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Anleitung Powerlink

1. Select the file JsMcEtxDe or JSMcEtxEn and JSMCFBtxEn gt Next Yes to active CPU adds the Error text to the active CPU here X20CP1485 1 gt Finish s pr zis bewegen auf engstem Raum ee gt I Existing Data Object An existing data object Project folder HE BrAutomation A HA Intel Recent folders i HA PerfLogs HE Program Files GQ Program Files 86 EMG Programmbeispiel_B amp R m i i i if JsMcExDe ee JsMcExEn ei JsMcFBtxEn i HQ Single_Axis_Cyclic_Sync_C H E Single_Axis_Profile_Position_C i GHG projects i mA SWSFTIIP 4 1 Add as Reference eta C a E u g Existing Program Do you want to assign the new object to a CPU now Yes to active CPU Yes to all CPUs No do nothing 33 t N N l b amp b E N L pr zis bewegen auf engstem Raum 5 Program example Profile Position Mode 5 1 Get program example and save it The program example is stored as c coderor EPE structured text in the user help menu of the atinin Ee aa haa a dia JsMcLib SER hates aa Goer JsMcLib Single Axis Profile Position C E QQ JsMchib Firstly the example needs to be saved to the PC cee aon se import package to get Example and then it can be imported to the project a a ici aii T Examples_Cycke_Sync_Mode Q Examples_Prof
2. A Configuration name suggestion will be shown Our Configuration name is Hardware_Config 1 M Define a new hardware configuration manually The basic hardware for the configuration can be assembled from the following pages of the wizard This option has to be selected if Automation Studio is used for the first time and no B amp R control is connected to the PC LJ Identify hardware configuration online The hardware configuration will be loaded automatically from the connected B amp R control The hardware configuration is automatically visible in the configuration LI Reference an existing hardware configuration The existing hardware configuration from another Automation Studio project or from another configuration in the same project can be used as a reference gt Next We choose the B amp R PLC X20CP1485 1 gt Finish prazis bewegen auf engstem Raum Automation Studio New Project Wizard In this screen please enter the parameters of the new configuration amp Name of the configuration Hardware_Config_1 Hardware Configuration amp Define a new hardware configuration manually E Identify hardware configuration online E Reference an existing hardware configuration hw Description of the configuration Automation Studio New Project Wizard n thee screen select tee CPU or syaitan ore yoo wart t use t a eG Product Group y Cortos Lorernier Moda
3. NIL pr zis bewegen auf engstem Raum Categories program gt Existing program gt Next amp add object An existing program Select the path of the XY_Axes_Cyclic_Sync_C Eising Program gt Next An existing program pac re Q Programmbeispiel_B amp R E Eror_Texte w Single_Axis_Cyclic_Sync_C BH Single_Axis_Profile_Position_C The program can be seen now in the Logical View BAF RO 226 BS Object Name Description E GQ JSC_Project_1 H 42 Global typ Global data types H Global var Global variables H 9 Libraries Global libraries G JsMcEtxEn iH JsMcFBtxEn H Qj gAxisO10bj gAxis010bj cia gAxis 03obj 3 y clic MeL H IC _Cyclic_Sync_C c Cyclic code H XY_Axes_Cyclic_Sync_C var Local variables 6 5 Configure Ethernet Interface With double click on XY_Axes_ Cyclic Sync_C c the program code will be opened In the code are the Ethernet Powerlink Interface Adress Ifx the node number and the used error object 49 Ethernet Powerlink Address EPL Adapt the line instJS MC Init pDevice UUENT ire The Powerlink address is for both XENAX Servo Controller the same Node Nr The node number is defined in the line instJS MC Init Node 1 here1 amp 2 The node number has to be the same as the CI Card Identifier of the XENAX Servo Controller The Cl is explained above Coupling the virtual Axis In the row Virtual Axis Ref 1
4. Error text or function block text could not be read successfully general mode of operation not supported Reference speed for rotative motors is out of range Z Mark speed for rotative motors is out of range Velocity is out of range Acceleration is to large Cycle time setting failure 28 Only use allowed FB s for the desired mode of operation profile position or cyclic synchronized Check and quit errors from other function blocks or axes which caused the fault Put a pointer to a buffer for the error text string which size is at least 50 characters Enter correct name of the error text object and ensure that the error text object JSMcEtxDe JsMcEtxEn and the function block text object JSMcFBtxEn are present in the project Ensure that the error text object JsMcEtxDe JsMcEtxEn and the function block text object JSMcFBtxEn are present in the project Set a supported general mode of operation in JS_MC_Init OperationMode jsmcMODE_PROFILE_POSITION or jsmcMODE_CYCLIC_SYNC Use reference speed in allowed range 0 250000 inc s Use Z Mark speed in allowed range 0 100000 inc s Use velocity in allowed range 10 9000000 inc s for linear motor 10 100000000 inc s for rotative motor Use smaller acceleration smaller than 1000000000 inc s 2 Use correct cycle time setting powerlink bus cycle time gt 400us and software task cycle time gt powerlink bus cycle time 5002
5. In the submenu Channels all usable objects i Servocontroller_XENAX_Xvi Configuration X Servocontroller_XENAX_Xvi VO Mapping Hardware hi K r Name Value Description will be shown 1x Ely General m po rt a nt La 9 Module supervised off Service mode if there is no hardware module Er fea Powerlink parameters The Objects 1001h Error bit register and 1F8Ch Mode controlled node Response timeout us 20 i Output in PResMN off Send output data at the beginning of the cycle in PRe i Multiplexed station off Advanced gE Channels Objects for cyclic transmission S_CurveProfile_12000 Reserved _12001 Reserved_ 2002 Reserved_12003 I ForceActual_12005 pen Cyclic transmission None i i jeg Datatype DINT INTEGER32 Objects which are transferred cyclic can be Beg ProcessStatusRegister 12006 ff pe Cyclic transmission Read activated kg Datatype DINT INTEGER32 Elms Controlword_16040 a Cyclic transmission Write a Datatype UINT UNSIGNED16 i Init value Set at bootup clear to preserve value on device Ely Statusword_6041 S i 9 Cyclic transmission Read Fort the JSMcLib library the following objects kg Datatype UINT UNSIGNED16 a PositionActualValue_I6064 have to be transferred cyclic in order that the T Tee Gectctrnemission Fead r ip Datatype DINT INTEGER32 Cyclic Synchronized Mode can be used NMT_Curr
6. e ee i Acp 10man br A Acp 10sys br To open the NC Manager configuration double click on Acp10cfg ncc one Aap TOman br H ad Acp10sys br Acp10cfg ncc NC Manager Configuration x Right click on an empty spot in the NC manager Configuration gt Insert Interface ame E re Configuration data for ACP 10 Number of data records per ACOPOS for Network Command Trace Size of data buffer for trace data upload Bytes j Task class for NC Manager task i Use global PV as NC object inn Q v 9 Enable NCSYS download via broadcast ACOPOS reset after NCSYS download Enter SafeMC Logger errors into axis structure E T Network initialization ACOPOS startup f Execute at NC software initialization Execute automatically after ACOPOS reset Waming for non ascending node numbers only for POWERLINK im Indicate network errors before first NC action only for POWERLINK Network Command Trace i _ Enter Parameter a wet records nm Reference task class for parallel transfer p ey POWERLINK interface 0 De 44 J E N N s N amp c pr zis bewegen auf engstem Raum Select Smart Device Controller SDC and confirm tas z with OK Network type CAN POWERLINK Note This step has to be made twice once for Interface address each axis SDC IF 5 6 3 1 Insert the NC Mapping Table The NC Mapping table will be used for ever
7. 10T amp gAxis01 und instJS MC MoveCyclic 1 Axis Axis Ret 1L the axis names gAxisO1 amp gAxisO2 are visible The name in the program code hase to correspond the axis name to succesfully couple the virtual axis Under Physical View gt B amp R PLC gt double click gt Software Configuration The program example is always in Cyclic 4 100ms as default We move the program example to the Cyclic 1 which has a shorter cycle time 1ms V c prazis bewegen auf engstem Raum f f Bess sueumlesr UE 428Hbelsiscte suwuulre s instJS MC Init _1 pDevice UDINT IF4 instJS MC Init 2 pDevice UDINT IF4 eS Dh Soa ate i 4 f initialize node number instJS_MC Init_1 Node 1 instJS MC Init 2 Node 2 seat tha Aascirand mada nf nmaratinonn J Reference to the virtual ADC axis Virtual Axis Ref 1 int amp gAxis01 Virtual Axis Ref 7 int amp gAxis02 i trans fer position from virtual axis to the real XEHANXS axis instJS MC MoveCyclic 1 Anis Axis Ref 1 instJS MC MoveCyclic 2 Axis Avis Bef 2 if bFIRSTRUN BITRE instJS MC MoveCyelic 1 Position gAxis0l monitor 3 instJS MC MoveCyclic 2 Position gAxis02 monitor s 6 6 Move Program Example to Task with Desired Cycle Time D 4PP065_0571_P74 Software X C XY_Axes_ Cyclic Sync_C X _Axes_ Cyclic_ eR Oy BG Object Name E P cru i Cyclic 1 1 ms i 2 Cyclic 2 20 ms
8. XENAX Powerlink PLCopen Library Version 1 2 June 2015 ETHERNET i 8 EEE POWERLINK XENAX Ethernet Servo Controller with POWERLINK fieldbus module Functional safety TUV certified Force processes for Force Contro General This manual describes the integration of the XENAX Xvi75V8 Servo Controller into a B amp R PLC with the Automation Studio Therefore the Jenny Science PLCopen library JsMcLib based on the CANopen Motion Profile DS402 will be used This documantation includes examples with configurations program integration and testing Contents Development environment 1 1 Controller Tools Libraries 1 2 WebMotion 1 3 XENAX Servo Controller 1 3 1 Socket XENAX 1 3 2 State LEDs on the Powerlink fieldbus module 1 4 Powerlink connection from B amp R PLC to XENAX 1 5 Industrial Hub for more than 4 XENAX 1 6 Firmware Update 1 7 LINAX ELAX Linear Motor Axis Automation Studio 2 1 New Project 2 2 Import of the JSMcLib library 2 2 1 JsMcLib User Help 2 3 Embed XENAX CANopen object file XDD 2 4 Embed XEANAX Servo Controller in project 2 4 1 Configuration XENAX based on the xdd description 2 4 2 View I O Mapping JsMcLib 3 1 State Diagram of the Function Blocks 3 1 1 Profile Position Mode 3 1 2 Cyclic Synchronized Mode 3 2 JsMcLib Operation Mode 3 3 Function blocks of the JsMcLib 3 3 1 Minimum and Maximum Values of Function Blocks 3 3 1 Error i
9. Delete Rename Move Up Move Down Columns gt Expand Collapse Properties An empty window will be opened right click gt 2 X20CP1485_1 Software GJ Sample_Sin Sample_s Insert Variable oS bel bab ei e Fala o Insert Variable The window Insert Variable will be opened m7 Insert Variable a mes Every function block and variable which is used in the program example can be seen Select the required variables and function blocks You will need at least the following Execute Demo Frecute Demo Run State instJS MC_Cyclicln instUS MC_CyclicOut instJS_MC_Halt instJS_MC_Init instJS_MC_Move Absolute instJS MC_MoveRelative instJS_MC_Power BOOL USINT J _MC_Cyclicin JS_MC_CyclicOut J5_MC_Halt JS_MC_Init JS_MC_MoveAbsolute J5_MC_MoveRelative JS_MC_Power inswS MC_ReadAxisError instiS MC_ Reset szAxisErrorT ext instJS MC_ReadActualCure J5_MC_ReadActualCurmer instJS_MC_ReadActualPosil J5_MC_ReadActualPositic instJS_MC_ReadAsisEmor J5_MC_Read Andis Error instJS_MC_ReadDigitallnpul J _MC_Read Digitallnput instJS_MC_ReadDigitalOutp JS_MC_Read DigitalOutpu instJS_ MC_ReadParameter J5_MC_ReadParameter instJS_MC_ReadStatus JS_MC_Read Status instJS_MC_Reference J5_MC_Reference gt Add To Start the program example set the Enable_ Prog Functions to TRUE Cc Single_Axis_Profile_Position_C Single_Axis_ Profile_Position_C c Ansi C r Single_Axis_ Profile Position_C Sing
10. E JS_MC_Init 2 JS_MC_JogVelocity E JS_MC_MoveAbsolute B JS_MC_MoveCyclicPosition E JS_MC_MoveRelative E JS_MC_Power E JS_MC_ReadActualCurent E te ae Men hein naa 2 3 Tie fae MES GB bel bt E A Mase x20 1233 ETH gt FLK USA et US n x h 13 JsMcLib Function blocks and _ functions Source Control Coo SIE 2 3 ai Ausblenden Suchen Zur ck s Abbrechen Aktualisieren Startseite Drucken Option JS MC Init In and Outputs for the Init JS MC CyclicIn In and Outputs for the CyclicIn Function block needs to be called at the top of a cyclic program before the call of all other function blocks JS MC CyclicOut In and Outputs for the CyclicOut function block needs to be called at the end of a cyclic program after the call of all other function blocks s JS MC Power S MC Power In and Outputs for the Power JS MC Reference In and Outputs for the Reference JS MC Stop In and Outputs for the Stop JS MC Halt In and Outputs for the Halt I 1 m Embed XENAX CANopen object file XDD Automat Sadio V 40 1865 5P 55 454287 Oniee ook Window Help Generate Trasster Ua gt L 5 Create Commect Feth By kunte Ulery Conte r j c weroan 1140 E 00 witbord te pert DIM Oence Update DTM Catalogue Upgrades Code Snippet Manage Options prazis bewegen au
11. Logical View select the JSC_Project_1 es nm gt Right click gt Add Object Open with Explorer Ham Add Object H a il Ri Gat a Categories gt Program gt Templates gt Existing 48498 s Program Categories Templates An existing program gt Next Select the program example Existing Program nes Single Axis Profile Position _C An existing program H Program Files 86 E42 Programmbeispiel_B amp R i Hg Single_Axis_Cyclic_Sync_C lt Single_Axis_Profile_Position_C i H projects HA SWSETUP 4 Temp HO Users HA Windows HD DA 4 E Add as Reference gt Next g Existing Program Yes to active CPU adds the program example to the active CPU here X20CP1485 1 Do you want to assign the new object to a CPU now Yes to active CPU Yes to all CPUs gt Finish aa 35 J E N N b amp b E NI prazis bewegen auf engstem Raum Check Under Logical View the a JsMcLib single_Axis_Profile_Position_C now appears 4 B Single Axis Profile Position C Single _Axis_Profile_Position C c Single_Axis_Profile_Position_C var 5 3 Configure Ethernet interface fe E UsMclib dy Single Axis Profile Position_C With double click on the Single Axis Profile Position _C c the program code is opened The program code includes the Ethernet Powerlink interface address IFx Node s
12. O configurable in pairs as 24 V input or as out ACOPOS plugin module 2 analog inputs 10 V 2 digital 1 0 configurable as 24 V 8AC131 60 1 41 E WN NW Y 5 E NIC E prazis bewegen auf engstem Raum Choose the language for the error messages of j j Automation Studio Drive Configuration the virtual axis eee am Global settings gt Next amp 4 error messages English Skip drive configuration Write a name for the virtual axis Automation Studio Drive Configuration Real Axis gt Next F Activate motor simulation F Both end swiiches are normally open F Quick stop is normally open A New Drive ae Confirm this window with a entame s o _ Automation Studio Drive Configuration ong Virtual Axis 1 gt Next General Name gVAxis01 C Axis is periodic 42 Confirm the Configuration summary with gt Finish In the Physical View under the B amp R PLC here X20CP1485 1 the new virtual Axis with all its functionalities can be seen Because we only use this Axis virtual we need to delete all the function objects Select all gt right click gt Delete Because there is no real connection between the B amp R PLC and the virtual Axis we need to disable the Axis Right click gt Disable lt cr gt g5 FTI prazis bewegen auf engstem Raum Name Value 5 El fa Simulation in Simulation mode none iq Numberofrealaxes 1
13. STAT ERR ST1 Status 1 ST2 Status 2 lt OFF gt In init process or no Bus module no Bus module ready power error lt ON gt Operational state State bus off No application in the flash lt Blink gt Pre Operational state Protocol download in progress Eas FYI a f I Tt prazis bewegen auf engstem Raum 1 4 Powerlink connection from B amp R PLC to XENAX Typically the Powerlink fieldbus is controlled with a linear structure from device to device Shielded RJ45 cables go from the IN to the OUT to connect the devices with each other RJ45 Kabel OUT A maximum of 4 XENAX Servo Controllers can be connected in a row If there are more than 4 Servo Controller used an industrial hub from B amp R will be necessary Each contact can be used for 4 Servo Controller For example With the HUB Nr OAC808 9 1 from B amp R A maximum of 7 4 28 controllers could be connected 1 6 Firmware Update The firmware can easily be updated with the according tutorial video Ethernet TCP IP Connection to XENAX under www jennyscience de en gt Video Tutorials LINAX Linear Motor Axis Are available in different lengths and types The LINAX linear motor axes are highly modular and can be combined flexibly amongst each other The XENAX Servo Controller identifies the connected LINAX linear motor axis and configures the control parameters automatically Each XENAX Servo Controller c
14. a Number of virtual axes 1 AC Single phase operation off Supply voltage 400 2RPBRBBAGER Name Model Number Legacy aa 4PP065_0571_P74 4PP065 057 B pma PLK H g 8V1010 00 2 Add Hardware Module Replace Hardware Module 8V1010 00 2 DISCADA FANA Wy JOAZS COUGULUULL pee Servocontroller_XENAX_ System Designer Servocontroller_XENAX_ Cut Copy Configuration NC Mapping S P gt 8V1010 00 2 System Designer Open Hardware Difference Window Watch Trace Test Servo Loop Optimizer Add Hardware Module Replace Hardware Module Cut Copy Paste Delete Rename Mm Move Up pLogical View di Configurat Move Down Columns Expand Collapse Hardware Versions Enable _ ilding motion data object Acp 10x ilding configuration object iomap 43 J ENN b amp b E N L pr zis bewegen auf engstem Raum Note i 2G AER This example works with 2 Axis Ha er Lap A second virtual Axis has to be included T ER smeo sw Ses ooo E Unconnected Hardware Modules te hb 5 ba 10 0023 h h b hb 6 3 Insert interface for virtual axis In the Configurations View under X20CP1485_1 configuration Bat gt Motion Mark Acp10map ncm and delete E a Config Active Gt af Hardware hw H Yel Hardwarehwl G x20CP1485_1 coo e Cpu sw E JaA Cpu per EE A loMap iom E ep PyMap vwm E Maton Ht
15. 0571_P74 1 0 2 1 PPO65 TFT CG the settings of the O Configuration EM PLE ii cdiosatentate i i Sri ru I L a n The I O mapping should look like displayed on the right ProcessStatusRegister_12006 DINT Controlword_160400ut UINT Statusword_16041 UINT PositionActualValue_I6064 DINT TargetPosition_1607AOut C Jont 17 The following diagram shows the state and the behaviour of the axis when multiple motion control function blocks are simultaneously active Each motion command is a transition that changes the state of the axis and as a consequence influences the method of calculation of the current movement All function blocks which do not appear in the state diagram do not affect the state of the axis The current state of the axis can be determined with the function block JS_MC_ReadStatus If a function block is called where it is not allowed the function block reports an error The notes describe the necessary conditions that must be met for a change in an axis state Important In the states Stopping ErrorStop Disabled and Reference no motion blocks can be called In standstill condition an axis must always be referenced before starting a movement 3 31 18 Jewegen auf engstem Raum JsMicLib State Diagram of the Function Blocks J c N i N N k pr zis bewegen auf engstem Raum 3 1 1 Profile Position Mode JS_MC_Halt Discrete Mo
16. 4 Electronic data sheet XDD file XML Device Description is a standard XML format according to ISO 15745 4 This file includes communication parameter and objects of the XENAX Servo Controller These are necessary for the integration into Automation Studo V4 JsMcLib Jenny Science Motion Control Library This PLCopen library is based on the motion profile DS 402 including the corresponding state machine Using the Jenny Science library will simplify the motion programming B amp R PLC with Powerlink For example the X20 System controls the cyclic data communication and defines the clock pulse for the cyclic synchronous position mode which is used for axis interpolation prazis bewegen auf engstem Raum 1 Development environment 1 1 Controller Tools Libraries Keren Powerlink ocd a NOD Dates 224K Dateiname Xenax_Powerlink xdd v All Fieldbus Files eds gsd g v J _ MC_MoveAbsolute UDINT Axis Done BOOL BOOL Execute Busy BOOL REAL Position CommandAborted BOOL REAL Velocity Error BOOL REAL Acceleration ErrorlD UINT REAL Scurve X20 System WebMotion This is the graphical user interface from Jenny Science It is stored in the embedded Web server of the XENAX Servo Controller as a Java applet WebMotion is launched with a web browser by entering the TCP IP address of XENAX Servo Controller LINAX ELAX linear motor axes are
17. 5 jsmcERR_DECE_TO SMALL Deceleration is to Use larger deceleration small gt 2000 inc s Use smaller deceleration smaller than 1000000000 inc s 2 For library use atleast XENAX firmware V3 64D and 50026 jsmcERR_DECE_TO_LARGE Deceleration is to large powerlink bus module firmware V2 0 or higher are 50027 jsmcERR_FW_VERS_FAILURE inna VARION failure required 50028 jsmcERR_ PDO MAPPING CHK FAILURE Failure during PDO Error in AsIOPVInfo function mapping check block of AsIO library 50029 jsmcERR PDO MAPPING MISSING D a Waly nected e0 es mapping missing are mapped in I O Mapping No data address for 50030 jsmcERR_NO_ DATA ADDRESS ASSIGNED error text string Assign valid data address for error text strin assigned 6 50031 jsmcERR_SDO_ACCESS_FAILURE invalid SDO access 50032 jsmcERR_CYCLIC_COMM_INTERRUPTED CYSIC Communication interrupted Check input values DataObject SubID and DataLength and set correct values Don t enable power until JS_MC_ Cyclicin is valid and se cyclic communication is running 29 Point to Point Profile Position Mode In the Profile Position mode the parameters of distance velocity acceleration and s curve will be transmitted to the XENAX The trajectory for the drive will be calculated internally in the XENAX Servo Controller Interpolated Cyclic Synchronous Position Mode In the Cyclic Synchronous Position mode the position value will be t
18. 6081in w gt c c c c c c c c c c c c c wniuwmiuwmwiuumuwmwwmww ww ww I I I z C A O A O O O O 52525225 E ALS a E a DA AAA WV i Gu 46 246 a o oe 46 2 4 oe co oe 46 ee 46 oe Otet co ee 4e EEA Real He Hace eat VESA TAA TAA FERA He Plat Kee Fecal ESA ew ee D Filter Channel Name ModuleOk S_CurveProfile_ 20000ut ProcessStatusReaister_l2006 Controlword_ 60400ut 9 Statusword_ 6041 PositionActualValue_ 6064 TargetPosition_l607A0ut ProfileVelocity_160810ut 38 Process Variable Single_Axi stloMap bModuleOK Single_Axi stloMap udiS_CurveProfile_ 20000ut Single_Axi stloMap diProcessStatusRegister_I2006In Single_Axi stlo Map uiControlword_160400ut Single_Axi stloMap uiStatusword_ 6041In Single_Axi stloMap diPositionActualValue_ 6064In Single_Axi stlo Map di Target Position_l607AQut Single_Axi stloMap udiProfile Velocity_160810ut gle_Axi stloMap udiProfileAcceleration_ 60830ut prazis bewegen auf engstem Raum 5 6 Start Program Example i S W JsMcLib g E Single _Axis_Profile_Position_C i e ic Se Logial View gt double click on the B amp R PLC gt i Single_Axds_Profile_Position Open gt Open right click on the program example B iein Opn Eglo a Single _Axis_Profile_Position_C gt Open gt Add Object ao gt E Cut Trace Watch Copy Paste
19. E HEHE EH EHEEEEEEHEEEEHEEEHEEEE HEHEHE HEEEEHENEEESEEEEEEEEEEEEEEE HEHEHE EE HEHE Veen eee ee eee e eee eee eeee eee eee eeeeeeeeeeeeeeeeeeeeee Add NC Object The following parameters need to be set for the NC object NC Object Name is similar to the name of the inserted virtual Axis This step is also taken twice AxNcMap ncm Mapping Editor X Acp10cfg ncc NC Manager Configuration ti Servocontroller XENAX Xvi Configuration tH avi NC Object Name PLC Address Ne Object Type Channel Simulation NC INIT Parameter ACOPOS Parameter gAxis01 SDC_IF1 STx ncAXIS 1 Standard gAxisOli gAxisOla Ais SDC F2 STX aA So a i 6 3 2 Parameter Adjustments Open the Logical View select the inserted virtual Axis gAxisXXobj gt gaxisXXi double click The following parameter need to be adjusted 46 ACP10AXIS_typ gt dig_in gt level Adjust the Input functions as follows pos hw_endto ncACTIV_HI neg hw_endto ncACTIV_HI trigger2 to ncACTIV_HI Set the maximum velocity Speed maximum acceleration Acceleration and maximum brake ramp Deceleration for the Project ACP10AXIS_typ gt limit gt parameter Speed v_pos und v_neg 4 500 000 Acceleration a1_pos und a1_neg 1 0e 8 Deceleration a2_pos und a2_neg 1 0e 8 Set to the maximum of the linear motor axis The Stroke has to match the mechanical limits of the linear motor In our example a ELAX Ex30F20 is used The m
20. ENCE_WRONG METHOD not correct for the allowed reference methods for motor the motor 50006 jsmcERR_ACCE_TO_SMALL Acceleration is to Use larger acceleration small gt 2000 inc s 50008 jsmcERR_SCURVE_NOT_IN_RANGE a meet Use Scurve in allowed range allowed range 1 100 50010 jsmcERR_SDO_COMM_FAILURE Fahure auring ee Check power link connection communication to the Servo Controller 50011 jsmcERR_POWER_UP_FAILURE Failure during power Check Servo Controller for up sequence correct power supply Power was turned off Check and quit errors from jsmcERR_POWER_LOST outside of other function blocks or axis JS_MC_Power control which caused the power off 50013 jsmcERR_WRONG_STATE FOR FB The FB cannot be used Check program to call FB s only in the current state in allowed states 27 50014 50015 50016 50017 50018 50019 50020 50021 50022 50023 50024 jsmcERR_WRONG_OP_MODE_FOR FB jsmcERR_EXECUTION_ERROR jsmcERR_BUFFER_TO_SMALL jsmcERR TEXT OBJ NOT FOUND jsmcERR_TEXT_READOUT_FAILURE jsmcERR_WRONG_GENERAL_OP_MODE jsmcERR_REF_SPEED_NOT_IN RANGE jsmcERR_ZMARK SPEED NOT_IN RANGE jsmcERR_VELOCITY_NOT_IN_RANGE jsmcERR_ACCE TO LARGE jsmcERR_ CYCLE TIME_FAILURE The FB cannot be used in the current mode of operation The FB failed during execution by an external error The buffer for the error text string is to small Error text object or function block text object not found
21. JS_MC_ReadParameter Read parameter values from XENAX Servo UDINT Axis Valid BOOL Controller BOOL Enable Error BOOL INT ParameterNumber ErrorlD UINT Value UDINT Write parameter value to the XENAX Servo UDINT Axis Done BOOL Controller BOOL Execute BOOL INT ParameterNumber ErrorlD UINT DINT Value Write digital outputs for XENAX Servo UDINT Axis Done BOOL Controller BOOL Execute BOOL USINT DigitalOutput ErrorlD UINT The Jenny Science specific objects are described in the document Xvi75V8_ CANopen_Ethernet and can be found under www jennyscience de en 25 Check if there is an axis or a function block error pending Read actual current of the connected linear motor axis Read Jenny Science process status register Execute the reference of the linear motor In the init code this function block has to be called once for every connected axis This function block has to be called at the beginning of the synchronous cyclic mode to get the actual values of the Powerlink fieldbus This function block need to be called at the end of a Cyclic move to send new position values to the Powerlink fieldbus jewegen auf enastem Raum JS_MC_AxisErrorCollector UDINT Axis Valid BOOL BOOL Enable Busy BOOL Error BOOL ErroriD UINT FunctionBlockError BOOL AxisError BOOL AxisWarning BOOL Errorstop UINT JS_MC_ReadActualCu
22. ModuleOk 2 A Serial gt S_CurveProfile_120000ut a ETH ProcessStatusRegister_l2006 Controlword_ 60400ut Statusword_ 6041 o USB ics eo USB PositionActualValue_l6064 X2X TargetPosition_ 607A0ut Bese gt ProfileVelocity_160810ut 9 ProfleAcceleration 60830ut n Channel Name Process Variable Data Type ModuleOk BOOL S_ CurveProfile_ 20000ut E3 UDINT ProcessStatusRegister_ 2006 DINT Controlword_ 60400ut UINT Select Variables Use Data Type Filter Data Type UDINT ies hie ae uci aes J MC_MoveRelative instJ s MC ReadAct tualCurrent instJS_MC_ReadAxis Error instJ 5 MC instJS instJS_ MC instJS_MC_Refe instJS MC_Rese instJS_MC _Stop instJS MC _ instJS_MC_ _ MC_Power S_MC_ReadActualPosition _ MC_ReadDigitallnput Read DigitalOutput ReadParameter MC Read Status S WwW DigittalOutput Wrte Parameter Oo M Ke Metete Erer Erer Ce tie ls eet ea Beal ake PRA EAA 24 RA stloMap in SD udiS _CurveProfile_ 12000hn se proren arsa 16065in udiFollowingErorWindow_ 60650ut udiPosition Window _ 6067In udiPositionWindow _ 6067Out udiProfile Velocity_16081In E Only Not Connected Filter 51 Channel Name ModuleOk gt S_CurveProfile_ 20000ut ProcessStatusRegister_ 2006 Controlword_ 60400ut Statusword_ 6041 PositionActualValue_ 6064 Channel Name ModuleOk S _ Curve
23. NMTState gt Network Managment status are not mapable as PDO This information should not unnecessarily burden the real time cycle FollowingErorWindow_16065 PositionWindow_16067 ForceMax_ 6073 a a MotorCurentActualValue_ 6 TargetPosition_l607A 9 Cyclic transmission Write a Datatype DINT INTEGER32 Name of the Object Mode of pre smn Statusword_16041 Statusword_16041 PositionActualValue_16064 TargetPosition_Il607AOut 16 J s N N J s N l C pr zis bewegen auf engstem Raum If the Profile Position Mode is used the following object have to be transferred additionally Name of the Object Mode of transmission S_CurveProfile_120000ut ProfileVelocity_160810ut ProfileAcceleration_160830ut A detailed description of the Objects can be found in the document Xvi75V8_CANopen_Ethernet at page 17 The document can be found on our website www jennyscience ch downloads Note If there are several XENAX Servo Controller used the object settings can easily be copied 1 Select all object settings with Ctrl A 2 Right click gt Copy 3 Open I O Configuration of the second Servo Controller select all objects with Ctrl A 4 Right click gt paste 2 4 2 View I O Mapping The objects will be visible under the O Mapping Physical View PHRBRAGB R In case the objects can t be seen please check Name Position Version Description i E E 4PP065_
24. Number Descagson PC Sarndad PC xX20CP0201 X20 Corpac CPU amb uP tE j XCP X20 Compad CPU enb uP 6 Dhenat 5 KC POR X29 Compect CPU onb uP 25 Ethene K20CP 145 X20 CPU x56 100 POWERLINE tx IF K20CP 1483 1 X20 CPU 286 100 POWERLINE IF Q0CP 1484 X20 CPU Celeron 256 POWERLINK iz IF X20C P 1484 7 KIO CP Osoron 206 POWERLINK tc IF KCP 1484 X20 CPL Celeron 400 POWERLINK te IF X20CP 1436 X20 CPU Celeron G50 POWERLINK te F KCP 1583 X20 CPU ATON 0 3GHz POWERLINK tx IF wR 16h WMO ATI id YANN ue 4 IF 7 n a fied few como tin 10 You can choose between three different views Logical View Physical View and Configuration View After including the B amp R control each view has now basic settings The Logical View represents the hardware independent view of the application Use this view to list and manage data type declarations variable declarations packages programs libraries data objects and documentation files The Configuration View represents the hardware dependent application perspective Use this view to display and manage the hardware configuration software configuration files declaration of permanent variables I O routings Automation Runtime configuration configuration NC NC routings VC keyboard mapping configuration specific data objects and documentation files The Physical View provides the hardware point view of the active configuration It displays the active c
25. Profile_ 20000ut ProcessStatusRegister_l2006 Controlword_l60400ut Statusword_ 6041 PositionActualValue_ 6064 Process Variable XY_Axes_Cy stloMap_1 bModuleOK XY_Axes_Cy stloMap_1 udiS_CurveProfile_ 20000ut XY_Axes_Cy stloMap_1 diProcessStatusRegister_ 2006In XY_Axes_Cy stloMap_1 uiControlword_ 60400ut XY_Axes_Cy stloMap_2 uiStatusword_ 6041In XY_Axes_Cy stloMap_1 diPositionActualValue_ 6064In Process Variable XY_Axes_Cy stloMap_2 bModuleOK XY_Axes_Cy stloMap_2 udiS_CurveProfile_ 20000ut XY_Axes_Cy stloMap_2 diProcessStatusRegister_I2006in XY_Axes_Cy stloMap_2 uiControlword_ 60400ut XY_Axes_Cy stloMap_2 uiStatusword_ 6041In XY_Axes_Cy stloMap_2 diPositionActualValue_l6064In XY Axes Cy stloMap 2 diTargetPosition 607AO0ut Logial View gt double click on the B amp R PLC here X20CP1485 1 gt right click on the program example XY_Axes_Cyclic_Sync_C gt Open gt Watch An empty window will be opened right click gt Insert Variable The nsert Variable window is opened with all the function blocks and variables of the program example Select the required variables and function blocks You will need at least the following Enable Prog Functions instiS MC_ReadAxisError_1 inswS MC _ReadAxisError_2 instiS MC Reset_1 instiS MC_ Reset_2 szAxisErrorlext_1 szAxisErrorText_2 bReset_1 gt Add Set the Enable Prog Functions to TRUE to start the program With FALSE the program is idlin
26. T Deceleration ErrorlID UINT BOOL JogPositive Jogging BOOL BOOL JogNegative Coupling the XENAX Servo Controller UDINT Axis Valid BOOL with the virtual B amp R axis Motion BOOL Enable CommandAborted BOOL commands are triggered by B amp R Axis DINT Position Error BOOL ErroriD UINT JS_MC_ReadStatus Read status of the XENAX Servo UDINT Axis Valid BOOL Controller BOOL Enable Error BOOL ErrorID UINT Errorstop BOOL Disabled BOOL Stopping BOOL Standstill BOOL DiscreteMotion BOOL Reference BOOL ContinuousMotion BOOL JS_MC_ReadActualPosition Read actual position UDINT Axis Valid BOOL BOOL Enable Error BOOL ErroriD UINT Position DINT 24 J s N A l s fad Jewegen auf engstem Raum JS_MC_ReadAxisError Read axis error from XENAX Servo UDINT Axis Valid BOOL Controller BOOL Enable Busy BOOL BOOL Acknowledge Error BOOL UDINT DataAddress ErrorlD UINT UINT DataLength ErrorRecordAvailable BOOL JS_MC_Error STRING 12 DataObjectName ErrorRecord Record FunctionBlockErrorCount UINT AxisErrorCount UINT AxisWarningCount UINT Read digital inputs from XENAX Servo JS_MC_ReadDigitallnput Controller UDINT Axis Valid Axis BOOL Enable Error Enable ErrorlD Digitallnput JS_MC_ReadDigitalOutput Read digital outputs from XENAX Servo UDINT Axis Valid BOOL Controller BOOL Enable Error BOOL ErrorlD UINT DigitalOutput USINT
27. This document may not be in its entirety or partially copied duplicated or translated without the prior consent of Jenny Science AG Jenny Science AG grants no guarantee on or will be held responsible for any incidents resulting from false information Information in this instruction manual is subject to change Jenny Science AG Sandblatte 7a CH 6026 Rain Schweiz Tel 41 0 41 455 44 55 Fax 41 0 41 455 4450 www jennyscience ch info jennyscience ch Copyright Jenny Science AG 2015 53 Notes zis Dewegen auf engstem Raum
28. _MC_Power Output stage power on off UDINT Axis Status BOOL BOOL Enable Valid BOOL Error BOOL ErrorlID UINT Stops the active movement and changes UDINT Axis Done BOOL to the Stopping state The output BOOL Execute Busy BOOL Stage turns off UDINT Deceleration CommandAborted BOOL Error BOOL ErrorlD UINT JS_MC_Halt Stops the active movement and changes UDINT Axis Done BOOL to the Standstill state The output BOOL Execute Busy BOOL stage remains active UDINT Deceleration CommandAborted BOOL Error BOOL ErrorlD UINT JS_MC_Reset Deletes an error on the XENAX Servo UDINT Axis Done BOOL Controller BOOL Execute Busy BOOL Error BOOL ErrorlD UINT Drive to an absolute position UDINT Axis Done BOOL BOOL Execute Busy BOOL DINT Position CommandAborted BOOL UDINT Velocity Error BOOL UDINT Acceleration ErrorlD UINT UDINT Scurve 23 jewegen aul JS_MC_MoveRelative enastem Raum Drive a relative distance UDINT Axis Done BOOL BOOL Execute Busy BOOL DINT Distance CommandAborted BOOL UDINT Velocity Error BOOL UDINT Acceleration ErrorlID UINT UDINT Scurve Driving with a pre set velocity as long UDINT Axis Active BOOL as JogPositive or JogNegative is BOOL Enable Busy BOOL active And the end soft limit is not reached UDINT Velocity CommandAborted BOOL UDINT Acceleration Error BOOL UDIN
29. aAGeRZ Name Model Number Le a 4PP065_0571_P74 4PP065 057 ae PLE En VO Mapping iad Configuration System Designer Add Hardware Module Hardware SLGIOQ kk 22 GE Search Product Group i ams al pm fe Controller 1 0 Drive X Model Number Description 8BVPO880HW00 004 1 ACOPOSmulti power supph 8BVP1650HC00 000 1 ACOPOSmuli power supph BBV Piocooconx 2000 ACOPOSmult power supph 8CVE28000HC00 00 1 ACOPOSremote ACOPOSi 8CVI045E1HCS0 00 1 ACOPOSremote ACOPOSr 8CVI045H1HCS0 00 1 ACOPOSremote ACOPOSr 8CVI045S1HCS0 00 1 ACOPOSremote ACOPOSr 8174 00000 01P 1 ACOPOSinverter P74 8184 000000 01P 1 ACOPOSinverter P84 8V1010 001 2 ACOPOS servo drive 3x 4 8V1010 501 2 ACOPOS servo drive 3x 1 8V1010 50 2 ACOPOS servo drive 3x 1 8V1016 001 2 ACOPOS servo drive 3x 4 meander ans Automation Studio Drive Configuration Select the hardware module you want to use on SS2 amp Descipti ACOPOS plugin module EnDat encoder and sine incremental encoder interface ACOPOS plugin module HIPERFACE interface ACOPOS plugin module resolver interface 10 kHz ACOPOS plugin module incremental encoder and SS absolute encoder interface ACOPOS plugin module BiSS encoder interface 5V ACOPOS plugin module BISS encoder interface 5V baud rate 6 25 Mbit s ACOPOS plugin module BiSS encoder interface 12V baud rate 6 25 Mbit s ACOPOS plugin module EnDat 2 2 encoder interface ACOPOS plugin module 8 digtal I
30. an control one linear motor axis ELAX Linear Motor Slide The ELAX Linear Motor Slide are predestined for fast precise positioning tasks It s a Modular system with strokes of 30 150mm The variable one cable connection can be mounted on the back or sidewise The XENAX Servo Controller identifies the connected ELAX and parametrizes automatically V c prazis bewegen auf engstem Raum 1 7 LINAX ELAX Linear Motor Axis LXC c compact Lxu u universal Lxs s shuttle Lxe e exclusive In the following steps it will be shown how a new project can be opened Start the Automation Studio from B amp R File gt New Projekt gt Enter your project name e g JSC_Project_1 The storage path will be shown and can be changed Select MiCopy Automation Runtime support Use Automation Runtime Simulation It is not necessary to run a simulation if the PLC is used as hardware gt Next W E pr zis bewegen auf engstem Raum 2 Automation Studio 2 1 New Project Open Project Sour Strg O Automation Studio New Project Wizard In this screen please enter the base parameters for the new project i Name of the project JSC_Project_1 Path of the project C projects Note A subfolder with the same name as the project will be created automatically Copy Automation Runtime files into project Use Automation Runtime Simulation Description of the project
31. ation Device USB Keyboard USB Keyboard Type 01 X20A11 744 1x DMS X20A11744 3 1x DMS X20A12222 2 Inputs 10 V 14 J ENN Y b E NIL pr zis bewegen auf engstem Raum For the connection the Node Number hast to TA A be the same as the Card Identifier CI on the T E hee ee E T a XENAX Servo Controller The CI number can easily be changed on the WebMotion under by command line with the ASCII code e g Cl2 Read with Cl VO Mapping Configuration Replace Hardware Module Open Module Details Cut Copy Paste Delete Hardware Versions b treble Duable Change Node Number Properties The Servo Controller XENAX Xvi75V8 can now SCAVI be seen in the Physical View under S BLReSBAGCBRZ Name L Position Version Description PLK Powerlink 5 4PP065_0571_P74 1 0 2 1 PPO65 TFT b i PLK IF4 POWERLIN gt IFS Ethemet i amp USB IF Universal Se i seve e USB F7 Universal Se RD le SS1 15 J N N b E NI CE prazis bewegen auf engstem Raum 2 4 1 Configuration XENAX based on the xdd description Physical View PLK Servocontroller_XENAX_Xvi Wu gt right click gt Configuration PARA FF A e Name Position Version Description E 4PP065_0571_P74 1 0 2 1 PPOS5TFTCC d SE PLK IF4 POWERLINK Servocontroller_X ag E ET r YO Mapping Tii Configuration ey et USB F7 haere i ss Guctem Nerinner 2 4 1 1 Cyclic transmission
32. automatically recognized The corresponding controller parameters are saved and loaded automatically With the Quick Start button the linear motor axis can operate immediately No user manual is needed The parametrization of the XENAX Servo Controller is made over an Ethernet TCP IP connection You can find the pre set IP address on the backside of your XENAX Servo Controller Web address http 192 168 2 1xx XENAX html To change the IP Web address you can use the Lantronix Devicelnstaller For additional information of the TCP IP connection you could use the Xvi75 Manual E pdf or the video Tutorial on YouTube http www jennyscience de video tutorials 1 2 s prazis pewegen WebMotion auf engstem Raum y E N N f 0 c N b pr zis bewegen auf engstem Raum 1 3 XENAX Servo Controller XENAX Ethernet Servo Controller With additional POWERLINK fieldbus module To use the JSMcLib v2 10 1 or higher the XENAX Servo Controller firmware v3 64D or higher and the POWERLINK fieldbus module firmware v2 0 or higher are required 1 3 1 Socket XENAX Powerlink Status Pind Pin3 4 Pin1 2 ENC START UP RS232 Busmodul LEDs TCP IP MOTOR Power Logik HALL OPTIO PLC Master Slave tesar Lyi e smrtan 1 3 2 State LEDs on the Powerlink fieldbus module These are the states of the LED on the Powerlink fieldbus module TPweRLiNi o rJ C i o LED state RUN
33. aximum stroke of it is 30000 um neg sw_end 0 pos sw_end 30000 Time adjustment ACP10AXIS_typ gt controller gt position t_predict t_total Note This parameter adjustment has to be done for every virtual Axis prazis bewegen auf engstem Raum Input function P GAxis01i gAxisO1i ax Init Parameter Table X ame Value Unit Description El ACPIOAXIS_typ AA dh n Digtal Inputs n w MES es nn 1 1 reference ncACTIV_HI Reference switch eg pos_hw_end ncACTIV_HI Positive HW end switch iy neg_hw_end ncACTIV_HI Negative HW end switch triggert ncACTIV_HI Trigger Long trigger2 ncACTIV_HI Trigger2 El 7 encoder_if Encoder Interface 7 parameter Parameters Velocity Acceleration and brake ramp Speed in positive direction 4500000 0 Acceleration in positive direction Deceleration in positive direction Acceleration in negative direction Deceleration in negative direction N tin_pos D 5 Lag eror limit for display of a waming fg i ds_waming 500 0 Units ds_stop 1000 0 Units Lag eror limit for stop of a movement a_stop 1 0e30 Unitss Acceleration limit for stop of a movement dv_stop 0 1 s Speed eror limit for stop of a movement ae dvistop_ mode ncOFF Mode for speed eror monitoring Time 52 controller Controller os mode ncPOSITION Mode E T position Position Controller kv 50 l s Proportional amplification 9 tn 0 s i 47 J t N NY bs E NI
34. b pr zis bewegen auf engstem Raum 6 3 3 Cycle time The time used should be as short as possible sical View Physical View gt PLK gt right click gt PARBAAPERA Configuration Name Model Number Legacy Mill 4PP065_0571_P74 4PP065 057 VO Mapping Lem os Configuration es D The cycle time is set to 1000 us Ea POWERLINK parameters Activate POWERLINK com on eis a 9 Device name lt interfaceAddress gt Cycle time us oe Wiitinlevinn nreerale R Physical View gt double click on the B amp R x20CP1485_1 Configuration x X20CP1485_1 Software PLC here X20CP1485 1 gt right click Cyclic 1 gt Properties Set the duration for the virtual Axis in the Cyclic 1 to 1000 us The Duration must be the same as the Powerlink Cycle Time which was set before 2 9 cass 8 u m a iw ij Activate exception task class off The Tolerance must be Oms and 1 0 outputs 5 MH Cydictask classes delay has to be set to no delay BS Ocli Note If these settings aren t made like LD stack Byte 8192 explained the initialisation will be stopped by an ja Used as output cycle tr off error and a commissioning of the virtual axis arpata mea won t be possible H H Haia iali eee HERB Logical View gt JSC_Project_1 gt right click gt Add Object Open with Explorer Add Object 48 J ENN Y G
35. brary will not be assigned to any CPU The assignment has to be done manually gt Finish The inserted library is now visible in the Logical View gt Libraries prazis bewegen 2 2 Import of the JsMcLib library S a3 Be ae i aaRS ES Object Name Description E Q JSC_Project_1 H 43 Global typ Global data types H K Global var Global variables mY Lj Yanes macan orae Open gt all Operator H a Runtime Open with Explorer H a AsTime z Add Object Categories Templates eo a Existing Library a We New IEC Check Functions Library Data Object E New Library E Motion lt Q Library 0 Visualization ee Gj orc if File Samples I Solutions Existing Library An existing library HE Fimware_Busmodul_ amp _ESI a o oH Library C i i i H sM BEE 7 i HA Resources J Version i G42 Simulink Target Setup F Gi VCWT Intel 2 HA Program Files a Program Files 86 i LM nmiects Existing Library E Do you want to assign the new object to a CPU now Yes to active CPU Yes to all CPUs No do nothing Logical View aes es 3 GFF ey cy Wh Object Name Description Qj JSC_Project_1 H 42 Global typ Global data types E Global var Global variables om Q Libraries Global libraries Hpi Operator gj Runtime gf AsTime of AslecCon This library co
36. e completed for every channel 5 5 pr zis bewegen auf engstem Raum program variables I O Mapping connect xdd channels to Physical View Servocontroller_XENAX_Xvi I O Mapping 2 A AaB 2 Name Model Nu Legacy Channel Name E aP X20CP1485_1 X20CP 148 ModuleOk o gt S Serial gt S_CurveProfile_120000ut ap ProcessStatusRegister_12006 E a Covtotword_160400u Pan o USB Statusword_16041 b e2 USB PositionActualValue_16064 L XOX TargetPosition_I607AOut B le gt ProfileVelocity_I60810ut _ ProfileAcceleration I60830ut Channel Name Process Variable Data Type ModuleOk BOOL S_CurveProfile_I20000ut UDINT ProcessStatusRegister_12006 DINT gt Controlword_I60400ut UINT Select Variables Use Data Type Filter Data Type UDINT E Only Not Connected baaa op ep Dp Dp a Dy Be instJS_ instJS_ instJS_MC_ReadActualCurrent MC_MoveRelative MC_Power instJS_MC_ReadActualPosition instJS_MC_ instJS_MC_ReadDigitallnput instJS_MC_ReadDigitalOutput instJS_MC_ReadParameter instJS_ instJS_MC_Reference instJS_MC instJS_MC_Stop Read Axis Error iC_ReadStatus m heset instJS_MC_WrteDigitalOutput instJS_MC stloMap i udiS_CurveProfile_l2000In urveProfile 120000ut WrteParameter udiFollowingErorWindow_ 6065In udiFollowingErorWindow_ 60650ut udiPosition Window _ 6067In udiPosition Window _ 6067Out udiProfile Velocity_1
37. f engstem Raum Choose the path of the xdd File gt Open ner gO Powerlink Xwi75_V2 0 ESI X y ES durchsuch n Organisieren Neuer Ordner A A Name Jr Favoriten Anderungsdatum Typ BB Desktop E Xenax_Powerlink xdd 27 10 2014 08 31 XDD Datei rI Downloads a SkyDrive SE Zuletzt besucht T Bibliotheken E Bilder Dokumente Musik E Videos TI p Dateiname Xenax_Powerlink xdd v All Fieldbus Files eds gsd g_ Imported successfully will be shown on the Parsing files for Smart Edit Support var Parsing finished O ut p ut win d OW File C BrAutomation Firmmware_Busmodul_ amp ES Powerlink_Xvi75_V2 0 ES I Xenax_Powerlink xdd imported successfully 2 4 Embed XEANAX Servo Controller in project Include Servo Controller XENAX Xvi from Physical View Toolbox into the project 2DeEGBRSBAGCER Name L Position Version Description E ii 4PP065_0571_P74 1 0 2 1 TFTCQ iE pi Lf i Physical View gt select the Power Link Interface gt A VO Mapping right click gt System Designer Er Configuration System Designer Add Hardware Module Replace Hardware Module Toolbox gt Hardware Catalog select Servo foo Controller XENAX Xvi and doubleclick it to Fil 2 B YR Search include to the System Designer Product Group a a a Controller 170 Industrial PC Model Number Description SimDevice Simul
38. g in a loop A Error can be quit by setting the bReset_1 to TRUE Note In the help of the library there is a program example with 1 Axis in Cyclic Synchronized mode prazis bewegen auf engstem Raum 6 8 Start Program Example X20CP1485_1 Software f Ave K e gAxisOli ax J gAxisO2obj acp10eben a 3 acp10etxen ett Open with Explorer Open gAxisO3obj A ada OVS oe ot Sample_Sin Sample_ OS bel bab ei e Faal o B Insert Variable Acceleration_1 Acceleration_2 Axis_Ref_1 Axis_Ref_2 Speed_1 Speed_2 Virtual_ Axis Ref_1 Virtual_Axis Ref_2 Virtual_MC_Home_1 Virtual_ MC_Home_2 Virtual_ MC_MoveAbsolute_ Virtual_MC_MoveAbsolute_ Virtual_MC_Power_1 Virtual_MC_Power_2 Virtual_ MC_Reset_1 Virtual_MC_Reset_2 TT Insert Variable MC_MoveAbsolute MC_MoveAbsolute MC_Power MC_Power MC_Reset MC_Reset Name Enable_Prog Functions instUS_MC_ReadAxisEror_1 instJS_MC_ReadAxisEror_2 instJS_MC_Reset_1 A H H v H v 52 bReset_1 instJ5_MC_Reset_2 szAxisErorText_1 SZAMSCITOr ext Type BOOL Scope local JS_MC_ReadAx local JS_MC_ReadAx local JS_MC_Reset BOOL JS_MC_Reset STRING 50 STRING 5O local local local local Cancel Value FALSE FALSE 00 No error pending This instruction manual contains copyright protected information All rights are reserved
39. i Cyclic 3 50 ms 2 Cyclic 4 100 ms Rm XY Aves C i Cyclic 5 200 ms Version Transfer To Size bytes User ROM D 4PP065_0571_P74 Software X AxNcMap ncm Mapping Edit Ee 2 Om eG Object Name E P cPu G2 Cyclic 1 1ms P Version Transfer To Size bytes XY_Axes_Cy 1 00 UserROM om Cyclic 2 20 ms i Cyclic 3 50 ms 50 To use the xdd Channels cyclic data of the XENAX in the library they have to be connected to a Process Variable Physical View double click on XENAX Servo Controller gt I O Mapping Select in the row Process Variable the cell of the desired Channel e g S_CurveProfile_ 2000Out Click on the Symbol The Window Select will be opened Please open the according program with the symbol In the tree layout of stloMap there are all Process Variables which have a data type that matches the channel Select the corresponding variables for the channel gt OK After the process variables are selected the path can be seen in the I O Mapping Every channel needs to be connected to a process variable This has to be done for every XENAX 6 pr zis bewegen auf engstem Raum 7 I O Mapping connect the xdd Channels with the program variables gt Servocontroller_XENAX_Xvi VO Mapping f AS ER 2 F X20CP1485_1 X20CP 148
40. ie_Position_Mode Single_Axis_Profile_Position_C Single_Axis_Profile_Position_ST E i Dateidownload ae Mochten Sie diese Datei ffnen oder speichern Logical View gt select JsMcLib Library gt press F1 Nane Single At atl etn yp ZIP komprimierter Ordner 3 21 KB to open the user s help Ven me MSTStoreC pojecsVSC Projet 10 Gien Seechen Caec Under Examples the program examples can be aa DSen au den tena k men ch sen se mac found speichem Sie dese Datei nicht fate Sie der Quelle nicht verrauen 1 00 2011 aug 23 O W spi construction 2 00 2014 jun 18 A W est adapted for li In our Example we choose Sven waciwcewan wevenanaesanenenennesene EEE ERES Insert your comment ere Single Axis Profile Position _C and click on ae re eee szAxisErrorText STRING 50 Import Package a BDFALSE SOOL FALSE DIRUE BOOL TRUE END_VAR Then we save this file on the PC and extract the zip file Right click gt extract all Note Program A program has direct access to all variables functions and function blocks Package Bigger Applications including a big amount of data objects variables functions and so on can be split into single units The summary of these units is called a Package and can be named and imported 34 J E N N bt E N Lb pr zis bewegen auf engstem Raum 5 2 Import program example to the project Under
41. ingle _Axis_Profile_Position_C c number and the used error object 2g Single_Axis_Profile_Position_C var Ethernet Powerlink address EPL pass address of interface address The following line of the program example has to instJS MC Init pDevice UDINT IF3 match the interface used instds MC Init pbevice UDINT ifs Node nr Setting The Node number is set to 2 in the Line instJS MC Init Node 2 initialize node number Set the Node number of the connected XENAX Sa a oa Sy Servo Controller Node Card Identifier Cl set with WebMotion see chapter Card Identifier 36 J ENN Y bt E NIL pr zis bewegen auf engstem Raum 5 4 Move Program example into Task To see the Software Configuration go to Physical View and double click on B amp R PLC here X20CP1485 1 The default cycle of the program is Cyclic 4 E E Neuen Version T 100ms E deen i Cyclic 1 10 ms i Cyclic 2 20 ms i GQ Cyclic 3 50 ms g Cyclic 4 100 ms e Single_Axi n Cyclic 5 200 ms We move the program by drag amp drop in Cyclic Object Name Vesin 1 which has a shorter cycle time 10ms 5 cPu Cyclic 1 10 ms SE D Cyclic 2 20 ms i oa D Cyclic 3 50 ms To verify the correct integration the error Object Name Version Transfer To objects can be found in Data Objects o CPU Cyclic 1 10 ms im JJ Sample_Sin 1 00 0 Use
42. ition Mode The Cyclic Synchronous Position Mode is an interpolated drive The trajectory is calculated by the B amp R PLC The only parameter is the position For this Mode a virtual B amp R axis will be necessary 3 2 20 prazis bewegen JsMcLib Operation Mode auf engstem Raum Process 1 Configure XENAX Servo Controller with the Automation Studio 2 Power on with JS_MC_Power 3 Reference XENAX Servo Controller with JS_MC_Reference 4 XENAX Servo Controller is now ready to move e g an absolute way with the function block JS_MC_MoveAbsolute prazis bewegen auf engstem Raum XENAX Profile Position Mode BER Automation Studio Applikation Profile Position Wijde Punkt zu Purkt Js iecLik 15_MC_ Power 15_MC_Reference B MC Absolute J _MC_Retative Is Mc_ Pd Actual Position Interface Progessvariablen Py Mapping auf D5207 ARIG Powerlink Xenax Servocentroller 21 Process 1 Configure from the XENAX Servo Controller and the virtual ACOPOS axis from B amp R 2 Power on XENAX Servo Controller with JS_MC_Power and the virtual axis with MC_Power on 3 Reference XENAX Servo Controller with JS_MC_Reference and prepare for the coupling to the virtual axis 4 Reference virtual axis with MC_Home and then define the current position of the XENAX Servo Controller as HomePosition 5 The XENAX Servo Contr
43. le_A With FALSE the program is idling in a loop Enable Prog Functions instJS_MC_ReadAxisEror JS_MC_ReadAx local a instJS_MC_Reset JS_MC_Reset local i Y Ads UDINT 120433544 If an error occurs it can be quit by putting the fs San sow ee l H P Y Done BOOL FALSE variable Execute on TRUE in the function block FES aa ee IS MC Reset H Eror BOOL FALSE j L EnorlD UINT 0 He IS JS_MC_Reset_ 39 J 5 N N i N c N b c prazis bewegen auf engstem Raum 6 Program example Cyclic Synchronous Position Mode The program example is stored as c coder or l e gt A m structured text in the user s help of the JsMcLib Se Minden Manii Saite Drian tren Inhalt Index Suchen Favoriten i i r j ea JsMcLib XY_ A Cyclic Cc Firstly the example needs to be saved to the PC Pug sMeli nen Cyu Li F General infomation se Import package to get Example and then it can be imported to the project 2g teess anans Use import package to get Exam Al les Local variables y 3 0 Examples_Cyclic_Sync_Mode Dateidownload xs Single_Axis_Cyclic_Sync_C XY_Axes_Cyclic_Sync_C Mochten Sie diese Datei offnen oder speichem Examples_Profile_Position_Mode Logical View select JsMcLib Library press F1 to i Tye ZPomprimeter ordner A188 Von mk MSITStore C projects Test123 Logical J open the u
44. n the Function Block Point to Point or Interpolated Position Mode 4 1 Hardware Setup 4 2 Hardware Setup 4 3 Embedding XENAX Error Messages Program example Profile Position Mode 5 1 Get program example and save it 5 2 Import program example to the project 5 3 Configure Ethernet interface 5 4 Move Program example into Task 5 5 I O Mapping connect xdd channels to program variables 5 6 Start Program Example Program example Cyclic Synchronous Position Mode 6 1 Integrate second XENAX Servo Controller in project 6 2 Include virtual Axis pra ZIS Dewegen auf engstem Raum O CGONNN DD OW Sf BH e e e Pe he FE N DM BWW WN e e co 00 e WO WO N N Ww N N N N WWW W NF oO OO WWW WWW W O CON OMW ff A amp SB e O O 6 3 6 4 6 5 6 6 6 7 6 8 1 ka i 1A 4 we p y 3 7 is he W ae n Insert interface for virtual axis 6 3 1 Insert the NC Mapping Table 6 3 2 Parameter Adjustments 6 3 3 Cycle time Insert Program Example Configure Ethernet Interface Move Program Example to Task with Desired Cycle Time I O Mapping connect the xdd Channels with the program variables Start Program Example auf engstem Raum 44 45 46 48 48 49 50 51 52 Automation Studio Software for the configuration of the B amp R PLC with project handling Software for configuration and programming of the B amp R PLC including project management This manual is based on Automation Studio V
45. ng XENAX Error Messages Error on the XENAX Servo Controller can be read with the JS MC ReadAxosError function block To provide this function block with an error text the JsMcEtxEn file has to be integrated into the Automation Studio Under JsMcLib H Library_Use gt Error Text the corresponding file in in German or English can be selected Specify a desired location and extract the file by clicking right and press gt Extract All In Logical View select the project name JSC_Project_ 1 gt Right click gt Add Object z D Ni mm 3 C Categories Data Object gt Templates Existing Data Object JsMcLib Error_Text The error teat shows either suis errors which correspond to the error number displayed at th WEMAN controller function block imora For th bais errors th error beat object can be chosen amd passed to the JSM _Resd nisError function block If mo error tet object is chosen a default error text is piren out for furet on block errors slwens a default eror test is given out Example for error texts Aaii aerar with luMeEisEn ener beet abject chanan S0 Positian deviation ia tee large Aaii for with no error test object chosen Anis Nao Function Glock error FB_IS_ReC_Proswer Wr SO0k2 The following data objects have to be installed in the project Open with Explorer Add Object gt Next An existing data object 32
46. ntains function interfaces for IEC This library contains runtime functions for IEC tz The AsTime Library supports DATE_AND_TIM This library contains function interfaces for IEC The AsEPL library is used to access service dz This library contains standard function blocks z The AsiO library makes it possible to determine 12 auf engstem Raum The help for the function blocks of the JSMcLib library can be opened by selecting the JsMcLib library and then press the F1 button The XENAX Servo Controller is operating according to the device profile for electric drives CANopen DS402 This device profile then goes on the Powerlink Ethernet fieldbus CANopen over Powerlink The CANopen object list is included in the description file Xenax_Powerlink xdd and will be integrated into the Automation Studio Main menu gt Tools gt Import Fieldbus Device These objects are provided in readable form by the Xenax_Powerlink html file on the delivered CD under XENAX _Xvi_75V8 XENAX _Xvi_Powerlink or on www jennyscience de en 2 2 1 prazis bewegen auf engstem Raum JsMcLib User Help Inhalt Index Suchen Favoriten JsMcLib i w Library_Use B Library Use Xenax_Preparation CycleTime lOMapping Evor_Text Library_import General_information E w Function_blocks_and_functions E JS_MC_AxisErrorCollector E JS_MC_Cyclicin 2 JS_MC_CyclicOut0 2 JS_MC_Haltd
47. oller and the virtual axis are coupled together by attaching the calculated position of the virtual axis to the input Position of the function block IS_MC_MoveCyclicPosition Now all the features of the virtual axis are available The XENAX Servo Controller now behaves like an ACOPOS axis from B amp R c prazis bewegen auf engstem Raum XENAX Cyclic Synchronous Position Mode m4 p E3 a gz ET 4 wt Lal E a 2 i Pa 2 u 22 BAR Automation Studia Applikation Cyclic Synch Pos Mode Interpoliert ACPO MIC Library Uber 92 FUB s 400 ACP hultiachs lrajektorengenerator MC_Read ctualPosition Hur eine Schnittstelle aktie l Trajettonen Achsen 1 n SOC Soll posite REAL Profile Poet M g Punkt zu Pumkt Ishi Lib BMC Power MS MC Reference 5 O MC_AetiArctualP outo BMC Mowe Cyclic Posate T i i i aaa aa i a a aaa a a a a F 2yelische bemahme Sollposition i Umrechnung REAL zu INTEGER jam i gt rklischer Aufrut 1 interface Progessvariahlen PV Mapping auf D02 ARID Kenas Senrocontroaller J r N N s zis bewegen auf engstem Raum 3 3 Function blocks of the JsMcLib The function blocks of the JSMcLib intend to simplify the use of XENAX Servo Controllers in the Automation Studio The function blocks of the JsMcLib are described below Function blocks JS
48. onfiguration hardware modules in a directory tree L c pr zis bewegen auf engstem Raum A id ea A ver Baa 4 e aa 470 ot SD BASS pd Object Name CE T OSC TTEN I E a Global typ Global data types p F Gebel ve B CD Ube ss n b J3 Gebel te Grobe date tyowe G Tiot des Glob P T gt H Description BE 2h 9 AA Global variables Global libraries H Global var H 9 Libraries ontigquration Vien Description Ab ee eEREAN EME E ESSE eee ENE E SEES SEES EHEHOEE SEE EHESHEOEUESEESEESESESHUEESSUESEHEEEEESEUEESEESSHEOOUHONEES SEES EHEEOHES SHES OHS Hardware configuration Hardware topology H a Hardware hwl H 99 4PP065_0571_P74 POWERLINK IF5 Ethemet IFS Universal Serial E IF7 Universal Serial E S51 4 T h Logical View amp amp Configuration View Physical View 11 In the Logical View right click on the folder Libraries gt Add Object Categories gt Library gt Existing Library gt Next In the following step you have to select the IsMcLib library If there are several versions you can select the latest version in the Version drop down list on the left side gt Next With Yes to active CPU the library is added to the active CPU By choosing Yes to all CPUs the library is added to all CPU s in the case of more than a configured CPU By choosing No do nothing the li
49. rROM dese Ea Cyclic 2 20 ms amp Cyclic 3 50 ms ima Cyclic 5 200 ms Se amp Cyclic 6 500 ms Cyclic 7 1000 ms i amp Cyclic 8 10 ms Data Objects z JsMcEtDe 1 00 0 UserROM eves JsMcEtxEn 1 00 0 UserROM fim B PsMcFBtcEn 1 00 0 _UserROM Example m E If the XENAX Servo Controller shows the 2 ol Error 50 on the display the function block seon ai FALSE ir n o i e p Gutman i Aang JS_MC_ReadAxisError will show 50 position ba Dneska wT no n mentee bs oe ms Te deviation is too large Bw ben p Gor Bod TALSE Ermi LT Fonte _ Re Cs L Eert ENT i p Ardiki a LET l bab hey Freel curd aT i Pe Meini UT 0 S ig d5 BAC Fita ae 37 To use the xdd channels cyclic data from the XENAX in the library they have to be connected to the Process Variable Physical View double click XENAX Servo Controller gt I O Mapping Select the Channel on the row Process Variable e g S_ CurveProfil_ 20000ut Click on the k symbol The Select window will open You can open the according program which you like to use with the symbol In the tree layout of stloMap are all Process Variables which have a data type which matches the channel gt OK After selecting the variable the path of the variable can be seen in the I O Mapping The assignment of a Process Variable has to b
50. ransmitted cyclically e g every millisecond to every connected XENAX Servo Controller In this mode a virtual axis no hardware mapping for every connected XENAX Servo Controller is necessary Using a XENAX Servo Controller and a B amp R PLC X20CP1485 1 XENAX Xvi75V8 Servo Controller with additional Powerlink fieldbus module Include the XENAX Xvi75V8 Servo Controller into a new project in Automation Studio 4 4 1 c prazis bewegen auf engstem Raum Point to Point or Interpolated Position Mode Hardware Setup ma i ka na 30 lt lt FYI a _ cs c ry 3 Profile Position Mode 1x B amp R PLC X20CP1485 1 1x XENAX Servo Controller with Powerlink fieldbus module 1x Ethernet connection from B amp R PLC to a PC 1x RJ45 cable for the connection of the B amp R PLC and the XENAX Servo Controller 1x LINAX Lxc 85F10 linear motor axis Cyclic Synchronous Position Mode 1 x B amp R PLC X20CP1485 1 2x XENAX Servo Controller with Powerlink fieldbus module 2x Ethernet connection from B amp R PLC to a PC 2x RJ45 cable for the connection of the B amp R PLC and the XENAX Servo Controller 2x ELAX linear motor slide as X Y cross table 4 2 c pr zis bewegen auf engstem Raum Hardware Setup XENAX X20CP 1485 1 Servo Controller LINAX ethernet power cable RJ45 cable cable 31 J ENN Y 5 6 E E NIC prazis bewegen auf engstem Raum 4 3 Embeddi
51. rrent UDINT Axis Valid BOOL BOOL Enable Error BOOL ErroriID UINT Current INT JS_MC_ReadPSR UDINT Axis Valid BOOL BOOL Enable Error BOOL ErroriD UINT JS_MC_Init_IS_ ProcessStatusRegister ProcStat UDINT Axis Done BOOL BOOL Execute Busy BOOL USINT ReferenceMode CommandAborted BOOL UDINT ReferenceSpeedRot Error BOOL UDINT ZMarkSpeedRot ErrorlD UINT JS MC_ loMap AdrloMap Axis UDINT USINT Node SINT OperationMode JS_MC_ Cyclicln UDINT Axis Valid BOOL BOOL Enable BOOL ErroriID UINT JS_MC_CyclicOut UDINT 26 3 3 1 Minimum and Maximum Values of Function Blocks Following minimum and maximum values of the function blocks should be adhered to max Velocity linear UDINT 9000000 inc s UDINT 100000000 inc s UDINT 2000 inc s 1000000000 inc s UDINT 2000 inc s 1000000000 inc s UDINT 1 100 3 3 1 Error in the Function Block The following ErrorlDs can be generated by the JsMcLib function blocks Value Name description Correction FUB executed ERR_OK correctly with no errors l E function block call onl 50000 jsmcERR_NIL_POINTER No axis passed to FB tuncton Docx cai ony with correct axis passed Iler i 50001 jsmcERR_DRIVE_NOT_READY a E E ror to switch on 50002 jsmcERR_ DRIVE SWITCHED OFF controller is switched Don t call function block when off controller is switched off Reference method is Check documentation for jsmcERR_REFER
52. ser s help SS i a reser on amare ear nas cba i Under Examples the examples program can be T ee eee found bFIRSTRUN BOOL TRUE In our Example we choose XY Axes Cyclic Sync_C and click on Import Package Then we save this file on the PC and extract the zip file Right click gt extract all This program example works with an X Y cross table and interpolates a circle Therefore two XENAX Servo Controllers are needed 6 1 Integrate second XENAX Servo Controller in project o Hardware hwi System Designer X 2 4PP065_0571_P74 Software T Servocontroller XENAX Xvi Co Integrate an additional XENAX Servo Controller aas ACCA aLaaa ah AT unin AAS in project like seen above under Embed PEREO O XEANAX Servo Controller in project a bow od USB oe USB Please note that the node numbers 1 and 2 have to be different in the program code 40 For the Cyclic Synchronous Position Mode a virtual axis is needed in the Automation Studio The Virtual Axis calculates and transmits a new position for the XENAX Servo Controller every ms In Physical View select right click the power link interface PLK gt System Designer From the Toolbox Hardware Catalog add the AOPOS servo drive 8V1010 00 2 by double click The window New Drive can be confirmed three times with gt Next prazis bewegen auf engstem Raum Include virtual Axis 6 2 2 eEBVses
53. tion Continuous Motion Note 1 Errorstop s Note2 Disabled Note5 3 1 2 Cyclic Synchronized Mode Reference Note 1 Reference Disabled JS_MC_MoveCyclicPosition In the Cyclic Synchronized mode the JS_MC_ReadStatus will be in Standstill after the reference To know which motion commands can be used the MC_ReadStatus of the virtual Axis has to be executed 19 Note 1 From any state An error in the axis occurred Note 2 From any state JS MC_Power Enable FALSE and there is no error in the axis Note 3 JS_MC_Reset AND JS_MC_Power Status FALSE Note 4 JS_MC_Reset AND JS_MC_ Power Status TRUE AND JS_MC_Power Enable TRUE Note 5 JS_MC_Power Enable TRUE AND JS_MC_Power Status TRUE Note 6 JS_MC_Stop Done TRUE AND JS_MC_Stop Execute FALSE To operate a XENAX Servo Controller via Powerlink we provide a library in the Automation Studio with the name JsMcLib Jenny Science Motion Control Library Below you find an overview of the sequences for the two different coupling types Profile Position Mode and Cyclic Synchronise Mode for which the JSMcLib is required as well as a description of the JSMcLib application Profile Position Mode The Profile Position Mode is a point to point connection The trajectory will be calculated by the XENAX itself The following parameters have to be set Endposition Speed Acceleration S Curve Cyclic Synchronous Pos
54. y SOs virtual axis and needs to be inserted only once Configuration oer jae Hardware_Config_1 Active o H Hardware hw Hardware configuration e r Hardware hwl Hardware topology Q 4PP065_0571_P74 a Cpu sw Software configuration Permanent variables 1 0 mapping Variable mapping Open with Explorer 1 me i Add Configuration ee rae Under Configuration View a gt X20CP1485_1 gt right click on Motion gt Add Object Add Object Categories gt Motion gt Templates gt New NC Mapping Table p Package G New NC Configuration 0 Software Configuration gt Next j IO Variables 45 J WN N YT L E NI E prazis bewegen auf engstem Raum Insert name AxNcMap ncm New NC Mapping Tabie gt NC Mapping Table gt Finish File name ici Description NC Mapping Table Subtype ACP 10 Mapping Table X To open The NC Mapping Table double click S G X20CP 1485_1 AxNcMap ncm in the Configuration View 3 Cpuper I loMap iom cee PyMap vvm i Motion EH ae Acp 10cfg nec AS all Acp 10man br E ll Acp10sys br AxNcMap ncm Right click Add NC Object AxNcMap ncm Mapping Editor x Acp10cfg nce NC Manager Co i ES Ves Kai a NC Object Name PLC Address Ne Obj Channel EERE EERE EEE EEE EEE EEE EERE EEE HEHEHE EEE EE EEE EEE EEEE EERE EEEEE EEE EE EEEEEEEEEEEEE HEHEHE EEEEEEEEEEEEEEHEEEEEEEEEEEEEEE

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