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PDM_UserMan_us0310 - Orbit Motion Systems

1. Fig 7 51 Internet connection Connection options Local area network LAN a Telecommunication network via modem Connection to the Internet Programming Manual page 201 7 6 Access to the PacDrive Controller with a standard browser page 202 Standardbrowser IE oder NS zum Darstellen der Flashdisk HTML Seiten Applets HTML Seiten weiterenotwendige Dateien mit integrierten LAN Local Area Network P a c c 0 n t r 0 l e r Bild 7 52 Komponenten der Ferndiagnose The HTTP server running on the PacController makes it possible to load HTML pages with integrated diagnosis applets The applets are implemented with various simple HTML tags This guarantees that remote diagnosis is easy to handle and can be configured indi vidually You can determine design elements contents and layout of an HTML page yourself Then the designed page can be trans mitted to the flash disk of the PacController with the help of an FTP client Programming Manual ELAU AG PD UserMan Teleservice us fm 8 1 8 1 1 Positive Negative PD UserMan Netze us fm ELAU AG 8 1 Basic Concept Networks This chapter will give you an overview of the networking of devices You will be familiarized with goals advantages applications and technologies
2. Data type Description pou Range Initial BOOL boolean 1 0 1 0 BYTE bit string 8 8 O 255 0 WORD bit string 15 16 0 65535 0 DWORD bit string 32 32 0 4 295 E09 0 LWORD bit string 64 64 0 1 845 E19 0 Table 4 1 Bit string pre No of Data type Description bits Range Initial SINT short integer 8 128 127 0 INT integer 16 32768 0 32767 DINT double integer 32 231 231 1 10 LINT long integer 64 263 263 1 0 USINT short integer 8 0 255 0 UINT integer 16 O 465535 0 UDINT double integer 32 0 429234 0 ULINT long integer 64 0 264 1 0 Table 4 2 Integer with and without sign Programming Manual ELAU AG page 32 PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 Data type Description uc Range Initial REAL floating point 32 see IEC 559 0 0 number LREAL long floating point 64 see IEC 559 0 0 number Table 4 3 Floating point Data type Description ju Range Initial DATE date like 0001 01 01 DWORD TOD time like 00 00 00 DWORD DT date and time like 0001 01 01 DWORD 00 00 00 Table 4 4 Date time Data type Description Quid Range Initial TIME duration like 0s DWORD STRING string Default 80 empty string Table 4 5 Date time Example of a string declaration str STRING 35 This is a string NOTE The Pac
3. Table 5 9 I O definition Programming Manual ELAU AG PD_UserMan_Richtlinien_us fm 5 8 2 PD UserMan Richtlinien us fm ELAU AG 5 8 Expansion of the Example by Positioning Depict the development over the time H H1 L 1 2 Us H S1 L i t VEL Axis 1 l l t PDM_Projekt_ZA_2_us0001 fh8 Fig 5 39 Development over the time Hardware To be able to solve the problem a PacDrive MC 4 is now needed in addition to the MAx 4 PacDrive Controller Programming Manual page 133 5 8 Expansion of the Example by Positioning Functions 5 8 3 Configuration Configure the project To be able to realize the project an additional MC 4 MotorControl ler with SM motor is needed to drive the conveyer belt The MC 4 MotorController is entered in the control configuration as follows Click with the right mouse button on Real time bus EPAS 4 UserMan Project 1 Stepl pro PLC Configuration id File Edit Project Insert Extras Online Window Help Jas a pais 35 Resources 2 9 Global Variables PF Globale Variablen E library MAX4_VOOOSOD LIB 5 7 E library STANDARD LIB 24 9 98 ES Message logger FEE PLC Configuration A Sampling Trace 88 Task Configuration E VarioCam R Watch and Receipt Manager hai variablen Konfiguration VA i CycleTime 2 Intensity i 5j General Diagnosis Versions 59 RamDisk E System
4. sump Operator Operand Comment mark LD TRUE load TRUE into accu mulator ANDN BOOL1 execute AND with negated value of variable BOOL1 JMPC mark if result was TRUE jump to mark mark LDN BOOL2 save negated value of ST ERG BOOL2 in ERG marke LD BOOL2 save value of ST ERG BOOL2 in ERG In IL brackets can also be used after an operation The value in the brackets is then taken as operand For example LD 2 MUL 2 ADD 3 ST Erg Programming Manual page 51 4 2 IEC 61131 page 52 Here the value of Erg is 7 However if brackets are used LD 2 MUL 2 ADD 3 ST Erg Here the value for Erg is 10 as the operation MUL will not be eva luated until is reached consequently 5 is calculcated as operand for MUL Structured Text ST The programming language ST Structured Text is a high level lan guage that resembles C and Pascal The language syntax resembles that of Pascal Under ST efficient loop programming is possible without branch instructions In addition mathematical functions can be mapped in an excellent way Iterations For While Repeat and conditional instructions If Then Else Case are part of this language Practical experience has shown that ST constructions are well readable and comprehensible simi lar to Pascal PLC programmers in Europe often choose ST as the mainly used language if they can use the languag
5. mm Insert Element gt Q Output Append MC 4 QQ Input gr Properties kd fp Measur Cut Ctrl Copy Ctrl C Haste EE Delete Del Fig 5 40 Insert MC 4 MotorController in control configuration gt Select Add MC 4 gt Assign the symbolc name conveyer belt to the MC 4 EPAS 4 UserMan Project 1 Step1 pro PLC Configuration di File Edit Project Insert Extras Online Window Help SACEJ 25 Resources J C3 Global Variables o9 Globale Variablen t Message logger FEE PLC Configuration a Sampling Trace E Task Configuration E VarioCam ec Watch and Receipt Manager o9 Variablen Konfiguration VA GI library M4 VODDSOD LIB 5 7 9 library STANDARD LIB 24 3 98 Ef MA4 lt PacDriveM gt i E General E Diagnosis E Versions G RamDisk g System D Hg Real time bus RTB Z3 Ref Actual values General Control loop E Controller E Motor e Ss Output group lt OutputGroup gt Fig 5 41 Assign a symbolic name to MC 4 MotorController page 134 Programming Manual ELAU AG PD UserMan Richtlinien us fm PD UserMan Richtlinien us fm 5 8 Expansion of the Example by Positioning NOTE As we want to simulate the MC 4 MotorController with the motor for the time being no further settings in the control configuration are required at this stage Next we want to give the input S1 a symbolic name We
6. lt Buiddew peo Sjueuoduuo3 awo eJewpjeu aunjonsyjs eulyoew ulgisAs yonetuoine dagua suipaul mi SS ee y jas Ws mowo R A L H H vextoauog sd M von Em Arlngiowog mpnuogoon u i d Lo 02435 stq arp nq pray vam n8 AN E ar u l dl a s Snati0ud Bugino Buijees Bury Me p dssp pje uo pad i puimun Fig 5 3 From problem definition to solution with PacDrive uysn ueiumuory uejesr Ad page 97 Programming Manual ELAU AG 5 1 The Concept of Mapping 5 1 4 Method for Solving a Defined Problem Mechanics of the machine Schemes Schedules Sequence Description State Diagrams PacController Optional Modules MotorController SM Motors Problem Definition New Project Communication box Expansion Objects pee param i parametering Libraries POU s insert POU s editing Function Check Error Search insert FB s in POU s parametering FB s like data structure declare data types declare global variables Create Task Configuration Create Visualization Create Watch and Receipt Manager I Configuration md Observe amp Operate Send User Program Start and StartUp the user program Monitor Window of the Editors Forcen Set configure Trace start Trace judging Traces Message Logger Visualization Watch and Receipt Manager Fig 5 4 Method for solving a def
7. ROR Bitwise right rotation of an operand A ROR IN N A IN and N should be of the BYTE WORD or DWORD type IN is shifted to the right N times one bit position while the most right bit is re inserted again from the left Example Varl BYTE LD 241001 0011 ROR 3 ST Varl result is 240111 0010 Programming Manual page 77 4 2 IEC 61131 page 78 Selection Operators All selection operators can also be executed on variables For illu strative reasons the following example is restricted to constant expressions as operators SEL Binary selection OUT SEL G INO IN1 means OUT INO if G FALSE OUT IN1 if GE TRUE INO IN1 and OUT can be of any type Gi has to be of the BOOL type The result of the selection is INO if G is FALSE and IN1 if G is TRUE Example in IL LD TRUE SEL 3 4 ST Varl result is 4 LD FALSE SEL 3 4 ST Varl result is 3 MAX Maximum function Delivers the greater one of two values OUT MAX INO IN1 INO IN1 and OUT can be of any type Example in IL LD 90 MAX 30 MAX 40 MAX 77 ST Varl result is 90 MIN Minimum function Delivers the lesser one of two values OUT MIN INO IN1 INO IN1 and OUT can be of any type Example in IL LD 90 MIN 30 MIN 40 MIN 77 ST Varl result is 30 LIMIT Limitation OUT LIMIT Min IN Max means Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG
8. Function call hierarchy This function displays the call stack if there is an actual diagnosis message from the message logger global extensive here within the entire configuration Ground conductor One or several conducting parts that have very good ground contact Ground contact Electrically conductive connection between a phase and PE Grounding Grounding means connecting an electro conductive part to the ground conductor via a grounding system GSM GSM is a European mobile communication standard for cellphones in the 900 MHz range defined by the CEPT Conf rence Euro p enne des Administrations des Postes et Telecommunications Due to their digital data transmission technology the GSM data ser vices permit the remote diagnosis of packaging machines via cellphone Hierarchic address Physical connection address of the I O modules of a PLC system Programming Manual page 267 14 Glossary page 268 HMI HMI Human Machine Interface are systems to operate plants to monitor processes and to save data in industrial production proces ses Smaller packaging machines use simpler operating units but complex machines often use efficient visualization systems on the basis of industrial PCs Such systems depict the operational proce dures in a machine as flow diagrams and thus facilitate transparency for their monitoring Important operating data are recorded and shown graphically If something should not run
9. PacDrive page 19 3 System Overview Bunno MeJjp dooap piemuo pac WJ sn sieqensks Wdd Fig 3 1 Sketch of a packaging machine ELAU AG PacDrive page 20 PDM SysUebers us FM 3 2 ELAU AG 3 2 Structure of the PacDrive Automation Structure of the PacDrive Automation System The PacDrive automation system offers a technically and economically optimal solution for electronic packaging machines PacDrive consists of an efficient PC based control the MAx 4 PacController and the digital MC 4 MotorControllers which include the mains connection unit the end stage power and the servo regulator of the individual axes Fig 3 2 The MAx 4 PacController is the intelligent head of the system and is based on an industrial PC The MAx 4 PacController synchronizes and coordinates the motion functions of the packaging machine Using an IEC 1131 3 soft PLC it ventures into applications previously reserved for standard PLCs The individual PLC or positioning tasks can be broken down into several parallel tasks which are implemented with the EPAS 4 programming environment according to the IEC 1131 3 standard Up to 40 servo axes can be connected to a MAx 4 PacController and supplied with positioning data The circular digital SERCOS real time bus realizes the safe data exchange with the MC 4 MotorControllers Due to the use of optical fiber technology the data bus is insensitive to electromagnetic distur
10. VxWorks ELAU AG s MAx 4 PacController is based on the real time opera ting system VxWorks by Wind River Systems VxWorksQ is the market leader in the field of real time bus systems and meets high est requirements with regard to real time behavior robustness runtime and memory efficiency Windows A strong trend towards Microsoft operating systems can be obser ved in automation technology This development confirms the direction towards open scalable automation solutions on the basis of the fast developing PC hardware Software becomes a decisive factor for automation solutions The driving force in this develop ment is the 32 bit world of the Windows operating systems on which many producers of industrial software are now betting The products usually include standard interfaces for graphic imports data exchange DDE ODBO and for the integration of applications OPC By means of interfaces the communciation between diffe rent software products can be effected easily However these standard operating systems from the office domain cannot fulfill the strict real time requirements for a driving system Windows CE Windows NT and Windows NT Embedded in their original version can only be used for automation projects with soft real time requirements Therefore ELAU AG s MAx 4 PacController is based on the real time operating system VxWorks which gua rantees absolutely deterministic behavior Thanks to the integrated OPC inte
11. Ext diagnosis Ox0001 LZS LZS 8007 0x1000 LZS zs 8013 Qaed0a13 Ox0001 MAX4 MAXA 8003 0x0001 LZS LZS 8005 0x0001 LZS LZS 8004 0x0002 MC_4 Achse 2106 0x0001 MAX4 MAXA 8002 0x0002 MC_4 Achse 2 7134 0 0001 MAXA MAXA 8003 0x0001 LZS LZS 8005 0x0001 LZS LZS 8004 0x0002 MC 4 Achse 2106 0 0001 MAX4 MAXA 8002 Ox1000 MAX4 MAXA 8016 Ox1000 LZS LZS 8010 ATEST SCF 0x1000 LZS LZS 8010 PROFISL CON 0x1000 LZS LZS 8010 PROFIMA CON 0x1000 LZS LZS 8010 CANSL CON 0x1000 LZS LZS 6010 CANMA CON Fig 6 6 Resources Message logger Message file Programming Manual M EPAS 4 Login connect zum TCP IP Server Max4 Boot beendet Automatischer Programmstart aktiv IEC Programm gestartet Kommunikationsfehler ZK Controller Max4 Boot gestartet Externe 24V Versorgung zu niedrig Max4 Boot beendet Automatischer Programmstart aktiv IEC Programm gestartet Kommunikationsfehler ZK Controller Max4 Boot gestartet System Reset Datei schreiben Datei schreiben Datei schreiben Datei schreiben Datei schreiben ELAU AG PD_UserMan_Fehlersuche_us fm PD UserMan Fehlersuche us fm ELAU AG 6 4 Message Logger Meaning of the entries in the message logger No Consecutive number of the logger entries The highest number is the latest logger entry Time stamp Time since switching on the MAx 4 PacDrive Controller in the format DDD HH MM SS sss with DDD days a HH hours 0 23 a MM minute
12. Fig 12 2 ENI Explorer The ENI in EPAS 4 The EPAS 4 programming system is a possible client of the ENI Server Every part of a PacDrive project can be created as an object in the data handling system For that purpose it is assigned to one of the four object categories that are possible in EPAS 4 see below The object storage is complete i e the properties of the component such as access rights are transmitted in XML format along with the contents of the component An automatic exchange with the data handling system can be defined for each object category XML format for EPAS 4 objects The example below shows the depiction of a component in XML format It includes e g the name of the component name its type pou its path in the EPAS 4 Object Organizer structure path access rights for the eight possible workgroups lt accesslevels gt and the contents of the component in the declaration part interface and the program part which in this case is created in structured text lt st gt lt body gt lt xml version 1 0 encoding ISO 8859 1 gt lt pou gt lt accesslevels gt rw rw r rw r rw rw rw lt accesslevels gt lt path gt languages lt path gt lt name gt ST EXAMPLE lt name gt lt flags gt 4 lt flags gt lt interface gt lt CDATA PROGRAM ST EXAMPLE VAR YVAL INT 250 BOTTOM INT 250 RUN STRING STRING 20 Start Programming Manual page 251 12 E
13. page 54 Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 LD Counter SUB 1 ST Counter JMP Loop end LD Varl ST Erg The same loop programmed in ST would be WHILE Counter lt gt 0 DO Varl Var1 2 Counter Counter 1 END WHILE Erg Varl As can be seen in ST the loop can not only be programmed shor ter it is also much easier to read in particular when imagining loops that are nested into one another in larger constructions The various structures are described below Assignment operator On the left side of an assignment is an operand variable address to which the value of the expression on the right side is assigned with the assignment operator Example Varl Var2 10 After this line is executed Var1 has the tenfold value of Var2 Call of function blocks in ST A function block in ST is called by writing the name of the instance of the function block and assigning the desired parameter values in brackets In the following example a timer is called with assign ments for the parameters IN and PT In a next step the derived variable Q is assigned to variable A As in IL the calculated variable is addressed with the name of the function block followed by a dot and the name of the variable CMD TMR IN IX5 PT 300 A CMD TMR Q RETURN instruction The RETURN instruction can be used to end a function e g dependent on a condition Pr
14. 250us 500us time 3 interruption task ready Taskmodel_us9902 cdr Fig 5 6 Task model Tasks of higher priority interrupt tasks of lower priority After the tasks of higher priority have been processed the processing of the interrupted tasks of lower priority is resumed If there are several tasks of equal priority and they are not interrup ted by tasks of higher priority the tasks of equal priority will be processed in the so called time slice method This means that each task is processed for 250 us before the next task is processed for another 250 us Overleaf you will find a practical example for a task processing 1 Task change due to higher priority 2 Task change at the end of a time slice in case of tasks of equal priority 3 Task change due to higher priority Programming Manual ELAU AG PD_UserMan_Richtlinien_us fm 5 2 The Structure of a Project 9ul eooosn jaidsieg jepowysel Wad sejejnojeo yse MEHEHEHENI SUA 9je n5 e5 O exi PINOM YSE nnnm eje no eo 0 exi you pjnom yseL peusiuy e oK Sc 0 peoT1e o2 aU 9 p 2 IPI LE LSZ Oud sel oal LE LSZ Oud c ASBL OAl LE LSZ Oud 3seI O3l LE LSZ Oud y ASEL OAl DE OGZ Old G 4seL 031 Auoud dis se Fig 5 7 Practical example for a task model The following figure shows the connection between the set interval for a task the actual interval time and the
15. BOOL TO Conversion Conversion from the BOOL type into another type In number types the result is 1 if the operand is TRUE The result is 0 if the operand is FALSE In the STRING type the result is TRUE or FALSE Examples in ST i BOOL TO INT TRUE result is 1 str BOOL TO STRING TRUE result is TRUE t BOOL TO TIME TRUE gt result is T lms tof BOOL TO TOD TRUE result is TOD 00 00 00 001 dat BOOL TO DATE FALSE result is D 1970 01 01 dandt BOOL TO DT TRUE result isDT 1970 01 01 00 00 01 IO BOOL conversions Conversion from one type into the BOOL type The result is TRUE if the operand is not 0 The result is FALSE if the operand is O In the STRING type the result is TRUE if the operand is TRUE Otherwise the result is FALSE Examples in ST b BYTE TO BOOL 2 11010101 result is TRUE b INT TO BOOL 0 result is FALSE b TIME TO BOOL T 5ms result is TRUE b STRING TO BOOL TRUE gt result is TRUE Conversions between integer number types Conversion from an integer number type into another number type Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 In the type conversion from greater to lower types information can be lost If the to be converted exceeds the range the first bytes of the number will not be taken into considerat
16. Watch and receipt administrator You can enter all relevant object parameters and variables in a list in the watch and receipt administrator and observe them in ONLINE operation without having to scroll up and down or opening several windows Trace recording Trace recording helps to record object parameter values and varia ble values chronologically This function is a kind of oscilloscope To be able to create a trace record you first need to configure the trace Trace Configuration P paca que MN positive neqatve t both pone 9 E U bBetriebsanzeigeH 1 Value U bBetriebsanzeigeH1 Value Fig 5 35 Trace configuration A record of your operating display looks for example like this PD UserMan Richtlinien us fm ELAU AG Programming Manual page 129 5 7 Create a PacDrive project 5 7 6 page 130 EPAS 4 Benutzerhandbuch_Projekt_1_Step1 pro Sampling Trace D Fie Edt Project Insert Estas Online Window Help adii xi aleja aSa Fa al Vari O bBelriebsanzeigeH1 Value 7 var2 Var3 Var4 Q Watch and Receipt Manager 0 ms 250 ms 500 ms 750 ms 1000 ms1250 ms1500 ms1750 ms2000 ms2250 ms2500 ms2750 ms 1 State Trace ready ONLINE RUN BP FORCE OV READ Fig 5 36 Trace recording of equipment on indicator H1 NOTE For further explanations on the trace function see Operating Manual EPAS 4 If you checked your rec
17. after the pointer identifier Example pt POINTER TO INT var int1 INT 5 var int2 INT pt ADR var intl var int2 2 pt var int2 is now 5 Enumeration type An enumeration type is a self defined data type which is made up of a number of self defined string constants Those constants are cal led enumeration values The enumeration values are known throughout the entire project even if they were declared locally in a block They start with the keyword TYPE and end with END TYPE Syntax TYPE identifier Enum 0 Enum 1 Enum n END TYPE The identifier can take on one of the enumeration values and will be initialized with the first one The values are compatible to full numbers i e they can be used to carry out operations as with INT Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 A number x can be assigned to the lt identifier gt If the enumeration values are not initialized the enumeration begins with O In the initialization process make sure that initial values are ascending The validity of the number will be checked at run time Example TrafficLights red yellow green 10 red has the initial value 0 yellow 1 green 10 TrafficLights 0 Traffic lights have the value red FOR i red TO green DO i i 1 END_FOR The same enumeration value must not be used twice Example TrafficLights
18. amp E m losa 9 bAutoOff Select entrance action Jump PowerOn Fig 4 6 Example for a network in SFC Step A block that is written in Instruction List is made up of a sequence of steps which are linked with one another via directed connections transitions Two kinds of steps can be distinguished The simplified form consists of an action and a marker which indicates whether the step is active If an action is implemented to a step a small triangle appears in the upper right corner of the step Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 An IEC step consists of a marker and one or more assigned actions The associated actions appear to the right of the step More details will be given later Action An action can contain a sequence of instructions in IL or ST a quantity of networks in FBD or LD or again a sequential structure In simplified steps an action is always linked to a step In order to edit an action doubleclick on the step to which the action belongs or highlight the step and choose the menu item EXTRAS ZOOM ACTION TRANSITION Actions of IEC steps are arranged in the Object Organizer directly under their SFC module They are loaded into their editor by dou bleclicking or pressing ENTER New actions can be created with PROJECT ADD ACTION Input and Output Actions
19. 1 13 1 4 OF INT Initialization of arrays Either all elements of an array are initialized or none of them Examples for initializations of arrays arrl ARRAY 1 5 OF INT 1 2 3 4 5 arr2 ARRAY 1 2 3 4 OF INT 1 3 7 short for 1 7 7 7 arr3 ARRAY 1 2 2 3 3 4 OF INT 2 0 4 4 2 3 short for 0 0 4 4 4 4 2 3 In a two dimensional array array components are accessed with the following syntax array name Index1 Index2 Example CardGame 9 2 Programming Manual page 35 4 2 IEC 61131 page 36 Pointer POINTER NOTE You should avoid using pointers since they cannot be checked by the compiler and at run time In most cases the parameter transfer with VAR IN OUT is the bet ter solution Pointers feature a data type and an address The data type is the data type of the data elements to which the pointer is pointing The address is the address the position where the data element is stored in the memory unit In pointers the address of variables or function blocks is stored during the run time of a program Pointer declarations have the following syntax identifier POINTER TO data type function block A pointer can point to any data type and function block including self defined ones With the address operator ADR the address of a variable or function block is assigned to the pointer The dereferentiation of a pointer is effected via the content operator
20. 4 2 IEC 61131 OUT MIN MAX IN Min Max Max is the upper Min the lower limit for the result If the IN value is greater than the upper limit LIMIT will deliver Max If IN is less than Min the result will be Min IN and OUT can be of any type Example in IL LD 90 LIMIT 30 80 ST Varl result is 80 MUX Multiplexer OUT MUX K INO INn means OUT INK INO INn and OUT can be of any type K has to be of the BYTE WORD DWORD SINT USINT INT UINT DINT or UDINT type MUX choses the Kth from a quantity of values Example in IL LD 0 MUX 30 40 50 60 70 80 ST Varl result is 30 Comparative operators GT Greater than A Boolean operator with the result TRUE if the first operand is greater than the second operand The operands can be of the BOOL BYTE WORD DWORD SINT USINT INT UINT DINT UDINT REAL LREAL TIME DATE TIME_OF_DAY DATE_AND_TIME and STRING type Example in IL LD 20 GT 30 ST Varl result is FALSE Example in ST VAR1 20 gt 30 gt 40 gt 50 gt 60 gt 70 LT Less than A Boolean operator with the result TRUE if the first operand is less than the second operand The operands can be of the BOOL BYTE WORD DWORD SINT USINT INT UINT DINT UDINT REAL LREAL TIME DATE TIME OF DAY DATE AND TIME and STRING type Example in IL Programming Manual page 79 4 2 IEC 61131 page 80 LD 20 LT 30 ST Varl result is TRUE Example in S
21. An input and an output action can be added to a step An input action is executed just once immediately after the step is activated An output action is executed just once before the step is deactivated A step with an input action is marked with an l in the lower left cor ner while the output action is marked with an X in the lower right corner The input and output actions can be implemented in any language In order to edit input and output actions doubleclick on the respec tive corner in the step Input and output actions can only be defined as a simplified step not to an IEC step Example of a step with input and output actions Transition Transition Conditions Inbetween steps there are so called transitions A transition condition can be a Boolean variable an address a con stant expression or a sequence of instruction with a Boolean result in any language Active step After the SFC module is called the action belonging to the initial step double edged will be executed A step the action of which is being executed is called active If the step is active the respective action is executed once per cycle In online mode active steps are blue Programming Manual page 61 4 2 IEC 61131 page 62 To each step belongs a flag which stores the state of the step The step marker active or inactive state of the step is represented by the logic value of a Boolean structural element lt StepName gt x This Bo
22. Document and Save a Project sesssseeeeeeeeenne 130 Expansion of the Example by Positioning Functions 131 Problem Definition c Cc 131 aa le N 210 PE REM 133 G nfiguration unse 134 User Program mS 136 Observe amp Operate 1s bee ee ren neigen 138 Document and Save the Project 444s044444nnnnnnnnnnnnnnnnnnnnnnnnnnnn 142 Error Search Strategies 143 Method pee een 143 LEDS Tr M 144 PLC configuration t nm 145 Message Logger edi a ades den e ERE ae taa Leu 146 FUNGON vc ETE 146 The Functions of a Message Logger in Detail 147 Filtering Messages ae tete ee IRR eee 149 Establish a Connection with the PacDrive Controller MAx 4 in Case of an 150 Further Possibilities for Diagnosis seeeeeeeees 152 pice ee ERE ATE 152 Debugging ea 152 Check Eibram dE cC 152 Programming Manual ELAUAG PDM UserMan uslVZ fm PDM UserMan uslVZ fm 6 5 4 7 1 7 2 7 2 1 7 2 2 7 2 3 7 2 4 7 2 5 7 2 6 7 3 197 7 3 1 7 4 lers 7 4 1 7 5 7 5 1 7 5 2 7 6 201 7 6 1 8 1 8 1 1 8 1 2 8 2 8 2 1 8 2 2 8 2 3 8 2 4 8 2 5 8 2 6 8 3 8 4 8 4 1 8 4 2 8 5 8 5 1 ELAU AG Call Hierarchy GallSEfacK duci etit ea 153 Teleservice 155 OVGIVIOW as eid re puo P e e e rendered 155 Direct Telecommunication Connection uunssseesenseneeennnnennennnene en 157 Principle unse ee 157
23. ELAU AG 4 2 IEC 61131 Marker All supported values can be used to access the marker The address MD48 would e g address the bytes 192 193 194 and 195 in the marker area 48 4 192 The first byte is byte no 0 Words bytes and even bits can be accessed in the same way With 96MX5 0 for example the first bit in the fifth word is accessed Usually bit are saved in words Functions In ST also a function call can appear as operand Example Result Fct 7 3 Programming Manual page 91 4 2 IEC 61131 4 2 7 page 92 References IEC 61131 is a standard for industrial automation systems It com prises 5 chapters and 2 technical reports By far the most important part of this standard is part 3 Programming Languages This part describes a set of high level programming languages which can be used for various applications Various books deal with IEC 61131 3 standard in detail To mention some SPS Standard IEC 1131 Karl Heinz John Michael Tiegelkamp ISBN 3 540 58635 0 SPS Programmierung mit IEC 1131 3 Neumann Gr tsch Lubkoll Simon ISBN 3 486 23348 3 SPS Programmierung nach IEC 1131 3 zur Einarbeitung in das Thema empfohlen Wellers ISBN 3 464 48062 3 Moderne Programmiertechnik f r Automatisierungssysteme Peter Wratil ISBN 3 8023 1575 8 Grundkurs IEC 1131 Programmierbeispiele f r die ProzeBautomatisierung Karl Pusch ISBN 3 8023 1807 2 Programming Manual ELAU AG PD User
24. Extend the time by means of the parameter ping w Ping request could not The name of the target host cannot be resol find host ved Check the name and availability of DNS or WINS servers Table 8 7 Meaning and action in case of error messages with Ping command If a ping signal can be sent successfully both to the loopback address 127 0 0 1 and to the own IP address but not to another IP address the ARP cache may have to be deleted The tool ARP is used for that purpose The cache contents can be displayed with the commands arp a and arp g The entries are deleted with the command arp d IP address The complete ARP cache is deleted with the command netsh inter face ip delete arpcache Programming Manual page 225 8 7 Coupling of Networks Network tar get page 226 Route print The routing table is shown on the computer with the command route print For two hosts to be able to exchange IP datagrams they must have a route to each other or use a standard gateway that knows a route ex Command Pr lolx MS TCP Loopback interface D Link DFE 53 TX PCI Fast Ethernet Adapter rev D Link DFE 538T PCI Fast Ethernet Adapter rev Gateway 61 18 25 1 18 0 0 0 224 0 0 0 255 255 255 255 255 255 255 255 Default Gateway Fig 8 8 The command route print at the MS DOS prompt The routing table shows a computer with IP address 10 201 17 124 subnet mask 255
25. In centralized technology one supply module generates the power for the individual amplifyers In decentralized technology each amplifyer or MotorController has its own power supply Programming Manual ELAU AG PD UserMan Glossar us fm PD UserMan Glossar us fm ELAU AG 14 Glossary Directly shown variable Variable without further designator corresponding to a hierarchic adaress Drive bus Modern leading edge systems transmit the information between control and drives in digital form The most important technical requirement for the drive bus is a strictly deterministic transmission of the positioning data Edge A rising edge means the 0 1 transition of a logic variable Accordingly a falling edge is the 1 gt 0 transition Electronic packaging machine In an electronic packaging machine a mechanical main shaft is replaced by an electronic main shaft with individual flexible electric motor drives Elementary data type A standard data type defined by IEC 61131 3 EMC EMC electromagnetic compatibility is the ability of an electric or electronic device to function satisfactorily in its electromagnetic environment Limits for interference emission and interference proofness are set in norms EN Abbreviation for European norm In the course of European harmo nization national norms e g DIN or VDE are replaced by European norms Erasing unit Assembly units to reduce induced voltages
26. Number of functions defined firmly by IEC 61131 3 to realize PLC typcial functionality Standard function block Number of function blocks firmly defined by IEC 61131 3 to realize PLC typical functionality Structured text Structured text is a programming language for the description of algorithms and execution control by means of a modern high language Symbolic variable Variable with designator to which a hierarchic adaress is allocated Syntax Structure and structural cooperation of the language elements of a programming language TCP IP TCP IP abbreviation for transmission control protocol internet protocol usually describes a whole family of protocols to connect computers in different networks Nowadays TCP IP is used in many LANs and is the basis for the worldwide Internet The IP takes over the transport of data while the TCP takes care of their delivery Programming Manual page 279 14 Glossary page 280 Telecommunication connection Telecommuncation in this case means the transmission of data bet ween electronic data processing units or systems over a longer distance e g with the help of electric cables fiber optic cables or radio waves Teleservice Teleservice enables the remote connection of controls of packgaing machines via telecommunication networks ISDN GSM for ser vice maintenance commissioning or machine conversions For the machine builder teleservice can guarantee worldwide sho
27. Overview In recent years the significance of teleservice in the capital goods industry has increased dramatically This trend results not only from the Information and Communication technologies laC available for teleservice or remote service but also from the possibility to create new unique selling points on the global markets Teleservice means not only remote support for fault clearance Rather the use of teleservice technologies opens up new and above all innovative approaches for customer service over the entire life cylce of the packaging machine after sales service This is why also terms like tele engineering or teleconsulting are used Data master data products customer suppliers 2 technical documentation Machine Sofa verona End User H error ase knowledge base Engineer contacts Control oo installation report Control Station m x telecommunication connection Experts a 9 LM PacController C Blister Tools m Organisation SN Audio conference rent eMai lanagement file transfer Workflow Management aoc eMe PPS F 6 Experts a ELAU Fig 7 1 Teleservice concept Definition Teleservice is defined as the support of customer service and appli cation departments by laC components and services which make it possible to execute diagnosis and solve problems on machines from a remote place Teleservice is used for the installation of new
28. Shows the state of the modem Value Meaning Init 0 checking modem No Modem 1 no modem connected to COM1 modem off Offline 2 modem in offline mode Online 3 modem in online mode incoming call InitString OK 4 InitString accepted by modem InitString ERROR 5 The modem could not be initialized with the init string maybe the InitString of the modem is faulty or the modem could not be set accordingly To restart the init procedure you either have to switch off and on the modem or first change the Com1User parameter of the MAx 4 object via a TCP IP connection and then write it again InitString TIMEOUT no reply from modem to IniString see InitString 6 ERROR 5 ExplnitString OK 7 ExplnitString accepted by modem ExplnitString ERROR InitString causes error on modem see InitString 8 ERROR 5 ExplnitString TIME no reply from modem to ExplnitString see InitString OUT 9 ERROR 5 Table 7 3 Possible values for State MAx 4 Com1User Furthermore there is the parameter Com1 User of the object MAx 4 under General in Meaning Here the COM 1 port of the MAx 4 PacDrive Controller is set It has to be set to Modem 1 or Auto 2 The setting Modem 1 always allocates COM1 to the modem the COM port is checked until a modem is found The check is done Programming Manual ELAU AG PD UserMan Teleservice us fm PD UserMan Teleservice us fm ELAU AG
29. V semiconductors tubes W transmission ways lines aerials X clamps connector plugs sockets Y electronically actuated mechanical brakes clutches facility valves Z filters equalizers limiters terminations Table 5 7 Identification of electrical operating means Depict the development over the time H Fig 5 14 Development over the time 5 7 2 Hardware A MAx 4 PacDrive Controller is sufficient to solve this problem page 118 Programming Manual ELAU AG PD_UserMan_Richtlinien_us fm PD UserMan Richtlinien us fm 5 7 Create a PacDrive project 5 7 3 Configuration Create a project gt To create a new project click on FILE NEW You will see a dialog box where the parameters for the online con nection are defined for further information see Operating Manual EPAS 4 Communication Parameters Motorola byteor No Fig 5 15 Communication parameter box Predefine IP configuration Fig 5 16 IP address assistant Configure a project The composition of the PacDrive system and the properties of the individual parts are defined in the control configuration ELAU AG Programming Manual page 119 5 7 Create a PacDrive project A PacDrive system consists of at least one MAx 4 PacDrive Con troller which basically provides the following configuration groups Group Explanation general general parameters of thePacDrive Controller diagno
30. eeesesssessssses 94 4 3 3 Size of Programs and Variable Ranges ssssseeeee 94 5 Programming Guidelines 95 5 1 The Concept of Mapping sesion en 95 ELAU AG Programming Manual page 3 5 1 1 5 1 2 5 1 3 5 1 4 5 2 5 2 1 5 3 5 3 1 5 3 2 5 4 5 5 5 6 5 7 5 7 1 5 7 2 5 7 3 5 7 4 5 7 5 5 7 6 5 8 5 8 1 5 8 2 5 8 3 5 8 4 5 8 5 5 8 6 6 1 6 2 6 3 6 4 6 4 1 6 4 2 6 4 3 6 4 4 Error 6 5 6 5 1 6 5 2 6 5 3 page 4 The Structure of Packaging Machines sss 95 The Automation System ssesssssseeeeeeneeenneneee enne 96 From Problem Definition to Solution eeeseeeeesees 97 Method for Solving a Defined Problem seesesseeese 98 The Structure of a Project ego de eain ve i Ene NU ARE 99 Program Organization with Tasks ssssssm 99 BLAU Program SITUGtUIe oi oca sense 109 ELAU Functions and Function Blocks eeeeeeesesss 112 Parameter Transmission 2 edes oe pice deacon 113 Designator Names toss co dera incon tint Tight ee 114 Upper and Lower Gase 116 Valid Characters esse 116 Create a PacDrive M projeek u a 116 Problem Definition rr He 116 Hardware ERE 118 BGONIGLLAUON sees ate iad ea e ase gs gh lh ade e d beu dre as 119 User Program iius ore te ra Doe on odi tul s o Sr fe ta een 122 Observe Operate unosi tended Setia tst Foo uet era eame 128
31. machines and plants for fault clearance and for the transmission of new software versions In the future new applications for teleser vice will include process support and customer consulting Programming Manual page 155 7 1 Overview page 156 Connection of the PacDrive Controller The MAx 4 PacDrive Controller server has a RS232 and an Ethernet interface The RS232 interface is the basis for serial com munication connection of a zero modem cable or a modem The Ethernet interface permits a direct connection of the control to a LAN local area network with TCP IP support The standard client PC also has a COM interface and an Ethernet card with appro priate connection Thus both sides have the physical interfaces to the outside world There are different options for connecting to the PacDrive System via a client a local Ethernet direct telecommunication connection via modem and a internet connection Local Ethernet The first way to do a telediagnosis on the controller is a simple Ethernet connection As the figure below shows server and client must be connected via a TCP IP network The network can e g be installed within a company and connect several computers in a network Server Client Ethernet ber TCP IP Jes Fig 7 2 Local Ethernet network This method requires the TCP IP protocol Both computers must have an IP ad
32. plant builder according to the specific conditions of the plant The valid safety rules for the plant are to be included in this process DANGER Potentially dangerous movements Life hazard serious injury or material damage No persons are allowed within the motion range of the machine This is to be ensured by means of devices like protective fences grids covers or photoelectric barriers a he fences and covers must be sufficiently strong to withstand the maximum possible motion energy a he emergency stop switch must be located very close to the operator Check the operation of the emergency stop before starting up the plant a Secure against unintentional start by enabling the mains contactor of the drives via an emergency off circuit or by means of the function safe stop a Before accessing the danger zone bring the drives to a safe stop a To work on the plant power must be turned off and locked out Avoid operating high frequency remote control and radio devices in the vicinity of the plant s electronics and connecting wires If the use of those devices is inevitable check system and plant for possible malfunctions before first operation In some cases a special EMT check may be necessary PacDrive ELAU AG PDM SicherhMax us neu fm PDM SysUebers us FM 3 1 ELAU AG 3 1 Drive Concepts of Packaging Machines System Overview Drive Concepts of Packaging Machines Modern machine concepts in the packag
33. this means cost advantages compared with conventional solu tions The different requirements for field bus systems the variety of techical soltions and last but not least aspects of corporate policy resulted in a large number of different field buses and pre vented one single international standard The devices of ELAU AG support the following international standards CANopen PROFI BUS DP DeviceNet and ControlNet Following error The following error is the dynamic distance between the computed set position value and the actual position value The following error depends on the regulator structure and the amplifications of the individual regulator circuits Minimal following errors can be achie ved by means of feed forward for speed and current Programming Manual ELAU AG PD UserMan Glossar us fm PD UserMan Glossar us fm ELAU AG 14 Glossary FTP FTP short for file transfer protocol is a transfer protocol used in the World Wide Web or in local networks using TCP IP as network protocol Anonymous FTP is offered by several thousand Internet computers as a way for everybody to access data even if the respective computer has no user entry Function block diagram FBD The function block diagram is a graphically oriented programming language It works with a list of networks Each network contains a structure representing a logic or arithmetic expression the call of function blocks a jump or a return instruction
34. wired logic or if basic functions such as start up locks are to be programmed LD is particularly well suited for complex AND OR logics Since it is so easy itis the prefered language e g in the US As the norm provides for the start of complex blocks written in other languages with the help of an enable input powerful con structions can be controlled with Ladder logic The graphic representation is the simulation of a current flow through a left contact rail through input switch represented by variables via current paths to output actuators coils which are also represented through variables Branches and returns to the beginning are allowed The Ladder Diagram is also a graphic oriented language In prin ciple the Ladder Diagram is similar to the principle of an electric circuit On the one hand the Ladder Diagram is good for constructing sequential logic systems On the other hand it can also be applied to create networks like in FBD Thus Ladder Diagram is also excel lent to control the call of other modules More details are given in a later chapter The Ladder Diagram consists of a sequence of networks A net work is restricted on the left and right sides by a left and a right vertical power line Inbetween the power lines there is a wiring dia gram of contacts coils and connecting lines Programming Manual page 67 4 2 IEC 61131 On the left side each network consists of a sequence of contacts which tra
35. 119 23l J9 o1ju022ed 2d Ieuisnpu dl d2 L Fig 3 2 System overview of the PacDrive automation concept WJ sn siegensAs Wdd Alternatively the PacController can be connected to a conventional PLC superior to the PacController via a field bus ELAU AG PacDrive page 22 PDM SysUebers us FM 3 4 Libraries ELAU AG 3 4 Components Components Automation Toolkit EPAS 4 EPAS 4 has extensive and proven functions and tools A key advantage of EPAS 4 is that all components are integrated and intuitive For you as a user this means Quick familiarization eas handling all tools integrated ELAU maintains extensive libraries geared to the packaging industry helping you obtain cost effective and speedy answers to any concern They will also help you to improve the quality of your user programs The highlights of EPAS 4 Automation Toolkit a Runs under Windows as of Win95 Programming language IEC 61131 3 a SCOPE tool oscilloscope functions Diagnosing tool a very good debugging features a serial or TCP IP connection to the MAx 4 PacController MAx 4 PacController The MAx 4 PacController a Pentium based controller hardware with VxWorks real time operating system realize the PLC and motion functions A PacController synchronizes coordinates and generates the positioning functions for a maximum of 44 drives of a food and packaging machine For HMI tasks various sta
36. 4 Selection of a Suitable Modem The modem used for the connection to the MAx 4 PacDrive Con troller must be Hayes compatible and support the AT command set Nevertheless you have to check if the following settings are entered in the standard configuration auto answer function AT S022 modem answers call after 2nd ring Programming Manual ELAU AG PD_UserMan_Teleservice_us fm PD UserMan Teleservice us fm 7 2 Direct Telecommunication Connection a DCD signal processing AT amp C1 DCD signal follows carrier state a hardware handshake on AT amp RO modem reacts to CTS signal a echo function off AT EO m modem state messages on AT Q0 verbose modem state messages AT V1 The serial interface for the modem communication has the follo wing settings baud rate 38400 data bits 8 m stop bits 1 parity none When starting the MAx 4 PacDrive Controller tries to initialize the modem accordingly This is done via the nitString parameter of the modem The appropriate AT commands for the basic settings must be entered here For most modems the standard init string should already contain the necessary commands However you should check in the modem manual if these commands are the same as those of the modem If necessary the parameter has to be adju sted The modem should automatically detect the settings of the serial interface If automatic detection is not possible you will have to ma
37. Manual position regulator 275 position resolution 274 POU 274 Pr fix 114 PROFIBUS 275 ProgID 275 program 43 protocol 275 Q qualifier 63 R rated speed 275 rated torque 276 real time operating system 276 Real time process 276 real time system 276 Reference potential 276 regulation 277 repair 285 REPEAT instruction 59 Repeater 221 reset 69 277 reset log entries 147 resource 29 277 restart 277 RETURN instruction 55 Ring 207 risk classification 12 Route print 226 Router 223 Routingtabelle 226 RS 232 277 RS 422 277 RS 485 277 S safety notes 12 save and load a log file 147 save as file 147 save log file 147 SCADA 277 Scan rate 278 seminare 288 Sequential function chart 278 Sequential Function Chart SFC 59 page 293 page 294 server 278 service personnel 285 servo amplifyer 278 servomotor 278 set 69 set value generation 278 Short circuit 278 single element variable 278 slave cam 278 SMTP 215 Socket 217 speed regulator 278 spline interpolation 279 standard function block 279 standard functions 279 step 279 step in SFC 60 Stern 206 structured text 279 structured text ST 52 Subnet Mask 217 Switch 222 symbolic variable 279 syntax 279 system data 231 system overview 19 T tasks 29 TCP 215 TCP IP 214 279 telecommunication tion 280 teleservice 280 Telnet 215 Terminal resistor 280 thermo protective contact 280 time diagrams 233 Token Passing 213 Topologien 2
38. Manual page 29 4 2 IEC 61131 Configuratio AX Resource TA SSS Progra I Function block Function block Fig 4 2 The programming model according to IEC 61131 IEC 61131 3 supports local data that can be declared in programs function blocks or functions Local data can only be accessed in the corresponding program hierarchy level and represent a mechanism for data encapsulation Of course also resource wide available glo bal data available for all program elements are possible If multi tasking systems are used however access to global data is a risk source for inconsistent data In addition there are directly accessi ble data with fixed addresses within the PLC address range Usually those are the addresses of the inputs I outputs O and markers M also called flags Another aspect of the programming model describes the re booting behavior of the control Both the cold restart and the hot restart reset are described With a cold restart the program is loaded anew All variables are set to their initial values Either a default initial value or a value defined by the programmer is set All tasks of the resource are started In case of a hot restart reset by contrast the variables are not set to their initial values Instead the values held in the storage prior to the interruption will be taken over Programming Manual ELAU AG PD UserMan IEC us fm 4 2 2 PD UserMan IEC
39. Sounds Settings B Sets up programs and creates shortcuts ZA Fig 7 19 Control panel Win NT gt Check in the dialog box Network in the register Services if the RAS service exists If not you have to install it using the button Add Netzwerk x Identifikation Dienste Protokalle Netewerkkarte Bindungen Netzwerkdienste Arbeitsstationsdienst Computer Suchdienst Einfache TCP IP Dienste E NetBIOS Schnittstelle Novell Client f r Windows NT il RPC Konfiguration 8l Server Dienst Entfernen Eigernschetten Artmellereren Beschreibung Installiert den Client f r das SMB Server Message Block Protokoll dem Kern der Microsoft Netzwerkunterst tzung Reihenfolge f r Netzwerkzugriff OK Abbrechen Fig 7 20 Control panel Win NT Network Services ELAU AG Programming Manual page 175 7 2 Direct Telecommunication Connection gt Select RAS service and click on OK Auswahl Netzwerkdienst 21x Klicken Sie auf die Komponente Netzwerkdienst die Sie installieren j mj m chten und klicken Sie dann auf OK Klicken Sie auf Diskette wenn Sie ber eine Installationsdiskette f r diese Komponente verf gen Netzwerkdienst Novell Client f r Windows NT Novell IPXx Kompsatibilit tsmodus Novell NetWere IP Unterstiitzung NWIP Novell Ziel Service Agent AS Dienst Remote Acc i amp RIP for Internet Protocol RP
40. Teleservice us fm PD UserMan Teleservice us fm 7 2 Direct Telecommunication Connection NT Server Windows 95 or Windows 98 Deactivate all other options Activate only TCP IP as admissible network protocols Connection to PacController MAx 4 PPP Windows 95 Windows NT 3 5 Internet Fig 7 17 Connection with MAx 4 PacDrive Controller Server types Now make the TCP IP settings by clicking on the corresponding buttons mark the IP address assigned by the server activate the name server adress assigned by the server activate IP header compression activate standard gateway in the remote network Kiman her Fig 7 18 PPP TCP IP settings ELAU AG Programming Manual page 173 7 2 Direct Telecommunication Connection page 174 Click on OK The connection is now available Use standard gateway for remote network Indicates if the standard gateway is used in the remote network for the duration of the connection When you create a telecommunication or VPN connection a new standard route using the connection to the RAS server is added to the IP routing table This standard route receives the lowest metrics If a standard route already exists it remains in the routing table but receives higher metrics If a new standard route with lower metrics is added locations that could previously be reached via the original standard route may no longer be reachable A computer with this operating system in a firmw
41. UserMan IEC us fm ELAU AG 4 2 IEC 61131 CASE lt Varl gt OF value 1 gt lt instruction 1 value 2 instruction 2 Wert n instruction n ELSE lt ELSE instruction gt END_CASE A CASE instruction is processed according to the following scheme If the variable in lt VAR1 gt has the value value i the instruction instruction i will be executed a If Var 1 has none of the given values the ELSE instruction will be executed a If the same instruction has to be executed for several values of the variable these values can be written one after another separated by a comma Thereby the joint instruction can be effected Example CASE INT1 OF 1 5 BOOL1 TRUE BOOL3 FALSE 2 BOOL2 FALSE BOOL3 TRUE ELSE BOOL1 NOT BOOL1 BOOL2 BOOL1 OR BOOL2 END CASE FOR loop counting loo With the FOR loop repeated procedures can be programmed Syntax INT Var INT FOR INT Var INIT VALUE TO END VALUE BY step size DO instructions END FOR The part in curly brackets is optional The instructions will be carried out as long as the counter INT Var is not bigger than END VALUE This is checked before the instructions are carried out so that the instructions are never carried out if INIT VALUE is greater than END VALUE Always when instructions was executed INT Var is increased by lt stepsize gt The step size can hav
42. UserMan Teleservice us fm 7 2 Direct Telecommunication Connection gt Inthe register sheet Safety you have to mark the setting Accept any authentification even non encoded Neuer Telefonbucheintrag 21x Eintr ge Server Skript Sicherheit x2 1 Richtlinien f r die Echtheitsbest tigung und Verschl sselung Nur verschl sselte Echtheitsbest tigung annehmen C Nur Microsoft verschl sselte Echtheitsbest tigung annehmen E Datenverschliisselunaertardenich aktuellen Benutzememeniund Kennwort verwenden Ursieheree Kenner Fig 7 32 New directory entry Safety gt Confirm your selection with OK The connection is now available for selection Windows 2000 Installation of the TCP IP protocol gt If the TCP IP protocol is not installed on your PC you have to install it now The installation is described in the EPAS 4 opera ting manual Installation of the modem on the PC gt Open the control panel Start Settings Control panel gt Select Telephone and modem options amp Control Panel File Edit View Favorites Tools Help ae j I 27 A Search lg Folders ERS s Control Panel i ij e woe y Control Panel Game Intel R Internet Keyboard Controll PROSet II Options e Switch to Category View DS s ind D Pod See Also Network Connections Windows Update 9 Help and Support Bild 7 33 Control panel Windows 2000 XP ELAU AG Programming Manual
43. V1 amp S0 amp C1 amp RO S022 Default Meaning AT initiate an AT command amp F set the modem to the default configuration EO switch off the echo function of the modem QO switch on the modem state messages V1 verbose modem state messages amp S0 DSR signal always 1 if modem ready amp C1 switch on DCD signal DCD follows the state of the carrier amp RO Switch on hardware handshake modem treats the CTS signal S0 2 switch on auto answer function modem answers after second ring Table 7 1 Meaning of the default InitString ExplnitString As InitString is limited to 40 characters another 40 charcters can be entered in ExplnitString in order to avoid possible modem pro blems The latter will be transmitted to the modem in a second round The string must start with AT even if no further commands follow ExplnitString is only transmitted to the modem if InitString was processed correctly Default ExplnitString AT MS 0 AT initiate an AT command Programming Manual page 163 7 2 Direct Telecommunication Connection page 164 Value Meaning MS 0 switch off automatic baud rate detection This command is only necessary if hand shake problems occur in the dial up proce dure and may not be available in your modem if it has no Rockwell chip set The modem recommended by ELAU sup ports this command Table 7 2 Meaning of the default ExplnitString State
44. WIN NT Control panel gt Modem gt Properties deacti vate Connect only with this speed If any set the DIP switch on your modem correctly Cause 2 The modems do not recognize each other s protocols Handling Switch off the automatic modulation adjustment To do this add MS 0 to the parameter ExplnitString in the control configuration Should your modem not support this command please consult your manual Cause 3 Poor telephone connection Handling It may help to switch the telephone provider or change the connection Dial up the MAx 4 modem by telephone Wait for the handshake signal of the modem starts with a beep If the signal is very low or there is a lot of back ground noise or crackling in the line the quality of the line is probably too poor for a connection PD UserMan Teleservice us fm ELAU AG Programming Manual page 193 7 2 Direct Telecommunication Connection The connection has been established but the telecommunication network shows Verifying user name and password After that the connection is cut off Cause 1 Handling Password or user name are not identical with those saved in the MAx 4 PacDrive Controller parameters UserName and Password Enter the correct password and user name in EPAS 4 Cause 2 Handling Only WinNT The telecommunication network sent an encrypted password which the MAx 4 does not recognize Activate Telecommunicatio
45. already defined this name in the problem definition gt Enter the name in the control configuration EPAS 4 UserMan_Project_1_Step1_pro PLC Configuration id File Edit Project Insert Extras Online Window Help dla Glole els 25 Resources Global Variables 7 Globale Variablen a Variablen Konfiguration VAI LQ Versions brary MAX4_VODOSO0 LIB 5 7 9 Qj RamDisk library STANDARD LIB 24 9 98 E System Message logger FEE PLC Configuration X Sampling Trace a Task Configuration B VarioCam tm Watch and Receipt Manager Ef Max 4 lt PacDriveM gt i General E Diagnosis 3 State 23 Ref Actual values GO General Z3 Control loop LJ Controller m E Motor put group lt OutputGroup gt Q Input 1 I 1 Fig 5 42 Create a symbolic name for Input 0 As the motion profile consists of cams a master encoder is needed NOTE ELAU calls the principle of cam treatment and processing Vario Cam An axis following axis follows a master position master axis The cam sets the following position in dependence of the master position To forward master positions in the IEC program to cam functions a logic encoder is needed Programming Manual page 135 5 8 Expansion of the Example by Positioning Functions 5 8 4 page 136 The logic encoder is entered as follows gt Click with the right mouse button on MAx 4 EPAS 4 UserMan_Project_1_Step1_pr
46. and for the solution of particular problems The syntax of the programming languages is exactly specified in the norm so that the user can be sure that at least the identical syntax is used in all IEC 61131 compatible development packages Instruction List IL Instruction List IL is the assembler among the programming lan guages for PLCs Regarded as the mother of PLC programming IL is mainly used in Europe IL is excellent for processing simple sequential programmes If loop constructions are necessary howe ver IL has a tendency to get rather unclear IL is a low level language derived from earlier assemblers working accumulator oriented Per line of program code just one action such as load in accumulator save in register can be performed Flow control such as branches are executed with coordinated and uncoordinated jumps and jump marks Comments are added after the control statements in the line Each instruction begins in a new line and comprises an operator and depending on the kind of operation one or several operands separated by commas In front of each instruction an identification mark can be used follo wed by a colon A comment has to be the last element in a line Empty lines can be inserted between instructions Example m Operator Operand Comment LD 17 ST lint comment GE 5 JMPC next LD idword EQ instruct sdword STN test next PD UserMan IEC us
47. bit operands The operands should be of the BOOL BYTE WORD or DWORD type Example in IL Varl BYTE LD 28481001 0011 XOR 241000 1010 ST Varl result is 2450001 1001 Example in ST Varl 2481001 0011 XOR 241000 1010 NOT Bitwise NOT of a bit operand The operand should be of BOOL BYTE WORD or DWORD type Example in IL Varl BYTE LD2 1001 0011 NOT STVarl result is 240110 1100 Example in ST Varl NOT 241001 0011 Bit shift operators The following operators are represented with a map as FBD operators SHL SHL in n Bitwise left shift of an operand A SHL IN N A IN and N should be of the BYTE WORD DWORD type IN is shifted to the left by N bits and filled up with zeros from the right Example LD I SHL 1 ST Varl result is 2 Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 ep I JJ Bitwise right shift of an operand A SHR IN N A IN and N should by of the BYTE WORD or DWORD type IN is shifted to the right by N bits and filled up with zeros from the left Example LD 32 SHL 2 ST Varl result is 8 ROL ROL Bitwise left rotation of an operand A ROL IN N A IN and N should be of the BYTE WORD or DWORD type IN is shifted to the left N times one bit position and the most left bit is re inserted from the right Example Varl BYTE LD2 1001 0011 ROL3 STVarl result is 241001 1100
48. command for baud rate detection may not be recognized correctly Handling Use the valid commands for your modem which are des cribed in your modem manual If there are no handshake problems between your modems you can replace the content of the parameter ExplnitString by the command AT Cause 6 The serial cable or the telephone cable does not match the modem on the PacDrive Controller Handling Use the cable provided by your manufacturer Programming Manual ELAU AG PD UserMan Teleservice us fm 7 2 Direct Telecommunication Connection The modem ends the call before a connection has been esta blished Cause 1 The time for which the modem waits until a connection has been established was set too short Handling WIN9x Telecommunication connection gt Properties gt Configure gt Settings deactivate Interrupt dialling WIN NT Control panel gt Modem gt Properties gt Set tings deactivate interrupt dialling The modem takes the call but there is no handshake or the handshake is broken off Cause 1 The modems are using different speed settings i e one modem is set to Connect with 19200 bps while the other modem only supports 14400 bps Handling Set the modems to automatic speed selection WIN9x Telecommunication connection gt Properties gt Connect via gt Button Configure register General deactivate Connect only with this speed
49. database login dialog project menu for access to the data handling system 5 Database commands in the project menu for individual objects or for the entire project Call call all Check out check out all Check in check in all Programming Manual page 253 12 ENI 4 12 5 page 254 Undo check out for all objects Version history for object project Show changes Label version Insert common objects from the database system into the local project Update status ENI Admin and ENI Control Certain settings can only be made locally on the ENI Server The programs ENI Admin and ENI Control are available for that purpose Like ENI Server and ENI Explorer they are installed with the ENI Server Suite which is shown with an icon on the system bar of your computer ENI Admin ENIAdmin exe requires the entry of the administrator password to start Users user groups access rights and the administrator password are defined here licenses are managed and object data types shown ENI Admin Bim x User Groups G New Edt X Ddee ENew mg Xlidee Username Status Group name Status 6 Administrator active EB Everyone achve Gast acive acive Access Rights License Mng Hep Name LocalUser Abeut 3 Desrtiption Default user autemateall generated by the setup routine Status active Fig 12 4 ENI Admin Programming Manual ELAU AG PD UserMan ENI us fm 12 5 ENI Adm
50. developers had to rely on verbal arrangements in order to coordinate their work The ENI offers a much more elegant solution to that problem The project is stored entirely in the ENI When a developer wants to work on a component he loads it to his local working environment and edits it there Other developers cannot edit that component at the same time They can only access it after it has been released by the programmer This strategy permits coordinated and thus effective work with several developers on the same project Version Management The ENI supports the use of a source code version management program Software is usually developed in several phases The programmer will therefore implement the modules of a program step by step Changes often have to be discarded because the way taken turned out not to be right after all In the past the developer saved his version and then made changes to a copy If the changes were successful he kept the copy if they were not so successful he returned to the original version Everyone who has worked with this method knows that it needed improvement At least in the EPAS 4 development environment and modern development environments for many high languages a solution has been found Developers can now store different versions of their program or even individual components in the ENI database The developer can retrieve those versions at any time provided that the ENI uses a database that suppor
51. for modem 4 Modem gt Test 5 ComtUser is Modem initializing detected modem Modem Offline Com1User is Modem a modem was found 6 and initialized successfully Modem gt Online ComtUser is Modem modem receiving 7 incoming call None 8 Com1User is None Programming Manual page 165 7 2 Direct Telecommunication Connection page 166 Value Auto gt Test 9 Meaning Com1User is Auto initializing detected modem Auto gt EPAS 4 10 Com1User is Auto no modem found or modem could not be initialized Auto gt Modem Offline 11 Com1User is Auto a modem was found and initialized successfully Auto gt Modem Online 12 Com1User is Auto modem receiving inco ming call Table 7 4 Possible values for MAx 4 Com1UserState Programming Manual ELAU AG PD_UserMan_Teleservice_us fm 7 2 Direct Telecommunication Connection 7 2 4 Settings on the Remote PC To be able to connect a PC to the MAx 4 PacDrive Controller via modem several prerequisites must be fulfilled a EPAS 4 installed a telecommunication network Windows 95 98 or RAS service Windows NT with TCP IP installed modem installed The installation of EPAS 4 is described in the User Manual EPAS 4 Below the installation of a telecommunication connection and a modem for Windows 95 98 and Windows NT are described separately Windows 95 98 Installation of the telecom
52. for token loop networks e g ArcNet Each client in the token loop is allowed to send in a given and thus calculable time frame This method is deterministic When a station wants to send it has to wait until it receives the token circulating in the loop a bit pattern circulating in the network Within the bit pattern of a token there is a digit that shows if the token is actually free or busy When a station receives a free token it can change it into busy and add information on the source and target addresses as well as the data to the token The whole package is now called a frame and forwarded to the next station That station checks the receiver address and if it is not the addressee forwards the message When the message has reached its destination it is copied there The destination acknowledges receipt by an entry in the frame and forwards the modified package to the next station When this acknowledged package finally arrives at the former sender station that station recognizes that the message has been transmitted Now the station replaces the frame by a free token which it forwards to the next station Apart from this basic structure token loop has further rules to ensure data transmission In each loop one station takes the role of the active monitor Usually it is the first station that becomes active in a loop When that computer is switched off a new station for that role is determined in a defined proce
53. in the memory by means of variable type abbreviation the third letter defines the length X for bits the bit address is always complemented in Byte N e g 1 0 Bfor byte W for word D for double and Lfor long word Examples IB24 QX1 1 MW12 Overlapping location of variables Overlapping locations of variables are allowed e g MB12 is the first byte of MW12 and the first byte of MD12 Also on bit level this kind of overlapping is desired and to be used in a meaningful way MX12 0 is the first least significant bit of MB12 Initialization of variables In principle each variable is initialized after a cold restart Usually the default value is 0 or FALSE A user specific setting to another value is of course possible In the declaration it is assigned with the sign The initialization can also be effected within derived data types arrays structures The necessary syntax is shown in the example Example VAR s INT 22 135 b STRING C REAL 1 1 END VAR this is a string Programming Manual page 41 4 2 IEC 61131 page 42 VAR a myStruct state TRUE inputValue 2 5 5 END VAR VAR a ARRAY 1 10 OF INT 1 2 2 4 5 6 7 8 9 10 END VAR Programming Manual ELAU AG PD UserMan IEC us fm 4 2 3 PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 Program Organization Units POU IEC 61131 3 limited the diversity of modu
54. in the respective Boolean variable That is if a variable was once set on TRUE it will also remain so A Reset coil R in the coil symbol R never overwrites the value FALSE in the respective Boolean variable If the variable was once set to FALSE it will remain so LD as FBD When working with Ladder Diagram you might want to use the result of the contact connection to control other blocks Then you can file the result with the help of the coils in a global variable that is used further elsewhere You can also fit the possible call directly into your Ladder Diagram network In order to do so insert a module with and EN input Such blocks are conventional operands functions programs or function blocks that feature an additional input marked with EN The EN input is always of the Boolean type It has the following meaning The block featuring the EN input will be evaluated if EN is TRUE Programming Manual page 69 4 2 IEC 61131 page 70 An EN block is switched parallel to the coils while the EN input is connected with the connecting line between the contacts and coils If the information ON is transmitted via this line the block will be evaluated in the usual way Taking such an EN block as the basis networks can be created like in FBD IN1 IN2 F 4 Fig 4 13 Part of an LD network with an EN block Programming Manual ELAU AG PD UserMan IEC us fm 4 2 IEC 61131 4 2 5 Operators In contrast to st
55. languages IEC 61131 knows no validity range for POUs In a project the name of a POU is global and cannot be assigned more than once After its declaration a POU is globally available to all other POUs Structure of program organization units POUS consist of a declaration part and an instruction part In the declaration part the variables are declared Following the declaration part the instruction part describes the instructions that are to be executed Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm 4 2 IEC 61131 Keyword POU Comment PROGRAM program This is a main program which ena bles access to the PLC periphery Global variables and access paths are defined here FUNCTION BLO function block Has input and output variables is CK used very often for program crea tion FUNCTION function Simple PLC component which expands the stock of operations in programing END FUNCTION End mark of the POU Table 4 9 Program organization units with keywords Functions Functions can be coded in all IEC 61131 3 languages except SFC The return value is declared with the name of the function Example FUNCTION TEST REAL Data type of the return value is REAL Declaration part VAR INPUT Switchl BOOL Switch2 BOOL END VAR VAR Intermediate result BOOL END VAR Instruction part TEST Switchl AND Switch2 gt Assign return value to functio
56. load time of the task For this figure the following values apply set interval 10ms uysn ueiumuory uejesr Ad a Cycle is the actual interval time load is the processing time or load time of the task page 101 Programming Manual ELAU AG 5 2 The Structure of a Project page 102 IEC Task IEC Task 1 5 10 15 20 25 30 35 40 45 50 55 t ms 1 This delay can be caused e g by a task with higher priority or by the system Note This is a greatly simplified representation of the real behaviour PDM CycleLoad us9912 fh8 Fig 5 8 Example for the behavior of cycle and load The system tries to adhere to the set interval It may happen howe ver that an interval is longer than the given time This is the case if the new start of a cycle is delayed by the system or a task of higher priority The system then tries to shorten the next cycle in order to return to the time grid The processing of the programs allocated to a task is marked by load The processing of the programs must be completed within the set interval otherwise there will be a diagnosis message cycle time transgression or serious cycle time transgression NOTE There are several system tasks which are processed according to the same principles You will find those system tasks and the classi fication of their IEC priority later in this manual under the heading Which is the right priority Programming Manual ELAU AG PD UserMan R
57. logAdr enable for MC 4 x Size of Programs and Variable Ranges See also System Data page 231 Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan Richtlinien us fm 5 1 The Concept of Mapping 5 5 1 5 1 1 ELAU AG Programming Guidelines The Concept of Mapping The Structure of Packaging Machines L cutting L L filling sealing L deep draw L feed forward Fig 5 1 Example of a structure of a packaging machine Programming Manual page 95 5 1 The Concept of Mapping The Automation System 5 1 2 JOJOWOMIS GSOTIS JOJOWOAIS GGOTDS P JojouroAJeS 660 19S A JOJOWOAIIS WS JOJOWOAIIS WS do soyeniu SS019S S019S e019 60158 SO2H3S 1 M0d SOJI je3eudued SSOTISK U IB 80d 80d z dnou s xy dnou6 sixy ran 15 0 Ju0 Wall vSd rSd Ajddns amod I 5 di j9u19u3 jeNe2Meg Snaldodd uadonyd SOJU3S snq eAup JONIEd vig L O1d r Ld a npow O I 10 302 uoo LELL9 931 Jd 1 119 931 Jajjouogoed jd leuysnpuj jeujeu3 uysn ueiumuory ueyuosn ad Fig 5 2 System overview of the PacDrive automation system Programming Manual ELAU AG page 96 5 1 The Concept of Mapping From Problem Definition to Solution 5 1 3 Qur sn eyuepebsbunpiiqqv ueJ60Jd Jesn SeJnpeooJd uonoui SeJnpeooid uoruny Sysej suojounj aulyoeuw 0 1u09 uoneinByuoo o lt
58. needed to make it clear which of those services is requested This is done by means of the so called port number Number Meaning 20 FTP data 21 FTP commands 23 Telnet 25 SMTP 80 HTTP 110 POP3 Table 8 4 Port numbers Programming Manual ELAU AG PD_UserMan_Netze_us fm 8 6 3 8 6 4 Example PD UserMan Netze us fm ELAU AG 8 6 TCP IP Socket Whereas the IP address unmistakably identifies a computer the port number determines which service on the computer is addressed Both pieces of information together are called socket IP Addressing When using TCP IP an unambiguous IP address must be assigned to each network card within a network Thus logic IP addresses are assigned to the physical network card addresses MAC addresses For computers that are connected to the Internet this means that their IP addresses are worldwide unique Subnet Mask The subnet mask must be entered when installing the network protocol When a computer in the network receives a data package if first checks with the help of the subnet mask if the package is at all meant for a computer in the network segment If there is a match it then checks if the node number is identical to its own If this is also the case it reads the entire contents of the data package Network ID Host ID IP address decimal 192 168 10 1 binary 1100 0000 1010 0000 0000 1000 1010 0001 Subnet mask decimal 255
59. of EPAS 4 Several message log files can be saved there as well ee See NER Ser Se A Ee p n files EPAS4 mel EPAS 4 window rss P Text mel m re new messages from system diagnosis IEC program Y ring buffer RAM gt storage gt n files max 7 days EPAS4mel J MAx 4 message log buffer message log files PDM Meldungslogger us vsd Fig 6 3 Resources Message logger Programming Manual ELAU AG PD UserMan Fehlersuche us fm 6 4 2 PD UserMan Fehlersuche us fm ELAU AG 6 4 Message Logger The Functions of a Message Logger in Detail Save and load a log file Load the current message logger from MAx 4 PacDrive Controller in EPAS 4 Save log file message log buffer RAM gt message log file MAx 4 file Reset log entries clear message log buffer RAM Save and reset log file message log file RAM gt message log file MAx 4 file gt clear message log buffer RAM Load log file message log file MAx 4 foile PC file display Delete log file delete MAx 4 file Load from file PC file display Save as file display PC file Functions Der renim aT IEC program show current message save and load log file logger in EPAS 4 save log file save log file MsgLogSave reset log entries reset log entries MsgLogReset save and reset log file save and reset log fi
60. red yellow green Color blue white red Error red must not be used for both TRAFFIC LIGHTS and COLOR Structures STRUCT A structure is composed of several individual data elements that belong together from the user s point of view The individual ele ments can belong to different data types Structures start with the keyword TYPE and end with END_TYPE Structure declarations have the following syntax TYPE lt structure name gt STRUCT lt variable declaration 1 gt lt variable declaration n gt END_STRUCT END_TYPE Nested structures are allowed The only limitation is that variables cannot be put on addresses AT declaration is not allowed Example for a structure definition named Polygonzug TYPE Polygonzug STRUCT Start ARRAY 1 2 OF INT Point1 ARRAY 1 2 OF INT Programming Manual page 37 4 2 IEC 61131 Point2 ARRAY 1 2 OF INT Point3 ARRAY 1 2 OF INT Point4 ARRAY 1 2 OF INT End ARRAY 1 2 OF INT END STRUCT END TYPE Components of structures are accessed with the following syntax structure name component name If there is e g a structure named week which includes a compo nent named Monday it is accessed in the following way Week Monday References The self defined data type reference is used to create an alternative name for a variable constant or function block References start with the keyword TYPE and end with END TYPE Syntax TYPE lt identifier
61. risk to life and limb or material damage if a you do not use the components as directed m Work on the components is not done by experts or instructed staff a you inexpertly alter or modify a component a you fail to test the protective measures in place after installation commissioning or servicing a you do not observe the safety notes and regulations Only operate the components in perfect technical condition as directed with regard to safety and risks and observe this manual The flawless and safe operation of the components requires appropriate transport storage mounting and installation as well as careful maintenance In case of any circumstances that impair the safety and cause changes in the operating behavior immediately put the component s to a stop and inform the service staff in charge In addition to this manual observe the prohibiting warning and mandatory signs on the component the connected components and in the switching cabinet a the relevant laws and regulations a the operating manuals of the other components the universally valid local and national rules for safety and the prevention of accidents PacDrive page 11 2 2 page 12 Depiction of Safety Notes Risk categories The safety notes in this manual are grouped into different risk categories The table below shows which risk and possible consequences the symbol pictograph and the signal words indicate Pictograph S
62. smoothly an alarm will be triggered immediately Holding brake Brake in the motor may be used only if the motor is standing Hot restart Program start at the same place where a power failure occurred while the PLC was in RUN All buffered data ranges of the pro gram are retained and the program can continue running as if there had been no interruption In contrast to a hot start at the beginning of a program the duration of the interruption must lie within a cer tain interval depending on the process For this purpose the PLC system must have a separately secured real time clock so that the program can calculate the duration of the interruption Hot start at program start Program start like hot restart with the only differenece that the unit starts from the beginning of a progrm if a maximum duration time has been exceeded With the help of a state flag the application program can recognize this situation in order to be able to prepare a special setting of its data HTML HTML means HyperText Markup Language It describes the logic components of a document As a markup language HTML contains commands for marking typical elements of a document such as headers text paragraphs lists tables or graphic references Id see Identifier Identifier Id Identifier of an object Programming Manual ELAU AG PD_UserMan_Glossar_us fm PD UserMan Glossar us fm ELAU AG 14 Glossary IEC 61131 IEC 61131 3 is an interna
63. speed can be selected in the range of 9 6 kBit s to 12 Mbit s ProgID The Program ID is a plain text substitute for a CLSID ProgIDs have the format library class version and in contrast to CLSID are non equivocal only by convention Example of a Prog D OPC Producer 20 Protocol The rules for data transmission between computer systems and other devices are called protocol A protocol defines the packeting of data i e how many data bytes are transmitted at once the treat ment of data that were transmitted faulty kind of error protocol the channels availble for transmission full duplex or half duplex method giving the beginning and end of a transmission and the kind of compression of the data packages The ISO International Standards Organization created the OSI model Open Systems Interconnection as a reference model for all data transmission between electronic systems According to the OSI reference model a transmission protocol has seven leves Position regulator The position regulator regulates the difference between set position and actual position to 0 Output set speed Rated speed Usable speed at rated torque Idle running speed and mechanical limit speed of the servomotor are higher Programming Manual page 275 14 Glossary page 276 Rated torque The rated torque is the permanent torque in Nm of a servomotor amplifyer combination at rated motor speed Due to the losses which are
64. the Example by Positioning Functions Problem Definition Now we want to expand the simple project by positioning functions on a motor Here is the extended problem definition Programming Manual page 131 5 8 Expansion of the Example by Positioning Functions page 132 An equipment on indicator H1 is to flash on the unit as soon as the unit is active Packaging material is to be delivered on a belt to the cutting facility as soon as a start switch has been activated If the start switch is switched off again the plant is to stop Describe the motion profile The motion profile of the conveyer belt consists of a start cam which is driven once when the start switch is activated a straight line which runs permanently during operation and a stop cam which is driven when the plant is switched off start switch OFF Start phase Synchronous Stop phase D V V gt V V gt D Geneigter Sinus Gerade Geneigter Sinus ia 100 a N BHB Demo Projekt us9909 cdr Fig 5 38 Motion profile Define input and ouput values sensors and actuators opara Input output ting Comment designation means H1 O_bEquipmentOnIndicat An indicator lamp is connected to the orH1 output It will flash with a frequency of 1 Hz as soon as the unit is swit ched on 1 bStartS1 On gt start unit or unit is active Off gt stop unit or unit is stopped
65. time 1 the drive ramps down with maximum current and the ready contact is opened However the drive does not come to a stop before expiry of the StopTimeLim time 2 actual velocity nmin Therefore the brake relay is opened and the error message Stop time limit exceeded is triggered As an error with the same error reaction is already active this error message has no effect on the drive After the BrakeCou plingTime time 3 the motor is switched torque free Thus the drive is ramped down in a controlled manner for the stop time limit period plus the brake dropping time and then brought to an uncontrlled stop drive coasts to a stop This only applies if CoastOption is not active for error reaction B bErrorCoast FALSE The uncontrolled stop generates no error message The behavior of the drive in the event of an uncontrolled stop depends on whether the motor has a holding brake or not Programming Manual page 239 10 Time Diagrams MotorController 10 4 Error Reaction A An error with error reaction A results in the following behavior 1 error reaction A 9 AxisState 23 0 MC4State 0x30 0x07 0x02 BrakeCoast FALSE MC4State 0x30 0x07 0x06 0x02 BrakeCoast TRUE n with brake and BrakeCoast TRUE current speed nmin with BrakeCoast TRUE brake relay closed 0 Brake t Coupling Brake Time Coupling 1 Time motor torque 0 t A R
66. us fm ELAU AG 4 2 IEC 61131 The Communication Model An essential aspect in the description of the structural elements is the data exchange With the help of the communication model defi ned in the IEC 61131 it is possible to create well structured and in particular modularized PLC programs which is a fundamental basic characteristic for the development of application oriented re usable program modules In priniciple IEC 61131 provides for the following communication possibilities a access paths VAR ACCESS global variables VAR GLOBAL VAR EXTERNAL a call parameters a communication modules IEC 61131 5 All elements of a configuration communicate with one another and also with other computer systems exclusively via defined access paths In addition global variables are used for the simple commu nication of programs within a configuration Global variables can be placed and used on configuration resource and program level The data exchange within programs is effected via call parameters input and output variables or function values Although high level language programmers are well acquainted with this structural tool it brought fundamentally new aspects into conventional PLC pro gramming Call parameters and transfer variables allow for the definition of unambiguous interfaces and thus make an important contribution to the encapsulation of functionality In addition to the elements of the communication model descri
67. work unpacked again and finally the COM objectis called The use of remote objects is transparent to a client Declaration Definition of variables and FB instances in a declaration block giving the designator the data type or FB type and where applica ble the start values value ranges and field properties The definition or programming of POUs is also called declaration because they are declared with their properties in the programming system Declaration block Summary of declarations of a variable type at the beginning of a POU Derived data type With the help of a type definition you can create a user specific data type the elements of which consist of its elements or of ele mentary and or derived data types DeviceNet DeviceNet is an open manufacturer independent field bus stan dard in automation technology for the connection of PLCs with intelligent devices such as sensors push buttons I O assembly units simple operating interfaces and drives via one single cable DeviceNet is an application protocol OSI layer 7 based on the Controller Area Network CAN It offers high reliability for deman ding applications with a high number of I O assembly units Depending on the kind and length of cable used the transmission speed is 125 kBit s to 500 kBit s Dezentralized technology In converter technology one differentiates between centralized and decentralized technology The difference lies in the power supply
68. 00x DE EN 1 Art No 000 DE german 001 EN english 002 IT italian 003 FR french PacDrive ELAU AG gStd us FM PDM Anhan gStd us FM PDM Anhan ELAU AG 15 2 Further Literature Operating Manual BusTerminal BT 4 DIO1 Art No 17 13 00 83 00x DE EN Operating Manual TTS Art No 17 13 00 88 00x DE User Manual Automatic Controller Optimization Art No 17 13 00 89 00x DE EN Operating Manual PacDrive SCL Art No 17 13 00 93 00x DE EN Operating Manual PacDrive PS 4 und PacDrive PD 8 Art No 17 13 00 94 00x DE EN Operating Manual Evaluation Kit Art No 17 13 00 95 00x DE Operating Manual PacDrive Controller P600 Art No 17 13 00 96 00x DE PacDrive page 287 15 Appendix 15 3 page 288 Product Training We offer practical workshops and seminars Our experienced seminar leaders will enable you to make optimum use of the vast possibilities of the PacDrive system NOTE Please contact us for further information or to order our seminar program See also our homepage www elau de PacDrive ELAU AG gStd us FM PDM Anhan PD UserManAen us FM 15 4 ELAU AG 15 4 Modifications Modifications 07 1999 Terms e g MAx 4 MC 4 and PacDrive M modified a Sales Regions updated Manual revised 12 1999 a Separation of the programming manual in reference and user part Revised to 00 06 00 01 2001 Chapter The Basics of IEC 61131 n
69. 04 torque constant 280 trademarks 2 training 288 transition 61 280 transition conditions 61 translation of functions 280 Twisted Pair Kabel 210 type definition 280 Programming Manual connec U bertragungsmedien 210 UDP 215 UL 280 Ungrounded structure 280 V validity 40 variable 281 VarioCam 281 version numbers 245 VxWorks 281 Ww WHILE instruction 58 Windows 281 WWW 281 Z zero pulse 282 Zugriffsverfahren 212 ELAU AG PDM UserMan usSIX fm g us FM ELAU FoStoerun 15 6 ELAU AG 15 6 Form for Error Report Form for Error Report This error report is absoluteley necessary in order to enable efficient processing Send the error report to your ELAU representative or to ELAU AG Abt Kundendienst Dillberg 12 D 97828 Marktheidenfeld Fax 49 0 93 91 606 340 Sender Company City Date Department Name Phone Details on the defective product Product names means meknn Aniele number nn air nee aA E taai a Setialinumbet naht iis a ide SoftWare Version isan oiii er a eneo a ea a da pce TRT Hardware codek eei ede e e a eet ed a Parameter enclosed yes no IEC program enclosed yes no Details of the machine on which the problem occurred Machine BrOdUGOL rasen eek jo ee een Hours of opSratloh ieu erm tor toot pi Rer pd eria Machine number Date of commissioning succede ru epa ei dele eee nes cad el eee uude Producer Typ
70. 255 0 0 and standard gateway 10 201 0 1 It contains the following entries The network address in the routing table is the target address The column for the network target can contain three different types of entries which are listed below in the order of their accuracy 1 Host address a route to a single specific target IP address 2 Subnet address a route to a subnet 3 Standard route 0 0 0 0 This route is used if no other match could be found 4 If no match is found at all the packages are deleted The entries of the routing table in detail 1 The standard route used for forwarding packages to all locati ons outside the local subnet 2 A subnet route for the local subnet 3 A host route for the local host route for packages sent to that host computer 4 A host route for a special IP broadcast address the broadcast address for all subnets 5 The loopback route a host uses when sending packages to its own address 6 The IP multicast route the computer uses when sending pakka ges to an IP multicast group Programming Manual ELAU AG PD UserMan Netze us fm Network mask Gateway address PD UserMan Netze us fm ELAU AG 8 7 Coupling of Networks 7 A host route for the limited broadcast address The network mask indicates which part of the target address must match the network address so that a route is regarded as a match with the target address of the forwarded package If the mask is giv
71. 255 255 0 binary 1111 1111 1111 1111 1111 1111 0000 0000 Table 8 5 Correlation between IP address and subnet mask Programming Manual page 217 8 6 TCP IP 8 6 5 8 6 6 page 218 IP Address Classes The central authority for the assignment of IP addresses is called InterNIC Internet Network Information Center In Germany the office in charge is DENIC Deutsches Netzwerk Informations Center However those centers do not issue individual IP addresses but only address groups which providers then pass on to their custo mers Providers can request different numbers of IP addresses This is why IP addresses were broken down into different address classes Classes A B and C are for addressing computers Number of Class Network ID Subnet Number of network mask networks nodes A 0 to 126 255 0 0 0 126 16 777 216 128 0 to 191 255 255 255 0 0 16 384 65 536 C 192 0 0 to 255 255 255 2 097 152 256 223 255 255 0 Table 8 6 Network address classes Addresses starting with 127 must not be assigned as they are reserved for special functions e g 127 0 0 1 which usually addres ses the so called localhost the internal loopback address Private IP Networks For the creation of private networks including many small LANs one section each was excluded from the network classes described above The addresses in those three areas are never assigned as publ
72. 7 2 Direct Telecommunication Connection every 10 seconds The setting Auto 2 checks the COM1 port If a ready modem is detected that modem is initialized Otherwise the port is always released for EPAS 4 In principle the parameter only has an effect if its value was actually changed in the MAx 4 PacDrive Controller To re initialize e g a modem the parameter must first be set from Modem or Auto to None and then reset to the desired value In the state Modem 1 or Auto 2 the MAx 4 PacDrive Controller also reacts to the removal or connection of devices NOTE The parameter Comf1 User directly influences the serial interface COM1 Therefore this parameter must not be changed by a serial EPAS 4 connection or a modem connection This would mean that you Cut off the connection of the COM port for your own connection which would result in a serious communication error In case of remote servicing via modem connection there must always be a functioning local TCP IP connection so that the serial interface can be switched accordingly MAx 4 Com1UserState The parameter Max4 Com1UserState returns the state of the COM1 port Value Meaning Init 0 checking for connected devices EPAS 4 1 Com1User is EPAS 4 Modem gt EPAS Com1User is Modem no modem found or 4 2 modem could not be initialized Auto gt Search 3 Com1User is Auto looking for modem Modem gt Search ComtUser is Modem looking
73. C Konfiquration Fig 7 21 Control panel Win NT Network RAS serivce gt f no modem has been installed the RAS setup will ask if you want to call up the modem installation program Confirm with Yes RAS Setup 9 Essindkeine RAS f higen Ger te zum Hinzuf gen vorhanden Soll das Modeminstallationsprogramm aufgerufen werden i so da Sie ein Modem hinzuf gen konnen Fig 7 22 RAS setup You have the choice to have the moden detected automatically or selet it from a list gt Clicking on the button Continue will take you through the instal lation procedure NOTE In case of installation problems please consult the manual of your modem page 176 Programming Manual ELAU AG PD UserMan Teleservice us fm PD UserMan Teleservice us fm 7 2 Direct Telecommunication Connection ELAU AG Now the RAS service should detect the modem installed and and select it confirm with OK RAS Ger t hinzuf gen BAS ige Sete CMT Courier V32bis with ASL Abbrechen Hilfe Modem installieren X25 Pad installieren Fig 7 23 Add RAS device gt Now select a connection in the RAS setup and click on the but ton Network Anschlu Ger t Typ Courier V32bis with ASL Modem unimodem Hinzuf gen Entfemen Konfigurieren Duplizieren Fig 7 24 RAS setup gt Mark only TCP IP as client protocols and confirm your selection with OK Client Pr
74. Drive M system does not support the LWORD LINT and ULINT data types Data types notation The data types listed above can be represented in various forms BOOL BYTE WORD DWORD LWORD Programming Manual page 33 4 2 IEC 61131 page 34 These data types can be represented as follows TRUE or 1 FALSE or 0 decimal hexadecimal 16 octal 8 or binary 2 representa tion Example for WORD 234 16 ff 241001 1100 0011 1111 SINT INT DINT LINT USINT UINT UDINT ULINT Decimal hexadecimal 1635 octal 8 or binary 2 representa tion The underscore separates units Examples Decimal representation for INT 123 234 0 1 000 Hexadecimal representation for INT 16 F1 16 0A_1B Binary representation for INT 2220001 0011 0111 1111 REAL LREAL Normal decimal representation with decimal point or exponential representation Example 1000 23 and 1 2363 and 1 23E3 and 1 23E03 are inter preted identically TIME Time duration TIMEZ t or T stand at the beginning of a time date designation Overflow is allowed e g 25 hours d stands for days h for hours m for minutes s for seconds and ms for milliseconds The underscore separates units Example T4 2d 26h 4m 12s 123ms DATE TIME OF DAY or TOD DATE AND TIME or DT DATE or D stands for a date TIME OF DAY3 t or TOD stands for a time of day DATE AND TIMEZ or DT stands for time of day and date Date D 1998 12 07 st
75. F elN SIN sinus IN in radial measure F SIN IN COS cosine IN in radial measure F COS IN TAN tangent IN in radial measure F TAN IN ASIN Arcsin main value F ARCSIN IN ACOS Arccos main value F ARCCOS IN ATAN Arctan main value F ARCTAN IN EXPT exponentiation of one variable with F IN11N2 another Table 4 17 Numeric operators Programming Manual page 73 4 2 IEC 61131 page 74 Arithmetic Operators ADD Addition of variables of the BYTE WORD DWORD SINT USINT INT UINT DINT UDINT REAL and LREAL types Also two TIME variables can be added Their sum is again a time e g t 45s t 50s t 1m35s Example in IL LD 7 ADD 2 4 7 ST vari Example in ST varl 7 2 4 7 MUL Multiplication of variables of the BYTE WORD DWORD SINT USINT INT UINT DINT UDINT REAL and LREAL types Example in IL LD 7 MUL 2 4 7 ST varl Example in ST varl 7 2 4 7 SUB Subtraction of a variable of the BYTE WORD DWORD SINT USINT INT DINT UDINT REAL and LREAL types from another variable of one of the above types A TIME variable can also be subtracted from another TIME varia ble the result is again a TIME type Note that negative TIME values are not defined Example in IL LD 7 SUB 8 ST vari Example in ST varl 7 2 DIV Division of a variable of the BYTE WORD DWORD SINT USINT INT UINT DINT UDINT REAL und LREAL types by another varia ble of one of the same types Example i
76. IEndWaitTime zPacDriveM Timer1 WaitTime IBtate zIState 1 END IF 3 Ausgang LOW setzen IF PacDriveM Timer1 gt IEndWaitTime THEN O_bBetriebsanzeigeH1 Yalue FALSE IEndwYyaitTime PacDriveM Timer1 IWaitTime IState 2 g END IF END CASE IEndWaitTime 0 IState 1 PacDriveM Timert 1407399 O bBetriebsanzeigeH1 Value IEndWaitTime 0 IState 1 PacDriveM Timer1 1407399 O bBetriebsanzeigeH1 Valug IEndWaitTime 0 State 1 Fig 5 49 ST program editor in online operation with breakpoint gt Now start the program As soon as the breakpoint is reached the color mark will change 0001 CASE IState OF 1 Initialisierung IEndWaitTime PacDriveM Timert IVaitTime IBtate IState 1 2 Ausgang HIGH setzen IF PacDriveM Timert gt IEndWaitTime THEN O bBetrie geH1 Value TRUE IEndWaitTime zPacDriveM Timer IWaitTime IState IState 1 END IF 3 Ausgang LOW setzen IF PacDriveM Timer1 gt IEndWaitTime THEN O bBetriebsanzeigeH1 Value FALSE IEndWaitTime PacDriveM Timer1 IWaitTime IState 2 8 END IF END CASE Fig 5 50 Breakpoint reached IEndwaitTime 1549647 IState 2 PacDriveM Timer1 1555322 O bBetriebsanzeigeH1 Valug IEndWaitTime 1549647 IState 2 PacDriveM Timer 1555322 O bBetriebsanzeigeH1 Value IEndWaitTime 1549647 IState 2 gt Now you can continue running the program or the POU in sin gle s
77. Input group InputGroup E E Measure input group InputGrot L e Modem Modem H E Global Variables library M amp X4 VOO1100 LIB 8 3 E library STANDARD VO01100 LI 5 Message logger B A Sampling Trace u Task Configuration D VarioCam Watch and Receipt Manager Fig 5 19 Control configuration with minimum configuration Two files for the control configuration the configuration file and the parameter file are stored in the PacDrive Controller In principle the objects MC 4 MotorController logic encoder etc are administered in the control configuration The inputs with user initialization see Types of MAx 4 PacDrive Controller object parameters are stored with their initial values in the parameter file NOTE If the control configuration file is changed object added or deleted the PacDrive Controller must be reset or booted For further information please see Programming Manual Refe rence chapter Control Configuration In principle we do not need to change the default configuration for our project However we want to give our output a sensible sym bolic name We already defined this name when defining the problem gt To enter the name click on the symbolic name written in brak kets after output O Programming Manual page 121 5 7 Create a PacDrive project EPAS 4 Untitled PLC Configuration id File Edit P
78. Man IEC us fm PD UserMan IEC us fm 4 3 4 3 1 ELAU AG 4 3 Special Features of the PacDrive Special Features of the PacDrive General Function The PacDrive System is a multi tasking system In order to avoid access problems to inputs and outputs that are globally available in the system input and output maps are not created for each task The problem is avoided as inputs and outputs are read and written as soon as an instruction accessing inputs and outputs is proces sed This kind of processing method also gives a speed advantage Controller Power On Delete the remanent Marker Counter Times and the output image 1 Operating System Start Stop etc A PLC program active Outputs Fig 4 14 General function of the multitasking PacDrive system Programming Manual page 93 4 3 Special Features of the PacDrive 4 3 2 4 3 3 page 94 Data Types of the Control Configuration In the configuration of a PacDrive project data types are decla red automatically see also Programming Manual Reference Control Configuration Table Objects of the PacDrive System Example Transfer of a reference to a block An MC 4 was configurated with the object name Axis_ 10 Procedure r MC 4 Axis 10 In this modular procedure the logical address can be addressed in the following way ControllerEnableSet r MC_4
79. Motor Machines with fast cycle rates require highly dynamic AC servo motors The SM motor series offers you as a user an optimum motor concept for your food and packaging machines The dynamic brushless servo motors are furnished with high resolution encoders single turn or multi turn and electronic name plate Smooth surface and compact size meet the requirements of the target market The highlights of the SM motors a Low mass moment of inertia m 4 fold overload a Reliable high voltage technology a Leading edge magnetic technology a High resolution single or multi turn encoder m Electronic name plate Plug in junction box a IP 65 protection PacDrive ELAU AG PDM SysUebers us FM 4 1 PD UserMan IEC us fm ELAU AG 4 1 Programmable Logic Controls The Basics of IEC 61131 Programmable Logic Controls Around the end of the 1980s a development started that made pro grammable logic controls PLCs central components of automation technology The PLC systems have various advantages compared with conven tional relay technology The systems can be adjusted fast in case of process changes they are easily extendable etc The function and structure of the systems are independent of the size of the PLC A PLC consists of hardware and software The hardware comprises a processor with storage components and further electronics for the connection of input and output systems Modular PLC systems con sist of various compone
80. NDIX 285 CONAC a perra ra RR pee Eo edi A c des ei RS 285 Further Literature ansehen 286 PROOUCE Training Mo E 288 Modifieati ns eH 289 o 291 Form for Error Reporte re ee ef a eo extet Re Eds 295 Programming Manual page 7 Contents page 8 Programming Manual ELAU AG PDM UserMan uslVZ fm 1 1 PDM VerwendStd us FM ELAU AG 1 1 Introduction On this manual Introduction Before using ELAU components for the first time you should familiarize yourself with this operating manual In particular observe the safety notes described in chapter 2 Only persons who meet the criteria for Selection and Qualification of Staff see chapter 2 4 are allowed to work on ELAU components One copy of this manual has to be available for staff working on the components with access at any time This manual is to help you use the component safely and expertly and to use it as directed Observe this manual This will help to avoid risks reduce repair costs and down times and increase the lifetime and reliability of the products You also need to observe the valid rules for the prevention of accidents and for environmental protection in the country and place where the device is used PacDrive page 9 1 On this manual 1 2 page 10 Symbols Signs and Forms of Depiction The following symbols and signs are used in this document Depiction Meaning a First level enumer
81. NI 4 page 252 OFFSET INT 2 END VAR 11 interface Sgt body lt CDATA RUN STRING Start IF YVAL 0 THEN YVAL YVAL OFFSET BOTTOM YVAL OFFSET END IF 11 body st pou Categories for EPAS 4 ENI objects There are four kinds of data objects for management via the ENI interface 1 Project specific objects Components created specifically for a certain project 2 Common objects Components that are commonly used in several projects e g function block libraries 3 Automatically generated compilation objects This has currently no significance and is not supported 4 Local objects not managed in the data handling system An object is assigned to one of the categories in the EPAS 4 project options and object properties The ENI parameters can be configured separately for each of the categories 1 3 see below Operation Structure of the PacDrive project in the data storage system One or several paths are created for a project in the connected data storage system and thus in the ENI under the root configured in the ENI control folders where e g project components are shown as objects for example you could define a separate folder for each ENI object category Every project object receives a data type Every component name taken over from EPAS 4 receives a type specific extension and a type symbol and thus represents the object outside the p
82. Name l DINT double integer 32 IName usi USINT short integer 8 usiName ui UINT integer 16 uiName ul UDINT double integer 32 ulName r REAL floating point number rName 32 Ir LREAL long floating point IrName number 64 d DATE date 32 dName to TOD time 32 toName dt DT date and time 32 dtName t TIME duration 32 tName S STRING string sName p Pointer pointer pbName a Array field abName t Struct structure tbName Table 5 5 Type prefixes E ELAU AG Programming Manual page 115 5 5 Upper and Lower Case 5 5 5 6 5 7 5 7 1 page 116 Upper and Lower Case The prefix in object names is always in upper case The separator between prefix and object name is an underscore _ The prefix for variable and instance names is always in lower case The first character of a designator is always in upper case If a designator consists of several words the first character of a word is always in upper case No separator e g should be used between words NOTE EPAS 4 is not case sensitive Valid Characters The designators should only contain the following letters numbers and special characters 0 9 A Z a z NOTE All designators should be in English Create a PacDrive project Problem Definition We want to create a simple project The only requirement is that the output of the MAx 4 flashes at a frequency of 1 Hz Programming Manual ELAU AG PD UserMan Richtlinien us fm PD UserMan Rich
83. OM component model and make their functionality available to a client via COM interfaces COM objects are defined unambiguously by their CLSID Commentary Text enclosed between brackets and asterisks cannot be nestet to explain a program not interpreted by the programming system Communication Here data information exchange between configurations Consistent data Data that belongs together in terms of content and must not be separated are called consistent data Control A system in which signals are given only in forward direction from the input to the output It is not checked and corrected if the actual values of the system match the set values ControlNet ControlNet is an open control network fulfilling the requirements of real time applications with high data throughput It is used to con nect controls I O modules PCs visualization systems HMI and other intelligent devices ControlNet transmits data with 5 MBit s and enables a deterministic reproducible transmission of time criti cal control data Network access is controlled by the time slice algorithm Concurrent Time Domain Multiple Access CTDMA Programming Manual ELAU AG PD_UserMan_Glossar_us fm PD UserMan Glossar us fm 14 Glossary Continuous Function Chart CFC Continuous Function Chart CFC is a programming language which similar to SFC has Boolean and arithmetic elements that work simultaneously The continuous function chart uses no
84. On an internal basis the date has been stored in a DWORD in seconds since January 1st 1970 This value is converted In the type conversion from a higher to a lower type information can be lost In the STRING type the result is a date constant Examples in ST b DATE TO BOOL D 1970 01 01 gt result is FALSE 1 DATE TO INT D 1970 01 15 E result is 29952 byt DT TO BYTE DT41970 01 15 05 05 05 result is 129 Str DT TO STRING DT 1998 02 13 14 20 result is DT 1998 02 13 14 20 STRING TO conversion Conversion from the STRING type into another type The operand ot the STRING type must have a valid value of the tar get type Otherwise the result is O Examples in ST b STRING_ TO BOOL TRUE gt result is TRUE Ww STRING_TO_WORD abc34 gt result is 0 t STRING_TO_TIME T 127ms gt result is T 127ms TRUNC Conversion from the REAL type into the INT type Only the integer fraction of the number is taken In the type conversion from higher to lower types information can be lost Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 Examples in ST i TRUNC 1 9 result is 1 1 TRUNC 1 4 result is 1 Example in IL LD 737 TRUNC GE MW8 Numeric operators ABS Gives the absolute value of a number ABS 2 gives 2 SQRT Gives the square root of a numb
85. Operating Manual PacDrive system rticle Nr 17130061 001 Sie 2003 10 Schneider Electric Imprint All rights reserved to ELAU AG also in case of patent right applications No part of this documentation and the related software and firm ware may be reproduced rewritten stored on a retrieval system transmitted or translated into any other language or computer lan guage without the express written consent of ELAU AG Any possible measure was taken to ensure the that this product documentation is complete and correct However since hardware and software are continuously improved ELAU makes no repre sentations or warranties with respect to the contents of this product documentation Trademarks PacDrive is a registered trademark of ELAU AG All other trademarks mentioned are the exclusive property of their manufacturers ELAU AG ELAU Inc Dillberg 12 4201 W Wrightwood Ave D 97828 Marktheidenfeld Chicago IL 60639 Phone 09391 606 0 Phone 773 342 8400 Fax 09391 606 300 Fax 773 342 8404 eMail info elau de sales elau com Internet www elau de www elau com Programming Manual ELAU AG PD_UserMan_00_us FM Contents PDM UserMan uslVZ fm 1 On this manual 9 1 1 Introduction eter 9 1 2 Symbols Signs and Forms of Depiction sssseseeees 10 2 General Safety Notes 11 2 1 Basics erteilen 11 2 2 Depiction of Safety Notes 2ususnnnsnnnnnnnnnnnnnnnn
86. PC Server F serial serial F _ Internet Bild 7 50 Direct connection over IP address and Remote PC Advantages Connection with several PacDrive controllers possible a Easy to configure Disadvantages a IP address changes with every dial up Programming Manual page 199 7 5 Connection via Internet 7 5 2 page 200 VPN Virtual Private Network Connection With the help of a VPN connection a network connection can be established via an Internet connection This is suitable e g if the PacDrive controller is integrated in an in house network that has Internet access Advantage a Behavior as if the connection were in a local area network LAN Disadvantage Connection is complicated to configure Programming Manual ELAU AG PD UserMan Teleservice us fm PD UserMan Teleservice us fm 7 6 7 6 1 ELAU AG 7 6 Access to the PacDrive Controller with a Access to the PacDrive Controller with a standard browser not permited Prinzip Teleservice via Internet with a standard browser permits only very restricted access to the PacDrive M M system functions WARNING Restricted view of the machine Risk of injuries and material damage gt Only do teleservice if a qualified person is available on site i e at the machine Always keep in touch with this person e g via telephone or video conference Server with worldwide internet address IP address Client
87. ResultText Restart Cycle AxData amp xis1 ManuelAccz10 JAcc 3600 18tep Axis2Jogging Jogging gManOn Enable Active AxOut Axis2 active MC_Axis2Axis Resulti AxOut xis2 Result 20 AxIn Axis2 ManuelForw JoggForw PosActive AxOut Axis 2 MotionActive AxIn Axis2 ManuelBack JoggBack Position I AxOut Axis2 Positionz193 319998047354 AxDatalAxis2 ManuelVel 1 Vel ResultText AxOut Axis 2 ResultText Restart Cycle AxData Axis2 ManuelAcc 10Acc 3600000Step Fig 5 12 Example for an inferior program in FBD More complex functions and function blocks should be program med in ST as this programming language offers comfortable commands for structuring e g WHILE FOR CASE page 110 Programming Manual ELAU AG PD_UserMan_Richtlinien_us fm PD UserMan Richtlinien us fm 5 3 ELAU Program Structure EPAS 4 Template PRO JP pro FB_Template FB ST m xinixi iM Datei Bearbeiten Projekt Einf gen Extras Online Fenster Hilfe la x alata 3I Bausteine ES PrivateFBs BB FE Template FB E SubPrograms Rf SR Auto PRG Kf SR Error PRG Hf SR Home PRG SR Ini PRG SR Man PRG SR pmSelect P d B6 SR PLC PRG E Main PRG 0001 FUNCTION_BLOCK FB_Template Copyright c 2000 ELAU Elektr Automations AG Germany 0004 last change 2410 2000 ResultText wait for START 0012 ELSIF NOT Enable AND EnableFlag THEN j EnableFlag FALSE ControllerSto
88. Selection of a Suitable Modem 222444440onnnnnnnnnnnnnnnnnnnnnnennnnnnnn 160 Settings in the Project for the PacDrive Controller 162 Settings on the Remote PG senken 167 Establishing a Connection with Remote PC PacController 191 Trouble Shooting ces cete eh RU RN ENDE RU os 192 Telecommunication network over Remote PC to the PacDrive Controller Principle niiin Dp MKDIR 197 Telecommunication Connection via Router to Several PacDrive Control 198 Iiilpo c r ER 198 Connection via Internet ccceseeessessssesseceeeeeeeeaeeeaeeeeeeaeeeseeeeseeeeeess 199 Direct Connection via IP Address ssem 199 VPN Virtual Private Network Connection eee 200 Access to the PacDrive Controller with a standard browser not permited mir ree 201 Networks 203 Basic Concepte proc bati UI LEE E e 203 Peer to Peer nase rn RE re eve ere tpa ren dee pede 203 Glient SBlVeF anna Ri aperta ee A 204 BEocejos A ERE 204 The Term Topologies 1 5 nere et rtt erben Crash deste FRE PAN eru ege 204 Lu rcc 205 cce 206 LOB eed AE M A E EN 207 Mixed geni 208 Transmission Media 3 notre rere etn teet eene need aide ide 210 MAC Address nn eati rci tora pad iuvenis su biu ane focus deus 211 Access Methods u een 212 OWA Daa cscs cee tel es tti ai a tnu eq ctu ae quM te Ea 212 T ken Passing ra e sek
89. T VAR1 20 lt 30 LE Less than or equal to A Boolean operator with the result TRUE if the first operand is less than or equal to the second operand The operands can be of the BOOL BYTE WORD DWORD SINT USINT INT UINT DINT UDINT REAL LREAL TIME DATE TIME OF DAY DATE AND TIME and STRING types Example in IL LD 20 LE 30 ST Varl result is TRUE Example in ST VARI 20 lt 30 GE Greater than or equal to A Boolean operator with the result TRUE if the first operand is greater than or equal to the second one The operands can be of the BOOL BYTE WORD DWORD SINT USINT INT UINT DINT UDINT REAL LREAL TIME DATE TIME_OF_DAY DATE_AND_TIME and STRING types Example in IL LD 60 GE 40 ST Varl result is TRUE Example in ST VARI 60 gt 40 EQ Equal to A Boolean operator with the result TRUE if the operands are equal The operands can be of the BOOL BYTE WORD DWORD SINT USINT INT UINT DINT UDINT REAL LREAL TIME DATE TIME OF DAY DATE AND TIME and STRING types Example in IL LD 40 EQ 40 ST Varl result is TRUE Example in ST VARI 40 40 Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 NE Not equal to A Boolean operator with the result TRUE if the operands are not equal The operands can be of the BOOL BYTE WORD DWORD SINT USINT INT U INT DINT UDINT REAL LREAL TIME DA
90. TE TIME OF DAY DATE AND TIME and STRING types Example in IL LD 40 NE 40 ST Varl result is FALSE Example in ST VARI 40 lt gt 40 Address operators ADR Address function ADR delivers the address of its argument in a DWORD This address can be sent to producer functions where it can be treated like a pointer Within the project it can also be assigned to a pointer Example in IL LD varl ADR ST var2 man_funl Content operator The dereferentiation of a pointer is effected via a content operator after the pointer identifier Example in ST pt POINTER TO INT var int1 INT var int2 INT pt ADR var int1 var int2 pt Call operator CAL Call of a function block In IL CAL is used to call the instance of a function block After the name of the instance follows in brackets the assignment of the input variable of the function block Example Call of the instance of a function block with assignment of the input variables Par1 Par2 on 0 or TRUE Programming Manual page 81 4 2 IEC 61131 page 82 CAL INST PAR1 0 PAR2 TRUE Type conversion operators It is not allowed to convert implicity from a bigger type to a smal ler one e g from INT to BYTE or from DINT to WORD If you want to do that you have to use special type conversion functions In principle you can convert from any elementary type to any other elementary type Syntax elem Typ1 TO elem Typ2
91. You will know the transmission media and communi cation protocols including the basics of TCP IP You will be shown tools for dealing with TCP IP problems Basic Concept In the Microsoft network environment we need to differentiate bet ween peer to peer environment or workgroup not server based and domain server based Peer to Peer All computer systems are equal and together form a workgroup Each computer provides resources and can access resources on other computers To be granted access a user must have a user account on each computer No additional cost for server operating system No central user management when the network reaches a certain size the coordination becomes very complex Peer to peer is a cost effective alternative for small networks with up to ten stations and without high security requirements Peer to peer operating system Such operating systems are actually systems for stand alone PCs that were extended by network functionality Win95 Win98 WinME However those systems lack significant features of real network operating systems e g log in authentication Their use is only sen sible in the smallest networks arranged in the form of workgroups of otherwise independent PCs With Microsoft Windows XP a login is required Programming Manual page 203 8 2 Topologies 8 1 2 Positive Negative Summary 8 2 8 2 1 page 204 Client Server With a client server concept usual
92. act can also be negated This is indicated by a slash in the contact symbol In this case the value of the line is transmitted if the variable is FALSE Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm 4 2 IEC 61131 Coil On the left side of a network in the Ladder Diagram any number of so called coils can be found Coils are represented by brackets Coils can only be switched parallel A coil transmits the value of the connection from left to right and copies it into a corresponding Boo lean variable The values On and Off can be set on the input line On corresponds to the Boolean variable TRUE and Off to the Boo lean variable FALSE Contacts and coils can also be negated In the example contact SWITCH and coil QX3 0 are negated If a coil is negated indi cated by a slash in the coil symbol it copies the negated value to the corresponding Boolean variable If a contact is negated it interconnects only if the Boolean variable is FALSE Function blocks in Ladder Diagram In addition to contacts and coils also function blocks and programs can be entered In the network they have to have an input and an output with Boolean values They can be used at the same sites as contacts i e on the left side of the Ladder Diagram network Set reset coils Coils can also be defined as Set or Reset coils A set coil repre sented by an S in the coil symbol S never overwrites the value TRUE
93. aited If hardware enable is mis sing AxisState stands at 0 and MC4State at 0x03 If the drive is awaiting enable with ControllerEnable AxisState is at 1 and MC4State at 0x10 When switching on hardware enable and ControllerEnable time 1 the brake relay is closed brake lifted and the motor torque is swit ched on if there is no error message the DC circuit is loaded and all phases are connected After the BrakeDisconnectionTime time 2 default value 100 ms positioning jobs can be sent to the drive Programming Manual page 233 10 Time Diagrams MotorController 10 2 Lifting Enable When lifting enable three events may occur 10 2 1 Ramping down within Maximum Ramping down Time When lifting enable the following behavior over the time occurs if the drive is ramped down within the maximum ramping down time 1 Hardware and ControllerEnable g AxisState 23 0 MC4Stae 0x30 0x05 0x06 0x03 0x10 current speed brake relay closed 0 0 StopTimeLim t 1 9 torque 0 0 v t BrakeCouplingTime E s Ready closed 0 i 0 t Fig 10 2 Time diagram Ramping down within maximum ramping down time When lifting enable time 1 the drive ramps down with maximum current The drive comes to a stop before expiry of the maximum ramping down time StopTimeLim time 4 As soon as the acutal velocity drops below the velocity limit time 2 actual velocity nmin 10 min the brake
94. al yg Ethernet _ ba Bild 7 49 Direct telecommunication network over router to several PacDrive Con trollers Advantages Connection to several PacDrive controllers possible Disadvantages a More configuration work compared with a direct connection to a PacDrive controller page 198 Programming Manual ELAU AG PD UserMan Teleservice us fm 7 5 7 5 1 PD_UserMan_Teleservice_us fm ELAU AG 7 5 Connection via Internet Connection via Internet Direct Connection via IP Address To be able to establish a connection via Internet you need to know the IP address of the PacDrive controller or remote PC The TCP IP protocol must be installed both on the client and on the server side However the IP address cannot be chosen freely A worldwide unambiguous IP address must be assigned This address is issued by a central international authority the NIC Network Information Center Further information is available at www denic de Advantages Easy to configure Disadvantages The possibility to apply for a worldwide unambiguous IP address for a PacDrive controller is probably irrelevant in practice costs limited number of IP addresses If however a remote PC dials up the Internet via a provider that PC is automatically assigned a dynamic IP address This makes it possible to establish a connection to that remote PC if that IP address is known Client Modem Modem Remote
95. ame time and thus the signals are destroyed on their way collision Regulation means that before sending a station checks the transmission medium to see if it is free If there are already signals in the cable the station will not start sending in the first place If there is a collision anyway because two stations find the cable free and start sending at the same time that collision must be detected and a reaction must be triggered To detect a collision all stations continue monitoring the transmis sion medium The station that first detects a collision sends a so called JAM signal Each station that registers the JAM signal stops sending data immediately When the line is free again new attempts to send can be started Either a new attempt to send is started after an arbitrary delay non persistent CSMA or the sta tion that wants to send continues monitoring the medium and starts sending as soon as it finds the medium free 1 persistent CSMA a The more stations are connected and trying to send the more often do collisions occur and the lower is the effective data throughput m The time of sending cannot be calculated or determined but is arbitrary a The method is therefore unsuitable for time critical applications Programming Manual ELAU AG PD UserMan Netze us fm PD UserMan Netze us fm 8 4 2 Sending method Receiving Access rules ELAU AG 8 4 Access Methods Token Passing Access method
96. amming environments The convenient benefit of the absolute lack of side effects for the diagnosis of the program flow by far justifies the additional complication of the instancing In older PLC environments the code of an FB was copied several times and program changes were then done in each code copy Programs Programs are superior program organization units A program calls up functions and function blocks in some implementations also other programs They can be written in all languages In contrast to function blocks programs are not instanced They do not feature a memory function for local data if they are called up more than once Program example PROGRAM Main Declaration part Programming Manual page 47 4 2 IEC 61131 page 48 VAR counter 1 Counter instance of FB counter iActCount INT END VAR Instruction part IF bfirstCycle THEN counter 1 Mode 0 Call of FB counter with reset mode ELSE counter 1 Mode 1 Call of FB counter with counter mode END IF actCount counter 1 0ut access to output variable of counter 1 END PROGRAM Programming Manual ELAU AG PD UserMan IEC us fm 4 2 IEC 61131 4 2 4 The Programming Languages Sequential Function Chart SFC Instruction List IL Ladder Dia gram LD Function Block Diagram FBD and Structured Text ST are supported as programming languages Each language is suited for special applications
97. and components and the business and office applications and thus enable a simple quick and inexpensive system integration Based on Microsoft s OLE and COM DCOM technology the OPC standard offers manufacturers of hardware and software a possibility to develop a standard driver for data exchange with other systems e g HMI or SCADA OPC groups An OPC group is a logic unit for structuring OPC items used by a client Groups are created by a client and can contain one or several OPC items Group calls can be applied to the OPC items of a group OPC items The OPC items represent the process variables OPC items are identified by an ItemID and have a value a state information and a time stamp OPC server An OPC server is a COM object offering the interfaces of the OPC specification of the OPC Foundation Open Control The Open Control Foundation wants to develop future oriented concpets for the standardization of PC based automation solutions For an automation solution usually different hardware and software components have to be integrated in an overall system e g a field bus connection for decentralized l Os a control a visualization system and various projecting tools for PLC field bus and HMI By using a common data pool the Open Control Foundation tries to achieve a usefulness of the projecting data throughout the system to avoid errors and in general enable cost reductions in projecting Operand Language element with
98. andard functions IEC operators are implicitly known in the complete project In the block implementation operators are PD UserMan IEC us fm used like functions The list blow shows all operators that are supported Overview In expressions operands are linked by operators Operator Symbol Short description start and end for 1 field index access to field ele ment 2 string length for declaration Explanation xen bracketing A 5 2 4 2 gt A 12 function name function evaluation ADD A B C argument list EXPT exponentiation A 2 3 currently not supported gt A 8 negation A 5 gt A 5 NOT complement MUL multiplication A 5 2 gt A 10 DIV division A 4 2 gt A 2 MOD modulo A 12 MOD not supported for REAL and 10 LREAL gt A 2 ADD addition A 344 gt A 7 SUB subtraction A 4 2 gt A 2 comparison operator greater than comparison operator less than comparison operator equal to or greater than comparison operator equal to or less than Programming Manual page 71 4 2 IEC 61131 Operator SE hor ription Explanation Symbol Short descriptio planatio E comparison operator equal to lt gt comparison operator not equal to AND boolean AND amp XOR boolean exclusive OR OR boolean OR MOVE allocation 1 operator for start value allocation 2 i
99. ands for July 7 1998 Time of day notation TOD 12 00 00 123 Date and time 1998 12 07 12 00 00 123 STRING Inverted commas contain a string The dollar sign leads control characters line feed tabs Examples String Control charcter This is a line feed character L Empty String Derived data types According to IEC 1131 3 data types can be derived from the ele mentary data types Data types that can be derived are Arrays ARRAY Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 a Pointers POINTER a Enumeration types Structures STRUCT a References With the help of derived data types complex structures can be managed with simple constructs With just one assignment com plex data can be transmitted to functions and function blocks The derived data types can be composed from the basic data types and derived data types Arrays ARRAY An array is composed of several individual variables of the same type One two and three dimensional arrays are supported by elemen tary data types Arrays can be defined in the declaration part of a block and in the global variable lists Syntax array name ARRAY lt ug1 gt lt 0g1 gt lt ug2 gt lt og2 gt OF elem type ug1 ug2 represent the lower limit of the array range and og1 og2 the upper limit The limiting values have to be integer Example Card game ARRAY
100. are network has e g a LAN connection in that network and is configured with a standard gateway of the local IP router If the option Use standard gateway for remote network is selected the standard gateway and not the local company router becomes the Internet service provider when the user calls up an Internet service provider This is why all locations in the corporate network except those in the local network cannot be reached for the duration of the connection to the Internet service provider If the option Use standard gateway for remote network is not selected the original standard route remains unchanged no new standard route is added and the locations on the Internet are not available Windows NT 4 0 Set up TCP IP protocol gt Ifthe TCP IP protocol has not yet been installed on your PC you have to do it now The installation is described in the Operating Manual EPAS 4 Set up the RAS service Remote Access Service Programming Manual ELAU AG PD UserMan Teleservice us fm PD UserMan Teleservice us fm 7 2 Direct Telecommunication Connection From the Control panel select Network J Control Panel DE x File Edit View Help ds m 5 S d amp Accessibility AddNew 75 Date Time Display Fonts Game ptions Hardware ogr Controllers o6 O a Indexerstellumg Internet Keyboard Mail Microsoft Mail Modems Mouse Postoffice a ss A 9g e s Multimedia Network Passwords Power Printers Regional
101. arily the further development of a bridge Just like a bridge a switch works on layer 2 of the OSI model and uses MAC addresses to deliver the data A bridge can improve the bandwidth in the entire network by forwar ding data traffic only if it is a transmission from one segment to another A switch on the other hand can improve the bandwidth within a segment In contrast to the bridge direct and decided connections are swit ched between the ports Data packages are sent to the port of the target station only This reduces the network load substantially As the switch works on the MAC address level a switch cannot couple two network segments Several manufacturers are already offering high capacity switches that work not only on layer 2 but up to layer 3 or even higher Programming Manual ELAU AG PD UserMan Netze us fm Routing tables PD UserMan Netze us fm ELAU AG 8 7 Coupling of Networks Layer 3 switch layer 4 switch Whereas a layer 2 switch only has the MAC address available to forward the packages and a layer 3 switch additionally uses the tar get IP address a layer 4switch can also steer the data traffic by means of the port number Router A router is a device that can couple separate networks or divide large networks into subnets The simplest form of a router is a PC with several network cards each of which has contact to different networks Routers work on layer 3 of the OSI model This mean
102. as multi processor systems modern PLC operating systems featuring multi tasking properties unlimited number of analog and digital inputs and outputs and the ability to communicate with other PLCs and computers A configuration defines the structure of a system For example this can be a PLC with several even networked CPUs on machine cell level A configuration is comprised of one or more resources which represent sub controls with own signal processing functions In a real configuration a resource is represented by a PLC CPU which in most cases has multi tasking capabilities A resource is structured with the help of one or more programs which are controlled via tasks A task is an executable program unit to which both a priority and an execution type are assigned There fore execution lines with different properties can be formulated within one and the same program Thus not only cyclic taks with a system wide uniform cycle time are possible Cycle times can also be combined and event controlled program units can be made available in the system By assigning a certain priority to a task CPU time is allocated to a resource The run time properties of the complete program which can run indepentently in a CPU are defined by linking programs to a certain task Thanks to the flexibility of the system modulation a program can be linked to several tasks thus creating several instances with different run time properties Programming
103. ase contact your system administrator Cause 4 Network problem with unknown cause Handling Disconnect remote PC from the network and re install telecommunication network from scratch PD UserMan Teleservice us fm ELAU AG Programming Manual page 195 7 2 Direct Telecommunication Connection page 196 EPAS 4 breaks off existing connection Communcation error Logging out Cause 1 Modem connection remains active The timeout limit for modem transmission has been exceeded This happens in case of too low data through put with slow modem connections and thus too long trans mission times for data packages Handling Increase the value of EPAS_StandardTimeout in EPAS 4 INI in the WINDOWS directory to 10 or more It might even be necessary to increase the value of EPAS ExtendedTimeout The worse the quality of the line and the slower the modem the higher should you set this value Cause 2 Modem disconnects The connection was interrupted e g due to poor line qua lity Handling Establish connection via a better line Cause 3 MAx 4 was rebooted Handling Wait for some seconds until the boot procedure is comple ted and dial up again Cause 4 Windows interrupted the connection because no data were sent via the telecommunication adapter for some time Handling WIN9Xx Telecommunication network gt Properties gt Con figure gt Settings deactivate Disconnect after i
104. ation sign Second level enumeration sign Action symbol The text following this symbol inclu gt des an instruction for action Execute the instruction actions in the given order from top to bottom J Result symbol The text following this symbol con tains the result of an action If the describing text contains special terms e g Italics Sabi dedi parameters these are written in italics Serif font If the manual contains program code this is marked by Serif font Information symbol This symbol marks notes and useful tips for using the product Warning sign Safety notes can be found in the rele vant places They are marked by this symbol After this symbol information about contents of the chapter follows as guideline assistance Table 1 1 Symbols signs and forms of depiction PacDrive ELAU AG PDM VerwendStd us FM PDM SicherhMax us neu fm 2 1 ELAU AG General Safety Notes This chapter contains general requirements for working safely Every person using ELAU components or working on ELAU components has to read and observe these general safety notes If activities involve a residual risk you will find a clear note in the respective places The note describes the risk that may occur and preventive measures to avoid that risk Basics The ELAU components are built according to the state of technology and generally accepted safety rules Nevertheless their use may cause a
105. bance and cyclically supplies the decentralized MC 4 MotorControllers with new set values at a data rate of 4MBaud All internal states of the axes can be checked via the real time bus and processed in the MAx 4 PacController In addition to digital and analog inputs and outputs the MAx 4 PacController has two serial interfaces and one Ethernet interface A variety of process visualization and control systems can be connected to the PacDrive M via the integrated OPC interface Further peripheral components can be connected via field bus interface modules The MAx 4 PacController can act as a field bus master or slave The international field bus standards CANopen PROFIBUS DP and DeviceNet are supported The built in interfaces enable remote diagnosis via telephone modem or Internet Via TCP IP PCs can communicate with the MAx 4 PacController and diagnose the state of the control directly PacDrive page 21 3 System Overview Concept 3 3 JojouioAJeS G60 12S J0jouioAJeS 66012S JojouioAJ0S 660 19S Y JojouioAJeS WS J0J0WOAISS WS i i mi hi EI LL SS019S SSOTOSX U umi ido sogen JOJOWOAIAS WS JOJOWOAIS WS SOJU3S JaMOd LLLI ELLE a z dnoif sixy dnoj6 sixy ran Sd Ma s loyuog Mai Ainawayyg A ddns samog d N29143q Snaidodd uedoNv3 SOJU3S snq eAup JeN2ed LI L O1 PL8 9Inpow ON 101300 UOHOW E LELLI 23l 9d 1
106. bed so far also special communication modules can be used They are of monolithic nature and are linked into a program Thanks to those modules data exchange between sender and receiver is self sufficient Communication services are defined in part 5 of IEC 1131 which is still being edited however Looking at the communication model of IEC 1131 the good support of standardized software modules is particularly striking Thanks to the encapsulation of functionality and data a clearly defined inter face and a side effect free behavior the acceptance of the modules among users has increased significantly An important standardization of programming languages according to IEC 61131 3 is the definition of data types The norm includes various elementary data types from which derived and user defined data types can be composed The user can use standard data types and self defined data types for programming Assigned to each identifier is a data type that defines how much memory space is reserved and which values correspond to the memory content Programming Manual page 31 4 2 IEC 61131 Elementary Data Types IEC 1131 3 defines five groups of elementary data types Their related general data type is given in brackets Bit string ANY BIT Integer with and without algebraic sign ANY INT Floating point ANY REAL Date time ANY DATE String duration derived ANY
107. catorH1 PRG END VAR Fig 5 24 Program editor for Structured Text Now enter the program and compile it by pressing F11 or MENU PROJECT COMPILE ALL Programming Manual page 123 5 7 Create a PacDrive project page 124 EPAS 4 Benutzerhandbuch_Profekt_1_Step1 pro BetiiebsanzeigeH1 PRG STI d Ei Edi Project pmet Extras Orie Window Help del xi See ass Bea 0001 PROGRAM BetriebsanzeigeH 1 Grou 0002 B8 3 state i ER IWaifime declaration part 0005 IEnawaitrime 0008 END VAR tana H I 0001 CASE iState OF 0002 1 Cinitialisierung gt B 0003 IEndWaifTime PacDriveM Timert MaitTime 0004 10005 IState IState 1 0006 0007 2 Ausgang HIGH setzen oopa IF PacDriveM Timert IEndwaifTime THEN 0009 O bBelriebsanzelgeH1 Values TRUE s 7 0010 IEndwWaifTime s PacDriveM Timer IWalfTima application part 001 1 IState IState t 0012 END IF 10013 joma 3 Ausgang LOW seren 0015 IF PacDnveM Timer gt IEndWaitTime THEN 10018 O_bBetriebsanzeigeH Value FALSE 0017 IEndwWaitTime PacDriveM Timert IWalfTime 0018 IState s2 0019 END IF 0020 END CASE i nn21 al afii v var TE z ro J 50 dv ss ne Error Project must contain a POU named PLC PRG main routine J Fig 5 25 Enter user program An error message appears This error message indicates that no program has been entered in the task configuration gt Se
108. connection and its own cable to the HUB HUBs can offer those devices the full band width of the local network at least up to the HUB port Nevertheless the entire segment remains i e the devices have to share the Programming Manual page 221 8 7 Coupling of Networks transmission medium every node receives every message even messages meant for other stations Bridge A bridge already operates on layer 2 of the OSI model MAC address level and thus is transparent to higher protocol layers This means that all protocols based on layer 2 are forwarded by the bridge without being processed In contrast to the repeater a bridge can work with different transmission rates and different access methods and thus can also be used e g between CSMA CD and token passing A bridge connects network segments which in contrast to the repeater can also represent different technologies e g Ethernet and token loop If the bridge knows the recipient it will forward the data only to the appropriate network A bridge cannot narrow down circular messages in the form of broadcasts to one segment i e the broadcasts from one computer to all others are forwarded to the other segments A bridge temporarily saves and prepares the data packages before forwarding them on the basis of the MAC address For this task a bridge uses address tables bridge tables in which the MAC addresses of the connected stations are entered Switch A switch is prim
109. copes of validity They can be declared outside a POU and used program wide included into the POU as call parameters or be of local importance for the POU If a variable is declared in a function block it is valid for this very function block only If it is declared in a program it is valid for all function blocks declared in this program Variables lt name gt lt TYP gt Example Test BOOL Constant expressions VAR CONSTANT lt name gt lt TYP gt lt value gt Example VAR CONSTANT Test BOOL TRUE Localized firmly addressed variables Such variables resemble conventional PLC technology They are of certain importance in IEC 61131 3 systems since they can be used to link two properties All process signals are linked via localized variables Overlappings of localized variables are allowed and can be used as a programming tool Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 a The definition of a certain memory space for variables starts with the AT identifier and defines three parameters the start address after the AT identifier as offset of zero a the memory range input output marker m the length of the variables in the memory by means of a varia ble type abbreviation In this case a the first letter of the length definition is a m the second letter is for input Q for output M for marker the length of a variable
110. dle time WIN NT Control panel gt Modem gt Properties gt Set tings deactivate Disconnect after idle time Cause 5 Information of a foreign device e g meter pulse etc was sent to the modem This caused the modem to interrupt the connection Handling Switch off any such additional function before establishing a connection For information on this subject consult the manual of your telephone provider Programming Manual ELAU AG PD UserMan Teleservice us fm PD UserMan Teleservice us fm 7 3 Telecommunication network over Remote 7 3 Telecommunication network over Remote PC to the PacDrive Controller 7 3 1 Principle Client Modem Modem Remote PC Server m serial serial F per Telephone Network Bild 7 48 Direct telecommunication network over Remote PC to the PacDrive Controller Advantages Connection to several PacDrive controllers possible Use of Windows callback functionality possible m Use of remote desktop connection or remote control tools such as VNC Disadvantages More configuration work compared with a direct connection to the PacDrive controller a Remote PC required on the PacDrive controller ELAU AG Programming Manual page 197 7 4 Telecommunication Connection via Router to Several 7 4 Telecommunication Connection via Router to Several PacDrive Controllers 7 4 1 Principle PacController Client Modem Router with Server Telephone Network F seri
111. dress which must be unambiguous in the network Ethernet by default supports the connection via a local Ethernet Therefore it will not be described here Direct telecommuncation connection A direct modem connection to a control can be established with the help of the EPAS 4 Automation Toolkit Advantage Full access to all functions of the system Programming Manual ELAU AG PD UserMan Teleservice us fm PD UserMan Teleservice us fm 7 2 7 2 1 ELAU AG 7 2 Direct Telecommunication Connection Disadvantage You can only establish a direct connection between two computers EPAS 4 must be installed on the client computer This means that the system is no longer independent of platforms Internet connection Teleservice is to ensure worldwide access to the MAx 4 PacDrive Controller The World Wide Web is particularly suitable for this pur pose No matter where you are on the globe you can dial up to the Internet with a PC modem and telephone connection Advantage Remote diagnosis can be used independent of location and plat form EPAS 4 needs not be installed Disadvantage Very restricted system access Direct Telecommunication Connection By all means observe the following information NOTE As the modem is connected to the serial interface COM1 of the MAx 4 PacDrive Controller a serial EPAS 4 connection is not pos sible at the same time Therefore you should always have a functioning TCP IP connection f
112. dure token claiming procedure The active monitor ensures among other things that there is always a valid token or a valid frame token plus data in the loop he network can be extended up to the maximum permitted number of stations without impairing the regulated data through put With the NAUN procedure token passing can find out relatively quickly if a station is causing a problem and which station in the loop that is The station can automatically be removed from the loop a Suitable for time critical applications Programming Manual page 213 8 5 Overview of Network Operating Systems 8 5 8 5 1 8 5 2 8 6 8 6 1 page 214 Overview of Network Operating Systems Novell NetWare The proprietary IPX SPX protocol is used As of version 4 1 howe ver the system also supports TCP IP which became the standard protocol with version 5 0 Microsoft Windows NT and Windows 2000 Domain concept in NT The directory services in Windows NT are implemented in the so called domain concept A domain is an administrative unit which is eventually created by a single server the so called primary domain controller PDC Administration is done via user nodes stored in a user node data base on the PDC Administration of that database is also possible from other computers Active Directory further development of the domain concept in Windows 2000 Windows 2000 integrates the domain concept into ADS activ
113. e directory services This makes the creation and administration of large networks signi ficantly easier than in Windows NT Existing NT 4 0 domains can be integrated in the active directory fairly easy TCP IP Comparison of Reference Models TCP IP proceeds from a four layer architecture model and can be reconciled with the seven or eight layer OSI reference model Layer OSI TCP IP Layer 7 Application layer 6 Presentation layer Application layer 4 5 Session layer 4 Transport layer Transport layer TCP 3 Programming Manual ELAU AG PD UserMan Netze us fm 8 6 2 PD UserMan Netze us fm ELAU AG 8 6 TCP IP Layer OSI TCP IP Layer 3 Network layer Internet layer IP 2 2 Data link layer Network layer 1 1 Physical layer Table 8 2 Comparison OSI TCP IP Important Protocols In addition to the TCP and IP protocols which give the protocol family its name there are a variety of other protocols 2100 Protocol Name Description TCP Transmission Con For establishing logic connections trol Protocol between applications It is located on the transport layer and as a con nection oriented protocol serves for secure data transmission UDP User Datagram Pro Also located on the transport layer tocol but working without connection Therefore it is not as secure as TCP but faster IP Internet Protocol A connection fee prot
114. e 249 12 ENI 4 12 3 page 250 ENI Client The clients of the ENI Server are e g EPAS 4 a CoDeSys programming system or other applications that need to access the data storage All clients are equal Connection between ENI Server and database system DB The ENI defines no own storage format It is connected to an existing data handling system via drivers database interface Drivers are available for the database systems Visual SourceSafe 6 0 MKS Source Intergrity and a local file system For connection to other storage systems please contact us Which data storage system an ENI Server is actually serving is defined in the ENI Server administration See also The ENI in EPAS 4 on page 251 The clients of the server can then access exactly that system HTTP as communication protocol XML as data format The ENI Server is accessed via the HTTP protocol the transmitted data objects are shown in the universally accepted standard format XML The HTTP protocol makes it possible to work across firewalls and execute certain operations by means of standard tools There is a client C DLL client interface to encapsulate the protocol in C classes so that it is not a must to use only HTTP and XML software to access the ENI Server Structure in the Data Storage System ENI Explorer The ENI Server manages components created by EPAS 4 or other clients in a folder structure in the data storage system There they ar
115. e CE sign documents that the product meets all requirements of the applicable European directives Client An application that turns to a server to have certain tasks carried out CLSID with OPC The class ID is a worldwide unambiguous code for a certain COM object Via the CLSID a client can address a certain COM object A CLSID consists of 128 bit To receive an unambiguous CLSID the time of generation and hardware information of the computer used for generation are included in the CLSID CNC An abbreviation for computerized numerical control CNCs are used primarily in machine tools Cold restart Program start at which all variable ranges are re initialized In case of certain events such a cold start can be initiated automati cally or manually by the user Programming Manual page 261 14 Glossary page 262 COM The Component Object Model is used by Microsoft to define a mechanism for the cooperation of software components within the Microsoft Windows operating systems By means of COM an appli cation can use the services of other applications or components COM is the technological basis for ActiveX OLE and DCOM COM describes accurately to the bit how components work together and thus in principle is not tied to a programming language or a certain operating system By now the COM standard is also available on other operating systems COM objects COM objects are software components that comply with the C
116. e any integer value If it is mis Programming Manual page 57 4 2 IEC 61131 page 58 sing it is set to 1 Since INT Var can only get bigger the loop must terminate Example FOR counter 1 TO 5 BY 1 DO Varl Varl 2 END FOR Erg Varl Assuming that variable Var1 was pre assigned with the value 1 then it will have the value 32 after the FOR loop WHILE loop rejecting loop The WHILE loop can be used like the FOR loop with the exception that the truncation condition can be any Boolean expression That means you set a condition which if it is true will result in the execu tion of the loop Syntax WHILE Boolean expression DO instructions END WHILE The instructions are repeated as long as Boolean expression is TRUE If Boolean expression is FALSE in the first evaluation then the instructions will never be carried out If Boolean expression is never FALSE then the instructions will be repea ted endlessly which will cause a run time error NOTE The programmer has to make sure that there is no endless loop by changing the condition in the instruction part of the loop e g by counting upward or downward a counter If there is an endless loop the the diagnosis Cycle time transgression will be triggered in the PacController Example WHILE counter lt gt 0 DO Varl Varl 2 counter counter 1 END WHILE In a way the WHILE loop and the REPEAT loop are both more powe
117. e drive ramps down with maximum current However the drive does not come to a stop within the StopTimeLim time 2 For this reason the error message Stop time limit exceeded is triggered with error reaction B In case of error reaction B the ready contact is opened and the drive is still brought to a controlled stop with maximum current If the drive does not come to a stop within the stop time limit of error reaction B time 3 the brake relay is opened brake drops and the motor is switched torque free after the BrakeCouplingTime time 4 Thus the drive is ramped down in a controlled way as long as the drive comes to a stop within the double stop time limit plus the brake coupling time This applies only if CoastOption is neither active for lifting enable nor for error reaction B bEnableCoast FALSE bErrorCoast FALSE The uncontrolled stop stop will not trigger any error message The behavior of the drive in case of an uncontrolled stop depends on whether the motor has a holding brake or not 10 3 Error Reaction B In case of an error reaction B two procedures may occur 10 3 1 Ramping down within Stop Time Limit In case of an error with error reaction B the following behavior occurs if ramping down is completed within the stop time limit ELAU AG Programming Manual page 237 10 Time Diagrams MotorController 1 error reaction B 9 AxisState 23 0 MC4State 0x30 0x08 0x06 0x02 curre
118. e held as objects characterized by a type and access rights Moreover a version history is kept for each object Within a folder objects must be unambiguous by name and type ENI Explorer ENI Explorer exists analogous to Windows Explorer as an independent program that can be connected to the desired ENI Server by means of suitable ENI access data The folder object structure in the ENI and the desired database functions can be called up right there independently of the data handling system used and of EPAS 4 Object type access rights actual check out status and users are shown as well Programming Manual ELAU AG PD UserMan ENI us fm A ENI Explorer batchtest project Server ltem Extras 7 12 4 The ENI in EPAS 4 o d zd EM a et SGERGS w g User Date Time Ac Check out file 12 4 PD UserMan ENI us fm ELAU AG 5 priect E Ampel CoDeSys Dataunittype dut 21 02 02 09 20 AWD a compile E 5 Visu CoD eSys Visualisation vis 2102020920 Aw a n Bl MainTask CoDeSys POU pou Used 21 02020820 RWD C XO MainTask pou share B envers 2102020820 RWD E project E Newall Dae s 2102020920 RWD SG proi B Pointer 21 02 02 09 20 RWD User 2102020520 RwD pote E E Targets Properties Alt Enter 4 Get Last Version View Last Version Ctrl amp Enter Cheek Dut Ready EN Check In Undo Check Out Get Version History user localhost 80
119. e help Control Configuration Method gt Insert as many IEC task objects in the control configuration as you have tasks entered in the task configuration NOTE The first IEC task object in the control configuration is linked with the first task in the task configuration The first n IEC task objects are linked with the first n tasks in the task configuration In principle there can be more or less IEC task objects in the system than there are tasks gt Transmit the project to the PacDrive Controller gt To start measuring set EnableLoad to on TRUE ELAU Program Structure To create a program structure it is important for you to know in which areas the blocks POUs program organization units differ See also The Basics of IEC 61131 page 25 Create the first level of your program in the programming language SFC sequential function chart Programming Manual page 109 5 8 ELAU Program Structure Ttrue Es ES Ea er Select false T PowerOn Fig 5 11 Example for the first level in SFC The inferior program parts should be created in FBD AxistJogging Jogging i gManOn Enable Active AxOut Axis1 active MC Axs1 JAxis Resulti AxOut Axis1 Resultz 20 AxIn A amp is1 ManuelForw jJoggForw PosActive AxOut Axis1 MotionActive AxIn Axis1 ManuelBack JoggBack Positionr AxOut xis1 Positionz536 130001094352 AxData Axis1 ManuelVel 1 Vel ResultText AxOut Axis 1
120. e of machine control PacDrive error report page 1 Description of the problem Additional information Problem state Causes Concomitant phenomena persistent unknown mechanical problems when commissioning wiring error failure of mains supply 24V occurs sporadically mechanical damage failure of PMC 2 occurs after about hours moisture inside the unit motor failure occurs in case of shocks encoder defective broken cable depends on temperature insufficient ventilation foreign object inside unit Does the switching cabinet have an air conditioning system Y N Have similar problems occurred before on the same axis How often aret Did the problems occur on certain days or times of day error report page 2 PacDrive ELAU AG g us FM ELAU FoStoerun
121. e seven parameters of the modem object have the following meanding RemotelpAddress IP address for the computer that connects via modem to the MAx 4 PacDrive Controller The MAx 4 PacDrive Controller automatically assigns this IP address to the computer when establishing the con nection By default this address is set to 190 200 100 101 LocallpAddress IP address assigned to the MAx 4 when establishing a modem con nection This IP address is valid for the PPP adapter of the MAx 4 only By default this address is set to 190 200 100 100 It cannot be changed UserName User name that must be entered when logging in to establish a connection Password Password that must be entered when logging in to establish a connection Programming Manual ELAU AG PD_UserMan_Teleservice_us fm PD UserMan Teleservice us fm ELAU AG 7 2 Direct Telecommunication Connection InitString The init string contains a sequence of AT commands that are sent to the modem during the initialization phase In oder to ensure cor rect modem operation on the MAx 4 PacDrive Controller some basic settings are required on the modem The default init string makes these settings and should be valid for most standard modems However you should check the AT commands of the modem in the modem manual and if necessary change the init string in order to switch on the required functions The following set tings are required Default InitString AT amp F EO Q0
122. e so called RUN mode Directly after the system is switched on all non remanent memories are reset and the processing cycle starts scanning in the input image Then the complete PLC instruction list is processed In the next step the out put image that was created through the instruction list is sent to the outputs The program cycle starts anew with scanning in the input image The cycle time is probably the most important speed crite rion for a PLC In practical operation it typically ranges from some ms to several hundred ms NOTE The sequence structure described here applies in particular to sin gle task systems Since the PacDrive M system is a multi task system there are deviations See also Special Features of the PacDrive page 86 Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 1 Programmable Logic Controls The simple flow structure shows its advantages when data and pro grams are manipulated in ongoing operation Almost all programming environments allow for the change of all variables during a processing cycle Due to the set program structure pro gram sequences can be loaded at run time Online Change since there are always exact starting points at the beginning and the end of a cycle When these new systems were launched the producers had to make their customers who were used to contactors acquainted with the programming of the new systems For that reaso
123. e variety of IEC 1131 Structured Text consists of a number of instructions which can be executed either conditional as in high level languages IF THEN ELSE or in loops WHILE DO Instructions always end with Example IF value 7 THEN WHILE value 8 DO value value 1 END WHILE END IF Expressions An expression is a construct which delivers a value after being evaluated Expressions are comprised of operators and operands An operand can be a constant expression a variable a function call or another expression Evaluation of expressions An expression is evaluated by processing the operators according to certain binding rules The operator featuring the strongest bin ding is processed first the operator with the second strongest binding next etc until all operators are processed Operators of equal binding strength are processed from left to right Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm 4 2 IEC 61131 In the following table the ST operators are shown according to their binding strength Operation Symbol en bracketing lt expression gt strongest function call lt function name gt lt parameter list gt exponentiation negation complement formation NOT multiplication division modulo MOD addition subtraction comparison lt gt lt gt equality inequality lt gt Bool AND AND Bo
124. eady closed 0 Fig 10 7 Time diagram Error reaction A In case of an error with error reaction A time 1 the drive is swit ched torque free immediately the brake drops and the ready contact is opened When the BrakeCouplingTime is over and the drive comes to a stop actual velocity nmin time 3 the MC4State is switched to 0x02 From that state the drive can be controlled again after quitting the error message With the CoastOption for the brake the brake will not drop until the drive is standing time 4 actual velocity nmin After the Brake CouplingTime the MC4State is switched to 0x02 The same reaction is activated if the CoastOption for enable is acti vated when lifting enable bEnableCoast TRUE or the CoastOption for error reaction B is activated for an error with error reaction B bErrorCoast TRUE page 240 Programming Manual ELAU AG g us fm PD UserMan ZeitDia 10 5 Overload Switchoff The behavior of the drive depends on whether the motor has a hol ding brake or not 10 5 Overload Switchoff In principle two procedures may occur in case the system switches off due to overload 10 5 1 Overload Switchoff within Maximum Switchoff Time In case the system switches off due to overload the following beha vior over the time occurs if the overload position is reached within the maximum stopping time g us fm PD UserMan ZeitDia ELAU AG Programming Manual page 241 10 Time Diagram
125. ect the register sheet Settings Please check the connec tion settings for the following values data bits 8 parity none stop bits 1 Under Extended modem settings error control and data com pression should be marked and Hardware handshake RTS CTS should be set as Data flow control Advanced Connection Settings SE GEIIUT BIST TGGO Fig 7 14 Extended modem settings After clicking on OK twice you can terminate the first step of the assistant with Continue ELAU AG Programming Manual page 171 7 2 Direct Telecommunication Connection Inthe second step enter the telephone number at which the MAx 4 PacDrive Controller can be reached and confirm with Continue Make New Connection si mH W lt Fig 7 15 Create a new connection Then the connection is created by clicking on the button Finish gt Call up the properties dialog of the connection by clicking with the right mouse button and selecting Properties from the con text menu Connection to PacController MAx 4 Server Types Septina Connection to PacController MAx 4 fos Germany 49 v Wm Acer 28 8 V 34 Data Fax F1128HV RE Fig 7 16 Connection with MAx 4 PacDrive Controller General gt Select the register Server Types and make the following set tings Type of telecommunication server PPP Internet Windows page 172 Programming Manual ELAU AG PD UserMan
126. ection page 188 t PacDrive Controller Properties z KE TERENE BESEN STE General Options Security Networking Advanced Type of dial up server am calling PFF Windows 95 98 NT 4 2000 Internet v Settings This connection uses the following items 7 Internet Protocol TCP IP ml 005 Packet Scheduler Of File and Printer Sharing for Microsoft Networks ei Client for Microsoft Networks O E Novell Client f r Windows 2000 Description Transmission Control Protocol Internet Protocol The default wide area network protocol that provides communication across diverse interconnected networks Bild 7 44 Properties of the connection network 4 Checkthe Type of dial up server to be called PPP Windows 95 98 NT4 2000 Internet must be selected 4 Check that Internet protocol TCP IP is marked as the only protocol 4 Select nternet protocol TCP IP 4 Click on the button Properties and select Automatically get IP address Automatically get DNS server address Programming Manual ELAU AG PD UserMan Teleservice us fm PD UserMan Teleservice us fm 7 2 Direct Telecommunication Connection ELAU AG Internet Protocol TCP IP Properties You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings Use the following IP address IP add
127. em The standard was not intended as a rigid specification but as a guideline for PLC programming Accordingly the standard describes the significant properties of an PLC while leaving producers enough room to use their own implementation IEC 61131 tried to bring modern software engineering into the PLC world This was necessary due to more complex processes and functions and the cost explosion regarding the development of application programs Tested and standardized software modules which can be re used was regarded as a solution However this is made more complica ted due to direct addressing a untypisized variables a no type check In general the objectives of IEC 61131 are a application of software engineering methods with the aim of reusable software modules holistic approach to problem solutions m abstraction of complex tasks into smaller modules a definition of unambiguous interfaces a standardization of the language scope in order to increase porta bility Programming Manual ELAU AG PD UserMan IEC us fm 4 2 1 PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 The Programming Model In addition to the elements for the programming and organization of the application program IEC 61131 also gives guidelines for modelling and structuring PLC composite systems To structure the system the concepts of configuration and resource were introduced The model also takes into consideration properties such
128. en in binary format with ones and zeros the value 1 stands for a bit that has to match and 0 for a bit that does not have to match In a mask that consists only of ones 255 255 255 255 the target address of the package to be forwarded must exactly match the entire host address for this route in order to be regarded as a match In the example of the network mas 255 255 0 0 the first two octets must match exactly The last two octets need not match The IP address for forwarding is determined on the basis of the gateway address in the routing table It is either the host s own IP address or that of a router in the local subnet If the gateway address of the route is the host IP address the IP address for for warding is set to the target IP address in the IP datagram This is the IP address of the host to be contacted It is insignificant whether the host is located in the local subnet or in a remote subnet If the gateway address of the route is not the host IP address the gate way address usually the address of a router in the local subnet is used as the IP address for forwarding Route add If a route is missing between two hosts that can be connected a route can be added with the command route add Example ROUTE ADD 192 168 3 0 MASK 255 255 255 0 192 168 2 2 The MASK option routes entire networks i e if you want to address a host in the network 192 168 3 then use router 192 168 2 2 Programming Manual page 227 8 7 Coup
129. er LN Gives the natural logarithm of a number LOG Gives the logarithm to base 10 of a number Liefert den Logarith mus zur Basis 10 einer Zahl EXP Gives the exponential funtion SIN Gives the sine of a number COS Gives the cosine of a number TAN Gives the tangent of a number ASIN Gives the antisine inverse function of sinus of a number ACOS Gives the arc cosine inverse function of cosine of a number ATAN Gives the arc tangent inverse function of tangent of a number EXPT Exponentiation of a variable by another variable OUT INIIN2 OUT IN1 and IN2 can be of the BYTE WORD DWORD INT DINT REAL types Example in IL Programming Manual page 85 4 2 IEC 61131 LD 7 EXPT 2 ST varl result is 49 Example in ST varl EXPT 7 2 page 86 Programming Manual ELAU AG PD UserMan IEC us fm 4 2 6 PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 Operands In the PacDrive M constant expressions variables addresses and also function calls can occur as operands Constants Boolean constants Boolean constants are the truth values TRUE and FALSE TIME constants In EPAS 4 TIME constants can be declared They are used in par ticular in order to operate timers from the standard library A TIME constant always consists of a leading t or T i e time or TIME in the detailled version and a double cross The actual time declaration follows after the TIME constant It can consist o
130. es Interval e g t 200ms rm OOms fre Fig 5 29 Define task properties gt Confirm your entry with OK EPAS 4 Untitled Task Configuration Kap alaju Eet H E Global Variables brary MAX4_V001100 LIB 8 3 J library STANDARD _Y001100 5 Message logger ig PLC Configuration u Sampling Trace E Task Configuration ib VarioCam N Watch and Receipt Manager Fig 5 30 Task configuration with the new task Now you have to add the newly created program to the task Pro ceed as follows gt Click with right mouse button on Task1 text in brackets Select Append Program Call Program Call Fig 5 31 Dialog box Program call Programming Manual PD UserMan Richtlinien us fm PD UserMan Richtlinien us fm 5 7 Create a PacDrive project gt Go Select to open a selection of existing programs Help Manager User defined Programs PowerlndicatorH1 Fig 5 32 Assistant for dialog Program call Select the program PowerlndicatorH1 and confirm with OK gt Confirm selection in dialog Program call with OK EPAS 4 Untitled Task Configuration Fr alaja inesse le 2 Resources E E Global Variables Task Configuration El Task PRIORITY INTERVAL T1 00ms E library STANDARD 001100 3 Message logger f PLC Configuration M Sampling Trace Task Configuration Fig 5 33 Task configuration with new task and program call gt Now check the p
131. etico Gades ie Re dtes 213 Overview of Network Operating Systems sssssssssss 214 Novell NetWare issirinkti tuese Sat uaa enian nnns 214 Programming Manual page 5 8 5 2 8 6 8 6 1 8 6 2 8 6 3 8 6 4 8 6 5 8 6 6 8 6 7 8 6 8 8 6 9 8 7 8 7 1 8 7 2 10 10 1 10 2 10 2 1 10 2 2 10 2 3 10 3 10 3 1 10 3 2 10 4 10 5 10 5 1 10 5 2 11 11 1 11 2 11 3 11 4 12 12 1 12 1 1 page 6 Microsoft Windows NT and Windows 2000 nnnm 214 TOPHP ea tendente dd E P deii sete ET 214 Comparison of Reference Models esseeese 214 Important Protocols na ubt eet tds uelit sie bL eter dli e Seda Sore 215 IF Addressipign n aetate et ad oia d det a une iger euer 217 Subnet Mask qem 217 IP Address Classes en ae ee 218 Private IF NeDWOLKS nee ee 218 IP Address Assignment 2e ne 219 Name Resolution m Mr ee 220 IP Host and NetBIOS Name Resolution eseesesess 220 Gouplihg of NetWorkS an 221 Additional Devices for Network Coupling seeeeeee 221 Tools for Dealing with TCP IP Problems eeeenee 224 System Data 231 Time Diagrams MotorController 233 Switching on Enable ere tactus eri ae ae 233 Lifting Enable oe irr ea ke pe ud trentaine 234 Ramping down within Maximum Ramping down Time 234 Stop Time Limit Exceeded Drive Is Brought to a Controlled Sto
132. even for short term measuring and test purposes is only permitted with an earth conductor firmly connected to all electric components Before accessing electrical parts with voltages exceeding 50 Volts disconnect the unit from mains or power supply and lock it out After switching off wait for at lest 5 minutes before touching any components Do not touch electrical connections of the components while the unit is on Before switching on the unit cover all voltage carrying parts to prevent accidental contact Provide for protection against indirect touching EN 50178 1998 section 5 3 2 DANGER High leak current Life hazard The leak current is greater than 3 5 mA Therefore the units must have a firm connection to the power grid according to DIN EN 50178 1998 equipment of high voltage systems PacDrive ELAU AG PDM SicherhMax us neu fm 2 5 3 PELV Protective Extra Low Voltage FELV Functional Extra Low Voltage PDM SicherhMax us neu fm ELAU AG Safely Separated Low Voltages Signal voltage and control voltage of the PacDrive units are 33 V In this range the specification as PELV system according to IEC 364 4 41 includes a protective measure against directly and directly touching dangerous voltages by means of a safe separation from the primary to the secondary side in the plant machine ELAU urgently recommends to execute the plant machine with safe separation DANGER High voltage due
133. ew a Revision of Chapter Programming Guidelines a Revision of Chapter Teleservice FAQs new a Glossary widens 10 2003 Chapter Networks new Chapter Teleservice modem recommendation extended a Chapter Teleservice Settings on Remote PC extended for Windows 2000 Chapter Programming Guidelines extended Chapters Characteristics Time diagrams and Version desi gnations taken over from Reference Manual Chapter ENI 4 new NOTE The latest documentation and modification service on this product are available on the ELAU Homepage http www elau de Programming Manual page 289 15 4 Modifications page 290 Programming Manual ELAU AG PD UserManAen us FM 15 5 PDM UserMan usSIX fm ELAU AG Index A Absolute position encoder 259 acceleration time 259 Action in SFC 61 Active step 61 ActiveX 259 Alternative branch 64 Analog signal 259 APIPA 219 applet 259 Arbeitsgruppe 203 ARP 216 AS interface 259 ASCII 260 Axis identifier 260 B baud 260 Baud rate 260 Benutzerverwaltung 204 Bindungsreihenfolge 228 booting 260 Bridge 222 browser 260 Bus 205 260 Bus connector 260 Bus system 260 C cam laws 260 CAN 261 CASE instruction 56 CE 261 client 261 Client Server 204 CLSID 261 CNC 261 coil 69 cold restart 261 COM 262 COM objects 262 commentary 262 communication 262 configuration 29 Consistent data 262 contact 68 285 Programming Man
134. f days d hours h minutes m seconds s and millise conds ms Note that the time data have to be put in order of their size d before h before m before s before ms However not all times have to be included Examples for correct TIME constants in an ST assignment TIMEl T 14ms TIME1 T 100S12ms Overflow in the highest component is allowed TIME1 t 12h34m15s The following example is not correct MEl t 5m68s gt Overflow in a lower place ME1 15ms Es fehlt T IME1 t 4ms13d gt wrong order of time data DATE constants With the help of DATE constants date indications can be made A DATE constant is declared by a leading d D date or DATE follo wed by Thereafter any date can be entered in the form year month day Examples DATE 1996 05 06 d 1972 03 29 TIME OF DAY constants With the help of TIME OF DAY constants times of day can be stored A TIME OF DAY declaration starts with tod TOD TIME_OF_DAY or time_of_day After that a time of day can be entered in the following form hour minute second Seconds can be entered either as real numbers or fractions Programming Manual page 87 4 2 IEC 61131 Examples TIME OF DAY 15 36 30 123 tod 00 00 00 DATE AND TIME constants Date constants and times can also be combined in so called DATE AND TIME constants DATE AND TIME constants start with dt DTZ DATE AND TIMEZ or date and time The date is followed by a hy
135. fm ELAU AG Programming Manual page 49 4 2 IEC 61131 Modifiers and Operators in IL In IL the following modifiers and operators can be used Modifiers a C for JMP CAL RET The instruction is only executed if the result of the preceding expression is TRUE a N for JMPC CALC RETC The instruction is only executed if the result of the preceding expression is FALSE a N for others Negation of the operand not of the accumulator In the following table all operators in IL are listed with their possible modifiers and their corresponding meaning Operator Mort Meaning fiers LD N set actual result equal to operand ST N save actual result in place of operand S set Bool operand to TRUE exactly if actual result is TRUE R set Bool operand to FALSE exactly if actual result is TRUE AND N bitwise AND OR N bitwise OR XOR N bitwise exclusive OR ADD addition SUB subtraction MUL multiplication DIV division GT gt GE gt EQ NE lt gt LE lt LT lt JMP CN jump to mark CAL CN call up function block RET CN return from calling function block evaluate reset operation page 50 Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 Table 4 10 Operators in IL See also Operators page 71 Example for an IL program using some modifiers
136. gs your system is using choose the command INSERT OPERAND In the input help dialogue go to the category System Variable Programming Manual page 89 4 2 IEC 61131 Access to variables from arrays structures and blocks Components of two dimensional arrays can be accessed with the following syntax Array name Index1 Index2 Variables of structures can be accessed with the following syntax structure name gt lt variable name gt Variables of function blocks and programs can be accessed with the following syntax lt Function block name gt lt Variable name gt Addresses Address The direct representation of single memory cells are special cha racter strings These special character strings are created from the concatenation of the percentage character a prefix for the value and one or more natural numbers which are separated from each other by blank spaces The following area prefixes are supported input Q output M marker The following prefixes for the size are supported X single bit None single bit B byte 8 bits W word 16 bits D double word 32 bits Examples QX75 and 96Q75 Output bit 75 IW215 input word215 QB7 output byte 7 MD48 double word at memorylocation IW2 5 7 1dependent on the control configuration Whether an address is valid depends on the actual control configu ration of the program Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm
137. gt assignment expression END TYPE Example TYPE message STRING 50 END TYPE Declaration of variables and constants Variables are identifiers defined by the user They are used as wild cards for the data of the PLC program A main characteritsic of variables is that their content can be changed Under IEC 61131 3 variables are used for storing and processing information Variables are identifiers defined by the user IEC 61131 3 includes five different categories of variables a Global variables a Local variables Input variables Output variables Input and output variables Input output and input output variables are related to a program a function or a function block They can be used in the specific way only Within the assigned program organization unit POU they can be changed in both reading and writing manners outside the assigned POU only in the defined manner Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 According to IEC 61131 3 a marker is a sequence of characters numbers and underscores _ The sequence has to start either with a letter or an underscore Markers must not contain blank spa ces special characters and 6 32 significant characters are distinguished Case sensitivity is not recognized The variables defined by the user have to be declared explained All variables used in a POU have to be explained in the declaration
138. gt Open the message logger and click with the right mouse button on the error message Division error PD_UserMan_Richtlinien_us fm ELAU AG Programming Manual page 141 5 8 Expansion of the Example by Positioning Functions 5 8 6 page 142 No Timest T Object Instance Di Ext diagnosis Message 325 11 19 582 00001 LZS LZS 8004 IEC Programm gestartet 324 22470 Anm 175 178 8007 EPAS 4 Login 323 72 Save log file 8003 Max4 Boot beendet 322 1 Reset log file 8002 Max4 Boot gestartet 321 24 31 389 F 8016 System Reset 320 2904244 gt ayeand esetiogfile 8010 TEST SCF Datei schreiben 319 2303456 ead logfile 8010 PROFISL CON Datei schreiben 318 2303235 1 Delete log file 8010 PROFIMA CON Datei schreiben 317 2303042 z 8010 CANSLCON Datei schreiben 36 2302832 Load from file 8010 CANMA CON Datei schreiben 315 2302160 Saveasfile 8010 TEST PAR Datei schreiben 314 2256 887 Set filters 8010 DEFAULT PRG Datei schreiben 313 2239708 8007 EPAS 4 Login 312 630233 MR 8008 EPAS 4 Logout 311 3 34 738 m 8004 IEC Programm gestartet 310 1 32483 0x0001 LZS LZS 8007 EPAS 4 Login 309 57 Ox0001 MAX4 MAX4 8003 Max4 Boot beendet Fig 5 53 Select call hierarchy in the message logger Select Call hierarchy Callstack x BetriebsanzeigeH1 24 Fig 5 54 Dialog Call hierarchy The last component is always the component at which the proces sing is standing at the
139. gt regi ster General gt button Configure gt register Settings 8 data bits no parity 1 stop bit WIN NT Control panel gt Modems gt Properties gt regi ster Settings set 8 data bits no parity 1 stop bit Same register Fig 7 14 gt button Extended Data flow control Hardware RTS CTS and Error control Activate data compression Should your modem have DIP switches you may have to set them page 194 Programming Manual ELAU AG PD UserMan Teleservice us fm 7 2 Direct Telecommunication Connection When trying to log in EPAS 4 reports Communication error Log ging out Cause 1 The communication parameter in the EPAS 4 menu ONLINE COMMUNICATION PARAMETERS are not identical with LocallpAddress By default LocallpAddress is set to 190 200 100 100 Handling Check the communication parameters Cause 2 The modem connection is too slow e g less than 9600 BPS EPAS 4 recognizes no connection because no com plete data package is transmitted within the timeout limit Handling Raise the value of EPAS StandardTimeout in the WIN DOWS directory in EPAS 4 INI After that EPAS 4 must be restarted Cause 3 There is already a device in the local network with the IP address chosen for the MAx 4 PacDrive Controller Handling Change the IP address of the PacDrive Controller Disconnect the remote PC from the network For questi ons about your IP addresses ple
140. her uncommon object oriented procedure is that the program diagnosis can be made exactly to the call and without side effects With an automatic declaration modern tools help carry out this instancing For a call of an FB an instance name which manages the data of this call is set An important characteristic is that all instances use the same pro gram code of the FB For that reason changes in the program code have the same consequences in all calls Thus an instance is no copy of the FB for a call Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 Example Function block A instance 1 local data Functions block A Global code Data Function block A P d instance 2 local data Program A Fig 4 5 Instancing For each instance a copy of the data areas is created Function block A is instantiated in two calls For each call there is a structure with the name of the instance which contains the call specific variable values without side effects Instance 1 and instance 2 in the above example are local data structures in the calling program These local instance data can be input variables for other function blocks or programs This instancing which is rather unusual for the traditional PLC pro grammer enables a side effect free processing of variables and their diagnosis with the programming tool which has been standard in modern PC based progr
141. hrough the modem installa tion procedure NOTE In case of installation problems please consult the manual of your modem ELAU AG Programming Manual page 169 7 2 Direct Telecommunication Connection Enterthe location settings for the modem Location Information Please provide information about your current location so that your calls can be dialed correctly What country are you in now Germany 43 What area or city code are you in now Jose If you dial a number to access an outside line what is it fa The phone system at this location uses Tone dialing C Pulse dialing lt Back Next gt Cancel Fig 7 11 Location settings The modem is now installed and you can establish a connection from the PC to the MAx 4 PacDrive Controller using Create new connection Establishing a connection between the PC and the MAx 4 PacDrive Controller gt Inthe telecommunication network select Create new connec tion File Edit View Connections Help 1 objects selected Ui Fig 7 12 Telecommunication network Create new connection Give the connection a name and select the desired modem Then click on the button Configure to make the modem set tings page 170 Programming Manual ELAU AG PD UserMan Teleservice us fm 7 2 Direct Telecommunication Connection PD UserMan Teleservice us fm Make New Connection Fig 7 13 Create new connection gt Sel
142. ic Internet addresses and generally not forwarded by routers on the Internet 10 0 0 0 to 10 255 255 255 in class A 172 16 0 0 to 172 31 255 255 in class B 192 168 0 0 to 192 168 255 255 in class C If however a LAN is to be addressed via Internet it must be gua ranteed that the IP address is unambiguous in the entire Internet In this case a public IP address is needed Programming Manual ELAU AG PD UserMan Netze us fm 8 6 7 PD UserMan Netze us fm ELAU AG 8 6 TCP IP IP Address Assignment Windows 2000 offers four methods for the assignment of IP addres ses to TCP IP clients DHCP APIPA Static IP addressing Alternative IP configuration multiple networking DHCP DHCP permits the automatic configuration of IP addresses and other configuration options for clients in a network with one or several DHCP servers So called IP segments IP addresses to be assigned are created on the DHCP server and configured with options such as standard gateway or DNS server When booting a client asks the DHCP ser ver for an IP configuration which it can then use for a certain time lease time When shutting down the client logs off the DHCP ser ver which then assigns the IP address to another client APIPA APIPA is suitable for simple networks with only one subnet If no DHCP server is available the computer automatically assigns itself a private IP address via APIPA 169 254 0 1 to 169 254 255 254 La
143. ichtlinien us fm PD UserMan Richtlinien us fm ELAU AG 5 2 The Structure of a Project Developing a project specific task model At the beginning of a project you need to develop a task model The following points need to be defined a number of tasks priority of the tasks a Cycle time NOTE Parameters that can be read and or written via SERCOS may delay program execution significantly e g for TRACE Error Quit See also EPAS 4 Online help Control Configuration Types of Object Parameters How many tasks do need In many cases it is sufficient to use one single task for the posi tioning function or the entire project In addition further tasks may be required for monitoring functions PLC functionality operating units etc The aim is to use as few tasks as possible General rules If possible there should be only one task a Functions that take a longer time to process e g file services access to SERCOS parameters should be moved to a task of lower priority It may be necessary to introduce a task of higher priority e g for safety reasons n practice you rarely need more than three tasks a There should be no tasks of equal priorities In this case it is better to call up the functions from a jump in program This results in a fixed time frame for the respective tasks Which is the right priority The PacDrive system has 252 priorities internally The lowest 32 of these prioritie
144. ide Web To be regarded as ActiveX con trol a COM object must offer certain interfaces Analog signal Many process data are available as analog values We differentiate bewtween a voltage or current signal To enable a computer to read in an analog value it requires an analog digital converter The reso lution of the signals depends on the accuracy of hte AD converters Applet An applest is a program used primarily on Internet sites It is written in the Java programming language and can therefore run on all platforms AS interface AS interface ASI is designed for very easy networking in automa tion technology ASI was optimized for the lowest field bus level and offers the opportunity to connect not only binary but also intelligent slaves and simple analog units With regard to the data volume ASI has a lower capacity than field buses and is no competition for them Programming Manual page 259 14 Glossary page 260 ASCII ASCII is the abbreviation for American Standard Code for Informa tion Interchange It is represented in 7 bit mode Axis identifier Logic address of an MC 4 MotorController not RealTimeBusAdr Baud The transmission speed baud is defined as the number of bits transmitted per second Baud rate The baud rate is the speed of data transmission and gives the num ber of bits transmitted per second baud rate bit rate Booting The start procedure of a computer e g PC and operating sy
145. ignal word DANGER Definition Indicates an immediately dangerous situation that will result in death or very serious injuries if the safety rules are not observed WARNING Indicates a possibly dangerous situation that can result in serious injuries or major material damage if the safety rules are not observed CAUTION Table 2 1 Risk categories PacDrive Indicates a possibly dangerous situation that might result in material damage if the safety rules are not observed ELAU AG PDM SicherhMax us neu fm PDM SicherhMax us neu fm 2 3 Use other than directed ELAU AG Use as Directed The ELAU components are designed for installation in a machine plant or for combination with other components to form a machine plant The components may only be used under the installation and operating conditions described in this documentation You must use the accessories and ancillary parts components cables etc mentioned in the documentation You must not use any foreign objects or components that are not explicitly approved by ELAU Use as directed also means that you a Observe the Operating Manuals and other documentations see appendix a Observe the instructions for inspection and maintenance The operating conditions at the place where the device is used must be checked on the basis of the given technical data performance information and ambient conditions and observed The device must
146. in and ENI Control ENI Control ENIService exe also requires the ENI administrator password to start It is used to set the desired database driver even during the installation via setup Moreover it offers the opportunity to deliberately stop and restart the ENI service which is usually started automatically or to let the service run via another user account In addition certain communication parameters communication timeout port etc of the server client connection can be changed An event log is available as well th ENI Control Sy Service n Communication ES Database a About Select Database Driver SourceSafe 6 0 Database Configuration Location of srcsafe ini D ENI_SourceSafe_Daten Root project ELAU_TREE Temporary folder D SENI SourceSafe Temp ENI user ENI password Abbrechen Fig 12 5 ENI Control PD UserMan ENI us fm ELAU AG Programming Manual page 255 12 ENI 4 page 256 Programming Manual ELAU AG PD UserMan ENI us fm 13 PD UserMan FAQ us fm ELAU AG 13 Frequently Asked Questions Frequently Asked Questions What are VAR IN OUT variables VAR IN OUT variables are transmitted as pointers Thus the data need not be copied into and out of an instance Located boolean variables cannot be transmitted as VAR IN OUT Are there pointers IEC 61131 knows no pointers However pointers are supported in the PacDrive M system If you use pointers we cannot ass
147. indows XP receives a positive or negative reply to the query it inserts that reply into its cache and thus creates a DNS resource entry Before the query to DNS ser vers the resolution service always checks the cache first If there is a DNS resource entry in the cache the resolution service uses the entry saved there and executes no server query This reduces the queries and accelerates the network traffic due to DNS queries ipconfig displaydns Ipconfig flushdns NetBIOS name resolution Queries are sent to WINS servers This method was added for compatibility reasons for applications and services requiring Net BIOS to IP name resolution e g the search function of Windows NT 4 0 Windows 98 95 IP Host and NetBIOS Name Resolution Executed by HOSTS or LMHOSTS files Via manually managed local files they provide host to IP and Net BIOS to IP name resolution NetBIOS name resolution broadcast Executed by means of B node broadcast With the broadcast the name resolution is executed within the local subnet Programming Manual ELAU AG PD UserMan Netze us fm 8 7 8 7 1 PD UserMan Netze us fm ELAU AG 8 7 Coupling of Networks Coupling of Networks Additional Devices for Network Coupling To enlarge networks additional devices are needed to overcome existing limitations Only some of the devices are able to connect several segments parts of an individual network Others can couple several inde penden
148. ined problem page 98 Programming Manual ELAU AG PD UserMan Richtlinien us fm 5 2 5 2 1 PD UserMan Richtlinien us fm ELAU AG 5 2 The Structure of a Project The Structure of a Project Program Organization with Tasks In General As a rule a PacDrive M program runtime program consists of several tasks A task is a program characterized by its priority and cycle time Tasks can be used e g to determine that a temperature check is only made if there are no more important jobs waiting Or that the temperature check is made only every 30 seconds CONFIGURATION RESOURCE TASK Program m global variable and D represented variable access paths Softwaremodell englisch cdr Fig 5 5 Software model Characteristics of a task It consists of one or several blocks POUs program organization units It has a priority of between 0 and 31 0 is the highest priority Tasks of higher priority supersede tasks of lower priority Tasks of equal priority are processed consecutively in time slices of 250 us A maximum of 127 tasks are supported Programming Manual page 99 5 2 The Structure of a Project page 100 The figure below shows how the individual tasks are processed in the system priority high 0 time slice l l Task Task2 Task3 Task Tag Ted Tex Tos Task EL Qa A a AE e oes T7 low 31
149. ing industry are characterized by the need for high dynamism flexibility modularity and efficiency Packaging machines were traditionally equipped with a mechanical vertical shaft which drove the secondary motions in the machine usually with mechanical components with complicated motion functions Designing such a machine flexibly for different products is a highly complex task Even minor changes in the packaging process particularly in case of a product change require major modifications and standstill time Packaging machines with electronic vertical shafts by contrast permit full flexibility Electronic servo drive systems replace cam and coupling gears and a virtual electronic vertical shaft ensures that the motion axes are synchronous Any pulse and angle synchronous movements are determined by a central control Unplanned machine states such as stop or emergency off situations or initialization movements can be realized synchronously Dynamic changes of the goods to be packed or the packaging material in the plant like slippage of the products to be packed or expansion of the packaging material can be registered by sensors while the machine is running and eliminated by modifying the corresponding drive movements This development substantially changes and highly simplifies the classical mechanical machine concept The structure of the packaging machine can be broken down into modules that are easy to apply and can be standardized
150. innermost loop will be completed independent of the truncation condition Sequential Function Chart SFC The programming language Sequential Function Chart SFC is a graphic language to represent a state machine which in one cycle carries out a single transition to a next action state The graphic representation of transitions and actions resembles a flow diagram is easy to read and well suited for programming superior state sequences Programmers often fall victim to the misunderstanding that the program path is completely processed in the program Programming Manual page 59 4 2 IEC 61131 cycle This is not the case For that reason fast complex calculati ons cannot be executed well in SFC but only in the reserved action modules which in turn can be filled in any language Under TRUE the transitions between action states become active as Boolean equations SFC allows both alternative and parallel branches m Actions in alternative branches are executed if the respective entry transition is fulfilled The check sequence priority is set from left to right Actions in simultaneous branches are all started together A transition at the end of the simultaneous branch defines the exit event Initialization 1 Action implemented Step Transition 3 rw parallel branch T Step nr 1 PL Select alternatively branch Tess g_bManOn 9 bAutoOn Home b Manuel
151. ion Example in ST Si INT TO SINT 4223 result is 127 If the integer number 4223 16 107f in hexadecimal representation is stored in a SINT variable the latter will contain the number 127 16 7f in hexadecimal representation Example in IL hp 2 INT TO REAL MUL 3 5 REAL TO LREAL TO conversions Conversion from the REAL LREAL types into another type The value is rounded up or down to an integer value and converted into the corresponding type STRING BOOL REAL and LREAL types are exceptions In the type conversion from higher to lower types information can be lost Example in ST i REAL TO INT 1 5 result is 2 j REAL TO INT 1 4 result is 1 Example in IL LD 2 7 REAL TO INT GE MW8 TIME TO TIME OF DAY conversions Conversion of the TIME and TIME OF DAY type into another type Onan internal basis time is stored in a DWORD in milliseconds in the case of TIME OF DAY since 00 00 This value is converted In the type conversion from higher to lower types information can be lost In the STRING type the result is the time constant Examples in ST Str TIME TO STRING T 12ms gt result is T 12ms dw TIME TO DWORD T 5m gt result is 300000 si TOD TO SINT TOD 00 00 00 012 result is 12 Programming Manual page 83 4 2 IEC 61131 page 84 DATE TO DT TO conversions Conversions from the DATE and DATE AND TIME type into another type
152. ion in General Version Numbers and Compatibility Version Designation in General VXX YY ZZ XX incompatible changes YY upwardly compatible changes ZZ compatible changes Compatibility EPAS 4 MAx 4 m EPAS 4 XX must be equal to MAx 4 XX m EPAS 4 YY must be greater than or equal to MAx 4 YY a EPAS 4 ZZ has no significance Compatibility MAx 4 MC 4 m MAx 4 XX must be equal to MC 4 XX a MAx 4 YY must be greater than or equal to MC 4 YY a MAx 4 ZZ has no significance Compatibility MAx 4 IEC Libraries m MAx 4 XX must be equal to Lib XX a MAx 4 YY must be greater than or equal to YY a MAx 4 ZZ has no significance Programming Manual page 245 11 Version Numbers and Compatibility page 246 Programming Manual ELAU AG PD UserMan Versionsk us FM 12 1 PD_UserMan_ENI_us fm ELAU AG 12 1 Function of the ENI ENI 4 This chapter will give you an overview of the function structure and operation of the engineering interface ENI Further documentation a ENI Server user manual Online help for ENI Server ENI Admin ENI Control parts of the ENI Server Suite and ENI Explorer a EPAS 4 Automation Toolkit online help Function of the ENI The world of automation is so multifarious that it is impossible to enforce one standard for all software and hardware products Users do not want to be committed to a small number of manufacturers but demand the best solution to every problem Systems sho
153. ion server PPP Windows NT Win PD_UserMan_Teleservice_us fm ELAU AG Programming Manual page 179 7 2 Direct Telecommunication Connection dows 95 or 98 Internet activate only TCP IP as network protocols deactivate Activate Software compression activate Activate LCP extensions for PPP Neuer T elefonbucheintrag 21x Eintr ge Sever Skript Sichemet x25 Typ des DF Servers ns NT Wi ws 95 Plus Internet Netzwerkprotokolle Iv TEPAP TCPE IP Einstellungen IFX SPX kompatibel T NetBEUI Software Komprimierung aktivieren Iv LCP Erweiterungen f r PPP aktivieren Abbrechen Fig 7 30 New directory entry Server gt The TCP IP settings are made by clicking on the corresponding buttons mark the setting IP address allocated by server activate Name server addresses allocated by server activate IP header compression activate Use standard gateway in remote network TCP IP Settings x Server assigned IP address C Specify an IP address Paddress DI DOS Sor mo Server assigned name server addresses Specify name server addresses Bimar DNS DE gu Soy ae Secondary DNS DE NOS NUN BU Eimar wits 07 1077 mo Eg Secondary WINS D gu gu m Iv Use default gateway on remote network Cancel Fig 7 31 TCP IP settings gt Confirm with OK page 180 Programming Manual ELAU AG PD UserMan Teleservice us fm PD
154. is of the corresponding device specific operating manual Further documentation a MAx 4 Controller operating manual a MC 4 Servo Drive operating manual reset a 9 EX Fig 6 1 Diagnosis LEDs of the MAx 4 PacDrive Controller Programming Manual ELAU AG PD UserMan Fehlersuche us fm 6 3 PD UserMan Fehlersuche us fm ELAU AG 6 3 PLC configuration PLC configuration For a more detailed diagnosis you can use the diagnosis parame ters in the control configuration EPAS 4 BurnlIn POS 5 pro PLC Configuration id File Edit Project Insert Extras Online Window Help ale x amp v o es Bf MAx 4 Multi amp x mE All i 1 DiagCode 1117 Gy Global Var 2 DiagE xtCode 3 11117 i 3 DiagMsg MC 4 Servol Lesefehler Geber EEPROM C3 Versione 4 MsgEntries 325 5 Timer 108178 ms E library max LaRamDisl Timer10 10817 10ms GD library Star C3 System d en 4 i i eadRes us Er MgEchtzeitb f9 RTBWiiteRes 802 us Bee MC 10 Diskfree 3988392 Byte E c 11 Memoryfree 6930636 Byte amp Fig 6 2 PLC configuration The MAx 4 PacDrive Controller has the object parameters Diag Code DiagExtCode and DiagMsg The parameters contain the currently most important diagnosis information They are only over written if a diagnosis message of a diagnosis class of higher priority occurs Diagnosis messages of equal or lower priority will not change the parameter Such diag
155. ke the necessary settings manually For further information consult the modem manual Usually settings can be changed by means of DIP switch or with the help of a terminal program such as Hyperterminal part of Windows ELAU recommends INSYS modem 56k INSYS order number 110 756 WD03 INSYS Modem 144 INSYS order number 110 6144 WD03 Westermo TD 33 v 90 telemodem Westermo order number 31790010 a Westermo TD 32 telemodem Westermo order number 3178 0040 Programming Manual page 161 7 2 Direct Telecommunication Connection 7 2 3 page 162 Settings in the Project for the PacDrive Controller gt Enter the object Modem in the control configuration EPAS 4 Untitled PLC Configuration A File Edit Project Insert Extras Online Window Help 18 x aleja aoee B f MA4 lt PacDrivem gt N Name VauefUrnt Rane Resources L Cg Allgemein 1 RemotelpAddress 0 0 0 0 Br Global Variables i 2 UserName ELAU E E library MAX4_VOOD7OO LIB 2T 77 Diagnose 3 Password ELAU library STANDARD LIB 24 9 5 Message logger Ed RamDisk CE PLC Configuration System EN Sampling Trace Hg Echtzeitbus RTB E Task Configuration Q Ausgangsgruppe lt OutputGra f ES VatioCam QQ Eingangsgruppe InputGrour s a Watch and Receipt Manager Messeingangsgruppe Input Modern Modem i ONLINE OV READ Fig 7 6 Object Modem in the control configuration Th
156. ks with longer processing time it is often necessary to increase the cycle time monitoring of a task tempora rily For this purpose you can use the function CycleCheckTimeSet Parameter Transmission For parameter transmission please note VAR IN VAR OUT Transmission of the value i e the value is copied This means that the transmission of the value requires memory space and time to copy the value to the new place Therefore avoid transmitting large variables ARRAY and STRUCT NOTE Data types of the control configuration MC 4 D IN are auto matically transmitted as a reference In case of a transmission for reference the variables in the program seem to be transmitted normally Internally however no copy of the variable but only a pointer is transmitted VAR IN OUT Transmission to the address of the variable The advantage is that no copy procedure is initiated which saves resources and time Programming Manual page 113 5 4 Designator Names 5 4 page 114 Designator Names The purpose of the following project conventions is to standardize the names for objects variables and instances of objects and variables The code and particularly the interfaces of function blocks and functions thus are easy to read and understand Code maintenance is facilitated This should be regarded as a guideline for PacDrive users and programmers as IEC 61131 3 does not prescribe those programming conventio
157. l the most widely used service a World Wide Web the second most widely used service a Usenet also called newsgroups FTP a data transmission service Inverter Enable Inverter Enable is a switching unit in the MC 4 MotorController and enables the operating mode safe stop In this operating mode the unintentional start of a stopped drive due to an error is prevented IP 20 Protection means according to DIN 40050 Protected against finger touch and against the intrusion of solid foreign objects with a dia meter of more than 12 mm IP 65 Protection means according to DIN 40050 Protected against touch dust and the intrusion of spraying water from any directions IP 66 Protection means according to DIN 40050 Protected against touch dust and against the harmful intrusion of powerful water jets IP 67 Protection means according to DIN 40050 Protected against touch and the intrusion of water with a certain pressure when submerging Programming Manual ELAU AG PD UserMan Glossar us fm PD UserMan Glossar us fm ELAU AG 14 Glossary ISDN ISDN Integrated Services Digital Network is a telecommunication standard that is widely used in Germany and Europe In ISDN all information is transmitted in digital form This makes it possible to transmit the signals for language text pictures and data through the same telephone line ISDN not only offers the possibility of using conventional telecommunication services It a
158. l unit RS 422 In functional terms the RS 422 interface is equivalent to the RS 232 interface but it uses a differential signal transmission and thus makes it possible to bridge greater distances even at higher trans mision speeds while being little prone to distortion RS 485 The RS 485 interface is a standardized serial interface In functio nal and electrical terms it is largely equivalent to the RS 422 interface and permits the connection of several terminals to a con nection cable bus Restart Summary term for hot restart and hot start at program start SCADA SCADA systems Supervisory Control and Data Acquisition con tain components for the control analysis monitoring storage and administartion of the information flow between the systems of the field level and the management level of a company This ensures the connection between the decentralized I O units and the machine controls on the one hand and the office computers of the mangement level on the other Programming Manual page 277 14 Glossary page 278 Scan rate Time in millseconds which tells in which time the set values of an axis are calculcated and compared to the actual values and then the differences are processed in the controller Sequential function chart SFC sequential function chart is a programming language to des cribe sequential and parallel control procedures with time and result control Server A server is a service pro
159. le load log file load log file delete log file delete log file MsgLogDelete load from file load from file Programming Manual page 147 6 4 Message Logger page 148 Functions save as file EPAS 4 Message log ger menu item Tools save as file IEC program RAM entry in message logger MsgLoglnsert Table 6 2 Functions of the messge logger and access types NOTE It is also possible to filter the message recording see EPAS 4 Online help Control Configuration MAx 4 MsgFilter or to filter only the display of the messages see next chapter Programming Manual ELAU AG PD UserMan Fehlersuche us fm 6 4 3 PD UserMan Fehlersuche us fm ELAU AG Filtering Messages 6 4 Message Logger The system messages in the message logger can be filtered in two ways m Filter when recording them from the system via the object para meter MsgFilter in the control configuration a Filter when displaying in EPAS 4 using the menu item TOOLS SET FILTER The message logger differentiates between 16 different message classes These classes can be switched on and off individualy Defined display filters v General system messages IV Diagnosis messages IV IEC Prg system blocks v Fieldbus info Filter type 5 p Filter type 6 Filter type 7 Filter type 8 Filter type 3 Filter type 10 p Filter type 11 Filter
160. le types used in existing producer specific PLC programming models With so called pro gram organization units POUs the program organization is made easier and more homogenous In earlier systems the implicit non transparent and producer dependent meaning of individual modules or module areas had made it difficult if not impossible even for experienced program developers to change to a PLC of another producer By structuring a POU into program function and function block a comprehensible depth was chosen making it possible to manage the complete application specific implementation Program This POU type represents the main program All variables of the complete program to which physical addresses are assigned such as inputs and outputs of the PLC have to be declared in this POU or on a higher level resource configuration Access to global variables and access paths Function A function describes a complex linking logic that has no memory i e no static variables A special feature of a function is that it will always return the same result if the input values are the same Example output input variable variable UND Verkn pfung englisch cdr Fig 4 3 The AND connection is a boolean standard funciton Function block If an intelligent module with a memory is needed the function block FB with local static variables offers the necessary basis An FB e g time or counter can return different results eve
161. lect Resource to change to the task configuration Ibn Y Cal T Fig 5 26 Selection of resources in the Object Organizer TONDNE OV RERD Select Task configuration to reach the corresponding editor Programming Manual ELAU AG PD UserMan Richtlinien us fm 5 7 Create a PacDrive project EPAS 4 Untitled PLC Configuration isla aoa Global Variables E library MAX4_V001100 L1B 8 3 01 10 16 08 global varia library STANDARD_ 001100 L1B 23 1 01 10 51 58 glot E a Message logger G PLC Configuration A Sampling Trace A Configuration BE VarioCam u Q Watch and Receipt Manager Fig 5 27 Select task configuration First you have to create a task now Click with the right mouse button and select Add task EPAS 4 Untitled Task Configuration KC E xjge ta xis eigo es Global Variables library MAX4 VOO1100 LIB 8 3 01 library STANDARD VO01100 LIB 3 Message logger PLC Configuration ex Sampling Trace Task Configuration R Weatch and Receipt Manager Fig 5 28 Add task Now give the task a name in the dialog box For the time being leave the priority at 31 As interval please enter 100 ms PD UserMan Richtlinien us fm ELAU AG Programming Manual page 125 5 7 Create a PacDrive project page 126 L Task configuration Taskattibutes Type cyclic freewheeling triggered by event tnggered by external event Properti
162. li 300 I 40050 Villanova di Castenaso BO Phone 39 051 7818 70 Fax 39 051 7818 69 e mail info elau it Internet www elau it NOTE Further contact addresses you can find on the ELAU homepage www elau de PacDrive page 285 15 Appendix 15 2 page 286 Further Literature ELAU can provide you with these manuals and instructions on the PacDrive System Project Manual Art No 17 13 00 58 00x DE EN FR Programming Manual Art No 17 13 00 61 00x DE EN Operating Manual MC 4 MotorController Art No 17 13 00 62 00x DE EN IT FR Operating Manual CAN L2 Art No 17 13 00 66 00x DE EN Operating Manual PROFIBUS DP Art No 17 13 00 67 00x DE EN Operating Manual SM Motor Art No 17 13 00 68 00x DE EN IT FR Operating Manual EPAS 4 Art No 17 13 00 70 00x DE EN Operating Manual MAx 4 PacController Art No 17 13 00 71 00x DE EN IT FR Operating Manual OPC Server Art No 17 13 00 73 00x DE EN Operating Manual Device Net Art No 17 13 00 76 00x DE EN Operating Manual HMI Libraries Art No 17 13 00 77 00x DE EN Operating Manual INC 4 Incremental Encoder Module Art No 17 13 00 78 00x DE EN Operating Manual CANopen Art No 17 13 00 79 00x DE EN Operating Manual VarioCam Editor ECAM 4 Art No 17 13 00 80 00x DE EN Operating Manual PacNet Module PN 4 Art No 17 13 00 81 00x DE EN Operating Manual SR Motor Art No 17 13 00 82
163. ling of Networks page 228 Tracert With the traceroute command tracert a route to a certain given IP target can be traced via up to 30 hops router gateway The speed of data transmission on the respective sections is proto colled as well E g tracert 10 205 0 1 shows the package route to the target 10 205 0 1 Pathping The command pathping sends data packages to each router on the way to the last network target IP address and then reports via the path of the packages from one router to the next As pathping indicates the extent of package loss in route segments or connections it can be detected exactly which routers or connec tions may be overloaded and are causing network problems Connection order If several network cards and several network protocols are installed on a computer in Windows XP Professional you can define the connection order of the respective network cards and protocols for the services using the respective protocols The connection order defines which protocol a service uses for the connection to another service or client and which network card is used for the connection To reduce the time for searching the necessary clients and ser vices place the most frequently used network card and protocol first Many services can establish connections with any protocol Network access however is controlled by the service Client for Microsoft Networks The connection order is shown on the tab Net
164. lowing prerequisites are fulfilled a The IP address of the local computer is valid and is shown pro perly on the GENERAL tab in the dialog field Internet protocol properties TCP IP or when using IPCONFIG a A standard gateway has been configured and the connection between gateway and host is ready Although several standard gateways can be configured from Windows 2000 the gateways after the first one are only used if the IP stack detects that the original gateway is not working In this case all other gateways should be deleted to make things easier Programming Manual ELAU AG PD UserMan Netze us fm PD UserMan Netze us fm Deleting the ARP cache ELAU AG 8 7 Coupling of Networks NOTE If there is a connection with a long delay to the remote system to which the ping signal is sent the reply may take longer The default time limit of four seconds can be extended with the parameter w wait Frequent error messages returned by ping Error message Meaning and action Time to live exceeded The number of required hops exceed the time during transmission to live TTL Extend the TLL by means of the parameter ping i Target host cannot be The sending host or a router has no local or reached remote route for the target host Update the routing table on the local host or router route add Request time excee No messages for the echo reply received ded within the given time standard setting 4 seconds
165. lso supports new types of communication e g picture phones The high trans mission speed makes ISDN the ideal transmission medium for remote diagnosis of packaging machines Ladder diagram LD LD ladder diagram is a programing language to describe networks with simultaneously working boolean electromechanical elements such as contacts and coils Limit switch Limitation switch in the travel of a machine Logic address Each object and each parameter in the control configuration has an unambiguous address by which it can be addressed Main shaft See electronic packaging machine Mains filter Facility to educt distortions from the power lines to PE Mass Mass is the total of all connected inactive parts of an operating means that cannot take on a dangerous contact voltage even in case of an error Master Master devices determine the data traffic on the bus If it has bus access rights a master is allowed to send messages without exter nal request Masters are also known as active participants Master cam Main or basic cam Moment of inertia Mass moment of inertia of a servomotor in the unit kgcm2 Programming Manual page 271 14 Glossary page 272 MotorController An electronic unit containing an amplification and control circuits for position speed and current of a servomotor The output size the power connection of the servomotor are modified in dependence on the set input value the set positioning va
166. lue Multi element variable Variable of the type Field or Structure composed of several data types Network Unit which is marked by the fact that the content of the actual result is not retained beyond the network boundaries OCX The term OLE Control Extension marks COMobjects which can depict themselves via a user interface Such COM based control elements are additions to the known Windows control elements such as button checkbox etc The term OCX has been replaced by the more general defintion ActiveX Control and is no longer used offline without connection OLE Object Linking and Embedding is a COM based mechanism for integrating different document types within a document OLE makes it possible e g to embed a spreadsheet in a text and use the functionality of that spreadsheet program within the text processing program OLE Automation OLE Automation defines a COM based mechanism that enables script languages macro languages of applications Java script Visual Basic etc the easy use of COM objects Programming Manual ELAU AG PD UserMan Glossar us fm PD UserMan Glossar us fm ELAU AG 14 Glossary OPC OPC is the abbreviation for OLE for Process Control The OPC Foundation has the aim of transforming the different interfaces used in process control and automation applications into a standar dized form in order to enable a smooth collaboration between control applications the fiels systems
167. ly a centralized user manage ment is introduced The users are broken down into different groups that have certain rights In a client server concept the tasks are divided One or several computers function as servers providing central resources and ser vices After successful login all other computers can access those as clients In larger networks different services are usually distributed on several specialized servers Typical server functions are file server print server mail server Web server proxy server New users are quickly integrated thanks to the centralized user management The user can log into the network under his own name at any com puter in the network and thus access the resources needed Higher costs for additional server computers server operating systems Client server operating system Operating systems providing centralized services that can be accessed by several clients e g Win2000 Server As existing peer to peer networks can be integrated in client server networks small companies can start out with peer to peer and later upgrade the network with a client server structure as needed Both concepts do not exclude each other but can be combined if and when needed Topologies The Term Topologies Difference between physical and logic topologies Networking causes data traffic and as with many other types of traffic you can differentiate between traffic routes and traffic rules i
168. ly with the subject and contact our application department IEC task state machine ready gt READY ready x c T ready start FINISHED RUNNING CRUNNIN STOPPED watchdog exc watchdog exc Fig 5 10 IEC task state machine The state of the task can be read with the help of the configuration object IEC Task Parameter State Value Designation Meaning 0 no task initialization state no task defined 1 READY ready task defined and ready to start 2 RUNNING running task is running Programming Manual page 107 5 2 The Structure of a Project page 108 Value Designation Meaning 3 CRUNNING cyclic operation task is running in cyclic operation 4 STOPPED stopped task stopped 5 BP standing at breakpoint task stopped by a breakpoint or single step 6 ERROR error a serious error occurred task suspended 7 FINISHED finished task has reached its end Table 5 1 Values of the IEC state machine Programming Manual ELAU AG PD UserMan Richtlinien us fm 5 3 PD UserMan Richtlinien us fm ELAU AG 5 3 ELAU Program Structure Measuring possibilities It is possible to measure the capacity utilization of the IEC tasks For this purpose you can use the IEC task object which you can insert in the control configuration The individual parameters are described in the EPAS 4 Onlin
169. meter at modem connection Programming Manual page 191 7 2 Direct Telecommunication Connection 7 2 6 page 192 Trouble Shooting NOTE In principle we recommend to make a test and carefully study the manual before commissioning Modem is dialling but the modem on the MAx 4 PacDrive Control ler does not take the call The modem on the PacDrive Controller is not or not correctly initialized If CON TROL CONFIGURATION MODEM in the parameter State shows offline the modem has been initialized Check if the InitString configures the modem for taking calls Cause 1 The parameter Com1User in EPAS 4 CONTROL CONFI GURATION GENERAL is not correct Handling Check the parameter Com1 User The parameter must be set to Modem or Auto Cause 2 The initialization string is not correct In this case the parameter State will show Exp InitString ERROR after the initialization Handling Check the initialization string in the parameter Exp InitString in the control configuration Cause 3 The modem is not connected correctly or initialized incor rectly In this case the parameter State will show Exp lnitString TIMEOUT Handling Check the power supply and the serial cable as well as the parameter Exp InitString Cause 4 The parameter ExplnitString is not correct Handling Check the parameter ExplnitString Cause 5 The chip set in your modem is no Rockwell chip set In this case the
170. min 0 nmin brake relay closed NC BrakeCoupling Time 1 i y torque 0 0 t 1 error reaction B 9 1 Ready closed 0 i Fig 10 9 Time diagram Overload Maximum stopping time exceeded ELAU AG Programming Manual page 243 10 Time Diagrams MotorController page 244 When the system switches off due to overload time 1 the drive is controlled with reference to the overload position The overload position is the actual position at the time when the overload switch off occurs If the drive does not reach the overload position within the maximum stopping time of 800 ms time 2 the error message ramping down time exceeded is triggered with error reaction B and the motor is brought to a controlled stop As soon as the actual velocity drops below the velocity limit time 3 actual velocity lt nmin the brake relay drops After the BrakeCouplingTime time 4 the drive is switched torque free The drive is brought to a stop in this way if CoastOption for error reaction B is not active bErrorCoast FALSE LEGEND Absolute values are noted directly on the axes They give a value referring to the zero point of the axis Differences are noted in curly brackets The bracket gives the cor responding range Programming Manual ELAU AG g us fm PD UserMan ZeitDia 11 11 1 11 2 11 3 11 4 PD UserMan Versionsk us FM ELAU AG 11 1 Version Designat
171. moment After selecting the component and clicking on the button Go to the selected component is loaded into a window and the line or network where the processing is at the moment is shown Document and Save the Project NOTE Again you should not forget to document and save four project See also Document and Save a Project page 130 Programming Manual ELAU AG PD_UserMan_Richtlinien_us fm 6 Error Search Strategies 6 1 Method In this chapter we will try to make it easier for you to look delibera tely for errors in your system 6 1 Method LEDs on the units The LEDs permit first conclusions as to the cause of see LEDs the error control With the help of object parameters the error can be see Control configuration narrowed down further in the control configuration Configuration The message logger permits a detailed error analyis Thanks to the error history even following errors see message logger can be recognized easily The message logger is the most important tool for error analysis in the PacDrive M system Message Logger Table 6 1 Method for commissioning PD_UserMan_Fehlersuche_us fm ELAU AG Programming Manual page 143 6 2 LEDs 6 2 page 144 LEDs From the LEDs first conclusions as to the cause of an error are possible The LEDs are contained in the chapter Configuration Programming Diagnos
172. motor revolution In principle positioning accuracy and regulating quality are the better the higher the position resolution In general resolvers have a position resolution of 4 096 to 65 000 increments per motor revolution High resolution SinCos encoders as used in the PacDrive system have a resolution of 1 000 000 increments per motor revolution Programming Manual ELAU AG PD UserMan Glossar us fm PD UserMan Glossar us fm ELAU AG 14 Glossary PROFIBUS PROFIBUS is a manufacturer independent open field bus stan dard for applications in manufacturing process and building automation Manufacturer independence and openness are gua ranteed by the international norm EN 50 170 PROFIBUS enables the trouble free communcation between devices of different manu facturers without any special interface adjustments PROFIBUS is suitable both for fast time critical data transmission and for com prehensive and complex communication tasks PROFIBUS consists of a family of 3 compatible variants PROFIBUS DP PRO FIBUS FMS and PROFIBUS PA The PROFIBUS connections of ELAU AG are based on PROFI BUS DP PROFIBUS DP is specially designed for the communication between automation systems and decentralized peripheral units on field level and is characterized by high speed and low connection costs PROFIBUS DP is based on a bus struc ture and uses a transmission technology according to RS 485 or fiber optic technology The transmission
173. munication network To check if the telecommunication network is already installed select the menu item Software from the Control Panel J Control Panel ioj x File Edi View Help J m U 9 m u Accessibility Add New 2 f Ws Date Time Display Fonts Game Options Hardware S Controllers AQ 2 Oa 55 Indexerstellung Internet Keyboard Mail Microsoft Mail Modems Mouse Postoffice Multimedia Network Passwords Power Printers Regional Sounds Settings B Sets up programs and creates shortcuts Fig 7 7 Control panel Win 95 98 PD UserMan Teleservice us fm ELAU AG Programming Manual page 167 7 2 Direct Telecommunication Connection gt Inthe register sheet Windows Setup select the component Connections and click on the button Details Add Remove Programs Properties Communications O Microsoft Fax Fig 7 8 Properties of Software Windows Setup Markthe item Telecommunication network if it is not marked already Communications v Fa Dial Up Networking O 5 Direct Cable Connection O S HyperTerminal O amp Microsoft NetMeeting O amp Phone Dialer Fig 7 9 Connections gt Confirm your selection by clicking on the button OK This starts the installation of the telecommunication network which requires your Windows installation CD The telecommunication net work will be available after restarting your PC As the TCP IP protocol will be installed in the next s
174. n END FUNCTION NOTE IEC 61131 3 defines standard functions which are supported by most implementations These standard functions are explained in detail in the Programming Manual Reference Programming Manual page 45 4 2 IEC 61131 page 46 Function Blocks Function blocks are used to set input output and internal variables States of an FB call are buffered from cycle to cycle In that pro cess the program code of the FB creates changes of the input output and internal variables Only the input and output variables can be reached from the calling program Calls from other FBs are allowed from all languages into all languages Example FUNCTION BLOCK Counter Declaration part VAR INPUT iMode INT O Reset 1 Count END VAR VAR OUTPUT iCounter INT actual counter value END VAR Instruction part IF iMode 0 THEN iCounter 0 Reset ELSEIF Mode 1 THEN iCounter iCounter 1 ENDIF END FUNCTION BLOCK NOTE IEC 61131 3 defines standard function blocks which are supported by most implementations These standard function blocks are explained in detail in the Programming Manual Reference IEC 61131 3 provides for the instancing of function blocks An instance is a structure in which all internal variables inputs and out puts of a call of an FB are stored In consequence a program which calls FB1 five times has five instances of FB1 one for each call The advantage of this rat
175. n numerous but mostly short lived attemps were made to find a pro gramming language that facilitates the change from the traditional detailed wiring diagram to the PLC program The programming lan guages Function Block Diagram Ladder Diagram and Instruction List were developed then At that time however developers failed to define a universally bin ding standard for programming PLC systems In consequence each producer had specific characteristics in the programming lan guages Function Block Diagram Ladder Diagram and Instruction List Therefore company standards emerged in various geographic regions such as Siemens STEP 5 in Europe Allen Bradley in the U S and MITSUBISHI in the Far East Programming Manual page 27 4 2 IEC 61131 4 2 page 28 IEC 61131 In recent years the complexity of the applications and thus the pro gramming costs grew at a superproportional rate The producer specific standards did not ensure that the programs could be re used Due to the above reasons the so called IEC standard EC 61131 was worked out at the beginning of the 1990s under the lead of the International Electrotechnical Commission IEC Within the context of this process the new languages Structured Text ST and Sequential Function Chart SFC were defined in addition to the existing languages Ladder Diagram LD Function Block Diagram FBD and nstruction List IL IEC 61131 sums up the require ments for a modern PLC syst
176. n the IT sector as well Programming Manual ELAU AG PD UserMan Netze us fm 8 2 2 PD UserMan Netze us fm ELAU AG 8 2 Topologies Physical Topology The physical topology of a network refers to the traffic routes the physical structure of the network is described In simpler terms The form in which the cables are laid in a wire based communication system The most important basic forms of topology a Bus Star Loop In practice you will often find combinations of bus star and loop Logic topology The logic topology of a network describes the basic traffic rules on the communication routes including who is allowed to access the transmission medium Relation In practical implementation the two terms are closely related so that normally a certain physical topology entails a certain logic topo logy However physical and logic topology need not be identical Bus All devices are connected to the same cable The bus topology is characterized by a single central cable known as bus All devices are connected to that bus and have to share that medium Programming Manual page 205 8 2 Topologies Fig 8 1 Bus topology Advantages of bus topology Relatively low costs as it requires the smallest amount of cable The failure of one station does not cause problems in the rest of the network Disadvantages of bus topology All data are transmitted via a single cable one conductor Da
177. n IL LD8 DIV2 STvarl Example in ST Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 varl 8 2 MOD Modulo Division of a variable of the BYTE WORD DWORD SINT USINT INT UINT DINT UDINT REAL and LREAL types by another variable of one of the same types The function delivers as result the integer remainder of the division Example in IL LD 9 MOD 2 ST varl result is 1 Example in ST varl 9 MOD 2 INDEXOF This function delivers as result the internal index of a block Example in ST varl INDEXOF baustein2 SIZEOF This function delivers as result the number of bytes required by the data type Example in IL arrl ARRAY 0 4 OF INT varl INT LD arrl SIZEOF ST varl result is 10 Example in ST varl INT pt ADR pt SIZEOF INT Bitstring operators AND Bitwise AND of bit operands The operands should be of the BOOL BYTE WORD or DWORD types Example in IL varl BYTE LD 241001 0011 AND 241000 1010 ST varl result is 241000 0010 Example in ST varl 2481001 0011 AND 241000 1010 OR Bitwise OR of bit operands The operands should be of the BOOL BYTE WORD or DWORD types Programming Manual page 75 4 2 IEC 61131 Example in IL varl BYTE LD 241001 0011 OR 2411000 1010 ST varl result is 2451001 1011 Example in ST Varl 2481001 0011 OR 2481000 1010 XOR Bitwise XOR of
178. n if the input data are the same e g regarding a time or counter According to the new norm each instance of an FB has its own encapsulated data range where the calculations are done the instance see below In order to standardize typical PLC functionalities the new standard introduced standard functions and function blocks This ibrary is an important basis for uniform producer independent programming of PLC systems Programming Manual page 43 4 2 IEC 61131 page 44 Example The switch on delay TON Timer ON is a function block standard FB If the Boolean variable 1 is created at INPUT IN the link time PT time value is started If the time ran out output Q takes on the Boolean variable 1 At output ET elapsed time the present actual value of the time can be read TON BOOL IN Q BOOL TIME PT ET TIME Einschaltverz gerung cdr Fig 4 4 Switch on delay TON Timer ON In summary a POU can be regarded as a unit that can be transla ted by the compiler of a PLC programming environment independently of other program parts The properties of a POU allow for a wide reaching modularization of the application program and the re use of implemented and tested software modules In order to enable program modules to access POUS at least the declaration of the call interface is required prototype Translated program parts can later be linked into a joint program linker In contrast to some high level
179. n network gt button More gt Entry and modem settings gt Security gt Any authenti fication Cause 3 Handling Telecommunication connection properties set incorrectly Win9x under Telecommunication network gt button Pro perties gt register Server types deactivate everything except TCP IP Type of telecommunication server Internet WIN NT Server WIN9x WIN NT Telecommunication network gt button More gt Edit entry and modem settings gt register Server gt Type of telecommunication server PPP Internet WIN NT Server WIN9x activate TCP IP and LCP extensions deactivate all others Cause 4 Handling TCP IP protocol could not be started because IP addres ses are invalid e g reserved IP addresses were used Use a valid IP addresses Cause 5 Handling The parameter RemotelpAdaress in Control configuration Modem is not identical with the value in the telecommuni cation network Check settings at WIN9x Telecommunication network gt button Proper ties gt register Server types gt button TCP IP settings WIN NT Telecommunication network gt Button More gt Edit entry and modem settings gt register Server gt button TCP IP settings Cause 6 Handling The modem settings are not identical Set 8 data bits no parity 1 stop bit WIN9x Telecommunication network gt Properties
180. n the PacDrive Controller a project containing a modem object must be loaded and the parameter Com 1 User of the MAx 4 PacDrive Controller must have the value Modem 1 or Auto 2 Programming Manual ELAU AG PD UserMan Teleservice us fm 7 2 Direct Telecommunication Connection PD UserMan Teleservice us fm ELAU AG EIER I Werl RemoteIpAddress Locallp ddress UserName ELAU Password ELAU InitString AT amp F EO QO V1 850 amp C1 BRO 50 2 ExpInitString AT ms 0 State Init 0 E Steuerungskonfiguration E Steuerungskonfiguration Er Max 4 lt PacDrivem gt i 73 Allgemein Diagnose Versionen wonse un ejz E Memory amp Disks E System Hg Echtzeitbus lt RTB gt Q Ausgangsgruppe lt OL p Eingangsgruppe Inp 0 Messeingangsgruppe Bild 7 4 Configuration of the modem The modem is then recognized automatically when the PacDrive controller is booted as long as it is switched on when booting and connected to the COM port If no modem which is on is detected the COM port is released for serial EPAS 4 communication See also Settings in the Project for the PacDrive Controller page 162 The MAx 4 PacDrive Controller monitors the serial port until the modem answers an incoming call and then establishes a connection The call is initialized by the telecommunication network of the remote PC When dialling up the user has to enter the user name and the password entered in
181. nally via light impulses i e only in one direction which is why at least two fibers lanes per cable are needed The light impulses are transmitted by means of a laser diode or LED High transmission rates gigabit range and long distances m Good safety against disturbing radiation and taping There are two different modes of fiber optic cables The light runs practically parallel in the glass fiber core so that light reflections dispersion are minimal 100GHz x km The core is thicker than the monomode fiber dispersion increases a iGHzxkm MAC Address A worldwide unique address is burnt into every network card Standardized structure of a MAC media access control address 00 20 AF B7 32 29 Fig 8 6 Structure of the MAC adaress The MAC address is shown by entering ipconfig all or GetMac at the input prompt Programming Manual page 211 8 4 Access Methods 8 4 8 4 1 Sending pro cedure Collision detection page 212 Access Methods CSMA CD The access method of the Ethernet is CSMA CD carrier sense multiple access with collision detection Each station can start sending whenever it wants The individual stations have competing access to the common transmission medium at any time multiple access When a station is sending the signals are transmitted via the cable in both directions By means of regulation you try to minimize the risk that two stations start sending at the s
182. nd Support Center at http go microsoft com fwlink events asp Data Bytes O Words 0000 Oc 14 00 00 Fig 8 10 Dialog window Properties of Event The display of events enables you to monitor events in the system Windows XP starts the event protocol service by default A typical protocol entry is composed of the header and a description Programming Manual ELAU AG PD_UserMan_Netze_us fm PD UserMan Kennwerte us fm ELAU AG System Data 9 System Data Size Value IEC tasks max 64 IEC program code code size 2 MByte IEC data area data size 2 MByte in versions V00 07 00 1 MByte IEC variable area data size 3 x 64 kByte markers 64 kByte inputs 64 kByte outputs 64 kByte IEC retain variable NvRam MAx 4 size 1 kByte data retention max 7 days flash Disk MAx 4 with UPS object Size 64 kByte data retention 100 years write cycles max 100 000 NvRam with PN 4 module size 101 kByte data retention max 7 days without battery battery buffer can be done internally or externally Maximum variable sizes Array 128 kByte 32 kByte V00 12 00 Struct 128 kByte 32 kByte V00 12 00 global variable list 128 kByte 32 kByte V00 12 00 size of all variables of a POU of the type FB including POUs called up 128 kByte 32 kByte lt V00 12 00 stack depth for functions 10 kB
183. ndard HMls are used Whether low cost clear text or IPC no problem for the flexible MAx 4 The highlights of the MAx 4 PacController m Pentium controller hardware a VxWorks real time operating system a IEC 61131 PLC and motion control a Coordinates up to 47 axis Standard interfaces to low cost operating panels or PC based HMI a compact book size case m Ethernet interface a Standard field busses a VarioCam Motion Control a SERCOS drive bus PacDrive page 23 3 System Overview Leading edge technology Highly dynamic servo motors page 24 MC 4 MotorController The digital MC 4 MotorController is characterised by its compact and autonomous structure suitable for wall mounting as well as its leading edge technology The innovative MC 4 has the mains supply unit end stage and software regulator for one axis integrated in a compact casing As it communicates with the PacController or PacPC only via fibre optical cable it is also suitable for a decentralized structure It requires no user program comes with single and multi turn processing features as standard and configures itself with the help of the electronic name plate in the SM motor The highlights of the MC 4 MotorController a World wide voltage range a Integrated mains supply unit a Max power 34 5 69 kVA Automatic motor recognition a Minimum size a Safety input Inverter Enable 250 overload Integrated SERCOS interface a few types SM
184. net works The elements can be placed freely The elements in the processing list include function block input output jump label return and comment The inputs and outputs of those elements can be linked by dragging the mouse The connecting line is drawn automatically An advantage of the continuous function chart CFC is that feed backs can be inserted directly CPU Central Processing Unit micro processor CUL Products bearing the CUL sign meet the safety standards for the Canadian market Canadian safety standards may differ in detail from the US standards of UL Current regulator The current regulator regulates the difference between set current value and actual current value to 0 Cv Designator for the rated speed gt see VDI 2143 Meaning Cv lower required drive torque due to static strain spring force gravity usable force lower Cycle One round of the application program which is checked periodically Cycle time The time an application program needs for a cycle DC circuit Rectified and smoothed power supply ELAU AG Programming Manual page 263 14 Glossary page 264 DCOM The Distributed Components Object Model expands the COM stan dard so that COM objects can be used across computer limits DCOM is an optimized protocol which enables a client to use a COM object on another computer For this purpose the calls to the COM object are packed in data packages transported via a net
185. nnnnnnnnnnnannnnnnnnnnn nn 12 2 3 Seas Directed c e 13 2 4 Selection and Qualification of Staff 22sumnsnsennnnnnnnnnnnnnnnnnnnn nn 14 2 5 Residual RISKS uns nee 14 2 5 1 Installation and Handling een 15 2 5 2 Protection against Touching Electrical Parts 16 2 5 8 Safely Separated Low Voltages esessesseeeeee 17 2 5 4 Potentially Dangerous Movements sse 18 3 System Overview 19 3 1 Drive Concepts of Packaging Machines seseeees 19 3 2 Structure of the PacDrive Automation System sssss 21 3 3 GONMCS ee 22 3 4 MORMON c RR T TC 23 4 The Basics of IEC 61131 25 4 1 Programmable Logic Controls ccccccceeeeeeeceeeeeeeeeeeesneeeeseeneeeeeeesas 25 4 2 ceri SL nee ee ee ae en aetna radatane 28 4 2 1 The Programming Model trm terree nettes 29 422 Tne Communication Model rite tnrba ded ore 31 4 2 3 Program Organization Units POU ssesssseeeeeee 43 4 2 4 The Programming Languages ummssrnnssnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnannn 49 42 5 JXODpBralOls Eee een eemehne 71 42 6 Oper ndS E EE 87 ABT References ea ee ee ee 92 4 3 Special Features of the PacDrive uuuuussssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 93 4 3 1 General Function 4e ett ce eost oe bnc etd ee edis 93 4 3 2 Data Types of the Control Configuration
186. nosis messages are only reset by quitting Example DiagCode 3117 DiagExtCode 1 1 3117 DiagMsg MC 4 axis1 motor temperature too high In case of axis specific errors sender MC_4 the MC 4 MotorCon troller object parameters DiagCode and DiagMsg are triggered The contents of the parameters arise in analogy with the MAx 4 PacDrive Controller diagnosis parameters The same rules apply for updating Example DiagCode all DiagMsg motor temperature too high NOTE For further information please see EPAS 4 Online help chapters Control Configuration and Diagnosis Programming Manual page 145 6 4 Message Logger 6 4 6 4 1 page 146 Message Logger Function The message logger records system diagnosis and usage messa ges in a message log buffer in the RAM range of the MAx 4 PacDrive Controller The errors are recorded in chronological order in a ring buffer approx 325 entries A time stamp ms since system start the time object instance diagnosis code external diagnosis and mes sage text are recorded As the message buffer in the RAM can only be buffered for a maxi mum of 7 days in case of power failure it is possible to save the message log buffer in a messge log file on the disk in the MAx 4 PacDrive Controller The MAx 4 PacDrive Controller can save several message log files on its disk The message log files can be transmitted from the MAx 4 PacDrive Controller to the PC with the help
187. not be put into operation until it is guaranteed that the useable machine or the plant in which the motor is installed meets in its entirety EC directive 98 37 EC machine directive In addition observe the following norms directives and regulations DIN EN 60204 Safety of machines Electrical equipment of machines DIN EN 292 part 1 and part 2 Safety of machines Basics general design guidelines DIN EN 50178 Equipment of high voltage plants with electronic operating means a EMC directive 89 336 EEC PacDrive page 13 2 4 Working on electrical equipment 2 5 page 14 Selection and Qualification of Staff This manual is aimed exclusively at technically qualified staff with detailed knowledge in the field of automation technology Only qualified staff can recognize the significance of safety notes and implement them accordingly This manual is aimed in particular at design and application engineers in the fields of mechanical and electrical engineering at programmers service and commissioning engineers Work on electrical equipment must only be done by qualified electricians or by instructed staff supervised by an electrician according to the electrotechnical rules An electrician is a person who due to his vocational training know how and experience as well as knowledge of the valid regulations is able to a evaluate the work he is supposed to do identify potential risks implement suitable safety measure
188. nput connection operator alloca tion of actual parameters to formal parameters at POU call 3 instruction operator Table 4 14 Operators Operators of equal rank are evaluated from left to right Rank highest Operation Operator I bracketing i function evaluation function name argument list exponentiation negation complement NOT multiplication division modulo MOD addition subtraction comparison gt lt gt lt equality inequality lt gt AND AND amp exclusive OR XOR OR OR page 72 Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG EL NENNEN NN lowest allocation 4 2 IEC 61131 Operator Table 4 15 Operators priority and associativity Further operators Name Function Description TO TRUNC conversion of a REAL into an INT value BCD TO conversion of a BCD value e g into an INT TO BCD conversion e g of an INT value into a BCD value Table 4 16 Operators for type conversion Data type of the input e g REAL a Data type of the output e g INT Further operators Name Function Description ABS absolute value F IN SQRT square root F VIN LN natural logarithm F loge IN LOG logarithm to the base of 10 F logy IN EXP exponent to the base e
189. ns The designators should all be named with the same prefixes so that the object type can easily be identified M Prefix Type Example TASK Task TASK Main FB Function block FB Pos ST Structure ST BufferEntry E Enumeration type ENUM E PosStates T Reference TYPE T Nibble P Program P Main F_ Function F_Convert Table 5 2 Defining object names Prefix Type Example fb Instance name of a function block fbPos st Instance name of a structure stBufferEntry e Instance name of an enumeration ePosStates type ENUM none Instance of a reference type Nibble Table 5 3 Generate the instances of the object names Give your variables talking names We recommend two prefixes Scope prefix type prefix Scope prefix no prefix local variable bName Programming Manual ELAU AG PD_UserMan_Richtlinien_us fm 5 4 Designator Names Scope prefix Type Example input bSleighThere Oo output O bValveOpen g global variable g_bName Ss static variable constant s bName r_ reference e g to object MC_4 r_MC_4 Table 5 4 Scope prefixes Type prefix Type Keywords Example b BOOL boolean 1 bName C BYTE bit string 8 8 cName w WORD bit string 16 16 wName lw DWORD bit string 32 32 IwName si SINT short integer 8 siName i INT integer 16 i
190. nsmit the states ON or OFF from left to right These states correspond to the Boolean values TRUE and FALSE To each con tact belongs a Boolean variable If the variable is TRUE the state will be transmitted via the connecting line from left to right Other wise the right connection has the value OFF Example for a network in the Ladder Diagram as it could typically look in EPAS 4 left contact rail right contact rail at X1 1 Kita MX Lamp2 fl 1 H 1 1 1 1 network contact call of a coil number function block Fig 4 12 Network in Ladder Diagram Contact On the left side each network in the Ladder Diagram consists of a network of contacts represented by two parallel lines which transmit the state ON or OFF from left to right These states correspond to the Boolean values TRUE and FALSE To each contact belongs a Boolean variable If the variable is TRUE the state will be transmitted via the connecting line from left to right Otherwise the right connection has the value OFF Contacts can be switched parallel In this case one of the parallel branches has to transmit the value ON for the parallel branch to transmit the value ON If the contacts are switched in line all con tacts have to transmit the state On for the last contact to transmit the state ON The contact connections correspond to an electric parallel connection and serial connection respectively A cont
191. nt speed brake relay closed motor torque BrakeCouplingTime Ready closed 0 Fig 10 5 Time diagram Error reaction B Ramping down within stop time limit In case of an error with error reaction B time 1 the drive ramps down with maximum current and the ready contact is opened The drive comes to a stop before expiry of the StopTimeLim time 4 As soon as the actual velocity drops below the velocity limit time 2 actual velocity nmin the brake relay drops After expiry of the BrakeCoupling Time time 3 the motor is switched torque free Thus the drive is ramped down error free if CoastOptionis not active for error reaction B bErrorCoast FALSE 10 3 2 Stop Time Limit Exceeded In case of an error with error reaction B the following behavior occurs if ramping down is not completed within the stop time limit page 238 Programming Manual ELAU AG g us fm PD UserMan ZeitDia g us fm PD UserMan ZeitDia 10 3 Error Reaction B 1 error reaction B g AxisState 23 0 MC4State 0x30 0x08 0x06 0x02 without brake Se NER y with brake nmin T Wns SoG SESH a Ss a as ee seine Beeren RT EIERN EEE current speed brake relay closed 0 StopTimeLim t motor torque z BrakeCouplingTime i Ready closed 0 0 t Fig 10 6 Time diagram Error rection B Stop time limit exceeded In case of an error with error reaction B
192. nts such as component carriers with system bus power unit central processing unit and application storage digital inputs and outputs and intelligent components for analog data processing or drive control For the input and output level a standardized voltage of 24 V has been set By means of the standardized voltage a resistance that complies with the industrial environment was achieved The software comprises the operating system and the application program The operating system manages the system resources and the organizational functions In addition the operating system ensures a controlled start after the operating voltage is switched on it takes charge of error management and enables the exchange of information via communication groups It coordinates the execution of the application program which maps the logic course of the con trol task Programming Manual page 25 4 1 Programmable Logic Controls page 26 Controller SN Power On Delete the remanent Marker Counter Times and the output image Operating System Start Stop Save inputs in the input image 3j4 Inputs etc PLC program active Send output image to the outputs J Outputs Fig 4 1 Flow structure of a classical PLC An PLC starts processing the application program immediately after it is switched on in th
193. o PLC Configuration id File Edit Project Insert Extras Online Window Help alaa aaa B f MAx 4 lt ParDriveM gt Insert Element Append Subelement 35 Resources Global Variables i Globale Variablen Vartiablen_Konfiguration VAI pe Sampling Trace ig Task Configuration BE VarioCam 9 Input group InputGroup Fig 5 43 Add a logic encoder to the configuration gt Select logic encoder C t jt AT S library MAX4_VODOSOD LIB 5 7 3 ES a ra rid TANBANBIUD 24 93 38 Paste ae essage logger Delete DE RER PLC Configuration SW OUTPUT SICUT UUIDUIGTOUP pos 9 Measure input group Input Incremental Encoder Interface UES gt Assign the symbolic name MasterEncoder to the logic enco der EPAS 4 UserMan Project 1 Stepl pro PLC Configuration iA File Edit Project Insert Extras Online Window Help aau Hee 25 Resources 2 C3 Global Variables Q Globale Variablen s Variablen Konfiguration V library MAX4_VO00500 LIB 5 7 3 library STANDARD LIB 24 3 38 1 Message logger PLC Configuration ei Sampling Trace E Task Configuration ES VarioCam R Watch and Receipt Manager Fig 5 44 Assign symbolic name for logic encoder User Program Hg Real time bus RTB ES Output group lt OutputGroup gt e Input group InputGroup e Measure input group lt InputGroupMeas
194. ocol serves for packaging and package swit ching via IP addresses IPSec IP Secure Extends the regular IP protocol by a number of security mechanisms FTP File Transfer Proto Serves for data exchange between col computers and is located on appli cation level HTTP Hypertext Transfer Serves for the transport of HTML Protocol Hypertext Markup Language pages and is located on application level Telnet Telecommunication Terminal emulation for host commu Network Protocol nication Telnet is located on appli cation level SMTP Simple Mail Trans For sending e mails located on fer Protocol application level POP Post Office Protocol For receiving e mails located on user level Programming Manual page 215 8 6 TCP IP page 216 ARP Address Resolution For resolving logic IP addresses into Protocol physical MAC addresses Table 8 3 Overview of important protocols c c c c Ke oe e 9 t ow E 5 w go eS 3 2 ag ao a 7 amp l88 8 8 a IES ERS a E se z LL o 5 n 2 5 72 4 3 2 data protection data protection Ethernet LAN z B X25 HDLC physical layer e g Twisted Pair 100 Mbit s physical layer Fig 8 7 Structure of protocols and services and their location in OSI layers Port number As different services such as FTP Telnet SMTP or HTTP can be called at the same IP address in a computer that can be reached by TCP an additional marker is
195. ogramming Manual page 55 4 2 IEC 61131 Example IF COUNTER 10 THEN RETURN END IF IF instruction alternative branching With the IF instruction a condition can be checked and dependent on this condition instructions can be executed Syntax IF Boolean expressionl THEN IF instructions ELSIF Boolean expression2 THEN lt ELSIF_instructionsl gt ELSIF Boolean expression n THEN ELSIF instructions n 1 gt ELSE ELSE instructions END IF The part in curly brackets is optional If Boolean expression is TRUE then only the IF instructions will be executed None of the other instructions will be executed Otherwise the Boolean expressions will be evaluated in line begin ning with Boolean expression2 until one of the expressions is TRUE Then only the instructions after this Bool expression and before the next ELSE or ELSIF will be evaluated If none of the Boolean expressions is TRUE then only the ELSE instructions will be evaluated Example IF temp lt 17 THEN heating on TRUE ELSE heating on FALSE END IF In this case the heating will be switched on if the temperature falls below 17 degrees centigrade otherwise it will remain off CASE instruction multiple choice With the CASE instruction several conditional instructions with the same conditional variable can be combined in one construct Syntax Programming Manual ELAU AG PD UserMan IEC us fm PD
196. ol XOR XOR Bool OR OR weakest Table 4 11 Binding strength of operations The table below shows the instructions available in ST along with examples Instruction type Example assignment A B CV CV 1 C SIN X call of an FB and use of CMD TMR IN IX5 PT 300 the FB output A CMD_TMR Q RETURN RETURN IF D B B IF D lt 0 0 THEN C A ELSIF D 0 0 THEN C B ELSE C D END_IF ELAU AG Programming Manual page 53 4 2 IEC 61131 Instruction type CASE Example CASE INT1 OF 1 BOOL1 TRUE 2 BOOL2 TRUE ELSE BOOL1 FALSE BOOL2 FALSE END_CASE FOR J 101 FOR 1 TO 100 BY 2 DO IF ARR I 70 THEN J sl EXIT END IF END FOR WHILE J 1 WHILE J lt 100 AND ARR J lt gt 70 DO J J 2 END_WHILE REPEAT J 1 REPEAT J J 2 UNTIL J 101 OR ARRIJ 70 END_REPEAT EXIT EXIT empty command Table 4 12 Commands in ST Instructions in Structured Text As the name suggests Structured Text was developed for structu red programming It offers set structures for programming certain constructs that are used rather often such as loops The advantages are a lower error probability and a more structured program Here is a comparison of equal program sequences in IL and ST A loop for calculating powers of two in IL Loop LD Counter EQ 0 JMPC end LD Varl MUL 2 ST Varl
197. olean variable is TRUE if the step is active and FALSE if the step is inactive This variable is declared implicitly and can be used in each action and transition of the SFC block In a control cycle all actions which belong to active steps are exe cuted Next the respective following steps of active steps will become active if the transition conditions of the subsequent steps are TRUE The now active steps will only be executed in the next cycle IEC step In addition to simplified steps norm conformous IEC steps are available in SFC Any number of actions can be assigned to an IEC step The actions of IEC steps are available separately from the steps and can be used more than once within their block For that purpose they have to be associated with the individual steps with the command EXTRAS ASSOCIATE ACTION Alongside actions also Boolean variables can be assigned to steps The actions and Boolean variables can be activated and deactivated with so called qualifiers partly with time delays Since an action can still be active even if the next step is already being processed e g by qualifier S Set ancillarities can be achieved The associated actions to an IEC step are indicated to the right of the step in a split box The left field contains the qualifier and maybe also a time constant while the right field contains the name of the action Example for an IEC step with two actions In order to make it easier to follow
198. on Connect using a modem and a regular phone line or an Integrated Services Digital Network ISDN phone line Virtual Private Network connection Connect to the network using a virtual private network VPN connection over the Internet Bild 7 38 Network connection assistant 2 New Connection Wizard Connection Name Specify a name for this connection to your workplace Type a name for this connection in the following bos Company Name For example you could type the name of your workplace or the name of a server you will connect to Bild 7 39 Network connection assistant 3 page 184 Programming Manual ELAU AG PD UserMan Teleservice us fm PD UserMan Teleservice us fm 7 2 Direct Telecommunication Connection New Connection Wizard Phone Number to Dial What is the phone number you will use to make this connection Type the phone number below Phone number m f You might need to include a 1 or the area code or both If you are not sure you need the extra numbers dial the phone number on your telephone If you hear a modem sound the number dialed is correct Bild 7 40 Network connection assistant 4 New Connection Wizard Completing the New Connection A Wizard You have successfully completed the steps needed to create the following connection Dial up Connection Share with all users of this computer The connection will be saved in the Netwo
199. or lrYFactorl lrXLimMin 0 0 lrXLimMax g lrPartLength bXLimMinOn TRUE bXLimMaxOn TRUE iXSetposMode ABSOLUTE PD UserMan Richtlinien us fm ELAU AG Programming Manual page 137 5 8 Expansion of the Example by Positioning Functions 5 8 5 page 138 lrXSetposPos 0 0 iYSetposMode ABSOLUTE lrYSetposPos 0 0 bReset bCamReset bCamReset FALSE IF CAM 1Result 0 THEN Schlz DC 0 bCamReset TRUE g lState 1 g 1State_14 1 END IF cyclic cam 1st cycle must have different position manupula tion 6 start cyclic cam Now you have to program the positioning coordinates NOTE The complete example project can be found on the EPAS 4 CD gt Create a new task in the task configuration and enter the pro gram conveyer belt Please note that the priority of the pro gram conveyer belt must be higher than that of the equipment on indicator Set priority 2 30 As interval time select 10 ms so that the cams can be linked fast enough and there will be no jumps in the positioning movement Fig 5 45 Task configuration with the two tasks of different priorities Observe amp Operate Transmit the project Now log into the PacDrive Controller as described above Program test debugging In addition to the possibilities presented in the first version of our project there are further possibilities which are desribed below Single step The prog
200. or EPAS 4 if you use telservice via modem connection Principle In principle teleservice via a direct telecommunication connection with a modem and EPAS 4 enables the user to use all the functions that are available in case of a direct connection WARNING Restricted view of the machine Risk of injuries and material damage gt Only do teleservice if a qualified person is available on site i e at the machine Programming Manual page 157 7 2 Direct Telecommunication Connection page 158 Always keep in touch with this person e g via telephone or video conference The prerequisite for this is a modem connection on client and server side Client Modem Modem Server F g T Telephone Network Fig 7 3 Direct telecommunication connection You can use an analog or ISDN modem If you use an ISDN modem make sure that not the normal ISDN driver but an analog modem emulator is active on the client computer The connection to the server requires an analog modem as ISDN is not yet supported Again the TCP IP protocol must be installed on both sides Client and controller must have an IP address which the user can assign himself Only those two computers are connected so that you need not check if those IP addresses are already being used by other computers The modem is connected to the serial port COM1 of the MAx 4 PacDrive Controller To start the PPP server which controls the connection i
201. or a certain time Limited Table 4 13 Qualifier in SFC Programming Manual page 63 4 2 IEC 61131 page 64 Alternative branch Two or more branches in SFC can be defined as alternative bran ches Each alternative branch has to begin and end with a transition Alternative branches can contain simultaneous branches and further alternative branches An alternative branch begins at a horizontal line alternative start and ends at a horizontal line alter native end or with a branch If the step preceding the alternative start line is active the first tran sition of each alternative branch will be evaluated from left to right The first transition from the left that carries a TRUE transition condi tion will be opened and the following steps will become active see active step Parallel branch Two or more branches in SFC can be defined as parallel branches Each parallel branch has to start and to end with a step Parallel branches can contain alternative branches or further parallel bran ches A parallel branch begins at a double line simultaneous beginning and ends at a double line parallel start or at a branch If the step preceding the parallel start line is active and the transi tion condition after this step is TRUE the first steps of all parallel branches become active see active step The branches are then processed simultaneously to one another The step after the paral lel end line becomes acti
202. ord thoroughly you certainly noticed that the frequency at which our equipment on indicator is flashing is not exactly 1 Hz Why is that The IEC program we wrote is only called up every 100 ms You set this in the task configuration Due to this setting the waiting time of 500 ms can fluctuate bet ween 501 and 600 ms For our equipment on indicator however this does not matter since only a lamp is addressed Document and Save a Project The complete documentation of your project includes the following parts a performance specification a EPAS project file and maybe further supplementary files Software and hardware versions of the components Programming Manual ELAU AG PD UserMan Richtlinien us fm 5 8 Expansion of the Example by Positioning 5 8 5 8 1 PD UserMan Richtlinien us fm ELAU AG test reports acceptance protocol documentation print out from EPAS 4 Make surey you use talking variable names and comment the pro gram components Otherwise it will be much harder to service the project Program changes should always be documented and also identfia ble from the project name This can be achieved by means of a vesion number or by including the date in the name of the project file In EPAS 4 there is the menu item PROJECT DOCUMENTATION in order to support the user in his documenation Document Project x Fig 5 37 Dialog Project documentation in EPAS 4 Expansion of
203. otokolle M NetBEUE Sore ef Abbrechen M TCPAP ee JPX Hile Fig 7 25 Newtork configuration Programming Manual page 177 7 2 Direct Telecommunication Connection Now you need to check under Configure if the setting is out going calls only If the PC is to take calls for other purposes you can also mark incoming and outgoing calls AnschluBverwendung konfigurieren Anschlu COM2 Ger t Courier V32bis with ASL AnschluBverwendung Nur ausgehende Anrufe Nur eingehende Anrufe C Ein und ausgehende Anrufe Fig 7 26 Configure connection purpose gt gt Confirm your selection with OK Select Continue to complete the configuration Now the RAS service is available E stablishing a connection between PC and MAx 4 PacController Start the telecommunication network under Start Programs Accessories Telecommunication network You will be asked to create a new directory entry confirm with OK Assistent fur neue Telefonbucheintrage x Uber das DF Netzwerk wird eine Verbindung mit Fiemate Netzwerken unter Verwendung eines Modems ISDN oder anderen WAN Adaptem hergestellt Mit Hilfe dieses Assistenten konnen Sie einen Telefonbucheintrag erstellen der die f r eine bestimmte Remote Netzwerkverbindung erforderlichen Einstellungen speichert Name des neuen Telefonbucheintrags Verbindung mit PacController MAx 4 Keine weite
204. p 235 Stop Time Limit Exceeded Drive Brought to an Uncontrolled Stop 236 Error Reaction Br anne 237 Ramping down within Stop Time Limit seeseeees 237 Stop Time Limit Exceeded ee rere 238 Error Reaction AT sen rear ee 240 Overload SWIIChOIT nn ed 241 Overload Switchoff within Maximum Switchoff Time 241 Overload Switchoff with Transgression of Maximum Stopping Time 243 Version Numbers and Compatibility 245 Version Designation in General sesseeeeee 245 Compatibility EPAS 4 MAx 4 nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 245 Compatibility MAx 4 MC 4 uunnnnssennsnnnnnnnnennnnnnnnnnnnnnnnnnnnnnannnnnnannnnnn 245 Compatibility MAx 4 IEC Libraries se 245 ENI 4 247 Function ofthe EN 247 Multi User Operation ree ug 248 Programming Manual ELAUAG PDM UserMan uslVZ fm PDM UserMan uslVZ fm 12 1 2 12 1 3 12 2 12 3 12 4 12 5 13 14 15 15 1 15 2 15 3 15 4 15 5 15 6 ELAU AG Version Management ecce eec pic fade oltra iib Bas iens 248 Access by External Clients seeeeeeeneee 249 Structure and Communication of the ENI seessessssss 249 Structure in the Data Storage System ENI Explorer 250 The ENI in EPAS 4 As tes ke o e est ee UL 251 ENI Admin and ENI Control een 254 Frequently Asked Questions 257 Glossary 259 APPE
205. pSet Axisid Axis LogAdr Acceleration 100 JobClear Axisid Axis LogAdr MasterClearz TRUE SlaveClear TRUE State 100 Result 100 ResultText wait until stopped PositionY Axis RefPosition Positionx Encoder Position CASE State OF S 0 Error or No Enable Case Ei Z 1 5p 1 ONLINE Ue LESEN Fig 5 13 Example for a function block in ST Use of state machines In practice it has turned out to be sensible and in most cases necessary to build the programming in the programs functions and function blocks on state machines When programming in structured text ST state machines are created with the CASE IState OF CASE command 1 initialization commands IState IState 1 switch to next state 2 state 2 commands IState IState 1 switch to next state n state n lt commands gt IState x switch to next state END CASE ELAU AG Programming Manual page 111 5 3 ELAU Program Structure 5 3 1 ELAU Functions and Function Blocks ELAU offers a number of libraries with functions and function blocks focusing on certain subjects page 112 Standard lib Standard IEC library with elementary functions e g counter string functions timer etc MAx 4 lib Interface library for basic functions of MAx 4 PacController Check lib Interface library for checking ARRAYs debugging functions Basic lib IEC library with po
206. paces and umlaut characters can be used They are treated just like all other characters In strings the combination of a dollar sign followed by two hexadecimal numbers is interpreted as hexidecimal representation of the eight bit character code In addition if they occur in a string combinations of two characters starting with the dollar sign are interpreted as follows dollar sign inverted comma L or lline feed N or nnew line P or ppage feed R or rline break T or ttab Examples w1W Susi and Claus i Variables Variables are either declared locally in the declaration part of a block or in the global variable lists Note that identifiers of variables must neither contain blank spa cesn nor umlaut characters Furthermore they must not be declared double and they must not be identical with keywords Case sensitivity is not recognized i e VAR1 Var1 and var1 are not different variables Underscores are significant in identifiers e g A BCD and AB CD are interpreted as different identifiers More than one underscore at the beginning of an identifier or within an identifier are not allowed The first 32 characters are significant Variables can be used everywhere where allowed by the declared type You can call the available variables via the input help System flags System flags are implicitly declared variables that depend on their special controls In order to find out which system fla
207. page 181 7 2 Direct Telecommunication Connection Select Telephone and modem options Location Information Before you can make any phone or modem connections Windows needs the following information about your current location What country region are you in now Germany Y What area code or city code are you in now If you need to specify a carrier code what is it If you dial a number to access an outside line what is it The phone system at this location uses Tone dialing Pulse dialing Cancel Bild 7 34 Dialog location information gt Choose in the register Modem add to Add Hardware Wizard Install New Modem Do you want Windows to detect your modem Windows will now try to detect your modem Before continuing you should 1 If the modem is attached to your computer make sure it is turned on 2 Quit any programs that may be using the modem Click Next when you are ready to continue Bild 7 35 Hardware Assistant Win 2000 XP gt Follow the instructions of the hardware assistant page 182 Programming Manual ELAU AG PD_UserMan_Teleservice_us fm 7 2 Direct Telecommunication Connection NOTE In case of installation problems please consult the operating manual of your modem Creating a connection with the MAx 4 PacDrive controller gt Start the telecommunication network Start gt Programs gt Accessories gt Communication gt Network and
208. part of the POU The declaration part must contain one of the following keywords in text form VAR VAR INPUT VAR OUTPUT Declarations are separated by a semicolon and end with the key word VAR END Keyword Use of the variable VAR within the POU VAR INPUT coming from outside cannot be changed within the POU VAR OUTPUT supplied from the POU to the outside VAR IN OUT coming from outside can be changed within the POU VAR EXTERNAL supplied by the configuration can be changed within the POU VAR GLOBAL declaration of global variables Table 4 6 Keywords for variable declaration Variable attributes Keyword Use of the variable RETAIN variable is buffered zero voltage proof CONSTANT constant variable cannot be changed AT allocation of memory place Table 4 7 Keywords for variable declaration attributes Programming Manual page 39 4 2 IEC 61131 Priority Allocation Start behavior 1 highest zero voltage proof by hot restart RETAIN battery buffered restoration if voltage returns or after stop 2 start value set by declaration cold restart start values for defined new start 3 lowest start value for data type cold restart predefined start values for defined new start Table 4 8 Allocation of start value types by priority NOTE New initial values can be assigned to derived data types Variables have various s
209. peed cannot be increased to 100 Mbps Twisted pair cable Cables with insulated leads twisted around each other The twisting suppresses to a certain degree disturbance from outside or from neighboring pairs of leads Transmission rates of 100Mbps and more are possible The maxi mum distance between the computer and a central component e g hub is usually 100m Cable with twisted pairs of leads without additional individual shielding a More susceptible to disturbing radiation Each pair of leads is shielded by a coat a Clearly less susceptible to electric disturbance Data can be transmitted with higher transmission rates over long distances Category Transmission rate Application 1 1 Mbps Analog language transmission alarm systems 2 4 Mbps IBM cabling type 3 language EIA 232 3 10 Mbps 10Base T 100Base T4 4 MBit token loop ISDN 4 16 Mbps 16 MBit token loop Programming Manual ELAU AG PD_UserMan_Netze_us fm Monomode Multimode 8 3 PD UserMan Netze us fm ELAU AG 8 3 MAC Address Category Application 5 and 5e 100 Mbps 100Base Tx ATM 155 Mbps SONET SDH Table 8 1 Network cable categories Further categories 6 and 7 in the gigabit transmission range are in the process of being normed NOTE If STP is used in a network but one section uses UTP the advan tage of the STP cables is cancelled Fiber optic cable Signals are transmitted unidirectio
210. phen and the time of day Examples DATE AND TIME 1996 05 06 15 36 30 dt 1972 03 29 00 00 00 Number constants Numbers can occur as dual numbers octal numbers decimal num bers and hexadecimal numbers If an integer value is not a decimal number then the base followed by a double cross has to be written in front of the integer constant For hexadecimal numbers the numeric values for numbers 10 to 15 are represented by the let ters A to F Underscores within a number value are allowed Examples 14 decimal number 2 1001 0011 dual number 84167 octal number 164A hexadecimal number The digit values can be of the BYTE WORD DWORD SINT USINT INT UINT DINT UDINT REAL and LREAL types Implicit conversions from greater to lower types are not allowed That is a DINT variable cannot simply be converted into an INT variable For such operations the type conversion function of stan dard lib has to be used see chapter Type Conversion in the appendix REAL LREAL constants REAL and LREAL constants can be represented as decimal frac tion or exponential notation In this case the American way of writing with a point is used Example 7 4 instead of 7 4 1 64e 009 instead of t 1 64e 009 STRING constants Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 A string is any character sequence String constants are delimited with inverted commas Also blank s
211. pted Star star network Several hubs form the center of a star the individual hubs are con nected to a main hub Again a simple example In a three story building each floor has a star topology The three floors or rather the hubs are connected to the central hub via one cable each Stern Stern Stern o Haupt Hub Fig 8 5 Star star topology If the central hub fails communication is only possible within the individual floors If a cable from the central hub to a floor hub fails that floor can no longer communicate with the other floors Programming Manual page 209 8 2 Topologies 8 2 6 Unshielded twisted pair UTP Shielded twi sted pair STP page 210 Transmission Media Coaxial cable Coax cables are available in different versions for different applications Nowadays they are rarely used for new cabling of computer networks The maximum transmission rate is 10Mbps Coaxes according to specification RG 58 are common RG 58 A U impedance 50 Ohm thinnet 10Base2 The thinnet cable is also known as cheapernet In a bus network it is suitable for cable lengths up to 185 m Networks with such cab ling are called 10Base2 The abbreviations 10Base2 and 10Base5 already include several characteristics of networking namely the transmission speed of 10 Mbps in the base band and the extension limit of approx 200 and 500 meters per segment respectively With coaxial cables the s
212. ram can be run in single step mode Proceed as follows Programming Manual ELAU AG PD UserMan Richtlinien us fm 5 8 Expansion of the Example by Positioning PD UserMan Richtlinien us fm ELAU AG gt First you have to define the debug task Go to the task configura tion and click with the right mouse button on the task you want to debug Taskattributes E Set Debug Task Fig 5 46 Define debug task in the task configuration gt Select Set Debug Task DEBUG appears as a marker behind the task E Taskkonfiguration Fig 5 47 Display of the debug task in the task configuration Now you have to set a breakpoint A breakpoint is a point in the program at which processing is halted To set a breakpoint go to a POU and click with the left mouse button on the line number at which the program is to be halted The following safety check appears Security Mode 7 Do you really want to set a breakpoint Fig 5 48 Safety check when setting a breakpoint gt Confirm with Yes to set the breakpoint The line at which you set the breakpoint is marked in color Programming Manual page 139 5 8 Expansion of the Example by Positioning Functions 0001 CASE IState OF 1 Initialisierung IEndWaitTime PacDriveM Timert IVaitTime IBtate IState 1 2 Ausgang HIGH setzen IF PacDriveM Timert gt IEndWaitTime THEN O bBetriebsanzeigeH1 Value TRUE
213. related to the speed it is less than the standstill torque at speed 0 With an ambient temperature and depending on the ther mal motor time constant an overtemperature of 40 C occurs on the motor casing Real time operating system In real time operating systems like in conventional operating systems several parallel jobs i e tasks threads or processes are processed simultaneously To fulfill the real time requirements in the control job real time bus systems use special methods of com puting time allocation The predictability determinism of the system behavior i e the guarnteed processing of a job within a given time frame is an essential criterion for real time systems Moreover the administration of system resources such as com mon or exclusive memory ranges IO devices ports and time services as well as the task communication via semaphore mail box and event queues put particularly high demands on the real time operating system Real time process The tasks of the real time process include e g processing the master and logic encoders processing the motion tasks including calculation of set values processing the measuring inputs recor ding trace values and of course exchanging real time data via the real time bus SERCOS Real time system According to a DIN definition a real time system is a system that replies in a defined way to an external event under all circum stances with the reply being generated
214. relay drops After expiry of the BrakeCou plingTime time 3 the motor is switched torque free The ready contact remains closed Thus error free ramping down is executed if CoastOption is not active for lifting enable bEnableCoast FALSE page 234 Programming Manual ELAU AG g us fm PD UserMan ZeitDia g us fm PD UserMan ZeitDia 10 2 2 ELAU AG 10 2 Lifting Enable Stop Time Limit Exceeded Drive Is Brought to a Controlled Stop When lifting enable the following behavior over the time occurs if the drive is not ramped down within the maximum ramping down time but the drive can still be brought to a controlled stop 1 Hardware and ControllerEnable o AxisState 23 0 MC4State 0x30 0x05 0x08 0x06 0x02 current speed nmin brake relay closed 0 0 StopTimeLim 2 StopTimeLim t motor torque BrakeCouplingTime error reaction B 9 StopTimeLim 1 Ready closed 0 i Fig 10 3 Time diagram Ramping down stop time limit exceeded bringing to a stop When lifting enable time 1 the drive ramps down with maximum current However the drive does not come to a stop before the maximum ramping down time StopTimeLim time 2 For this rea son the error message Stop time limit exceeded is triggered with error reaction B In case of error reaction B the ready contact is opened and the drive is still brought to a controlled stop with maxi mum c
215. ren Informationen erforderlich Abbrechen Fig 7 27 Assistant for new directory entries Give the connection a name mark the checkbox No further page 178 information required and confirm by clicking on Finish This will take you to the configuration dialog box for the new directory entry Programming Manual ELAU AG PD UserMan Teleservice us fm 7 2 Direct Telecommunication Connection Inthe register Entries you can enter the telephone number at which the MAx 4 PacDrive Controller can be reached Neuer Telefonbucheintrag BEI Eint ge Server Skit Sicherheit x25 Eintragsname Verbindung mit PacController MAx 4 Anmerkung Rufnummer 09331 606 195 Ame wahlpatameter verwenden W hlen mit Courier V32bis with ASL COM2 x Konfigurieren Anderen Anschlu verwenden Abbrechen Fig 7 28 New directory entry gt Click on the button Configure to open the configuration dialog for hte modem and activate all hardware properties Modemkonfiguration 2 x Creatix V9D COM1 Sangeren ETE T bps Hardware Merkmale Iv Hardware FluBkontrolle aktivieren IV Modemfehlerkontrolle aktivieren Iv Modemkomprimierung aktivieren IV Modemlautsprecher ausschalten sce Fig 7 29 Modem configuration gt Confirm your selection with OK gt Inthe register sheet Server make the following settings type of telecommunicat
216. ress Obtain DNS server address automatically Use the following DNS server addresses Preferred DNS server Altemate DNS server Bild 7 45 Properties of the internet protocol TCP IP gt Click twice on the OK button Programming Manual page 189 7 2 Direct Telecommunication Connection Connect PacDrive Controller User name Password C Save this user name and password for the following users Me only Anyone who uses this computer Dial 1 1l v Fig 7 46 Dialog to the connection setup Enter username see parameter UserName and password see parameter Password for the connection Establish the connection with the button Dial The connection is now available page 190 Programming Manual ELAU AG PD UserMan Teleservice us fm PD UserMan Teleservice us fm 7 2 Direct Telecommunication Connection 7 2 5 ELAU AG Establishing a Connection with Remote PC PacController The Operating Manual EPAS 4 includes a detailed description of how to establish a connection with the MAx 4 PacController The following points are treated there a Checking the TCP IP connection Setting up the gateway server a Setting up the communication channel in EPAS 4 Communication Parameters Channels localhost via Tcp lp MAx 4 104 Serial RS 232 M x 4 104 Modem Motorola byteorder No Bild 7 47 Communication para
217. ression The serious cycle time error of an IEC task is reported if the 10 fold cycle time is exceeded see Task Configuration The task moves to error state This state can only be quitted by an IEC task reset Note The cycle time monitoring of the IEC tasks refers to the object parameter Load which is shown in the expansion object IEC Task Cause 1 Call of a parameter or system component which takes very long to process Handling Check program e g access to SERCOS parameter gt see Types of Object Parameters or Function WAITT Cause 2 Time interval too short Handling Check task configuration 317 Cycle time transgression A minor cycle time error was detected It is triggered if the cycle time is exceeded by more than 250us The actual cycle time cycle time from the task configuraiton in ms can be found in DiagExtCode Cause See diagnosis message 313 Handling Programming Manual ELAU AG PD_UserMan_Richtlinien_us fm PD UserMan Richtlinien us fm ELAU AG 5 2 The Structure of a Project FastTask concept The FastTask concept permits high priority fast synchronous and interrupt controlled IEC tasks Further information on the FastTask concept is available in EPAS 4 online help gt library MAx 4 gt IEC Tasks gt General notes on the FastTask concept NOTE Before you use the FastTask concept we recommend that you familiarize yourself thorough
218. rface the MAx 4 PacController can easily be integrated in Windows environment WWW The WWW abbreviation for world wide web is a multi media hypertext information system in the Internet Programming Manual page 281 14 Glossary page 282 Zero pulse The zero pulse is issued by incremental encoders once per revolu tion It helps to zeroize the machine Programming Manual ELAU AG PD UserMan Glossar us fm 14 Glossary PD UserMan Glossar us fm ELAU AG Programming Manual page 283 14 Glossary page 284 Programming Manual ELAU AG PD UserMan Glossar us fm gStd us FM PDM Anhan 15 15 1 ELAU AG 15 1 Contact Appendix Contact For repair Please send the components to be repaired or checked along with the error report to this address ELAU AG Abt Kundendienst house address Postfach 1255 Dillberg 12 97821 Marktheidenfeld 97828 Marktheidenfeld Phone 49 0 93 91 606 142 Fax 49 0 93 91 606 340 Service team Should you need to talk to a member of our service team or require on site service please contact ELAU AG Dillberg 12 D 97828 Marktheidenfeld Phone 49 0 9391 606 0 Fax 49 0 9391 606 300 e mail info elau de Internet www elau de ELAU Inc 4201 West Wrightwood Avenue Chicago Illinois 60639 USA Phone 1 773 342 8400 Fax 1 773 342 8404 e mail sales elau com Internet www elau com ELAU SYSTEMS ITALIA S r l Via Tosarel
219. rful than the FOR loop since the number of loop runs does not have to be known before the loop is executed In some cases these two loop types will be sufficient However if the number of loop runs is clear a FOR loop should be chosen since it will not allow an endless loop Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 REPEAT loop non rejecting loop In the REPEAT loop the truncation condition will be checked only after the loop is executed In consequence the loop is run at least once irrespective of the truncation condition Syntax REPEAT instructions UNTIL Boolean expression gt END REPEAT The instructions are carried out as long as Boolean expres sion is TRUE If Boolean expression is TRUE in the first evaluation then the instructions will be carried out just once If Boolean expression is never TRUE then the instructions will be repeated endlessly which will cause a run time error NOTE The programmer has to make sure that there is no endless loop by changing the condition in the instruction part of the loop e g by counting upward or downward a counter If there is an endless loop the diagnosis Cycle time transgression will be triggered in the Pac Controller Example REPEAT Varl Varl 2 counter counter 1 UNTIL counter 0 END REPEAT EXIT instruction If FOR WHILE or REPEAT loops contain the EXIT instruction the
220. rk Connections folder To create the connection and close this wizard click Finish Bild 7 41 Network connection assistant 5 Once you created the new connection it is available in the folder Network and telecommunication connections and can be started from there ELAU AG Programming Manual page 185 7 2 Direct Telecommunication Connection Connect PacDrive Controller User name Password C Save this user name and password for the following users s Me only Anyone who uses this computer Dial til Bild 7 42 Dialog to the connection setup gt To check the settings select Properties gt Inthe General tab select the button Configure Modem con figuration page 186 Programming Manual ELAU AG PD UserMan Teleservice us fm 7 2 Direct Telecommunication Connection PD UserMan Teleservice us fm Modem Configuration B Standard 56000 bps Modem COM2 Maximum speed bps 38400 Modem protocol Hardware features Enable hardware flow control v Enable modem error control C Show terminal window Enable modem speaker Bild 7 43 Modem configuration Selectthe hardware options Activate hardware flow control Acti vate modem error controller and Activate modem compression gt Confirm your selection with OK gt Select the tab Network ELAU AG Programming Manual page 187 7 2 Direct Telecommunication Conn
221. rogram again using Compile all F11 No errors have occurred the project can be transmitted to the PacDrive Controller ELAU AG Programming Manual page 127 5 7 Create a PacDrive project 5 7 5 page 128 Observe amp Operate Transmit a project gt To transmit the program to the PacDrive Controller select Login from the menu item ONLINE in EPAS 4 You can also establish a connection with the PacDrive Controller by using the symbol Login gt Answer the following question by selecting Login Setup connection to MAx 4 Lx m Program has changed Online enange Update changed prodiam units Iv Update Program File Irene nakna Menan Update Symbol File IV Update Project File Configuration has changed v Update Parameter File Iv Update Configuration File r i6guernenuy inant Fig 5 34 Login dialog box Now the program will be transmitted to the PacDrive Controller As the configuration has changed the PacDrive Controller must be restarted Test a program The following functions can be executed under the menu item ONLINE Start The program is restarted or continued with the next command after a stop a Stop The IEC program is interrupted Reset The IEC program is terminated You can also set breakpoints an then e g go through a program task in single step Programming Manual ELAU AG PD_UserMan_Richtlinien_us fm 5 7 Create a PacDrive project
222. rogramming system Programming Manual ELAU AG PD UserMan ENI us fm PD UserMan ENI us fm ELAU AG 12 4 The ENI in EPAS 4 Operation of the ENI interface in the programming system In EPAS 4 the ENI can be activated as a project option Then the following functions are available for dialogs 1 Definition in the project options if and to which ENI object category a newly created object is to be assigned 2 Configuration of the ENI connection type in the project options for each of the three ENI object categories project objects common objects compilation files see above m Access data port access rights project in the ENI storage to which the actual project is connected a Definition which exchange with the data storage system is to take place automatically and when e g always call up objects from the database when a project is opened or check out whenever a change is begun in EPAS 4 etc Project objects ENI Connection TCP IP Address localhost Pott en Project name Read only Get latest Version V At Project Open IV with Query Immediately after Changes in ENI Before any Compile Check out v Immediately at start of editing V with Query Check in At Project Save After successfull compile Fig 12 3 ENI settings 3 Individual assignment of an object to an object category see above in the object properties of each object 4 Entry of username and password via a
223. roject Insert Extras Online Window Help SA ii all e 3 Resources H E Global Variables E library MAX4_V001100 L1B 8 3 library STANDARD VOO1100 LI H Message logger Ax 4 lt PacDriveM General 9 Diagnosis 0 Versions 5 RamDisk PEE PLC Configuration C3 System N Sampling Trace i Hg Real time bus RTB BY Task Configuration B Q Output group lt OutputGroup gt Ec VarioCam c Q Watch and Receipt Manager 7 S Output 1 0 1 pe output 2 0 2 Fig 5 20 Enter symbolic name for output 0 5 7 4 User Program gt To be able to enter the program please switch to Components Fig 5 21 Component selection in the Object Organizer gt Click with the right mouse button on POUs and then select Add object EPAS 4 Untitled PLC Configuration id File Edit Project Insert Extras Online Window Help Pec 3 Visualizations uu Resource Fig 5 22 Click on POUS with the right mouse button Now enter a talking name for your program and confirm with OK page 122 Programming Manual ELAU AG PD UserMan Richtlinien us fm PD UserMan Richtlinien us fm 5 7 Create a PacDrive project ELAU AG r o oeeee Fig 5 23 Add component dialog box You are now in program editor for the programming language Struc tured Text EPAS 4 Untitled PowerlndicatorH1 PRG ST EET SES Bea M B Powerlndi
224. rt service reaction times and thus a high availability of packaging machines Terminal resistor is a resistor to adjust the performance on the bus cable terminal resistors are necessary at the ends of cables and or segments Thermo protective contact Temperature sensitive switch built into the motor winding Torque constant Quotient of standtsill torque and standstill current in the unit Nm A Transition Transition from one SFC step to the next by evaluating the transi tion condition Translation of functions A function can be applied to entries of different data types Type definition Definition of a user specific data type on the basis of existing data types UL Underwriter Laboratories Inc UL is an independent testing and certifying organization in the USA Products bearing the UL sign comply with the safety standards of the UL Ungrounded structure Structure without galvanic connection to the ground In most cases an RC module is used to carry off parasitic currents Programming Manual ELAU AG PD UserMan Glossar us fm PD UserMan Glossar us fm ELAU AG 14 Glossary Variable Name of a data storage which can take on values determined by the data type and entries in the variable declartion VarioCam amp The VarioCam Online Toolbox provides you with extensive functions including standard cams Lengthy modificatin and restart is not required as the cams are simply reshaped by parameterization
225. s Residual Risks We minimized the health risk for people by means of appropriate construction and safety technology Nevertheless there is a residual risk since the components work with electrical current and voltage PacDrive ELAU AG PDM SicherhMax us neu fm PDM SicherhMax us neu fm 2 5 1 ELAU AG Installation and Handling WARNING Risk of injury while handling the unit Risk of injury due to squeezing cutting or hitting Observe the universally valid construction and safety rules for handling and installation Use suitable installation and transport facilities and use them professionally If necessary use special tools Take precautions against squeezing If necessary use suitable protective clothing e g safety glasses safety shoes protective gloves Do not stay under pending loads Remove any leaking liquids from the floor immediately to avoid skidding PacDrive page 15 2 5 2 page 16 Protection against Touching Electrical Parts Touching parts carrying a voltage of 50 Volts or higher can be dangerous When electric appliances are operated certain parts of these appliances inevitably carry a dangerous voltage DANGER High voltage Life hazard Observe the universally valid construction and safety rules for working on high voltage units After installation check the fixed connection of the earth conductor on all electric appliances according to the connection plan Operation
226. s MotorController 1 Overload 0 AxisState 23 MC4State 0x30 0x31 0x32 current position Overload position 0 800ms t current speed nmin brake relay closed 0 1 motor torque 0 1 Ready closed 0 Fig 10 8 Time diagram Overload within maximum stopping time When the system switches off due to overload time 1 the drive is controlled with reference to the overload position The overload position is the actual position at the time when the overload switch off occurs If the drive reaches the overload position within the maximum stopping time of 800 ms and the motor comes to a stop time 2 actual velocity lt nmin the MC4State is switched to 0x32 After overload was quitted in this state the drive follows the set values again This is a way to bring the motor to a stop without any error in case the system switches off due to overload page 242 Programming Manual ELAU AG g us fm PD UserMan ZeitDia g us fm PD UserMan ZeitDia 10 5 Overload Switchoff 10 5 2 Overload Switchoff with Transgression of Maximum Stopping Time In case the system switches off due to overload the following beha vior over the time occurs if the overload position is not reached within the maximum stopping time i Overload 0 0 t AxisState 23 MCAState 0x30 0x31 0x08 0x06 0x02 current position Overload position 9 i 0 800ms 5 t current speed n
227. s 0 59 a SS seconds 0 59 a sss milliseconds 0 999 In versions lt 00 07 00 the time is shown in ms Type Shows the filter type of the message See also EPAS 4 Online help Control Configuration MAx 4 General MsgFilter Object Shows the type of the object that caused the logger entry See also EPAS 4 Online help Control Configuration Instance Shows the instance of the object that caused the logger entry See also EPAS 4 Online help Control Configuration Diag Code Shows the diagnosis code See also EPAS 4 Online help Diagnosis Ext diagnosis Provides optional additional information on the diagnosis code The information is also shown as optional additional information in the control configuration in MAx 4 diagnosis DiagExtCode Message text Shows the corresponding message text for the diagnosis code Programming Manual page 151 6 5 Further Possibilities for Diagnosis 6 5 6 5 1 6 5 2 6 5 3 page 152 Further Possibilities for Diagnosis NOTE For further information please see Operating Manuals chapter Diagnosis and Maintenance and EPAS 4 Online help chapter Diagnosis Trace The purpose of the trace recording is to record the time relations and the dynamic behavior of the system NOTE For further information see Operating Manual EPAS 4 Debugging The PacDrive system provides comfortable program debugging facilities for the user See also Program te
228. s are available for the IEC programs From the figure below you can see the allocation of the IEC priority in the system priority Programming Manual page 103 5 2 The Structure of a Project page 104 Interrupts dp Real Time Process encoder generators job controling SERCOS 1 Real Time Process encoder generators job controlling SERCOS gt Cycle Load e system priority 220 serial communication server al IEC priority 225 251 Taskmodel_Prioritatsvergabe_us9906 cadr Fig 5 9 Task model priority allocation These rules apply to the user program a f only one task is used the priority of that task hardly matters you should choose a priority between 6 and 31 m A task of lower priority may be used for functions which require e g a longer time for processing e g file services access to SERCOS parameters or whose execution may be superseded maybe heating regulators It may be necessary to introduce a task of higher priority for safty aspects Ifthe cycle time of a task must be less than 5ms you should choose a priority of less than 5 in order to avoid interruptions by the TCP IP communication server Programming Manual ELAU AG PD UserMan Richtlinien us fm PD UserMan Richtlinien us fm ELAU AG 5 2 The Structure of a Project NOTE Should sporadic cycle errors 505 simple cycle error 506 multi ple cycle error occur in your application the reason may be
229. s that routers can connect networks with different topologies and the layers 1 and 2 lying beneath them However all networks involved always have to use the same way of addressing their data packages The router unpacks arriving data packages up to layer 3 in order to find out the target address in the header This procedure takes time so that routers are usually slower than switches The allocation of routers to OSI layer 3 also means that a router does not use the MAC address but the address of the protocol level e g the IP address as a target The main function of a router is to find routes for packages from source to target For this purpose routers use so called routing tables where known target addresses are listed When a package arrives and the router has read the desired target address it can check the routing table to see if that address is regi stered there If this is the case it can forward the package If this is not the case it forwards the package to another router default router gateway which then tries in its own way to deliver the package This forwar ding is also called hop This means that the gateway to be entered in the Windows control panel is actually a router Programming Manual page 223 8 7 Coupling of Networks 8 7 2 page 224 Routing with Windows 2000 On each Windows 2000 XP computer the static routing table of the adjacent segments is created automatically For this purpo
230. se the system evaluates the actual configuration information of the IP pro tocol for each network card that is installed and configured The service Routing and RAS must have been started see PacDrive P and Ethernet To test the routing properties of a Windows2000 XP computer there are various tools which we will deal with later on Gateway A gateway connects networks with completely different protocols and address formats A gateway can connect actually incompatible networks This is made possible because a gateway can be active on all 7 OSI lay ers In the extreme it unpacks an incoming message up to layer 7 in order to re pack it down to layer 1 in a way that is suitable for the other network A gateway really converts one protocol into another Tools for Dealing with TCP IP Problems Ping ping IP address Ping is a tool to check the connectivity on IP level With the com mand ping an ICMP echo request is sent to a target host You should always use ping when you want to check if a host computer can sent IP packages to a target host Ping IP address of the remote host Ping host name of the remote host Ping uses name resolution to resolve a computer name into an IP address If the ping signal can be sent to an IP address suc cessfully but sending the signal to a name fails this is due to the host name resolution not the network connectivity If the ping cannot be used successfully at all make sure that the fol
231. sis diagnosis parameters of the PacDrive Controller versions version parameters of the PacDrive Controller real time bus object of the PacDrive Controller digital output groups object of the PacDrive Controller digital input groups object of the PacDrive Controller digital measuring input object of the PacDrive Controller groups Table 5 8 Basic configuration groups objects Select Resources to call up the configuration editor 8 POUs Fig 5 17 Selection of resources in the Object Organizer gt Now select the item Control configuration EPAS 4 Untitled File Edit Project Insert Extras Online V SACEKA 2 Resources f D Global Variables library MAX4_V001100 L1B 8 3 01 10 1 library STANDARD_ 001100 L1B 23 1 i t Message logger PEEPLC Configuration F pe Sampling Trace p Task Configuration ES VarioCam Qe Watch and Receipt Manager Fig 5 18 Select control configuration The minimum configuration for a PacDrive M system will appear For our first example this is sufficient page 120 Programming Manual ELAU AG PD UserMan Richtlinien us fm PD UserMan Richtlinien us fm 5 7 Create a PacDrive project ELAU AG EPAS 4 Untitled PLC Configuration iH File Edit Project Insert Extras Online Window Help ale ESS rg General rg Diagnosis rj Versions rg RamDisk E System fg Real time bus RTB E Output group OutputGroup p
232. sitioning functions Based on MAx 4 lib IECsfc lib Use of IEC steps with V00 06 00 or higher CSpline lib Interface library on VarioCam CSpline functions for online con version of supporting point data into cam data TorqueCam lib Interface library on torque cams CANL2 lib Interface library on CAN Layer 2 CANopen M lib Interface library on CANopen Master CANopen S lib Interface library on CANopen Slave PBDP M lib Interface library on PROFIBUS DP Master PBDP S lib Interface library on PROFIBUS DP Slave DNet S lib Interface library on Device Net Slave HMI pcs lib Interface library for connection with Lauer PCS HMI Simatic lib Interface library for connection with Simatic ModBus lib Interface library for connection with ModBus TSC lib Interface library for connection with ModBus see also Operating Manual HMI Libraries Programming Manual ELAU AG PD UserMan Richtlinien us fm 5 3 2 PD UserMan Richtlinien us fm ELAU AG 5 3 ELAU Program Structure VarioCam lib Library for complex positioning tasks a PLC Library Bit functions communication PID regulator conversion functions etc Further libraries Separate products robotic library a library for robot applications Runtime properties The processing times of the functions and function blocks differ greatly Here are some examples a MultiCam3 typically 12 us AppendToWriteFile several 100 ms To be able to use bloc
233. st debugging page 138 Check Library If the Check library is integrated in the project the function block Check which checks the limits of array elements is automatically called up every time an array element is accessed Moreover division errors division by 0 are recognized NOTE For the reason described above the integration of the Check library increases the runtime The Check library should therefore be removed from the project once the test phase is completed Programming Manual ELAU AG PD UserMan Fehlersuche us fm 6 5 4 PD UserMan Fehlersuche us fm ELAU AG 6 5 Further Possibilities for Diagnosis Call Hierarchy CallStack You can start the call stack command Online Call hierarchy when the project stops at a breakpoint A list of components actually in the call stack is shown Example for a call hierarchy The first component is always PLC PRG as this is where the processing starts The last component is always the one that is up for processing at that particular moment After you selected one of the components and clicked on the button go to the selected component will be loaded into a window and the line or network in which the processing is will be shown Programming Manual page 153 6 5 Further Possibilities for Diagnosis page 154 Programming Manual ELAU AG PD UserMan Fehlersuche us fm PD UserMan Teleservice us fm 7 1 ELAU AG 7 1 Overview Teleservice
234. stem is also called booting Browser A Web browser is a program that permits access to and display of Internet pages The main purpose of web browsers is to download HTML documents and the corresponding pictures from the Internet and display them Bus Common transmission channel to which all participants are connec ted it has two defined ends Bus connector Physical connection between station and bus line Bus system All stations that are physically connected via a bus cable form a bus system Cam laws See set value generation Programming Manual ELAU AG PD UserMan Glossar us fm PD UserMan Glossar us fm ELAU AG 14 Glossary CAN CAN stands for Controller Area Network and was originally developed by Bosch and Intel as a bus system for vehicles In the meantime CAN has also proven suitable as a field bus in automa tion technology Like practially all field buses CAN is based on the OSI 7 layer model CAN is normed in ISO 11898 only for OSI layers 1 and 2 and is based on a bus structure The transmission speed can be selected in a range of 20 kBit s to 1 Mbit s The application layer is defined by the layer 7 protocols based on CAN e g DeviceNet over CANopen Due to the access method CSMA CA and object oriented addressing CAN is particularly suitable for set ting up very efficient event controlled systems In the multimaster system CAN data can be exchanged directly between any number of clients CE Th
235. t networks subnets Repeater A repeater signal amplifier is an active network component that takes over a regeneration functionality A repeater receives signals amplifies and forwards them In local networks a repeater is used to increase the maximum signal range and thus the maximum possible cable length A repea ter can thus connect network segments of the same LAN type for communication purposes A repeater works on layer 1 of the OSI model i e the repeater only regenerates bit streams that are sent via the media but has no insight into the messages Therefore the same access method to the medium must be used in all segments involved A repeater cannot mediate between e g Ethernet and token loop As a layer 1 device a repeater is completely transparent i e neit her other connected devices nor programs know about the device Repeaters no longer play any major role in new networks HUB HUBs like repeaters work on layer 1 of the OSI model and are completely transparent to other systems By connecting several hubs the number of connected stations can be increased fairly easily HUBs are connected to each other via a crossed cable or if a straight cable is to be used a special input uplink input must be used on the HUB The respective terminals are each connected to the HUB with a cable of their own straight Such a connection point is known as port As each connected device has its own decided
236. ta transmissions can be tapped quite easily A distortion of the transmission medium at one place in the bus defective cable loose connector defective network card blocks the entire network The search for the source of an error is often very tedious Dense data traffic as a station sends a message to all other sta tions 8 2 3 Star Every station has its own cable In a star topology every station is connected to a central distributor via its own cable page 206 Programming Manual ELAU AG PD UserMan Netze us fm 8 2 4 PD UserMan Netze us fm ELAU AG 8 2 Topologies Fig 8 2 Star topology Advantages of star topology The failure of a station or defect of a cable has no effect on the rest of the network Active distributors act as signal amplifiers Given the functionality of the star distributor individual compu ters need not share a cable for data transmission This means that they can use the full bandwidth so that this physical topo logy permits higher data throughput rates Further stations and or distributors can be added fairly easily Disadvantages of start topology Large amounts of cable a lf the distributor fails network traffic is no longer possible Loop Every station is connected to two neighbors In a loop topology the cables form a closed loop The cable has no beginning or end All stations are added as elements to the loop process and amplify the signals arriving on
237. telecommunica tion connections gt Inthe telecommunication network select Create new connec tion s Network Connections BEE a File Edit View Favorites Tools Advanced Help Q sax Q 27 ps Search Folders EAN Address Network Connections v Eo LAN or High Speed Internet Network Tasks E Create a new a connection Set h i Local Area Local Area fQ Set up a home or smal Connection2 Connection 3 office network See Also i Network Troubleshooter Bild 7 36 Network telecommunication create new connection New Connection Wizard Network Connection Type What do you want to do Connect to the Internet Connect to the Internet so you can browse the Web and read email Gi ny e Connect to a business network using dial up or VPN so you can work from home a field office or another location Set up a home or small office network Connect to an existing home or small office network or set up a new one Set up an advanced connection Connect directly to another computer using vour serial parallel or infrared port or set up this computer so that other computers can connect to it Bild 7 37 Network connection assistant 1 PD UserMan Teleservice us fm ELAU AG Programming Manual page 183 7 2 Direct Telecommunication Connection New Connection Wizard Network Connection How do you want to connect to the network at your workplace Create the following connecti
238. tep You can carry out single steps using the symbol or the menu item ONLINE or the function keys Programming Manual ELAU AG PD UserMan Richtlinien us fm 5 8 Expansion of the Example by Positioning EPAS 4 Benutzerhandbuch Projekt 1 pro BetriebsanzeigeH1 PRG Window Help Are C F8 F5 HE geH1 PRC SmuFE HIE CAM Con FB Reset P E SkalFolgepos FUN i E Zufuehiband PRG eae ie Step over F10 Step in F8 Single Cycle Ctr F5 Fig 5 51 Symbol for single step and menu items Single step Call hierarchy This function can be used to display the call stack in case of an actual diagnosis message Example We will cause an error on purpose by extending the program as follows 0001 CASE IState OF 1 Cinitialisierung IEndWWaitTime zPacDriveM Timert haitTime IBtate zIState 1 f Ausgang HIGH setzen IF PacDriveM Timer1 gt IEndWaitTime THEN O_bBetriebsanzeigeH1 Yalue TRUE IEndWaitTime zPacDriveM Timert hWaitTime IState 1State 1 END IF f Ausgang LOW setzen IF PacDriveM Timer1 gt IEndWaitTime THEN O bBetriebsanzeigeH1 Value FALSE lEndyaitTime PacDriveM Timer1 IWaitTime IState 2 0006 ME 0020 Fehler Division durch 0 ausl sen IEndWaitTime zIEndWaitTime 0 B 8 D ENDIF END_CASE Fig 5 52 ST program with error gt Start the program and wait until the diagnosis message is trigge red err LED on MAx 4 flashing
239. tep you do not need to restart page 168 Programming Manual ELAU AG PD_UserMan_Teleservice_us fm 7 2 Direct Telecommunication Connection PD UserMan Teleservice us fm your PC at this stage because another restart will be necessary after the TCP IP installation Installation of the TCP IP protocol gt If the TCP IP protocol is not yet installed on your PC you will have to do it now The installation is described in the Operating Manual EPAS 4 Configuration of telecommunication connection and modem gt Start the telecommunication connection Start gt Programs Accessories Telecommunication Network for Win95 Start gt Programs gt Accessories Comminication gt Telecommuni cation Network for Win98 When you start for the first time or select Create new connection an assistant will appear and take you through the configuration of your connection If no modem has been installed this will be done now Install New Modem Windows will now try to detect your modem Before continuing you should 1 If the modem is attached to your computer make sure it is tumed on 2 Quit any programs that may be using the modem Click Next when you are ready to continue I Doni detect my modem will select it from a list Fig 7 10 Dialog Install new modem You have the choice to have the modem detected automatically or to select it from a list gt Clicking on Continue will take you t
240. ter on when a DHCP server is available and determines an address the computer will change its IP address accordingly Static IP addressing Static IP addressing permits the manual configuration of IP addres ses if DHCP and APIPA are not available or technically impossible Particularly in large networks this method is very time consuming and prone to errors Alternative IP configuration multiple networking With the alternative IP configuration several addresses can be assigned to a network card If connections need to be established with different networks e g different locations one IP address from each of the respective subnets is assigned to the network card Programming Manual page 219 8 6 TCP IP 8 6 8 Show DNS resolution cache Manually clear DNS resolution cache 8 6 9 page 220 Name Resolution A computer name is resolved into the corresponding IP address Windows 2000 XP offers four different methods for resolving names in IP addresses This includes DNS WINS name resolution with HOSTS or LMHOSTS files and broadcast name resolution Usually Windows 2000 XP uses a combination of the methods DNS Queries are sent to DNS servers The method is used for applicati ons and services requiring host to IP name resolution This method is needed if the computer wants to access the Internet DNS is the standard method for name resolution for clients in Win dows XP When the resolution service of W
241. terfaces 269 internet 270 ELAU AG 2 inverter enable 270 IP 215 IP 20 270 IP 65 270 IP 66 270 IP 67 270 IP Adressierung 217 IP Adressklassen 218 IP Adresszuweisung 219 IPSec 215 ISDN 271 J jump 64 K Koaxialkabel 210 Kontaktplan KOP 271 L lader diagram LD 67 languages function block diagram FBD 66 ladder diagram LD 67 Sequential Function Chart SFC 59 structured text 52 LD as FBD 69 limit switch 271 literature 286 load from file 147 load log file 147 logic address 271 M MAC Adresse 211 MAC Adresse 211 main shaft 271 mains filter 271 manuals 286 Mass 271 Master 271 ELAU AG PDM UserMan usSIX fm PDM UserMan usSIX fm ELAU AG master cam 271 message logger 146 delete log file 147 filtering 149 load from file 147 load log file 147 reset log entries 147 save and load a log file 147 save as file 147 save log file 147 modifications 289 modifiers in IL 50 moment of inertia 271 MotorController 272 multi element variable 272 N Namensaufl sung 220 NetWare 214 network 272 Netzwerke 203 O OCX 272 offline 272 OPC 273 groups 273 items 273 server 273 OPC server 273 Open Control 273 operand 273 operating manual 286 operation in ST 53 operator 273 opto coupler 274 output action in SFC 61 P PacDrive 274 parallel branch 64 Pathping 228 peak torque 274 Peer to Peer 203 Ping 225 PLC 274 plug in 274 POP 215 Portnummer 216 Programming
242. that the Ethernet communcation Ftp Ping EPAS 4 slows down the processing of your IEC task In this case it is advisable to choose the IEC task priority higher than 5 priority at O 4 If the priority of an IEC task accessing field bus modules is higher than 0 3 or equal to 4 the priority of the IO map updating data consistency is only ensured for an element access e g Byte Bool Word Which cycle time should choose For the selection of the cycle time observe the following points a Cycle time of the positioning procedure a minimum time in which a CAM function must be processed a access to SERCOS parameters delay gt see EPAS 4 Online help Control Configuration use of functions with delay NOTE A typical value for the cycle time lies in the range of 5 10 ms If a cycle time of less than 5ms must be achieved it may be neces sary to change the priority of the task see also Which is the right priority Programming Manual page 105 5 2 The Structure of a Project page 106 Monitoring What types of monitoring are there The execution of cyclic tasks is monitored The following diagnosis messages can occur Class Diagnosis Language specific quittable default code diagnosis text default 4 313 serious cycle time transgression no 6 317 cycle time transgression yes What are the causes and how can they be cleared 313 Serious cycle time transg
243. the cable and forward them Programming Manual page 207 8 2 Topologies 8 2 5 Backbone page 208 Fig 8 3 Loop topology This network concept is rarely used as physical topology as the cabling is very complex The main disadvantage is that the failure of one station paralyzes the entire network Mixed Forms Combinations of bus star and loop Of course it is also possible to develop mixed forms of the three basic forms One reason for this may be that in growing corporate networks it becomes more and more likely that all the different typo logies exist Another reason is that a so called backbone can be built up by mixing topologies A backbone is a physical connection of several partial networks e g the connection of several buildings and their respective networks Star bus network Combined star bus networks are common Several hubs form the centers of a star each while the hubs are connected to each other by a bus cable A simple examplefor clarification In a three story building each floor has a star topology The three floors or rather the hubs are connected to each other via one single bus cable Programming Manual ELAU AG PD UserMan Netze us fm PD UserMan Netze us fm 8 2 Topologies Fig 8 4 Star bus topology If the bus cable fails the floors can no longer communicate with each other If a hub fails the communication of the floors with each other and on the floor affected is interru
244. the control configuration for the Modem object in order to be able to establish a connection If user name and password are correct the connection is established On the remote PC it can be treated like a normal TCP IP connection to the MAx 4 PacDrive Controller Programming Manual page 159 7 2 Direct Telecommunication Connection 7 2 2 page 160 I Modem RemotelPAddress Am IP address 190 200 100 101 Client IP address Obtain an 190 200 100 101 IP address Pd automatically J Telephone Network s ll Modem LocallpAddress BR mn _ J ia Server IP address u EEE 190 200 100 100 serial p un Y IP Address J 7 B 172 16 0 1 tul cieiesct lera slat sas Communication Parameters 028 Po S lat apro Value Comment 190 200 100 100 IP address or hostname Motorola byteorder No Fig 7 5 Overview of the assignment of TCP IP addresses On the client side acommunication network must be installed to access the server You can set up the network with the help of an assistant For detailed instructions please consult the Windows online help We will only explain the most important settings You need to enter the telephone number of the connected modem on the server and its IP address When the client dials up the server via the modem a username and password is requested for security reasons Those parameters can be configured in EPAS
245. the procedures all actions in online mode are blue like the active steps After each cycle it is checked which actions are active Whether a newly inserted step is an IEC step depends on whether the menu command EXTRAS USE IEC STEPS is chosen In the Object Organizer the actions are arranged directly under their IL block New actions can be created with PROJECT ADD ACTION Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG NOTE 4 2 IEC 61131 In order to be able to use IEC steps the project has to be embed ded in the special SFC library ecsfec lib GI Bausteine EG Beleuchtung Fig 4 7 SFC block with actions in object organizer Qualifiers The following qualifiers are available to associate actions to IEC steps Qualifier Meaning Remark N Non stored action is active as long as the step R overriding Reset action is deactivated S Set Stored action is activated and remains active until reset L time Limited action is activated for a certain time D time Delayed action becomes active after a certain time if the step is still active P Pulse action is executed exactly once if the step is active SD Stored and time action is activated after a certain time Delayed and remains active until reset DS Delayed and Stored action is activated after a certain time if the step is still active and remains active until reset SL Stored and time action is activated f
246. tional standard for programming langua ges of programmable logic controls PLCs Instruction list IL function block diagram FBD ladder diagram LD structured text ST and SFC sequential function chart are different languages of this norm Instruction list IL instruction list is a widely used programming languages for PLC systems similar to Assembler Indirect FB call Call of an FB instance the name of which was transmitted as VAR IN OUT parameter in a POU Incremental encoder Encoder that reports its position by two signals offset by 90 Instance Structured data set of an FB by declaration of a function block giving the type of FB Instancing Instancing means the allocation of variables including name and data type during declaration by the user By declaring different variables for the same type of FB a data copy of the FB is formed n the control memory for each instance thus created Interface interface Interfaces OPC COM interface non equivocal by an identification code collection of connected functions COM object can have one or several inter faces Must not be changed after publication Programming Manual page 269 14 Glossary page 270 Internet The Internet is a decentralized network i e it does not depend on a single computer The network consists of a number of sub nets the network protocol is TCP IP The Internet consists primarily of the following services a e mai
247. tlinien us fm 5 7 Create a PacDrive M project Define input and output variables sensor and actuators Opera ting Input ouip a Comment designation means H1 O_bEquipmentOn An indicator lamp is connected to the IndicatorH1 output It will flash at a frequency of 1 Hz as soon as the equipment is switched on Table 5 6 I O definition NOTE Unclear function descriptions result in misinterpretations Therefore work with particular diligence at this point Supplement the descrip tion by diagrams where necessary Identifier Kind of operating means Examples A assembly groups B converter from non electrical to measuring conver electrical sizes and vice versa ter for tempera ture light turning frequency etc approximation initiators way and angle converters C capacitors D binary elements deceleration facilities storage facilities E various F protection means G power supplies generators H messaging units K contactors relays L inductivities M motors N amplifiers regulators P measuring units test facilities ELAU AG Programming Manual page 117 5 7 Create a PacDrive project Identifier Kind of operating means Examples Q high voltage switch gear S switches dials calipers limit tra cers command units dials T transformer U modulator converter from electrical sizes to other electrical sizes
248. to realize even complicated control tasks Based on defi ned function blocks any program sequences can be realized with the help of connecting elements Data flow through the program can be presented in a pattern thus helping make the program sequences transparent A loop construct or branches can be diffi cult Often also hardware components are offered with the respective function blocks so that corresponding modules are available on both hardware and software levels Outputs of function blocks are linked with inputs of the following blocks Data flow can be presented in full graphic Jump and return jump facilitate programming Function Block Diagram is a programming language with a graphic orientation It uses a list of networks with each network containing a structure representing a logic arithmetic expression the call of a function block a branch or a return instruction Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm ELAU AG 4 2 IEC 61131 Example for a network in Function Block Diagram as it could typi cally look like in EPAS 4 network network number comment ror sources FOR error level 1 function allocation Fig 4 11 Network in function block diagram Ladder Diagram LD A program in Ladder Diagram LD is regarded as the easiest way to give controls well defined functionality LD is particularly advan tageous if the control is to be implemented as a replacement for a
249. to wrong connection Life hazard or risk of serious injury Only units electric components or cables with a sufficient safe separation of the connected power supplies according to EN 50178 1998 equipment of high voltage systems with electronic operating means may be connected to the signal voltage connections of these components a Make sure that the existing safe separation is retained throughout the entire current circuit When using ELAU components in systems that do not include a safe separation as a means of protection against directly or indirectly touching dangerous voltages all connections and contacts e g MAx 4 Sub D connector serial inerface that do not comply with protection class IP2X must be permanently covered The cover or device connection must be such that it can only be removed with the help of a tool The protective measure must be observed on all connected devices PacDrive page 17 2 5 4 page 18 Potentially Dangerous Movements There can be different causes for potentially dangerous movements mistakes in wiring or cable connection Software errors faulty components errors in measuring value and signal encoders a Operating mistakes The protection of people must be insured by superior means or monitoring on the plant side You must not rely on the internal monitoring in the drive components alone Monitoring or measures are to be provided according to a risk and error analysis by the
250. ts version management The use of a version management does not interfere with the workflow as it integrates smoothly with the EPAS 4 development environment Programming Manual ELAU AG PD UserMan ENI us fm 12 1 3 12 2 PD UserMan ENI us fm ELAU AG 12 2 Structure and Communication of the ENI Access by External Clients In the past it was not possible to directly access the data of the development environment with other tools With the ENI any clients now have access to the data of the automation project Those data can be read and even manipulated by the external client For the programming language C there is a client interface C DLL to program a client for the ENI Server Structure and Communication of the ENI The ENI operates a data storage system for PacDrive project data objects This can be an existing database system or a local file system The ENI interface is divided into a server and a client part so that the storage system can also be located on another computer otherwise multi user operation would not be possible Client 2 cm Vis Config etc Client Interface C DLL System HTTP XML HTTP XML Database Interface e g file system SourceSafe etc PA r4 PD EniKonzept us fh8 Fig 12 1 ENI server concept ENI Server Engineering Interface Server runs as a separate service The communication protocol is HTTP with XML as useful data Programming Manual pag
251. type 12 v Advanced system messages Filter type 14 Filter ype 15 Callstack info Cancel Set all Fig 6 4 Resources Message logger Dialog Messge filter NOTE The individual classes are described in the EPAS 4 Online help under PLC Configuration Programming Manual page 149 6 4 Message Logger 6 4 4 page 150 Establish a Connection with the PacDrive Controller MAx 4 in Case of an Error If you establish the connection with the MAx 4 PacDrive Controller in case of an error the following selection box will appear Setup connection to MAx 4 x rePrurem aes changed opdie modemie Update pojecie Onine Gronde Update changed prog ems Basen into workina Merion J Update Sombor File Gontguraton Hes changed Jo Update erameteraile E Update Cortatistonaie Logger entry in MAx 4 IV Load Loager File Fig 6 5 Resources Message logger Establish a connection in case of an error In case of an error the menu item Load message file is selected gt If you select LOGIN the message file will be loaded from the MAx 4 PacDrive Controller in EPAS 4 and displayed EPAS 4 Beispielprojekt_1 pro EPAS4 MEL if File Edit Project Insert Extras Online Window Help allu aaae 312 131817 155 3H 11802841 310 1 31801 800 309 1318 amp 01 581 308 131801 487 307 1318012756 T Obie Instance Diag
252. ual contents 3 Continuous Function Chart CFC 263 Control 262 ControlNet 262 CPU 263 CSMA CD 212 CUL 263 current regulator 263 Cv 263 cycle 263 cycle time 263 D Datendurchsatz 213 DC circuit 263 declaration 264 declaration block 264 delete log file 147 Derived data type 264 DeviceNet 264 dezentralized technology 264 DHCP 219 direct shown variable 265 DNS 220 Domane 214 Domanen Konzept 214 drive bus 265 E edge 265 ELAU AG 2 electronic packaging machine 265 elementary data type 265 eMail ELAU AG 2 EMC 265 EN 265 ENI 4 247 Erasing unit 265 ethernet 266 EXIT instruction 59 F FBL 266 page 291 page 292 field 266 field bus 266 following error 266 FOR instruction 57 FTP 215 267 function 43 function block 43 Function block diagram FBD 267 function blocks in LD 69 Function call hierarchy 267 funktion block language FBL 66 funktion blocks in ST 55 G Gateway 224 Glasfaserkabel 21 1 global 267 Ground conductor 267 ground contact 267 Grounding 267 GSM 267 H hierarchic address 267 HMI 268 holding brake 268 homepage ELAU AG 2 hot restart 268 hot start at program start 268 HTML 268 HTTP 215 HUB 221 Id 268 identifier Id 268 IEC 61131 269 IEC step 62 IF instruction 56 IL 49 incremental encoder 269 indirect FB call 269 input action in SFC 61 instance 269 Programming Manual instancing 46 269 instruction list 49 269 instruction type in ST 53 in
253. uld become more transparent they have to offer open interfaces to which users can connect their software and hardware without any problem Within the PacDrive system there are several interfaces offering that opportunity Via OPC server for example you can directly access the data of the PacController The most recent interface of the PacDrive system is the EPAS 4 Engineering Interface ENI The ENI was developed as a client server system The server is an independent program based on a data storage system preferably a version management e g Microsoft Visual SourceSafe or MKS Source Integrity All engineering data such as program function blocks variable lists visualizations or configuration are stored via the server The data storage format is XML With this interface other tools can now access all data of a project developed with EPAS 4 Those tools can read generate and manipulate data Three examples are to help you better understand the ENI a Multi user operation a Version management Access by external clients Programming Manual page 247 12 ENI 4 12 1 1 12 1 2 page 248 Multi User Operation The ENI permits multi user operation in the implementation of PacDrive projects In the past it was very difficult for several developers to work together on projects developed with a development environment for controllers Although individual parts of a project could be exchanged by means of export and import functions
254. ume any warranty that the programs work correctly the user is entirely responsible himself Are there structuring possibilities for the validity range of variables You can create local and global variables What language can be used for what purpose There is no clear method Here is just a recommendation SFC for step by step procedures a ST for algorithmic calculations FBD for program calls LD e g for locks IL for bit processing Which programming language is the fastest one The execution speed of the programming languages differs only marginally Is there an oscilloscope function Yes there is trace recording How can display an instance of an FB in online operation The instance of an FB can be shown under PROJECTS OPEN INSTANCE To do this the cursor in the Object Organizer left win dow must stand on the FB or the FB must already be opened Are there partial compilations or do I always have to compile the entire program PROJECT COMPILE ALL always compiles the entire project An online exchange only generates and loads the changed code After a rebuild online exchange is no longer possible You have to load the entire program Programming Manual page 257 13 Frequently Asked Questions page 258 What happens in case of online change This method permits changes while the PLC is running In case of online change the delta code i e the latest modifications is crea ted Directl
255. ure gt Now create a new program as described above to program the motion function for the conveyer belt Programming Manual ELAU AG PD_UserMan_Richtlinien_us fm 5 8 Expansion of the Example by Positioning First you have to load the cam profiles and adapt them to the problem load profiles StartKurveld ProfilLoad modisin ProfilSetLambda StartCamId 1 0 gt dwell gt velocity CyclicCamId ProfilLoad straight velocity velocity StopCamId ProfilLoad modisin ProfilSetLambda StopCamId 0 0 velocity dwell NOTE The ELAU libraries are described in detail in the EPAS 4 Online help Now the individual cams have to be scaled scale axes IrYFactorl1 ScalFollPos 1 0 g lrPartLength g K MS start cam lrYFactor2 ScalFollPos 1 0 g lrPartLength g K ST cyclic cam lrYFactor3 ScalFollPos 1 0 g lrPartLength g K MS stop cam Y NOTE The function ScalFollPos takes over the calculation for rYFactor It merely makes the following calculation ScalFollPos m sMasterPos K Now the actual positioning procedure is programmed start CAM 257 7532 555 4 9 See 4 prepare start cam bCamReset TRUE g lState 1 g lState 1 1 5 start start cam CAM lAxisId ConveyerBelt lEncId MasterEncoder 1Profilld StartCamId lrXOffset 0 0 lrYOffset 0 0 lrXFactor g lrPartLength lrYFact
256. urrent If the drive comes to a stop time 3 within the stop time limit of error reaction B time 5 the brake relay is opened Programming Manual page 235 10 Time Diagrams MotorController brake drops and the motor is switched torque free after the Brake CouplingTime time 4 Thus the drive is ramped down in a controlled way as long as the drive comes to a stop within the double stop time limit plus the brake coupling time and CoastOption is activated neither for lifting enable nor for error reaction B bEnableCoast FALSE bError Coast FALSE 10 2 3 Stop Time Limit Exceeded Drive Brought to an Uncontrolled Stop When lifting enable the following behavior over the time occurs if the drive is not ramped down within the stop time limit and the drive cannot be brought to a controlled stop 1 Hardware and ControllerEnable 4 AxisState 23 0 MC4State 0x30 0x05 i 0x08 0x06 0x02 without brake current speed nmin 4 fete tee eee eee ee ence eee ee Ree IR Pee Bee Te brake relay closed 0 StopTimeLim 2 StopTimeLim t motor torque BrakeCouplingTime error reaction B i StopTimeLim 1 i Ready closed 0 i 0 t Fig 10 4 Time diagram Ramping down stop time exceeded drive coasts to a stop page 236 Programming Manual ELAU AG g us fm PD UserMan ZeitDia g us fm PD UserMan ZeitDia 10 3 Error Reaction B When lifting enable time 1 th
257. ve if all earlier steps are active and the transition condition preceding the step is TRUE Jump A jump is a connection to the step the name of which is indicated under the jump symbol Jumps are needed since it is not allowed to create ascending or crossing connections Programming Manual ELAU AG PD UserMan IEC us fm PD UserMan IEC us fm 4 2 IEC 61131 ELAU AG The diagram shows a simple procedure of actions in stored normal and reset operating mode Init x Step1 x BE pom N jor Step2 x TransO Trans1 Trans2 Init Fig 4 8 The transitions a b and c control the development of steps 1 and 2 The action qualifiers control the execution of the code independent of the active step Stored actions will not become inactive before the following steps Init x Step1 x BE pam N jon Step2 x Action1 Action2 Init Fig 4 9 Action 1 is terminated only by Reset in step 2 not by end of step 1 The action qualifiers L and D in their operating mode limited pro cessing by L and delayed start of the processing until the end of the step by D Programming Manual page 65 4 2 IEC 61131 page 66 Step2 x Action1 Action2 Action 1 Action2 Trans2 Fig 4 10 Action qualifyers L and D for time control of actions Function Block Diagram FBD Function Block Language FBL The graphic programming language Function Block Diagram can be used
258. vider In connection with COM the server is a COM object whose functionality services can be used by a cli ent via its interfaces Servomotor A servomotor nowadays is a brushless permanently excited syn chronous motor A servomotor has a position encoder and is characterized by its extremly low internal inertia and high power density Servo amplifyer see MotorController Set value generation Nowadays the motion functions of the individual axes of an electro nic packaging machine are realized with intelligent software in the PacController All motion laws known in VDI 2143 and some self defined motion laws can still be modified online Short circuit Is a conducting connection arising due to an error between two conductors under operating voltage if there is no useful resistance in the fault current circuit Single element variable Variable that is based on one single data type Slave cam Overlaying cam A slave cam can only be started if a master cam is active Speed regulator The speed regulator regulates the difference between set speed and actual speed to 0 Output set power value Programming Manual ELAU AG PD UserMan Glossar us fm PD UserMan Glossar us fm ELAU AG 14 Glossary Spline interpolation Connection of individual points in space with a 3rd grade polynomial Step State knod in an SFC program in which commands of the action belonging to a step are triggered Standard functions
259. which an operation is effected e g IX1 Operator Symbol that represents an action with which an operation is execu ted e g AND Programming Manual page 273 14 Glossary page 274 Opto coupler Optical connection between two electrically independent systems PacDrive The PC based automation system PacDrive is ideally suited for the complete automation of packaging machines The IEC 61131 PLC and motion tasks VarioCam are realized with a central PC based intelligence There are interfaces to all commercially available HMls The I O level of the PLC is realized by standard field buses The highly dynamical servo drives are connected via SERCOS The built in Ethernet interface with TCP IP enables remote diagno sis via modem or Internet down to the motor current Peak torque The maximum torque which the combination of servomotor and amplifyer can emit to the drive shaft of the servomotor for a short time PLC Programmable Logic Controller PLC Abbreviation for Programmable Logic Control Plug In Plug Ins Pl extend an Internet browser by additional features which make it possible to display varous file formats which the browser does not support by default POU Program organization unit IEC 61131 3 component of the type Function Function block or Program from which PLC programs are created hierarchically Position resolution The position resolution says how many increments are available per 360 degrees
260. which occur when swit ching off power circuits with inductivities Programming Manual page 265 14 Glossary page 266 Ethernet Ethernet has been around since the early 1980s and is nowadays found in all network technologies An end of the dominance of the Ethernet is not in sight It is available for various cable media fiber optic cables and radio and offers data rates of 10 Mbit s to 1 Gbit s All kinds and generations of components cooperate in a network with no problem The principal disadvantage of the restricted deter ministic transmission behavior is usually meaningless for most applications e g HMI and can be neglected in view of the immense transmission capacities FBL Function block language essentially equivalent to the classical function block diagram Field Sequence of elements of the same data type Field bus Conventionally sensors and actuators are connected with a control or evaluation unit via an analog or digital signal This technology requires a multiwire cable for each connection between sensor or actuator and control In addition a facility for switching on and off I O must be provided in the control for each sensor or actuator If a field bus system is used all devices are connected to one bus cable Instead of facilities for switching on and off an interface module is used The resulting advantages are obvious Commis sioning and service become easier the plant is more flexible As a rule
261. within a certain time frame scan time If a time frame is exceeded this is regarded as a failure of the whole system If the process is less critical it may be admissible to exceed that time frame In this case we speak of soft real time A soft real time system is only acceptable if exceeding the time frame causes no risk to man or machine As a rule pak kaging machines are systems that represent hard real time requirements for the control used Reference potential Potential from which the voltages of the circuits involved are regar ded and or measured Programming Manual ELAU AG PD UserMan Glossar us fm PD UserMan Glossar us fm ELAU AG 14 Glossary Regulation A set value of a proces size is compared with the actual value and amplified and regulated in such a way that the difference is zero if possible In contrast to a control the influence of a distortion is regulated out in a regulation In principle there is control and distur bance variable behavior In a servo drive position speed and current are regulated Reset Procedure that triggers the boot of a computer e g activating the reset button switching on the control voltage Resource As a rule the ressource is equivalent to a CPU RS 232 The RS 232 C interface is a standardized serial interface which is largely identical with the V 24 interface CCITT It is designed for asynchronous data exchange between a computer system and a periphera
262. work cards and connections on the properties page Extended settings right mouse button Network environment Advanced Advanced settings of a selected network adapter Programming Manual ELAU AG PD UserMan Netze us fm 8 7 Coupling of Networks PD UserMan Netze us fm ELAU AG Advanced Settings Adapters and Bindings Provider Order Connections are listed in the order in which they are accessed by network services Connections 8 Local Area Connection 3 atk Local Area Connection 2 L Remote Access connections Bindings for Local Area Connection 3 F File and Printer Sharing for Microsoft Networks 3 Internet Protocol TCP IP E Client for Microsoft Networks F Internet Protocol TCP IP E Novell Client f r Windows 2000 F Internet Protocol TCP IP Fig 8 9 Configuring the order of connection for the network card and the order of protocol creation Display of events Window order Workplace Settings System programs Events Safety Programming Manual page 229 8 7 Coupling of Networks page 230 Event Properties Date eae Source LoadPerf Time 10 40 58 Category None E Type Information EventID 1000 User N Computer PC392 Description Performance counters for the w mi amp pRpl wW mi amp pRpl service were loaded successfully The Record Data contains the new index values assigned to this service For more information see Help a
263. y after login this code is loaded into the the control in the runtime system and stored there When the changes are acti vated the code is added at the end of a cycle As the code now exists twice the memory will be reorgnized during the following cycles What is OPC OPC stands for OLE for Process Control and represents a standard interface for the connection of various hardware components to HMI SCADA applications For further details see Operating Manual OPC Server article num ber 17130073 001 Programming Manual ELAU AG PD UserMan FAQ us fm 14 PD UserMan Glossar us fm ELAU AG 14 Glossary Glossary Absolute position encoder Every point of a journey is marked by an unambiguous signal For systems with absolute position encoders no homing drive is requi red after switching on Normally the encoder information is recorded with an additional code disk which records a maximum of 4096 encoder revolutions An easier variant is to store the infomration with a built in battery Acceleration time Acceleration time of the servomotor amplifyer combination without external inertia from standstill to rated speed at peak torque ActiveX The designation ActiveX is a general term It comprises the techno logies known as OLE Control OCX However the terms were rearranged in the scope of the definition of ActiveX ActiveX is a technology developed by Microsoft in order to support interactive contents for the World W
264. yte nesting depth if instruction 15 SERCOS cycle time accuracy lt 0 01 resolution 1 2 4 ms can be set with parameter CycleTime System clock accuracy lt 0 1 resolution 250 us Programming Manual page 231 9 System Data real time clock on the PN 4 module accuracy t1 minute in 12 days data retencion max 7 days battery buffer can be done internally or externally Table 9 1 Data of the PacDrive M system NOTE Bit variables declared with the keyword AT can only be placed on the first 4096 bytes Otherwise there will be a syntax error in the declaration The initialization behavior can be influenced with the object parameter MAx 4 General Retainlnit After successful compilation of a project the sizes Code Size and Data Size are shown Programming Manual ELAU AG PD UserMan Kennwerte us fm g us fm PD UserMan ZeitDia 10 1 Switching on Enable Time Diagrams MotorController Switching on Enable Switching on enable results in the following behavior over the time 1 Hardware and ControllerEnable g AxisState 0 1 2 3 23 0x10 MC4State See Oe 0x30 current speed 0 Brake t Disconnection Time brake relay closed 0 0 t i i motor torque 0 ime Ready closed 0 i Fig 10 1 Time diagram Switching on enable Before switching on enable AxisState and or MC4State depend on the enable signal that is being aw

PDM_UserMan_us0310 - Orbit Motion Systems

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