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User Manual - LuckinsLive.com

1. A A Av TS avoe sy A A ia J U U l Ty u il 2 z Zz lt z ae A Zz 32 Je o gt o gt oo al sl al gl zl iol ell el al el ale la g 33 3 3 sls 5 8 8 2 9 2 2 ex oof S S SS S SIS 32 ol af cal f sal cols ala al zo RRIRIK RIS ARI SIRI RSA LALA co TI o000 O000 SSNS 3 8 8 5 Bl 2 2 9 2 se of of of of g 8 8 8 B BS 8 Bl SB S BH SS B S P4 24 V REFEN DROK GND24 P4 0 P4 CO m a Co Ch ae Co 24 V REFEN DROK GND24 To connect directly use the TSX CDP 301 or 501 strip see page 110 Strap between 1 and 2 terminals 200 to 215 are 24 VDC 116 35006220 07 2011 Implementing Correspondence Between TELEFAST Terminals and HE10 Connector General This table shows the correspondence between TELEFAST terminals and the module s HE10 connector TELEFAST HE10 20 pin Kind of signal screw terminal connector block Pin No Terminal No 100 1 COMO closed contact 101 2 VALRO variable speed controller confirmation 102 3 nc 103 4 COM1 104 5 VALR1 105 6 nv 106 7 COM2 1
2. base F base clockwise anti clockwise Labeling of the DIN and 15 pin SUB Connector of the TSX TAP S15 05 Table of numbers DIN Signal SUB_D Pin Pin 1 B 11 2 Supp return 13 3 Z 4 4 Z 5 5 A 1 6 A 2 7 nc 8 B 10 9 nc 96 35006220 07 2011 Implementing DIN Signal SUB_D Pin Pin 10 OV 8 11 nc 12 5V 15 Shielding should be continuous along the connections which should be linked to the mechanical ground connection on both sides 35006220 07 2011 97 Implementing TSX TAP 15 05 Mounting and Dimensions Mounting onto a Telequick Board The TSX TAP S15 05 can be attached to an AM1 PAees type perforated board or any other support using the bracket supplied Mounting Through a Cabinet The TSX TAP S15 05 can be mounted through a cabinet as it has a fixing nut Its joint creates an impervious seal between the interior and exterior max width 5mm gasket hole 37 mm in diameter 98 35006220 07 2011 Implementing Dimensions Illustration GES 38 47 27 4 43 35006220 07 2011 99 Implementing Connecting Absolute Encoder via a TELEFAST with ABE 7CPA11 Adaptation General e the multiplexing function must not be used each channel uses
3. TELEFAST HE10 20 pin Kind of signal screw terminal connector block Pin No Terminal No 100 1 5 VDC Encoder supply 101 2 0 VDC 102 3 10 30 VDC 103 4 nc 104 5 Reference point cam input I0 Channel 0 auxiliary channel 0 inputs 105 6 Emergency stop input l1 channel 0 106 Event input 12 channel 0 107 Recalibration input I3 channel 0 108 9 Reference point cam input I0 Channel 1 auxiliary channel 1 inputs 109 10 Emergency stop input l1 channel 1 110 11 Event input 12 channel 1 111 12 Recalibration input I3 channel 1 112 13 QO reflex output channel 0 113 14 nc 114 15 QO reflex output channel 1 115 16 nc 1 24 VDC 17 Auxiliary input sensor supply 0 VDC 18 24 VDC 19 0 VDC 20 1 Terminals 200 to 215 at 24 VDC 2 108 35006220 07 2011 Implementing TELEFAST screw terminal block Terminal No HE10 20 pin connector Pin No Kind of signal 3 Terminals 200 to 215 at O VDC 4 200 215 Connecting shared sensors to e 24 VDC if terminals 1 and 2 are connected e 0VDC if terminals 3 and 4 are connected 300 315 On the optional ABE 7BV20 bar the terminals that can be used as a shared sensor must be connected by a wire to the shared voltage 1 nc not connected The same wiring applies to the TSX CAY 4 modules for channels 2 and 3 as well as for channel 2 of the T
4. Topic Page Programming Interpolated Movements 344 Entering XMOVE Function Parameters 345 Description of XMOVE Function Parameters 346 Instruction Codes for XMOVE Function 349 Description of Elementary Movements 351 Programming a Move to Non stop Position 352 Programming a Move to Position with Stop 353 Programming a Movement Until Event Detection 354 Programming an Await Event 356 Programming PREF1 Register Intialization 357 General Conditions of Acceptance 358 Sequencing Movement Commands 359 Concurrent XMOVE and SMOVE Functions 363 Interpolator Channel Automatic Mode 364 Event Processing with Interpolated Axes 365 Fault management 366 Description of Command Refused Faults 369 Managing Measurement OFF Mode 370 35006220 07 2011 343 Programming Interpolation Programming Interpolated Movements At a Glance The XMOVE instruction must be used to program an interpolated movement This instruction is automatically sent to channel 3 of the TSX CAY 33 module Assisted Entry Screen You can enter the XMOVE function directly or using the entry help screen Function entry wizard FFB type A Instance x r Prototype Name Type No Comment Entry field ara Insert Close Advanced NOTE When the XMOVE FF is displayed in red on the functions assisted entry screen it cannot be used in the application
5. General The configuration screen is a graphic tool intended for configuring see Unity Pro Operating Modes a module selected in a rack It displays the parameters associated with the channels of this module and allows these to be modified in offline and online modes It also allows access to the adjustment and debugging screens the latter in online mode only NOTE Itis impossible to configure a program module using KW language objects directly as these words have read only access Illustration The diagram below shows a configuration screen 1 E 1 0 TSX CAY 21 E m 2 2 CHAN AXIS CONT MOD H Channel 0 FL Conf H Adjustment 3 E Channel 1 x m Input interface Puran Incremental encoder COA Configuration Position control v poms Hi limit 0 Task Length Speed F Ty Lo limit 0 MAST bi initial resolution Distance 0 No of pulses o Max speed 0 Max setpoint 0 mV p Event J Sequence control i 4 ET l q Max acc Smax 0 ms Reflex input inversion Rising edge and PRefl default processing ad EJ Cukat Slave ais 0 Reference point gt No reference point ly i Recalibration l gt Recalibration function missing x m q o 214 35006220 07 2011 Configuration Description The following tables presents the various element of the configuration screen and their functions Number Element Function 1 Tabs The tab in the foreground indic
6. Standard symbol Type Access Meaning Address N_RUN INT R step number in progress MWr m c 4 G9_COD INT R Movement type in progress MWr m c 5 G_COD INT R Instruction code in progress MWr m c 6 CMD_FLT INT R refusal report MWr m c 7 G_SPACE DINT R list of axes of the XMOVE in progress 0 X and Y MDr m c 12 1 XandZ 2 YandZ 3 X Y and Z T_XPOS DINT R position of target on X axis reach position MDr m c 13 T_YPOS DINT R position of target on Y axis reach position MDr m c 15 T_ZPOS DINT R position of target on Z axis reach position MDr m c 13 T_SPEED DINT R speed to be reached MDr m c 19 400 35006220 07 2011 Adjustment Parameters Objects Explicit Exchanges of the IODDT of Type T_INTERPO_STD Adjustment Parameters The table below presents the various adjustment parameters Standard symbol Type Access Description Address SLOPE INT RAW Acceleration rule MWr m c 23 0 rectangle 1 to 3 trapezoid 4 triangle TACC INT RW Acceleration deceleration time MWr m c 24 TACCMIN to 10000 ms SPEED_PATH_X INT R W Speed threshold allowed on X axis MWr m c 25 SPEED_PATH_Y1 INT R W Speed threshold allowed on Y axis MWr m c 26 SPEED_PATH_Z INT R W Speed threshold allowed on Z axis MWr m c 27 35006220 07 2011 401 CMD_FLT Code Error List for Interpolation At a Glance Reading the CMD_FLT
7. Max acceleration for return Synchronization end event Confirm Cancel The Master Slave Slave axis 0 function and the re calibration function are exclusive to the Flying Shear utility 35006220 07 2011 411 Configuring the Flying Shear Utility Description of Configuration Parameters Preliminaries Illustration This subject only deals with specific parameters for the Flying Shear utility To configure an independent axis see Configuring an Independent Axis The screen below groups together all configuration parameters for the Flying Shear utility Flying shear Configuration M Validation Angle Variable 1 1 Material length Mvt Axis0 KO Movement ratio Tool up on event Cut on event Max acceleration for return Synchronization end event Confirm Cancel Description of Parameters The table below describes the different parameters for the Flying Shear utility Parameter Description Validation If checked the Flying Shear utility is activated Angle Variable Indicates that the cutting angle between the belt feed axis and the tool feed axis can vary dynamically The value of the MDr m 0 65 and MDr m 0 67 words allows this variation by application Cart speed infinite axis speed x KO x movement ratio using KO
8. As long as the input is active the presence of the encoder is detected 124 35006220 07 2011 Characteristics and Maintenance Characteristics of Auxiliary Inputs Illustration Characteristics The inputs use 24 V from a supply provided via the connector Diagram Monitoring voltage y Table of characteristics for auxiliary inputs Electrical characteristics Symbol Value Unit Nominal voltage Un 24 V Voltage limits 1 U1 19 to 30 V ripple included Utime 34 Nominal current In mA Input impedance at Unom Re kQ Voltage for On state Uon gt 11 V Current at Uon 11 V lon gt 6 mA Voltage for Off state Uoff lt 5 V Current at Off state loff lt 2 mA Immunity Off gt On for 10 12 and 13 ton 0 1 to 0 2 ms for 11 1to4 ms EVT input on G07 incremental encoder 1us absolute encoder lt 400 us Dielectric rigidity with the ground connection 1500 Veff 50 60 Hz for 1 mn IEC compatibility with sensors type 2 2 3 wire proximity sensor compatibility all proximity sensors function at 24 VDC Type of input current ducts Logic type Positive sink Utime maximum permitted voltage for 1 hour in every 24 hours 35006220 07 2011 125 Characteristics and Maintenance Characteristics of the QO Reflex Outputs General Each positioning channel ha
9. e An earlier version of the EF is already used in the application e The name of the EF is used as a symbol associated with a variable Assisted Entry In the ST editor proceed as follows Step Action 1 Right click in the editor and select FFB entry assistant The Function entry help window will be displayed Type XMOVE Press the Advanced assistant button and fill in the different fields that are offered Function variables can also be entered directly into the parameters entry zone 4 Confirm with OK or Enter The function will be displayed 344 35006220 07 2011 Programming Interpolation Entering XMOVE Function Parameters At a Glance An interpolated movement command is programmed by an XMOVE function using the following syntax XMOVE AXIS _CH3 N Run G9x G SPACE X Y 2Z F M The Details screen will assist you in entering each parameter XMOVE Function Details Screen The XMOVE function details screen is as follows AXIS_CH3 Channel Address N_Run 5 Movement Number Movernentcodes G9x Relative in relation to the current position x G Movernentto position with stop x SPACE 0 ped M Parameters Position increment M Evt source x v PA raa a Cancel Movement speed Fo 23 M Entry
10. 000 cece eee eee eee 358 Sequencing Movement Commands 000 ee eee eee ee 359 Concurrent XMOVE and SMOVE Functions 008 363 Interpolator Channel Automatic Mode 00 00 cece eee eee 364 Event Processing with Interpolated Axes 000e ee eee 365 Fault management 0 0 ee eae 366 Description of Command Refused Faults 0 0000e 369 Managing Measurement OFF Mode 0000 eee eee 370 Interpolation Configuration 0 00e eee eee 371 Accessing the Interpolation Parameters Configuration Screen 372 Entering Interpolation Parameters 00 00 e eee eee eee 374 Adjusting Interpolated AxeS 0000 eee eens 377 Accessing the Interpolation Adjustment Parameters 378 Acceleration Profile 0 0 c eee eee eee ee 381 Crossing POINTE nue s sas ett ee Rae eae ee ae baba 382 Debugging an Interpolated Axis Control Program 387 Principles of Debugging an Interpolated Axis Control Program 388 Measurement Mode Off 0 2 0 0 cece eee eee 389 Automatic Mode Auto naa 0 00 eee eee 391 Interpolation Diagnostics 0 0 0 eee 394 35006220 07 2011 Chapter 21 Language Objects of the Interpolated Axis Specific Application s swe ens eon ean aiaa ah maaan whe eta eae ace 395 Implicit Exchange Internal Command Objects of the T_INTERPO_STD Type IODD tiean cette ak atone wees beet ad ddd
11. 390 35006220 07 2011 Debugging Automatic Mode Auto At a Glance Automatic mode is used for executing XMOVE functions The debugging screen displays information for 2 or 3 axes according to the number of interpolated axes The following screen shows interpolation channel automatic mode for 3 interpolated axes Movement TO Current Target Following error Direction XEventcam a ane YL LoL itection T C oE o x Z 0 0 0 Direction Q F 0 0 NL Oleox 0 G _O Space 0 ZEventcam O AuxZ Faulls O Command Refused Hardware Axis O Ack 38288 Axis CMV 1000 F 47000 O Commands OK L o Pause o Jo Step by step E Next step AT Point DONE NEXT Referenced Stopped Feed hold Description of Movement Field This table shows the display zones for the Movement field Display zone Current X Y Z Description Displays the current position of the moving part on the X Y and Z axes respectively This value is expressed in measurement units defined in the configuration Target X Y Z Displays the setpoint position reach position on the X Y and Z axes respectively F Current Displays the current moving part speed using the measurement unit defined in configuration F Target Displays the moving part setpoint speed speed to be attained Following error X Y Z Displays the deviation between the calcul
12. Xia Xis Master position slave position Constant 35006220 07 2011 19 General Introduction TSX Modules CAY 22 42 These modules 2 and 4 axes respectively are used to control the movement of independent axes on machines with infinite run time usually rotational axes or similar This type of application creates a measurement variation area called the Modulo These modules are also used to perform master slave object tracking applications At a Glance The following diagram illustrates the movement of an axis on a machine with unlimited run time E a ars 6 es Conveyor belt with infinite axis The following diagram provides an outline of the Modulo Current value odulo p t 0 The following diagram illustrates a master slave object tracking application Master axis gt Conveyor transporter a OO Slave axis tool applies glue etc 20 35006220 07 2011 General Introduction TSX Module CAY 33 This module 3 axes is used to control the movement of axes which are linearly interpolated on Cartesian machines with limited run time It is used to follow trajectories either on a plane 2 axes or in space 3 axes At a Glance The following diagram provides an outline of an interpolation of 2 axes Y Yb B 4 4 Vy A i Ya xe
13. For example Byte 3 2 1 0 16 e 16 0101 trigger for event processing application not activated and auxiliary output set to 1 when SMOVE command is executed e 16 1200 trigger for event processing application is activated and auxiliary output set to 0 when SMOVE command has finished being executed NOTE Coding is automatically completed in the M field on the Details screen when the choices have been made using the check boxes and buttons offered by the screen 144 35006220 07 2011 Programming Instruction Codes for SMOVE Function At a Glance The G parameter defines the instruction code To choose the instruction code either use the scroll button on the right of the G field or press on the icon which corresponds to the movement You can also enter the code directly with a direct entry without going via the Details screen Instruction Codes List The instruction codes which can be chosen on the Details screen are as follows Instruction code Meaning Icon 09 Movement on position with stop see page 154 T a BE r 01 Movement on position without stop see page 153 32 Preparation of machining command see page 157 30 Simple machining see page 157 G30 10 Movement as far as event with stop see page 155 610 11 Movement as far as event without stop see page 155 35006220 07 2011 145 Programming I
14. 308 35006220 07 2011 Implicit Exchange Language Objects Associated with the Application Specific Function At a Glance Reminders Figure An integrated application specific interface or the addition of a module automatically enhances the language objects application used to program this interface or module These objects correspond to the input output images and software data of the module or integrated application specific interface The module inputs SI and IW are updated in the PLC memory at the start of the task the PLC being in RUN or STOP mode The outputs SQ and QW are updated at the end of the task only when the PLC is in RUN mode NOTE When the task occurs in STOP mode either of the following are possible depending on the configuration selected e outputs are set to fallback position fallback mode e outputs are maintained at their last value maintain mode The following diagram shows the operating cycle of a PLC task cyclical execution y Intemal processing Yy Acquisition of inputs RUN STOP Y Execution of the program y Update of outputs 35006220 07 2011 309 Explicit Exchange Language Objects Associated with the Application Specific Function Introduction Explicit exchanges are performed at the user program s request using these instructions e READ_STS see Unity Pro I O Management Block Library read s
15. Operating temperature 0 to 60 C Storage temperature 25 C to 70 C Hygrometry without condensation 5 to 95 Operating altitude lt 2000 m Note 1 absolute encoder and supply used exclusively in 24V Note 2 normal conditions of use one active auxiliary input per channel under 24V Note 3 worst case and extreme conditions all auxiliary inputs active under 30 V This module has a mini internal ventilator which enables good working order in all temperatures The ventilator is started up when necessary by the module s internal temperature sensor triggered at an external temp of 45 C It is possible to use external ventilation blocks TSX FANee if the conditions around the module surpass the above parameters 35006220 07 2011 121 Characteristics and Maintenance Characteristics of the Analog Outputs Table of Characteristics This table shows the characteristics of the analog inputs Parameters Value Units Range 10 24 V Real dynamic 10 24 V Resolution 13 bits signs LSB value 1 25 mV Max current supplied by an output 1 5 mA fallback value max 1 LSB Monotony 100 Differential linearity 2 LSB Accuracy 0 5 P E Dielectric rigidity between the channels and the 1000 VAC protective ground Each output is protected against short circuits or overloads In case of error a signal
16. Recalibration deviation Maximum gap between recalibration position and measured position of moving part during a recalibration event A larger deviation will trigger a recalibration By default Recalibration deviation LMAX LMIN 100 LMIN if it is a configured recalibration function Static error 0 to DMAX1 2 Recalibration deviation 0 no control Description of Overspeed Parameter This table describes the overspeed parameter Parameter Indication Overspeed Fault threshold for measured overspeed expressed as a of VMAX By default Overspeed 10 Overspeed 0 to 20 Overspeed 0 no control 35006220 07 2011 261 Adjustment Description of VLIM Parameter This table describes the VLIM parameter Parameter Indication VLIM Detection threshold for movement control Unit mV Limits 0 to 9000 VLIM 0 no control 262 35006220 07 2011 Adjustment Description of Command Parameters Description of Soft Stop Parameters This table describes soft stop parameters These parameters can only be accessed if the axis is limited Parameter Significance Software hi limit Hi and lo limits of the position measurement that the moving part must not Software lo limit exceed In the case of overflows the moving part stops and signals a soft stop fault By default for the TSX CAY 2 and 33 SL_MIN LMIN and SL_MAX
17. 35006220 07 2011 389 Debugging Description of X Axis Y Axis and Z Axis Fields This table shows the display zones for the Axis fields LED State Indication OK Lit Axis in operational state no blocking fault Referenced Lit Referenced axis Stopped Lit Moving part stationary Enable Lit Variable speed controller enable relay active AT Point Lit The movement in progress is finished and the moving part is in the target window DONE Lit The movement in progress is finished NEXT Lit The next movement may be sent NOTE The Confirm command in the Axis field is used to control the variable speed controller enable relay Description of I O Field This table shows the display zones for the I O field LED Indication X Y or Z Came Evt State of signal 0 or 1 on Event input for X Y or Z axes Aux X Y or Z State of signal 0 or 1 on auxiliary input for X Y or Z axes 1 LED lit 0 LED off Description of Faults Field This table shows the display zones for the Faults field LED Button State Indication Command Lit Last movement command refused Refused Hardware Lit External hardware fault e g encoder variable speed controller outputs etc Axis Lit Application fault e g following error software limits etc Ack Fault acknowledgment button Activating this button acknowledges all faults which have disappeared
18. 0055 299 Fault and Command Executability Monitoring 300 Diagnostics Help nme erise nan ineens d eaa ana ni ei eee 301 Chapter 14 Additional Functions 00 cece eee eee 303 Dimension Learning 200 cece eee eee ee 303 Chapter 15 Language Objects of the Independent Axis Specific Applic tion s i oee outta oid does gp E einen at aA 307 Presentation of the language objects of the axis specific function 308 Implicit Exchange Language Objects Associated with the Application Specific FUNCION no sack vn teed Rah ee AE ee ERA 309 Explicit Exchange Language Objects Associated with the Application Specific FUNC aoe se enh ae hee eee eee lees 310 Management of Exchanges and Reports with Explicit Objects 312 Implicit Exchange Internal Command Objects of the T_AXIS_AUTO Type IOD DT 2 rescyet tesa tht att tea eras esas Slay RL ie tpl ee 316 Internal Status Objects Implicit Exchanges of the IODDT of Type T2AXIS AW TO y 26x r aa Sone nowt haulage Ui as She aod g Cada Smee eee 317 Internal Status Objects Explicit Exchanges of IODDT Type TAXIS AUTO 2 wnt tense atts be aad Baty treats ele esa ak Sess ee a Sate 319 Internal Command Objects Implicit Exchanges of the IODDT of Type TLAXIS ST Devine he ee eee Ye eh eee he wees 320 Internal Status Objects Implicit Exchanges of the IODDT of Type TAXIS STD cess eh oe eee hai ee Wee Ae tad dee 322 Internal Status Objects Explicit Exchanges of IO
19. Confirming Adjustment Parameters Introduction When the adjustment parameters have been entered they must be confirmed by using the Edit Confirm command or by activating the icon Parameters Outside Limits If one or several parameter values are outside the permitted limits an error message appears indicating the parameter concerned The faulty parameter s must be corrected and then confirmed No Modification of Configuration Parameters If configuration parameters have not been changed modifying the adjustment parameters will not affect axis operation but will modify its behaviour The modified adjustment parameters are the current parameters the initial parameters remain unchanged PLC processor Axis control channel Adjustment Current Current screen B adjustment B adjustment parameters parameters Cold restart Initial adjustment parameters NOTE On cold restart the current parameters are replaced by the initial parameters The initial parameters can be updated by using the save command or by reconfiguration 270 35006220 07 2011 Adjustment Saving Restoring Adjustment Parameters Saving Parameters To save the current parameters update initial parameters activate the Utilities gt Save parameters command PLC processor Axis control channel eae Current Current paramete
20. Problem The encoder supply fault persists while the encoder is properly supplied and the current value is changing Diagnostics The encoder supply return signal has not been wired correctly What to do Check the encoder connections Ineffective commands Problem The debugging screen commands are ineffective Diagnostics The application or the task is in STOP mode What to do Change the application or the task to RUN mode Non modifiable commands Problem Certain debugging screen commands cannot be modified Diagnostics These bits are written by the application What to do Use bit forcing for Qr m c d type objects or re do the application to avoid systematic writing of these bits modification on transition and not on status Character entry not possible Problem It is not possible to enter more than 3 characters into the digital fields in the adjustment and configuration screens Diagnostics The thousands separator has not been selected in the Windows configuration panel What to do In the Windows configuration panel select the International icon in the Number format field Activate the Modify command and choose a thousands separator 35006220 07 2011 Additional Functions 14 Dimension Learning At a Glance The example from the following Unity Pro program shows the learning and usage of 16 dimensions Dimension learning This graph is used to program
21. SMOVE Function Details Screen The SMOVE function details screen is as follows AXIS_CH1 Channel Address N_Run 1 Movement Number m Movementcodes G9x Relative with respect to the current position w G Continuous movement to event be x 1000000 Position increment F 500 Movement speed m M Parameters M 16 110 m Auxiliary discrete outputs ta E X Evtsource Unchanged K AUXO g AEN Synchronous with mvt EH Consecutive to mvt Cancel Entry fields for SMOVE function parameters are as follows Parameter Description AXIS_CH1 IODDT type variable corresponding to channel 1 on which the function must operate Example AXIS_CH1 of type T AXIS STD N_Run Movement number G9x Movement type Instruction code Coordinate of target position Speed of moving part S 43 xK a Event processing auxiliary discrete output associated with channel 35006220 07 2011 141 Programming Description of SMOVE Function Parameters At a Glance The following parameters must be entered to program a movement function SMOVE IODDT AXIS _CH1 N_ Run G9x G X F M AXIS _CH1 is an IODDT type variable corresponding to channel 1 of the axis control module on which the function must be applied AXIS _CH1 can be for example an
22. This chapter contains the following topics Topic Page Programming an Independent Axis 137 Operating Modes 138 Programming the SMOVE Function in Automatic Mode 140 Entering SMOVE Function Parameters 141 Description of SMOVE Function Parameters 142 Instruction Codes for SMOVE Function 145 Description of Elementary Movements Using a Limited Machine 148 Description of Elementary Movements Using an Infinite Machine 150 Programming a Move to Non stop Position 153 Programming a Move to Position with Stop 154 Programming a Movement Until Event Detection 155 Programming a Simple Machining Command 157 Programming a Reference Point 160 Programming a Reference Point on the Fly on Event 162 How to Program a Movement Stop 163 Programming a Forced Reference Point 164 Programming an Await Event 165 Programming Storage of Current Position on Event 166 Sequencing Movement Commands 169 Programming the Recalibration on the Fly Function 172 35006220 07 2011 135 Programming Topic Page Movement Slaved to Another TSX CAYx1 Axis 174 Movement Slaved to Another TSX CAYx2 Axis 176 Movement Slaved to an External Setpoint 179 Deferred PAUSE Function 180 Step by Step Mode 182 Feed HOLD Function 184 Event Processing with an Independent Axis 186 Managing the Operating Modes 188 Fault Management 189 Descrip
23. This is the variation law applying to the acceleration speed and position setpoints It is often illustrated by the curve speed F time In an increasingly complex order the following can be found rectangular triangular trapezoidal parabolic and squared sine laws P Parameterable indexed position REFP Reference point Referenced axis Index value for the indexed position calculation absolute position index REFP indexed position R Write parameters procedure for measuring current position by moving the moving part and detecting external events reference point input and or cam input This operation references the axis without moving Module status when a reference point is taken Position measurements are only meaningful and movements are only authorized in this status 434 35006220 07 2011 Glossary Resolution this is the smallest type of input information which provides information that can be measured from the output information Rotary pulse Pulse supplied by a rotary incremental encoder detected at each complete turn of the axis S Servo system Automation function which consists of producing a physical dimension conforming to a fixed or variable reference position control speed control etc Software hi limit Upper limit for the position measurement which must not be exceeded by the moving part set by the SLMAX adjustment parameter Software lo limit Lower limit for the
24. EXCH STS MWr m c 0 Standard symbol Type Access Meaning Address STS_IN_PROGR BOOL R Status parameters STATUS exchange in MWr m c 0 0 progress CMD_IN_PROGR BOOL R Command parameters exchange in progress MWr m c 0 1 ADJ_IN_PROGR BOOL R Exchanging adjustment parameters MWr m c 0 2 RECONF_IN_PROGR_ BOOL R Module reconfiguration in progress MWr m c 0 15 Exchanges Report EXCH_RPT The table below presents the meanings of the report bits EXCH_RPT MWr m c 1 Standard symbol Type Access Meaning Address STS_ERR BOOL R Status parameters STATUS exchange report MWr m c 1 0 CMD_ERR BOOL R Command parameters exchange report MWr m c 1 1 ADJ_ERR BOOL R Adjustment parameters exchange report MWr m c 1 2 RECONF_ERR BOOL R Configuration fault MWr m c 1 15 398 35006220 07 2011 Channel Operating Status CH_FLT The table below presents the meanings of the report bits CH_FL1 r MWr m c 1 Standard symbol Type Access Meaning Address EXT_FLT BOOL R External fault same as HD_ERR bit MWr m c 2 0 MOD_FLT BOOL R Internal error Module absent inoperative or in self MWr m c 2 4 test mode CONF_FLT BOOL R Hardware or software configuration fault MWr m c 2 5 COM_FLT BOOL R Communication fault with processor MWr m c 2 6 APP_FLT BOOL R Application fault errored configuration or command MWr m
25. Introductory Example Channel 1 Configuration Parameters The following table provides a list of the parameters which must be entered for channel 1 Parameter Designation Value Comment Units Physical length unit mm Units Physical speed unit mm min Automatically deduced Initial resolution Distance 2000 Initial resolution No of points 500 Encoder type Incremental Default choice Encoder type x1 Default choice Encoder type Code Binary Max setpoint 9000 mV Speed Maximum speed of the 5400 moving part Max acceleration 200 ms Upper limit Upper axis limit 500000 Lower limit Lower axis limit 5000 Event Rising edge and PREF1 Reference point Long cam Top Z Direction 35006220 07 2011 61 Introductory Example Interpolator Configuration At a Glance 2 interpolated axes can be used to control the grab In this case e Use a TSX CAY 33 module as the axis control module e Configure the 0 and 1 axes the same way as with independent axes e Configure channel 3 which does not correspond to any physical axis but which is used to interpolate between axes 0 and 1 Enter the Configuration Parameters for Axis 3 Enter the configuration parameters for axis 3 as follows Step Action 1 Configure the parameters of channel 3 To do this select the Interpolation function e select the MAST task enter the parameters as shown below Channel 3 co
26. Maximum Acceleration or Deceleration Introduction Maximum acceleration or deceleration is defined by the minimum time in ms necessary to get from zero speed to VMAX speed Graphic Presentation The following diagram shows the maximum acceleration ACCMAX and the maximum deceleration DECMAX Speed VMAX pe Time ms Acceleration ACCMAX l_1_____ tin ms DECMAX L Limits The minimum time Tmin is of between 16 and 10 000 ms 232 35006220 07 2011 Configuration Slave of the Position of Axis 0 At a Glance This zone is used to activate the function of slaving another axis to the position of axis 0 To do this the Activation box must be selected to enable the function Module TSX CAY 1 The axis 0 position tracking screen of the TSX CAY 1 module is as follows Slave ot the position ot axis ean Setpoint Current value Raio C 0p C OJ The following parameters must be defined Parameter Description Setpoint or These 2 radio buttons allow you to define the slave axis setpoint Measurement e Master axis setpoint axis 0 or e Master axis measurement axis 0 Ratio These 2 entry fields are used to define the ratio setting the slave axis setpoint value Slave axis setpoint Ratio x Setpoint or Master axis measurement The Ratio has to be between 0 1 and 10 as each of the Ratio parameter entry fields are between 1 and 1000 Module
27. e e e e parallel output absolute encoder with ABE 7CPA11 interface 26 35006220 07 2011 Introduction Illustration This diagram illustrates different types of TSX CAY modules 35006220 07 2011 27 Introduction Physical Description Illustration This diagram illustrates different TSX CAY modules TSX CAY 21 22 TSX CAY 41 42 TSX CAY 33 N eNO O O0 Table of Numbers The following table describes the above diagrams using numbers Number Description 15 pin SUB D connector for connecting an axis 0 encoder 15 pin SUB D connector for connecting an axis 1 encoder 15 pin SUB D connector for connecting an axis 2 encoder 15 pin SUB D connector for connecting an axis 3 encoder 9 pin SUB D connector for connecting speed references O 0 AJOIN HE10 connector s for connecting e auxiliary inputs e cam reference point emergency stop recalibration e of auxiliary outputs e of external supplies encoders and sensors HE10 connector for connecting variable controller inputs outputs Screw for fixing module in place Rigid body which functions as the module captor in the slot 10 Module diagnostic LEDs e module level diagnostics e green LED RUN indicates the operating mode of the module e red LED ERR
28. Click on the corresponding tab to choose the debugging screen Moving in Manual Mode The following operations must be performed to move the moving part in manual mode Step Action 1 In online mode set the PLC to RUN using the PLC Run command or by clicking on the icon Select the axis to be controlled channel 0 X axis or channel 1 Y axis Select manual mode by positioning the mode switch to Manu Enable the safety relay of the variable speed controller by clicking on the Confirm button in the Axis zone Acknowledge the faults by clicking on the Ack button in the Faults field Set a reference point either by using the Manual reference point command e or by using the Forced reference point command In this case first enter in the Param field the position value of the moving part in relation to the source Move the moving part ina positive direction using the JOG command e in a negative direction using the JOG command The moving part s position is displayed in the X field and speed is displayed in the F field from the Movement Speed zone 35006220 07 2011 65 Introductory Example Debugging Debugging Procedure The program can be debugged in the following way Step Action 1 Set the PLC to RUN 2 Display the TSX CAY module Debugging screen View the Grafcet screen at the same time in order to follow the progress of
29. Position and speed references are created according to the movement which is required e g speed target position and the parameters which have been defined in the Adjustment screen 35006220 07 2011 255 Adjustment Description of Gain Parameters This table describes the gain parameters Parameter Meaning Gain 1 and Gain 2 Position loop gains from 50 to 12 000 1 100 s By default Gain 1 Gain 2 1000 1 100 s The axis control module uses the 2 gain values e Gain 1 gain value for high operating speeds This value is used to avoid overshoot and instability e Gain 2 gain value for low operating speeds This value is used to obtain very slight position deviations Threshold of 1 to2 Gain switching threshold from 20 to 500 of VMAX By default Gain threshold 500 of VMAX Position Gain The applied position gain is as follows e f the current speed gt 3 x Threshold 2 Gain Gain 1 e f 3x Threshold 2 gt current speed gt Threshold 2 Gain Gain 1 Gain 2 2 e f current speed lt Threshold 2 Gain Gain 2 This drawing shows gain value according to current speed Gain G2 1 2 G1 G 2 G1 pe Speed Threshold Threshold 2 3 x Threshold 2 Proportional Gain Coefficient The axis control module calculates the KP proportional gain coefficient on the basis of the Gain adjustment KP C x UMAX x Gain C constant and UMAX variable s
30. Storage possibilities Storage Icon Standard rising edge and PREF1 processing PREF1 1 Falling Edge and PREF 1 PREF1 1 If the application requires a length measurement the storage possibilities are as follows Storage possibilities Storage Icon Rising edge and PREF1 then rising edge and PREF1 PREF2 1 PREF2 Rising edge and PREF 1 then falling edge and PREF1 PREF2 1 PREF2 A 35006220 07 2011 235 Configuration Storage possibilities Storage Icon Falling edge and PREF 1 then falling edge and PREF1 PREF2 1 PREF2 Falling edge and PREF1 then rising edge and PREF1 PREF2 1 PREF2 1 The icon shows when storage occurs For example The position PREF1 is detected on the first rising edge of the event input and the position PREF2 is detected on the second rising edge of the event input 236 35006220 07 2011 Configuration Reference Point Introduction An incremental encoder does not measure the position but supplies a number of pulses proportional to a movement In order for this movement to be transformed into a position a known value must assigned to a particular point on the axis usually chosen as 0 This operation is called setting a reference point An axis which has been given a reference point is classed as referenced Reference Point Field The Reference point field defines the type and direction of the reference point only
31. What s in this Part This part contains the following chapters Chapter Chapter Name Page 22 Introduction to the Flying Shear Utility 407 23 Configuring the Flying Shear Utility 409 24 Programming the Flying Shear Utility 415 25 Adjusting the Flying Shear Utility 421 35006220 07 2011 405 General 406 35006220 07 2011 Introduction to the Flying Shear Utility 22 Introduction to the Flying Shear Utility At a Glance The main objective of this function is to be able to respond to applications consisting of e a conveyor belt axis which transports a product e a tool carrier cart axis which carries out return travel between a rest point and a working point and which synchronizes position and speed with the belt The application therefore requires e an axis channel which acquires the advanced speed and position of a product to be cut e an axis channel which controls the movement of the cutting tool support and command with a discrete output Principle of the Flying Shear Utility The table below introduces the different stages of a cutting cycle Step Action 1 The cart is in waiting position at the point of rest Note The cutting value is a reading relative to the last cut made This position is called source control The card calculates the source control corresponding to the next cut and checks that the cut is possibl
32. Xp X Yz Y4 l 35006220 07 2011 341 Introduction to Interpolation Maximum Speed Acceleration Speed F is limited to a maximum speed which depends on e the maximum speeds of each axis affected by the movement e the contribution of each axis within the movement Example y Ne koroa B eae i Pye x i F H Y p Be yla H Ys Ya Al rt Ya AY I H 1 1 H i Ee ay i _1_ 1 i gt Xa Fx Xa Fx XB FX 0 IXs Xal YB Yal F lt VMAX_axeX Fy Fx F lt P Fy For each XMOVE movement the duration of the acceleration phase depends on e the speed variations to be performed e the Tacc parameters for the axes affected by the movement e the contribution of X Y and Z axes The resulting calculated acceleration is the fastest that the movement can happen while respecting the constraints of the different axes the most constraining axis determines the duration of the acceleration The acceleration rule is defined by the SLOPE parameter from channel 3 This imposes a common rule over all axes during an XMOVE independently of SLOPE parameter value for X Y and Z axes 342 35006220 07 2011 Programming Interpolation 17 Subject of this Section This section describes the programming principle for an interpolated movement description of the main instructions and operating modes What s in this Chapter This chapter contains the following topics
33. 11 emergency stop input stop if there is no current in the input 12 adjusting input I3 adjustment input QO reflex output static output 0 V shared auxiliary inputs and reflex outputs 35006220 07 2011 103 Implementing Principle for Connecting the I O Associated with Channel 0 Illustration 104 35006220 07 2011 Implementing TELEFAST Connection and Wiring Accessories General Illustration When connecting this high density connector it is recommended that you use the discrete TELEFAST ABE 7H16R20 pre wiring accessory and the TSX CDP 053 503 cable or a 3m long strip of the 20 wire TSX CDP 301 or a 5m strip of the TSX CDP 501 which contains a HE10 connector at one end and free wires at the other Discrete TELEFAST wiring TELEFAST ABE 7H16R20 Cable length Cable Length TSX CDP 053 0 5m TSX CDP 103 1m TSX CDP 203 2m TSX CDP 303 3m TSX CDP 503 5m 35006220 07 2011 105 Implementing Availability of Signals on TELEFAST Illustration The terminal below represents the terminal of the ABE 7H16R20 base The signals are represented using TSX CDP 053 503 cable Event input channel 1 12 or reflex output channel 0 2 QO reflex output channel 0 3 Ei 5 gt T a 5 3 Adjustment input channel 0 13 1 At the ABE 7H16R20 base the position of the jumper wire determines the polarity of all terminals from 200 to 215
34. AUX_FLT MWr m c 3 1 Auxiliary output short circuit ENC_SUP MWr m c 3 3 Encoder supply AUX_SUP MWr m c 3 6 24 V supply ENC_FLT MWr m c 3 7 Absolute encoder frame SLMIN MWr m c 3 9 Software lo limit SLMAX MWr m c 3 8 Software hi limit SPD_FLT MWr m c 3 10 Overspeed FE1_FLT MWr m c 3 11 Blocking following error FE2_FLT MWr m c 3 15 Non blocking following error REC_FLT MWr m c 3 12 Recalibration on the fly deviation TW_FLT MWr m c 3 13 TW Debugging window STP_FLT MWr m c 3 14 TSTOP Stopping speed NOTE Channel fault feedback for channel 3 is the same as that for an independent axis Fault information is only refreshed during the execution of a READ_STS instruction AXIS_CH9 366 Programming Interpolation Levels of Severity Fault Programming Fault Indication Faults are classed in 2 levels of severity e Critical or blocking faults which cause the moving part to stop The following processes then occur the fault is indicated the moving part slows down until analog output is zero deactivation of the speed drive enable relay clearing of all memorized commands wait for acknowledgement The fault must have disappeared and been acknowledged before the application can be re started e Non critical faults which give rise to fault indication without stopping the moving part The
35. Example Execution Indicators for an Explicit Exchange EXCH_STS Phase 1 Sending data by using the WRITE PARAM instruction PLC memory Status parameters Command parameters Adjustment parameters When the instruction is scanned by the PLC processor the Exchange in progress bit is set to 1 in sMWr m c VO module memory or integrated specific application function memory Status parameters Command parameters p Adjustment parameters Phase 2 Analysis of the data by the I O module and report PLC memory Status parameters Command parameters Adjustment parameters VO module memory or integrated specific application function memory Status parameters Command parameters Adjustment parameters When the data is exchanged between the PLC memory and the module acknowledgement by the module is managed by the ADJ_ERR bit SMWr m c 1 2 This bit makes the following reports e 0 correct exchange e 1 faulty exchange NOTE There is no adjustment parameter at module level The table below shows the control bits of the explicit exchanges EXCH_STS SMWr m c 0 Standard symbol Type Access _ Meaning Address STS_IN_PROGR BOOL R Reading of channel status MWr m c 0 0 words in progress CMD_IN_PROGR BOOL R Command parameters MWr m c 0 1 exchange in pr
36. MDr m 0 65 MDr m 0 67 Comment when this parameter is not checked only the Movement ratio values are used The cart speed then becomes Infinite axis speed x Movement ratio Movement ratio Indicates the speed movement ratio between the belt and cart Limits 1 sin80 1 sin10 1 with 1 sin80 1 015426 and 1 sin10 5 758770 The numerator and denominator should be whole numbers between 1 and 10 10 412 35006220 07 2011 Configuring the Flying Shear Utility Parameter Description Material length Indicates that the KO factor is used when calculating the material length to be cut Material length Mvt AxisO KO with KO MDr m 0 65 MDr m 0 67 Comment when this parameter is not checked the length of the product to be cut is equal to that of the belt Tool up on event Indicates that the tool up time is ordered by the EXT_EVT output Qr m 1 10 on channel 1 The tool is rechucked after this time Comment when this parameter is not checked it indicates that the tool up time is triggered when a position crosses The tool is rechucked after this time Cut on event Indicates that the length to be cut can be determined by an EVENT input on channel 0 The cut reading is determined by the belt position at the event rather than the cutting distance on the event Max acceleration for return Indicates that the module should use the parameter Max acceleration for
37. OK Lit Referenced Lit Stopped Lit Enable This button is used to control the variable speed controller enable relay 35006220 07 2011 291 Debugging Description of I O Field This table shows the display zones for the I O field LED Indication PO Cam Signal state 0 or 1 on Reference point input Recalibration Signal state 0 or 1 on Recalibration input Event Cam Signal state 0 or 1 on Event input Aux Signal state 0 or 1 on auxiliary output 1 LED lit 0 LED off Description of Commands This table describes the command zone Command Description STOP Stops the moving part according to deceleration defined in the configuration Param Used to enter external values position tracking function CMV Used to enter a value from 0 to 2000 which determines the speed multiplier coefficient 0 000 to 2000 in intervals of 1 1000 Description of Sources EVT Field This table shows the display zones for the Sources EVT field Indicator State Indication PRef Lit Indicates PREF position latching 1 PRef1 This field displays the memorized PREF1 position 1 PRef2 This field displays the memorized PREF2 position 1 End G10 G11 Lit Indicates event arrival while G10 or G11 instruction is being executed End G05 Lit Indicates that execution of instruction G05 is complete TO G05 Lit Indicates that the Time Out d
38. Summary diagram TSX CAY S38 M Event task EVTi i UNMASKEVT G05 M LC Processor 35006220 07 2011 187 Programming Managing the Operating Modes On Module Power up PLC in RUN On module power up or during run through the TSX CAY module performs self tests with the outputs in safety position outputs to 0 On completion of the self tests Self tests Module If the self tests have not detected The module tests the configuration with the outputs in the an error safety position If the configuration is correct the module goes into measurement mode OFF If the self tests have detected an The module signals a fault and retains the outputs in the error or if the configuration is safety position incorrect All the configured channel operating modes are useable Switching the PLC From RUN to STOP On switching the PLC from RUN to STOP or on loss of processor module communication the moving part decelerates and stops and the module goes into measurement mode OFF NOTE The 1RTSSCANRUN bit S13 is used to detect the PLC switching to STOP It is set to 1 during the first cycle after the PLC enters RUN mode Change of Configuration Reconfiguration The moving part decelerates and stops The channel deconfigures The module tests the new configuration with the outputs in the safety position If the new configuration is correct the modul
39. These faults are non blocking faults and have no influence on the AX_OK bit Description of Channel Faults The CH_ERROR lr m c ERR bit covers all faults at channel level Internal fault MOD_FLT MWr m c 2 4 module absent inoperative or in self test mode Communication fault COM_FLT MWr m c 2 6 processor communication fault Communication fault CONF_FLT MWr m c 2 5 difference between the module position declared in the configuration and the current position NOTE In order to be updated the MW words require a READ_STS command 35006220 07 2011 191 Programming Description of External Hardware Faults At a Glance These faults are signaled by the HD_ERR bit lr m c 4 These faults are blocking faults and cannot be deactivated Emergency Stop The following table shows the cause the signal and the solution if an Emergency Stop fault should occur Cause Open circuit between 24 V and the Emergency Stop input on the front panel of the module Parameter None Result Moving part is forced to stop Indication EMG_STP bit MWr m c 3 5 1 Remedy Reestablish the input connection at 24 V then acknowledge the fault Drive The following table shows the cause the signal and the solution if a Drive fault should occur Cause Open circuit between 24 V and the Drive fault input on the front panel of the module Parameter None Result Movin
40. cutting length of the product is not limited Procedure The table below describes the procedure to follow to access the configuration screen for the Flying Shear utility Step Action 1 On the application hardware configuration screen double click on the TSX CAY 22 module 2 Choose channel 1 Select the Positioning function from the Function field Result The following screen appears 2CHAN AXIS CONT MOD Tsx CAY 22 HContiguration i Adjust Channel 0 Input Channel 1 rene encoder E TREI Configuration Limited Infinite r Units Length C 5 Speed Da Hi Limit Mask Lo Limit 0 Fault r Initial Distance O Counts 0 MERE 0 Special Max setpoint 0 mv Eunctions r Event aT v gequance conte Max ace Smax o ms Event Input Function Inversion Axis 0 Rising edge and PReft fault processing Output 7 3 Slave Axis Reference point f Positioning Y Without reference point 4 Tea Flying shear Recalibration Ez Recalibration function missing i MAST n 4 Select the Limited option from the Machine field 410 35006220 07 2011 Configuring the Flying Shear Utility Step Action 5 Click on the Flying shear button from the Axis 0 field Result The following screen appears Flying shear Configuration Z Validation Movement ratio Angle Variable 1 1 Material length Mvt AxisO KO Tool up on event Cut on event
41. e For status commands except JOG commands pressing then releasing a button activates the associated command The button s internal LED is lit when this command is taken into account the corresponding Q command bit is set to 1 pressing then releasing the button a second time deactivates the command The button s internal LED is off when this command is taken into account the corresponding Q command bit is set to 0 e For commands on edge the command is activated as soon as the button is pressed and released The button s internal LED lights up then goes out automatically The LED next to a button indicates when the module has taken the command into account Any value entered into an entry field must be confirmed by the key 35006220 07 2011 277 Debugging Using the Keyboard The keyboard can be used to browse through the screens or to activate a command Keys Action Shift F2 Used to pass from one zone to another Tab Used to pass from one set of commands to another within the same zone Arrow keys Used to pass from one command to another within a set of commands Space bar Used to activate or deactivate a command Program Conflicts Conflicts may occur between the Unity Pro program which carries out commands or writes variables and the commands executed from the debug screen In any case the active command will be the one most recently taken into account Animation It is poss
42. indicates an internal error e red LED I O indicates an external error or application fault e module channel level diagnostics e CHx green LEDs indicates of channel diagnostics 28 35006220 07 2011 Functions Subject of this Chapter This Chapter introduces the various functions of the TSX CAY modules What s in this Chapter 35006220 07 2011 This chapter contains the following topics Topic Page Circuit Diagram of an Axis Command 30 Command Processing 31 Compatibility of the Absolute Encoders with the TSX CAY Modules 32 29 Functions Circuit Diagram of an Axis Command Illustration Process diagram Processor TSX CAY module Application Encoder input Configuration onfiguratio adjust parameter Loop WK M for automatic control Variable output PO cam input Event input SMOVE function NOMS Q OW Processing Emergency stop input Auxiliary YO q Variable error input Enable relay output Processing variable AN oIW re Auxiliary output Functions Provided by the Axis Command Modules The axis command modules provide the following functions for each axis e Inputs e one input for the acquisition of position measurements RS 485 incremental encoder or 5 V totem pole 16 to 25 data bit SSI serial absolute encoder one machine reference point input one event input one variable default input one recalibration input one emergency sto
43. this word can be indexed 35006220 07 2011 347 Programming Interpolation M Parameter Example for a 2 axis system Y Fx Using speed F the interpolator calculates FX and FY projections which are used to guide the 2 axes on their trajectory The actual movement speed is equal to required speed F multiplied by the SMC speed modulation coefficient whose value can be adjusted in the interval 0 001 2 000 M defines a word which codes nibbles in hexadecimal e Activation or non activation of the event processing application trigger for G05 and G10 instructions e Nibble 3 to the value of 1 activating e Nibble 3 to the value of 0 non activating e List of events which can end instruction G05 or G10 e Nibble 1 bit O for event entry or EXT_EVT bit for X axis bit 1 for event entry or EXT_EVT bit for Y axis bit 2 for event entry or EXT_EVT bit for Z axis bit 3 for group EXT_EVT bit If several bits are set to 1 the event which ends the instruction is the first event on the resulting list the module carries out the logic OR of the events M Parameter Byte 3 2 1 0 16 NOTE Coding is automatically completed in the M field on the Details screen when the choices have been made using the check boxes and buttons offered by the screen 348 35006220 07 2011 Programming Interpolation Instruction Codes for XMOVE Function Introduction The G parameter defines the i
44. 0 0 00 e eee Connection of Terminals with the TELEFAST Pre wiring System Correspondence Between the SUB D Connector Pins and the TELEFAST Terminals 0 0000 eee eee ete TAP MAS Connection Device 0 0 cece eee eee Connecting the Variable Using the TAP MAS Device Connecting the Counting Signals 000 ce eee eee Connecting Counting Signals 00 0 c eee eee Connecting an Incremental Encoder 00 cee eee eee Connecting an Absolute SSI Encoder 000000 eee Connecting the Encoder Supply 00 00 e eee ee eee eee Wiring Accessories 2 0 c cee eee Encoder Connection Accessories 00 0 cece eee eee Information on FRB Type 12 Pin connectors 00 TSX TAP S15 05 Mounting and Dimensions 5 Connecting Absolute Encoder via a TELEFAST with ABE 7CPA11 Adaptation seraa ar bebo cd Ae bare ede Bere ee T Connecting to a NUM MDLA Variable Speed Controller Connection of Sensors Pre actuator and Supply Modules Without Variable Speed Controller 0 0 0 0 cece tees General ici wise Snark beep yea nad Sea ema eee TELEFAST Connection and Wiring Accessories Availability of Signals on TELEFAST 000 eee eee eee Example of Connecting Sensors to the Auxiliary Inputs and Their Supply Correspondence Between TELEFAST Terminal Blocks and Module HE10 CONNECTION vaata ieee h
45. 1 Set the PLC to RUN 2 Open the configuration editor for bus X from the project browser Double click on the module which needs adjusting Position 3 of Rack 1 can also be selected and the Edit Open module command executed 4 Activate the View Adjustment command to access the parameters adjustment screen 5 Enter the new parameter values for channel 0 e Target window 320 micron Speed manual mode 5400 mm min e PO value 0 micron 6 Confirm the entries with the Edit gt Confirm command or click on the icon 7 Select channel 1 in the channel zone then select the new values for this channel e Offset encoder 8388607 e Following error 1 and 2 8000 micron e Target window 8000 micron e Speed manual mode 5400 mm min 8 Confirm the entries with the Edit Confirm command or click on the icon 9 Save the new values in the PLC processor using the Services Save parameters command 64 35006220 07 2011 Introductory Example Using Manual Mode Accessing Manual Mode If you would like to move the moving part without first going into the programming phase use manual mode In order to do this access the debug screen in online mode Step Action 1 Open the configuration editor for bus X from the project browser Select the TSX CAY module to be opened Execute the Services Open module command or double click on the module to be opened
46. 47 EVENT_G05 EBOOL R Event source G05 end on event lr m c 48 TO_G05 EBOOL R Event source G05 time delay expired lr m c 49 EVT_G1 EBOOL R Event source G10 or G11 end on event lr m c 50 EVT_MOD EBOOL R Modulo crossing lr m c 51 X_POS DINT R measured position lDr m c 0 35006220 07 2011 317 Standard symbol Type Access Description Address SPEED DINT R measured speed Dr m c 2 FOL_ERR DINT R current position deviation Dr m c 4 SYNC_N_RUN INT R step number in progress Wr m c 7 NOTE If 0 1 and 2 channels are interpolatedIN_INTERPO bits are in position 1 lr m 0 32 lr m c 1 32 and lr m 2 32 318 35006220 07 2011 Internal Status Objects Explicit Exchanges of IODDT Type T_AXIS_AUTO At a Glance This part presents the internal status object explicit exchanges of the IODDT of type T AXIS AUTO which applies to modules TSX CAY21 41 22 42 33 It groups togethr word type objects whose bits have a special significance These objects are presented in details below Notes e Generally speaking the meaning of the bits is given for the 1 state of this bit In each specific case the state of the bit is explained e Not all the bits are used Managing Exchanges EXCH_STS The table below presents the significances of the channel exchange control bits EXCH STS MWr m c 0 Standard symbol Type Access Meaning Address CMD_IN_PROG
47. 5 6 108 limit Where n number of encoder bits The values to be entered should respect the following equations e Minimum lo physical limit lt Software lo limit lt Maximum lo physical limit 0 lt Minimum hi physical limits Software hi limit Maximum hi physical limit e Minimum lo physical limit _ Entry value of the lo physical limit of the software lo limit Maximum lo physical limit e Minimum hi physical limit Entry value of the software hi limit of the hi physical limit Maximum hi physical limit _ Entry value lt Entry value e Minimum physical format Minimum hi physical limit Maximum lo physical limit gt 28 resolution e Minimum software format Software hi limit Software lo limit gt 28 resolution 224 35006220 07 2011 Configuration Modulo Introduction The modulo is applicable with an infinite machine when position measurement moves between 0 and modulo Measurement progresses as follows Measurement Modulo Max Modulo For the Max Modulo parameter you must enter the modulo value in encoder points The equivalent in user units is displayed automatically in the following field Max Modulo thus defines the hi limit authorized for the adjustable Modulo parameter The values which can be entered for Modulo and the associated parameters depend on the encoder type used For an Absolute Encoder The modulo is always a power of 2 b
48. 9 is active and the command STOP Qr m c 15 is inactive Automatic or manual mode is selected For commands in absolute position the position is e between SL_MIN MDr m c 33 and SL_MAX MDr m c 31 ranges for a limited axis e between values of 0 and modulo 1 for an unlimited axis For commands on a relative position the target calculated from the current relative position is between the limits SL_MIN and SL_MAX The axes are referenced except for the reference point commands The SMOVE function parameter F is equal to VMAX Modifying the CMV Parameter If modifying a CMV speed modulation parameter implies a resulting speed greater than VMAX this speed is limited to VMAX Sequence Control If the Sequence control option has not been selected in the configuration a non stop movement followed by no sequencing command will continue as far as a soft stop 300 35006220 07 2011 Diagnostics and Maintenance Diagnostics Help At a Glance Situations may arise which you have to resolve The following procedure is designed to help diagnose these situations and indicates the path to follow What to Do in Situations New parameters not taken into account Problem The TSX CAY module does not seem to have registered the new parameters written by WRITE_PARAM Diagnostics Program a READ_PARANM instruction into the application to find out the values actually being used by the module A WRITE_PARA
49. AX FLT TRANSITION X43 gt X42 DONE AND sMW97 gt SMW98 OR AX FLT TRANSITION X46 gt X43 TRUI Fl 35006220 07 2011 305 Additional Functions 306 35006220 07 2011 Language Objects of the Independent Axis Specific 1 5 Application Aim of this Chapter This chapter describes the language objects associated with the axis specific application as well as the different ways of using them What s in this Chapter This chapter contains the following topics Topic Page Presentation of the language objects of the axis specific function 308 Implicit Exchange Language Objects Associated with the Application Specific 309 Function Explicit Exchange Language Objects Associated with the Application Specific 310 Function Management of Exchanges and Reports with Explicit Objects 312 Implicit Exchange Internal Command Objects of the T_AXIS_AUTO Type 316 IODDT Internal Status Objects Implicit Exchanges of the IODDT of Type 317 T_AXIS_AUTO Internal Status Objects Explicit Exchanges of IODDT Type T_AXIS_AUTO 319 Internal Command Objects Implicit Exchanges of the IODDT of Type 320 T_AXIS_STD Internal Status Objects Implicit Exchanges of the IODDT of Type 322 T_AXIS_STD Internal Status Objects Explicit Exchanges of IODDT Type T_AXIS_STD 324 Adjustment Parameters Objects Explicit Exchanges of the IODDT of Type 327 T_AXIS_STD Exch
50. EE ee eee aes 431 Indek cisciniad iGwia ae eee Ra a ea oe ea 437 35006220 07 2011 9 10 35006220 07 2011 Safety Information A Important Information NOTICE Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists which will result in personal injury if the instructions are not followed personal injury hazards Obey all safety messages that follow this symbol to avoid possible injury or death A DANGER DANGER indicates an imminently hazardous situation which if not avoided will result in death or serious injury A WARNING WARNING indicates a potentially hazardous situation which if not avoided can result in death or serious injury This is the safety alert symbol It is used to alert you to potential 35006220 07 2011 11 PLEASE NOTE A CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in minor or moderate injury CAUTION CAUTION used without the safety alert symbol indicates a potentially hazardous situation which if not avoided can res
51. G30 Instruction 32 and 30 are used to create a simple machining profile consisting of e an approach speed defined in instruction G32 e a machining speed and a target position defined in instruction G30 Example SMOVE AXIS CHO0 1 90 32 0 1000 0 AXIS CHO of type T AXIS STD SMOVE AXIS _CHO 2 90 30 5000000 500 0 AXIS_CHO of type T AXIS STD Speed mm min A 1000 500 i gt Position microm 5000000 35006220 07 2011 157 Programming Programming Command G32 is a preparation command It can be activated in the same PLC cycle as a G30 command without monitoring the NEXT and DONE bits The reactivating command G32 does not have to be reactivated when the approach speed remains unchanged as the speed is stored On the other hand it is mandatory to send at least one G32 command before executing a G30 command If it is not followed by a movement command instruction G30 triggers a movement without stop whose behavior is identical to instruction GO1 If instruction G30 is not followed by a movement command and if a sequence control is requested it will cause a command refusal If the moving part is in motion instruction G30 must not change the direction of movement Instruction G30 is normally followed by a G09 instruction figure 1 If this sequence causes a change in direction the process stops and inverts in order to obtain the value GO9 figure 2 G30 Gog A lt a ane d
52. I EN RESET Axe x Setrp END_IF Moving the moving part in X axis direction Axe_x Jog_p Forward Moving the moving part in X axis direction Axe_x Jog_m Reverse L200 IF selection x y THEN JUMP L300 eI ND_IF Moving the moving part in Y axis direction Axe y Jog_ p Forward Moving the moving part in Y axis direction Axe Y Jog_m Reverse 35006220 07 2011 55 Introductory Example Open grabber 6L300 IF Auto man AND Ouv_pince THEN RESET Grabber za END_IF Closing the grabber IF Auto man AND Ferm pince THEN SET Grabber ti ND_IF Fault acknowledgement Axe x Ack def Axe _y Ack def Acq defauts SL999 56 35006220 07 2011 Introductory Example TSX CAY Module Configuration Software Declaration of the PLC Configuration Start the Unity Pro software select File New choose a Premium processor From the Project Browser access the hardware configuration editor in the following manner Step Action 1 Open the Station file either by double clicking on the icon or clicking on its link 2 Open the Configuration file either by double clicking on the icon or clicking on its link 2 Open the Bus X file either by double clicking on the icon or clicking on its link Each component part of the PLC configuration must then
53. If 3 D is specified interpolation is implicitly declared in the XYZ space and or on the planes which make up XY YZ or XZ space where X 0 axis Y 1 axis and Z 2 axis Configuring the 2 or 3 independent axes that you would like to interpolate is necessary in order to access interpolator configuration Interpolator Channel Programming The XMOVE command is used to program interpolated movements This command is an addition to SMOVE axes not a substitute Axes are only interpolated during the execution of an XMOVE command Outside of XMOVE commands they can be commanded independently by an SMOVE command Movements Command Interpolated axes movement command MEIXMOVE CHy 3 340 35006220 07 2011 Introduction to Interpolation Speed Independent axes movement command SMOVE CHxy 0 X2 SMOVE CHxy 1 Y2 j The speed which you specify in the XMOVE command is the desired speed in the direction of movement The movement speed of each axis is calculated by means of a projection Example for a 2 axis system Y The moving part must move from point A Xa Ya to point B Xg Yp at speed F which projects onto X and Y respectively in Fx and Fy Using value F which is provided in the XMOVE instruction the interpolator calculates projections according to the formulae Fy Fx Xp X4 AX Fy Fx p 4 AX with 2 21 2 AX
54. Objects with Implicit Exchanges The tables below presents the internal objects implicit exchanges of the IODDT of the T AXIS AUTO type Standard symbol Type Access Description Address CH_ERROR EBOOL R Channel fault lr m c ERR NEXT EBOOL R Ready to receive a new movement command in AUTO lr m c 0 DONE EBOOL R All instructions are executed no instructions in the stack lr m c 1 AX_FLT EBOOL R Fault present on axis lr m c 2 AX_OK EBOOL R No fault causing moving part to stop lr m c 3 EX_ERR EBOOL R Application fault present lr m c 5 CMD_NOK EBOOL R Command refused lr m c 6 NO_MOTION EBOOL R Moving part stationary lr m c 8 AT_PNT EBOOL R Moving part position on target in the point window on lr m c 9 instruction with stop TH_PNT EBOOL R Theoretical setpoint reached lr m c 10 REF_OK EBOOL R Reference point taken axis referenced lr m c 14 DIRECT EBOOL R Indicates direction of movement lr m c 17 IN_AUTO EBOOL R Automatic mode active lr m c 23 IN_INTERPO EBOOL R Interpolated movement in progress lr m c 32 ON_PAUSE EBOOL R Movements sequence suspended lr m c 33 IM_PAUSE EBOOL R Movement suspended PAUSE imm diate lr m c 34 ST_IN_STEP EBOOL R Step by step mode in progress lr m c 39 DRV_ENA EBOOL R Speed drive enable output image lr m c 40 OVR_EVT EBOOL R Event overrun lr m c 46 EVENT_G07 EBOOL R Event source latch position lr m c
55. Unity Pro must be programmed with what action to take in the event of this type of fault The fault indication disappears when the fault itself has disappeared and been acknowledged Faults can be viewed corrected and acknowledged from the debugging screen However it can be useful to be able to guide the moving part and correct faults from a console during operation For this purpose all the information and commands necessary are available within the application The module supports a wide range of information in the form of bits and status words all accessible through the Unity Pro program These bits are used to process faults in hierarchical order e to act on the main program e to simply indicate the fault 35006220 07 2011 367 Programming Interpolation Level of Indicating 2 indicating levels are provided First level general information Bit Error CH_ERROR lr m c ERR Channel fault AX_OK lr m c 3 No blocking error with moving part stop is detected AX_FLT lr m c 2 Fault assembles all faults HD_ERR lr m c 4 External hardware error AX_ERR lr m c 5 Application fault CMD_NOK lr m c 6 Command refused Second level detailed information Channel fault status word AX_STS MWr m c 3 NOTE With a blocking fault it is advised to stop the changing sequential processing which is associated with the axes and correct the fault Correcting the fault must be foll
56. XB Fy A 5000000 Position Ya microm 35006220 07 2011 353 Programming Interpolation Programming a Movement Until Event Detection Instruction The movement until event detection instruction is as follows Instruction Instruction code Icon Movement until event detection with stop 10 n coy The G10 instruction moves axes until detection of an event or up to the position specified in the absence of an event Event The awaited event can be e Arising or falling edge according to selections made while configuring on one of the reflex inputs for one of the interpolated axes e Acommand from the application which can be e arising edge EVT_EXT bit for one of the axes e arising edge EVT_EXT interpolator bit Nibble 1 for parameter M is used to specify the axis or axes for the awaited event 3 2 QI Qo X X X xX X Axis Reflex input or EVT_EXT Qr m 0 10 bit Y Axis Reflex input or EVT_EXT Qr m 1 10 bit Z Axis Reflex input or EVT_EXT Qr m 2 10 bit Interpolator EYT_EXT Qr m 3 10 bit 354 35006220 07 2011 Programming Interpolation Example Movement in the XY plane until detection of an EVT on X axis reflex input ata speed of 1000 In the absence of an EVT axes stop at 300000 100000 Task event is activated on detection of the EVT Y 100 000 35006220 07 2011 355 Programming Interpolation Programming an Await Event Instruction Awaited
57. a base to which only one absolute encoder with parallel outputs is connected e the encoder frame should be configured as follows e code binary or Gray according to the encoder type e header bits 0 e data bits 24 irrespective of the number of encoder data bits e status bits 3 e rank of the error bit 1 optional e parity even Illustration This diagram shows the connection between a TSX CAY and a TELEFAST ABE 7CPA11 TSX CAY TELEFAST Absolute encoder e with parallel output Q inhibiting the outputs of the encoder encoder configuration using base type of encoder connected 100 35006220 07 2011 Implementing Connecting to a NUM MDLA Variable Speed Controller General The NUM 400 V controller contains all the elements necessary to functioning It offers an output whose signals simulate the functioning of an incremental encoder as a position report Direct connection is possible using the 2 5 cm or 6m long TSX CXP 233 633 cable accessory Illustration Connection to a variable speed controller TSX CAY NUM MDLA TSX CXP 223 633 x i Cable length Cable Length TSX CXP 213 2 5 cm TSX CXP 633 6m NOTE Here it is not necessary to have an encoder supply 35006220 07 2011 101 Implementing 6 6 Connection of Sensors Pre actuator and Supply Modules Without Variable Speed Controller Subject of this section This section deals w
58. a module memorizes the belt position and calculates the cutting point according to the following formula Control Source Point memorized point cutting distance on event D Direction discrimination Micro programmed system which determines the movement operating direction 35006220 07 2011 431 Glossary Emergency stop Event Movement stop with maximum deceleration Modules triggered by software or hardware application specific module Events take priority in Mast or Fast tasks and are executed upon detection The EVTO event has the highest priority the others share the same level of priority F Feed forward gain KV Flying Shear Following error Co efficient allowing adjustment of the action and feed forward of the position control loop compromise between following overshoot error at the stop point Application consisting of a conveyor belt axis which transports a product a tool carrier cart axis which carries out return travel beetween an idle point and a working point and which synchronizes position and speed with the belt Deviation between the position setpoint and the measurement during movement Forced reference point movement Gray Code Write parameters procedure for measuring current position at a predefined value This operation references the axis G binary code known as reflected in which the transition from term n to term n 1 is performed by modifying one s
59. ae is ee Position I Immediate O Enable Speed UH TF O EEE Commands Faults STOP End G10 G11 End G05 O Slave Command Refused FS PRef TO G0 External Hardware CMV 1000 F2 nooo PRef1 OJ Command Zn Pret 0 E Pause O Axis Step by step O Nextstep o Synchro UC o Ack Description of Movement Speed Field This table shows the display zones of the Movement Speed field Display zone Description X Current Displays the moving part position using the measurement unit defined in the configuration X Target Displays the moving part setpoint position target position defined in instruction 1 X Following error Displays the deviation between the setpoint position calculated and the actual position of the moving part following error F Current Displays the moving part speed using the measurement unit defined in the configuration F Target Displays the setpoint speed of the moving part target speed speed defined by CMV coefficient in modulated instruction 2 290 35006220 07 2011 Debugging Display zone Description N G9x G These fields display the instruction which is being executed N step number G9x movement type G instruction code Position The bar chart shows the progress of the moving part within the limits defined in the configuration The bar chart is colore
60. and calibrated Done AND Calib For 2 independent axes Moving part in waiting position and part detected on conveyor A Capteur_1 AND Cycle AND Axe x Next AND Axe y Next For 2 interpolated axes Moving part in waiting position and part detected on conveyor A Capteur_1 AND Cycle AND Next_INT For 2 independent axes Moving part in detected part retrieval position on conveyor A Axe x At_ point AND Axe x Next AND Axe y Next AND Axe_y At_ point For 2 interpolated axes Moving part in detected part retrieval position on conveyor A interpo At point AND interpo Next 35006220 07 2011 51 Introductory Example Step 4 gt 5 Step 4 gt 8 Step 5 gt 6 Step 8 gt 6 Step 6 gt 2 Type 1 part and closed grab Capteur 2 AND Capteur 3 Type 2 part and closed grab NOT Capteur 2 AND Capteur 3 For 2 independent axes Moving part in position on conveyor B Axe x At_ point AND Axe x Next AND Axe y Next AND Axe_y At_ point For 2 interpolated axes Moving part in position on conveyor B interpo At point AND interpo Next For 2 independent axes Moving part in position on conveyor C Axe _ x At_point AND Axe x Next AND Axe y Next AND Axe_y At_ point For 2 interpolated axes Moving part in position on conveyor C interpo At_point AND interpo Next Grabber open NOT Capteur_ 3 AND Cycle 52 35006220 07 2011 Introductory Example
61. axis monitoring parameters may enable or inhibit the checking of some faults These monitoring parameters can be adjusted in the adjustment screen In loop control disabled mode DIRDV checking of application faults is inhibited In measurement mode OFF checking of application faults except soft stop faults is inhibited Faults are classed according to 2 levels of severity e The blocking or critical faults which cause the moving part to stop in the case of an axis fault or moving parts managed by the module in the case of a module fault The following processes then occur e the fault is indicated e the moving part slows down until analog output is zero e deactivation of the speed drive enable relay e clearing of all memorized commands e wait for acknowledgement The fault must have disappeared and been acknowledged before the application can be re started 35006220 07 2011 189 Programming Fault Programming Fault Indication Level of Indicating e Non critical faults which cause a fault to be signaled without stopping the moving part The Unity Pro must be programmed with what action to take in the event of this type of fault The fault signal disappears when the fault has disappeared and has been acknowledged the acknowledgment is not stored and only comes into effect if the error has disappeared Faults can be viewed corrected and acknowledged from the debugging screen However it can be useful t
62. be selected The following choices have been made in this application rack 0 and rack 1 TSX RKY 8E processor TSX P57 304 power supply modules TSX PSY 2600 for Rack 0 and TSX PSY 5500 for Rack 1 32 input module TSX DEY 32D2K in position 3 of Rack 0 32 output module TSX DSY 32T2K in position 4 of Rack 0 axis control module TSX CAY 21 in position 3 of Rack 1 Module configuration screen Bus TSX P57 304M V1 0C ei g Ee fi TEZ sE 500m g i alesis aA me lt a Sy smove M XBus 35006220 07 2011 57 Introductory Example Entry of the Axis Configuration Parameters For each axis enter the configuration parameters in the following way Step Action 1 Select position 3 of Rack 1 then execute the Edit Open module command or double click on the selected module 2 Configure the parameters of channel 0 To do this e select the Position control function e select the MAST task e enter the parameters as shown below Channel 0 configuration screen BB 1 3 TSX
63. channel 1 Conveyor channel 0 p gt In this case Angle Variable and Material length Mvt Axis0 KO are not checked so Movement ratio 1 1 The product feed axis and the cart feed axis form an angle The cutting tool only moves up or down The movement of the tool carrier cart should cover the whole of the surface of the product to be cut Cart axis channel 1 Conveyor channel 0 vw In this case Angle Variable and Material length Mvt Axis0 KO are not checked so Movement ratio 1 sina 426 35006220 07 2011 Adjusting the Flying Shear Utility Insertion of Product with Angles The product feed axis and the cart feed axis are parallel but the insertion of the product forms an angle to the belt The cutting tool moves perpendicularly to the product feed axis either by rotating or on a linear axis The feed speed is picked up when the product is inserted and varies from the belt speed Tool carrier cart al Tdol Z y P Prod ct Conveyor channel 0 H _ jj Measure of In this case Angle Variable and Material length Mvt Axis0 KO are checked so Movement ratio 1 1 KO sine Variable Length Cut The Dist parameter from the SMOVE with G22 instruction allows consecutive cuts of varying length Long Cut on Event A sensor detects the course of the product to be cut When the event is received the module memorize
64. configuration when stopping after cutting Synchronization end event Indicates that the synchronization end time is ordered by the RECAL output on channel 1 Effective desynchronization is performed after this time Suspension occurs between the re calibration and Flying Shear utilities Comment when this parameter is not checked it indicates that the end synchronization time is triggered by a position Effective desynchronization will be performed after this time All these parameters are deactivated by default All combinations are possible 35006220 07 2011 413 Configuring the Flying Shear Utility 414 35006220 07 2011 Programming the Flying Shear Utility 24 Aim of this Chapter This chapter describes the programming principle of the Flying Shear utility What s in this Chapter This chapter contains the following topics Topic Page Programming Flying Shear Utility principle 416 Programming the Flying Shear Utility SMOVE function 417 35006220 07 2011 415 Programming the Flying Shear Utility Programming Flying Shear Utility principle Preliminaries All G codes already present on the TSX CAY 22 V1 x are recognized and applied so that they are defined on channel 1 when the Flying Shear utility is activated In particular they allow homing and initial positioning at the point of synchronization before beginning a cutting cy
65. gt PointSynchro PointRepos e Vit lt Vmax e M 0 or 16 0100 If M 16 0100 the counter is then initialized at 0 then incremented if the cut is performed e The movement programmed can only be executed under the following conditions 35006220 07 2011 417 Programming the Flying Shear Utility Axis conditions Axis 0 Axis 1 Channel 0 should be configured as an infinite machine It is advisable to enter the maximum value authorized into the modulo so that the cutting length of the product is not limited The channel 1 Flying Shear utility must be configured Channel 0 should not have a blocking fault The operating mode should be set to automatic It is essential that the numerator product for the Movement ratio with the KO numerator be less than 2 Axis 1 should be referenced It is essential that the denominator product for the Movement ratio with the KO denominator be less than 29 The drive should be Enable The KO ratio should be between 0 01 and 5 The cart should have come to idle The preceding movement should be a G09 or G22 and should have the idle position as a position setpoint The distance between the KO Movement ratio synchronization idle point and end point should be more than modulo 2 on channel 0 Code G98 e Cutting distance on evt KO lt modulo 2 e Cutting distance on evt KO KO Movement ratio gt Synchronization point posit
66. gt Figure 1 G30 i Ae X2 p Figure 2 x1 158 35006220 07 2011 Programming e Ifthe distance to be covered by instruction G30 does not allow the specified speed to be reached the movement then takes one of the following trajectories D 35006220 07 2011 159 Programming Programming a Reference Point Instruction The instruction for setting a reference point is as follows Instruction Instruction code Icon Reference point 14 The displayed position corresponds to the coordinate to be loaded as the current value when the source is detected According to the type of reference point chosen the reference point event is detected either during cam input or during cam and Zero Marker inputs associated with the controlled axis The type of reference point and the direction of movement are defined in the configuration Examples Example 1 SMOVE AXIS _CHO 1 90 14 5000000 200 0 AXIS_CHO of type T AXIS STD Type of reference point short cam direction Speed mm min A Cam 200 a pe Position microm o 5000000 160 35006220 07 2011 Programming Example 2 SMOVE AXIS CHO 1 90 14 0 200 0 AXIS CHO of type T AXIS STD Type of reference point short cam Zero latch direction Speed mm min Cam and zero latch 25 pe Position microm 200 NOTE The axis is referenced at the start of the execution o
67. is sent to the CPU using a status word A short circuit of these outputs is not harmful to the module There is no check for an absent connector on the analog output 122 35006220 07 2011 Characteristics and Maintenance Characteristics of the Counting Inputs Diagram Characteristics Example of input A A Q 9 5 This table shows the characteristics of the counting inputs Electrical characteristics Symbol Value Units Nominal voltage One 5 V Voltage limit U1 5 5 V Nominal current In 18 mA Input impedance under 5 V Re 270 Ohms Voltage for On state Uon gt 2 4 V Current at On state lon gt 3 7 mA Voltage for Off state Uoff lt 1 2 V Current at Off state loff lt 1 mA Encoder sensor voltage feedback check Presence check 35006220 07 2011 123 Characteristics and Maintenance Compatibility of A B Z Inputs RS 422 RS 485 line transmitter outputs 7 mA current loop Differential line monitor on each input Outputs complemented by 5 V totem pole supply Differential line monitor on each input Characteristics of the Return supply Encoder Inputs Illustration return input supply encoder oV Table of characteristics Characteristics Symbol Value Units Voltage for ON state OK Uok gt 2 5 V Voltage limits Umax 30 V Input current 2 5 lt Uok lt 30 Imax 3 mA
68. is set during configuration e the offset enables to slave axis to slave itself to the master axis whatever the master s position This allows object tracking applications to be set up where a tool carrying axis has to be slaved to a permanently moving axis conveyor for the transportation of objects glue application etc The offset value can be modified from the application or from the P_Unit software in recalibration mode The TSX CAY 2 module provides an alignment or locking device in order to avoid a surprise during the switch to slave mode 176 35006220 07 2011 Programming The function calculates the offset as follows SlavePosition MasterPosition X Ratio Offset The configuration parameter Automatic offset is used to select the operating mode The signed ratio value advances from 0 01 and 100 Parameters Associated with the Master Mode Slave The parameters of the master slave mode are as follows e Ratiol MWr m c 29 and Ratio2 MWr m c 30 which determine the value of the master slave ratio e Slave_Off MDr m c 55 offset value when the Automatic offset option has not been selected during configuration e InternalSlaveOffset offset value calculated by the module and not accessible by the user when the Automatic offset option has been selected during configuration Execution Condition e The master axis is configured in automatic or manual mode in the framework of a setpoint follo
69. language on the rising edge of a bit A report on function execution is provided by the module using the NEXT and DONE bits The TSX CAY module features a mechanism which is used to sequence movement commands Each axis of the TSX CAY module has a buffer memory which can receive 2 movement commands in addition to the one it is in the process of executing Thus when a movement in progress has finished it proceeds directly to the first command present in the buffer memory Command sequence 1 SMOVE CH102 0 01 90 01 SMOVE 2 SMOVE CH102 0 02 90 08 SMOVE CH102 0 01 90 01 SMOVE CH102 0 02 90 01 SMOVE CH102 0 0390 01 T B SMOVE CH102 0 03 90 09 NEXT C Sequencing 2 Commands Sequencing between 2 movement commands is as follows e instantaneously if the first movement is without stop e as soon as the moving partis in the target window or after time delay TSTOP has elapsed which is defined in the stop control on parameter adjustment screen if the first movement is with a stop For the sequencing to be instantaneous the execution time for the instruction in progress must be longer than the master task period NOTE A new command must only be sent to the module if the buffer memory associated with the axis to be controlled is not full 35006220 07 2011 169 Programming Bits Associated with a Sequen
70. lr m c 46 EVENT_G07 EBOOL R Event source latch position lr m c 47 EVENT_GO05 EBOOL R Event source G05 end on event lr m c 48 TO_G05 EBOOL R Event source G05 time delay expired lr m c 49 EVT_G1 EBOOL R Event source G10 or G11 end on event lr m c 50 EVT_MOD EBOOL R Modulo crossing lr m c 51 X_POS DINT R measured position lDr m c 0 SPEED DINT R measured speed lDr m c 2 FOL_ERR DINT R current position deviation lDr m c 4 ANA_OUT INT R current analog output IWr m c 6 SYNC_N_RUN INT R step number in progress IWr m c 7 PREF1 DINT R Capture of position of axis PREF1 lDr m c 11 PREF2 DINT R Capture of position of axis PREF2 lDr m c 13 NOTE If 0 1 and 2 channels are interpolatedIN_INT lr m 0 32 lr m c 1 32 and lr m 2 32 ERPO bits are in position 1 35006220 07 2011 323 Internal Status Objects Explicit Exchanges of IODDT Type T_AXIS_STD At a Glance This part presents the internal status object explicit exchanges of the IODDT of type T AXIS_STD which applies to modules TSX CAY21 41 22 42 33 It groups together word type objects whose bits have a special significance These objects are presented in details below Notes e Generally speaking the meaning of the bits is given for the 1 state of this bit In each specific case the state of the bit is explained e Not all the bits are used Managing Exchanges EXCH_STS The table below presents the significances of the channel exchange cont
71. mode which gives access to details of faults detected by the module rm Internal faults External faults Other faults Speed controler fault Overspeed fault Supply fault encoder Encoder brea fault Emergency stop fault 24 power supply fault Adjustment Command m Commands refused Configuration 0x1 Insufficient conditions AUTO command error parameters Description of the Different Fields The Channel diagnostics screen offers the following fields Field Description Internal faults Internal faults within the module which generally require it to be replaced External faults Faults originating from the operating part Other faults Application faults Command refused Indicates the cause and the message number of a command refused see page 331 294 35006220 07 2011 Debugging Archiving and Documentation Archiving Documentation When the program has been debugged in online mode the following saves must be carried out e save adjustment parameters if they have been modified To do this select the adjustment screen and use the Utilities Save parameters command e save application on disk using the File Save command Application documentation for axis control is included in the complete Unity Pro application documentation The documentation contains the following in one file e t
72. module variable editor Local 1 Generation Generation analyze and edit links of the application Local Transfer Transferring the application into the PLC Online Adjust Debug Adjusting independent axis parameters Online Adjusting interpolation parameters Debugging independent axes Debug of interpolation channel Debugging the application using the debug screens and animation tables Modifying the program Documentation Building documentation file and printing the different data concerning the application Online 1 36 35006220 07 2011 Methodology Phase Description Mode Operation Diagnostics View of the different data needed to carry out the application Diagnostics of the application and modules Online Key 1 These different phases may also be performed in the other mode 35006220 07 2011 37 Methodology 38 35006220 07 2011 Introductory Example Subject of this Section This section provides an example of how to set up a TSX CAY axis control application This example is instructive and covers all the phases necessary for setting up independent or interpolated axes What s in this Chapter This chapter contains the following topics Topic Page Description of the Example 40 Prerequisite
73. o a t Ov L 10 30V EIN W ov for encoders 88 35006220 07 2011 Implementing Branching Branching table Element Designation Terminal Incremental encoder input A 1 input A 2 input Z 4 input Z 5 input B 10 input B 11 return supply of encoder 13 Absolute SSI encoder SSI Data 1 SSI data 2 CLKSSI 6 CLKSSI 14 5 V encoder supply supply 5 V 15 supply 0 V 8 Encoder supply 10 30 V supply 10 30 V 7 supply 0 V 8 35006220 07 2011 89 Implementing Connecting an Incremental Encoder Connection Diagram The type of interface is either RS 422 RS 485 or totem pole TSX CAY ENCODER 4 5 A Gol ooo ae gt _ eee cp 3 ees 2 return supply 105900 7 4 oi supply oy K i 10 supply AX standard pinouts for an encoder equipped with a 12 pin DIN connector Each signal A A for example should be connected by a twisted pair To reduce on line voltage falls it is recommended to connect each supply point using a pair Cable shielding should be connected at each end to the protective ground A CAUTION IMPROPER POWER SUPPLY Connect the supply encoder input of the
74. of 100 mm for position 0 and the resolution is 2 microms the offset value is 100000 2 50000 encoder points 252 35006220 07 2011 Adjustment Adjusting Resolution At a Glance This adjustment is used to compensate for error resulting firstly from imprecise entry of configuration parameter values and secondly from imperfections in the kinematics string Resolution adjustment screen Corrected resolution Distance 8000 No of pulses 10 Encoder offset 0 pulses Adjustment Procedure Perform the following operations on the TSX CAY Debug screen Step Action 1 Select Manual mode 2 Create a manual reference point if the encoder is of incremental type 3 Choose Theoretical distance as the value to run which corresponds to the greatest possible range of movement position 1 and enter this value into the Param field e g 300 000 microns Give the Inc or Inc command depending on the direction of movement Measure with a sufficiently precise external device the distance actually covered by the moving part Observed distance 6 Change to measurement mode DRV_OFF 35006220 07 2011 253 Adjustment Carry out the following operations from the Adjustment screen Step Action 7 Press the Correction button which displays the following dialog box Resolution Correction Theoretical distance Observed distanc
75. of Conveyor C Y axis Variables Associated with the Discrete Input Module The discrete input module is positioned in slot 3 of Rack 0 The variables associated are as follows Variable Address Comment Capteur_1 10 3 0 Machined part detection cell Capteur_2 10 3 1 Part type identification sensor 0 type 2 1 type 1 Capteur_3 10 3 2 Grab open grab closed detection sensor Auto_man 10 3 3 Mode selection switch 0 Auto 1 Manual Depart_cycle 10 3 4 Automatic cycle start button Arret_cycle 10 3 5 Automatic cycle stop button Selection_x_y 1 l0 3 6 Selection of the axis to be controlled in manual mode 1 X 0 Y Po_man 10 3 7 Manual reference point Avant 10 3 8 Moving the moving part in a positive direction Arriere 10 3 9 Moving the moving part in a negative direction Acq_defauts 10 3 10 Fault acknowledgement Arret_urgence 10 3 12 Emergency stop 44 35006220 07 2011 Introductory Example Variable Address Comment Ouv_pince l0 3 13 Grab opening button Ferm_pince 10 3 14 Grab closing button Variables Associated with the Discrete Output Module The discrete output module is positioned in slot 4 of Rack 0 The variables associated with it are as follows Variable Address Comment Pince Q0 40 0 Grab open close control 0 Open 1 Close Defaut Q0 4 1 Fault signaling I
76. on XMOVE Movements The following XMOVE movements cause command refusal CMD Nok stop the moving part and reset the buffer memory to zero e sequencing a G05 or G92 after a G01 e absence of an instruction after a G01 e receiving a command with a SPACE parameter affecting an axis which is not stationary while it is not being affected by a previous XMOVE command this is where an XMOVE is with an axis whose last movement was an SMOVE G1 35006220 07 2011 361 Programming Interpolation Bits Associated with a Sequencing Mechanism The following bits are associated with the sequencing mechanism Bit Description NEXT lr m 3 0 Indicates to the program application that channel 3 is ready to receive the following XMOVE command DONE lr m 3 1 Indicates the command in progress has finished being executed and there are no new commands in the buffer memory TH_PNT lr m 3 10 Indicates that the setpoint value has been reached on the axes affected by the XMOVE AT_PNT lr m 3 9 At the end of a movement with a stop this indicates that for all the axes affected by the movement the moving part is in the target window NOTE Either the NEXT bit or the DONE bit must be tested before executing an XMOVE command A new command must only be sent to the module if the buffer memory associated with the axis to be guided is not full The SYNC_N_RUN lr m 3 8 word periodically provides the number of the
77. on activation or deactivation of this step e in structured text or contact language on the rising edge of a bit A report on function execution is provided by the module using the NEXT and DONE bits Buffer Memory TSX CAY 33 possess a mechanism which is used to sequence movement commands The interpolator has a buffer memory or stack which can receive 3 movement commands in addition to what it is in the process of executing Thus when a movement in progress has finished it proceeds directly to the first command present in the buffer memory In the following example we shall use the variable Axis 3 of type T_INTERPO_STD associated with channel 3 of the TSX CAY 33 module 35006220 07 2011 359 Programming Interpolation Sequencing mechanism 1 XMOVE Axis_3 1 90 01 NEXT lt a XMOVE Axis 3 1 90 01 2 XMOVE Axis_3 2 90 01 mov E Axis_3 3 90 01 NEXT a 4 XMOVE Axis_3 4 90 01 L NEXT ada a XMOVE Axis 32 90 01 XMOVE Axis_3 1 90 01 __ XMOVE Axis_3 3 90 01 XMOVE Axis_3 2 90 01 IXMOVE Axis 3 1 90 01 XMOVE Axis_3 4 90 01 XMOVE Axis_3 3 90 01 XMOVE Axis _3 2 90 01 X i 7 NEXT af 5 XMOVE Axis_3 5 90 09 DONE al XMOVE Axis_3 4 90 01 XMOVE Axis_3 3 90 01 _ XMOVE Axis 3 2 90 01 XMOVE Axis_3 5 90 09 XMOVE Axis _
78. parameters Speed r 6 CU E oy 0 Speed 0 Window Offset 4 PO Value 0 window TE 5 5 Description The following table presents the various elements of the adjustment screen and their functions Number Element Function 1 Tabs The tab in the foreground indicates the current mode Adjustment in this example Each mode can be selected using the respective tab The available modes are e Adjust e Configuration e Debugging or Diagnostics accessible only in online mode 2 Module area Contains the abbreviated title of the module 250 35006220 07 2011 Adjustment Number Element Function 3 Channel area Is used e By clicking on the reference number to display the tabs e Description which gives the characteristics of the device e 1 0 Objects see Unity Pro Operating Modes which is used to presymbolize the input output objects e Fault which shows the device faults in online mode To select a channel e Todisplay the Symbol name of the channel defined by the user using the variable editor General parameters area Allows you to choose the axis control function and the task associated with the channel e Function axis control function among those available for the modules involved Depending on this choice the headings of the configuration zone may differ By default No function is configured e Task defines the MAST FAST or AUX0 1 task in which the explicit exchange objects
79. parameters can be changed by program The debug screen can only be accessed in online mode This makes it possible to control and observe the performance of the axis Information and commands differ according to the operation mode chosen e automatic mode e manual mode e loop control disabled mode e measurement mode off The top part of the screen indicates the operating state and diagnostics of the module The lower part accesses the commands and indications on the operation of movement inputs outputs errors etc 35006220 07 2011 31 Functions Compatibility of the Absolute Encoders with the TSX CAY Modules General All absolute SSI encoders 16 lt Number of data bits 25 Gray or binary code are compatible with the TSX CAY modules For example e IVO trademark e GM 400 0 10 11 01 24 Volts Gray code 0 header bits 25 data bits 0 status bits without parity e GM 401 1 30 R20 00 24 Volts Gray code 0 header bits 25 data bits 1 status bit with even parity e Hengstler trademark e RA58 M 1212 24 Volts Gray code 0 header bits 24 data bits 1 status bit without parity e Stegmann trademark e AG 661 01 24 Volts Gray code 0 header bits 25 data bits 0 status bits without parity e IDEACOD trademark e SHM506S 428R 4096 8192 26 11 30 Volts Gray code 0 header bits 25 data bits 0 status bits without parity 32 35006220 07 2011 Set up Methodology Subject of this Section This
80. required if the encoders on the two channels are of the same type 92 35006220 07 2011 Implementing Fuses This module integrates several basic protection systems against wiring errors and accidental short circuits on the cable e polarity inversions of the supplies e inversion of 5 V supplies lt gt 10 30 V e 10 30 V short circuit on the CLOCK signal of the serial link The module cannot tolerate them for very long time it should therefore have very fast blow fuses The fuses should therefore be rapid and of 1A caliber maximum Supplies should have a limitation current such that the blow of the fuse can be correctly executed 35006220 07 2011 93 Implementing 6 5 Wiring Accessories Subject of this section This section introduces the wiring accessories for the TSX CAY modules What s in this Section This section contains the following topics Topic Page Encoder Connection Accessories 95 Information on FRB Type 12 Pin connectors 96 TSX TAP S15 05 Mounting and Dimensions 98 Connecting Absolute Encoder via a TELEFAST with ABE 7CPA11 100 Adaptation Connecting to a NUM MDLA Variable Speed Controller 101 94 35006220 07 2011 Implementing Encoder Connection Accessories General A number of accessories are available to facilitate implementation and installation These accessories are used to pre wire the installation A direct link with the installati
81. section describes the overall methodology for setting up an independent axis movement or interpolated axes movements What s in this Chapter This chapter contains the following topics Topic Page Installation Phase Overview 34 Interpolation Implementation Method 36 35006220 07 2011 33 Methodology Installation Phase Overview Introduction The software installation of the application specific modules is carried out from the various Unity Pro editors e in offline mode e in online mode If you do not have a processor to connect to Unity Pro allows you to carry out an initial test using the simulator In this case the installation see page 35 is different The following order of installation phases is recommended but it is possible to change the order of certain phases for example starting with the configuration phase Installation Phases with Processor The following table shows the various phases of installation with the processor Phase Description Mode Declaration of Declaration of IODDT type variables for the Offline 1 variables application specific modules and variables of the project Programming Project programming Offline 1 Configuration Declaration of modules Offline Module channel configuration Entry of configuration parameters Association Association of IODDTs with the channels configured Offline 1 variable editor G
82. step in progress in order to carry out movement sequencing 362 35006220 07 2011 Programming Interpolation Concurrent XMOVE and SMOVE Functions At a Glance It is possible to combine movement instructions for a single axis SMOVE with movement instructions for several axes XMOVE within the program This can be used to alternate interpolated movements with non interpolated movements The program must refer to objects for the axis concerned before sending an SMOVE and must also refer to objects for channel 3 before sending an XMOVE We shall use the following three IODDT variables Axis 0 Axis 1 andAxis 3 Example Independent X and Y axis movement followed by an interpolated movement 4 SMOVE Axis_0 1 90 09 10000 1000 0 SMOVE Axis_1 1 90 09 20000 1500 0 X_DONE Y_DONE I1 02 0 1 AND 11 02 1 1 2 XMOVE Axis_3 2 90 09 0 15000 25000 0 1200 0 XY_DONE I1 02 3 1 OG YyPlane An interpolated axis movement prevents any SMOVE guidance relating to that axis a running XMOVE forces NEXT and DONE bits to 0 for the axes concerned In addition the IN_INTERPO lr m c 32 bit for any moving axis affected by an XMOVE is set at 1 This information which can be accessed from the application is designed to help with programming and monitoring 35006220 07 2011 363 Programming Interpolation Interpolator Channel Automatic Mode At a Glance The Automatic mode is the ac
83. the Axis Control Module Adjustment Screen 249 Adjusting the Encoder Offset 252 Adjusting Resolution 253 Description of Loop Control Parameters 255 Adjusting Loop Control Parameters 258 Description of Movement Control Parameters 261 Description of Command Parameters 263 Description of Stop Control Parameters 265 Adjustment of Monitoring Parameters 266 Description of Manual Mode Parameters 267 Parameters Associated with Master Slave Axes 268 Confirming Adjustment Parameters 270 Saving Restoring Adjustment Parameters 271 Online Reconfiguration 272 35006220 07 2011 245 Adjustment Preliminary Operations Prior to Adjustment Preliminary Conditions TSX CAY module s installed in PLC Axis control application s connected to the TSX CAY module s Terminal connected to the PLC by the terminal port or the network Configuration and axis control program completed and transferred to the PLC processor e PLC in RUN It is advisable to inhibit the movement command application program by using for example a program execution condition bit in order to facilitate the adjustment operations Preliminary Checks e Check the connections Check that the movements can occur safely e Check that the mechanical stops are connected in accordance with safety regulations they generally act directly on the variable speed controller supply sequence e Check the direction of the tachymetric dynamo connection Adjusting the Vari
84. to the bar for shared points 200 to 215 jumper wire in position 1 2 In this case there can be no outage of the shared module without an outage of the shared actuators Connection Using Strips This kind of connection must be carried out with the highest care and attention It is recommended that you take special care in wiring this cable for example using cable markers on screw terminals It may be necessary to double the connections in order to ensure permanent contacts When the actuator supply is a long distance away from the modules and close to the shared actuators there may be an accidental break in the link between the latter and the 0 V or modules terminal Illustration TSX CAY 21 41 If there is a break of the supply section between A and B there is a risk that the RL actuators may not remain operational You must if possible double connections of 0 V supply to the modules 112 35006220 07 2011 Implementing Using TSX CDP 301 501 strips TSX CDP 301 501 strip white pink white green white yellow gray brown i ao 3 terminal block connection 35006220 07 2011 113 Implementing 6 7 Connecting the Variable Speed Controller Signals Subject of this section This section deals with the connection of variable speed controller signals What s in this Section This section contains the following topics Topic Page Signal Labeling 115 Connection Usi
85. when an incremental encoder has made the position measurement The type is defined by using 2 source detection inputs zero marker input and cam input Possibilities Approach speed 1 RP Speed Icon short cam 2 and zero latch direction F F 3 short cam 2 and zero latch direction F F 8 Short cam 2 direction F F 3 m Short cam 2 direction F F 8 3 Long cam 2 in stop and zero latch F F 8 3 direction 35006220 07 2011 237 Configuration Possibilities Approach speed 1 RP Speed Icon Long cam 2 in stop and zero latch F F 8 3 direction Long cam 2 in stop direction F F 8 3 F Long cam 2 in stop direction F F 8 3 1 F is the speed programmed in the instruction in automatic mode or the speed FMANU defined in the adjustment screen in manual mode This speed can be modulated by the SMC coefficient 2 Only short cam reference points can be used when the machine is of infinite type 3 The icon illustrates the reference point Reference Point Command The reference point command is given e in automatic mode by instruction code 14 reference point e in manual mode by the SETRP command manual reference point Forced Reference Point There is also a forced reference point mechanism e G62 command in Auto mode e RP_HERE command in Manu mode This method of setting a reference point for
86. 07 8 VALR2 108 9 nc 109 10 COM3 110 11 VALR3 111 12 nc 112 13 OK_VARO VARiable OK 113 14 OK VARI voltage presence of the encoder supply 114 15 OK_VAR2 115 16 OK_VAR3 24 VDC 17 Auxiliary input sensor supply 0 VDC 18 24 VDC 19 0 VDC 20 1 Terminals 200 to 215 at 24 VDC AJOIN Terminals 200 to 215 at O VDC 35006220 07 2011 117 Implementing TELEFAST HE10 20 pin Kind of signal screw terminal connector block Pin No Terminal No 200 215 Connecting shared sensors to e 24 VDC if terminals 1 and 2 are connected e 0 VDC if terminals 3 and 4 are connected 300 315 On the optional ABE 7BV20 bar the terminals that can be used as a shared sensor must be connected by a wire to the shared voltage 1 nc not connected 118 35006220 07 2011 Characteristics and Maintenance of TSX CAY r Aim of this Part This part introduces the different electrical characteristics of the TSX CAY modules and describes the maintenance actions to be carried out to guarantee the correct operation of the module What s in this Chapter This chapter contains the following sections Section Topic Page 7 1 Electrical Characteristics of Modules 120 7 2 View of the module status 131 35006220 07 2011 119 Characteristics and Maintenance 7 1 Electrical Characteristics of Modules Subject of this
87. 1 The TO_G05 bit is set to 1 when the Time Out has elapsed without an event being detected For example an event waits with a Time Out period of 1 5 s and with activation of the event task SMOVE AXIS_CHO 1 90 05 0 1500 16 1000 AXIS_CHO of type T AXIS STD 35006220 07 2011 165 Programming Programming Storage of Current Position on Event Instruction The instruction for storage of current position on event is as follows Instruction Instruction code Icon Storage of current position on event 07 oa s TES After execution of this instruction a change of state awaited on the event input of the axis control module causes the current position to be stored During configuration and in the position parameter X you can choose to store one or two positions PREF1 and PREF2 e f the without measurement option is chosen during configuration only PREF 1 is stored parameter X must be equal to 1 e f the with measurement option is chosen during configuration e if X 1 event processing will be activated on storage of position PREF1 e if X 2 event processing will be activated after storage of position PREF1 then PREF2 Storage of Current Position The following table illustrates storage of current position according to the choices made during configuration Event type on the Diagram Choices made during EVT input configuration Ri
88. 1 Code G01 is not executed without being followed by a movement code 99 63 Conditions concerning the execution of interpolated movements are not met on the X axis 402 35006220 07 2011 Value Meaning 100 64 Conditions concerning the execution of interpolated movements are not met on the Y axis 101 65 Conditions concerning the execution of interpolated movements are not met on the Z axis 102 66 Z axis is requested to move when this axis is not part of the group of interpolated axes 103 67 An axis in the process of being interpolated stops changes mode relay is opened etc 104 68 Position targets requested for code G_ are outside soft stops 105 69 Code G01 has been refused because the next movement cannot be accepted 128 80 A change of direction is necessary for G09 G10 129 81 G01 distance is too small 130 82 The movement distance which follows G01 is too small 131 83 The current speed is too great and or the distance of G01 is too small to reach Vthreshold 146 92 Acceleration law is refused 147 93 Speed delta X does not conform 148 94 Speed delta Y does not conform 149 95 Speed delta Z does not conform 35006220 07 2011 403 404 35006220 07 2011 Flying Shear Utility V Aim of this Part This part introduces the Flying Shear utility for the TSX CAY22 module and describes its implementation
89. 21 Application Aim of this Chapter This chapter describes the language objects associated with the axis specific application as well as the different ways of using them Refer to the chapter on the language objects associated with independent axes see page 307 What s in this Chapter This chapter contains the following topics Topic Page Implicit Exchange Internal Command Objects of the T_INTERPO_STD Type 396 IODDT Implicit Exchange Internal Status Objects of the T_INTERPO_STD Type 397 IODDT Internal Status Objects Explicit Exchanges of IODDT Type 398 T_INTERPO_STD Adjustment Parameters Objects Explicit Exchanges of the IODDT of Type 401 T_INTERPO_STD CMD_FLT Code Error List for Interpolation 402 35006220 07 2011 395 Implicit Exchange Internal Command Objects of the T INTERPO_STD Type IODDT List of Implicit Exchange Objects The following table presents the implicit exchange internal command objects of the T_INTERPO_STD type IODDT Standard symbol Type Access Active on Description Address ACK_FLT EBOOL R W Edge Fault acknowledgement Qr m c 8 EXT_EVT EBOOL R W Edge Trigger event order from processor Qr m c 10 AUX_OUT EBOOL R W State Auxiliary output command Qr m c 11 STOP EBOOL R W State Immediate stop command halting of moving Qr m c 15 part PAUSE EBOOL R W State Suspend movements command at th
90. 22 42 MDr m c 55 VALID_EVT_MOD BOOL R W Modulo crossing EVT MDr m c 63 0 328 35006220 07 2011 Exchanges between Processor and Axis Control Module Diagram of Exchanges The different exchanges between the processor and the axis control module are as follows Processor TSX CFY module F Pa 5 Configuration WRITE_PARAM 1 d Configuration READ_PARAM 1 Adjustment ja Adjustment parameters u SAVE_PARAM 2 parameters RESTORE_PARAM 2 a al Saving Unity Pro SMOVE program p WAW a Implicit exchange Q QW gt Status word fa READ_STS 1 MW Event a EVT Task 1 Read or write from the adjustment or application screen by using explicit exchange instructions 2 Save or restore from the Save parameters or Restore parameters commands from the Unity Pro Utilities menu or using SAVE_PARAM or RESTORE_PARAM instructions 35006220 07 2011 329 TSX CAY Module Channel Channel Diagram The following simplified diagram shows the channel functions for a TSX CAY module Processor TSX CAY module Application Parameters p l Encoder input for Loo Configuration configuration p adjust 2 p B Speed drive output Adjust Setpoint ta RP cam input P SMOVE function Q QW t Eve
91. 23 611 86 D debugging independent axis 275 280 debugging interpolated axis 290 387 diagnosing 137 DIRDRIVE 209 E error codes 402 event processing 186 365 F FAQs 299 301 fault management independent axis 189 interpolated axis 367 fault monitoring application 195 external 194 feed HOLD 184 functions 23 J JOG speed 202 L limits 222 35006220 07 2011 437 Index manual mode 200 master slave mode 233 master slave mode 177 movement control following error 267 overspeed 267 recalibrating 267 VLIM 262 O OFF mode 211 P parameter settings 191 307 R reference points 237 S SMOVE 142 153 instruction codes 145 SMOVE events MASKEVT 187 SMOVE events G05 independent axis 165 SMOVE events Q07 independent axis 166 SMOVE events G21 independent axis 162 step by step mode 182 T T_AXIS_AUTO 319 T_AXIS_STD 324 T_INTERPO_STD 398 TSXCAPS9 80 TSXCAYxx 120 TSXCDP053 503 92 TSXCDP301 501 110 TSXTAPMAS 85 TSXTAPS1505 98 W wiring accessories 94 96 wiring precautions 111 X XMOVE 346 instruction codes 349 XMOVE events MASKEVT 365 XMOVE events G05 interpolated axis 356 XMOVE events G10 interpolated axis 354 438 35006220 07 2011
92. 3 4 90 01 _ XMOVE Axis 3 3 90 01 XMOVE Axis_3 5 90 09 XMOVE Axis_3 4 90 01 IXMOVE Axis 3 3 90 01 XMOVE Axis_3 5 90 09 XMOVE Axis_ 3 4 90 01 IXMOVE Axis 3 5 90 09 15t execution 15t execution 15t execution 15t execution 1 finished 2 h execution 2 execution 2 finished 3 execution 3 finished 4 execution 4 finished 5th execution 5 finished 360 35006220 07 2011 Programming Interpolation Empty Stack When the stack is empty and a G1 type movement has been requested it does not start if the module has not received the following movement Sequencing between 2 movement commands is as follows e instantaneously if the first movement is non stop e assoonas the moving partis in the target window or after time delay TSTOP has expired which is defined in the stop control on parameter adjustment screen if the first movement is with a stop Instant Sequencing For the sequencing to be instantaneous the instruction execution time must be more than the duration of the task in which the XMOVE commands have been programmed Command Refusal Refusal of an XMOVE command is indicated by the following data CMD_NOK bit lr m 3 6 which indicates a refusal CMD FLT MWr m 3 7 word which indicates the cause of the refusal Reading this word requires a READ_STS instruction Constraints
93. 337 Interpolated Axes 338 35006220 07 2011 Introduction to Interpolation 16 General Information on the Interpolating Function At a Glance The interpolating function is available with a TSX CAY 33 module which is used to carry out linear interpolation between 2 or 3 axes TSX CAY 33 XMOVE This module consists of 3 physical channels associated with X Y and Z axes and a logic channel channel 3 dedicated to interpolation Before implementing an application for interpolated axes each of the axes must be set independently Interpolation can then be carried out between 2 axes 0 and 1 on the X Y plane or between 3 axes 0 1 and 2 in the X Y Z space For interpolating 2 axes the third axis axis 2 can be used and an independent axis TSX CAY 33 module does not offer circular interpolation However to get from point A to point B following a circular trajectory it is possible to approximate this type of trajectory by using a succession of straight segments 35006220 07 2011 339 Introduction to Interpolation Configuring Interpolation The number of interpolated axes may be set in the interpolator configuration channel 3 after channels 0 to 2 have been configured as independent axes If 2 D is specified interpolation is implicitly declared on the XY plane with X 0 axis and Y 1 axis Channel 2 may be used as an independent axis
94. 35006220 08 Premium and Atrium Using Unity Pro Axis Control Modules for Servomotors User Manual 07 2011 Schneider Electric www schneider electric com The information provided in this documentation contains general descriptions and or technical characteristics of the performance of the products contained herein This documentation is not intended as a substitute for and is not to be used for determining suitability or reliability of these products for specific user applications It is the duty of any such user or integrator to perform the appropriate and complete risk analysis evaluation and testing of the products with respect to the relevant specific application or use thereof Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for misuse of the information contained herein If you have any suggestions for improvements or amendments or have found errors in this publication please notify us No part of this document may be reproduced in any form or by any means electronic or mechanical including photocopying without express written permission of Schneider Electric All pertinent state regional and local safety regulations must be observed when installing and using this product For reasons of safety and to help ensure compliance with documented system data only the manufacturer should perform repairs to components When devices are used for applications with technical safet
95. 5000000 1000 0 SMOVE AXIS CHO 2 90 09 7500000 500 0 IF RE M10 THEN MW100 SMC SMC 0 IF RE M10 THEN SMC MW100 AXIS CHO of type T AXIS STD Speed mm min 500 Position 0 a 5000000 7500000 CMV l I i 1 ot po 1000 0 Position NOTE This command is deactivated on a STOP order or blocking fault For a movement without stop instruction when during a stop following a feed HOLD command the target position is overrun the respective movement in progress is terminated In this case the trajectory is reset with the movement which was queued in the stack The feed hold function is not activated when the movement in progress is a movement slaved to a position slave axis or PARAM position follower 35006220 07 2011 185 Programming Event Processing with an Independent Axis At a Glance The TSX CAY module channels are able to activate an event task To do this the functionality must have been enabled on the configuration screen by associating an event processing number to the channel Activating an Event Task The following instructions trigger an event transmission which activates the event task e Movement until the event codes 10 and 11 the event processing application is activated on event detection e Await event code 05 the event processing application is activated on instruction completion e Storage of current position on event occurrence code 07 the event proce
96. 90 09 l o J z Ee i SMOVE CH2 4 90 09 l Soo Exec i i SMOVE CH2 5 90 09 l l I l l DONE TH_PNT AT_PNT L read For a movement with stop DONE is set to 1 wnen NOMOTION is set to 1 and when there is available buffer memory For a movement without stop DONE is set to 1 when TH_PNT is set to 1 and when there is available buffer memory NOTE This simplified diagram does not take following error into account 35006220 07 2011 171 Programming Programming the Recalibration on the Fly Function At a Glance This function available with an incremental encoder updates the current position of the moving part each time the recalibration on the fly input detects a rising edge in a positive direction or a falling edge in a negative direction It has been specifically adapted for axes where the moving part is susceptible to slip or in other words where the position value no longer reflects the true position This function is confirmed in the configuration screen Recalibration on the Fly Function When the event takes place the axis control module preselects the current value to the RE_POS value and compares the current position with the recalibration value RE_POS MDr m c 43 defined in the recalibration screen or by the program e f the comparison indicates that the current value is outside of the tolerances defined by RE_WDW MDr m c 51 a fault is signaled REC_FLT bit MWr m c 3 12 The moving p
97. ATE Y_b 330000 ____ OPERATE X_c 360000 _____ OPERATE Y_c 100000 35006220 07 2011 47 Introductory Example Start cycle eva Start_ gt gt Stop_ gt gt po V4 A 4 S Cycle l11 03 M gt gt l11 03 MOD ERR Start_ gt gt Start_cycle Stop_ gt gt Stop_cycle Enable speed controller ay aes Error Enable A Cs Error_y Enable W S l11 03 M gt gt 11 03 MOD ERR Automatic mode selection when there are 2 independent axes Auto_man Varvalid_x OPERATE IN QW1 03 0 3 Varvalid_y OPERATE QW1 03 1 3 Automatic mode selection when there are 2 interpolated axes cre da Varvalid_x OPERATE jN QW1 03 0 3 Varvalid_y OPERATE QW1 03 1 3 Varvalid_x OPERATE QW1 03 3 3 Manual mode selection Putoeman ___ OPERATE P QW 1 03 0 2 m OPERATE WQW 1 03 1 2 48 35006220 07 2011 Introductory Example Chart freezing on a fault or when switching to manual mode S23 Mode_ gt gt fs PA Mode_ gt gt M1 s OK OK Y Mode_ gt gt Mode_auto Mode_ gt gt Mode_auto_y M1 Grafcet frozen Chart reset OK OK_Y Mode_ gt gt Mode gt gt M1 S23 kin CRY l eee S21 S M1 Mode_ gt gt Mode_auto Mode_ gt gt Mode_auto_y M1 Grafcet froz
98. Action Programming At a Glance To move the independent axes X and Y step 2 3 5 and 8 the SMOVE command must be used and applied to each of the X and Y axes To simultaneously move axes X and Y for interpolated axes the XMOVE command must be used associated with channel 3 Step 1 How to Activate It Re SMOVI Step 2 How to Activate It For 2 ference point following the X axis E Axe x 1 90 14 0 Vitesse p o x 16 0000 independent axes Movement into waiting position Xatt Yatt SMOV 16 0 SMOV 16 0 For 2 E Axe x 2 90 9 X attente Vitesse x attente 000 E Axe y 2 90 9 Y attente Vitesse y attente 000 interpolated axes Movement into waiting position Xatt Yatt XMOVE INTERPO 2 90 9 0 X_attente Y_attente Vitesse attente 16 0000 Step 3 How to Activate It For 2 independent axes Movement towards conveyor A SMOV SMOVI For 2 E Axe x 3 90 10 150000 Vitesse pos a _x 16 0000 E Axe _y 3 90 10 280000 Vitesse pos a _y 16 0000 interpolated axes Movement towards conveyor A XMOVE INTERPO 3 90 10 0 150000 280000 0 Vitesse pos a 16 0 Step 4 Continuous Actio 000 n Closing the grabber SET Pince 35006220 07 2011 53 Introductory Example Step 5 How to Activate It For 2 independent axes Movement towards conveyor
99. B SMOVE Axe x 4 90 9 X b Vitesse pos b x 16 0000 SMOVE Axe _y 4 90 9 Y b Vitesse pos b y 16 0000 For 2 interpolated axes Movement towards conveyor B XMOVE INTERPO 4 90 9 O 16 0000 Step 8 How to Activate It For 2 independent axes Movement towards conveyor C SMOVE Axe x 5 90 9 X C SMOVE Axe y 5 90 9 Y c For 2 interpolated axes Movement towards conveyor C SMOVE INTERPO 5 90 9 0 16 0000 Step 6 Continuous Action Opening the grabber RESET Pince X_b Y_b 0 Vitesse pos _b Vitesse pos _c_x 16 0000 Vitesse pos _c_ y 16 0000 X Cy Y_c 0 Vitesse pos_c 54 35006220 07 2011 Introductory Example Programming the Post processing At a Glance End Section Post processing is performed at the end of a task Post processing is located at the end of the project and will allow you to program management of manual mode Test of selected mode IF Axe _x Mode_auto AND Axe y Mode_ auto AND Axe x Config AND Axe _ y Config THEN JUMP L200 END_IF Selection of axis to be controlled oe L100 IF NOT Selection_x_y H HEN JUMP L200 D IF zal X axis manual reference point F RE Po man HEN Axe x Posrp 0 SET Axe x Setrp Fmanu x 1000 RITE PARAM Axe x S HoH za D_IF F NOT Axe _ x Po man HOH
100. CAY 21 iOi MOD CONT AXES 2 CHANNELS Ey TSX cay 21 F Config aqustment Channel 0 hd Input inteface t Funcion i Incremental encoder CGR Configuration 5 a r Units y Position control x Lengh y Speed e Upper limit 0 4 7 7 Lower limit o Task r Initial resolution MAST w Distance o Nao T Q Max speed 0 r Event S Sequence control Wa cenon My EVT Max acc Vmax 0 ms Event Input F r Inversion Standard rising edge and PRefl processing _ Out Reference point 5 No reference point le Recalibration Recalibration function missing 7m lt B 3 Set the adjustment parameters according to the configuration Mandatory fields are in red 4 Confirm your entries with the Edit Confirm command or by clicking on the icon 58 35006220 07 2011 Introductory Example Step Action Configure the parameters of channel 1 then validate your entries by following the same procedure as for channel 0 Channel 1 configuration screen E 1 3 TSX CAY 21 _ E MOD CONT AXES 2 CHANNELS TSX CAY 21 Config Ths ml Channel 0 i e i interface E hannert Incremental encoder Om Configuration Units mw T TO0000 Lengh um v Speed mmmin Upper limit uan Lower limit 100000 um Initial resolution Max speed 1233 mmimin Distance 1 No of points 1 Max setpoint 9000 mV Event v Sequence control 3 Max acc Vmax 1222 ms Fun
101. CO Incremental encoder in the X axis position ENC1 Incremental encoder in the Y axis position O C grab Grab Open Close control 40 35006220 07 2011 Introductory Example Application Grafcet The application Grafcet is as follows Trajectory Description 0 1 Reference point g Referenced axes 2 Move to wait position gt Detection of a machined part 3 Movement towards conveyor A L Edge of part detected and grabber in stop position 4 Grabber closed Ste Type 1 part and grabber closed nite Type 2 part and grabber closed 5 Moving on conveyor B 8 Moving on conveyor C L Grabber in stop position L Grabber in stop position 6 Grabber opening H Grabber open The following diagram shows the trajectory of the grab Y_LMAX 7 Conveyor B Conveyor A 5 Wait position 7 Ne Conveyor C 1 X_LMIN X_LMAX Y_LMIN Reference point at speed VpO Movement at speed Vret to waiting position Xatt Yatt with stop Movement towards conveyor A XA YA at speed VA until the machined part is detected Movement towards conveyor B XB YB at speed VB with stop Movement towards conveyor C XC YC at speed VC with stop 7 Movement to waiting position Xatt Yatt at speed Vret with stop 35006220 07 2011 41 Introductory Example Operator Dialogue Front Panel The following cont
102. DDT Type TAXIS ST Deis eee eet See wy A bw eed aed ewe A 324 Adjustment Parameters Objects Explicit Exchanges of the IODDT of IWPe TAXIS STO m ose bi oe bat Me Bhd ot eet aoe dd egies 327 35006220 07 2011 7 Part IV Chapter 16 Chapter 17 Chapter 18 Chapter 19 Chapter 20 Exchanges between Processor and Axis Control Module 329 TSX CAY Module Channel 00 0 e eee eee 330 CMD_FLT Code Error Eist ricresce ouge orot eee 331 Details of the Language Objects of the T GEN_MOD Type IODDT 335 Interpolated Axes 2 2 00 cece eee ee 337 Introduction to Interpolation 000 eee eee 339 General Information on the Interpolating Function 339 Programming Interpolation 200 eee eee 343 Programming Interpolated Movements 0000 eee eaee 344 Entering XMOVE Function Parameters 000 eee ee eee 345 Description of XMOVE Function Parameters 0 005 346 Instruction Codes for XMOVE Function 020 eee eee 349 Description of Elementary Movements 20 0 eee eae 351 Programming a Move to Non stop Position 2 000 352 Programming a Move to Position with Stop 0 000005 353 Programming a Movement Until Event Detection 354 Programming an Await Event 0 00 0 ee eee eee eee 356 Programming PREF1 Register Intialization 357 General Conditions of Acceptance
103. DIN connector to a 10 30 V supply wire or a5 V wire according to the type of encoder used Failure to follow these instructions can result in injury or equipment damage 90 35006220 07 2011 Implementing Connecting an Absolute SSI Encoder Connection Diagram illustration ENCODER Data Data return supply CLKSSI CLKSSI supply supply ne DOODO i Poa DONNAR Cs O Sho beeseseatL E np Connecting the encoder supply Connect the encoder supply to pin 15 or 7 of the SUB D connector according to the encoder supply voltage Failure to follow these instructions can result in death serious injury or equipment damage return supply encoder output which returns the supply voltage to the module therefore allowing the module to monitor the presence of the encoder 35006220 07 2011 Implementing Connecting the Encoder Supply Diagram of the Principle This diagram illustrates the connection of the encoder supply 24 VDC supply connection auxiliary input pages ee sensors TELEFAST 2 ABE 7H16R20 TSX CDP053 503 cable Cable length Cable Length TSX CDP 053 0 5m TSX CDP 103 im TSX CDP 203 2m TSX CDP 303 3m TSX CDP 503 5m NOTE The maximum length of the wire between the supply outputs and the connection points on the TELEFAST should be less than 0 5 m Only one supply is
104. Do not connect or disconnect encoder connectors with encoders powered on It is not recommended though allowed to disconnect auxiliary modules input output connectors with modules powered on Failure to follow these instructions can result in injury or equipment damage The module fixing screws and connectors must be correctly screwed in place in order to obtain good electrical contacts thus guaranteeing effective resistance to electrostatic and electromagnetic interference 74 35006220 07 2011 Implementing General Precautions for Wiring General The supplies to sensors and actuators need non delay fuses against overload or overvoltage When wiring use wires of a satisfactory size to avoid on line drops in voltage and overheating Keep sensor and actuator cables away from any source of radiation resulting from high power electric circuit switches All cables which link the incremental or absolute encoders must be shielded The shielding should be good quality and linked to the protective ground connection on the side of the module and the side of the encoder Continuity must be ensured throughout connections Do not introduce any other signals than those of the encoders in the cable For reasons of performance the auxiliary inputs of the module have a short response time You must therefore make sure that the supply autonomy of these inputs is sufficient to ensure the module continues to operate correctly in t
105. Event Event Task The await event instruction is as follows Instruction Instruction code Icon Await event 05 This instruction is used to wait for an event with a Time Out in ms defined in the F parameter If an event does not appear within the Time Out period the await command is then deactivated If F parameter is defined at 0 the wait is without a time limit The awaited event can be e achange in the status of a reflex input for one of the interpolated axes e acommand from the application Nibble 1 for parameter M is used to set the axis or axes for the awaited event a3 Q2 Qi Qo X X X X X Axis Reflex input or EXT_EVT Qr m 0 10 bit Y Axis Reflex input or EXT_EVT Qr m 1 10 bit Z Axis Reflex input or EVT_EXT Qr m 2 10 bit Interpolator EXT_EVT Qr m 3 10 bit The GO5 instruction can activate an event task on detection of an event if nibble 3 of parameter M is set to 1 TO_G05 Ir m c 49 bit is set to 1 when the Time Out period has expired without an event being detected providing task event activation has been requested For example wait with a Time Out period of 1 5 s and with task event activation XMOVE AXIS CH3 1 90 05 0 0 0 0 1500 16 1000 356 35006220 07 2011 Programming Interpolation Programming PREF1 Register Intialization Instruction The initializing PREF1 registers instruction is as follows Instructi
106. IODDT see Unity Pro Operating Modes of type T_ AXIS STD Movement Number N_Run defines the movement number between 0 and 32767 This number identifies the movement carried out by the SMOVE function In debugging mode this number is used to determine the current movement Movement Type G9x defines the movement type Code Movement type 90 Absolute movement 91 Relative movement with respect to the current position 98 Relative movement with respect to stored PREF1 position Instruction code G07 is used to store PREF1 position 60 Absolute movement for set direction infinite type machine only 68 Relative movement with respect to PREF in set direction infinite type machine only To choose the movement type use the scroll button on the right of the G9x field or enter the code directly with a direct entry without going to the Details screen Instruction Code G defines the instruction code see page 145 for the SMOVE function 142 35006220 07 2011 Programming Coordinates for Reach Position X defines the coordinates of the reach position or where the moving part must move in the case of non stop movement This position can be e immediate e coded in a MDi internal double word or KDi internal constant this word can be indexed This value is expressed as a unit defined by the Length Units configuration parameter for example micron
107. LMAX LMIN lt SL_MIN lt SL_MAX lt LMAX and SL_MAX SL_MIN gt RESOL x 256 By default for TSX CAY 1 SL_MAX SL_MIN gt RESOL x 21 Description of Modulo Parameter This table describes the modulo parameter In the case of an infinite axis this parameter can be accessed with a TSX CAY 22 42 or TSX CAY 33 module Parameter Significance Modulo Measurement area in the case of an infinite run time machine For infinite axes adjustment must be less than or equal to the modulo defined in the Max modulo field during configuration By default Modulo Max modulo Limits Modulo lt Max modulo Description of the Acceleration Parameter This table describes the acceleration parameter Parameter Significance Acceleration Value of acceleration and deceleration This is defined by the Taccrec time in ms which is used to change from zero speed to VMAX speed in the case of a Rectangle profile In the case of a different profile it is defined by Tacc Taccrec x 2t1 t2 t1 t2 where Taccrec acceleration for a rectangle profile this value must be entered t1 and t2 are defined by the acceleration profile see below By default Taccrec TACCMIN Limits TACCMIN lt Tacc lt 10000 ms where TACCMIN maximum acceleration 35006220 07 2011 263 Adjustment Description of the Acceleration Profile Parameter This table describes the accel
108. M is triggered and ignored while exchanging other adjustment parameters What to do Test the ADJ_IN_PROGR MWr m c 0 2 bit before exchanging any adjustment parameters Event processing Problem The event processing associated with the axis control channel has not been executed Diagnostics Check that the whole event feedback string has been confirmed e Event number declared in the configuration is identical to the one in event processing e Origin of event unmasked M code from the SMOVE command e Events authorized at system level AUXOMINTIME S38 1 e Unmasked events at system level UNMASKEVT What to do Refer to event usage Lost adjustments Problem Adjustments have been lost Diagnostics A cold restart can cause current adjustments that have been carried out via a screen or by a WRITE_PARANM instruction to be lost What to do Save current adjustments by using the Utilities gt Save parameters command or by using the SAVE_PARAM instruction 35006220 07 2011 301 Diagnostics and Maintenance Inconsistent status words Problem EXCH_RPT MWr m c 1 and CH_FLT MWr m c 2 status words are inconsistent with the status of the axis control channel Diagnostics These words are only updated through an explicit READ_STS request What to do Program a READ_STS instruction into the application Encoder supply fault
109. MWr m c 7 command refusal word is performed by explicit exchange Non encrypted messages are also available in the diagnostics dialog box which can be accessed by the DIAG command Each CMD_FLT word byte is associated with an error type e The most significant byte indicates an error in the configuration and adjustment parameters XX00 e The least significant byte indicates that a movement command has been refused 00XX For example CMD_FLT 0023 least significant fault indicates that the stack is full Word MWr m c 7 adjustment parameters Configuration and Novamant command Most significant byte Least significant byte Errors Associated with Interpolation These errors are indicated by the least significant MWr m c 7 word byte Numbers between brackets indicate hexadecimal code value Value Meaning 18 12 The command cannot be executed for one of the following reasons e another command has not yet finished e the channel is no longer in Auto mode e there is a stop progressing on the channel e the channel relay is open positioning only 19 13 The G01 command cannot be executed 20 14 The G09 command cannot be executed 21 15 The G10 command cannot be executed 27 1B The G07 command cannot be executed positioning only 29 1D Code G_ is unknown 35 23 Stack is full Additional code G_ not stored 96 60 Code G_ is not authorized to follow a code G01 97 6
110. NOTE In the case of G14 G21 and G62 instructions this parameter represents the reference point value Moving Part Movement Speed M Parameter F defines the speed at which the moving part travels This speed can be e immediate e coded in a MDi internal double word or KDi internal constant this word can be indexed The speed unit is deduced from the selected length unit Speed u x 1000 min where u length unit chosen For example if the micron is chosen as the length unit the speed unit will be micron x 1000 min gt mm min M defines a word which codes nibbles in hexadecimal e activation or inactivation of the event processing application trigger for G10 G11 G05 and G07 instructions e bit 12 set to 1 activation e bit 12 set to 0 inactivation e setting to 0 or 1 of auxiliary discrete output associated with channel e Nibble 2 activating moment 0 unchanged no modification of output 1 synchronous with movement assignment of output at beginning of execution of instruction 2 consecutive to movement assignment of output at end of execution of instruction e Nibble 0 auxiliary output status during execution of G01 G09 G10 and G11 instructions 0 output set to O0 AUXO box not checked 1 output set to 1 AUXO box checked 35006220 07 2011 143 Programming e event type expected by instruction G05 e Bit 13 0 wait for time out or event 1 wait modulo crossing number
111. ODDT of the Axis Control Module The axes control module is positioned in slot 3 of Rack 1 IODDT type variables that are associated with it are declared as typeT AXIS_ STD and there are 2 of them IODDT Address Symbol Address Axe_x CH1 03 0 Axe_y CH1 03 1 IODDT Connected with Interpolation If you use a TSX CAY 33 axis control module with interpolated axes in your application it will be of the type T_INTERPO_STD Variable Address Comment interpo CH0 03 2 Third channel of the TSX CAY 33 module Internal Constants The speed of the moving part following the different axes is contained in the internal constants Where there are 2 independent axes the symbols and values of these constants are as follows Variable Address Value Comment Vitesse_p_o_x KDO 1000 Reference point speed following the X axis Vitesse_x_attente KD4 1200 Speed towards X axis waiting position Vitesse_y_attente KD6 1200 Speed towards Y axis waiting position Vitesse_pos_a_x KDB 1500 Speed towards X axis conveyor A position Vitesse_pos_a_y KD10 1500 Speed towards Y axis conveyor A position Vitesse_pos_b_x KD12 1200 Speed towards X axis conveyor B position 35006220 07 2011 45 Introductory Example Variable Address Value Comment Vitesse_pos_b_y KD14 1200 Speed towards Y axis conveyor B position Vitesse_pos_c_x KD16 1800 Speed tow
112. Oe ee 216 Encoder Type arrie hehe wade eg ce eet ee Wha Cie as 217 Initial Resolution 2 2 0 2 00000 eee 220 Measurement Units 0000 0c cee 221 HAi and Lo Limits ccc eo hee ein O E he We eee Sonn 222 Mod l desp Gite dS eee date ee eb Cae book ed erie 225 Maximum Speed eed aera eaea baa eaa a ea a a a a aga 226 Maximum Setpoint 0 0 0 cece eae 227 Event emai Store Sl ccc gee A Dae aaa ae ia eae dees 229 Inversion fated ak woven amas a Masts a dat sea act Rohn he 230 Sequence Control 0 cece eee eee 231 Maximum Acceleration or Deceleration 200 00055 232 Slave of the Position of AxisO 00 c cece eee eee 233 Event INPUT i faut E fa tana wnanke tee package tals 235 Reference Pot resser orent asi ESARET Saw eer ena ee G rai 237 Recalibration ssanie ece va eatin r e Vat ele r e a 241 Masking of FaultS bo niece tide a ede i E altel hes 242 Confirming Configuration Parameters 00 00 eee eee eee 243 Adjusting Independent Axes 000eeeeeee 245 Preliminary Operations Prior to Adjustment 2 005 246 Adjusting the Inversion Parameter 0 0 cee eee eee eee 248 Description of the Axis Control Module Adjustment Screen 249 Adjusting the Encoder Offset 0000 c eee eee ee 252 Adjusting Resolution 0 2 0 0 eect eee 253 Description of Loop Control Parameters 00000 eae 255 Adjusting Loop Control P
113. R BOOL R Command parameters exchange in progress MWr m c 0 1 Exchanges Report EXCH_RPT The table below presents the meanings of the report bits EXCH _RPT MWr m c 1 Standard symbol Type Access Meaning Address CMD_ERR BOOL R Command parameters exchange report MWr m c 1 1 Other Status Data The table below presents the meanings of other state data Standard symbol Type Access Meaning Address AX_STS INT R Axis operating status MWr m c 3 N_RUN INT R step number in progress MWr m c 4 G9_COD INT R Movement type in progress MWr m c 5 G_COD INT R Instruction code in progress MWr m c 6 CMD_FLT INT R refusal report MWr m c 7 T_XPOS DINT R reach position target MDr m c 9 T_SPEED DINT R speed to be reached MDr m c 13 35006220 07 2011 319 Internal Command Objects Implicit Exchanges of the IODDT of Type T_AXIS_STD List of Objects with Implicit Exchanges The tables below presents the internal objects implicit exchanges of the IODDT of the T AXIS_ STD type Standard symbol Type Access Active on Description Address DIRDRV EBOOL R W Edge Movement command in loop control disabled Qr m c 0 mode JOG_P EBOOL R W Edge Manual movement unlimited in direction Qr m c 1 JOG_M EBOOL R W Edge Manual movement unlimited in direction Qr m c 2 NC_P EBOOL R
114. SMOVE AXIS_CHO 1 91 01 40000 1000 0 AXIS_CHo of type T AXIS STD Speed mm min A 1000 0 ge Position mm x X 40 000 e Relative in relation to stored position PREF1 code 98 Speed mm min A 1000 gt Position mm PREF PREF 30 000 35006220 07 2011 149 Programming Description of Elementary Movements Using an Infinite Machine At a Glance 3 types of movement categories can be programmed e movements on a position instruction codes 01 and 09 e movements until event detection instruction codes 10 and 11 e reference points instruction code 14 The reach position and speed must be set while programming Acceleration parameters e g rectangular trapezoidal or triangular are set in the configuration Types of Movement Whatever the current position and target may be it is always possible to reach the objective position in direction as well as direction There are 3 possible ways to go from point A to point B e ascending position movement movement 1 e descending position movement movement 2 e for the shortest movement the module decides on the direction movement 3 The required direction of movement is specified by the speed sign Movement 1 p 0 A B Mod 1 e a aH_ Movements 2 and 3 q 150 35006220 07 2011 Programming With an infinite machine movements can be of the following type e Shortest movement in r
115. SX CAY 33 module 35006220 07 2011 109 Implementing Connection Using TSX CDP 301 or 501 Strips Introduction Connection using strips allows a direct connection to actuators pre actuators or terminals This strand comprises 20 gage 22 wires 0 34 mm with a HE10 connector at one end and free wires at the other end each identified using a color code Illustration This diagram shows the relation between the color of the wires and the pin number of the HE10 connector Cable length TSX CDP 301 3m TSX CDP 501 5m pre wired strand 5 VDC 0 VDC 10 30 VDC J HS rali 4 violet lred blue gray pink 12 ETOP brown orsen white green Q0 Sati ons ne Jonde I white yellow E ER yellow brown YS iy ne eee ___________white gray 24 VDC O O O gray brown 0 YDC ink brown White pink 24 VDC pink brown o vDe 110 35006220 07 2011 Implementing Wiring precautions General The 10 l1 and I3 inputs are rapid inputs which should be connected to the sensor using either a twisted wire if it is a dry contact or using shielded cables if it is a 2 or 3 wire proximity sensor The module integrates basic protection against short circuits or voltage inversions However the module cannot remain operational for long with an error You must therefore ensure th
116. Section This section introduces the different characteristics of the TSX CAY axis command modules What s in this Section This section contains the following topics Topic Page General Characteristics 121 Characteristics of the Analog Outputs 122 Characteristics of the Counting Inputs 123 Characteristics of Auxiliary Inputs 125 Characteristics of the QO Reflex Outputs 126 Monitoring Sensor Pre sensor Voltage 128 Characteristics of the Variable Speed Controller Inputs 129 Characteristics of the Relay Outputs 130 120 35006220 07 2011 Characteristics and Maintenance General Characteristics Table of Characteristics This table shows the general characteristics of TSX CAY modules Maximum frequency of counting absolute SSI encoder transmission CLK frequency 200 kHz incremental encoder 500 kHz x 1 250 kHz x 4 Current used on internal 5 V ventilator in Module Typical Max operation CAY 2 11A 14A CAY 4 33 1 5A 1 8 A Current used on the 24V sensor CAY 2 15 mA 18 mA pre sensor outputs OFF CAY 4 33 30 mA 36 mA Current consumed by the module on the 10 30 V CAY 2 11 mA 20 mA encoder at 24V 1 CAY 4 33 22 mA 40 mA Power dissipated in the module CAY 2 7 2 W 2 11 5 W 3 CAY 4 33 10W 2 117W 3 Insulation resistance gt 10 MQ under 500 VDC Dielectric rigidity with ground connection or 0 V logical PLC 1000 Veff 50 60 Hz per min
117. TSX CAY e2 The axis 0 position tracking screen of the TSX CAY 2 module is as follows Slave Axis 0 Setpoint LC Auto Offset Enable Cancel Current value 35006220 07 2011 233 Configuration The following parameters must be defined Parameter Description Setpoint or Measurement These 2 radio buttons allow you to define the slave axis setpoint e Master axis setpoint axis 0 or e Master axis measurement axis 0 Auto Offset This check box allows you to choose the shift register between the master and the slave e By slave axis learning if the box is selected e By an adjustable parameter Slave axis setpoint Ratio x Setpoint or Measurement of the master axis Offset The Ratio and Offset parameters are theadjustment parameters see page 268 Axis 0 The Position tracking function slave movement is not provided for axis 0 which can only be the master 234 35006220 07 2011 Configuration Event Input Introduction The Event input selection zone is used to e define the type of event to be detected on the event input of the channel for G05 G07 G10 and G11 instructions e define the type of event used for the storage of position function which can store one or two positions PREF1 and PREF2 Storage of Position If the application does not require a length measurement the storage possibilities are as follows
118. W Edge Incremental movement order PARAM in Qr m c 3 direction INC_M EBOOL R W Edge Incremental movement order PARAM in Qr m c 4 direction SET_RP EBOOL R W Edge Manual reference point RP_POS original Qr m c 5 value or change to non referenced state RP_HERE EBOOL R W Edge Reference point forced to a value defined in Qr m c 6 PARAM or change to a referenced state offset calculation ACK_FLT EBOOL R W Edge Fault acknowledgement Qr m c 8 ENABLE EBOOL R W State Enabling axis speed drive safety relay Qr m c 9 EXT_EVT EBOOL R W Edge Trigger event order from processor Qr m c 10 AUX_OUT EBOOL R W State Auxiliary output command Qr m c 11 STOP EBOOL R W State Immediate stop command halting of moving Qr m c 15 part PAUSE EBOOL R W State Suspend movements command at the end of Qr m c 16 a movement in progress SLAVE EBOOL R W State Setpoint in progress 0 axis position Qr m c 17 MOD_STEP EBOOL R W State Change to step by step mode command Qr m c 19 NEXT_STEP EBOOL R W Edge Activate next step command Qr m c 22 MOD_SELECT INT R W mode selector QWr m c 0 SMC INT R W speed modulation QWr m c 1 Value speed modulation setpoint value This setpoint is in the range 0 to 2 in intervals of 1 1000 PARAM INT R W value of movement increment QWr m c 2 320 35006220 07 2011 Mode Selector MOD_SELECT mode selector Value Mode Description 0 DRV_OFF Measurement mode inh
119. Wr m 1 7 Cut counter AX_EVT AxisO lr m 0 15 Event input status for cut on event Comment If the pre symbolization service is used double use objects are viewed with their old meaning and the new objects are not pre symbolized 428 35006220 07 2011 Adjusting the Flying Shear Utility Limitations of Use of Flying Shear Utility When using the Flying Shear utility channel 1 draws on the position current speed and captured position information from channel 0 However it does not manage the channel 0 operating mode It is therefore the responsibility of the user not to disturb the operation of a flying shear application with the following operations which can cause disturbances e Channel 1 reconfiguration e Channel 0 adjustment e Mode change on channel 0 e Disturbance of position measurement on channel 0 Axis 0 faults do not disturb SMOVE with G22 Itis the responsibility of the application to manage the operating modes of axis 1 according to axis 0 when necessary The length of the maximum cut is defined by the infinite modulo channel 0 divided by 2 If the tool rechucking is to be performed when EXT_EVT is switching to 1 tool deactivation on validated event the module does not manage the TimeOut or associated security List of Cutting On the Fly Utility Error Codes Error Value Description FAIL_CMD_AUTO_COND_EXEC_G22_AXE0_KO 0x002B G22 aut
120. _P and JOG_M commands are taken into account on edge and are kept active on status regardless of whether the axis is referenced or not Movement occurs at the speed of the manual mode MAN_SPD MDr m c 35 defined in the adjustment screen The speed can be modulated during a movement via the CMV coefficient QWr m c 1 Any movement speed greater than VMAX maximum axial speed defined in configuration is limited to the value of VMAX Speed of moving part Speed MAN_SPD 202 35006220 07 2011 Programming Notes on JOG_P and JOG_M Commands e JOG_P and JOG_M commands are used to release the moving part when a soft stop fault is detected This happens after prior acknowledgment of the fault e Ifthe JOG_P or JOG_M bit is set to 1 during operation in manual mode this command is ignored It will only be taken into account after the bit has been set at 0 then reset to 1 35006220 07 2011 203 Programming Incremental Movement Commands At a Glance Movement Speed INC_P and INC_M manual commands must be used to carry out an incremental movement INC_P Qr m c 3 and INC_M Qr m c 4 bits give the command for movement by incrementation of the position of a moving part in a positive or negative direction The value of the PARAM position increment is entered either in the QDr m c 2 double word or in the debugging screen of the TSX CAY module In addition to the general execution conditions in manual m
121. able Speed Controller The variable speed controller can be adjusted by following the manufacturer s instructions To do this connect up a control box instead of the axis control module Adjusting the current loop Step Action 1 Modify the maximum current value provided by the variable speed controller to a value accepted by the motor dissipation switching and by the mechanics accelerator torque 2 Adjust the current loop stability Adjusting the speed loop Step Action 1 Adjust the maximum operating speed Allocate a setpoint to the variable speed controller equal to the Maximum operating voltage UMAX Adjust the speed loop gain 3 Adjust the offset 246 35006220 07 2011 Adjustment Adjusting current limitation according to speed Step Action 1 Reconnect the axis control module when adjustment is complete 2 Readjust the current loop 35006220 07 2011 247 Adjustment Adjusting the Inversion Parameter Adjustment Procedure Determine the inversion parameter as follows table Select Debug mode Select DIRDRIVE loop control disabled mode Acknowledge faults Acq button in the Faults zone Enter details in succession into the PARAM field in accordance with the following e 100 mV positive analog output e 100 mV negative analog output Action to be Taken The following table shows the action to be taken according to the chan
122. adjustment and configuring screens feature a DIAG button in online mode which accesses details on faults detected by the module Interpo X Axis Axis Z Axis Communication m Internal faults Group r External faults Group r Other faults Group Speed controller fault Encoder supply fault Encoder break fault Emergency stop fault 24 power supply fault Commands refused Configuration Adjustment Command OK Diagnostics Screen Tabs The diagnostics screen for channel 3 features 4 tabs which give access to possible faults for all the inte rpolated axes Tab Description Interpo Globalizes faults for all the interpolated axes X Axis Displays channel 0 faults Y Axis Displays channel 1 faults Z Axis Displays channel 2 faults Description of the Different Fields Each tab features the following fields Field Description Internal faults Internal faults within the module which generally require it to be replaced External faults Faults originating from the operating part Other faults Application faults Commands refused Indicates the cause and the message number of a command refused see page 402 394 35006220 07 2011 Language Objects of the Interpolated Axis Specific
123. agram of the Principle This diagram illustrates the principle for connection with the TELEFAST pre wiring system TSX CXP 213 TSX CXP 613 141615 182019 2123 Links to GND ANA terminals TSX CXP 213 cable 2 m 5 11 15 and 19 TSX CXP 613 cable 6 m VrefO Vref Vref2 Vref3 Variable with Variable with 2 wire inputs differential inputs 35006220 07 2011 83 Implementing Correspondence Between the SUB D Connector Pins and the TELEFAST Terminals General This table shows the correspondence between the SUB D connector pins and the TELEFAST terminals TELEFAST screw Standard SUB D TSX CAY module Kind of signal terminal block 15 pin connector SUB D 9 pin Terminal No Pin No connector 2 1 4 2 5 6 10 1 Vref0 8 3 Vref0 10 11 vref1 11 12 4 Vref1 14 12 Vref2 15 16 5 Vref2 18 13 Vref3 19 20 6 9 Vref3 21 link to terminal 23 22 nc 23 14 5 GND ANA 24 nc 26 nc 28 nc 30 nc 84 35006220 07 2011 Implementing TAP MAS Connection Device General The connection device enables the speed references of each variable speed controller to start again at the same time This allows the simple connection of several variables while maintaining good ground connection continuity Illustration of the connection device Dimensions and Fixing The TSX TAP MAS dev
124. aintenance Lit Blinking amp Off O CH TSX CAY 2 CHO and CH1 TSX CTY 4 33 CHO CH1 CH2 CH3 The channel is operational The channel is not functioning correctly due to an external fault e a communication error a processing error Channel inoperative The channel is not configured or is badly configured application fault e configuration declined e SMOVE function declined Illustration of module LEDs ca cu GU EH ca CI 132 35006220 07 2011 Independent Axes Subject of this Part This part introduces the TSX CAY modules and describes how to set up servo drive axis control with these modules What s in this Part This part contains the following chapters Chapter Chapter Name Page 8 Programming Axis Control 135 9 Axis Control Configuration 213 10 Adjusting Independent Axes 245 11 Debugging an Independent Axis Control Program 275 12 Operation 297 13 Diagnostics and Maintenance 299 14 Additional Functions 303 15 Language Objects of the Independent Axis Specific 307 Application 35006220 07 2011 133 Independent Axes 134 35006220 07 2011 Programming Axis Control Subject of this Section This section describes the programming principle for the different operating modes description of the main instructions and operating modes What s in this Chapter
125. an Overspeed fault should occur This is a blocking fault and can be deactivated Cause On one of the axes the speed of the moving part has exceeded the increased max speed of the overspeed threshold VMAX 1 OVR_SPD Parameter Overspeed threshold OVR_SPD MWr m c 23 If this parameter is equal to 0 the monitoring is inhibited Result The moving part is stopped Indication SPD_FLT bit MWr m c 3 10 Remedy Acknowledge the fault 35006220 07 2011 195 Programming Stop Target Window Recalibration The following table shows the cause the signal and the solution if a Stop fault should occur This is a non blocking fault and can be deactivated Cause As soon as the speed setpoint value calculated by the module becomes equal to 0 the module activates a T_STOP time out e lf this parameter is equal to 0 the fault monitoring is inhibited e lf this parameter is different from 0 when the time out has elapsed the module compares the moving part s measured speed with the stop speed S_STOP If the measured speed is greater than S_STOP the module indicates a stop fault Parameter T_STOP MWr m c 25 maximum delay for detecting a stop S_STOP MWr m c 24 speed at which moving part is considered to be ata stop Result the fault is signaled Indication STP_FLT bit MWr m c 3 14 Remedy Eliminate the drive fault or perform furt
126. and Offset Calculation Command At a Glance Assisted Offset If an assisted offset absolute encoder is being used referencing and offset calculations can be set using the RP_HERE command An edge on the RP_HERE Qr m c 6 bit is used to change the axis to a referenced state If the encoder has been declared in assisted offset mode any reference must be cancelled the offset is recalculated at the current point as being at position defined in the PARAM parameter This position is entered either in the QDr m c 2 double word or in the debugging screen of the TSX CAY module In this case it is essential to force adjustment parameters to be saved so as not to lose them on restart e Either use Save parameters from the adjustment screen e Or via the application by calling the SAVE_PARAM function NOTE The value of PARAM must be between the soft stops The offset calculation is refused if an adjustment is in progress or if the axis is referenced If resolution is modified the offset must be recalculated 208 35006220 07 2011 Programming Managing Loop Control Disabled Mode DIRDRIVE At a Glance DIRDRIVE loop control disabled mode is used to free the axis from slave mode The axis acts as a digital analog converter D A converter and the position loop is inoperative Axis behavior can be analyzed independently of the process control loop Selection of Loop Control Disabled Mode Loop control disabled mo
127. anges between Processor and Axis Control Module 329 TSX CAY Module Channel 330 CMD_FLT Code Error List 331 Details of the Language Objects of the T_GEN_MOD Type lIODDT 335 35006220 07 2011 307 Presentation of the language objects of the axis specific function General The IODDT s are preset by the constructor and contains input output language objects belonging to the channel of an application specific module There are three IODDT types for the axis specific application e T AXIS AUTO that applies to the 5 TSX CAY21 41 22 42 33 modules e T AXIS_STD that applies to the 5 TSX CAY21 41 22 42 33 modules e T_INTERPO_ STD is specific to the TSX CAY33 modules NOTE IODDT variables can be created in two different ways e Using the I O objects see Unity Pro Operating Modes tab e Data Editor see Unity Pro Operating Modes Language object types In each of the IODDT s there is a set of language objects allowing command of these and control of their operation There are two types of language objects e implicit exchange objects which are exchanged automatically with each cycle of the task associated with the module e explicit exchange objects which are exchanged at the request of the application using explicit exchange instructions Implicit exchanges concern the inputs outputs of the module measurement results information and commands Explicit exchanges allow module parameter setting and diagnostics
128. application you use a WRITE_PARAM command you must wait until the bit MWr m c 0 2 switches to 0 315 Implicit Exchange Internal Command Objects of the T_AXIS_AUTO Type lODDT List of Implicit Exchange Objects The following table presents the implicit exchange internal command objects of the T_AXIS_AUTO type IODDT Standard Type Access Active on Description Address symbol ACK_FLT EBOOL R W Edge Fault acknowledgement Qr m c 8 ENABLE EBOOL R W State Enabling axis speed drive Qr m c 9 safety relay EXT_EVT EBOOL R W Edge Trigger event order from Qr m c 10 processor PAUSE EBOOL R W State Suspend movements Qr m c 16 command at the end of a movement in progress MOD_STEP EBOOL R W State Change to step by step Qr m c 19 mode command NEXT_STEP EBOOL R W Edge Activate next step Qr m c 22 command MOD_SELECT INT R W mode selector QWr m c 0 CMV INT R W speed modulation QWr m c 1 Value speed modulation setpoint value This setpoint is in the range 0 to 2 in intervals of 1 1000 Mode Selector MOD_SELECT mode selector Value Mode Description 0 DRV_OFF Measurement mode inhibition of CNA output 1 DIRDRIVE Loop control disabled mode direct voltage command MANU Manual mode 3 AUTO Automatic mode 316 35006220 07 2011 Internal Status Objects Implicit Exchanges of the IODDT of Type T_AXIS_AUTO List of
129. arameters 20000 cece eaeee 258 Description of Movement Control Parameters 2 005 261 Description of Command Parameters 0000 eee eeeee 263 Description of Stop Control Parameters 000000 ee eee 265 Adjustment of Monitoring Parameters 0000 e eee eee 266 Description of Manual Mode Parameters 200 0005 267 35006220 07 2011 Parameters Associated with Master Slave Axes 005 268 Confirming Adjustment Parameters 0 000 c eee eee eee 270 Saving Restoring Adjustment Parameters 0000 271 Online Reconfiguration 0 0 0 cece eee 272 Chapter 11 Debugging an Independent Axis Control Program 275 Debugging Principles 000 cee eee 276 The Debug Screen User Interface 0 0 cece eee eee 277 Description of Debug Screens 020 0c cece eee eee 279 Measurement Mode Off 000 e cece eee eee eens 281 Loop Control Disabled Mode Dir Drive 00000 00 ee 283 Manual Mode Manu 0000 cece eee eee eee ees 286 Automatic Mode Auto 00 cee eens 290 Channel Diagnostics 0 000 tee eens 294 Archiving and Documentation 0000 eee eee eee 295 Chapter 12 Operation 200 cece eee eee eee eee 297 Human Machine Interface Design 0 02 eee eee eee 297 Chapter 13 Diagnostics and Maintenance
130. ards X axis conveyor C position Vitesse_pos_c_y KD18 1800 Speed towards Y axis conveyor C position Where there are 2 interpolated axes the symbols and values of these constants are as follows Variable Address _ Value Comment Vitesse_p_o_x KDO 1000 Reference point speed following the X axis Vitesse_attente KD4 1200 Speed towards waiting position Vitesse_pos_a KD8B 1500 Speed towards conveyor A position Vitesse_pos_b KD12 1200 Speed towards conveyor B position Vitesse_pos_c KD16 1800 Speed towards conveyor C position 46 35006220 07 2011 Introductory Example Programming the Preliminary Processing At a Glance As implied in its name preliminary processing is processing that is carried out first A section is created at the beginning of the project to manage operating modes On a blocking fault e The chart is frozen e The moving part can then be controlled in manual mode and the fault can be corrected and acknowledged from the front panel e The chart is reinitialized when the fault has been corrected and acknowledged When switching to manual mode e The chart is frozen e The chart is reinitialized when automatic mode is reselected Program in Ladder Language Position initialization O ASO OPERATE X_attente 320000 S1 ___ OPERATE Y_attente 250000 _____ OPERATE X_b 410000 _____ OPER
131. art is not stopped Position RE_POS RE_WOWJ RE_POS RE_POS RE_WDW Recalibration on the fly input REC_FLT fault 172 35006220 07 2011 Programming Execution Condition Recalibration on the fly function is enabled e referenced axis e in automatic manual or loop control disabled mode e in Drv_Off mode with a TSX CAY 22 42 module or TSX CAY 33 module NOTE The value of the RE_WDW parameter must be much lower than the DMAX1 following error fault threshold 35006220 07 2011 173 Programming Movement Slaved to Another TSX CAYx1 Axis At a Glance This function is used to slave the position of an axis called the slave axis to the position of another axis from the same module called the master axis The master axis is always the axis 0 A 2 axis module can have one master axis and one slave axis A 4 axis module can have one master axis and up to 3 slave axes The position slave function is confirmed in the configuration screen At programming level the slave axis is slaved to the master axis when the SLAVE bit Qr m c 17 of this axis is set to 1 The IN_SLAVE bit lr m c 36 indicates that the slave axis is operating in tracking mode Slaving An axis is slaved either to the measured position or to the master axis position setpoint choice defined in configuration A RATIO1 RATIO2 ratio is applied in order to obtain the final setpoint These 2 parameters are defined
132. at the fuses in series with the supply carry out their protective function These are 1A maximum non delay fuses the supply energy must be sufficient to ensure their fusion Important Note Wiring of Q0 Static Outputs The actuator connected to the QO output has its shared point at 0 V of the supply If for any reason poor contact or accidental unplugging there is a 0 V outage of the output amplifier supply when the 0 V of the actuators remains connected to the 0 V supply there may be enough mA output current from the amplifier to keep low power actuators locked Illustration re al oof l tal sel l l al ol al 2 o Ol ol S SO CO S CO ol S S e e e e e e N co r oj A ey TW w l Bl Ol NO T o Sl lj Sic gt galagala elaaeld Oo Srl AN OO ST WO OS MH BS Dl Ol TIN MO aT WO 9l Sl SI Si SI Sl S SI SI SI SI ei rIirIizcir oj ol o OC BH SB SH HB HB SB BH BH SB SH cH co HO a nT ae eager 10 1 l2 Qo lO nN 12 Qo I VW If 204 104 205 105 206 106 112 312 208 si _ 209 _109 210 110 114 314 lane 35006220 07 2011 111 Implementing Connection via TELEFAST This kind of connection provides the most guarantees on condition that the shared actuators are connected
133. ated setpoint position and the real position of the moving part the following error on the X Y and Z axes respectively 35006220 07 2011 391 Debugging Display zone Description N Indicates the step number for the instruction which is in progress G9x Indicates the movement type for the instruction which is in progress G Indicates the instruction code which is in progress Space Indicates the space where the movement in progress is being carried out 0 XY 1 XZ 2 YZ 3 XYZ Direction X Y Direction indicates the part is moving in a positive direction on the X Y and Z axes respectively Direction indicates the part is moving in a negative direction on the X Y and Z axes respectively Description of Commands This table describes the command zone Command Description STOP F8 Stops the moving part on all interpolated axes CMV Used to enter a value from 0 to 2000 which determines the speed multiplier coefficient 0 000 to 2000 in intervals of 1 1000 Description of Commands Field This table describes the buttons in the Commands field Command Description Pause Commands the moving part to stop at the end of a movement with a stop in progress Step by step Changes the axis to step by step mode Next step Step by step mode activates the waiting movement Description of Axis Field This table show
134. ates the current mode Configuration in this example Each mode can be selected by the corresponding tab The modes available are e Configuration e Adjustment e Debug or diagnostics accessible in online mode only Module zone Summary of the abbreviated heading of the module field 3 Channel zone Is used e By clicking on the reference number to display the tabs e Description which gives the characteristics of the device e 1 0 Objects see Unity Pro Operating Modes which is used to presymbolize the input output objects e Fault which shows the device faults in online mode e To select the channel e To display the Symbol name of the channel defined by the user using the variable editor 4 General Allows you to choose the axis command function and the task associated with the parameters channel zone e Function command function for axis from among those available for the modules concerned Depending on this choice the headings of the configuration zone may differ By default no function is configured None e Task defines the MAST or FAST task in which the explicit exchange objects of the channel will be exchanged 5 Configuration Allows you to configure the channel parameters This field consists of a number of headings which are displayed according to the function selected Some selections may be set and appear dimmed For each parameter the limits are displayed in the status bar I
135. axis setpoint is equal to the period of the task in which the modules are managed Setting the EXT_CMD Qr m c 18 bit to 1 enables this function The IN_EXT_CMD lr m c 37 status bit indicates that the slave axis is effectively performing the tracking function Example In this mode with TSX CAY 2 and TSX CAY 33 modules you can control the discrete event output Position Command EXT_CMD State IN_EXT_CMD S Execution Condition This function is enabled if e the axis is referenced e no blocking fault is detected e the PARAM position is within the soft stops NOTE You must check that e the axis is already in the PARAM position before switching this axis to tracking mode e PARAM is moving in a continuous and coherent fashion risk of tracking error fault on the axis 35006220 07 2011 179 Programming Deferred PAUSE Function At a Glance The PAUSE command Qr m c 16 is used to suspend movement sequencing It only becomes active when the moving part has come to a stop or in other words at the end of a G09 or G10 instruction The next movement starts as soon as the PAUSE command is reset to 0 When at 1 the ON_PAUSE lr m c 33 bit signals that the axis is in PAUSE state This function has 2 possible uses e block to block execution of the movement program e synchronizing axes from the same axis control module Block to Block Execution of the Movement Program If the instruction
136. bit lr m 3 46 is used to detect a delay in event sending or an event loss NOTE The words and bits described above are the only ones which are refreshed during execution of a task event They are only updated in the PLC if the task event has been activated Event Masking Unity Pro language offers 2 ways to mask events e Instruction for global event masking MASKEVT UNMASKEVT is used for unmasking e ACTIVEVT S38 bit 0 global event inhibition ACTIVEVT S38 bit is normally at 1 Summary diagram TSX CAY 33 UNMASKEV MASKEVT Processor 35006220 07 2011 365 Programming Interpolation Fault management At a Glance Fault monitoring is essential for axis command tasks due to the inherent risks posed by active moving parts The moving part carries out checks internally and automatically Fault Monitoring for Interpolated Axes TSX CAY 33 channel 3 does not have a specific fault Fault information indicated by this channel is the logic OR of faults on axes configured in the interpolated movement channel 0 and 1 faults in the case of 2 axis interpolation channel 0 1 and 2 faults in the case of 3 axis interpolation Fault Information Fault information is as follows Bit Fault information EMG_STP MWr m c 3 5 Emergency stop DRV_FLT MWr m c 3 2 Speed drive fault ENC_BRK MWr m c 3 4 Encoder break ANA_FLT MWr m c 3 0 Analog output short circuit
137. boat 396 Implicit Exchange Internal Status Objects of the T_INTERPO_STD Type IODDT S20 hohe nals aoe cenit assets RRE O les E DEEE E E E pees 397 Internal Status Objects Explicit Exchanges of IODDT Type TeINFERPO SID 2 62 Scere apie Sa atin ee eee eed 398 Adjustment Parameters Objects Explicit Exchanges of the IODDT of Type TLINTERPO_STD 0 20202 e eee eee eee eee 401 CMD_FLT Code Error List for Interpolation 0055 402 Part V Flying Shear Utility 0000 ee eeee 405 Chapter 22 Introduction to the Flying Shear Utility 407 Introduction to the Flying Shear Utility 0 0 0000 407 Chapter 23 Configuring the Flying Shear Utility 409 How to Access the Configuration Parameters for the Flying Shear Utility 410 Description of Configuration Parameters 000 ee eee 412 Chapter 24 Programming the Flying Shear Utility 415 Programming Flying Shear Utility principle 416 Programming the Flying Shear Utility SMOVE function 417 Chapter 25 Adjusting the Flying Shear Utility 421 How to Access the Adjustment Screen for the Flying Shear Utility 422 Description of Adjustment Parameters 0 0 e eee eee 424 Applications to Various Cut Types 0 0 cece eee ee 426 Memorandum for the Flying Shear Utiliy 00 428 GIOSSANY eorne E a tee ade teed E
138. bugging an Interpolated Axis Control Program 388 Measurement Mode Off 389 Automatic Mode Auto 391 Interpolation Diagnostics 394 35006220 07 2011 387 Debugging Principles of Debugging an Interpolated Axis Control Program At a Glance Axis control is integrated into Unity Pro programming for which debugging functions are used Reminder of the Possibilities Offered with Unity Pro Refer to principle for debugging an independent axis see page 276 Debugging Screen The task specific debugging screen unique to TSX CAY 33 module channel 3 allows access to all the information and commands required for debugging interpolation The program and moving part control zone offers 2 possible screens according to the operating mode selected via the mode switch Measurement OFF or Automatic AUTO 388 35006220 07 2011 Debugging Measurement Mode Off At a Glance In this mode the interpolation channel can be used to view either 2 or 3 interpolated axes This mode supervises the module axes The following screen shows the interpolation channel Off mode r Movement r VO Current Target Following error Setpoint XEventcam oll Q Direction X Auxcam i 0 oll 0 0 Direction Y Eventcam Z 0 oll 0 0 Direction z es XF 0 0 Z Aux cam uE 0 0 r Faults ZF L ol 0 Command Refused rX Axis Y Axis Z Axis Har
139. c 2 7 fault CH_LED_LOW BOOL R Channel LED status MWr m c 2 8 CH_LED_HIGH BOOL R Channel LED status MWr m c 2 9 Axis Operating Status AX_STS The table below presents the meanings of the report bits Ax_STS MWr m c 3 Standard symbol Type Access Meaning Address Hardware faults HD_ERR lr m c 4 groups the faults below ANA_FLT BOOL R Analog output short circuit fault MWr m c 3 0 AUX_FLT BOOL R Auxiliary output short circuit fault MWr m c 3 1 DRV_FLT BOOL R Speed drive fault MWr m c 3 2 ENC_SUP BOOL R Encoder supply fault MWr m c 3 3 ENC_BRK BOOL R Encoder break fault MWr m c 3 4 EMG_STP BOOL R Emergency stop fault MWr m c 3 5 AUX_SUP BOOL R 24 V supply fault MWr m c 3 0 ENC_FLT BOOL R Absolute encoder parity series or E bit fault MWr m c 3 7 Application faults AX_ERR lr m c 5 groups the faults below SLMAX BOOL R Maximum soft stop overshoot MWr m c 3 8 SLMIN BOOL R Minimum soft stop overshoot MWr m c 3 9 SPD_FLT BOOL R Overspeed fault MWr m c 3 10 FE1_FLT BOOL R MAX_F1 position deviation fault MWr m c 3 114 REC_FLT BOOL R Recalibration fault MWr m c 3 12 TW_FLT BOOL R Debugging window fault MWr m c 3 13 STP_FLT BOOL R Stopping fault MWr m c 3 14 FE2_FLT BOOL R MAX_F2 deviation fault MWr m c 3 15 35006220 07 2011 399 Other Status Data The table below presents the meanings of other state data
140. ces the position to a specified value This operation does not entail any movement and does take account of the type of RP selected 238 35006220 07 2011 Configuration Reference Point Short Cam The following table provides a detailed description of short cam reference points Type Short cam zero latch Short cam only Direction Direction Direction 1 Direction Direction 1 Icon Movement Zero latch Cam iL E lt i 1 or start on cam Reference Point Long Cam The following table provides a detailed description of the long cam and zero latch reference points Type Long cam in stop zero latch Direction Direction 2 Direction 2 Start Start off cam Start on cam Startoncam Start off cam Icon Movement Zero latch Cam 239 Configuration The following table provides a detailed description of long cam only reference points Type Long cam in stop Direction Direction 2 Direction 2 Start Start off cam Start oncam Startoncam Start off cam Icon Cam Movement 7 E e C ie hs 2 defines the place on the machine where the cam is situated TSX CAY 2 and TSX CAY 33 Zero Latch Presence Monitoring Reference point short cam monitors the presence of the zero latch along the length of the cam During a short ca
141. cing Mechanism The bits associated with the sequencing mechanism are as follows Addressing Description NEXT lr m c 0 Indicates to the user program that the module is ready to receive the next movement command DONE lr m c 1 Indicates the command in progress has finished being executed and there are no new commands in the buffer memory TH_PNT lr m c 10 Indicates that the position target value has been reached AT_PNT lr m c 9 Indicates that the moving part has reached the target point e by an INC command in manual mode e by a movement command with stop in automatic mode For a movement with stop this bit is set to 1 as soon as the moving part enters the target window This bit is not set to 1 following a JOG command reference point or STOP during a movement NOTE The program must always test the NEXT bit or the DONE bit before executing an SMOVE command except in the case of a G32 command which can be immediately followed by another command The SYNC_N_RUN IWr m c 8 word periodically supplies information on the number of steps in progress in order to carry out movement sequencing 170 35006220 07 2011 Programming Example The diagram below is a timing diagram for a sequence l l o SMOVE CH2 1 90 01 l GA Ve a eo S l SMOVE CH2 2 90 09 AES a Execution i oy a Irr k 4 l SMOVE CH2 3
142. cle The MANU DRV_OFF DIRDRIVE modes are not affected or modified when the Flying Shear utility is activated on channel 1 Principle Cutting cycle macro A Speed Phase 0 Phase 1 Phase 2 Phase 3 l l l l l l I l Synchronization l Synchronized moving parts Inversion of direction and retum to idle position I tj fie End synchronization l position Catin End synchronization End synchronization idle position position position The maximum acceleration of synchronization phase 1 is that of the adjustment screen l l T l l I Y 416 35006220 07 2011 Programming the Flying Shear Utility Programming the Flying Shear Utility SMOVE function Preliminaries This topic contains a description of the SMOVE function parameters with code 22 Detailed Description The SMOVE function should be used to program a Flying Shear movement with the following syntax SMOVE Chr m 1 N Gp 22 Dist Vit M Parameter Description Chr m 1 Channel 1 address N Movement Number Gp Preparatory code Possible values are e 90 Normal cut e 98 Cut on event 22 Specific instruction code for flying shear Dist Cutting length Vit Speed for return to idle point M Initialization of cut counter Where e Dist KO lt modulo 2 e Dist KO KO Movement ratio
143. code 90 Example non stop movement on the XY plane up to position 50000 10000 up to a speed of 1000 XMOVE AXIS_CH3 1 90 01 0 50000 10000 0 1000 0 e Relative in relation to current position code 91 Example non stop movement on the XY plane an increment 2000 1000 in relation to the current position up to a speed of 500 XMOVE AXIS_CH3 1 91 01 0 1 2000 1000 0 500 0 e Relative in relation to PREF latched position code 98 Example non stop movement on the XY plane an increment 2000 5000 in relation to the previously latched position up to a speed of 800 XMOVE AXIS_CH3 1 98 01 0 5000 2000 0 800 0 With AXIS _CH3 of type T INTERPO STD 35006220 07 2011 351 Programming Interpolation Programming a Move to Non stop Position Instruction The move to non stop position instruction is as follows Instruction Instruction code Icon Moving to non stop position 01 Example XMOVE AXIS_CH3 1 90 01 0 5000000 1000000 01000 0 Position y microm XY Plane 1 000 000 Vx 5000000 Position Ya YB microm 352 35006220 07 2011 Programming Interpolation Programming a Move to Position with Stop Instruction The move to position with stop instruction is as follows Instruction Instruction code Icon Moving to position with stop 09 Example XMOVE AXIS_CH3 1 90 09 0 5000000 1000000 01000 0 Position microm Fx XY Plane 1 000 000 B x Xa
144. cribes the command zone Command Description STOP Stops the moving part according to deceleration defined in the configuration Param Used to enter the value of either an incremental movement INC or INC command or a forced reference point CMV Used to enter a value from 0 to 2000 which determines the speed multiplier coefficient 0 000 to 2000 in intervals of 1 1000 Description of Commands Field This table describes the buttons in the Commands field Command Description JOG Command to move view in a negative direction 1 JOG Command to move view in a positive direction 1 INC Incremental movement command in negative direction for a distance defined in the Param field INC Incremental movement command in positive direction for a distance defined in the Param field Manual reference point With an incremental encoder manual reference point and search order The current position takes on the value of the PO Value defined in the adjustment screen with the reference point found in accordance with the type defined in the configuration Forced reference point Forced reference point order with an incremental encoder The current position is forced to the value defined in the Param field This type of reference point does not shift the moving part Reference cancellation In order to be able to shift the moving part without soft stop fault non referenced axis crossing orde
145. ction Position control Task EVT Event Input Inversion T Standard rising edge and PRefl processing Out Reference point Short Cam Direction Recalibration Recalibration function missing Set the adjustment parameters according to the configuration Mandatory fields are in red In the main screen of the configuration editor validate the configuration using the Edit Confirm command or by clicking on the icon w 35006220 07 2011 59 Introductory Example Channel 0 Configuration Parameters The following table provides a list of the parameters which must be entered for channel 0 Parameter Designation Value Comment Units Physical length unit mm Units Physical speed unit mm min automatically deduced Initial resolution Distance 4000 Initial resolution No of points 4000 Encoder type Absolute Encoder type Offset Direct Encoder type Code Binary Encoder type No of header bits 0 Encoder type No of data bits 24 Encoder type No of status bits 0 Encoder type Parity Odd Max setpoint 9000 mV Speed Maximum speed of the 5400 moving part Max acceleration 300 ms Upper limit Upper axis limit 900000 Lower limit Lower axis limit 0 Event Rising edge and PREF1 Reference point No reference point 60 35006220 07 2011
146. d The general execution conditions for a DIRDRIVE function are as follows e Axis without fault blocking AX_OK bit lr m c 3 1 e STOP Qr m c 15 command inactive and ENABLE Qr m c 9 bit for variable speed controller safety relay set to 1 e Voltage parameter PARAM QDr m c 2 between UMAX and UMAX for selected axis Movement Stop A movement stop can be caused by e Appearance of a STOP command or ENABLE Qr m c 9 bit for variable speed controller safety relay set to 0 e Appearance of a blocking fault or a soft stop fault e Change in operating mode e Receiving a configuration 210 35006220 07 2011 Programming Managing Measurement OFF Mode At a Glance The measurement mode must be used each time the moving part has to pass outside module control moving part moved by hand or controlled by an exterior device In this mode the module remains passive but continues to update the position IDr m c 0 and current speed IDr m c 2 information bits Selection of Measurement Mode Measurement mode is selected by assigning the value of 0 to the MOD_SEL QWr m c 0 word The module also selects measurement mode while the PLC is in STOP mode By default it is selected following channel configuration Execution of Commands in Measurement Mode OFF mode is not associated with any movement commands Movement of the moving part is not monitored and software fault checks are inhibited except soft sto
147. d a an E bt tas gales GIS ae angles argent a deed Connection Using TSX CDP 301 or 501 Strips 2000 Wiring precautions 1 2 0 eee Connecting the Variable Speed Controller Signals Signal Labeling as irere 4 eis cae ee Made ae RE eels ae Connection Using the TELEFAST Pre wiring System Correspondence Between TELEFAST Terminals and HE10 Connector 69 71 72 73 74 75 76 76 78 79 80 81 82 84 85 86 87 88 90 91 92 94 95 96 98 100 101 102 103 105 106 107 108 110 111 114 115 116 117 35006220 07 2011 Chapter 7 7 1 7 2 Part Ill Chapter 8 Characteristics and Maintenance of TSX CAY 119 Electrical Characteristics of Modules 00 00 e eee eee 120 General Characteristics 2 2 0 cette 121 Characteristics of the Analog Outputs 0 000 eee eee eee 122 Characteristics of the Counting Inputs 00 0 eee eee 123 Characteristics of Auxiliary Inputs 0 00 ee eee eee 125 Characteristics of the QO Reflex Outputs 0000000 126 Monitoring Sensor Pre sensor Voltage 1 0 0 00 e eee 128 Characteristics of the Variable Speed Controller Inputs 129 Characteristics of the Relay Outputs 00 000 e eee 130 View of the module statuS 0 0 cee ee eee 131 Module Display oe iiaa oe Sy Rk el eee GS alas aes 131 Independent AxeS 0 cece eee eee e
148. d green and becomes red if the limits are exceeded Speed The bar chart expresses the speed of the moving part in relation to maximum speed as a percentage The bar chart is colored green and becomes red if the maximum speed is exceeded NOTE The number of display digits is limited to 10 A line of dots is displayed for any higher value 1 Displays the number of latches 1 or 2 for instruction G07 2 Displays the Time Out for instruction G05 This table shows indicators for the Movement Speed field Indication Indicates that the part is moving in a positive direction Indicates that the part is moving in a negative direction Indicates that the movement s in progress are now finished Indicates that the module is ready to receive a movement command Indicates that the movement in progress has finished and that the moving part is in the target window for instructions with stop Indicates that the theoretical setpoint has been reached Indicator State Direction Direction DONE Lit NEXT Lit AT Point Lit TH Point Lit Feed hold Lit Indicates that the Feed hold function has been activated the CMV coefficient is set at 0 Description of Axis Field This table shows the display and command zones for the Axis field Indication Axis in operational state no blocking fault Referenced axis Moving part stationary LED Button State
149. d of the Stop delay The Stop delay is counted in relation to the moment where position reference reaches the value of the requested position Adjust the Target window parameter Adjust the Overspeed parameter For this adjustment select a movement speed equal to VMAX 266 35006220 07 2011 Adjustment Description of Manual Mode Parameters Description of Speed parameter This table describes the speed parameter Parameter Meaning Speed Speed of moving part in manual mode Just as in automatic mode the real movement speed is modulated by the CMV modulation coefficient Actual speed setpoint Speed x CMV 100 By default Speed VMAX 2 Limits 10 to VMAX Description of RP Value parameter This table describes the Reference point value parameter Parameter Meaning RP Value Value set in current position during manual reference point setting e Fora limited axis e By default RP Value SL_MAX SL_MIN 4 SLMIN e Limits SL_MIN 1 to SL_MAX 1 e Foran unlimited axis e By default RP Value Modulo 4 Limits 1 to Modulo 1 35006220 07 2011 267 Adjustment Parameters Associated with Master Slave Axes TSX CAY 2 Link between Master and Slave Axes A ratio and an offset define the link between the master axis and the slave axis ConsignePositionEsclave PositionMaitre x Ratiol Ratio2 SlaveOffset If the
150. de is selected by assigning the value of 1 to the MOD_SEL QWr m c 0 word When a change of mode is requested the moving part first stops then the mode is actually changed When the command to change to loop control disabled mode is taken into account the IN_DIRDR lr m c 21 bit is set to 1 Execution of Commands in Loop Control Disabled Mode The loop control disabled mode features the movement command DIRDRV Qr m c 0 The drive is controlled at a voltage of between UMAX and UMAxX the value UMAX is defined in the configuration screen It is expressed in mV Application of this setpoint is rounded off into multiples of 1 25 mV For example if 1004 mV is requested the setpoint will be rounded down to 1003 75 mV and the display screen will show 1003 mV The voltage setpoint is periodically sent by the variable PARAM QDr m c 2 The variable sign gives the direction of movement The software fault checks are inhibited excepted for soft stop checks if the axis is referenced In order to take in account the mechanics during a setpoint change the acceleration deceleration value is respected when switching to a new value 35006220 07 2011 209 Programming Speed Law On a setpoint change the output reaches the new setpoint according to a trapezoidal speed law while respecting the parametered acceleration Speed mm min Applied setpoint Time 1 DIRDRIVE 0 Time Execution of DIRDRIVE Comman
151. define the usage characteristics limits resolution control dimensions etc For each axis the user can choose between 3 types of acceleration law rectangular trapezoid or triangular TSX CAY Module Functions The functions offered by the axis control modules are as follows e Position slave movement of another axis one or more axes can be controlled by a master axis The movements of the slave axis thus follow all the movements of the master axis Slave movement of a periodic setpoint periodically the position setpoint can be sent directly by the PLC processor Re calibration on the fly this function used with an incremental encoder is used to monitor the position of the moving part and to recalibrate the measurement when the re calibration input is activated This function can be used for movements with slip so that the position measurement is periodically recalibrated Event processing events detected by the module can be used to activate an event task in the sequential program 35006220 07 2011 23 General Introduction Feed hold this function is used to momentarily stop a movement in progress e g to synchronize the axes Deferred pause this function is used to momentarily stop a machine cycle without causing disturbance to it Step by step mode this mode is used to carry out a sequence of movements stopping after each elementary instruction Movement monitoring this function is used to detect any abn
152. der maximum frequency 500 KHz without multiplication or 1 MHz multiplied by 4 The module provides the choice of either multiplying by one or by four e or by absolute encoder for up to 25 bits of data with serial link and transmission according to SSI protocol 200 KHz clock frequency e One input serving as a reference point cam if an incremental encoder is selected e One event input 22 35006220 07 2011 General Introduction e One emergency stop input e One re calibration on the fly input e One drive fault input In outputs e One 10 V analog output isolated from the logic part of the module This 13 bit sign resolution output is used to control a variable speed controller associated with a continuous current motor on autosynchronous or asynchronous auto pilot e A relay output to enable the variable speed controller e A static auxiliary output Programming a Movement In Unity Pro language each independent axis movement is described by a SMOVE movement command function Movements of interpolated axes are described by an XMOVE command linear interpolation of TSX CAY 33 module From this SMOVE or XMOVE command and from the position of the moving part module TSX CAY calculates the position speed setpoint Configuration and Adjustment Parameters Position Control Loop The loop controller is of proportional type with feed forward so as to reduce following errors These parameters are used to
153. djusted The function is active when A Voot an axe gt VMAX DELTASPEEDPATH 1000 NOTE The smaller the DELTASPEEDPATH parameter the closer the point Example V1 V2 1000 VMAX VMAXy 4000 Y A B e Crossing points mechanism inactive Resulting tangential speed 1 1 1 A l l l l vi v2 1000 35006220 07 2011 383 Adjustment Axial speed X Vy 2 Vy 2 1 2 714 f Axial speed Y 714 Delta Vy l Delta Vy PRK l l A Vy lt VMAX DELTASPEEDPATH 1000 DELTASPEEDPATH 500 A Vy 1428 lt 1 2 VMAX 714 Delta Vy Further Example V1 V2 1000 VMAXx VMAXy 4000 Y 384 35006220 07 2011 Adjustment e Crossing points mechanism active Resulting tangential speed 1 A l 1000 Axial speed X Vx 2 Vy 2 1 2 Axial speed Y DELTASPEEDPATH 100 A Vy 1428 gt 1 10 VMAX In this case a 1 10 VMAX 400 35006220 07 2011 385 Adjustment 386 35006220 07 2011 Debugging an Interpolated Axis Control Program 20 Subject of this Section This section describes the parameter adjustment principle for the interpolation channel channel 3 of module TSX CAY 33 Measurement Automatic It also describes the diagnostics screen which gives access to possible faults What s in this Chapter This chapter contains the following topics Topic Page Principles of De
154. during configuration In order to indicate that the slave axis is tracking the master axis correctly the AT_PNT lr m c 9 bit of the slave axis is at 1 when the tracking error of the latter is lower than DMAX2 For example Ratio 3 4 with slaving to the master axis setpoint Position Master axis setpoint 3 4 Master axis setpoint Slave axis setpoint pi 174 35006220 07 2011 Programming Execution Condition The master axis is configured The slave axis is referenced No blocking fault is detected The slave axis is in automatic mode e The master axis is in automatic or manual mode If the calculated setpoint overshoots the axis soft stops the moving part stops and the command is refused Important e For the calculated slave axis position setpoint to be valid you must make sure that the slave axis is already at the Master x RATIO position before switching this axis to slave mode e Reference point commands on the master axis must be avoided when there are slave axes risk of tracking error fault on the slave axis e In Tracking mode e the TH_PNT NEXT information bits are not managed e the PAUSE command is not active e CMV modifications are not taken into account CMV 1000 35006220 07 2011 175 Programming Movement Slaved to Another TSX CAYx2 Axis At a Glance Slaving This function is used to slave the position of an axis called the slave axis to the position of a
155. dware OOK OAT Point O OK OAT Point OOK OAT Point O Axis OReferenced ODONE O Referenced ODONE OReferenced ODONE OStopped ONEXT OStopped ONEXT OStopped ONEXT O Ack Enable Enable OEnable Description of Movement Field This table shows the display zones for the Movement field Display zone Description Current X Y Z Displays the current position of the moving part on the X Y and Z axes respectively This value is expressed in measurement units defined in the configuration Target X Y Z Displays the setpoint position of the moving part reach position on the X Y and Z axes respectively Current XF YF ZF Displays the current speed of the moving part in measurement units defined in the configuration on the X Y and Z axes respectively Target XF YF ZF Displays the setpoint speed of the moving part speed to be attained on the X Y and Z axes respectively Following error X Y Z Displays the deviation between the calculated setpoint position and the real position of the moving part on the X Y and Z axes respectively Setpoint X Y Z Displays the go to coordinates on the X Y and Z axes respectively Direction X Y Z Direction indicates the part is moving in a positive direction on the X Y and Z axes respectively Direction indicates the part is moving in a negative direction on the X Y and Z axes respectively
156. e When the product feed is equal to the length to be cut less a synchronization distance in order to be synchronized at the point of synchronization the cart accelerates and synchronizes with the controlling axis while aiming for the source control When the cart is synchronized it remains attached in position for the whole journey When crossing the tool descent point an output commands the cutting action 35006220 07 2011 407 Introduction to the Flying Shear Utility Step Action 6 Upon indication that the cut on a sensor input or position is finished the tool is rechucked 7 Upon indication that the synchro on a sensor input or position is finished the cart exits slave mode and stops as quickly as possible 8 Upon indication of a theoretical stop the cart returns to the idle position and slowly restarts the cycle Solution Adapted to the TSX CAY 22 V2 0 Module Implementation of this utility with a TSX CAY 22 module V2 0 requires the definition of e channel 0 as a control axis for the acquisition of the position measurement for the product to be cut belt conveyor This is an infinite axis which continually advances in the positive direction e Channel 1 as an axis for the cutting tool support cart This is a limited linear axis whose behavior is guided by the controlling axis feed Channel 1 supports e the static command output for the cutting too
157. e 0 OK Cancel 293 000 microns e Enter the distance to be covered in the Theoretical distance field For example 300 000 microns e Enter the distance done in the Observed distance field For example 8 Press OK to activate the automatic resolution calculations The new Distance and No of pulses values are then re calculated 9 Repeat steps 2 3 4 and 5 If the distance measured reveals a deviation below requirements then adjustment is finished If this is not the case carry out a new correction steps 7 and 8 NOTE If you modify the Initial resolution and VMAX parameter values after adjusting the resolution it is mandatory to resume the adjustment In general modifying any configuration in offline mode means that the resolution must be re adjusted in online mode 254 35006220 07 2011 Adjustment Description of Loop Control Parameters At a Glance The following parameters are used to adjust the position loop Position loop Gain 1 1000 100s Offset Olm Gain2 1000 100s Nae Tol 1 to 2 threshold 500 1000 of Vmax Ti Olms Position Control Loop The following synoptic shows the position control loop Speed setpoint Setpoint offset Position setpoint Q A CNA setpoint Gain threshold Position measurement 1 Integral action active on stop only Creating References
158. e 1 1 Insufficient conditions MANU command error e g Mode Value etc 2 2 MANU movement in progress command error 3 3 Simultaneous MANU commands error 4 4 JOGP MANU command error 5 5 JOGM MANU command error 6 6 INCP MANU command error 7 7 INCM MANU command error 8 8 Manual PO MANU command error 9 9 Forced PO MANU command error 10 A Encoder offset calculation error 16 10 Insufficient conditions AUTO command error parameters 17 11 Auto movement in progress AUTO command error Slave or external Command activated at the same time for one movement Insufficient conditions SMOVE command error Mode SMOVE G01 command error 1 SMOVE G09 command error 1 SMOVE G10 command error 1 SMOVE G11 command error 1 35006220 07 2011 333 Value Message 24 18 SMOVE G21 command error 1 25 19 SMOVE G14 command error 1 26 1A SMOVE G05 command error 1 27 1B SMOVE G07 command error 1 28 1C SMOVE G62 command error 1 29 1D SMOVE execution command error 30 1E Auto Slave command error 31 1F External Auto Cde command error 32 20 Slave mode in progress AUTO command error 33 21 External Auto Cde in progress command error 34 22 SMOVE in progress external command slave axis error XX XX No zero latch on cam error during a reference point short cam with zero latch 35 23 Ful
159. e The different signals are labeled using a color code NOTE It is imperative to connect the shielding to the protective ground of the connected equipment Diagram of the Principle This diagram illustrates the principle for connection using TSX CDP 611 strips black Vrefo A A is 0 hi Vrefo white wt Ko mO Vref ww P is 1 AAA Vref1 8 Vref2 aie D Ws U Vref2 p Vref3 axis 3 Vref3 GND ANA shielding NOTE The TSX CDP 611 cable is 6m in length 35006220 07 2011 81 Implementing Connection of Terminals with the TELEFAST Pre wiring System General The TELEFAST 2 system is a collection of products which allow rapid connection of the modules from the Micro and Premium range It acts as a substitute for screw terminal blocks by realigning the single wire connection The connection on speed reference terminals is necessary when the variable speed controllers are not close to each other The TELEFAST pre wiring system facilitates installation by allowing access to signals via the screw terminal blocks Connection to the module with the TELEFAST reference ABE 7CPA01 assists a cable equipped with a 9 pin SUB D connector on the module side and a 15 pin SUB D connector on the TELEFAST side This cable can be TSX CXP 213 or TSX CXP 613 82 35006220 07 2011 Implementing Di
160. e Vx p The TSX CAY 33 module can be used in the following configurations e 3 interpolated axes e 2 interpolated axes and one independent axis e 3 independent axes in the event of use without interpolation This module does not provide the necessary circular interpolation to process bypass applications 35006220 07 2011 21 General Introduction Functions Provided by the Axis Control Modules General The axis control modules provide application inputs and outputs for each of the axes which are used to implement the different functions The following diagram shows the inputs outputs associated with one channel Application L Encoder input Variable speed p controller reference output Processor TSX CAY module Configuration i adjust Configuration Control loop parameters KW MW Adjust Setpoint SMOVE a function Auxiliary Q WQW Inputs Outputs gt processing p l IW Processing a Cam input lt a Reference point Event input Laa Re calibration input Emergency stop input a gency stop inp qVanable speed controller fault input Speed controller enable relay output a gt Auxiliary output Application Inputs Outputs For each of the axes the axis control modules offer In inputs e One input to acquire position measurements e either via type RS 485 incremental enco
161. e data Standard symbol Type Access Meaning Address N_RUN INT R step number in progress MWr m c 4 G9_COD INT R Movement type in progress MWr m c 5 G_COD INT R Instruction code in progress MWr m c 6 CMD_FLT INT R refusal report MWr m c 7 T_XPOS DINT R reach position target MDr m c 9 MAX_FER DINT R maximum following error MDr m c 11 T_SPEED DINT R speed to be reached MDr m c 13 326 35006220 07 2011 Adjustment Parameters Objects Explicit Exchanges of the IODDT of Type T_AXIS_STD Adjustment Parameters SMWr m c dor MDr m c d Standard symbol Type Access Description Address SLOPE INT R W Acceleration rule MWr m c 15 0 rectangle 1 to 3 trapezoid 4 triangle KPOS1 INT R W Position loop Gain 1 0 to 120 00 in 1 s MWr m c 16 KPOS2 INT R W Position loop Gain 2 0 to 120 00 in 1 s MWr m c 17 SP_THR INT R W Switching threshold for gain 20 to 500 VMAX 1000 MWr m c 18 IPOS INT R W Ti integral action integral time 0 to 5000 ms 0 no MWr m c 19 integral action TSX CAY 22 42 and TSX CAY 33 Reserved MWr m c 20 KV INT R W Loop feedforward speed gain 0 to 100 MWr m c 21 OFFSET INT R W Loop CAN offset 250 to 250 mV MWr m c 2 4 OVR_SPD INT R W Overspeed threshold 0 to 20 MWr m c 23 S_STOP INT R W Stopping speed 0 to VMAX 10 or 30000 MWr m c 24 T_STOP INT R W Maximum dela
162. e end Qr m c 16 of a movement in progress MOD_STEP EBOOL R W State Change to step by step mode command Qr m c 19 NEXT_STEP EBOOL R W Edge Activate next step command OQr m c 22 MOD_SELECT INT R W mode selector QWr m c 0 CMV INT R W speed modulation QWr m c 1 Value speed modulation setpoint value This setpoint is in the range 0 to 2 in intervals of 1 1000 Mode Selector MOD_SELECT mode selector Value Mode Description 0 DRV_OFF Measurement mode inhibition of CNA output 1 DIRDRIVE Loop control disabled mode direct voltage command MANU Manual mode 3 AUTO Automatic mode 396 35006220 07 2011 Implicit Exchange Internal Status Objects of the T INTERPO_STD Type lIODDT List of Implicit Exchange Objects The following table presents the implicit exchange internal status objects of the T_INTERPO_STD type IODDT Standard symbol Type Access Description Address NEXT EBOOL R Ready to receive a new movement command in AUTO lr m c 0 DONE EBOOL R All instructions are executed no instructions in the stack lr m c 1 AX_FLT EBOOL R Fault present on axis lr m c 2 AX_OK EBOOL R No fault causing moving part to stop lr m c 3 HD_ERR EBOOL R Hardware fault present lr m c 4 AX_ERR EBOOL R Application fault present lr m c 5 CMD_NOK EBOOL R Command refused lr m c 6 NO_MOTION EBOOL R Moving part sta
163. e goes into measurement mode OFF If the configuration is incorrect the module signals a fault and retains the outputs in the safety position Power Outage and Restart On power outage the moving part stops On a cold start or warm restart the channel configuration is automatically sent to the module by the processor The module goes into measurement mode OFF then into the mode requested by the program 188 35006220 07 2011 Programming Fault Management At a Glance Fault Types Levels of Severity Fault monitoring is essential for position control due to the inherent risks associated with active moving parts The module automatically carries out checks internally The module detects 4 fault types e The module faults These are internal hardware faults within the module All the axes controlled by the module are thus affected when this type of fault occurs They can be detected during self tests on module reset or during normal operation I O fault e Hardware channel faults external to the module for example encoder break e Application channel faults associated with the axes for example tracking error Faults are constantly checked at axis level once the axis is configured e Command refused channel faults These are the faults which may occur during execution of a movement command a configuration transfer an adjustment parameter transfer or an operating mode change command NOTE The
164. e jumper wire in position 1 or 2 terminals 200 to 215 have polarity e jumper wire in position 3 or 4 terminals 200 to 215 have polarity 2 At the ABE 7H16R20 base it is possible to add an optional ABE 7BV20 strip to create a second shared sensor or according to user s choice 106 35006220 07 2011 Implementing Example of Connecting Sensors to the Auxiliary Inputs and Their Supply Illustration This connection is made using a TELEFAST 2 connection base ABE 7H16R20 24 VDC supply connection a auxiliary input Eh ri aes sensors 24VDC 0 VDC TELEFAST 2 ABE 7H16R20 J TSX CDP053 503 cable ABE 7BV20 shared Connecting sensors to auxiliary inputs Channel 0 Channel 1 io i 12 3 ao o 4 12 13 Qo oe ee ar Al 1r 1r 1r 1r 1 Mechanical 205 105 206 106 207 107 112 312 208 108 109 210 110 211 111 114 314 A CC Pae 204 104 205 105 206 106 207 107 112 _312 208 108 209 199 210 M0 21 DU M4 314 Proximity sensor 2 wires PNP RI ics 204 Ye 205 105 _ ee aus ae _ 112 312 208 108 si gil Een MON E pals __ 114 314 Proximity a ana pow 0 sensor 3 wires PNP NO NC NO Normally Open NC Normally Closed Conductor 35006220 07 2011 107 Implementing Correspondence Between TELEFAST Terminal Blocks and Module HE10 Connector General This table shows the correspondence between TELEFAST terminals and the module s HE10 connector
165. e moving part is stationary NOMOTION bit lr m c 8 set to 1 164 35006220 07 2011 Programming Programming an Await Event Instruction The await event instruction is as follows Instruction Instruction code Icon Await event 05 This instruction is used to await an event within a Time Out in ms defined in the parameter F If an event does not appear within this Time Out period the await command is then deactivated If F parameter is defined at 0 the wait is without a time limit For an Infinite Machine With an infinite machine the GO5 instruction is also used to await the crossing of a number of modulo The choice is determined by the bit 13 value of parameter M e bit 13 0 await event e bit 13 1 await modulo number Event Associated with the Command Event Task The event associated with command G05 can be e arising or falling edge depending on the choice made in the Event field in the configuration screen on dedicated event input associated with the channel which controls the axis e arising edge of the EXT_EVT bit Qr m c 10 generated by the program e anumber of modulo crossings for an infinite machine For example awaiting 10 modulo crossings with activation of the event task SMOVE AXIS_CHO 1 90 05 0 10 16 2000 AXIS CHO of type T AXIS STD The G05 instruction can activate an event task on detection of an event if bit 12 of parameter M is set at
166. e of the parameters is not valid These faults are indicated by the Refus Cde LED on the debugging screens At channel level the DIAG key can be used to identify the source of the command refused fault This information can also be accessed by the program with the CMD_NOK lr m c 6 bit and CMD_FLT MWr m c 7 word Command Refused Th following table shows the cause indication and the remedy in the event of a Command Refused fault Cause Unauthorized movement command Transfer of faulty configurations or parameters Parameter None Result Immediate stop of movement in progress Buffer memory which receives movement commands in automatic mode is reset to 0 Indication CMD_NOK bit lr m c 6 Movement command refused CMD_FLT mot MWr m c 7 type of fault detected e Least significant byte movement commands e Most significant byte configuration and parameter adjust Remedy When a new command is received and accepted acknowledgement is implicit Acknowledgment is also possible via the ACK_FLT Qr m c 8 command NOTE For movement sequences in automatic mode it is advisable to make the execution of each movement conditional upon the end of the previous movement and the AX_FLT lr m c 2 bit This will prevent the program moving on to the following command should the present command be refused 35006220 07 2011 369 Programming Interpolation Managing Measurement OFF Mode Introduc
167. e rg Hl Config FR Adjust JO or Hi Auto E vanu i i e E F r Movement um Speed mm min r Axis rlo ueo Measurement Target Following error OK POcam Position control nes 0 0 0 Direction Referenced Recalibration ask F 0 0 OAT point ae ni ae MAST F In oc 0G OU DONE THpont 2G Enable _ NET Feedhold r Commands r Faults Position HM O G Slave Command Speed 0 kol je External Ora Ors Event sources O Pause wt C E TOP EnicioGti Enda ffs an As Param Oum PRef 1045 _O Step by step ow ono RePi U um e Nextstep eo Ack ReP2 Ss um _O Synchro UC This screen is composed of 3 zones e Module field e Channel field e Amoving part and program monitoring zone This zone depends on the operating mode that has been selected via the mode switch Automatic Auto Manual Manu Loop control disabled Dir Drive or Measurement Off modes 276 35006220 07 2011 Debugging The Debug Screen User Interface Accessing the Debug Screen Command Buttons Entry Field It is not possible to access the debug screen if the terminal is in online mode If this is the case access the debug screen as follows e Select the Configuration Editor e Select and confirm or double click on the rack position which contains the axis control module e Inonline mode the debug screen is viewed by default The command buttons work in the following way
168. ecause it is defined by the number of data bits from the SSI Frame encoder Thus rather than entering the number of modulo bits you must enter the corresponding power of 2 For example for a max modulo of 4096 you must enter the value 12 because 4096 2 2 Limits According to Resolution The limit values of Max Modulo are also limited according to the value of the chosen resolution Encoder type Limits Incremental encoder 1000 gt 6 x 108 RESOL limited to 16 x 10 Absolute encoder n 12 gt 23 under condition 2 x RESOL lt 6 x 108 35006220 07 2011 225 Configuration Maximum Speed Introduction VMAX Value Authorized Speed The maximum speed VMAX must be such that the resultant frequency satisfies the following condition 1 8 kHz lt FMAX lt 900 kHz with FMAX VMAX x m RESOL m 2 with a x1 incremental encoder or an absolute encoder m 4 with a x4 incremental encoder The condition on the maximum frequency is translated onto the VMAX value by the following relation 108 x RESOL m lt VMAX lt 54000 x RESOL m restricted to the following limits 270 lt VMAX lt 270000 NOTE VMAX and RESOL are expressed in the units defined in the configuration screen either RESOL in microm and VMAX in mm min or RESOL in mm and VMAX in m min etc Whatever the speed programmed in the instructions the module is authorized to operate at a speed equal to VMAX 10 on the tra
169. ect of this Part This part gives a concise introduction to the servo drive axis control range and describes the methodology for setting up the independent axes or interpolated axes What s in this Part This part contains the following chapters Chapter Chapter Name Page 1 General Introduction 17 2 Introduction to the TSX CAY Modules 25 3 Functions 29 4 Set up Methodology 33 5 Introductory Example 39 35006220 07 2011 15 Control of Servo Drive Axes 16 35006220 07 2011 General Introduction Subject of this Section This section gives a concise introduction to the servo drive axis control range for Premium PLCs as well as the functions provided by the TSX CAY modules What s in this Chapter This chapter contains the following topics Topic Page Introduction to the Motor Operator Axis Control Range 18 Functions Provided by the Axis Control Modules 22 35006220 07 2011 17 General Introduction Introduction to the Motor Operator Axis Control Range At a Glance Below is an overview of a motor operator axis control architecture Aal g f al a aoa Variable speed g mme controller z i Premium TY Motor Tachometer Encoder Unity Pro Axis Control Range The motor operator axis control range for Premium PLCs is made u
170. ed is 1800 mm m e Maximum setpoint is the voltage value at which maximum speed can be reached Considering the reduction ratio 1 5 and the thread size 5 m the maximum linear speed 1800 mm min corresponds to a motor speed of 1800 rev min If the variable speed controller is adjusted to reach a speed of 3000 rev min with an input voltage of 10 V in order to reach 1800 rev min the voltage must be 6 V maximum setpoint 6000 mV 35006220 07 2011 227 Configuration Consistency of Parameters The consistency of the RESOL Maximum speed and Maximum setpoint parameters must be ensured otherwise inconsistent control loop behavior will result 228 35006220 07 2011 Configuration Event Introduction The Event parameter is used to associate an event processing task with a channel To do this an event task number from 0 63 must be entered 35006220 07 2011 229 Configuration Inversion Introduction The inversion parameters means that it is not necessary to reconnect the analog output when the axis is moving in the opposite direction to that required These parameters define the setpoint inversion between the digital analog converter D A converter output and the variable speed controller and or the measurement inversion for an incremental encoder The measurement inversion allows you to define the direction of measurement for an encoder rotation direction Inversion Possibilities The inve
171. ee 133 Programming Axis Control 000eeee eens 135 Programming an Independent Axis 00 002 eee eee eee 137 Operating Modes 0 c cece teeta 138 Programming the SMOVE Function in Automatic Mode 140 Entering SMOVE Function Parameters 00 e eee ee eee 141 Description of SMOVE Function Parameters 2 005 142 Instruction Codes for SMOVE Function 0 00 eee eee 145 Description of Elementary Movements Using a Limited Machine 148 Description of Elementary Movements Using an Infinite Machine 150 Programming a Move to Non stop Position 0 000 153 Programming a Move to Position with Stop 0000 0 eee 154 Programming a Movement Until Event Detection 155 Programming a Simple Machining Command 20 005 157 Programming a Reference Point 00 cee eee eee eee 160 Programming a Reference Point on the Fly on Event 162 How to Program a Movement Stop ananuna aaan annaa 163 Programming a Forced Reference Point 0 eeeaee 164 Programming an Await Event 0 aaaea 165 Programming Storage of Current Position on Event 166 Sequencing Movement Commands 00 000 e eee eee eee 169 Programming the Recalibration on the Fly Function 172 Movement Slaved to Another TSX CAYx1 Axis 000000 174 Movement Slaved to Ano
172. eed MAN_SPD 35006220 07 2011 205 Programming Forced Reference Point Command At a Glance If an incremental encoder is being used a forced reference point can be set with the RP_HERE command The RP_HERE Qr m c 6 forces a reference point without movement to the value set in the PARAM parameter This value is entered either in the QDr m c 2 double word or in the debugging window for the TSX CAY module The forced reference point command references the axis without generating a movement NOTE The RP_HERE command does not modify the value of the RP_POS parameter The value of the PARAM parameter must be between the soft stops All blocking faults are tolerated while this command is being carried out except for an encoder break fault 206 35006220 07 2011 Programming Cancel References Command At a Glance If an absolute encoder is being used a reference point can be canceled using the SET_RP command Cancellation of references needs to be carried out before a reference command can be given An edge on the SET_RP Qr m c 5 bit is used to change the axis to a non referenced state in order to be able to shift the moving part without provoking a soft stop fault However it is not possible to overshoot in either direction to a position outside the measurement area of the absolute encoder Parameter ABS_OFF MDr m c 53 is forced to 0 35006220 07 2011 207 Programming Referencing
173. een User Interface 277 Description of Debug Screens 279 Measurement Mode Off 281 Loop Control Disabled Mode Dir Drive 283 Manual Mode Manu 286 Automatic Mode Auto 290 Channel Diagnostics 294 Archiving and Documentation 295 35006220 07 2011 275 Debugging Debugging Principles At a Glance The axis control capabilities integrated into Unity Pro programming use Unity Pro debugging functions Reminder of Capabilities Offered by Unity Pro e Program viewing and animation in real time For example if each movement is programmed in one step in Grafcet you will be able to easily determine the movement in progress e Setting of breakpoints and program execution cycle by cycle network by network or sequence by sequence e Accessing animation tables This allows you to display the status words and bits and control the command bits for the SMOV 1 bit objects and block Grafcet changes Debugging Screen E function Is it also possible to force Unity Pro software also offers a debug screen specially designed for TSX CAY module which provides access to all essential information and commands Monitoring zone Module field Channel field E 0 5 TSX CAY 21 E 2 VS MOD CONT AXES 59 Run Er l0 2 Channel0 a e
174. efined in instruction G05 has elapsed 1 Providing that an event processing task has been associated with command G07 There is no indicator associated with the Modulo crossing event 292 35006220 07 2011 Debugging Description of Commands Field This table describes the buttons in the Commands field progress Command _ Description Slave Changes the axis to slave mode slave of another axis 0 axis cannot be set to slave axis mode External Changes the axis to a slave of periodic setpoint Command Pause Commands the moving part to stop at the end of a movement with a stop in Step by step Changes the axis to Step by step mode Next step In Step by step mode activates the waiting movement Synchro UC Triggers a PLC event Description of Faults Field This table shows the display and command zones for the Faults field LED Button State Indication Command Refused Lit Last command refused Hardware Lit External hardware fault e g encoder variable speed controller outputs etc Axis Lit Application fault e g following error software limits etc Ack Fault acknowledgment button Activating this button acknowledges all faults which have disappeared 35006220 07 2011 293 Debugging Channel Diagnostics At a Glance The various debugging adjustment and configuring screens offer a DIAG tab in online
175. elation to the machine homing point code 90 In this case the shortest path determines the direction of movement Example SMOVE AXIS _CHO 1 90 09 45000 1000 0 AXIS CHO of type T AXIS STD Speed mm min 1000 0 p gt Position mm 30 000 45 000 Modulo 60 000 e Set direction movement in relation to the machine homing point code 60 In this case the speed sign determines the direction of movement Speed mm min A 30 000 45 000 0 pe Position mm Modulo 60 000 1000 e Shortest movement in relation to stored PREF1 position code 98 For example SMOVE AXIS_CHO 1 98 09 45000 1000 0 targets 45000 PREF 1 e In opposite direction in relation to stored PREF1 position code 68 For example SMOVE AXIS_CHO 1 68 09 45000 1000 0 targets 45000 PREF1 value while moving in direction For example SMOVE AXIS_CHO 1 68 09 45000 1000 0 targets 45000 PREF1 value while moving in direction 35006220 07 2011 151 Programming e Relative in relation to current position code 91 In this case direction of movement is determined by the X parameter sign position increment Example SMOVE AXIS _CHO 1 91 09 15000 1000 0 AXIS CHO of type T AXIS STD Speed mm min A 1000 0 pe Position mm xX X 15 000 Modulo 60 000 NOTE The value targeted by G68 or G91 is calculated in relation to the modulo 1000 PREF1 Mod ModuloValue and X 15000 Mod ModuloVal
176. ement changes will be reversed Multiplication by 1 or multiplication by 4 Multiplying by 4 increases the precision of the encoder e for any given encoder the precision will be 4 times greater e to obtain a given resolution you can use a resolution encoder which is 4 times smaller The following diagram illustrates multiplication by 4 RE corresponding to the resolution obtained by multiplication by 4 is also called equivalent resolution 35006220 07 2011 217 Configuration Absolute Encoder Parameters Screen The input interface configuration screen is used to define the characteristics of the SSI frame used by the encoder Details of input interface Input interfaces ABSOLUTE SSI ENCODER r 100 points turn fe Binary 7 Measurement inversion te Direct offset Gray Assisted offset r SSI Frame r Header r Parity No ofheaderbis 0 J P Parity bit r Status r Data No of status bits 0 a No of encoder data bits 16 7 Error bits Frame x16x OK Cancel Encoder Field Description The Encoder field is used to define the type of coding Parameter Description Direct offset or With a direct offset you must specify the offset value in encoder assisted offset points With assisted offset the offset is calculated by the module using a position value supplied by the user By default direct offset is se
177. ements by stopping after each elementary instruction step Movements without stop are thus transformed into movements with stop at the same value and speed except for instruction G21 which never stops For the G30 command the speed used is the approach speed Activating Step by Step Mode Example 1 Step by step mode is activated by setting the MOD_STEP Qr m c 19 bit to 1 The ST_IN_STEP lr m c 39 bit indicates that the mode is active or in other words that the command in progress has been modified to be executed in step by step mode A rising edge on the NEXT_STEP bit Qr m c 22 is used to start the next step Step by step execution of the following profile SMOVE 1 90 01 X1 F1 M SMOVE 2 90 01 X2 F2 M SMOVE 3 900 09 X 3 F3 M Speed Value a pi Pri D n I O E m a a 4 4 m m v kel oO oO 1 Q NEXT_STEP 0 If a movement is in progress on request to go into step by step mode the mode is entered at the start of the next movement However the mode is exited immediately even if a movement is in progress 182 35006220 07 2011 Programming Example 2 Step by step execution of the following profile SMOVE 1 90 01 X1 F1 M SMOVE 2 90 01 X2 F2 M SMOVE 3 90 01 X 3 F3 M SMOVE 4 90 09 X 4 F4 M Speed x1 Coxe x3 Ke Value l 1 I I l Q MOD_STEP i l 0 I l I 1 I l ST_IN_STEP I 0 I l l Q NEXT_STEP However if the exit mode
178. en Fault signalling OK 56 Fault foe oN NS 2157 OK_Y 35006220 07 2011 49 Introductory Example Programming the SFC At a Glance SFC allows you to program the sequential processing of the application automatic cycle processing Sequential Processing Chart description EJ Start 1 Reference point Referenced axes 2 Move to wait position Detection of a machined part 3 Move towards conveyor A ets Edge of part detected 4 Close grabber Type 1 part and grabber closed Clipe part and grabber closed Move towards Move towards conveyor B conveyor C Moving part in position Moving part in position on conveyor B on conveyor C 6 Open grabber Grabber open 50 35006220 07 2011 Introductory Example Transition Programming At a Glance Step 0 gt 1 Step 1 gt 2 Step 2 gt 3 Step 3 gt 4 The transitions associated with steps 2 3 5 and 8 are different depending on whether the SMOVE for independent axes or XMOVE for interpolated axes command is used Channel X not faulty open grab Auto_man switch set to Auto start cycle channel Y not faulty and automatic mode active NOT Error AND NOT Capteur_3 AND NOT Auto man AND Cycle AND NOT Error _y AND Mode Auto Test X axis done
179. eneration Project generation analysis and editing of links Offline Transfer Transfer project to PLC Online Adjustment Debugging Project debugging from debug screens animation Online tables Modifying the program and adjustment parameters Documentation Building documentation file and printing miscellaneous Online 1 information relating to the project Operation Diagnostic Displaying miscellaneous information necessary for Online supervisory control of the project Diagnostic of project and modules Key These various phases can also be performed in the other mode 34 35006220 07 2011 Methodology Implementation Phases with Simulator The following table shows the various phases of installation with the simulator Phase Description Mode Declaration of variables Declaration of ODDT type variables for the application Offline 1 specific modules and variables of the project Programming Project programming Offline 1 Configuration Declaration of modules Offline Module channel configuration Entry of configuration parameters Association Association of IODDTs with the modules configured Offline 1 variable editor Generation Project generation analysis and editing of links Offline Transfer Transfer project to simulator Online Simulation Program simulation without inputs outputs Online Adjustment Debugging Project debugging from debug
180. entage The bar chart is colored green and becomes red if the maximum speed is exceeded This table shows indicators for the Movement Speed field Indicator State Indication Direction Indicates that the part is moving in a positive direction Direction Indicates that the part is moving in a negative direction AT Point Lit Indicates that the movement in progress has finished and that the moving part is in the target window with INC or INC commands DONE Lit Indicates that the movement in progress has finished TH Point Lit Indicates that the theoretical setpoint has been reached Description of Axis Field This table shows the display and command zones for the Axis field LED Button State Indication OK Lit Axis in operational state no blocking fault Referenced Lit Referenced axis Stopped Lit Moving part stationary Enable This button is used to control the variable speed controller enable relay Description of I O Field This table shows the display zones for the I O field LED Indication PO Cam Signal state 0 or 1 on Reference point input Recalibration Signal state 0 or 1 on Recalibration input Event Cam Aux Signal state 0 or 1 on Event input Signal state 0 or 1 on auxiliary output 1 LED lit 0 LED off 35006220 07 2011 287 Description of Commands This table des
181. er Supply 92 35006220 07 2011 87 Implementing Connecting Counting Signals Introduction Signal Labeling Illustration To ensure position measurement the TSX CAY modules are equipped with connectors allowing direct connection of an incremental or absolute SSI encoder on each channel Each of these channels can be equipped with a different type of encoder TSX CAY modules can be connected either to incremental encoders or to SSI type encoders with serial links In configuration mode the available functions are as follows e Two types of interface are possible for the incremental encoders e RS 422 RS 485 outputs with two outputs complemented by a signal e 5V Totem Pole outputs e Absolute SSI encoder standard RS 485 interface A 15 pin SUB D connector is assigned to each channel This also allows the encoder supply These supplies are elaborated from the supply discrete HE10 connector Signal return supply encoder from the encoder allows monitoring for accidental disconnection of the encoder This diagram illustrates the principles for labeling signals SSI dala A A 9 SSI data A 1 2 0 B N o Hi Z N 2H Ls Zz H5 Ww 3 return supply of encoc CLKSSI 6 14 CLKSSI encoder supply 10 30V H7 5 5 V encoder supply encoder supply 0V 8 o
182. eration profile parameter Parameter Significance Acceleration profile Acceleration law applied to moving part By default Rectangle Acceleration Profiles The following acceleration profiles may be used Acceleration Icon Description profile Rectangle Acc t1 0 Tacc Taccrec Taccrec t Trapezoid 1 ae t2 3t1 i Tacc 1 25 Taccrec c I Trapezoid 2 ti t2 aK 7 Tacc 1 5 Taccrec ri I Tace Trapezoid 3 ti 3t2 Tacc 1 75 Taccrec 31 t l Tacc l Triangle Tacc 2 Taccrec Acc A w lacc_ t 264 35006220 07 2011 Adjustment Description of Stop Control Parameters Description of Delay Parameter This parameter describes the Delay parameter Parameter Indication Delay As soon as the speed setpoint value calculated by the module is equal to 0 the module activates a time out equal to the Delay parameter When this time out has elapsed the axis control module compares the moving part s measured speed with the stop speed By default Delay 500 ms Stop delay 0 to 10000 ms Delay 0 no control of stop fault Description of Stop Speed Parameter This parameter describes the stop speed parameter Parameter Indication Stop speed Speed at which moving part is considered to be at a stop Stop speed 0 to VMAX 10 limited to 30000 Description of Target Window Parameter This param
183. erpolation Configuration Event This field is used to select the event task associated with channel 3 Stop Axes on Fault This field is used to define the effect of a blocking fault Command Description Interpolated A blocking fault stops axes affected by the XMOVE command which is in progress All A blocking fault stops all axes which can be interpolated even if they are being used independently when the fault appears NOTE It is advised to choose the Interpolated command as a default Special Functions This command is reserved for special usage Confirming Configuration Parameters When all parameters have been configured confirm this by using the Edit gt Confirm command or by activating the icon 35006220 07 2011 375 Interpolation Configuration 376 35006220 07 2011 Adjusting Interpolated Axes 19 Subject of this Section This section describes the parameter adjustment principle for the interpolation channel channel 3 of module TSX CAY 33 accessing screens description of parameters and adjustment procedure What s in this Chapter This chapter contains the following topics Topic Page Accessing the Interpolation Adjustment Parameters 378 Acceleration Profile 381 Crossing Points 382 35006220 07 2011 377 Adjustment Accessing the Interpolation Adjustment Parameters At a Glance The adjustment screen i
184. erspeed 12 of Smax r Stop control VLim 2 000 m Bey E Flying shear Function E mode ees ETTE P 0 Target o Positioning Origin value 0 window l Task MAST 422 35006220 07 2011 Adjusting the Flying Shear Utility Step Action 2 Click on the Flying Shear button Result The following screen appears Adjust flying shear Idle position fmm Synchronization point position End synchronization position 0 mm End synchronization time delay Tool down position 0 mm Cul length on event Tool up position 0 nm Tool up time Confirm Cancel 35006220 07 2011 423 Adjusting the Flying Shear Utility Description of Adjustment Parameters Description of Screen Parameters Description of the parameters Field Description Idle position This parameter indicates the tool idle position in relation to the source point The tool is set in this position following a cut Limits S1_min S1_max Synchronization point position This parameter indicates the synchronization start position for the tool axis with the infinite axis Limits Idle position S1_max End synchronization position This parameter indicates the end synchronization position When the tool crosses this point the end synchronization time is triggered Limits Synchronization position S1_max End synchronization time delay This parameter indicates that the end synchron
185. erview of the different TSX CAY axis command modules What s in this Chapter This chapter contains the following topics Topic Page General 26 Physical Description 28 35006220 07 2011 Introduction General Introduction Terminology The axis command and controlled placement offer for Premium PLCs is designed for machines which require a simultaneous performing movement command and a sequential command by programmable controller The following modules TSX CAY 21 2 axes and TSX CAY 41 4 axes make controlled placement possible on independent linear and limited axes The modules TSX CAY 22 2 axes and TSX CAY 42 4 axes make controlled placement possible on independent circular and infinite axes The module TSX CAY 33 3 axes makes a placement on 2 or 3 synchronized axes linear interpolation possible e the term TSX CAY covers everything on the axis command offer e the reference TSX CAY 2 regroups the TSX CAY 21 and 22 modules e the reference TSX CAY 4 corresponds to the TSX CAY 41 and 42 modules These modules in standard format TSX CAY 2 or double format TSX CAY 4 and TSX CAY 33 can be installed in all the available slots of a PLC configuration TSX or PCX To ensure position measurement an encoder which may be a different type is wired onto each of the channels RS 422 485 incremental encoder 5 V Totem pole incremental encoder SSI serial absolute encoder
186. et point when the defined value is low These parameters are expressed as a thousandth of VMAX Limits 0 to 500 g Points In a linear interpolation when a succession of non stop G01 type movements are performed the concept of crossing points becomes clear For example let us assume that an ABC trajectory is required A specified speed maintained up to B on the AB segment causes an overshoot figure 1 If the speed is reduced before arriving at B then the real trajectory remains inside the ABC angle figure 2 Y Y B Figure 1 Figure 2 How to Avoid Overshooting e The natural delay following deviation of each axis is used To do this it is advised to moderate the feed forward gain adjustment KV during interpolated movements e Inasequence G01 X1 Y1 Z1 F1 followed by another sequence G01 X2 Y2 Z2 F2 if F2 is smaller than F1 the speed trajectory is modified so that the desired speed is equal to F2 at the break point 382 35006220 07 2011 Adjustment The following figure illustrates the modification of the speed trajectory so F2 speed is reached on the break point Break point Feed X1 Y1 Z1 X2 Y2 Z2 e Role of the parameter DELTASPEEDPATH The module introduces a mechanism which can reduce the speed at the point of crossing according to the requested Delta speed axial Delta speed X Y or Z The function is implemented from the point at which the VMAX can be a
187. eter describes the Target window parameter Parameter Indication Target window Tolerance for position reached by module after time out defined by the Delay parameter For a limited axis e By default Target window LMAX LMIN 100 e Limits 0 to SL_MAX SL_MIN 20 e Target window 0 no control e Foran unlimited axis e By default Target window Max modulo 100 Limits 0 to Modulo 20 35006220 07 2011 265 Adjustment Adjustment of Monitoring Parameters Parameter Adjustment Procedure To adjust monitoring parameters the following procedure must be followed Step Action 1 Enter the monitoring parameter values required then confirm 2 From the Debug screen e Select Manual mode e select a high movement speed e Move from position 1 to position 2 and vice versa To do this enter a movement value in the Param field e select Inc position 1 then Inc position 2 commands in succession The module must not become faulty Check that there are no Axis faults the DIAG button shows more detail If a fault is detected e increase the parameter values i e greater tolerances e or re adjust then adapt the loop control parameters Return to the adjustment screen and adjust the following parameters Following error 1 and Following error 2 Adjust the Stop speed and Stop delay parameters The speed must be less than Stop speed at the en
188. eters for example an invalid resolution prevents the lower and upper limits from being entered Invalid Adjustment Parameters The first time the configuration is confirmed the adjustment parameters are initialized If subsequent modifications made to the configuration values result in the adjustment parameters being incorrect an error message is displayed to signal the parameter in question For example the soft stops are incompatible Analyze error Channel 0 x CD lt Soflware stops gt parameter outside range the value 111000 is not between f and 1000 ae You must access the adjustment screen correct the invalid parameter then confirm 35006220 07 2011 243 Configuration Acknowledgment of Confirmation Your configuration has been acknowledged when e all the configuration parameters are correct e all the adjustment parameters are correct e you have confirmed everything from the main screen of the configuration editor 244 35006220 07 2011 Adjusting Independent Axes 10 Subject of this Section This section describes the principle of parameter adjustment accessing screens description of parameters and adjustment procedure What s in this Chapter This chapter contains the following topics Topic Page Preliminary Operations Prior to Adjustment 246 Adjusting the Inversion Parameter 248 Description of
189. eters cannot be modified from this screen On the other hand they can be updated using the current parameters Current Parameters Current parameters are those which have been modified and confirmed from the adjustment screen in online mode or by program via an explicit exchange These parameters are replaced by the initial parameters after a cold restart Saving Parameters NOTE It is mandatory to save adjustment parameters after they have been determined 35006220 07 2011 249 Adjustment Illustration The diagram below shows an adjustment screen 1 MOD 2 COMM AXIS CONT MOD 2 Fe tsx cay 22 Config ft Adjust B Channel 0 0 Symbol X 0 Channel 1 4 Symbol r Corrected resolution pocen loop Distance Gain 1 1000 100s Offset 0 No of points Gain 2 1000 100s ee _10 3 ASF Encoder offset ites i 500 000 of Vmax Ti 0 Positioning x Movement control Command Following error 1 o Software Hi Lirit Olin ten sili ent Task Following error 2 0 Software Lo limit 0 MAST z Recalibration position 0 Acceleration Acceleration profile Recalibration deviation 0 Vmax 7 0 ms Rectangle Bl Overspeed 2 of Vmax Stop control Slave Axis0 J VLim 0 mY Delay 500 ms Ratio r Manual mode
190. eters field In the general parameters field select the task associated with channel 3 MAST or FAST The task selected MAST or FAST must be the same for channel 3 as for the other channels affected by the interpolation If a task is different a dialog box appears during confirmation to indicate the channel number which does not have the same task as channel 3 NOTE The interpolated channel axes must be a limited type It is not possible to interpolate infinite axes If an infinite axis has been selected a dialog box will appear during confirmation to indicate that the channel number is not a limited axis type 372 35006220 07 2011 Interpolation Configuration Interpolation Parameters Configuration Screen The following screen is used to set the parameters for channel 3 BB 0 6 TSX CAY 33 E m 3 CHANNELS MOD CONT AXES A TSX CAY 33 H Config TE Adust i Channel 0 ae nr Channel 1 P lop Function Functions fe is fe B E E 4 i Channel aoe 3 axes XMove Auto mode General special r Eveni Channel 3 FET F r Stop axes on fault Upele fe Interpolated All Interpolation x Task MAST Y Channel functions 0 El amp 2 3 E 35006220 07 2011 373 Interpolation Configuration Entering Interpolation Parameters Channel Functions The general para
191. f the instruction The movement must always be an absolute movement code 90 35006220 07 2011 161 Programming Programming a Reference Point on the Fly on Event Instruction The instruction for setting a reference point on the fly on event is as follows Instruction Instruction code Icon Setting a reference point on the fly on event 21 ey The position supplied by the X parameter corresponds to the coordinate to be loaded as the current value when the source is detected The direction of movement is defined by the speed sign the direction defined by the type of source is not taken into account The G21 instruction never finishes of its own accord A STOP command Qr m c 15 must be sent to terminate this instruction According to the type of reference point chosen the reference point event is detected either during cam input or during cam and Zero Marker inputs associated with the controlled axis The type of reference point and the direction of movement are defined in the configuration Example SMOVE AXIS CHO 1 60 21 5000000 200 0 AXIS CHO of type T AXIS STD resen Cam Cam 5000000 p Time Conditions of Execution The execution conditions are as follows e the encoder must be an incremental encoder e the recalibration function is inactive e the type of movement uses a G60 instruction code 162 35006220 07 2011 Programming How to Program a Movement Stop Instruc
192. fields for XMOVE function parameters as are follows Parameter Description AXIS_CH3 IODDT type variable corresponding to channel 3 on which the function must operate Example AXIS_CH3 of type T_INTERPO_STD N_Run Movement number G9x Movement type G Instruction code SPACE Plane or Space Number X Y and Z Coordinates for Position to Reach F Moving Part Movement Speed M Event processing 35006220 07 2011 345 Programming Interpolation Description of XMOVE Function Parameters At a Glance The following parameters must be entered for programming an interpolated movement function XMOVE AXIS CH3 N Run G9 G SPACE X Y 2Z F M IODDT AXIS_CH3 is an IODDT see Unity Pro Operating Modes type variable corresponding to channel 3 of the axis control module on which the function must apply AXIS_CH3 is of type T INTERPO STD Movement Number N_Run defines the movement number between 0 and 32767 This number identifies the movement effected by the XMOVE function In debugging mode this number is used to recognize the current movement Movement Type G9_ defines the movement type Code Movement type 90 Movement to an absolute position 91 Movement to a relative position with respect to the current position 98 Movement to a relative position with respect to the stored position PREF1 To choose the movement
193. figuration Measurement Units At a Glance This field is used to choose the physical units in which position and speed measurements are expressed Proposed Measurement Units The following table shows a list of proposed measurement units To view this list press the down arrow button situated at the right of the entry field Position unit Length Speed unit microm mm min mm m min in e 10 inch in e min 10 inch min in e 10 inch in e 2 min 10 2 inch min Customized Measurement Units You can choose your own measurement units with the Length field allowing a maximum of 5 characters to be entered For example degrees You must however choose the position unit to be such that the resolution value Distance No of points is between 0 5 and 1 000 The speed unit is calculated using the formula Speed unit Position unit 1000 min NOTE You cannot choose the speed unit which results from the formula You can however modify the text For example Either an incremental encoder capable of 500 points per turn The distance corresponding to 1 turn is 2mm or 2000 microm The resolution is expressed by the ratio of 2000 500 thus in microm The resulting speed unit will be mm min see table below 35006220 07 2011 221 Configuration Hi and Lo Limits At a Glance The hi and lo limits apply in the case of a limited machine and correspond to the physical extrem
194. g part is forced to stop Indication DRV_FLT bit MWr m c 3 2 1 Remedy Eliminate the drive fault then acknowledge the fault 192 35006220 07 2011 Programming Encoder Break The following table shows the cause the signal and the solution if an Encoder break fault should occur Cause Discrepancies in information from the encoder Parameter None Result The axis stops being referenced in the case of an incremental encoder Moving part is forced to stop Indication ENC_BRK bit MWr m c 3 4 1 Remedy Reestablish the affected encoder link then acknowledge the fault NOTE When there is an encoder link fault the module stops taking measurements With an absolute encoder pulse sequences stop being sent out on the CLK line until the fault disappears and is acknowledged Analog Output Short circuit The following table shows the cause the signal and the solution if an Analog output short circuit fault should occur Cause Short circuit detected on one of the analog inputs of the module Parameter None Result Moving part is forced to stop Indication ANA_FLT bit MWr m c 3 0 1 Remedy Eliminate the short circuit then acknowledge the fault Auxiliary Output Short circuit The following table shows the cause the signal and the solution if an Auxiliary output short circuit fault should occur Cause Short circuit detected on one of the a
195. g part visually from a front panel or human machine interface terminal The commands can be accessed by the Q output bits Loop control disabled DIRDRIVE The output behaves like a digital analog converter in this mode The control loop is inoperative During adjustment this mode is used to analyze the behavior of the axis independently of the control loop Measurement OFF In this mode the channel does not check the moving part It only returns information on position and current speeds This mode is forced at start up if the axis is configured and not faulty Modes are selected e using the MOD_SELECT QWr m c 0 word or e by the debugging screen selector The following table indicates the selected mode according to the QWr m c 0 word value Value Selected mode Description 0 OFF Measurement mode analog output inhibition 1 DIRDRIVE Loop control disabled mode MANU Manual mode 3 AUTO Automatic mode For all other values of MOD SELECT the OFF mode is selected 138 35006220 07 2011 Programming Changing Mode During a Movement Changing mode while a movement is in progress DONE bit Ir m c 1 at 1 stops the moving part When the moving part is actually stopped NOMOTION bit Ir m c 8 at 1 the new operating mode is then activated NOTE Only commands concerning the current mode are examined The other commands are ignored except when an SMOVE f
196. g the Variable Using the TAP MAS Device 86 78 35006220 07 2011 Implementing Signal Labeling Process Diagram This diagram illustrates the principles for labeling signals CAY4 CAY2 CAY33 Vref0 Vrefo Vref1 Vref1 lM Vref2 Vref2 Vref3 Vref3 nc nc GND ANA GND ANA GND ANA amp amp OKOKON Male connector seen from wiring side Connecting the Speed References Four types of connection are offered wiring with TSX CAP S9 connector and cover using the TSX CDP 611 strip wiring with output on terminals with TELEFAST ABE 7CPA01 wiring with output on TAP MAS exploding device 35006220 07 2011 79 Implementing Connection Using TSX CAP S9 General The connection is made manually by soldering onto the 9 pins SUB D connector as labeled in the preceding principle diagram However checks must be carried out to ensure that the shielding is properly connected to the cable which must be correctly clamped to the cover of the connector 80 35006220 07 2011 Implementing Connection Using TSX CDP 611 Strips General This pre wired cable is made up of a SUB D 9 pin connector at one end to connect to the TSX CAY module and free wires at the other end With a length of 6m it is made up of 24 gage wires corresponding to the SUB D connector pins It enables direct connection of the equipment to the modul
197. ge in position and value This depends on the voltage positive or negative which has been defined for the analog output Analog output Position Measurement Action to be taken Positive Increase Increase None connection OK Positive Increase Decrease Invert the measurement Positive Decrease Decrease Invert the setpoint Positive Decrease Increase Invert the setpoint and the measurement Negative Decrease Decrease None connection OK Negative Decrease Increase Invert the measurement Negative Increase Increase Invert the setpoint Negative Increase Decrease Invert the setpoint and the measurement NOTE If the offset is greater than 100 mV you must first adjust it before proceeding 248 35006220 07 2011 Adjustment Description of the Axis Control Module Adjustment Screen General Points The adjustment screen is a graphic tool intended for the adjustment see Unity Pro Operating Modes of a module selected in a rack It displays the current and initial parameters associated with the channels of this module and allows these to be modified in offline and online modes Initial Parameters The initial parameters are e Parameters entered or defined by default in the configuration screen in offline mode These parameters have been confirmed in the configuration and transferred to the PLC e Parameters taken into account during the last reconfiguration in online mode These param
198. hannel EXCH RPT SMWr m c 1 is e Rank 1 bits are associated with the command parameters e The CMD_IN_ PROGR bit sMWr m c 0 1 indicates whether command parameters are being sent to the module channel e The cMD ERR bit sMWr m c 1 1 specifies whether the command parameters are accepted by the module channel e Rank 2 bits are associated with the adjustment parameters e The ADJ_IN_PROGR bit sMWr m c 0 2 indicates whether the adjustment parameters are being exchanged with the module channel via WRITE PARAM READ PARAM SAVE PARAM RESTORE PARAM e The ADJ_ERR bit sMWr m c 1 2 specifies whether the adjustment parameters are accepted by the module If the exchange is correctly executed the bit is set to 0 e Rank 15 bits indicate a reconfiguration on channel c of the module from the console modification of the configuration parameters cold start up of the channel e Ther mand c bits indicates the following elements e ther bit represents the rack number e The m bit represents the position of the module in the rack e The c bit represents the channel number in the module NOTE r represents the rack number m the position of the module in the rack while c represents the channel number in the module NOTE Exchange and report words also exist at module level EXCH STS SMWr m MOD and EXCH_RPT 3MWr m MOD 1 as per IODDT type T GEN MOD 35006220 07 2011 313
199. he event of short power breaks It is recommended that you use regulated supplies to ensure more reliable response times from the actuators and sensors The 0 V supply must be linked to the protective ground connection as near to the supply output as possible 35006220 07 2011 75 Implementing 6 2 Select an Encoder Choice of Encoders Output Snterface Encoder supply The output interfaces of incremental encoders or pulse generators are e RS 422 485 standard output two push pull outputs complemented by the signal e 5V Totem pole output two complementary push pull outputs Absolute SSI serial encoders have a standardized RS 485 interface for clock and data signals We recommend an encoder with opto type CLOCK signal input stage Different types of encoders can be connected onto the same module For example an incremental encoder on channel 0 and an absolute SII encoder on channel 1 The module is designed to supply encoders with 5 V or 24 V Mixing supply voltages is possible on all module channels Incremental encoders usually have a 5 V supply Absolute SSI encoders have a 24 V 10 30 V supply 5 V encoder supply maximum drop in voltage In this case there is reason for taking the on line voltage drop into account This drop depends on cable length and encoder consumption for a given wire gauge Example for a 100m long cable Section of the wire Drop in voltage for a 100m long cab
200. he principle is to add an additional continuous action which is updated during stop phases The integral action is expressed in ms in the interval 100 5000 ms By default the value 0 indicates that there is no integral action 260 35006220 07 2011 Adjustment Description of Movement Control Parameters Description of Following Error Parameters This table describes the following error parameters Parameter Indication Following error 1 Moving part stopped by critical deviation between calculated position setpoint and measured position of moving part By default Following error 1 LMAX LMIN 100 Critical error 0 to SL_MAX SL_MIN 4 Following error 1 0 no control Following error 2 Deviation between calculated position setpoint and measured position of moving part which only causes a fault to be signalled By default Following error 2 LMAX LMIN 100 Preventive error 0 to SL_MAX SL_MIN 4 Following error 2 0 no control Description of Recalibration Parameters This table describes recalibration parameters Parameter Indication Recalibration position Value that measured position must have during a recalibration event By default Recalibration position LMAX LMIN 4 LMIN if it is a configured recalibration function Limits SL_MIN TW to SL_MAX TW where TW tolerance for target window control Recalibration position 0 no control
201. he program e the Configuration parameters and saved Adjust parameters 35006220 07 2011 295 Debugging 296 35006220 07 2011 Operation 12 Human Machine Interface Design Button Box To design a simple or complex button box commands and elementary information are available in the form of bits command and status words and bits 35006220 07 2011 297 Operation 298 35006220 07 2011 Diagnostics and Maintenance 13 Subject of this Section This section describes the procedure to follow when encountering various possible situations symptoms diagnostics and action to be taken What s in this Chapter This chapter contains the following topics Topic Page Fault and Command Executability Monitoring 300 Diagnostics Help 301 35006220 07 2011 299 Diagnostics and Maintenance Fault and Command Executability Monitoring Fault Monitoring There are several ways of detecting a possible fault Movement Commands LEDs on the module front panel Diagnostic screens which can be accessed by the DIAG key in online mode from all the application specific axis control module screens Debug screens Fault bits and status words The following conditions must be fulfilled in order to execute movement commands in automatic or manual mode The axis is configured and is without a blocking fault The speed controller validation command ENABLE Qr m c
202. her adjustments then acknowledge the fault The following table shows the cause the signal and the solution if a Target window fault should occur This is a non blocking fault and can be deactivated Cause When a movement to a position with stop is requested the module checks that the position reached corresponds to the requested position according to the theoretical stop using a tolerance that you defined in the parameter TW Setpoint TW lt measurement lt Setpoint TW If this parameter is equal to 0 the check is inhibited Parameter TW MDr m c 49 target window Result If the moving part is not in the target window the fault is signaled Indication TW_FLT bit MWr m c 3 13 target window fault Remedy Check the control loop then acknowledge the fault The following table shows the cause the signal and the solution if a Recalibration fault should occur This is a non blocking fault and can be deactivated Cause During a recalibration event the error between the current position and the recalibration reference value is higher than the recalibration threshold The check is inhibited if you have chosen the Recalibration function missing configuration parameter Parameter RE_WDW MDr m c 51 recalibration deviation threshold RE_POS MDr m c 43 recalibration reference value 196 35006220 07 2011 Programming Result If the deviation exceeds the
203. hucking event if the Tool up on event box is checked If the Tool up on event box is checked and the expected tool deactivation event does not occur the Tool up time will be triggered on the way to the Tool up position Upon ordering STOP Qr m 1 15 the tool rechucks immediately without any time delay The axis begins to stop after the Tool up time If this time delay is zero a value of 4ms is used During a SMOVE with G22 command when the InhibTool Qr m 1 21 command is at 1 the auxiliary output is forced to 0 Therefore the tool remains chucked regardless of the cart s position If the tool was low it is immediately rechucked without using any time delay If the Tool up on event box is checked the EXT_EVT Qr m 1 10 command allows the tool to be rechucked before waiting for the Tool up position 420 35006220 07 2011 Adjusting the Flying Shear Utility P 5 Aim of this Chapter This chapter describes the adjustment screen for the Flying Shear utility channel 1 of the TSX CAY 22 module V2 0 onwards along with the associated parameters What s in this Chapter This chapter contains the following topics Topic Page How to Access the Adjustment Screen for the Flying Shear Utility 422 Description of Adjustment Parameters 424 Applications to Various Cut Types 426 Memorandum for the Flying Shear Utility 428 35006220 07 2011 421 Adjusting the Flying Shear U
204. ibition of CNA output 1 DIRDRIVE Loop control disabled mode direct voltage command 2 MANU Manual mode 3 AUTO Automatic mode 35006220 07 2011 321 Internal Status Objects Implicit Exchanges of the IODDT of Type T_AXIS_STD List of Objects with Implicit Exchanges The tables below presents the internal objects implicit exchanges of the IODDT of the T AXIS STD E E type Standard symbol Type Access Description Number CH_ERROR EBOOL R Channel fault lr m c ERR NEXT EBOOL R Ready to receive a new movement command in AUTO lr m c 0 DONE EBOOL R All instructions are executed no instructions in the stack lr m c 1 AX_FLT EBOOL R Fault present on axis lr m c 2 AX_OK EBOOL R No fault causing moving part to stop lr m c 3 HD_ERR EBOOL R Hardware fault present lr m c 4 AX_ERR EBOOL R Application fault present lr m c 5 CMD_NOK EBOOL R Command refused lr m c 6 NO_MOTION EBOOL R Moving part stationary lr m c 8 AT_PNT EBOOL R Moving part position on target in the point window on lr m c 9 instruction with stop TH_PNT EBOOL R Theoretical setpoint reached lr m c 10 CONF_OK EBOOL R Configured axis lr m c 12 REF_OK EBOOL R Reference point taken axis referenced lr m c 14 AX_EVT EBOOL R Recopy physical event inputs lr m c 15 HOME EBOOL R Recopy CAME physical input of module reference point lr
205. ible to stop animation in the display zones e The Utilities Stop Animation command stops animation in the display zones and inhibits the command buttons This function can also be carried out by using the icon vA e The Utilities Animate command reactivates animation The following icon can also be used vA 278 35006220 07 2011 Debugging Description of Debug Screens At a Glance The debug screens have a common part as seen below BH 0 5 TSX CAY 21 Bee 2 CHANNELS MOD CONT AXES Version 25 E 10 r Run Err lO Channel 0 tee Channel 1 H Config FES Adjust ON or Y Function sition contro Task MAST Auto Drive Module Field This table describes the module zone LED State Indication RUN Lit Module in operation ERR Lit Module inoperative Blinking Communication fault VO Lit External hardware fault e g encoder variable speed controller outputs DIAG Lit Faulty module On pressing the associated tab a module diagnostics window will appear to indicate the source of the fault 35006220 07 2011 279 Channel Field In addition to the Axis choice and Function fields common to all screens this zone includes the following commands and LEDs Command Function Manu Operating mode selector button If y
206. ice is installed either on an AM1 PA type perforated board or ona DIN rail with an LA9 D09976 fixation board with two M3x8 or M3x10 screws AM1 DE ED 35006220 07 2011 85 Implementing Connecting the Variable Using the TAP MAS Device General Illustration The NUM MDLA modular variable speed controllers can be connected to the TSX CAY module using the TSX TAP MAS connection device Installation is simplified by using predefined cables and the connection device which simply directs the voltage references to the different axes This diagram illustrates the principle for connection using the TAP MAS connection device Modular variable NUM MDLA TSX CAY TSX CXP 223 Cables TSX CXP 223 length 2 5 m TSX CXP 213 length 2 5 m TSX CXP 213 613 TSX CXP 613 length 6 m male SUB D 9 pin male TSX CXP 223 SUB D 25 pin 1 Vref F 5 Vref 6 Vref i 18 Vref 5 GND ANA 6 GND ANA SUB D 9 pin male TSX CDP 611 black ref 1 Vref blue tref 6 Vref brown GND ANA 5 GND ANA shielding 86 35006220 07 2011 Implementing 6 4 Connecting the Counting Signals Subject of this Section This section deals with the connection of counting signals What s in this Section This section contains the following topics Topic Page Connecting Counting Signals 88 Connecting an Incremental Encoder 90 Connecting an Absolute SSI Encoder 91 Connecting the Encod
207. in progress is an instruction with stop activating the PAUSE command in the debugging screen in automatic mode or setting the PAUSE Qr m c 16 bit to 1 puts the module in waiting status after the instruction in progress is finished movement sequencing stopped The movements without stop are stopped when they are terminated by reaching the soft stop By successively activating and deactivating the PAUSE command it is thus possible to execute block to block movements in order to facilitate debugging Synchronizing Several Axes Using the program to set the PAUSE bit Qr m c 16 for each axis at 1 after the instruction in progress is complete puts the module in waiting status When the PAUSE bit is reset to 0 the module continues carrying out the instructions 180 35006220 07 2011 Programming Example Execution of the movement of moving part 1 is stopped when moving part 0 reaches position 100000 Movement is reactivated when moving part 0 reaches 500000 IF X_POS gt 100000 THEN SET PAUSE i IF X_POS gt 500000 THEN RESET PAUSE Speed mm min 100000 500000 0 Moving part Z PAUSE Bit axis 1 ca Moving part 1 7 3 Time NOTE The PAUSE command is only processed when AUTO mode is active and when the position tracking functions are inactive 35006220 07 2011 181 Programming Step by Step Mode At a Glance This mode is used to execute a sequence of mov
208. ing in the module to be completed e Send a Pause order to allow the current cut to be completed without moving on to the orders queuing in the module e Send a STOP order when the G22 is waiting lr m 1 44 35006220 07 2011 419 Programming the Flying Shear Utility The Feed hold command via the CMV command reset is ineffective The CMV alteration is ignored during the SMOVE with G22 command Only the current CMV value present from the start of the command is taken into account A blocking fault on channel 1 stops the cart by exiting the synchronization status axis where it is NOTE Alterations to your own parameters for the flying shear are only adapted when the cart is at the rest point Comment Detailed editing of the SMOVE with G22 instruction is not currently possible Tool Output Operating Mode In manual mode this is the strict copy of the AUX_OUT Qr m 1 11 output bit In automatic mode it is set by the M parameter for ALL instructions with a G code During a G22 code instruction the status depends upon e The current position of the cart e The parameters Tool down position Tool up position Tool up time e The InhibTool Qr m 1 21 command Tool descent always takes place on the Tool down position without the use of a time delay The tool rechucking takes place on a position after the Tool up time The position is set either by the Tool up position on the adjustment screen or by the tool rec
209. ingle digit Code reading is therefore made with no ambiguity 432 35006220 07 2011 Glossary Incremental encoder pulse generator with 2 signals offset to 90 These are produced according to the axis movement and are counted by the module Independent multi axis Infinite machines Interpolation ISO Limited machine Movement law is applied to each axis independently Axes depart simultaneously movement speed is a setpoint speed movement time depends on the distance to be covered the axes do not arrive at the same time movement through space is ordinary The aim is to arrive at the arrival address as quickly as possible without constraining the trajectory The moving part moves continually between the value 0 and the modulo limit for example a conveyor belt Allows 2 or 3 axes to be linked so that movements can be made two or three dimensionally International Standard Organization The ISO code is the most used code The transmission rules formats and symbols are ISO standards AFNOR is a member of ISO L The moving part moves between two upper and lower limits in two directions 35006220 07 2011 433 Glossary Machine source Mechanical cam Modulo Movement law M Dimensioning reference for the machine axis Mechanical shoulder fixed to an axis which activates a sensor indicating the end of the moving part s journey Domain of evolution for measuring an infinite axis
210. inning of each cutting cycle the module stringently checks that the numerator product for the Movement ratio with the KO numerator and then the denominator product for the Movement ratio with the KO denominator are both less than 2 The module also checks that the KO ratio is between 0 01 and 5 If this is not the case an error code is returned Adjustment of DMAX2 Parameter If the Flying Shear utility is activated and in automatic mode the DMAX2 parameter becomes the controlling parameter for the following error between the cart and the source control point This monitoring is only active when the synchronizing phase is ignored by the other phases Adjustment of the Acceleration profile Parameter During a G22 instruction the synchronizing acceleration phase 1 is always realized using a rectangular acceleration profile which is independent of the acceleration profile selected on the Adjustment screen Adjusting the Ti gain When the Flying Shear utility is activated the Ti gain adjusted in the Adjustment screen is active at idle and also during the phase 2 of the moving part synchronization 35006220 07 2011 425 Adjusting the Flying Shear Utility Applications to Various Cut Types Parallel Axes Axes with Angles The product feed axis is parallel to the cart feed axis The cutting tool moves perpendicularly to the product feed axis either by rotating or on a linear axis Tool carrier cart Tool Hz Cart axis
211. ion Idle position Only the SMOVE with G22 instruction saves the control source point to memory All other instructions or mode changes erase this memory If there is no control source point in the memory upon the next SMOVE with G22 instruction the new control source point is equal to the conveyor belt position at the point at which the instruction was received plus the length of the Dist cut passed to parameters Dynamic Condition for Refusing Command A command is refused if When starting the tool the module states Either the belt speed is too great in relation to the Vmax cart speed or the synchronization distance is more than the distance between the synchroni zation point and the rest point 35006220 07 2011 Programming the Flying Shear Utility Warning on SMOVE with G22 Value exceeded A warning is generated if the module states when receiving the SMOVE with G22 instruction e Either that the belt is too close to the control source point to cut in which case the module will calculate a new control source which will allow cutting with the following formula New control source point n Dist last control source point where n is the smallest whole number which allows the cutting cycle to be implemented e Or that the control source point has been exceeded in which case the FAIL_CMD_AUTO_COTE_DEPASSE 0x0042 Warning is given to the PLC at the beginning of the execution of G22 Long C
212. ion into account Param Used to enter setpoint value from 9000 mV to 9000 mV Command Applies the value entered into the Param field to the analog output Auxiliary output Sets auxiliary output to 1 or 0 284 35006220 07 2011 Debugging Description of Faults Field This table shows the display and command zones for the Faults field acknowledges all faults which have disappeared LED Button State Indication Command Refused Lit Last command refused Hardware Lit External hardware fault e g encoder variable speed controller outputs etc Axis Lit Application fault e g following error software limits etc Ack Fault acknowledgment button Activating this button 35006220 07 2011 285 Debugging Manual Mode Manu At a Glance Manual mode is used to directly control the movement of a moving part from the debug screen To do this the JOG JOG INC commands must be used E 0 5 TSX CAY 21 2 CHANNELS MOD CONT AXES ie a E Conio Acusi E Or AD Avo A Manu V de dive AY E iid anne A Movement um Speed mm min r Axis ro Function Current Target Following error OK osition contro Ms 0 0 0 Direction PO Cam Task F 0 0 AT point CA Rees Recalibrati
213. ites and Methodology 0 eee eee eee eee Declaration of Variables Used in the Example Programming the Preliminary Processing 0ee eee Programming the SFC 0 0 0 c ee tees Transition Programming 0 0 e eet eee Action Programming 0 n a teens Programming the Post processing eee eee eee eee TSX CAY Module Configuration 0 0 00 c eee eee Interpolator Configuration s sssaaa aaea Parameter Adjustment 0 0 0 c eee eee tees Using Manual Mode 0 00 eee eee tees Debugging 2 2 1h hein ee ea eee ES Soe wie ae SAVINGiA tere rh he tae ENE EEE E ahs Magen oe Tee E EE EE 35006220 07 2011 Part Il Chapter 6 6 1 6 2 6 3 6 4 6 5 6 6 6 7 TSX CAY Axis Command Modules Implementing aes on SG Bae ate dcetsa wim inate Sead in ae Some General srn aint int ae coe ai 3 aaah ae Geisha teste hn alt alata dager Standard Configuration Required 00 00 e eee eee eee Installation Procedure 0 0 eee ett tees General Precautions for Wiring 0 000 cece eee Select an Encoder 0000 e eee eens Choice of Encoders 0 ipaa aiea i a aeiia tenes Connecting Speed Reference Signals 00000e0e Signal Labeling tes encase phe bee Ree ee din BY Oe ae Connection Using TSX CAP S9 0 cee ee Connection Using TSX CDP 611 Strips
214. ith the connection of sensors pre actuators and supply modules without a variable speed controller What s in this Section This section contains the following topics Topic Page General 103 TELEFAST Connection and Wiring Accessories 105 Availability of Signals on TELEFAST 106 Example of Connecting Sensors to the Auxiliary Inputs and Their Supply 107 Correspondence Between TELEFAST Terminal Blocks and Module HE10 108 Connector Connection Using TSX CDP 301 or 501 Strips 110 Wiring precautions 111 102 35006220 07 2011 Implementing General Introduction The TSX CAY modules integrate basic inputs outputs which ensure complete functioning of the movement command as well as ensuring the encoder supply Signal Labeling The connector is a high density HE10 TSX CAY B C gy o o OV supptyinpu of encoders channels channels ne 01i I oi EEST pee e eae ns Auxiliary inputs channel channel i 13 0 2 i ae Auxiliary inputs channel channel 3 1 3 PURPN i ehannel channel nc Reflex output poa 2 hannel ne Reflex output ae I an D ov Supply input enannels channels 24v 103 Go ov ofsensors 0 1 23 i TSX CAY 2 module Channels 0 and 1 TSX CAY 4 module Channels 0 1 2 and 3 TSX CAY 33 module Channels 0 1 and 2 The auxiliary inputs outputs are allocated the following functions 10 cam reference point input
215. ith the mode in progress or where at least one of the parameters is not valid These faults are indicated by the Refus Cde LED on the debugging screens At channel level the DIAG key can be used to identify the source of the command refused fault This information can also be accessed by the program with the CMD_NOK lr m c 6 bit and CMD_FLT MWr m c 7 word Command Refused The following table shows the cause indication and the remedy in the event of a Command Refused fault Cause Unauthorized movement command Transfer of faulty configurations or parameters Parameter None Result Immediate stop of movement in progress Buffer memory which receives movement commands in automatic mode is reset to 0 Indication CMD_NOK bit lr m c 6 Movement command refused CMD_FLT mot MWr m c 7 type of fault detected e Least significant byte movement commands e Most significant byte configuration and parameter adjust Remedy When a new command is received and accepted acknowledgement is implicit Acknowledgment is also possible via the ACK_DEF Qr m c 8 command NOTE For movement sequences in automatic mode it is advisable to make the execution of each movement conditional upon the end of the previous movement and the AX_FLT lr m c 2 bit This will prevent the program moving on to the following command should the present command be refused 35006220 07 2011 199 Programming Managi
216. ities of the axis These limits are themselves limited according to the value of the chosen resolution TSX CAY 1 Modules Graphic presentation During Axis configuration Physical limits of the axis Minimum lo Maximum lo Minimum hi Maximum hi physical limit physical limit physical limit physical limit Lo physical format gt 2 8 resolution ee Lo software format gt 2 resolution Software lo limit Software hi limit During Axis adjustment Axis soft stops Restrictions Determining the physical limits depending on the association of an encoder with the CAY 1 module Take the smallest absolute value of the encoder or the CAY 1 module Encoder type Incremental Absolute encoder TSX CAY 1 encoder Minimum lo physical limit 16 108 resolution 16 10 resolution 225 108 Maximum lo physical limit 0 0 0 Minimum hi physical limit 0 0 0 Maximum hi physical limit 46 108 resolution 16 108 resolution 27 25 108 Where n number of encoder bits 222 35006220 07 2011 Configuration The values to be entered should respect the following equations e Minimum lo physical limit Software lo limit Maximum lo physical limit _ 0 E Minimum hi physical limit Software hi limit Maximum hi physical limit e Minimum lo physical limit z Entry value of the lo ph
217. ity e between contacts and between channels e between contacts and ground connection 300 VAC per min 1000 VAC per min 130 35006220 07 2011 Characteristics and Maintenance 7 2 View of the module status Module Display General Diagnostic Table The TSX CAY 2 4 and 33 modules are provided with LEDs used to display the state of the modules and channels e Module state LEDs RUN ERR I O Three LEDs located on the front panel of the module provide information about the module s operation through their state LED off blinking or lit e RUN LED indicates the operating state of the module e ERR LED indicates an internal module error e I O LED indicates an external error e Channel state LEDs CH The TSX CAY 2 4e and 33 modules have 2 3 or 4 LEDs which are used to display and diagnose the state of each channel These LEDs are green This table shows the diagnostics of the module according to the state of the LEDs Lit Blinking amp Off Q e wiring fault Encoder supply and 10 30 V supply fault e absolute encoder error RUN Module normal Module switched off or experiencing a fault ERR Internal module error Communication error No error module has broken Application missing down invalid or experiencing a fault during execution 1 0 External module error No error 35006220 07 2011 131 Characteristics and M
218. ization time delay and sets the synchronization period after crossing the end synchronization position or activating the synchronization end input RECAL Limits 0 10000 units ms Tool down position This parameter indicates the tool down position which takes place in the direction of travel Limits Idle position S1_max Cut length on event This parameter indicates the length relative to the captured value at the moment of event processing when cutting on event Limits 0 S1_max Tool up position This parameter indicates the tool up time activation position which takes place in the direction of travel Limits Down position S1_max Tool up time This parameter indicates the delay time for rechucking the tool and sets the period for the lowered tool after crossing the tool up position Comment If STOP is ordered on the tool carrier and the tool is activated this time is discounted before the axis stops Limits 0 10000 units ms 424 35006220 07 2011 Adjusting the Flying Shear Utility Adjustment of KO parameter In the configuration screen if Angle Variable has been validated the KO parameter can be modified by the application This parameter shares channel 0 and does not appear in any entry screen Initialization and modification are performed by using the MDr m 0 65 MDr m 0 67 variables and the WRITE_PARAM Chr m 0 65 and WRITE_PARAM Chr m 0 67 instructions At the beg
219. l e the end of cutting sensor input if necessary in the application e the end of synchro sensor input if necessary in the application NOTE If necessary channel 0 can support the event cutting sensor input If the utility is not used the module is totally compatible with preceding versions 408 35006220 07 2011 Configuring the Flying Shear Utility 23 Aim of this Chapter This chapter describes the configuration screen for the Flying Shear utility channel 1 of the CAY 22 module V2 0 onwards along with the associated parameters What s in this Chapter This chapter contains the following topics Topic Page How to Access the Configuration Parameters for the Flying Shear Utility 410 Description of Configuration Parameters 412 35006220 07 2011 409 Configuring the Flying Shear Utility How to Access the Configuration Parameters for the Flying Shear Utility Preliminaries Channel 1 is dedicated to the limited tool carrier axis Before executing a program consisting of a flying shear instruction channel 0 should be configured as an infinite machine It is advisable to enter the maximum value authorized into the modulo so that the
220. l 2 E H Config H Adjust H Channel3 gt 3 3 ti Acceleration profile Crossing point TER c X Speed Delta 071000 of VMax TER Y Speed Delta 0 71000 of VMax Interpolation i Z Speed Delta 011000 of VMax Task MAST o Channel functions 4 m 2 3 m fal Description The following tables presents the various elements of the adjustment screen and their functions Address Element Function 1 Tabs The tab in the foreground indicates the current mode Adjustment in this example Each mode can be selected by the corresponding tab The available modes are e Adjustment e Configuration e Debugging or Diagnostics accessible only in online mode Module zone Shows the abbreviated title of the module 35006220 07 2011 379 Adjustment Address Element Function 3 Channel field Is used e By clicking on the reference number to display the tabs e Description which gives the characteristics of the device e 1 0 Objects see Unity Pro Operating Modes which is used to presymbolize the input output objects e Fault which shows the device faults in online mode e To select the channel e To display the Symbol name of the channel defined by the user using the variable editor General parameters field Allows you to choose the axis control function and the task associated with the channel e Function axis contro
221. l function among those available for the modules involved Depending on this choice the headings of the configuration zone may differ By default No function is configured e Task defines the MAST FAST or AUX0 1 task in which the explicit exchange objects of the channel will be exchanged Adjustment field This field allows you to define the various values of the adjustment parameters 380 35006220 07 2011 Adjustment Acceleration Profile Description of Acceleration Profile Parameter The acceleration law is common to all the interpolated axes Parameter Indication Acceleration profile Acceleration law applied to moving part This law common to all the axes affected by an interpolated movement replaces the current axis parameter during the movement By default Rectangle Acceleration Profiles The following acceleration profiles see page 263 can be used e Rectangle e 1 2 or 3 trapezoid e Triangle 35006220 07 2011 381 Adjustment Crossing Points Description of Spee Processing Crossin Overshooting d Delta Parameters These 3 parameters one parameter for each interpolated axis are used to set Adjustment Meaning Speed Delta X Variation of speed allowed on crossing points for each axis The Speed Delta Y speed adjustment for the moving part at the crossing point Speed Delta Z allows the moving part to pass closer to the targ
222. l stack error 36 24 Sequence control error 37 25 SMOVE G30 command error 1 38 26 Change to next step error 48 30 Insufficient command DIRDRIVE command error 64 40 SMOVE G01 G11 command error already in position 80 50 SMOVE G30 command error already in position 81 51 SMOVE G30 command error change in direction 1 Indicates that one of the SMOVE function parameters is not compliant Examples Faulty movement type code position outside soft stop speed above VMAX etc 334 35006220 07 2011 Details of the Language Objects of the T GEN_MOD Type lIODDT At a Glance Observations List of Objects All the modules of Premium PLCs have an associated IODDT of type T_GEN_ MOD e In general the meaning of the bits is given for bit status 1 In specific cases an explanation is given for each status of the bit e Not all bits are used The table below presents the objects of the IODDT only Standard symbol Type Access Meaning Address MOD_ERROR BOOL R Module error bit lr m MOD ERR EXCH_STS INT R Module exchange control word MWr m MOD 0 STS_IN_PROGR BOOL R Reading of status words of the module in MWr m MOD 0 0 progress EXCH_RPT INT R Exchange report word MWr m MOD 1 STS_ERR BOOL R Fault when reading module status words MWr m MOD 1 0 MOD_FLT INT R Internal error word of the module MWr m MOD 2 MOD_FAIL BOOL R I
223. le Encoder consumption 50 mA 100 mA 150 mA 200 mA Gauge 28 0 08mm 1 1V 2 2V 3 3V 4 4 V Gauge 22 0 34mm 0 25 V 0 5V 0 75 V 1V 0 5 mm 0 17 V 0 34 V 0 51 V 0 68 V 1 mm2 0 09 V 0 17 V 0 24 V 0 34 V 76 35006220 07 2011 Implementing Shielding 24 V encoder supply This type of encoder is recommended because it does not need a precise supply 10 V 30 V When there is a 24 V supply these encoders make it possible to have a very large cable which makes the voltage drop in the cable rather insignificant This is the case for SSI serial link encoders NOTE If a 24 V absolute SSI serial encoder is used it is not necessary to connect the 5 V supply To ensure good working order in the case of interference an encoder whose metal casing is grounded by the connected device must be chosen The encoder must ground the connection cable shielding 35006220 07 2011 77 Implementing 6 3 Connecting Speed Reference Signals Subject of this Section This section deals with the connection of speed reference signals What s in this Section This section contains the following topics Topic Page Signal Labeling 79 Connection Using TSX CAP S9 80 Connection Using TSX CDP 611 Strips 81 Connection of Terminals with the TELEFAST Pre wiring System 82 Correspondence Between the SUB D Connector Pins and the TELEFAST 84 Terminals TAP MAS Connection Device 85 Connectin
224. learning for 16 dimensions 50 a a a STEP 50 ee e lt memorizes SMW99 with a view to using it as a limit SMW98 SMW99 lt Initializes the index during the learning phase SMW99 1 TRANSITION X50 gt X51 35006220 07 2011 303 Additional Functions RE 12 0 STEP 51 ACTION ON ACTIVATION lt brings the index up to date SMW99 SMW99 1 lt positions learning D200 MW99 X POS TRANSITION X51 gt X52 SMW99 lt 16 RANSITION X51 gt X53 SMW99 gt 16 RANSITION X53 gt X50 RE 12 1 RA R RA R oe NSITION X52 gt X51 NSITION X52 gt X50 Using Dimensions This graph is used to program the utilization of 16 dimensions 304 35006220 07 2011 Additional Functions STI Fl P 42 ACTION ON ACTIVATION lt initializes SMW97 as the execution index ole W97 1 TRANSITION X42 gt X43 UR STI Fl E 12 2 P 43 ACTION ON ACTIVATION lt increments th xecution index ole W97 SMW97 4 1 lt executes the following segment lS OVE AXIS_CH0 MW97 KW8 KW1 MD200 sMW97 150000 0 A KWB8 90 movement in the absolute value KW1 09 go to point with break bb Hd NI TRANSITION X43 gt X46 EXT AND sMW97 lt SMW98 AND NOT
225. lected Binary or Gray These selection buttons are used to define the code used by the encoder binary code or Gray code binary code by default Measurement This parameter defines the measurement inversion in other words inversion it defines direction in which the measurement changes for a given encoder rotation direction This parameter is inaccessible from an infinite machine 218 35006220 07 2011 Configuration Description of SSI Frame Field The SSI frame field is used define the characteristics of the frame Parameter Description No of header bits Number of frame header bits not significant 0 to 4 0 by default No of encoder data Number of frame data bits for the modules bits TSX CAY 21 41 16 to 25 16 by default TSX CAY 2 33 12 to 25 12 by default No of status bits Number of frame status bits 0 to 3 0 by default If you choose a number of bits other than 0 it will give access to the error bit and its position Position 1 to 3 in the status bits zone Presence of parity bit Presence or absence of parity bit absence by default If this box is checked you can define the type of parity even or odd If you select odd parity the module will no longer perform the parity check and the parity bit will be managed as a status bit Frame Redisplays the characteristics defined for the SSI frame Frame XXX X18X xxxP A AAA 1 2 34 Addresses 1 number of heade
226. m c 1 report NOTE Depending on the localization of the module the management of the explicit exchanges SMWO 0 MOD 0 0 for example will not be detected by the application e For in rack modules explicit exchanges are done immediately on the local PLC Bus and are finished before the end of the execution task So the READ_ STS for example is always finished when the sMWO 0 mod 0 0 bit is checked by the application e For remote bus Fipio for example explicit exchanges are not synchronous with the execution task so the detection is possible by the application The illustration below shows the different significant bits for managing exchanges Reconfiguration bit 15 Adjustment bit 2 Command bit 1 y Status bit 0 EXCH_RPT MWr m c 1 EXCH_STS MWr m c 0 Status parameters READ_STS Command parameters WRITE_CMD WRITE_PARAM Adjustment parameters READ_PARAM SAVE PARAM RESTORE PARAM 312 35006220 07 2011 Description of Significant Bits Each bit of the words 1 EXCH STS sMWr m c 0 and associated with a type of parameter e Rank 0 bits are associated with the status parameters e The STS _IN_ PROGR bit sMWr m c 0 0 indicates whether a read request for the status words is in progress e The STS ERR bit sMWr m c 1 0 specifies whether a read request for the status words is accepted by the module c
227. m c 16 DIRECT EBOOL R Indicates direction of movement lr m c 17 IN_REC EBOOL R Recopies recalibration input on the fly lr m c 18 IN_DROFF EBOOL R Measurement mode active lr m c 20 IN_DIRDR EBOOL R Loop control disabled mode active lr m c 21 IN_MANU EBOOL R Manual mode active lr m c 22 IN_AUTO EBOOL R Automatic mode active lr m c 23 ST_JOG_P EBOOL R Unlimited movement in direction in progress lr m c 26 ST_JOG_M EBOOL R Unlimited movement in direction in progress lr m c 27 ST_INC_P EBOOL R Incremental movement in direction in progress lr m c 28 ST_INC_M EBOOL R Incremental movement in direction in progress lr m c 29 ST_SETRP EBOOL R Manual reference point in progress lr m c 30 ST_DIRDR EBOOL R Loop control disabled movement in progress lr m c 31 IN_INTERPO EBOOL R Interpolated movement in progress lr m c 32 ON_PAUSE EBOOL R Movements sequence suspended lr m c 33 322 35006220 07 2011 Standard symbol Type Access Description Number IM_PAUSE EBOOL R Movement suspended PAUSE imm diate lr m c 34 IN_SLAVE EBOOL R Setpoint in progress 0 axis position lr m c 36 IN_EXT_CMD EBOOL R Setpoint in progress processor setpoint lr m c 37 ST_IN_STEP EBOOL R Step by step mode in progress lr m c 39 DRV_ENA EBOOL R Speed drive enable output image lr m c 40 IN_AUXO EBOOL R AUXO output image lr m c 41 OVR_EVT EBOOL R Event overrun
228. m type of reference point setting in direction or direction with zero latch if all the cam is covered without detecting any zero latches the axis stops at the output of the cam and an error is signaled The axis goes into a non referenced state 240 35006220 07 2011 Configuration Recalibration Introduction This function is used to compensate for a possible slip in the measurement if the encoder used is an incremental encoder Each time the moving part passes in front of the detector the measurement is recalibrated to the specified value Recalibration Function The recalibration possibilities are as follows Possibilities Recalibration Icon function Recalibration function missing Inactive Recalibration function and error on threshold Active overshoot 35006220 07 2011 241 Configuration Masking of Faults At a Glance With a TSX CAY 2 or TSX CAY 33 module it is possible to individually mask 4 of the 8 external faults hardware during channel configuration MSK_HDERR parameter Mask Faults Screen The Mask faults screen is used to define the faults that you would like to mask Mask faults Enable Faults Maskin Speed controller fault 4 maske Encoder supply fault Emergency stop fault 24 V Power supply faul The 4 faults that you can mask are as follows Fault Associated parameter Speed contr
229. meters in the adjustment screens then confirm in order to send the parameters to the axis control module Initial Operation This operation involves entering a forced reference point in Manual mode The forced reference point allows there to be a referenced axis from start up and thus enables the following checks and functions e software limits e clearing outside software limits NOTE Operation will only be correct if the direction of the moving part is the same as that of the measurement Forced Reference Point Procedure To create a forced reference point carry out the following operations Step Action Select the TSX CAY Debug screen Select Manual mode 54 Acknowledge faults using the Ack command AJON Using an external device measure the position of the moving part in relation to the reference point cam approximate measurement 5 Create a forced reference point e enter the measured value with its sign as the source position value in the Param field e select the Forced reference point command 258 35006220 07 2011 Adjustment Adjusting High Speed Gain To determine the value of the Gain 2 parameter carry out the following operations It is assumed that the moving part has an inertia equal to the maximum value encountered in the application Step Action 1 Make movements from position 1 to position 2 and vice versa To do this e select an average speed using
230. meters zone reports on the axes affected by interpolation The following example represents a 3 axis interpolation Channel functions of m 2 m m Channel 0 is the X axis Channel 1 is the Y axis Channel 2 is the Z axis Channel 3 is the interpolation axis for X Y and Z axes letter 1 The following example represents a 2 axis interpolation Channel functions 0 amp 2 W B Channel 2 may be configured as an independent channel a curve replaces the letter Z in field 2 In this case interpolation will only affect channels 0 and 1 Functions are displayed on the interpolation debugging screens Dimension The Dimensions field is used to set the number of interpolated axes Command Description 2 Axes Channels 0 and 1 are interpolated 3 Axes Channels 0 1 and 2 are interpolated Stop Function This field is used to set the role of the STOP command in channel 3 Qr m 3 15 Command Description XMOVE The STOP command is only effective on an XMOVE which is in progress Auto mode The STOP command is active in auto mode and affects all axes which can be interpolated even if they are used independently General The STOP command is active in all modes eg Auto Manu etc and affects all axes which can be interpolated even if they are used independently NOTE It is advised to chose the XMOVE command as a default 374 35006220 07 2011 Int
231. n this example the Input interfaces heading comprises a button giving access to a sub menu which must be filled 35006220 07 2011 215 Configuration Axis Type Introduction The Machine zone is only displayed with a TSX CAY 2 or TSX CAY 33 module It is used to choose the type of axis to be managed by the channel Machine Type Two selection buttons are used to choose your machine type Parameter Description Limited For a limited machine the position measurement advances between two values defined by soft stops Infinite For an infinite machine the position measurement advances between the values 0 and Modulo 216 35006220 07 2011 Configuration Encoder Type At a Glance The Input interface field allows you to choose the encoder type incremental encoder or absolute SSI encoder To access the input interface parameters screen press the Configuration button Input interface details Incremental Encoder Parameters Screen In the event of an incremental encoder the configuration screen of the input interface is as follows Details of input interface Input interface INCREMENTAL ENCODER Multiplication fe byl i by4 Cancel Incremental Encoder Parameters The parameters of an incremental encoder are as follows Parameter Description Measurement inversion If you check this box the direction in which the measur
232. ndication Button Hardware Lit External hardware fault e g encoder variable speed controller outputs etc Axis Lit Application fault e g following error software limits etc Ack Fault acknowledgment button Activating this button acknowledges all faults which have disappeared 282 35006220 07 2011 Debugging Loop Control Disabled Mode Dir Drive At a Glance The loop control disabled mode is used to directly control the movement of the moving part with the control loop inoperative E 0 5 TSX CAY 21 2 VS MOD CONT AXES i Channel O 4 T F Dir Dri E Config fy Adjust anu EE Mirava 1 Chan z como Aoust AEM OF AB Auto B Mon El Function r Movement um Speed mm min Axis r lO E i Measurement K PO Cam Referenced Task F if Sarani a 3 Recalibration E Position HM aii EvTcam Speed 0 Enable Ax Wan CFs Command ple STOP Command K ele Param 0 mY Auxiliary output Hardware Axis Q Ack Description of Movement Speed Field This table shows the display zones of the Movement Speed field Display zone Description X Displays the moving part position using the measurement unit defined in the configuration F Displays the moving part
233. necting the Counting Signals 87 6 5 Wiring Accessories 94 6 6 Connection of Sensors Pre actuator and Supply Modules 102 Without Variable Speed Controller 6 7 Connecting the Variable Speed Controller Signals 114 35006220 07 2011 71 Implementing 6 1 General Subject of this Section This Section introduces general instructions for the installation of TSX CAY axis command modules What s in this Section This section contains the following topics Topic Page Standard Configuration Required 73 Installation Procedure 74 General Precautions for Wiring 75 72 35006220 07 2011 Implementing Standard Configuration Required General The servo drive axis control modules can be installed in all the available slots in a Premium or Atrium PLC configuration Number of application specific channels supported e Premium see Premium and Atrium using Unity Pro Processors racks and power supply modules Implementation manual e Atrium see Premium and Atrium using Unity Pro Processors racks and power supply modules Implementation manual 35006220 07 2011 73 Implementing Installation Procedure General The module can be installed or removed without cutting off the rack supply voltage The design of the modules allows this action to be carried out with the power on in order to ensure that a device is available 4 CAUTION POSSIBLE DAMAGE TO ENCORDERS
234. nfiguration screen H 0 8 TSX CAY 33 Bag 3 CHANNELS MOD CONT AXIS B Channel 2 5 H Config H Adjust B Channel3 F po StopFuncion __Fuptions Function Zaxes of Sa k XMove Automode General Sl r Event _ Interpolation 7 C EVT Task r Stop axes on fault MAST Ey Interpolated All Channel functions 4 of amp 2 m m 2 Confirm your entries with the Edit gt Confirm command or by clicking on the icon 3 In the main screen of the configuration editor validate the configuration using the Edit Confirm command or by clicking on the icon FA 62 35006220 07 2011 Introductory Example Channel 3 Configuration Parameters The following table provides a list of the parameters which must be entered for channel 3 Parameter Designation Value Dimension Number of interpolated axes 2 Stop Function Effect of the STOP command XMOVE Stop axes on fault Consequence of a fault All 35006220 07 2011 63 Introductory Example Parameter Adjustment Preliminary Operations Before beginning parameter adjustment you must first backup the project on the hard drive and transfer it to the PLC Adjustment Procedure The following operations must be performed to adjust the parameters Step Action
235. nfiguration will STOP channel 0 Are you sure you want to reconfigure channel 0 NOTE Reconfiguring in online mode is not available in V1 0 272 35006220 07 2011 Adjustment Exchanging Parameters Upon Reconfiguration The following diagram shows how to exchange parameters during reconfiguration in online mode Configuration screen 1 PLC processor Axis control channel Parameters for oa configuration Parameters for configuration Parameters for configuration Reconfiguration Initial adjustment oat parameters Initial adjustment parameters Initial we adjustment parameters Initial adjustment parameters 1 or adjustment screen if a configuration parameter has already been modified in the configuration screen 35006220 07 2011 273 Adjustment 274 35006220 07 2011 Debugging an Independent Axis Control Program 1 1 Subject of this Section This section describes the axis control channel debugging functions in the different modes Measurement Manual Loop control disabled Automatic It also describes the diagnostics screen which gives access to possible faults What s in this Chapter This chapter contains the following topics Topic Page Debugging Principles 276 The Debug Scr
236. ng Independent Axes In order to set up this application the following operations must be carried out Enter and declare project variables Program the project Enter the configuration parameters of the axes Adjust the axis control parameters Debug the program Save the project Set up Using Interpolated Axes With a TSX CAY 33 module it is possible to use 2 interpolated axes to control the grab s movement through the plane X Y In order to set up this application the same operations must be carried out as for 2 independent axes with the addition of some operations specific to interpolation e Configure the interpolator channel 3 in addition to the independent axes e Enter the symbols linked with interpolation e Program the application by using the XMOVE function not SMOVE 35006220 07 2011 43 Introductory Example Declaration of Variables Used in the Example Access to the Declaration of Values Access to the entry of variables takes place by clicking the Variables directory of the project browser Internal Variables The following internal variables are declared located Variable Address Comment Cycle MO Condition of the machine in operating mode X_attente MD50 Waiting position X axis y_attente MD52 Waiting position Y axis X_b MD54 Position of Conveyor B X axis y_b MD56 Position of Conveyor B Y axis X_C MD58 Position of Conveyor C X axis Y_c MD60 Position
237. ng Manual Mode At a Glance Manual mode can be selected and controlled from the debugging screen but also via the application program from the front panel or human machine interface monitoring terminal In this case the dialog is programmed in ladder instruction list or structured text language with the help of elementary commands movements reference points etc Manual Mode Selection Manual mode is selected by assigning the value of 2 to the MOD_SEL QWr m c 0 word Switching from the current to manual mode forces the moving part to stop of there is a movement in progress Manual mode is engaged as soon as the moving part has stopped When the command to switch to manual mode is taken into account the IN MANU lr m c 22 bit is set to 1 Execution of Manual Commands Elementary commands associated with manual mode and accessed via command bits Qr m c d are as follows e Visual movement in positive direction JOG_P Qr m c 1 and in negative direction JOG_M Qr m c 2 e Incremental movement in positive direction INC_P Qr m c 3 and in negative direction INC_M Qr m c 4 e Manual setpoint SET_RP Qr m c 5 e Forced reference point RP_HERE Qr m c 6 These commands are the same as those that can be accessed from the referenced axis TSX CAY module debugging screen 200 35006220 07 2011 Programming Manual commands Commands Dojo Eyo SO OINC SO ING o Manual reference poin
238. ng the TELEFAST Pre wiring System 116 Correspondence Between TELEFAST Terminals and HE10 Connector 117 114 35006220 07 2011 Implementing Signal Labeling General The TSX CAY modules implement basic management of the signals necessary for correct operation of the variable speed controllers There is only one connector regardless of the number of TSX CAY module channels Illustration COMO AA l ne we VALVAR1 A A come 7 l ne RUA VALVAR3 TUT TUT OK_VARO YE OK_VAR2 ne ne VALVARO COM1 ne VALVAR2 COM3 OK_VAR1 Variable control inputs OK_VAR3 24 V shared VO supply ov auxiliary COMx VALVAR x potential free contact to validate variable speed controller OK_VAR x variable speed controller input check 24 V 0 V sensor supply NOTE Each channel uses a potential free closing contact Principle for Connecting the Variable Speed Controller I O Associated with Channel 0 Illustration HE10 connector 7 COMO O 24 V 2 VALVARO O VALID 24 V 13 OK_VARO O O To connect this HE10 connector use the discrete ABE 7H16R20 TELEFAST wiring accessories and the TSX CDP 303 or TSX CDP 503 cable 35006220 07 2011 115 Implementing Connection Using the TELEFAST Pre wiring System Diagram of the Principle This diagram illustrates the principles for connection i a
239. nother axis from the same module called the master axis The master axis is always the axis 0 A 2 axis module can have one master axis and one slave axis A 4 axis module can have one master axis and up to 3 slave axes This position slave function is confirmed in the configuration screen At programming level the slave axis is slaved to the master axis when the SLAVE bit Qr m c 17 of this axis is set at 1 The IN_SLAVE bit lr m c 36 indicates that the slave axis is operating in tracking mode An axis is slaved either to the measured position or to the master axis position setpoint choice defined in the configuration screen A RATIO1 RATIO2 ratio and an Offset are applied to obtain the final setpoint These 3 parameters are defined in the adjustment screen The slave axis is related to the master axis in the following way SlavePositionSetpoint MasterPosition x Ratio1 Ratio2 SlaveOffset In order to indicate that the slave axis is tracking the master axis correctly the AT_PNT lr m c 9 bit from the slave axis is set at 1 when the slave has caught up with the master and remains close to it tracking error of the latter is lower than DMAX2 for more than TSTOP ms Differences from the TSX CAY 1 Module The tracking function of a TSX CAY 2 module differs from the TSX CAY 1 in the following ways e the ratio can be modified from the application or by the P_Unit in recalibration mode for the TSX CAY 1 module the ratio
240. nsitories in order to reduce following error 226 35006220 07 2011 Configuration Maximum Setpoint At a Glance The maximum setpoint UMAX is the voltage which has to be applied to the variable speed controller in order to reach a speed equal to the maximum speed Adjusting the Variable Speed Controller Example In the absence of any particular speed constraint the variable speed controller can be adjusted to obtain the maximum speed for a voltage as close as possible to but less than 9 V Limiting voltage to 9 V enables a reserve to be made available during transitory periods allowing a surge speed to be attained If there are no constraints imposed by the mechanics or by the maximum acceptable frequency choose the following value Maximum setpoint 9000 mV We would like to control an axis with the following characteristics 100 points turn Motor encoder Moving part to be commanded Maximum speed 30 mm s 1 5 reduction EET Desired maximum linear speed of 30 mm s or 1800 mm m Thread of 5 mm The axis is controlled by a motor capable of 3000 rev min which drives a ball screw via a speed reducer with a ratio of 1 5 The encoder is on the motor shaft Let us assume that it is an incremental encoder without multiplication by 4 The RESOL parameter distance covered by the moving part between 2 encoder increments is equal to Ne x Thread N 1 5 x 5 1000 1 microm e The maximum operating spe
241. nstruction code To choose the instruction code either use the scroll button on the right of the G field or press on the icon which corresponds to the movement You can also enter the code directly with a direct entry without going via the Details screen Instruction Codes List The instruction codes which can be chosen from the Details screen are as follows Instruction code Indication Icon 09 Movement on position with stop see page 353 G05 01 Movement on position without stop see page 352 gl 10 Movement until event with stop see page 354 Gi 05 Await event see page 356 92 Initializing the PREF1 registers for X Y and Z axes see page 357 G32 35006220 07 2011 349 Programming Interpolation Imaging on Details Screen The Details screen also displays an image which represents the selected movement For example code G09 350 35006220 07 2011 Programming Interpolation Description of Elementary Movements At a Glance 2 types of movement category can be programmed e movements on a position instruction codes 01 and 09 e movements until event detection instruction code 10 During the program and movements the reach positions speed and interpolating plane space can all be defined The acceleration parameters are defined by adjusting them Types of Movement Types of movement are as follows e Absolute in relation to the machine homing point
242. nstruction code Meaning Icon 14 Reference point see page 160 62 Forced reference point see page 164 GE HADA 05 Await event see page 165 07 Storing position on event see page 166 04 1 Movement stop see page 163 21 1 Unlimited movement with reference point on the fly see page 162 I God 1 With TSX CAY 22 42 or TSX CAY 33 module 146 35006220 07 2011 Programming Imaging on Details Screen The Details screen also displays an image which represents the selected movement For example code G09 35006220 07 2011 147 Programming Description of Elementary Movements Using a Limited Machine At a Glance 3 types of movement category can be programmed e movements on a position instruction codes 01 and 09 e movements until event detection instruction codes 10 and 11 e reference points instruction code 14 The reach position and speed must be set while programming Acceleration parameters e g rectangular trapezoidal or triangular are set in the configuration Types of Movement With a limited machine types of movement are as follows e Absolute in relation to the machine homing point code 90 Example SMOVE AXIS_CHO 1 90 01 50000 1000 0 AXIS CHO of type T AXIS STD x Speed mm min 1000 pe Position mm 148 35006220 07 2011 Programming e Relative in relation to current position code 91 Example
243. nt input Re calibration input Processing fl Emergency stop input Processing VO processing p l Variable speed controller fault input l IW Seedin bi i eed drive enable ame relay output Pe Auxiliary output 330 35006220 07 2011 CMD_FLT Code Error List At a Glance Reading the CMD_FLT MWr m c 7 command refusal word is performed by explicit exchange Non encrypted messages are also available in the diagnostics dialog box which can be accessed by the DIAG command Each CMD_FLT word byte is associated with an error type e The most significant byte indicates an error in the configuration and adjustment parameters XX00 e The least significant byte indicates that a movement command has been refused OOXX For example CMD_FLT 0004 the least significant byte indicates a JOG command error Word MWr m c 7 Configuration and Movement command adjustment parameters Most significant byte Least significant byte Configuration Parameters These errors are indicated by the most significant MWr m c 7 word byte Numbers between brackets indicate hexadecimal code value Value Meaning 3 3 Event priority configuration error 4 4 Machine configuration error e g infinite limited 5 5 Encoder type configuration error 6 6 Reference point configuration error 7 7 Maximum setpoint configu
244. nternal error module failure MWr m MOD 2 0 CH_FLT BOOL R Faulty channel s MWr m MOD 2 1 BLK BOOL R Terminal block fault MWr m MOD 2 2 CONF_FLT BOOL R Hardware or software configuration fault MWr m MOD 2 5 NO_MOD BOOL R Module missing or inoperative MWr m MOD 2 6 EXT_MOD_FLT BOOL R Internal error word of the module Fipio extension MWr m MOD 2 7 only MOD_FAIL_EXT BOOL R Internal fault module unserviceable Fipio MWr m MOD 2 8 extension only CH_FLT_EXT BOOL R Faulty channel s Fipio extension only MWr m MOD 2 9 BLK_EXT BOOL R Terminal block fault Fipio extension only MWr m MOD 2 10 CONF_FLT_EXT BOOL R Hardware or software configuration fault Fipio MWr m MOD 2 13 extension only NO_MOD_EXT BOOL R Module missing or inoperative Fipio extension MWr m MOD 2 14 35006220 07 2011 335 336 35006220 07 2011 Interpolated Axes IV Subject of this Part This part introduces linear interpolation and describes how to set up an interpolated axes control with a TSX CAY 33 module What s in this Part This part contains the following chapters Chapter Chapter Name Page 16 Introduction to Interpolation 339 17 Programming Interpolation 343 18 Interpolation Configuration 371 19 Adjusting Interpolated Axes 377 20 Debugging an Interpolated Axis Control Program 387 21 Language Objects of the Interpolated Axis Specific Application 395 35006220 07 2011
245. o be able to control the moving part and correct faults from a terminal during operation For this purpose all the information and commands necessary are available within the application The module supports a wide range of information in the form of bits and status words all accessible through the Unity Pro program These bits are used to process faults in hierarchical order e to act on the main program e to simply indicate the fault 2 indicating levels are provided First level general information Bit Error CH_ERROR lr m c ERR Channel fault AX_OK lr m c 3 No blocking error with moving part stop is detected AX_FLT lr m c 2 Fault assembles all faults HD_ERR lr m c 4 External hardware error AX_ERR lr m c 5 Application fault CMD_NOK lr m c 6 Command refused Second level detailed information Module fault status words and axes CH_FLT MWr m c 2 and AX_STS MWr m c 3 NOTE With a blocking fault it is advisable to stop the sequential processing which is associated with the axis and correct the fault by controlling the moving part in manual mode Correction of the fault must be followed by a fault acknowledgment 190 35006220 07 2011 Programming Fault Acknowledgement When a fault appears e The fault bits AX_FLT HD_ERR AX_ERR and the status word extract bits affected by the fault are put in position 1 e If itis a blocking fault the AX_OK bit is se
246. o command error axisO initial conditions The G22 command cannot be executed following problems connected to axis 0 FAIL_CMD_AUTO_COND_EXEC_G22_AXE1_KO 0x002C G22 auto command error axis initial conditions The G22 command cannot be executed following problems connected to axis 1 FAIL_CMD_AUTO_COND_PARAM_G22_KO0O 0x002D G22 auto command error non conforming parameters The G22 code parameters are inconsistent with the adjustment parameters FAIL_CMD_AUTO_VIT_PILOTE_TROP_GRANDE 0x0041 G22 auto command error axisO control speed too fast FAIL_CMD_AUTO_COTE_DEPASSE 0x0042 G22 auto command error value exceeded FAIL_CMD_AUTO_SYNCHRO_TROP_COURTE 0x0043 G22 auto command error synchro distance too short 35006220 07 2011 429 Adjusting the Flying Shear Utility 430 35006220 07 2011 Glossary A Absolute encoder This type of encoder directly delivers the numerical value of the axis position The position measurement is maintained in the event of a power outage Axis The set of external elements that control the machine s movements speed reducer encoder etc The motor drive mechanics that command the moving part to move in a given direction axis linear movement or around a set rotation axis rotoid axis circular movement C Control Source Point In a flying shear application a sensor detects the course of the product to be cut When the event is received
247. ode the INC_P and INC_M commands are active on a rising edge when e the axis is referenced for limited run time machines e The target position is between the soft stops Movement occurs at the speed of the manual mode MAN_SPD defined in the adjustment screen or in the double word MDr m c 35 The speed can be modulated during a movement via the CMV coefficient QWr m c 1 Any movement speed greater than VMAX maximum axial speed defined in configuration is limited to the value of VMAX Speed of moving part Speed MAN_SPD 204 35006220 07 2011 Programming Reference Point Command At a Glance If an incremental encoder is being used a reference point can be set with the SET_RP command Bit SET_RP Qr m c 5 carries out a manual reference point with movement The type and direction of the reference point are set in the Reference Point parameter on configuration The source value is set on the adjustment screen by the PO Value parameter or by the RP_POS double word MDr m c 41 Approach Speed Approach speed is the manual speed MAN_SPD set on the adjustment screen or by MDr m c 35 double word multiplied by the CMV speed modulation coefficient The speed of the reference point varies according to the type of reference point chosen Any movement speed greater than VMAX maximum axial speed defined in configuration is limited to the value of VMAX Example short cam only and direction Sp
248. of the channel will be exchanged Adjustment field This field comprises the various values of the adjustment parameters 35006220 07 2011 251 Adjustment Adjusting the Encoder Offset Introduction This parameter is concerns absolute encoders only It is used to make the real position of the moving part coincide with the position provided by the encoder shift from zero e Indirect offset the offset value must be entered expressed in encoder points into the ABS_OFF parameter e In assisted offset use the RP_HERE and SET_RP commands see page 208 Encoder Offset This parameter can only be modified if direct offset has been chosen in the configuration The encoder offset is defined as follows Encoder offset value to be added expressed in number of encoder points to the measurement provided by the absolute encoder in order to obtain the real measurement Limits are as follows 2 1 to 2 1 1 where n number of absolute encoder data bits NOTE The encoder offset parameter is adjusted in measurement mode DRV_OFF If the absolute encoder has been declared in assisted offset this parameter is not taken into account The assisted offset procedure is used to avoid having to make any calculations However after reading READ_PARAM SAVE_PARAM or saving parameters the encoder offset value reflects the offset used by the channel Example If the absolute encoder shows a measurement
249. of the part 3 movement up to position 1000 in relation to the edge of the part 4 movement up to the edge of the part 5 35006220 07 2011 167 Programming Program In this example it is assumed that the reference point is already set and the moving part is in the source position Speed mm min Event Event Event 8000000 l Position microm PREF 1 NOTE The sequence of elementary movements is shown in bold on the curve The numbers indicated correspond to the numbers of program steps included in the SMOVE function The elementary movement sequence program is as follows 1 MW0 0 QW0 2 0 3 IRE 10 1 0 AND l0 2 0 3 AND l0 2 0 23 ISMOVE Axis_0 1 90 7 1 0 0 INC MWO 1 12 0 ISMOVE Axis_0 2 90 11 800000 500 0 1 10 2 0 ISMOVE Axis_0 3 98 09 20000 500 0 1 10 2 0 ISMOVE Axis_0 4 98 09 10000 100 0 1 10 2 0 ISMOVE Axis_0 5 98 09 0 100 0 1 10 2 0 AND MWO0 lt 10 10 2 0 AND MWO0 gt 10 6 NOTE All the actions have to have been programmed on activation 168 35006220 07 2011 Programming Sequencing Movement Commands Producing a Trajectory Buffer Memory A trajectory is produced by programming a succession of elementary movement instructions SMOVE function Each elementary SMOVE command must only be performed once It must be programmed e in Grafcet in one programmed step on activation or deactivation e in structured text or ladder
250. ogress 314 35006220 07 2011 Standard symbol Type Access_ Meaning Address ADJ_IN_PROGR BOOL R Adjust parameters MWr m c 0 2 exchange in progress RECONF_IN_PROGR BOOL R Reconfiguration of the MWr m c 0 15 module in progress NOTE If the module is not present or is disconnected explicit exchange objects READ_STS for example are not sent to the module STS_IN PROG MWr m c 0 0 0 but the words are refreshed Explicit Exchange Report EXCH_RPT The table below shows the report bits 1 EXCH RPT MWr m c 1 Standard symbol Type Access Meaning Address STS_ERR BOOL R Error reading channel status words 1 failure MWr m c 1 0 CMD_ERR BOOL R Error during a command parameter exchange 1 failure MWr m c 1 1 ADJ_ERR BOOL R Error during an adjust parameter exchange 1 failure MWr m c 1 2 RECONF_ERR BOOL R Error during reconfiguration of the channel 1 failure MWr m c 1 15 Counting Module Use The following table describes the steps realised between a Couting Module and the system after a power on Step Action 1 Power on 2 The system sends the configuration parameters 3 The system sends the adjust parameters by WRITE_PARAM method Note When the operation is finished the bit MWr m c 0 2 switches to 0 If in the begining of your
251. ol loop then acknowledge the fault NOTE Movement monitoring is active in direct control manual and automatic modes 35006220 07 2011 197 Programming Following Error The following table shows the cause the signal and the solution if a Tracking error fault should occur The MAX_F1 fault is a blocking fault and can be deactivated The MAX_F2 fault is a non blocking fault and can be deactivated Cause During a movement the module compares the measured position of the moving part A fault is signaled when the tracking error becomes higher than the maximum authorized error that you defined Parameter Abnormal non critical following error MAX_F2 MDr m c 47 Abnormal critical following error MAX_F1 MDr m c 45 If these parameters are at 0 monitoring is inhibited Result If the MAX_F2 error is exceeded the fault is signaled If the MAX_F1 error is exceeded the moving part is stopped This fault is only taken into account if MAX_F1 is different from 0 Indication FE2_FLT bit MWr m c 3 15 MAX_F2 deviation exceeded FE1_FLT bit MWr m c 3 11 MAX_F1 deviation exceeded Remedy Check the control loop then acknowledge the fault 198 35006220 07 2011 Programming Description of Command Refused Faults At a Glance A command refused fault is generated each time a command cannot be executed This occurs when a command is not compatible with the axis state w
252. oller Illustration H LOK_VAR1 1 1 1 1 1 1 1 I 1 1 1 i 1 10 Bok VARO 1 i 1 1 1 1 i i 1 1 1 1 Table of Characteristics Table of electrical characteristics Electrical characteristics Symbol Value Units Nominal voltage One 24 V Voltage limits 1 U1 19 to 30 V ripple included Utime 34 V Nominal current In 8 mA Input impedance at Un Re 3 kQ Voltage for OK state Uon 211 V Current at Uon 11 V lon gt 3 5 mA Voltage for Error state Uoff lt 5 V Current at Error state loff lt 1 5 mA Immunity OK gt Error toff 1to4 ms Immunity at Error gt OK ton 1to4 ms Dielectric rigidity with the ground connection 1500 Veff 50 60 Hz per min IEC 1131 compatibility with sensors Type 1 Logic type Positive sink Utime maximum permitted voltage for 1 hour in every 24 hour period 35006220 07 2011 129 Characteristics and Maintenance Characteristics of the Relay Outputs Illustration Each channel has a relay output C bi f l l I VALVARx REISS RESPE EEEE ERO 7 Table of Characteristics This table describes the electrical characteristics Electrical characteristics Value Units Direct voltage used 5 to 30 V Switched current permitted in 200 mA direct 30 V on resistive load Minimum permitted load 1V 1mA Switching time lt 5 ms Dielectric rigid
253. oller fault DRV_FLT Encoder supply fault ENC_SUP Emergency stop fault EMG_STP 24 V Power supply fault AUX_SUP Associated Variables During a power outage the masked faults are not signaled and the associated variables are not refreshed e channel error bit CH_ERROR l r m c ERR e status wordcH FLT MWr m c 2 The AX_FLT AX_OK and HD_ERR information bits are updated without taking account of masking All axis movement is interrupted by a stop and disabling of the variable speed controller 242 35006220 07 2011 Configuration Confirming Configuration Parameters Introduction When all the configuration parameters have been defined the configuration must be confirmed using the Edit Confirm command or by closing the module configuration window or activating the associated icon Invalid Configuration Parameters If one or several parameter values are outside the permitted limits an error message is displayed to signal the invalid parameter For example the Distance value of the Initial resolution field is invalid erro annel 0 x WD lt Distance gt parameter outside range the value 111000 is not between 0 and 1000 OK The invalid parameters must be corrected before your configuration can be confirmed NOTE In the configuration screens invalid parameters are shown in red The grayed out parameters can not be modified because they are linked with the invalid param
254. on Setpoint O mV DONE TH point Stopped EVT cam Position HM Enable Speed 0 Ax Commands Faults Q d Manu TOP Ose Csoe oj Supu O Reses Param 0 um Hardware T Dir Cie ING O NC pe EMY 0 Manual Forsed es QO reference point reference point e Ack Description of Movement Speed Field This table shows the display zones of the Movement Speed field Display zone Description X Current Displays the moving part position using the measurement unit defined in the configuration X Target Displays the moving part position setpoint target position X Following error Displays the deviation between the setpoint position calculated and the actual position of the moving part following error F Current Displays the moving part speed using the measurement unit defined in the configuration F Target Displays the setpoint speed of the moving part target speed manual speed modified by CMV coefficient Setpoint Displays in mV the setpoint value applied to the analog output 286 35006220 07 2011 Debugging Display zone Description Position The bar chart shows the progress of the moving part within the limits defined in the configuration screen The bar chart is colored green and becomes red if the limits are exceeded Speed The bar chart expresses the speed of the moving part in relation to maximum speed as a perc
255. on Instruction code Icon Initializing PREF1 registers 92 GUE a The G92 instruction is used to initialize PREF1 registers of different axes These registers are used by relative movement instructions code G98 Nibble 1 of parameter M is used to select the list of axes affected by this initialization e bit O for X axis e bit 1 for Y axis e bit 2 for Z axis Example Initializing PREF1 registers of X and Y axes to 2000 and 4000 respectively XMOVE AXIS _CH3 1 90 92 0 2000 4000 0 0 16 0030 35006220 07 2011 357 Programming Interpolation General Conditions of Acceptance Introduction The general conditions of acceptance for the XMOVE function are as follows There is no fault bit GP_OK 1 Configuration is compliant bit CONF_OK 1 Axes are referenced bit REF_OK 1 Axes affected by the movement are in automatic mode where bits DONE 1 and ENABLE 1 These axes are also stopped 358 35006220 07 2011 Programming Interpolation Sequencing Movement Commands Producing a Trajectory TSX CAY 33 module does not offer circular interpolation However it is possible to approximate any trajectory by a succession of segments Example of a 2 axis system trajectory Y A B X An XMOVE command corresponds to each elementary segment of the trajectory NOTE Each elementary XMOVE command must only be performed once It is therefore necessary that the program to be executed is either e in Grafcet in one step
256. on can be established using cover kits containing the 15 pin SUB D connector TSX CAP S15 To facilitate installation the TSX TAP S15 05 is used as an interface between the SUB D and 12 pin DIN connector Using a fixing hook this accessory can be mounted on a DIN rail or on a cabinet lead in with a gasket and adjusting nut Connection to the module is via a 2 5m long TSX CCP S15 cable Examples Illustration TSX CAP S15 Incremental encoder or absolute encoder S TSX CAP S15 Incremental encoder or absolute encoder Incremental encoder 5 V So ma RS 422 TSX TAP S15 05 Incremental encoder 5 V RS 422 TSX CCP S15 NOTE Good signal and shielding continuity can be ensured in difficult conditions thanks to these accessories Encoder connection cables can generally be obtained from encoder suppliers 35006220 07 2011 95 Implementing Information on FRB Type 12 Pin connectors General Number labeling of pins in these connectors is performed in two different ways Most encoders have a built in 12 pin base and are labeled anti clockwise The TSX TAP S15 has a 12 pin female base labeled anti clockwise All user cables must be equipped with connecting plugs labeled clockwise so that the pin numbers correspond to one another when wired Illustration Encoder with connector coupling connectors anti clockwise ae Tee TSX TAP 15 05 mmj x user cable gt en ET
257. or MWr m c 2 7 command fault CH_LED_LOW BOOL R Channel LED status MWr m c 2 8 CH_LED_HIGH BOOL R Channel LED status MWr m c 2 9 Axis Operating Status AX_STS The table below presents the meanings of the report bits Ax_STS MWr m c 3 Standard symbol Type Access Meaning Address Hardware faults HD_ERR lxy i 4 groups the faults below ANA_FLT BOOL R Analog output short circuit fault MWr m c 3 0 AUX_FLT BOOL R Auxiliary output short circuit fault MWr m c 3 1 DRV_FLT BOOL R Speed drive fault MWr m c 3 2 ENC_SUP BOOL R Encoder supply fault MWr m c 3 3 ENC_BRK BOOL R Encoder break fault MWr m c 3 4 EMG_STP BOOL R Emergency stop fault MWr m c 3 5 AUX_SUP BOOL R 24 V supply fault MWr m c 3 0 ENC_FLT BOOL R Absolute encoder parity series or E bit fault MWr m c 3 7 Application faults AX_ERR lxy i 5 groups the faults below SLMAX BOOL R Maximum soft stop overshoot MWr m c 3 8 SLMIN BOOL R Minimum soft stop overshoot MWr m c 3 9 SPD_FLT BOOL R Overspeed fault MWr m c 3 4 FE1_FLT BOOL R MAX_F1 position deviation fault MWr m c 3 11 REC_FLT BOOL R Recalibration fault MWr m c 3 12 TW_FLT BOOL R Debugging window fault MWr m c 3 13 STP_FLT BOOL R Stopping fault MWr m c 3 14 FE2_FLT BOOL R MAX_F2 deviation fault MWr m c 3 15 35006220 07 2011 325 Other Status Data The table below presents the meanings of other stat
258. ormal process operations such as a faulty encoder which do not change the position value even when the moving part moves Infinite axis function only available on the TSX CAY 2 modules this function is used to process unlimited type axes Conveyor belt applications The axis defines a movement which is always performed in the same direction It is also used for two other types of application e the drift function e synchronized movement of infinite axes Linear interpolation function only available on the TSX CAY 33 module This function is used to associate 2 or 3 axes with the application specific Interpolation function It is used to access certain functional characteristics of numerical command machines NOTE The 3 physical axes X Y Z use the zones 0 1 and 2 Zone 3 is dedicated to the linear interpolation function Summary of TSX CAY Module Functions The TSX CAY axis control modules perform the following functions Modules CAY 21 CAY 41 CAY 22 CAY 42 CAY 33 2 3 axes interpolation No No No No Yes Limited axes Yes Yes Yes Yes Yes Infinite axes No No Yes Yes Yes Slave axes static ratio Yes Yes No No No Slave axes dynamic ratio No No Yes Yes No Integral gain correction of offsets No No Yes Yes Yes in the kinematic string 24 35006220 07 2011 Introduction to the TSX CAY Modules 2 Subject of this Chapter This chapter provides an ov
259. ou wish to change operating mode click on the name of the Auto Dir new mode to be selected or click as many times as necessary on prue the button Off Using the keyboard select the button with the Tab key then press as many times as is necessary on the Space Bar It is also possible to access operating modes using the View menu When the selected mode is taken into account by the module the movement monitoring zone for that mode is displayed Caution Even though selected the module channel may not take the mode into account e g if the PLC is in STOP mode O ov y Forcingto 0 F4 Forcingto 1 F5 Unforcing F6 y 2 Forcing command menu If an object can be forced a right click on the corresponding button 1 displays a menu 2 which allows access to the forcing commands Forcing to 0 Forcing to 1 or Unforcing After clicking on a command to select it forcing is applied and the forcing status is indicated by the button 3 e F for forcing to 0 e F in inverse video for forcing to 1 The Global unforcing button in the module zone is used to unforce a set of forced objects This zone displays a summary with background on certain points similar to an oscilloscope of the value of the analog output This value is between 10 V and 10 V CHi Lit Configured non faulty axis channel Blinking Faulty axis Off Non configured axis DIAG Lit Channel fault By
260. owed by a fault acknowledgement Fault Acknowledgement When a fault appears on one of the interpolated axes e The axis fault bits AX_FLT lr m c 2 HD_ERR lr m c 4 AX_ERR lr m c 5 and AX_STS MWr m c 3 j as well as the faults bits associated with interpolating AX_FLT lr m c 2 HD_ERR lr m c 4 AX_ERR lr m c 5 and status bits MWr m c 3 j are set to 1 e If the fault is a blocking fault the AX_OK lr m c 3 bit is set to 0 When the fault disappears all fault bits retain their status Faults are stored until they have been acknowledged through setting to 1 of the ACK_DEF bit Qr m c 8 where c channel number which has the fault or the ACK_DEF interpolation channel bit Setting to 1 of the channel 3 ACK_DEF bit generates acknowledgement for all interpolated axes Fault acknowledgement must be carried out after the fault has disappeared except for soft stop faults If several faults are detected the acknowledgement order will only act upon faults which have effectively disappeared Persisting faults must by acknowledged again after their disappearance NOTE Channel 3 interpolator does not store faults 368 35006220 07 2011 Programming Interpolation Description of Command Refused Faults At a Glance A command refused fault is generated each time a command cannot be executed This occurs when a command is not compatible with the axis state with the mode in progress or where at least on
261. p checks The position loop is inoperative The variable speed controller enable relay is unlocked whatever the status of the ENABLE Qr m c 9 bit Modules TSX CAY 22 42 and TSX CAY 33 e The AUX_OUT Qr m c 11 command is used to control the auxiliary output e The RP_HERE command can be executed in measurement mode 35006220 07 2011 211 Programming 212 35006220 07 2011 Axis Control Configuration Subject of this Section This section describes the TSX CAY module configuration screens as well as the parameters which must be defined for the independent axes What s in this Chapter This chapter contains the following topics Topic Page Description of the Axis Control Module Configuration Screen 214 Axis Type 216 Encoder Type 217 Initial Resolution 220 Measurement Units 221 Hi and Lo Limits 222 Modulo 225 Maximum Speed 226 Maximum Setpoint 227 Event 229 Inversion 230 Sequence Control 231 Maximum Acceleration or Deceleration 232 Slave of the Position of Axis 0 233 Event Input 235 Reference Point 237 Recalibration 241 Masking of Faults 242 Confirming Configuration Parameters 243 35006220 07 2011 213 Configuration Description of the Axis Control Module Configuration Screen
262. p input e Outputs one 10 V sign 13 bit resolution analog output for the speed controller command one relay output for validating the controller one auxiliary static output eOoO7eeeee 30 35006220 07 2011 Functions Command Processing At a Glance Axis Configuration Axis Adjustment Debugging Each movement controlled from the PLC sequential program is described by a SMOVE movement command function in the Unity Pro language From this SMOVE command the TSX CAY modules work out a position speed trajectory The Unity Pro screens make it possible to easily achieve the configuration adjustment and setting of the axes The configuration screen enables the required parameters to be entered in order to adapt the operation of the module to the characteristics of the machine These are the encoder type position limits maximum speed etc These parameters cannot be modified by a program There is no default configuration The parameters offered by the adjustment screen are linked to axis operation The parameters are adjusted when on or offline The operating parameters are corrected resolution movement control errors of following adjustment overspeed etc stop control delay speed debug window position loop position gain speed anticipation coefficient offset command soft stops acceleration acceleration profile manual mode parameters speed reference point value etc NOTE These
263. p of 5 modules TSX CAY 21 41 22 42 33 TSX CAY 21 2 axes with limited run time TSX CAY 41 4 axes with limited run time TSX CAY 22 2 axes with unlimited run time TSX CAY 42 4 axes with unlimited run time TSX CAY 33 3 axes with limited or interpolated run time The Unity Pro software includes as standard the application specific movement function for programming these axis control modules The basic movements are controlled via the machine s principal sequential command program but are made and checked by the TSX CAY modules which ensure the position of the moving part is controlled The position of each channel is measured by either an incremental encoder or by an absolute encoder The analog output is used to control a variable speed controller 18 35006220 07 2011 General Introduction TSX Modules CAY 21 41 These modules 2 and 4 axes respectively are used to control the movement of independent axes on machines with limited run time They are also used for master slave applications At a Glance The following diagram illustrates the movement of an axis between XA and XB on a machine with limited run time lower and upper limits p rai eae X Lower limit Xa B Upper limit The following diagram illustrates the movements of a master axis between XOA and XOB and those of a slave axis between X1A and X1B Master axis p EE X0a Slave axis X0s j
264. peed controller setpoint value in order to obtain the speed VMAX UMAX lt 9 V NOTE In general Gain 1 Gain 2 256 35006220 07 2011 Adjustment Description of Feed Forward Parameter This table shows the feed forward parameter Parameter Meaning Feed forward Feed forward adjustment coefficient from 0 to 100 By default Feed forward 10 The feed forward coefficient is expressed as a percentage 100 corresponds to the value which can completely absorb the position error at constant speed for a variable speed controller without continuous error When the feed forward coefficient rises the position error is reduced However this results in a risk of overrun including when approaching the breakpoint A compromise must therefore be found NOTE In certain cases the position error crosses a minimum threshold with a change of sign if the feed forward rises Description of Offset Parameter This table describes the offset parameter Parameter Meaning Offset Offset adds to the analog output value calculated by the loop from 250 mV to 250 mV By default Offset 0 mV 35006220 07 2011 257 Adjustment Adjusting Loop Control Parameters At a Glance Adjusting the controls requires you to enter particular values for certain operating parameters The values of the other parameters are defined by the application To do this enter these para
265. position measurement which must not be exceeded by the moving part set by the SLMIN adjustment parameter Speed modulation coefficient CMV Multiplication co efficient of a value between 0 and 2 for all speeds in increments of 1 1000 Speed setpoint Theoretical speed of the moving part calculated by the module following the maximum acceleration law and the programmed speed 35006220 07 2011 435 Glossary Target window Position control tolerance around the stop point Trajectory Following elementary movements between a departure address and an arrival address passing through intermediary addresses Movement between two addresses is performed using a specific movement s speed or time V Valid space of measurements Total measurement points between 2 software limits 436 35006220 07 2011 Index A ABE 7H16R20 106 adjusting independent axes 245 246 acceleration profiles 264 adjusting interpolated axes 377 acceleration profiles 387 automatic mode 140 bits sequencing independent axis 170 interpolated axis 362 buffer memory independent axis 169 interpolated axis 359 C channel data structure for axis modules T_AXIS_AUTO 319 T_AXIS_STD 324 configuring independent axes 213 218 configuring interpolated axes 371 372 connection bases 102 counting signals 87 91 speed reference signals 78 86 116 variable speed controller signals 114 connection devices 102 110 CXP 2
266. pressing on the button associated with this LED a dialog box appears specifying the source of the fault see page 294 35006220 07 2011 Debugging Measurement Mode Off At a Glance In this mode the axis control channel only reports back information on position and current speeds Movement of the moving part is not monitored The position loop is inoperative and the variable speed controller enable relay is unlocked whatever the state of the variable speed controller enable bit ENABLE Qxy i 9 Movementin e 5 Speed in e 2 min Speed Axis Faults Description of Movement Speed Field This table shows the display zones of the Movement Speed field OK Referenced Stopped Hardware O Axis EO Display zone Description X Displays the moving part position using the measurement unit defined in the configuration Displays the moving part speed using the measurement unit defined in the configuration Description of Axis Field This table shows the display zones for the Axis field LED State Indication OK Lit Axis in operational state no blocking fault Referenced Lit Referenced axis Stopped Lit Moving part stationary 35006220 07 2011 281 Debugging Description of Faults Field This table shows the display and command zones for the Faults field LED State I
267. quence by stopping after each elementary instruction Status is indicated by the ST_IN_STEP bit lr m 3 39 NEXT_STEP bit Qr m 3 22 is used to execute the next step e EXT_EVT Qr m 3 10 is used to terminate a G05 or a G10 The automatic mode can also access the following 2 commands which can be active during or outside of an XMOVE e STOP Qr m 3 8 is a stopping order for the different axes which make up the interpolation according to the role of the STOP command that has been defined in the configuration e ACK_FLT Qr m 3 10 a rising edge causes fault acknowledgement 364 35006220 07 2011 Programming Interpolation Event Processing with Interpolated Axes At a Glance Channel 3 on a TSX CAY 33 module can activate an event task To do this the functionality must have been enabled on the configuration screen by associating an event processing number to the channel Activating an Event Task An event task is activated by the appearance of an event expected by G10 and G05 commands For this to happen nibble 3 from XMOVE function parameter M associated with the instruction must be equal to 1 Usable Variables for the Event Task e f several event sources are chosen the following bits are used to determine the source trigger for event processing e EVT_G1 lr m 3 50 event during instruction G10 e EVT_GO05 lIr m 3 48 event during instruction G05 e TO_GO05 lr m 3 49 G05 timer expired e OVR_EVT
268. r bits 2 number of data bits 3 number of status bits 4 presence of parity bit P parity l Odd Absolute Encoder with Parallel Outputs It is possible to connect an absolute encoder with parallel outputs using an ABE 7CPA11 conversion interface In this case you must enter the configuration of an absolute SSI encoder 35006220 07 2011 219 Configuration Initial Resolution At a Glance The initial resolution corresponds to an encoder increment As this is usually not an integer it is expressed in the form of the following ratio RESOL Distance No of points where e Distance distance covered by the moving part e No of points number of encoder points corresponding to the distance covered The threshold is 1 to 1 000 000 The resolution is then deduced from these 2 parameters Distance and Nbre points in a ratio of 0 5 to 1 000 Resolution Calculation Example Either an incremental encoder of 512 points per turn The distance covered by 1 encoder turn is 10 000 microm microm chosen length unit You must enter e Distance 10 000 e Number of points 512 The resolution is then 19 5 microm RESOL 100007512 19 5 NOTE You can correct this resolution in the adjustment screen It is therefore called the initial resolution In the case of an incremental encoder with multiplication by 4 enter the distance corresponding to RE see page 217 220 35006220 07 2011 Con
269. r with an absolute encoder Referencing With an absolute encoder in direct offset referenced axis crossing order Calculation offset With an offset assisted absolute encoder trigger the encoder offset calculation to make the current position coincide with the value in length units entered in the Param field The axis is referenced at the end of this calculation Auxiliary output Sets auxiliary output to 1 or O 1 These commands remain active for as long as the button is pressed They are used to disengage the moving part outside of soft stops after acknowledging a fault 35006220 07 2011 Debugging Description of Faults Field This table shows the display and command zones for the Faults field LED Button State Indication Command Lit Last command refused Refused Hardware Lit External hardware fault e g encoder variable speed controller outputs etc Axis Lit Application fault e g following error soft stops etc Ack Fault acknowledgment button Activating this button acknowledges all faults which have disappeared 35006220 07 2011 289 Debugging Automatic Mode Auto At a Glance Automatic mode is used for executing SMOVE functions Koinn peed Ta Follow r Axis rO urren arge ollowing error x Q Direction OK SU Referenced Recalibration AT Point NE TH Point Stopped Event Gam NL Oje9x _0 6 L0
270. ration error 8 8 Maximum acceleration configuration error 9 9 Event configuration error 10 A Follower ratio multiplier configuration error 11 B Follower ratio divisor configuration error 12 C Recalibration configuration error 18 12 Speed configuration error 19 13 Upper limit configuration error 20 14 Lower limit configuration error 35006220 07 2011 331 Value Meaning 21 15 Initial resolution distance configuration error 2 16 Initial resolution counts number configuration error 5 19 Length unit configuration error 6 1A Speed unit configuration error 7 1B Resolution and speed ratio configuration error 8 1C Incompatible limits configuration error 9 1D Follower ratio configuration error Adjustment Parameter These errors are indicated by the most significant MWr m c 7 word byte Numbers between brackets indicate hexadecimal code value Value Meaning 82 52 Acceleration profile parameter error 83 53 Gain 1 parameter error 84 54 Gain 2 parameter error 85 55 Threshold 1 and 2 parameter error 88 58 Feedforward speed parameter error 89 59 Offset parameter error 90 5A Overspeed parameter error 91 5B Stop speed parameter error 92 5C Stop delay parameter error 93 5D Acceleration parameter error 94 5E VLIM parameter error 98 62 Software Hi limit parame
271. request is made during a deceleration which corresponds to a transformed movement without stop the mode is only exited on movement completion NOTE The G05 G07 and G62 commands are performed in step by step The G32 command is not considered to be a step 35006220 07 2011 183 Programming Feed HOLD Function At a Glance This function is used to stop the moving part in automatic mode while ensuring that on a resume movement commana it follows the programmed trajectory with no risk of the command being refused Activating the Function The feed HOLD function is activated e by the program by assigning a value of 0 to the CMV word QWr m c 1 speed modulation coefficient e by the debugging screen by assigning a value of O to the speed modulation coefficient parameter CMV It stops the moving part according to the programmed deceleration The feedhold status report is indicated by the IM_PAUSE bit lr m c 34 Deactivating the Function The feed HOLD function is deactivated e by the program by reassigning the initial value gt 0 to the CMV word speed modulation coefficient e By the debugging screen by reassigning the initial value gt 0 to the speed modulation coefficient parameter CMV It reinitializes the interrupted movement at a speed corresponding to F x CMV 1000 184 35006220 07 2011 Programming Example Activating deactivating the feed HOLD function SMOVE AXIS _CHO 1 90 10
272. rogramming Description of Application Faults These faults are indicated by the AX_ERR bit lr m c 5 The parameters can be accessed by the Adjustment screen of the configuration editor There is no fault checking associated with the soft stops for the unlimited axes modulo The following table shows the cause indication and the solution if a Soft stops fault should occur This is a blocking fault and cannot be deactivated The moving part is no longer situated between the 2 thresholds lo and hi software limits this check is activated as soon as the axis is referenced Software hi limit SL_MAX MDr m c 31 Software lo limit SL_MIN MDr m c 33 Moving part is forced to stop SLMAX bit MWr m c 3 8 Software hi limit exceeded SLMIN bit MWr m c 3 9 Software lo limit exceeded Acknowledge the fault and in manual mode release the moving part outside of the soft stops within the valid measurement space To do this you must check e that there is no movement in progress e that manual mode is selected e that the STOP command is at 0 e that the axis on which this command is carried out is referenced e that there is no other fault with stop on the axis The moving part can either be repositioned manually or by using the JOG and JOG commands At a Glance Soft Stops Cause Parameter Result Indication Remedy Overspeed The following table shows the cause the signal and the solution if
273. rol bits EXCH STS MWr m c 0 Standard symbol Type Access Meaning Address STS_IN_PROGR BOOL R Status parameters STATUS exchange in MWr m c 0 0 progress CMD_IN_PROGR BOOL R Command parameters exchange in progress MWr m c 0 1 ADJ_IN_PROGR BOOL R Exchanging adjustment parameters MWr m c 0 2 RECONF_IN_PROGR_ BOOL R Module reconfiguration in progress MWr m c 0 15 Exchanges Report EXCH_RPT The table below presents the meanings of the report bits EXCH_R PT MWr m c 1 Meaning Address Status parameters STATUS exchange report MWr m c 1 0 Command parameters exchange report MWr m c 1 1 Adjustment parameters exchange report MWr m c 1 2 Standard symbol Type Access STS_ERR BOOL R CMD_ERR BOOL R ADJ_ERR BOOL R RECONF_ERR BOOL R Configuration fault MWr m c 1 15 324 35006220 07 2011 Channel Operating Status CH_FLT The table below presents the meanings of the report bits CH_ FLT MWr m c 1 Standard symbol Type Access Meaning Address EXT_FLT BOOL R External fault same as HD_ERR bit MWr m c 2 0 MOD_FLT BOOL R Internal error Module absent inoperative or in self MWr m c 2 4 test mode CONF_FLT BOOL R Hardware or software configuration fault MWr m c 2 5 COM_FLT BOOL R Communication fault with processor MWr m c 2 6 APP_FLT BOOL R Application fault errored configuration
274. rols grouped together on a front panel are used to control the moving part manually when the installation is faulty The controls and the LEDs are managed by one discrete input module and one discrete output module Auto x Y Error Q D Manu Choose axis O oO Start Reference Acq cycle point Error O Or Oi Stop Emergency cycle Reverse Forward stop Q Open Close grabber grabber Auto Manu Operating mode selection switch Start cycle Executes the automatic cycle Stop cycle Stops the automatic cycle X Y axis selection For selection of the axis to be controlled in manual mode Reference point Manual reference point on the selected axis Forward Reverse Control for manual movement of the selected axis in a positive or negative direction Error LED for all hardware and application errors Acq Error Fault acknowledgement control Emergency stop Immediate stop of the moving part whatever the selected mode Open grab Control for opening grab Close grab Control for closing grab 42 35006220 07 2011 Introductory Example Prerequisites and Methodology Prerequisites In order to describe only the functions specific to axis control it is assumed that the following operations have been carried out e Unity Pro software is installed e The hardware has been installed the modules variable speed controllers and encoders controlling the 2 axes are connected Set up Usi
275. rs adjustment p adjustment parameters parameters Initial adjustment jagi parameters Restoring Parameters To replace current parameters with the initial values activate the Utilities gt Restore parameters command PLC processor Axis control channel estore Current Current parameters adjustment yt p adjustment parameters parameters Initial adjustment parameters NOTE The RESTORE_PARANM instruction enables the application program to perform this restore operation The restore function can also be performed automatically on a cold restart 35006220 07 2011 271 Adjustment Online Reconfiguration At a Glance When the configuration parameters have been modified they must be confirmed with the Edit Confirm command or by closing the configuration window or activating the icon Parameters Which Can Be Modified in Online Mode Only those parameters which are not grayed out can be modified in online mode Other parameters e g resolution encoder type activating an event task must be modified in offline mode However upon reconfiguration the corrected resolution becomes the initial resolution Stopping a Movement in Progress Any reconfiguration in online mode stops the operation of the channel concerned This therefore also stops the movement in progress This is indicated by a dialog box Confirm Reco
276. rsion possibilities are as follows Speed CNA offset feedforward sie Position setpoint gt Gain threshold Speed setpoint Position measurement measurement No Inversion Inversion of measurement direction Variable speed controller setpoint inversion Setpoint and measurement inversion Using the Inversion Parameter Defining this parameter requires a number of operations to be performed It is advisable to save the values by default in the first instance and to modify this parameter in the adjustment phase if necessary 230 35006220 07 2011 Configuration Sequence Control Introduction The Sequence conirol parameter is used to define the action to be taken when movement without stop G01 G11 ou G30 is not followed by a movement command Enabled Sequence Control If the sequence control is enabled default value e G01 G11 and G30 movements not followed by a movement command are stopped equivalent to a STOP command and a command refusal is generated In this case the movements without stop cannot be sequenced by synchroni zation on the DONE bit e G01 G11 and G30 movements followed by G05 G07 or G62 movements are stopped if this second command is not itself followed by a movement command Disabled Sequence Control If sequence control is disabled G01 G11 and G30 movements not followed by a movement command continue at their target speed 35006220 07 2011 231 Configuration
277. rt circuits Using current limiter and thermal circuit breaker 0 7A lt id lt 2 A Protection against overvoltage of the channels Zener breakdown between outputs and 24V Protection against polarity inversions Using a reverse diode on the supply Power of a lamp with filament 10 W max Utime is the maximum voltage applicable to the module for 1 hour in a 24 hour period of operation 35006220 07 2011 127 Characteristics and Maintenance Monitoring Sensor Pre sensor Voltage General The supply for the actuators pre actuators is monitored by the module to signal to the processor any malfunction which could lead to incorrect working order Table of characteristics Electrical characteristics Symbol Value Units Voltage for OK state Uok gt 18 V Voltage for faulty state Udef lt 14 V Immunity OK gt Error Im off gt 1 ms Immunity error gt OK Im on gt 1 ms Inclusion of error Toff lt 10 ms Inclusion of non error Ton lt 10 ms 128 35006220 07 2011 Characteristics and Maintenance Characteristics of the Variable Speed Controller Inputs General The auxiliary inputs of the variable speed controller are supplied by the same supply as the auxiliary input outputs This is not monitored by the module but any loss in voltage less than 5 V ona CTRL_VAR input can signal to the processor a fault with the variable speed contr
278. s 11 and 10 are similar to instructions 01 and 09 with command end on detection of an event or command end on position entered if event has not been detected Movement until event detection with stop 10 The awaited event can be e arising or falling edge depending on the choice made in the Event field in the configuration screen on dedicated event input associated with the channel which controls the axis e arising edge of the EXT_EVT bit Qr m c 10 generated by the program It is mandatory to define the Position parameter If the event is not been detected the command finishes when this position has been reached Instructions 11 and 10 can activate an event task on detection of an event if bit 12 of parameter M is set to 1 35006220 07 2011 155 Programming Examples Example 1 SMOVE AXIS _CHO 1 90 11 2000000 3000 0 AXIS CHO of type T_AXIS STD Speed mm min Event A 3000 gt Position microm 2000000 Example 2 SMOVE AXIS _CHO 1 90 10 3000000 2000 16 1000 AXIS_CHO of type T_AXIS STD Speed mm min A Event activating EVT task 20007 le Sera a p Position microm 3000000 156 35006220 07 2011 Programming Programming a Simple Machining Command Instruction A simple machining command instruction is as follows Instruction Instruction code Icon Preparing simple machining 32 Executing simple machining 30
279. s a graphic tool intended for adjusting see Unity Pro Operating Modes the TSX CAY 33 selected in a rack It displays the current and initial parameters associated with the channels of this module and allows these to be modified in offline and online modes Accessing the Parameters The adjustment screen is used to select the channel to be adjusted and enables access to current or initial parameters Command Function Choose Axis Choose channel 3 This button displays either the current parameters or the initial Ip parameters This function can also be performed using the F7 key Initial Parameters The initial parameters are e Parameters entered or defined by default in the configuration screen in offline mode These parameters have been confirmed in the configuration and transferred to the PLC e Parameters taken into account during the last reconfiguration in online mode Current Parameters Current parameters are those which have been modified and confirmed from the adjustment screen in online mode or by program via an explicit exchange These parameters have been replaced by the initial parameters after a cold restart 378 35006220 07 2011 Adjustment Adjustment Parameters The diagram below shows an adjustment screen 1 2 E 4 3 TSX CAY 33 3 CHANNELS MOD CONT AXES B Channe
280. s an output controlled by the processor and which allows the integrated command from an ordered axis function to be performed For example a brake command between two shifts safety etc This output is static the shared load is at 0 V of the sensor pre sensor voltage The output is protected against overloads and short circuits and in case of fault information is made available to the processor about it Illustration Reflex output Supply check sensors pre actuators Fault monitoring short circuit command Characteristics Table of characteristics Electrical characteristics Value Units Nominal voltage 24 V Voltage limits 19 to 30 V max for 1 hour in 24 hours Utime 34 V Nominal current 500 mA Max voltage fall On lt 1 V Leakage current lt 0 3 mA Max current to 30 V and to 34 V 625 mA Communication time lt 500 us 126 35006220 07 2011 Characteristics and Maintenance Electrical characteristics Value Units Dielectric rigidity with the ground connection 1500 Veff 50 60 Hz per min Compatibility with direct current inputs All positive logic inputs whose input resistance is less than 15 kQ IEC 1131 compatibility Yes Monitoring short circuits of each channel One signaling bit per channel Reset e via application program e automatic One bit per channel in write mode via program Protection against overloads and sho
281. s and Methodology 43 Declaration of Variables Used in the Example 44 Programming the Preliminary Processing 47 Programming the SFC 50 Transition Programming 51 Action Programming 53 Programming the Post processing 55 TSX CAY Module Configuration 57 Interpolator Configuration 62 Parameter Adjustment 64 Using Manual Mode 65 Debugging 66 Saving 67 35006220 07 2011 39 Introductory Example Description of the Example Introduction Transfer Device The following example covers all the phases for setting up a TSX CAY axes control application It complements the set up methodologies A transfer device evacuates the parts during machining output This device consists of a grab which can move through the air along a plane X Y axes parallel to the ground As soon as a part appears on evacuation conveyor A the grab automatically retrieves it and deposits it on conveyor B or C depending on the type of part The grab then returns to the waiting position until a new machined part needing to be picked up is detected The following figure illustrates this transfer device Machining tool Conveyor B Inputs Outputs The inputs outputs are as follows 1 0 Description C1 Machined part detection cell C2 Part type identification sensor C3 Grab open grab closed detection sensor C4 Part edge detection cell located in the grab connected to the module s event input EN
282. s parameters era READ_STS Status parameters Command parameters WAITE2MD y Command parameters WRITE_PARAM a Current adjustment te READ_PARAM parameterg SAVE PARAM k Current adjustment parameters Initial adjustment RESTORE_PARAM parameters m 1 Only with READ_STS and WRITE_CMD instructions Managing Exchanges During an explicit exchange it is necessary to check performance to ensure data is only taken into account when the exchange has been correctly executed To do this two types of information is available e information concerning the exchange in progress see page 314 e the exchange report see page 315 The following diagram describes the management principle for an exchange Execution of an Exchange in Exchange explicit exchange progress report NOTE In order to avoid several simultaneous explicit exchanges for the same channel it is necessary to test the value of the word EXCH_STS sMwr m c 0 of the IODDT associated to the channel before calling any EF addressing this channel 35006220 07 2011 311 Management of Exchanges and Reports with Explicit Objects At a Glance Illustration When data is exchanged between the PLC memory and the module the module may require several task cycles to acknowledge this information All IODDTs use two words to manage exchanges EXCH STS SMWr m c 0 exchange in progress EXCH RPT SMWr
283. s the display zones for the Axis field LED State Indication OK Lit All axes are in operating state Referenced Lit All axes are referenced Stopped Lit All axes are at a stop moving part stationary Feed hold Lit Axis movement is suspended Feed hold AT Point Lit The movement in progress is finished and the moving part is in the target window 392 35006220 07 2011 Debugging LED State Indication DONE Lit The movement s in progress is are finished NEXT Lit The following movement command can be sent to the module Description of I O Field This table shows the display zones for the I O field LED Indication X Y or Z Came Evt State of signal 0 or 1 on Event input for X Y or Z axes Aux X Y or Z State of signal 0 or 1 on auxiliary input for X Y or Z axes 1 LED lit 0 LED off Description of Faults Field This table shows the display zones for the Faults field LED Button State Indication Command Lit The last XMOVE received has been refused Refused Hardware Lit External hardware error on one of the interpolated axes Axis Lit Application fault on one of the interpolated axes Ack Fault acknowledgment button Activating this button acknowledges all faults which have disappeared 35006220 07 2011 393 Debugging Interpolation Diagnostics At a Glance The various debugging
284. s the position and calculates the cutting point according to the following formula Control source Memorized position Cut length on event In this case Cut on event is checked 35006220 07 2011 427 Adjusting the Flying Shear Utility Memorandum for the Flying Shear Utility Flying Shear Utility Data Adjust Objects Description Kmul AxisO MDr m 0 65 KO numerator Kdiv AxisO MDr m 0 67 KO denominator SyncTime MWr m 1 60 Synchronization support time ToolUpTime MWr m 1 61 Active tool support time RE_POS MDr m 1 43 Idle position Slave_Off MDr m 1 55 Synchronization point position Re_WDW MDr m 1 51 End synchronization position ToolDownPos MDr m 1 63 Tool down position ToolUpPos MDr m 1 65 Tool up position DistEvt MDr m 1 67 Cut length on event Tool Objects Description Inhibtool Qr m 1 21 Force auxiliary output during G22 AUX0_OUT Qr m 1 114 Output command in manual mode Miscellaneous Objects Description EXT_EVT Qr m 1 10 Tool up command Coupelm Qr m 1 20 Immediate cut command Waiting_Master lr m 1 44 Waiting status during control source feed to point Synchronizing lr m 1 45 Movement status towards the synchronization point IN_SLAVE lr m 1 36 Cart feed status synchronizing Ret_Neutral lr m 1 43 Return status towards the idle point ToolsOn lr m 1 42 Cut status current SYNC_N_RUN I
285. screens animation Online tables Modifying the program and adjustment parameters Key 1 These various phases can also be performed in the other mode NOTE The simulator is only used for the discrete or analog modules 35006220 07 2011 35 Methodology Interpolation Implementation Method At a Glance The method for implementing interpolation follows the general implementation see page 34 principle with additional phases for interpolation The following order of installation phases is recommended but the order of some phases may be altered for example start with the configuration phase In order to fully understand these different phases please also refer to the introductory example see page 39 which accompanies this table Installation Principle with a Processor The following table presents the different installation phases with the processor Phase Description Mode Declaration of variables Declaration of IODDT type variables for axis command module and application variables Local 1 Programming Programming the application Programming movements SMOVE independent axis es XMOVE interpolating channel Local 1 Configuration Declaration of the module Local Individual axis configuration Interpolating channel configuration Input of configuration parameters Association Association of IODDTs with the configured
286. sequential processing 4 Start the program by pressing the Start_cycle button on the front panel 66 35006220 07 2011 Introductory Example Saving Saving Procedure When debugging is complete you may save your project To do this Step Action 1 If parameters have been modified during debugging activate the Services gt Save parameters command 2 Transfer the PLC processor application on to the hard drive e activate the PLC Transfer project to PLC command activate the File Save as command name the application confirm 35006220 07 2011 67 Introductory Example 68 35006220 07 2011 TSX CAY Axis Command Modules Subject of this Part This part provides an overview of the TSX CAY axis command modules their functionality and how to implement them What s in this Part This part contains the following chapters Chapter Chapter Name Page 6 Implementing 71 7 Characteristics and Maintenance of TSX CAY 119 35006220 07 2011 TSX CAY Axis Command Modules 70 35006220 07 2011 Implementing Subject of this Chapter This Chapter describes the implementation of TSX CAY axis command modules What s in this Chapter This chapter contains the following sections Section Topic Page 6 1 General 72 6 2 Select an Encoder 76 6 3 Connecting Speed Reference Signals 78 6 4 Con
287. sing edge Rising edge and i PREF1 T Position Falling edge 4 WA Falling edge and PREF1 Fa PREF1 166 35006220 07 2011 Programming Falling edge and PREF1 then rising edge and PREF2 Falling and rising edge Event type on the Diagram Choices made during EVT input configuration Rising edge Rising edge and i A PREF1 then rising res edge and PREF2 d Y Falling edge Falling edge and y PREF1 then falling edge and PREF2 Position i 4 Rising and falling PREF2 4 Z Rising edge and edge J PREF1 then falling PREF1 Ft edge and PREF2 EA et Event processing is activated on detection of an event if bit 12 of parameter M is set at 1 The program passes directly on to the following instruction The PREF 1 IDr m c 9 and PREF2 IDr m c 11 words are only refreshed if an event task is triggered by the awaited event The performance of the G07 instruction or in other words the measurement event delay is immediate for an incremental encoder and less than or equal to 400 microseconds for an absolute encoder Example of How to Use an Indexed Position An indexed position is used to resolve repetitive movements For example let us assume that the elementary movement sequence below has to be performed 9 times movement until the edge of the part is detected 2 movement up to position 2000 in relation to the edge
288. slave is an infinite type machine the Modulo operator is applied in the calculations of the slave position setpoint Modulo value ModuloValue is defined by Mdxy i 33 TSX CAY 2 Ratio The ratio defined by Ratio Ratiol Ratio2 is adjustable Dynamic ratio values are set between 0 01 and 100 The ratio can be negative TSX CAY 2 Offset The SlaveOffset parameter corresponds to the position offset value between master and slave If the SlaveOffset parameter is zero the slave axis setpoint Ratio x master axis Setpoint or Measurement The offset value must be between 239 1 and 230 1 and the resulting ConsigneP ositionEsclave parameter must stay within the software limits of the slave TSX CAY 1 TSX CAY 1 modules are used to carry out master slave applications with non modifiable ratio and without offset shift NOTE In the case of 2 infinite axes master and slave Modulo master X Ratio Modulo slave X k where k whole number k represents the number of revolutions made by the slave in the time taken for the master to make one revolution 268 35006220 07 2011 Adjustment Examples Examples Ratio 1 25 k 1 for 1 master revolution the 0 100 slave makes 1 revolution Master 0 125 Slave Ratio 1 25 k 3 for 1 master revolution the o 300 slave makes 3 revolutions Master 0 125 Slave 35006220 07 2011 269 Adjustment
289. speed using the measurement unit defined in the configuration Setpoint Displays in mV the setpoint value applied to the analog output Position This bar chart shows the progress of the moving part between the soft stops The bar chart is colored green and becomes red if there is a soft stop overshoot Speed The bar chart expresses the speed of the moving part in relation to maximum speed as a percentage The bar chart is colored green and becomes red if the maximum speed is exceeded 35006220 07 2011 283 Debugging Description of Axis Field This table shows the display and command zones for the Axis field LED Button State Indication OK Lit Axis in operational state no blocking fault Referenced Lit Referenced axis Stopped Lit Moving part stationary Enable This button is used to control the variable speed controller enable relay Description of I O Field This table shows the display zones for the I O field LED Indication PO Cam Signal state 0 or 1 on Reference point input Recalibration Signal state 0 or 1 on Recalibration input Event Cam Signal state 0 or 1 on Event input Aux Signal state 0 or 1 on auxiliary output 1 LED lit 0 LED off Description of Commands This table describes command buttons Command Description STOP Sets analog output to 0 while taking decelerat
290. ssing application is activated on completion of storage of the position PREF1 or PREF2 e Modulo crossing for an unlimited axis the event processing application is activated on every modulo crossing during a movement Event processing activation must be enabled by setting the VALIDEVTMOD parameter MWr m c 62 0 to 1 The event processing application is activated if bit 12 of parameter M of the SMOVE function associated with the instruction is set at 1 Usable Variables for the Event Task e f several event sources are chosen the following bits are used to determine the source to trigger event processing application EVT_G1 lr m c 50 G10 or G11 end on event EVT_GO05 lr m c 48 G05 end on event TO_G05 lr m c 49 GO5 time out elapsed EVT_GO07 lr m c 47 Storage of position EVT_MOD lr m c 51 Modulo crossing e The OVR_EVT bit lr m c 46 is used to detect a delay in event transmission or an event loss e Value of the stored positions PREF1 IDr m c 9 and PREF2 lDr m c 11 NOTE The words and bits described below are the only values which are refreshed during execution of an event task They are only updated in the PLC on activation of the task 186 35006220 07 2011 Programming Event Masking Unity Pro language offers 2 ways to mask events e Instruction for global event masking MASKEVT UNMASKEVT is used for unmasking e Bit S38 0 global event inhibition S38 bit is normally at 1
291. t o Forced reference point o Auxiliary output General Execution Conditions for Commands in Manual Mode The following conditions must be fulfilled in order to carry out commands in manual mode Target position within soft stops Axis without fault blocking AX_OK bit lr m c 3 1 No command in progress DONE bit lr m c 1 1 STOP Qr m c 15 command inactive and ENABLE Qr m c 9 bit for variable speed controller safety relay set to 1 NOTE Except for in the case of soft stop fault JOG_P and JOG_M commands and after fault acknowledgment Movement Stop A movement stop can be caused by e Appearance of a STOP Qr m c 15 command or the ENABLE Qr m c 9 bit being set to 0 Appearance of a blocking fault Change in operating mode Receiving a configuration 35006220 07 2011 201 Programming Visual Movement Commands At a Glance Movement Speed To carry out a movement visually you must use the manual commands JOG_P and JOG_M The JOG_P Qr m c 1 and JOG_M Qr m c 2 bits give the command for the moving part to move in a positive or negative direction The operator must visually follow the position of the moving part Movement occurs as long as the command is present and a STOP command or a fault does not inhibit the command For limited axes the JOG_P and JOG_M commands cause an automatic stop at the latest at a distance from the soft stops equal to the target window distance JOG
292. t at 0 When the fault disappears all fault bits retain their status A fault is stored until acknowledgement is obtained by setting the ACK_DEF Qr m c 8 bit to 1 or by resetting the module The acknowledgment has to be made after the fault has disappeared except for soft stop errors If several faults are detected the acknowledgement order will only act upon faults which have effectively disappeared Persisting faults must by acknowledged again after their disappearance NOTE Faults can also be acknowledged on PLC initialization or when a new correct command is accepted in the case of a command refused fault Summary Table of the Different Fault Types The following table summarizes the different fault types and associated bits Channel fault Process faults Bit AX_FLT lr m c 2 Bit CH_ERROR AX_OK lr m c 3 No blocking fault detected Command refused lr m c ERR n CMD_NOK bit External hardware HD_ERR bit Application AX_ERR Bit ii lr m c 4 lr m c 5 lr m c 6 e Internal e Emergency stop Soft stops Fault coding in the e Communication Drive e Overspeed CMD_FLT word e Configuration e Encoder break e Recalibration MWr m c 7 e External hardware e Analog output short circuit e Tracking error MAX_F1 e Configuration or e Auxiliary output short circuit Tracking error MAX_F2 adjustment e Encoder supply Stopping fault e Absolute encoder frame e Target window
293. tatus words e WRITE_CMD see Unity Pro I O Management Block Library write command words e WRITE_PARAM see Unity Pro I O Management Block Library write adjustment parameters e READ_PARAM see Unity Pro I O Management Block Library read adjustment parameters e SAVE_PARAM see Unity Pro I O Management Block Library save adjustment parameters e RESTORE_PARAM see Unity Pro I O Management Block Library restore adjustment parameters These exchanges apply to a set of MW objects of the same type status commands or parameters that belong to a channel NOTE These objects can e provide information about the module for example type of channel fault e have command control of the module for example switch command e define the module s operating modes save and restore adjustment parameters in the process of application NOTE In order to avoid several simultaneous explicit exchanges for the same channel it is necessary to test the value of the word EXCH_STS MWr m c 0 of the IODDT associated to the channel before calling any EF addressing this channel 310 35006220 07 2011 General Principle for Using Explicit Instructions The diagram below shows the different types of explicit exchanges that can be made between the application and module application BMX P34 20x0 BMX NOE 01x0l MWr m c objects or MWr m MOD r objects 1 Statu
294. ter error 99 63 Software Lo limit parameter error 100 64 Manual mode speed parameter error 101 65 Corrected resolution distance parameter error 102 66 Corrected resolution counts number parameter error 103 67 Reference point value parameter error 104 68 Recalibration position value parameter error 105 69 Following error 1 parameter error 106 6A Following error 2 parameter error 107 6B Debugging window parameter error 108 6C Recalibration deviation parameter error 332 35006220 07 2011 Movement Command Refused Value Meaning 109 6D Offset encoder parameter error 113 71 Resolution ratio parameter error 114 72 Incompatible soft stop parameter error 115 73 Maximal resolution and speed ratio parameter error 116 74 Resolution ratio parameter VMAX and encoder multiplier error 117 75 Upper limit resolution ratio parameter error 118 76 Low limit resolution ratio parameter error 119 77 Resolution ratio parameter error on limit distances 120 78 Resolution correction parameter error lt gt OFF mode 121 79 Encoder offset modification parameter error lt gt OFF mode 122 7A Recalibration position modification parameter error lt gt OFF mode These errors are indicated by the least significant MWr m c 7 word byte Numbers between brackets indicate hexadecimal code value Value Messag
295. the speed parameter in manual mode e enter the movement value in the Param field activate the Inc position 1 then Inc position 2 commands in succession Check following error when the moving part is at a stabilized speed Adjust Gain 2 for an acceptable deviation while maintaining an appropriate stability otherwise check the machine definition For each new Gain 2 value entered use the same value for Gain 1 and transfer by confirming at the adjustment screen Adjusting Low Speed Gain To determine the value of the Gain 1 parameter carry out the following operations This adjustment must be made for machines that involve friction Otherwise retain the value of Gain 2 for parameter Gain 1 To obtain greater gain at low speed set Gain 1 to a value greater than Gain 2 then transfer the values by validating the adjustment screen Step Action 1 Make movements from position 1 to position 2 and vice versa To do this e select a very low movement speed by choosing a low CMV coefficient value e enter alow movement value in the Param field e activate the Inc position 1 then Inc position 2 commands in succession Check following error when the moving part is stationary 3 Adjust Gain 1 for an acceptable deviation while maintaining an appropriate stability For each new Gain 1 value entered transfer by confirming at the adjustment screen Adjusting the Gain Threshold The gain
296. ther TSX CAYx2 Axis 00000 eee 176 Movement Slaved to an External Setpoint 0 0000 179 Deferred PAUSE Function 0 000 c cece eee eee eee 180 Step by Step Mode 0 cece eee 182 Feed HOLD Function 0 0 nae a ii ete ee 184 Event Processing with an Independent Axis 00 186 Managing the Operating Modes 00 0c cee eee eee 188 Fault Management 0 cee ett tees 189 Description of External Hardware Faults 20005 192 35006220 07 2011 Chapter 9 Chapter 10 Description of Application Faults 0 0 00 e eee eee eee 195 Description of Command Refused Faults 0 000 0 199 Managing Manual Mode 0 00 e eee eee eee 200 Visual Movement Commands 20000 0c cece teers 202 Incremental Movement Commands 0 00000eeeeeeee 204 Reference Point Command 2 00ce cece eee ee ncaa 205 Forced Reference Point Command 20000eee eee 206 Cancel References Command 0 cece eee eee eee 207 Referencing and Offset Calculation Command 208 Managing Loop Control Disabled Mode DIRDRIVE 209 Managing Measurement OFF Mode 2000 eee eee 211 Axis Control Configuration 00 eeeeeeeee 213 Description of the Axis Control Module Configuration Screen 214 AXIS TYPE caress ees one gtd ee eee Ae oes an
297. threshold the fault is signaled Indication REC_FLT bit MWr m c 3 12 recalibration fault Remedy Check the control loop then acknowledge the fault Zero Latch Presence Monitoring The following table shows the cause the signal and the solution if a Zero Pulse Presence Monitoring fault should occur Cause During a reference point short cam with zero pulse Parameter None Result The axis stops Indication CMD_NOK bit lr m c 6 CMD_FLT word MWr m c 7 16 0015 Remedy Mechanically adjust the cam then restart the operation Movement Monitoring The following table shows the cause the signal and the solution if a Movement monitoring fault should occur This is a blocking fault and can be deactivated Cause When the analog output from a channel exceeds a VLIM limit in absolute value a time delay is activated When T is reached a fault is signaled if the position value is the same as that of the internal cycle of the module Parameter Limit analog output VLIM MWr m c 27 The time out T is programmed to TACC 2 TACC MWr m c 26 is the acceleration adjustment parameter Result If the fault is detected the moving part is stopped analog output set to 0 and speed control authorization relay open The check is only enabled if VLIM gt 0 Indication FE1_FLT bit MWr m c 3 11 MAX_F1 deviation exceeded Remedy Check the contr
298. threshold must be set at a speed which overcomes friction 35006220 07 2011 259 Adjustment Adjusting Feed Forward Gain Perform the following to determine speed feed forward gain Step Action 1 Make movements at speed VMAX from position 1 to position 2 and vice versa To do this e select a high movement speed while choosing a high CMV coefficient value enter a movement value in the Param field e activate the Inc position 1 then Inc position 2 commands in succession 2 Adjust the feed forward for the value and sign of the error required NOTE If the overshoot is too large you may wish to reduce feed forwardslightly Offset Adjustment When the moving part is stationary select loop control disabled mode DIRDRIVE Adjust the offset in the window from 250 mV to 250 mV to cancel out any slipping of the moving part Adjusting Integral Action For a TSX CAY 22 42 or TSX CAY 33 module integral action is used to compensate for the different offsets in the string e g module drive motor mechanical equipment as well as drift The Ti position loop parameter is used to achieve this compensation The gain is only active when the axis is theoretically stationary theoretical speed is zero following error absorption phase Is it active in automatic and manual modes in the absence of a blocking fault on the axis AX_OK 1 It is inactive in the automatic modes EXT_CMD and SLAVE T
299. tility How to Access the Adjustment Screen for the Flying Shear Utility At a Glance This screen allows access to and modification of the adjustment parameters for the Flying Shear utility It can be accessed in local or offline mode To access the adjustment screen for the Flying Shear service the channel must first be configured to the Flying Shear service The adjustment screen is used to select the channel to be adjusted and enables access to the parameters Procedure The table below describes the procedure to follow to access the adjustment screen for the Flying Shear utility Step Action 1 From the TSX CAY 22 module debugging or configuration screen select the Adjust mode Result The following screen appears 2 CHAN AXIS CONT MOD Tex cay 22 Configuration fh Adjust E Channel 0 Eleonora A D Channel 1 rCorrected Position loop Distance 0 r Gain 1 1 000 00s Offset Om Counts 0 Gain 2 1 000 400s heer 10 Encoder offset 0 Pulses Threshold 1 500 M000 of Smax Ti 0 ms Movement control Command Following error 1 0 Software Hi Limit lo E Enable event Following error 2 0 Software Lo limit ol ete le Reealibration position 0 Acceleration Acceleration profile Recalibration 0 Smax 0 ms Rectangle gt Ei Ov
300. tion Example The instruction for a movement stop is as follows Instruction Instruction code Icon Movement stop 04 God ami This instruction is used to stop G01 G30 and G11 non stop movements as quickly as possible It is equivalent to a STOP order There are no parameters associated with instruction G04 Stopping a G01 movement after a time period of 10s SMOVE SMOVE SMOVE AXIS_CHO 1 91 01 100000 1500 16 0000 AXIS_CH0 2 90 05 0 10000 16 0000 AXIS_CHO0 3 90 04 0 0 16 0000 AXIS_CHO of type T AXIS_STD Comment Unlike the STOP instruction a movement stop using the instruction code 04 does not empty the buffers 35006220 07 2011 163 Programming Programming a Forced Reference Point Instruction Example Notes The instruction for setting a forced reference point is as follows Instruction Instruction code Icon Forced reference point 62 GRE This command sets a forced reference point without moving the moving part The current position value is forced to the value entered in the position X parameter SMOVE AXIS CHO 1 90 62 100000 0 0 AXIS CHO of type T AXIS STD When this instruction is carried out the current position is forced to 100000 e Whatever the state of the axis referenced or not referenced if the G62 command is accepted it references the axis once the command is executed e The G62 command is only accepted if th
301. tion Stopping XMOVE Measurement OFF mode is the interpolator passive mode the X Y and Z axes are in independent axis state It is therefore possible to command them in loop control disabled mode DIRDRIVE in manual or automatic mode No channel 3 command is taken into account in this mode except for the fault acknowledgement command If an XMOVE is in progress switching to OFF mode will make it stop 370 35006220 07 2011 Interpolation Configuration 18 Subject of this Section This section describes the TSX CAY interpolation configuration screens channel 3 as well as the parameters which must be defined for the interpolated axes What s in this Chapter This chapter contains the following topics Topic Page Accessing the Interpolation Parameters Configuration Screen 372 Entering Interpolation Parameters 374 35006220 07 2011 371 Interpolation Configuration Accessing the Interpolation Parameters Configuration Screen Preliminaries Channel 3 is dedicated to interpolation Before configuring channel 3 the independent channels affected by the interpolated movement must be configured Accessing Interpolation Parameters To access interpolation parameters select the TSX CAY 33 module and confirm double click on the picture of the module Step Description 1 Select channel 3 in the Channel field Select the Interpolation function from the general param
302. tion of External Hardware Faults 192 Description of Application Faults 195 Description of Command Refused Faults 199 Managing Manual Mode 200 Visual Movement Commands 202 Incremental Movement Commands 204 Reference Point Command 205 Forced Reference Point Command 206 Cancel References Command 207 Referencing and Offset Calculation Command 208 Managing Loop Control Disabled Mode DIRDRIVE 209 Managing Measurement OFF Mode 211 136 35006220 07 2011 Programming Programming an Independent Axis Introduction Each axis control module channel axis is programmed by using e the SMOVE function for movements in automatic mode e the bit objects I and Q and words IW QW and MW associated with the module to be defined e selection of operating modes e movement commands except for automatic mode e monitoring of the axis and module operating state Bit Objects and Words The bit objects and words can be accessed by their address or their symbol The symbols are defined in the variable editor which proposes a symbol name for each object by default 35006220 07 2011 137 Programming Operating Modes At a Glance Mode Selection You can operate each axes control channel in 4 operating modes Operating mode Description Automatic AUTO This mode is used for the execution of movement commands controlled by the SMOVE functions Manual MANU This mode is used to control the movin
303. tionary lr m c 8 AT_PNT EBOOL R Moving part position on target in the point window on lr m c 9 instruction with stop TH_PNT EBOOL R Theoretical setpoint reached lr m c 10 CONF_OK EBOOL R Configured axis lr m c 12 REF_OK EBOOL R Reference point taken axis referenced lr m c 14 IN_DROFF EBOOL R Measurement mode active lr m c 20 IN_AUTO EBOOL R Automatic mode active lr mM c 23 ON_PAUSE EBOOL R Movements sequence suspended lr m c 33 IM_PAUSE EBOOL R Movement suspended immediate PAUSE lr m c 34 ST_IN_STEP EBOOL R Step by step mode in progress lr m c 39 CH_ERROR EBOOL R Channel fault lr m c ER R SPEED DINT R measured speed lDr m c 2 FOL_ERR DINT R current position deviation lDr m c 4 SYNC_N_RUN INT R step number in progress A IWr m c 7 35006220 07 2011 397 Internal Status Objects Explicit Exchanges of IODDT Type T_INTERPO_STD At a Glance Notes This part presents the internal status object explicit exchanges of the IODDT of type T_INTI ERPO_ STD which applied to the TSX CAY33 modules It groups together the word type objects whose bits have a special significance These objects are presented in details below e Generally speaking the meaning of the bits is given for the 1 state of this bit In each specific case the state of the bit is explained e Not all the bits are used Managing Exchanges EXCH_STS The table below presents the significances of the channel exchange control bits
304. tive mode for interpolated axes Interpolated movements can only be carried out with this mode Automatic mode is mainly used to send a movement command code G via an XMOVE function This command is designed to perform an interpolated movement by momentarily creating a link between several axes Channel 3 in Automatic Mode Channel 3 in automatic mode does not modify the current mode nor 2 or 3 module axis commands in progress In this way movements or debugging which are carried out independently axis by axis in manual loop disabled control and automatic modes are always performed via the positioning function for each axis in the module The actual engagement of automatic mode is indicated by the IN_ AUTO lr m 3 23 bit Commands in Automatic Mode In automatic mode the following commands are used to act on the XMOVE function e CMV speed modulation coefficient This coefficient affects the current tangent speed setpoint in a ratio of 1 1000 to 2000 1000 QWr m 3 1 e CMV 0 Feed hold command which stops the moving part while ensuring that upon the resume movement command CMV 0 the programmed trajectory is followed Feed hold status is indicated by the IM_PAUSE bit lr m 3 34 e Pause Pause command which is used to suspend XMOVE movement sequence The pause is only active when the moving part is stationary This is indicated by the ON_PAUSE bit lr m 3 33 e MOD_STEP Qr m 3 19 is used to execute a movement se
305. type use the scroll button on the right of the G9_ field or enter the code directly with a direct entry without going via the Details screen Instruction Code G defines the XMOVE function instruction code see page 349 346 35006220 07 2011 Programming Interpolation Plane or Space Number SPACE defines the plane or space number where the movement must take place This parameter specifies the list of axes affected by the movement Code Meaning 0 Movement in the XY plane 1 Movement in the XZ plane 2 Movement in the YZ plane 3 Movement in the XYZ space NOTE When the group of interpolated axes is in 2 D the SPACE field must be at 0 The Z field for the XMOVE function becomes not significant and is disregarded Co ordinates for Position to Reach X Y Z defines the coordinates for reach position for channels 0 1 and 2 or for the position which the moving part is heading for in the case of a non stop movement This position can be e immediate e coded in pairs of MDi internal words or KDi internal constants these words can be indexed This value is expressed as a unit defined by the Length units configuration parameter for each axis Moving Part Movement Speed F defines the speed of the moving object or the movement speed required for the direction of movement to be carried out This speed can be e immediate e coded in a MDi internal double word or KDi internal constant
306. ue are targeted in the examples Mod is the Modulo mathematical operator For example if PREF1 40000 and modulo 60000 45000 PREF1 corresponds to 25000 152 35006220 07 2011 Programming Programming a Move to Non stop Position Instruction The move to non stop position instruction is as follows Instruction Instruction code Icon Moving to non stop position 01 Example SMOVE AXIS _CHO0 1 90 01 5000000 1000 0 AXIS CHO of type T AXTS STD Speed mm min A 1000 22 22 c p gt Position microm 5000000 NOTE If instruction G01 is not followed by another instruction its behavior depends on the Sequence control parameter defined in configuration 35006220 07 2011 153 Programming Programming a Move to Position with Stop Instruction The move to position with stop instruction is as follows Instruction Instruction code Icon Moving to position with stop 09 Example SMOVE AXIS CHO 1 90 09 5000000 1000 0 AXIS CHO of type T AXIS STD Speed mm min A 1000 _ 5000000 p gt Position microm 154 35006220 07 2011 Programming Programming a Movement Until Event Detection Instruction Event The instruction for movement until event detection is as follows Instruction Instruction code Icon Movement until event detection without stop 11 wt bil 4 aly Gi t Instruction
307. ult in equipment damage Electrical equipment should be installed operated serviced and maintained only by qualified personnel No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material A qualified person is one who has skills and knowledge related to the construction and operation of electrical equipment and its installation and has received safety training to recognize and avoid the hazards involved 12 35006220 07 2011 About the Book A At a Glance Document Scope This manual describes the software installation of axis control tasks for Premium and Atrium PLCs from Unity Pro software Validity Note This documentation is valid for Unity Pro from version 6 0 Product Related Information A WARNING UNINTENDED EQUIPMENT OPERATION The application of this product requires expertise in the design and programming of control systems Only persons with such expertise should be allowed to program install alter and apply this product Follow all local and national safety codes and standards Failure to follow these instructions can result in death serious injury or equipment damage User Comments We welcome your comments about this document You can reach us by e mail at techcomm schneider electric com 35006220 07 2011 13 14 35006220 07 2011 Control of Servo Drive Axes in Premium PLCs Subj
308. unction is performed in manual mode 35006220 07 2011 139 Programming Programming the SMOVE Function in Automatic Mode At a Glance A SMOVE function can be programmed in all programming modules in ladder language using an operate block instruction list language between square brackets or in structured text language In all cases the syntax stays the same Assisted Entry Screen You can enter the SMOVE function directly or using the entry help screen Function entry wizard FFB type E Instance 7 r Prototype Name Type No Comment Entry field EPE Insert Close Advanced Assisted Entry From within the selected program editor proceed as follows Step Action 1 Right click in the editor where you want to enter the function and select FFB entry assistant The entry window appears Enter SMOVE Press the Details button and fill in the different fields that are offered Function variables can also be entered directly into the parameters entry zone Confirm with OK or Enter The function is then displayed 140 35006220 07 2011 Programming Entering SMOVE Function Parameters At a Glance A movement command is programmed by an SMOVE function using the following syntax SMOVE AXIS _CH1 N_ Run G9x G X F M The Details screen will assist you in entering each parameter
309. ut on Event G98 Immediate Cut Operating Mode A sensor detects the course of the product to be cut When the event is received the module memorizes the belt position and calculates the cutting point according to the following formula Control source point Memorized position Cutting distance on event The Dist parameter should have a value more than the cutting length on event so that the event triggers the tool This forms a security system if the event does not intervene during the final cutting distance Be careful not to disturb the event input on channel 0 when cutting on event To perform an immediate cut the module should be in waiting phase 0 for starting a cart with the SMOVE with G22 instruction and receive a Coupelm Qr m 1 20 rising edge command The module will calculate the minimum cutting distance for a shorter piece than the one currently being carried out The cutting position is saved as the control source for the next cut If the cart begins to move the command for an immediate cut is ignored After carrying out each cutting instruction the cut counter lwr m 1 7 is increased While executing a G22 it is possible to prepare and send the module the consecutive cutting order at the end of the current cut which can be identical or different to the current cut To halt the cutting operations using the cart at the rest point it is possible to e No longer send G22 and allow the current cuts or those queu
310. uxiliary outputs of the module Parameter None Result Moving part is forced to stop Indication AUX_FLT bit MWr m c 3 1 1 Remedy Eliminate the short circuit then acknowledge the fault 35006220 07 2011 193 Encoder Supply 24 V Supply The following table shows the cause the signal and the solution if an Encoder supply fault should occur Cause There is no longer any power supplied to the encoder Parameter None Result The axis stops being referenced in the case of an incremental encoder Moving part is forced to stop Indication ENC_SUP bit MWr m c 3 3 1 Remedy Reestablish the connection then acknowledge the fault Absolute Encoder Frame The following table shows the cause the signal and the solution if an Absolute encoder frame fault should occur Cause SSI Frame fault parity or error bit Parameter None Result Moving part is forced to stop Indication ENC_FLT bit MWr m c 3 7 1 Remedy Eliminate the fault then acknowledge the fault The following table shows the cause the signal and the solution if an 24 V supply fault should occur Cause 24 V supply fault Parameter None Result Moving part is forced to stop Indication AUX_SUP bit MWr m c 3 6 1 Remedy Reestablish the connection then acknowledge the fault In order to be updated the MW words require a READ_STS command 35006220 07 2011 P
311. wer The slave axis is referenced in automatic mode No blocking fault is detected The master axis must be referenced within the framework of a measurement follower the master being situated indifferently in one of the 4 modes If the calculated setpoint overshoots the axis soft stops the moving part stops and the command is refused SlavePositionSetpoint MasterPosition 1 x Ratio1 Ratio2 Slave_Off or InternalSlaveOffset 1 according to configuration For the DRIVE_OFF Mode This mode is used to slave a slave axis to a master axis In this case the slave is declared a measurement follower 35006220 07 2011 177 Programming Meaning of the AT_PNT Bit and DMAX2 Parameter The DMAX2 parameter defines the precision threshold This value is particularly useful in the object tracking applications where the slave axis goes into a recovery phase before satisfying the condition MasterPosition x Ratio Offset DMAX2 lt or SlavePosition lt or MasterPosition x Ratio Offset DMAX2 As soon as the condition is satisfied over a period at least equal to the value of the T_STOP parameter the AT_PNT bit takes the value 1 to signify that the slave axis has caught up Important e For the calculated slave axis position setpoint to be valid you must make sure that the slave axis is already at the Master x RATIO position before switching this axis to slave mode e Reference point commands on the master a
312. xis must be avoided when there are slave axes risk of tracking error fault on the slave axis e In Tracking mode e the TH_PNT NEXT information bits are not managed e the PAUSE command is not active e CMV modifications are not taken into account CMV 1000 e When a slave axis is slaved to a master axis the slave tries to catch up with the master by the shortest possible route For this reason the tracking error must always be less than half the slave modulo value e During configuration you can specify that the link between slave and master must be made with no movement In this case the slave does not take the SlaveOffset parameter into account and calculates an InternalSlaveOffset parameter which is not communicated to the application in order to inhibit all slave movements at the point when it becomes a slave while the master is immobile Specifications These applications are made up of e an infinite axis or master axis which moves continuously e an axis which is sometimes controlled by a master and sometimes independent 178 35006220 07 2011 Programming Movement Slaved to an External Setpoint At a Glance This function is used to slave the position of an axis to a position written by an application program in the double word PARAM QDr m c 2 It provides a means of slaving an axis to a pre programmed trajectory It can also be used to control a module axis so that the refresh rate of the slave
313. y for detecting a stop 0 to 10000 ms MWr m c 25 TACC INT R W Acceleration deceleration time TACCMIN to 10000 ms MWr m c 26 VLIM INT R W Movement control activation threshold MWr m c 27 RATIO1 INT R W Slave axis ratio TSX CAY 22 42 MWr m c 29 RATIO2 INT R W Slave axis ratio TSX CAY 22 42 MWr m c 30 SL_MAX DINT R W High soft stop SLMIN to LMAX for limited axis MDr m c 31 Modulo in points for an infinite axis SL_MIN DINT Lower soft stop LMIN to SLMAX for a limited axis MDr m c 33 Modulo value in user units for an infinite axis MAN_SPD DINT R W Speed in manual mode 10 to VMAX MDr m c 35 K_RES1 DINT R W Resolution multiplier 1 to 1000000 MDr m c 37 K_RES2 DINT R W Resolution divisor 1 to 1000000 MDr m c 39 RP_POS DINT R W Reference point value in manual mode SLMIN to SLMAX MDr m c 41 RE_POS DINT R W Recalibration reference value SLMIN to SLMAX MDr m c 43 MAX_F1 DINT R W Position 1 deviation threshold MDr m c 45 0 to SLMIN SLMAX 4 MAX_F2 DINT R W Position 2 deviation threshold MDr m c 47 0 to SLMIN SLMAX 4 35006220 07 2011 327 Standard symbol Type Access Description Address TW DINT R W Debugging window MDr m c 49 0 to SLMIN SLMAX 20 RE_WDW DINT R W Recalibration deviation threshold MDr m c 51 0 to SLMIN SLMAX 20 ABS_OFF DINT R W Absolute encoder offset MDr m c 53 SLAVE_OFF DINT R W Axis follower offset TSX CAY
314. y requirements the relevant instructions must be followed Failure to use Schneider Electric software or approved software with our hardware products may result in injury harm or improper operating results Failure to observe this information can result in injury or equipment damage 2011 Schneider Electric All rights reserved 35006220 07 2011 Table of Contents Part Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Safety Information 00 cee eee eee eee About the BOOK sicie cs cen ee awe be ees Control of Servo Drive Axes in Premium PLCs General Introduction 000 sence eee eee Introduction to the Motor Operator Axis Control Range Functions Provided by the Axis Control Modules Introduction to the TSX CAY Modules General misme he tele len ee eile tested aun a aie ate ve aha Physical Description 0 00 0 e eee ett ee FUNCHONS os exdince a eRe a AAE sews Circuit Diagram of an Axis Command 000 cee eee eee Command Processing 0 0 0 cece eee eet eens Compatibility of the Absolute Encoders with the TSX CAY Modules Set up Methodology 00eee eee een eens Installation Phase Overview 0 000 eee eee Interpolation Implementation Method 00 eee eee ee eee Introductory Example 0 eee eee eee eee Description of the Example 00 cece eee eee Prerequis
315. ysical limit Z Entry value of the software lo limit 2 Maximum lo physical limit e Minimum hi physical limit z Entry value of the software hi limit 2 Entry value of the hi physical limit lt Maximum hi physical limit e Minimum physical format Minimum hi physical limit Maximum lo physical limit gt 2 5 resolution e Minimum software format Software hi limit Software lo limit gt 215 resolution TSX CAY 2 33 modules Graphic presentation During Axis configuration Physical limits of the axis Minimum lo Maximum lo Minimum hi Maximum hi physical limit physical limit physical limit physical limit Lo physical format gt 2 resolution cf Lo software format gt 2 resolution Software lo limit Software hi limit During Axis adjustment Axis soft stops 35006220 07 2011 223 Configuration Restrictions Determining the physical limits according to the association of an encoder with the CAY 2 33 module Take the smallest absolute value of the encoder or the CAY 2 33 module Encoder type Incremental encoder Absolute encoder TSX CAY 2 33 Minimum lo physical 16 108 resolution 16 10 resolution 225 6 108 limit Maximum lo physical 0 0 0 limit Minimum hi physical 0 0 0 limit Maximum hi physical 146 106 resolution 16 10 resolution 2

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