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LEXIUM - Schneider Electric

1. Drive ASCII Description Range Default Format memory command value address 160 MRESBW Resolver bandwidth 200 to 800 600 W 163 MSPEED Max speed limit for motor O to 12000 3000 DW F 165 MTANGLP Current advance 0 to 45 0 W 347 MTMUX Motion task loading O92 Ae 0 W 255 167 MVANGLB Advance depending on O to 15000 2400 DW the rotation speed Phi initial 168 MVANGLF Advance depending on 0 to 45 20 W the rotation speed Phi final 146 MVANGLP Velocity related 0 to 45 0 W commutation angle 183 O_ACC1 Acceleration time 1 for MT 1 to 32000 0 W 0 184 O_ACC2 Acceleration time 2 for MT 1 to 32000 O W 0 185 O_C Command variable for MT int word W 0 186 O_DEC1 Deceleration time 1 forMT 1 to 32000 0 W 0 187 O_DEC2 Deceleration time 2 for MT 1 to 32000 0 W 0 188 O_FN Next order number for MT 0 1 180 1 0 W 0 92 255 189 O_FT Next order delay for MT O 1 to 32767 W 190 O_P Target position for MTO Long DW integer 191 O_V Target speed for MT O Long 0 DW integer 176 O1TRIG Auxiliary trigger variable Long 0 DW for O1MODE integer 179 O2TRIG Auxiliary trigger variable Long 0 DW for O2MODE integer 95 List of Lexium variables Drive ASCII Description Range Default Format memory command value address 193 PBALMAX Maximum ballast power 0 80 3A 80 200 DW 0 200 gt 3A external 1500 198 PEI
2. 23 Software Implementation Modbus Plus Software Part General General Messaging Peer Cop Global Data Communication using Modbus Plus enables the exchange of data between all stations connected on the bus Modbus Plus protocol is based on the principal of a logic token bus Logic token passing The token is a database circulating between stations When one station has the token it is possible to read all data coming from other stations or to write the data to other stations There are three communication functions Point to point communication method between the network equipment The message transmitter sends a request to the destination station The station concerned must transmit an acknowledgement of receipt of the message then send the reply when the token is next passing The message can contain up to 100 registers in 16 bit format The messaging range is not limited to the network segment but can come through the network routers Peer cop also known as specific output is a method of mapping a block of registers from one specific node to the drive controller s Command and Adjustment registers The transmitting node sends the peer cop data once per token pass Each command node can send up to 32 words of peer cop data to specific nodes on the network as long as the total does not exceeded 500 words Peer cop is a fast efficient way to send data from the command node to the drive controlle
3. With the aid of the control word you can switch from one instrument state to another In the diagram for the state machine you can see which instrument states can be reached by which transitions The momentary instrument state can be taken from the STATUS word Several states may be passed through during a telegram cycle e g Ready for switch on gt Ready for operation gt Operation enabled The bits in the control word can be operating mode dependent or mode independent The following table describes the bit definitions of the control word STW Bit DRIVECOM Standard Application of the Lexium to the DRIVECOM Name standard 0 Switch on Ready Status O not ready 1 ready 1 Inhibit voltage 2 Fast stop switch on 1 gt O drive brakes using emergency ramp ASCIl inhibited parameter DECSTOP axis is disabled Operation enabled Drive can be issued motion commands Fast stop 1 gt O drive brakes using emergency ramp ASCII parameter DECSTOP axis remains enabled 5 Depends on operating Mode dependent mode 6 Depends on operating Mode dependent mode 7 Reset Fault Fault reset control 8 Start Jogging mode dependent 9 Reserved 10 Reserved 11 Start homing edge mode dependent 12 Manufacturer specific reset the position 13 Alarm acknowledgment acknowledge warnings must set ASCII parameter Manufacturer specific CLRWARN 1 to enable this feature
4. Address ASCII Description Range Default Format command value 009 ANIN1 Analog 1 input 20000 to DW 20000 010 ANIN2 Analog 2 input 20000 to DW 20000 039 DICONT Nominal current of 1 5 to 20 Hardware DW F the drive Defined 041 DIPEAK Peak current drive 3 0 to 40 Hardware DW F Defined 088 Real value of current DW F 089 l2T RMS average current 0 to 100 DW 093 ID D component of the DW F real value of the current 091 ICMD Setpoint value of 2 DICONT to DW F current 2 DICONT 095 IMAX Limit of current for 0 3 to 40 Min of DW F motor and drive DIPEAK and combination MIPEAK 112 IQ Q component of the DW F real value of the current 136 MDBCNT Number of motor data 1 to 127 W sets 154 MONITOR 1 Analog 1 output 10000 to W voltage 10000 155 MONITOR 2 Analog 2 output 10000 to W voltage 10000 192 PBAL Real value of the 0 to 1500 DW ballast power 197 PE Slave position error Long int DW 200 PFB Current position Long int DW checking 99 List of Lexium variables Address ASCII Description Range Default Format command value 210 PRD Measured position O to 1048575 DW counter hardware 215 PV Instantaneous speed Long int DW of the position regulator 272 TEMPE Internal temperature 20 to 90 DW 273 TEMPH Real value of the 20 to 90 DW radiator temperature 274 TEMPM Motor temperature O to 100
5. Brake fault Motor phase fault Internal temperature too high Final power stage fault Maximum IT value exceeded 2 or 3 phases missing Analog numeric conversion error Ballast error Network phase fault Expansion card hardware error Expansion card software error Ground short circuit CAN fault BusOff Alarm defined in error by WMASK Commutation error overspeed Hardware limit error Reserved Reserved Sercos error TimeOut Sercos Reserved System error 29 Software Implementation Modbus Plus Global Data Designation Description Order Number 4 ERRCODE Error in progress least bit significant 0 Heatsink temperature too high B ERRCODE 1 Overvoltage most 2 Following error significant 3 Feedback fault 4 Undervoltage 5 Motor temperature too high 6 Faulty auxiliary voltage 7 Overspeed 8 EEPROM fault UUONNNNNNNNNN amp a a a a aa a aaa aaa He s CO O O O NOO0ORAO0OUON lt OOOONO C OOA A ARRAON O Flash EPROM fault Brake fault Motor phase fault Internal temperature too high Final power stage fault Maximum IT value exceeded 2 or 3 phases missing Analog numeric conversion error Ballast error Network phase fault Expansion card hardware error Expansion card software error Ground short circuit CAN fault BusOff Alarm defined in error by WMASK Commutation error overspee
6. Health timeout Go To Link 0 C Link 1 H O Link 2 H Last value Clear on Hold ont The configuration above shows the registers exchanged with address station no 3 9 registers PLC registers 40100 to 40108 are transmitted in PeerCop to station 3 Peer Cop Ed Expansion Size 100 gt Health timeout mse Renee mat x lt Go To 1 64 Range 400001 420000 1 32 1 32 Link 0 CPU Subfield Dest Ref Link 1 Head S Link 2 Head S Last value i Cancel Help The configuration above shows the registers exchanged with address station no 3 18 registers PLC registers 40140 to 40157 are transmitted via Global Data to station 3 38 Quantum Command Station General MSTR Block Overview of PLCs that support MODBUS PLUS communications have a special MSTR master MSTR Block instruction with which nodes of the network can initiate message transactions The MSTR function allows you to initiate one of nine possible network communications operations Each operation is designated by a code see Table below MSTR Operation Operation code Write data 1 Read data Local statistics Write in the Global data base Read the Global data base Remote statistics Clear remote statistics O O N OD Oo WO PD Peer Cop status This section discusses read and write MSTR instruction blocks For additional information on Modbus instructio
7. OR_BOOL IN1 StateMalfunction Case1 IN2 StateMalfunction Case2 Inoperative Lexium StateNotReadyToSwitchOn Case1 EQ BYTE IN1 STATUS_L IN2 16866 StateNotReadyToSwitchOn Case2 EQ BYTE IN1 STATUS_L IN2 16 26 StateNotReadyToSwitchOn OR_BOOL IN1 StateNotReadyToSwitchOn Case1 IN2 StateNotReadyToSwitchOn_Case2 Lexium Powered and Locked StateSwitchOnDisabled Case1 EQ BYTE IN1 STATUS_L IN2 1646 StateSwitchOnDisabled Case2 EQ BYTE IN1 STATUS_L IN2 16 686 StateSwitchOnDisabled OR_BOOL IN1 StateSwitchOnDisabled Case1 IN2 StateSwitchOnDisabled Case2 Waiting State StateReadyToSwitchOn_ Case1 EQ BYTE IN1 STATUS_L IN2 16421 StateReadyToSwitchOn Case2 EQ BYTE IN1 STATUS _L IN2 16461 StateReadyToSwitchOn OR_BOOL IN1 StateReadyToSwitchOn Case1 IN2 StateReadyToSwitchOn_Case2 Lexium Ready StateSwitchedOn EQ BYTE IN1 STATUS_L IN2 16423 Lexium Running StateOperationEnabled EQ BYTE IN1 STATUS_L IN2 16427 Lexium in fast stop StateQuickStopfActive Case1 EQ BYTE IN1 STATUS_L IN2 1667 StateQuickStopActive Case2 EQ BYTE IN1 STATUS_L IN2 16863 StateQuickStopActive OR_BOOL IN1 StateQuickStopfActive Case1 IN2 StateQuickStopActive Case2 CD 45 Quantum Command Station General 5 The following structured text programming was implemented t
8. Quantum Command Station General Control Block Table below shows the information contained in the top node of the MSTR control block in a read or write operation Control Block Register Read and Write Operations Register Function Content Displayed Operation type 1 Write 2 Read 1st implied Error status Displays a hex value indicating MSTR error when relevant 2nd implied Length Write of registers to be sent to drive controller Read of registers to be read to drive controller 3rd implied Drive controller Specifies starting register in the drive controller to be read from or written to data area 4th 8th implied Routing 1 5 Designates 1st 5th routing path addresses respectively last non zero byte in routing path is the transaction device Example 1 Example MODSOFT Actions Hex Dec F2 F3 F4 Dx Bin Go to Exit F5 F6 F7 Lev 8_F8 MIXED F9_ 63 MSTR Instruction for Modbus Plus network accessPage 1 3 Use page 2 for TCP IP page 3 for SY MAX MODBUS PLUS Status word Quantity of reg transferred depends function code used Routing Destination Address Routing Destination Address Routing Destination Address Routing Destination Address Routing Destination Address 40300 40301 40302 40303 40304 40305 40306 40307 40308 UINT UINT UINT UINT UINT UINT UINT UINT UINT DEC HEX DEC DEC DEC DEC DEC DEC DEC function code ma O N oO oO
9. PG from position loop t 4ms Writing proportional gain PG from position loop t 326ms e Confirmed drive Writing proportional gain PG from position loop t 392ms Acceleration ACC in reading t 4ms Acceleration ACC in reading t 6ms e Enable drive command t 2ms Average RT for Global Data and Peer Cop 1 TRT 1 2 equipment receptor scan time Average RT for Messaging 1 TRT 1 caller equipment scan time 1 2 target equipment scan 88 General Average general diagram Application Response Time PLC Drive 1 Modbus Plus Network MIB caro Towards motors Drive 2 Application processing MAST or FAST cycle time MB card Lexium Scan Time Average application response time RT appavge 5 T eyclePLC TRavge 89 General 90 List of Lexium Variables General 10 At a Glance Aim of this This chapter contains tables showing the variables which can be accessed by the Chapter user via messaging This list is not exhaustive see the ASCII Command on the Lexium motion tools CD What s in this This chapter contains the following topics Chapter Topic Page General variables for Lexium General 92 Read Write logical Variables 98 List of General Lexium Variables 99 List of Logical Variables and Status Registers 101 Read Write Status Registers 102 91 List of Lexium variables General variables for Lex
10. 14 Manufacturer specific reserved 15 Manufacturer specific reserved Depending on the bit combination in the control word a corresponding control command is defined The following table shows the bit combinations and also determines the priorities of the individual bits in case several bits are altered in one telegram cycle 81 The DriveCom Profile and the Forced Local Mode via Unilink and locked STATUS xx40 or xx60 State after Command _ Bit Bit Bit Bit Bit Bit Bit Transitio Typical command is in 13 7 4 3 2 1 0 n see values of Given and typical DRIVECOM Status the Hex value for diagram command status word word Waiting State Shutdown X X X X 1 1 0 2 6 8 16 0006 STATUS xx21 or xx01 Lexium Ready Switch on X X X X 1 1 1 3 16 0007 STATUS xx23 Lexium powered Inhibit X X X X X 0 X 7 9 10 12 16 0000 and locked voltage STATUS xx40 or xx60 Lexium powered Fast stop X X X X 0 1 X 7 10 11 16 0000 and locked disable ES gt 12 STATUS xx40 or TOP xx60 Lexium in Fast Stop Fast stop X X 0 1 1 1 1 11 16 000F STATUS xx07 or enable QUI xx03 CK STOP Lexium Ready Inhibit X X X 0 1 1 1 5 16 0007 STATUS xx23 operation Lexium Running Enable X X 1 1 1 1 1 4 16 16 001F STATUS xx27 operation Lexium powered Reset Fault X 1 X X X X X 15 16 0080 Bits labeled with X are irrelevant 82 The DriveCom Profile and the Forced
11. 7 MW1557 16 001F On each command the status changes in accordance with the diagram described in the chapter Drivecom See Status Diagram for the Standard DriveCom p 74 When the status is equal to 16 0027 the drive is ready to receive the movement start command via a dedicated operating screen or via an animation table The sequence is as follows e The referenced axis is tested by reading bit 1 of MW1107 e Test of the global data bit 9 of word MW1102 absence of reference point e Select Opmode 8 MW1562 8 e lf the axis is not referenced activate bit 11 of the command word STW MW1557 Select the step for the movement task No of task to be started MW1563 3 e Start the movement via bit 6 of the command word STW 55 Premium Command Station General Programming Example 2 At a Glance PL7 Programming Example Example of message mode to read and modify the parameters of steps 0 and 192 to 255 in the movement task The 9 parameters that are simultaneously modified are e O ACCI O_ACC2 O_C O_DEC1 O_DEC2 O_FN O_FT O_P O_V The network consists of a master PLC and a Lexium slave e Address of the master PLC station 1 e Address of the slave Lexium station 3 Configure the Premium Lexium e At the PLC this is done using the PL7 software e define the master PLC address 1 e activate the Peer_cop and specify the outputs Address of 1 word of the Peer_cop table MW1525
12. Implementation Modbus Plus Tap Layout Principles and One end of the trunk cable is free so that it can be connected to the tap diagrams Connection to the tap e Insert the cable into the tap and hold in place using a cable clamp e Connect the wires following the directions shown on the diagram below The terminals are located as follows Cable clamp Trunk cable Earth wire to the station external shield Color of the different terminals Terminal Wire Color O Orange W White GND Shield W White BLU Blue Connection principle The figures underneath show the connection sequence a Ea Terminal Procedure Procedures to follow Step Action 1 In order to connect each wire remove the plastic cap from the terminal 2 Place the wire in the terminal slot 3 Replace the cap using a screwdriver then press down on the cap to push the wire well into the slot There is a tool especially designed to do this Reference number AMP 552714 3 20 Hardware Implementation Modbus Plus Connecting the wire of the external shield Install an open terminal spade tag on the wire of the external shield either by soldering or by setting and connect it to the earth screw of the case as shown on the diagram below Wiring of the cable network The tap can be wired in two different ways depending on its position in the cable network Mo
13. Modes At a Glance Aim of this This chapter shows the status chart of the standard DRIVECOM as well as the Chapter forced local mode via Unilink What s in this This chapter contains the following topics Chapter Topic Page Status Diagram for the standard DRIVECOM 74 DRIVECOM Standard 15 Status Diagram Instrument control for Lexium 77 DRIVECOM Command Word 81 DRIVECOM Status word 84 Unilink Forced Local Mode 86 The DriveCom Profile and the Forced Local Mode via Unilink Status Diagram for the standard DRIVECOM Status Diagram The Lexium drive can be commanded via Modbus Plus according to the status forthe Standard diagram for the DRIVECOM standard DriveCom Diagram Output stage Fault 13 deactivated Start Activation of faults v y 4 Not ready for power up Fault 15 n gt No power ro i 10 su Ready for gt power up 3 6 Power activated 9 8 Power up i A 5 11 Execution p Fast stop Activated A 5 activated This standard includes the key functions for drives produced by a number of different manufacturers Each status corresponds to an internal drive behavior The status of the drive can be accessed via its status word The status is changed using the command word The value of any bits marked wi
14. called Bridge Plus 85 For more detailed information about the various elements consult the Modbus Plus Modicon network installation guide Network stations are identified by an address configured by the user Each of these addresses is independent of its physical location on the site They should be between 1 and 64 and do not have to be sequential There can be no duplicate addresses Any piece of equipment with a duplicate address will not be able to be connected and a fault will be shown by means of the diagnostic LED See Diagnostics Indication p 69 Hardware Implementation Modbus Plus Installation The Modbus Plus option card is not mounted on the drive when it is supplied The card slot for this card reference X11 on the drive is protected by a secure cover COM O o oo um o S AMO MBP Modbus Plus Interface The Modbus Plus card option has a Sub D 9 female connector as well as a green diagnostics LED The power supply for this card is provided by Lexium Hardware Implementation Modbus Plus Assembly Instructions Procedure Warning Before starting make sure that the drive is not switched on Step Action 1 Detach the cover from the port intended for the option cards 2 Take care not to let any components for example the screws fall into the open slot Carefully place the card into the slot following the guidance rail Press down firmly on the card until the c
15. card hardware fault 1 flash second MONITOR LINK From powering up or following a DUPLICATE STATION status the card examines the network and constructs a table of active nodes After 5 seconds the card tries to resume normal mode TOKEN Ok 6 flashes second TOKEN OK The token circulates normally and the card receives it once per rotation 2 flashes second followed by a 2 second pause NEVER GETTING TOKEN The token circulates on the network but the card never receives it 3 flashes second followed by a 1 7 second pause SOLE STATION The network comprises one station only or the link was lost 4 flashes second followed by a 1 4 second pause DUPLICATE STATION Another network node has the address of the options card This requires reconfiguration or the other node to be disconnected from the network 70 Diagnostics Lexium Drive Parameters Drive status The Lexium drive uses three parameters See Modbus Plus Parameters p 63 which allow the drive and Modbus Plus option card status to be seen e DPR ASCII equivalent DPRSTATE e Modbus Plus ASCII equivalent MBPSTATE e Drive ASCII equivalent MBPDPRVSTATE These parameters can be accessed e Via the Unilink software terminal or any terminal Some ASCII commands are defined to allow parameter reading e Via the Modbus Plus screen in the Unilink software 71 Diagnostics 72 Drive Operating
16. continuity of the table of words is maintained despite the absence of station 4 e At Lexium address 3 this is done using the Unilink software e define the address 3 e define the Peer_cop e define the global data Literal programming The movement task parameters are loaded using the Unilink tool e Write the application in literal language in order to read the Global Data drive address 1 S MW10 6 ADR O0 1 3 MW10 6 gt optional definition of an indirect address ADR 0 1 3 gt Lexium 3 e Read the global data 54 Premium Command Station General Note Hypothesis the DriveCom must have the status Lexium running See Status Diagram for the Standard DriveCom p 74 L200 read global data from Lexium 3 drive to Modbus Plus address of global data reception zone MW1101 18 address ADR 0 1 3 SMW10 6 M24 read command exchange report MW1150 4 Zsw 18 status first word of Zsw table MW1101 IF M24 AND NOT MW1150 X0 THEN RESET M24 MW1150 4 0 READ GDATA SMW10 6 Zsw 18 MW1150 4 END IF Operation Start and confirm the drive using the Drivecom diagram e PLC started e Confirm reading of Global Data MW24 1 e Set command word STW to 0 to set the Lexium to the status powered up and locked MW1557 0 e To switch the Lexium to the Drivecom started status specify the following in sequence MW1557 6 MW1557
17. ee A ae ee i ot 61 Communication Parameters 0 0 00000 eee ee eee ees 62 Configuration of Address and TimeOut via Unilink or viaa Terminal 66 Pee COD Dalasedwica oi eee ee Bee eee OR ete pee tee eas 67 Global data configuration via Unilink or viaaterminal 005 68 Diagnostics Indication 000 eee es 69 Ata OlANC EG cerra ae Bile Bog aka T a A hg Ree Pe a eld Sk ee ws 69 Diagnostics Different Statuses 0 0 eee 70 Lexium Drive Parameters 0 0 0 00000 cc ee ees 71 Drive Operating Modes 2 000 cence eee ees 73 Arrolan Einen sean aaah 2 soe a acd re ae Sees tt ta ec ee SE Bde 73 Status Diagram for the standard DRIVECOM 00005 74 DRIVEGCOM Standard s 22 453 2435 eet ind boat eda a awit taresan 15 Status Diagram Instrument control for Lexium 0 0 0000 cee eee 77 DRIVECOM Command Word 0 000 ee ee ees 81 DRIVECOM Status Word sa ieran pee ea a a ween et E T a dex 84 Unilink Forced Local Mode 0 000 ccc ee ee 86 Theoretical Performance 0 000e eeu wee newness 87 Theoretical Performance 2wairciw hve 24 oi bods BCE ala Sethe ee 87 List of Lexium Variables General 00000eeuae 91 AU a Glanee nunc conte ee wee ee ees ee ek eee be Des E Dieed 91 General variables for Lexium General 0 0 0 0 00 cee ee es 92 Read Write logical Variables 0 0 00 eee 98 List of General Lexium Variables 00 0 0 c cee ee
18. eee eee eee 99 List of Logical Variables and Status Registers 2 000 101 Read Write Status Registers 2 0 0c ees 102 as iad fp sri se Safed ad nav seein hv id te en Sina aaa at a 105 About the Book At a Glance Document Scope User Comments This document is a description of the Modbus Plus environment as well as the Lexium command station principles and drive function This description is not exhaustive We welcome your comments about this document You can reach us by e mail at techpub schneider electric com About the Book The Modbus Plus Package on LEXIUM 1 At a Glance Aim of this Chapter What s in this Chapter This Chapter details the implementation of Modbus Plus on LEXIUM This chapter contains the following topics Topic Page Implementation General 10 Methodology 12 03 2003 Modbus Plus Implementation Implementation General At a Glance Compatibility The Modbus Plus communication option card enables you to connect a Lexium drive on a Modbus Plus network The Modbus Plus option card package consists of e An option card reference AMO MBP 001 VOOO e A CD ROM containing the present manual The Modbus Plus cables and accessories are not supplied References for the necessary elements are detailed in the Hardware implementation chapter This card can be used on Lexium digital MHDA drives
19. station will preferably need to be done in access MBxx with xx 2 the address of the reception buffer MWyy For example buffer MW1150 or MB2300 With a Quantum station using Concept issue a READ_REG block with a value of 10001 on the SLAVEREG pin 23 words on the NO_REG pin and a 4x register of your choice on the REG_READ pin to store the return data 103 List of Lexium variables 104 Glossary G Global Data This is a database updated by each station on the network L Lexium Schneider Automation speed drive product family M Modbus Plus Communication protocol based on the logic token bus principle Modsoft Software factory associated to Quantum PLCs 105 Glossary P Peer Cop A rapid and efficient means of being able to send the command data to a slave station Premium Schneider Automation program PLC family Q Quantum Schneider Automation program PLC family 106 Index Symbols READ_GDATA function 51 A application response time 89 assembly instructions 16 average response time 88 C common parameter management with messaging 67 compatibility 10 compatibility with option card standards 11 Configuration Global data 68 configuration address 66 Peer Cop 67 TimeOut 66 Configuration of Lexium parameters 62 G Global Data 24 introduction to the option card 10 L Lexium scan time 88 M messaging 24 types of variabl
20. the drive controller 76 The DriveCom Profile and the Forced Local Mode via Unilink Status Diagram Instrument control for Lexium Instrument The control of the instrument is described with the aid of a state machine The state control machine isdefined in the drive profile by a flow diagram for all operating modes The following diagram shows the possible instrument states for the Lexium Drive See Status Diagram for the standard DRIVECOM p 74 Note STATUS is the logical boolean AND of ZSW Word 1 of Global Data and 6F hex All STATUS and STW Command word 1 of Peercop data values are given in hexadecimal T7 The DriveCom Profile and the Forced Local Mode via Unilink Drive disable Input into the status diagram Appearance of a fault Inoperative Lexium Active communication STATUS xx00h or 20h Faulty Lexium STW 0080h STATUS xxx8h or XxxFh or xx28h Lexium powered and locked STATUS xx40h or 60h Waiting state STATUS xx21h or O1h Lexium ready Drive Enabled STATUS xx23h STW 0007h STW 001Fh Emergency stop STW 000Fh Lexium running ao a Lexium in fast stop PET STATUS xx07h or 03h I STW 001Fh Note STATUS ZSW AND 16 006Fh 78 The DriveCom Profile and the Forced Local Mode via Unilink Instrument states Transitions of the state machine The following table describes the instruments states and t
21. with analogue setpoints Reference Permanent output current MHDA 1004 00 1 5 Arms MHDA 1008 00 3 Arms MHDA 1017 00 6 Arms MHDA 1028 00 10 Arms MHDA1056 00 20 Arms MHDA 1112 00 40 Arms MHDA 1198 00 70 Arms Note Compatibility rules e The drive serial number should be greater than or equal to 0770 220 200 or RL Revision Level 28 e The software version of the drive must be higher than or equal to version V4 20 e The PL7 version must be higher than or equal to version V3 0 e The Unilink version must be higher than or equal to V2 0 Modbus Plus connection is not possible for a serial number below 770 220 000 For a serial number between 770 220 000 and 770 220 200 please contact us 03 2003 Modbus Plus Implementation Compatibility with Option Card Standards Operational Temperature EN61131 2 IEC 1000 4 2 IEC 1000 4 3 IEC 1000 4 5 IEC 1000 4 6 EN55022 5501 1 UL508 CSA 22 2 In operation 0 to 60 C In storage 25 C to 70 C 03 2003 Modbus Plus Implementation Methodology Presentation Flow Chart The following flow chart summarizes the different phases of the implementation of a Lexium drive equipped with a Modbus Plus card option in a Modbus Plus architecture network Hardware Implementation Card installation Chapter 2 Hardware Installation Installation Connection to Modbus Plus network Local Mo
22. 00 DW 280 V Measured speed 15000 to DW rom 15000 282 VBUS Bus voltage O to 900 DW 286 VCMD Speed setpoint DW F 292 VMAX Maximum system O to 12000 DW F load 100 List of Lexium variables List of Logical Variables and Status Registers Table of read only logical variables Table of read only state registers Table of variables Address ASCII Description Range Default Format command value 004 ACTIVE Power stage activated O deactivated W deactivated 1 activated 006 AENA Initialization stage of O inactive 1 W software validation 1 active 221 READY Software validation 0 1 W status Table of registers Address ASCII Description Range Default Format command value 097 IN1 Status of hardware O low 1 W logical input 1 high 100 IN2 Status of hardware O low 1 W logical input 2 high 103 IN3 Status of hardware o low 1 W logical input 3 high 106 IN4 Status of hardware O low 1 W logical input 4 high 109 INPOS Movement task O notin pos W completed in the 1 in pos window configured by PEINPOS 174 O1 Status of hardware O low 1 W logical output 1 high 177 O02 Status of hardware O low 1 W logical output 2 high 181 OPTION Option ID card Int word W 251 STAT Drive status word Int word W 101 List of Lexium variables Rea
23. 35005527_05 a brand of Schneider Electric LEXIUM Communication via Modbus Plus eng February 2005 Telemecanique Document Set Document Set At a Glance Document set Modbus Plus Network Modicon Installation manual 890 USE 100 00 Modicon reference manual for Modbus Plus protocol PI MBUS 300 Quantum PLC Modicon Modsoft Programmer User Manual 890 USE 115 00 Modicon Ladder Logic Block Library User Guide 840 USE 101 00 Premium PLC PL7 Micro Junior Pro communication applications TLX DS COM PL7 43F Lexium drive Lexium user manual Unilink software user manual List of ASCII commands These documents are available on the Lexium Motion Tools CD ROM ref AMO CSW 001V350 Document Set Table of Contents A ENS ADOULING BOOK c0001 ot eeeeeGuriee teres eeeeee es 7 Chapter 1 The Modbus Plus Package on LEXIUM 9 Ala GANE saiae ea ee te ote ee ee ee ee eG Se 9 Implementation General 00000 10 WetThODOIOGY ee irene Sede pwede ea Ra el ad a aes 12 Chapter 2 Hardware Implementation 0000c eens 13 Akta GIANG C eases a a eee ee Aa Ree ek ie tee le ae ek ee 2 13 installation General serz oc earn ates theses d etechin ala dcn Greer ates ale cia ot a 14 ASSEMDIY INSUUCUONS 2 4 2 2 0nodae aae2 2 gone 45 Oo Rees Ae eds POR ES 16 Modbus Plus Accessory References 0 00 eee eee eee 17 Connection to Modbus Plus BUS 0 0 0 eee 18 Wap Layout e
24. Assign a number of words for each slave in the network on the basis of current or future needs In the PL7 screen used for Peer_cop configuration Station Ref Length 0 32 2 MW1525 32 3 MW1557 9 4 0 5 MW 1566 9 6 0 In this example there are 3 slaves at the addresses 2 3 and 5 The station is declared to be set up in readiness for a product which accepts 32 Peer_cop words Note that continuity of the table of words is maintained despite the absence of station 4 e At Lexium address 3 this is done using the Unilink software 56 Premium Command Station General e define the address 3 e define the Peer_cop e define the global data Write the application in literal language Lexium drive slave 3 drive address 1 S MW10 6 ADR 0 1 3 MW10 6 gt optional definition of an indirect address ADR 0 1 3 gt Lexium 3 L200 read global data from Lexium 3 drive to Modbus Plus address of global data reception zone MW1101 18 address ADR 0 1 3 SMW10 6 M24 read command exchange report MW1150 4 Zsw 18 status first word of Zsw table MW1101 IF M24 AND NOT MW1150 X0 THEN RESET M24 SMW1150 4 0 READ GDATA SMW10 6 Zsw 18 SMW1150 4 END IF filtering of status word SMW750 SMW1101 AND 16 006F WRITE Lgl MTMUX Lexium 3 on Modbus Plus address SMW10 6 type of va
25. ED 295 VOSPD Max speed exceeded 0 to 3600 DW F 1 2 MSPE ED 296 VREF Homing speed 0 to Long 0 DW integer 297 VSCALE1 Scale factor on speed 1 O to 12000 3000 W input 298 VSCALE 2 Scale factor on speed 2 O to 12000 3000 W input See the ASCII command manual for the full list The drive memory address is listed in the table under object number for the specific ASCII command Remember to add 1 to the address when you use Modicon PLCs 97 List of Lexium variables Read Write logical Variables Table of read Table of variables write logical 5 Address ASCII Description Range Default Format variables command value 003 ACTFAULT Active fault mode O var cut 0 W 1 deceleration 162 MSG Messages O refusal 0 W acceptance refusal 1 acceptance of error messages only 2 acceptance of all messages 180 OPMODE Operation mode 0 5 8 1 W 209 PRBASE Bits by rev 16 20 20 W 211 PROMPT RS232 protocol pre O no prompt 1 selection 1 prompt activated 2 echo char and prompt activated 3 prompt and checksum activated 245 SPSET Ramp authorization O not authorized 0 W in Sine 1 authorized 255 STOPMODE Dynamic brake O no braking 0 W management mode 1 braking upon fault and or var cut 98 List of Lexium variables List of General Lexium Variables Table of General Read Only Variables
26. ERRCODE This table gives equivalent bit manipulation to the hexadecimal values listed in the state flow diagram above Transition 0 Event Reset 24V supply is switched on Action Initialization started Transition 1 Event Initialization successfully completed LEXIUM DRIVE switch on inhibit Action None Transition 2 Event Bit 1 inhibit voltage and Bit 2 fast stop are set in the control word command shutdown DC link voltage is present Action None Transition 3 Event Bit O switch on is also set command switch on Action Output stage is switched on enabled Drive has torque Transition 4 Event Bit 3 operation enabled is also set Command operation enable 79 The DriveCom Profile and the Forced Local Mode via Unilink Action Motion functions are enabled depending on the operating mode that is set Transition 5 Event Bit 3 is canceled command inhibit Action Motion functions are disabled Drive is braked using the relevant ramp depends on operating mode Transition 6 Event Bit O is canceled ready for switch on Action Output stage is switched off disabled Drive has no torque Transition 7 Event Bit 1 or Bit 2 is canceled Action Command Fast stop or Inhibit voltage Transition 8 Event Bit O is canceled operation enabled gt ready for switch on Action Output
27. FBI 299 4 WRITE_REG FBI 29 10 3 WRITE_MT D gt REQ DONE FBI 29 15 7 MODBUSP_ADDR 348 gt SLAVEREG ERROR gt err2 WRITE_REG 1c NO_REG Slot_ID MTMUX D gt REG _ WRIT REQ DONE done AddrF Id AddrFld STATUS L gt 400678 184 gt gt J SLAVEREG ERROR gt errl 11 gt NO_REG 400680 gt 4 REG_WRIT AddrFld STATUS gt 400677 3c Routing Routing2 R outing3 Routing4 R outing5 44 Quantum Command Station General 4 To enable the drive to move the motor the state machine must be programmed in accordance with the DRIVECOM standard as it applies to the Lexium drive Refer to Chapter 8 for detailed information on the DRIVECOM standard The figure below depicts a Concept Structured Text section that tests to see which state the Lexium is in In order to be able to start a motion task the Lexium must be in the state Lexium Running This is equivalent to a value of 16 27 in the STATUS variable Please note that STATUS is equal to the boolean AND of ZSW and 16 006F ZSW is the status of the drive which is sent in the 1st register of the Global Data transaction pa Structured Text Start ceee STATUS AND_WORD IN1 2SW IN2 16 666F FaultMask AND BYTE IN1 STATUS_L IN2 16 6F ee ee State Tests Faulty Lexium StateMalfunction Case1 EQ BYTE IN1 FaultMask IN2 16 68 StateMalfunction Case2 EQ BYTE IN1 FaultMask IN2 16 6F StateMalfunction
28. IF Ready Drive for Motion Transition 4 IF Run_Hode AND StateSwitchedOn THEN STW Word 16 6601F END_IF 46 Quantum Command Station General 6 In order to start a motion task the drive must be in Opmode 8 and have its reference point set Toggling bit 6 of the command word STW will start the motion task The following structured text programming was used to start the motion task The code checks for the drive to be in the Lexium Running state StateOperationEnabled and that it is in Opmode 8 If these conditions are true then the code checks for the start signal PLC boolean variable Start_Out to be set When set bit 6 of the STW command word is toggled causing the drive to execute the motion task number stored in the MOVE object 7th register in the Peer Cop data exchange IF StateOperationEnabled THEN IF Opmode 8 THEN Jog Drive Jog is done by toggling bit 8 of the STW command word 0 to 1 starts jog 1 to O stops jog IF Jog AND NOT Home AND NOT startMotionTask THEN STW_Word OR_WORD IN1 STW_Word IN2 16 0120 JogFlag 1 END_IF IF NOT Jog AND JogFlag 1 THEN STW_Word XOR_WORD IN1 STW_Word IN2 16 0120 JogFlag 0 END_IF Home Drive Home is done by toggling bit 11 of the STW word from 0 to 1 IF Home AND NOT Jog AND NOT startMotionTask THEN STW_Word XOR_WORD IN1 STW_Word IN2 16 0800 END_IF Start Motion Task A motion task is starte
29. Local Mode via Unilink Mode dependent bits in the control word Mode Bit 5 Bit 6 Bit 8 Bit 11 8 Position 1 gt 0 Pauses motion Start a motion task Start stop Start homing 0 gt 1 Resumes motion with every jogging For Motion Task Acc and dec ramps are transition edge defined by ASCII parameters O_ACC1 and toggle bit O_DEC1 For Homing Jogging Acc and dec ramps are defined by ASCII parameters ACCR and DECR 0 Digital speed 1 gt 0 Stop motion Set to 1 Authorizes Reserved Reserved Drive brakes using the preset speed ramps motion to preset ASCII parameters ACC and DEC speed in VCMD 2 Digital Reserved Set to 1 Authorizes Reserved Reserved current motion to preset current in ICMD 1 Analog Reserved Reserved Reserved Reserved speed 3 Analog Reserved Reserved Reserved Reserved current 5 Position Reserved Start S_SETH Reserved Reserved control via external network Priority of the Bits 6 8 11 in position control mode 6 high 11 8 low 83 The DriveCom Profile and the Forced Local Mode via Unilink DRIVECOM Status word Status word ZSW With the aid of the status word the instrument state can be represented and the transmitted control word can be verified If an unexpected condition is reported as the result of a transmitted control word then first of all the boundary conditions for the expected instrument state must be clarifie
30. NPOS Position error threshold for Long 4000 DW the in position band integer INPOS 199 PEMAX Max following error Long 262144 DW integer 202 PGEARI Numerator for the Motion Long 1 DW Task resolution factor integer 203 PGEARO Denominator for the Long 1 DW Motion Task resolution integer factor 213 PTBASE External trajectory time 1 to 100 4 W base 214 PTMIN Minimum acceleration 1 to 32767 1 DW time for MT 216 PVMAX Max speed for the MT 0 to Long 100 DW integer 217 PVMAX Max speed for the MT 0 to Long 100 DW negative direction integer 226 REFIP Application current in Oto IPEAK IPEAK DW F reference point on the mechanical limit 231 ROFFS Source offset Long 0 DW integer 260 SWE1 Position value for Long 0 DW Pos Reg 1 integer 262 SWE2 Position value for Long 0 DW Pos Reg 2 integer 264 SWE3 Position value for Long 0 DW Pos Reg 3 integer 266 SWE4 Position value for Long 0 DW Pos Reg 4 integer 96 List of Lexium variables Drive ASCII Description Range Default Format memory command value address 278 UID User ID 32768 to 0 W 32767 305 UCOMP No return compensation 231 to 231 0 DW 284 VBUSMAX Max bus voltage 30 to 950 900 DW 285 VBUSMIN Min bus voltage 30 to 800 100 W 289 VJOG Speed in Jog OtoLong 10 DW integer 290 VLIM System speed limit 0 to 3000 DW F MSPEED 291 VLIMN System speed limit 0 to 3000 DW F negative direction MSPE
31. Operation Start and confirm the drive using the Drivecom diagram e PLC started e Confirm reading of Global Data MW24 1 58 Premium Command Station General e Set command word STW to 0 to set the Lexium to the status powered up and locked MW1557 0 e To switch the Lexium to the Drivecom started status specify the following in sequence MW1557 6 MW1557 7 MW1557 16 001F The status remember STATUS ZSW AND 16 006F changes on each command in accordance with the diagram in the chapter Drivecom See Drive Operating Modes p 73 When the status is equal to 16 0027 the drive is ready to receive the movement start command e Select the step for the movement task to be read or modified Write the number of the step to be read or modified to the register MW60 This register will be loaded into the MTMUX register when bit M50 is activated The MTMUX register can be read by loading its value into the register MWE60 Activate bit M52 to perform this load operation e Read the step parameters for the selected movement task Activate bit M53 Parameters 183 to 191 O_ACC1 0_V See General table of read write variables p 92 of the Lexium drive are then loaded into registers MW61 to MW7 1 Special case Parameters 190 and 191 use 2 words each Consequently we have MD68 for register 190 and MD70 for register 191 e Write the step parameters for the selected movement task Activate bit M51 after you h
32. ad and Write MSTR Operations Register Contents 1 MSTR Operation Code Error in progress for the MSTR Write Number of variables to send Read Number of variables to read 4 Read write concerns the base variable address Warning there is a shift of 1 for this register For example in order to access address 180 you have to enter 181 Station address destination Station address destination routing 2 Station address destination routing 3 Station address destination routing 4 OO OI IN OO oO Station address destination routing 5 The 4x register entered in the middle node is the first in a group of contiguous holding registers that comprise the data area For operations that provide the communication processor with data such as a write operation the data area is the source of the data For operations that acquire data from the communication processor such as a read operation the data area is the destination for the data The integer value entered in the bottom node specifies the length the maximum number of registers in the data area Although the typical MODBUS PLUS length may range from 1 to 100 registers the Lexium drive controller range is 1 to 60 registers An MSTR write operation transfers data from a controlling device to the drive controller An MSTR read operation transfers data from the drive controller to a controlling device on the network 41
33. ard s contact is in contact with the edge of the drive This enables you to make sure that the card is well connected to the drive 5 Fix the card with the 2 screws provided 16 Hardware Implementation Modbus Plus Modbus Plus Accessory References Table of References References for the different accessories Accessory Reference Bridge muliplexer BM85 Bridge BP85 NWBP 85 002 Repeater RR85 NWRR 85 001 2 4 m tap off cable 990 NAD 219 10 6 m tap off cable 990 NAD 219 30 30 5 m main network cable 490 NAA 271 01 152 5 m main network cable 490 NAA 271 02 305 m main network cable 490 NAA 271 03 457 m main network cable 490 NAA 271 04 1525 m main network cable 490 NAA 271 05 Junction box IP 20 990 NAD 230 00 Junction box IP 65 990 NAD 230 10 Termination of line for box IP20 AS MBKT 185 Line termination for box IP65 990 NAD 230 11 Modbus Plus card PCMCIA for Premium TSX MBP 100 TSX MBP CE 030 Cable for PCMCIA_3m card TSX MBP CE 060 Cable for PCMCIA MBP_6m card Note For more extensive details please consult the Schneider catalogues 17 Hardware Implementation Modbus Plus Connection to Modbus Plus Bus Introduction Diagram Showing Station Connections The bus is made up of a shielded twisted pair cable transported on a direct route between one station and t
34. aring output 32767 92 List of Lexium variables Drive ASCII Description Range Default Format memory command value address 066 GP Position loop Proportional 0 01 to 25 0 15 DW F gain 067 GPFBT Position loop control 0 to 2 0 1 DW F current for anticipation speed 068 GPFFT Position loop Setpoint 0 to 2 0 1 DW F current or speed 069 GPFFV Position loop Anticipation 0 to 2 0 1 DW F speed 070 GPTN Position loop Integration 1 to 200 0 50 DW F action time 071 GPV Position loop Control 0 1 to 60 3 DW F speed for Feed Forward 072 GV Speed loop Proportional O to 200 0 1 DW F gain 073 GVFBT Speed loop First 0 to 100 0 4 DW F integration return filter time constant 074 GVFILT Speed loop proportion of 0 to 100 85 W filtering in for GVT2 075 GVFR Speed loop PI Plus term 0 to 1 1 DW F 076 GVT2 Speed loop 2nd time 0 to 1000 1 DW F constant 077 GVTN Speed loop integration 0 2 to 1000 10 DW F time 090 I2TLIM l2T message O to 100 80 W 092 ICONT Nominal current 10 of Min of DW F DICONT to DICONT max and DICONT MICON IPEAK T 099 IN1TRIG Auxiliary trigger variable Long 0 DW for IN1MODE integer 102 IN2TRIG Auxiliary trigger variable Long 0 DW for INZMODE integer 105 INSTRIG Auxiliary trigger variable Long 0 DW for INSMODE integer 93 List of Lexium variab
35. ave changed one or more of the parameters in the registers M61 to M71 The parameters of all the internal words MW61 to MW 71 are then loaded into the registers 183 to 191 of the Lexium drive Pay attention to the special case of the double parameters 190 0_P and 191 O_V The new parameters will not be used until the step is started specified in the MOVE parameters via command bit 6 of the STW e Meaning of the bits for the movement task bits M50 write confirmation for the MTMUX register bits M51 write confirmation for the parameters of the movement task bits M52 read confirmation for the MTMUX register bits M53 read confirmation for the parameters of the movement task 59 Premium Command Station General 60 Configuration of Lexium Parameters At a Glance Aim of this Chapter What s in this Chapter This chapter describes the configuration of different communication parameters This chapter contains the following topics Topic Page Communication Parameters 62 Configuration of Address and TimeOut via Unilink or via a Terminal 66 Peer Cop Data 67 Global data configuration via Unilink or via a terminal 68 61 Configuration of Lexium Communication Parameters At a Glance Communication parameters are configured in 2 ways e either via the Unilink software terminal mode or via a hyperterminal mode under Windows Some ASCII commands are defi
36. d Hardware limit error Reserved Reserved Sercos error TimeOut Sercos Reserved System error 30 Software Implementation Modbus Plus Global Data Designation Description Order Number 6 TJRSTAT Internal status least bit significant 0 INPOS2 output update 7 TJRSTAT 1 End of current movement task most 2 Movement task completed significant 3 15 Reserved 16 Movement task active 17 Reference point reached 18 Position source 19 In position 20 Rising edge detection on input latch 2 21 Reference point active 22 JOG move active 23 Falling edge detection on input latch 2 24 Emergency stop active 25 31 Reserved 8 PFB Current position in increments least significant 9 PFB most significant 10 V Current speed Unit 3000 x rom 10000 unit in rom 11 Actual value of current Unit DICONT x 2 10 unit in mA DICONT in A 12 MONITOR 1 Value of analog output Monitor 1 in mV 13 MONITOR 2 Value of analog output Monitor 2 in mV 14 ANIN 1 Value of analog input SW1 in mV 15 ANIN 2 Value of analog input SW2 in mV 31 Software Implementation Modbus Plus Global Data Designation Description Order Number 16 STAT IO Status of logical inputs outputs of the drive according to the following sequence bit 0 OUT 2 1 OUT 1 2 ENABLE 3 IN4 4 IN3 5 IN2 6 IN1 17 PE least Current f
37. d e g enable of the output stage hardware software application of the DC link voltage The bits in the status word can be mode dependent or mode independent The following table describes the bit definitions of the status word ZSW Bit DRIVECOM Standard Name Applicatioon of the Lexium to the DRIVECOM standard 0 Ready to Switch on Waiting state 1 Switched on Lexium ready Operation enabled Lexium running 3 Fault present Faulty Lexium see ASCII command ERRCODE 4 Voltage inhibited s 5 Fast stop 6 Switch on inhibit 7 Warning active see ASCII command STATCODE 8 Following error only in position control mode Opmode 5 9 Remote Local not supported fixed to 1 10 Setpoint reached only in position modes 4 and 5 11 Threshold reached not supported at present 12 Reserved Reserved 13 Mode dependent Reserved 14 Manufacturer specific Reserved 15 Manufacturer specific Reserved 84 The DriveCom Profile and the Forced Local Mode via Unilink Status word ZSW states State Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Not ready for switch on 0 X X 0 0 0 0 Inoperative Lexium Switch on inhibit 1 X X 0 0 0 0 Lexium Powered and Locked Ready for switch on 0 1 X 0 0 0 1 Waiting State Ready for operation 0 1 X 0 1 1 1 Lexium Ready Operation enabled 0 1 X 0 1 1 1 Lexium Running Error 0 X X 1 0 0 0 Faulty Le
38. d Write Status Registers Table of Read Write Status Registers Table of registers Address ASCII Description Range Default Format command value 015 ANZERO1 Analog input zero 1 W ANOFF1 016 ANZERO2 Analog input zero 2 W ANOFF2 024 CLRFAULT Clear acknowledge W drive error 306 COLDSTART Reset drive W 029 CONTINUE Continue the previous W position control order 043 DIS Software deactivation W 048 EN Software activation W 115 K Stop Deactivate W 131 LOAD Data loading from W EProm to RAM 141 MH Start reference point W 145 MJOG Start Jog W 233 RSTVAR Factory adjustment of W variables 234 S Movement stop and W drive deactivation 235 SAVE Saves variables in W EProm from RAM 240 SETREF Configure a reference W point 241 SETROFFS ROFFS automatic W configuration 254 STOP Stop movement task W 322 MOVE Stop movement task 0 1 W indicated 180 192 255 Start command bit movement in the DRIVECOM word in PeerCop 102 List of Lexium variables How to obtain Product ID ModBus Plus address 10000 Register layout of data read back Length of manufacturer name 14h Manufacturer Length of model name OAh Model name Reference name Software version Product Software Ref No The response length is 46 bytes Reading a Premium
39. d with EACH transition of bit 6 in the STW word it is a toggle style bit IF startMotionTask OR executeNewSpeed OR executeNewPosition AND NOT Home AND NOT Jog THEN STW_Word XOR_WORD IN1 STW_Word IN2 16 0040 END_IF END_IF END_IF 47 Quantum Command Station General 48 Premium Command Station At a Glance Aim of this Chapter What s in this Chapter This chapter shows how to place the different modes of communication enabling access to the drive This chapter contains the following topics Topic Page Premium Command Station 50 Use of Global Data 51 Using Messaging 52 Programming Example 1 54 Programming Example 2 56 49 Premium Command Station General Premium Command Station General Peer Cop Configuration An application is installed on a Premium PLC by means of the PL7 software factory This factory contains a specific screen which enables you to configure the Modbus Plus exchanges This chapter shows how to implement the different modes of communication allowing access to the drive The installation is carried out in two parts e Station configuration Station address Peer Cop e Write PLC tasks Use of messaging and global data Peer Cop configuration occurs once the Premium station is configured When these are defined Premium manages their updating in a manner that is clear to the user There is no functio
40. dbus Plus End Taps The tap is made up of a resistant line termination joined together by two internal staples At each end of the cable network the two staples must be joined to the inside of the tap so as to avoid signal reflections 6 Aso ena Q Principle wos network Oo BLKO ar cable Staples Cable clamp installed Principle network cable ci O BLK 0 O Cable clamp tics Staples installed Modbus Plus Inline Taps For Inline Taps the two staples are not connected R Principle NGWO network cable sabi Cable clamp Cable clamp 21 Hardware Implementation Modbus Plus Ground Connection of Tap off Cables The Modbus Plus tap off cable must be connected to ground via the backplane or an equivalent point in the network The backplane is grounded by means of a metal clip which connects the cable shield to the backplane The clip is supplied together with the junction box Metal clip Modplus Plus tap off cable Se IL 4 Strip a the shielding k 13 mm min 30 cm max 22 Software Implementation At a Glance Aim of this Chapter What s in this Chapter This Chapter describes the general communication function of the Modbus Plus This chapter contains the following topics Topic Page Software Part General 24 Drive Functioning on the Network 25 Peer Cop Lexium Command Data from PLC 27 Global Data Sent from Lexium 28 Messaging 33
41. de Design Configuring Programming Configuring Programming Quantum command station Premium command station Chapter 4 Quantum Chapter 5 Premium Command Station Command Station Offline mode Configuring Lexium Chapter 6 Lexium communication Configuration parameters Operation Diagnostics debug Chapter 7 Diagnostics 12 03 2003 Hardware Implementation At a Glance Aim of this Chapter What s in this Chapter This chapter details the hardware implementation of Modbus Plus on LEXIUM This chapter contains the following topics Topic Page Installation General 14 Assembly Instructions 16 Modbus Plus Accessory References 17 Connection to Modbus Plus Bus 18 Tap Layout 20 13 Hardware Implementation Modbus Plus Installation General At a Glance Modbus Plus is a local network designed for industry controlled applications It is possible to connect up to 32 stations on a cable network the length of which can be up to 450m Repeaters can increase the length of the cable up to 1800m and the number of stations to 64 Bridges and bridge multiplexers enable you to interconnect the Modbus Plus networks Example of Modbus Plus architecture Network A PLC PLC Repeater Station 10 Station 5 RR85 Network A I O Bridge Drive Station 3 BP85 Station 2 Station 4 Network B Drive Station 23 Networks A and B are interconnected via a bridge
42. e Modbus Plus Lexium communication is configured as follows Step Action 1 Power up the drive The network cable does not have to be connected 2 Check that the Modbus Plus card option is in good working order The green diagnostics LED should flash regularly 6 flashes per second 3 Run the Unilink software or a terminal 65 Configuration of Lexium Configuration of Address and TimeOut via Unilink or via a Terminal Address Configuration TimeOut Configuration Note An address should not be duplicated on the network and should be between 1 and 63 Configuration via Unilink e Configure the Address field using the station address in the Unilink basic setup screen Configuration via a terminal e Enter the terminal screen e Enter the ADDR command lt Address gt For example to set the drive address to 3 type ADDR 3 e Enter the ADDR command without parameters to check that the configuration has been correctly implemented Note The address is stored in the drive Replacing the Modbus Plus card has no effect on the drive address It continues to have the previously configured address Configuration via Unilink e Configure the Bus Time Out field with the selected value Configuration via a terminal e Enter the terminal screen e Enterthe TIMEMBP command lt Value in 0 01 sec gt For example type TIMEMBP 200 to set a time out value of 2 seconds e Enter the TIMEMBP command wit
43. e sent during global data transfers For example if you configured 4x register 40500 as the global input destination register then the ERRCODE most significant object would be found in register 40504 Global Data Designation Description Order Number 1 ZSW DriveCom status word Drive Operating Modes p 73 2 STATCODE Alarm in progress least bit significant IT threshold exceeded 3 STATCODE Ballast power reached most Following error window exceeded significant Node guarding active Missing network phase Software limit 1 exceeded Software limit 2 exceeded Erroneous start command Lack of reference point PSTOP limit operated 10 NSTOP limit operated 11 Implicit data HIPERFACE 12 Expansion card malfunction 13 HIPERFACE reference mode reset to 0 14 Error soeed current table 15 30 Reserved 31 Beta software version not allowed CONDOR WN O ce 28 Software Implementation Modbus Plus Global Data Designation Description Order Number 4 ERRCODE Error in progress least bit significant 0 Heatsink temperature too high B ERRCODE 1 Overvoltage most 2 Following error significant 3 Feedback fault 4 Undervoltage 5 Motor temperature too high 6 Faulty auxiliary voltage 7 Overspeed 8 EEPROM fault WOWNNDNNNNNNNN a a a a a aaa aaa aaa ae s O O O O NOO0ORAON lt OOONO C OA ARAON O Flash EPROM fault
44. es 33 Modbus Plus accessory references 17 P Peer Cop 24 list of variables transmitted 28 Peer Cops Lexium command data from PLC 27 Premium command station 50 Peer Cop configuration 50 presentation flow chart 12 Q Quantum command station 37 configuration of Peer Cop and Global Data 37 MSTR Block 39 S status diagram 74 status of communication LED 70 107 Index T Token Rotation Time 87 U use of global data 51 use of messaging WRITE_VAR function 53 using messaging 52 READ_VAR function 52 108
45. figuration of Lexium The following table describes the different values in the communication status zone Parameters ASCII command Range Default value Note DPR DPRSTATE status during initialization phase DPRSTATE 80 Message ready 16 bit length Modbus MBPSTATE status read by Unilink Updated by MBP card it makes the drive aware of the MBP card status 16 bit length Drive MBPSTATE status read by Unilink Updated by the drive it makes the MBP card aware of the drive status 1 100 16 bit length Descriptions of the different MBPSTATE statuses Value of MBPSTATE Description 0 Card not configured 1 Card in Run No communication from card Network communication fault AJOJN DPRAM communication fault Descriptions of the different MBPDRVSTAT status Value of MBPDRVSTAT Description 1 Drive ready Network communication fault DPRAM communication fault 2 4 8 Communication fault network ignored MBTNTO bit MBPNTO 0 communication fault reported to the drive MBPNTO 1 communication fault ignored by the drive it is accessible in write mode via the ASCII MBPDRVSTAT command Thus if MBPDRVSTAT 8h for MBPNTO 1 then the read value is 9 lf MBPDRVSTAT Oh for MBPNTO 0 then the read value is 1 64 Configuration of Lexium Procedure Th
46. g functions are acknowledged Adjustment parameters can be modified at any time Configuration parameters can be changed only when the motor is stopped and if a configuration parameter is changed the drive controller returns to the Switch On disabled state Quick Stop Active E stop rapid deceleration Activation of this stop mode causes the drive controller to decelerate the motor using the minimum deceleration ramp time To restart the drive controller output the controller must be returned to the Switch On disabled state From this point sequential transition commands can return the controller to the Operation enabled state Malfunction Reaction Active Ability to determine what action to take when a fault occurs The drive controller detects a fault and reacts by performing an action that is appropriate and perhaps pre programmed in certain cases to the type of fault Other drive functions are disabled during this time 75 The DriveCom Profile and the Forced Local Mode via Unilink Malfunction Drive controller in faulted state The drive controller has detected the occurrence of a fault that warrants disabling the drive functions A fault reset command or the cycling of the main power is required to return the controller to the Switch On disabled state From this point sequential transition commands can return the controller to the Operation enabled state For more information refer to Switch On Disabled Configuration of
47. he next The two data lines inside the cable are not sensitive to polarity Station connections on the cable network are carried out by means of taps These consist of crossings for the main cable and a Tap for the cable leading to the station Up to 32 stations 450m of cable max 3m of cable min Taps M lt lt Final Inter Inter Final Station mediate mediate Station PLC Station Station Drive 3 Drive 1 Drive 2 C End Taps Inline Taps 18 Hardware Implementation Modbus Plus Connection of the Option Card A Trunk cable is used at each intermediate point between the box and the on the Trunk corresponding station The cable is pre equipped at one end with a 9 pin Sub D Cable connector for connection to the station COM O eGo tum o O AMO MBP Modbus Plus Interface Female connector 9 pin card Tap i Modbus Plus Equipped cable Modbus Plus 990NAD23000 990NAD21xxx Main Modbus Plus cable 490NAA271xx The option card connects with the main network cable by its Sub D 9 connector whose pin configuration is shown below Pin 1 Pin 3 Shield Pin 2 MBP output MBP input Signal signal Main Bus The left input to the junction box is different from the right input Connection the grounding of the trunk cable is not symmetrical The junction boxes must be aligned in the same way throughout the network Left position in Right position in network network 19 Hardware
48. he transitions Not ready for switch on Inoperative Lexium Lexium drive is not ready for switch on No operation readiness Fault RA RB is signaled from the amplifier software Switch on inhibited Lexium powered and locked LEXIUM DRIVE is ready for switch on Parameters can be transferred DC link DC bus can be switched on motion functions cannot be carried out yet Ready for switch on Waiting State DC link voltage must be applied Parameters can be transferred motion functions cannot be carried out yet Ready for operation Lexium Ready DC link voltage must be switched on Parameters can be transferred motion functions cannot be carried out yet Output stage is switched on enabled Operation enabled Lexium Running No error present Output stage is switched on motion functions are enabled Fast stop activated Lexium in Fast Stop Drive has been stopped using the emergency stop ramp Output stage is switched on enabled motion functions are enabled Error response active error Faulty Lexium If an instrument error occurs the LEXIUM DRIVE changes to the instrument state Error response active In this state the power stage is switched off immediately After this error response has taken place it changes to the state Error This state can only be terminated by the bit command Error reset To do this the cause of the error must have been removed see ASCII command
49. hout parameters to check that the configuration has been correctly implemented TimeOut represents e The maximum period of time during which a token is not received e The maximum period of time between 2 Peer Cop transmissions being received When a TimeOut is detected the drive faults 66 Configuration of Lexium Peer Cop Data Peer Cop Configuration Common Parameter Management with Messaging Peer Cop data are the registers transmitted by the command station The number of registers received by the drive can be configured by the user The number of Peer Cop registers transferred can be configured in either of two ways Configuration via Unilink e Configure the Peer Cop Station field with the command station address e Configure the Peer Cop Length field with the number of received Peer Cop registers Configuration via a terminal Selecting the number of a Peer Cop registers e Enter the terminal screen e Enter the Peer Cop command lt Number of Peer Cop registers gt For example type Peer Cop 9 to configure the Lexium to receive 9 registers e Enter the Peer Cop command without parameters to check that the configuration has been correctly implemented Command station configuration e Enter the Peer Cop command lt Command Station Address gt For example type Peer Cop 6 to configure the PLC in command whose node address is 6 Enter the Peer Cop command without parameters to check that the config
50. ium General General General table of read write variables The following tables show the variables that can be accessed by the user via messaging The list is not exhaustive For a complete list consult the list of ASCII commands available on the Lexium Motion Tool CD ROM ref AMO CSW 001V350 Formats e W 16 bits word e DW Double Word 82 bits least significant first e F Float 82 bits with the value 1000 Example ASCII GP 0 15 the returned value will read 150 Variables accessible to the user Drive ASCII Description Range Default Format memory command value address 001 ACC Acceleration rate 1 to 32767 10 DW 002 ACCR Acceleration ramp 1 to 32767 10 DW reference point Jog 008 ANDB Analog input signal dead O to 10000 0 DW F band 017 AVZ1 Input 1 filter time constant 0 2 to 100 1 DW F 034 DEC Deceleration rate 1 to 32767 10 DW 035 DECDIS Deceleration in case of 1 to 32767 10 DW power outage 036 DECR Deceleration ramp 1 to 32767 10 DW reference point Jog 037 DECSTOP Fast stop ramp 1 to 32767 10 DW 050 ENCIN Encoder input resolution 256 512 4096 DW 1024 2048 65536 055 ENCZERO Top zero offset O to 1023 O W 056 EXTMUL External incremental 0 to 32767 256 W return scale factor 062 GEARI Number of teeth on 1 to 32767 8192 W gearing input 064 GEARO Number of teeth on 32768 to 8192 W ge
51. les Drive ASCII Description Range Default Format memory command value address 108 IN4TRIG Auxiliary trigger variable Long 0 DW for N4MODE integer 110 IPEAK Max application current 20 of IMAX DW F DICONT to 2 DICONT 111 IPEAKN Max application current 20 of IMAX DW F negative direction DICONT to 2 DICONT 113 ISCALE1 Scale factor for analog 0 to 100 DIPEAK DW F current command 1 114 ISCALE2 Scale factor for analog 0 to 100 DIPEAK DW F current command 2 303 KTN Integral action time for the 0 2 to 10 0 6 DW F current regulator 132 MAXTEMPE Max drive internal 10 to 80 70 W temperature 133 MAXTEMPH Cut out value of the 20 to 85 80 W radiator temperature 134 MAXTEMPM Max motor temperature O to 6000 1000 DW F 142 MICONT Nominal direct current 10 of DICONT DW F DICONT 143 MIPEAK Peak current limit for 20 of DIPEAK DW F motor DICONT 149 MLGC Adaptive gain of the 0 2 to 1 0 7 DW F current regulator direct current 150 MLGD Gain of the axis D current 0 1 to 1 0 3 DW F regulator for the motor current 151 MLGP Adaptive gain of the peak 0 1 to 1 0 4 DW F motor current 152 MLGQ Gain of the axis Q current 0 01 to 30 1 DW F regulator for the motor current 156 MPHASE Motor phase Electrical 0 to 360 0 W offset resolver adjustment 94 List of Lexium variables
52. ment The top screen represents a defined task in ST language structured literal language which will be executed on each PLC cycle The bottom screen is an on line help which makes the implementation of the function easier ST MAST Mod _lexium L200 Read Lexium drive global data on MODBUS PLUS Address ADR 1 1 5 Address of global data reception zone ee report MW 1150 4 MW100 5 MW1150 X0 MW1150 4 0 READ_ GPATALOD Of I H A A N1 1Q OA MAA PL7 Library Functions Parameters o Function Information READ ASYN Read internal bits and words from the asynchronous Server READ_GDATA Read MODBUS global data READ PCMCIA Read trom PCMCIA memory card READ VAR Read standard objects Call format Parameters of the PROCEDURE ADR AR W OUT Contents of global data received ADR AR Ws N OUTIAct Number CR time out MWxx 4 MW O D o a Display the call READ_GDATA ADR 1 15 MW1101 18 MW1150 4 In the example above when the condition is verified MW1150 X0 0 the application reads 18 items of global data produced by address station 5 1 15 The read data will be stored in the Premium registers MW1101 to MW1118 An exchange report will be stored in the Premium registers MW1150 to MW1153 51 Premium Command Station General Using Messaging Read Command The READ_VAR function allows a read request to be carried out by messaging using M
53. n Peer Cop exchanges are reestablished by issuing the disable command from Unilink 86 Theoretical Performance Theoretical Performance Average Time Between 2 Updates of Data by a Network Station Token Rotation Time Reference documents Modicon Installation manual 890 USE 100 00 Token Rotation Time TRT in ms 2 08 0 016 DMW DMP 0 19 0 016 GDW GDN 0 53 N N Number of network station DMP Number of master using MSTR DMW Average number of MSTR register word GDN Number of station transmitting Global Data and Peer Cop GDW Average number of register word transmitted in Global Data Example in a configuration using a Premium station a Quantum station and a Lexium drive Premium 9 Peer Cop Quantum 9 Peer Cop MSTR Get Network statistic Lexium 18 Global Data TRT 2 08 negligible 1 0 19 0 016 18 3 0 53 3 5 ms approx This corresponds to the value read by the MSTR request on the Quantum 87 General Lexium Scan Time Average response time Peer Cop and Global Data Lexium scan time 10 ms typically Lexium response time for accessing messaging drive parameters and drive commands varies in the order of a few ms to 500ms It depends on the parameter types loop adjustment configuration adjustment motion task adjustment etc and on the drive status valid or locked Examples e Locked drive Reading proportional gain
54. n to execute The example below shows Peer Cop configuration A Premium register zone serves as a storage buffer between the application and the Modbus Plus network E Configuration A TSX 57202 v33 T IREA EO IX Configuration _ Designation PROCESSOR TSX P 57202 Peer Cop Output CHANNEL 1 CHANNEL T E TSK MBP CARD PCMCIA MoDaUS ptn Ref A on mi H Station number EJT 5 PoMw1525 Address of Ist MW wmv 6 6 o Oo ooo ooo ooo 6 0o Lami 0 E Peer Cop Timeout Value E150 ms Input Fall back mode Specific Inputs Specific Outputs Maintain Reset to 0 The Premium station address is 1 The station wants to receive 9 words of Peer Cop data from station address 5 Data sent out in Peer Cop will be issued from the 16 bit registers MW1525 to MW1533 These registers will be updated using the application defined by the user Premium automatically and periodically transfers these registers onto the Modbus Plus network Note For more detailed information please consult the TLX DS COM PL7 manual 50 Premium Command Station General Use of Global Data The READ GDATA function Unlike a Quantum station Global data is not managed directly by the PLC The READ_GDATA function must be used to take these values into account The example below shows the use of the READ_GDATA function in the Premium environ
55. ned to make it possible to read or modify these parameters e Via the Modbus Plus screen in the Unilink software Addressing DRIVE 0 basic configuration screen Unilink R glages de base 5 DRIVEO 62 Configuration of Lexium Modbus Plus The Modbus Plus screen in the Unilink software Parameters MODBUS DRIVEO Address Communication status DPR ModBus Drive Modbus Bus Time Out Peer Cop Station Peer Cop length Global Data Length a 10 ms Byte The following table describes different parameters in the Modbus Plus Settings zone Parameter Command Range Default value Note ASCII Address ADDR 1 63 1 Modbus node address read only Bus TimeOut TIMEMBP 0 01 60 1 In seconds Increments of 10ms Command station PEERCOPS 1 64 1 Must be different from Peer Cop Station the drive address 0 no Master address PeerCop registers received PEERCOP register PEERCOP 0 9 0 Number of PeerCop Peer Cop length registers received 0 PeerCop registers received Global data Tx GDTX 0 18 0 Number of Global data registers transmitted 0 Global data not transmitted The station address is entered in the Unilink base adjustment screen Timeout represents e the longest time span during which no token has been received e the longest time span between the reception of two PeerCop transmissions 63 Con
56. ns refer to the Ladder Logic Block Library User Guide 840 USE 10 100 39 Quantum Command Station General MSTR Block Structure Top Node content Inputs MSTR has two control points see Figure below e Top node input enables the instruction when top node input is ON e Middle node input terminates the active operation when middlenode input is ON Outputs MSTR can produce three possible outputs see Figure below e Top node output echoes the state of the top node input goes ONwhile the instruction is active e Middle node output echoes the state of the middle node input andgoes ON if the MSTR operation is terminated prior to completion e Bottom node output goes ON when MSTR operation is completedsuccessfully Enables selected MSTR operation Control Operation active Block Terminates active Data Operation terminated MSTR operation Zone unsuccessfully MSTR Operation successfull Length The 4x register entered in the top node is the first of nine contiguous holding registers that comprise the control block see Table 11 Note You must understand MODBUS PLUS routing path procedures before programming an MSTR instruction For a complete overview refer to the MODBUS PLUS Network Planning and Installation Guide 890 USE 100 00 40 Quantum Command Station General Table Control Block Holding Registers Middle Node Content Bottom Node Content Re
57. o transition the drive to the Lexium Running state This involves 3 drive transitions 2 3 and 4 as described in the Status Diagram in Chapter 8 Transition 2 tests for the drive to be in the Lexium Powered and Locked state StateSwitchOnDisabled and that the PLC boolean variables Enable is high and ESTOP is low When these conditions are satisfied the PLC sends a value of 16 0006 in the command word STW STW is the first word in the Peer Cop data exchange As a result of this command the drive should transition to the Waiting State Transition 3 tests to make sure that it did StateReadyToSwitchOn If it did then the PLC sends a value of 16 0007 in the command word STW As a result of this command the drive should transition to the Lexium Ready state In this state the drive is enabled with torque but not ready to accept motion commands Transition 4 tests for this Lexium Ready state StateSwitchedOn and for the PLC boolean variable Run_Mode to be set If both these conditions are satisfied then the PLC sends the command 16 001F in the command word STW Upon acceptance of this command the drive will transition to the Lexium Running state The drive can now execute motion commands Disable gt Ready Transition 2 IF Enable AND HNOT ESTOF AND StateSwitchOnDisabled THEN STW Word 1686666 END IF Ready gt Switched On Transition 3 IF Enable AND NOT ESTOP AND StateReadyToSwitchOn THEN STW Word 1680687 END
58. oO 00 m OO OO U1 Function code gt Reg Write gt Local Call Stat gt BD Global Write gt Subscribed Call Stat gt Peer Cop Communication Status Reg Read Local Init Stat BD Global Read Subscribed Init Stat MSTR End The example above shows how an MSTR block is used to read a register beginning at address 180 OPMODE on address station 5 The registers 40001 to 40009 are assigned at configuration of the MSTR block e 40001 Read data operation 40002 Current error 0 no error 40003 Number of read registers 40004 Base address for read 180 181 1 40005 40009 Address of the destination station for the message 5 No defined route Station 10 is on the same network as the PLC 42 Quantum Command Station General Programming Example Purpose To power up initialize and enable the drive Download a motion task via messaging Start a motion task from the PLC by Peer Cop using Concept programming software 1 Configure the PLC Peer Cop Global Data exchanges as outlined in the section Quantum Command Station Configuration of Peer Cop and Global Data via Concept 2 Configure the Lexium as described in Chapter 6 Configuration of Lexium 43 Quantum Command Station General 3 Define motion task 192 parameters by writing from PLC In addition to the MSTR block described earlier this example makes use of another method of writing to the Lexium the WRITE_REG bl
59. ock for use in Concept The example below makes use of two WRITE_REG blocks setup to write to modbus plus address 3 in this case the Lexium Drive The first block is triggered by the boolean variable WRITE_MT which will send the value stored in the PLC varaiable MTMUX 192 for this example to address 348 347 1 in the Lexium drive This is the address in the drive where the motion task you wish to write is stored Refer to the ASCII command MTMUxX in Chapter 10 It has a length of 1 word When the done bit is set on the first block it triggers the second WRITE_REG block which passes the Motion task parameters stored in the PLC starting at address 400680 to the Lexium address 184 183 1 The parameters are 11 words long W Concept D CONCEP 1 MBTEST3 lt 6 gt READWRITE Hif File Edit View Objects Project Online Options Window Help a foe ees lae IA LI 4 7 Be WRITE_MT triggers a write of a motion task to the Lexium MTMUX is the number of the motion task you wish to write Valid values are 0 and 192 255 348 is the address in the Lexium where MTMUX is stored 347 1 It s length is 1 word When done bit is set a second write is triggered which passes the Motion task parameters to Lexium address 184 183 1 They are 11 words long The data to be written is stored in 400680 Variable Address O_ACC1 400680 O_ACC2 400681 OC 400682 O DEC1 400683 O DEC 400684 O_FN 400685 OFT 400686 OP 400687 OV 400689
60. odbus Plus The example below shows the use of the READ_VAR function in the Premium environment The screen on the left represents a defined task in ST language structured literal language which will be executed on each PLC cycle The screen on the right is an on line help which makes the implementation of the function easier El ST MAST Command READ _VAR Parameters IF M206 THEN Address ADR 1 1 5 180 5 5 lt 4 5 RESET M206 Type of object to read VMW v END IF Address of first object to read Number of consecutive objects to read Reception Zone Report a In the example the application reads 5 registers 16 bits MW beginning at address 180 on station address 5 1 1 5 when the M206 condition is verified takes account of MW2500 X0 0 The read data will be stored in the Premium registers MW2000 to MW2004 An exchange report will be stored in the Premium registers MW2500 to YMW2503 52 Premium Command Station General Write Command The WRITE_VAR function allows a write request to be carried out by messaging using Modbus Plus The example below shows the use of the WRITE_VAR function in the Premium environment The screen on the left represents a defined task in ST language structured literal language which will be executed on each PLC cycle The screen on the right is an on line help which makes the implementation of the function easier E ST MAST Command a
61. of Parameterized position control Task 0 255 This data is only valid in mode 8 OPMODE 8 controlled by bit 6 of the STW 8 VJOG least significant JOG mode is an infinite movement task This value defines the VJOG most significant speed of transfer in increments sec It is only valid in mode 8 controlled by bit 8 of the STW This trajectory mode consists of two parameters e PTBASE address 213 Time base expressed in N 250 us For example N 4 implies an interpolation time of 1ms e PRBASE address 209 Defines the number of increments by revolution For example N 20 or 2 9 1048576 increments revolution 27 Software Implementation Modbus Plus Global Data Sent from Lexium List of Transmitted Variables The list of variables transmitted in Global Data is also predefined The user can specify the number of registers to be sent If the global data transmission is enabled for the Lexium drive controller up to 18 display registers of the drive controller can be broadcast to the network as global data with each token rotation To enable global data transmission enter the number of display registers to be transmitted in the GDTX parameter via Unilink See Configuration of Lexium Parameters p 61 Entering 0 for this parameter disables gobal data transmission The table below lists the display registers transmitted as global data from the Lexium and the order in which the register ar
62. ollowing error in increments significant 18 PE most significant 32 Software Implementation Modbus Plus Messaging Types of variables Messaging allows the command station read or write access to internal drive data This data is e Command variables e Monitoring variables e Configuration and adjustment variables Note List of available variables See List of Lexium Variables General p 91 Variables that are contained in the 9 Peer cop command registers can not be overwritten via messaging when Peer cop is enabled Write access to these registers is permitted when Peer cop is disabled The drive can be controlled by another station using this device when Peer Cop is disabled 33 Software Implementation Modbus Plus 34 Quantum Command Station At a Glance Aim of this This Chapter shows how to place the different modes of communication enabling Chapter access to the drive What s in this This chapter contains the following topics chapter Topic Page Quantum Command Station General 36 Quantum Command Station 37 MSTR Block 39 35 Quantum Command Station General Quantum Command Station General General An application can be installed on a Quantum PLC in various ways via Modsoft Concept or ProWORX This chapter will demonstrate how to configure Modbus Plus exchanges via Modsoft and Concept Also prog
63. on Modbus Plus Peer Cop Lexium Command Data from PLC At a Glance The structure of the Peer Cop data received by the drive is predifined The user can specify the number of registers to be transmitted This is configured via Unilink using Peer Cop ASCII parameter Setting this parameter to O will disable Peer Cop transactions The table below lists the command registers transmitted from the PLC to the Lexium as Peer Cop data and the order in which the registers are sent For example if you configure 4x register 40400 as specific output source register then the OPMODE object would be found in register 40405 Peer Cop Data Object Description Order Number 1 STW DRIVECOM command word Description See Drive Operating Modes p 73 2 VCMD Speed setpoint Only in mode 0 OPMODE 0 controlled by bit 6 of the STW Units in 3000 rpm 10000 3 ICMD Current setpoint QPMODE z2 controlled by bit 6 of the STW Unit 2 x nominal current of the drive in amperes 10 unit in mA S_SETH least significant Absolute position setpoint in increments S SETH most significant OPMODE 5 controlled by bit 6 of the STW OPMODE Basic function of the drive 0 Digital speed setpoint 1 Analog speed setpoint 2 Digital torque setpoint 3 Analog torque setpoint 4 Position control by external encoder 5 Position control by external network ex Modbus Plus 8 Position control order 7 MOVE Start
64. r It does not require ladder logic to be written Note Peer cop data cannot be passed through bridges Also the drive controller can receive peer cop data but cannot transmit it When a networked node holds the token it may communicate with other nodes on the link and gather network statistics When a node releases the token it appends up to 32 sixteen bit words of global data to the token frame All nodes present on the network detect this data packet and any appropriately programmed node can extract the data and record it in its global database For a Modbus Plus network with a maximum 64 nodes the global database can contain up to 2048 sixteen bit words 32 words per node Different networks cannot share global data since the token cannot pass through a bridge 24 Software Implementation Modbus Plus Drive Functioning on the Network Introduction The Lexium drive appears on the Modbus Plus network as a slave station The drive e Receives the Peer Cop data Limited to 9 words max e Transmits global data Limited to 18 words max e Responds to messaging requests Read Write The following chapters briefly describe the Lexium parameters accessible via Modbus Plus For more details about these parameters please consult the ASCII command list available on CD ROM Lexium Motion Tools reference number AMO CSW 001V350 25 Software Implementation Modbus Plus 26 Software Implementati
65. r KYA WRITE_VAR Parameters IF M209 THEN Mae a WRITE VAR ADR 1 1 5 MW 180 1 MW3100 1 MW3200 4 1 MW 3200 4 RESET M209 Type of object to write MW ly END_IF Address of the first object to write Number of consecutive objects to write Data to write Repor CE In the example the application writes a 16 bit register MW beginning at address 180 on station address 5 1 1 5 when the M209 condition is verified takes account of MW3200 X0 0 The data to be written is stored in the Premium register MW3100 An exchange report will be stored in the Premium registers MW3200 to YMW3203 53 Premium Command Station General Programming Example 1 Purpose To achieve control of the movement task program by Peer_cop and Global Data Configure the Premium Lexium e At the PLC this is done using the PL7 software e define the master PLC address 1 e activate the Peer_cop and specify the outputs Address of 1 word of the Peer_cop table MW1525 Assign a number of words for each slave in the network on the basis of current or future needs In the PL7 screen used for Peer_cop configuration Station Ref Length 0 32 2 MW1525 32 3 MW1557 9 4 0 5 MW 1566 9 6 0 In this example there are 3 slaves at the addresses 2 3 and 5 The station is declared to be set up in readiness for a product which accepts 32 Peer_cop words Note that
66. ramming examples of reading writing and controlling the Lexium drive will be covered 36 Quantum Command Station General Quantum Command Station Configuration of The Modsoft Peer Cop screen enables the configuration of the Quantum registers Peer Cop and exchanged between Peer Cop and Global Data with the other stations on the Global Data via network Modsoft Configuration Example MODSOFT Subscribe Next F1 F2 F3 Timeout 500ms If Err INIT DATA RECEPTION _ X F4 F5 F6 F7 Lev 8 F8 MIXED F9 S3 PEER COP oo as Xo a oie Bi Port n 1 Port M U C Words used 23 from 1024 Prev Access to subscriber 5 MODE ADRESSE LG TYPE INDEX DATA TRANSMISSION 40200 40208 9 BIN RECEP RECEP RECEP RECEP RECEP RECEP RECEP RECEP GLOBAL GLOBAL GLOBAL GLOBAL GLOBAL GLOBAL GLOBAL GLOBAL 41100 41117 18 BIN 1 TO ALL NETWORK SUBSCRIBERS BD GLOBAL TRANSMISSEEE The configuration above shows the registers exchanged with address station no 5 e 9 registers 16 bits Modsoft registers 40200 to 40208 are transmitted in Peer Cop to station 5 e 18 registers 16 bits Modsoft registers 41100 to 41117 receive the Global data transmitted by station 5 37 Quantum Command Station General Configuration of Configuration of PeerCop and Global Data via Concept Peer Cop and TT Global Data via ae Specific Output 3 Concept Expansion Siz
67. riable MW MTMUX register 347 length of MTMUX register 1 register number for MTASK step SMW60 1 exchange report MW80 4 IF M50 AND NOT MW80 X0 THEN RESET M50 SMW80 4 0 WRITE VAR SMW10 6 SMW 347 1 3MW60 1 5MW80 4 END IF l 1320 WRITE Lg11 table MTMAX Lexium 3 on Modbus Plus address MW10 6 57 Premium Command Station General type of variable SMW Ist MTMAX register to be written 183 number of registers to be written 11 value to be output MW61 11 exchange report MW84 4 IF M51 AND NOT MW84 X0 THEN RESET M51 MW84 4 0 WRITE VAR MW10 6 MW 183 11 MW61 11 MW84 4 END IF read MTMUX Lexium 3 on Modbus Plus address MW10 6 type of variable SMW MTMUX register 347 length of MTMUX register 1 register number for MTASK step SMW60 1 exchange report MW80 4 IF M52 AND NOT MW80 X0 THEN RESET M52 MW80 4 0 MW60 0 READ VAR MW10 6 MW 347 1 MW60 1 3MW80 4 END IF read MTMUX Lexium 3 on Modbus Plus address MW10 6 type of variable SMW Ist MTMAX register to be read 183 number of registers to be read 11 receive register MW61 11 exchange report MW80 4 IF M53 AND NOT MW80 X0 THEN RESET M53 MW80 4 0 MW61 0 READ VAR MW10 6 MW 183 11 MW61 11 MW80 4 END IF Program
68. ssre ere tes Aone te as ee Ae aa a e doshas teehee tort 20 Chapter 3 Software Implementation 0000 0 eens 23 AL a GIANG Ees se 27 5 ots ae eute ee aot ne ee eee ae es A ee ot 23 Software Part General 0 0 0 0c eens 24 Drive Functioning on the Network 0000 eee eee 25 Peer Cop Lexium Command Data from PLC 0 000000 eee 27 Global Data Sent from LexiumM 0 000 eee 28 Messagi gerai Sate Geis it ee Gal ee oR er ooh Be hie ee eae See 33 Chapter 4 Quantum Command Station 0 00 cee eee 35 Alia GlAnCG 4 04 2 5624 66S asa ed aS oh ORAS Rie Se Aaah Res aI 35 Quantum Command Station General 0 0 0 eee ee 36 Quantum Command Station 0 000 eee 37 MS TA BIOCK esheets aasre teeters treet toate deat coed duce ate dy tsar d heath gs Bods 39 Chapter 5 Premium Command Station 0202 cece ees 49 Ara Glane ee 2 fats oe ees Choo Shes ooo eee eT ee saaw 49 Premium Command Station 0 00 00 eee 50 Use Ol Globalibala a ccc hen ee eas ca bec kee sata hans eee ee 51 Usina Messaging eurari ano ay ht AG hoe ah E ae Ra ae eee wees 52 Programming Example Theirear t Saw gidawe iia mek Stare ht oe ae BE 54 Programming Example 2 440 22 Pa eee hose eR eee paeoiee tamneabeneh ae 56 Chapter 6 Chapter 7 Chapter 8 Chapter 9 Chapter 10 Configuration of Lexium Parameters 61 At A Glano era aer dhe lew ds csi as Bocas d fa es Gene ee
69. stage is switched off disabled motor loses torque Transition 9 Event Bit 1 is canceled operation enabled gt switch on inhibited Action Output stage is switched off disabled motor loses torque Transition 10 Event Bit 1 or 2 are canceled ready for operation gt switch on inhibited Action Output stage is switched off disabled motor loses torque Transition 11 Event Bit 2 is canceled operation enabled gt fast stop Action Drive is stopped using the emergency ramp The output stage remains enabled Setpoints are canceled e g motion block number digital setpoint Transition 12 Event Bit 1 is canceled fast stop gt switch on inhibited Action Output stage is switched off disabled motor loses torque Transition 13 Event Error response active Action Output stage is switched off disabled motor loses torque Transition 14 Event Error Action None Transition 15 Event Bit 7 is set error gt switch on inhibited Action Acknowledge error depending on error with without reset Transition 16 Event Bit 2 is set fast stop gt operation enabled Action Motion function is enabled again The state transitions are affected by internal events e g switching off the DC link voltage and by flags in the control word Bits O 1 2 3 7 80 The DriveCom Profile and the Forced Local Mode via Unilink DRIVECOM Command Word Control word STW
70. ta registers gt For example type GDTX 18 to configure the Lexium to send 18 registers e enter the GDTX command without parameters to check that the configuration has been correctly implemented Example e if the number 2 is entered in the Number of Global data registers drive and PLC parameters only the first two registers of the Global data ZSW and STATCODE variables will be updated by the drive e the number of configured Global data registers should be adjusted in relation to the application requirements The smallest possible amount of global data must be used in order to optimize the network bandwidth and feed through time of the Modbus Plus card 68 Diagnostics Indication At a Glance Aim of this Chapter What s in this Chapter This Chapter explains the meaning of the different green LEDs which can be found on the Modbus Plus card This chapter contains the following topics Topic Page Diagnostics Different Statuses 70 Lexium Drive Parameters 71 69 Diagnostics Diagnostics Different Statuses Diagnostics The Modbus card is provided with a green indicator LED which indicates the communication status The following table indicates the meaning of the different statuses LED status Meaning Off The options card has faulted the Modbus Plus address is not configured Causes for this fault An error in communicating with the drive An option
71. th an X is irrelevant 74 The DriveCom Profile and the Forced Local Mode via Unilink DRIVECOM Standard DRIVECOM Standard The Lexium control process conforms to the DRIVECOM standard state chart Each state represents an aspect of the internal behavior of the drive controller The drive controller state changes when e The command word STW Peercop word 1 sends a command e An event other than a command such as an external fault occurs The drive controller status is given by the status word ZSW Global Data word 1 The drive controller states are described below Not Ready to Switch On Initialization of communications The communication card is initializing but the drive controller is not yet powered or is in the process of powering up Drive funstion is disabled Switch On Disabled Configuration of the drive controller The driver controller is powered up and has completed its initialization routine Configuration and adjustment parameters can be modified at this time Operation of the output voltage circuitry is locked out during this time Ready to Switch On and Switched On Initialization and configuration of the drive controller is complete The drive controller is not delivering voltage to the output but is ready and waiting Switching on enabled Operation Enabled Ability to output voltage to the motor terminals The drive controller output voltage circuitry is functional All run stop and auto tunin
72. uration has been correctly implemented For example e If the number 2 is entered in the Number of Peer Cop Registers parameter of the drive and the PLC only the first two registers of the Peer Cop data STW and VCMD variables will be received by the drive e The configured number of Peer Cop registers should be adjusted in relation to the application requirements The smallest possible number of Peer Cops should be used to optimize the network bandwidth and feed through time of the Modbus Plus card However you are strongly advised to always use the STW command word If no Peer Cop data is received from the command station before the end of the specified wait time the drive faults It can still be accessed via messaging Variables that are configured in the 9 Peer Cop command registers can not be overwritten via messaging when Peer Cop exchanges are enabled Write access to these registers is permitted when they are not configured in the Peer Cop exchange 67 Configuration of Lexium Global data configuration via Unilink or via a terminal Global data Updating global data is confirmed by selecting a number of Global data registers configuration greater than 0 Configuration via Unilink e configure the Global Data length field with the number of registers Configuration via a terminal Selecting the number of Global data registers e enter the terminal screen e Enter the GDTX command lt Number of Global Da
73. xium Fast stop active 0 0 X 0 1 1 1 Lexium in Fast Stop Example of the Sequence of Transition Commands to recover from a Fault Condition When a fault occurs the status word is set to xxx8h or xxxFh The fault must be cleared by setting the command word to a value of 0080h toggle bit 7 O gt 1 The Lexium responds by clearing the fault if possible and setting the status to Lexium Powered and Locked with a status word value of xx40h or xx60h To enter the Waiting State status write 0006h to the command word The status word now has a value of xx21h or xx01h Next enter the Lexium Ready state by writing 0007h to the command word The status word now has a value of xx23h The output stage is now enabled Next in order to command motion write 001Fh to the command word The drive will transition to the Lexium Running state with a status word value of xx27h Motion functions are now enabled and depending on the operating mode that is set the motor can be commanded to move 85 The DriveCom Profile and the Forced Local Mode via Unilink Unilink Forced Local Mode Unilink Forced When the axis is debugged it is possible to switch to forced local mode in Unilink Local Mode Switching to local mode is done via the Enable command from Unilink If this is done Peer Cop data exchanges are stopped and all the commands in Unilink are accessible in the same way as they are in standalone operatio

LEXIUM - Schneider Electric

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