T The AX V motion drivers can simultaneously read the following position sensor signals Stepper Analog Digital suffix AD Absolute Analog SinCos suffix AN Hall sensors suffix HA Stepper Digital suffix DI To select the encoder type to be used set the correct value for the following variables usual
16. e text block with compiling errors double click the left mouse button on the error line displayed in the output window see paragraph 0 COM PILER The command Project Compile project starts the compiler to process all the project files one by one and then to originate the machine code using the information in the IM G file During this process the Output window displays each process phase and the list of errors and warnings sent out by the compiler while processing If there are no errors the compiler creates a machine code file COD for the driver At the end of the compiling process the compiler creates a report file LST where all the originated code informations assembler instructions variable allocation memory map etc are listed COMM UNICA TION INTERFACE The communication interface uses the Slink3 protocol and provides the following features Communication setup Download the file COD into driver Upload the file IMG from driver Get data for variable monitor To download the code into the driver follow this procedure When not connected enable the communication interface using the option Communication Connect in the GPlc menu EE amp id f necessary use the option Communication Settings to set up the connection parameters The parameter settings for a serial connection are 38400 baud no parity 8 data bit 1 stop bit e Use Communication Download code to start the
17. eclared by the user are directly accessible The most useful variables provided by the Ax V family motion controllers are the following DIGITAL 8 digital input and output on C1 and C2 terminal boards ee o mmm inp7 BOOL Digital inputs gt 20 V True 10 V False 0000 out7 BOOL Digital outputs True Vcc 2 V False 0 V a d ANALOG VO 3 differential analog input 10 V with a A D 12 bits converter and an internal multiplier 16 4 analog outputs 10 V with a D A 10 bits converter Description 2 Analog inputs aout0 aout2 INT Analog outputs ENCODER SIGNALS READING The brushless servo motor control signals are used mainly for two functions speed position loop feedback and three stator currents modulating in order to get a 90 electrical degree phase difference compared to the permanent magnet field At the beginning before the index intervention these two functions are carried out by two separated sensors often integrated in the same device In order to keep the stator field in the desired position it is necessary to derive the absolute position during the electric switching on revolution usually Sincos absolute sensors one sinusoid per revolution or Hall effect sensors 6 positions resolution for an electric revolution are used The speed position feedback loop requires the higher possible resolution as it defines the control loop performanc
18. ed with the frequency value SiStep independently from the master index fasatOk T Example LD inp1 read digital input 1 AND First verify that a master index is crossed ST abrindex 1 enable index repetition LD CntNLt1 Last index position ADD 1000 add 250 1000 4 repeated pulse ST SiFirstIndex set the first index position The first index is repeated after 250 simulated encoder pulses following the master index Name Type Descriprion Values Abrenc BOOL Enable encoder repetition 0 disable A jumper over pin 13 and 23 of S2 connector is necessary 1 enable Se MulFak UINT Multiplication coefficient for encoder repetition 1 21 Se DivFak UINT Division coefficient for encoder repetition 1 21 Se SpMax UDINT Speed limit for encoder repetition f Hz 2 11 Abrindex BOOL Enable index repetition encoder repetition must be enabled 0 disable 1 enable SiStep DUINT Index repetition step Desired step of repeated pulses 4 SiFirstIndex DUINT Position where the first index is to be repeated Value of encoder count 4 CntNit1 DUINT Position where the last master index is crossed Value of encoder count 4 CURRENT LOOP This loop is the speediest control feature and has a sampling rate of 16 kHz There are two current loops executed simultaneously indeed both direct and quadrature currents components are calculated from the current phase read by t
19. en data space 20h 32 Byte warnings 0 errors Connected Ready Define the expressions for parameters CwAcc CcwAcc CwDec CcwDec as shown in below baseapp Gplc Project parameters Expression E ioj xl File Edit View Parameters Project Communication Window Help l x D oe vx x 80 2 Baseapp parameters OwAcc CyRev 24543 7 amp Parameters CyRev 24543 7 amp variables CcwAcc I CyRev 24543 7 CyRev 24543 7 CwDec CyRev 24543 7 CwDec CyRev 24543 7 CcwDec CyRev 24543 7 CewDec CyRev 24543 7 Connected AX V COCKPIT PARAM ETERS TABLE As mentioned in the example a lot of variables are parameters to be configured using Ax V Cockpit The corresponding AXV Cockpit parameters table is created automatically when the project is compiled and will have the name selected in the Project properties COMPILE THE PROJECT Switch on the 24 aux supply voltage to the drive and connect the serial cable from the PC In the Communication menu select Connect and then Upload Img file If the EE i connection is good GPLC will load the memory map file from the drive and you will see in the output window the message Loading memory image from target completed File axv img updated If the following error message appears Loading memory image from target failed verify the communicati
20. encoder type defines the position sensor to be used as feedback for the position loop and moreover registers xx ViPo xx ViTu xx PeSp are copied in Spl ViPo Spl ViTu and Spl PeSp registers Using the bit Rg_PosLoop enables to set the system as a velocity controller or as location controller in the first case the reference must be entered in Rg SpRef The measurement unit for this parameter and for speed in general are encoder interpolated counts 2 in a loop tick 125 us For example to assign a motor a reference of 1000 rpm with the encoder of 1024 imp revolution set SpRef 1000 60 1024 2 125 10 34953 When executing a location control the patterns generator processes the stop position target settled in Rg TurStop and Rg PosStop and provides the ramp generator with a target speed to reach the required location When the required position is reached the bit Rg PosOk is risen until a new positioning is requested The motor position error can be defined using the Spl PosErr variable In both cases the positive clockwise and negative anti clockwise speed limits are determined by the Rg_PosspLim and Rg NegspLim registers and the speed ramp profiles have the slope parameters stored in CwAcc CcwAcc CwDec and CcwDec The relation between those parameters and the real acceleration rad s depends on the encoder pulse number see next table Longer ramp pattern can be achieved changing the value of the Rg_ExpRamp va
21. ettings Communication Settings see paragraph Communication Interface When the project is compiled without errors it can be sent to the driver using the button Code Download T INIT PROGRAM file basicinit plc The variables necessary for the system operation are initialized in this file Open the basicinit plc file and insert the following code lines INIT TASK POSITION CONTROL TSE PROGRAM init encoder set up LD pEncType ST EncType LD pCyRev ST EncCyRev LD pNPoles ST MotorPoles LD pEncSup LIM IT 0 110 ST Tmod2 Current limit LD pCurr ST Imax Speed loop LD TRUE ST Spl Spl LD FALSE ST Rg PosLoop Operative task beginning LD TRUE ST stFastTsk ST stSlowTsk END_PROGRAM Take the encoder type from pEncType parameter Take the pulses number per revolution from pCyRev Take the motor poles number from Npoles Take the pencoder supply voltage from pEncSup Take the current limit from pCurr Speed loop set up and no location After variables set up begin the executive tasks 40 SLOW PROGRAM basicslow plc This program sets the variables that can be dynamically changed by Ax V Cockpit Open the basicslow plc file and insert the following code P
22. he AD converters and both are controlled to get the desired operation The quadrature current contributes to the motor torque while the direct current is usually set to zero Ic_IsdRef 0 Set Spl Spl 0 to enable the current or torque control In this case the motor torque will be proportional to the quadrature current entered in Cic IsqRef register On the contrary while working with the speed location loop the current loop becomes part of it and its reference is the output of the PID regulator The Imax register allows the definition of a symmetrical limit on the reference current which is intrinsically limited to the motor driver rated current The current measuring unit is independent from the driver size and is 1 Arms 100 The current loop gains do not have to be entered or modified by the PLC program as they are system parameters and they are managed with Ax V Cockpit application system table ii Description Values Spl Spl BOOL Close the speed loop 0 Current 1 Speed Cic_IsqRef INT Current loop reference 100 1 Arms Imax INT Current limit 100 1 Arms POSITION VELOCITY LOOP The Ax V motion control platform includes a velocity position control loop that can be closed using a Spl Spl bit If this bit is 0 the loop is open and the system works with a current control see current loop The position loop is managed by DSP with a sampling rate of 8 kHz As mentioned selecting the
23. ion starts in a new text row and is composed by an operator that can be optionally followed by operator modifiers and by one or more operands separated by commas e Operands can be variables constants or labels label can optionally precede each instruction Comments can be included everywhere in the instruction list using for the beginning and for the ending of a comment Example Beginning LD ANDN alarm ST Sequence beginning point Active if input 0 and no alarm begin cycle The IL language uses an accumulator register or current result as defined by the IEC standard that stores the last executed operation result The accumulator is the first operand of each instruction the other possible operands follow the instruction Instruction example M eans AND varX accumulator accumulator AND varX The complete standard instructions set is the following Operator LD ST 5 R AND OR XOR ADD M odifier N N Operand all all BOOL BOOL all all all all All except BOOL Function Stores operand into accumulator Stores accumulator into operand Set TRUE the operand if accumulator is TRUE Set FALSE the operand if accumulator is TRUE Boolean AND or bit by bit between accumulator and operand Boolean AND or bit by bit between accumulator and operand Boolean OR or bit by bit between accumulator and operand Boolean XOR or bit by bit between a
24. ith the following settings A PLC project does not require to define the programs to be linked to all tasks It is possible to develop projects working on a single task among those available The task Init is called after the driver reset and remains active until its associated program activates the Slow and Fast tasks by means of firmware variables When the task Init is not linked to any program the tasks Slow and Fast are automatically activated after the driver reset CREATING AND RUNNING A GPLC PROJECT A new GPlc project is created using the Menu Bar option File New project the dialog box asks for a project name and the work directory The project file PPJ as well as all the files created by the program are stored in the work directory The source modules and the file M G can be stored in any other location run an existent project use the option Open project 5 PROGRAM DESCRIPTION FEATURES basic GPlc basicinit plc File Edi View Project Communication Window Help ma basicinit HEHEHE HEHE HEHEHE HEH HII xxx INIT TASK POSIZIONATORE FE PROGRAM init Connect button Code Download button
25. justment to have about 3000 rpm at 10 V reference Write speed reference End reference Read parameter SpRef Write reference 42 VARIABLE AND PARAMETERS basicpar plc Declare the parameters as shown in figure below baseapp Gple Project Edit view Parameters Project Communication Window Help rs rx amp LL mi Name Tara Value win Seale ors vmi Description parameters 1000 Curr Float 20 me enn qm Arms Current Limit E Parameters 1001 NPoles Word Word 4 ete ene 0 Number of magnetic poles variables 1002 CyRev Word Word 2048 1 0 Encoder counts rev 1004 EncSup Word 5 0 1024 481 3 V Encoder supply voltage Menu 1005 Kint Word Word 10 Eee een 0 Position integral gain Expression 1006 KPos Word Word 5 e 0 Position gain x Password 1007 KSpd Word Word 30 ieee 4 0 Speed gain F Mind 1008 Word Word 0 pee Acceleration gain 1009 CwAcC Float Word 7190 0 4 0 radis 2 Clockwise acceleration CwDec Float Word 7190 0 1 0 rad s 2 Counterclockwise acceleration CewAcc Float Word 7190 0 1 0 radis 2 Clockwise deceleration CewDec Float Word 7190 0 4 0 rad s 2 Counterclockwise deceleration EncType Word Word 1 add Li 0 Encoder type Free rit
26. llows 96 location dimens index index where ocation and dimens can have following values Location Dimension Input location 1 bit dimension Q Output location 8 bit dimension M Memory location 16 bit dimension 32 bit dimension gt lt The points after the index specify the position in the indicated area gt Example MW4 6 Memory word block 4 index 6 0 4 Input bit set 0 index 4 Constant Following types are foreseen Type Statements Example Boolean TRUE FALSE Decimal decimal digit 534 8000 ecc Hexadecimal prefix 16 followed by hexadecimal digit 16 7A22 Octal prefix 8 followed by octal digit 8 302 Binary Prefix 2 followed by 0 1 digit 2 11001010 PROGRAMS A PLC code executive unit is declared as a program using the structure PROGRAM END PROGRAM According to the IEC standard a PLC program is identified by a name can contain more variables declarations structures and groups together a list of instructions that can access the local and global variables Each program is linked to an executive task of the host machine The declaration structure is the following PROGRAM Programname variables declaration instructions list END PROGRAM BASIC INSTRUCTIONS The language used is IL Instruction List An instruction list is composed of an instructions sequence s Each instruct
27. ly this operation is done only once when the program Init is activated Name Type Description Values Enc_Type INT Encoder type selection See note Enc CyRev INT Pulse numbers per revolution for Stepper encoder Motor Poles INT Motor magnetic pole number Enc Port BOOL Used port only for encoder with stepper 0 Port S2 1 Port S1 digital waveform 1 Encoder types 1 SinCos 5 tracks field on AN position on AD 2 Digital 6 tracks field on HA position on DI 3 Analog 6 tracks field on HA position on AD 4 OnlyDigital stepper field on DI position on DI 5 5 2 Absolute Tracks or Resolver field on AN position on AN 6 Only Hall sensors field on HA position HA 7 Only Analog index stepper field on AD position on AD 8 5 5 tracks with Digital stepper part field on AN position on DI The input AD connector S2 pin 1 2 14 15 can read either an analog or a digital stepper track The selection is done automatically according to the encoder type and the selected port By detecting the above variables the system interprets the sensor signals and defines the position locations The registers xx ViPu represent the pulse number per revolution with stepper track enhanced resolution Enc_CyRev 2 The hardware counter reads the positions and after interpolation these are entered in two registers xx ViPo and xx ViTu xx relative suffix xx ViPo is the position within th
28. me DataType Startvalue VariableName ARRAY 0 OF DataType VariableName AT Location DataType StartValue where VariableName is an alpha numeric string identifying the variable Datatype is one of the types foreseen see the relative table StartValue is the variable value after the system reset Location is a logical address defined inside the driver firmware see the following description PROGRAM test VAR QuoteX DINT Enable BOOL FALSE Counters ARRAY 0 10 OF UINT CurrentTask AT 96 MW4 32 INT END VAR instructions END PROGRAM This structure declares four local variables within the program After reset the variable Enable is set to FALSE the variable Counters is an array of 11 variables type unsigned int the variable CurrentTask is the integer defined in the drive memory at block 4 index 32 Array As mentioned before the use of variables array is possible Any element of the array can be accessed using the array variable name followed by the index between square brackets A variable name can also be used as index LD Quote 7 ST Posit idx Location The key word AT in the variables declaration is used to define a variable as the value in a specified address of the memory driver This variable type allows the access to any variable defined inside the driver firmware see paragraph 0 and 6 The location is defined as fo
29. o output varible END_FUNCTION Following example shows how to call the function Pow2 from the main code LD 2 Passaggio di X e invocazione funzione EQ Verifica risultato JMPC JErr Following example shows how to call a function Func with more than one input variables from the main code LD X Funz y z Passing parameters di X Y e Z and call function Funz 5 ris CR Storing of return value into variable RIS FUNCTION BLOCKS The construct FUNCTION BLOCK END FUNCTION BLOCK allow to declare a code block defined as function block A function block according to IEC standard is identified by a name and can use one or more input and output variables Several local variables can be declared inside a function block i function block can access global variables only if they are declared with a dedicated construct VAR EXTERNAL END VAR inside the function block itself The structure of a Function Block is as follows FUNCTION BLOCK FunctionBlockName VAR INPUT Input variables declaration END VAR VAR OUTPUT Output variables declaration VAR VAR EXTERNAL Declaration of global variables used by the function block END VAR VAR local variables declaration VAR Instruction list END FUNCTION BLOCK To use function blocks they must be declared inside the program where thhey are invoked Several instances of the
30. ock Description Number of elements INPUT 0 Digital inputs 16 OUTPUT 0 Digtaoupus 16 INPUT 1 3 OUTPUT 1 o Anaogoutpts 4 DATABOCK 0 ODSPvariables 641 DATABLOCK 1 X Maximumcurrent 1 7 DATABOCK 2 DsSPcontrlbts 16 T DATA BLOCK 3 DSP error bits 16 DATA BLOCK 4 DSP control bits 16 DATA BLOCK 5 Task management bits 3 DATA BLOCK 10 16 bit parameters 248 DATA BLOCK 11 32 bit parameters 128 DATA BLOCK 12 Bit parameters 128 FIRM WARE INTERFACE FILES In order to save the programmer from declaring all the firmware variables he is going to use some PLC source files providing the full set of variables available in AXV firmware versions and linked with IMG files are supplied One of these files must be included in any GPlc project and its name is AxvvarsXX plc where XX is the file release Very important those files should never be mixed with one another or modified to avoid variables misuse wrong meaning for variables The firmware variables work on images they access the code directly only during the program input and output phases otherwise they access an automatically created local copy Those phases are scheduled before and after the relative program execution and the image variable can change a lot of times during the program execution but only the last value is available to the system On the contrary the variables and parameters d
31. on settings see communication paragraph of this manual Once the memory image file is updated you can compile the project selecting Project gt Compile Project If GPLC can compile the project without errors you can download the application to the drive selecting Communication gt Download Code At the end of download operation the drive will be automatically reaset and begin to execute the new program a
32. position where the project variables are used and what value they have When some errors occur the Value field displays the string undefined value n with an Please note that only the programs declared and used variables are the valid variables of a project The variables declared but not used are not originated by the compiler and then have no related value 6 PARAMETERS INTERFACE INTRODUCTION Inside a GPLC program it is possible to use variables which can be managed by an external configuration or supervision programs i e AXV Cockpit These variables must be located at defined memory addresses and linked to an index that allow them to be integrated into the system database Some variables can keep their value permanently using a configuration command this particular type of variables are defined Parameters PARAMETERS and VARIABLES DECLARATION It is possible to directly declare data Variables and Parameters using the structure AT firmware provides the parameters to data blocks 10 11 12 13 20 21 22 and 23 Data Block Parameter type pea jdn index Save to FLASH 10 16 bit parameters 1000 1000 YES 11 32 bit parameters 528 3000 YES 12 Bit parameters 128 5000 YES 13 Float parameters 500 4000 YES 20 16 bit parameters 640 7000 NO 21 32 bit parameters 640 9000 NO 22 Bit parameters 128 11000 NO 23 Float parameters 128 10000 NO For example in order to define DINT parameter wi
33. r M AX accumulator quoteX quoteY 45 Te SHL SHR ROL ROR functions They shift or rotate the accumulator bits to the right or to the left as much as indicated in the operand field The returned value is entered in the accumulator The instruction SHL var shifts the accumulator bits to the left of var positions SEL function SEL sets the accumulator to the same value as one of the two operand depending on the accumulator boolean value If the accumulator is FALSE the first operand is entered in the accumulator if the accumulator is TRUE the second operand is entered in the accumulator The instruction LD flag SEL QuoteX QuoteY enters the QuoteX value in the accumulator if the variable flag is FALSE before the instruction execution M UX function MUX is similar to a SEL instruction with the possibility to select between one or more operand values depending on the accumulator The accumulator numeric value is used as an index to choose from which operand the value to be entered in the accumulator has to be taken The value 0 refers to the first operand When the accumulator value is larger than the number of operands the last operand is entered Example LD destinat QuoteX QuoteY Quotez 1 Supposing that the variable destinat is 3 the variable QuoteZ is entered in the accumulator MAX MIN functions MAX and MIN enter into the accumulator the largest or the smallest value be
34. r and can contain additional information e g value range Most of these fields identified by are not related to the parameter itself but only to its management from the configuration program AXV Cockpit and have no effect if the parameter is managed by means of a different system for example from an industrial panel The same consideration is valid for additional functions such as ENUM MENU and EXPRESSION definition For additional information on these fields see the last part of AXV Cockpit user manual where the composition of an AXV Cockpit par file is described EE 7 FIRMWARE DRIVE INTERFACE INPUT OUTPUT AND DATA BLOCKS Using the structure AT see paragraph 0 the PLC programs can access and refer to the firmware variables The variables of AXV firmware versions supporting the PLC programming are accessible defining INPUT OUTPUT and DATA BLOCKS areas The table shows the prefix to be used in order to define the interface areas Area Location prefix INPUT OUTPUT Q DATA BLOCK M For example the declaration Inp4 AT 961X0 4 BOOL defines the boolean variable Inp4 in input area block 0 index 4 bth AXV digital input The declaration SpRef AT MW 0 146 DINT defines the double integer variable Rg SpRef in data block 0 word index 146 in data blocks area speed reference on AXV drive The table below shows the areas and blocks available in the present AXV firmware version Area Bl
35. riable This value must be different from 0 until slower ramp are not required it is advisable to use the value 1 It is possible to disable the ramp patterns setting to 1 the bit RampOff The velocity position gains registers are reported in the following table Description BOOL Speed loop closing 0 Current 1 Speed Rg_PosLoop BOOL Position loop closing 0 Speed 1 Position only if Spl 1 CwAcc CcwAcc CwDec CcwDcc Rg ExpRamp Rg RampOff Spl Spl Spl IntFak Spl PosFak Spl VelFak Spl AccFak Rg SpRef Rg PosspLim Rg_NegspLim Rg_PosStop Rg_TurStop Rg_PosOk Spl PosErr Type UINT UINT UINT UINT UINT BOOL BOOL UINT UINT UINT UINT DINT UDINT UDINT UDINT UDINT BOOL DINT Description Clockwise acceleration Anti clockwise acceleration Clockwise deceleration Anti clockwise deceleration Ramp slow down coefficient Ramp deactivation Speed loop closing Position integral gain Position proportional gain Speed proportional gain Acceleration proportional gain Speed loop reference Clockwise speed limit Anti clockwise speed limit Stop position reference for positioning loop Stop revolutions reference for positioning loop Reached position bit Positioning error Values 1 24543 7 CyRev Rg ExpRamp rad s 1 24543 7 CyRev Rg ExpRamp rad s 1 24543 7 CyRev Rg ExpRamp rad s 1 24543 7 CyRev Rg_E
36. same function block can be declared in the same program instances are distinguished by different names Each instance must be defined in the variables declaration construct VAR END VAR in the same way as variables InstanceName FunctionBlockName Local variables declared inside a function block conserve their value at two consecutive calls of the same instance of the function block Values of input and output variables are transferred to and from a function block with load and store operation as follows InstanceName VariableName Example a id x This function block detect the rising edge of the input variable INP FUNCTION_BLOCK RisingEdge VAR_INPUT Inp B END_VAR VAR_OUTPUT Edge END_VAR VAR Memory END_VAR LD Inp ANDN Memory SI Edge LD Inp ST Memory END FUNCTION BLOCK Example of program c PROGRAM VAR InpO AT Inpl AT OutO AT Outl AT ReInpO ReInpl ND VAR El inpO ReInpO ReInpO ReInpO outo 02 wn D inpl T ReInpl AL ReInpl D ReInpl outil QAWE 901 END_PROGRAM OOL Input variable BOOL Output variable BOOL TRUE memory of the input variable ode using the RisingEdge functionblock SIX0 0 BOOL Digital I Os 5 1 BOOL of the drive 0X0 0 BOOL QX0 1 BOOL RisingEdge Two instances of the RisingEdge same function block Set of digital outpu
37. square brackets gt u BASIC ELEMENTS e The source modules are edited using standard ASCII characters The addition of comments between and is possible in any point of the source modules DATA VARIABLE AND CONSTANT TYPES Data types Defined data types Keyword Data type Bits Range BOOL Boolean 1 0 1 SINT Short integer 8 128 127 USINT Unsigned short integer 8 0 255 16 32768 32767 UINT Unsigned integer 16 0 65536 DINT Double integer 32 2 27 1 UDINT Unsigned long integer 32 0 2 BYTE Bit string of 8 8 X WORD Bit string of 16 16 X DWORD Bit string of 32 32 X REAL Single precision floating point 32 this type of variables cannot be used in the Fast Task Declaring variables The variables declaration is done using one of these structures VAR GLOBAL RETAIN CONST VAR RETAIN CO NST variables list or variables list END VAR END VAR Any variable used by all the defined programs inside the application is declared using the VAR GLOBAL END VAR structure Any variable used by a single defined program inside the application is declared using the VAR END VAR structure a amp The CONST attribute defines variables within a structure with constant and unchangeable value The RETAIN attribute defines variables keeping their value also after the driver reset or switch off Variables inside the structures can be declared with following statements VariableNa
38. stem rises this bit when an AD index is crossed and it remains high for one tick of task Slow 8 ms The system rises this bit when an DI index is crossed and it remains high for one tick of task Slow 8 ms Position in the AD revolution where the last index acquired is crossed Revolution AD where the last index acquired is crossed Position in the DI revolution where the last index acquired is crossed Values 0 Enc CyRev 2 per 1 revolution 23 Enc CyRev 2 0 2 per 1 revolution n 2 0 Enc CyRev 2 per 1 revolution 2 Enc CyRev 2 0 24575 per 1 revolution 23 Value 1 crossed 0 Not crossed 1 crossed 0 Not crossed 1 crossed 0 Not crossed 1 crossed 0 Not crossed Enc CyRev 2 1 revolution 23 Enc CyRev 2 1 revolution 29 INCREM ENTAL ENCODER AUTOMATING PHASING ROUTINE The system firmware integrates a routine able to use the encoder with the stepper track only encoder type 4 and 7 Due to a lack of absolute position sensors when the system is switched on a rough detection of the electrical position through vibration until the first index crossing is necessary This procedure is called Automatic Phasing and can be started setting to 1 the bit StartFas When the phasing is ended the bit FasatOk is risen During this operation about 2 sec a sequence of current pulses of increasing amplitude comprised between 0 and Imax is
39. t 0 when Inp rising edge of inpO is detected Edge Set of digital output 1 when Inp rising edge of inpl is detected Edge STANDARD FUNCTIONS Besides a basic instructions set GPlc provides a set of standard functions foreseen by the IEC standards Standard functions list Name N operand Operand type Returned type Function ABS 0 X Accumulator type Absolute value MOD 1 all except BOOL Accumulator type Reminder after division NOT 0 X Accumulator type Reverse SHL 1 all except BOOL Accumulator type Left binary shift SHR 1 all except BOOL Accumulator type Right binary shift ROL 1 all except BOOL Accumulator type Left binary rotation ROR 1 all except BOOL Accumulator type Right binary rotation SEL 2 all except BOOL Operand type Selector MUX n all except BOOL Operand type Multiplexer MAX n all except BOOL Operand type Largest value MIN n all except BOOL Operand type Smallest value 2 JjalexeptBOOL between largest and smallest value see detailed description below The calling of a function is done specifying its name in the operand field followed by possible arguments separated by commas The accumulator value is used as the first function argument For example the instruction ABS is interpreted as accumulator ABS accumulator The instruction MAX varl quoteX quoteY 45 is interpreted as accumulato
40. tems which can create PLC programs for AX V family drivers The main program elements are Integrated text editor for PLC program editing PLC language source module compiler Communication interface to download the PLC code generated by AXV driver compiler Watch window to view the variables used by PLC program More details are given in the following paragraphs 3 LANGUAGE SOURCE All the instructions and structures foreseen in the GPlc language are in accordance with the IEC1131 3 standard the relative IL instructions list is integrated in the language So far the included elements are data types use except for LINT REAL STRING and TIME Variables and their data type definition Variables single dimension arrays definition Variables and relative attributes GLOBAL CONST RETAIN AT declaration and initialization structure Programs and variables declaration within the programs themselves IL instructions set Standard functions set except for string A brief description of the language elements implemented is reported here after For a detailed definition please refer directly to the standard IEC 1131 3 Conventions used in the present description The language elements are printed in a regular courier font The elements showing names and types assigned by the programmer are printed in italic courier font The optional elements of any structure are reported between italic
41. th the name pM axSpeed and IPA 3030 declare pMaxSpeed AT MW11 30 But this is not the easiest way to do it GPLC provides a dedicated window to declare externally accessible Variables and Parameters and automatically generate the corresponding AXV cockpit compatible file to manage them Figure below shows the parameters declaration window T Add new parameter button Delete selected parameter button fasatura_ita Gplc Project parameters Parameters Dreem cation Window Help lel i6 mm mt _ vawe see 1 0 2 7 Fasatura_ita parameter Motore ed Encoder IDM Float Word iia 100 0 amp Parameters Motore ed Encoder N_POLES Word Word 4 peer 1 0 i Variables Motore ed Encoder CY_REV Int Int 1024 0 32767 1 0 jm Motore ed Encoder TYPE enctype Word SinCos bud lard 1 0 enctype Motore ed Encoder ENC_SUPPLY Float Word 5 0 102 4 Alarms Motore ed Encoder SPL_ILFAK Int Int 0 eee e 1 0 2 Menu Motore ed Encoder SPL_POS_FAK Int Int 2 Ete 1 0 Expression Motore ed Encoder SPL_VEL_FAK Int Int 20 gt 1 0 Password E Html page Motore ed Encoder SPL Int Int 0 1 0 e User version Motore ed Encoder SP OUT Int Int 134 ee 1 0 Motore ed Encoder SPEED Float Long 19 9978 oe kid 1 0 n Dutput Image target file set to axv img Parameters file set
42. tween all the operands and the accumulator before the operation Example LD 400 MIN PositA PositB PositC The smallest value between 400 and PositA PositB and PositC is entered in the accumulator s a LIMIT function LIMIT limits the present accumulator value between the smallest value given by the first operand and the largest value given by the second operand The result is entered in the accumulator Example LD current LIMIT 0 currM ax If the current is between 0 and currM ax the accumulator takes the current value When the current is smaller than 0 the accumulator takes 0 When the current is larger than currM ax the accumulator takes the currM ax value 4 GPLC PROJ DESCRIPTION A GPlc project contains all the elements source modules memory maps and tasks definition necessary to create a machine code file file COD to be sent to an AXV driver All the necessary information to develop a GPlc project are stored in files with PPJ extension The option Open project allows to select a PPJ file to manage a project GPLC PROJECT COM PONENTS A GPlc is composed of the following elements or more source modules PLC IEC1131 3 one file including the driver memory map where the created machine code will be stored the link between codified programs in the source modules and the AXV driver executive tasks All the above elements are managed with the dialog box which is a
43. xpRamp rad s 0 Enable 1 Disable 0 Current 1 Speed Imp Encoder 2 in 125 us Imp Encoder 2 in 125 us Imp Encoder 2 in 125 us Imp Encoder 24 Revolution number 1 Reached position Imp Encoder 2 33 DSP CONTROL BIT The GPLC application controls some bits that enable and disable the PWM modulation which is usually connected to a digital input The bit stFastTsk activates the program Fast 4 kHz and the bit stSlowTsk activates the program Slow 125 Hz The driver switch on automatically activates the program Init 125 Hz until the program Slow replacing it is not enabled Name Type EnableDrive BOOL stFastTsk BOOL stSlow Tsk BOOL Description Enabling drive Program Fast 125 starting Program Slow 8 ms starting Init program is activated until Slow is not activated Values 1 Enable 0 Disable 1 Start 1 Start 34 BLOCK DIAGRAM Symbols varX varY 0 Selection Var SUBASSEMBLY System variable GPLC user variable Variable to be changed with Ax V Cockpit system table M ultiplier Selector in this position Var Selection 0 The variable selection can also be a logical expression Adder Subassembly 35 Overview IsqRef Spl Spl Ramp m TurStop Rg_PosStop Generator Rg_Sp Rg_SpRef
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