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Altivar ATV IMC Drive Controller - Programming Guide

1. Step Action 1 In the Devices tree double click MyController Local Drive Result The configuration window is displayed 2 Select the PIx POx Configuration tab l O Mapping Plx POx Configuration Drive cyclic read Address Long Label Drive_PI1 LAC 3006 Level of access control Drive PI2 Drive PI3 Drive PI4 Drive PI5 Drive PI6 Drive PI7 Drive PI8 Drive cyclic write Code Address Long Label Drive PO1 Drive PO2 Drive PO3 Drive PO4 Drive PO5 76 E100000000390 04 2014 Resident Drive Data Configuration I O Mapping Tab This table describes the properties of the I O Mapping tab Variable Channel Type Drive Cyclic Parameters Read DRIVE_PI1 DRIVE PI8 WORD Drive Cyclic Parameters Write DRIVE PO1 DRIVE PO8 WORD Drive lOs DRIVE AI WORD DRIVE AI2 DRIVE AO1 ixDrive DRIVE LI DRIVE LI1 DRIVE LI6 BOOL ixDrive DRIVE LI6 qxDrive DRIVE RELAY1 DRIVE RELAY1 BOOL qxDrive DRIVE RELAY2 DRIVE RELAY2 NOTE The drive digital outputs QW24 0 QW24 1 as well as the analog output QW11 are inoperative when they have been assigned to a drive function in the resident drive configuration Select the variables to be attached by clicking the symbol in the column Mapping PIx POx Configuration The task PIx POx Configuration allows you to configure the drive parameters for cyclic exchanges Click a button for example Drive PI1 in the first columns Result a di
2. detection of an External Error the LED indications are different Controller State Description RUN MS LED INVALID OS There is not a valid firmware file present In the Flash Red flashing memory The controller does not execute the application Communication is only possible through the USB host port and then only for uploading a valid OS Refer to Upgrading ATV IMC Controller Firmware see page 129 EMPTY There is no or an invalid application Single green flash EMPTY after This state is the same as the normal EMPTY state except Red detection of a that a flag is set to make it appear as if no Boot Application System Error is present no Application is loaded and the LED indications are different RUNNING The controller is executing a valid application Green RUNNING with This state is the same as the RUNNING state with the 3 green flashes Breakpoint following exceptions e The task processing portion of the program does not resume until the breakpoint is cleared e The LED indications are different For more information on breakpoint management refer to the SoMachine Programming Guide RUNNING with This state is the same as the normal RUNNING state except Green single red flash STOPPED The controller has a valid application that is stopped See Details of the STOPPED State see page 47 for an explanation of the behavior of outputs and field buses in this state Green flashing STOPPED with detectio
3. Step Action 1 In the Devices tree double click MyController Embedded IO HSC Result this window is displayed HSCO HSC1 Variable HSCO1 Parameter Type Value Default Value Unit Description 2 m HSC Bg HSCO1 Type Enumeration of BYTE Main Not Used Type of counter Mode Enumeration of BYTE One shot On shot Counting mode e CountA Enumeration of BYTE LI51 LI51 Main counter input Count A Edge Enumeration of BYTE Rising edge Rising edge Count A signal detection _CountADirection Enumeration of BYTE Up UP Count up or down 3 9 Preset Modulo _ Preset Modulo DINT 0 65535 0 Present or Modulo value according t 2 Time Base Optional Inputs Enable Enumeration of BYTE Enabled Disabled Enable ENABLE input Enable Input Enumeration of BYTE Aki v LI51 Logical input associated to Enable s Enable Edge Enumeration of BYTE Rising edge Rising edge Enable signal detection Preset Enumeration of BYTE Disabled Disabled Enable Present input e Logical input associated to Enable signal Select one of these tabs according to the HSC channel you need to configure After choosing the HSC type you want the variable field can be used to change the HSC instance name If the parameters are collapsed you can expand them by clicking the plus sign Then you can access to the setting of each parameter Enter choose select the parameter valu
4. Step Action 1 Select the option board you want IO Basic or IO Extended in the Hardware Catalog drag it to the Devices tree and drop it on one of the highlighted nodes For more information on adding a device to your project refer to Using the Drag and drop Method see SoMachine Programming Guide Using the Contextual Menu or Plus Button see SoMachine Programming Guide 2 Double click the created node 80 E100000000390 04 2014 Chapter 13 Ethernet Configuration Introduction This chapter describes how to configure the Ethernet network interface of the ATV IMC What Is in This Chapter This chapter contains the following topics Topic Page Ethernet Services 82 IP Address Configuration 84 Modbus TCP Slave Device 89 Modbus TCP Server 92 System Variables Description 94 EIO0000000390 04 2014 81 Ethernet Configuration Ethernet Services Ethernet Services The controller supports the following services e FTP Server Web Server Modbus TCP Server slave SoMachine Manager Ethernet Protocol The controller supports the following protocols Bootp Served Configuration Protocol HTTP Hyper Text Transfer Protocol FTP File Transfer Protocol IP Internet Protocol UDP User Datagram Protocol TCP Transmission Control Protocol ARP Address Resolution Protocol TCP Server Connection This table shows the maximum numb
5. Cause of the last transition from RUN to another state 60015 i wLastApplicationError PLC R APPLICATION ERROR see Altivar ATV IMC Drive Controller System Functions and Variables ATV IMC PLCSystem Library Guide Cause of the last controller exception EIO0000000390 04 2014 95 Ethernet Configuration Modbus Address Var Name Type Comment 60016 i_lwSystemFault_1 LWORD Bit field FFFF FFFF FFFF FFFF hex indicates no detected error A bit at low level means that an error has been detected bit 0 Detected error on ATV IMC internal link bit 1 Ethernet link not connected bit 2 USB link not connected bit 3 CANopen link not running bit 4 Modbus TCP time out bit 5 Duplicate IP address detected bit 6 Overload detected on Ethernet network bit 7 Detected error on Ethernet hardware bit 8 Detected error on non volatile memory bit 9 CAN communication messaging detected error bit 10 Detected error on ATV IMC object dictionary e bit 11 Hardware watchdog detected error bit 12 Internal detected error bit 13 Logical output detected error over temperature bit 14 Logical output 24V power supply inoperative bit 15 63 Not used NOTE Bit 11 and bit 12 can be reset using the function ResetInternalErrorDiag see Altivar ATV IMC Drive Controller System Functions and Variables ATV IMC PLC
6. B binary coded decimal The format that represents decimal numbers between 0 and 9 with a set of 4 bits a nybble nibble also titled as half byte In this format the 4 bits used to encode decimal numbers have an unused range of combinations For example the number 2 450 is encoded as 0010 0100 0101 0000 E100000000390 04 2014 137 Glossary BOOL boolean A basic data type in computing A BOOL variable can have one of these values 0 FALSE 1 TRUE A bit that is extracted from a word is of type BOOL for example MW10 4isa fifth bit of memory word number 10 Boot application boot application The binary file that contains the application Usually it is stored in the PLC and allows PLC to boot on the application that the user has generated BOOTP bootstrap protocol A UDP network protocol that can be used by a network client to automatically obtain an IP address and possibly other data from a server The client identifies itself to the server using the client MAC address The server which maintains a pre configured table of client device MAC addresses and associated IP addresses sends the client its pre configured IP address BOOTP was originally used as a method that enabled diskless hosts to be remotely booted over a network The BOOTP process assigns an infinite lease of an IP address The BOOTP service utilizes UDP ports 67 and 68 byte A type that is encoded in an 8 bit format ranging from 16 00 to 16
7. Effect Resets all variables except for the remanent variables to their default values Places the controller into the STOPPED state Starting Conditions RUNNING STOPPED or HALT states E100000000390 04 2014 53 Controller States and Behaviors Methods for Issuing a Reset Warm Command e SoMachine Online Menu Select the Reset warm command e By an internal call by the application using the PLC_W q_wPLCControl and PLC_W q_uiOpenPLCControl system variables of the ATV IMC PLCSystem library see Altivar ATV IMC Drive Controller System Functions and Variables ATV IMC PLCSystem Library Guide Effects of the Reset Warm Command The application stops Forcing is erased Diagnostic indications for detected errors are reset The values of the retain variables are maintained The values of the retain persistent variables are maintained All non located and non remanent variables are reset to their initialization values The values of the sMw registers are maintained All fieldbus communications are stopped and then restarted after the reset is complete All I O are briefly reset to their initialization values and then to their user configured default values OCOONOOaARWND For details on variables refer to Remanent Variables see page 60 Reset Cold Effect Resets all variables except for the retain persistent type of remanent variables to their initialization values Places the controller in
8. Remove the the card by sliding it downwards Maximum wire size 2 5 mm AWG 14 Max tightening torque 0 6 Nm 5 3 Ib in A WARNING damage UNSECURED TERMINAL CARD Fully tighten the captive screw to a torque value of 1 1 1 7 Nm 9 7 15 Ib in after replacing the control terminal card Failure to follow these instructions can result in death serious injury or equipment EIO0000000390 04 2014 127 Connecting ATV IMC to a PC 128 E100000000390 04 2014 Chapter 17 Changing the ATV IMC Firmware Overview The firmware of the Altivar ATV IMC Drive Controller can be changed using e ATVIMC Firmware Loader V1 0 exe software e SoMachine Central What Is in This Chapter This chapter contains the following topics Topic Page Changing the Altivar ATV IMC Drive Controller Firmware with 130 ATVIMC Firmware Loader V1 0 exe Changing the Altivar ATV IMC Drive Controller firmware with SoMachine Central 133 EIO0000000390 04 2014 129 Changing the ATV IMC Firmware Changing the Altivar ATV IMC Drive Controller Firmware with ATVIMC_Firmware_Loader_V1 0 exe Introduction You can find the executable file in the folder Schneider Electric SoMachine Software Vx y LogicBuilder Firmware Tools ATV IMC in your local SoMachine installation folder By default the location is C Program Files Schneider Electric SoMachine The latest firmware updates for the A
9. EIO0000000602 ENG EIO0000000603 FRE EIO0000000604 GER EIO0000000605 SPA EIO00000006086 ITA EIO0000000607 CHS EIO0000000390 04 2014 Title of Documentation Reference Number SoMachine EIO0000000361 ENG Modbus and ASCII Read Write Functions EIO0000000742 FRE PLCCommunication Library Guide EIO0000000743 GER EIO0000000745 ITA EIO0000000744 SPA EIO0000000746 CHS Altivar 61 Communication Manual 1760661 ENG Altivar 71 Communication Manual 1755861 ENG SoMachine EIO0000001684 ENG Compatibility and Migration User Guide EIO0000001685 FRE EIO0000001686 GER EIO0000001687 ITA EIO0000001688 SPA EIO0000001689 CHS You can download these technical publications and other technical information from our website at www schneider electric com Product Related Information A WARNING LOSS OF CONTROL e The designer of any control scheme must consider the potential failure modes of control paths and for certain critical control functions provide a means to achieve a safe state during and after a path failure Examples of critical control functions are emergency stop and overtravel stop power outage and restart e Separate or redundant control paths must be provided for critical control functions e System control paths may include communication links Consideration must be given to the implications of unanticipated transmission delays or failur
10. assume their expected conditions in the RUNNING state 42 EIO0000000390 04 2014 Controller States and Behaviors A WARNING UNINTENDED EQUIPMENT OPERATION Always verify that your application program will operate as expected for all targeted controllers and equipment before issuing the Multiple Download command with the Start all applications after download or online change option selected Failure to follow these instructions can result in death serious injury or equipment damage NOTE During a multiple download unlike a normal download SoMachine does not offer the option to create a Boot application You can manually create a Boot application at any time by selecting Create boot application in the Online menu on all targeted controllers the controller must be in the STOPPED state for this operation Note 8 The SoMachine software platform allows many powerful options for managing task execution and output conditions while the controller is in the STOPPED or HALT states Refer to Controller States Description see page 45 for further details Note 9 To exit the HALT state it is necessary to issue one of the Reset commands Reset Warm Reset Cold Reset Origin download an application or cycle power In case of non recoverable event hardware watchdog or internal detected error a cycle power is mandatory Note 10 The RUNNING state has two exception conditions They are e RUNNING w
11. e The POUs executed by the PLC_PRG POU POUs Executed by a Task The following POUs are executed with the occurence of a task POU name Description ATV_IMC_Stop This program is only called once Program here actions to execute when the program stops for example manage Fall back state of canopen device ATV IMC Start This program is only called once Program here actions to execute when the program starts There are 2 optional functions prepared if required for your application Remove the comment elements and to enable the functionality Activate the fault datation see Altivar ATV IMC Drive Controller ATV IMC UserLib Library Guide e Read the switch see Altivar ATV IMC Drive Controller ATV IMC UserLib Library Guide Application_MastTask This program is called every 20 ms program here actions that don t affect the local drive Application SyncTask This program is called every 2 ms by default when fast drive control is required for your process program here drive control commands with the Drive Control functions and Drive Functions see Altivar ATV IMC Drive Controller ATV IMC UserLib Library Guide 18 E100000000390 04 2014 Create an ATV IMC Program with the ATV Template POU name Description PLC_PRG This is the main application POU This POU manages the application according to the status of the drive through the usage of the MANDATORY AT EACH CYCL
12. 0 4 294 967 295 32 Bit LWORD 0 2644 64 Bit SINT 128 127 8 Bit USINT 0 255 8 Bit INT 32 768 32 767 16 Bit UINT 0 65 535 16 Bit DINT 2 147 483 648 2 147 483 647 32 Bit UDINT 0 4 294 967 295 32 Bit LINT 263 263 4 64 Bit ULINT 0 2644 64 Bit REAL 1 175494351e 38 3 402823466e 38 32 Bit LREAL 2 2250738585072014e 308 1 7976931348623158e 308 64 Bit STRING 1 character 255 characters 1 character 1 byte WSTRING 1 character 255 characters 1 character 1 word TIME 32 Bit For more information on ARRAY LTIME DATE TIME DATE to the SoMachine Programming Guide AND TIME and TIM E OF DAY refer EIO0000000390 04 2014 23 Supported Standard Data Types 24 E100000000390 04 2014 Chapter 6 Memory Mapping Memory Organization Introduction This section provides the RAM Random Access Memory size with the different types of area for controllers and libraries ATV IMC Memory The RAM size is more than 3 MBytes composed of 2 areas e 1024 Kbytes System Area for Operating System memory e 2248 Kbytes Customer Area for dedicated application memory This table shows the different types of memory areas with their sizes for the ATV IMC memory Area Element Size Kbytes System Area Located Variables 128 1024 Kbytes MWO MW65535 Reserved 896 Customer Area Variables including Retain and 22481 2248 Kbytes Persistent variables see
13. Description reset Erase the memorization refresh Start stop refreshing load Load parameters configuration of ItemO and Item1 save Save parameters configuration of ItemO and Item in the controller ItemO Variable to be displayed Item1 Variable to be displayed Period s Page refresh period in second 112 EIO0000000390 04 2014 ATV IMC Web Server Diagnostics Page Diagnostics Page The Web Server page Diagnostics is an Ethernet Statistics page and provides information about e Emission statistics e Reception statistics e Detected errors Click Diagnostics and then Ethernet Statistics to view the following page Schneider PeO EEG BET TTE CT nice LCS 43 2 Electric Home Documentation a C Egg I in Diagnostics LLL Device Name MnyDevice Status Not connected Ethernet Statistics MAC Address 00 80 4 80 58 59 Device Type Altivar IMC TP Address 0209 Device Reference VW34352150 NetMask 0090 Software Version rr niezo Gateway 0 009 TP Configuration Default Emission statistics Reception statistics Other errors Emissi ln Recepti Collis I 079 Deferred Emissions CRC Emors Multi Collisions Late Colisions Feos ss Over Ran Buffer Enors BehrEnoss sf EnsinMesgs Reception Messags EM f 1O Scan Emissions 0 ScanReceptins 1OScmEnas I 7 Tae Memes Cmems Reset counters 6 2009 Schneider Electric All Rights Reserved E100000000390 04 2014 113 AT
14. Drive not powered 1 ON Drive powered and Alcan com OK 2 ILF Internal Link Fault 60233 FILE SYSTEM STAT UDINT 4 File system statistic Word 1 Total size e Word 2 Free space size Word 3 Used space size e Word 4 Bad Space size 1 Not accessible through the application Generic PLC Setup read write Modbus Identification Type Comments Address 62000 OPEN PLC CONTROL UINT When value pass from 0 to 6699 the value previously written in the following MW62001 is considered 62001 SET PLC CONTROL WORD Command take in account only on value MW62000 change from 0 to 6699 e 1 STOP 2 RUN 4 RESET COLD 8 RESET WARM 10 RESET ORIGIN Other No change 62002 FILECHECKSUM CMD WORD CheckSum file command e 0 Idle e 66 then 01 hex Ask for the checksum of the file sys firmware bin Keep this value until the end of the calculation e 66then 02 hex Ask for the checksum of the file sys DefWebSrv bin Keep this value until the end of the calculation e F1 hex End for the checksum process of the file sys firmware bin value into the 2 next addresses e F2 hex End for the checksum process of the file DefWebSrv bin value into the 2 next addresses e EO hex Detected error on process due to file missing or wrong command 100 E100000000390 04 2014 Ethernet Configuration Modbus Identification Type Co
15. FF in hexadecimal representation C CANopen An open industry standard communication protocol and device profile specification EN 50325 4 CFC continuous function chart A graphical programming language an extension of the IEC 61131 3 standard based on the function block diagram language that works like a flowchart However no networks are used and free positioning of graphic elements is possible which allows feedback loops For each block the inputs are on the left and the outputs on the right You can link the block outputs to the inputs of other blocks to create complex expressions controller Automates industrial processes also known as programmable logic controller or programmable controller D DHCP dynamic host configuration protocol An advanced extension of BOOTP DHCP is more advanced but both DHCP and BOOTP are common DHCP can handle BOOTP client requests DINT double integer type Encoded in 32 bit format 138 E100000000390 04 2014 Glossary DTM device type manager Classified into 2 categories e Device DTMs connect to the field device configuration components e CommDTMs connect to the software communication components The DTM provides a unified structure for accessing device parameters and configuring operating and diagnosing the devices DTMs can range from a simple graphical user interface for setting device parameters to a highly sophisticated application capable of performing complex
16. System and Task Watchdogs llllseleleleesssn 33 Task PEiotitles ok en een 34 Default Task Configuration liliis 35 Chapter 8 Controller States and Behaviors 37 8 1 Controller State Diagram liiis 38 Controller State Diagram llli elles 39 8 2 Controller States Description 0 000 seen 45 Controller States Description 200002 cence eee 45 8 3 State Transitions and System Events 00 0005 49 Controller States and Output Behavior 22 50 Commanding State Transitions 0002 eee eee 53 Error Detection Types and Management 2222222220 58 Remanent Variables 0 0 0 cc cece ee eee eee eee 60 EIO0000000390 04 2014 3 Chapter 9 Chapter 10 Chapter 11 Chapter 12 Chapter 13 Chapter 14 Chapter 15 Chapter 16 Chapter 17 Chapter 18 Glossary Index Controller Device Editor 61 Controller Parameters llli 62 Controller Selection llle 64 SEIVICES dat ee a eee a DE RP ehe er ae 66 Local Input Output Configuration 67 Local I O Configuration 00 000 c eee eee 68 Addressing 0 0c teeta 70 Local HSC Configuration sues 71 HSC TYDES ies dh Bee haces brc oor eda po EXER T2 HSC Configuration Screen Description 22222222 een een 73 ATV IMC Resident Drive
17. The encoder interface card points counter The drive parameters speed current torque etc The drive remote keypad as application HMI Compatible Option Cards This table provides the references of the ATV 61 71 option cards compatible with the Altivar ATV IMC Drive Controller Reference Option Card Description VW3A3201 Logic digital O card VW3A3202 Extended I O card VW3A3303 Modbus ASCII communication card VW3A3310D Modbus TCP IP Daisy Chain Ethernet card VW3A3304 Interbus communication card VW3A3316 Ethernet IP communication card VW3A3309 DeviceNet communication card VW3A3307 Profibus DP communication card VW3A3307S371 Profibus DP V1 communication card Features of the Altivar ATV IMC Drive Controller This table lists the features of the Altivar ATV IMC Drive Controller drive controller Reference Power Ethernet CANopen Digital Digital Analog Analog Memory Supply Interface Master Inputs Outputs Inputs Outputs Size VW3A3521 24 Vde yes yes 10 6 2 2 3 MB 12 E100000000390 04 2014 Chapter 2 How to Configure the Controller How to Configure the Controller Introduction First create a new project or open an existing project in the SoMachine software Refer to the SoMachine Programming Guide for information on how to e add a controller to your project e add expansion modules to your controller e replace an existing cont
18. The list of POUs see SoMachine Programming Guide Programming Organization Units controlled by the task is defined in the task configuration window e To adda POU linked to the task use the command Add Call and select the POU in the Input Assistant editor e To remove a POU from the list use the command Remove Call e To replace the currently selected POU of the list by another one use the command Change Call e POUS are executed in the order shown in the list To move the POUs in the list select a POU and use the command Move Up or Move Down NOTE You can create as many POUs as you want An application with several small POUs as opposed to one large POU can improve the refresh time of the variables in online mode 30 EIO0000000390 04 2014 Tasks Task Types Introduction The following section describes the various task types available for your program along with a description of the task type characteristics Cyclic Task A Cyclic task is assigned a fixed cycle time using the Interval setting in the Type section of Configuration subtab for that task Each Cyclic task type executes as follows Fixed User Defined Task Interval Task duration Y E 2S E d N w gt 1 Read Inputs The physical input states are written to the 1 input memory variables and other System operations are executed 2 Task Processing The user code POU and so on defined in the task is processed The Q out
19. an overview of the Web Server pages Menu Page Description Home Home Allow login and password enter Monitoring IMC Viewer e Device Name shows the name of the device e Controller shows the controller state e CANopen shows the state of the CANopen master Drive shows the state of the drive logical inputs and outputs e analog inputs and outputs Data parameters Display and modification of controller variables Oscilloscope Display of two variables in the form of a recorder type time chart Diagnostics Ethernet statistics Provides information about e Emission statistics Reception statistics Detected errors EIO0000000390 04 2014 105 ATV IMC Web Server Menu Page Description Setup Ethernet Setup This page is used to setup the Ethernet connection Security Provides 3 types of passwords e Monitor password e Data write password e Administrator password Documentation References Link to www schneider electric com Page Access This table describes the controller status necessary to access to the pages Menu Page Controller Status Empty Stopped Running Stop on detected error Home Home X X X X Monitoring IMC Viewer X X X X Data parameters X X Oscilloscope X X Setup Ethernet Setup X X X X Security X X X x Diagnostics Ethernet Statistics x x X x Control
20. blocks which are required matching IEC61131 3 as standard POUs for an IEC programming system The standard POUs must be tied to the project standard library Util Analog Monitors BCD Conversions Bit Byte Functions Controller Datatypes Function Manipulators Mathematical Functions Signals ATV IMC SysLib interface with the ATV 71 and 61 local drive ATV IMC UserLib interface with the ATV 71 and 61 local drive ATV IMC HSC see Altivar ATV IMC Drive Contains function blocks and variables to get information and Controller High Speed Counting ATV IMC send commands to the Fast Inputs Outputs of the ATV IMC HSC Library Guide controller These function blocks permit you to implement HSC High Speed Counting functions on the Fast Inputs Outputs of the ATV IMC controller ATV IMC PLCSystem see Altivar ATV Contains functions and variables to get information and send IMC Drive Controller System Functions commands to the controller system and Variables ATV IMC PLCSystem Library Guide E100000000390 04 2014 21 Libraries 22 EIO0000000390 04 2014 Chapter 5 Supported Standard Data Types Supported Standard Data Types Supported Standard Data Types The controller supports the following IEC data types Data Type Lower Limit Upper Limit Information Content BOOL False True 1 Bit BYTE 0 255 8 Bit WORD 0 65 535 16 Bit DWORD
21. fault is declared and the program stopped WORD A type encoded in a 16 bit format 144 E100000000390 04 2014 Index Er A O addressing Output Behavior 51 51 51 direct 70 Output Forcing 51 immediate 70 indirect 70 symbolic 70 P Protocols IP 84 C Configuration of Embedded HSC 73 Controller Configuration R Controller Selection 64 Reboot 55 Services 66 D Download application 57 E Ethernet 82 Modbus TCP server 92 Modbus TCP slave device 89 Web server 103 External Event 32 H Hardware Initialization Values 51 high speed counters 73 L libraries 21 library size 25 Memory Mapping 25 Memory Organization 25 25 Remanent variables 60 Reset cold 54 Reset origin 55 Reset warm 53 Run command 53 RUN STOP function 68 S Software Initialization Values 51 State diagram 39 Stop command 53 T Task Cyclic task 31 External Event Task 32 Freewheeling task 32 Types 31 Watchdogs 33 W Web server Ethernet 103 EIO0000000390 04 2014 145 Index 146 EIO0000000390 04 2014
22. greatly depending on the setting of the Update I O while in stop option and the actions commanded via configured fieldbusses Refer to Controller States Description see page 45 for more details on these variations 50 EIO0000000390 04 2014 Controller States and Behaviors Hardware Initialization Values This output state applies in the BOOTING EMPTY following power cycle with no boot application or after the detection of a system error and INVALID_OS states In the initialization state analog transistor and relay outputs assume the following values e Foran analog output Z high impedance For a fast transistor output Z high impedance For a regular transistor output 0 Vdc For a relay output Open Software Initialization Values This output state applies when downloading or when resetting the application It applies at the end of the download or at the end of a reset warm or cold The software Initialization Values are the initialization values of outputs images 96l Q or variables mapped on l or Q By default they are set to 0 but it is possible to map the I O in a GVL and assign to the outputs a value different from 0 Output Forcing The controller allows you to force the state of selected outputs to a defined value for the purposes of system testing commissioning and maintenance You are only able to force the value of an output while your controller is connected to SoMachine To do so use the Forc
23. task A controller can have several tasks transmission control protocol A connection based transport layer protocol that provides a simultaneous bi directional transmission of data TCP is part of the TCP IP protocol suite E100000000390 04 2014 143 Glossary TPDO transmit process data object An unconfirmed broadcast message or sent from a producer device to a consumer device in a CAN based network The transmit PDO from the producer device has a specific identifier that corresponds to the receive PDO of the consumer devices U UDINT unsigned double integer Encoded in 32 bits UDP user datagram protocol A connectionless mode protocol defined by IETF RFC 768 in which messages are delivered in a datagram data telegram to a destination computer on an IP network The UDP protocol is typically bundled with the Internet protocol UDP IP messages do not expect a response and are therefore ideal for applications in which dropped packets do not require retransmission such as streaming video and networks that demand real time performance UINT unsigned integer Encoded in 16 bits W watchdog A watchdog is a special timer used to ensure that programs do not overrun their allocated scan time The watchdog timer is usually set to a higher value than the scan time and reset to 0 at the end of each scan cycle If the watchdog timer reaches the preset value for example because the program is caught in an endless loop a
24. tasks The Configuration window is composed of 4 parts SAS MAST x Configuration Priority 0 31 1 Interval e g t 200ms t 20ms Watchdog Enable Time e g t 200ms 100 Sensitivity h dh AddCal gt lt POU Comment E100000000390 04 2014 29 Tasks The table describes the fields of the Configuration screen Field Name Definition Priority Configure the priority of each task with a number from 0 to 31 0 is the highest priority 31 is the lowest Only one task at a time can be running The priority determines when the task will run e a higher priority task will pre empt a lower priority task e tasks with same priority will run in turn 2 ms time slice NOTE Do not assign tasks with the same priority If there are yet other tasks that attempt to pre empt tasks with the same priority the result could be indeterminate and unpredicable For safety information refer to Task Priorities see page 34 Type These task types are available e Cyclic see page 31 e External see page 32 e Freewheeling see page 32 Watchdog To configure the watchdog see page 33 define these 2 parameters e Time enter the timeout before watchdog execution e Sensitivity defines the number of expirations of the watchdog timer before the controller stops program execution and enters a HALT state see page 39 POUs
25. 0 to 1 reset all counters To reset again it is necessary to re write this register to O before set to 1 again 62067 NVMEMORY ETH PARAM APP ENABLE WORD e 1 Enable the update of Ethernet parameters by the SoMachine application at startup and at download 0 Ethernet parameters of the SoMachine application not taken into account When you set it from 0 to 1 the Ethernet parameters are also updated by application parameters 1 Not accessible through the application 102 EIO0000000390 04 2014 Chapter 14 ATV IMC Web Server Introduction This chapter describes how to access the ATV IMC Web Server You can view these pages by installing the module and configuring its IP address What Is in This Chapter This chapter contains the following topics Topic Page Web Server 104 Monitoring Page 108 Diagnostics Page 113 Setup Page 114 Documentation Page 118 E100000000390 04 2014 103 ATV IMC Web Server Web Server Introduction The controller provides as standard an embedded Web server with a predefined factory built in website You can use the pages of the website for module setup and control as well as application diagnostic and monitoring They are ready to use using a simple Web browser No configuration or programming is required The Web server can be accessed by the navigators listed below e Microsoft Internet Explorer versi
26. 0000390 04 2014 121 CANopen 122 E100000000390 04 2014 Chapter 16 Connecting ATV IMC to a PC Connecting the Altivar ATV IMC Drive Controller to a PC Introduction To transfer and run applications connect the Altivar ATV IMC Drive Controller to a PC with a properly installed version of SoMachine You can connect the Altivar ATV IMC Drive Controller to the PC by means of two different ways e USB cable e Ethernet connection NOTE To use the communication ports of the PC stop the CoDeSys gateway by right clicking the CoDeSys Gateway SysTray running icon from the taskbar and selecting the command Stop Gateway This is mandatory if you want to use the Ethernet cable The communication cable should be connected to the PC first to minimize the possibility of electrostatic discharge affecting the controller NOTICE INOPERABLE EQUIPMENT Always connect the communication cable to the PC before connecting it to the controller Failure to follow these instructions can result in equipment damage NOTE Only 1 controller should be connected to a computer at any given time Do not connect multiple controllers simultaneously EIO0000000390 04 2014 123 Connecting ATV IMC to a PC Connecting Through Ethernet The following illustration describes the Ethernet connection Please proceed as follows to connect the controller to the PC Step Action 1 First connect the cab
27. 00390 04 2014 Controller States and Behaviors e System events are indicated in Italics e Decisions decision results and general information are indicated in normal text 1 For details on STOPPED to RUNNING state transition refer to Run Command see page 53 2 For details on RUNNING to STOPPED state transition refer to Stop Command see page 53 Note 1 The Power Cycle Power Interruption followed by a Power ON deletes all output forcing settings Refer to Controller State and Output Behavior see page 50 for further details Note 2 There is a 1 2 second delay between entering the BOOTING state and the LED indication of this state The boot process can take up to 5 seconds under normal conditions The outputs will assume their initialization states Note 3 In some cases when a system error is detected it will cause the controller to automatically reboot into the EMPTY state as if no Boot application were present in the Flash memory However the Boot application is not actually deleted from the Flash memory Note 4 The application is loaded into RAM after verification of a valid Boot application During the load of the boot application a Check context test occurs to assure that the Remanent variables are valid If the Check context test is invalid the boot application will load but the controller will assume STOPPED state see page 55 Note 5a The Starting Mode is set in the PLC settings tab of the Controller Devi
28. 0390 04 2014 117 ATV IMC Web Server Documentation Page Documentation This page provides a link to References of Schneider Electric Click on Documentation to open the following page Schneider Altivar Integrated Machine Controller Electric BEE Documentation RETENEN References Schneider Electric 2009 Schneider Electric All Rights Reserved 118 EIO0000000390 04 2014 Chapter 15 CANopen CANopen Interface Configuration CAN Bus Configuration To configure the CAN bus of your controller proceed as follows Step Action 1 In the Devices tree double click CAN 2 Configure the baudrate by default 250000 bits s CANbus Baudrate bits s 250000 v C A N O D m n Network S Online Bus Access Block SDO DTM and NMT access while application is running NOTE The Online Bus Access option allows you to block SDO DTM and NMT sending through the status screen CANopen Manager Creation and Configuration If the CANopen Manager is not already present below the CAN node proceed as follows to create and configure it Step Action 1 Select CANopen Optimized in the Hardware Catalog drag it to the Devices tree and drop it on one of the highlighted nodes For more information on adding a device to your project refer to e Using the Drag and Drop Method see SoMachine Programming Guide Using the Contextual Menu or Pl
29. 5 7 Bool ig t 2x 9 lt rm v count Int Comment DI Fast input Sink Source DI Fast input Sink Source DI Fast input Sink Source DI Fast input Sink Source DI Fast input Sink Source DI Fast input Sink Source DI Fast input Sink Source DI Fast input Sink Source DI Regular input Sink Source DI Regular input Sink Source DI Regular input Sink Source DI Regular input Sink Source DI Regular input Sink Source DI Regular input Sink Source DI Short Circuit detected if True Fast output Push pull Fast output Push pull Fast output Push pull Fast output Push pull Regular output Regular output Regular output Regular output DQ Regular output DQ Regular output DQ Rearming Command on rising edge Module 2 Module 2 Module 2 Module 2 Module 2 Module 2 Module 2 Module 2 Module 2 Module 2 Module 2 Module 2 Module 2 Module 2 Module 2 Module 2 NOTE The variable selection is possible only in offline mode 110 EIO0000000390 04 2014 ATV IMC Web Server Data parameters page The page Data parameters enables to display and modify variables and values Click on Data parameter to view the following page Schneider Electric m Altivar Integrated Machine Controller Home Documentation Monitoring C Diagnostics Monitoring Oad J Que J e refresh Gadd da Jis refr
30. 90 04 2014 Safety Information G 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 safety label indicates that an electrical hazard exists which will result in personal injury if the instructions are not followed 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 N This is the safety alert symbol It is used to alert you to potential personal injury A WARNING WARNING indicates a potentially hazardous situation which if not avoided can result in death or serious injury A CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in minor or moderate injury NOTICE NOTICE is used to address practices not related to physical injury EIO0000000390 04 2014 5 PLEASE NOTE Electrical equipment should be installed operated serviced and maintained only by qualified personnel No responsibility is assumed by Schneider Electric for
31. ANopen Operational Controller RUNNING Drive NLP A51 0 019 mA A52 0 019 mA A051 0 0mA A052 0 0mA 2009 Schneider Electric All Rights Reserved On the left hand side you can see the state of the Controller and the logical IOs On the right hand side you can see the state ofthe CANopen master and the local Drive as well as the analog lOs Data Parameters Monitoring variables in the Web Server To monitor variables in the web server you should add a Web Data Configuration object to your project Within this object you can select all variables you want to monitor This table describes how to add a Web Data Configuration object Step Action 1 Right click the Application node in the Applications tree tab 2 Click Add Object Web Data Configuration Result The Add Web Data Configuration window is displayed 3 Click Add Result The Web Data Configuration object is created and the Web Data Configuration editor is open NOTE As a Web Data Configuration object is unique for a controller its name cannot be changed 108 E100000000390 04 2014 ATV IMC Web Server Web Data Configuration Editor Click the Refresh button to be able to select variables this action will display all the variables defined in the application 4B WebDataConfiguration MyController PLC Logic Application x 2 Refresh Execute Refresh command to be able to select variables Symbols Type Comme
32. ATV Template Overview of the ATV Template Template Diagram The ATV template is a structured program following the logic shown in this diagram Application Stopped No On Stat On Stop m V event _ event lt Yes _ No Y Tasks execution yY ae yY Execute Execute On_Start task On_Stop task Tasks Description The ATV_Template is structured around 5 tasks Start_task This task is executed with the On_Start event and executes the ATV_IMC_Start POU Stop_task This task is executed with the On_Stop event and executes the ATV_IMC_Stop POU Tasks execution The following 3 tasks are executed during this step with the following priority 1 Sync task This task is executed with the On_Sync event and executes the Application SyncTask POU 2 Mast This is a cyclic task it is executed every 20 ms and executes the Application MastTask POU 3 Freewheel task This is a freewheel task it is executed in background and executes the PLC PRG POU For more information about task and events refer to the Task Types see page 31 E100000000390 04 2014 17 Create an ATV IMC Program with the ATV Template Program Organisation Unit POU Overview The ATV Template has several POUs that can be used to manage a local drive and execute the applications you may need POUs are displayed in the Applications tree POUs are organized in 2 different categories e The POUs executed directly because of a task
33. Control x x x x Documentation References x x x x Maintenance Maintenance x x x x 106 EIO0000000390 04 2014 ATV IMC Web Server Home Page Access To access to the website home page type the IP address of the controller in your navigator or 90 0 0 1 via USB E Ativar tegrated machine Controller _ Microsoft nternet Explorer tur par m diane Systeme db Oo comes EO Eichier Edition Affichage Favoris Outils 2 di Favors Siy Estes sugg r s E Hotmail E Galerie de composants W v d Aktivar Integrated Machine Controller Schneider Altivar Integrated Machine Controller Electric Montoro EES SE ee NI E Languages English Altivar 74 gue zer Eod Web site version 1 1 0 1 Copyright 1998 2009 Schneider Electric All Rights Reserved NOTE To access the home page enter a valid password The default user names and passwords are e Administration ADMIN ADMIN e Monitor USER USER NOTE Verify that the port 502 is open in the Ethernet network E100000000390 04 2014 107 ATV IMC Web Server Monitoring Page Monitoring Page The page Monitoring allows you to access the following services e IMC Viewer e Data Parameters e Oscilloscope IMC Viewer Page Click on IMC Viewer to view the following page Schneider Altivar Integrated Machine Controller Electric Home Documentation Mona Monitoring DeviceName myDevice C
34. Data Configuration 75 ATV IMC Resident Drive Configuration and Usage 76 ATV IMC Display Data Configuration and Usage 78 ATV IO Option Board 2 anne ccc eee 80 Ethernet Configuration 02 ccc eee eens 81 Ethernet Services 0 0 20 00 ccc ee teen eee 82 IP Address Configuration 00000 eee 84 Modbus TCP Slave Device 22m seen een nn 89 Modbus TCP Server 22 22 nn nennen sees 92 System Variables Description 2222222 es essen 94 ATV IMC Web Server 00000 c cee eeaee 103 WED SCIEN 5 353 deos y OR LAU ER CRT een es emotes 104 Monitoring Page 00 ccs 108 Di gn slics Page sss rem nee ee neem ereti ae bane ween e 113 Setup Page u an saddens Rr y eta Cee ae 114 Documentation Page cssc cennere ese i eee eee 118 CANOPEN corrir ee E ae 119 CANopen Interface Configuration 20000200 eee 119 Connecting ATV IMC toaPC 123 Connecting the Altivar ATV IMC Drive Controller to a PC 123 Changing the ATV IMC Firmware 129 Changing the Altivar ATV IMC Drive Controller Firmware with ATVIMC_Firmware_Loader_V1 0 exe 2 22222 130 Changing the Altivar ATV IMC Drive Controller firmware with SoMachine Central lesse 133 Compatibility isse nun maa Rn mn 135 Software and Firmware Compatibilities llle 135 DD PTT TT 137 CIPIT 145 EIO00000003
35. E see Altivar ATV IMC Drive Controller ATV IMC UserLib Library Guide function Several POUs are executed here depending on the result of the MANDATORY AT EACH CYCLE function block e Drive Stop Drive Start Application Main Display RestoreSavedParameters Application Aperiodic Exchange POUs Executed During PLC PRG Depending on the result of the MANDATORY AT EACH CYCLE function block the following POUs can be executed MANDATORY AT EACH CYCLE result POU executed Description bError 1 Drive Stop Execute in this program actions to be done when drive is not present or communication interruption xInitState 71 Drive Start This program is executed when the drive is present but not initialized You can generate aperiodic requests to configure the drive and get data from the drive when removing the comment elements in this program NOTE Update the value wStateInitialization in the case 3 of the Drive Start POU if you want to use the aperiodic request Display RestoreSaved Parameters This POU is executed during the case 3 of the Drive Start POU execution In an ATV IMC application the keypad allows to display parameters used during the execution of the application This POU allows to restore the values of the Display Parameter see page 79 which had been configured to be saved xlnitState 20 Application Aperiodic Exchange Use this POU to read and write the drive
36. EIO0000000390 08 Altivar ATV IMC Drive Controller Programming Guide 04 2014 Schneider www schneider electric com Electric The information provided in this documentation contains general descriptions and or technical characteristics of the performance of the products contained herein This documentation is not intended as a substitute for and is not to be used for determining suitability or reliability of these products for specific user applications It is the duty of any such user or integrator to perform the appropriate and complete risk analysis evaluation and testing of the products with respect to the relevant specific application or use thereof Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for misuse of the information contained herein If you have any suggestions for improvements or amendments or have found errors in this publication please notify us No part of this document may be reproduced in any form or by any means electronic or mechanical including photocopying without express written permission of Schneider Electric All pertinent state regional and local safety regulations must be observed when installing and using this product For reasons of safety and to help ensure compliance with documented system data only the manufacturer should perform repairs to components When devices are used for applications with technical safety requirements the relevant
37. ID of Modbus TCPslave device 1 Not accessible through the application Modbus TCP Server For the Unit ID 252 AMOA the following function codes are valid Function Code Sub function Function Dec Hex Dec Hex 1 1 hex Read digital outputs Q 2 2 hex Read digital inputs l 3 3 hex Read holding register MW 6 6 hex Write single register MW 15 F hex Write multiple digital outputs Q 92 EIO0000000390 04 2014 Ethernet Configuration Function Code Sub function Function Dec Hex Dec Hex 16 10 hex Write multiple registers MW 23 17 hex Read write multiple registers YMW 43 2B hex 14 E hex Read device identification Read Device Identification Request The table below list the objects that can be read with a read device identification request basic identification level Object ID Object Name Type Value 00 hex Vendor name ASCII string Schneider Electric 01 hex Product code ASCII string Controller reference 02 hex Major minor revision ASCII string aa bb cc dd same as device descriptor EIO0000000390 04 2014 93 Ethernet Configuration System Variables Description Variable Structure The following table describes the parameters of the PLC _ R System Variable PLC R STRUCT type Modbus Var Nam
38. N Master 48 EIO0000000390 04 2014 Controller States and Behaviors Section 8 3 State Transitions and System Events Overview This section begins with an explanation of the output states possible for the controller It then presents the system commands used to transition between controller states and the system events that can also affect these states It concludes with an explanation of the Remanent variables and the circumstances under which different variables and data types are retained through state transitions What Is in This Section This section contains the following topics Topic Page Controller States and Output Behavior 50 Commanding State Transitions 53 Error Detection Types and Management 58 Remanent Variables 60 EIO0000000390 04 2014 49 Controller States and Behaviors Controller States and Output Behavior Introduction The ATV IMC defines output behavior in response to commands and system events in a way that allows for greater flexibility An understanding of this behavior is necessary before discussing the commands and events that affect controller states For example typical controllers define only 2 options for output behavior in stop fallback to default value or keep current value The possible output behaviors and the controller states to which they apply are managed by Application Program keep Current Values set All Outputs to Default hardwa
39. NTENDED EQUIPMENT OPERATION Always verify that online changes to a RUNNING application program operate as expected before downloading them to controllers Failure to follow these instructions can result in death serious injury or equipment damage NOTE Online changes to your program are not automatically written to the Boot application and will be overwritten by the existing Boot application at the next reboot If you wish your changes to persist through a reboot manually update the Boot application by selecting Create boot application in the Online menu the controller must be in the STOPPED state to achieve this operation Multiple Download SoMachine has a feature that allows you to perform a full application download to multiple targets on your network or fieldbus One of the default options when you select the Multiple Download command is the Start all applications after download or online change option which restarts all download targets in the RUNNING state provided their respective Run Stop inputs are commanding the RUNNING state but irrespective of their last controller state before the multiple download was initiated Deselect this option if you do not want all targeted controllers to restart in the RUNNING state In addition before using the Multiple Download option test the changes to your application program in a virtual or non production environment and confirm that the targeted controllers and attached equipment
40. P Address If you are not using the USB cable access the Altivar ATV IMC Drive Controller through Ethernet In the IP Address USB 90 0 0 1 box type the current IP address of the Altivar ATV IMC Drive Controller By default the IP address is 90 0 0 1 Admin Login Type the current administrator login By default the login is ADMIN Admin Password Type the current administrator password By default the password is ADMIN NOTE Upgrades are not possible if the administrator login password are incorrect Folder Lets you browse for the location of the binary and web server file of the firmware You can find the firmware file in the folder Firmware ATV IMC Vx y z t in your local SoMachine installation folder where Vx y z tis version of the Altivar ATV IMC Drive Controller firmware Command After clicking START the selected commands are realized one after the other Action Description Download Firmware This action copies the firmware files from the local PC to the controller file system disk The files contain the firmware information Download DefWebFile This action copies the file DefWebSrv bin from the local PC to the controller file system disk The file contains all the files necessary to upgrade the entire web site EIO0000000390 04 2014 131 Changing the ATV IMC Firmware Action Description Update Web Site This action updates the ent
41. System Library Guide 60020 i lwSystemFault 2 LWORD Not used 60024 i wIOStatusl PLC R IO STATUS see Altivar ATV IMC Drive Controller System Functions and Variables ATV IMC PLCSystem Library Guide Embedded I O status 96 EIO0000000390 04 2014 Ethernet Configuration Modbus Var Name Type Comment Address 60025 i wlIOStatus2 PLC R IO STATUS Not used always FFFF hex see Altivar ATV IMC Drive Controller System Functions and Variables ATV IMC PLCSystem Library Guide 60026 i wBatteryStatus PLC R BATTERY STAT Real Time Clock battery status US see Altivar ATV IMC Drive Controller System Functions and Variables ATV IMC PLCSystem Library Guide 60028 i dwAppliSignaturel DWORD First DWORD of 4 DWORD signature 16 bytes total The application signature is generated by the software during build 60030 i dwAppliSignature2 DWORD Second DWORD of 4 DWORD signature 16 bytes total The application signature is generated by the software during build 60032 i dwAppliSignature3 DWORD Third DWORD of 4 DWORD signature 16 bytes total The application signature is generated by the software during build 60034 i dwAppliSignature4 DWORD Fourth DWORD of 4 DWORD signature 16 bytes total The application signature is generated by the software during build 1 Not accessible through the application n a i sVendorNam
42. Task Types 31 System and Task Watchdogs 33 Task Priorities 34 Default Task Configuration 35 EIO0000000390 04 2014 27 Tasks Maximum Number of Tasks Maximum Number of Tasks The maximum number of tasks you can define for the ATV IMC are Total number of tasks 9 Cyclic tasks 3 Freewheeling tasks 1 External Event tasks 5 Special Considerations for Freewheeling A Freewheeling task see page 32 does not have a fixed duration In Freewheeling mode each task scan starts when the previous scan has been completed and after a period of system processing 30 of the total duration of the Freewheeling task If the system processing period is reduced to less than 15 for more than 3 seconds due to other tasks interruptions a system error is detected For more information refer to the System Watchdog see page 33 NOTE You should not use a Freewheeling task in a multi task application when some high priority and time consuming tasks are running Doing so runs the risk of provoking a task Watchdog Timeout You should not assign CANopen to a freewheeling task CANopen should be assigned to a cyclic task 28 E100000000390 04 2014 Tasks Task Configuration Screen Screen Description This screen allows you to configure the tasks Double click the task that you want to configure in the Applications tree to access this screen Each configuration task has its own parameters that are independent of the other
43. V IMC Web Server Setup Page Setup Page The Setup page enables you to change entries regarding e Ethernet e Security including e Monitor password e Data write password e Administrator password Ethernet Setup Click Ethernet to open the following page Schneider Altivar Integrated Machine Controller Home Documentation a _____ Monitoring NENNEN C I ON iagnostics Maintenance Setup Setup ETHERNET SETUP Eihemat IP Configuration Parameters Updated by Application 2 IP mode Fixed IP address IP address 1192 168 1 12 Subnet mask 255 255 255 0 Gateway address 0 0 0 0 Device Name ImyDevice Password 2009 Schneider Electric All Rights Reserved The Ethernet parameters defined by the web page are taken into account only if there is no SoMachine application Click Password to update the Ethernet parameters NOTE e The Data write password is required to update these parameters e When you enable the Parameters Updated by Application field the parameters are modified by the boot application if available and you cannot manually change them into the webpage 114 E100000000390 04 2014 ATV IMC Web Server Monitor Security Click Security and Monitor password to open the following page Schneider Altivar Integrated Machine Controller Electric Hom ntation LT O CU T Dianae Setup Setup Monitor security E Security Username I 8 1 New passw
44. a password length of at least 7 characters NOTE Schneider Electric follows and recommends to its customers industry best practices in the development and implementation of control systems This recommendation includes a Defense in Depth approach to secure an Industrial Control System This approach places the controllers behind one or more firewalls to restrict access to authorized personnel and protocols only 104 EIO0000000390 04 2014 ATV IMC Web Server A WARNING damage UNAUTHENTICATED ACCESS AND SUBSEQUENT UNAUTHORIZED MACHINE OPERATION e Evaluate whether your environment or your machines are connected to your critical infrastructure and if so take appropriate steps in terms of prevention based on Defense in Depth before connecting the automation system to any network e Limit the number of devices connected to a network to the minimum necessary Isolate your industrial network from other networks inside your company e Protect any network against unintended access by using firewalls VPN or other proven security measures e Monitor activities within your systems e Prevent subject devices from direct access or direct link by unauthorized parties or unauthen ticated actions e Prepare a recovery plan including backup of your system and process information Failure to follow these instructions can result in death serious injury or equipment Web Server Pages The following table gives you
45. ages computer hardware resources and provides common services for computer programs P PDO process data object An unconfirmed broadcast message or sent from a producer device to a consumer device in a CAN based network The transmit PDO from the producer device has a specific identifier that corresponds to the receive PDO of the consumer devices Profibus DP Profibus decentralized peripheral An open bus system uses an electrical network based on a shielded 2 wire line or an optical network based on a fiber optic cable DP transmission allows for high speed cyclic exchange of data between the controller CPU and the distributed I O devices program The component of an application that consists of compiled source code capable of being installed in the memory of a logic controller R REAL A data type that is defined as a floating point number encoded in a 32 bit format RPDO receive process data object An unconfirmed broadcast message or sent from a producer device to a consumer device in a CAN based network The transmit PDO from the producer device has a specific identifier that corresponds to the receive PDO of the consumer devices RTC real time clock A battery backed time of day and calender clock that operates continuously even when the controller is not powered for the life of the battery run A command that causes the controller to scan the application program read the physical inputs and write to the physical outputs accordin
46. alog box opens with selectable variables Code and Logical Address to exchange cyclically When an ATV IMC drive controller is plugged to a drive by default all the digital and analog outputs of the drive are managed by the ATV IMC drive controller To block the access of the digital and analog outputs of the drive change the register values of the drive by using the DriveParameterWritel see Altivar ATV IMC Drive Controller ATV IMC UserLib Library Guide program For example To block the access to the logic digital outputs set the registers as followed Write PPO1 5212 PPOO01 Parameter Protection 01 address 39003 5212 OLIR address logic digital outputs real image bitO LI1 8 Relays 8 LO Write PCD 0x400 OCD Channel protection definition address 39001 0x400 bit 10 Application channel card Write PPRQ 2 PPRQ Parameter Protection requestion address 39023 2 ask protection 3 release protection E100000000390 04 2014 77 Resident Drive Data Configuration ATV IMC Display Data Configuration and Usage Introduction The ATV local drive HMI offers a dedicated menu for ATV IMC controller called ATV IMC display The ATV IMC display can be customized in order to display up to 50 parameters that are exchanged between the drive and the Altivar ATV IMC Drive Controller Data Exchange The parameters that are exchanged between the drive and the ATV IMC controlle
47. and 60079 STAT ETH RX BUFFER ERRORS UDINT Reset at power on or with reset stat command 60081 MY ACTUAL LINK STATUS WORD e 1 Link Up e 2 Link Down 60082 MY ACTUAL PHY RATE WORD 10 or 100 60083 MY ACTUAL PHY DUPLEX WORD e 0 Half Duplex e 1 Full Duplex 1 Not accessible through the application Specific Informations read only Modbus Identification Type Comments Address 60200 NVMEMORY MODBUS TIMEOUT WORD Modbus TCP timeout in ms 60201 NVMEMORY IOSCAN ACTIVATION WORD e 0 IOScanning disabled e 1 lOScanning enabled 98 EIO0000000390 04 2014 Ethernet Configuration Modbus Identification Type Comments Address 60202 NVMEMORY MODBUS MASTER IP BYTE 4 If IPMaster is assigned only the IPMaster can write ADDR through Modbus TCP 60204 MODBUS_TX_FRAMES DWORD Statistic Number of Modbus frames sent 60206 MODBUS_RX_FRAMES DWORD Statistic Number of Modbus frames received 60208 MODBUS_IOSCAN_TX DWORD Statistic Number of Modbus IOScanning frames sent 60210 MODBUS IOSCAN RX DWORD Statistic Number of Modbus IOScanning frames received 60212 MODBUS MSG ERRORS WORD Statistic Number of Modbus frame detected errors sent 60213 MODBUS IOSCAN ERRORS WORD Statistic Number of Modbus IOScanning frames detected errors sent 60214 MODBUS TRAFFIC WORD Statistic Number of Modbus frames received and s
48. anges performed 84 E100000000390 04 2014 Ethernet Configuration Address Management The different types of address systems for the controller are shown in this diagram Initial IP acquisition state IP Mode BOOTP Initiate BOOTP process Close connection IP Mode Fixed Initiate DHCP process Use default IP Duplicated IP NO Final state default IP used Final state IP acquired and checked Error detected E100000000390 04 2014 85 Ethernet Configuration Ethernet Configuration In the Devices tree double click Ethernet EH Ethernet X Configuration Configured Parameters Interface Name Network Name ether0 myDevice IP Address by DHCP IP Address by BOOTP 9 fixed IP Address IP Address Subnet Mask Gateway Address Transfer Rate Security Parameters Auto SoMachine protocol active Modbus Server active Web Server active FTP Server active Discovery protocol active The configured parameters are explained as below Configured Parameters Description Interface Name Name of the network link Network Name Used as device name to retrieve IP address through DHCP maximum 16 characters IP Address by DHCP IP address is obtained via DHCP IP Address by BOOTP IP address is obtained via BOOTP Fixed IP Addr
49. 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 6 EIO0000000390 04 2014 About the Book At a Glance Document Scope The purpose of this document is to e show you how to program and operate the ATV IMC e help you understand how to program the ATV IMC functions e help you become familiar with the ATV IMC functions NOTE Read and understand this document and all related documents before installing operating or maintaining the ATV IMC Validity Note This document has been updated with the release of SoMachine V4 1 Related Documents Title of Documentation Reference Number SoMachine Programming Guide EIO0000000067 ENG EIO0000000069 FRE EIO0000000068 GER EIO0000000071 SPA EIO0000000070 ITA EIO0000000072 CHS ATV IMC Drive Controller Hardware Guide 1A10252 ENG 81434915 FRE S1A34916 GER 81434918 SPA 1A34917 ITA 51434919 CHS ATV IMC Drive Controller System Functions and Variables ATV IMC PLCSystem Library Guide EIO0000000596 ENG EIO00000000597 FRE EIO00000000598 GER EIO0000000599 SPA EIO0000000600 ITA EIO0000000601 CHS ATV IMC Drive Controller High Speed Counting ATV IMC HSC Library Guide
50. as the controller the loss of power to this input will be detected immediately and the controller will behave as if a STOP command was received Therefore if you provide power to the controller and the Run Stop input from the same source your controller will normally reboot into the STOPPED state after a power interruption when Starting Mode is set to Start in as previous state NOTE If you make an online change to your application program while your controller is in the RUNNING or STOPPED state but do not manually update your Boot application the controller will detect a difference in context at the next reboot the remanent variables will be reset as per a Reset cold command and the controller will enter the STOPPED state 56 EIO0000000390 04 2014 Controller States and Behaviors Download Application Effect Loads your application executable into the RAM memory Optionally creates a Boot application in the Flash memory Starting Conditions RUNNING STOPPED HALT and EMPTY states Methods for Issuing the Download Application Command SoMachine 2 options exist for downloading a full application e Download command e Multiple Download command For important information on the application download commands refer to Controller State Diagram see page 39 NOTE It is possible to download the boot application but it will not start Effects of the SoMachine Download Command CONMOHRWN The existing applicati
51. ce Editor Note 5b When a power interruption occurs the controller reassumes the state before the power interruption However depending on the source of power of the ATV IMC drive controller and whether you configured the Run Stop input the ATV IMC drive controller may interpret the loss of power to the Run Stop input as a Stop command In this case when power returns the controller will assume the STOPPED state Note 6 During a successful application download the following events occur e The application is loaded directly into RAM e By default the Boot application is created and saved into the Flash memory E100000000390 04 2014 41 Controller States and Behaviors Note 7 The default behavior after downloading an application program is for the controller to enter the STOPPED state irrespective of the Run Stop input setting or the last controller state before the download However there are two important considerations in this regard Online Change An online change partial download initiated while the controller is in the RUNNING state returns the controller to the RUNNING state if successful and provided the Run Stop input is configured and set to Run Before using the Login with online change option test the changes to your application program in a virtual or non production environment and confirm that the controller and attached equipment assume their expected conditions in the RUNNING state A WARNING UNI
52. ce reports a detected error to the controller The controller detects an error with an external device whether it reports a detected error for example when the external device is communicating but not properly configured for use with the controller The controller detects an error with the state of an output The controller detects a communication interruption with a device The controller is configured for a module that is not present or not detected The boot application in Flash memory is not the same as the one in RAM Examples output short circuit missing expansion module communication interruption and so on RUNNING with External Error Detected Or STOPPED with External Error Detected Application Error Detected An application error is detected when improper programming is encountered or when a task watchdog threshold is exceeded Examples task software watchdog exception execution of an unknown function 80 task overload and so on HALT EIO0000000390 04 2014 Controller States and Behaviors firmware or hardware exceptions but there are some cases when incorrect programming can result in the detection of a system error for example when attempting to write to memory that was reserved during runtime Examples system hardware watchdog overflow exceeding the defined size of an array e andsoon NOTE There are some system detected errors that can b
53. dbusTCP tab NOTE Output means OUTPUT for the Modbus Master IW for the controller Input means INPUT for the Modbus Master QW for the controller E100000000390 04 2014 91 Ethernet Configuration Modbus TCP Server Introduction Without any other configuration on the Ethernet port the controller supports Modbus Server The transfer of information between a Modbus client and server is initiated when the client sends a request to the server to transfer information to execute a command or to perform one of many other possible functions After the server receives the request it executes the command or retrieves the required data from its memory The server then responds to the client by either acknowledging that the command is complete or by providing the requested data External Communications through Modbus TCP Server The following Unit IDs are used for external Modbus TCP client Unit ID Accessible Parameters 0 248 Variable speed drive see the Altivar 61 71 communication parameters 252 AMOA Located variables SMWO 3MW59999 System Variable see page 94 MW60000 2MW62500 253 To read the local inputs Iw Function code 3 3 hex Read holding register Iw 254 To read or write the local outputs OW Function code 3 3 hex Read holding register 30W 6 6 hex Write single register QW 16 10 hex Write multiple registers sQw 255 IOScanner default value for Unit
54. defined by the address classes The different IP address classes are defined in this table Address Class Byte1 Byte 2 Byte 3 Byte 4 Class A 0 Network ID Host ID Class B 1 0 Network ID Host ID Class C 1 1 0 Network ID Host ID Class D 1 1 1 0 Multicast Address Class E 1 1 1 1 0 Address reserved for subsequent use E100000000390 04 2014 87 Ethernet Configuration Subnet Mask The subnet mask is used to address several physical networks with a single network address The mask is used to separate the subnetwork and the device address in the host ID The subnet address is obtained by retaining the bits of the IP address that correspond to the positions of the mask containing 1 and replacing the others with 0 Conversely the subnet address of the host device is obtained by retaining the bits of the IP address that correspond to the positions of the mask containing 0 and replacing the others with 1 Example of a subnet address IP address 192 11000000 1 00000001 17 00010001 11 00001011 Subnet mask 255 11111111 255 11111111 240 11110000 0 00000000 Subnet address 192 11000000 1 00000001 16 00010000 0 00000000 NOTE The device does not communicate on its subnetwork when there is no gateway Gateway The gateway allows a message to be routed to a device that is not on the current network If there is no gateway Securit
55. ding a program or modifying the physical configuration of the controller and its connected equipment e Before performing any of these operations consider the effect on all connected equipment e Before acting on acontroller always positively confirm the controller state by viewing its LEDs confirming the condition of the Run Stop input verifying the presence of output forcing and reviewing the controller status information via SoMachine Failure to follow these instructions can result in death serious injury or equipment damage 1 The controller states can be read in the PLC_R i_wStatus system variable of the ATV IMC PLCSystem see Altivar ATV IMC Drive Controller System Functions and Variables ATV IMC PLCSystem Library Guide Controller States Table The following table describes the controller states Controller State Description RUN MS LED BOOTING The controller executes the boot firmware and its own Green red flashing internal self tests It then verifies the checksum of the firmware and user applications It does not execute the application nor does it communicate BOOTING after This state is the same as the normal BOOTING state except Rapid red flashing detection of a that a flag is set to make it appear as if no Boot application System Error is present and the LED indications are different E100000000390 04 2014 45 Controller States and Behaviors
56. e ATV IMC implements 2 high speed counters e HSCO e HSC 1 For a further description of the HSC modes please refer to the HSC Library User Manual see Altivar ATV IMC Drive Controller High Speed Counting ATV IMC HSC Library Guide EIO0000000390 04 2014 73 Local HSC Configuration HSC I O Mapping The following table lists the embedded input availability for HSC functions according to the inputs Usage For HSC Digital Input Fast Input HSC Fast Input HSC Standard Input LI51 X x x LI52 x x x LI53 x L154 x LI55 LI56 x LI57 X LI58 LI59 X x x LI60 x x x 74 EIO0000000390 04 2014 Chapter 12 ATV IMC Resident Drive Data Configuration Introduction This chapter shows you how to configure and use the ATV IMC dedicated data What Is in This Chapter This chapter contains the following topics Topic Page ATV IMC Resident Drive Configuration and Usage 76 ATV IMC Display Data Configuration and Usage 78 ATV IO Option Board 80 EIO0000000390 04 2014 75 Resident Drive Data Configuration ATV IMC Resident Drive Configuration and Usage Introduction The ATV IMC resident drive is configured by means of the Drive Editor This is configured data for implicit exchanged between the drive and the IMC ATV IMC Drive Editor Screen To open the Drive Editor proceed as follows
57. e STRING 31 Name of the vendor Schneider Electric n a i sProductRef STRING 31 Reference of the Controller NOTE n a means that there is no pre defined Modbus Address mapping for this System Variable E100000000390 04 2014 97 Ethernet Configuration Ethernet Diagnostic read only Modbus Identification Type Comments Address 60050 MY ACTUAL IP ADDR BYTE 4 Actual IP address 60052 MY ACTUAL IP SUBMASK BYTE 4 Actual SubNet mask 60054 MY ACTUAL IP GATEWAY BYTE 4 Actual Gateway 60056 NVMEMORY MAC ADDR BYTE 6 MAC address 60059 NVMEMORY_DEVICENAME STRING 16 Actual DeviceName 60067 MY ACTUAL BOOTUP MODE WORD e 0 DHCP e 1 BootP e 2 Stored e FF hex Default IP 60068 FTP SERVER IP ADDR BYTE 4 Give IP adress of DHCP or BootP server that gave IP parameters used 0 0 0 0 if stored IP or default IP used 60070 OPEN TCP CONNECTION UDIN Open TCP connection 60072 MY FRAMEPROTOCOLE WORD e 1 Ethernet Il e 0 802 3 not managed by ATV IMC 60073 STAT ETH TX FRAMES UDIN Count of frames that are successfully transmitted Reset at power on or with reset stat command 60075 STAT ETH RX FRAMES UDIN Count of frames that are successfully received Reset at power on or with reset stat command 60077 STAT ETH TX BUFFER ERRORS UDIN Reset at power on or with reset stat comm
58. e Type Comment Address 60000 i wVendorID WORD Controller Vendor ID 101A hex Schneider Electric 60001 i wProductID WORD Controller Reference ID NOTE Vendor ID and Reference ID are the components of the Target ID of the Controller displayed in the Communication Settings view Target ID 101A XXXX hex 60002 i dwSerialNumber DWORD Controller Serial Number 60004 i byFirmVersion 0 3 ARRAY 0 3 OF BYTE Controller Firmware Version aa bb coc dd e i byFirmVersion 0 aa e e i byFirmVersion 3 dd 60006 i byBootVersion 0 3 ARRAY 0 3 OF BYTE Controller Boot Version aa bb cc dd i byBootVersion 0 aa e i byBootVersion 3 dd 60008 i dwHardVersion DWORD Controller Hardware Version 60010 i dwHardwareID DWORD Controller Coprocessor Version 60012 i wStatus PLC R STATUS State of the controller see Altivar ATV IMC Drive Controller System Functions and Variables ATV IMC PLCSystem Library Guide 94 EIO0000000390 04 2014 Ethernet Configuration Modbus Address Var Name Type Comment 60013 i_wBootProjectStatus PLC R BOOT PROJECT STATUS see Altivar ATV IMC Drive Controller System Functions and Variables ATV IMC PLCSystem Library Guide Returns information about the boot application stored in FLASH memory 60014 i wLastStopCause PLC R STOP CAUSE see Altivar ATV IMC Drive Controller System Functions and Variables ATV IMC PLCSystem Library Guide
59. e is setto Start in as previous state and Controller state was RUNNING before the power cycle and if the Run Stop input is set to not configured and the boot application has not changed and the remanent variables are valid the Starting Mode is set to Start in as previous state and Controller state was RUNNING before the power cycle and if the Run Stop input is configured and is set to RUN b The controller state will be STOPPED if The Reboot was provoked by a Power cycle and the Starting Mode is set to Start in stop E100000000390 04 2014 55 Controller States and Behaviors the Starting Mode is set to Start in as previous state and the controller state was not RUNNING before the power cycle the Starting Mode is set to Start in as previous state and the controller state was RUNNING before the power cycle and if the Run Stop input is set to not configured and if the boot application has changed the Starting Mode is set to Start in as previous state and the controller state was RUNNING before the power cycle and if the Run Stop input is set to not configured and if the boot application has not changed and if the remanent variables are not valid the Starting Mode is set to Start in as previous state and the controller state was RUNNING before the power cycle and if the Run Stop input is configured and is set to STOP the Starting Mode is set to Start in run and if the controller state was HALT before the power c
60. e last actual values are updated to the default values and subsequent TPDOs are issued with these default values E100000000390 04 2014 47 Controller States and Behaviors Task and I O Behavior When Update IO While In Stop Is Not Selected When the Update IO while in stop setting is not selected the controller sets the I O to either the Keep current values or Set all outputs to default condition as adjusted for output forcing if used After this the following becomes true e The Read Inputs operation ceases The 1 input memory variablea are frozen at their last values e The Task Processing operation is not executed e The Write Outputs operation ceases The 30 output memory variables can be updated via the Ethernet Serial and USB connections However the physical outputs are unaffected and retain the state specified by the configuration options NOTE Expert functions cease operating For example a counter will be stopped CAN Behavior When Update IO While In Stop Is Not Selected The following is true for the CAN buses when the Update IO while in stop setting is not selected e The CAN Master ceases communications Devices on the CAN bus assume their configured fallback states TPDO and RPDO exchanges cease Optional SDO if configured exchanges cease The Heartbeat and Node Guarding functions if configured stop The current or default values as appropriate are written to the TPDOs and sent once before stopping the CA
61. e local HSC configuration editor and the list of parameters For more information refer to the HSC Library User Manual see Altivar ATV IMC Drive Controller High Speed Counting ATV IMC HSC Library Guide What Is in This Chapter This chapter contains the following topics Topic Page HSC Types 72 HSC Configuration Screen Description Z3 EIO0000000390 04 2014 71 Local HSC Configuration HSC Types HSC Types for ATV IMC ATV IMC provides 2 HSC types e Simple type for basic functions e Main type for extended functions The following table gives an overview of the 2 types Type Modes Description Simple e One Shot Edge synchronization for counting is Rising edge e Modulo loop Main e One Shot e The Enable and Preset signals can be triggered e Modulo loop by hardware inputs e Free large Allows to configure the edge synchronization for e Event counting by means of Count Edge e Frequency meter e Rising edge e Falling edge e Both edges Allows to configure the Count Direction depends on the mode e UP e DOWN For a further description of the HSC modes please refer to the HSC Library User Manual see Altivar ATV IMC Drive Controller High Speed Counting ATV IMC HSC Library Guide 72 E100000000390 04 2014 Local HSC Configuration HSC Configuration Screen Description Local HSC Configuration Screen To open the HSC configuration screen proceed as follows
62. e managed by runtime and are therefore treated like application detected errors Type of Error Description Resulting Detected Controller State System Error A system error is detected when the controller enters a condition that BOOTING gt Detected cannot be managed during runtime Most such conditions result from EMPTY NOTE Refer to the ATV IMC PLCSystem Library Guide see Altivar ATV IMC Drive Controller System Functions and Variables ATV MC PLCSystem Library Guide for more detailed information on diagnostics EIO0000000390 04 2014 59 Controller States and Behaviors Remanent Variables Overview Remanent variables retain their values in the event of power outages reboots resets and application program downloads There are multiple types of remanent variables declared individually as retain or persistent or in combination as retain persistent NOTE For this controller variables declared as persistent have the same behavior as variables declared as retain persistent This table describes the behavior of remanent variables in each case Action VAR VAR RETAIN VAR GLOBAL PERSISTENT RETAIN Online change to application program Stop Power cycle Reset warm XIX X Xx Reset cold x Xx x x Xx Reset origin Download of application program X The value is maintained The value is re initialized Adding Retain Persiste
63. e values command in the Debug menu Output forcing overrides all other commands to an output irrespective of the task programming that is being executed When you logout of SoMachine when output forcing has been defined you are presented with the option to retain output forcing settings If you select this option the output forcing continues to control the state of the selected outputs until you download an application or use one of the Reset commands When the option Update I O while in stop if supported by your controller is checked default state the forced outputs keep the forcing value even when the logic controller is in STOP E100000000390 04 2014 51 Controller States and Behaviors Output Forcing Considerations The output you wish to force must be contained in a task that is currently being executed by the controller Forcing outputs in unexecuted tasks or in tasks whose execution is delayed either by priorities or events will have no effect on the output However once the task that had been delayed is executed the forcing will take effect at that time Depending on task execution the forcing could impact your application in ways that may not be obvious to you For example an event task could turn on an output Later you may attempt to turn off that output but the event is not being triggered at the time This would have the effect of the forcing being apparently ignored Further at a later time the event could tri
64. ent the last second 60215 MODBUS MAX TRAFFIC WORD Statistic Maximum number of Modbus frames received in 1 second 60216 MODBUS NB CONNECT WORD Statistic Number of Modbus socket opened 60217 STAT ETH TX DIFF WORD Statistic Number of deferred emission 60218 STAT ETH LATE COLISION WORD Statistic Number of late collision 60219 STAT ETH RX CRC ERRORS WORD Statistic Number of CRC detected errors 60220 STAT ETH RX FRAMES ERROR WORD Statistic Number of reception frame detected errors 60221 STAT ETH COLISIONS WORD Statistic Total number of collisions 60222 STAT ETH MULTICOLISION WORD Statistic Number of multicollision 60223 STAT ETH OVERRUN WORD Statistic Number of overrun 60224 MY UDP SOCKET SRV NBR WORD Statistic Number of UDP socket server 60225 DIGITAL INPUTS WORD 1 digit per input 60226 ANALOG INPUT 1 WORD Analog input 1 value Unit mV or pA depending on configuration 60227 ANALOG INPUT 2 WORD Analog input 2 value Unit mV or pA depending on configuration 60228 ANALOG INPUT CONFIG WORD Analog input configuration 1 digit per input 0 0 10 Volt 1 0 20 mA 60229 DIGITAL OUTPUT WORD 1 digit per output 60230 ANALOG OUTPUT 1 WORD Analog output 1 value Unit WA 60231 ANALOG OUTPUT 2 WORD Analog output 2 value Unit pA EIO0000000390 04 2014 99 Ethernet Configuration Modbus Identification Type Comments Address 60232 DRIVE STATE WORD Drive state 0 OFF
65. er of TCP server connection DHCP Dynamic Host Configuration Protocol ICMP Internet Control Messaging Protocol Connection Type Maximum Number of Server Connection Modbus Server 8 Modbus Device 2 FTP Server 4 Web Server 6 Each server based on TCP manages its own pool of 6 simultaneous HTTP connections When a client tries to open a connection that exceeds the poll size the controller closes the oldest If all connections are busy exchange in progress when a client tries to open a new one the new connection is denied All server connections stay open as long as the controller stays in operational state 82 EIO0000000390 04 2014 Ethernet Configuration Adding an Ethernet Manager The controller supports the Modbus TCP Slave Device Ethernet manager To add an Ethernet manager proceed as follows Step Action 1 Select the Field Devices tab in the Software Catalog and click Modbus 2 Select ModbusTCP Slave Device gt ModbusTCP Slave Device Vendor Schneider Electric in the list drag and drop the item onto Ethernet node of the Devices tree Result The module is added to the My Controller Ethernet area of the Devices tree Note The other Ethernet managers are not supported E100000000390 04 2014 83 Ethernet Configuration IP Address Configuration Introduction There are different ways to assign the IP address of the controller e address assignmen
66. er priority tasks can be made to use fewer system resources if the SysTaskWaitSleep function is added to those tasks For more information about this function see the optional SysTask library of the system SysLibs category of libraries NOTE Do not delete or change the name of the MAST task If you do so SoMachine detects an error when you attempt to build the application and you will not be able to download it to the controller E100000000390 04 2014 35 Tasks 36 E100000000390 04 2014 Chapter 8 Controller States and Behaviors Introduction This chapter provides you with information on controller states state transitions and behaviors in response to system events It begins with a detailed controller state diagram and a description of each state It then defines the relationship of output states to controller states before explaining the commands and events that result in state transitions It concludes with information about Remanent variables and the effect of SoMachine task programming options on the behavior of your system What Is in This Chapter This chapter contains the following sections Section Topic Page 8 1 Controller State Diagram 38 8 2 Controller States Description 45 8 3 State Transitions and System Events 49 EIO0000000390 04 2014 37 Controller States and Behaviors Section 8 1 Controller State Diagram 38 E100000000390 04 2014 Controller Sta
67. es of the link e Observe all accident prevention regulations and local safety guidelines e Each implementation of this equipment must be individually and thoroughly tested for proper operation before being placed into service 1 Failure to follow these instructions can result in death serious injury or equipment damage For additional information refer to NEMA ICS 1 1 latest edition Safety Guidelines for the Application Installation and Maintenance of Solid State Control and to NEMA ICS 7 1 latest edition Safety Standards for Construction and Guide for Selection Installation and Operation of Adjustable Speed Drive Systems or their equivalent governing your particular location 8 EIO0000000390 04 2014 A WARNING UNINTENDED EQUIPMENT OPERATION e Only use software approved by Schneider Electric for use with this equipment e Update your application program every time you change the physical hardware configuration Failure to follow these instructions can result in death serious injury or equipment damage EIO0000000390 04 2014 9 10 EIO0000000390 04 2014 Chapter 1 About the Altivar ATV IMC Drive Controller Altivar ATV IMC Drive Controller Introduction The Altivar ATV IMC Drive Controller ATV IMC Altivar Integrated Machine Controller is an option card which can be installed in the Altivar 61 or the Altivar 71 drive It can be combined with another option ca
68. esh pediod Name Type Format Value 500 GVL MastCounter WORD Decimal v GVL bIsFrstMastWarmCyde GVL MastCounter GVL DMASTTaskExist GVL bisFirstMastColdQycle GVL MastColdCounter Constants gc hINVALID Constants gc_pNULL Constants gc szZERO Constants gc ctMAX COUNT Constants gc idMAX IDENT BusIndependentParameterIDs FIP BusIndependentParemeterIDs FIP V Global Variables gbSemaphoreRW Global Varables DRIVE ETA s gt Element Description load Load a list description save Save the list description in the controller usr web directory add Add a list description or a variable del Delete a list description or a variable refresh Refresh the variables NOTE Modifying variable through Data parameters page requires the Data write password default USER IEC object IW M are not accessible EIO0000000390 04 2014 111 ATV IMC Web Server Oscilloscope Page The oscilloscope page allows to display two variables in the form of a recorder time chart Data parameters 10845 Oscilloscope 10840 10835 10820 10820 10815 10810 10805 110800 Schneider Altivar Integrated Machine Controller lal Diagnostics Monitoring Ces ES EN IMC viewer Item1 Y 98 GVL MastCounter 10 23 00 10 23 05 10 23 10 10 23 15 10 23 20 10 23 25 10 23 30 10 23 35 10 23 40 10 23 45 Element
69. ess IP address Subnet Mask and Gateway Address are defined by the user Transfer Rate Transfer rate and direction on the bus are automatically configured NOTE The configured parameters are applied only if the option Parameters Updated by Application is enabled Refer to Ethernet Setup read write see page 102 and Setup Page see page 114 86 EIO0000000390 04 2014 Ethernet Configuration Default IP Address The IP address by default is 10 10 x x The last 2 fields in the default IP address are composed of the decimal equivalent of the last 2 hexadecimal bytes of the MAC address of the port The MAC address of the port can be retrieved on the label placed on the front side of the controller The default subnet mask is Default Class A Subnet Mask of 255 0 0 0 NOTE A MAC address is always written in hexadecimal format and an IP address in decimal format Convert the MAC address to decimal format Example If the MAC address is 00 80 F4 01 80 F2 the default IP address is 10 10 128 242 NOTE To take into account the new IP address after the download of a project reboot the controller by doing a power cycle Address Classes The IP address is linked e to a device known as the host e to the network to which the device is connected An IP address is always coded using 4 bytes The distribution of these bytes between the network address and the device address may vary This distribution is
70. g page Schneider Altivar Integrated Machine Controller 2 Electric Home n m np Setup Setup Administrator security ememet Login Administrator Password 1 e New password j Confirm password si Change Admin Password Login Administrator Password Resetall user right 2007 Schneider Electric All Rights Reserved The Reset all user rights button resets all usernames passwords that have been changed to their default values Changing the Administrator Password The password is case sensitive and can be a mix of up to 20 alphanumerical characters a Z 0 9 If you have lost or forgotten the password it is not possible to retrieve it so you need to contact your local Schneider distributor for support After doing so set up a new secure password NOTE A secure password is one that has not been shared or distributed to any unauthorized personnel and does not contain any personal or otherwise obvious information Further a mix of upper and lower case letters and numbers offer the best security possible Choose a password length of at least 7 characters To change the administrator password proceed as follows Step Action 1 Enter the current Password Default user name and password ADMIN ADMIN Enter the new password Confirm the new password Confirm the change by clicking Change Admin Password Result a confirmation window appears E10000000
71. g to solution of the logic of the program 142 EIO0000000390 04 2014 Glossary scan SDO SFC SINT ST STOP string task TCP S A function that includes e reading inputs and placing the values in memory e executing the application program 1 instruction at a time and storing the results in memory e using the results to update outputs service data object A message used by the field bus master to access read write the object directories of network nodes in CAN based networks SDO types include service SDOs SSDOs and client SDOs CSDOs sequential function chart A language that is composed of steps with associated actions transitions with associated logic condition and directed links between steps and transitions The SFC standard is defined in IEC 848 It is IEC 61131 3 compliant signed integer A 15 bit value plus sign structured text A language that includes complex statements and nested instructions such as iteration loops conditional executions or functions ST is compliant with IEC 61131 3 A command that causes the controller to stop running an application program A variable that is a series of ASCII characters A group of sections and subroutines executed cyclically or periodically for the MAST task or periodically for the FAST task A task possesses a level of priority and is linked to inputs and outputs of the controller These I O are refreshed in relation to the
72. gger the task at which point the forcing would take effect A WARNING UNINTENDED EQUIPMENT OPERATION e You must have a thorough understanding of how forcing will affect the outputs relative to the tasks being executed e Do not attempt to force I O that is containted in tasks that you are not certain will be executed in a timely manner unless your intent is for the forcing to take affect at the next execution of the task whenever that may be e f you force an output and there is no apparent affect on the physical output do not exit SoMachine without removing the forcing Failure to follow these instructions can result in death serious injury or equipment damage 52 EIO0000000390 04 2014 Controller States and Behaviors Commanding State Transitions Run Command Effect Commands a transition to the RUNNING controller state Starting Conditions BOOTING or STOPPED state Methods for Issuing a Run Command Run Stop Input If configured command a rising edge to the Run Stop input assuming the Run Stop switch is in the RUN position Set the Run Stop to 1 for all of the subsequent options to be effective Refer to Run Stop Input see page 68 for more information SoMachine Online Menu Select the Start command Login with online change option An online change partial download initiated while the controller is in the RUNNING state returns the controller to the RUNNING state if successful Multi
73. h symbols for contacts coils and blocks in a series of rungs executed sequentially by a controller refer to IEC 61131 3 140 EIO0000000390 04 2014 Glossary LINT long integer A whole number encoded in a 64 bit format 4 times INT or 2 times DINT LREAL long real A floating point number encoded in a 64 bit format LWORD long word A data type encoded in a 64 bit format M MAC address media access control address A unique 48 bit number associated with a specific piece of hardware The MAC address is programmed into each network card or device when it is manufactured machine Consists of several functions and or equipment MAST A processor task that is run through its programming software The MAST task has 2 sections e IN Inputs are copied to the IN section before execution of the MAST task e OUT Outputs are copied to the OUT section after execution of the MAST task Modbus The protocol that allows communications between many devices connected to the same network ms millisecond N network A system of interconnected devices that share a common data path and protocol for communications NMT network management CANopen protocols that provide services for network initialization detected error control and device status control node An addressable device on a communication network E100000000390 04 2014 141 Glossary O OS operating system A collection of software that man
74. highest to lowest e On SYNC task e Cyclic task on LI53 on LI54 e Freewheel task has the lowest priority NOTE Changing the priority value of the On SYNC and the Freewheel tasks will not be taken into account Their priority is fixed as described above Further changing the priority of the cyclic task on LI5x above the On SYNC or below the freewheel task will likewise have no effect A WARNING UNINTENDED EQUIPMENT OPERATION Do not assign the same priority to different tasks Failure to follow these instructions can result in death serious injury or equipment damage 34 EIO0000000390 04 2014 Tasks Default Task Configuration Default Task Configuration The MAST task can be configured in Freewheeling or Cyclic mode The MAST task is automatically created by default in Cyclic mode Its preset priority is medium 15 its preset interval is 20 ms and its task watchdog service is activated with a time of 100 ms and a sensitivity of 1 Refer to Task Priorities see page 34 for more information on priority settings Refer to System and Task Watchdogs see page 33 for more information on watchdogs Designing an efficient application program is important in systems approaching the maximum number of tasks In such an application it can be difficult to keep the resource utilization below the system watchdog threshold If priority reassignments alone are not sufficient to remain below the threshold some low
75. 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 2014 Schneider Electric All rights reserved EIO0000000390 04 2014 Table of Contents Safety Information 0 ccc0neceatiea eed RR ew wae 5 About the Book 200 cece eee eens 7 Chapter 1 About the Altivar ATV IMC Drive Controller 11 Altivar ATV IMC Drive Controller llle 11 Chapter 2 How to Configure the Controller 13 How to Configure the Controller 0020002 eee 13 Chapter 3 Create an ATV IMC Program with the ATV Template 15 Create an Altivar ATV IMC Drive Controller Application 16 Overview of the ATV Template llli 17 Program Organisation Unit POU lll eese eese 18 Chapter 4 Libraries llllllleelelessss 21 Automation Libraries illii 21 Chapter 5 Supported Standard Data Types 23 Supported Standard Data Types 00020 cece eeee 23 Chapter 6 Memory Mapping 2 5 25 Memory Organization 2 2 2222 25 Chapter7 Tasks rat mr an 27 Maximum Number of Tasks liliis 28 Task Configuration Screen 0 0 eee ee 29 Task Types 2 2 2 27 aves dcs yeaa he E Ne UD een 31
76. ire web site from the current file DefWebSrv bin present in the Altivar ATV IMC Drive Controller file system This command will not run if the firmware is not present NOTE Empty your Internet web browser cache after using this command Delete CodeSysSp cfg This action deletes the file CodeSysSp cfg from the controller file system disk The file contains several parameters for the application as the current application used or the RUN command at start up During the start up of the Altivar ATV IMC Drive Controller if this file is missing a default one is created with the default application parameters Delete DefWebFile This action deletes the file DefWebSrv bin from the controller file system disk NOTE The file DefWebSrv bin takes a lot of space in the controller hence it is recommended to delete it after performing the Update Web Site command Diagnostic After clicking START the indicator below START shows the current status in the Altivar ATV IMC Drive Controller The following events can occur Detected error Description Connection failed Device cannot be accessed on the specified address Send Firmware Failed The download is unsuccessful this can occur for example if there is a communication interruption or if the Altivar ATV IMC Drive Controller file system is full Send DefWebFile The download is unsuccessful this can occur for example if there Failed is a communicati
77. ith External Detected Error this exception condition is indicated by the MS Status LED which displays solid green with 1 red flash You may exit this state by clearing the external detected error No controller commands are required e RUNNING with Breakpoint this exception condition is indicated by the MS Status LED which displays 3 green flashes Refer to Controller States Description see page 45 for further details Note 11 When Starting Mode is set to Start in run and if the Run Stop input is not configured the controller will reboot in STOPPED state A second reboot will be necessary to set the controller in RUNNING state E100000000390 04 2014 43 Controller States and Behaviors Note 12 Remanent variables can be invalid if battery is not present for example Note 13 The boot application can be different from the application loaded It can happen when the boot application was downloaded through USB Key FTP or File Transfer or when an online change was performed without creating the boot application 44 E100000000390 04 2014 Controller States and Behaviors Section 8 2 Controller States Description Controller States Description Introduction This section provides a detailed description of the controller states A WARNING UNINTENDED EQUIPMENT OPERATION e Never assume that your controller is in a certain controller state before commanding a change of state configuring your controller options uploa
78. k Security and Data write password to open the following page Electric Schneider Altivar Integrated Machine Controller Se a e Control U Diagnostics Setup security Data Editor Write password j New write password Confirm write password Change Write Password 2009 Schneider Electric All Rights Reserved Changing the Data Write Password Setup The password is case sensitive and can be a mix of up to 20 alphanumerical characters a Z 0 9 If you have lost or forgotten the password connect to the administration account to retrieve the password After doing so set up a new secure password NOTE A secure password is one that has not been shared or distributed to any unauthorized personnel and does not contain any personal or otherwise obvious information Further a mix of upper and lower case letters and numbers offer the best security possible Choose a password length of at least 7 characters To change the data write password proceed as follows Step Action 1 Enter the current Data Editor Write password Default user name and password USER USER Enter new write password Confirm the new write password Confirm the change by clicking Change Write Password Result a confirmation window appears 116 EIO0000000390 04 2014 ATV IMC Web Server Administrator Security Click Security and Administrator password to open the followin
79. le to the PC 2 Then connect the cable to the controller 124 E100000000390 04 2014 Connecting ATV IMC to a PC The following illustration describes the Ethernet connection with a HUB E100000000390 04 2014 125 Connecting ATV IMC to a PC Connecting Through USB The following illustration describes the Mini USB connection r TCSXCNAMUMGP PV02 1 Ferrite NOTICE INOPERABLE EQUIPMENT e Only use the USB cable TCSXCNAMUMSP PVO2 with ferrite e Donotuse a USB cable extension e In case of high power drive disconnect the PC from the ground and verify the ground connection between the drive and the motor e Always connect the communication cable to the PC before connecting it to the controller Failure to follow these instructions can result in equipment damage NOTE High Power Drive references are ATV71H N4 or ATV61H N4 gt 90 kW 125HP and ATV71H Y or ATV61H Y gt 110 kW 150HP 126 E100000000390 04 2014 Connecting ATV IMC to a PC Access to the Control Terminals To access the control terminals proceed as follows Remove power before opening the cover on the control front panel Step Action 1 To access the control terminals open the cover on the control front panel To make it easier to wire the drive control section the control terminal card can be removed Loosen the screw until the spring is fully extended
80. ltivar ATV IMC Drive Controller are available on the http www schneider electric com website zip format Unzip the file on your local computer Each firmware version zip file contains the FmwUpgrade exe software and the firmware files Changing the Firmware Perform the steps in the following table to change the Altivar ATV IMC Drive Controller Step Action 1 Connect the Altivar ATV IMC Drive Controller to the PC through an USB cable see page 123 Power on the Altivar ATV IMC Drive Controller Wait until the connection between PC and Altivar ATV IMC Drive Controller is established 4 Launch ATVIMC Firmware Loader Vf1 0 exe ATV IMC Firmware Loader Communication IP Address USB 90 0 0 1 90 Admin Login Admin Password Folder Command Download Firmware START Download DefWebFile IDLE oa SEND a Delete CoDeSysSP cfg Schn ei d er __ Delete DetWebFile Electric 130 E100000000390 04 2014 Changing the ATV IMC Firmware Step Action see page 131 5 Configure the communication Refer to Communication description 6 Select the commands requested during the upgrade Refer to Commands description see page 131 Click START Wait until the indication Please Reset Device appears Power off and then power on the Altivar ATV IMC Drive Controller Communication Parameter Description I
81. me saved on the controller click the Read button Local time Lets you define a date and a time that are sent to the controller by clicking the Write button A message box informs you on the success of the command Local time fields are initialized with the current PC settings Synchronize with local date time Lets you directly send the current PC settings A message box informs you on the success of the command Device Identification Displays the Firmware version and the Boot Version of the selected controller if connected 66 EIO0000000390 04 2014 Chapter 10 Local Input Output Configuration Overview This chapter shows the local I O configuration editor and the list of parameters What Is in This Chapter This chapter contains the following topics Topic Page Local I O Configuration 68 Addressing 70 EIO0000000390 04 2014 67 Local Input Output Configuration Local I O Configuration Introduction The embedded inputs are composed of 6 fast inputs and 4 standard inputs The table below shows the available inputs and outputs VO Designation 10 Digital Inputs LI51 to LI60 6 Digital Outputs LO51 to LO56 2 Analog Inputs Al51 and AI52 2 Analog Outputs AO51 and AO52 Accessing the Configuration Tab This table describes how to access the Configuration tab Step Action 1 In the Devices tree double click MyContr
82. mments Address 62003 FILECHECKSUM_H WORD File checksum HIGH word checksum is an addition of 32 bits value 62004 FILECHECKSUM L WORD File checksum LOW word checksum is an addition of 32 bits value 1 Not accessible through the application EIO0000000390 04 2014 101 Ethernet Configuration Ethernet Setup read write Modbus Address Identification Type Comments 62050 NVM EMO RY IP ADDR BYTE 4 IP address configuration taken into account after power cycling 62052 NVM EMO RY IP SUBMASK BYTE 4 Subnet mask configuration taken into account after power cycling 62054 NVM EMO RY IP GATEWAY BYTE 4 Gateway address taken into account after power cycling 62056 NVM EMO RY DEVICENAME STRING 16 DeviceName configuration taken into account after power cycling 62064 NVM EMO RY BOOTUP_MODE SETTINGS WORD Bootup mode configuration taken into account after power cycling e 0 DHCP 1 BootP e 2 Stored e FF Default IP 62065 NVMEMORY ENABLE WEB MAIL WORD Ethernet functionalities configuration default value 5 Bit 0 Web server activation e Bit 1 E mail activation email not implemented Bit 2 Modbus TCP activation not managed Bit 3 FTP activation Bit 4 SoMachine activation e Bit 5 NetManage activation 62066 RESET ALL COUNTERS WORD From
83. mode removing the application from the controller only Controller selection Manages the connection from PC to the controller Online mode see page 64 Lets you find a controller in a network only e Shows the list of available controllers so you can connect to the selected controller and manage the application inside the controller Lets you physically identify the controller from the device editor Lets you change the communication settings of the controller Files File management between the PC and the controller Online mode only Log Lets you view the events that have been logged on the runtime 62 EIO0000000390 04 2014 Controller Device Editor provider version image Tab Description Restriction PLC settings Configuration of e application name O behavior in stop bus cycle options Services Lets you configure the online services of the controller RTC device Online mode see page 66 identification only Task deployment Displays a list of I Os and their assignments to tasks After compilation only Status Displays device specific status and diagnostic messages Information Displays general information about the device name description EIO0000000390 04 2014 63 Controller Device Editor Controller Selection Introduction This tab allows you to manage the connection from the PC to the controller e Lets you find a controller in a
84. n of an External Error This state is the same as the normal STOPPED state except the LED indications are different Green flashing single red flash HALT The controller stops executing the application because it has detected an Application Error This description is the same as for the STOPPED state with the following exceptions e The task responsible for the Application Detected Error always behaves as if the Update IO while in stop option was not selected All other tasks follow the actual setting e The LED indications are different Single red flash 46 EIO0000000390 04 2014 Controller States and Behaviors Details of the STOPPED State The following statements are true for the STOPPED state e Ethernet Serial Modbus ASCII and so on and USB communication services remain operational and commands written by these services can continue to affect the application the controller state and the memory variables e All outputs initially assume their configured default state Keep current values or Set all outputs to default or the state dictated by output forcing if used The subsequent state of the outputs depends on the value of the Update IO while in stop setting and on commands received from remote devices Task and I O Behavior When Update IO While In Stop Is Selected When the Update IO while in stop setting is selected e The Read Inputs operation continues normally The physical inp
85. ne Compatibility and Migration Software and Firmware compatibilities are described in the SoMachine Compatibility and Migration User Guide EIO0000000390 04 2014 135 Compatibility 136 EIO0000000390 04 2014 Glossary X AMOA A Drive parameter that contains the Modbus address of the ATV IMC drive controller analog input Converts received voltage or current levels into numerical values You can store and process these values within the logic controller analog output Converts numerical values within the logic controller and sends out proportional voltage or current levels application A program including configuration data symbols and documentation ARRAY ASCII ATV AWG BCD The systematic arrangement of data objects of a single type in the form of a table defined in logic controller memory The syntax is as follows ARRAY dimension OF Type Example 1 ARRAY 1 2 OF BOOLis a 1 dimensional table with 2 elements of type BOOL Example 2 ARRAY 1 10 1 20 OF INTis a 2 dimensional table with 10 x 20 elements of type INT American standard code for Information Interchange A protocol for representing alphanumeric characters letters numbers certain graphics and control characters The model prefix for Altivar drives for example ATV312 refers to the Altivar 312 variable speed drive American wire gauge The standard that specifies wire section sizes in North America
86. network e Shows the list of available controllers so you can connect to the selected controller and manage the application inside the controller e Lets you physically identify the controller from the device editor e Lets you change the communication settings of the controller Process Communication Settings The Process communication settings window lets you change the Ethernet communication settings To do so click Controller selection tab The list of controllers available in the network appears Select and right click the required row and click Process communication settings in the context menu 64 E100000000390 04 2014 Controller Device Editor The Process communication settings window appears as shown below Applications Controller selection Files Log PLC settings Services Task deployment Status Information Oia X io Cr Controller ProjectName IP_Address TimeSinceBoot NodeName ETH ATV IMC Validation System Application 192 168 1 39 00h 03m 2 ATV IMC G 0080F47D0808 Process communication settings Communication parameter Boot Mode Fixed Network Name totolito IP address 192 168 1 39 Subnet mask 255 255 255 0 Gateway 0 0 0 0 F Save settings permanently ki L Secure online mode Connection Mode IP Address IP Address v 192 168 1 39 You can configure the Ethernet settings in the Process communication settings window in 2 ways e Without the Save setting
87. ng the ATV Template program What Is in This Chapter This chapter contains the following topics Topic Page Create an Altivar ATV IMC Drive Controller Application 16 Overview of the ATV Template qu Program Organisation Unit POU 18 EIO0000000390 04 2014 15 Create an ATV IMC Program with the ATV Template Create an Altivar ATV IMC Drive Controller Application ATV Template Usage When an Altivar ATV IMC Drive Controller is being used on a local drive a local drive is the drive on which the Altivar ATV IMC Drive Controller card is connected the ATV template program is a good help for the users less familiar with the Altivar ATV IMC Drive Controller as well as a good support for advanced users to optimize the programming of an Altivar ATV IMC Drive Controller This template provides a program structure and the implementation of some functions such as the MANDATORY AT EACH CYCLE function access to acyclic data and keypad parameter saves all of which are necessary when programming an Altivar ATV IMC Drive Controller It is a best practice to use the ATV template to start an Altivar ATV IMC Drive Controller application Create a Project with the ATV Template Use SoMachine Central to create a project with the ATV template Refer to New Project Assistant Templates see SoMachine Central User Guide for more information 16 E100000000390 04 2014 Create an ATV IMC Program with the
88. nt E100000000390 04 2014 109 ATV IMC Web Server Select the variables you want to monitor in the web server WebDataConfiguration MyController PLC Logic Application x 2 Refresh Symbols Type E E loConfig Globals Mapping ixDI I0 961X0 0 Boo OO ixDI I1 IX0 1 Boo O ixDI_l2 IX0 2 Boo ED ixDI_I3 IX0 3 Boo E ixDI_l4 1X0 4 Boo OO ixDI_I5 IX0 5 Boo ixDI_I6 961X0 6 Boo O ixDI I7 IX0 7 Boo O ixDI_I8 IX1 0 Boo O ixDI_I9 IX1 1 Boo O ixD TNT Boo ED ixDL 111 961X1 3 Boo E ixDI 112 IX1 4 Boo O ixDI 113 961X1 5 Boo OO ixDI IO 1 IX2 0 Boo OO qxDQ Q0 96QX0 0 Boo OO qxDQ Q1 QX0 1 Boo OO qxDQ Q2 QX0 2 Boo qxDQ Q3 QX0 3 Bool C qxDQ Q4 QX0 4 Bool CO qxDQ Q5 QX0 5 Boo C qxDQ Q6 QX0 6 Bool OO qxDQ Q7 96QX0 7 Bool OO qxDQ Q8 QX1 0 Boo qxDQ Q9 QX1 1 Boo OO qxDQ Q0 1 QX2 0 Boo L1 axModule 2 Q0 QX4 0 Bool CO qxModule 2 Q1 96QX4 1 Bool L1 qxModule 2 Q2 QX4 2 Bool OO qxModule 2 Q3 QX4 3 Boo OO qxModule 2 Q4 QX4 4 Bool O qxModule 2 Q5 96QX4 5 Bool C qxModule 2 Q6 QX4 6 Bool EI axModule 2 Q7 QX4 7 Bool L1 qxModule 2 Q8 QX5 0 Bool C qxModule 2 Q9 QX5 1 Bool EI qxModule 2 Q10 96QX5 2 Boo OO qxModule 2 Q11 96QX5 3 Bool CO qxModule_2_Q12 QX5 4 Boo ED qxModule_2_Q13 QX5 5 Boo EI qxModule 2 Q14 QX5 6 Boo CO qxModule 2 Q15 QX
89. nt Variables Declare retain persistent VAR GLOBAL PERSISTENT RETAIN symbols in the PersistentVars window Step Action 1 Select the Application node in the Applications tree 2 Click 9 Choose Add other objects Persistent variables Click Add Result The PersistentVars window is displayed 60 EIO0000000390 04 2014 Chapter 9 Controller Device Editor Introduction This chapter describes how to configure the controller What Is in This Chapter This chapter contains the following topics Topic Page Controller Parameters 62 Controller Selection 64 Services 66 EIO0000000390 04 2014 61 Controller Device Editor Controller Parameters Controller Parameters To open the device editor double click MyController in the Devices tree Applications Controller selection Files Log PLC settings Services Task deployment Status Information Applications on the PLC lt Click Refresh List to get all applications on the device gt Tab Descriptions system including Events at system start or shutdown loaded components and their versions Application download and boot project download Customer entries Log entries of I O drivers Log entries of the Data Server Tab Description Restriction Applications Shows the application currently running on the controller and allows Online
90. oller Embedded IO IO Result the IO screen is displayed Select the Configuration tab Configuring the Analog Inputs To configure the inputs double click Value The Value column now lets you configure the analog input mode Voltage 0 5 Vdc or Current 0 20 mA RUN STOP Function Configured on Digital Input You can configure one of the digital inputs to perform the RUN STOP function The RUN STOP function stops a program by using the configured input e When the configured RUN STOP input is at logic O the controller is put into a STOP state and any SoMachine command to enter the RUN state is ignored e When the configured RUN STOP input is at logic 1 then the controller accepts RUN commands 68 EIO0000000390 04 2014 Local Input Output Configuration I O Mapping Tab This table describes the properties of the I O Mapping tab Variable Channel Type Description Digital ixlO CI LI51 CI LI51 BOOL Fast Input for Cl LI51 CI LI52 CI LI53 CI LI54 Inputs ixlO CI LI60 CI LI60 CI LI59 and CI LI60 Digital qxlO CI LO51 CI_LOS1 BOOL Outputs x qxlO CI LO56 CI LO56 Analog Inputs CI AI51 WORD CI_AI55 Analog Outputs CI_AO51 WORD CI AO55 Configuration Tab This table describes the properties of the Configuration tab Parameter Value Default Description Value Digital Cl RUN STOP LI Run Stop None None Run St
91. on 6 0 or higher e Mozilla Firefox version 1 5 or higher NOTE The Web server can be disabled by setting the Web Server active parameter in the Ethernet Configuration see page 87 tab The Web server is limited to 6 simultanous HTTP connections The Web server is a tool for reading and writing data and control the state of the controller with full access to all data in your application If however there are security concerns over these functions you must at a minimum assign a secure password to the Web Server or disable the Web Server to prevent unauthorized access to the application By enabling the Web server you enable these functions For reasons of security for your installation you must immediately upon first log in change the default password A WARNING UNAUTHORIZED DATA ACCESS e Immediately change the default password to a new secure password e Do not distribute the password to unauthorized or otherwise unqualified personnel e Disable the Web server to prevent any unwanted or unauthorized access to data in your application Failure to follow these instructions can result in death serious injury or equipment damage NOTE A secure password is one that has not been shared or distributed to any unauthorized personnel and does not contain any personal or otherwise obvious information Further a mix of upper and lower case letters and numbers offer the greatest security possible You should chose
92. on interruption or if the Altivar ATV IMC Drive Controller file system is full DefWebFile not found The file DefWebSrv bin in the Altivar ATV IMC Drive Controller file system is missing Wrong The login or password is incorrect LogIn Password Delete CoDeSysSP The file DefWebSrv bin in the Altivar ATV IMC Drive Controller Failed file system is missing File missing The files for the update is missing 132 E100000000390 04 2014 Changing the ATV IMC Firmware Changing the Altivar ATV IMC Drive Controller firmware with SoMachine Central Changing the Altivar ATV IMC Drive Controller Firmware with the SoMachine Central Step Action 1 e Double click the SoMachine Central icon on your desktop or e Click Start Programs Schneider Electric gt SoMachine Software Vx y Result The SoMachine Central Get started screen is displayed Click Maintenance button Select Download Firmware ATV IMC as shown below Maintenance Tools w aa Controller Assistant Download Firmware ATV IMC Download Firmware M238 USB Download Firmware M238 Serial Port Download Firmware HMI Result The ATV IMC Firmware Loader window appears For more information refer to Changing the Firmware see page 130 E100000000390 04 2014 133 Changing the ATV IMC Firmware 134 E100000000390 04 2014 Chapter 18 Compatibility Software and Firmware Compatibilities SoMachi
93. on stops and then is erased If valid the new application is loaded and the controller assumes a STOPPED state Forcing is erased Diagnostic indications for detected errors are reset The values of the retain variables are reset to their initialization values The values of any existing retain persistent variables are maintained All non located and non remanent variables are reset to their initialization values The values of the sMW registers are reset to 0 All fieldbus communications are stopped and then any configured fieldbus of the new application is started after the download is complete 10 All I O are reset to their initialization values and then set to the new user configured default values after the download is complete For details on variables refer to Remanent Variables see page 60 E100000000390 04 2014 57 Controller States and Behaviors Error Detection Types and Management Detected Error Management The controller manages 3 types of detected errors e external detected errors e application detected errors e system detected errors This table describes the types of errors that may be detected Type of Error Detected Description Resulting Controller State External Error Detected External errors are detected by the system while RUNNING or STOPPED but do not affect the ongoing controller state An external error is detected in the following cases A connected devi
94. op input can be used to run or Inputs CI LI53 stop a program in the controller CI LI54 CI LI55 CI LI55 CI LI57 CI LI58 Analog CI_AI5S1_PARAM Input Current Current Configuration of analog input mode Inputs Mode Voltage Current or Voltage CI AI52 PARAM Input Current Current Configuration of analog input mode Mode Voltage Current or Voltage EIO0000000390 04 2014 69 Local Input Output Configuration Addressing Addressing Methods SoMachine allows you to program instructions with 2 different methods of parameter usage e symbolic addresses also called indirect addresses e immediate addresses also called direct addresses SoMachine allows you to program instructions using either a direct or indirect method of parameter usage The direct method is called Immediate Addressing where you use a parameter s direct address such as lWx or QWx for example The indirect method is called Symbolic Addressing where you first define symbols for these same parameters and then use the symbols in association with your program instructions Both methods are valid and acceptable but Symbolic Addressing offers distinct advantages especially if you later make modifications to your configuration When you configure I O and other devices for your application SoMachine automatically allocates and assigns the immediate addresses Afterward if you add or delete I O or other devices from your configuration SoMachine will account for an
95. ord Confirm password Change Password Username OoOo O y y New username 1 Confirm username asien 2009 Schneider Electric All Rights Reserved Changing the Monitor Password The password is case sensitive and can be a mix of up to 20 alphanumerical characters a Z 0 9 If you have lost or forgotten the password connect to the administration account to retrieve the password After doing so set up a new secure password NOTE A secure password is one that has not been shared or distributed to any unauthorized personnel and does not contain any personal or otherwise obvious information Further a mix of upper and lower case letters and numbers offer the best security possible Choose a password length of at least 7 characters To change the monitor password proceed as follows Step Action Enter the current Username Default user name and password USER USER Enter new password Confirm the new password BR wo nN Confirm the change by clicking Change Password Result a confirmation window appears EIO0000000390 04 2014 115 ATV IMC Web Server To change the monitor username proceed as follows Step Action Enter the current Username Enter new username Confirm the new username AJOJN gt Confirm the change by clicking Change Username Result a confirmation window appears Setup Security Clic
96. org website Adding a Modbus TCP Slave Device See Adding an Ethernet Manager see page 83 Modbus TCP Slave Device Configuration To configure the controller as a Modbus TCP slave device proceed as follows Step Action 1 In the Devices tree double click ModbusTCP Slave Device ModbusTCP Slave Device The following dialog box appears ModbusTCP Modbus TCP Slave Device I O Mapping Information Configured Parameters IPMaster Address 0 0 0 0 TimeOut 2000 Slave Port Unit ID Holding Registers IW 10 Input Registers QW 10 LCCC Element Description IP Master Address IP address of the Modbus master TCP Modbus requests are only accepted if coming from the Master NOTE In this case only the Master can acces the WEB server TimeOut Timeout in ms step 500 ms NOTE The timeout applies to the IP Master Address unless if the address is 0 0 0 0 E100000000390 04 2014 89 Ethernet Configuration Element Description Slave Port Modbus communication port 502 by default NOTE Check that the port 502 is open in the Ethernet network Unit ID Modbus slave address 255 Holding Registers IW Size of the input assembly in bytes 2 40 bytes Input Registers QW Size of the output assembly in bytes 2 40 bytes I O Mapping Tab The I Os are mapped to Modbus registers from Master point of view as follo
97. parameters with the DriveParameterRead1 and DriveParameterWrite1 functions Application Main This POU should be used for your main application The execution of this POU is done once the presences of the drive is confirmed and the initialization done EIO0000000390 04 2014 19 Create an ATV IMC Program with the ATV Template A WARNING UNINTENDED EQUIPMENT OPERATION Only use the Drive Parameter function see Altivar ATV IMC Drive Controller ATV IMC UserLib Library Guide in a POU linked to the freewheel task Failure to follow these instructions can result in death serious injury or equipment damage 20 EIO0000000390 04 2014 Chapter 4 Libraries Automation Libraries Introduction Libraries provide functions function blocks data types and global variables that can be used to develop your project The Library Manager of SoMachine provides information about the libraries included in your project and allows you to install new ones For more information on the Library Manager refer to the SoMachine Programming Guide ATV IMC Drive Controller Libraries When you select a ATV IMC for your application ATV IMC automatically loads the following libraries Library Name Description loStandard CmploMgr configuration types ConfigAccess Parameters and help functions manages the I Os in the application Standard Contains all functions and function
98. ple Download Command sets the controllers into the RUNNING state if the Start all applications after download or online change option is selected irrespective of whether the targeted controllers were initially in the RUNNING STOPPED HALT or EMPTY state The controller is restarted into the RUNNING state automatically under certain conditions Refer to Controller State Diagram see page 39 for further details Stop Command Effect Commands a transition to the STOPPED controller state Starting Conditions BOOTING EMPTY or RUNNING state Methods for Issuing a Stop Command Run Stop Input If configured command a value of 0 to the Run Stop input Refer to Run Stop Input see page 68 for more information SoMachine Online Menu Select the Stop command Login with online change option An online change partial download initiated while the controller is in the STOPPED state returns the controller to the STOPPED state if successful Download Command implicitly sets the controller into the STOPPED state Multiple Download Command sets the controllers into the STOPPED state if the Start all applications after download or online change option is not selected irrespective of whether the targeted controllers were initially in the RUNNING STOPPED HALT or EMPTY state The controller is restarted into the STOPPED state automatically under certain conditions Refer to Controller State Diagram see page 39 for further details Reset Warm
99. put memory variables are updated according to your application program instructions but not yet written to the physical outputs during this operation 3 Write Outputs The 0 output memory variables are modified with any output forcing that has been defined however the writing of the physical outputs depends upon the type of output and instructions used For more information on defining the bus cycle task refer to the SoMachine Programming Guide For more information on I O behavior refer to Controller States Detailed Description see page 45 4 Remaining Interval time The controller firmware carries out system processing and any other lower priority tasks NOTE If you define too short a period for a cyclic task it will repeat immediately after the write of the outputs and without executing other lower priority tasks or any system processing This will affect the execution of all tasks and cause the controller to exceed the system watchdog limits generating a system watchdog exception NOTE Get and set the interval of a Cyclic Task by application using the GetCurrentTaskCycle and SetCurrentTaskCycle function Refer to Toolbox Advance Library Guide for further details E100000000390 04 2014 31 Tasks Freewheeling Task A Freewheeling task does not have a fixed duration In Freewheeling mode each task scan begins when the previous scan has been completed and after a short period of system processing Each Freewheeling ta
100. r are accessible in SoMachine software by using Display Ox with x 01 50 variables After a Run Command see page 53 the first update of these variables is done only when xgloballnit FALSE xglobal Init is a global variable of the UserLib Library ATV IMC Display Configuration To open the Display Editor proceed as follows Step Action 1 In the Devices tree double click MyController Local Display Result The Display window is displayed 2 Select the Display configuration tab Display Editor The Display Editor provides these tabs Tab Description I O Mapping The I O Mapping allows you to Create new variables or to Map to existing variable for 50 parameters on 1 menu Display configuration The Display configuration allows you to configure the ATV IMC keypad menu List 1 to List 4 The 4 lists provide 50 parameters in total Enter a Short Label of maximum 5 characters and a Long Label of maximum 9 characters 78 EIO0000000390 04 2014 Resident Drive Data Configuration Display Configuration The Display configuration lets you configure the ATV IMC keypad menu O Mapping Display configuration List 1 List2 List3 List 4 Menu Name ATV_IMC 65535 Not No com CONF LIST PRECO J ee CS ee eee ee Pe Dip DISA Deo NUMERIC 0 65525 Not Nocom no CONF M Display O01 The Display configuration provides
101. rd I O extension or communication NOTE The ATV IMC is compatible with drives containing a firmware version greater than or equal to V3 3ie43 Only one Altivar ATV IMC Drive Controller option card can be installed on a drive The Altivar ATV IMC Drive Controller is used to adapt the variable speed drive to specific applications by integrating control system functions Key Features The Altivar ATV IMC Drive Controller supports the following IEC61131 3 programming languages using the SoMachine software IL Instruction List ST Structured Text FBD Function Block Diagram SFC Sequential Function Chart e LD Ladder Diagram SoMachine software can also be used to program the controller using CFC Continuous Function Chart language The Altivar ATV IMC Drive Controller can manage up to 9 tasks The Altivar ATV IMC Drive Controller includes the following features using the SoMachine software e 10 digital inputs 2 inputs can be used for 2 counters or 2 inputs can be used for 2 incremental encoders 2 analog inputs 6 digital outputs 2 analog outputs A master port for the CANopen bus A mini USB B port for programming with SoMachine software An Ethernet port to be used for programming with SoMachine software or Modbus TCP communication E100000000390 04 2014 11 Altivar ATV IMC Drive Controller The Altivar ATV IMC Drive Controller can also use The drive I O The I O extension card I O basic and I O extended
102. re Initialization Values software Initialization Values Output Forcing Managed by Application Program Your application program manages outputs normally This applies in the RUNNING and RUNNING with External Error detected states Keep Current Values Select this option by choosing Keep current values in the Behavior for outputs in Stop drop down menu of the PLC settings subtab of the Controller Editor To access the Controller Editor right click on the controller in the device tree and select Edit Object This output behavior applies in the STOPPED and HALT controller states Outputs are set to and maintained in their current state although the details of the output behavior vary greatly depending on the setting of the Update I O while in stop option and the actions commanded via configured fieldbusses Refer to Controller States Description see page 45 for more details on these variations Set All Outputs to Default Select this option by choosing Set all outputs to default in the Behavior for outputs in Stop drop down menu of the PLC settings subtab of the Controller Editor To access the Controller Editor right click on the controller in the device tree and select Edit Object This output behavior applies when the application is going from RUN state to STOPPED state or if the application is going from RUN state to HALT state Outputs are set to and maintained in their current state although the details of the output behavior vary
103. re than one task to a single external event You can trigger a task associated to an external event through e Arising edge on a Fast input on LI53 and on LI54 e The start stop of the controller program on Start and on Stop e An external event periodically produced by the local drive on Sync NOTE You can configure the on Sync period with the SyncTaskPeriodSet function see Altivar ATV IMC Drive Controller ATV IMC UserLib Library Guide default value is 2 ms 32 EIO0000000390 04 2014 Tasks System and Task Watchdogs Introduction Two types of watchdog functionality are implemented for the ATV IMC e System Watchdogs These watchdogs are defined in and managed by the controller firmware These are not configurable by the user e Task Watchdogs Optional watchdogs that can be defined for each task These are managed by your application program and are configurable in SoMachine System Watchdogs Two system watchdogs are defined for the ATV IMC They are managed by the controller firmware and are therefore sometimes referred to as hardware watchdogs in the SoMachine online help When the system watchdog exceeds its threshold conditions an error is detected The threshold conditions for the 2 system watchdogs are defined as follows e Ifall ofthe tasks require more than 85 of the processor resources for more than 3 seconds a system error is detected The controller enters the EMPTY state e f the lowest priorit
104. real time calculations for diagnosis and maintenance purposes DWORD double word Encoded in 32 bit format E encoder A device for length or angular measurement linear or rotary encoders Ethernet A physical and data link layer technology for LANs also known as IEE 802 3 F FBD function block diagram One of 5 languages for logic or control supported by the standard IEC 61131 3 for control systems Function block diagram is a graphically oriented programming language It works with a list of networks where each network contains a graphical structure of boxes and connection lines which represents either a logical or arithmetic expression the call of a function block a jump or a return instruction firmware Represents the BIOS data parameters and programming instructions that constitute the operating system on a controller The firmware is stored in non volatile memory within the controller flash memory A non volatile memory that can be overwritten It is stored on a special EEPROM that can be erased and reprogrammed freewheeling When a logic controller is in freewheeling scan mode a new task scan starts as soon as the previous scan has been completed Contrast with periodic scan mode FTP file transfer protocol A standard network protocol built on a client server architecture to exchange and manipulate files over TCP IP based networks regardless of their size E100000000390 04 2014 139 Glossary func
105. roller e convert a controller to a different but compatible device You can also start a new project using the ATV Template see page 15 NOTE Use the ATV Template when starting a new project with an ATV IMC Controller Devices Tree The Devices tree shows a structured view of the current hardware configuration When you add a controller to your project a number of nodes are automatically added to the Devices tree depending on the functions the controller provides Devices tree l x EI Untitea3 yv L1 MyController ATV IMC m B e Embedded IO 0 d 1 10 IO iJ HSC HSC 5 Local E Drive Drive eg Display Display E EH Option Board Option Board aS CAN Empty Empty EIO0000000390 04 2014 13 How to Configure the Controller Item Description Embedded IO Shows the Embedded IO functions of the ATV IMC Local Shows the local drive data configuration Ethernet Embedded communications interfaces CAN Applications Tree The Applications tree allows you to manage project specific applications as well as global applications POUs and tasks Tools Tree The Tools tree allows you to configure the HMI part of your project and to manage libraries 14 E100000000390 04 2014 Chapter 3 Create an ATV IMC Program with the ATV Template Overview This chapter describes how to create an Altivar ATV IMC Drive Controller application usi
106. s permanently option Configure the communication parameters and click OK These settings are immediately taken into account and are not kept if the controller is reset For the next resets the communication parameters configured into the application are taken into account e With the Save settings permanently option You can also check the Save settings permanently option before you click OK Once this option is checked the Ethernet parameters configured here are always taken into account on reset instead of the Ethernet parameters configured into the SoMachine application Refer to Ethernet Setup read write see page 102 and Setup Page see page 114 For more information on the Controller selection view of the device editor refer to the SoMachine Programming Guide E100000000390 04 2014 65 Controller Device Editor Services Services Tab The Services tab is divided in 2 parts e RTC Configuration e Device Identification The figure below shows the Services tab RTC Configuration PLC Time Local Time Date Time Device Identification jeudi 19 novembre 2009 09 00 34 o0 Synchronize with local s date time Firmware Version Boot Version NOTE To have controller information you must be connected to the controller Element Description RTC PLC time Displays the date time read from the controller This read only field Configuration is initially empty To read and display the date ti
107. sk type executes as follows Variable Duration Based on Duration of Each Operation f o Task duration 1 i gt i 1 Read Inputs The physical input states are written to the 1 input memory variables and other system operations are executed 2 Task Processing The user code POU and so on defined in the task is processed The 0 output memory variables are updated according to your application program instructions but not yet written to the physical outputs during this operation 3 Write Outputs The 0 output memory variables are modified with any output forcing that has been defined however the writing of the physical outputs depends upon the type of output and instructions used For more information on defining the bus cycle task refer to the SoMachine Programming Guide For more information on I O behavior refer to Controller States Detailed Description see page 45 4 System Processing The controller firmware carries out system processing and any other lower priority tasks for example HTTP management Ethernet management parameters management External Event Task This type of task is event driven and is initiated by the detection of a hardware or hardware related function event It starts when the event occurs unless pre empted by a higher priority task In that case the External Event task will start as dictated by the task priority assignments NOTE It is not possible to assign mo
108. t by DHCP server e address assignment by BOOTP server e fixed IP address IP address can be changed dynamically e via the Controller Selection tab in SoMachine NOTE If the attempted addressing method is unsuccessful the controller will start using a default IP address see page 87 derived from the MAC address NOTE After you download a project with a new IP address a power cycle is required to take the new IP address into account Carefully manage the IP addresses because each device on the network requires a unique address Having multiple devices with the same IP address can cause unpredictable operation of your network and associated equipment A WARNING UNINTENDED EQUIPMENT OPERATION Verify that there is only one master controller configured on the network or remote link Verify that all devices have unique addresses Obtain your IP address from your system administrator Confirm that the device s IP address is unique before placing the system into service Do not assign the same IP address to any other equipment on the network Update the IP address after cloning any application that includes Ethernet communications to a unique address Failure to follow these instructions can result in death serious injury or equipment damage NOTE Verify that your system administrator maintains a record of all assigned IP addresses on the network and subnetwork and inform the system administrator of all configuration ch
109. table below Application Libraries Symbols 1 Size checked at build time and must not exceed the value indicated in the table Retained and Persistent Variables 64 Kbytes Retain Variables 2 32 Kbytes Persistent Variables 2 Not all the 64 Kbytes are available for the customer application because some libraries may use Retain Variables EIO0000000390 04 2014 25 Memory Mapping Library Size Library Name Average Size Comment 3S CANopenStack 86 Kbyte Depends on the functions used Each CANopen node increases the memory size of 11 Kbyte NOTE The maximum number of CANopen nodes is 16 26 EIO0000000390 04 2014 Chapter 7 Tasks Introduction The Task Configuration node in the Applications tree allows you to define one or more tasks to control the execution of your application program The task types available are e Cyclic e Freewheeling e External event This chapter begins with an explanation of these task types and provides information regarding the maximum number of tasks the default task configuration and task prioritization In addition this chapter introduces the system and task watchdog functions and explains its relationship to task execution What Is in This Chapter This chapter contains the following topics Topic Page Maximum Number of Tasks 28 Task Configuration Screen 29
110. tes Methods for Issuing a Reset Origin Command e SoMachine Online Menu Select the Reset origin command Effects of the Reset Origin Command The application stops Forcing is erased All user files Boot application data logging are erased Diagnostic indications for detected errors are reset The values of the retain variables are reset The values of the retain persistent variables are reset All non located and non remanent variables are reset The values of the first 500 Mw registers are maintained All fieldbus communications are stopped 10 All I O are reset to their initialization values sonoupum For details on variables refer to Remanent Variables see page 60 Reboot Effect Commands a reboot of the controller Starting Conditions Any state Methods for Issuing the Reboot Command e Power cycle Effects ofthe Reboot 1 The state of the controller depends on a number of conditions a The controller state will be RUNNING if The Reboot was provoked by a power cycle and the Starting Mode is set to Start in run and if the Run Stop input is not configured and if the controller was not in HALT state before the power cycle and if the remanent variables are valid the Starting Mode is set to Start in run and if the Run Stop input is configured and set to RUN and if the controller was not in HALT state before the power cycle and if the remanent variables are valid the Starting Mod
111. tes and Behaviors Controller State Diagram Controller State Diagram The following diagram describes the controller operating mode E100000000390 04 2014 39 Controller States and Behaviors Download See Note 7 Reset Origin INVALID OS See Note 1 BOOTING Valid OS See Note 2 Reboot due to Detection of System Error See Nole 3 Application Download See Note 4 See Note 5a Starting Mode Successfull NO Run Stop to not configured NO Run Stop input set to RUN See Note 6 Start in run Previous state YES was HALT See input set Start in as previous state Start in stop Note 11 YES Mo Run Stop input set to not configured YES Boot application has changed See Note 13 gt NO Remanent variables S are valid Run Stop input DER See Note 5b ee Note 12 YES set to RUN NO Reset Online Change Cold Reset Warm External Error Detected System Error Detected lt Stop Application Error Detected Online Change See Note 10 External HALT See Notes 8 9 8 OPERATIONAL STATES Error Detected d Legend e Controller states are indicated in ALL CAPS BOLD e User and application commands are indicated in Bold a Power Interruption 40 EIO00000
112. these parameters Parameters Description Menu Name Allows you to enter a Menu name of your choice Enable Allows you to validate visibility of parameters in the graphic keypad Type Allows you to manage 4 parameter types NUMERIC e BITFIELD e LIST PRECONFIGURED e LIST CUSTOMIZABLE Sign If Signed is selected you can configure the NUMERIC type between a minimum of 32768 and a maximum of 32767 Option Allows you to configure the following Options CONF configuration parameter is not stored CONF_STORE configuration parameter is stored in the program in a variable called Saved Display Ox CONF_RUNLOCK configuration parameter is not stored and can not be modified when the drive is in run CONF_RUNLOCK_STORE configuration parameter is stored in the program ina variable called Saved Display Ox and can not be modified when the drive is in run MONITORING read only parameter NOTE An example to restore the stored values can be visualized in the Display RestoreSavedParameters POU of the ATV template see page 15 EIO0000000390 04 2014 79 Resident Drive Data Configuration ATV IO Option Board Configuring the Option Board The option board is the additional IO option card mounted on the ATV 61 or 71 variable speed drive For more information about the option cards refer to the ATV catalog To configure the IO option card on the Altivar ATV IMC Drive Controller proceed as follows
113. tion A programming unit that has 1 input and returns 1 immediate result However unlike FBs it is directly called with its name as opposed to through an instance has no persistent state from one call to the next and can be used as an operand in other programming expressions Examples boolean AND operators calculations conversions BYTE TO INT H hex hexadecimal HMI human machine interface An operator interface usually graphical for human control over industrial equipment VO input outpuf IEC 61131 3 Part 3 of a 3 part IEC standard for industrial automation equipment IEC 61131 3 is concerned with controller programming languages and defines 2 graphical and 2 textual programming language standards The graphical programming languages are ladder diagram and function block diagram The textual programming languages include structured text and instruction list IL instruction list A program written in the language that is composed of a series of text based instructions executed sequentially by the controller Each instruction includes a line number an instruction code and an operand refer to IEC 61131 3 INT integer A whole number encoded in 16 bits IP Internet protocol Part of the TCP IP protocol family that tracks the Internet addresses of devices routes outgoing messages and recognizes incoming messages L LD ladder diagram A graphical representation of the instructions of a controller program wit
114. to the STOPPED state Starting Conditions RUNNING STOPPED or HALT states Methods for Issuing a Reset Cold Command e SoMachine Online Menu Select the Reset cold command e By an internal call by the application using the PLC W q wPLCControl and PLC W q uiOpenPL CControl system variables of the ATV IMC PLCSystem library see Altivar ATV IMC Drive Controller System Functions and Variables ATV IMC PLCSystem Library Guide Effects of the Reset Cold Command The application stops Forcing is erased Diagnostic indications for detected errors are reset The values of the retain variables are reset to their initialization value The values of the retain persistent variables are maintained All non located and non remanent variables are reset to their initialization values The values of the MW registers are maintained All fieldbus communications are stopped and then restarted after the reset is complete All I O are briefly reset to their initialization values and then to their user configured default values OONDOOaARWDND For details on variables refer to Remanent Variables see page 60 54 EIO0000000390 04 2014 Controller States and Behaviors Reset Origin Effect Resets all variables including the remanent variables to their initialization values Erases all user files on the controller Places the controller into the EMPTY state Starting Conditions RUNNING STOPPED or HALT sta
115. us button see SoMachine Programming Guide EIO0000000390 04 2014 119 CANopen Step Action 2 Double click CANopen_Optimized Result The CANopen Manager configuration window appears CANopen Manager CANopen I O Mapping Information General Sync F Enable Sync Producing COB ID Hex 16 Cycle Period us Window length us Heartbeat TIME Enable Heartbeat Producing Node ID 127 COB ID Hex 16 Producer Time ms 200 3 Producer Time ms Node ID 127 3 Check and fix configuration CAN O e N ur oil Adding a CANopen Device Refer to the SoMachine Programming Guide for more information on Adding Communication Managers and Adding Slave Devices to a Communication Manager 120 EIO0000000390 04 2014 CANopen CANopen Operating Limits The Altivar ATV IMC Drive Controller CANopen master has the following operating limits Maximum number of slave devices 16 Maximum number of Received PDO RPDO 32 Maximum number of Transmitted PDO TPDO 32 A WARNING damage UNINTENDED EQUIPMENT OPERATION e Do not connect more than 16 CANopen slave devices to the controller e Program your application to use 32 or fewer Transmit PDO TPDO e Program your application to use 32 or fewer Receive PDO RPDO Failure to follow these instructions can result in death serious injury or equipment EIO000
116. uts are read and then written to the 1 input memory variables e The Task Processing operation is not executed e The Write Outputs operation continues The Q output memory variables are updated to reflect either the Keep current values configuration or the Set all outputs to default configuration adjusted for any output forcing and then written to the physical outputs NOTE Expert functions continue to operate For example a counter will continue to count However these Expert functions do not affect the state of the outputs The outputs of Expert I O conform to the behavior stated here NOTE Commands received by Ethernet Serial USB and CAN communications can continue to write to the memory variables Changes to the Q output memory variables are written to the physical outputs CAN Behavior When Update IO While In Stop Is Selected The following is true for the CAN buses when the Update IO while in stop setting is selected e The CAN bus remains fully operational Devices on the CAN bus continue to perceive the presence of a functional CAN Master TPDO and RPDO continue to be exchanged The optional SDO if configured continue to be exchanged The Heartbeat and Node Guarding functions if configured continue to operate If the Behaviour for outputs in Stop field is set to Keep current values the TPDOs continue to be issued with the last actual values e Ifthe Behaviour for outputs in Stop field is Set all outputs to default th
117. wing e IWs are mapped from register 0 to n 1 and are R W n Holding register quantity e QWs are mapped from register 0 to m 1 m Input registers quantity and are read only The controller responds to a subset of the normal Modbus commands but does so in a way that differs from normal Modbus standards and with the purpose of exchanging data with the external I O scanner The following Modbus commands may be issued to the controller Function Code Function Comment Dec Hex 3 3h Read holding Allow Master IO Scanner to read IW and QW of register the controller 16 10h Write multiple Allow Master IO Scanner to Write IW of the registers controller 23 17h Read write Allow Master IO Scanner to read IW and QW of multiple registers the controller and Write IW of the controller Other Not supported NOTE Modbus requests that attempt to access registers above n m 1 are answered by the 02 ILLEGAL DATA ADDRESS exception code 90 EIO0000000390 04 2014 Ethernet Configuration To link I O to variables select the Modbus TCP Slave Device I O Mapping tab Channel Type Description Input IWO WORD Modbus Holding register 0 IWx WORD Modbus Holding register x Output QWO WORD Modbus Input register 0 QWy WORD Modbus Input register y The number of word depends on the Holding Registers IW and Input Registers QW parameters of the Mo
118. y Parameters the gateway address is 0 0 0 0 Security Parameters Description SoMachine protocol active It allows you to deactivate the SoMachine protocol on Ethernet interfaces When deactivated every SoMachine request from every device will be rejected including those from the UDP or TCP connection This means that no connection is possible on Ethernet from a PC with SoMachine from an HMI target that wants to exchange variables with this controller from an OPC server or from Controller Assistant Modbus Server active It allows you to deactivate the Modbus Server of the Logic Controller This means that every Modbus request to the Logic Controller will be ignored Web Server active It allows you to deactivate the Web Server of the Logic Controller This means that every HTTP request to the Logic Controller will be ignored FTP Server active It allows you to deactivate the FTP Server of the Logic Controller This means that every FTP request will be ignored Discovery protocol active It allows you to deactivate Discovery protocol This means that every Discovery request will be ignored SNMP protocol active Not available 88 EIO0000000390 04 2014 Ethernet Configuration Modbus TCP Slave Device Overview This section describes how to set your controller as a slave device on a Modbus network For more complete information about Modbus TCP refer to the www modbus
119. y changes to the configuration by reallocating and reassigning the immediate addresses This necessarily will change the assignments from what they had once been from the point of the change s in the configuration If you have already created all or part of your program using immediate addresses you will need to account for this change in any program instructions function blocks etc by modifying all the immediate addresses that have been reassigned However if you use symbols in place of immediate addresses in your program this action is unnecessary Symbols are automatically updated with their new immediate address associations provided that they are attached to the address in the I O Mapping dialog of the corresponding Device Editor and not simply an AT declaration in the program itself A WARNING UNINTENDED EQUIPMENT OPERATION Inspect and modify as necessary any immediate addresses used in the program after modifying the configuration Failure to follow these instructions can result in death serious injury or equipment damage NOTE Schneider Electric highly recommends the systematic use of symbols while programming to avoid extensive program modifications and to limit the possibility of programming anomalies once a program configuration has been modified by adding or deleting I O or other devices 70 EIO0000000390 04 2014 Chapter 11 Local HSC Configuration Overview This chapter shows th
120. y task of the system is not executed during an interval of 20 seconds a System error is detected The controller responds with an automatic reboot into the EMPTY state NOTE System watchdogs are not configurable by the user Task Watchdogs SoMachine allows you to configure an optional task watchdog for every task defined in your application program Task watchdogs are sometimes also referred to as software watchdogs or control timers in the SoMachine online help When one of your defined task watchdogs reaches its threshold condition an application error is detected and the controller enters the HALT state When defining a task watchdog the following options are available e Time This defines the allowable maximum execution time for a task When a task takes longer than this the controller will report a task watchdog exception e Sensitivity The sensitivity field defines the number of task watchdog exceptions that must occur before the controller detects an application error To access the configuration of a task watchdog double click the Task in the Applications tree NOTE For more information on watchdogs refer to SoMachine Programming Guide E100000000390 04 2014 33 Tasks Task Priorities Task Priority Configuration You can configure the priority of each Cyclic and on_LI5x tasks between 0 and 31 0 is the highest priority and 31 is the lowest Each task must have a unique priority Priority levels from the
121. ycle the Starting Mode is set to Start in run and if the controller state was not HALT before the power cycle and if the Run Stop input is configured and is set to STOP c The controller state will be EMPTY if There is no boot application or the boot application is invalid or The reboot was provoked by specific detected System Errors d The controller state will be INVALID_OS if there is no valid firmware Forcing is maintained if the boot application is loaded successfully If not forcing is erased Diagnostic indications for detected errors are reset The values of the retain variables are restored if saved context is valid The values of the retain persistent variables are restored if saved context is valid All non located and non remanent variables are reset to their initialization values The values of the Mw registers are reset to 0 All fieldbus communications are stopped and restarted after the boot application is loaded successfully All I O are reset to their initialization values and then to their user configured default values if the controller assumes a STOPPED state after the reboot ONOORWH For details on variables refer to Remanent Variables see page 60 NOTE The Check context test concludes that the context is valid when the application and the remanent variables are the same as defined in the Boot application NOTE If you provide power to the Run Stop input from the same source

Altivar ATV IMC Drive Controller - Programming Guide

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