Home

Start-up Guide

1. Figure 1 5 Motors used with DIAX04 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 8 Introduction VisualMotion 6 0 ECODRIVE 3 digital drive controllers The following digital drives make up the ECODRIVE 3 drive family DKC drives have no slots available for plug in cards however when combined with the stand alone CCD box an ECODRIVE 3 system can have up to four slots available for plug in cards DKCx 3 040 can provide continuous drive output of up to approximately 1 5 kW DKCx 3 100 can provide continuous drive output of up to approximately 4 0 kW Je BEBE BEEEBEEBE e C 0 DKCX 3 040 DKCX 3 100 Figure 1 6 ECODRIVE 3 drive family e CCD Box provides 24V backplane power for CLC D02 3 in combination with DEA 28 29 30 I O cards Figure 1 7 CCD Box Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Int
2. L last cycle least significant bit 3 6 LEDs 5 4 5 4 5 4 FADD D ite tits 5 4 5 4 5 4 LEDs DPF05 x Length of DP Channel Word DOK VISMOT VM 06VRS PRO2 AE P 09 99 Index 6 3 Basic 2 8 Multiplex Example Cyclic Data nre 2 13 Mapping Direction Basic Example Cyclic Data ee 2 6 Non Cyclic Data 2 8 Multiplex Example Cyclic Data ie 2 16 Non Cyclic Data 2 18 Mapping List Back To Add Button 2 8 Delete 2 8 Insert Button esses 2 8 Replace 2 8 Messaging Examples Short Format 2 4 8 4 13 Messaging Formats Short Format 2 1 6 VisualMotion ASCII Format 1 6 4 11 most significant bit 3 6 Multiplex Data Bits 4 1 Multiplex Data Types 1 3 1 4 2 11 Multiplexing Control and Status Words 1 5 Enable tmr 2 14 N nCyc Chan 3 7 New Cyclic Multiplex Data 2 18 Cyclic Single data 2 7 Non Cyclic Multiplex Data
3. Figure 2 4 Fiber optic ring structure 5 Look for a red glow at the end of the cable from the last DSS s transmit port Tx This indicates a completed loop If there is no glow recheck the SERCOS connections at the DDS drive s If after verifying connections there is still no glow one or more cables are suspect Fiber Optic Transmission Light Bodily injuries Do not expose your eyes to the red fiber optic transmission light Confirm presence of light by Warning reflecting it off your hand Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Note System Installation 2 7 For ECODRIVE units the transmit Tx connector will illuminate a red glow regardless of a fiber optic connections from the CLC Refer to the ECODRIVE s H1 display for verification of error free communications 6 Connect the IKS0061 serial communications cable from the serial port of the Host PC to the serial port A X27 of the CLC D 7 Power up the system 8 The drive s will go through the SERCOS initialization stages The communication process is divided into four communication phases The CLC D LED will display the phase codes and then the current status or error code ri Example L Communication Phase 0 Communication Phase 3 Communication Phase 1 Communication Phase 4 zi Communication Phase
4. 3 9 4 Information for the PLC Programmer 4 1 AN o e N a E 4 1 4 2 Multiplex Data Bits in the Control and Status Words 4 1 4 3 Parameter Channel in the Cyclic Data Channel Process Data Channel on Profibus DPFO05 x only 4 3 P CHAN Parameter Channel Component 4 4 Bit Definitions of the Fieldbus Control Status 4 4 Messaging Formals EcL 4 6 Short Format 2 General 4 6 Short Format 2 Structure of the Command Telegram 4 7 Short Format 2 Structure of the Response Telegram 4 7 Short Format 2 Examples 4 8 VisualMotion ASCII Format General Explanation 4 11 VisualMotion ASCII Format Structure of the Command Telegram 4 11 VisualMotion ASCII Format Structure of the Response Telegram 4 12 VisualMotion ASCII Format 4 13 4 4 Non Cyclic Transmission Direct Mapped Objects 4 16 Selecting a Direct Mapped 4 16 Transmission Sequence via a Direct Mapped 4 16 Direct Mapped 4 17 D
5. Control 1 C1 Control 2 C2 Error Bit E Read Write Bit R W lt reserved gt Last L Cycle Bit First F Cycle Bit Toggle Bit T of Valid Data Bytes Transmission Format Fmt Figure 4 5 Parameter Channel Control Status Word Bit Descriptions Bit Definitions of the Fieldbus Control Status Word C1 C2 Control Bits These special control bits allow the reading of some of the FB slave setup Bits 15 and 14 information when used in conjunction with the R W bit In Read Mode R W 1 it is possible to read the following e length of the cyclic channel e length of the parameter channel first 4 6 words of the cyclic channel e Fieldbus address The following table lists the possible settings for these control bits Description Bit 15 Bit 14 C1 C2 Reading the length of the cyclic data channel 1 parameter channel length real time channel length Reading the length of the parameter channel Reading the fieldbus slave address oo 1 End reading of control bit information o Table 4 10 Control Bit Settings Bits 15 and 14 Note The slave response telegram will contain only the Fieldbus status word The requested values are available in the low byte of the Fieldbus status word i e lt Bytes gt lt Fmt gt sections will contain the relevant information Error Bit E Diagnosing Parameter Channel Errors Bit13 If the Fieldbus slave DPF detects an
6. 5 4 c 5 4 one SA 5 4 ASD eR 5 4 1 5 4 6 ees 5 4 POC occ codes E 5 4 Ignore Fieldbus Error Reaction 3 10 Index Number Multiplex Example Cyclic Data 2 14 tete s 1 2 L last 4 4 least significant bit 3 6 LEDs DOK VISMOT VM 06VRS PRO2 AE P 09 99 Index 6 3 LEDs DPF05 X 2e 5 3 Length of DP Channel Word Basic 2 3 Multiplex Example Cyclic 2 13 M Mapping Direction Basic Example Cyclic 2 6 Non Cyclic Data 2 8 Multiplex Example Cyclic Data wa nne 2 16 Non Cyclic 2 18 Mapping List Back To Add Button 2 8 Delete Insert Button Replace Button Messaging Examples Short Format 2 4 8 4 13 Messaging Formats Short Format 2 1 6 VisualMotion ASCII Format 1 6 4 11 most significant bit 3 6 Multiplex Data Bits 4 1 Multiplex Data Types 1 3 1 4 2 11 Multiplexing Control and Status Words 1 5 Enabl
7. 2 4 2 14 NEW 2 4 2 7 2 9 2 14 2 18 2 19 Save File 2 7 2 9 2 18 2 19 Send CLC 2 7 2 9 2 18 2 19 C C 0 2600 C 0 2600 C 0 2635 C 0 2700 channels Cyclic Data Channel configuration1 3 1 6 mulliiplex i eerie Non Cyclic Channel Parameter Channel Real Time Channel Single tio nitet iiiter iiu Clearing Parameter Channel Errors4 4 Command Telegram Structure Short Format 2 4 7 VisualMotion ASCII Format 4 11 Configure Multiplex Channel Basic Example control word Multiplex Example Cyclic Data Cyclic Channel Cyclic Data Channel Basic Example 2 6 configuration Multiplex Example dies 2 16 Cyclic Data Valid 3 7 D Data Configuration List Palaisses tinrin ngies 2 20 Data Exchange Objects 1 8 4 19 4 19 Data Mapping Direct Mapped Data 1 7 Data 1 7 Data Sizes ecl 1 4 Data Type Basic Example Cyclic 2 6 Non Cyclic Data 2 8 Multiplex Example Gyclic Data tne 2 16 Non Cyclic Data 2 18 Data Types 04 2 0 0 00 Multiplex Single nen Define Config Slave Objects Ba
8. 2 3 Multiplex Example Cyclic 2 13 Diagnostics 2 M 5 3 Direct Mapped Data 1 7 Display Summary Cyclic Multiplex Data 2 18 Cyclic Single Data 2 7 File Menu 3 1 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data 2 9 DPFO05 x Hardware 5 2 Interfaces odere 5 2 DPFO05 x board 1 1 E EMC safety 5 1 Error Bit E 4 4 Error Reaction Warning 3 10 Errors 208 Lost Fieldbus Connection 3 10 209 Field Bus Mapper Timeout 3 10 519 Lost Fieldbus Connection 3 10 520 Field Bus Mapper Timeout 3 10 Exit Cyclic Multiplex Data 2 18 Cyclic Single Data 2 7 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data 2 9 External Inputs 5 3 F Card Fault Code 3 8 FB Card Found 3 8 FB Init OK seen 3 6 FB Slave Ready 3 6 Field Bus Error Reaction Basic 2 3 Multiplex Example Cyclic Data 2 14 Fiel
9. D 10 Figure 0 7 Main Sequencer Part 2 of D 11 Figure D 8 Main Sequencer Part 3 D 12 Figure D 9 Bit Labels D 13 Figure 0 10 Arguments within a Function D 18 Figure 0 11 CAM program Part 1 2 D 27 Figure 0 12 CAM program Part 2 2 D 28 Figure 0 13 programmable limit switch D 30 Figure 0 14 Programmable Limit Switch program D 33 Figure 0 15 Configured Signal Status Word S 0 0144 D 35 Figure 0 16 Signal Status Word Configuration D 37 DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 List of Figures VII DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat VisualMotion 6 0 1 1 1 Introduction Introduction 1 1 Purpose of Manual This manual is a start up guide to the VisualMotion M control system VisualMotion is a combination of integrated digital multi tasking motion control components drives and motors used together to create a complete motion control solution For information pertaining to digital drives and motors refer to the following documentation DIAX03 Drives with Electronic Gear Function Document
10. Non Cyclic Multiplex Data Non Cyclic Single Data External Inputs F Card Fault Code 3 8 FB Card Found 3 8 FB Init OK 3 6 FB Slave 3 6 Field Bus Error Reaction Basic 2 3 Multiplex Example Cyclic Data 2 14 Field Bus Mapper Examples Multiplexing 2 11 Parameter Channel 2 20 Examples BASIC Fieldbus Diagnostics Fieldbus Error Reaction 3 9 Fieldbus Mapper 1 1 Fieldbus Master fieldbus message header 4 16 Fieldbus Resource Monitor 3 8 Fieldbus Slave Fieldbus Status 3 6 fieldbus summary report 2 7 Fieldbus Accessible Parameters 3 3 File Menu first cycle 4 4 FMS Fieldbus Message Specification 1 2 From FieldBus Basic Example 2 4 Multiplex Example Cyclic Data 2 15 G Get From CLC Cyclic Multiplex Data Cyclic Single Data Non Cyclic Multiplex Data En Non Cyclic Single Data Get From File Cyclic Multiplex Data 2 18 Cyclic Single Data
11. 86556565 3 2 The data in this parameter is ONLY interpreted as type Float 3 This parameter is valid for fieldbus mapping in firmware version 06v64 and later The data is read written via the fieldbus in SERCOS phase 4 only This parameter requires additional GPS resources to transfer data to from the fieldbus Therefore care must be taken when using it for fieldbus communications with consideration to GPS system resources Monitor GPS Register 26 for fieldbus mapping resource consumption and increase the SERCOS update C 0 0099 if necessary 4 No limit checking is performed when writing to this parameter via a fieldbus Therefore care must be taken to ensure the proper data is sent Table 3 2 Fieldbus Accessible Parameters part 2 of 3 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Information for the GPS Programmer 3 5 Parameter Cyclic Non Cyclic Direct Mapped me _ C 0 1011 7 Diff Between Real Master Positions O cono Master Syiohronization Acceleration CY C 0 1013 Master Synchronization Time Constant X C 0 1014 Master Synchronization Velocity Window x Curent C 0 1016 Virtual Master Current Velocity 9 Steg o e_r _ c o 10
12. first cycle last Number of Valid Data Bytes Bytes 4 5 Toggle Bit 4 5 Transmission Format 4 5 Pinouts DPFO05 x PLC Programming Multiplex Data Bits 4 1 Non Cyclic Data via Data Exchange 4 19 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Index 6 3 Non Cyclic Data via Direct Mapping 4 16 Parameter Channel 4 3 Print File Menu 3 2 Print a Summary Report 3 2 Profibus DP Combi Slave Board 5 1 R Real Time Channel 1 2 1 3 Register 19 Definition Fieldbus Status eere 3 6 Register 20 Definition Fieldbus Diagnostics 3 7 Register 26 Definition Fieldbus Resource Monitor 3 8 Response Telegram Structure Short Format 2 VisualMotion ASCII Format S Save to File Cyclic Multiplex Data 2 18 Cyclic Single Data 2 7 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data 2 9 Send To CLC Cyclic Multiplex Data 2 18 Cyclic Single Data 2 7 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data
13. 2 3 control word 1 5 Multiplex Example Cyclic Data Cyclic Channel 1 2 Cyclic Data Channel Basic 2 6 Indramat 6 2 Index Indramat Interbus Fieldbus Interfaces for VisualMotion 6 0 configuration Multiplex Example 2 16 Cyclic Data Valid 3 7 D Data Configuration List 2 20 Data Exchange Objects 1 8 4 19 4 19 Data Mapping Direct Mapped Data 1 7 Data Objects 1 7 Data Sizes M 1 4 Data Type Basic Example Cyclic Data ee 2 6 Non Cyclic Data 2 8 Multiplex Example Cyclic 2 16 Non Cyclic Data 2 18 Data Types iere irren 1 4 Multiplex 1 3 1 4 2 11 Singles mme 1 3 1 4 Define Config Slave Objects Basic Example 2 3 Multiplex Example Cyclic 2 13 Destination Basic Example Cyclic 2 6 2 8 Multiplex Example Cyclic Data e Non Cyclic Data Device Address Basic
14. 2 3 Multiplex Example 2 14 208 Lost Fieldbus Connection 3 10 209 Field Bus Mapper Timeout 3 10 5 519 Lost Fieldbus Connection 3 10 520 Field Bus Mapper Timeout 3 10 7 csi e eerta 4 19 BETI e 4 19 cretus 4 19 5 aA BM 4 19 A Available Objects Basic Example 2 4 Multiplex Example Cyclic 2 14 B baud rates supported by DPFO5 x 5 1 Bit Definitions Register 19 Cyclic Data Valid 3 7 FBnit OK iuo FB Slave Ready nCyc Chan Ready d Non Cyc ceteris Register 20 FB Card Fault Code 3 8 FB Card Found 3 8 Register 26 Current Miss Counter 3 9 Fieldbus Timeout Counter 3 9 Peak Miss Counter 3 9 Bus Conf IN List Basic Example 2 8 Multiplex Example Cyclic 2 14 Bus Conf OUT List Basic Example 2 5 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Index 6 1 Multiplex Example Cyclic Data 2 15 Bus Configuration Lists APPEND Button 2 4 2 14 DEL Button is 2 4 2 14 INSERT
15. 3 15 SAFE ee 3 16 4 Program Execution 4 1 4 1 AMTOGUCTION 4 1 4 2 Initial Setup Prior to 4 1 CICER 4 2 Parameter MOOG 4 2 VO ETUR 4 3 gil lc 4 7 Creating an I O Map for a DEA enne nre 4 8 4 3 Run Sample Program 4 9 Program Operation tere pont pe 4 11 4 4 Parameter Overview 4 12 Viewing Parameters uiii eive nem e Redon dude epica 4 13 Editing Parameters uei RE FR bed 4 13 Building Custom Parameter 1515 4 14 5 DDE Client Interfaces 5 1 5 1 Creating and Customizing a DDE Client Interface in Microsoft 5 1 DDE Worksheet 5 1 DDE Functions using Visual Basic for 5 4 5 2 Wonderwall G ERE 5 8 IEEE LE 5 10 A PC Interface CLC P ISA PC 104 bus A 1 A1 General erede i dn a bed e ene ved 1 2 A 1 A3 Bus Gomimuhicatloris eic o eene tmr deed nut neo
16. SERCOS Interface Figure 1 8 Different CLC versions Four versions of the CLC card are currently available CLC D Plugs into Indramat s digital drives providing an exceptional cost effective motion control solution CLC P01 IBM PC AT bus architecture DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat VisualMotion 6 0 1 10 Introduction CLC P02 PC 104 bus architecture CLC V VME bus architecture Indramat s VisualMotion Programming Interface 06 CLC Operating System Tasks The CLC motion control card combines an integrated multi tasking environment with a unique graphical Windows based programming interface VisualMotion amp VM VM provides simplified point and click programming operation and management With this software system builders have a flexible and comprehensive environment including easy DDE integration with applications such as Wonderware InTouch or Visual Basic programs An optional 06 can also be used to control CLC operation and adjust CLC parameters The BTCO6 is a hand held instrument with 16 x 40 character display and a 48 key sealed membrane keypad The pendant provides a convenient operation and position programming interface for Indramat CLC Motion Control Refer to the VisualMotion 6 0 Trouble Shooting Guide for more information The VM Controller can simultaneously control up to four independe
17. 1 6 DIAX04 Motors 1 7 DPRAM register A 1 Drive 3 4 Drive Programming Module 2 2 DSS drive address settings 2 4 DSS SERCOS communication card2 3 E ECODRIVE digital drives 2 2 ECODRIVE 3 PLS Function D 34 ECODRIVE drive family 1 8 ELS PE D 30 HE DPA D 30 SIAVE oin iret D 21 virtual D 21 2 unii enero cave 2 25 Erasing CLC V User Programs from Flash wis 2 28 Event functions 3 11 tite 1 10 1 11 Fiber Optic Cables 2 2 Fiber optic ring structure 2 6 File Extensions 3 16 File Extensions c 3 16 c o 3 16 oT 3 16 3 16 ECCO 3 16 E 3 16 asses 3 16 3 16 3 16 SIE cidit 3 16 3 16 p 3 16 titt hasan 3 16 3 16 File Types dune 3 16 floating point variable 3 15 function argument D 1 Indramat 2 Index Indramat G Global variables 3 15 H Hardware Requirements 2
18. 2 19 Non Cyclic Single Data 2 9 3 7 Non Cyclic Channel 1 2 1 7 Non Cyclic Data Channel Multiplex Example 2 18 Non Cyclic Data Mapping Lists Direct Mapping Basic Example 2 8 Multiplex Example 2 18 Non Cyclic Transmission Data Exchange Objects 4 19 Number of Valid Data Bytes FW Indramat 6 4 Index Indramat DeviceNet Fieldbus Interfaces for VisualMotion 6 0 OBJECT MAPPING LIST Basic Example Cyclic Data eere 2 6 Non Cyclic Data Multiplex Example Cyclic 2 17 Non Cyclic Data 2 18 OK Send to CLC Basic Example 2 5 Multiplex Example Cyclic Data OUDUE iiij P Parameter Channel 1 2 1 6 2 20 Short Format 2 1 6 VisualMotion ASCII Format 1 6 Parameter Mode Basic Example 2 7 Multiplex Example 2 18 Parameters 3 3 P CHAN Components Control Status Word 4 4 Error Bit E first cycle nte last cycle eres Number of Valid Data Bytes Bytes 4 5 Toggle
19. 2 4 2 14 NEW Button 2 4 2 14 Bus Type Basic 2 2 Cyclic Data res 2 6 Multiplex Example Cyclic Data 2 12 2 16 Non Cyclic Data 2 18 Buttons APPEND 3 ihre 2 4 2 14 2 4 2 14 Display 2 7 2 9 2 18 2 19 2 7 2 9 2 18 2 19 Get From 2 7 2 9 2 18 2 19 Get From File 2 7 2 9 2 18 2 19 INSERT einen 2 4 2 14 NEW 2 4 2 7 2 9 2 14 2 18 2 19 Save To File 2 7 2 9 2 18 2 19 Send CLC 2 7 2 9 2 18 2 19 channels Cyclic Data Channel configuration1 3 1 6 multiplex 1 2 Non Cyclic Channel 1 2 Parameter Channel 1 2 Real Time Channel 1 2 1 8 ior 1 2 Clearing Parameter Channel Errors4 4 Command Telegram Structure Short Format 2 4 7 VisualMotion ASCII Format 4 11 Configure Multiplex Channel Basic 2 3 control word 1 5 Multiplex Example Cyclic Data Cyclic Channel 1 2 Cyclic Data Channel Basic 2 6 configuration 1 3 1 6 Indramat 6 2 Index
20. File Edit View Setup Tools Data Status Options Help ile s S AS ze ICI El A 15 Figure 4 1 Sample VisualMotion Toolkit Program DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 2 Program Execution Control Registers Parameter Mode CLC DDE Server Indramat VisualMotion 6 0 Before a VisualMotion program can be activated key register bits must be set in the System and Task Control registers Registers 001 System Control and 002 TaskA Control are dedicated as system registers and are used to control program operation Although these registers an be modified by the user we will create an I O Map using the Mapper function to associate register 100 User Inputs 01 with registers 001 through 005 VisualMotion registers can be displayed by selecting Data Registers from VisualMotion Toolkit s VMT main menu ggActive Program Registers ifa E3 File Format Options Settings Hex Data 001 Control 0000000000000001 Decal 002 TaskA Control 0000000000000000 003 TaskB Control 0000000000000000 004 TaskC Control 0000000000000000 isola Realister bi 005 TaskD Control 0000000000000000 Dong Registar Dis System Diag Code 0000000000000010 in Binary Format allows the user to easily view 4 bitstates Before modifications can be downloaded or updated to the card the system must be switch to
21. CLC C Square Root FP 0 1 Use Tagname as Item Name Log Deadband o Figure 5 8 Tagname for Writing to Variables The tagname in Figure 5 8 Tagname for Writing to Variables makes floating point variable 1 of the active CLC program a DDE real variable The value of FP 0 1 can be changed in Wonderware by changing the value of the tagname CLC F1 To change a bit in a CLC register Configure a tagname as a Type DDE Integer min EU 99999 min Raw 99999 max EU 99999 max Raw 99999 Tagname Reg 100 Item RD 0 100 The above tagname will write to register 100 To change a specific bit in that register configure a pushbutton as shown below Object type Button Button Type User Input Discrete Tagname Reg 100 00 The above button has two states on and off When in the on state register 100 bit 1 will be set to 1 When in the off state that bit will be set to 0 To write to bit 2 change the tagname to Reg 100 01 bit 3 Reg 100 02 bit 4 Reg 100 03 bit 16 100 15 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 5 12 DDE Client Interfaces VisualMotion 6 0 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 PC Interface CLC P ISA PC 104 bus A 1 A PC Interface CLC P ISA PC 104 bus A 1 General information A 2 Base Address 01 02 CLC P02 communications to a PC via 4Kword 4K x 16 bit area of the dual
22. Cyclic PD Channel Cyclic PD Channel Non 3 Cyclic Channel 1 word word 15 word 14 word 0 Multiplex Channel Single Channel Real Time Channel Cyclic PD Channel Non Cyclic Channel 1 word Figure 1 3 Configuration Options for the Cyclic Data Channel 3 possibilities DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 4 General Information Data Objects Types and Sizes Single Data Types Multiplex Data Types Cyclic Data Channel Indramat Interbus Fieldbus Interfaces for VisualMotion 6 0 The Real Time Channel In the real time channel data is updated cyclically between the Fieldbus master and slave This channel contains two possible data types single and multiplex The following table outlines the CLC D data object types that can be transmitted via the cyclic channel and the amount of space in 16 bit data words that each data type consumes Remember the cyclic channel is limited to 16 data words in each direction input and output Note The cyclic data mapping list supports only 16 and 32 bit data of the following types for reading and writing Integer Float Binary used in CLC parameters Hex used in CLC parameters For all other data types e g diagnostic messages strings use the non cyclic Data Exchange Object or the Parameter Channel CLC Data CLC Data Type DataSize inData Words Data Size in Data Words Register I
23. 5 3 X39 Connector External Inputs 5 4 08503 5 4 Font Panel EE DS eem 5 4 Definition of Diagnostic 5 5 4 5 5 Interbus Process Data Cyclic 0 nennen nnne nnne 5 5 DBS03 x Process Data Configuration 5 5 Monitoring the 503 Process 5 5 5 6 Interbus Peripherals Communication Protocol Non Cyclic Channel 5 6 Supported PCP Services for the 503 5 6 DBS03 x 5 6 Addressing of PCP Devices on the 5 7 5 7 08803 5 7 Objects for Diagnosing and Configuring the 503 5 7 Diagno stic Array SE TA s ie idera tet detest 5 8 GN OX 7 6 1 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 General Information 1 1 1 General Information Important Using a Fieldbus with the VisualMotion system will consume additional processing resources on the CLC D card Please take into consideration the consumption of these resources especially when adding a Fieldbus to an existing application
24. U8 write only reat 016 read only read only Fea onty fe wm 016 read only 71 rte oy Fete ty 22 77 Fete ty Figure B 4 VME bus Data Transfer Operations Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 VME Versa Module Eurocard Interface CLC V B 7 B 3 VME Configuration The VME Configuration includes the specification the VME system s memory addresses data modes and system control signals CLC VME configuration beyond the standard default configuration is only required if one of the following conditions is valid for the VME system e There will be more than one CLC VME motion control card in the VME card cage There will be more than one VME master i e a CLC motion control with a VME PLC There are VME I O cards that must occupy the default CLC memory space The VME system designer requires use of the CLC default memory space There are three ways to alter the CLC VME configuration e by using the VME Configuration dialog box from the Setup menu by directly modifying VME parameters through the Overview window also accessed from the Setup menu by Direct ASCII Communication through the serial port To save a VME configuration the CLC system must be in parameter mode VME Address and Access Mod
25. Cyclic DP Channel Multiplex Channel Only Parameter Channel Only Real Time Channel Basic NO Real Time Channel Configurations Cyclic DP Channel Cyclic DP Channel 15 wod 0 Single Channel Only N Real Time Channel Cyclic DP Channel word 15 Multiplex Channel Single Channel Single Channel Parameter Channel gt gt Real Time Channel Real Time Channel Cyclic DP Channel Cyclic DP Channel 15 0 Multiplex Channel Single Channel Parameter Channel Real Time Channel Cyclic DP Channel Figure 1 3 Configuration Options for the Cyclic Data Channel 7 possibilities The Real Time Channel In the real time channel data is updated cyclically between the Fieldbus master and slave This channel contains two possible data types single and multiplex Data Objects Types and Sizes The following table outlines the CLC D data object types that can be transmitted via the cyclic channel and the amount of space in 16 bit data words that each data type consumes Remember the cyclic channel is limited to 16 data words in each direction input and output DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 4 General Information Single Data Types Multiplex Data Types Cyclic Data Channel Type of Multiplex Object Profibus Fieldbus Interfaces for VisualMotion 6 0 Note The cyclic data mapping lis
26. Display 5 Axis Parameter New ask A 71 C Task Parameter Exit Figure 2 12 Main Fieldbus Mapper Screen 4 Click the button labeled Define Config Slave Objects The Fieldbus Mapper will try to detect any configuration data from the CLC D If you are configuring a new list click on the NEW button to clear any current data in the selected list The DeviceNet Configuration Screen is pictured in Figure 2 13 DeviceNet Configuration Screen Configure Slave Telegram PD DP IO Channel Device MAC ID 2 53 Available Objects Bus Conf IN List From Word Word Type FieldBus FieldBus m Length of 1 0 channel word 9 s 2 1 B5E80 2 2 1 1192 2 B 13273 B BEAD I16 1 B 5F20 16 2 B 5F30 i32 1 S hok gt 32 2 5 5EB2 32 3 5 Configure Multiplex Channel 32 45 Le Baudrate Selection Enable v Input Data 32 5 Mutiplexing Output Data 132 7 5 a I2 8 S5EBS Highest Index 2 Fieldbus Error Reaction 22 Bytes Used 32 bit object word swapping Explicit Message byte swapping Send To CLC Notswapped Swapped Notswapped 7 Swapped Cancel Shutdown CLC Warming onl Figure 2 13 DeviceNet Configuration Screen Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualM
27. mw DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat C 10 Non CLC Hardware VisualMotion 6 0 XVME 201 CLC input CLC output Card Connector register number register number E x 50 JK1 PIN 50 00000000000000000000 0000000000000000000000 XVME 201 Configuration Parameters Parameter C1 5 Parallel I O Device must be set to 3 indicating that the XVME 201 is the I O device type Parameter C1 6 Parallel I O Device Setup must be set to individually enable each of the sixteen possible Opto 22 stations that are installed Enable each station by setting the corresponding bit in the parameter to a logical 1 according to the mapping below 0000000000000000 L Card 1 connector JK1 CLC register 100 Card 1 connector JK2 CLC register 101 Card 8 connector JK2 CLC register 135 Example 0000000000110011 CP 1 6 UL Card 1 both stations enabled Card 3 both stations enabled Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Non CLC Hardware C 11 Parameter C1 7 Parallel Device I O Device Direction specifies the combination of inputs and outputs that will be available on each Opto 22 station 0000000000000000 Card 1 Opto 22 station 1 Card 1 Opto 22 station 2 Card 8 Opto 22 station 2 Example 0000000000100000 CP 1 7 Card 1 Opto 22 station 1 16inputs relays 1 8 08 output
28. 16in 8out CLC Card 208000000000 Station 1 Reg Bits Inputs 100 16 Outputs 120 8 ntrol Co 00000000000 0005 0000000000000000 Axis Control 0011 0000000000 Station 2 180000000 0018 0000000000000000 Inputs 101 16 Outputs 121 8 ane 0025 0000000000000000 945 0031 0000000000000000 0039 0000000000000000 DDS 1 0 I O Mapper 0040 0000000000000000 Reg to Reg Transfers 0087 0000000000000000 User System Inputs 0100 1111111111111111 0101 1111111111111111 0102 0000000011111111 0119 0000000000000000 User System Outputs 0120 0000000011111111 0121 0000000011111111 0122 1111111111111111 0139 0000000000000000 Station 3 Reg Bits Inputs 102 8 Outputs 122 16 2048 0000000000000000 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Non CLC Hardware C 15 The Xycom XVME 202 is a single height 3U VME card designed to be used as an interface between the VME bus a PAMUX distributed I O subsystem A single 50 conductor ribbon cable from the XVME 202 is daisy chained to each PAMUX station with a maximum extension of 500 feet One card can provide distributed parallel I O for up 16 PAMUX stations each with up to 32 configurable I O points A total of 512 I O may be controlled using a single XVME 202 card Each card o
29. Continuous or label J d wan H _Lancel_ integer label Caption 1 D egrees Percent float Cancel Fx or label J CAM Slave PH Caption v M CAM Phase Adjust x Mode Absolute Master Phase Adjust Incrementa Slave Phase Adjust Continuous Continuous integer Glx Ix or B I 4 D egrees Percent float Fx or label J CAM Master PH Associate Cam to Axis Cam Coefficents float Fx GF or label C Drive E ME M H M Number integer Glx Ix or label J _ Acive CAM Velocity Control Box Ayxis integer Glx or label 0 09 float GFx or label 4 4 Master Velocity Bl units min Cancel Caption x Y Branch Setup Type amp pn C Variable Pu C CLC cam C Drive cam Caption Register number Bit number mask or label or label fo 4 E gf 9 gt Figure 0 12 CAM program Part 2 of 2 Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 CAM Program Icons TASK A Example Programs D 29 ICON DESCRIPTION Si et 9 8 j i DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Standard ST
30. PINOUtS 2 C 5 3 X78 Connector 2 2 02 5 3 X77 Pinouts External enne 5 3 M 5 3 Front Panel EEBS io 5 3 Definition of the Diagnostic 5 5 4 5 4 DeviceNet Polled I O Cyclic 5 5 DCFO01 x Polled 5 5 User Specific Polled 5 5 Monitoring the DCFO01 x Polled 0 nnne nennen nns 5 5 Non Cyclic 5 5 Non Cyclic Data Exchange 5 6 Non Cyclic Direct Mapped 5 6 GN OX c X X 6 1 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 General Information 1 1 1 General Information Important Using a Fieldbus with the VisualMotion system will consume additional processing resources on the CLC D card Please take into consideration the consumption of these resources especially when adding a Fieldbus to an existing application Version Note Information in this document is based on VisualMotion Toolkit software version 06V12 and CLC D firmware version GPSO6V64 1 4 CLC
31. Serial Communications X28 D sub 9 pin serial E e i Jumpers PC Interrupt Jumpers Windows NT Base memory setup amp Address MS L Figure 2 7 CLC P01 Jumper Location Unlike Windows 95 98 Windows NT automatically allocates memory resources for the devices installed in the PC The base address setting on the CLC P01 card is set identical to that of Windows 95 However since the memory resources on Windows NT cannot be identified for verification of allocated memory this process is slightly modified 6 Select a base memory address for the CLC P01 card from Table 2 1 CLC P01 card number and base memory selection Set jumpers S8 thru S11 to match the base memory address and continue to step 5 Note Based on Indramat s experience begin with one of the base PC Interrupt selection CLC P01 memory addresses for card numbers 4 thru 7 Theoretically any of the 16 base memory addresses should work however not being able to verify memory allocation in Windows NT Indramat has had to best success with card numbers 4 thru 7 7 Now set the PC IRQ interrupt Jumpers S5 thru S7 set the interrupt line for the CLC to PC interrupt Interrupt IRQ E refer to figure 2 7 Table 2 2 PC Interrupt selection Note Select an Interrupt not currently use by the host computer 8 Install the CLC P01
32. 2 7 File Menu 3 1 Non Cyclic Multiplex Data 2 19 Single Data 2 9 DPFO05 x Hardware ien ies 5 2 Ititerfaces nee ied 5 2 5 board 1 1 E EMC safety 5 1 Error Bit E 4 4 Error Reaction Warning 3 10 Errors 208 Lost Fieldbus Connection 3 10 209 Field Bus Mapper Timeout 3 10 519 Lost Fieldbus Connection 3 10 520 Field Bus Mapper Timeout 3 10 Exit Cyclic Multiplex Data 2 18 Cyclic Single Data 2 7 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data 2 9 External Inputs 5 8 F FB Card Fault Code 3 8 FB Card Found 3 8 FB Init 3 6 FB Slave Ready 3 6 Field Bus Error Reaction Basic 2 3 Multiplex Example Gyclic Data n s 2 14 Field Bus Mapper Examples Multiplexing 2 11 Parameter Channel 2 20 Examples 2 1 Fieldbus Diagnostics 3 7 Fieldbus Error Reaction 3 9 Fieldbus Mapper 1 1
33. FMS P Chn Define Config Slave Objects Profibus Source Object OBJECT MAPPING LIST Channel Totalof 2 record s 100 45 Delete double click Select Mapping Direction From Bus to CLC card C From CLC card to Bus Back To Add 1 Select CLC Card Options CFR Axis 0 40 Task Data Type C GF Card Parameter Glx Register 16 1 Axis Parameter ras A 71 Task Parameter Get From CLC Send To CLC Destination Save To File Number 0 255 2 New Bet From File Display Summary Exit Insert Replace Delete Back To Add Hulu Figure 2 9 Changing an Existing Mapping List in the Fieldbus Mapper Inserts a new object into the list directly before the selected object Replaces the selected object with a new object Removes the selected object from the list Returns to Fieldbus mapper normal mode which allows adding new items to the end of the list and deleting items STEP IV Define Non Cyclic Data Mapping Lists Direct Mapping Adding Objects to the Non Cyclic Data Mapping List see Figure 2 10 Adding Objects to the Non Cyclic Object Mapping List Indramat The non cyclic data uses objects that are pre defined for this type of data In our example the following data will be transmitted non cyclically Input Data From CL
34. GF Card Parameter Destination Save To File Get From File C lx C Glx Register 16 Number 0 32767 Avis 0 40 Display fi C Axis Parameter New 71 C Task Parameter Exit Figure 2 10 Adding Objects to the Non Cyclic Object Mapping List 9 Click Send to CLC to save the selected object mapping list to the CLC D card Use any of the following buttons as needed Saves the currently selected object mapping list to the CLC D Card to card Send To CLC parameter C 0 2600 if the cyclic Polled I O channel is selected and C 0 2700 if the non cyclic Explicit Messaging channel is selected Saves the currently selected object mapping list to a file with a prm Save To File extension Ne Clears up the current object mapping list Ww Gets the currently selected object mapping list from the CLC D Card from card Get From CLC parameter C 0 2600 if the cyclic Polled I O channel is selected and C 0 2700 if the non cyclic Explicit Messaging channel is selected Allows the user to open a previously saved file with a prm extension of an Get From File object mapping list When the file is opened displays that object mapping list Display 5 Generates an on line summary report of the currently selected Fieldbus This ctl ls report can be printed by selecting Print from the File menu in the Fieldbus Mapper window Eyit Exits the Fieldbus Mapper ut
35. The first Sequencer setup box initializes and runs PICK AND PLACE The steps initialized in this icon overwrite any Sequencer editor changes The I O setup box sets the I O state of Register 100 bit 9 On 1 y The CALC setup box resets a Cycle Count variable to a value of zero The second Sequencer setup box only runs AUTO_MODE The Sequencer steps must first be initialized in the Sequencer editor under the Data menu or added using the Sequencer editor The WAIT setup box monitors the state of register 100 bit 16 The condition of bit 16 when Off 0 causes the sequencer loop to pause for a set time Setup selects I O type and defines a register 100 and bit 10 to check The condition On 1 or determines which branch Y or N the program will follow Standard FINISH for all programs No optional returned values lt Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 19 SUBROUTINE MOVE ABS ICON DESCRIPTION Standard START for all programs Declares the name type minimum value and maximum value for all Function Arguments used in the subroutine Velocity control box sets the axis function argument G3 AxisNumber velocity to the function argument Speed Move setup for axis function argument AxisNumber Defines the type of movement absolute and the distance the axis will move for function argument Distan
36. Type C Restore Cancel Items System Programs Drives 1 0 Mapper Cams Drive Cams Global Yars Dir e Mroot project saveset C indramat cle project saveset Browse Serial Port Upgrade 02 Flash Firmware Indramat Upgrade Perform a system archive to save all VisualMotion user programs and parameters before upgrading firmware Start VisualMotion Toolkit and select Archive from the File menu Archive all programs and options such as cam tables events I O mapper etc that apply to your application Loss of VisualMotion System User programs will be loss when a firmware upgrade is performed The following is a list of items that may be loss during a firmware upgrade e CLC System parameters 0 Warning Axis parameters A 0 xxxx e CLC Cam tables Events e Mapper FieldBus Mapper e Points tables Variables e Zones e Downloaded VisualMotion programs The CLC P02 firmware can be upgrade without removing the card through the X27 serial port The following procedure describes how to download a firmware file to the CLC which is then burned to flash Upgrading the CLC PO2 flash firmware using the X27 serial port requires the following e APC running Windows 95 98 with HyperTerminal installed e An IKS0061 RS 232 serial cable is required for connecting to port A X27 of the CLC e A firmware upgrade file named
37. anticipated return data size between 32 and 64 bytes Note To ensure that all of the data requested in this step is received in step 4 below a data exchange object of the appropriate size must be selected If the selected data exchange object is too small the data will be truncated If the selected data exchange object is too large efficiency of transmission will be compromised 4 The CLC D sends the final response message Header Data Field Response Message VisualMotion ASCII Protocol contains contains code status ok 0 0 100 CLC DP GPS 06V56NCR field si LF 00 00 00 00 00 00 00 00 00 Gata field size bytes 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat Interbus Fieldbus Interfaces for VisualMotion 6 0 Interbus Slave Board 08503 5 1 5 Interbus Slave Board DBSO3 x 5 1 Application 5 2 Functionality The 0 503 Interbus Slave Card enables the inclusion of the CLC D control card in an Interbus system The Interbus card supports the real time cyclic channel Process Data PD with up to 16 words and enables non cyclic data exchange between master and slave via the non cyclic Peripherals Communication Protocol PCP Interbus channel With this hardware CLC D parameters and data sets as well as parameters of an attached drive controller can be transmitted For the highest possible flexibility the c
38. 09 99 Indramat 3 10 Information for the GPS Programmer DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Lost Fieldbus Connection Indramat considered to have insufficient resources and the selected error reaction is evoked as follows If Shutdown CLC 0 is set in Parameter C 0 2635 the following error is generated from the CLC D card 520 Fieldbus Mapper Timeout If Warning Only 1 is set in Parameter C 0 2635 the following error is generated 209 Fieldbus Mapper Timeout If Ignore 2 is set in Parameter C 0 2635 the system will update as resources become available but there is no way to monitor whether or not updates actually occur Object 5ff2 the dual port RAM location on the Fieldbus card indicates the status of the Fieldbus Register 19 Bit 4 the Fieldbus Slave Ready Bit on the CLC card mirrors object 5ff2 See 3 3 Hegister 19 Definition Fieldbus Status for more specific bit information The system monitors this bit and evokes the selected error reaction if the bit is low 0 after a Fieldbus card is found A typical situation that will cause this condition is the disconnection of the Fieldbus cable from the DCF card If Shutdown CLC 0 is set in Parameter C 0 2635 the following error is generated from the CLC D card active in SERCOS Phase 4 only 519 Lost Fieldbus Connection If Warning Only 1 is set in Parameter C 0 2635 the following error is generated active in SERCOS Phase 4 only
39. 09 99 Indramat 5 2 Interbus Slave Board DBS03 x Interbus Fieldbus Interfaces for VisualMotion 6 0 54 503 Board Hardware Front view of the DBSO3 x DBSO03 x Structure Interface to the Drive or CCD Card Cage Indramat not used Optional Inputs not used gt 8 Diagnostic LEDs Incoming Bus Outgoing Bus Front View Yee Te SY6FB140 FH7 Figure 5 1 Front View of the DBSO3 x Note Other cards be plugged into the DBSO3 x Please take this into consideration when disassembling or removing the DBS card from the card cage Power 45V is supplied by the drive or CCD card cage via another connector on the back of the card However signals are always transmitted via the plug in connection to the CLC D The interface to the CLC D is achieved via an Indramat specific extended bus However only DBSO3 x card can be connected to the CLC D Note The 503 card cannot be used with a DPFO5 x Profibus slave card or a DCF01 x DeviceNet slave card The DBSO3 x card has the following interfaces required only for power supply to the 503 if power is not supplied by the CLC D DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Interbus Slave Board 08503 5 3 Interface to the CLC D or other Cards External Inputs External Power Interbus Interface Information is transmitted to the CLC D
40. A 0 0111 Commanded Velocity A 0 0112 Feedback Velocity A 0 0120 Programmed Acceleration 0 0141 Torque Command A 0 0142 Torque Feedback w A 0 0150 A 0 0151 A 0 0153 A 0 0155 A 0 0157 A 0 0159 X 3 A 0 0160 X 1 3 A 0 0164 X X 2 A 0 0180 Optional Command iD 1 XK A 0 0181 Optional Command ioe A o 0182 Optional Command mes x A 0 0185 Optional Feedback ID 1 A 0 0186 Optional FeedbackID 2 A 0 0190 1 2 3 A 0 0196 1 2 3 C 0 0001 Language Selection TX C 0 0002 C 0 0009 C 0 0010 1 Must be configured by GPS in SERCOS telegram to update data Otherwise unexpected GPS system errors may occur is gt lt gt gt lt gt 2 The data in this parameter is ONLY interpreted as type Float 3 This parameter is valid for fieldbus mapping in firmware version 06v64 and later The data is read written via the fieldbus in SERCOS phase 4 only This parameter requires additional GPS resources to transfer data to from the fieldbus Therefore care must be taken when using it for fieldbus communications with consideration to GPS system resources Monitor GPS Register 26 for fieldbus mapping resource consumption and increase the SERCOS update C 0 0099 if necessary 4 No limit checking is performed when writing to this parameter vi
41. A 0 0150 A 0 0151 A 0 0153 A 0 0155 A 0 0157 A 0 0159 X 3 A 0 0160 X 1 3 A 0 0164 X X 2 A 0 0180 Optional Command iD 1 XK A 0 0181 Optional Command ioe A o 0182 Optional Command mes x A 0 0185 Optional Feedback ID 1 A 0 0186 Optional FeedbackID 2 A 0 0190 1 2 3 A 0 0196 1 2 3 C 0 0001 Language Selection TX C 0 0002 C 0 0009 C 0 0010 1 Must be configured by GPS in SERCOS telegram to update data Otherwise unexpected GPS system errors may occur is gt lt gt gt lt gt 2 The data in this parameter is ONLY interpreted as type Float 3 This parameter is valid for fieldbus mapping in firmware version 06v64 and later The data is read written via the fieldbus in SERCOS phase 4 only This parameter requires additional GPS resources to transfer data to from the fieldbus Therefore care must be taken when using it for fieldbus communications with consideration to GPS system resources Monitor GPS Register 26 for fieldbus mapping resource consumption and increase the SERCOS update C 0 0099 if necessary 4 No limit checking is performed when writing to this parameter via a fieldbus Therefore care must be taken to ensure the proper data is sent Table 3 1 Fieldbus Accessible Parameters part 1 of 3 DOK VISMOT VM 06VRS PRO2 AE P
42. Build Custom Display dialog box Step 6 Click Display Custom and choose the custom list from the Display Custom List dialog box Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 DDE Client Interfaces 5 1 5 DDE Client Interfaces The following examples illustrate how to create custom DDE client interfaces for the CLC DDE communication allows certain software applications to read from request and write to poke the CLC card Refer to the VisualMotion 6 0 Trouble Shooting Guide Chapter 4 CLC DDE SERVER for more information 5 1 Creating and Customizing a DDE Client Interface in Microsoft Excel The following example illustrates how to create a custom DDE client interface for the CLC card using Microsoft Excel Version 5 0 and up Other programs that support DDE communication can also be used in a similar fashion Requested information can be read directly by a spreadsheet chart or database while poke transactions allow users to control program execution from within this custom interface The example below was created for an ELS CAM application The instructions for creating the CLC program that corresponds with this spreadsheet can be found in the Appendix E Example Programs All of the requested data in the spreadsheet was read from the CLC card with the CAM program running DDE Worksheet Functions A DDE request can be made directly from a cell within an Excel Workshe
43. Bus Type Define Config Slave Objects Channel Source Object Total of in record s Channels DP FMS P Chn Delete Ex Select Mapping Direction From Bus to CLC card From CLC card to Bus Select CLC Card Options Send To CLC Get From CLC i C F amp C GF C Card Parameter Destination Save File Get From File Glx C Register 16 Axis 0 40 Display S C Axis Parameter Mew Summa Task Task A 71 Task Parameter Exit m Figure 2 2 Main Fieldbus Mapper Screen Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 3 4 Click the button labeled Define Config Slave Objects The Fieldbus Mapper will try to detect any configuration data from the CLC D If you are configuring a new list click on the NEW button to clear any current data in the selected list The Profibus Configuration Screen is pictured in Figure 2 3 Profibus Configuration Screen Configure Slave Telegram PD DP IO Channel r Device Address 2 39 Available Objects Bus Conf IN List 7 From Word Word Type FieldBus FieldBus 0 Length DP channel w ord 9132 1 5 5EB1 Parameter Channel Length word 5 6 Off 4 Configure Multiplex Channel Enable Input Data Output Data
44. China Rexroth China Ltd Shanghai Parts amp Service Centre 199 Wu Cao Road Hua Cao Minhang District Shanghai 201 103 P R China Telefon 86 21 622 00 058 Telefax 86 21 622 00 068 India Mannesmann Rexroth India Ltd INDRAMAT Division Plot 96 Phase III Peenya Industrial Area Bangalore 560058 Telefon 91 80 839 21 01 91 80 839 73 74 Telex 845 5028 RexB Telefax 91 80 839 43 45 Mexico Motorizaci n y Disefio de Controles S A de C V Av Dr Gustavo Baz No 288 Col Parque Industrial la loma Apartado Postal No 318 54060 Tlalnepantla Estado de Mexico Telefon 52 397 86 44 Telefax 52 398 98 88 USA Rexroth Corporation INDRAMAT Division Northeastern Sales Office 7 Columbia Blvd Peabody MA 019660 Telefon 1 508 531 25 74 Telefax 1 508 531 2574 Customer service locations outside Europe Brazil Mannesmann Rexroth Automa o Ltda Divis o INDRAMAT Rua Georg Rexroth 609 Vila Padre Anchieta BR 09 951 250 Diadema SP Caixa Postal 377 BR 09 901 970 Diadema SP Telefon 55 11 745 90 65 55 11 745 90 70 Telefax 55 11 745 90 50 China Rexroth China Ltd 1430 China World Trade Centre 1 Jianguomenwai Avenue Beijing 100004 P R China Telefon 86 10 50 50 380 Telefax 86 10 50 50 379 Japan Rexroth Co Ltd INDRAMAT Division Building Nakamachidai 4 26 44 Tsuzuki ku Yokohama 226 Japan Telefon 81 45 942 72 10 Telefax 81 45
45. Indramat DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Multiplex Example 2 16 Cyclic Data Valid 3 7 D Data Configuration List 2 20 Data Exchange Objects 1 8 4 19 7 iiiter ovd 4 19 Data Mapping Direct Mapped Data 1 7 Data Objects 1 7 Data Sizes CY Cli 1 4 Data Type Basic Example Gyclic Data e 2 6 Non Cyclic Data 2 8 Multiplex Example Cyclic 2 16 Non Cyclic Data 2 18 Data Types CyGliG viter 1 4 Multiplex 1 3 1 4 2 11 Single neant 1 3 1 4 Define Config Slave Objects Basic Example 2 3 Multiplex Example Cyclic 2 13 Destination Basic Example Cyclic 2 6 Data 2 8 Multiplex Example Gyclic Data nre Non Cyclic Data Device Address Basic 2 3 Multiplex Example Cyclic 2 13 Diagnostics Bp 5 3 Direct Mapped Data 1 7 Display Summary Cyclic Multiplex Data 2 18 Cyclic Single Data
46. Output Data N Object Size Highest Index tt 16 16 bit 32 32 bit Fieldbus Error Reaction Byte s Used Ignore I Configuration Direction I Input CLC2PLC 32 bit object word swapping Explicit Message byte DK Send CLC Output PLC2CLC Cancel Figure 2 4 Configuring the DeviceNet Configuration IN List 12 Choose the radio button below the words From FieldBus Configure Slave Telegram PD DP IO Channel Device ID 2 63 vailable Objects Bus Conf QUT List To From Word tt Word Type FieldBus FieldBus 5F91 Single Length of 140 channel word 2 ange 5EF2 Single 0000 5F92 Single Baudrate Selection 5F93 Single 5EF3 Single B 0000 FA 5EF4 Single Notswapped Swapped Notswapped C Swapped Erana Input Data N utiplexing Output Dat 4 N A Bros 015 5 5 5F35 N Configure Multiplex Channel Highest Index Fieldbus Error Reaction 22 Byte s Used Ignore m 32 bit object word swapping p Explicit Message byte swapping Send To CLC Notswapped Swapped Notswapped 7 Swapped Cancel Figure 2 5 Configuring the DeviceNet Configuration OUT List Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 5 13 For
47. Start new firmware Y yes N no y If there are no errors and the displayed version number is correct type Y to start the new firmware 9 Return the Abort switch to the middle position and reset the CLC by momentarily pushing the Reset switch upwards The CLC firmware upgrade is now complete After a few seconds LED 1 on the front panel should be blinking indicating that the executive program is running Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 27 Saving CLC V User Programs and Parameters to Flash Memory Note The number of erase program cycles on Flash EPROMs is limited to 10 000 To eliminate the possibility of damage to the Flash SAVE command should be executed only before removing the card or when backup is needed Since the user programs on the CLC V are battery backed only through the VME standby line they are lost when the card is removed from the VME rack Parameters and the Mapper are backed up by the primary battery on the CLC card but this battery may also fail making it necessary to remove the board All user programs program data CLC parameters and the Mapper may be saved in Flash EPROM before the card is removed from the rack If the data stored in RAM is invalid upon power up the CLC automatically restores the data saved in Flash The SAVE command is entered from the pROBE monitor Type SAVE followed by the Enter key to save dat
48. 5 3 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat Interbus Fieldbus Interfaces for VisualMotion 6 0 Customer Service Locations Germany Sales area Center INDRAMAT GmbH D 97816 Lohr am Main Bgm Dr Nebel Str 2 Telefon 09352 40 4817 Telefax 09352 40 4989 Sales area South INDRAMAT GmbH D 80339 M nchen RidlerstraBe 75 Telefon 089 540138 30 Telefax 089 540138 10 Europe Austria G L Rexroth Ges m b H Gesch ftsbereich INDRAMAT Hagelingasse 3 A 1140 Wien Telefon 43 1 985 25 40 400 Telefax 43 1 985 25 40 93 England Mannesmann Rexroth Ltd INDRAMAT Division Broadway Lane South Cerney Cirencester Glos GL7 5UH Telefon 44 1285 86 30 00 Telefax 44 1285 86 30 03 France Rexroth Sigma S A Division INDRAMAT 270 Avenue de lardenne F 31100 Toulouse Telefon 33 5 61 49 95 19 Telefax 33 5 61 31 00 41 Spain Rexroth S A Centro Industrial Santiago Obradors s n E 08130 Santa Perpetua de Mogoda Barcelona Telefon 34 3 7 47 94 00 Telefax 34 3 7 47 94 01 Switzerland Rexroth AG Gesch ftsbereich INDRAMAT GewerbestraBe 3 CH 8500 Frauenfeld Telefon 41 52 720 21 00 Telefax 41 52 720 21 11 Sales area East INDRAMAT GmbH D 09120 Chemnitz BeckerstraBe 31 Telefon 0371 3555 0 Telefax 0371 3555 230 Sales area South West INDRAMAT GmbH D 71229 Leonberg B blinger StraBe 25 Telefon 07152 972 6 Telefax 07152 972 727 Customer Service Loc
49. DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 5 6 DDE Client Interfaces VisualMotion 6 0 the slave axis with respect to the master The DDEPoke command uses the following syntax Application DDEPoke MYCLC Item Name Value is defined in the DDEInitiate command and includes the DDE Service name and Topic name Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 DDE Client Interfaces 5 7 Function Poke MYCLC DDEInitiate CLC DDE SERIAL 0 Application DDEPo MYCLC Wor ts 1 Cells 5 Value Worksheets 1 Cells 5 2 Application DDEPo MYCLC Wor ts 1 Cells 6 Value Worksheets 1 Cells 6 2 Application DDEPo YCLC Wor ts 1 Cells 7 Value Worksheets 1 Cells 7 2 Application DDEPo YCLC Wor ts 1 Cells 8 Value Worksheets 1 Cells 8 2 Application DDEPo YCLC Wor ts 1 Cells 10 Value Worksheets 1 Cells 10 Application DDEPo YCLC Wor ts 1 Cells 11 Value Worksheets 1 Cells 11 Applicati DDEPo YCLC Wor ts 1 Cells 14 Value Worksheets 1 Cells 14 Application DDEPo 1 Cells 16 Value Worksheets 1 Cells 16 End Function Figure 5 5 Macro 2 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 5 8 DDE Client Interfaces VisualMotion 6 0 5 2 Wonderware In order for Wonderware to communicate with the CLC a DDE link between the two must be created The link or DDE Access tells Wonderware what Windows applica
50. Evtl 2 000 013 Radius KM Elbow S Evt3 Blnd DO Up C Down 016 Evt4 Coordinates wrist motion disable Absolute Pc r HU mme Enade events om rem Er ES Mm s2 NoNE s4 NONE The user can select the information to be displayed on the Cam points table With the default setting all selection are active Previous Next Use the Previous Next buttons to change between point numbers The current number being edited is displayed in the window s header Cancel 6 Before running the program select Data Variables and set 1 7 and 11 to the initial values listed below These variables can be adjusted while the program is running Active Program Variables Card 0 E3 File Edit Format Settings Mere Settings t label v program floats Fl CAM M 10 I program integers F2 CAM 10 CAM_H 10 F4 CAML 0 0 F5 Master Velocity 50 0 Active Program Variables Card 0 Slave PH 0 0 5 SE F CAM Master PH 00 File Edit Format Types Update Settings label value Cam 1 I2 0 DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 24 Example Programs VisualMotion 6 0 X Y The absolute point table is used by the Cam Build icon to create a normalized 1024 point Cam table The Spline Cam build type builds the Master Slave table by connecting the points with third or
51. HM Acceleration Velocity Biel acus 50 000 unit s 2 100 000 unit min Machine Zero Reference Point Reference Point Offset Multi turn 0 0000 Reference Distance 0 0000 Update Status read only Home switch closed Home switch displacement Drive referenced to machine zero 0 0000 units Prev Nest Close Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 GO Icon 2 Create Download Sample Program 3 5 The homing procedure is an internal function of Indramat s intelligent digital drives and requires only that VisualMotion send a Home command to the drive The actual homing procedure performed by the drive is set by the drive s parameters Drive 1 Multi turn Encoder Homing Reference If the motor you are using contains an Absolute encoder the following window will automatically be displayed when Parameters Drive Reference is selected from the CLC Drive Parameter Editor window Drive 1 Multi turn Encoder Homing Reference 1 Drive must be in phase 4 2 Move motor to reference position 3 Enter Reference Distance Single turn 0 0000 it 0 0000 Indicates current rStatusreadon motor feedback Drive referenced to machine zero position 6 7937 Motor Feedback Update Prev Next Continue Close When done click on Close to exit this window close the CLC Drive
52. If you want to use the parameter channel see Parameter Channel Example on page 2 20 8 Click in both check boxes next to Enable Multiplexing because we want to configure multiplex objects in both the output and input channels Notice that the 13 word word 12 shows the status control word STAT in the Bus Conf IN list CNTL in the Bus Conf OUT list The bus now actually has 13 words in each of the bus configuration lists the 12 words that were set on the left plus the status control word See Multiplex Control and Status Words on page 1 5 for information about the usage of this extra word when accessing data from the Fieldbus master PLC 7 Fillin the highest index number as 2 because we are using only 3 sets of multiplex data Indexes 0 2 for axes 1 3 The index number will always be one less than the number of indices because the first index number is 0 8 Ensure that the combo box under Fieldbus Error Reaction is currently set to Ignore Any other setting during setup will cause repeated error messages Set the desired Error Reaction when the machine is ready for commissioning See Fieldbus Error Reaction on page 3 9 for detailed information about the possible settings 9 Choose the radio button below the words To FieldBus 10 Click NEW to clear up any existing data in the current list Note The desired order of the data on the master determines the object types 16 or 32 bit and order of objects you
53. Version Note Information in this document is based on VisualMotion Toolkit software version 06V12 and CLC D firmware version GPS06V61 1 4 CLC D System Description with a Fieldbus The CLC D can operate on a serial Fieldbus interface network by means of a plug in card DBSO3 x board that communicates with the CLC D card via dual port RAM The function of the Fieldbus card is similar to that of a network card in a PC it allows communication with other devices on the network In Figure 1 1 Sample Master Slave Setup with Fieldbus Cards a commonly described Fieldbus interface is pictured e Fieldbus Master PLC Fieldbus interface e Fieldbus Slave CLC D Fieldbus interface In this document we will refer to the PLC as the Fieldbus master and the CLC D as the Fieldbus slave These cards must be inserted in the card slots in an Indramat digital servo drive or a CCD Card Cage DBSO3 x Fieldbus Slave SERCOS Ring PLC Field Data Channel Cyclic amp Communication Non Cyclic via Dual Port RAM Communication Update rate every third SERCOS update cycle Figure 1 1 Sample Master Slave Setup with Fieldbus Cards With the CLC D card the Interbus 503 Fieldbus card be used only as a slave card in a master slave setup Important When using a Fieldbus slave interface it is recommended to use a 4 ms or higher SERCOS update The VisualMotion Fieldbus Mapper In the VisualMotion software package the
54. engineering mannesmann Rexroth y CLC File 1 Task File Edi View Setup Tools Data Status Options gg FSI ales VisualMotion GPS 6 0 Startup Guide Rexroth K DOK VISMOT VM 06VRS PR02 AE P o Indramat About this documentation Title Type of documentation Document typecode internal filing remarks Purpose of this document Indramat Record of revisions Copyright Validity Published by VisualMotion 6 0 VisualMotion 6 0 Startup Guide DOK VISMOT VM 06VRS PRO2 AE P e Publication number 120 2300 B302 02 AE This document describes e the VisualMotion System components the required setup of CLC cards e VisualMotion programming examples e DDE Client interfaces for non Indramat products e Appendices outlining use of PC interfaces and Demo programs e Fieldbus Supplements covering Profibus Interbus and DeviceNet 06 99 Official release for version 6 02 09 99 Updated Fieldbus Supplements INDRAMAT GmbH 1999 Copying this document and giving it to others and the use or communication of the contents thereof without express authority are forbidden Offenders are liable for the payment of damages All rights are reserved in the event of the grant of a patent or the registration of a utility model or design DIN 34 1 All rights are reserved with respect to the content of this documentation and the a
55. 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 3 4 Click the button labeled Define Config Slave Objects The Fieldbus Mapper will try to detect any configuration data from the CLC D If you are configuring a new list click on the NEW button to clear any current data in the selected list The DeviceNet Configuration Screen is pictured in Figure 2 3 DeviceNet Configuration Screen Configure Slave Telegram PD DP IO Channel Device MAC ID 2 63 _ Available Objects Bus Conf IN List 07 From Word Word Type FieldBus FieldBus 0 Length of 1 0 channel n A Baudrate Selection 125K Configure Multiplex Channel Enable Input Data Mutiplexing Output Data Highest Index m 32 bit object word swapping Explicit Message byte swapping C Notswapped Swapped C Notswapped ane ERR Shutdown CLC Warning onl LE tree eerte Figure 2 3 DeviceNet Configuration Screen 5 Set the device MAC ID address to a unique number for this device on the bus 2 63 6 Setthe Length of I O Channel Word to the number of data words to be allocated for the input channel or the output channel whichever is greater According to the example data in Table 2 1 Sample Cyclic Data under STEP I Determine the Cyclic and Non Cyclic Data we have set the length of the channel to 11 for the output chan
56. Add Mapper String 1 String Valid operators amp 11 1004 gt 1 Rungs Add Insert Delete All Edit Delete Close 5 Now click on Close to return to the Ladder Editor window The Ladder Editor window now contains a Rung that illustrates Register 100 01 as an open contact and Register 1 01 as a relay coil The symbolic relay coil can not be energized Parameter Mode Active until the contact R100 1 is closed This illustrates the relationship between Register 100 and Register 1 File Edit Options Settings Online Help Ki 4 Parameter Bit 01 Mode R100 01 R1 01 Rung comment 1 1 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 6 Program Execution VisualMotion 6 0 Download I O Mapper Strings VisualMotion installs a default I O Mapper under the following folder directory C Indramat clc param The following I O Map can either be downloaded using the following procedure or created using the previous procedure Note The system must be in Parameter Mode before proceeding 1 cl From VMT s main menu select File Transfer I O Mapper Next ick on the Download Strings radio button and the press Start to begin downloading the I O Mapper Strings Transfer 120 Mapper Strings C Download Strings Operation Type Upload Strings S 2 Search for the harddrive path below and select the default I
57. Ba Multiplex 16 bit 016_1_B 5F40 1 word Object 015 2 B 5F50 032 1 S Multiplex 32 bit 032 2 5 5EF2 2 word Object 032 3 S 5EF3 Configure Multiplex Channel 03245 Enable Input Data 032 5 5EF6 Mutiplexing Output Dat 032 7 5 O32 8 S5EF8 Highest Index 2 Fieldbus Error Reaction Ignore 24 Byte s Used Send To CLC Figure 2 15 Configuring the Interbus Configuration OUT List with Multiplexing 13 For each data type desired choose a corresponding available object in the list on the left and click APPEND to place it in the Bus Conf OUT List We have now allocated the data objects in the cyclic channel so the desired data can be transferred between the CLC D card and the Interbus Fieldbus card Note The non cyclic data requires no configuration of objects in a list These objects are addressed directly and preassigned as non cyclic They need only to be mapped to the CLC D data 14 Click OK Send to CLC The following window appears Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 15 Field Bus Mapper Warning Please Re power CLC D for changes to affect Figure 2 16 Warning after clicking OK Send to CLC STEP Ill Define Cyclic Data Mapping Lists STEP Ill associates the CLC D data types to the objects assigned in STEP In ou
58. DOK VISMOT VM 06VRS PRO2 AE P 09 99 Index 6 1 Basic 2 5 Multiplex Example Cyclic Data ne 2 15 Bus Configuration Lists APPEND Button 2 4 2 14 DEL Button 2 4 2 14 INSERT Bultton 2 4 2 14 NEW Button 2 4 2 14 Bus Type Basic 2 2 Gyclic Data 2 6 Multiplex Example Cyclic Data Non Cyclic Data Buttons APPEND 2 4 2 14 DEL ent 2 4 2 14 Display Summary 2 7 2 9 2 18 2 19 2 7 2 9 2 18 2 19 Get From CLO 2 7 2 9 2 18 2 19 Get From File 2 7 2 9 2 18 2 19 INSERT atte 2 4 2 14 2 4 2 7 2 9 2 14 2 18 2 19 Save To File 2 7 2 9 2 18 2 19 Send CLC 2 7 2 9 2 18 2 19 C channels Cyclic Data Channel configuration1 3 1 6 multiplex reete 1 2 Non Cyclic Channel 1 2 Parameter Channel 1 2 Real Time Channel 1 2 1 8 ior as 1 2 Clearing Parameter Channel Errors4 4 Command Telegram Structure Short Format 2 4 7 VisualMotion ASCII Format 4 11 Configure Multiplex Channel Basic
59. Fieldbus Master 1 1 fieldbus message header 4 16 Fieldbus Resource Monitor 3 8 Fieldbus Slave 1 1 Fieldbus Status 3 6 fieldbus summary report 2 7 Fieldbus Accessible Parameters 3 3 File Menu Display 3 1 DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 scc icio ns 3 2 first 4 4 FMS Fieldbus Message Specification 1 2 From FieldBus Basic Example 2 4 Multiplex Example Cyclic eme 2 15 G Get From CLC Cyclic Multiplex Data 2 18 Cyclic Single Data Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data 2 9 Get From File Cyclic Multiplex Data 2 18 Cyclic Single Data 2 7 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data 2 9 GPS Programming 3 1 H 5 4 5 4 L5G 5 4 H15D inuenies peres 5 4 ATOA 5 4 5 4 16 5 4 Ignore Fieldbus Error Reaction 3 10 Index Number Multiplex Example Cyclic
60. H 1 and L 0 the Slave Command Position Scmd will directly reflect the slave position in the cam table If the coefficient values are changed the resulting Scmd will be adjusted accordingly The following program will illustrate how these coefficient value adjustments will affect Cam performance Follow the Program Instructions while referring to the Program Layout and Icon Description Sections DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 22 Example Programs VisualMotion 6 0 Program Instructions Using the Icon programming environment create the Cam program according to the corresponding dialog boxes outlined in the Section Before adding icons to the programming work area save the program by selecting File Save As and name the program CAM App str 1 Select Labels gt User Labels from the Edit Menu and Add the following labels 1 2 F4 CAM_L F5 Master_Velocity F6 CAM_Slave_PH F7 CAM_Master_PH 11 Active_cam User Defined Labels x ID Variable Comment M Used in CAM Icon for Multiplying scaling F2 CAM N in CAM Icon for Divisional scaling F3 CAM H Used in CAM Icon for CAM scaling F4 CAM L in CAM Icon for Linear scaling F5 Master Velocity Used in Velocity Icon Slave Used in SLAVE Phase adjust Icon F Master Used in CAM Master Phase adiust Icon H Active CAM Selects CAM in amp CAM Build Ico
61. Parameter Editor window and return to the Task programming screen select File Exit The Homing routine for the Home icon is now complete For more information regarding the CLC Drive Parameter Editor refer to the VisualMotion 6 0 Reference Manual 8 Select and place the GO icon to the right of the Home icon The GO icon enable the axis drive ready signal RF a Enter a 1 in the Axis field to specify which axis to initiate b Non Coord Motion should be selected for a single axis Motion Type Go Resume Setup 2 x Motion Type Coordinated num Non Coord F aption Axis integer lx or label J 1 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 6 Create Download Sample Program VisualMotion 6 0 Accellcon 9 Select and place the Acceleration icon to the right of the GO icon The acceleration icon sends the acceleration rate to the drive that will LA be used in the move calculation a Enter a 1 to specify the axis b Enter 15 for the rate of acceleration and click on OK Accel Control Box Axis ae or has float GF or units 2 5 j Cancel Caption Velocity Icon 10 Select and place the VELOCITY icon to the right of the Accel icon 63 The velocity icon sends the velocity rate to the drive that will be used in the move calculation a Enter a 1 to specify the axis b Enter 100 for the velocity rate click on OK Vel
62. Revision Number e GET OV The user can read the object directory of the DBSO3 x card and receives information about the implemented objects and their structure Two GET OV types are supported GET OV long GET OV short e REJECT Invalid services are rejected by the slave Invalid services are usually those which are not implemented or do not allow access to objects e READ Read access to an object in the object directory Any object in this directory can be read even if it is used in the Process Data Channel e WRITE Master data can be written asynchronously to the Process data Channel Write access is only allowed to those objects that are not used in the Process Data Channel Others will be rejected using the REJECT action The DBSOS x card supports all mandatory actions according to DIN 19258 The DBSO3 x card supports the PCP functions of software revision 2 0 Therefore if is fully compatible with the functions and diagnostics of the new G4 master activation By forcing the PCP Channel to a data width of one word this card is fully backward compatible to the PCP 1 51 software and is therefore suitable for a master activation of group G3 Note It is recommended to use a G4 card for a master activation in order to optimize the functionality of the DBSOS x Communication via the PCP 2 0 software is the basis of the client server model A call answer protocol is used that is initiated by the client and answered by th
63. Task Break Point Cam Builder Jogging Oscilloscope Indramat VisualMotion32 Release6 w Program Flow DOK VISMOT VM 06VRS PR02 AE P e 09 99 VisualMotion 6 0 Example Programs D 15 Program Operation Changing the state 0c 1 of any one of the following bits in Register 100 will stop the program from running Bit Label State 01 Param Mode 1 02 Mode Auto Manual 0 O3 Task Stop 0 07 Emergency Stop 0 09 Finish VM Program 1 16 Sequencer WAIT 1 If the program was stopped using bit 100 7 Emergency Stop or from another error bit 100 5 Clear Errors must be toggled from 1 to O to 1 before running again To run the program again toggle bit 100 4 Task Start from 1 to O to 1 with the other bits in the state shown below Bits of Register 100 User_Inputs_Reg 1 Bit Physical Name State Para_Mode 0 lt gt 1 Mode Manual Task Sto Cancel Clear Errors 1 Bit 06 0 Emergency Stop 1 Bit 08 0 Seq Run Initiate 1 Finish VM Program 0 Activate Gripper 1 Bit 12 0 Bit 13 0 Bit 14 0 Bit 15 0 Sequencer WAIT 0 after State indicates forced Previous Next Note In order to start the program from the very beginning toggle bit 100 2 Mode Auto Manual from O to 1 prior to toggling the Task Start bit If you wish to reinitialize the sequencer make sure that bit 09 is low 0 Otherwise the program will branch to the Run Sequencer icon The first
64. The Cam Phase Adjust icons are used in the program to control the Master and Slave phase adjust The Phase adjust can be changed with the program running by changing the values of SPH F6 and MPH F7 Use the following values to see how the phase adjust effects the performance of the slave axis The chart below illustrates Sph 45 and Mph 90 with M21 N21 H 1 and L 0 CAM PHASE ADJUST SLAVE MASTER DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 27 Program Layout Task A CAM program Part 1 Task Data Storage Sizing i2 x Variabl Point Oth ee es Build CAM From Point Table Yalues BE Floats ABSIT Events m Target Cam r Source ABS Points fio fis CLC C Dive Integers CAM Number integer Starting number integer Glz or label Ix Gl amp or label e i Active CAM a Sequencer Ending number integer Cancel Lists Steps Functions or label E o o o g os B _ Calculated memory usage for this data storage CAM build type T 1400 bytes Spline v Wait until CAM table is built ELS Axis Configuration 2 Virtual Master ER Daisy Chained Real Master Real Master thru SERCOS Follow Axis Feedback 1 Axis to homef integer Glx Al Ix or label 4 c p Canc
65. Variables File Edit Format Types Update Settings t label value Fl Master Vel 50 21 F2 0 0 Note The program will not run unless a value exist for the Master Vel variable The motor is simply a slave and must respond to a velocity given to by the master Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 31 Note Verify that the mechanical settings of the slave axis are as follows Select Status Drives and the Parameters Mechanical Drive 1 Mechanicals x Positioning with respect to Motor encoder External encoder 22 1 m Unit of measure for position data k Inches Degree Milimeters l Type of scaling C Linear Rotary Feed constant 1 0000 Modulo 360 0000 Coupling ratio input Z1 1 Coupling ratio output 22 1 Next Close 7 Using the default I O Mapper Def100 iom found the folder structure Indramat clc Param run the program by setting register 100 s bits as follows Bit Label State a 07 Emergency Stop 0 to 1 b 01 Param Mode 1100 c 05 Errors 0 to 1 d 02 Mode Auto Manual 0 to 1 e 03 Task Stop 0 to 1 f 04 Task Start 0 to 1 8 Open the PLS window by selecting Data PLS The active program PLS window should show the bit status of the assigned PLS register as the virtual master changes position Active Program PLS Card
66. iplex j ject multiplex object ndex 1 ndex 2 ndex 3 ndex 4 ndex 5 ndex 6 ndex 7 ndex 8 ndex 9 Index 10 Index 11 Index 12 Index 13 Index 14 Index 15 single single multiplex object multiplex object single object single object a ndex 0 ndex 1 ndex 2 ndex 3 ndex 4 ndex 5 ndex 6 ndex 7 ndex 8 ndex 9 Index 10 Index 11 Index 12 Index 13 Index 14 Index 15 meo ndex 1 Figure 1 4 Sample Command Write to Slave PLC CLC Figure 1 5 Sample Response Read to Master Multiplex Control and Status Words The Interbus multiplex control and status words serve to command and acknowledge multiplex data transferred between the Fieldbus master and the Fieldbus slave The control word is associated with output DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 6 General Information Non Cyclic Channel Indramat Interbus Fieldbus Interfaces for VisualMotion 6 0 communication PLC CLC The status word is associated with input communication CLC PLOCO Single data objects are not affected by the multiplex control and status words Note For specific information about how the Fieldbus master uses the multiplex control and status words see Multiplex Data Bits in the Control and Status Words on page 4 1 Sending and Receiving the Same CLC D Data Cyclically Two separate objects will be consumed when sending an
67. output of up to approximately 6 5 kW HDS3 2 Modular unit with four slots for plug in cards and a continuous drive output of up to approximately 15 5 kW HDS4 2 Modular unit with four slots for plug in cards and a continuous drive output of up to approximately 35 kW mea mjo HDD02 2 HDS02 2 ops HDS04 2 Figure 1 4 DIAX04 drive family Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Introduction 1 7 Motors used with DIAX04 All DIAX04 drive controllers are capable of operating all rotating and linear motors of the MHD MKE MKD 2AD 1MB MBW LAR and LAF series
68. reg 100 is changed to indicate that the initialization has been completed The program flow will then reset a cycle counter and Run the sequencer The program will continue running in a sequencer loop until a WAIT condition or control register bit is triggered When the program is stop and restarted the I O state of the predefined register will cause the program to branch to the Run Sequencer icon and continue into the sequencer loop A Sequencer editor can be used to make changes with the program running If the sequencer is initialized again any of these changes will be overwritten with the initialization data To prevent this from happening the first branch in the program checks the I O state of register 100 initialization indicator If the Sequencer has already been initialized the program will only run the Sequencer This maintains any current Sequencer changes To initialize the Sequencer again the predefined I O register needs to be changed to its original state On line changes can be made to the value of any predefined function argument within a Sequencer list as long as all the steps are in their original order If the original order is changed or if a new function or step list is added the program execution needs to be stopped before any changes can be saved to the CLC card When the program is restarted the Sequencer will then execute the current step list s To create this program Follow the Program Instructions while
69. there is no noticeable reaction when Register 19 Bit 4 goes low unless the GPS coding is customized to evoke a special reaction Troubleshooting Tip If a Fieldbus card is not found on the system the Error Reaction setting will be ignored If you have a Fieldbus card and the Error Reaction is not responding as expected the system may not see your Fieldbus card DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Information for the PLC Programmer 4 1 4 Information for the PLC Programmer 4 1 Slave Configuration The Indramat DBS cards support auto configuration Interbus functionality No configuration information is necessary 4 2 Multiplex Data Bits in the Control and Status Words Figure 4 1 Bit Definitions in Multiplex Control and Status Words contains diagrams of the bits contained in the control and status words and their bit definitions The bits marked with are currently not used The control word is appended as the last word of the cyclic data content and the status word is appended as the slave response in the cyclic data input Multiplex Control Word PLC gt CLC KK ROOK OK KKK 83 2 0 OUTPUT lt Multiplex Control Index y DATA defines the Index command VALID BIT for multiplexing set by the PLC when output data is Multiplex Status Word CLCSPLC ku PE DK DK OOK DOK OK DK 808210 INPUT lt Multiplex Status Index gt DATA confirms that the Index VALID BIT response location matches
70. x integer Glx or label i HB Each icon displays an allowable float GFx or label variable type within the Rate field 100 units min OK Cancel Caption 1 Click on the User label button n The User Defined Labels window will open 2 Click the Add button to open the Add User Variable window Add User Variable X Type x C Constant C GFX C ABS Ix C RELx Cancel Name Float Velocity Comment for Variable optional Velocity variable for Axis 1 3 Select the Type of variable to add Example constant floating point or integer Note Allowable variable types are listed within the icon s dialog window 4 Enter a Name for the variable Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Create Download Sample Program 3 13 5 Assign a 1 to the Float F label A second Float variable will receive a 2 Note The number of available Variables is determined by the Size icon Task Data Storage Sizing 21x p Integers 10 Sequencer Cancel Lists Steps Functions p Caption Calculated memory usage for this data storage 0 bytes 6 Click Save to add the variable then Cancel to close the Add User Variable window 7 Highlight the new variable in the User Defined Labels window and
71. 0 x File Edi Selection Settings Refresh All Assigned Register Current Offset DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 32 Example Programs VisualMotion 6 0 Program Layout Task A Programmable Limit Switch program Compile Time PLS Initialize 2 x Homing Setup 21 Dutput Register Bit On Position Position Axis to home integer Glx 29 0 0 225 Ix or label EE Bee ds Cancel Caption Ep Cancel 157 5 Transfer type Parameter type 1575 C To Variable System To Parameter equ Axis 180 202 5 C Task C Drives Phase Advance 225 247 5 j Drive P 270 292 5 ES Caption 337 5 360 Master Axis Type ELS 7 oon CO Cn Br Parameter ID Number Source integer float Fx integer or label J GFx Glz Ix or label Cancel Caption Mirum mm m cum Spay Se oe m a ELS Axis Configuration Branch Selip Type Virtual Master Daisy Chained Real Master C Real Master thru SERCOS Follow Axis Feedback Type Condition 5 Onf1 C Variable C CES CLC cam C Caption Register number Bit number mask Ix Glx or label Ix Glx or label B af Slave Axis Mode Direction Master Ratio phase same as 1 V
72. 0 0055 Axis Fast Jog Velocity C 0 0056 Axis Slow Jog Velocity Download Block Size x C 0 0157 C 0 0158 C 0 0159 C 0 0160 0 0161 0 0162 0 0801 Pendant Protection Level 1 Password C 0 0802 C 0 0803 C 0 0804 C 0 0805 C 0 0806 Pendant End of User Accessible Registers Pendant Password Timeout C 0 0811 C 0 0812 C 0 0813 C 0 0814 C 0 1001 C 0 1010 X 3 1 Must be configured by GPS in SERCOS telegram to update data Otherwise unexpected GPS system errors may occur x 9 Pendant Protection Level 2 Password Pendant User Accessible Floats Section Pendant User Accessible Integers Section Pendant Start of User Accessible Registers gt lt gt lt gt lt gt lt gt lt Fes S xxx 2 lt 9 gt lt 9 9 08 gt lt 0 S le le le le le SS SS SS 2 gt 2 gt gt SD 86556565 3 2 The data in this parameter is ONLY interpreted as type Float 3 This parameter is valid for fieldbus mapping in firmware version 06v64 and later The data is read written via the fieldbus in SERCOS phase 4 only This parameter requires additional GPS resources to transfer data to from the fieldbus Therefore care must be taken when using it for fieldbus communications with consideration to GPS system resources Monitor GPS Register 26 for fieldbus mapping resource consumption and increase the SERCOS update C 0 009
73. 09 99 Indramat 3 4 Information for the GPS Programmer Interbus Fieldbus Interfaces for VisualMotion 6 0 Parameter Cyclic Non Cyclic Direct Mapped Type No Description Read C 0 0016 C 0 0020 C 0 0021 C 0 0022 Communication Time Out Period Transmitter Fiber Optic Length User Watchdog Timer User Watchdog Task ID C 0 0030 Option Cards Active C 0 0031 Option Card Status World Large Increment World Small Increment C 0 0045 World Fast Jog Speed C 0 0046 World Slow Jog Speed C 0 0052 Axis Large Increment C 0 0053 Axis Small Increment C 0 0055 Axis Fast Jog Velocity C 0 0056 Axis Slow Jog Velocity Download Block Size x C 0 0157 C 0 0158 C 0 0159 C 0 0160 0 0161 0 0162 0 0801 Pendant Protection Level 1 Password C 0 0802 C 0 0803 C 0 0804 C 0 0805 C 0 0806 Pendant End of User Accessible Registers Pendant Password Timeout C 0 0811 C 0 0812 C 0 0813 C 0 0814 C 0 1001 C 0 1010 X 3 1 Must be configured by GPS in SERCOS telegram to update data Otherwise unexpected GPS system errors may occur x 9 Pendant Protection Level 2 Password Pendant User Accessible Floats Section Pendant User Accessible Integers Section Pendant Start of User Accessible Registers gt lt gt lt gt lt gt lt gt lt Fes S xxx 2 lt 9 gt lt 9 9 08 gt lt 0 S le le le le le SS SS SS 2 gt 2 gt gt SD
74. 09 99 Indramat B 2 VME Versa Module Eurocard Interface CLC V VisualMotion 6 0 CLC VME Memory Window VME A24 or A32 An 8 KB area of the CLC s VME memory is user accessible This area contains the CLC s control and status registers allowing direct user program access to the register contents The area also provides a buffer for VME ASCII communications that can exchange messages between multiple VME cards on the backplane and memory for both the CLC integer and floating point global variables CLC Register 2047 XXXX2FFF CLC Register 3 CLC Register 2 CLC Register 1 Address Space XXXX1 FFF 256 Floating Point xxxicno Global Variables 1024 bytes 256 Integer 1024 bytes Global Variables XXXX1800 ASCIIMessage Buffer 1024 bytes Where XXXX represents the high byte of the CLC s base address Set by the Unit s Base Address Page Parameter Indramat Figure B 2 VME Memory Writing or reading CLC registers in the user accessible VME memory area directly affects I O since the CLC s I O driver software automatically exchanges the contents of the registers and I O ports at different times during every 2 millisecond system cycle The CLC registers and I O ports are also subject to the logic strings specified in the CLC s I O Mapper and to any register forcing conditions in effect DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 VME Versa Module Eurocard Interface CLC V B 3
75. 1 Host System requirements 2 1 D 1 VO 4 3 Display Strings 4 4 Uploading I O Mapper 4 3 Icon branch Cam Build Sequencer 0 18 Icons SAM E P 3 1 NEJO S 3 15 Item name 5 2 5 4 L Labels nsu eee 3 12 Local variables 3 15 M Modifying a Parameter List D 35 motion circular interpolation constant speed kinematics linear interpolation a ES ratioed single velocity mode Multi turn Encoder O OPERATOR DEVICES INTERFACES 5 1 P Parameter 4 12 PC Backplane Communications 5 9 PC 104 Base Address selection CLC PO02 sss 2 15 PC 104 Interrupt selection2 11 2 16 Pentland MPV922 C 22 Phase synchronization 1 13 m D 30 pROBE function 2 18 2 25 program execution 4 1 Programmable Limit Switch PLS D 30 Programming PLS ON OFF SignalD 37 VisualMotion 6
76. 11 Fill in the highest index number as 2 because we are using only 3 sets of multiplex data Indexes 0 2 for axes 1 3 The index number will always be one less than the number of indices because the first index number is 0 12 Ensure that the combo box under Fieldbus Error Reaction is currently set to Ignore Any other setting during setup will cause repeated error messages Set the desired Error Reaction when the machine is ready for commissioning See Fieldbus Error Reaction on page 3 9 for detailed information about the possible settings 13 Choose the radio button below the words To FieldBus 14 Click NEW to clear up any existing data in the current list Note The desired order of the data on the master determines the object types 16 or 32 bit and order of objects you place in the bus configuration list Therefore care should be taken when placing these objects 15 For each data type desired choose a corresponding available object in the list on the left and click APPEND to place it at the end of the Bus Conf IN List Each available object has a typecode to identify its size and type Figure 2 14 Configuring the DeviceNet Configuration IN List contains a description of the typecode Following are descriptions of the buttons to manipulate the bus configuration lists APPEND inserts an available object after the last word placed in the current list DEL removes the selected object from the current lis
77. 14 2 14 CLC PO2 Flash Firmware Upgrade2 18 CLC PO2 Installation 2 17 CLC PO2 Installation Screens 2 36 CLC P02 Jumper Locations 2 15 CLC V Mode Sel ct uas 2 21 CLC V Address Switch 2 22 CLC V Card Backplane Communication B 4 Direct Data Access B 5 Memory Access Limitations B 5 configuration 2 21 2 21 1 ae ers B 1 CLC V Flash Firmware 2 25 CLC V Installation 2 24 CLC V Installation Screens 2 33 coordinated motion D 43 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Index 1 D Data Menu VO 4 3 Variables 3 15 DDE iei texte 1 10 DDE client interfaces 5 1 DDE request 5 1 DDEInitiat 5 4 5 6 5 4 5 4 DEA DEA W O uiii DIAXOS digital drive 1 4 digital drives 2 2 DIAXOS Motors 1 5 DIAX04 digital drives 2 2 DIAX04 drive family
78. 2 Since memory on the CLC card was cleared an E414 Parameters were lost error code will be display on the CLC s 7 Segment LED display H4 This is an indication that the VisualMotion system is communicating properly To clear an E474 error code simply switch the drive system to and from parameter mode Note Parameter mode switching occurs when Register 1 System Control bit 1 is set to 1 Register bits can be displayed within VisualMotion Toolkit under menu selection Data Hegisters After switching to and from Parameter Mode the CLC will re initialize and begin flashing an E400 Emergency Stop Note DOK VISMOT VM 06VRS PRO2 AE P 09 99 E400 Emergency Stop occur when Register 1 System Control bit 3 is set to 0 To clear this error set bit 3 to 1 In addition bit 5 Clear All Errors must also see a transition from O to 1 for the error to clear Indramat 2 8 System Installation VisualMotion 6 0 Installing and Configuring the CLC P01 Motion Control Card The CLC PO1 plug in card uses an ISA bus interface The card is designed for installation in personal or industrial PCs with an 8 bit ISA bus connection Figure 2 5 CLC P01 1 Hardware Electro static discharge Sensitive electronic device The CLC card is a sensitive electronic device Use caution when handling this board Do not expose to Caution Electro static discharge or place the board directly on a conductive surface Only
79. 2 7 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data 2 9 GPS Programming 3 1 H Ignore Fieldbus Error Reaction 3 10 Index Number Multiplex Example Cyclic 2 14 last 4 4 least significant bit 3 6 LEDs LEDs DPF05 x 5 3 Length of DP Channel Word Basic Example 2 8 Multiplex Example Cyclic 2 13 Mapping Direction Basic Example Cyclic 2 6 Non Cyclic Data 2 8 Multiplex Example Cyclic 2 16 Non Cyclic Data 2 18 Mapping List Back To Add Button 2 8 Delete Button Insert Button eese DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Replace Button 2 8 Messaging Examples Short Format 2 4 8 4 13 Messaging Formats Short Format 2 1 6 VisualMotion ASCII Format 1 6 4 11 most significant bit 3 6 Multiplex Data Bits 4 1 Multiplex Data Types 1 3 1 4 2 11 Multiplexing Control and Status Words 1 5 Enabloe r
80. 208 Lost Fieldbus Connection If Ignore 2 is set in Parameter C 0 2635 there is no noticeable reaction when Register 19 Bit 4 goes low unless the GPS coding is customized to evoke a special reaction Troubleshooting Tip If a Fieldbus card is not found on the system the Error Reaction setting will be ignored If you have a Fieldbus card and the Error Reaction is not responding as expected the system may not see your Fieldbus card DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Information for the PLC Programmer 4 1 4 Information for the PLC Programmer 4 1 eds File Indramat supplies an eds file containing supporting information for the CLC D with DCFO1 x card DeviceNet slave configuration Contact Indramat technical representative for location of this file 4 2 Word and Byte Swapping In the Fieldbus Mapper it is possible to enable automatic word and byte swapping on the DCF board for both input and output depending on the type of PLC used e 32 bit Object Word Swapping The setting of this option determines the order in which the two data words in any 32 bit double word cyclic or non cyclic direct mapped object are transmitted The default setting Not swapped causes the words to be transmitted in their usual order Word 1 Word 2 The Swapped setting causes the words to be transmitted in inverted order Word 2 Word 1 The setting of this option is stored in Card Parameter C 0 2
81. 64 73 277 Sales area North INDRAMAT GmbH D 22525 Hamburg Kieler Str 212 Telefon 040 853157 0 Telefax 040 853157 15 INDRAMAT Service Hotline INDRAMAT GmbH Telefon D 0172 660 040 6 or Telefon D 0171 333 882 6 Denmark BEC AS Zinkvej 6 DK 8900 Randers Telefon 45 87 11 90 60 Telefax 45 87 11 90 61 France Rexroth Sigma S A Division INDRAMAT 17 Loree du Golf F 69380 Dommartin Telefon 33 4 78 43 56 58 Telefax 33 4 78 43 59 05 Netherlands Hydraudyne Hydrauliek B V Kruisbroeksestraat 1a P O Box 32 NL 5280 AA Boxtel Telefon 31 41 16 519 51 Telefax 31 41 16 514 83 Switzerland Rexroth SA D partement INDRAMAT Chemin de l Ecole 6 CH 1036 Sullens Telefon 41 21 731 43 77 Telefax 41 21 731 46 78 European Customer service locations without Germany DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat Customer Service Locations Outside Europe Argentina Mannesmann Rexroth S A I C Division INDRAMAT Acassusso 48 41 7 1605 Munro Buenos Aires Argentina Telefon 54 1 756 01 40 54 1 756 02 40 Telex 262 66 rexro ar Telefax 54 1 756 01 36 Canada Basic Technologies Corporation Burlington Division 3426 Mainway Drive Burlington Ontario Canada L7M 1A8 Telefon 1 905 335 55 11 Telefax 1 905 335 41 84 China Rexroth China Ltd A 5F 123 Lian Shan Street Sha He Kou District Dalian 116 023 P R China Telefon 86 411 4
82. 7 32 bit 5F70 121 16 bit Figure 3 4 Printout of Sample Fieldbus Mapping Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Information for the GPS Programmer 3 3 3 2 Fieldbus Accessible Parameters The following tables contain all of the Fieldbus accessible parameters Read and write access to these parameters is listed for both cyclic and non cyclic data Parameter Cyclic Non Cyclic Direct Mapped A 0 0020 Maximum velocity x A o 0021 Maximum Acceleration A 0 0022 Maximum Deceleration X X 0 0023 x A 0 0025 Maximum Jog Increment X x X A 0 0026 MaximumJog Velocity x x A 0 0031 CLC Cam Ratio master Factor XX A 0 0032 CLC Cam Ratio SlaveFactor M A o 0033 CLC Cam Stretch Factor X x A o 0034 CLC Cam Currenty active x x x A 0 0035 CLC Cam Position Constant L A 0 0037 RatioModeStepRate __ x x A 0 0038 RatioMode Options x A 0 0100 A 0 0101 iti tthe S i x x x e xe e A 0 0102 Feedback Position A 0 0110 x A 0 0111 Commanded Velocity A 0 0112 Feedback Velocity A 0 0120 Programmed Acceleration 0 0141 Torque Command A 0 0142 Torque Feedback w
83. 9 Step 1 Woz words worda Purpur Description __ CowoWod Set system to basic state Data Value 0x000D 0x0000 0x0000 Explanation Binary Equivalent 0000000000001 101 High Bits Bit 0 Bit 2 Short Format 2 transmission Bit 3 Word Step PLC Input Description Status Word Basic state Data Value 0x000D 0 0000 0 0000 0 0000 acknow Explanation Binary Equivalent No Data edged 0000000000001101 High Bits Y Bit 0 Bit2 Short Format 2 transmission Bit 3 Step 3 Word Woar woaz woms wows PLC Output Dess Dua _ et reques Explanation Binary Equivalent No Data 000101 1100101101 High Bits Bit 0 Bit 2 Short Format 2 transmission Bit 3 Bit 5 transmission length 2 data bytes Bit 8 toggle bit Bit 9 first and last cycle Bit10 only one data transmission Bit12 read transmission 0x176D Ox5F10 0 0000 0x000A Binary Equivalent Data value returned for 000101 1100101101 VisualMotion mapped High Bits object 18 Bit 0 Intel Format Step 4 PLC Input Response received Description Data Value Explanation Yes Bit 2 Short Format 2 transmission Bit 3 Assume checked B for error bit 20 Bit8 toggle bit Bit 9 first and last cycle Bit 10 only one data transmission Bit 12 read transmission Step 5 PLC Input Read data from words 3 and 4 of Data 0x
84. 942 03 41 USA Rexroth Corporation INDRAMAT Division Southeastern Sales Office 3625 Swiftwater Park Drive Suwanee GA 30174 Telefon 1 770 932 3200 Telefax 1 770 932 1903 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Customer Service Locations Notes DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 282762 Printed in Germany Rexroth Indramat
85. Adding Objects to the Cyclic Object Mapping List Important Cyclic data uses the objects configured in STEP Il 8 Repeat steps 3 through 7 above until each of the desired cyclic data objects has been added to the OBJECT MAPPING LIST Note When mapping a PLC output object to a parameter the parameter must be of the type Read Write Any Time For parameters that are Read Any Time Write in Parameter Mode or Read Only an error message is generated when you click Send to CLC if you try to map the parameters to a PLC output object Examples C 0 1550 Read Any Time Write in Parameter Mode and C 0 1518 Read Only Note If you want to insert replace or delete items in the Object Mapping List double click on the item in question A new set of buttons appears to the left of the Object Mapping List box See Changing an Existing Object Mapping List on page 2 8 for a detailed explanation of each button 9 Click Send to CLC to save the selected object mapping list to the CLC D card Use any of the following buttons as needed DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 18 Fieldbus Mapper Examples Profibus Fieldbus Interfaces for VisualMotion 6 0 Saves the currently selected object mapping list to the CLC D Card to card Send To CLC parameter C 0 2600 if the cyclic DP channel is selected and C 0 2700 if the non cyclic FMS P Chan channel is selected Saves the currently selected object mapping list to a f
86. Card Options Send To CLC Get From CLC DataT V F amp C GF C Card Parameter Destination Save To File Get From File Clk C Glix Register 16 Register 1 512 xis 0 40 Display 5 Axis Parameter Task ee ask 171 C Task Parameter Exit Figure 2 8 Adding to the Cyclic Object Mapping List Important Cyclic data uses the objects configured in STEP Il 8 Repeat steps 3 through 7 above until each of the desired cyclic data objects has been added to the OBJECT MAPPING LIST Note When mapping a PLC output object to a parameter the parameter must be of the type Read Write Any Time For parameters that are Read Any Time Write in Parameter Mode or Read Only an error message is generated when you click Send to CLC if you try to map the parameters to a PLC output object Examples C 0 1550 Read Any Time Write Parameter Mode and C 0 1518 Read Only 9 Click Send to CLC to save the selected object mapping list to the CLC D card Use any of the following buttons as needed Saves the currently selected object mapping list to the CLC D Card to card Send To CLC parameter C 0 2600 if the cyclic DP channel is selected and C 0 2700 if the non cyclic FMS P Chan channel is selected Save ToFile Saves the currently selected object mapping list to a file with a prm extension New Clears up the current object mapping l
87. Command contains e Object number 5F10 2 After the read request from the master the CLC D card sends a response message Header Data Field Response message VisualMotion Raw Data contains contains data here shown in e message o k decimal format 12345 If the message response code in message header shows o k the requested value is attached to the message in the data field This value is now available for use by the master PLC Note It is important to note the mapping of the object in the Fieldbus Mapper If a particular object is mapped as a VisualMotion Read Object you cannot write to that object Conversely if the object is mapped as a VisualMotion Write Object you cannot read from that object DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 6 Information for the PLC Programmer Interbus Fieldbus Interfaces for VisualMotion 6 0 4 4 Non Cyclic Transmission Data Exchange Objects The four data exchange objects 5E70 to 5E73 represent fixed data containers of varying lengths that transfer the VisualMotion ASCII Protocol to the CLC D card These objects serve as an open ended possibility to access any VisualMotion data including cams diagnostic text etc but more work is required in the master to perform a transmission of this type Both the VisualMotion ASCII message and the Fieldbus transfer message must be formulated Table 4 1 Length of the Data Exchange Objects lists the ava
88. Configure Slave Telegram Device MAC ID 2 63 Notswapped Swapped Cancel Figure 2 14 Configuring the DeviceNet Configuration IN List with Multiplexing 16 Choose the radio button below the words From FieldBus Channel Available Objects To From FieldBus FieldBus Length of 1 0 channel word C 032 1 5 032 2 B SEDO Baudrate Selection 125 m Configure Multiplex Channel Enable v Input Data Mutiplexing Output Data Highest Index p 032 3 B SEEO D18 1 B 5F40 015 2 B 5F50 032 1 5 5EF1 032 2 5 5EF2 032 3 S 5EF3 032 4 5 032 5 5 5EF5 032 amp S 032 7 S 032 8 5 Fieldbus Error Reaction Ignore Y 32 bit object word swapping Notswapped Swapped Bus Conf OUT List Word t Word Type 5EF2 Single 0000 5F40 Gase D 5ECO 0000 5EDO Base 0000 Base 0000 CNTL N N N 24 Byte s Used r Explicit Message byte swapping Send To CLC Notswapped C Swapped CE Single 16 bit 1 word Object Single 32 bit 2 word Object Multiplex 16 bit 1 word Object Multiplex 32 bit 2 word Object Indramat Figure 2 15 Configuring the DeviceNet Configuration OUT List with Multiplexing 17 For each data type desired choose a corresponding available object in the list on the left and click APP
89. D System Description with a Fieldbus The CLC D can operate on a serial Fieldbus interface network by means of a plug in card DCFO1 x board that communicates with the CLC D card via dual port RAM The function of the Fieldbus card is similar to that of a network card in a PC it allows communication with other devices on the network In Figure 1 1 Sample Master Slave Setup with Fieldbus Cards a commonly described Fieldbus interface is pictured e Fieldbus Master PLC Fieldbus interface e Fieldbus Slave CLC D Fieldbus interface In this document we will refer to the PLC as the Fieldbus master and the CLC D as the Fieldbus slave These cards must be inserted in the card slots in an Indramat digital servo drive or a CCD Card Cage DCF01 x Fieldbus Slave SERCOS Ring Data Channel Cyclic amp Communication Non Cyclic via Dual Port RAM Communication Update rate every third SERCOS update cycle Figure 1 1 Sample Master Slave Setup with Fieldbus Cards With the CLC D card the DeviceNet DCFO01 x Fieldbus card can be used only as a slave Group 2 only slave card in a master slave setup Important When using a Fieldbus slave interface it is recommended to use a 4 ms or higher SERCOS update The VisualMotion Fieldbus Mapper In the VisualMotion software package the Fieldbus Mapper is a tool used to set up Fieldbus data It is primarily an on line tool used most effectively when connected to a CLC D card I
90. DDE Message System Read only Read Write Comment 7 LogData LogEvents Retentive Value Maximum Length ao Initial Yalu 00000000 Item gt 22 Use Tagname as Item Name Figure 5 7 Tagname for Displaying Parameters The tagname in Figure 5 7 Tagname for Displaying Parameters is labeled System Status It is type DDE Message since it is only displaying the parameter DDE Access name is CLC from Figure 5 6 DDE Access Name The item field requests the parameter or variable to display In Figure 5 7 Tagname for Displaying Parameters the item requests CLC Card Parameter 122 system staus Other examples Parameters o E Variables pd EX 0 12 Program float 12 Points IP 1 5 Program 1 integer 5 1 integer 5 Global Floats GF 0 1 Active global float 1 Global GI 2 2 Program 2 global integer 2 Integers Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 DDE Client Interfaces 5 11 To write to a CLC variable parameter etc the following type of tagname can be used Dictionary Tagname Definition Details Alarms Both None ten Tae Tagname DDE Real System Read only Read Write Comment Log Data Log Events Retentive Value Retentive Parameters Initial Value o Min EU o Max EU 9999 Deadband o Min Raw o Max Raw 8999 Conversion Eng Units Linear DDE Access
91. Data Output Data Highest Index t p Available Objects 132_1_B 5E80 132_2_B 5E90 132_3_B 5E40 0 2 07 gt I3 B1 132 2 S 2 2 3 5 I32 4 5 5EB4 132 5 S 2 5 2 7 5 5EB 32 8 S To From FieldBus FieldBus LO C Field Bus Error Reaction Ignore Bus Conf IN List Word Word Type 0 Single Single Single Base M Base M Base M Base M STAT N N Figure 2 14 Configuring the Profibus Configuration IN List with Multiplexing 12 Choose the radio button below the words From FieldBus Configure Slave Telegram PD DP IO Channel Device Address 2 99 E Available Objects To From FieldBus FieldBus Length of channel w ord a 032 1 B 032 2 B 0 Parameter Channel Off 4 6 032 3 B 5EED D18 1 B 5 40 D18 2 B 5F50 5EF2 Single 0000 Single 16 bit 1 word Object Single 32 bit 2 word Object Multiplex 16 bit 1 word Object Multiplex 32 bit 032 1 S 5EF1 5EDO Base 032 2 S 5EF2 9 0000 032 3 5 5EF3 10 Base 032 4 S 032 5 S 032 S 032 7 S 032 8 5 5 2 word Object Configure Multiplex Channel Enable Input Data Output Data Highest Index t D Field Bus Error Reaction ign
92. Direct Mapped Write Process Example Write the value 27 43 to Float 16 This is a 32 bit non cyclic output object In our Fieldbus Mapper example it is mapped to object Class 109 Instance 1 Attribute 100 1 Write request from the master with raw data Header Data Field Write command VisualMotion Raw Data contains contains data here shown in e object number Class 109 decimal format Instance 1 Attribute 100 27 43 e data field size bytes in this case 4 2 After the write request from the master the CLC D card sends a response message Header No data field Response Message contains message o k 3 If the message response code in message header shows o k the transaction is complete Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 5 Note It is important to note the mapping of the object in the Fieldbus Mapper If a particular object is mapped as a VisualMotion Read Object you cannot write to that object Conversely if the object is mapped as a VisualMotion Write Object you cannot read from that object Non Cyclic Direct Mapped Read Message Steps 1 Read request from the master with no data field 2 Acknowledge fieldbus response from slave 3 Master uses data from fieldbus response Example Process Comments FB Read Command to appropriate object The request m
93. Dual Port RAM Handshaking Protocol A 2 Figure 1 CLC V Memory B 1 Figure B 2 VME Memory 2 Figure B 3 Communication synchronization mailbox flags B 3 Figure B 4 VME bus Data Transfer B 6 Figure C 1 VME Card Cage Secondary Battery C 1 Figure C 2 Replacement Battery for the VME Card Cage C 2 Figure Replacement Battery for the VME Card Cage C 3 Figure 4 DEA Front Panel 4 2M 5 2M 6 2 C 6 Figure C 5 XVME 201 Card Jumper Locations C 12 Figure C 6 XVME 202 Card Jumper Locations C 16 Figure C 7 XVME 244 Card Jumper Locations C 20 Figure D 1 Task A main sequencer D 1 Figure 0 2 MOVE ABS subroutine D 6 Figure D 3 SET 8 D 7 Figure 0 4 COUNT D 8 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat VI List of Figures Indramat VisualMotion 6 0 Figure D 5 WAIT subroutine essen D 9 Figure D 6 Main Sequencer Part 1 Of
94. DweimmdgYeosy x or T0005 Relative Point Used for Origin E eos Roae Pein sed Too Frame fx xx T0000 Target Point Number sese Me T0002 RaelitSas Ts xg E 1 Must be configured by GPS in SERCOS telegram to update data Otherwise unexpected GPS system errors may occur IA qn 2 The data in this parameter is ONLY interpreted as type Float 3 This parameter is valid for fieldbus mapping in firmware version 06v64 and later The data is read written via the fieldbus in SERCOS phase 4 only This parameter requires additional GPS resources to transfer data to from the fieldbus Therefore care must be taken when using it for fieldbus communications with consideration to GPS system resources Monitor GPS Register 26 for fieldbus mapping resource consumption and increase the SERCOS update C 0 0099 if necessary 4 No limit checking is performed when writing to this parameter via a fieldbus Therefore care must be taken to ensure the proper data is sent Table 3 3 Fieldbus Accessible Parameters part 3 of 3 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 6 Information for the GPS Programmer DeviceNet Fieldbus Interfaces for VisualMotion 6 0 3 3 Register 19 Definition Fieldbus Status Diagnostic Object 5FF2 The diagnostic object 5ff2 holds the information for Fieldbus Status and this information is stored in VisualMoti
95. Fieldbus Mapper is a tool used to set up Fieldbus data It is primarily an on line tool used most effectively when connected to a CLC D card Important Whenever the Fieldbus Mapper is configured on line the system must be in Parameter Mode DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 2 General Information Interbus Fieldbus Interfaces for VisualMotion 6 0 1 2 Data Transfer Direction Output vs Input In the VisualMotion Fieldbus Mapper output and input are always described with respect to the Fieldbus master the Fieldbus card associated with the PLC The definitions for output and input follow output the communication from the PLC to the CLC D card i e from the Fieldbus master to the Fieldbus slave Synonyms for this type of communication send or write data input the communication from the CLC D card to the PLC i e from the Fieldbus slave to the Fieldbus master Synonyms for this type of communication receive or read data 1 3 Fieldbus Data Channel Descriptions The Indramat Interbus Fieldbus interface card for the CLC D DBS card supports two data channels for input output communication with the CLC D 1 Cyclic Channel PD Process Data Real Time Channel for single and multiplex channels 2 Non Cyclic Channel PCP Peripheral Communications Cyclic Channel The DBSO3 x Fieldbus card has pre defined cyclic bus objects 16 or 32 bit which are declared and transmitted as an ordered list the bus co
96. File Edit Settings Help Sequencers Steps of sequencer 1__AUTO_ MODE 1 Double click on Step 1 AUTO MODE The AUTO MODE Step List will open as illustrated below Any of the arguments within the function MOVE ABS absoulte move can be changed by double clicking on one of them Enter a different value and then select Send DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 17 Step List 1 AUTO MODE S IEE bes iege eo n 19 ABS 1000 000000 sera cancel sena cancel Send cance Figure D 10 Arguments within a Function DOK VISMOT VM 06VRS PR02 AE P e 09 99 Indramat D 18 Example Programs VisualMotion 6 0 Program Icons TASK A Main Sequencer ICON DESCRIPTION AR Standard START for all programs No Local Variables or fa Function Arguments required Declares the maximum number of variables lists steps and functions used in the Sequencer program Setup for Axis includes motion type initial acceleration and velocity and positioning mode If Axis Initially Halted is selected a GO icon is required for it to run ROW The Home icon setup identifies the axis to be home by the fa drive controlled homing procedure Setup selects I O type and defines a register 100 and bit lt gt 9 to check The condition On 1 or determines which branch Y or N the program will follow
97. GPS Programmer 3 1 Viewing Printing a Summary Report of the Current Fieldbus only when CLC D is on line To View a Summary Report Display Summary From the Fielbus Mapper Window click on the button or select Display Summary from the File menu New Open Save Save as Get List From CLC Get List From File Send List To CLC Save List To File display Summary Figure 3 1 File Menu gt Display Summary A scrollable window will appear PreView the Printout PI VisualMotion32 Toolkit FBM Summary Report Bus Type Profibus DPF 05 x DPF card DP configuration Information Device Address 7 Length of DP channel word 13 Multiplexing Input Enabled YES Multiplexing Output Enabled YES Bus Confg Input List DP channel Bus Confg Output List DP channel Word Object Object Type Word Object Object Type DO Ox5F81 16 bit single 00 Ox5F91 16 bit single Figure 3 2 Summary Report View Window DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 2 Information for the GPS Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 To Print a Summary Report From the Fieldbus Mapper window select Print from the File menu New pen Save Save as Get List From CLC Bet List From File Send List To CLC Save List To File Display Summary Exit Figure 3 3 File Menu Print VisualMotion32 Toolkit FBM Summary Rep
98. IN list is less than the number in the OUT list the remaining data word in the IN list must be assigned an available object that will not be used Following are descriptions of the buttons to manipulate the bus configuration lists inserts an available object after the last word placed in the current list removes the selected object from the current list inserts an available object above the selected object in the current list clears up the current list only in the direction selected under Available Objects Configure Slave Telegram Channel Device Address 2 99 p Available Objects Bus Conf IN List 7 From Word t Word Type FieldBus FieldBus 0 Single 1 ne m Length of DP channel Word Single i 132 1 S 5EB1 Single DEL Single INSERT Single Paramete Sit Off Single o C Configure Multiplex Channel 32 8 5 Single 16 1 5 N ib toda CPSTS Output Data 116 4 S 5F84 N 16 5 S 5F85 Highest Index Field Bus Error Reaction 22 Bytes Used Ignore DK Send To CLC Figure 2 4 Configuring the Profibus Configuration IN List 12 Choose the radio button below the words From FieldBus DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 5 Configure Slave Telegram Channel Devi
99. Interface VME bus access error fatal if checked generates a fatal error if the CLC attempts to access the VME bus and fails to receive a bus acknowledge signal The time before the error occurs is set by the Access Timeout selected SYSFAIL signal fatal if checked generates a fatal error if a failure is received from the VME bus A failure is indicated by a message in the CLC server and VisualMotion Toolkit System selection from the Status menu for all system errors DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat B 10 VME Versa Module Eurocard Interface CLC V VisualMotion 6 0 External RMW Cycle Allowed External RMW cycle allowed if checked permits Read Modify Write access cycles by other VME cards in the system RMW reserves the bus to the master generating the RMW locking out the CLC until the external master releases the bus When invoked RMW has the highest priority of any normal bus activity and cannot be interrupted Access Timeout Access Timeout provides a pop down list permitting selection of the time interval before a failed VME bus acknowledge generates a fatal error Time may be set from 16 to 64 000 microseconds Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 VME Bus Parameters VME Versa Module Eurocard Interface CLC V B 11 Note The VME parameters are 200 series system parameters Three CLC parameters determine how the CLC interacts with the VME bus system Param
100. LIST Note When mapping a PLC output object to a parameter the parameter must be of the type Read Write Any Time For parameters that are Read Any Time Write in Parameter Mode or Read Only an error message is generated when you click Send to CLC if you try to map the parameters to a PLC output object Examples C 0 1550 Read Any Time Write in Parameter Mode and C 0 1518 Read Only Note If you want to insert replace or delete items in the Object Mapping List double click on the item in question A new set of buttons appears to the left of the Object Mapping List box See Changing an Existing Object Mapping List on page 2 8 for a detailed explanation of each button 9 Click Send to CLC to save the selected object mapping list to the CLC D card Use any of the following buttons as needed Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 17 Send To CLC Save To File New Get From CLC Get From File Display Summary Exit Saves the currently selected object mapping list to the CLC D Card to card parameter C 0 2600 if the cyclic Polled I O channel is selected and C 0 2700 if the non cyclic Explicit Messaging channel is selected Saves the currently selected object mapping list to a file with a prm extension Clears up the current object mapping list Gets the currently selected object mapping list from the
101. Mapping List on page 2 8 for a detailed explanation of each button VisualMotion 6 Field Bus Mapper Elle Help Select Bus Options Define Config Slave Objects Profibus e Destination Object OBJECT MAPPING LIST FMS P Chn Channel Total of 2 record s BOSF60 R0 120 Channels Q je DP FMS P Chn Delete Select Mapping Direction Erom Bus to LC cad From CLC card to Bus Select CLC Card Options DataT 8 repeat Send To CLC Get From CLC 5 7 Fx C GF C Card Parameter Saree C Gls Register 16 Float Number 0 32767 Axis 0 40 16 Save To File fi Axis Parameter New Task fi ask A 71 C Task Parameter Exit Get From File Display Summary Figure 2 10 Adding Objects to the Non Cyclic Object Mapping List 9 Click Send to CLC to save the selected object mapping list to the CLC D card Use any of the following buttons as needed Saves the currently selected object mapping list to the CLC D Card to card Send To CLC parameter C 0 2600 if the cyclic DP channel is selected and C 0 2700 if the non cyclic FMS P Chan channel is selected Saves the currently selected object mapping list to a file with prm Save To File extension Tm Clears up the current object mapping list Gets the currently selected object mapping list from the CLC D Card from card Bet From CLC parameter C 0 2600 if th
102. Memory It is sometimes necessary to erase all programs from RAM and Flash Use the erase command then remove the card from the rack or disconnect the battery To erase data from Flash type eras followed by the Enter key at the pROBE prompt At the prompt for Yes or No type Y for Yes The CLC responds with an error message or acknowledgment This command does not erase the executive program pROBE gt eras Erase parameters and user programs from Flash Y yes N no y Erasing user programs Erasing parameters and I O Mapper Flash EPROM was successfully erased PpROBE gt Note The number of erase program cycles on Flash EPROMs is limited to 10 000 To eliminate the possibility of damage to the Flash an ERASE command should be executed only when all data needs to be cleared from memory Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 29 2 3 VisualMotion Toolkit Installation and Setup VisualMotion Toolkit VMT is composed of 6 diskettes VMT can be installed with single or dual language support in English and or German A complete Help System in both English and German are also part of the installation and contain detailed information on the use of VisualMotion along with diagnostics as content sensitive help Installing VisualMotion Toolkit To install VisualMotion 6 0 in a host computer running under Windows 6 0 95 98 or Windows do the following 1 Inser
103. Multiplex Example 2 18 Parameters 3 3 P CHAN Components Control Status Word 4 4 Error Bit E 4 4 first cycle ses 4 4 last cycle Number of Valid Data Bytes Bytes 4 5 Toggle Bit 4 5 Transmission Format Fmt 4 5 Pin outs DPFO5 x 5 3 PLC Programming Multiplex Data Bits 4 1 Non Cyclic Data via Data Exchange Objects 4 19 Non Cyclic Data via Direct Mapping 4 16 Parameter Channel 4 3 Print File Menu entry 3 2 Print a Summary Report 3 2 Profibus DP Combi Slave Board 5 1 R Real Time Channel 1 2 1 8 Register 19 Definition Fieldbus Status iie pert 3 6 Register 20 Definition Fieldbus 3 7 Register 26 Definition Fieldbus Resource Monitor 3 8 Response Telegram Structure Short Format 2 4 7 VisualMotion ASCII Format 4 12 S Save to File Cyclic Multiplex Data 2 18 Cyclic Single Data 2 7 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data 2 9 Send To CLC Cyclic Multiplex Data 2 1
104. Object Data Type Object Type Obj110 Inst1 Att100 0 5 32 bit Obj109 Instl Att100 FP0 16 32 bit Obj110 Inst2 Att 100 IPO 8 32 bit Obj109 Inst2 Att100 IPO 7 32 bit Obj116 Instl Att100 0 121 16 bit Figure 3 4 Printout of Sample Fieldbus Mapping Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Information for the GPS Programmer 3 3 3 2 Fieldbus Accessible Parameters The following tables contain all of the Fieldbus accessible parameters Read and write access to these parameters is listed for both cyclic and non cyclic data Parameter Cyclic Non Cyclic Direct Mapped A 0 0020 Maximum velocity x A o 0021 Maximum Acceleration A 0 0022 Maximum Deceleration X X 0 0023 x A 0 0025 Maximum Jog Increment X x X A 0 0026 MaximumJog Velocity x x A 0 0031 CLC Cam Ratio master Factor XX A 0 0032 CLC Cam Ratio SlaveFactor M A o 0033 CLC Cam Stretch Factor X x A o 0034 CLC Cam Currenty active x x x A 0 0035 CLC Cam Position Constant L A 0 0037 RatioModeStepRate __ x x A 0 0038 RatioMode Options x A 0 0100 A 0 0101 iti tthe S i x x x e xe e A 0 0102 Feedback Position A 0 0110 x
105. P 09 99 Indramat 1 2 Introduction VisualMotion 6 0 Manual Overview Chapter 1 Introduction Describes VisualMotion s components and the CLC s general theory of operation and its motion capabilities Chapter 2 System Installation Provides instructions on how to setup the CLC hardware and install the VisualMotion Toolkit VMT Windows based program Chapter 3 Create Download Sample Program Provides instructions on how to create and download a sample program using VMT It also discusses program variables and file types Chapter 4 Program Execution Includes a procedure for executing the sample program created and downloaded in Chapter 3 along with an I O and Parameter overview Chapter 5 DDE Client Interfaces Includes examples on how to create custom DDE client interfaces for the CLC card using Excel and Wonderware Appendix A PC Interface CLC P ISA PC 104 bus Covers setup and configuring of host computers for the following cards 1 personal or industrial PC with ISA connection 2 personal or industrial PC with PC104 Appendix B VME Interface CLC V Covers setup and configuring of the VME bus for the CLC V02 3 VME bus type used in card cages Appendix C Non CLC System Hardware Describes the Indramat VME card cage and CLC supported I O cards and subsystems Appendix D Example Programs Includes procedures to create and execute sample programs using the Visual Motion Icon program
106. Printout VisualMotion32 Toolkit FBM Summary Report Bus Type Interbus DBS 03 DBS card PD configuration Information Length of PD channel word 13 Multiplexing Input Enabled YES Multiplexing Output Enabled YES Highest Multiplexing Index 2 Bus Confg Input List PD channel Bus Confg Output List PD channel Word Object Object Type Word Object Object Type Figure 3 2 Summary Report View Window DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 2 Information for the GPS Programmer Interbus Fieldbus Interfaces for VisualMotion 6 0 To Print a Summary Report From the Fieldbus Mapper window select Print from the File menu New pen Save Save as Get List From CLC Bet List From File Send List To CLC Save List To File Display Summary Exit Figure 3 3 File Menu Print VisualMotion32 Toolkit FBM Summary Report Bus Type Interbus DBS 03 x Date 05 05 99 Page 01 Time 11 18 35 DBS card PD configuration Information Device Address 7 Length of PD channel word 13 Multiplexing Input Enabled YES Multiplexing Output Enabled YES Highest Multiplexing Index 2 Bus Confg Input List PD channel Bus Confg Output List PD channel Object Object Type Word Object Object Type 0 5 81 16 bit single 00 OxSF91 16 bit single OxSEB1 32 bit single 01 OxSEFI 32 bit single 0x0000 02 0x0000 0 5 2 32 bit single 03 OxSEF2 0x0000 04 0x
107. STEP I Determine the Cyclic and Non Cyclic Data we have set the length of the channel to 11 for the output channel made up of 3 16 bit objects of 1 data word each and 4 32 bit objects of 2 data words each The input channel contains only 10 words so a filler object must be placed in the Bus Configuration IN list for the 11 word Ensure that both check boxes under Configure Multiplex Channel are unchecked If you want to use multiplexing see Multiplexing Example on page 2 10 Ensure that the combo box under Fieldbus Error Reaction is currently set to Ignore Any other setting during setup will cause repeated error messages Set the desired Error Reaction when the machine is ready for commissioning See Fieldbus Error Reaction on page 3 9 for detailed information about the possible settings Choose the radio button below the words To FieldBus For each data type desired choose a corresponding available object in the list on the left and click APPEND to place it in the Bus Conf IN List If you are configuring a new list click on the NEW button to clear any current data in the selected list Each available object has a typecode to identify its size and type Figure 2 4 Configuring the Interbus Configuration IN List contains a description of the typecode Note The desired order of the data on the master determines the object types 16 or 32 bit and order of objects you place in the bus configuration list N
108. Server File Settings DDE Help 400 EMERGENCY STOP Note If the display status of the CLC DDE Server does not change to Parameter Mode then register 001 bit 01 is already mapped to another register If this the case use the following information on the I O Mapper to correct the situation Mapper The Mapper is displayed by selecting Data Mapper VisualMotion s I O Mapper allows manipulation of I O registers using Boolean strings or an optional ladder logic interface Uploading I O Mapper Select File Upload Strings to view existing Mapper strings currently on the CLC card Next Prev Rung arrows Ladder Editor File Edit Options Settings Online Help MODE 100 01 1 01 COMMENT Rung 1 of 18 Only one rung of logic is displayed at atime To view the next rung use the next prev rung arrows DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 4 Program Execution Indramat VisualMotion 6 0 Note If the first rung on the I O Mapper is blank then the CLC card does not contain an I O Mapper To view the I O Mapper in Boolean equation form select Display Strings from the Options menu 1O Mapper Strings 18Rung Add inset Delete All Edit Delete Close Considering the above I O Mapper Strings register 001 bit 01 is map to register 100 bit 01 In this case the state of register 10
109. Status acknowledgement of index number Await acknowledgement OK for multiplex data sent to PLC from CLC Read Data from Multiplex Input Objects Figure 4 3 Read Only Process Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 3 4 4 Non Cyclic Transmission Direct Mapped Objects A number of objects see Table 4 10 Non Cyclic Data Objects below can represent VisualMotion data types if they are mapped in the non cyclic object mapping list C 0 2700 This method provides a simple but inflexible method of transferring non cyclic data from the master to the slave Number of Data Size Numeric Objects Names of Available Objects 16 32 bit Class 110 Instance 1 16 Attribute 100 16 32 bit out Class 109 Instance 1 16 Attribute 100 32 16 bit Class 115 119 Instance 1 16 Attribute 100 32 16 bit out Class 116 120 Instance 1 16 Attribute 100 Table 4 10 Non Cyclic Data Objects Selecting a Direct Mapped Object The VisualMotion data available for non cyclic direct mapped objects can be viewed and printed via the summary report function in the VisualMotion Fieldbus Mapper tool see Viewing Printing a Summary Heport of the Current Fieldbus on page 3 1 Transmission Sequence via a Direct Mapped Object Note For the direct mapped object only one transmission and one response is required to send a read or wr
110. Status Word 5 is DOC KKK KK DATA Multiplex Status Index gt DATA READY confirms that the Index RE BIT response location matches that CEIVED set to 1 by the of the command location BIT CLC when the after PLC input data acknowledgement is validated and receipt of command values and data valid bitin control word Figure 4 1 Bit Definitions in Multiplex Control and Status Words DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 2 Information for the PLC Programmer DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Figure 4 2 Write Write and Read Process and Figure 4 3 Read Only Process explain the exchange of multiplex information between the master PLC and the slave CLC D using the control and status words Control Word Bit s Status Word Bit s PLC CLC CLC gt PLC Comments Set Data Valid Bit to 0 Reset control bit ata Received 0 gt Change Multiplex Index Issue command Write Data to Multiplex Output Objects Set Data Valid Bit to 1 Await acknowledgement D OK for multiplex data ata Received 1 sent to CLC from PLC d Index Status ndex Await acknowledgement OK for multiplex data sent to PLC from CLC Figure 4 2 Write Write and Read Process Control Word Bit s Status Word Bit s PLC CLC CLC gt PLC Comments Set Data Valid Bit to 0 Issue command Change Multiplex Index nn Index Await CLC s
111. Value n Application DDERequest MYCLC AP 1 033 ksheets 1 Cells 7 2 Value h Application DDERequest MYCLC AP 1 035 heets 1 Cells 8 2 Value 1 Application DDERequest MYCLC AP 1 162 heets 1 Cells 10 2 Value sph A 0 0162 Cam Slave Phase Adjust A 0 0033 Cam Stretch Factor H A 0 0035 Cam Master Position L Application DDERequest MYCLC AP 1 151 heets 1 Cells 11 2 Value mph A 0 0151 ELS Phase Offset End Function Figure 5 4 Macro 1 Additional variables were added to column A to adjust the ELS Master velocity F5 and the active CAM number I1 Column C contains the Item name which corresponds with each program variable F1 F8 and 11 The DDEPoke command in Macro 2 references the worksheet for the DDE Item name and value for each variable X Microsoft Excel n 55 Ele Edit View Insert Format Tools Data Window Help 106 0966 253 9034 ELS Master ELS Slave Cam Equation Coeffecients Value M F1 1 N F2 1 1 L F4 1 Slave or Master Phase Adjust Sph F7 Mph F8 Master Velocity MVEL F5 FP 0 5 Active Cam actlve cam 11 IP D 1 Sheet 7 ralis NNNM E n 8 E 10 01 12 16 CT When Macro 2 is executed the data in the value column will be written or poked to the variables defined by the corresponding Item names This allows the user to see how different values will alter the performance of
112. Value 0x030B 0x0000 0x0000 0x0000 0x0000 0x0000 mand acknow Explanation Binary Equivalent No Data ledged 0000001100001011 High Bits VisualMotion ASCII Bit8 toggle bit Bit9 first cycle Step 5 CE PLC Output Set second last write Data Value 0x044B CR LF 00 00 00 00 00 00 command to Explanation Binary Equivalent Data Values are shown in ASCII Format VisualMotion 0000010001001011 ASCII data High Bits NOTE The _ character represents a space Bit 1 Bit 3 Bit 6 transmission length 4 bytes Bit 10 last cycle NOTE Bit 8 toggle bit is set low 0 in this step to reverse 3 the toggle continuedon next page Format Bit 1 VisualMotion ASCII The sequence 00 represents a null character Figure 4 8 Data Transmission in VisualMotion ASCII Format part 1 of 2 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 15 continued from previous page Step 6 PLC Input Second write com mand acknow ledged Data Value 0x040B 0x0000 0x0000 0 0000 0 0000 0 0000 Explanation Binary Equivalent 000001000000101 1 High Bits Bit 0 Bit1 VisualMotion ASCII Bit 3 Format Bit 10 last cycle wort woa woms wous woos Data Value 0x170B Binary Equivalent 0001011100001011 High Bits 11 VisualMotion AS
113. View menu Program Setup SetupSub Axis 1 Start Stop Loo Waiting p for start bit Message R100 16 OFF Move Forward Move for In Position 1 Forward Speed Forward Message Axis Message Position Position Position R100 15 OFF Move Return Position Return Move Wait for In Position 1 Speed Return Message Axis Message Position Position Setup Subroutine i Variable R100 10 OFF Variable Setup Return Return Timer_1 Forward Forward Timer_2 Accel Rate Subroutine Position 0 Speed 100 1sec Position 10 Speed 100 1sec 100 DOK VISMOT VM 06VRS PR02 AE P e 09 99 Indramat D 40 Example Programs Indramat VisualMotion 6 0 Program Setup SetupSub Axis 1 This section starts the program allocates memory space for variables and sets up Axis 1 A setup subroutine is then executed see below The Go icon enables Axis 1 for non coordinated motion The branch icon continues the program if Register 100 bit 9 0 If the bit is high 1 the program will end Start Stop Loop Waiting for start bit Message This section starts and stops Forward and Return motion dependent on Register 100 bit 10 If bit 10 is off the program will loop through the Waiting for Start Bit message icon If bit 10 is on the program will continue down to the forward and return move sections After each cycle the program returns to this branch adds 1 to the part count and then checks the statu
114. VisualMotion data including cams diagnostic text etc but more work is required in the master to perform a transmission of this type Both the VisualMotion ASCII message and the Fieldbus transfer message must be formulated Table 4 1 Length of the Data Exchange Objects lists the available data exchange objects and their sizes Data Exchange Object Data Length in bytes Table 4 1 Length of the Data Exchange Objects Selecting a Data Exchange Object Depending on the length of a VisualMotion ASCII message any of these data exchange objects can be selected Note The entire data length of the data exchange object must always be transmitted even if the VisualMotion ASCII message is shorter For example if you want to transmit an ASCII message of 42 bytes you must use object 5E72 To avoid a response error from the Fieldbus slave you must append 22 Null characters to the end of the ASCII message to complete a data size of 64 bytes Note The checksum for the VisualMotion ASCII protocol is NOT used with the data exchange object If the checksum is sent as part of the string it will be ignored and no checksum will be sent in the VisualMotion ASCII response messages To ensure data integrity the Fieldbus protocols support a low level checksum Transmission Sequence via a Data Exchange Object Note For the data exchange object two transmissions and two responses are required to send the read or write message to and
115. Wm From CLC card to Bus Select CLC Card Options 9 Send To CLC Get From CLC Data Type 65 V Fx C GF Card Parameter Destination Save To File Get From File Glx Register 16 Register 1 512 Uy 100 Display Summar Axis Parameter eus Exit Figure 2 18 Adding Objects to the Cyclic Object Mapping List Important Cyclic data uses the objects configured in STEP Il 8 Repeat steps 3 through 7 above until each of the desired cyclic data objects has been added to the OBJECT MAPPING LIST Note When mapping a PLC output object to a parameter the parameter must be of the type Read Write Any Time For parameters that are Read Any Time Write in Parameter Mode or Read Only an error message is generated when you click Send to CLC if you try to map the parameters to a PLC output object Examples C 0 1550 Read Any Time Write in Parameter Mode and C 0 1518 Read Only Note If you want to insert replace or delete items in the Object Mapping List double click on the item in question A new set of buttons appears to the left of the Object Mapping List box See Changing an Existing Object Mapping List on page 2 7 for a detailed explanation of each button 9 Click Send to CLC to save the selected object mapping list to the CLC D card Use any of the following buttons as needed Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fie
116. a The compiler will first check for a complete path from Start to Finish for each Task and subroutine b The compiler will then prompt you to enter a name for the program as it will appear on the CLC card Use the default name in the text box The compiler will then convert the program to code CLC Program Name Enter the program name as it will appear in CLC card s memory and in the project dir 20 characters maximum for spaces use underlines sample Cancel Include compressed source in executable Note Checking the Include compressed source in executable box the above window enables the option of compiling and downloading the program icon file str along with the exc file onto the CLC card The file size will be larger however the icon program file can be retrieved from the executable file on the card in case of a harddrive failure Click on OK and the 2nd compiler information window will appear indicating a successful compile and provide information on the compiled program 2nd Pass Compiler Information Program compiled successfully found Output version GPS 2 0 Mark references used 3 Label references 273 Map File Enabled Total size 772 Executable Size 232 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Press OK to close the Compiler Information window Indramat 3 10 Create Download Sample Program VisualMotion 6 0 Download Pro
117. a VisualMotion Write Object you cannot read from that object 4 5 Non Cyclic Transmission Data Exchange Objects The four data exchange objects Class 100 Instance 1 4 Attribute 100 represent fixed data containers of varying lengths that transfer the VisualMotion ASCII Protocol to the CLC D card These objects serve as an open ended possibility to access any VisualMotion data including cams diagnostic text etc but more work is required in the master to perform a transmission of this type Both the VisualMotion ASCII message and the Fieldbus transfer message must be formulated Table 4 1 Length of the Data Exchange Objects lists the available data exchange objects and their sizes Data Exchange Object Data Length in bytes Class 100 16 Instance 1 Attribute 100 Class 100 32 Instance 2 Attribute 100 Class 100 64 Instance 3 Attribute 100 Class 100 128 Instance 4 Attribute 100 Table 4 1 Length of the Data Exchange Objects Selecting a Data Exchange Object Depending on the length of a VisualMotion ASCII message any of these data exchange objects can be selected Note The entire data length of the data exchange object must always be transmitted even if the VisualMotion ASCII message is shorter For example if you want to transmit an ASCII message of 42 bytes you must use Class 100 Instance 3 To avoid a response error from the Fieldbus slave you must append 22 Null characters to the end of the AS
118. a velocity profile which is then maintained and controlled within the intelligent DDS drive Consequently single axis motion does not require continuous calculation by the VM Controller and consumes minimum CPU resources Velocity mode controls only the speed of the axis without any position information The intelligent DDS 2 drive maintains torque and velocity loops internally updating the internal loops every 250 microseconds A special form of non coordinated motion permits linking two axes by relating the number of revolutions of a slave axis to a master axis For example a ratio might be required when the positioning axis of a gantry robot having a motor on each side of its supporting track must travel along a circular track The VM Controller defines multi axis coordinated motion in terms of a path composed of standard straight line and circular geometry segments Point positions x y z are used to establish the start middle or end of a geometry segment Two points define a line three points define a circle The path combines these standard geometry segments so that the start of the next segment begins at the end of the previous segment A path therefore is nothing more than a collection of connected segments Since each segment has an end point specifying speed acceleration deceleration and jerk each segment can have a unique rate profile curve A special type of segment called a blend segment can be used to join two
119. according to the hardware platform and firmware version For example p2gps6v56 abs Power up the PC and system containing the 02 card 1 Connect the IKS0061 serial cable from an available PC Com port to X27 on the CLC P02 Switch the CLC to Parameter Mode This is accomplished by setting register 1 bit 1 from 0 to 1 or pressing button or switch on the machine that is mapped to register 1 bit 1 2 Start VisualMotion Toolkit VMT and initiated communications between the DDE Server and the CLC card by selecting Status System from the main menu After communications have been established close the System Parameters window by clicking on Cancel DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 19 3 Next select Setup Overview and edit CLC Card parameter C 0 0990 This card parameter Exit to Monitor Prompt will contain the string NO View CLC card Parameters x Description Value Units 01 0 0990 Exit to Monitor Prompt NO B 01 0 0991 System Error Information No active message Param Source 6 C m Display Custom Drives r Axis Edit CLC card 990 Parameter Upload new list Description Exit to Monitor Prompt Value PROBE Units Previous Minimum 0 Maximum 0 Next Cancel Enter the string PROBE uppercase letters and Save 1 Close VisualMotion Toolkit and the DDE server Afte
120. an on line tool used most effectively when connected to a CLC D card Important Whenever the Fieldbus Mapper is configured on line the system must be in Parameter Mode DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 2 General Information Profibus Fieldbus Interfaces for VisualMotion 6 0 1 2 Data Transfer Direction Output vs Input In the VisualMotion Fieldbus Mapper output and input are always described with respect to the Fieldbus master the Fieldbus card associated with the PLC The definitions for output and input follow output the communication from the PLC to the CLC D card i e from the Fieldbus master to the Fieldbus slave Synonyms for this type of communication send or write data input the communication from the CLC D card to the PLC i e from the Fieldbus slave to the Fieldbus master Synonyms for this type of communication receive or read data 1 3 Fieldbus Data Channel Descriptions The Indramat Profibus Fieldbus interface card for the CLC D DPF card supports two data channels for input output communication with the CLC D 1 Cyclic Channel DP Decentralized Peripheral e Real Time Channel for single and multiplex channels e Parameter Channel for systems requiring non cyclic transmissions but without FMS support from the master 2 Non Cyclic Channel FMS Fieldbus Message Specification Cyclic Channel The DPFO5 x Fieldbus card has pre defined cyclic bus objects 16 or 32
121. and an Interbus Fieldbus Important The Fieldbus Mapper is an on line configuration tool The following conditions must be met when performing STEP through STEP IV below The system must be powered up The CLC D card must be connected to the system The system must be set to parameter mode STEP I Determine the Cyclic and Non Cyclic Data Cyclic Data In this example we will assume that you want to cyclically transfer the following data between the CLC D card and the Fieldbus master in the order listed Note Quantity and type of data varies depending on application Output Data Size Size Input Data Size Size From Bus to Data Words Bits From CLC Card Data Words Bits CLC Card to Bus Float 2 2 32 Register 47 1 1 m mem a emamen 2 X wea 31 eene 2 mes gt wen 2 mes 2 E ML Table 2 1 Sample Cyclic Data Non Cyclic Data We will assume that the following data will be transferred non cyclically for system initialization or setup Remember the direct mapped non cyclic data is intended for infrequent data transfer Output Data Size i Input Data Size From Bus to Data Words i From CLC Card Data Words CLC Card maus 3 gt z x eei uou Table 2 2 Sample Non Cyclic Data Note See Table 1 5 Non Cyclic Data Objects for data limitations Note For other data types such as dia
122. and any other cards via this interface It is an extended bus interface with partial coding of the addressing field so that additional cards can be connected e g DEA28 DEA29 DEA30 The DBSO03 x card provides three hardware inputs 24V These inputs can only be used with the CLC D if the appropriate firmware is available The signal status at these inputs are transmitted to the CLC D independently of the Interbus Status On Off but can also be requested from the Interbus Master via the PD or PCP channels these external inputs are currently not supported The DBSO3 x is supplied with power internally However no power fail function exists if that internal power fails If the power fail functionality is desired the DBS04 x must be used The Interbus interface is designed according to DIN specification 19258 and is optically isolated Connection can be made via a 9 pin D SUB connector X40 Connector Interbus Pin outs Incoming Bus miser s mo s os s ste Table 5 1 X40 Connector Interbus Pin outs Incoming Bus X41 Connector Interbus Pin outs Outgoing Bus Signal Name E Table 5 1 X41 Connector Interbus Pin outs Outgoing DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 5 4 Interbus Slave Board DBS03 x Interbus Fieldbus Interfaces for VisualMotion 6 0 X39 Connector External Inputs Note Not functional at this time
123. appear containing information on the installed CLC card For a complete description of the SW5 switches refer to Appendix A 4 CLC V Hardware Serial cable 50110 Serial Port A to Host PC x VME Card Cage Rx 1 optional Teach Pendant SERCOS fiber optic ring Figure 2 18 CLC V Installation Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 25 Upgrading CLC V flash firmware Archiving VisualMotion System Archive System Type LI Al C Restore Cancel Items System Programs Drives 1 0 Mapper Cams Drive Cams Global Yars Dir e Mroot project saveset indramatscle projeclssaveset Browse Serial Port Upgrade CLC V Flash Firmware Upgrade If the current version of the CLC resident firmware is not correct or requires upgrading a new version must be downloaded from the Host system and programmed into the non volatile flash EPROM Perform a system archive to save all VisualMotion user programs and parameters before upgrading firmware Start VisualMotion Toolkit and select Archive from the File menu Archive all programs and options such as cam tables events I O mapper etc that pertain to your specific application Loss of VisualMotion System User programs will be loss
124. assignment for the diagnostic object 5 The assigned bits are labeled with x and the bit number in the second row Unassigned bits are labeled with 16 15 14 13 12 11 10 9 8 7 6 5 4 31211 p fas 1 1 bee at pepe e Table 3 6 Bit Assignment for the Diagnostic Object 5ff0 VisualMotion Register 20 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 8 Information for the GPS Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 Bit Definitions x1 x8 X13 x15 Fieldbus Interface specific fault code FB Card Fault Code Note This function is currently not available Identification of the Fieldbus interface card FB Card Found The bit combinations for x13 x14 and x15 are as follows mus ms uro fede Type p e p sow s sepe t e memegems 0 i peres poro C a Hs 1 HO e e eme Table 3 7 Identification of the Fieldbus Interface 3 5 Register 26 Definition Fieldbus Resource Monitor Indramat The Fieldbus Resource Monitor in register 26 can be used as a method for monitoring the attempts made to process the Object Mapping List parameter C 0 2600 across the Dual port RAM If after three SERCOS update cycles the Object Mapping List is not successfully transmitted a miss is noted Register 26 is divided into the following three counter types e Current Miss Counter Peak Mi
125. be set in CLC parameter C1 8 Note For all cards if C1 8 0x2000 the first card is at 0x2000 the second card is at 0x2400 etc DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat C 22 Non CLC Hardware VisualMotion 6 0 Western Reserve SmartMux PAMUX Information To Be Added Pentland MPV922 VME Digital I O The Pentland MPV922 card provides 40 inputs and 32 outputs The input bits are mapped to CLC registers 140 through 142 and the output bits are mapped to CLC registers 145 through 146 The card must be configured to respond to the 0x29 and 0x2D VME AM codes PC ISAI O Systems The CLC P cannot directly access PC compatible I O cards based on the Industry Standard Architecture ISA bus A commercially available soft PLC host with it s own custom control software along with a library of drivers is needed to access I O cards since the CLC P does not directly control the ISA bus This PLC host writes any required I O back to the CLC P Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Example Programs D 1 D Example Programs D 1 Example 1 Sequencer Application The following sample program contains a Sequencer that integrates the use of Subroutines Branches and an I O device Initialize Sequencer Run Sequencer Figure D 1 Task A main sequencer program The first time this program is executed the sequencer is initialized The state of a predefined register
126. be set to parameter mode STEP I Determine the Cyclic and Non Cyclic Data Cyclic Data In this example we will assume that you want to cyclically transfer the following data between the CLC D card and the Fieldbus master in the order listed Note Quantity and type of data varies depending on application Output Data Size i Input Data Size From Bus to Data Words i From CLC Card Data Words CLC Card to Bus Register 100 Float 2 Global Integer 3 Register 104 Table 2 1 Sample Cyclic Data Non Cyclic Data We will assume that the following data will be transferred non cyclically for system initialization or setup Remember the direct mapped non cyclic data is intended for infrequent data transfer Output Data Size i Input Data Size From Bus to Data Words i From CLC Card Data Words CLC Card to Bus Integer 7 2 32 Integer 8 2 3 Register 101 1 16 Table 2 2 Sample Non Cyclic Data Note See Table 1 3 Non Cyclic Direct Mapped DeviceNet Data Objects for data limitations Note For other data types such as diagnostic text messages or S and P parameters use the data exchange object see Non Cyclic Channel on page 1 6 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 2 Fieldbus Mapper Examples DeviceNet Fieldbus Interfaces for VisualMotion 6 0 STEP Il Configure Fieldbus Slave Card with Setup Information and Cyclic Data Object Lists Using the Fieldbus Mapper Important The driv
127. card the Host PC Reconnect all PC connections and power up the PC Note Proper connection of the CLC P01 card is confirmed when the DOK VISMOT VM 06VRS PRO2 AE P red fiber optic light is transmitted through Tx 09 99 Indramat 2 12 System Installation VisualMotion 6 0 Fiber Optic Transmission Light Bodily injuries Do not expose your eyes to the red fiber optic transmission light Confirm presence of light by Warning reflecting it off your hand 9 f VisualMotion Toolkit VMT is installed on the PC containing the CLC P01 card or a Laptop continue to step 10 If VisualMotion is not installed refer to section 2 3 VisualMotion Toolkit Installation and Setup before proceeding 10 Start VMT and choose Card Selection from the Setup menu Select the appropriate connection method and set the card number to match the jumper settings of step 4 Card Selection Setup Card Selection Setup Connection Connection Method PC ISA Bus Method Serial Card Number 5 Card Number 5 m DDE Link read only DDE Link read only Service ctc DDE Service LC DDE Topic isa 5 Figure 2 8 Card Selection Setup Note Proper VMT communication depends on the connection method selected PC ISA Bus communication between CLC P01 and PC using ISA bus Serial serial communication between PC and CLC P01 using com port 11 To verify VMT communications with the C
128. control and status words Control Word Bit s Status Word Bit s PLC CLC CLC gt PLC Comments Set Data Valid Bit to 0 Reset control bit ata Received 0 gt Change Multiplex Index Issue command Write Data to Multiplex Output Objects Set Data Valid Bit to 1 Await acknowledgement D OK for multiplex data ata Received 1 d Index Status ndex sent to CLC from PLC Await acknowledgement OK for multiplex data sent to PLC from CLC Figure 4 2 Write Write and Read Process Control Word Bit s Status Word Bit s PLC CLC CLC gt PLC Comments Set Data Valid Bit to 0 Issue command Change Multiplex Index nn Index Await CLC s Status acknowledgement of index number Await acknowledgement OK for multiplex data sent to PLC from CLC Read Data from Multiplex Input Objects Figure 4 3 Read Only Process Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 3 4 3 Parameter Channel in the Cyclic Data Channel Process Data Channel on Profibus DPF05 x only Many PLC applications exclusively use the Profibus cyclic DP services This means that parametrization via the non cyclic channel FMS is not possible There is however always the need to parametrize controls and drive via the Fieldbus The DPFO05 x board is therefore equipped with configurable parameter chan
129. data is available for use by master Figure 4 11 Non Cyclic Direct Mapped Read Process Read the value contained in Integer 8 This is a 32 bit non cyclic input object In our Fieldbus Mapper example it is mapped to object 5F10 1 Read request from the master Header No data field Read Command contains e Object number 5F10 2 After the read request from the master the CLC D card sends a response message Header Data Field Response message VisualMotion Raw Data contains contains data here shown in message o k decimal format 12345 If the message response code in message header shows o k the requested value is attached to the message in the data field This value is now available for use by the master PLC Note It is important to note the mapping of the object in the Fieldbus Mapper If a particular object is mapped as a VisualMotion Read Object you cannot write to that object Conversely if the object is mapped as a VisualMotion Write Object you cannot read from that object DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 19 4 5 Non Cyclic Transmission Data Exchange Objects The four data exchange objects 5E70 to 5E73 represent fixed data containers of varying lengths that transfer the VisualMotion ASCII Protocol to the CLC D card These objects serve as an open ended possibility to access any
130. each data type desired choose a corresponding available object in the list on the left and click APPEND to place it in the Bus Conf OUT List If you are configuring a new list click on the NEW button to clear any current data in the selected list We have now allocated the data objects in the cyclic channel so the desired data can be transferred between the CLC D card and the DeviceNet Fieldbus card see Figure 2 5 Configuring the DeviceNet Configuration OUT List Note The non cyclic data requires no configuration of objects in a list These objects are addressed directly and preassigned as non cyclic They need only to be mapped to the CLC D data 14 Click OK Send to CLC The following window appears Field Bus Mapper Warning Please Re power CLC D for changes to affect Figure 2 6 Warning after clicking OK Send to CLC STEP Ill Define Cyclic Data Mapping Lists STEP Ill associates the CLC D data types to the objects assigned in STEP Il In our example the objects to be added are Output Data Assigned Input Data Assigned From Bus to CLC Card Object From CLC Card to Bus Object Register 100 5F91 Integer 29 5EB1 Float 2 5EF1 Register 47 5F81 Global Integer 3 5EF2 Register 120 5F82 Register 104 5F92 Global Float 22 5EB2 Register 40 5F93 Axis Parameter 1 100 5EB3 Integer 4 5EF3 Integer 30 5F83 Integer 5 5EF4 Adding Objects to the Cyclic 1 Ensure that the designated bus type is correct DeviceNe
131. edit either Axis Card Drive or Task Step 2 Highlight the desired parameter and double click or click the Edit button Hint When using the scroll bar in the parameter list the parameter number at the top of the screen will appear in the upper left right corner of the Overview box Enter the new parameter data in the Edit Parameter dialog box Save the change and choose Cancel to close the box Hint Some parameters can only be changed while the system is in parameter mode VisualMotion Toolkit will warn you when trying to change those parameters Note Before editing any VisualMotion system parameter stop any running programs and switch the system to Parameter Mode Parameter values should always be performed by trained personnel DOK VISMOT VM 06VRS PR02 AE P 09 99 Indramat Pigra rean eID Building Custom Parameter Lists Within each type of parameter it is possible to build a custom list that will display only the parameters the system builder chooses Step 1 Upload the entire list of parameters from the desired source Step 2 Click the Build Custom button The Build Custom Display dialog box will open Step 3 Highlight a parameter from the parent list to include in the custom list and click the Add button Repeat this step until list is complete Step 4 Click Save and enter an 8 character name for the list Step 5 Cancel to close the
132. for DPR Communication x4 Status bit for the active bus capabilities of the Fieldbus slaves FB Slave Ready This bit is monitored for the Fieldbus Error Reaction Whenever this bit goes to O after a Fieldbus card was initially found by the CLC D the selected Error Reaction system shutdown error message or ignore is initiated See Fieldbus Error Reaction on page 3 9 for detailed information about the possible settings 0 gt The Fieldbus slave is not yet ready for data exchange 1 gt The Fieldbus slave can actively participate on the bus Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Information for the GPS Programmer 3 7 x5 Status bit for the non cyclic channel Explicit Messaging Non Cyc Ready 0 gt The non cyclic Explicit Messaging channel can not yet be used 1 gt The non cyclic Explicit Messaging channel is ready for use by the Fieldbus Master x6 Status bit for the reconfiguration of the cyclic Polled I O channel nCyc Chan Ready 0 gt The cyclic Polled I O channel on the Fieldbus card is configured properly The system looks for this bit to be O before allowing data transfer 1 gt The cyclic Polled I O channel is being reconfigured on the Fieldbus Card at this time x13 Status bit for non supported GPS firmware nVM FW OK 0 The GPS firmware version is supported with this Fieldbus interface 1 gt The GPS firmwar
133. handle the board by its face plate or card edges Unexpected Movement of Machine Load To reduce any possibility of unexpected movement during and after installation remove all motor connects to machine load before proceeding Warning Machine movement after installation should only be performed by trained personnel who understand the machine s specifications 1 Before installing the CLC P01 control card reset the card s memory e Remove the battery by sliding it out of the holder Lay the battery down on a non conductive surface e Using an insulated wire with alligator clips short the leads of capacitor C8 found below the battery e Re install the battery Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 9 CLC P01 Memory Reset The procedure above resets the card s memory by removing the following items Warning e CLC System parameters 0 e Axis parameters 0 e Task parameters e CLC Cam tables PLS and PID data e Events I O Mapper FieldBus Mapper e Points tables Variables Zones Downloaded VisualMotion programs 2 Confirm the desired baudrate on connectors X27 and X28 before installing the card Refer to Appendix A 2 CLC P01 Hardware for more information for setting serial ports X27 and X28 via jumpers S1 and S2 Windows 95 98 memory Before the CLC P01 card can be installed memory on the PC needs to allocation be allocated to as
134. it also allows the user to determine which data word is placed in which location in the data segment This flexibility enables assigning data to addressable elements or objects that are designated with index numbers for different Fieldbuses The user can then choose the required objects from the configuration stored on the CLC D board and place them in the desired order on the bus This configuration possibility requires the support of the PCP channel by the master If the user cannot configure the cyclic channel configuration can be done using a PC a Phoenix Contact Interbus card e g PC ATT or PC ISA and the software tools provided by Phoenix Contact Each time the DBSO3 x Interbus card is powered up with the CLC D card the bus configuration information is transmitted from the CLC D to the DBSOS x Monitoring the DBS03 x Process Data Data transfer on the Interbus is generally categorized as secure If data is transferred from the master to the slaves it is subjected to extensive CRC checks before it is accepted as valid data and activated by the slave Data which is recognized as erroneous HD 4 for Interbus is not forwarded to the CLC D Of course this is also true for the data direction to the master Watchdog Function DBSO3 x card provides bus monitoring by using a watchdog timer so that an appropriate reaction can be effected when the bus is down This function uses the object 6003 PD Monitoring Time The
135. list or From Bus to CLC i 4 Select the Data Type In our example the first item to be added to this list is Float 16 Select Float as the data type 5 Fill in the Destination In our example we must type 16 as the destination 6 The source objects that are applicable to this data type will appear in the Source Object list Choose the first available object 7 Click the Add button The object will appear in the OBJECT MAPPING LIST at the right This list is scanned by the CLC only when a non cyclic request comes in and executes the mapping 8 Repeat steps 2 through 7 above until each of the desired non cyclic objects has been added to the OBJECT MAPPING LIST in both directions From Bus to CLC card AND From CLC card to Bus Note If you want to insert replace or delete items in the Object Mapping List double click on the item in question A new set of buttons appears to the left of the Object Mapping List box See Changing an Existing Object Mapping List on page 2 8 for a detailed explanation of each button Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 19 Visual otion 6 Field Bus Mapper File Help Select Bus Options OBJECT MAPPING LIST BIAT e Define Contig Slave Objects FMS P Chn Channel Source Object Total of 1 record s FP0 16 BISFOO Channels Delete 778 repeat 4 From CLC c
136. multiplex multiplex single single single object object multiplex object multiplex object multiplex object object single object single object object object Index 10 Index 10 Index 11 Index 11 Index 12 Index 12 Index 13 Index 13 Figure 1 4 Sample Command Write to Slave PLCCLC ndex 1 ndex 2 m ndex 3 ndex 4 ndex 5 ndex 6 x slafu 5 ala ndex 7 a ndex 8 5 a 5 5 ndex 9 ndex 10 ndex 11 ndex 12 ndex 13 ndex 14 ndex 15 5 a Z 16 7 16 bit f 16 bit Rbt Z 32 Z L 16 bit A single object 2 16 bit 32bt Z 16bit multiplex multiplex multiplex itiolex object itiplex object itinlex object single ingle object abreat single Word object object multiplex object multiplex object multiplex object object Single object single object object Index 10 Index 10 Index 10 Index 10 Index 10 Index 11 Index 11 Index 11 Index 11 Index 11 Index 12 Index 12 Index 12 Index 12 Index 12 Index 13 Index 13 Index 13 Index 13 Index 13 Index 14 Index 14 Index 14 Index 14 Index 14 Index 15 Index 15 Index 15 Index 15 Index 15 Figure 1 5 Sample Response Read to Master 5 Multiplex Control and Status Words The Pr
137. number in previous transmissions This key section of the control status word determines which data format is being specified It must be properly set every time a particular format is used The following table lists the possible transmission formats Format None e g C1 and C2 control bits or basic state Short Format 2 VisualMotion ASCII Format 1 0 1 1 Table 4 12 Control Bit Settings Bits 3 0 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 6 Information for the PLC Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 Messaging Formats User Data Header Object Number Word User Data High Word Bytes 0 amp 1 Indramat Two messaging formats are available in the parameter channel e Short Format 2 for direct access to Fieldbus mapped objects e VisualMotion ASCII Format Either format can be used at any time depending on the application requirements These two formats allow different levels of functionality within the parameter channel Short Format 2 General Explanation This format allows for direct access to the Fieldbus objects on the DPF board These objects can also be directly mapped to VisualMotion data types Short Format 2 is the easiest format to implement from the PLC side but it is also the most limiting in the flexibility of access and the number of different VisualMotion data types Short Format 2 is the Parameter Channel s method of acc
138. or Card Parameter C 0 0157 which is the current ELS master position X Microsoft Excel Dde xls 557 File Edit View Insert Format Tools Data Window Help Figure 5 3 Example DDE Formula Result The Item name AP 1 163 will read the value of the Axis Parameter A 0 0163 which is the CLC Cam Output Position Refer to the Visua Motion 6 0 Reference Manual Appendix A Direct ASCII Communications for the syntax used with other item names IG incramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 DDE Client Interfaces 5 3 A pie chart can be used to graphically illustrate the master and slave positions between 0 and 360 Enter two formulas in the second row which subtract the ELS Master and Slave Positions from 360 2360 A1 360 B1 Select each column and create a pie chart using the Excel Chart Wizard f the CLC_DDE Server is active and an ELS program is running the pie charts will rotate to reflect the current ELS positions as they change X Microsoft Excel Dde xls 110 317 249 583 ELS Master ELS Slave Sheett Sheet2 f Sheet3 Sheets Sheets DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 5 4 DDE Client Interfaces VisualMotion 6 0 DDE Functions using Visual Basic for Excel Visual Basice for Excel has its own DDE Functions which can be used in a spreadsheet macro or module The following Visual Basic macros illustrate how to use the DDERequest
139. page 1 4 Important The Fieldbus Mapper is an on line configuration tool The following conditions must be met when performing STEP I through STEP IV below The system must be powered up The CLC D card must be connected to the system The system must be set to parameter mode STEP I Determining the Cyclic and Non Cyclic Data with Multiplexing Cyclic Data Object Type Size bits Single Register 100 1 Single Register 120 16 bit 16 bit Float 2 2 Single 32 bit Integer 4 2 32 bit Single 32 bit 32 bit Multiplex 16 bit Multiplex 32 bit From Fieldbus Master to CLC Card A typical multiplexing example in a multi axis application is to assign cyclic data to each index by axis e g index 0 to axis 1 index 1 to axis 2 etc Although this example shows data for only three axes in this manner remember that multiplexing allows sending up to 16 unique pieces of data for each multiplex object Single and multiplex objects can be combined to fill up the first 15 words of the list In this example we will assume that you want to cyclically transfer the following data between the CLC D card and the Fieldbus master in the order listed Output Data Object Type Size bits Axis 2 Axis 3 Axis 1 Axis 2 Index 1 Index 2 Index 0 Index 1 Index 2 Input Data From CLC Card to Fieldbus Master Global Float 22 Single Global Integer 44 Control Registers preassigned per axis Register Registe
140. place in the bus configuration list Therefore care should be taken when placing these objects 11 For each data type desired choose a corresponding available object in the list on the left and click APPEND to place it at the end of the Bus Conf IN List Each available object has a typecode to identify its size and type Figure 2 14 Configuring the Profibus Configuration IN List contains a description of the typecode Following are descriptions of the buttons to manipulate the bus configuration lists APPEND inserts an available object after the last word placed in the current list DEL removes the selected object from the current list inserts an available object above the selected object in the current list NEW clears up the current list only in the direction selected under Available Objects Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Indramat Object ID Object Type S single B base for multiplex object Object Number 1 1 object 2 2 object etc Object Size 16 16 bit 32 32 bit Configuration Direction I Input To Field Bus O Output From Field Bus Fieldbus Mapper Examples 2 15 Configure Slave Telegram PD DP IO Channel Device Address 2 99 a Length of DP channel w ord RE Parameter Channel Length word Off 4 6 Configure Multiplex Channel poe Input
141. run and contains program data Compiled program file that is downloaded to and executed by the CLC exc mapper file Text file consisting of Boolean strings Iss Text file where Visual Motion stores register and bit labels used by the str file Text file that is referred to for register and bit labels when the registers on the CLC are viewed map File used by the Show Program Flow function to trace the flow of the program while it is executing Absolute Point Table prm Parameter file in archived format These files can be EN ICE Text file of points created by the CLC Oscilloscope function Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Program Execution 4 1 4 Program Execution 4 1 Introduction This chapter covers CLC program execution which includes a brief description of the System and Task Control Registers and the I O Mapper function A brief parameter overview has also been included along with some troubleshooting and communication information For a more detailed discussion on any of these topics refer to the VisualMotion 6 0 Reference Manual 4 2 Initial Setup Prior to Operation The following procedure covers the initial setup required to run the sample program that was created and downloaded in the previous chapter The sample program should be open within VisualMotion Toolkit and Activated on the CLC card CLC File sample str Task
142. status word E 1 Message Fieldbus Not used Format status word Message Parameter Layout Channel Message Header Motorola Format VisualMotion ASCII Format Example This example is for VisualMotion ASCII Format with the Parameter Channel configured for the maximum 6 words In this example the value 0 is written to CLC D Card Parameter 1 125 the VisualMotion system timer DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 14 Information for the PLC Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 Step 1 Word Word 1 Word2 Word3 Word4 Word5 Data Value 0x000B 0x0000 0x0000 0x0000 0x0000 0 0000 Explanation Binary Equivalent No Data PLC Output Set system to basic state 000000000000101 1 High Bits 1 ASCII Bit 3 ormat Step 2 PLC Input Basic state Data Value 0 0000 0 0000 acknow Explanation Binary Equivalent No Data ledged 000000000000101 1 High Bits VisualMotion ASCII Format Step 3 wort Woms woz wos wous Medo Output et first write 2 VisualMotion Explanation Binary Equivalent Data Values are shown in ASCII Format ASCII data 0000001 110101011 High Bits NOTE character represents a space Bit 7 visualMotion ASCII Bit1 Format Bit 3 Bit 5 transmission length Bit 7 10 bytes Bit8 toggle bit Bit9 first cycle PLC Input First write com Data
143. the PLC Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 Header No data field Response Message contains message o k 3 Read request from the master for the VisualMotion ASCII response message Header No data field Read Command contains e object number 5E72 anticipated return data size between 32 and 64 bytes Note To ensure that all of the data requested in this step is received in step 4 below a data exchange object of the appropriate size must be selected If the selected data exchange object is too small the data will be truncated If the selected data exchange object is too large efficiency of transmission will be compromised 4 The CLC D sends the final response message Header Data Field Response Message VisualMotion ASCII Protocol contains contains code status ok 0 0 100 CLC DP GPS 06V56NCR i i LF 00 00 00 00 00 00 00 00 00 Gata field size bytes 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Profibus DP Combi Slave Board DPFO05 x 5 1 5 Profibus DP Combi Slave Board DPF05 x 5 1 Application The DPFO5 x board enables the integration of the CLC D control board into the Profibus system Because the board is a Profibus DP combi slave board integration into the following network types individually or combined acco
144. the list in the pop up screen shown in Figure 2 7 Sample Selection List OR type 120 as the destination Note The Fieldbus Mapper selection lists display only the labels of the currently active program CLC Card Data Type Selection No label names defined in this Program TaskA Control TaskB Control TaskC Control TaskD Control System Diag Code TaskA_Jog Figure 2 17 Sample Selection List DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 16 Fieldbus Mapper Examples Interbus Fieldbus Interfaces for VisualMotion 6 0 6 The source objects that are applicable to this data type will appear in the Source Object list Choose the first available object 7 Click the Add button The object will appear in the OBJECT MAPPING LIST at the right Note This step associates the object assigned in STEP Il to the CLC D data The CLC D scans the list created in this step and executes each mapping instruction in order every third SERCOS update cycle Multiplex data can only be updated when this index is commanded by the multiplex control word VisualMotion 6 Field Bus Mapper Ele Help Select Bus Options OBJECT MAPPING LIST Define Config Slave Objects PD Channel Bus Type Define Config Slave Objects _Jinterbus Source biect 7 oft z lur 100 BIBEST Channels 9x5F 40 base 0 c Ox5F41 MP index Ox5F42 MP index ee Mapping Direction repeat as necessary
145. the peak value of the Current Miss Counter Current Miss Counter 0 9 Displays the count of missed cyclic mapping list attempts out of the last 10 attempts DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Information for the GPS Programmer 3 9 Bit Definitions x13 x16 x9 x12 x1 x8 Note To view registers in hex select Data Registers within VisualMotion Toolkit If the registers are not currently viewed in hex format select Format Hex in the Active Program Register window Status bits for the Current Miss Counter An attempt is made to transmit the cyclic Object Mapping List C 0 2600 across the Dual port RAM every third SERCOS update cycle For every 10 mapping list update attempts 30 SERCOS update cycles the failed attempts are counted and displayed in these bits values can range from 0 9 If 10 out of 10 mapping list updates attempts are missed the Fieldbus Timeout Counter is incremented by one This is an indication of a Fieldbus Mapping Timeout Error Status bits for the Peak Miss Counter These bits monitor the Current Miss Counter s peak count between a value from 0 9 and holds that value until a larger count is encountered Status bits for the Fieldbus Timeout Counter The count of these bits increments by one every time the Current Miss Counter encounters 10 out 10 missed attempts of the cyclic mapping list update A count increment
146. then receive the response message from the CLC D card DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 20 Information for the PLC Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Message Header pata Field VisualMotion ASCII Protocol key components key components e fieldbus command e VisualMotion command read or write message read or write data data exchange object ASCII data contained in the 5E70 5E73 This is the destination of the data field object Object selection depends on Note Refer to the VisualMotion 6 0 required data field size Reference Manual for an explanation of the VisualMotion ASCII Protocol Figure 4 12 Format of a Non Cyclic Fieldbus Message using a Data Exchange Object Important The format of the Fieldbus message header is dependent on the type of master PLC being used Refer to your PLC manufacturer s manual for specific information on this topic The following sequence describes the communication between the Fieldbus master PLC and the Fieldbus slave CLC D Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 21 Message Steps Process Comments Write request from the FB Write Command The data field for the write master with VisualMotion request can contain a ASCII Protocol YMSE protocol VisualMotion read or write command text pr
147. up to 8 drives DEA I O card data is accessed through CLC I O registers 40 through 87 and are sequentially mapped to the I O cards for drives 1 through 8 in ascending order Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Non CLC Hardware C 5 40 Drive 1 DEA 4 2 inputs DDS1 1IN a 22 43 Drive 1 DEA 5 2 outputs 0051 200 44 Drive 1 DEA 6 2 inputs DDS1 SIN 45 Drive 1 DEA 6 2 outputs DDS1 86 Drive 8 DEA 6 2 inputs DDS8 8IN 87 Drive 8 DEA 6 2 outputs DDS8 8OUT Each DEA card must be enabled by setting an appropriate CLC parameter Set the parameter to a logic 1 to enable the card DDS card CLC Axis parameter DEA 5 2M A 0 0014 DEA 6 2M A 0 0017 If the parameter is set to 0 the I O data are not included in the SERCOS telegram and the corresponding CLC registers are not updated The DEA data may still be read through the SERCOS service channel using the appropriate SERCOS parameter DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat C 6 Non CLC Hardware VisualMotion 6 0 170 o Figure C 4 DEA Front Panel 4 2M 5 2M 6 2M The DEA I O card front panel uses a 37 pin D sub connector Connector pinouts are listed in the table below Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Non CLC Hardware C 7 7 24 Vext source owes m om DEA Ele
148. using it for fieldbus communications with consideration to GPS system resources Monitor GPS Register 26 for fieldbus mapping resource consumption and increase the SERCOS update C 0 0099 if necessary 4 No limit checking is performed when writing to this parameter via a fieldbus Therefore care must be taken to ensure the proper data is sent Table 3 3 Fieldbus Accessible Parameters part 3 of 3 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 6 Information for the GPS Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 3 3 Register 19 Definition Fieldbus Status Diagnostic Object 5FF2 The diagnostic object 5ff2 holds the information for Fieldbus Status and this information is stored in VisualMotion Register 19 The register information can be referenced in a VisualMotion application program to respond to the status of each bit The use of these bits is application dependent Table 3 4 Bit Assignment for the Diagnostic Object 5ff2 VisualMotion Register 19 contains the bit assignment for the diagnostic object 5ff2 The assigned bits are labeled with x and the bit number in the second row Unassigned bits are labeled with Table 3 4 Bit Assignment for the Diagnostic Object 5ff2 VisualMotion Register 19 Bit Definitions x1 x2 Status bits for the internal DPR Dual Port RAM communication between the Fieldbus slave and the CLC D x1 FB Init OK LSB least significant bit X2 FB I
149. values Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 21 D 2 Example 2 Cam Application The following program contains a Cam that uses an ELS virtual master and a single slave axis The CLC uses a programmed velocity to generate the virtual master position between 0 and 360 degrees This position is followed by the ELS slave axis A user defined Cam can be used to create custom motion synchronization between an ELS master and slave axis The Cam table used in this program is a list of 1024 master and slave position points between 0 and 360 degrees For every virtual master axis position there is a corresponding user defined slave axis position As the virtual master position changes the ELS slave axis will move according to the corresponding position values in the Cam table For example when the master axis position is 180 the slave axis will be at 120 Cam 180 120 refer to the equation below 120 100 80 SLAVE 60 40 20 0 The CLC determines the proper Slave position once every SERCOS cycle using the following equation This expression returns the Cam slave position LINEAR MASTER SLAVE POSITION which corresponds with the resulting master SCALING POSITION position Example CAM 180 120 10 Scemd H CAM M N Mph L Memd Sph JT WE MASTER MASTER MASTER SLAVE SCALING TERM POSITION PHASE ADJUST PHASE ADJUST If M 1 N 1
150. 0 0 0131 1 D 37 P 0 01132 innate D 37 P 0 0 139 a iiia D 37 P 0 0134 ineo renes D 37 0501355 D 37 R Restoring CLC V User Programs from Flash 2 27 S1 Dip Switch 2 15 sample 3 1 Saving CLC V User Programs to 2 27 SCImd seine ied D 21 Sequencer D 1 D 1 D 1 D 1 SERCOS 1 9 2 2 2 7 Serial Cables 2 2 Serial Communications 5 9 Serial 1 2 1 Service 5 2 Setup 2 31 Signal Status Word D 34 Signal Status Word ConfigurationD 36 slave axis D 21 Subroutine 3 11 T 5 10 3 11 TASKS ite eter em 1 10 Topic name 5 2 5 9 V Variables 3 11 3 15 Velocity synchronization 1 13 View Menu Event functions 3 11 S broutine 3 11 3 11 VisualMotio
151. 0 d Indramat About this documentation DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Contents Contents T1 General Informati n usos pasiva dini da dep UGUALE REG 1 1 1 1 CLC D System Description with a Fieldbus 1 1 The VisualMotion Fieldbus 1 1 1 2 Data Transfer Direction Output vs 1 nnne nennen nennen nns 1 2 1 3 Fieldbus Data Channel 1 2 ee Heurnilee 1 2 The Real Time 1 3 Mengen Tee rnb 1 6 Direct Mapped Data 1 6 Data Exchange 1 7 2 Fieldbus Mapper EXampIGS usine iki Roa ORDER REB 2 1 2 1 Base Example 2 1 STEP I Determine the Cyclic and Non Cyclic Data 2 1 STEP II Configure Fieldbus Slave Card with Setup Information and Cyclic Data Object Lists Using the Fieldbus Mapper AANEEN eret cen tre eren Ce eget de Eus 2 2 STEP Define Cyclic Data Mapping 0 224 0 2 5 STEP IV Define Non Cyclic Data Mapping Lists Direct
152. 0 bit 01 will control the Parameter Mode function of the system To switch the system to Parameter Mode 1 Close all Mapper windows and return to VMT s main window 2 Select Data Registers to open the Active Program Registers window 3 Click and hold the scroll bar button and scroll down to register 100 Note Register numbers appear at the top of the window as you scroll down or up 4 Click and highlight Bit 01 and select the 001 button to change the State of Bit 01 from 0 to 1 Bits of Register 100 User Inputs Reg 1 Bit Physical Name State i 00 5 02 02 0 gu 03 03 0 04 04 0 Cancel 05 05 0 05 06 0 0 07 0 08 08 D 09 09 0 10 Bit10 D 11 Bit 0 12 Bit12 0 13 13 0 Previous 14 Bit14 0 15 15 0 15 Bit16 0 New after State indicates forced The CLC DDE Server should now display Parameter Mode DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Program Execution 4 5 Example I O Mapper Creation this example Register 001 bit 01 Parameter Mode will be mapped equal to the bit state of Register 100 bit 01 1 Select Data I O Mapper to open the Ladder Editor window 2 From the Ladder Editor window select Options Display Strings 1 0 Mapper Strings x ORunas i Insert Delete All Edit Delete Close 3 Click on the Add button and enter the following strings
153. 0 AP2 100 32 bit multO1 0 21 32 bit 101001 AP3 100 32 bit mult02 0 31 32 bit mult02 0 13 32 bit mult00 10 11 1P0 14 32 bit mult00 0 23 32 bit multO1 0 24 32 bit 101001 0 33 32 bit mult02 0 34 32 bit mult02 Ox5FFD MP StatusWord 12 OxSFFC MP ControlWord CLC GPS data mapping Lists for DPF card FMS channel Data mapping IN List FMS channel Data mapping OUT List FMS channel Object Data Type Object Type Object Data Type Object Type 5 10 FP0 5 32 bit 5F00 16 32 bit 5F11 0 8 32 bit 5F01 0 7 32 bit 5F70 121 16 bit Figure 3 4 Printout of Sample Fieldbus Mapping Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the GPS Programmer 3 3 3 2 Fieldbus Accessible Parameters Table 3 1 through Table 3 2 contain all of the Fieldbus accessible parameters Read and write access to these parameters is listed for both cyclic and non cyclic data Parameter Cyclic Non Cyclic Direct Mapped A 0 0020 Maximum Velocit xg xo A 0 0021 Maximum Acceleration x 0 0022 Maximum Deceleration x 11 x A 0 0023 Jog Acceleration X A 0 0025 Maximum Jog Increment X x X A 0 0026 MaximumJog Velocity x x A 0 0031 CLC Cam Ratio master Factor XX A 0 0032 CLC Cam Ratio SlaveFactor M A o 0033 CLC Cam St
154. 0 The CLC Card Setup screens prompts you to select the CLC hardware card and settings to be used The selection of a particular CLC card can be modified or changed once VisualMotion Toolkit has been completely installed Note Changes to hardware cards and settings can be made within VisualMotion Toolkit under menu selection Setup Card Selection 11 The remaining installation screens vary based on the type of CLC hardware selected The following figures will illustrate these screens along with any additional information necessary to complete the installation qe DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 33 CLC Card Setup x What type of card will be used 6 CLCV VME C CLCD Drive C CLCP ISA bus C CLC P2 PC104 Settings can be modified in VisualMotion32 Cancel If Serial Port is the selected communication link then enter the COM port that your computer is using Match the baudrate of your COM port to that of the CLC port The default baudrate is 9600 CLC Card Setup CLC Card Setup x What COM port on your PC will you use COM 1 What tis the CLC V card number The number is C COM2 selected by a rotary switch on the front of the C card C COM 4 What baudrate is the port set to default is 9600 9800 Settings can be modified in VisualMotion32 Settings can be modified in VisualMotio
155. 0000 Ox5F20 16 bit baseMP 05 0 5 40 0 5 80 32 bit baseMP 06 OxSECO 0x0000 07 0x0000 0 5 90 08 Ox6EDO 0x0000 09 0x0000 0 5 0 10 0 5 0 0 0000 11 0x0000 Ox5FFd MP StatusWord 12 OxSFFC MP ControlWord CLC GPS data mapping Lists for DBS card PD channel Data mapping IN List PD channel Data mapping OUT List PD channel Word Data Type Object Type Word Data Type Object Type 00 RX0 120 16 bit single 00 RX0 100 16 bit single 01 02 HP0 22 32 bit single 01 02 FP0 2 32 bit single 03 04 GP0 44 32 bit single 03 04 IPO 4 32 bit single 05 RX0 31 16 bit mult00 05 RXO 11 16 bit mult00 RX0 32 16 bit multO1 RXO0 12 16 bit multO1 RX0 33 16 bit mult02 RX0 13 16 bit mult02 06 07 102 32 bit mult00 06 07 11 32 bit mult00 AP2 102 32 bit multO1 FP0 21 32 bit multO1 AP3 102 32 bit mult02 FP0 31 32 bit mult02 08 09 100 32 bit mult00 08 09 IPO 11 32 bit mult00 AP2 100 32 bit multO1 0 21 32 bit 101001 AP3 100 32 bit mult02 0 31 32 bit mult02 0 13 32 bit mult00 10 11 1P0 14 32 bit mult00 0 23 32 bit multO1 0 24 32 bit 101001 0 33 32 bit mult02 0 34 32 bit mult02 Ox5FFD MP StatusWord 12 OxSFFC MP ControlWord CLC GPS data mapping Lists for DBS card PCP channel Data mapping IN List PCP channel Data mapping OUT List PCP channel Object Data Type Object Type Object Data Type Object Type 5 10 FP0 5 32 bit 5F00 16 32 bit 5F11 8 32 bit 5F01 IPO
156. 0000 02 0x0000 0 5 2 03 Ox5EF2 0x0000 04 0x0000 Ox5F20 16 bit baseMP 05 Ox5F40 16 bit baseMP 0 5 80 32 bit baseMP 06 OxSECO 32 bit baseMP 0x0000 07 0x0000 0 5 90 08 Ox5EDO 0x0000 09 0x0000 0 5 0 10 0 5 0 32 bit baseMP 0x0000 11 0x0000 a Ox5FFD s 12 OxSFFC IWord CLC GPS data mapping Lists for DCF card Polled I O Data mapping IN List Polled I O Data mapping OUT List Polled I O Words Data Type Object Type Word Data Type Object Type 00 0 100 16 bit single 00 RX0 120 16 bit single 01 02 HP0 22 32 bit single 01 02 FP0 2 32 bit single 03 04 GP0 44 32 bit single 03 04 1P0 4 32 bit single 05 RX0 31 16 bit mult00 05 RXO 11 16 bit mult00 RX0 32 16 bit mult01 RX0 12 16 bit mult01 RX0 33 16 bit mult02 RX0 13 16 bit mult02 06 07 102 32 bit mult00 06 07 FPO 11 32 bit mult00 AP2 102 32 bit multO1 FP0 21 32 bit mult01 AP3 102 32 bit mult02 FP0 31 32 bit mult02 08 09 API 112 32 bit mult00 08 09 IPO 11 32 bit mult00 AP2 112 32 bit multO1 0 21 32 bit mult01 AP3 112 32 bit mult02 0 31 32 bit mult02 API 142 32 bit mult00 10 11 1P0 14 32 bit mult00 AP2 142 32 bit multO1 0 24 32 bit multO1 AP3 142 32 bit mult02 0 34 32 bit mult02 Ox5FFD MP StatusWord 12 OxSFFC MP ControlWord CLC GPS data mapping Lists for DCF card Explicit Message Direct Mapped Objects Data mapping IN List EXP Message Data mapping OUT List EXP Message Object Data Type Object Type
157. 0000 0x000A Copied to PLC integer 32 bit for use in PLC program response into PLC data type Done Figure 4 6 Short Format 2 Read Example DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 10 Information for the PLC Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 Example 2 Write Data This example is for Short Format 2 only with the Parameter Channel configured for 4 words words 5 and 6 if configured would not be used In this example data is written to object 5F00 which has been mapped to Float 16 in the VisualMotion Fieldbus Mapper The current value of this float is 29 Step 1 PLC Output Set system to basic state Control Word Data Data Value 0x000D 0x0000 0x0000 0x0000 Explanation Binary Equivalent 0000000000001 101 High Bits Bit 0 Bit 2 Short Format 2 transmission Bit 3 Status Word Data Data Value 0x000D 0x0000 0x0000 0x0000 Explanation Binary Equivalent No Data 0000000000001 101 High Bits Bit 0 Bit 2 Short Format 2 transmission Bit 3 Step PLC Input Basic state acknow edged Yes Step 3 PLC Output Em Write data object Data Value 0x076D 0x5F00 0x0000 0x001D Explanation Binary Equivalent object Data value returned for 0000011100101101 number VisualMotion mapped High Bits set up in object F16 Bit 0 Field Motorola format Bit 2 Short Format 2 transmission Bus Bit 3 Mapper Bit 5 4 transmission length 6 da
158. 00DFFFF 1 8 Other dev OVFFFFFF System board extension for PnP BIOS 000 0000 000 D Ports COF FBFFFFFF 53 4 000E4000 000E7FFF bx SCSI cont FFFFFFFF System board extension for PnP BIOS 000E8000 000EBFFF Sound vic 000EC000 000EFFFF 000F0000 000F3FFF 000F4000 000F7FFF Properties c C 000F8000 000FBFFF Eee ee ae D Figure 2 6 1 memory allocation 6 Select an available card number set jumpers S8 thru S11 on the CLC PO1 card to match the available base memory found in the previous step Refer to Figure 2 7 CLC P01 Jumper Location PC Base Address selection Card Base Address CLC P01 Number pw p 000C4000 000C7FFF BELLA NN NE NN 000CC000 000CFFFF 00000000 000D3FFF Im Out In 000D4000 000D7FFF 000D8000 000DBFFF 000DC000 000DFFFF 000 0000 000E3FFF Out In In In 000E4000 000E7FFF 000E8000 000EBFFF 000 000 000 000F0000 000F3FFF Out Out In n ME Table 2 1 CLC P01 card number and base memory selection Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 11 bus extension 000000000 900000000 0000000000000000 e x MC68EC020 X27 D sub 9 pin serial interface
159. 1 132 3 8 16 1 B 5F20 Parameter Channel Length word 2 4 5 32 1 5 9 132 2 5 5 2 Configure Multiplex Channel 32 35 SER Enable Iv Input Data 32 5 5 5 5 Mutiplexing 132 5 Iv Output Data 32 7 S I22855 B8 Highest Index p Field Bus Error Reaction 0 Bytes Used x Cancel Figure 2 13 Profibus Configuration Screen 5 Setthe device address to a unique number for the devices on the bus 2 99 6 Setthe Length of DP Channel Word to the number of data words to be allocated for the input channel or the output channel whichever is greater According to the example data in Table 2 4 Sample Cyclic Data with Multiplexing under STEP I Determine the Cyclic and Non Cyclic Data we have set the length of the channel to 12 for the output and input channels DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 14 Fieldbus Mapper Examples Profibus Fieldbus Interfaces for VisualMotion 6 0 Note The information set in steps 5 and 6 is used in configuring the Fieldbus master PLC to look for the slave CLC D Indramat supplies a gsd file containing supporting information for the CLC D with DPFO05 x card Profibus slave configuration Contact an Indramat technical representative for location of this file 7 Setthe radio buttons under Parameter Channel Length word to Off
160. 1 5 Motors used with 1 7 Figure 1 6 ECODRIVE drive family 1 8 Figure 1 7 COD BOX i ne reete 1 8 Figure 1 8 Different CLC versions 1 9 Figure 2 1 Plug in card 2 3 Figure 2 2 Drive Address Setting through DSS card 2 4 Figure 2 3 CLC D02 3M Hardware sse 2 5 Figure 2 4 Fiber optic ring 5 2 6 Figure 2 5 CLC P01 1 2 8 Figure 2 6 01 memory allocation 2 10 Figure 2 7 CLC P01 Jumper Location sse 2 11 Figure 2 8 Card Selection Setup 2 12 Figure 2 9 Installation 2 2 13 Figure 2 10 2 2 2 14 Figure 2 11 CLC P02 Jumper 2 15 Figure 2 12 Card Selection Setup 2 16 Figure 2 13 CLC PO2 Installation eee 2 17 Figure 2 14 02 3 2 21 Figure 2 15 Address Switch 2 22 Figure 2 16 Slide Switch 2 22 Figure 2
161. 17 Card Selection Setup 2 23 Figure 2 18 CLC V Installation 2 24 Figure 2 19 CLC V Installation Screens 2 33 Figure 2 20 CLC D Installation 2 34 Figure 2 21 CLC P01 Installation Screens 2 35 Figure 2 22 2 Installation Screens 2 36 Figure 3 1 Sample Program 3 1 Figure 3 2 Completed sample 3 8 Figure 3 3 Assigning a variable 3 14 Figure 3 4 Viewing and editing 3 15 Figure 4 1 Sample VisualMotion Toolkit Program 4 1 Figure 5 1 Excel 8 5 1 Figure 5 2 Example DDE Formula 5 2 Figure 5 3 Example DDE Formula 5 2 Figure 5 4 T ient ttt esaet ttn en ad aaa 5 5 Figure 5 5 Macro 2 5 7 Figure 5 6 DDE Access Name 5 8 Figure 5 7 Tagname for Displaying 5 10 Figure 5 8 Tagname for Writing to Variables 5 11 Figure 1
162. 19 Position Difference a x C 0 1509 Master 1 FilterType X P y C 0 1517 Master 1 Current Position Co1 8 Master 1 Current Velocity xo 01550 Master2tye 1 x 045 Maser2DiveAddess 0452 Master 2 Encoder Type x Master2Ratioinput ek c 0 1565 Master2 Raio Output x C0 1550 Master 2 Zero Velocity Window xg 0 1558 Maser2FierCuoffFreqeny XP Goss Gurtent Postion xe o 01568 Meser2CurntVeociy xo E C 0 2014 Start of SERCOS L O Station Registers do 215 Registers Allocated per O Staion x T0002 TaskOptions x T0005 World Position T0000 KinematicNumber Coordinate xais T0002 Coordinated y ais x T0003 OoodnmaedZAds x 100020 MaxmumPahSped 11 00022 MaximumDeceleration x x J Maximum Jog Increment Toos DweimmdgYeosy x or T0005 Relative Point Used for Origin E eos Roae Pein sed Too Frame fx xx T0000 Target Point Number sese M
163. 1VRS MS SERCOS ELS Contact Indramat s Service department for assistance DSS 2 1 Installed in digital drive slot U1 Indramat s 1KO982 Fiber Optic Cable is designed for SERCOS communication between plug in cards Indramat s IKO985 Fiber Optic Cable is designed for SERCOS communication of drives and external devices not normally contained within an enclosure Indramat IKS0110 RS 232 serial cable for communication between computer and CLC V Indramat 50061 RS 232 serial cable for communication between computer and CLC D CLC P01 or CLC P02 For information pertaining to the digital drives refer to the documentation sets listed in chapter 1 page 1 1 DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 3 2 2 CLC Card Installation and Setup In this section it is assumed that all the necessary VisualMotion amp Components such as digital drives and motors are configured properly and that all necessary power is available to the drives The intent is to guide the user in the installation and setup of a new CLC card containing no programs or parameters and the VisualMotion Toolkit Windows based program Note For more information refer to the appropriate power supply and drive manuals Installing and Configuring the DSS SERCOS communication card The DSS02 1M SERCOS interface plug in card makes it possible to operate a digital drive with a SERCOS interface compatible control via a fiber
164. 2 9 Send to CLC Basic Example Cyclic 2 7 Non Cyclic Data 2 9 Multiplex Example Cyclic Data ese 2 17 Short Format 2 1 6 Command Telegram Structure 4 7 Messaging Example Messaging Examples Response Telegram Structure 4 7 Shutdown CLC Fieldbus Error Reaction 3 10 Single Data Types 1 3 1 4 Source Object list Basic Example Non Cyclic Data status word Multiplex Example Cyclic 2 14 T To FieldBus Basic Example 2 3 Multiplex Example Cyclic 2 14 Toggle T 4 5 Transmission Format Fmt 4 5 V View a Summary Report 3 1 VisualMotion ASCII Format1 6 4 11 Command Telegram Structure 4 11 Response Telegram Structure 4 12 Indramat 6 4 Index Profibus Fieldbus Interfaces for VisualMotion 6 0 W X Warning Only Fieldbus Error X68 5 3 Reaction 3 10 X69 5 3 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 engineerin g mannesmann Rexroth Supplement B DeviceNet Fieldbus Interfaces VisualMotion 6
165. 4 the Fieldbus Slave Ready Bit on the CLC card mirrors object 5ff2 See 3 3 Hegister 19 Definition Fieldbus Status for more specific bit information The system monitors this bit and evokes the selected error reaction if the bit is low 0 after a Fieldbus card is found A typical situation that will cause this condition is the disconnection of the Fieldbus cable from the DPF card If Shutdown CLC 0 is set in Parameter C 0 2635 the following error is generated from the CLC D card active in SERCOS Phase 4 only 519 Lost Fieldbus Connection If Warning Only 1 is set in Parameter C 0 2635 the following error is generated active in SERCOS Phase 4 only 208 Lost Fieldbus Connection If Ignore 2 is set in Parameter C 0 2635 there is no noticeable reaction when Register 19 Bit 4 goes low unless the GPS coding is customized to evoke a special reaction Troubleshooting Tip If a Fieldbus card is not found on the system the Error Reaction setting will be ignored If you have a Fieldbus card and the Error Reaction is not responding as expected the system may not see your Fieldbus card DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 1 4 Information for the PLC Programmer 41 gsdFile Indramat supplies a gsd file containing supporting information for the CLC D with DPFO05 x card Profibus slave configuration Contact Indramat te
166. 6 Select Float as the data type 5 Fill in the Destination In our example we must type 16 as the destination 6 The source objects that are applicable to this data type will appear in the Source Object list Choose the first available object 7 Click the Add button The object will appear in the OBJECT MAPPING LIST at the right This list is scanned by the CLC only when a non cyclic request comes in and executes the mapping 8 Repeat steps 2 through 7 above until each of the desired non cyclic objects has been added to the OBJECT MAPPING LIST in both directions From Bus to CLC card AND From CLC card to Bus Note If you want to insert replace or delete items in the Object Mapping List double click on the item in question A new set of buttons appears to the left of the Object Mapping List box See Changing an Existing Object Mapping List on page 2 8 for a detailed explanation of each button DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 18 Fieldbus Mapper Examples DeviceNet Fieldbus Interfaces for VisualMotion 6 0 VisualMotion 6 Field Bus Mapper D x Fie Help r Select Bus Options OBJECT MAPPING LIST Define Config Slave Objects Explicit Msg Channel esce s Source Object Total of 1 record s DeviceNet BISFOO 0610911 Atl 00 Obj103 Inst2 Att1 00 05108 Inst3 Att 00 b 1 T Add Obj103 Inst4 Att 00 0510914
167. 6 Use the Line icon to connect the icons and show program flow To connect the icons click once with the left mouse button on the first icon and then click on the next icon in the program flow A line will join the icons with an arrow indicating program flow Note If an error is made while connecting two program icons use the CUT icon to remove the connection line created Afterwards re select the line icon to continue The completed program should appear as shown below Start Size Axis Accel Velocity Move Wait Finish Figure 3 2 Completed sample program Note In order to create the loop from the Branch icon back to the Velocity icon click on the Branch icon first then click on the Wait icon Repeat the step starting with Wait icon and finish with the Velocity icon Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Create Download Sample Program 3 9 Save Compile and Download Program Save Program Compile Program 1 To save the example program to a harddrive select File Save As and enter the filename sample str Note Icon program files are saved with a str extension at the end of the filename See Section 3 4 for other extensions and their descriptions Note Selecting Save Compile Download from the File menu or clicking on the toolbar icon will automatically cover steps d 1 3 below 2 Compile the program by choosing Compile under the File menu
168. 6 0 2 CLC V Backplane Communication Indramat The CLC is capable of exchanging data between multiple VME bus masters directly over the VME backplane These data transfers use a 1k byte buffer in the standard or extended VME address space at offset 0x1000 from the base address of the CLC card The format of messages sent to a CLC must conform to the specifications in the chapter on Direct ASCII Communication A software handshaking protocol is required using mailboxes in the short VME address space to control the VME bus transfer Mailbox operations are converted to VME read modify write cycles eliminating bus contention problems All CLC cards will propagate messages down the VME backplane This permits a Host PC system to address and communicate with up to 16 CLC s in a VME card enclosure using a single serial connection to one CLC card The sequence of the communication handshake protocol is as follows 1 The sending CLC reads mailbox 0 until bit 7 is 0 E g loop on reading or poll the mailbox until the bit is clear 0 indicates that the sending requesting CLC is in control of the VME bus 2 The sending CLC places the message in the VME message buffer 3 The sending CLC then reads mailbox 1 Executing a read of the mailbox initiates the transfer operation Bit 7 should be 0 reading a 1 indicates a communication error 4 The sending CLC then reads mailbox3 polls until bit 7 is O indicating that a messa
169. 6 78 930 Telefax 86 411 46 78 932 Korea Rexroth Seki Co Ltd 1500 12 Da Dae Dong Saha Gu Pusan 604 050 Telefon 82 51 264 90 01 Telefax 82 51 264 90 10 USA Rexroth Corporation INDRAMAT Division 5150 Prairie Stone Parkway Hoffman Estates Illinois 60192 Telefon 1 847 645 36 00 Telefax 1 847 645 62 01 Indramat Argentina Nakase Asesoramiento Tecnico Diaz Velez 2929 1636 Olivos Provincia de Buenos Aires Argentina Argentina Telefon 54 1 790 52 30 China Rexroth China Ltd Shanghai Office Room 206 Shanghai Intern Trade Centre 2200 Yanan Xi Lu Shanghai 200335 P R China Telefon 86 21 627 55 333 Telefax 86 21 627 55 666 Hongkong Rexroth China Ltd 19 Cheung Shun Street 1st Floor Cheung Sha Wan Kowloon Honkong Telefon 852 2741 13 51 54 und 852 741 14 30 Telex 3346 17 GL REX HX Telefax 852 786 40 19 852 786 07 33 Korea Seo Chang Corporation Ltd Room 903 Jeail Building 44 35 Yoido Dong Youngdeungpo Ku Seoul Korea Telefon 82 2 780 82 07 9 Telefax 82 2 784 54 08 USA Rexroth Corporation INDRAMAT Division 2110 Austin Avenue Rochester Hills Michigan 48309 Telefon 1 810 853 82 90 Telefax 1 810 853 82 90 Interbus Fieldbus Interfaces for VisualMotion 6 0 Australia Australian Industrial Machinery Services Pty Ltd Unit 345 Horne ST Campbellfield VIC 2061 Australia Telefon 61 3 93 59 0228 Telefax 61 3 93 59 02886
170. 6 Att 00 Delete Channels Polled I O Esplicit Msg Select Mapping Direction _ f From Bus toCLC caud 4 7 8 repeat i From CLC card to Bus wSelect CLC Card Options Send To CLC Get From CLC Data Type 5 C GF C Card Parameter Destination Save To File Get From File C lk Register 16 0 32767 0240 Display S fi C Axis Parameter New Summa Tas 71 Task Parameter Exit Figure 2 19 Adding Objects to the Non Cyclic Object Mapping List 9 Click Send to CLC to save the selected object mapping list to the CLC D card Use any of the following buttons as needed Saves the currently selected object mapping list to the CLC D Card to card Send To CLC parameter C 0 2600 if the cyclic Polled I O channel is selected and C 0 2700 if the non cyclic Explicit Messaging channel is selected Saves the currently selected object mapping list to a file with a prm Save ToFile extension New Clears up the current object mapping list Gets the currently selected object mapping list from the CLC D Card from card Get From CLC parameter C 0 2600 if the cyclic Polled I O channel is selected and C 0 2700 if the non cyclic Explicit Messaging channel is selected Allows the user to open a previously saved file with a prm extension of
171. 636 bit 0 e Explicit Message Byte Swapping The setting of this option determines the order in which the bytes of the non cyclic data exchange object are transmitted The default setting Not swapped causes the bytes to be transmitted in their usual order Byte 1 Byte 2 Byte 3 Byte 4 The Swapped setting causes each pair of bytes to be transmitted in inverted order Byte 2 Byte 1 Byte 4 Byte 3 The setting of this option is stored in Card Parameter C 0 2636 bit 1 Example Allen Bradley SDN Module for SLC Series PLC When the Allen Bradley SDN DeviceNet Scanner Module for the SLC Series PLC is used both 32 bit Object Word Swapping and Explicit Message Byte Swapping can be set to Swapped in the Fieldbus Mapper so the order of resulting data appears correctly 4 3 Multiplex Data Bits in the Control and Status Words Figure 4 1 Bit Definitions in Multiplex Control and Status Words contains diagrams of the bits contained in the control and status words and their bit definitions The bits marked with are currently not used The control word is appended as the last word of the cyclic data content and the status word is appended as the slave response in the cyclic data input Multiplex Control Word PLC CLC OK KK TE Multiplex Control Index y DATA defines the Index command VALID for multiplexing BIT set by the PLC when output data is valid forthe CLC Multiplex
172. 6VRS PRO2 AE P 09 99 Indramat 5 4 DeviceNet DCF01 x Slave Board DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Definition of the Piaget LEDs will H23 NS H24 MS Indramat Internal Status Red No synchronization with CLC D Of Successful synchronization with CLC D card Green Explicit Message received intermittent Backplane not Transceiver Supply Voltage OK Limit exceeded for I O connection timeout but Inputs still active Red flashing Timeout limit exceeded for I O connection NN Critical connection error duplicate MAC ID or Bus off Table 5 4 LED Definitions DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 DeviceNet DCF01 x Slave Board 5 5 5 4 DeviceNet Polled I O Cyclic Channel DCF01 x Polled I O Configuration The DCF01 x card is an intelligent DeviceNet card that can be configured according to process requirements Not only does it provide a particular number of words which are transmitted in both data directions during each DeviceNet cycle but it also allows the user to determine which data word is placed in which location in the data segment This flexibility enables assigning data to adressable elements or objects that are designated with index numbers for different Fieldbuses The user can then choose the required objects from the configuration stored on the CLC D board and p
173. 6VRS PRO2 AE P 09 99 Indramat C 16 Non CLC Hardware Indramat VisualMotion 6 0 Parameter C1 7 Parallel I O Device Direction must be set to enable the individual 0000000000000000 Card 1 Opto 22 station 1 Card 1 Opto 22 station 2 Card 8 Opto 22 station 2 Example 0000000000100000 CP 1 7 Card 1 Opto 22 station 1 16inputs relays 1 8 08 outputs relays 17 24 Card 3 Opto 22 station 2 16 outputs relays 1 16 08 inputs relays 17 24 Parameter C1 8 Parallel I O Device I O Direction must be set to specify the base address for the card The parameter is set as a 16 bit hexadecimal word equal to the desired base address and must be equal to the address set by the XVME 202 on board jumpers JA10 through JA15 See the jumper settings and corresponding addresses in the section below XVME 202 Card Configuration VME P1 CONNECTOR E E E E E 21 Figure 6 XVME 202 Card Jumper Locations Jumper J1 selects between a board mounted oscillator and the VME clock Jumper J2 determines the VME bus short I O Address Modifier Codes that can affect the card DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Non CLC Hardware C 17 XVME 201 default function Jumper J1 A selects the optional on board oscillator B selects VME bus SYSCLK J2 CLOSED OPEN card responds to 0x2D VME AM code Supervisory only CLOSED card responds to 0
174. 8 Cyclic Single Data 2 7 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data Send to CLC Basic Example Cyclic Non Cyclic Data Multiplex Example Cyclic 2 17 Short Format 2 1 6 Command Telegram Structure 4 7 Messaging Example 4 13 Messaging Examples 4 8 Response Telegram Structure 4 7 Shutdown CLC Fieldbus Error Reaction 3 10 Single Data Types 1 3 1 4 Source Object list Basic Example Non Cyclic Data 2 9 status word 1 5 Multiplex Example Cyclic Data nee 2 14 T To FieldBus Basic 2 3 Multiplex Example Cyclic 2 14 Toggle Bit 4 5 Transmission Format Fmt 4 5 V View a Summary Report 3 1 VisualMotion ASCII Format1 6 4 11 Command Telegram Structure 4 11 Response Telegram Structure 4 12 W Warning Only Fieldbus Error Rigactlon cited 3 10 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Index 6 5 X X68 Connector 5 3 X69 Connector
175. 9 if necessary 4 No limit checking is performed when writing to this parameter via a fieldbus Therefore care must be taken to ensure the proper data is sent Table 3 2 Fieldbus Accessible Parameters part 2 of 3 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the GPS Programmer 3 5 Parameter Cyclic Non Cyclic Direct Mapped me _ C 0 1011 7 Diff Between Real Master Positions O cono Master Syiohronization Acceleration CY C 0 1013 Master Synchronization Time Constant X C 0 1014 Master Synchronization Velocity Window x Curent C 0 1016 Virtual Master Current Velocity 9 Steg o e_r _ c o 1019 Position Difference a x C 0 1509 Master 1 FilterType X P y C 0 1517 Master 1 Current Position Co1 8 Master 1 Current Velocity xo 01550 Master2tye 1 x 045 Maser2DiveAddess 0452 Master 2 Encoder Type x Master2Ratioinput ek c 0 1565 Master2 Raio Output x C0 1550 Master 2 Zero Velocity Window xg 0 1558 Maser2FierCuoffF
176. A Profibus DP Green This LED is on if the Profibus cyclic channel DP is active active The cyclic data is continually monitored If data transfer is detected during a Timeout this LED turns on TR FMS Green This LED is on while an FMS communication is transmission exercised between the Profibus master and this active slave currently not Green used UBUS P5V Green This LED is on when the Profibus slave receives Profibus OK 45V Simultaneously line VP is applied to 5V pin 6 of the Profibus connector A handheld terminal can be operated This voltage is taken from the DC DC converter on the DPF05 x board Green This LED is used with H16C It supports diagnosis Software RUN of correctly running software and successful synchronization between the CLC D and DPF05 x cards If the CLC D and DPFO5 x cards are synchronized the LEDs flash alternately SW RUN Green See description for LED H16B Software RUN currently not Green used Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 6 Index file 41 Basic Example 2 3 Multiplex Example 2 14 208 Lost Fieldbus Connection 3 10 209 Field Bus Mapper Timeout 3 10 5 519 Lost Fieldbus Connection 3 10 520 Field Bus Mapper Timeout 3 10 4 19 4 19 4 19 4 19 Available Obje
177. ART for all programs No local variables required Declares the maximum number of points allocated for point table Point table used to build CAM Sample program declares ABS 9 REL 9 Used to Build a CAM from a point table Assign CAM number CAM type and range of source points used to build CAM Select wait until CAM is built Moves the slave axis 1 to it s home position Sets the System Parameter C 0 0157 to 0 00 This resets the Virtual Master to it s home position Selects the type of Master Slave Axis used Sample program uses Virtual Master Axis O Add Edit Slave Axis number 1 sync type cam fine adjustments if required Defines the ELS mode which causes a slave axis 1 to sync to the master axis according to the cam table as defined in the ELS axis configuration ICON GO starts the virtual master according to the acceleration velocity and deceleration values defined in their respective icons Associates Cam 1 to Axis 1 Defines coefficients used in cam equation Selects which Cam phase adjust to perform and starts the phase adjust Defines the velocity for the Virtual Master Axis O Branch setup which checks an unused I O register to create a loop in program Standard FINISH for all programs No optional returned values Indramat D 30 Example Programs VisualMotion 6 0 D 3 Example 3 Programmable Limit Switch PLS Application The following sample program contains a PLS Pr
178. B Read Command The read request message contains only header information master to get VisualMotion ASCII response the data field is 0 You must anticipate the approximate size of the data field VisualMotion ASCII response message in order to select the appropriate data exchange object If the selected object is too short the error Receive fieldbus response The response message will from slave FB Response contain the VisualMotion ASCII Received response to the VisualMotion ASCII command text in Step 1 FB Response OK VM ASCII protocol response text write or transmit data Figure 4 7 Non Cyclic PCP VisualMotion ASCII Communication Process Example Read Card Parameter 100 CLC D firmware version 1 Write request from the master with VisualMotion ASCII Protocol Header Data Field Write command VisualMotion ASCII Protocol contains contains code e object number 5 70 gt 0_CP 0 100 CR LF 00 00 00 e data field size bytes in this case 16 2 After the first read request from the master the CLC D card sends a response message Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 9 Header No data field Response Message contains message o k 3 Read request from the master for the VisualMotion ASCII response message Header No data field Read Command contains e object number 5E72
179. Bit T Transmission Format Fmt 4 5 Pinouts DPFO05 x 5 8 PLC Programming 4 1 Multiplex Data Bits 4 1 Non Cyclic Data via Data Exchange ODj cts nnne 4 19 Non Cyclic Data via Direct Mapping 4 16 Parameter Channel 4 3 Print File Menu Print a Summary Report T Profibus DP Combi Slave Board 5 1 R Real Time Channel 1 2 1 3 Register 19 Definition Fieldbus 3 6 Register 20 Definition Fieldbus 3 7 Register 26 Definition Fieldbus Resource Monitor 3 8 Response Telegram Structure Short Format 2 4 7 VisualMotion ASCII Format 4 12 Save to File Cyclic Multiplex Data 2 18 Cyclic Single Data 2 7 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data Send To CLC Cyclic Multiplex Data Cyclic Single Data Non Cyclic Multiplex Data Non Cyclic Single Data Send to CLC Basic Example Cyclic Data Non Cyclic Data Multiplex Example Cyclic Short Format 2 Command Telegram Structure 4 7 Messaging Examp
180. C Card to Bus Output Data From Bus to CLC Card Float 16 Integer 7 Float 5 Integer 8 Table 2 3 Objects to be transferred non cyclically 1 Ensure that the designated bus type is correct Register 101 2 Choose the non cyclic data channel FMS P Chan 3 Select the desired Mapping Direction In our example we will begin with the output list or From Bus to CLC 4 Select the Data Type In our example the first item to be added to this list is Float 16 Select Float as the data type 5 Fill in the Destination In our example we must type 16 as the destination DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 9 6 The source objects that are applicable to this data type will appear in the Source Object list Choose the first available object 7 Click the Add button The object will appear in the OBJECT MAPPING LIST at the right This list is scanned by the CLC only when a non cyclic request comes in and executes the mapping 8 Repeat steps 2 through 7 above until each of the desired non cyclic objects has been added to the OBJECT MAPPING LIST in both directions From Bus to CLC card AND From CLC card to Bus Note If you want to insert replace or delete items in the Object Mapping List double click on the item in question A new set of buttons appears to the left of the Object Mapping List box See Changing an Existing Object
181. CII t Step 7 PLC Output Get VisualMotion ASCII response message part 1 Explanation Bit8 toggle bit Bit 94 first and last cycle Bit 10 only one data transmission Bit 12 read transmission Step 8 PLC Input Acknowledge first response message High Bits NOTE The character represents a space Bit 1 Bit 3 Bit 5 Bit 7 Bit 8 Bit 1 VisualMotion ASCII Format transmission length 10 bytes toggle bit Bit9 first cycle Bit 12 read transmission Explanation Binary Equivalent Data Values are shown in ASCII Format The ASCII data is 0001001 10000101 1 stored in a PLC string queue Word Step 9 PLC Output Get VisualMotion ASCII response message part 2 Word 1 Word2 Word3 Word4 Word5 Word6 Description Control Word Data Data Value 0x044B 0x0000 0x0000 0x0000 0x0000 0x0000 Binary Equivalent 0001011000001011 High Bits VisualMotion ASCII Fi t Explanation Bit9 first and last cycle Bit10 only one data transmission Bit 12 read transmission word wows woos s Data Value 0x044B Explanation Binary Equivalent Data Values are shown in ASCII Format 0001011000001011 High Bits Bit 0 Bit 1 Bit 3 Bit9 first and last cycle Bit 10 only one data transmission Bit 12 read transmission Step 10 PLC Input Acknowledge second response m
182. CII message to complete a data size of 64 bytes Note The checksum for the VisualMotion ASCII protocol is NOT used with the data exchange object If the checksum is sent as part of the string it will be ignored and no checksum will be sent in the VisualMotion ASCII response messages To ensure data integrity the Fieldbus protocols support a low level checksum Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 7 Transmission Sequence via a Data Exchange Object Note For the data exchange object two transmissions and two responses are required to send the read or write message to and then receive the response message from the CLC D card Fieldbus Message Header Field VisualMotion ASCII Protocol key components key components e fieldbus command e VisualMotion command read or write message read or write data e data exchange object Class 100 e ASCII data contained in the Instance 1 4 Attribute 100 This h is the destination of the data field selected data exchange OQINCE Object selection depends on Note Refer to the VisualMotion 6 0 required data field size Reference Manual for an explanation of the VisualMotion ASCII Protocol Figure 4 6 Format of a Non Cyclic Fieldbus Message using a Data Exchange Object Important The format of the Fieldbus message header is dependent on the type of master P
183. CLC D Card from card parameter C 0 2600 if the cyclic Polled I O channel is selected and C 0 2700 if the non cyclic Explicit Messaging channel is selected Allows the user to open a previously saved file with a prm extension of an object mapping list When the file is opened displays that object mapping list Generates an on line summary report of the currently selected Fieldbus This report can be printed by selecting Print from the File menu in the Fieldbus Mapper window Exits the Fieldbus Mapper utility Important Ensure that your system is set to Parameter Mode for the changes to take place STEP IV Define Non Cyclic Data Mapping Lists Direct Mapping The non cyclic data uses objects that are pre defined for this type of data In our example the following data will be transmitted non cyclically Output Data Input Data From Bus to CLC Card From CLC Card to Bus Adding Objects to the Non Cyclic Data Mapping List see Figure 2 19 Adding Objects to the Non Cyclic Object Mapping List Float 16 Float 5 Integer 7 Integer 8 Register 101 Table 2 7 Objects to be transferred non cyclically 1 Ensure that the designated bus type is correct 2 Choose the non cyclic data channel Explicit Messaging Select the desired Mapping Direction In our example we will begin with the output list or From Bus to CLC 4 Select the Data Type In our example the first item to be added to this list is Float 1
184. Connector X3 on P 0 0135 Bit 1 DKCO2 3 v Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 S 0 0144 Figure D 15 Configured Signal Status Word S 0 0144 Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 35 SERCOS Parameter VisualMotion s parameter overview function can be used to view the drives SERCOS parameters however VisualMotion currently cannot modify a SERCOS parameter containing a list of parameters For example a SERCOS parameter containing a list of parameters appears as six X s View CLC Drive 2 Parameters x Description Value Units parameter 00000000000001 11 02 5 0 0016 Custom amplifier telegram configuration 02 5 0 0017 IDN list of all operation data SOOO 02 5 0 0018 IDN list of operation data for CP2 SOOO Param Source m freer Te IL Dives xit Dave Number Build Custom E dit Upload new list 2 Display List s Lis Close Find Next Find The modification of a SERCOS list parameter must be done manually using a text editor such as notepad and then downloaded to the desired digital drive using VisualMotion Toolkit Modifying a Parameter List Since the modification of parameters S 0 0026 and S 0 0328 is not possible using VisualMotion Toolkit
185. D Card Cage Indramat Front View SY6FB199 FH7 Figure 5 1 Front View of the DCFO1 x The DCFO01 x card is a plug in card that can be directly connected to the CLC D controller card It can be inserted into a drive or CCD card cage as one unit occupying two card slots Note Other cards be plugged into the DCFO1 x Please take notice when disassembling or removing from the card cage Power 5V is supplied by the drive or CCD card cage via another connector on the back of the card However signals are always transmitted via the plug in connection to the CLC D The interface to the CLC D is achieved via an Indramat specific extended bus However only DCF01 x card can be connected to the CLC D Note The DCF01 x card cannot be used with a DPFO5 x Profibus slave card or DBSO3 x Interbus slave card The DCFO01 x card has the following interfaces required only for power supply to the DCF01 x if power is not supplied by the CLC D DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 DeviceNet DCF01 x Slave Board 5 3 Interface to the CLC D or other Cards External Inputs External Power DeviceNet Interface Connector Pinouts DCF01 x Diagnostics Information is transmitted to the CLC D and any other cards via this interface It is an extended bus interface with partial coding of the adressing field so that additional cards can be connect
186. Data Size From Bus to Data Words i From CLC Card Data Words CLC Card maus 3 gt z x eei uou Table 2 2 Sample Non Cyclic Data Note See Table 1 3 Non Cyclic Data Objects for data limitations Note For other data types such as diagnostic text messages or S and P parameters use the data exchange object see P CHAN Parameter Channel Component Descriptions on page 4 4 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 2 Fieldbus Mapper Examples Profibus Fieldbus Interfaces for VisualMotion 6 0 STEP Il Configure Fieldbus Slave Card with Setup Information and Cyclic Data Object Lists Using the Fieldbus Mapper Important The drive must be set to Parameter Mode to configure and assign the data mapping for Fieldbuses STEP Il and STEP III 1 In the VisualMotion Data Menu select Fieldbus Mapper CLC File new str Task File Edit View Setup Tools Status Options Help CAM Indexer 20 x Events Field Bus Mapper 140 Mapper PID PLS Points Registration Registers Sequencer Variables Zones Figure 2 1 Selecting the Fieldbus Mapper from the main VisualMotion Screen 2 In the scroll box under Bus Type ensure that the desired bus is selected If the DPF card is connected Profibus should appear 3 Choose the cyclic data channel DP VisualMotion 6 Field Bus Mapper File Help r Select Bus Options OBJECT LIST
187. Data Valid 0 gt The cyclic data outputs coming in to the CLC D are INVALID 1 The cyclic data outputs coming in to the CLC D are VALID The System looks for this bit to be 1 before allowing data transfer x16 Status bit for the multiplex channel Multiplex Enabled 0 gt The multiplex channel is not yet configured or enabled 1 gt The multiplex channel is configured and enabled 3 4 Register 20 Definition Fieldbus Diagnostics Diagnostic Object 5FFO The diagnostic object holds the information for Fieldbus Diagnostics and this information is stored in VisualMotion Register 20 Table 3 6 Bit Assignment for the Diagnostic Object 580 VisualMotion Register 20 contains the bit assignment for the diagnostic object 5 The assigned bits are labeled with x and the bit number in the second row Unassigned bits are labeled with 16 15 14 13 12 11 10 9 8 7 6 5 4 31211 p fas 1 1 bee at pepe e Table 3 6 Bit Assignment for the Diagnostic Object 5ff0 VisualMotion Register 20 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 8 Information for the GPS Programmer Interbus Fieldbus Interfaces for VisualMotion 6 0 Bit Definitions x1 x8 X13 x15 Fieldbus Interface specific fault code FB Card Fault Code Note This function is currently not available Identification of the Fieldbus interface card FB Card Found The bit combinations f
188. Defined 4 Local Variables Defined gt i OK Optional Local Variables Cancel Callable from Sequencer Caption Y Wait Control Box Wait for Axis in Position Axis at Position Coordinated State C 1 0 State Time msec integer Glx Ix or label Time Figure D 5 WAIT subroutine VisualMotion 6 0 Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 9 Task A Main Sequencer Part 1 Task Data Storage Sizing Homing Setup E m Task Axes Setup I I Single Axis Setup Branch Setup Figure D 6 Main Sequencer Part 1 of 3 DOK VISMOT VM 06VRS PRO2 AE P e 09 99 lg Indramat D 10 Example Programs VisualMotion 6 0 Task A Main Sequencer Part 2 1 0 Setup Box Sequencer Setup Box User Defined Labels PICK AND PLACE 1 PICK AND PLACE fe L L Initialize Sequencer Edit Sequencer PICK AND PLA Add User Variable AUTO_MODE PICK_AND_PLACE 10 Add Edit Step of Sequencer PICK_4 5 Add Edit Step of Sequencer PICK AND PLACE 1 The Sequencer name must be labeled as a constant in order to AUTO make it available to the Run Sequencer icon 2 The next step will be to create the order in which the Sequencer steps will be performed Add the 7 functions along with it s argument value s forthe entr
189. E Slot 1 functions by changing the position of SW5 8 on the CLC card to OFF Slide Switch SW5 Default o Figure 2 16 CLC V Slide Switch Location VME Bus request level 3 The CLC V card is pre configured for the highest VME bus request hardware priority BR3 If the bus request level must be altered change the position of switches SW5 6 and SW5 7 on the CLC card Table 2 5 VME Bus request level setting 4 Install the CLC V card in the appropriate slot slot 1 if it is the arbiter of the VME card cage Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 23 Non Indramat card cages RAM memory can be loss if VME bus does not contain a STBY line supplying battery backup Make sure non Indramat card cages have a VME Caution STBY line for battery backup A STBY line is simply an external power source battery that supplies backup power to the VME bus to maintain SRAM memory 5 Connect the cables as shown in Figure 2 18 CLC V Installation and then power up both the VME card cage and the digital drive system Note Proper connection of the CLC V card is confirmed when the red fiber optic light is transmitted through Tx Fiber Optic Transmission Light Bodily injuries Do not expose your eyes t
190. END to place it in the Bus Conf OUT List We have now allocated the data objects in the cyclic channel so the desired data can be transferred between the CLC D card and the DeviceNet Fieldbus card Note The non cyclic data requires no configuration of objects in a list These objects are addressed directly and preassigned as non cyclic They need only to be mapped to the CLC D data 18 Click OK Send to CLC The following window appears DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 15 Field Bus Mapper Warning Please Re power CLC D for changes to affect Figure 2 16 Warning after clicking OK Send to CLC STEP Ill Define Cyclic Data Mapping Lists STEP Ill associates the CLC D data types to the objects assigned in STEP In our example the objects to be added are Object Output Data Input Data Type From Bus to CLC Card From CLC Card to Bus Single Register 100 Register 120 Float 2 Global Float 22 Integer 4 Global Integer 44 Register 11 Float 11 Integer 11 Register 12 Register 13 Register 31 Register 32 Register 33 Float 21 Float 31 Parameter Parameter Parameter A 1 102 A 2 102 A 3 102 Integer 21 Integer 31 Parameter Parameter Parameter A 1 110 A 2 110 A 3 110 Integer 14 Integer 24 Integer 34 Integer 13 Integer 23 Integer 33 Table 2 6 Objects to be transferred cyclically with
191. Figure D 2 4 When done return to Task A by selecting View Task A Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 3 SET lO subroutine 1 Select Edit Add Subroutine to create the SET IO subroutine 2 Name the subroutine SET IO and click on OK This will open a new programming window with a Start and a Finish icon Subroutine Control Enter the name for the function 20 characters maximum 10 E Cancel 3 Create the subroutine illustrated below according to the selections and values given in their corresponding dialog boxes Refer to Program Layout Function Subroutine SET IO Figure D 3 When done return to Task A by selecting View Task A COUNT subroutine 1 Select Edit Add Subroutine to create the COUNT subroutine 2 Name the subroutine COUNT and click on OK This will open a new programming window with a Start and a Finish icon Subroutine Control Ea Enter the name for the function 20 characters maximum COUNT i Cancel 3 Create the subroutine illustrated below according to the selections and values given in their corresponding dialog boxes Refer to Program Layout Function Subroutine COUNT Figure D 4 When done return to Task A by selecting View Task A DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 4 Example Programs VisualMotion 6 0 WAIT s
192. Header Motorola Format Receive Status Word Grab Data 4 Receive the statu Word 2 Word3 Word4 Word 5 Word 6 No Data s word and if O K grab the data Word Word 1 FB status word Message Format Message Layout Fieldbus status word Parameter Channel Message Header Motorola Word2 Word3 Word4 Word 5 ASCII ASCII ASCII ASCII bytes bytes bytes bytes 1and2 3 and 4 5 and 6 7 and 8 VisualMotion ASCII Protocol e g 0 CP 0 5 Word 6 ASCII bytes 9 and 10 gt Parameter Channel Message Data Intel Format Format Each ASCII chara to be transmitted i VisualMotion ASC Telegram Three cases must cter takes up 1 byte of memory space If an ASCII protocol message s longer than 10 bytes multiple transmissions are necessary to complete the transaction Refer to the fieldbus control word for a description of how to handle multiple transmissions of a transaction The largest ASCII message be 128 bytes Il Format Structure of the Response be differentiated for the response telegram in VisualMotion ASCII Format error free executi Step 1 above error free executi Step 3 above faulty execution a Error Free Write Response on master command telegram was a write as in on master command telegram was a read as in An error free execution E 0 in the Fieldbus status word after a master write command means that only the Fieldbus status word is retur
193. Icon uses these values to set up coordinated absolute motion An absolute move begins from the current position or the endpoint of the previous path segment and terminates at the absolute point specified In this case the forward position would be ABS 2 Speed acceleration and deceleration values are also provided with each point move R100 15 Move Move Wait for R100 15 Position Timer 1 Return to Message Axis in ON Message ABSI1 Position The return position is ABS 1 so the return move will begin at ABS 2 and then end at ABS 1 Load Data Subroutine Abs 1 x Abs 1 s Abs 2 x Abs 2 s Return Return Forward Forward Position Speed Position Speed This subroutine associates the variables F1 F4 Return Forward Position and Speed to the absolute point table Abs 1 x Abs 2 x Abs 1 s Abs 1 x DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 44 Example Programs VisualMotion 6 0 Variable and Point Table Setup Subroutine Abs 1 b 0 Ret Blend Radius Return Return Abs 1 a Abs 1 d Abs 1 j 0 Position 0 Speed 100 50 50 Ret Jerk Ret Accel Ret Decel x Abs 2 b 0 2 Fwd Blend Radius Forward Forward X Abs 2 a Abs 2 d Abs 2 j 0 Position 10 Speed 100 50 50 Fwd Jerk Fwd Accel Fwd Decel Part Timer 1 Timer 2 R100 10 Home Count 0 1sec 1sec OFF Axis 1 The variable and point table subroutine assigns values to the association made within the Load Data Subroutine fo
194. Input Voltage High Input Voltage Low 16 V 32 V 0 5 V 8 V 416 V 432 V 0 5 V 8 V Reference Potential OV Reference Potential OV Table 5 2 X69 Signal Configuration External Inputs DBSO03 x Diagnostics Front Panel LEDs The DBSO3 x front panel has eight diagnostic LEDs They enable the diagnosis of the Interbus current status and the communication between the 503 and CLC D cards Figure 5 2 Arrangement of DBS03 x Board Diagnostic LEDs Definition of Diagnostic LEDs _ Uim _ UL Power This LED is on when the Interbus slave receives source of 5V This voltage is taken from the DC DC Interbus board converter on the DBS03 x board and made o k available to the optically isolated bus drivers BA Interbus PD Green This LED is on if the Interbus cyclic channel PD is active active The cyclic data is continually monitored If data transfer is detected during a time out this LED turns on TR PCP Green This LED is on while a non cyclic PCP transmission communication is executed on the Interbus ring active Initialization of the PCP channel and selection of the object structure Get OV are also considered PCP communications RC Remote Green With this LED the bus between the current device Check and the adjacent previous device is checked If the connection is o k the LED turns on Upon initializing the Interbus ring the LED turns on only if the enti
195. L 1 CAM 400 350 Tewo T 200 on With these coefficients the slave axis will make a complete rotation The slave axis will be ahead of the master by the corresponding value in the Cam table M C 300 300 250 MASTER lt gt 0 45 90 135 180 225 270 315 360 MASTER M CAM M CAM M 1 N 1 H 2 L 1 450 M 2xC 420 MOL 2 emu p 400 350 300 MASTER 2007 With these coefficients the slave axis will make a complete rotation The slave axis will be ahead of the master by the corresponding value in the Cam table The slave axis will reverse while the master is between 180 to 360 degrees This allows the slave axis to be aligned with the master at 360 degrees SLAVE 200 150 100 50 MASTER DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 26 Example Programs VisualMotion 6 0 SLAVE Mz2 N 1 H 1 L 0 M CAM M N CAM N vu CAM i L MASTER H ES With these coefficients the slave axis will get its value from the corresponding master cam axis position scaled by a factor of two At 90 degrees the slave axis will be in the 180 degree position The slave axis will rotate between 0 and 120 degrees twice every Cam 135 180 225 270 315 360 cycle MASTER Indramat Master or Slave Phase Adjust
196. LC being used Refer to your PLC manufacturer s manual for specific information on this topic The following sequence describes the communication between the Fieldbus master PLC and the Fieldbus slave CLC D DOK VISMOT VM 06VRS PR02 AE P 09 99 Indramat 4 8 Information for the PLC Programmer DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Message Steps Process Comments Write request from the FB Write Command The data field for the write master with VisualMotion request can contain a ASCII Protocol YMSE protocol VisualMotion read or write command text protocol read or write data Acknowledge fieldbus The response message contains response from slave FB Response only a confirmation that the Received error fieldbus message was sent properly Therefore the size of the data field will be 0 FB Response OK Read request from the FB Read Command The read request message contains only header information master to get VisualMotion ASCII response the data field is 0 You must anticipate the approximate size of the data field VisualMotion ASCII response message in order to select the appropriate data exchange object If the selected object is too short the error Receive fieldbus response The response message will from slave FB Response contain the VisualMotion ASCII Received response to the VisualMotion ASCII command text in Step 1 FB Response OK VM ASCII protocol response text wri
197. LC D for changes to affect Figure 2 6 Warning after clicking OK Send to CLC DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 6 Fieldbus Mapper Examples Profibus Fieldbus Interfaces for VisualMotion 6 0 STEP Ill Define Cyclic Data Mapping Lists STEP Ill associates the CLC D data types to the objects assigned in STEP Il In our example the objects to be added are Output Data Assigned Input Data Assigned From Bus to CLC Card Object From CLC Card to Bus Object Register 100 5F91 Integer 29 5EB1 Float 2 5EF1 Register 47 5F81 Global Integer 3 5EF2 Register 120 5F82 Register 104 5F92 Global Float 22 5EB2 Register 40 5F93 Axis Parameter 1 100 5EB3 Integer 4 5EF3 Integer 30 5F83 Integer 5 5EF4 Adding Objects to the Cyclic 1 Ensure that the designated bus type is correct Profibus Data Mapping List 2 Choose the desired cyclic data channel DP 3 Select the desired Mapping Direction Our example begins with From Bus to CLC Card 4 Select the Data Type In our example the first item to be added to this list is Register 100 Select Register as the data type Note The CLC D will show only the objects associated with the chosen data type in the Source Object list For example if you have selected the mapping direction From Bus to CLC Card and designate Register as the data type only 16 bit output objects that have been mapped in the bus configuration list see STEP II will be shown in the Sour
198. LC P01 card request a system status from menu selection Status System f communications have been established the System Parameters screen will appear containing information on the installed CLC card 12 Once communications have been established power down the Host PC and make the appropriate cable connections to the system as illustrated in Figure 2 9 CLC P01 Installation Refer to Figure 2 4 Fiber optic ring structure for details Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 13 DDS DDS High speed serial 1 2 Installed in port DSS DSS available Tx Rx Rx X27 X28 71 Serial port CLC P01 Figure 2 9 CLC P01 Installation 13 Once the VisualMotion system is completely connected power the Host PC and drive units for system initialization Since memory on the CLC card was cleared when the battery was removed an E414 Parameters were lost error code will be present on the CLC To view this error code start VisualMotion Toolkit and select Status System System Parameters window will display this error code next to row heading Diagnostic Message This is an indication that the VisualMotion system is communicating properly To clear an E414 error code simply switch the drive system to and from parameter mode Note Parameter mode switching occurs when Register 1 Syste
199. LC card highlight and activate the sequencer program by first clicking on the file name and then clicking the Activate button Available Unused Memory 102388 Current files on CLC card 1 4 20 33 Activate 2344 10 21 32 Sequencer Delete Clear All Upload 2 Download t Name Date mm dd yy Time hh mm ss Size bytes Cancel CREED Currently active program on CLC card fi sequencer 04 20 99 10 21 32 2344 Data Transfer Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Run Sequencer Program Example Programs D 13 1 Select Data Hegisters from the main menu Scroll down to register 100 and double click on it to open az Active Program Register 0 0100 oO x File Format Options Settings Hame Data Bit eh 100 User_Inputs_Reg_1 0000000000000 hig 101 User Inputs 2 0000000000000000 indicating that 102 Reg 102 0000000000000000 El the system is in 103 Reg 103 0000000000000000 Parameter 104 104 0000000000000000 Mode 105 Reg 105 0000000000000000 106 Reg 106 0000000000000000 2 The bits should now be listed along with their corresponding labels Physical Name DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Bits of Register 100 User Inputs Reg 1 after State indicates forced Physical Name Mode Manual Task Stop Task Start Clear Errors Bit 06 Emergency Stop Bit 08 Se
200. Mapping 2 8 2 2 Multiplexing Example 5e Cus n utu 2 10 STEP I Determining the Cyclic and Non Cyclic Data with Multiplexing 2 10 STEP II Configure Fieldbus Slave Card with Setup Information and Cyclic Data Object Lists Using the Fieldbus 2 11 STEP Define Cyclic Data Mapping Lists 2 15 STEP IV Define Non Cyclic Data Mapping Lists Direct Mapping 2 17 Information for the GPS Programmer 3 1 3 1 Viewing Printing a Summary Report of the Current Fieldbus only when CLC D is on line 3 1 To View a Summary 3 1 To Print a Summary Report 3 2 3 2 Fieldbus Accessible Parameters 3 3 3 3 Register 19 Definition Fieldbus 3 6 Diagnostic Object 5 2 3 6 Bit Definitions eek ra Ete derer neces 3 6 3 4 Register 20 Definition Fieldbus 3 7 Diagnostic is al al 0 3 7 Bcc 3 8 3 5 Register 26 Definition Fieldbus Resource 3 8 Bit Definitioris ues ete NE ceeded eda So eel dean 3 9 3 6 Fieldbus Erro
201. N65 S5F85 gt Highest Index p Field Bus Error Reaction 6 Bytes Used Ignore DK Send To CLC Shutdown CLC Warning onl Cancel 1 Figure 2 3 Profibus Configuration Screen 5 Setthe device address to a unique number for this device on the bus 2 99 6 Setthe Length of DP Channel Word to the number of data words to be allocated for the input channel or the output channel whichever is greater According to the example data in Table 2 1 Sample Cyclic Data under STEP I Determine the Cyclic and Non Cyclic Data we have set the length of the channel to 11 for the output channel made up of 3 16 bit objects of 1 data word each and 4 32 bit objects of 2 data words each The input channel contains only 10 words so a filler object must be placed in the Bus Configuration IN list for the 11 word Note The information set in steps 5 and 6 is used in configuring the Fieldbus master PLC to look for the slave CLC D Indramat supplies a gsd file containing supporting information for the CLC D with DPFO05 x card Profibus slave configuration Contact an Indramat technical representative for location of this file 7 Set the radio buttons under Parameter Channel Length word to Off If you want to use the parameter channel see Parameter Channel Example 8 Ensure that both check boxes under Configure Multiplex Channel are unchecked If you want to use multiplexing see Mu
202. O Mapper file Der100 iom Save As Save in My Computer 29 3 Floppy e win85 1 indramat C clc ag Save as type vo Mapper Files iom Cancel Def100 iom File name The default I O Mapper file Def100 iom is simply a text file that contains the following strings Actual strings found in Def100 iom p 1 1 100 1 Parameter Mode 4 1 100 2 Mode Task C 1 32100 7 Emergency Stop 4 7 100 3 Stop Task C 1 52100 5 Clear all Errors 4 6 100 4 Start Task C 1 6 100 6 Pendant Live Man Switch 5 1 100 2 Auto Manual Mode Task D 2 1 100 2 Auto Manual Mode Task A 5 7 100 3 Stop Task D 2 7 100 3 Stop Task A 5 6 100 4 Start Task D 2 6 100 4 Start Task A 120 1 21 1 Parameter Mode System Status Outputs 3 1 100 2 Auto Manual Mode Task B 120 2 21 5 Error Detected 3 7 100 3 Stop Task 3 6 100 4 Start Task String description not found in file IS DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Program Execution 4 7 Bit Labels Bit labels are names given to I O Mapper strings making them easier to identify and use Bit label information is saved with each VisualMotion Toolkit program file Once the following labels have been added the sample program must be saved compiled downloaded and activated on the CLC card 1 Select Labels Bit Labels under the Edit menu Bit Labels x Sort by Variab
203. O2 AE P 09 99 VisualMotion 6 0 Non CLC Hardware C 3 VME Backplane Jumpers The present version of the VME card cage VMCC have auto bus grant connectors which eliminate the need to manually jumper unused slots between cards Prior to VMCC Version 1 2 five jumpers must be installed in each unused slot as shown below gud nud uud uud ood god ooo Jooo god uad god god pAn ooo Figure C 3 Replacement Battery for the VME Card Cage Connecting AC Input Power Use only three conductor power to connect to the terminal strip X5 at the lower left front of the card cage 1 Connect the hot AC supply lead to X5 terminal L1 2 Connect the neutral AC supply lead to X5 terminal N 3 Connect the AC ground lead to X5 terminal G DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat C 4 Non CLC Hardware VisualMotion 6 0 C 2 CLC VME I O Systems Using the open architecture of the VME bus the CLC V is capable of using any compatible VME bus I O card for system input output However development of appropriate driver software is involved Writing an I O driver requires complete knowledge of all parts of the VME bus system and the characteristics of your program under all operating conditions Due to the dif
204. O2 AE P 09 99 Indramat 2 18 Fieldbus Mapper Examples Interbus Fieldbus Interfaces for VisualMotion 6 0 OBJECT MAPPING LIST Select Bus ptions 1 a Define Config Slave Objects Channel Interbus Source Object Totalof 1 record s m Channels Delete 778 repeat 4 From CLC card to Bus y Select CLC Card Options Send To CLC Get From CLC Data Tyne 9 5 Fx C Card Parameter Destination Save To File Bet From File Gix Register 16 Number 0 32767 71040 Display 5 Axis Parameter New E ask 71 Task Parameter Exit Figure 2 19 Adding Objects to the Non Cyclic Object Mapping List 9 Click Send to CLC to save the selected object mapping list to the CLC D card Use any of the following buttons as needed Saves the currently selected object mapping list to the CLC D Card to card Send To CLC parameter C 0 2600 if the cyclic PD channel is selected and C 0 2700 if the non cyclic PCP channel is selected Saves the currently selected object mapping list to a file with a prm Save ToFile extension New Clears up the current object mapping list Gets the currently selected object mapping list from the CLC D Card from card Get From CLC parameter C 0 2600 if the cyclic PD channel is selected and C 0 2700 if the non cyclic PCP channel is select
205. OK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 1 2 Fieldbus Mapper Examples 2 1 Basic Example The following example demonstrates the process for configuring the mapping of basic data between the CLC D card and a Profibus Fieldbus Important The Fieldbus Mapper is an on line configuration tool The following conditions must be met when performing STEP I through STEP IV below The system must be powered up The CLC D card must be connected to the system The system must be set to parameter mode STEP I Determine the Cyclic and Non Cyclic Data Cyclic Data In this example we will assume that you want to cyclically transfer the following data between the CLC D card and the Fieldbus master in the order listed Note Quantity and type of data varies depending on application Output Data Size Size Input Data Size Size From Bus to Data Words Bits From CLC Card Data Words Bits CLC Card to Bus Float 2 2 32 Register 47 1 1 m mem a 16 emamen 2 X wea 31 eene 2 mes gt wen 2 mes 2 E ML Table 2 1 Sample Cyclic Data Non Cyclic Data We will assume that the following data will be transferred non cyclically for system initialization or setup Remember the direct mapped non cyclic data is intended for infrequent data transfer Output Data Size i Input
206. OK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 13 VisualMotion 6 Field Bus Mapper File Help Select Bus Options mi OBJECT MAPPING LIST Bus Type Define Config Slave Objects DP Channel Source Object Total of 0 record s Profibus m Channels Add 6 DP FMS P Chn Delete Select Mapping Direction From Bus to CLC card From CLC card to Bus r Select CLC Card Options Send To CLC Get From CLC Data Type C Fx C GF Card Parameter Destination Save To File Get From File C Ix C Register 15 Axis 0 40 7 Display 5 C Parameter New ue vr Task 71 Task Parameter Exit Figure 2 12 Main Fieldbus Mapper Screen 4 Click the button labeled Define Config Slave Objects The Fieldbus Mapper will try to detect any configuration data from the CLC D If you are configuring a new list click on the NEW button to clear any current data in the selected list The Profibus Configuration Screen is pictured in Figure 2 13 Profibus Configuration Screen Configure Slave Telegram Channel Device Address 2 99 Available Objects Bus Conf IN List 7 From Word Word Type FieldBus FieldBus 0 Length of DP channel w ord 32 1 5E80 12 132 2 5E90
207. ON OFF and Lead times for bits 1 and 2 press Save and Run Program DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 38 Example Programs VisualMotion 6 0 D 5 Demonstration Program Linear Motion Application Demos Setup Indramat The following two demos consists of a Single Axis and a Coordinated Motion Application Both application demos automatically setup all the required variables and values The user simply starts the programs using the appropriate user registers and bits In order to run this demonstration package you need to have the following files Demo 1 str Icon program file displayed in VisualMotion Demo 2 str Icon program file displayed in VisualMotion To open and activate each demo use the following steps Note The two demo files are installed with VisualMotion Toolkit version V12 For customers with earlier versions of VisualMotion Toolkit copies of the demo files can be requested by contacting a CLC Application engineer 1 Once the files have been obtained copy both demo programs to the following directory Indramaticic project 2 Start the VisualMotion Toolkit program From the main menu select File Open and select Demo 1 str 3 The next step will be to Save Compile and Download Demo 1 to the CLC card Click on the button Once the file has been downloaded to the card select it and then click on the Activate button 4 Use the default I O Mapper Def100 iom found in di
208. Parameter Mode 1 Select Data Registers from VMT s main menu 2 Double click on System Control register 001 3 Click and highlight Bit 01 Parameter Mode and select the 491 button to change the State of Bit 01 from 0 to 1 Bits of Register 1 System Control Bit Physical Name State D mE 02 Bit 02 001 0 03 nEmergency Stop 0 04 0 Bit 04 0 Cancel 05 Clear All Errors 0 06 Pendant Live Man 0 07 Bit 07 0 D8 Program 0 09 Program Select LSB 0 10 Program Select Bit 2 0 11 Program Select Bit 3 0 12 Program Select MSB 0 13 Bit 13 0 Previous 14 Pendant Enable 0 15 Pendant Level LSB 0 15 Pendant Level MSB Net after State indicates forced 4 The CLC card and drive should now be in Parameter Mode To confirm the status of the system use the CLC DDE Server Use Alt Tab to display if already running DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Program Execution 4 3 a To display CLC system status on the DDE Server select Settings Server Configuration and set CLC Status Display to SERIAL 0 and Save DDE Help Server Configuration Serial Communications VME Communications PC Bus Communications P2 Bus Communications Settings b If Parameter Mode was successful the DDE Server will display CLC Dde Server p x File Settings DDE Help 002 Parameter Mode c otherwise the display will read HH CLC Dde
209. Protocol contains contains code status ok 0 0 100 CLC DP GPS 06V56NCR field si LF 00 00 00 00 00 00 00 00 00 o dafa field bytes 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat DeviceNet Fieldbus Interfaces for VisualMotion 6 0 DeviceNet DCF01 x Slave Board 5 1 5 DeviceNet DCF01 x Slave Board 5 1 Application 5 2 Functionality The DCFO01 x DeviceNet Slave Card enables the inclusion of the CLC D control card in a DeviceNet system The DeviceNet card supports the real time cyclic channel Polled I O with up to 16 words and enables non cyclic data exchange between master and slave via the non cyclic Explicit Message DeviceNet channel With this hardware CLC D parameters and data sets as well as parameters of an attached drive controller can be transmitted For the highest possible flexibility the cyclic and non cyclic channels are freely configurable by the user when using the object structure of the DCF01 x card The DCFO01 x card has the following characteristics DeviceNet Slave according to ODVA specification 2 0 e The card uses the predefined master slave connection set and functions as a DeviceNet Group 2 Only server e DeviceNet startup with optically isolated interface Connection via 5 pin Phoenix Combicon connector Diagnostic 5 LED array on the front panel according to ODVA guidelines
210. Robin ignores priority among the hardware request lines BRO and all request lines have the same level of priority When the bus is released the CLC scans each lower numbered bus request line If no request is found the scan continues to the next higher priority continuously scanning from BRO through BR3 Prioritized Round Robin Bus request BR3 has priority over BR2 BR1 and BRO BR2 BR1 and BRO are arbitrated using the round robin algorithm This mode should only be used when there will be only one master with priority BR3 requesting the bus Prioritized Round Robin is the CLC default Bus Release Modes Release Every Cycle releases the VME bus after each bus transfer is done This mode permits another VME card to request the bus after every bus cycle Since the bus is re arbitrated after every cycle this mode reduces available bus response time Release On Bus Clear permits the release of the bus if requested by another bus master If no request is pending the CLC retains control of the bus Release on bus clear overrides the timing limitation set by ROR ROR Inhibit Time Release On Request provides pop down list selection of a hold off time before the bus is released to a pending request from another bus master Time may be selected from 0 5 microsecond to 64 microseconds ROR ensures that the CLC remains master of the bus for the selected minimum amount of time ROR is overridden by checking Release On Bus Clear Bus
211. Setup menu View CLC Drive 1 Parameters Ea Description Value Units 01 5 0 0001 NC Cycle Time 2000 usec 01 5 0 0002 SERCOS Cycle Time 2000 usec 01 5 0 0003 Minimum Transmit Starting Time T1min 12 usec 01 5 0 0004 Transmit Receive Transition Time TATMT 0 usec 01 5 0 0005 Minimum Feedback Acquisition Time T4min 250 usec 01 5 0 0006 AT Transmission Starting Time 1 12 usec 01 5 0 0007 Feedback Acquisition Starting Time T 4 1500 usec 01 5 0 0008 Command Valid Time T3 1318 usec 01 5 0 0009 Beginning Address in Master Data Telegram 1 01 5 0 0010 Length of Master Data Telegram 24 01 5 0 0011 Class 1 Diagnostics 0000000000000000 01 5 0 0012 Class 2 Diagnostics 0000000000000000 01 5 0 0013 Class 3 Diagnostics 0000000001 000010 01 5 0 0014 Interface Status 0000000000000100 Source POCEN gi Display Custom DK Drives C Axis DRENA Build Custom Edit Upload new list Display List s List Close Find Next Find In the Param Source box choose the type of parameter to view either Axis Card Drive or Task For Axis and Drive parameters it will be necessary to specify the axis drive number For Task parameters it will be necessary to specify the Task letter A B C or D After choosing the source of the parameter list click the OK button Editing Parameters Step 1 Upload the type of parameter to
212. State indicates forced 3 The program should now be running with the bits in this state Note If variables were added to the sample program make sure that they have been assigned a value before starting the program See Chapter 3 Assigning a Value to a Variable Note If the program has been started prior to adding values to the variables the program will not run because all variable values are zero Stop the program by changing the state of bits 3 and 4 from 1 to 0 Once values have been added reinitialize the program by changing the state of bits 3 and 4 back to 1 To view which program icon is being processed within VisualMotion Toolkit select Tools Show Program Flow or press F7 on the keyboard to turn the feature on or off SS sample str Task Gi Xx File Edt View Setup BERE Data Status Options Help see Cr D 0020 Cam Builder Jogging Oscilloscope VisualMotion32 Release6 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Program Execution 4 11 Program Operation Changing the state 901 of any one of the following bits in Register 100 will stop the program from running Bit Label State 01 Param Mode 1 02 Mode Auto Manual 0 03 Task Stop 0 07 Emergency Stop 0 09 Finish VM Program 1 If the program was stopped using bit 100 7 Emergency Stop or from another error bit 100 5 Clear Er
213. Status bit for the non cyclic channel FMS Non Cyc Ready 0 gt The non cyclic FMS channel can not yet be used 1 gt The non cyclic FMS channel is ready for use by the Fieldbus Master x6 Status bit for the reconfiguration of the cyclic PD channel nCyc Chan Ready 0 The cyclic PD channel on the Fieldbus card is configured properly The system looks for this bit to be O before allowing data transfer 1 gt The cyclic PD channel is being reconfigured on the Fieldbus Card at this time x13 Status bit for non supported GPS firmware nVM FW 0 gt The GPS firmware version is supported with this Fieldbus interface 1 gt The GPS firmware version is NOT supported by this Fieldbus interface card The CLC D hardware could support the Fieldbus interface but the firmware version is not recognized as valid by the Fieldbus card firmware x15 Status bit for the cyclic data output Cyclic Data Valid 0 gt The cyclic data outputs coming in to the CLC D are INVALID 1 The cyclic data outputs coming in to the CLC D are VALID The System looks for this bit to be 1 before allowing data transfer 3 4 Register 20 Definition Fieldbus Diagnostics Diagnostic Object 5FFO The diagnostic object holds the information for Fieldbus Diagnostics and this information is stored in VisualMotion Register 20 Table 3 6 Bit Assignment for the Diagnostic Object 580 VisualMotion Register 20 contains the bit
214. T VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 PC Interface CLC P ISA PC 104 bus A 5 The application program has no correlation to the hardware interrupts They are only used within the serial interrupt routine for improved communications DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat VisualMotion 6 0 VME Versa Module Eurocard Interface CLC V B 1 Versa Module Eurocard Interface CLC V B 1 CLC V System Memory Organization The CLC is capable of accessing most of the full VME 4 3 gigabyte A32 extended address space the CLC reserves memory above OxF9FFFFFF A configuration dialog box permits setup of each card s base address and data and address access modes for up to 16 VME CLC cards on a single backplane A typical 2 MB CLC at the default address is shown below FAFFFFFF A32 Address Space CLC Reserved FA000000 F9FFFFFF 00800000 007FFFFF 01000000 OOFFFFFF Base CLC maximum CLC Reserved CLC Memory VME Address Space Size OODFFFFF A24 Address Space 007FFFFF Base 3000 User Accessible 005FFFFF User Accessible 003FFFFF Base 1000 Pasg OPET CLC Reserved 00200000 Base Address 001FFFFF 00000000 Figure B 1 CLC V Memory Organization Indramat supplies CLC cards in 2MB and 4MB versions The base address of CLC cards may be configured to any integer non zero multiple of the card s memory size within the VME A32 or A24 address space DOK VISMOT VM 06VRS PR02 AE P
215. Uncontrolled Machine Motion Changing VME memory locations can immediately start uncontrolled machine motion causing harm to personnel and machine Use caution and thoroughly understand all the potential effects of writing to CLC registers using VME memory access Warning ASCII messages may be sent and received across the VME backplane using a communication protocol and communication synchronization mailbox flags reserved in the VME short A16 address space Each CLC on the backplane allocates a 256 byte area of the short address space for its mailboxes Each VME unit s mailbox area base address may be configured on any exclusive 256 byte boundary VME CLC Short Address Communication Space Synchronization FOFF GLC Unit F Mailbox CLC Unit E Mailbox CLC Default Mailbox Addresses CLC Unit 1 Mailbox Mailbox 7 Reset VME ASCII Communication CLC Unit 0 Mailbox Mailbox 4 VME Short Address Event Trigger Mailbox3 ASCII Response in Buffer Flag 768 bytes 512 bytes Mailbox 1 ASCII Request in Buffer Flag 256 bytes Mailbox 0 Mutual Exclusion Semaphore Figure B 3 Communication synchronization mailbox flags Currently five mailbox addresses are specified Reads and writes to the mailboxes must use the specified communication protocol Any improper access can result in unpredictable results and system failure DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat B 4 VME Versa Module Eurocard Interface CLC V VisualMotion
216. VRS PRO2 AE P 09 99 Indramat 2 4 Fieldbus Mapper Examples DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Note The desired order of the data on the master determines the object types 16 or 32 bit and order of objects you place in the bus configuration list Note Because the number of data objects in the IN list is less than the number in the OUT list the remaining data word in the IN list must be assigned an available object that will not be used Following are descriptions of the buttons to manipulate the bus configuration lists APPEND inserts an available object after the last word placed in the current list DEL removes the selected object from the current list INSERT inserts an available object above the selected object in the current list NEW clears up the current list only in the direction selected under Available Objects Configure Slave Telegram PD DP IO Channel Device MAC ID 2 63 Objects Bus Conf IN List To From Word tt Word Type FieldBus FieldBus 0 Single m Length of 1 0 channel word C APPEND Single 32 1 S5EB1 Single Single Indramat Object DD m T i Si ndramat Objec INSERT Single DEL 7 a Object Type Single S single 125K bd 9 Single Object Number Configure Multiplex Channel 1 1 object Enable Input Data N A 2 2 object etc Mutiplexing
217. a a fieldbus Therefore care must be taken to ensure the proper data is sent Table 3 1 Fieldbus Accessible Parameters part 1 of 3 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 4 Information for the GPS Programmer DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Parameter Cyclic Non Cyclic Direct Mapped Type No Description Read C 0 0016 C 0 0020 C 0 0021 C 0 0022 Communication Time Out Period Transmitter Fiber Optic Length User Watchdog Timer User Watchdog Task ID C 0 0030 Option Cards Active C 0 0031 Option Card Status World Large Increment World Small Increment C 0 0045 World Fast Jog Speed C 0 0046 World Slow Jog Speed C 0 0052 Axis Large Increment C 0 0053 Axis Small Increment C 0 0055 Axis Fast Jog Velocity C 0 0056 Axis Slow Jog Velocity Download Block Size x C 0 0157 C 0 0158 C 0 0159 C 0 0160 0 0161 0 0162 0 0801 Pendant Protection Level 1 Password C 0 0802 C 0 0803 C 0 0804 C 0 0805 C 0 0806 Pendant End of User Accessible Registers Pendant Password Timeout C 0 0811 C 0 0812 C 0 0813 C 0 0814 C 0 1001 C 0 1010 X 3 1 Must be configured by GPS in SERCOS telegram to update data Otherwise unexpected GPS system errors may occur x 9 Pendant Protection Level 2 Password Pendant User Accessible Floats Section Pendant User Accessible Integers Section Pendant Start of User Accessible Registers gt lt gt lt gt lt
218. a to the Flash EPROM At the prompt for Yes or No type Y for Yes The CLC prints which data is being saved and responds with an error message or acknowledgment gt save Save user programs and parameters to Flash Y yes N no y Saving user programs Saving parameters and I O Mapper Flash EPROM was successfully programmed PpROBE gt The card may now be removed from the rack or the battery may be replaced without loss of program or parameter data Restoring CLC V User Programs and Parameters from Flash Memory If programs and parameters in RAM are invalid the CLC automatically loads valid data from Flash EPROM In some cases it may be necessary to restore backed up data from Flash when a system is already running The RESTore command in the pROBE monitor replaces the parameters and programs stored in RAM with those stored in Flash Type REST followed by the Enter key to restore data from the Flash EPROM At the prompt for Yes or No type Y for Yes The CLC responds with an error message or acknowledgment PROBE gt rest Restore user programs and parameters from Flash Y yes N no y Data successfully restored PROBE gt Activate the reset switch on the card or type STRT followed by the Enter key to restart the executive firmware DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 28 System Installation VisualMotion 6 0 Erasing CLC V User Programs and Parameters from Flash
219. ads Maxell ER6C LS Figure C 1 VME Card Cage Secondary Battery DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat C 2 Non CLC Hardware VisualMotion 6 0 Ordering a Replacement Battery for the VME Card Cage To order a replacement backup battery for the VME card cage specify part number 226423 The replacement battery you will receive has a blue three terminal connector This connector needs to be removed before placing the leads into the two terminal Phoenix connector part number 219628 supplied with the card cage A 1 Kohm resistor part number 210336 has been added in line with the Red wire which connects to the 5V pin 1 The blue wire connects to the OV pin 2 REMOVE INSTALL Ts Blue 22 8 5 Volt Lithium P N 226423 Phoenix Connector P N 219628 v Shrink Tubing E ER UE EN ASL 1 1 Kohm Resistor P N 210336 Figure C 2 Replacement Battery for the VME Card Cage CLC V SRAM memory loss Loss of SRAM memory will result if STDBY line battery backup is not existent Before installing the CLC V card into a third party card cage that provides battery backup check the card cage manual to ensure that the card cage uses the VME STDBY line for backup and that both positions of SW6 are OFF Caution Indramat DOK VISMOT VM 06VRS PR
220. an Get From File object mapping list When the file is opened displays that object mapping list Generates on line summary report of the currently selected Fieldbus This Display Summary report can be printed by selecting Print from the File menu in the Fieldbus Mapper window Exi Exits the Fieldbus Mapper utility Note For debugging purposes the Fieldbus Mapper follows each mapped item with the cursor as it is saved to the CLC D If there is a problem with the mapping of a particular object an error message appears while the cursor remains on the object 10 Mapping is complete For programming information refer to Information for the GPS Programmer on page 3 1or Information for the PLC Programmer on page 4 1 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Information for the GPS Programmer 3 1 3 Information for the GPS Programmer 3 1 Viewing Printing a Summary Report of the Current Fieldbus only when CLC D is on line To View a Summary Report Display Summary From the Fielous Mapper Window click on the button or select Display Summary from the File menu New Open Save Save as Get List From CLC Get List From File Send List To CLC Save List To File display Summary Figure 3 1 File Menu Display Summary A scrollable window will appear PreView the Printout Of x VisualMotion32 Toolkit FBM Summary Report Bus Type Devic
221. and DDEPoke functions The DDERequest function is used to read the values of the CAM coefficient and phase offset parameters The DDEPoke function is used to write values to predefined program variables which were added in the spreadsheet Each variable also has a corresponding Item name needed for DDE communication The variables listed in column A were predefined in the CAM program to store the CAM coefficients and Phase Adjust values Macro 1 requests the current coefficient values from the corresponding CLC System card and Axis parameters Note When making a X Microsoft Excel Dde xls DDERequest from a macro the 557 File Edit View Insert Format Tools Data Window Help Service name and Topic name are included in the DDEInitiate function and assigned to a 172 504 114 6689 variable MYCLC 187 496 245 3311 ELS Master ELS Slave Cam Equation Coeffecients Value M F1 1 N F2 H L F4 Slave or Master Phase Adjust Sph F7 Mph F8 al gt vf Module2 Modulet j Sheett Shee2 A Shifa P incramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 DDE Client Interfaces 5 5 Function Request DDE Initiate Service Name Topic Name MYCLC DDEInitiate CLC_DDE SERIAL_0 Application DDERequest MYCLC AP 1 032 A 0 0032 Cam Slave Factor M ksheets 1 Cells 5 2 Value m Application DDERequest MYCLC AP 1 031 A 0 0031 Cam Master Factor N ksheets 1 Cells 6 2
222. ansfers DDS 1 0 0040 0040000000000000 0087 0000000000000000 32 Inputs 32 Outputs User System Inputs 0100 1111111111111111 0101 1111111111111111 10 to 30 VDC Range 0102 0000000000000000 400mA Output Current 100K input impedance Opto isolated from VME 0119 0000000000000000 User System Outputs 0120 1111111111111111 0121 1111111111111111 0122 0000000000000000 0139 0000000000000000 2048 0000000000000000 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Non CLC Hardware C 19 The Xycom XVME 244 digital module contains 32 optically isolated inputs and 32 optically isolated outputs directly mounted on the card Each card is configured as two stations of 16 inputs and two stations of 16 outputs The CLC s XVME 244 I O drivers accommodate up to eight cards providing a maximum of 256 inputs and 256 outputs Configuration Parameters Parameter C1 5 Parallel I O Device must be set to 5 indicating that the XVME 244 is the I O device type Parameter C1 6 Parallel Device Setup must be set to enable the installed XVME 244 cards Each card is enabled by setting corresponding bit in parameter C1 6 to 1 0000000000000000 L Card 1 input bits 0 15 CLC register 100 Card 1 input bits 16 31 CLC register 101 Card 8 output bits 16 31 CLC register 135 CLC parameter C1 7 Parallel I O Device Direction sets an on board filtering option fo
223. ar programming icons found above the programming area are visible regardless of the Icon palette selected from the Options menu Toolbar Programming Icons AN Starticon 4 Select and place the Start icon from the set of toolbar icons onto the AF VisualMotion programming area All VisualMotion tasks and subroutines must begin with a Start icon Note Once an icon is selected the cursor will change to a crosshair Move the crosshair onto the programming area and click to place To make best use of the programming area begin placing icons in the upper most left hand corner DOK VISMOT VM 06VRS PR02 AE P 09 99 Indramat 3 2 Create Download Sample Program Task Subroutine Subroutines VisualMotion 6 0 A task is simply a process used by the programmer to perform a machine operation by using VisualMotion programming icons are basically sub programs that programmed to le within the main task Size Icon 5 Note Indramat Since this program does not contain any optional function arguments or local variables select OK Start Setup 0 Function Arguments Defined OLocal Variables Defined Optional Function Arquments Cancel Callable from Sequencer Caption Select and place the Size icon from the Single Icon Palette to the right of the Start icon The Size icon determines the number of variables points events and zones to be used in the VisualMotion
224. arameter channel are not used depending on whether the parameter channel is set to 4 or 6 words Data FB status word E 0 Message Fieldbus Not used Format status word Message Parameter Layout Channel Message Header Motorola Format Indramat 4 8 Information for the PLC Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 c Faulty Execution Response Example 1 Read Data Indramat For a faulty execution after a master write command E 1 in the Fieldbus status word only the status word is returned The remaining 3 or 5 words in the parameter channel are not used depending on whether the parameter channel is set to 4 or 6 words No detailed explanation of the transmission error is given in Short Format 2 Word Word1 Word2 Word3 Word4 Word5 Word 6 Data FB status word E 1 Message Fieldbus Not used Format status word Message Parameter Layout Channel Message Header Motorola Format Short Format 2 Examples This example is for Short Format 2 only with the Parameter Channel configured for 4 words words 5 and 6 if configured would not be used In this example the transmission of VisualMotion Integer 8 which has been mapped in the VisualMotion Fieldbus Mapper is illustrated The current value of this integer is 10 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4
225. ard sends a response message Header No data field Response Message contains message o k 3 If the message response code in message header shows o k the transaction is complete Note It is important to note the mapping of the object in the Fieldbus Mapper If a particular object is mapped as a VisualMotion Read Object you cannot write to that object Conversely if the object is mapped as a VisualMotion Write Object you cannot read from that object Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 5 Message Steps Read request from the master with no data field Acknowledge fieldbus response from slave 3 Master uses data from fieldbus response Example Non Cyclic Direct Mapped Read Process Comments FB Read Command to The request message contains appropriate obiect only the fieldbus read command pprop J and the name of the object to be read FB Response Received error The data field for the response contains the value requested FB Response OK from the slave CLC D VisualMotion raw data is available for use by master Figure 4 5 Non Cyclic Direct Mapped Read Process Read the value contained in Integer 8 This is a 32 bit non cyclic input object In our Fieldbus Mapper example it is mapped to object 5F 10 1 Read request from the master Header No data field Read
226. ard to Bus Select CLC Card Options Send To CLC Get From CLC LLL Data Type Type Type 5 f C GF Card Parameter Destination Save To File Bet From File 1 E Register 15 Number 0 32767 Display 5 C Axis Parameter New Display Summary Takay PTEs Task Parameter Exit Figure 2 19 Adding Objects to the Non Cyclic Object Mapping List 9 Click Send to CLC to save the selected object mapping list to the CLC D card Use any of the following buttons as needed Saves the currently selected object mapping list to the CLC D Card to card Send To CLC parameter C 0 2600 if the cyclic DP channel is selected and C 0 2700 if the non cyclic FMS P Chan channel is selected Saves the currently selected object mapping list to file with a prm Save ToFile extension New Clears up the current object mapping list Gets the currently selected object mapping list from the CLC D Card from card Get From CLC parameter C 0 2600 if the cyclic DP channel is selected and C 0 2700 if the non cyclic FMS P Chan channel is selected Allows the user to open a previously saved file with a prm extension of an Bet From File object mapping list When the file is opened displays that object mapping list Generates on line summary report of the currently selected Fieldbus This Display Summary report can be printed by selecting Print from the Fil
227. ation Set e DOK DIAX03 ELS 04VRS 50M1 EN P Material No 273438 DOK DIAX03 ELS 05VRS 50M1 EN P Material No 276238 DIAX04 Drives with Electronic Gear Function Documentation Set e DOK DIAX04 ELS 05VRS 60M1 EN P Material No 276252 ECODRIVE DKC02 1 SSE SERCOS Function Documentation set DOK ECODRV SSE 03VRS PRJ1 EN P Material No 274825 ECODRIVE DKC 3 SMT Analog SERCOS Functions Documentation set DOK ECODR3 SMT 01VRS 71M2 EN P Material 279086 e ECODRIVE DKC 3 SGP ELS Functions Documentation set DOK ECODR3 SGP 01VRS 72M1 EN P Material 279094 The purpose of this manual is to provide a guideline for the first time user The goal is not to develop the application program but to assist the user in bringing the system on line for the first time and insuring proper system functionality The descriptions in this guide concerning drive displays CLC card LED s etc assume that the reader is a first time user of the VisualMotion control system It is assumed that the VisualMotion components and digital drives are installed properly and that all corresponding hard wiring has been completed For more information refer to the following VisualMotion Manuals e VisualMotion GPS 6 0 Trouble Shooting Guide DOK VISMOT VM 06VRS WAR1 AE P Material No 282759 e VisualMotion GPS 6 0 Reference Manual DOK VISMOT VM 06VRS FKB1 AE P Material 280585 DOK VISMOT VM 06VRS PRO2 AE
228. ation between the computer and the CLC The following items describe the different methods of communication Serial Communications If you are communicating with the CLC D P or V via the computer s serial port the topic name will be serial where xis the CLC device number card parameter C 0002 The default for a CLC D and CLC P is device 40 The CLC V is Switch selectable via the Mode switch on the front of the card PC Backplane Communications If you are communicating with the CLC P via the PC backplane the topic name will be isa x where x is the PC address of the card VME Backplane Communications If you are communicating with the CLC V via the VME backplane the topic name will be xycom x where x is the VME card address set by the Mode switch on the front of the CLC V If you are still not sure of the topic name it can be found in the CLC server application after VisualMotion has established communications with the CLC To find the active topic name open Server Configuration under the Settings menu in the clc dde server application The topic name is found in the CLC Status Display box Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 5 10 DDE Client Interfaces VisualMotion 6 0 Tagnames To display a CLC parameter variable etc in Wondware the following type of tagname can be used Dictionary Tagname Definition Details Alarms Both None Tene Tagname
229. ations Sales area West INDRAMAT GmbH D 40880 Ratingen HarkortstraBe 25 Telefon 02102 4318 0 Telefax 02102 41315 Customer service locations in Germany Austria G L Rexroth Ges m b H Gesch ftsbereich INDRAMAT RandlstraBe 14 A 4061 Pasching Telefon 43 7229 644 01 36 Telefax 43 7229 644 01 80 Finnland Rexroth Mecman OY Riihimiehentie 3 SF 01720 Vantaa Telefon 358 9 84 91 11 Telefax 358 9 84 63 87 Italy Rexroth S p A Divisione INDRAMAT Via G Di Vittoria 1 1 20063 Cernusco S N MI Telefon 39 2 923 65 270 Telex 331695 Telefax 39 2 92 36 55 12 Spain Goimendi S A Division Indramat Jolastokieta Herrera Apartado 11 37 San Sebastion 20017 Telefon 34 43 40 01 63 Telex 361 72 Telefax 34 43 39 93 95 Russia Tschudnenko E B Arsenia 22 153000 Ivanovo RuBland Telefon 7 93 22 39 633 Belgium Mannesmann Rexroth N V S A Gesch ftsbereich INDRAMAT Industrielaan 8 B 1740 Ternat Telefon 32 2 582 31 80 Telefax 32 2 582 43 10 France Rexroth Sigma S A Division INDRAMAT Parc des Barbanniers 4 Place du Village F 92632 Gennevilliers Cedex Telefon 33 1 41 47 54 30 Telefax 33 1 47 94 69 41 Italy Rexroth S p A Divisione INDRAMAT Via Borgomanero 11 1 10145 Torino Telefon 39 11 771 22 30 Telefax 39 11 771 01 90 Sweden AB Rexroth Mecman INDRAMAT Division Varuvagen 7 5 125 81 Stockholm Telefon 46 8 727 92 00 Telefax 46 8
230. be configured by GPS in SERCOS telegram to update data Otherwise unexpected GPS system errors may occur 2 The data in this parameter is ONLY interpreted as type Float 3 This parameter is valid for fieldbus mapping in firmware version 06v64 and later The data is read written via the fieldbus in SERCOS phase 4 only This parameter requires additional GPS resources to transfer data to from the fieldbus Therefore care must be taken when using it for fieldbus communications with consideration to GPS system resources Monitor GPS Register 26 for fieldbus mapping resource consumption and increase the SERCOS update C 0 0099 if necessary 4 No limit checking is performed when writing to this parameter via a fieldbus Therefore care must be taken to ensure the proper data is sent Table 3 1 Fieldbus Accessible Parameters part 1 of 3 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 4 Information for the GPS Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 Parameter Cyclic Non Cyclic Direct Mapped Type No Description Read C 0 0016 C 0 0020 C 0 0021 C 0 0022 Communication Time Out Period Transmitter Fiber Optic Length User Watchdog Timer User Watchdog Task ID C 0 0030 Option Cards Active C 0 0031 Option Card Status World Large Increment World Small Increment C 0 0045 World Fast Jog Speed C 0 0046 World Slow Jog Speed C 0 0052 Axis Large Increment C 0 0053 Axis Small Increment C
231. be modified in VisualMotion32 If Serial Port is the selected communication link then enter the COM port that your computer is using Match the baudrate of your COM port to that of the CLC port The default baudrate is 9600 Figure 2 20 CLC D Installation Screens IS incramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 35 CLC Card Setup CLC Card Setup Setup Complete CLC P01 address must match base address selected when the card was installed Refer to Table 2 1 CLC P01 card number and base address memory selection Figure 2 21 CLC P01 Installation Screens DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 36 System Installation VisualMotion 6 0 CLC Card Setup CLC Card Setup Setup Complete CLC P02 address must match base address selected when the card was installed Refer to Table 2 2 PC 104 memory address selection Figure 2 22 CLC P02 Installation Screens Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 37 Once VisualMotion Toolkit VMT is installed verify communications by performing the following procedure Start VMT by selecting Start Program Files gt Indramat gt VisualMotion Verify that the correct CLC hardware and card number are set within Setup Card Selection Select Status System from the main menu If proper communication has been established t
232. ber is 0 8 Ensure that the combo box under Fieldbus Error Reaction is currently set to Ignore Any other setting during setup will cause repeated error messages Set the desired Error Reaction when the machine is ready for commissioning See Fieldbus Error Reaction on page 3 9 for detailed information about the possible settings 9 Choose the radio button below the words To FieldBus 10 Click NEW to clear up any existing data in the current list Note The desired order of the data on the master determines the object types 16 or 32 bit and order of objects you place in the bus configuration list Therefore care should be taken when placing these objects 11 For each data type desired choose a corresponding available object in the list on the left and click APPEND to place it at the end of the Bus Conf IN List Each available object has a typecode to identify its size and type Figure 2 14 Configuring the Interbus Configuration IN List contains a description of the typecode Following are descriptions of the buttons to manipulate the bus configuration lists APPEND inserts an available object after the last word placed in the current list DEL removes the selected object from the current list INSERT inserts an available object above the selected object in the current list NEW clears up the current list only in the direction selected under Available Objects DOK VISMOT VM 06VRS PRO2 AE P 09 99 I
233. bit which are declared and transmitted as an ordered list the bus configuration list This bus configuration list acts as a placeholder for CLC D mapped data from the CLC D object mapping list See Object Lists and Their Transfer Locations DPF05 x Fieldbus PLC Field Object List network update poll from master CLC Data Object Bus Config uration List C 2640 through C 2698 Mapping List C 2600 Figure 1 2 Object Lists and Their Transfer Locations for Cyclic Data The cyclic data channel is limited to a total of 16 input words and 16 output words CLC D data types consume these objects in either one word or 16 bit groups for CLC registers or two word or 32 bit groups for all other data types in the object mapping list C 0 2600 Note The bus configuration list must be set up in the field bus mapper bus configuration screen before the object mapping list can be configured Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 General Information 1 3 For the cyclic data the CLC D data object mapping list is scanned every third SERCOS update cycle and data is sent and received to from the slave board s dual port RAM The cyclic data channel can be made up of any combination of the following data types e Real Time Channel Single Channel Multiplex Channel e Parameter Channel 0 Multiplex Channel Parameter Channel Real Time Channel
234. ble cyclic data For this reason the transfer of diagnostic messages must be made over the non cyclic FMS or Parameter Channel it is not allowed over the real time channel There are two types of non cyclic data transmissions for the CLC D VisualMotion system e data transmitted via the data exchange object e data mapped directly to CLC D data types Non cyclic data can be accessed via e FMS support of the Fieldbus master e the parameter channel Direct Mapped Data Just as there are pre defined cyclic data objects for mapping CLC data to the Profibus DP channel there are also pre defined non cyclic data objects 16 and 32 bit that can be mapped to CLC data types Non cyclic objects have the following numeric names e 16 bit 5F60 5F7F and 5F90 5FBF e 32 bit 5F00 5F1F This type of data is mapped using the non cyclic data mapping list C 0 2700 It provides easy access to non cyclic data However the fixed mapping list is limited to a certain number and types of CLC D data The directly mapped non cyclic data take note of size and direction can be assigned to the following objects Number of Data Size Direction Numeric Objects reference Names of Available Master Fieldbus Objects 16 32 bit in 5F10 5F1F 16 32 bit out 5F00 5FOF 32 16 bit i 5F60 5F6F 5FA0 5FAF 32 16 bit 5F70 5F7F 5Fb0 5FbF Table 1 3 Non Cyclic Data Objects Note The available CLC data types for directly mapped non cy
235. ccupied 1K of the short VME address space Card base addresses are assigned on 1K boundaries within the 64K short address space by properly placing jumpers on the card and setting CLC parameter C1 8 The XVME 202 is a half height 3U VME card If the XVME 202 you receive has the standard half height front panel installation of the card into the full height VME card enclosure requires replacement of the half height front panel with a full height front panel available from Xycom part number XVME 941 This is replacement is required for proper forced air cooling of cards in the VME enclosure Indramat s I O drivers for the XVME 202 map CLC input registers 100 through 115 to inputs on each of the 16 possible PAMUX stations Registers 120 through 135 are mapped to the outputs on the PAMUX units If a station with less than 32 I O bits is used the number of inputs and outputs are selected by setting Parameter C1 7 PAMUX CLC register PAMUX CLC register station station base address base address 0 qo Do 10 8 tor DI 9 10 19 L ue Configuration Parameters Parameter C1 5 Parallel I O Device must be set to 1 indicating that the Xycom XVME 202 is the I O device type Parameter C1 6 Parallel Device Setup must be set to individually enable each of the sixteen PAUMUX I O stations that are installed Example 0000000000000101 CP 1 6 PAMUX station addresses 0 and 2 enabled DOK VISMOT VM 0
236. ce Abs begin motion for a particular Motion Type non Commands the axis function argument AxisNumber to 2 coordinated Causes the program flow to wait for the axis to be in position TIER Standard FINISH for all programs No optional returned NA QUA values SUBROUTINE SET IO ICON DESCRIPTION Standard START for all programs Declares the name type minimum value and maximum value for all Function Arguments used in the subroutine Branch Setup monitors the condition of the variable function argument State and compares the value before program flow continues The I O Setup Box sets the state of the function arguments Hegister and Bit Standard FINISH for all programs No optional returned values lt gt DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 20 Example Programs VisualMotion 6 0 SUBROUTINE COUNT ICON DESCRIPTION Standard START for all programs No Local Variables or Function Arguments required The WAIT Control Box sets a pause in the program flow using the function argument Time Standard FINISH for all programs No optional returned values SUBROUTINE WAIT Standard START for all programs Declares the name type minimum value and maximum value for all Function Argument used in the subroutine The CALC setup box adds the equation Cycle Count 1 to the Cycle Count variable Standard FINISH for all programs No optional returned
237. ce Address 2 93 Available Objects Bus Conf OUT List From Word t Word Type FieldBus FieldBus 0 Single Single Length of DP channel w ord ie mo 032_1_5 5EF1 Single 032 2 S 5EF2 52 Single Single Parameter Channel Single Off 4 6 B E c C 032 7 5 3 Single Configure Multiplex Channel En 2 8 5 Enable T Input Data nee F Output Data D16 4 5 5 94 016 5 5 5F35 N Highest Index Field Bus Error Reaction 22 Bytes Used ignore DK Send To CLC Cancel Figure 2 5 Configuring the Profibus Configuration OUT List 13 For each data type desired choose a corresponding available object in the list on the left and click APPEND to place it in the Bus Conf OUT List If you are configuring a new list click on the NEW button to clear any current data in the selected list We have now allocated the data objects in the cyclic channel so the desired data can be transferred between the CLC D card and the Profibus Fieldbus card see Figure 2 5 Configuring the Profibus Configuration OUT List Note The non cyclic data requires no configuration of objects in a list These objects are addressed directly and preassigned as non cyclic They need only to be mapped to the CLC D data 14 Click OK Send to CLC The following window appears Field Bus Mapper Warning N Please Re power C
238. ce Object list 5 Select or fill in the Destination In our example we must select Register 100 from the list in the pop up screen shown in Figure 2 7 Sample Selection List OR type 100 as the destination Note The Fieldbus Mapper selection lists display only the labels of the currently active program Card Data Type Selection No label names defined in this Program Task4_Control TaskB_Control TaskC_Control TaskD_Control System_Diag_Code Figure 2 7 Sample Selection List 6 The source objects that are applicable to this data type will appear in the Source Object list Choose the first available object 7 Click the Add button The object will appear in the OBJECT MAPPING LIST at the right Note This step associates the object assigned in STEP II to the CLC D data The CLC D scans the list created in this step and executes each mapping instruction in order during every third SERCOS update cycle Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 7 VisualMotion 6 Field Bus Mapper File Help OBJECT MAPPING LIST r Select Bus Options 1 25 Bus Type Define Config Slave Objects DP Channel Profbus m Source bject Total of 1 record s Profibus RX0 100 2 055 32 single Buen Ox5F93 single pP FMS P Chn Select Mapping Direction e 7778 repeat A ae CLC
239. chnical representative for location of this file 4 2 Multiplex Data Bits in the Control and Status Words Figure 4 1 Bit Definitions in Multiplex Control and Status Words contains diagrams of the bits contained in the control and status words and their bit definitions The bits marked with are currently not used The control word is appended as the last word of the cyclic data content and the status word is appended as the slave response in the cyclic data input Multiplex Control Word PLC CLC XX i DK DKK KK KK Multiplex Control Index DATA defines the Index command VALID for multiplexing BIT setby the PLC when output data is valid forthe CLC Multiplex Status Word CLC PLC 38 9 DK DK KKK KK DATA Multiplex Status Index gt DATA READY confirms that the Index RE BIT response location matches that CEIVED set to 1 by the of the command location BIT CLC when the after PLC input data acknowledgement is validated and receipt of command values and data valid bitin control word Figure 4 1 Bit Definitions in Multiplex Control and Status Words DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 2 Information for the PLC Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 Figure 4 2 Write Write and Read Process and Figure 4 3 Read Only Process explain the exchange of multiplex information between the master PLC and the slave CLC D using the
240. clic data are the same as for directly mapped cyclic data DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 8 General Information Data Object Types and Sizes Sending and Receiving the Same CLC D Data Non Cyclically Indramat Profibus Fieldbus Interfaces for VisualMotion 6 0 The following table outlines the directly mapped CLC D data object types that can be transmitted via the non cyclic channel and the amount of space in data words that each data type consumes CLC Data Object Type Data Size in Data Words reise Integer currently active program ONLY Float currently active program ONLY Table 1 4 Data Object Types Sizes Two separate objects will be consumed when sending and receiving the same CLC D data both cyclically and non cyclically Data Exchange Objects Four data exchange objects 5E70 to 5E73 are available for the transfer of non cyclic data These objects represent fixed data containers of varying lengths that transfer the VisualMotion ASCII Protocol to the CLC D card in the same way that data is transferred using the VisualMotion ASCII Format in the Parameter Channel These objects serve as an open ended possibility to access any VisualMotion data including cams diagnostic text etc but more work is required in the master to perform a transmission of this type For more specific information about these objects see Non Cyclic Transmission Direct Mapped Objects on page 4 19 D
241. click OK This will place the new label in the Rate field of the icon s dialog window Velocity Control Box x Ayxis integer Glx or label Rate float Fx GFx or label The velocity s rate is nowa i variable Click on OK to complete Velocity the variable process i Cancel Caption 8 Now use the same procedure to add variables for the MOVE icon the second lower WAIT icon After all the variables are assigned Save Compile and Download the VisualMotion program and activate To view programmed variables within a VisualMotion program select Data Variables Indramat 3 14 Create Download Sample Program VisualMotion 6 0 Double click on the program User Defined Labels icon to display the dialog window a Velocity Control Box Current window displays velocity rate as the constant 100 units min Click on the User label button to change the constant to a variable Click Add for User Variable addition Add User Variable Allowable Click on Save and then Cancel to accept variable types the entry and return to the User Defined are listed within 2 Label Window the icon s dialog window Velocity OMEN Velocity variable for Axis 1 cene inc a All variables added to the F1 Velocity current VisualMotion program will be displayed Melocity variabe for Axis 1 Velocity Control Box Click on OK to return to the Velocity Control Box dialog wi
242. ctrical Specifications mmm typical DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat C 8 Non CLC Hardware VisualMotion 6 0 Xycom XVME 201 Digital I O Xycom 201 1 0 Example Xycom 201 Parallel 1 0 two 50 wire ribbon IDC 48 1 0 per Card 16in 320ut 24 24 32 16 VME Backplane CLC Card I O Registers m Control 5 l O Station 2 0001 0400000000000000 Reg Bits Task uem Inputs 101 8 0002 0000000000000000 Outputs 121 16 0005 0000000000000000 Axis Control 0011 0000000000 00000 0018 0000000000000000 0020 00000000 0025 0000000000000000 Axis Status 0031 0000000000000000 Mapper 0039 0000000000000000 R R DDS 1 0 M 0040 0000000000000000 Transfers 0087 0000000000000000 User System Inputs 0100 1111111111111111 0101 0000000011111111 0119 0000000000000000 User System Outputs 0120 0000000011111111 0121 1111111111111111 0139 0000000000000000 Undefined User System 1 0 0140 000000000000000 2048 0000000000000000 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Non CLC Hardware C 9 Each Xycom XVME 201 digital module provides a maximum of 48 I O points as two groups of 24 A ribbon cable connects each 24 point group to an Opto 22 station that contains appropriate Opto 22 modules Up to eight XVME 201 card
243. cts Basic Example 2 4 Multiplex Example Cyclic 2 14 B baud rates supported by DPFO5 x 5 1 Bit Definitions Register 19 Cyclic Data Valid 3 7 FB Init OK 3 6 FB Slave Reagy 9 6 nCyc Chan 9 7 Non Cyc Ready 3 7 NVM FW 3 7 Register 20 FB Card Fault Code 3 8 FB Card Found Register 26 Current Miss Counter 3 9 Fieldbus Timeout Counter 3 9 Peak Miss Counter 3 9 Bus Conf IN List Basic Example 2 3 Multiplex Example Cyclic 2 14 Bus Conf OUT List Basic 2 5 Multiplex Example Cyclic Data inne 2 15 Bus Configuration Lists APPEND Button DEL Button INSERT Button NEW Button Bus Type Basic Example 2 2 Cyclic Data 2 6 Multiplex Example Cyclic Data 2 12 2 16 Non Cyclic Data Buttons APPEND iii 2 4 2 14 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Index 6 1 2 4 2 14 Display Summary 2 7 2 9 2 18 2 19 oir 2 7 2 9 2 18 2 19 Get From CLC 2 7 2 9 2 18 2 19 Get From File 2 7 2 9 2 18 2 19
244. d Bus Mapper Examples Multiplexing 2 11 Parameter Channel 2 20 Examples Fieldbus Diagnostics Fieldbus Error Reaction 3 9 Fieldbus Mapper 1 1 Fieldbus Master 1 1 fieldbus message header 4 16 Fieldbus Resource Monitor 3 8 Fieldbus Slave Fieldbus Status fieldbus summary report 2 7 Fieldbus Accessible Parameters 3 3 File Menu DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Display Summary 3 1 sop Ed 3 2 first 1 4 4 FMS Fieldbus Message Specification 1 2 From FieldBus Basic Example 2 4 Multiplex Example Cyclic 2 15 G Get From CLC Cyclic Multiplex Data 2 18 Cyclic Single Data 2 7 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data 2 9 Get From File Cyclic Multiplex Data 2 18 Cyclic Single Data 2 7 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data 2 9 GPS Programming 3 1 H
245. d Non Cyclic Data with Multiplexing 2 10 STEP II Configure Fieldbus Slave Card with Setup Information and Cyclic Data Object Lists Using the Fieldbus 2 11 STEP Define Cyclic Data Mapping Lists 2 15 STEP IV Define Non Cyclic Data Mapping Lists Direct Mapping 2 17 Information for the GPS Programmer 3 1 3 1 Viewing Printing a Summary Report of the Current Fieldbus only when CLC D is on line 3 1 To View a Summary 3 1 To Print a Summary Report 3 2 3 2 Fieldbus Accessible Parameters 3 3 3 3 Register 19 Definition Fieldbus 3 6 Diagnostic Object 5 2 3 6 Bit Definitions eek ra Ete derer neces 3 6 3 4 Register 20 Definition Fieldbus 3 7 Diagnostic is al al 0 3 7 Bcc 3 8 3 5 Register 26 Definition Fieldbus Resource 3 8 Bit Definitioris ues ete NE ceeded eda So eel dean 3 9 3 6 Fieldbus Error R action eiie 3 9 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat Il Conten
246. d per axis 16 bit 16 bit Register Register Register 1 Register 31 Register 33 11 12 13 Multiplex Position Command Floats called out in Multiplex Axis Parameter 102 Feedback Position 32 bit VisualMotion program see Note 32 bit NES Flatll Float21 Float 31 Parameter Parameter Parameter 2 A 1102 A 2102 A 3 102 Multiplex Counter Integers called out in Multiplex Axis Parameter 112 Feedback Velocity 32 bit VisualMotion program see Note 32 bit Integer 11 n nteger 21 Integer 31 Parameter Parameter Parameter A 1 100 A 2 100 3 100 Multiplex Dwell Time Integers called out in Multiplex Maximum Attempts Integers called out in 32 bit VisualMotion program see Note VisualMotion program see Note Integer 14 Integer 13 Integer 23 Integer 33 Note We suggest devising a system for assigning multiplex integers and floats to particular axes or data sets However there is limitation on how to divide multiplex objects except size In our sample data the system is as follows 1 digit Axis number 274 digit Purpose e g position counter dwell For example Integers in above sample data Indramat LU S nA Table 2 4 Sample Cyclic Data with Multiplexing DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 11 Non Cyclic Data We will assume that the following data will be transferred non cyclically for system initialization or setup Remember the
247. d receiving the same CLC D data both cyclically and non cyclically If you wish to cyclically send and receive the same CLC D data the Output mappings should come first in the list see Fieldbus Mapper Examples Basic Example on page 2 1 The non cyclic channel is used for data that needs to be transferred only once or sporadically such as e transmission of lists e parametriziation of axes or programs e non cyclically mapped data Instead of being updated during each cycle non cyclic data is transferred in one word increments over the PCP channel The PCP channel is automatically inserted in the Interbus communications using the Indramat DBS boards No initialization is required Though any data type can be transferred non cyclically diagnostic messages and drive parameters S and P must be transferred non cyclically because of the non cyclic retrieval for drive parameters through SERCOS and the length of the diagnostic messages For example ASCII text in a diagnostic message requires one data word for every two ASCII characters The non cyclic channel can transfer only up to 16 data words or 32 characters of a diagnostic message at once This would mean that one diagnostic text message if 32 characters or more could consume all the available cyclic data For this reason the transfer of diagnostic messages must be made over the non cyclic PCP channel it is not allowed over the real time channel There are
248. d the machine s specifications 1 Before installing the CLC D control card reset the card s memory e Remove the battery by sliding it out of the holder Lay the battery down on a non conductive surface e Using an insulated wire with alligator clips short the leads of capacitor C8 found below the battery e Re install the battery DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 6 System Installation VisualMotion 6 0 CLC D Memory Reset The procedure above resets the card s memory by removing the following items Warning e CLC System parameters C 0 xxxx e Axis parameters A 0 xxxx e Task parameters e CLC Cam tables PLS and PID data e Events I O Mapper FieldBus Mapper e Points tables Variables Zones e Downloaded VisualMotion programs 2 Confirm the desired baudrate on connectors X27 and X28 before installing the card Refer to the VisualMotion 6 0 Project Planning for setting serial ports X27 and X28 via jumpers S1 and S2 3 Install the CLC D card in an available slot of the digital drive unit or the CCD stand alone card cage Typically the CLC D card is installed next to the DSS card in slot U2 4 Install the fiber optic SERCOS ring by first connecting the CLC Tx to the DSS Rx of drive 1 Then connect the DSS Tx of drive 1 to the DSS Rx of drive 2 Repeat until the last drive drive n is connected Then connect the DSS Tx of drive n to the CLC Rx to complete the ring Drive 1 Drive 2 Drive n
249. date cycle For every 10 mapping list update attempts 30 SERCOS update cycles the failed attempts are counted and displayed in these bits values can range from 0 9 If 10 out of 10 mapping list updates attempts are missed the Fieldbus Timeout Counter is incremented by one This is an indication of a Fieldbus Mapping Timeout Error Status bits for the Peak Miss Counter These bits monitor the Current Miss Counter s peak count between a value from 0 9 and holds that value until a larger count is encountered Status bits for the Fieldbus Timeout Counter The count of these bits increments by one every time the Current Miss Counter encounters 10 out 10 missed attempts of the cyclic mapping list update A count incremented by one represents a Fieldbus Mapping Timeout Error and is process by GPS according to the selected Fieldbus Error Reaction in parameter C 0 2635 See Fieldbus Error Reaction for an explanation of the Fieldbus Error Reaction setting Note The GPS programmer can monitor the Current Miss Counter and define a custom error reaction for missed mapping list update attempts less than 10 Note The values in register 26 are read write and can be reset by the user 3 6 Fieldbus Error Reaction Fieldbus Mapper Timeout Note The Fieldbus Error Reaction setting is active only in SERCOS Phase 4 In all other SERCOS phases it will be inactive You can choose how you would like the CLC D system to react in ca
250. dbus interface card FB Card Found The bit combinations for x13 x14 and x15 are as follows mus ms uro fede Type p e p sow s sepe t e memegems 0 i peres poro C a Hs 1 HO e e eme Table 3 7 Identification of the Fieldbus Interface 3 5 Register 26 Definition Fieldbus Resource Monitor Indramat The Fieldbus Resource Monitor in register 26 can be used as a method for monitoring the attempts made to process the Object Mapping List parameter C 0 2600 across the Dual port RAM If after three SERCOS update cycles the Object Mapping List is not successfully transmitted a miss is noted Register 26 is divided into the following three counter types e Current Miss Counter Peak Miss Counter e Fieldbus Timeout Counter Table 3 8 Bit Assignment for Fieldbus Resource Monitor Register 26 contains the bit assignment for the Fieldbus counters The assigned bits are labeled with an x followed by the bit number Current Miss Counter Peak Miss Counter Fieldbus Time out Counter 15 14 13 12 11 10 x16 x13 x12 x11 x10 x9 x8 Table 3 8 Bit Assignment for Fieldbus Resource Monitor Register 26 Note View register 26 in Hexadecimal format to more easily monitor the Fieldbus counters Hex display format of register 26 0x0000 Fieldbus Time out Counter 00 FF Increments by one every time 10 cyclic mapping list attempts are miss
251. der splines ABSOLUTE POINT TABLE 120 100 80 SLAVE 60 40 20 0 0 30 60 90 120 150 180 210 240 270 300 330 360 MASTER After the Cam table is built the Cam icon uses the Cam equation to associate the Cam table to the slave axis The coefficient variables defined below are a part of the Cam equation and will adjust the slave axis position With the program running Adjust the variables as outlined below to see the effect they have on the slave axis M CAM M multiplying scaling term of the master position N CAM N divisional scaling term of the master position H CAM H cam scaling term stretch factor L CAM L linear scaling term of master position M 1 N 1 H 1 L 0 M CAM M 1 CAM 1 j H CAM H L CAM L 0 With these coefficients the slave axis will rotate back and forth between 0 and 120 degrees The slave axis is directly following the Cam without any position adjustments SLAVE 0 45 90 135 180 225 270 315 360 MASTER Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 25 1 N 1 H2 L 0 M CAM M CAM H CAM H 2 L CAM L 0 With these coefficients the slave axis will rotate back and forth between 0 and 240 degrees The slave axis is following the Cam with a scale factor of two lt gt c m a 0 45 90 135 180 225 270 315 360 MASTER Mz1 1 H 1
252. direct mapped non cyclic data is intended for infrequent data transfer Note See Table 1 5 Non Cyclic Data Objects for data limitations Output Data Size i Input Data Size From Fieldbus Master Data Words i From CLC Card Data Words to CLC Card to Fieldbus Master Float 16 Float 5 7 Integer 8 Table 2 5 Sample Non Cyclic Data with Multiplexing Note For other data types such as diagnostic text messages or S and P parameters use the data exchange object STEP Il Configure Fieldbus Slave Card with Setup Information and Cyclic Data Object Lists Using the Fieldbus Mapper Important The drive must be set to Parameter Mode to configure and assign the data mapping for Fieldbuses STEP Il and STEP III 1 In the VisualMotion Data Menu select Fieldbus Mapper CLC File new str Task File Edit View Setup Tools Status Options Help Indexer Events Field Bus Mapper 140 Mapper PID PLS Points Registration Registers Sequencer Variables Zones Figure 2 11 Selecting the Fieldbus Mapper from the main VisualMotion Screen 2 Inthe scroll box under Bus Type choose the desired bus Interbus The bus type may appear automatically if the Fieldbus card is connected and the firmware version is recognized 3 Choose the cyclic data channel PD DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 12 Fieldbus Mapper Examples Interbus Fieldbus Interfaces for Visua
253. e T0002 RaelitSas Ts xg E 1 Must be configured by GPS in SERCOS telegram to update data Otherwise unexpected GPS system errors may occur IA qn 2 The data in this parameter is ONLY interpreted as type Float 3 This parameter is valid for fieldbus mapping in firmware version 06v64 and later The data is read written via the fieldbus in SERCOS phase 4 only This parameter requires additional GPS resources to transfer data to from the fieldbus Therefore care must be taken when using it for fieldbus communications with consideration to GPS system resources Monitor GPS Register 26 for fieldbus mapping resource consumption and increase the SERCOS update C 0 0099 if necessary 4 No limit checking is performed when writing to this parameter via a fieldbus Therefore care must be taken to ensure the proper data is sent Table 3 3 Fieldbus Accessible Parameters part 3 of 3 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 6 Information for the GPS Programmer Interbus Fieldbus Interfaces for VisualMotion 6 0 3 3 Register 19 Definition Fieldbus Status Diagnostic Object 5FF2 The diagnostic object 5ff2 holds the information for Fieldbus Status and this information is stored in VisualMotion Register 19 The register information can be referenced in a VisualMotion application program to respond to the status of each bit The use of these bits is application depende
254. e 2 14 N nCyc Chan 3 7 New Cyclic Multiplex Data 2 18 Cyclic Single data 2 7 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data 2 9 3 7 Non Cyclic Channel 1 2 1 7 Non Cyclic Data Channel Multiplex Example 2 18 Non Cyclic Data Mapping Lists Direct Mapping Basic Example Multiplex Example Non Cyclic Transmission Data Exchange Objects 4 19 Number of Valid Data Bytes 4 5 NVM FW 4 2 2 2 42 3 7 Indramat 6 4 Index Indramat Interbus Fieldbus Interfaces for VisualMotion 6 0 OBJECT MAPPING LIST Basic Example Cyclic 2 6 Non Cyclic Data 2 9 Multiplex Example Gyclic Data t 2 17 Non Cyclic Data 2 18 OK Send to CLC Basic Example 2 5 Multiplex Example Cyclic 2 15 1 2 Parameter Channel 1 2 1 6 2 20 Short Format 2 1 6 VisualMotion ASCII Format 1 6 Parameter Mode Basic Example 2 7
255. e Properties from the main menu and click on the Configure button 9 In order for Bl aw re to acknowledge the new baudrate setting Disconnect and Reconnect HyperTerminal press Enter and pROBE gt will once again be displayed 10 Type the UPDS command followed by the Enter key to initiate firmware updating The screen will display the following lines indicating that the CLC is now ready to accept the S record for Flash programming pROBE gt UPDS Updating Firmware _ 11 To begin the firmware download select Transfer Send Text File and navigate to the directory containing the file Change File types to ALL files select the firmware file p2gps6v56 abs and click on OPEN A point will be sent as an acknowledgment from the CLC for each line programmed Once the download process is complete the pROBE function will return the following message The firmware download will take approximately 11 min 00 seconds at 38400 bps Flash EPROM was successfully programmed pROBE gt 12 To activate the new firmware type STRT and HyperTerminal will display start executive firmware Y N enter yes and after a few seconds the new firmware will be running To confirm that the new firmware has been successfully downloaded start VisualMotion Toolkit and select Status System new firmware description will be displayed next to Version Number DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMoti
256. e server The 503 can be considered a server in this case The PCP 2 0 software supports the functions specified by the Peripheral Message Specification PMS These are subsets of the PCP Interbus specification DIN 19256 T2 which is in turn part of the Manufacturing Message Specification MMS DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Interbus Slave Board 08503 5 7 Addressing of PCP Devices on the Bus Devices and cards in the Interbus ring are normally addressed according to the position of each device In an IDENTIFY cycle during INITIALIZATION of the bus the master determines how many devices with which bus length are on the Interbus ring The master can recognize which data word belongs to which device because all devices are seen as a large array If devices have PCP capabilities an additional addressing system is necessary for these devices The addressing of the Process Data is not affected In Interbus the communication between a master and a slave begins ends between Level 7 of the OSI model and the actual application These end points are designated with internal address that is known as the Communication Reference KR by Interbus and other Fieldbus systems Only the PCP compatible devices receive a KR designation beginning with KR 2 Non PCP compatible devices that are located between PCP compatible devices do not receive a KR designation Note Th
257. e DBSO3 x card supports one PCP access at a time Only one KR is available and no parallel services are supported Setting Interbus device addresses via switches jumpers or software settings is not possible because of the addressing according to location on the bus and the allocation of KR designations as addresses for PCP compatible devices 5 7 DBSO3 x Objects Objects for Diagnosing and Configuring the DBSO3 x Object Type Access from PD Number Master Channel Dummy Object 5FF1 16 R RW Yes Used as a filler object for the second word in double word objects sra wis R vs Fieldbus Operating Mode sra wis a Fieldbus Diagnostic sro ws Rives Fieldbus Sus sz ws Rives 5 5 ws n ve sre vs ws nmw ves O o CLC D Address Axis 5FF8 u16 Yes Number ws aw ve PD Moning ws lanw Ne sre ws nmw ve O o WitplexCon Word src ws ve O o WpexSausWod sro ws R ve Multiplex Channel Start 5FFE 16 R RW No First location in the list Offset pointing to the beginning of multiplex data Table 5 4 Objects for Diagnosing and Configuring the DBSO3 x DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 5 8 Interbus Sla
258. e Freely configurable cyclic channel with 1 16 word capacity on the bus Data transfer with the CLC D control card via Dual Port Memory e Hardware and software compatibility checking with the CLC D control card e Implementation of an object structure to simplify access to variables and parameters in the control card and drives e Upload Download function via 4 arrays from 16 to 128 Bytes Explicit Message Data Exchange Object e Via Fragmented Explicit Messaging a maximum of 128 bytes of data can be transmitted largest data exchange object e Available baud rates 125 250 and 500 kBps selectable via a CLC D parameter Default value 125 kBps e MAC ID includes the slave s device address and is set via the CLC D Default value 63 e For DeviceNet scanners operating in Motorola data format but not configurable for double word and byte arrays swapping can be set in the CLC D Fieldbus Mapper DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 5 2 DeviceNet DCF01 x Slave Board DeviceNet Fieldbus Interfaces for VisualMotion 6 0 5 3 01 Card Hardware Front View of the DCF01 x Supply Voltage CAN LOW Signal Reference Potential H20 Internal Status H21 Power Reset H22 I O Status H23 Network Status i H24 Module Status _ pAg Do v CAN L Drain 1 2 3 4 5 CAN HIGH Signal CAN Supply Voltage V DCF01 x Structure Interface to the Drive or CC
259. e cyclic DP channel is selected and C 0 2700 if the non cyclic FMS P Chan channel is selected Get From Fil Allows the user to open a previously saved file with a prm extension of an object mapping list When the file is opened displays that object mapping list Display 5 Generates an on line summary report of the currently selected Fieldbus This Lees report can be printed by selecting Print from the File menu in the Fieldbus Mapper window Exi Exits the Fieldbus Mapper utility DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 10 Fieldbus Mapper Examples Profibus Fieldbus Interfaces for VisualMotion 6 0 Note For debugging purposes the Fieldbus Mapper follows each mapped item with the cursor as it is saved to the CLC D If there is a problem with the mapping of a particular object an error message appears while the cursor remains on the object 10 Mapping is complete For programming information refer to Information for the GPS Programmer on page 3 1or Information for the PLC Programmer on page 4 1 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 11 2 2 Multiplexing Example Multiplexing is available in the cyclic DP channel for applications where more than the allotted 16 data transfer words are required For a more detailed description of multiplexing see Multiplex Data Types Cyclic Data Channel on
260. e menu in the Fieldbus Mapper window Exit Exits the Fieldbus Mapper utility Note For debugging purposes the Fieldbus Mapper follows each mapped item with the cursor as it is saved to the CLC D If there is a problem with the mapping of a particular object an error message appears while the cursor remains on the object 10 Mapping is complete For programming information refer to Information for the GPS Programmer on page 3 1or Information for the PLC Programmer on page 4 1 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 20 Fieldbus Mapper Examples Profibus Fieldbus Interfaces for VisualMotion 6 0 2 3 Parameter Channel Example Where support of non cyclic FMS communication is not available over the Fieldbus a subset of the cyclic DP channel can be allocated for non cyclic communications e g parameterization and extended diagnostic information This subset of the cyclic channel is called the parameter channel The parameter channel can be set up in the Fieldbus Mapper tool of the VisualMotion software when a CLC D card is used The first 4 or 6 data words of the DP channel can be allocated for the parameter channel Note If you are using only Short Format 2 messaging format only 4 words are needed by the system If you are using VisualMotion ASCII Format or a combination of both messaging formats 4 or 6 words can be used depending on the requirements of the real time information to be transmitted For more
261. e must be set to Parameter Mode to configure and assign the data mapping for Fieldbuses STEP Il and STEP Ill 1 In the VisualMotion Data Menu select Fieldbus Mapper CLC File new str Task File Edit View Setup Tools Status Options Help d Events Field Bus Mapper 140 Mapper PID PLS Points Registration Registers Sequencer Variables Zones Figure 2 1 Selecting the Fieldbus Mapper from the main VisualMotion Screen 2 In the scroll box under Bus Type ensure that the desired bus is selected If the DCF card is connected DeviceNet should appear 3 Choose the cyclic data channel Polled I O VisualMotion 6 Field Bus Mapper File Help Select Bus Options OBJECT MAPPING LIST Define Config Slave Objects Polled 1 0 Channel Br Toe Source Object Tetalof 0 record s DeviceNet Channels Add Pc Explicit Msg Delete Select Mapping Direction From Bus to CLC card From CLC card to Bus Select CLC Card Options Send CLC Get From CLC Data Type C C GF Card Parameter Destination Save ToFile Get From File C Ix C Gle C Register 16 Avis 0240 Display 5 C Axis Parameter New Tash A 71 Task Parameter Exit Figure 2 2 Main Fieldbus Mapper Screen Indramat DOK VISMOT VM 06VRS PRO2 AE P
262. e version is NOT supported by this Fieldbus interface card The CLC D hardware could support the Fieldbus interface but the firmware version is not recognized as valid by the Fieldbus card firmware x15 Status bit for the cyclic data output Cyclic Data Valid 0 gt The cyclic data outputs coming in to the CLC D are INVALID 1 The cyclic data outputs coming in to the CLC D are VALID The System looks for this bit to be 1 before allowing data transfer 3 4 Register 20 Definition Fieldbus Diagnostics Diagnostic Object 5FFO The diagnostic object holds the information for Fieldbus Diagnostics and this information is stored in VisualMotion Register 20 Table 3 6 Bit Assignment for the Diagnostic Object 580 VisualMotion Register 20 contains the bit assignment for the diagnostic object 5 The assigned bits are labeled with x and the bit number in the second row Unassigned bits are labeled with 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 P bee bt pepe e Table 3 6 Bit Assignment for the Diagnostic Object 5 VisualMotion Register 20 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 8 Information for the GPS Programmer DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Bit Definitions x1 x8 X13 x15 Fieldbus Interface specific fault code FB Card Fault Code Note This function is currently not available Identification of the Fiel
263. eNet DCF T x DCF card polled 1 0 configuration Information Device MAC ID Length of Polled 1 0 channel word 13 Baudrate 125000 32 bit object word swapping NO Explicit message Data Exchange Object byte swapping NO Multiplexing Input Enabled YES Multiplexing Output Enabled YES Highest Multiplexing Index 2 Figure 3 2 Summary Report View Window DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 2 Information for the GPS Programmer DeviceNet Fieldbus Interfaces for VisualMotion 6 0 To Print a Summary Report From the Fieldbus Mapper window select Print from the File menu New pen Save Save as Get List From CLC Bet List From File Send List To CLC Save List To File Display Summary Exit Figure 3 3 File Menu Print VisualMotion32 Toolkit FBM Summary Report Bus Type Profibus DPF 05 x Date 05 05 99 Page 01 Time 11 18 35 DCF card polled I O configuration Information Device MAC ID 7 Length of Polled I O channel word 13 Baudrate 125000 32 bit object word swapping NO Explicit message Data Exchange Object byte swapping NO Multiplexing Input Enabled YES Multiplexing Output Enabled YES Highest Multiplexing Index 2 Bus Confg Input List Polled I O Bus Confg Output List Polled I O Word Object Object Type Word Object Object Type 0 5 81 16 bit single 00 OxSF91 16 bit single OxSEB1 32 bit single 01 OxSEFI 32 bit single 0x
264. ear and circular segments the VM Controller has the capability of executing forward and inverse kinematic movement by using an application specific library of kinematic functions Kinematics must be developed by Indramat to customer specifications Contact Indramat Applications Engineering to inquire about applications which could benefit from kinematics Electronic Line Shaft ELS An Electronic Line Shaft is used to synchronize one or more slave axes to a master axis An ELS master be a real or virtual axis real master can be another axis in the system or an external feedback device such as an encoder A virtual master is a command generated by the VM System See ELS Icon Chapter 6 of the VisualMotion 6 0 Reference manual Each slave axis can use either velocity phase or cam synchronization An ELS also includes the capability to jog each axis synchronously or independently and to adjust phase offset and velocity while the program is running Velocity synchronization relates slave axes to a master in terms of rotational rate It is used when axis velocities are most critical as in paper processing operations in which two or more motors act on a single piece of fragile material Phase synchronization maintains the same relative position among axes but adjusts the lead or lag of the slaves to the master in terms of degrees lt is used when the positions of axes are most critical For example to achieve proper registration i
265. ection 3 Handheld Terminal A handheld terminal Siemens can be connected via the Profibus interface to set addresses X68 Connector Profibus Pin outs RS 485 INDRAMAT Signal per Definition Reference Signal Name DIN 19245 Section 3 LCD NN RN B B B RxD TxD P receive send data P P pw we paesrietsseus e NU IN d 1 A A RxD TxD N receive send data N CNTR N CNTR N repeater control signal N 1 minimum received connections for power fail module only Table 5 1 X68 Connector Profibus Pin outs X69 Connector External Inputs Note Not functional at this time X69 Label Input Voltage High Input Voltage Low 16 V 32 V 0 5 8 V 16 V 32 V 0 5 V 8 V 1 2 5 Table 5 2 X69 Signal Configuration External Inputs DPF05 x Diagnostics Front Panel LEDs The DPFO5 x front panel has eight diagnostic LEDs They enable the diagnosis of the Profibus current status and the communication between the DPF05 x and CLC D cards Figure 5 2 Arrangement of 5 Board Diagnostic LEDs DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 5 4 Profibus DP Combi Slave Board DPF05 x Profibus Fieldbus Interfaces for VisualMotion 6 0 Definition of Diagnostic LEDs Saws C _ USYS Power Power is supplied to the 5 via the CLC D card source of the X4 plug in connector or the X5 drive interface Profibus board B
266. ed Allows the user to open a previously saved with a prm extension of an Get From File object mapping list When the file is opened displays that object mapping list Generates on line summary report of the currently selected Fieldbus This Display Summary report can be printed by selecting Print from the File menu in the Fieldbus Mapper window Exit Exits the Fieldbus Mapper utility Note For debugging purposes the Fieldbus Mapper follows each mapped item with the cursor as it is saved to the CLC D If there is a problem with the mapping of a particular object an error message appears while the cursor remains on the object 10 Mapping is complete For programming information refer to Information for the GPS Programmer on page 3 1or Information for the PLC Programmer on page 4 1 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Information for the GPS Programmer 3 1 3 Information for the GPS Programmer 3 1 Viewing Printing a Summary Report of the Current Fieldbus only when CLC D is on line To View a Summary Report Display Summary From the Fieldbus Mapper Window click on the button or select Display Summary from the File menu New Open Save Save as Get List From CLC Get List From File Send List To CLC Save List To File display Summary Figure 3 1 File Menu Display Summary A scrollable window will appear PreView the
267. ed The DCF01 x card provides three hardware inputs 24V These inputs can only be used with the CLC D if the appropriate firmware is available The signal status at these inputs are transmitted to the CLC D independently of the DeviceNet Status On Off but can also be requested from the DeviceNet Master via Polled I O or Explicit Message these external inputs are currently not supported The DCFO01 x transceivers are supplied with power via the bus cable according to ODVA specifications This does not mean that the entire unit is supplied via the bus The CLC D control operates only if it has a separate power supply The DeviceNet interface is designed according to ODVA specifications and is optically isolated Connection can be made via a 5 pin Phoenix Combicon connector X78 Connector DeviceNet Dx Sigal Deep Gar L CAN LOW Signal Table 5 2 X78 Pinouts DeviceNet X77 Pinouts External Inputs not at this time X77 Description Input Voltage High Input Voltage Low 16 32 V 0 5 8 V REN 16 V 32 V 0 5 8 V 16 V 32 V 0 5 V 8 V 16 V 32 V 0 5 V 8 V Reference Potential OV Reference Potential OV Table 5 3 X77 Pinouts External Inputs Front Panel LEDs The DCFO01 x card has 5 diagnostic LEDs on the front panel They allow diagnosis of the status of the bus commincation and the communication between the DCF01 x and CLC D cards DOK VISMOT VM 0
268. ed by one represents a Fieldbus Mapping Timeout Error and is process by GPS according to the selected Fieldbus Error Reaction in parameter C 0 2635 See Error Reference source not found for an explanation of the Fieldbus Error Reaction setting Note The GPS programmer can monitor the Current Miss Counter and define a custom error reaction for missed mapping list update attempts less than 10 Note The values in register 26 are read write and can be reset by the user 3 6 Fieldbus Error Reaction Fieldbus Mapper Timeout Note The Fieldbus Error Reaction setting is active only in SERCOS Phase 4 In all other SERCOS phases it will be inactive You can choose how you would like the CLC D system to react in case of a Fieldbus error This reaction can be set in the Configure Slave Telegram screen using the combo box labeled Fieldbus Error Reaction Three options are available for the Error Reaction setting Depending on the selected setting the value 0 1 or 2 is stored in Parameter C 0 2635 Setting Value in Parameter C 0 2635 Shutdown CLC 0 default Table 3 9 Parameter C 0 2635 Values for Error Reaction Settings The Fieldbus Mapper continually scans the system for sufficient resources to process the cyclic data mapping list 2600 list If 10 mapping list updates are missed in a row the system is considered to DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 10 Information for the GPS Programm
269. ed in 10 attempts Peak Miss Counter 0 9 Displays the peak value of the Current Miss Counter Current Miss Counter 0 9 Displays the count of missed cyclic mapping list attempts out of the last 10 attempts DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Information for the GPS Programmer 3 9 Bit Definitions x13 x16 x9 x12 x1 x8 Note To view registers in hex select Data Registers within VisualMotion Toolkit If the registers are not currently viewed in hex format select Format Hex in the Active Program Register window Status bits for the Current Miss Counter An attempt is made to transmit the cyclic Object Mapping List C 0 2600 across the Dual port RAM every third SERCOS update cycle For every 10 mapping list update attempts 30 SERCOS update cycles the failed attempts are counted and displayed in these bits values can range from 0 9 If 10 out of 10 mapping list updates attempts are missed the Fieldbus Timeout Counter is incremented by one This is an indication of a Fieldbus Mapping Timeout Error Status bits for the Peak Miss Counter These bits monitor the Current Miss Counter s peak count between a value from 0 9 and holds that value until a larger count is encountered Status bits for the Fieldbus Timeout Counter The count of these bits increments by one every time the Current Miss Counter encounters 10 out 10 missed at
270. ee 2 14 N nCyc Chan Reagy 3 7 New Cyclic Multiplex Data 2 18 Cyclic Single data 2 7 Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data 2 9 Non Cyc Ready 3 7 Non Cyclic Channel 1 2 1 7 Non Cyclic Data Channel Multiplex Example 2 18 Non Cyclic Data Mapping Lists Direct Mapping Basic Example 2 8 Multiplex Example 2 18 Non Cyclic Transmission Data Exchange Objects 4 19 Number of Valid Data Bytes nVM FW OBJECT MAPPING LIST Basic Example Cyclic Data e 2 6 Non Cyclic 2 9 Multiplex Example Cyclic Data ete 2 17 Non Cyclic Data 2 18 OK Send to CLC Basic 2 5 Multiplex Example Cyclic 2 15 OUTPUT Era 1 2 Parameter Channel 1 2 1 6 2 20 Short Format 2 1 6 VisualMotion ASCII Format 1 6 Parameter Mode Basic 2 7 Multiplex Example 2 18 Parameters 3 3 P CHAN Components Control Status Word 4 4 Error Bit
271. ees Clear All Upload Download t Name D ate mm dd yy Time hh mm ss Size bytes Currently active program on CLC card Cancel sample 05 24 99 10 59 25 956 Data Transfer Creating an I O Map for DEA Card 1 Determine the correct register for your DEA card a Refer to Appendix C Non CLC System Hardware CLC VME I O Systems b Refer to the VisualMotion 6 0 Reference Manual Chapter 2 CLC I O Systems Registers 40 89 Chapter 4 VisualMotion Menu Commands I O Setup under the Setup Menu Even numbered registers are input registers and odd numbered registers are output registers 0051 L Register Type DEA Card 1 DEA 4 1 2 DEA 5 1 3 DEA Drive Address 1 8 Register 40 89 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 4 3 Run Sample Program Program Execution 4 9 The following procedure covers program execution and operation Before following this procedure be sure that the initial setup covered in the previous section Initial Setup Prior to Operation has been completed The sample program should be open within VisualMotion Toolkit and activated on the CLC card 1 Select Data Registers from the main menu Scroll down to register 100 and double click on it to open ig Active Program Register 0 0100 ii xi File Format Options Settings Name Data 0000000000000001 4 32 Bit one is high indicati
272. efer to figure 2 11 5 6 7 8 INT15 CLOSED OPEN OPEN OPEN INT11 OPEN OPEN CLOSED OPEN None OPEN OPEN OPEN OPEN Table 2 4 PC 104 Interrupt selection 4 Install the CLC PO2 card in the Host PC s PC 104 connector Reconnect all PC connections and power up the PC Note Proper connection of the CLC P02 card is confirmed when the red fiber optic light is transmitted through Tx Fiber Optic Transmission Light Bodily injuries Do not expose your eyes to the red fiber optic transmission light Confirm presence of light by Warning reflecting it off your hand 5 f VisualMotion Toolkit VMT is installed on your PC containing the CLC P02 card or a Laptop continue to step 6 If VisualMotion is not installed refer to section 2 3 VisualMotion Toolkit Installation and Setup before proceeding Start VMT and choose Card Selection from the Setup menu Select the appropriate connection method and set the card number to match the jumper settings of step 2 Card Selection Setup Connection Method PC 1 04 Bus Card Number 5 Card Selection Setup Connection Method Gerial Card Number 5 DDE Link read only Service DDE Topic eiat Close File DDE Link read only Service LC DDE Topic F C104 5 E Close File Figure 2 12 Card Selection Setup Note Proper VMT communication depends on the connection method selected PC 104 Bus c
273. eing updated during each cycle non cyclic data is transferred whenever time is available on the Fieldbus Though any data type can be transferred non cyclically diagnostic messages and drive parameters S and P must be transferred non cyclically because of the non cyclic retrieval for drive parameters through SERCOS and the length of the diagnostic messages For example ASCII text in a diagnostic message requires one data word for every two ASCII characters The non cyclic channel can transfer only up to 16 data words or 32 characters of a diagnostic message at once This would mean that one diagnostic text message if 32 characters or more could consume all the available cyclic data For this reason the transfer of diagnostic messages must be made over the non cyclic Explicit Messaging or Parameter Channel it is not allowed over the real time channel There are two types of non cyclic data transmissions for the CLC D VisualMotion system e data transmitted via the data exchange object e data mapped directly to CLC D data types Non cyclic data can be accessed via Explicit Messaging support of the Fieldbus master Direct Mapped Data Just as there are pre defined cyclic data objects for mapping CLC data to the DeviceNet Polled I O channel there are also pre defined non cyclic data objects 16 and 32 bit that can be mapped to CLC data types Data is mapped via the non cyclic data mapping list C 0 2700 It provides a means f
274. el Caption Slave Axis Mode Direction Master Ratio ClCcam 2 ELS Axis Configuration E dit Slave Axis integer or E Parameters Transfer 12 Sync Type Fine Adjust m Transfer type r Parameter type Phase Velocit C ToVaisble P System Otte UN To Parameter C Asis C Drive Cam Adjust Dearees Haat C Task Gey C DriveS C Drive P giu gi Parameter ID Number Source integer float Fx integer or label BFx Glx Ix or label J 157 0 d Zem Ks Km adjust 1 Cancel Caption This icon transfer a value of 0 00 to System parameter C 0 0157 ELS Master Current Position LI LI Figure 0 11 CAM program Part 1 of 2 DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 28 Example Programs VisualMotion 6 0 Task A CAM program Part 2 Go Resume Setup Motion T ype Coordinated ELS Mode Change GN Cancel xis integer Glx or label Caption Axis integer Glx 1 5 Ix or label J TESK Mode o Task A 71 Single Axis Mode Axis D identifies the Virtual Velocity Mode Master or CLC card Sync to Master CAM Phase Adjust HEI Type Mode 0 Master Phase Adjust Incremental Slave Phase Adjust Continuous Axis integer
275. elect Download to CLC archived file the desired drive and press OK Select the DriveO1pls prm file and press Open Programming PLS ON OFF Signal VisualMotion Toolkit will be used to select a Master Axis as well as the ON and OFF positions including lead times for the PLS function using bits 1 and 2 Save in a 01 6 Select Data PLS then Selection Drive 1 and enter the ON and OFF positions for Bits 1 and 2 PLS Setup Registers P Mode only Dutput number fi 10 Master Axis type is directly Master Anst F Mode ont 3 mapped to P 0 0131 Type Motor encoder hd P 0 0131 options Disable 0 Motor Encoder 1 External Encoder 2 Position Position Lead time ms On Position bits 1 16 are BEES 0 000000 0 mapped directly to P 0 0132 0 000000 0 000000 0 bits 0 15 mm Off Position bits 1 16 are 0 000000 0 000000 0 mapped directly to 0 0133 poe BUM 0 bits 0 15 ee Lead time bits 1 16 are directly mapped to P 0 0134 mum 0000000 0 bits 0 15 0 000000 0 0 000000 0 000000 0 0 000000 0 T 0 000000 0000000 0 m 0 000000 0 a 0000000 0 000000 0 000000 0 e Graph Limits Minimum Value N 000000 Eum Cancel 0 000000 0 000000 Bits 1 and 2 this screen are mapped to 0 0135 bits 0 and 1 respectively 7 After entering the
276. elocity Control Axis integer Glx or label eo o 89 T float Fx GFx or label 2 Edit Delete Ok Cancel Caption ELS Axis Configuration E dit Slave Axis integer or label ER E Sync T ype 3 Fine Adjust Phase C Velocity C CLC Cam Enabled C Drive Cam Slave Direction 3 et Same C Reverse Master Vel units min Cancel Caption 4 ELS Mode Change Go Resume Setup Axis integer Glx Ix or label m Motion Type To fi C Coordinated ies Non Coord m Tums Ks Slave integer Km Master integer Gls ar label Gls or label Mode Caption fi fi Single Axis Mode integer D em Ks Km adjust C Velocity Mode or label Previous Next Cancel siete ERO Cancel Caption Figure D 14 Programmable Limit Switch program Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 PLS Program Icons TASK A DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Example Programs D 33 Standard START for all programs No local variables required Initializes the PLS Assigns the position switch output to an unused register Selects the ty
277. elocity Window x Curent C 0 1016 Virtual Master Current Velocity 9 Steg o e_r _ c o 1019 Position Difference a x C 0 1509 Master 1 FilterType X P y C 0 1517 Master 1 Current Position Co1 8 Master 1 Current Velocity xo 01550 Master2tye 1 x 045 Maser2DiveAddess 0452 Master 2 Encoder Type x Master2Ratioinput ek c 0 1565 Master2 Raio Output x C0 1550 Master 2 Zero Velocity Window xg 0 1558 Maser2FierCuoffFreqeny XP Goss Gurtent Postion xe o 01568 Meser2CurntVeociy xo E C 0 2014 Start of SERCOS L O Station Registers do 215 Registers Allocated per O Staion x T0002 TaskOptions x T0005 World Position T0000 KinematicNumber Coordinate xais T0002 Coordinated y ais x T0003 OoodnmaedZAds x 100020 MaxmumPahSped 11 00022 MaximumDeceleration x x J Maximum Jog Increment Toos
278. ely 90 kW DKR5 1 Compact unit with four slots for plug in cards and a continuous drive output of up to approximately 224 kW DIGITAL Servo CONTROLLER Figure 1 2 DIAXOS drive family Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Introduction 1 5 Motors used with DIAX03 All DIAX03 drive controllers are capable of operating all rotating and linear motors of the MDD 2AD 1MB MBW LAR and LAF series Figure 1 3 Motors used with DIAX03 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 6 Introduction VisualMotion 6 0 DIAX04 digital drive controllers The following digital drives make up the DIAX04 drive family HDD2 2 A dual axes modular unit with two slots for plug in cards per axis anda continuous drive output of up to approximately 2 5 kW HDS2 2 Modular unit with four slots for plug in cards and a continuous drive
279. er Interbus Fieldbus Interfaces for VisualMotion 6 0 Lost Fieldbus Connection Indramat have insufficient resources and the selected error reaction is evoked as follows If Shutdown CLC 0 is set in Parameter C 0 2635 the following error is generated from the CLC D card 520 Fieldbus Mapper Timeout If Warning Only 1 is set in Parameter C 0 2635 the following error is generated 209 Fieldbus Mapper Timeout If Ignore 2 is set in Parameter C 0 2635 the system will update as resources become available but there is no way to monitor whether or not updates actually occur Object 5ff2 the dual port RAM location on the Fieldbus card indicates the status of the Fieldbus Register 19 Bit 4 the Fieldbus Slave Ready Bit on the CLC card mirrors object 5ff2 See 3 3 Hegister 19 Definition Fieldbus Status for more specific bit information The system monitors this bit and evokes the selected error reaction if the bit is low 0 after a Fieldbus card is found A typical situation that will cause this condition is the disconnection of the Fieldbus cable from the DBS card If Shutdown CLC 0 is set in Parameter C 0 2635 the following error is generated from the CLC D card active in SERCOS Phase 4 only 519 Lost Fieldbus Connection If Warning Only 1 is set in Parameter C 0 2635 the following error is generated active in SERCOS Phase 4 only 208 Lost Fieldbus Connection If Ignore 2 is set in Parameter C 0 2635
280. er Mode same as register 21 bit 1 Register 21 System Status 21 1 Parameter A 1 indicates parameter mode is active Bit4 CLC Error same as register 21 bit 5 1 Register 21 System Status 21 5 Error A 1 indicates an error has occurred on the CLC card To resume operation the error must be cleared by toggling bit 5 in register 1 ID String 1 CLC card writes the string CLC P on power up to identify the memory space usage The CLC DDE server looks for this string to validate the presence of the card CLC ID String The CLC card writes its 16 character typecode on power up to identify itself Master ID String The device on the other side of the DPRAM writes its typecode to identify itself Time The device on the other side of the DPRAM can write the current date and time DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat A 4 PC Interface CLC P ISA PC 104 bus PLC control PLC Error Code CLC Life Counter PLC Life Counter Response Flag CLC IRQ PC_IRQ 4 Interrupts Indramat VisualMotion 6 0 32 bit Windows Time Date Formats Time Bit Position 01234 56789A BCDEF Length 5 6 5 Contents hours minutes 2 second increments Value Range 0 23 0 59 0 29 in 2 second intervals Date Bit Position 0123456 789A BCDEF Length 7 4 5 Contents year month day Value Range 0 119 1 12 1 31 relative to 1980 Bit Position 0 1 2 Length 1 1 1 Contents run error time
281. erbus Fieldbus Interfaces for VisualMotion 6 0 Contents Contents T1 General Informati n usos pasiva dini da dep UGUALE REG 1 1 1 1 CLC D System Description with a Fieldbus 1 1 The VisualMotion Fieldbus 1 1 1 2 Data Transfer Direction Output vs 1 nnne nennen nennen nns 1 2 1 3 Fieldbus Data Channel 1 2 ee Henrnilee 1 2 The Real Time 1 4 Wegen Tee rnb 1 6 Direct Mapped n nennen nns 1 6 Data Exchange Objects E 1 7 2 FieldBus Mapper Examples ef 2 1 2 1 Basic Example re t dtt n a et fe 2 1 STEP I Determine the Cyclic and Non Cyclic 2 1 STEP II Configure Fieldbus Slave Card with Setup Information and Cyclic Data Object Lists Using the Fieldbus Mapper AANEEN eret cen tre eren Ce eget de Eus 2 2 STEP Define Cyclic Data Mapping 0 224 0 2 5 STEP IV Define Non Cyclic Data Mapping Lists Direct Mapping 2 8 2 2 Multiplexing Example 5e Cus n utu 2 10 STEP I Determining the Cyclic an
282. error during a data transfer via the parameter channel the error bit 13 E in the Fieldbus status word will be set to 1 No error code is given for Short Format 2 or VisualMotion ASCII Clearing Parameter Channel Errors To clear a parameter channel error the master sets the error bit to 1 and clears the error in the slave if possible The master must then output the basic state in the control word This must be done before the next parameter channel transmission can take place The basic state of the FB control word is 0x000X F first cycle L last cycle Some data transactions e g VisualMotion ASCII Format may require Bits 10 andg multiple transmissions to complete a message To detect a clear sequence for data transmission the first and last cycles are accompanied Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 5 Toggle Bit T Bit 8 Number of Valid Data Bytes Bytes Bits 7 4 Transmission Format Fmt Bits 3 0 by a signal This clearly identifies data transmissions extended over several cycles Transmission type Bit 10 L Bit 9 F Fistiansmission tmtwensmsson 1 o Intermediate step o 19 First and last transmission 1 1 all in one transmission Table 4 11 Control Bit Settings Bits 10 and 9 Note Independent of the type of transmission format the master must identify the first and fi
283. es Unit Number Short Address Page Address Range Data Width Base Address Page Installing a CLC into a VME system requires specifying the VME unit number that the CLC card will respond to the VME address spaces that the card will occupy and the manner in which other devices will access the CLC memory the access modes The CLC is configured by using the VME Configure dialog box to specify the following values The Unit number identifies the card within the VME card cage The unit number is selected by the CLC s front panel 16 position MODE switch The unit number is a logical identifier independent of the physical card position The Short address page sets the base address of a 256 byte A16 address space The value specified provides the high byte of the 16 bit address and the lower byte is zeroed Within the short address space the CLC provides 8 mailboxes that are used for synchronization The Address range specifies the width of the address bus used to access the CLC s memory from the VME bus The CLC permits A32 extended VME addressing 32 bit and A24 standard VME addressing 24 bit when addressing accessible RAM The Data Width determines the number of bytes transferred with a single memory access operation The CLC VME permits VME bus access in D8 8 bit single byte D16 16 bit word double byte and D32 32 bit longword or 4 byte data widths The Base address page sets the base address of the block of contig
284. es 1 thru 4 to an available base memory address Refer to the CLC P01 installation procedure on page 2 8 for PC memory allocation prior to setting the base memory address on the CLC P02 PC 104 Base Address selection Card Base Memory S1 DIP Switch setting CLC P02 Number Address to figure 4 1 1 00000000 000 1 OPEN CLOSED CLOSED CLOSED 6 0000 000 000DDFFF CLOSED 8 9 00 o ae 13 4 000 0000 000E1FFF CLOSED CLOSED CLOSED CLOSED 000E2000 000E3FFF CLOSED CLOSED CLOSED OPEN 000E4000 000E5FFF CLOSED CLOSED OPEN CLOSED 000E6000 000E7FFF CLOSED CLOSED OPEN OPEN 000E8000 000 9 CLOSED OPEN CLOSED CLOSED 000 000 000 CLOSED OPEN CLOSED OPEN 000 000 OOOEDFFF CLOSED OPEN OPEN CLOSED 000 000 000 CLOSED OPEN OPEN OPEN Table 2 3 PC 104 memory address selection CLC P02 1 2 3 4 5 7 10 11 12 13 14 5 3 Now set the PC 104 IRQ interrupt Switches 5 thru 8 on the S1 DIP switch sets the interrupt line for the CLC to PC interrupt DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 16 System Installation PC 104 Interrupt selection CLC P02 Indramat VisualMotion 6 0 Note Only one PC 104 interrupt switch can be in the closed position at one time otherwise an interrupt conflict will be encountered Interrupt 51 DIP Switch setting r
285. essage NOTE character represents a space Done Figure 4 9 Data Transmission in VisualMotion ASCII Format part 2 of 2 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 16 Information for the PLC Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 4 4 Non Cyclic Transmission Direct Mapped Objects A number of objects see Table 4 13 Non Cyclic Data Objects below can represent VisualMotion data types if they are mapped in the non cyclic object mapping list C 0 2700 This method provides a simple but inflexible method of transferring non cyclic data from the master to the slave Number of Data Size Numeric Objects Names of Available Objects 32 16 bit in 5F60 5F6F 5FA0 5FAF 32 16 bit out 5F70 5F7F 5FBO 5FBF Table 4 13 Non Cyclic Data Objects Selecting a Direct Mapped Object The VisualMotion data available for non cyclic direct mapped objects can be viewed and printed via the summary report function in the VisualMotion Fieldbus Mapper tool see Viewing Printing a Summary Report of the Current Fieldbus on page 3 1 Transmission Sequence via a Direct Mapped Object Note For the direct mapped object only one transmission and one response is required to send a read or write message to the CLC D card and to receive a response from the CLC D card Fieldbus Message Data Field Head key components key components e fieldbus command e raw data to be transmitted wri
286. essage contains only the fieldbus read command and the name of the object to be read FB Response Received Diagnose error The data field for the response contains the value requested from the slave CLC D FB Response VisualMotion raw data is available for use by master Figure 4 5 Non Cyclic Direct Mapped Read Process Read the value contained in Integer 8 This is a 32 bit non cyclic input object In our Fieldbus Mapper example it is mapped to object Class 110 Instance 1 Attribute 100 1 Read request from the master Header No data field Read Command contains e Object number Class 110 Instance 1 Attribute 100 2 After the read request from the master the CLC D card sends a response message Header Data Field Response message VisualMotion Raw Data contains contains data here shown in e message o k decimal format 12345 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 6 Information for the PLC Programmer DeviceNet Fieldbus Interfaces for VisualMotion 6 0 If the message response code in message header shows o k the requested value is attached to the message in the data field This value is now available for use by the master PLC Note It is important to note the mapping of the object in the Fieldbus Mapper If a particular object is mapped as a VisualMotion Read Object you cannot write to that object Conversely if the object is mapped as
287. essing non cyclic direct mapped objects For an explanation of direct mapped objects see Direct Mapped Data on page 1 7 For setup procedures follow the instructions for STEP IV Define Non Cyclic Data Mapping Lists Direct Mapping on page 2 8 Short format 2 can be used with the following parameters and values e Aparameters CLC Axis parameters 32 bit 2 words e C parameters CLC C system parameters 32 bit 2 words e T parameters CLC Task parameters 32 bit 2 words e FP values CLC Floating Point data 32 bit 2 words IEEE format e GP values CLC Global Integer data 32 bit 2 words e HP values CLC Global Floating Point data 32 bit 2 words IEEE format e values CLC Integer data 32 bit 2 words e RX values CLC Register data in Hex format 16 bit 1 word Note These VisualMotion data types must be mapped to Fieldbus objects via the Fieldbus Mapper software tool Data should be mapped by selecting the FMS P Chan in the proper direction as well read and write access must be specified in the FB Mapper This list of mapped objects is stored in CLC card parameter C 2700 In Short Format 2 the object number refers to the particular Fieldbus slave object that a VisualMotion data type is mapped to This object allows for simple indirect access to VisualMotion data types The required objects can be obtained from the Profibus non cyclic FMS P Chan channel data mapping list data ob
288. est from the master with raw data Header Data Field Write command VisualMotion Raw Data contains contains data here shown in e object number 5 00 decimal format e data field size bytes in this 27 43 case 4 2 After the write request from the master the CLC D card sends a response message Header No data field Response Message contains message o k 3 If the message response code in message header shows o k the transaction is complete Note It is important to note the mapping of the object in the Fieldbus Mapper If a particular object is mapped as a VisualMotion Read Object you cannot write to that object Conversely if the object is mapped as a VisualMotion Write Object you cannot read from that object DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 18 Information for the PLC Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 Message Steps Read request from the master with no data field Acknowledge fieldbus response from slave 3 Master uses data from fieldbus response Example Indramat Non Cyclic Direct Mapped Read Process Comments FB Read Command to The request message contains appropriate obiect only the fieldbus read command pprop J and the name of the object to be read FB Response Received error The data field for the response contains the value requested FB Response OK from the slave CLC D VisualMotion raw
289. et using a formula outlined below The CLC_DDE Server should be running before a request is made Each request is queued in the server and then handled using round robin arbitration The Excel Worksheet will automatically update the cell as the information becomes available The response time varies according to how many other applications are running and how many DDE conversations are occurring at the same time Limit the number of active DDE requests within a worksheet in order to get a faster response time X Microsoft Excel Dde xls 55 File Edit View Insert Format Tools Data Window Help Formula bar Displays the Active Cell 1 1 formula used in the active cell n gt Sheet Sheet2 Sheet3 Sheet Sheei Figure 5 1 Excel Worksheet DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 5 2 DDE Client Interfaces VisualMotion 6 0 Select a cell and then enter the DDE Service name Topic name and Item name within the formula bar using the following syntax as an example CLC DDE SERIAL 1 157 X Microsoft Excel Dde xls Formula bar Displays the 55 File Edit View Insert Format Tools Data Window Help formula used in the active cell To enter edit formulas select a cell type the data and then press ENTER You can also double click a cell to edit data directly in the cell Figure 5 2 Example DDE Formula The Item name CP 1 157 will read the value of the system
290. eter 200 Bus Arbitration Mode selects the method of bus arbitration if the CLC is the VME bus arbiter Parameter 201 Bus Release Mode determines the timing and bus release mode when the CLC is the VME bus master Parameter 202 VME CLC Interface determines how bus related errors are handled bus access timing and enables disables external read modify write RMW cycles For a description of the options available for CLC control of the VME bus see the section on VME System Signals in this chapter For details on the control bits for the above parameters refer to the 200 series parameters in Chapter 3 Parameters of the VisualMotion 6 0 Reference Manual VME Address and Access Mode Parameters Setting the VME addressing and data width requires three parameters for each unit The parameter numbers are related to the VME unit number as offsets from the base unit 40 parameters 210 211 and 212 according to the expression Unit n 1 15 parameter number Unit 0 parameter number n 5 The first parameter is a single byte specifying the high eight bits of the Short Address Page 16 bit address The second parameter is a single byte specifying the VME access modes VME standard 24 bit or extended 32 bit address width and 8 bit 16 bit or 32 bit data width The third parameter is a 16 bit word specifying the CLC s VME Window Address Page e g the CLC card s base address for standard and extended VME memory For exa
291. ex object multiplex object obiect single object single object 22 pias DOK VISMOT VM 06VRS PRO2 AE P 09 99 Figure 1 5 Sample Response Read to Master 5 Multiplex Control and Status Words The DeviceNet multiplex control and status words serve to command and acknowledge multiplex data transferred between the Fieldbus master and the Fieldbus slave The control word is associated with output communication PLC CLC The status word is associated with input communication CLC PLO Single data objects are not affected by the multiplex control and status words Indramat 1 6 General Information DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Note For specific information about how the Fieldbus master uses the multiplex control and status words see Multiplex Data Bits in the Control and Status Words on page 4 1 Sending and Receiving the Same CLC D Data Cyclically Two separate objects will be consumed when sending and receiving the same CLC D data both cyclically and non cyclically If you wish to cyclically send and receive the same CLC D data the Output mappings should come first in the list see Fieldbus Mapper Examples Basic Example on page 2 1 Non Cyclic Channel The non cyclic channel is used for data that needs to be transferred only once or sporadically such as e transmission of lists e parametriziation of axes or programs e any non cyclically mapped data Instead of b
292. ey need only to be mapped to the CLC D data 14 Click OK Send to CLC The following window appears Field Bus Mapper Warning Please Re power CLC D for changes to affect Figure 2 6 Warning after clicking OK Send to CLC STEP Ill Define Cyclic Data Mapping Lists STEP Ill associates the CLC D data types to the objects assigned in STEP Il In our example the objects to be added are Output Data Assigned Input Data Assigned From Bus to CLC Card Object From CLC Card to Bus Object Register 100 5F91 Integer 29 5EB1 Float 2 5EF1 Register 47 5F81 Global Integer 3 5EF2 Register 120 5F82 Register 104 5F92 Global Float 22 5EB2 Register 40 5F93 Axis Parameter 1 100 5EB3 Integer 4 5EF3 Integer 30 5F83 Integer 5 5EF4 Adding Objects to the Cyclic 1 Ensure that the designated bus type is correct Interbus Data Mapping List 2 Choose the desired cyclic data channel PD 3 Select the desired Mapping Direction Our example begins with From Bus to CLC Card 4 Select the Data Type In our example the first item to be added to this list is Register 100 Select Register as the data type Note The CLC D will show only the objects associated with the chosen data type in the Source Object list For example if you have selected the mapping direction From Bus to CLC Card and designate Register as the data type only 16 bit output objects that have been mapped in the bus configuration list see STEP II will be s
293. f each other Subroutine Subroutines are basically sub programs that are called by the main program when selected to start They are used mainly to improve readability as well as simplify the program Event functions Events are basically interrupt driven subroutines They can be triggered by a variety of methods such as transition of an input repeating timer position trigger etc DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 12 Create Download Sample Program VisualMotion 6 0 Assigning Labels to Variables Select Labels User Labels under the Edit menu to assign a label to a variable A label is simply a name given to a variable which can help the user identify its function when programming This can also be done directly within an icon dialog box using the following procedure Many programming icons contain a User label button that opens the User defined Labels window giving the programmer the ability to create program variables Note Variables can be used to replace numerical values within programming icons Numerical values within icons that are compiled and downloaded to the CLC cannot be modified unless changed and re compiled On the other hand once compiled and downloaded variables can be modified within VisualMotion Toolkit by selecting Data Variables Modified variables are active the next time that specific icon is encountered in the program flow Example Velocity Icon Velocity Control Box i 2
294. ferent set of data within the cyclic channel to be transferred as current real time data in both data directions Note Using the multiplex channel will reduce the maximum number of usable words for storing CLC data to 15 The 16 word or last used word if fewer than 15 words is used as the multiplex entry control status word In the Fieldbus configuration lists the following multiplex objects are available Type of Input Objects Total Input Output Objects Total Output Multiplex Object Available Objects Available Objects 3 base x16 indices 3 base x16 indices 48 2 base x16 indices 2 base x16 indices 32 Table 1 2 Available Multiplex Objects Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Z lobt 7 multiplex control word L 16 bit L multiplex status word ndex 1 ndex 2 ndex 3 ndex 4 ndex 5 ndex 6 ndex 7 ndex 8 ndex 9 ndex 10 ndex 11 ndex 12 ndex 13 ndex 14 ndex 15 General Information 1 5 obt 7 lobt 7 3 bt 16b Z lobt 7 Z lobt HL lobt lobt multiplex multiplex single single single object object multiplex object multiplex object multiplex object object single object single object abet object index 0 Figure 1 4 Sample Command Write to Slave gt multiplex multiplex 1 single 2 single single multiplex object multipl
295. ficulty of writing and integrating I O drivers Indramat provides drivers for a number of I O cards and subsystems Indramat currently supplies integrated software drivers for the following digital I O cards e Xycom XVME 201 e Xycom XVME 202 PAMUX e Xycom XVME 244 e Pentland MPV922 Indramat offers the following analog I O cards for which no drivers are supplied Xycom XVME 500 e Xycom XVME 505 Note Jumpers and or switches on I O cards must be properly configured for operation Be sure to check the information under the appropriate heading in this section and the manufacturers installation instructions In addition to the I O card configuration the CLC parameters listed below are used to provide the CLC with information about the I O system configuration Both parameters and I O board configuration must be consistent CLC Card parameter Parallel I O function C 0 0005 card type descriptor C 0 0006 card setup information C 0 0007 I O line direction C 0 0008 card VME base address DEA I O DIAX Drive Resident I O Each Indramat DDS digital drive may optionally include up to three parallel I O cards each providing 15 inputs 16 outputs The three DEA cards are designated DEA 4 2M DEA 5 2M and DEA 6 2M Each card is internally configured therefore the cards are independent of position in the drive The card data is accessed using the SERCOS cyclic telegram providing high speed distributed I O on
296. follow the steps to ensure proper backup and modification of these parameters 1 Create an archive of the drive that will be modified Start VisualMotion Toolkit and select File Transfer Parameters Select Upload file from CLC for archiving and the desired drive and press OK and name the file Parameters Operation type C Upload file from CLC for viewing z 22 Cancel Upload file from CLC for archiving C Download to CLC archived file Include cams Sortlist Add Comment Source or target C CLCCad Task aie Pis ms Number C AI CLC Card DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 36 Example Programs VisualMotion 6 0 2 Open a text editor such as Notepad and create a file using the following format Refer to the VisualMotion 6 0 Reference Manual Appendix A for detailed information on the ACSI protocol described below DD a 26 n Class l Value for elements in list D SERCOS and Product when 0 n total number of elements in list Drive Parameters when n n 1 0 end of list Subclass T Element identification D Lists Tables 0 start of list n element number in list 1 16 Drive SERCOS Address m 1 endelement of list a 1 for Drive 01 L Parameter ID number SERCOS parameters significant digits i e S 0 0026 26 Product Specific parameters sig
297. g over the SERCOS fiber optic ring BTCO6 Teach Pendant Personal Computer Windows 95 98 Indramat Digital Drives DDE Serve Pere dj VisualMotion Toolkit GPS Firmware Figure 1 1 VisualMotion System components Indramat s digital drives are made up of drive controllers and their associated motors The digital drive families DIAX03 DIAXO4 and ECODRIVE with CCD box are fully capable of using the functions available with the CLC motion control card DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 4 Introduction VisualMotion 6 0 DIAXO3 digital drive controllers The following digital drives make up the DIAXO3 drive family DDS3 2 Modular unit with two slots for plug in cards and a continuous drive output of up to approximately 3 kW DDS2 2 Modular unit with four slots for plug in cards and a continuous drive output of up to approximately 12 kW DKR3 1 Compact unit with four slots for plug in cards and a continuous drive output of up to approximately 30 kW DKR2 1 Compact unit with four slots for plug in cards and a continuous drive output of up to approximately 50 kW DKR4 1 Compact unit with four slots for plug in cards and a continuous drive output of up to approximat
298. ge has been received in response The receiving VME device is required to return a response message 5 The sending CLC writes to mailbox 0 releasing the ASCII communication channel Any value may be written while the write operation itself terminates the transfer operation The CLC mailboxes are offset from the short VME address space base address as shown below e Mailbox 0 read write offset 0x00 e Mailbox 1 read only do not write offset 0x04 e Mailbox 3 read only do not write offset DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 VME Versa Module Eurocard Interface CLC V B 5 CLC V Direct Data Access The CLC is capable of directly accessing shared VME memory The Icon Language has a single VME icon providing data transfer in either direction while the Text Language has separate VME READ and VME WRITE commands Either language may be used to transfer data between VME memory and the CLC local memory Data sets that may be transferred include system registers integer or floating point variables or absolute or relative point table entries One or more of the elements of a data set may be transferred with a single command The direct access mode also may be used to obtain or modify the contents of the CLC registers CLC registers are located offset 0x2000 from the CLC card s base address in the VME standard or extended memory address space VME Memory Access Limitations Since the VME bu
299. gnostic text messages or S and P parameters use the data exchange object see Non Cyclic Transmission Data Exchange Objects on page 4 6 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 2 Fieldbus Mapper Examples Interbus Fieldbus Interfaces for VisualMotion 6 0 STEP Il Configure Fieldbus Slave Card with Setup Information and Cyclic Data Object Lists Using the Fieldbus Mapper Important The drive must be set to Parameter Mode to configure and assign the data mapping for Fieldbuses STEP Il and STEP Ill 1 In the VisualMotion Data Menu select Fieldbus Mapper CLC File new str Task File Edit View Setup Tools Status Options Help am a Ro Field Bus Mapper 140 Mapper PID RES Points Registration Registers Sequencer Variables Zones Figure 2 1 Selecting the Fieldbus Mapper from the main VisualMotion Screen 2 n the scroll box under Bus Type ensure that the desired bus is selected If the DBS card is connected Interbus should appear 3 Choose the cyclic data channel PD VisualMotion 6 Field Bus Mapper File Help Select Bus Options OBJECT pese LIST Bie Tie Define Config Slave Channel Source Object Total of i record s Channels PD C PCP Delete EE r Select Mapping Direction From Bus to CLC card From CLC card to Bus Select CLC Card Options Send To CLC Get From CLC m Type C Fx C GF Card Parame
300. gram to CLC 3 Download the program to the CLC and activate it a Select Program Management under the File menu Click on the Download button Select the program that you just created and click on Open The program will be listed as sample exc under the Project folder d In the Download Program window enter a program number from 1 to 10 that will be used to identify the VisualMotion program when downloaded to the CLC card Download Program Send file C indramat clc project sample to CLC card as program Range 1 to 10 OK Cancel 4 After the download is complete the program will be automatically highlighted and active in the CLC card Note To activate a different program on the CLC card simply click and highlight the desired program in the Current files field and click on the Activate button Program Management Card 0 Available Unused Memory 102388 Current files on CLC card 03 31 24 142911 3716 Delete Clear All Upload gt Download Name Date mm dd py Time hh mm ss Size bytes Cancel Currently active program CLC card sample 03 31 99 14 29 11 3716 Data Transfer To close the Program Management window click on Cancel qe DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Create Download Sample Program 3 11 3 3 Program Variables The CLC allows floating point variables integer variables and constants The
301. gt lt gt lt Fes S xxx 2 lt 9 gt lt 9 9 08 gt lt 0 S le le le le le SS SS SS 2 gt 2 gt gt SD 86556565 3 2 The data in this parameter is ONLY interpreted as type Float 3 This parameter is valid for fieldbus mapping in firmware version 06v64 and later The data is read written via the fieldbus in SERCOS phase 4 only This parameter requires additional GPS resources to transfer data to from the fieldbus Therefore care must be taken when using it for fieldbus communications with consideration to GPS system resources Monitor GPS Register 26 for fieldbus mapping resource consumption and increase the SERCOS update C 0 0099 if necessary 4 No limit checking is performed when writing to this parameter via a fieldbus Therefore care must be taken to ensure the proper data is sent Table 3 2 Fieldbus Accessible Parameters part 2 of 3 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Information for the GPS Programmer 3 5 Parameter Cyclic Non Cyclic Direct Mapped me _ C 0 1011 7 Diff Between Real Master Positions O cono Master Syiohronization Acceleration CY C 0 1013 Master Synchronization Time Constant X C 0 1014 Master Synchronization V
302. hange information between the CLC card and the host PC On GPS firmware the dual port RAM is split into several areas which is accessible from both the CLC P01 and the host computer s ISA bus 02 PC 104 bus Although the CLC P02 hardware can support an 8 Kbytes dual port RAM area GPS 6 firmware utilizes 4 Kbytes to exchange information between the CLC card and the host PC On GPS firmware the dual port RAM is split into several areas which is accessible from both the CLC P02 and the host computer s PC 104 bus Some fields in the dual port RAM can be used for communications with a PLC or another real time controller DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat A 2 PC Interface CLC P ISA PC 104 bus VisualMotion 6 0 Dual Port RAM Organization The address offset in Table A 1 Dual Port RAM Organization is added to the card s base address The following is an example of the Comms Buffer memory location for card number 4 of the CLC P01 P02 CLC P01 CLC P02 Start End Start End Comms Buffer 0 00 OxCFF Comms Buffer 0 00 OxCFF Base Address 0000 D0000 Base Address D8000 D8000 DOCFF D8C00 D8CFF The Comms Buffer for card 4 of the The Comms Buffer for card 4 of the CLC PO1starts at DOCOO and ends at CLC P02 starts at 08 00 and ends at DOCFF D8CFF The CLC P uses a 4 Kbytes dual port RAM to exchange information with the Host PC The dual port RAM is split into several areas as sho
303. he System Parameter screen shown below will display the CLC version number along with other messages System Parameters DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 38 System Installation VisualMotion 6 0 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Create Download Sample Program 3 1 3 Create Download Sample Program 3 1 Introduction This chapter presents instructions on how to create and download a sample program It is a basic single axis program that is not application specific Follow the instructions outlined below Refer to the VisualMotion 6 0 Reference Manual for detailed icon descriptions 3 2 Sample Program 1 Start VisualMotion Toolkit VMT by either double clicking on a VMT icon shortcut or selecting Start Programs gt Indramat gt VisualMotion6Vxx XX current revision level of VisualMotion Toolkit 2 From VMT s main menu select File New and choose Icon as your programming environment New CLC Program Development What enviroment do you want to program in Textual Cancel 3 following series of programming icons will be used in this example As the icons are placed on the screen dialog boxes will open and prompt you to enter setup information A description of the icons along with the setup information needed for each dialog box will be provided EB 9 1 5 o Figure 3 1 Sample Program Icons Note The toolb
304. hod e Place the Abort switch in the down position e Reset the CLC V by momentarily switching the Reset switch RESET LOCAL Switches upwards Hardware ra The Windows Terminal should display the following prompt from the Status LEDs CLC Serial I O pROBE gt 4 Type the DL download command followed by the Enter key to initiate the firmware download procedure pROBE gt DL 5 To begin the firmware download select Transfer Send Text File and navigate to the directory containing the file Change File types to ALL files select the firmware file vgo05v48 abs and click on OPEN A point will be sent as an acknowledgment from the CLC for each line programmed Once the download process is complete the pROBE function will return the following message The firmware download will take approximately 20 min at 19200 bps XXXXX records read PROBE gt xxxxx represents number of records transfer to CLC V 6 Type the BURN command followed by the Enter key to program the firmware file from RAM to Flash pROBE gt BURN 7 At the prompt for Yes or No type Y for Yes The Flash programming will take between three and five minutes CLC Version CLC V GPS 05V48 to Flash Y N y Programming Flash EPROM 8 When Flash Programming is done there will be an acknowledgment if itis successful and an error message if not Flash EPROM was successfully programmed CLC Version GPS 05 48
305. hown in the Source Object list 5 Select or fill in the Destination In our example we must select Register 100 from the list in the pop up screen shown in Figure 2 7 Sample Selection List OR type 100 as the destination DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 6 Fieldbus Mapper Examples Interbus Fieldbus Interfaces for VisualMotion 6 0 Note The Fieldbus Mapper selection lists display only the labels of the currently active program Card Data Type Selection No label names defined in this Program TaskA Control TaskB Control Control Control System Diag Code Figure 2 7 Sample Selection List 6 The source objects that are applicable to this data type will appear in the Source Object list Choose the first available object 7 Click the Add button The object will appear in the OBJECT MAPPING LIST at the right Note This step associates the object assigned in STEP II to the CLC D data The CLC D scans the list created in this step and executes each mapping instruction in order during every third SERCOS update cycle f YisualMotion 6 Field Bus Mapper ioj x Elle Help Select Bus Options OBJECT MAPPING LIST Define Config Slave Objects PD Channel Bus T _Define Config Slave Objects a Source Object Total of 1 nterbus 7 Channels 0 5 2 single 2 PD 0 5 93 single C PCP Delete Dee 8
306. i axis applications 16 words of cyclic data transfer are not sufficient to meet the data transfer requirement of the application When insufficient data transfer space is available multiplex data can be set up within the cyclic channel One data object base object acts as a placeholder for multiple possible CLC D data types all of the same word size The currently transmitted CLC D data type is based on an index value placed in a multiplex control word attached to the end of the cyclic data list Depending on the index specified by the master the multiplex channel permits a different set of data within the cyclic channel to be transferred as current real time data in both data directions Note Using the multiplex channel will reduce the maximum number of usable words for storing CLC data to 15 The 16 word or last used word if fewer than 15 words is used as the multiplex entry control status word In the Fieldbus configuration lists the following multiplex objects are available Input Objects Total Input Output Objects Total Output Available one Available m 32 bit 3 base x16 indices 3 base x16 indices 16 bit 2 base x16 indices M AM 2 base x16 indices E Indramat Table 1 2 Available Multiplex Objects DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 General Information 1 5 lobt Z lobt 4 lobt Z At e dobt Z lobt A
307. ic Data Mapping List see Figure 2 19 Adding Objects to the Non Cyclic Object Mapping List Float 16 Float 5 Integer 7 Integer 8 Register 101 Table 2 7 Objects to be transferred non cyclically 1 Ensure that the designated bus type is correct 2 Choose the non cyclic data channel PCP Select the desired Mapping Direction In our example we will begin with the output list or From Bus to CLC 4 Select the Data Type In our example the first item to be added to this list is Float 16 Select Float as the data type 5 Fill in the Destination In our example we must type 16 as the destination 6 The source objects that are applicable to this data type will appear in the Source Object list Choose the first available object 7 Click the Add button The object will appear in the OBJECT MAPPING LIST at the right This list is scanned by the CLC only when a non cyclic request comes in and executes the mapping 8 Repeat steps 2 through 7 above until each of the desired non cyclic objects has been added to the OBJECT MAPPING LIST in both directions From Bus to CLC card AND From CLC card to Bus Note If you want to insert replace or delete items in the Object Mapping List double click on the item in question A new set of buttons appears to the left of the Object Mapping List box See Changing an Existing Object Mapping List on page 2 7 for a detailed explanation of each button DOK VISMOT VM 06VRS PR
308. ies above The Arguments that appear for each function originate within the START icon of each subroutine Figure D 7 Main Sequencer Part 2 of 3 Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 11 Task A Main Sequencer Part 3 Calculations Cycle Count NENNEN Run Sequencer Sequencer Setup Box PICK_AND_PLACE Wait Control Box Branch Setup Figure D 8 Main Sequencer Part 3 of 3 DOK VISMOT VM 06VRS PRO2 AE P e 09 99 lg Indramat D 12 Example Programs VisualMotion 6 0 Create Bit Label Create the following bit labels for the sequencer program These labels will make the operation of this program much easier Refer to Bit Labels on page 4 7 for details Bit Labels X Variable Comment Para_Mode Mode Manual Task Stop Task Start Clear Errors Emergency Stop 3 Seq Run Initiate 100 10 Finish Program 100 11 Activate Gripper 100 16 Sequencer WAIT Add Delete Edi Cancel Figure D 9 Bit Labels Save Compile and Download 1 From VisualMotion Toolkit s main menu select File Save Compile Download or click on the icon and save the program as Sequencer str 2 Once the program is compiled and downloaded the Program Management window will open If the sequencer program is the only program being downloaded to the CLC card it will automatically be activated If more than one program exists on the C
309. ifying it the in the parameter channel control word If parameters are transmitted in VisualMotion ASCII Format the specifications outlined in the Direct ASCII Communication section of the VisualMotion 6 0 Reference Manual apply In the VisualMotion ASCII format this location words 2 4 or words 2 6 depending on the length of the parameter channel is where the appropriate VisualMotion ASCII protocol message would be inserted For a detailed description of this protocol please refer to Appendix A Direct ASCII Communication in the VisualMotion GPS6 0 Reference Manual DOK VISMOT VM 06VRS FKB1 AE P Note Due to the nature of the VisualMotion ASCII protocol many transactions are larger than the available 10 bytes per transmission Therefore it may be necessary to complete multiple transmissions in both the command and response telegrams to complete a transaction VisualMotion ASCII Format Structure of the Command Telegram Using the ASCII protocol to transmit data is a multi transaction process at least one to send the ASCII request write and at least one to get the response message from the VisualMotion System 1 Send the ASCII message to the CLC D Each VisualMotion ASCII protocol must be transmitted with a write instruction in the parameter channel control word The ASCII protocol determines whether the message sent is a request to read or write information The interpretation of this request is handled by the Vi
310. ilable data exchange objects and their sizes Data Exchange Object Data Length in bytes Table 4 1 Length of the Data Exchange Objects Selecting a Data Exchange Object Depending on the length of a VisualMotion ASCII message any of these data exchange objects can be selected Note The entire data length of the data exchange object must always be transmitted even if the VisualMotion ASCII message is shorter For example if you want to transmit an ASCII message of 42 bytes you must use object 5E72 To avoid a response error from the Fieldbus slave you must append 22 Null characters to the end of the ASCII message to complete a data size of 64 bytes Note The checksum for the VisualMotion ASCII protocol is NOT used with the data exchange object If the checksum is sent as part of the string it will be ignored and no checksum will be sent in the VisualMotion ASCII response messages To ensure data integrity the Fieldbus protocols support a low level checksum Transmission Sequence via a Data Exchange Object Note For the data exchange object two transmissions and two responses are required to send the read or write message to and then receive the response message from the CLC D card Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 7 o Fieldbus Message i Header pata Field VisualMotion ASCII Protocol key co
311. ile with prm extension Save To File N Clears up the current object mapping list New Gets the currently selected object mapping list from the CLC D Card from card Get From CLC parameter C 0 2600 if the cyclic DP channel is selected and C 0 2700 if the non cyclic FMS P Chan channel is selected Allows the user to open a previously saved file with a prm extension of an object Get From File mapping list When the file is opened displays that object mapping list Generates an on line summary report of the currently selected Fieldbus This Display Summary report can be printed by selecting Print from the File menu in the Fieldbus Mapper window Exit Exits the Fieldbus Mapper utility Important Ensure that your system is set to Parameter Mode for the changes to take place STEP IV Define Non Cyclic Data Mapping Lists Direct Mapping The non cyclic data uses objects that are pre defined for this type of data In our example the following data will be transmitted non cyclically Output Data Input Data From Bus to CLC Card From CLC Card to Bus Float 16 Float 5 Integer 7 Integer 8 Table 2 7 Objects to be transferred non cyclically Adding Objects to the Non 1 Ensure that the designated bus type is correct Ce poi A re 2 Choose the non cyclic data channel FMS P Chan TJUE Ari ACONI Select the desired Mapping Direction B Seat In our example we will begin with the output
312. ility Note For debugging purposes the Fieldbus Mapper follows each mapped item with the cursor as it is saved to the CLC D If there is a problem with the mapping of a particular object an error message appears while the cursor remains on the object 10 Mapping is complete For programming information refer to Information for the GPS Programmer on page 3 1or Information for the PLC Programmer on page 4 1 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 10 Fieldbus Mapper Examples DeviceNet Fieldbus Interfaces for VisualMotion 6 0 2 2 Multiplexing Example Multiplexing is available in the cyclic Polled I O channel for applications where more than the allotted 16 data transfer words are required For a more detailed description of multiplexing see Multiplex Data Types Cyclic Data Channel on page 1 4 Important The Fieldbus Mapper is an on line configuration tool The following conditions must be met when performing STEP I through STEP IV below The system must be powered up The CLC D card must be connected to the system The system must be set to parameter mode STEP I Determining the Cyclic and Non Cyclic Data with Multiplexing Cyclic Data typical multiplexing example in multi axis application is to assign cyclic data to each index by axis e g index 0 to axis 1 index 1 to axis 2 etc Although this example shows data for only three axes in this manner remember that multiplexing allows se
313. information about these messaging formats see Parameter Channel Profibus DPF05 x with CLC D only page 1 6 Remember that the maximum number of words available for the cyclic DP channel is 16 15 if multiplexing is used To set up the parameter channel in the Fieldbus Mapper 1 Inthe Configure Slave Telegram screen in the VisualMotion Fieldbus Mapper from the Data menu in main VisualMotion screen choose Fieldbus Mapper then click the Define Config Slave Objects button choose one of the radio buttons below Parameter Channel Length word Note For the value entered in Length of DP channel Word you must take into consideration the addition of 4 or 6 data words for the parameter channel The words allocated for the parameter channel will appear first in the list and any other data will follow In this example we had to increase the total DP Channel length to 15 words to accommodate the parameter channel Note If the length of DP Channel you entered at the left is not long enough to accommodate both the parameter channel and any existing data the following error message will appear after clicking OK Send to CLC The length of Param Channel Plus Length of Bus List should same as PD channel Length In Figure 2 20 Parameter Channel Setup in the Fieldbus Mapper the parameter channel length is set to 4 words Thus the first four data words in the selected Data Configuration List at the right are alloca
314. ion Hardware Requirements CLC D Installed in Indramat s Digital Drives CCD Box Indramat s stand alone digital card cage CLC P01 Installed in a PC s ISA bus 8 bit CLC PO2 Installed in a PC s PC104 bus CLC V Installed on a Versa Module Eurocard VME bus Note For more information see Appendix A or the VisualMotion Trouble Shooting Guide listed on page 1 1 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 2 System Installation DIAX03 digital drives DIAX04 digital drives ECODRIVE 3 digital drives Motor s Drive Programming Module Indramat SERCOS Module Fiber Optic Cables Serial Cables VisualMotion 6 0 Indramat digital drives ranging from 3 to 224 kW of continuous power Refer to Figure 1 2 DIAX03 drive family for more information Indramat digital drives ranging from 2 5 to 35 kW of continuous power Refer to Figure 1 4 DIAX04 drive family for more information Indramat digital drives ranging from 1 5 to 4 0kW of continuous power Refer to Figure 1 6 ECODRIVE 3 drive family for more information Indramat motors are sized based on the digital drive s continuous output power Contact Indramat s Service department for assistance FWA DIAX03 SSE 02VRS MS Standard SERCOS FWA DIAXOS ELS 05VRS MS Electronic Line Shafting FWA DIAX04 SSE 02VRS MS Standard SERCOS FWA DIAX04 ELS 05VRS MS Electronic Line Shafting FWA ECODR3 SMT 01 VRS MS Analog Standard SERCOS FWA ECODR3 SGP 0
315. ion 6 0 General Information 1 3 When using multiplexing the valid lengths of the cyclic data channel are reduced by one because of the control status word which always consumes the last used word of the PD channel both for input and output directions when multiplexing is on See the table below for the valid Interbus channel lengths when multiplexing is on Valid Interbus Number of Words Consumed by Multiplexing Off Channel Lengths Configurable Cyclic 4 Non Cyclic Channel Words Consumed by Control Status Word Data Words NOTE This is the number that must be entered in the Field Bus Mapper Screen under Length of PD Channel word Table 1 2 Valid Interbus Channel Lengths Multiplexing ON Note The bus configuration list must be set up in the Fieldbus mapper bus configuration screen before the object mapping list can be configured For the cyclic data the CLC D data object mapping list is scanned every third SERCOS update cycle and data is sent and received to from the slave board s dual port RAM The cyclic data channel can be made up of any combination of the following data types e Real Time Channel Single Channel Multiplex Channel e Data from the PCP Channel 1 word fixed to the end of the real time channel at all times word 8 word 15 ae word 7 word 14 word 0 PCP Multiplex Channel Only Single Channel Only ii gt Real Time Channel Real Time Channel
316. ion Toolkit software version 06V12 and CLC D firmware version GPS06V64 1 4 CLC D System Description with a Fieldbus The CLC D can operate on a serial Fieldbus interface network by means of a plug in card DPFO5 x board that communicates with the CLC D card via dual port RAM The function of the Fieldbus card is similar to that of a network card in a PC it allows communication with other devices on the network In Figure 1 1 Sample Master Slave Setup with Fieldbus Cards a commonly described Fieldbus interface is pictured e Fieldbus Master PLC Fieldbus interface e Fieldbus Slave CLC D Fieldbus interface In this document we will refer to the PLC as the Fieldbus Master and the CLC D as the Fieldbus Slave These cards must be inserted in the card slots in an Indramat digital servo drive or a CCD Card Cage DPFO05 x Fieldbus Slave SERCOS Ring PLC Field Data Channel Cyclic amp Communication Non Cyclic via Dual Port RAM Communication Update rate every third SERCOS update cycle Figure 1 1 Sample Master Slave Setup with Fieldbus Cards With the CLC D card the Profibus DPF 05 x Fieldbus card can be used only as a slave card in a master slave setup Important When using a Fieldbus slave interface it is recommended to use a 4 ms or higher SERCOS update The VisualMotion Fieldbus Mapper In the VisualMotion software package the Fieldbus Mapper is a tool used to set up Fieldbus data It is primarily
317. ion of each button Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 9 VisualMotion 6 Field Bus Mapper File Help p Select Bus ptions OBJECT MAPPING LIST Define Config Slave Objects PCP Channel Jinterbus Destination Object Totalof 2 record s BOSFE0 RX0 120 Channels C PD Select Mapping Direction FromBus to card 8 repeat From CLC card to Bus Select CLC Card Options Send To CLC Get From CLC Data Type 5 C GF Card Parameter Source Save ToFile Get From File C Ix C Gis Register 16 0 32767 6 New Display Summary Exit 8 5 im o 8 Avis 0540 fi Axis Parameter Task Parameter Figure 2 10 Adding Objects to the Non Cyclic Object Mapping List 9 Click Send to CLC to save the selected object mapping list to the CLC D card Use any of the following buttons as needed Saves the currently selected object mapping list to the CLC D Card to card Send To CLC parameter C 0 2600 if the cyclic PD channel is selected and C 0 2700 if the non cyclic PCP channel is selected Saves the currently selected object mapping list to a file with a prm Save To File extension Ne Clears up the current object map
318. iple VME cards Activation of this option requires that the other VME cards requesters use the FAIR protocol for releasing and requesting the bus request lines The CLC arbiter can then service each requester at the same priority level sequentially in the order of the requesting card s physical position in the VME bus request daisy chain If the FAIR request option is enabled the CLC s VME bus controlling gate array will not request control of the VME bus until the bus request line BRx of the VME bus is released by all requesters This is the start of a new arbitration round Each requester who has sampled the bus request line high is now allowed to request mastership of the VME bus After the request line has been asserted again all requesters in the current round are defined Bus mastership will be given to the requester in order of priority starting at the most prioritized location in the daisy chain which is closest to the bus arbiter When this new master gains control of the bus it releases its bus request line while the other requesters remain asserted When the master has finished with the bus BBSY goes inactive the next arbitration round begins without the previous master since the FAIR request option prevents the last master from asserting its bus request line until BRx has been released by all other requesters This guarantees that the low prioritized masters can obtain the bus The CLC s gate array recognizes a negated b
319. irect Mapped 4 18 4 5 Non Cyclic Transmission Data Exchange Objects 4 19 Selecting a Data Exchange 4 19 Transmission Sequence via a Data Exchange 4 19 5 Profibus DP Combi Slave Board DPF05 x 5 1 SEE Teen 5 1 5 2 Functional Description cs sence ceeded ie rese dra peret ete Doa ere 5 1 5 3 eva 5 1 5 4 DPF05 x Board Hardware 222 ek csetera ree eta eere Pob ddnde enn ee da XP Ead 5 2 Front view of the 5 2 DPFO5 X Structure EL 5 2 X68 Connector Profibus 5 5 3 X69 Connector External Inputs 5 3 5 DidQmOStics m 5 3 Front Panel LEDs etie testeur ied eee le las 5 3 Definition of Diagnostic 5 4 6 Index 6 1 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 General Information 1 1 1 General Information Important Using a Fieldbus with the VisualMotion system will consume additional processing resources on the CLC D card Please take into consideration the consumption of these resources especially when adding a Fieldbus to an existing application Version Note Information in this document is based on VisualMot
320. is Program Task4_Control TaskB_Control TaskC_Control TaskD_Control System_Diag_Code TaskA Figure 2 17 Sample Selection List Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 17 6 The source objects that are applicable to this data type will appear in the Source Object list Choose the first available object 7 Click the Add button The object will appear in the OBJECT MAPPING LIST at the right Note This step associates the object assigned in STEP Il to the CLC D data The CLC D scans the list created in this step and executes each mapping instruction in order every third SERCOS update cycle Multiplex data can only be updated when this index is commanded by the multiplex control word Select Bus ptions OBJECT MAPPING LIST Bus Type Define Config Slave Objects DP Channel Profibus Source Object Total of 1 record s 3 100 _ 0x5F40 base index Ox5F41 MP 1 Ox5F42 MP index2 1 Select CLC Card Options 9 LLL Data Type _ 5 1 Send To CLC Get From CLC C Fx C GF Card Parameter Destination Save File Get From File C Ix C Gis Register 15 Register 1 512 po 4 Display Summar fi Parameter A 71 Task Parameter Figure 2 18
321. ist Gets the currently selected object mapping list from the CLC D Card from card Get From CLC parameter C 0 2600 if the cyclic DP channel is selected and C 0 2700 if the non cyclic FMS P Chan channel is selected Allows the user to open a previously saved file with a prm extension of an Get From File object mapping list When the file is opened displays that object mapping list Generates on line summary report of the currently selected Fieldbus This Display Summary report can be printed by selecting Print from the File menu in the Fieldbus Mapper window Exit Exits the Fieldbus Mapper utility Important Ensure that your system is set to Parameter Mode for the changes to take place Note For debugging purposes the Fieldbus Mapper follows each mapped item with the cursor as it is saved to the CLC D If there is a problem with the mapping of a particular object an error message appears while the cursor remains on the object DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 8 Fieldbus Mapper Examples Changing an Existing Object Mapping List VisualMotion 6 Field Bus Mapper File Help Profibus Fieldbus Interfaces for VisualMotion 6 0 If you want to insert replace or delete items in the Object Mapping List double click on the item in question A new set of buttons appears to the left of the Object Mapping List box New Button Set Select Bus Options Bus Type Channels DP
322. isualMotion 6 0 Introduction 1 11 Events Events are basically interrupt driven subroutines They can be triggered by a variety of methods such as transition of an input repeating timer position trigger etc The Event system is pre emptive giving task A events the highest priority while events associated with Task D have the lowest priority Therefore an event currently being executed within Task C will be suspended by an event from Task B Once the active events are completed the suspended program tasks automatically re activate and resume execution DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 12 Introduction VisualMotion 6 0 1 3 VM System Motion Capabilities The VM Controller supports three kinds of motion non coordinated coordinated and electronic line shaft and several modes of each type Non Coordinated Motion Single axis Velocity Mode Ratioed Axes Coordinated Motion Indramat Constant Speed Non coordinated motion is primarily used to control a single independent axis There are two modes of non coordinated motion Single Axis for linear positioning required to achieve point to point movement and Velocity Mode as might be used for some spindle motor drives Single axis motion commands within a user program are interpreted by the VM Controller and sent to the DDS drive The user program tells the DDS drive the speed and or distance and acceleration it should use to internally develop
323. ite message to the CLC D card and to receive a response from the CLC D card EE Fieldbus Message Data Field Head key components key components e fieldbus command e data to be transmitted write message write message only unused for e direct mapped object from Table read message 1 17 above This is the size limited to 16 or 32 bit destination of the data field Object selection depends on the required VisualMotion data and its configuration in the non cyclic object mapping list in the Fieldbus Mapper DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 4 Information for the PLC Programmer DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Important The format of the Fieldbus message header and the method of implementation are dependent on the Fieldbus type and the master PLC being used Refer to your Fieldbus master PLC documentation for proper transport and formatting of the message header Non Cyclic Direct Mapped Write Message Steps Process Comments Write request from the FB Write Command to The data field for the write master with raw data appropriate object request contains the value to be stored in the VisualMotion data Acknowledge fieldbus The response message contains response from slave FB Response only a confirmation that the error fieldbus message was sent properly Therefore the size of the data field will be 0 Received FB Response OK Figure 4 4 Non Cyclic
324. k the Add button The object will appear in the OBJECT MAPPING LIST at the right Note This step associates the object assigned in STEP II to the CLC D data The CLC D scans the list created in this step and executes each mapping instruction in order during every third SERCOS update cycle VisualMotion 6 Field Bus Mapper File Help i Select Bus Options OBJECT MAPPING LIST BoE Define Config Slave Objects Polled 1 0 Channel DeviceNet Source Object Totalof 1 record s a 0x5F91 single 100 BI5F91 0 5 92 single Channels od Male o Pelea iii C Explicit Msg Select cn 58 repeat Select CLC Card Options Send To CLC Get From CLC Diale _ C Fx C GF Card Parameter Destination Save To File Get From File C C Register 16 Register 1 512 Aris Parameter us New Dipa Summa Task 71 Task Parameter Exit Figure 2 8 Adding Objects to the Cyclic Object Mapping List Important Cyclic data uses the objects configured in STEP Il 8 Repeat steps 3 through 7 above until each of the desired cyclic data objects has been added to the OBJECT MAPPING LIST Note When mapping a PLC output object to a parameter the parameter must be of the type Read Write Any Time For parameters that are Read Any Time Write in Parameter Mode or Read Only an error message is generated when you click Send
325. lMotion 6 0 VisualMotion 6 Field Bus Mapper Ele Help Select Bus Options OBJECT MAPPING LIST Bus Type Define Config Slave Objects PD Channel Source Object Total of 0 record s Channels amp PD C Delete Tc Select Mapping Direction From Bus to CLC card C From CLC card to Bus Select CLC Card Options Send To CLC Get From CLC Data Type C Fx C GF Card Parameter Destination Save To File Get From File C Ix C Gls Register 16 Pris UA Display 5 Axis Parameter New Task Parameter Exit Indramat Figure 2 12 Main Fieldbus Mapper Screen 4 Click the button labeled Define Config Slave Objects The Fieldbus Mapper will try to detect any configuration data from the CLC D If you are configuring a new list click on the NEW button to clear any current data in the selected list The Interbus Configuration Screen is pictured in Figure 2 13 Interbus Configuration Screen Configure Slave Telegram Channel yx Available Objects Bus Conf IN List To From Word t Word Type FieldBus FieldBus 0 1 Length of PD channel word 9 C 132 1 B5E80 132 2 5E90 132 3 B bEAD H5 1 B 5F20 I16 2 B 5F30 32 1 S 5EB1 32 2 S 5EB2 32 3 S Configure Multiplex Channel EET SEDI Enable Input Data 132_6_S Mutiplexing Outp
326. label 13 Add second WAIT icon below the first and enter Time of 1000 msec This icon will introduce a pause of 1 sec to the program before proceeding to the next relative move Wait Control Box Wait for Axis in Position Axis at Position Coordinated State Cancel 1 0 State Caption Time msec integer Glx H label B 1000 f 5 H Branch Ilcon 14 Select and place the Branch icon to the right of the WAIT icon The Branch icon re directs the program flow depending upon a true false logical value This creates a loop within the program depending on the value of Register 100 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 8 Create Download Sample Program VisualMotion 6 0 Branch Setup Condition 120 Onf1 Variable C Off Q Cancel CLC cam Caption Register number Bit number mask Glx or label Ix Glx or label mwm 6 4 Sap 8 gt C Cx Note The Branch icon will loop back to a specified icon until the branch condition is true In this example the Finish icon will not be encountered until register 100 bit 9 is On 1 Finish Icon 15 Select and place the Finish icon to the right of the Branch icon When encountered the program will end All tasks and subroutines must end with the Finish icon Linelcon 1
327. lace them in the desired order in the Polled I O Each time the DCF01 x DeviceNet card is powered up with the CLC D card the CLC D configuration is transmitted User Specific Polled I O Configuration The user can determine any desired configuration of the Polled I O via the CLC D configuration Note Up to 16 words can be configured on the bus when using the DCF01 x card Note Changes to word length always lead to the reconfiguration of the bus This is valid for both process input and output data and is signaled by a CRC error initiated by the slave This error requires reconfiguration via the master Monitoring the DCF01 x Polled I O Data transfer on the DeviceNet is generally categorized as secure If data is transferred from the master to the slaves it is subjected to extensive CRC checks before it is accepted as valid data and activated by the slave Data which is recognized as erroneous HD 6 for DeviceNet is not forwarded to the CLC D Of course this is also true for the data direction to the master Watchdog Function DCFO1 x card provides bus monitoring by using a watchdog timer so that an appropriate reaction can be effected when the bus is down For Class 5 Instance 2 Attribute 9 expected packet rate the time in ms is derived from the linking object by multiplying by 4 according to the ODVA specification As an error reaction bit 3 of the Fieldbus status word is reset to 5FF2 See Register 19 Defi
328. ldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 17 Send To CLC Save To File New Get From CLC Get From File Display Summary Exit Saves the currently selected object mapping list to the CLC D Card to card parameter C 0 2600 if the cyclic PD channel is selected and C 0 2700 if the non cyclic PCP channel is selected Saves the currently selected object mapping list to a file with a prm extension Clears up the current object mapping list Gets the currently selected object mapping list from the CLC D Card from card parameter C 0 2600 if the cyclic PD channel is selected and C 0 2700 if the non cyclic PCP channel is selected Allows the user to open a previously saved file with a prm extension of an object mapping list When the file is opened displays that object mapping list Generates an on line summary report of the currently selected Fieldbus This report can be printed by selecting Print from the File menu in the Fieldbus Mapper window Exits the Fieldbus Mapper utility Important Ensure that your system is set to Parameter Mode for the changes to take place STEP IV Define Non Cyclic Data Mapping Lists Direct Mapping The non cyclic data uses objects that are pre defined for this type of data In our example the following data will be transmitted non cyclically Output Data Input Data From Bus to CLC Card From CLC Card to Bus Adding Objects to the Non Cycl
329. le 4 13 Messaging Examples 4 8 Response Telegram Structure 4 7 Shutdown CLC Fieldbus Error Reaction 3 10 Single Data Types 1 3 1 4 Source Object list Basic Example Non Cyclic 2 9 status word Multiplex Example Cyclic Data encre 2 14 T To FieldBus Basic 2 8 Multiplex Example Cyclic Data 2 14 Toggle Bit 4 5 Transmission Format Fmt 4 5 V View a Summary Report 3 1 VisualMotion ASCII Format1 6 4 11 Command Telegram Structure 4 11 Response Telegram Structure 4 12 W Warning Only Fieldbus Error Reaction sia eot 3 10 DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Index 6 5 X X68 Connector 5 3 X69 Connector 5 3 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 6 6 Index DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 engineerin g mannesmann Rexroth Supplement C Interbus Fieldbus Interfaces VisualMotion 6 0 2 Indramat About this documentation Interbus Fieldbus Interfaces for VisualMotion 6 0 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Int
330. le ID Variable Comment Param Mode Switches system to Parameter 100 2 Auto Manual 100 3 Task Stop 100 4 Task Start 100 5 Clear Errors 100 6 Live Man 100 7 Emergency Stop 100 3 Finish VM Program i Delete Edit DK 2 Select Add and enter the labels shown above for Reg Bit Number 100 1 to 100 9 Add Edit Bit Variables Variable Name f Param Mode i E Reg Bit Number Cancel 01 Previous di Next Comment for V ariable optional Switches system to Parameter Mode 3 After adding the last bit label click on Cancel to close the Add Edit Bit Variables window Now click on the OK button to close the Bit Labels window 4 Select Save Compile Download from the file menu or select the icon from the Toolbar DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 8 Program Execution VisualMotion 6 0 5 After the download is complete select File Program Management and click on the Activate button To activate a different program highlight the file and Activate Note If a program is Activate while a different program is currently running an error will be issued by VisualMotion Toolkit Stop all motion before activating a new program Program Management Card 0 Available Unused Memory 27548 Current files on CLC card 1 sample 05 24 99 10 59 25 956 a 2 sample 05 24 99 11 00 15 956 Delete Em EE Eug
331. le Channel 4 Real Time Channel Cyclic Polled 1 0 Channel Figure 1 3 Configuration Options for the Cyclic Data Channel 3 possibilities The Real Time Channel In the real time channel data is updated cyclically between the Fieldbus master and slave This channel contains two possible data types single and multiplex The following table outlines the CLC D data object types that can be transmitted via the cyclic channel and the amount of space in 16 bit data words that each data type consumes Remember the cyclic channel is limited to 16 data words in each direction input and output Data Objects Types and Sizes The cyclic data mapping list supports only 16 and 32 bit data of the following types for reading and writing Integer Float Binary used in CLC parameters Hex used in CLC parameters For all other data types e g diagnostic messages strings use the non cyclic Data Exchange Object or the Parameter Channel Note DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 4 General Information DeviceNet Fieldbus Interfaces for VisualMotion 6 0 CLC Data Type Data Size in Data Words Integer currently active program ONLY 2 Float currently active program ONLY 2 Global Integer 2 Global Float 2 CLC Card Parameter 2 CLC Task Parameter 2 Note Drive parameters S or P cannot be transmitted cyclically because of the inherent delay of parameter access o
332. lected and C 0 2700 if the non cyclic PCP channel is selected Save ToFile Saves the currently selected object mapping list to a file with a prm extension New Clears up the current object mapping list Gets the currently selected object mapping list from the CLC D Card from card Get From CLC parameter C 0 2600 if the cyclic PD channel is selected and C 0 2700 if the PCP channel is selected Allows the user to open a previously saved file with a prm extension of an Get From File object mapping list When the file is opened displays that object mapping list Generates an on line summary report of the currently selected Fieldbus This Display Summary report can be printed by selecting Print from the File menu in the Fieldbus Mapper window Exit Exits the Fieldbus Mapper utility Important Ensure that your system is set to Parameter Mode for the changes to take place Note For debugging purposes the Fieldbus Mapper follows each mapped item with the cursor as it is saved to the CLC D If there is a problem with the mapping of a particular object an error message appears while the cursor remains on the object Changing an Existing Object you want to insert replace or delete items in the Object Mapping List Mapping List double click on the item in question A new set of buttons appears to the left of the Object Mapping List box VisualMotion 6 Field Bus Mapper File He
333. ll initialize properly See the table below S 0 0057 In Position Window 0 1in 1deg or 1mm S 0 0091 Bipolar Velocity Limit Value see S 0 0113 This is a software limit on the maximum velocity of the drive It must be maximum motor velocity Bipolar Torque Limit Value S 0 0103 Modulo Value 1 motor rev for 1 in 360 deg or 10 mm startup program Rotary mode or linear positioning with modulo only S 0 0124 Standstill Window Zero Velocity 0 rpm 10 DIAX02 5 0 0159 Monitoring Window 100 360 P 0 0004 Smoothing Time Constant 250 us 5 0 0349 Bipolar Jerk P 0 0106 DIAXO2 2000000 A 0 0020 Maximum Velocity see S 0 0091 This is a software limit on the maximum axis velocity for this Task This must be lt Bipolar Velocity Limit of the drive Axis velocities greater than this value will cause errors A 0 0021 Maximum Acceleration see S 0 0138 This is a software limit on the maximum axis acceleration for this Task A 0 0022 Maximum Deceleration see S 0 0138 This is a software limit on the maximum axis deceleration for this Task The CLC Reference Manual provides a detailed listing of the Axis Card and Task parameters A listing of the Drive parameters can be found in the respective drive user s manual Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Program Execution 4 13 Viewing Parameters In VisualMotion Toolkit select Overview from the
334. lp Select Bus Options OBJECT MAPPING LIST Tees Define Config Slave Objects PD Channel Interbus Source Object Totalof 2 record s 0 100 BIBF31 Channels Replace PD Delete double click Select Mapping Direction From Bus to CLC card Back To Add C From CLC card to Bus m Select CLC Card Options Send To CLC Get From CLC pata Type C Fx GF Card Parameter Destination Save To File Get From File C 6 C Register 15 Number 0 255 viso N Display Summar Asis Parameter New Display y C Task Parameter Exit Figure 2 9 Changing an Existing Mapping List in the Fieldbus Mapper DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 8 Fieldbus Mapper Examples Interbus Fieldbus Interfaces for VisualMotion 6 0 Insert Inserts a new object into the list directly before the selected object Beplace Replaces the selected object with a new object Delete Removes the selected object from the list Back To Add Returns to Fieldbus mapper normal mode which allows adding new items to the end of the list and deleting items ir STEP IV Define Non Cyclic Data Mapping Lists Direct Mapping The non cyclic data uses objects that are pre defined for this type of data In our example the following data will be transmitted non cyclically Output Data Input Data From Bu
335. ltiplexing Example on page 2 11 9 Ensure that the combo box under Fieldbus Error Reaction is currently set to Ignore Any other setting during setup will cause repeated error messages Set the desired Error Reaction when the machine is ready for commissioning See Fieldbus Error Reaction on page 3 9 for detailed information about the possible settings 10 Choose the radio button below the words To FieldBus 11 For each data type desired choose a corresponding available object in the list on the left and click APPEND to place it in the Bus Conf IN List If you are configuring a new list click on the NEW button to clear any current data in the selected list Each available object has a typecode to identify its size and type DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 4 Fieldbus Mapper Examples aere 8 ew Object Type S single Object Number 1 1 object 2 2 object etc Object Size 16 16 bit 32 32 bit Configuration Direction I Input CLCPLC Output PLC gt CLC Indramat Indramat Object ID Y Profibus Fieldbus Interfaces for VisualMotion 6 0 Figure 2 4 Configuring the Profibus Configuration IN List contains a description of the typecode Note The desired order of the data on the master determines the object types 16 or 32 bit and order of objects you place in the bus configuration list Note Because the number of data objects in the
336. m Control bit 1 is set to 1 Register bits can be displayed within VisualMotion Toolkit under menu selection Data Hegisters After switching to and from Parameter Mode the CLC will re initialize and begin flashing an E400 Emergency Stop Note E400 Emergency Stop occur when Register 1 System Control bit 3 is set to 0 To clear this error set bit 3 to 1 In addition bit 5 Clear All Errors must also see a transition from O to 1 for the error to clear See Appendix A PC Interfaces CLC P ISA PC 104 bus for more information DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 14 System Installation VisualMotion 6 0 Installing and Configuring the CLC P02 Motion Control Card The CLC PO2 is a motion control card on a PC 104 platform The VisualMotion firmware on this platform includes all of the features of the CLC P01 with improvements in the configuration and memory capacity TENE _ c d iz m Figure 2 10 CLC P02 2 Hardware The 2 is a slave card that is typically installed onto a PC s or PLC s motherboard master board containing a PC 104 connector After which all the necessary connections for serial communications and fiber optics are made to the drive system Electro static discharge Sensitive electronic device The CLC card is a sensitive electronic device Use caution when handling this board Do not expose t
337. m is set to Parameter Mode for the changes to take place Note For debugging purposes the Fieldbus Mapper follows each mapped item with the cursor as it is saved to the CLC D If there is a problem with the mapping of a particular object an error message appears while the cursor remains on the object New Button Set VisualMotion 6 Field Bus Mapper File Help Select Bus Options OBJECT MAPPING LIST Define Config Slave Objects i Polled 1 0 Channel DeviceNet 71 Source Object Insert Totalof 2 record s aa 0 100 BISF91 Channels Ox5EF2 single Repl c Ox5EF3 single Polledl O ns5EF4 single Explicit Msg Delete double click Select Mapping Direction Back To Add Select CLC Card Options Send To CLC Get From CLC Data Type New C Fx C GF Card Parameter Destination Save To File Get From File C Ix 6 Gis C Register 16 Number 0 255 ERG Display Summar fi Axis Parameter mes 191 Task Task Parameter Exit Figure 2 9 Changing an Existing Mapping List in the Fieldbus Mapper DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 8 Fieldbus Mapper Examples DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Changing an Existing Object you want to insert replace or delete items in the Object Mapping List Mapping List double click on the item in question A new set of buttons appears to
338. mber Message Fieldbus User data User data Not used Format control header word Message Layout Parameter Channel Message Data Intel Format Parameter Channel Message Header Motorola Format Word Word1 Word2 p earl word number Format control header Message Parameter Channel Layout Message Header Short Format 2 Structure of the Response Telegram Motorola Format Three cases must be differentiated for the response telegram in Short Format 2 a error free execution master command telegram was a read Word Word4 Word5 Word 6 word b error free execution master command telegram was a write c faulty execution For an error free execution after a master read command E 0 in the Fieldbus status word the response in the parameter channel contains 4 words The slave response transmission slave to master is used when the master requests data from the slave If the parameter channel is set for 6 words words 5 and 6 are not used FB status word E 0 Fieldbus status word Parameter Channel Message Header Motorola Format Data Object number User data header High word Low word Message User data Not used Format Parameter Channel Message Data Intel Format Message Layout For an error free execution after a master write command E 0 in the Fieldbus status word only the status word is returned The remaining 3 or 5 words in the p
339. ming environment The sample programs cover Sequencer Cam and Programmable Limit Switch PLS applications Supplement A Profibus Fieldbus Interfaces General Profibus information and Fieldbus Mapper examples GPS programming information PLC programming information Profibus hardware Supplement B DeviceNet Fieldbus Interfaces General DeviceNet information and Fieldbus Mapper examples GPS programming information PLC programming information DeviceNet hardware Supplement C Interbus Fieldbus Interfaces General Interbus information and Fieldbus Mapper examples GPS programming information PLC programming information Interbus hardware Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Introduction 1 3 1 2 VisualMotion Overview The term VisualMotion is not only used to describe the Windows based program for creating motion control programs but also for all the components required for a complete motion control system These components range from the CLC motion control card to the GPS firmware to the communications between the CLC card and all external components VisualMotion System Components The VisualMotion system is composed of CLC control cards GPS firmware software for the CLC cards VisualMotion Toolkit VMT program DDE Server communications protocol between windows programs and other applications BTCO6 Handheld Teach Pendant optional and up to 40 intelligent digital drives all communicatin
340. mple Parameter 210 sets the high eight bits of the Short Address Page for unit 0 Parameter 211 sets the VME address and data width that unit 0 uses to access memory Parameter 212 specifies the base address for a CLC set to unit 0 For further information refer to Chapter 3 Parameters of the VisualMotion 6 0 Reference Manual DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat B 12 VME Versa Module Eurocard Interface CLC V VisualMotion 6 0 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Non CLC Hardware C 1 C Non CLC Hardware C 1 VME Card Cage Indramat currently supplies a seven position VME card cage as an option The cage provides a VME backplane integral power supply card cooling fans a front accessible memory backup battery cutouts for four DB 25 connectors and termination for AC input power VME Card Cage Secondary Battery User programs stored in the 2MB SRAM use a 3 5 volt AA size lithium cell with pigtail leads for battery backup The battery holder located at the bottom left of the card cage front panel does not have electrical contacts itis only a mechanical holder The battery must be electrically connected to the VME backplane by connecting the positive red lead of the battery to the 5V terminal of terminal strip X5 and the negative blue lead to the OV terminal Battery 3 5 V Lithium Size AA Pigtail Le
341. mponents key components e fieldbus command e VisualMotion command read or write message read or write data data exchange object ASCII data contained in the 5E70 5E73 This is the destination of the data field QS object Object selection depends on Note Refer to the VisualMotion 6 0 required data field size Reference Manual for an explanation of the VisualMotion ASCII Protocol Figure 4 6 Format of a Non Cyclic Fieldbus Message using a Data Exchange Object Important The format of the Fieldbus message header is dependent on the type of master PLC being used Refer to your PLC manufacturer s manual for specific information on this topic The following sequence describes the communication between the Fieldbus master PLC and the Fieldbus slave CLC D DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 8 Information for the PLC Programmer Interbus Fieldbus Interfaces for VisualMotion 6 0 Message Steps Process Comments Write request from the FB Write Command The data field for the write master with VisualMotion request can contain a ASCII Protocol YMSE protocol VisualMotion read or write command text protocol read or write data Acknowledge fieldbus The response message contains response from slave FB Response only a confirmation that the Received error fieldbus message was sent properly Therefore the size of the data field will be 0 FB Response OK Read request from the F
342. mportant Whenever the Fieldbus Mapper is configured on line the system must be in Parameter Mode DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 2 General Information DeviceNet Fieldbus Interfaces for VisualMotion 6 0 1 2 Data Transfer Direction Output vs Input In the VisualMotion Fieldbus Mapper output and input are always described with respect to the Fieldbus master the Fieldbus card associated with the PLC The definitions for output and input follow output the communication from the PLC to the CLC D card i e from the Fieldbus master to the Fieldbus slave Synonyms for this type of communication send or write data input the communication from the CLC D card to the PLC i e from the Fieldbus slave to the Fieldbus master Synonyms for this type of communication receive or read data 1 3 Fieldbus Data Channel Descriptions The Indramat DeviceNet Fieldbus interface card for the CLC D DCF card supports two data channels for input output communication with the CLC D 1 Cyclic Channel Polled I O Real Time Channel for single and multiplex channels 2 Non Cyclic Channel Explicit Messaging Cyclic Channel The DCFO01 x Fieldbus card has pre defined cyclic bus objects 16 or 32 bit which are declared and transmitted as an ordered list the bus configuration list This bus configuration list acts as a placeholder for CLC D mapped data from the CLC D object mapping list See Object Lists and Their T
343. mpts Integers called out in 32 bit VisualMotion program see Note VisualMotion program see Note Integer 14 Integer 13 Integer 23 Integer 33 Note We suggest devising a system for assigning multiplex integers and floats to particular axes or data sets However there is limitation on how to divide multiplex objects except size In our sample data the system is as follows 1 digit Axis number 274 digit Purpose e g position counter dwell For example Integers in above sample data Indramat LU S nA Table 2 4 Sample Cyclic Data with Multiplexing DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 11 Non Cyclic Data We will assume that the following data will be transferred non cyclically for system initialization or setup Remember the direct mapped non cyclic data is intended for infrequent data transfer Note See Table 1 3 Non Cyclic Direct Mapped DeviceNet Data Objects for data limitations Output Data Size Input Data Size From Fieldbus Master Data Words From CLC Card Data Words to CLC Card to Fieldbus Master Table 2 5 Sample Non Cyclic Data with Multiplexing Note For other data types such as diagnostic text messages or S and P parameters use the data exchange object STEP Il Configure Fieldbus Slave Card with Setup Information and Cyclic Data Object Lists Using the Fieldbus Mapper Important The drive m
344. multiplexing Adding Objects to the Cyclic 1 Data Mapping List 2 Ensure that the designated bus type is correct Choose the desired cyclic data channel Polled I O Select the desired Mapping Direction Our example begins with From Bus to CLC Card Select the Data Type In our example the first single item to be added to this list is Register 120 Select Register as the data type Note The CLC D will show only the objects associated with the chosen data type in the Source Object list For example if you have selected the mapping direction From Bus to CLC Card and designate Register as the data type only 16 bit output objects that have been mapped in the bus configuration list see STEP II will be shown in the Source Object list Select or fill in the Destination In our example we must select Register 120 from the list in the pop up screen shown in Figure 2 7 Sample Selection List OR type 120 as the destination Note The Fieldbus Mapper selection lists display only the labels of the currently active program CLC Card Data Type Selection No label names defined in this Program TaskA Control TaskB Control Control TaskD Control System Diag Code Figure 2 17 Sample Selection List DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 16 Fieldbus Mapper Examples DeviceNet Fieldbus Interfaces for VisualMotion 6 0 6 The source objects that are applicable to thi
345. n 1 10 VisualMotion Overview 1 3 VisualMotion system 1 3 VisualMotion Toolkit installation and Setup 2 12 2 16 2 23 2 29 VM System Motion Capabilities 1 12 VME 2 22 VME Communications5 9 VME Bus request level 2 22 VME Card C 1 Backplane Jumpers C 3 C 3 Secondary Battery C 1 Orderting iiiter C 2 VME Configuration B 7 Address and Access Modes B 7 System Signals B 8 Bus Arbitration B 8 DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Bus Interface B 9 Bus Release Modes B 9 VME I O Systems C 4 W Windows 95 98 memory allocation2 9 Windows NT Base memory setup2 11 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Index I 3 X XVME 201 C 8 Xycom XVME 202 C 14 Xycom XVME 244 C 18 Indramat l 4 Index VisualMotion 6 0 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 engineerin g mannesmann Rexroth Supplement A Profibus Fieldbus Interfaces for VisualMotion 6 0 2 Indramat About this documentation Profibus Fieldbus Interfaces fo
346. n Add Delete Edit Cancel The above window can also be displayed by clicking on the User label button amp User labels can be created all at once or as required within each programming icon Build CAM From Point Table Yalues Target Cam r Source ABS Points CLC C Drive CAM Number integer Starting number integer Glx or label Ix Glx or label OK Active CAM _ E AM ih d Ending number integer Cancel lx or label 013 ic CAM build type Spline Wait until CAM table is built 2 Save Compile and Download the program by clicking on the button 3 When the Program Management window appears highlight the CAM App program and press the Activate button If CAM App is the only program found on the CLC card it will automatically be activated 4 Create the CAM s points table by selecting Data Points and entering the following information Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 23 AX Active ram Points Card 0 File Edit wel y Label 001 Double click on point number 001 to begin editing the CLC s CAM table 002 es w Edit 2 Blend Wold Percent of Dther 007 Speed Coordinates Maximum Rate Rolklo0 ber x E yen ais ri 00 0 Pitch 0 0
347. n 6 0 Information for the PLC Programmer 4 3 4 3 Non Cyclic Transmission Direct Mapped Objects A number of objects see Table 4 10 Non Cyclic Data Objects below can represent VisualMotion data types if they are mapped in the non cyclic object mapping list C 0 2700 This method provides a simple but inflexible method of transferring non cyclic data from the master to the slave Number of Data Size Numeric Objects Names of Available Objects 5F00 5FO0F 16 bit 5F60 5F6F 5FA0 5FAF 16 bit 5F70 5F7F 5FBO 5FBF Table 4 10 Non Cyclic Data Objects Selecting a Direct Mapped Object The VisualMotion data available for non cyclic direct mapped objects can be viewed and printed via the summary report function in the VisualMotion Fieldbus Mapper tool see Viewing Printing a Summary Report of the Current Fieldbus on page 3 1 Transmission Sequence via a Direct Mapped Object Note For the direct mapped object only one transmission and one response is required to send a read or write message to the CLC D card and to receive a response from the CLC D card Fieldbus Data Field Head key components key components e fieldbus command e data to be transmitted write message write message only unused for e direct mapped object from Table read message 1 17 above This is the size limited to 16 or 32 bit destination of the data field Object selection depends on the required VisualMotion data and its configura
348. n printing operations the axis controlling the print head may be programmed for a particular phase offset relative to some locating device such as a proximity switch Cam synchronization is used when custom position velocity or acceleration profiles are needed at a slave axis These special profiles are developed at the slave by sending position commands every SERCOS cycle A cam is an x y table of positions that relate a master axis to a slave Cams can be stored on the CLC card or on the digital drive CLC cams have more adjustment options and can work with any SERCOS drive Drive cams are more efficient and can be applied to more axes The same programming commands and utilities are used for both drive resident and card resident cams See Appendix C ELS Configuration of the VisualMotion 6 0 Reference manual for more information DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 14 Introduction VisualMotion 6 0 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 1 2 System Installation 2 1 Introduction This chapter will instruct the user in the proper steps required for setting up the necessary VisualMotion amp Hardware components as well as the installation of the VisualMotion Toolkit VMT Windows based program The intent is to make the user familiar with the different versions of CLC hardware and the methods used for upgrading VisualMotion firmware Host S
349. n32 Card number selection must match Mode Select M Refer to Figure 2 15 CLC V Address Switch Serial port TARN El Setup has finished installing VisualMotion6V 10 on your computer Setup can launch the Read Me file and VisualMotion amp V 10 What type of communications link will be used Choose the options you want below Serial port AT Modem viaXycom PC VME via GE Plug n Play Click Finish to complete Setup Settings can be modified in VisualMotion32 Cancel ie AT Modem VME via Xycom PC VME via GE Plug n Play Figure 2 19 CLC V Installation Screens DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 34 System Installation VisualMotion 6 0 CLC Card Setup x CLC Card Setup x What COM part on your PC will you use COM 1 What type of card will be used C COM 2 C COM 3 CLC V VME C CLCD Drive card C CLCP ISA bus card What baudrate is the port set to default is 3600 C CLE P2 104 50 Setti be modified in VisualMotion32 Settings can be modified in VisualMotion32 scat ses ice Serial port Setup has finished installing VisualMotion6V 10 on your computer Setup can launch the Read file and VisualMotion6V 10 What type of link will be used Choose the options you want below Serial Port C Modem AT Modem Click Finish to complete Setup Settings can
350. nal data cycle This is necessary to clarify the precise length of the data and specify the beginning and the end of a complete transmission To identify a new transmission step and confirm its receipt by the slave a toggle bit is used in the Fieldbus control and status words This bit provides a means of identifying data consistency over one or many transmissions of a transaction The functionality of the toggle bit is as follows 1 The master changes the toggle bit with each data transmission cycle 2 Uponreceipt of data the slave sets the toggle bit to the state specified by the master 3 Only now may the master start up a new transmission cycle in which it can change more data and the toggle bit Exception The master sets the basic state to clear an error Whether or not the toggle bit was previously set the master recognizes the basic state by the coding of the parameter channel control word basic state 0x000X The number of valid data bytes all bytes after the control or status word for the current transmission is specified here Note This value is the number of bytes of data in the current transmission If multiple transmissions are needed to complete a data transaction each transmission specifies the quantity of data attached to that transmission only If the quantity of data is too large to be transmitted during one cycle the number of valid bytes specified in the last transmission could be different from that
351. nce_Abs H Optionallevents for this move Start Setup L2 x 3Function Arguments Defined OLocal Variables Defined Motion Type Coordinated Cancel Non Coord aption Optional Local Variables Cancel t integer Glx Task Callable from Sequencer Caption or label AxisNumber m z Wait Control Box Wait for Axis in Position at Position Avis integer Glx Ix or label Coordinated State C State Time Axis integer Glx Ix or label Velocity Control Box Aris Number H float GFx or rl Speed Cancel Caption Figure 0 2 MOVE ABS subroutine AxisNumber DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 6 Example Programs VisualMotion 6 0 Function Subroutine SET IO Arguments for function SET 10 Branch Setup Start Setup 1 0 Setup Box 1 0 Setup Box L fo Figure D 3 SET IO subroutine Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 7 Function Subroutine COUNT Start Setup Calculations Com User Defined Labels Cycle Count Cycle Count Figure D 4 COUNT subroutine DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 8 Example Programs Function Subroutine WAIT Name Minimum Value Maximum Value Time Y 1 Function Arguments
352. nding up to 16 unique pieces of data for each multiplex object Single and multiplex objects can be combined to fill up the first 15 words of the list In this example we will assume that you want to cyclically transfer the following data between the CLC D card and the Fieldbus master in the order listed Object Output Data Object Input Data Type Size From Fieldbus Master to CLC Card Type Size From CLC Card to Fieldbus Master bits bits Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3 Index 0 Index 1 Index 2 Index 0 Index 1 Index 2 Single Register 100 1 Single Register 120 1 16 bit 16 bit Single Float 2 2 Single Global Float 22 2 32 bit 32 bit Single Integer 4 Single Global Integer 44 32 bit 32 bit Multiplex Control Registers preassigned per axis Multiplex Status Registers preassigned per axis 16 bit 16 bit Register Register Register 1 Register 31 Register 33 11 12 13 Multiplex Position Command Floats called out in Multiplex Axis Parameter 102 Feedback Position 32 bit VisualMotion program see Note 32 bit NES Flatll Float21 Float 31 Parameter Parameter Parameter 2 A 1102 A 2102 A 3 102 Multiplex Counter Integers called out in Multiplex Axis Parameter 112 Feedback Velocity 32 bit VisualMotion program see Note 32 bit Integer 11 n nteger 21 Integer 31 Parameter Parameter Parameter A 1 100 A 2 100 3 100 Multiplex Dwell Time Integers called out in Multiplex Maximum Atte
353. ndow The velocity s rate is now a variable Click on OK to complete the variable process Figure 3 3 Assigning a variable Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Create Download Sample Program 3 15 Assigning a Value to a Variable VisualMotion variables are defined by the programmer and are used in programs to enable the user to modify a value in the active VisualMotion program without having to re compile and download the information Modified variables are only updated the next time the program cycles and encounters an icon instruction using that variable Select Data Variables to view the Active Program Variable window Active Program Variabl BEE File ProgramSelect lees File Edit Format the user view variables from Settings FEJ program floats different programs stored on label I program integers Axis pos 1 2 the CLC card ea global floats Axis pos 2 i inc global integers Axis Task A Local Variables Axis pos 3 Task B Local Variables Axis vel 3 Axis pos 4 Task C Local Variables vel 4 Task D Local Variables Axis pos 5 Variables can be modified by double clicking on a specific 00 variable and editing the value Variable F11 Axis vel 5 in a pop up window pop up Current Value Previous 100 0 Next Figure 3 4 Viewing and editing variables The following variable types are available Floating Poi
354. ndramat 2 14 Fieldbus Mapper Examples Interbus Fieldbus Interfaces for VisualMotion 6 0 Configure Slave Telegram PD DP IO Channel Available Objects Bus Conf IN List To From Word Word Type FieldBus FieldBus 0 Single Single e mem Single Base M Base M 32 1 5 00 fiz 32 2 B 5 90 32 3 B EAD E Cis 2 B 5F30 Object 3226 2 S single 32 3 S 5EB3 Base M B base for multiplex object x 32 4 5 BEB4 Configure Multiplex Channel 32 5 5 STAT Objet Number Enable 7 Input Data 32 S N ence Mutiplexing Output Data 32 7 5 N A 2 2 object etc 2 E 2 8 5 5EB8 x N of PD channel word Indramat Object ID Base M e co 690065 ceaoacocooco co Object Size Highest Index 16 16 bit 2 Fieldbus Error Reaction 32 32 bit Ignore Byte s Used Configuration Direction I Input To Field Bus O Output From Field Bus Cancel Figure 2 14 Configuring the Interbus Configuration IN List with Multiplexing 12 Choose the radio button below the words From FieldBus Configure Slave Telegram Channel Available Objects Bus Conf OUT List Single 16 bit To From Word tt Word Type FieldBus FieldBus eee Length of PD channel word 9 Single 32 bit i 032 1 Object 032 2 B 5EDO 032 3
355. ned This means that the command to send the message was acknowledged The remaining 5 words in the Parameter Channel will not be used Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 13 FB status word E 0 Message Fieldbus Not used Format status word Message Parameter Layout Channel Message Header Motorola Format b Error Free Read Response An error free execution E 0 in the Fieldbus status word after a master read command has a parameter channel structure of up to 6 words or it may span multiple transmissions to complete the transaction if the ASCII message is longer than 10 bytes FB status word E20 Message Fieldbus VisualMotion user data 0 CP 0 10 Format status 0_27 CR LF word Message Parameter Parameter Channel Message Data Layout Channel Intel Format Message Header Motorola Format Faulty Execution Response For a faulty execution of the write command process E 1 in the Fieldbus status word only the Fieldbus status word is returned The remaining 5 words in the Parameter Channel will not be used No detailed explanation of the transmission error is given in VisualMotion ASCII Format The ASCII protocol on the other hand returns an error message if the format of the ASCII protocol is incorrect Word Wordi Word2 Word3 Word4 Word5 Word 6 Data FB
356. nel made up of 3 16 bit objects of 1 data word each and 4 32 bit objects of 2 data words each The input channel contains only 10 words so a filler object must be placed in the Bus Configuration IN list for the 11 word 7 Select the baud rate in the Baudrate combo box to match that of the other network devices 8 Select Not swapped default or Swapped under 32 bit object word swapping as required by your PLC See Word and Byte Swapping on page 4 1 9 Select Not swapped default or Swapped under Explicit message byte swapping as required by your PLC See Word and Byte Swapping on page 4 1 10 Ensure that the combo box under Fieldbus Error Reaction is currently set to Ignore Any other setting during setup will cause repeated error messages Set the desired Error Reaction when the machine is ready for commissioning See Fieldbus Error Reaction on page 3 9 for detailed information about the possible settings 11 Choose the radio button below the words To FieldBus 12 For each data type desired choose a corresponding available object in the list on the left and click APPEND to place it in the Bus Conf IN List If you are configuring a new list click on the NEW button to clear any current data in the selected list Each available object has a typecode to identify its size and type Figure 2 4 Configuring the DeviceNet Configuration IN List contains a description of the typecode DOK VISMOT VM 06
357. nel which allows the transmission of some non cyclic data via the cyclic DP channel If this feature is desired the first 4 or 6 data words of the cyclic channel for the slave board must be allocated for non cyclic transmissions This portion of the cyclic channel is subdivided as the parameter channel The remainder of the cyclic channel is called the real time channel see Figure 4 4 The Non Cyclic DP Channel below Note The parameter channel is always allocated as the first 4 or 6 words of the Profibus cyclic DP channel The length of the parameter channel plus the length of the real time channel used to exchange cyclic data represent the entire length of the DP channel maximum total length 16 words ERN Cyclic Data Channel DP up to 16 words total Real Time Channel Single and or Multiplex Objects Parameter Channel up to 10 words of single multiplex data available 4 or 6 words consumed Word 16 Parameter Channel Word6 Word5 Word4 Word3 Word2 Word 1 1 optional Control Status Word Figure 4 4 The Non Cyclic DP Channel Note The total defined length of the cyclic DP channel must include the 4 or 6 data words for the parameter channel DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 4 Information for the PLC Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 P CHAN Parameter Channel Component Descriptions
358. nfiguration list This bus configuration list acts as a placeholder for CLC D mapped data from the CLC D object mapping list See Object Lists and Their Transfer Locations DBS03 x Fieldbus t Fieldbus Cyclic Object List network update poll CLC Data Object Js ong Mapping List uration List C 2640 through 2600 2698 Figure 1 2 Object Lists and Their Transfer Locations for Cyclic Data The cyclic data channel is limited to a total of 15 input words and 15 output words with one additional data word being consumed by the non cyclic PCP channel at all times CLC D data types consume these objects in either one word or 16 bit groups for CLC registers or two word or 32 bit groups for all other data types in the object mapping list C 0 2600 According to the Interbus specification for valid data transfer lengths not every increment number of data words is valid See the following table for the valid Interbus channel lengths when multiplexing is off Valid Interbus Number of Words Consumed by Multiplexing Off Channel Lengths Configurable Cyclic Non Cyclic Channel d Words Consumed by Data Words Control Status Word NOTE This is the number that must be entered in the Field Bus Mapper Screen under Length of PD Channel word Table 1 1 Valid Interbus Channel Lengths Multiplexing OFF Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMot
359. ng that the system is in 100 101 102 103 104 105 106 User Inputs Reg 1 User Inputs Reg 2 102 103 104 105 106 0000000000000000 0000000000000000 0000000000000000 0000000000000000 0000000000000000 0000000000000000 ml Parameter Mode The bits should now be listed along with their corresponding labels Physical Name Bits of Register 100 User Inputs Reg 1 Bit DOK VISMOT VM 06VRS PRO2 AE P 09 99 Physical Name Param Mode N xj Mode Auto Manual Task Stop Task Start Clear Errors Live Man Emergency Stop Bit 08 Finish VM Program Bit 10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 Bit 15 after State indicates forced State Cancel Previous Le Nest ccOococcocoocococococococoococccocc Indramat 4 10 Program Execution VisualMotion 6 0 2 Change the state of the following bits as listed in the order shown below Bit Label State a 07 Emergency Stop 0 to 1 b 01 Param Mode 1100 c 05 Clear Errors to 1 d 02 Mode Auto Manual Oto 1 e 03 Task Stop 0 to 1 f 04 Task Start 0 to 1 Bit 8 Physical Name State Param Mode 0 0 lt gt 1 Mode Auto Manual 1 9e Cancel Clear Errors 1 06 Live Man 0 07 Emergency Stop 1 08 Bit 08 0 08 Finish VM Program 0 10 Bit 10 0 11 Bit 11 0 12 Bit 12 0 13 Bit 13 0 Previous 14 Bit 14 0 15 Bit 15 0 15 BiL16 after
360. nificant digits offset i e P 0 0135 135 32768 32903 Notepad Text File 0 2 0 0026 start of list containing 2 elements 1 32903 Element 1 135 32768 0 0135 1 26 2 32903 2 0 0135 3 DD 1 26 3 0 end of list for S 0 0026 DE 1 328 0 2 S 0 0328 start of list containing 2 elements DD 1 328 1 0 Bit 0 for element 1 of S 0 0026 DD 1 328 2 Bit 1 for element 2 of S 0 0026 DD 1 328 3 0 end of list for S 0 0328 Figure D 16 Signal Status Word Configuration drive 1pls Notepad Iof x File Edit Search Help 1 26 6 2 1 26 1 32963 1 26 2 32963 1 26 3 6 1 328 686 2 1 328 1 6 1 328 2 1 1 328 3 6 The above Notepad text file configures the Signal Status Word S 0 0144 as follows The state of parameter P 0 0135 bit 0 is directly mapped to connector X3 pin 8 The state of parameter P 0 0135 bit 1 is directly mapped to connector X3 pin 10 Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 37 3 Save the text file as DriveO1pls prm under Indramat clc saveset Save As 21 x 3 saveset e ore Desktop My Computer 3 Floppy E3 Wind 3 indramat 1 clc C proie File name driveo pls prm Save as type fan Files Cancel 4 Start VisualMotion if closed and open the desired program to use with the PLS function of the DKC02 3 5 Select File Transfer Parameters S
361. nit OK MSB most significant bit The bit combinations for x1 and x2 are as follows Bit 2 Bit 1 Description CLC D Fieldbus A reset has been executed on the DPR or neither the CLC D card nor the Fieldbus card have initialized the DPR The DPR is initialized by the Fieldbus card but not yet by the CLC D card The DPR initialization is complete DPR has been initialized by the Fieldbus card and CLC D card Fieldbus to CLC D communications system is ready The system looks for this combination of bit settings to initiate any communication between the Fieldbus and CLC D cards The watchdog function via DPR communications with the Fieldbus slave works correctly Table 3 5 Possible Settings for Bits 1 and 2 Status Bits for DPR Communication x4 Status bit for the active bus capabilities of the Fieldbus slaves FB Slave Ready This bit is monitored for the Fieldbus Error Reaction Whenever this bit goes to O after a Fieldbus card was initially found by the CLC D the selected Error Reaction system shutdown error message or ignore is initiated See Fieldbus Error Reaction on page 3 9 for an explanation of the Fieldbus Error Reaction setting 0 gt The Fieldbus slave is not yet ready for data exchange 1 gt The Fieldbus slave can actively participate on the bus Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the GPS Programmer 3 7 x5 X
362. nition Fieldbus Status on page 3 6 Non Cyclic Objects The DeviceNet implementation for CLC D is based on previous Fieldbus implementations Interbus and Profibus Although DeviceNet data objects are expressed according to Class Instance and Attribute there is a correlation between these objects and the objects used in Interbus and Profibus DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 5 6 DeviceNet DCF01 x Slave Board DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Non Cyclic Data Exchange Objects The following are supported 16 byte 100 1 100 Data 101 Length in bytes 102 Indramat Object ID read only 32 byte 100 2 100 Data 101 Length in bytes 102 Indramat Object ID read only 64 byte 100 3 100 Data 101 Length in bytes 102 Indramat Object ID read only 128 byte 100 4 100 Data 101 Length in bytes 102 Indramat Object ID read only Non Cyclic Direct Mapped Objects The following are supported 100 Data 101 Length in bytes 102 Indramat Object ID read only 100 Data 101 Length in bytes 102 Indramat Object ID read only 100 Data 101 Length in bytes 102 Indramat Object ID read only 16 bit 100 Data output 101 Length in bytes 102 Indramat Object ID read only Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 6 Index Tile 4 1 Basic Example
363. non privileged Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Non CLC Hardware C 13 Jumpers JA10 through JA15 set the base address of the card within the VME 64k Short I O Address space on 1k boundaries The table below lists the base addresses and corresponding jumpers for XVME 201 cards one through eight if parameter C1 8 is 0x0000 Xycom XVME 201 Address Jumper Card Base Address JA10 JA11 JA12 JA13 JA14 JA15 0 0 00 closed closed closed closed 6 0 1400 open closed open closed closed closed 8 OxICO open open open closed closed closed The base address of each card may be calculated using the expression Short Address Base Address XVME 202 card 1 0x400 Parameter C1 8 Xycom XVME 201 Characteristics Number of Channels SD LSA dax Dimensions VME single height 3U 150mm x 116 7mm Temperature Operating 0 to 65 C 32 to 149 F Non Operating 40 to 85 C 40 to 158 F VMEbus Compliance e Complies with VMEbus Standard Rev 1 A15 D8 0 DTB Slave Size Single Base address jumper selectable on 1K boundaries within the VMEbus short I O address space DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat C 14 Non CLC Hardware VisualMotion 6 0 Xycom XVME 202 PAMUX I O Xycom 202 1 0 Example Xycom 202 PaMux 1 0 System 0 single 50 wire ribbon IDC J1 24 1 0 per Drop 8 1
364. nt Table 3 4 Bit Assignment for the Diagnostic Object 5ff2 VisualMotion Register 19 contains the bit assignment for the diagnostic object 5ff2 The assigned bits are labeled with x and the bit number in the second row Unassigned bits are labeled with Table 3 4 Bit Assignment for the Diagnostic Object 5ff2 VisualMotion Register 19 Bit Definitions x1 x2 Status bits for the internal DPR Dual Port RAM communication between the Fieldbus slave and the CLC D x1 FB Init OK LSB least significant bit X2 FB Init OK MSB most significant bit The bit combinations for x1 and x2 are as follows Bit 2 Bit 1 Description CLC D Fieldbus A reset has been executed on the DPR or neither the CLC D card nor the Fieldbus card have initialized the DPR The DPR is initialized by the Fieldbus card but not yet by the CLC D card The DPR initialization is complete DPR has been initialized by the Fieldbus card and CLC D card Fieldbus to CLC D communications system is ready The system looks for this combination of bit settings to initiate any communication between the Fieldbus and CLC D cards The watchdog function via DPR communications with the Fieldbus slave works correctly Table 3 5 Possible Settings for Bits 1 and 2 Status Bits for DPR Communication x4 Status bit for the active bus capabilities of the Fieldbus slaves FB Slave Ready This bit is monitored for the Fieldbus Error Reaction Whenever
365. nt Variables F1 Fx A floating point variable is simply a number containing a decimal point The number of 32 bit floating point variables is defined in the sizing icon at the beginning of the program and are stored as part of the program Integer Variables 11 Integers are signed or unsigned whole numbers such as 5 or 3 The number of 32 bit Integer variables is defined in the sizing icon at the beginning of the program and are stored as part of the program Global Floating Point and Global variables are available to all programs stored on the CLC card Integer Variables GF1 Gfx GI1 Global variables are program independent Multiple programs can write GIx to the same set of Global variables Task A D Local Variables Local variables are created when a subroutine or task begins and eliminated when the subroutine or task execution has ended Arguments can be passed to local variables to allow multiple applications of a common subroutine DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 16 Create Download Sample Program VisualMotion 6 0 3 4 File Types Visual Motion uses a number of different file types Refer to the following chart to identify the file type according to its extension Extension Description Text file that ACAM utility converts to a csv file SV a Comma Separated Variable type file used to store cam profiles e exb Compiled program file that is uploaded from the CLC It is ready to
366. nt user tasks A B C amp D Each task can control a coordinated group of two or three axes and any number of independent motion axes Depending on the application a single CLC can control up to 40 axes VisualMotion can have up to 4 tasks running in each program Tasks A D run simultaneously and are given equal priority A task is a process that the user runs in his machine Using VisualMotion the user can have 4 separate processes or task running simultaneously and each task can be independent of each other Multitasking is cooperative and can consecutively execute one instruction from each task Special event functions preempt normal multitasking for real time response and are prioritized according to the hierarchy of the event s associated task Task A highest priority Task D lowest priority Two additional executive tasks manage the user interfaces through serial communication ports One controls communication to the Host PC the other controls the BTCO6 when used Each task also has a queue for events permitting asynchronous initiation of multiple independent events within each task VM Controller events are a privileged form of subroutine suspending all program tasks until pending events are done Each task may have up to four events active at one time The CLC provides several event types including time based distance based and position based events and others Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 V
367. nteger currently active program ONLY Float currently active program ONLY 2 CLC Card Parameter Task Parameter Note Drive parameters S or P cannot be transmitted cyclically because of the inherent delay of parameter access over the SERCOS service channel See Non Cyclic Channel Data Exchange Objects on page 1 8 However if a drive parameter is mapped to an axis parameter that axis parameter could be used in cyclic data see description of Axis Parameters 180 196 in the VisualMotion 6 0 Reference Manual 2 2 NM MI MI PM Important Note Integers and floats are shown only for the currently active program Each time you activate a new progam the fieldbus reads writes to the newly activated program Table 1 3 CLC D Cyclic Data Types and Sizes Indramat Fieldbus interfaces have single 16 bit and double 32 bit word objects in the cyclic data channel with which simple applications can be handled without any difficulty These objects are directly mapped to CLC D data types and updated every third SERCOS update cycle In some multi axis applications 15 words of cyclic data transfer are not sufficient to meet the data transfer requirement of the application When insufficient data transfer space is available multiplex data can be set up within the cyclic channel One data object base object acts as a placeholder for multiple possible CLC D data types all of the same word size The curren
368. o Caution Electro static discharge or place the board directly on a conductive surface Only handle the board by its face plate or card edges Unexpected Movement of Machine Load To reduce any possibility of unexpected movement during and after installation remove all motor connects to machine load before proceeding Warning Machine movement after installation should only be performed by trained personnel who understand the machine s specifications 1 Before the installation of the CLC P02 card can begin a memory address and a PC 104 interrupt must be set to assure uninterrupted communications The setting of a base memory address and interrupt are made by opening and closing the DIP switch settings of S1 The following figure illustrates the location of the S1 switch on the CLC P02 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 15 S1 DIP Switch OPEN position up CLOSED position down Card amp Bus Address Jumpers LK PAP 2 9 X27 D SUB 9 serial interface X25 fiber optic transmission X26 B fiber optic receiver MC68EC020 SS X28 D SUB 9 pin serial interface _ uuu 000 CLC P02 O PC104 Connector Figure 2 11 CLC P02 Jumper Locations 2 Using the following table set S1 DIP switch
369. o the red fiber optic transmission light Confirm presence of light by Warning reflecting it off your hand 6 If VisualMotion Toolkit VMT is installed on your Laptop continue to step 7 If VisualMotion is not installed refer to section 2 3 VisualMotion Toolkit Installation and Setup before proceeding 7 Using cable 50110 make a serial connection between your laptop s Com port and serial port A on the CLC V 8 Start VMT and choose Card Selection from the Setup menu Select the appropriate connection method and set the card number to match the Mode Select of step 1 Card Selection Setup Card Selection Setup Connection Connection Methad Xycom YME Method Serial Card Number 5 Card Number 5 DDE Link read only 4 DDE Link read only Service LC DDE Service CLC_DDE Topic fserial_5 Close Figure 2 17 Card Selection Setup Note Proper VMT communication depends on the connection method selected e VME Bus communication between CLC V and Xycom PC using a VME bus e Serial serial communication between PC and CLC V using serial port A DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 24 System Installation VisualMotion 6 0 9 To verify VMT communications with the CLC V card request a system status from menu selection Status System f communications have been established the System Parameters screen will
370. oat 11 Integer 11 Integer 14 Float 21 Integer 21 Integer 24 Float 31 Integer 31 Parameter A 1 110 Integer 34 Parameter A 1 102 Integer 13 Parameter A 2 102 Parameter A 2 110 Integer 23 Parameter A 3 102 Parameter A 3 110 Integer 33 Table 2 6 Objects to be transferred cyclically with multiplexing Adding Objects to the Cyclic 1 Data Mapping List 2 Ensure that the designated bus type is correct Choose the desired cyclic data channel DP 3 Select the desired Mapping Direction Our example begins with From Bus to CLC Card 4 Select the Data Type In our example the first single item to be added to this list is Register 120 Select Register as the data type Note The CLC D will show only the objects associated with the chosen data type in the Source Object list For example if you have selected the mapping direction From Bus to CLC Card and designate Register as the data type only 16 bit output objects that have been mapped in the bus configuration list see STEP II will be shown in the Source Object list 5 Select or fill in the Destination In our example we must select Register 120 from the list in the pop up screen shown in Figure 2 7 Sample Selection List OR type 120 as the destination Note The Fieldbus Mapper selection lists display only the labels of the currently active program CLC Card Data Type Selection No label names defined in th
371. ocity Control Box x Axis integer Glx or label p 69 Rate float GFx or label 100 _ Cancel Caption MOVE Icon 11 Select and place the MOVE icon to the right of the Velocity icon The velocity icon sends the move distance to the drive and initiates the move a Select Relative as the move Type Note A Relative move is an incremental distance that is moved every time the move icon is encountered in the program flow An Absolute move is a exact position that is reached when the move icon is encountered and is not repeated unless the absolute position changes b Enter a 1 to specify the axis number c Enter a distance of 10 and click on OK Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Create Download Sample Program 3 7 Single Axis Move Setup 2 x Type C Absolute Relative Axis to move integer Glx Caption or label 1 Distance float Fx GF or label ho B OptionalJevents for this move EVTI Evt m Evi ga WAITIcon 12 Select and place a WAIT icon to the right of the MOVE icon The task 7 execution will wait at this point until the wait condition is true In this case the task waits until axis 1 is in position Wait Control Box Wait for 6 Axis in Position Axis at Position Coordinated State Cancel 2 Caption Time Axis integer Glx Ix or
372. ofibus multiplex control and status words serve to command and acknowledge multiplex data transferred between the Fieldbus master and the Fieldbus slave The control word is associated with output communication PLC CLC The status word is associated with input communication CLC PLO Single data objects are not affected by the multiplex control and status words DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 6 General Information Short Format 2 VisualMotion ASCII Format Indramat Profibus Fieldbus Interfaces for VisualMotion 6 0 Note For specific information about how the Fieldbus master uses the multiplex control and status words see Multiplex Data Bits in the Control and Status Words on page 4 1 Sending and Receiving the Same CLC D Data Cyclically Two separate objects will be consumed when sending and receiving the same CLC D data both cyclically and non cyclically If you wish to cyclically send and receive the same CLC D data the Output mappings should come first in the list see Fieldbus Mapper Examples Basic Example on page 2 1 Parameter Channel Profibus DPF05 x with CLC D only For Profibus systems using the CLC D DPFO05 x VisualMotion configuration where support of non cyclic FMS communication is not available over the Fieldbus a subset of the cyclic DP channel can be allocated for non cyclic communications e g parameterization and extended diagnostic information This subset of
373. ogrammable Limit Switch which includes an ELS master and slave axis As the ELS virtual master position changes the PLS will turn the output register 129 bits 1 16 on and off The ELS slave axis will rotate to reflect the position of the ELS master PLS Icon Figure D 13 programmable limit switch program Program Instructions Using VisualMotion Toolkit create a new program by selecting File New and select con as your programming work area 1 Before adding icons to the programming work area save the program by selecting File Save As and name the program PLS App str 2 Create the variable F1 Master Vel by selecting Edit Labels User Labels This variable will be used to control the velocity of the master 3 Using the Program Layout on page D 32 create the PLS program using the information contained within each icon s setup box 4 Save Compile and Download the program by clicking on the button 5 When the Program Management window appears highlight the PLS App program and press the Activate button If PLS App is the only program found on the CLC card it will automatically be activated Note ELS applications running PLS Programmable Limit Switches require that the Minimum SERCOS Cycle Time Card Parameter C 0 0099 be increased from 2000 msec to 4000 msec 6 Before the PLS program can be run select Data Variables and enter a value for the F1 variable Master Vel Enter a value of 5 Active Program
374. ommunication between CLC P02 and using a PC 104 bus Serial serial communication between PC CLC P02 using com port DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 17 7 To verify VMT communications with the CLC PO2 card request system status from menu selection Status System If communications have been established the System Parameters screen will appear containing information on the installed CLC card 8 Once communications have been established power down the Host PC and make the appropriate cable connections to the system as illustrated in Figure 2 13 CLC P02 Installation Refer to Figure 2 4 Fiber optic ring structure for details Installed in 104 slot High speed serial port EC CLC P02 Serial port Figure 2 13 2 Installation 9 Once the VisualMotion system is completely connected power the Host PC and drive units for system initialization The system is now ready to be programmed Refer to chapters 3 and 4 for programming details See Appendix A PC Interfaces CLC P ISA PC 104 bus for more information DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 18 System Installation VisualMotion 6 0 Upgrading CLC P02 flash firmware Archiving VisualMotion System Archive System
375. on 6 0 System Installation 2 21 Installing and Configuring the CLC V Motion Control Card The CLC V02 3 is a CLC motion control card in a VME Versa Module Eurocard form factor Figure 2 14 CLC V02 3 Hardware Electro static discharge Sensitive electronic device The CLC card is a sensitive electronic device Use caution when handling this board Do not expose to Caution Electro static discharge or place the board directly on a conductive surface Only handle the board by its face plate or card edges Unexpected Movement of Machine Load To reduce any possibility of unexpected movement during and after installation remove all motor connects to machine load before proceeding Warning Machine movement after installation should only be performed by trained personnel who understand the machine s specifications 1 Set the CLC V s VME bus unit number by selecting a unique number on the Mode Select rotary switch Note No two VME cards can share the same unit number within the same VME rack Every card must be assigned its own unique number to avoid communication errors DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 22 System Installation VisualMotion 6 0 INDRAMA RESET LOCAL ABORT Mode Select Figure 2 15 CLC V Address Switch 2 The CLC V card is pre configured as the VME system arbiter or controller However if it is not to be used as the arbiter disable VM
376. on Cyclic Data with Multiplexing 2 11 STEP II Configure Fieldbus Slave Card with Setup Information and Cyclic Data Object Lists Using the Fieldbus eene 2 12 STEP Define Cyclic Data Mapping Lists 2 16 STEP IV Define Non Cyclic Data Mapping Lists Direct Mapping 2 18 2 3 Parameter Channel 2 20 3 Information for the GPS Programmer 3 1 3 1 Viewing Printing a Summary Report of the Current Fieldbus only when CLC D is on line 3 1 To View a Summary 3 1 To Print a Summary ie ce a RC en det 3 2 3 2 Fieldbus Accessible Parameters 3 3 3 3 Register 19 Definition Fieldbus 3 6 Diagnostic Object 5E F2 iet date utere eret ae Dea reu ERE Cd qa 3 6 Bcc 3 6 3 4 Register 20 Definition Fieldbus Diagnostics 3 7 Diagnostic Object 5bEFO iie 3 7 gite 3 8 3 5 Register 26 Definition Fieldbus Resource 3 8 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat Contents Profibus Fieldbus Interfaces for VisualMotion 6 0 Bit Im 3 9 3 6 Fieldbus slender
377. on Register 19 The register information can be referenced in a VisualMotion application program to respond to the status of each bit The use of these bits is application dependent Table 3 4 Bit Assignment for the Diagnostic Object 5ff2 VisualMotion Register 19 contains the bit assignment for the diagnostic object 5ff2 The assigned bits are labeled with x and the bit number in the second row Unassigned bits are labeled with Table 3 4 Bit Assignment for the Diagnostic Object 5ff2 VisualMotion Register 19 Bit Definitions x1 x2 Status bits for the internal DPR Dual Port RAM communication between the Fieldbus slave and the CLC D x1 FB Init OK LSB least significant bit X2 FB Init OK MSB most significant bit The bit combinations for x1 and x2 are as follows Bit 2 Bit 1 Description CLC D Fieldbus A reset has been executed on the DPR or neither the CLC D card nor the Fieldbus card have initialized the DPR The DPR is initialized by the Fieldbus card but not yet by the CLC D card The DPR initialization is complete DPR has been initialized by the Fieldbus card and CLC D card Fieldbus to CLC D communications system is ready The system looks for this combination of bit settings to initiate any communication between the Fieldbus and CLC D cards The watchdog function via DPR communications with the Fieldbus slave works correctly Table 3 5 Possible Settings for Bits 1 and 2 Status Bits
378. optic cable The DSS card also offers inputs for the evaluation of reference switches travel range limit switches probes and an E STOP input Unexpected Movement of Machine Load Damage to machine or injury to personnel can occur Remove all motor connects to machine load before proceeding with installation Warning Typically the DSS SERCOS Interface card is installed in slot U1 Afterwhich any additional plug in cards such as CLC and DEA can be installed in any order The following 2 axes digital drive setup illustrates a typically SERCOS ring layout containing DSS CLC and DEA plug in cards U1 U2 U3 U4 U1 U2 U3 U4 DSS DEA 5 X27 5 X28 Digital Drive 1 Digital Drive 2 2 2 8 ae 0 2 Figure 2 1 Plug in card placement DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 4 System Installation VisualMotion 6 0 Error during handling and mounting Electro static damage can result gt Remove any power to the drives and accessories that are part of the system before inserting or removing Warning any plug in cards DSS drive address settings In order to achieve proper drive addressing set the S2 low and S3 high rotary selector switches on the DSS cards to a unique number for each drive contained in the SERCOS ring For sys
379. or the master to easily access non cyclic data However the fixed mapping list is limited to a certain number and types of CLC D data The directly mapped non cyclic data take note of size and direction can be assigned to the following objects Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 General Information 1 7 Number of Objects Available Data Size Direction DeviceNet Indramat reference Names of Object ID Master Fieldbus Objects 16 in Class 110 5F10 5F1F Instance 1 16 Attribute 100 Class 109 5F00 5FOF Instance 1 16 Attribute 100 32 16 bit in Class 115 119 5F60 5F6F Instance 1 16 2 Attribute 100 JEPMEBERE 16 bit Class 116 120 5F70 5F7F Instance 1 16 Attribute 100 SRE ORE Data Object Types and Sizes Sending and Receiving the Same CLC D Data Non Cyclically DOK VISMOT VM 06VRS PRO2 AE P Table 1 3 Non Cyclic Direct Mapped DeviceNet Data Objects Note The available CLC data types for directly mapped non cyclic data are the same as for directly mapped cyclic data The following table outlines the directly mapped CLC D data object types that can be transmitted via the non cyclic channel and the amount of space in data words that each data type consumes CLC Data Object Type Data Size in Data Words Reiter Integer currently active program ONLY Float currently active program ONLY Table 1 4 Data Object Type
380. or x13 x14 and x15 are as follows mus ms uro fede Type p e p sow s sepe t e memegems 0 i peres poro C a Hs 1 HO e e eme Table 3 7 Identification of the Fieldbus Interface 3 5 Register 26 Definition Fieldbus Resource Monitor Indramat The Fieldbus Resource Monitor in register 26 can be used as a method for monitoring the attempts made to process the Object Mapping List parameter C 0 2600 across the Dual port RAM If after three SERCOS update cycles the Object Mapping List is not successfully transmitted a miss is noted Register 26 is divided into the following three counter types e Current Miss Counter Peak Miss Counter e Fieldbus Timeout Counter Table 3 8 Bit Assignment for Fieldbus Resource Monitor Register 26 contains the bit assignment for the Fieldbus counters The assigned bits are labeled with an x followed by the bit number Current Miss Counter Peak Miss Counter Fieldbus Time out Counter 15 14 13 12 11 10 x16 x13 x12 x11 x10 x9 x8 Table 3 8 Bit Assignment for Fieldbus Resource Monitor Register 26 Note View register 26 in Hexadecimal format to more easily monitor the Fieldbus counters Hex display format of register 26 0x0000 Fieldbus Time out Counter 00 FF Increments by one every time 10 cyclic mapping list attempts are missed in 10 attempts Peak Miss Counter 0 9 Displays
381. ore 24 Byte s Used DK Send To CLC Cancel Figure 2 15 Configuring the Profibus Configuration OUT List with Multiplexing 13 For each data type desired choose a corresponding available object in the list on the left and click APPEND to place it in the Bus Conf OUT List We have now allocated the data objects in the cyclic channel so the desired data can be transferred between the CLC D card and the Profibus Fieldbus card Note The non cyclic data requires no configuration of objects in a list These objects are addressed directly and preassigned as non cyclic They need only to be mapped to the CLC D data 14 Click OK Send to CLC The following window appears DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 16 Fieldbus Mapper Examples Profibus Fieldbus Interfaces for VisualMotion 6 0 Field Bus Mapper Warning Please Re power CLC D for changes to affect Figure 2 16 Warning after clicking OK Send to CLC STEP Ill Define Cyclic Data Mapping Lists STEP Ill associates the CLC D data types to the objects assigned in STEP Object Type In our example the objects to be added are Output Data From Bus to CLC Card Input Data From CLC Card to Bus Single Register 100 Float 2 Register 120 Multiplex Register 11 Integer 4 Register 12 Register 13 Global Float 22 Global Integer 44 Register 31 Register 32 Register 33 Fl
382. ort Bus Type Profibus DPF 05 x Date 05 05 99 Page 01 Time 11 18 35 DPF card DP configuration Information Device Address 7 Length of DP channel word 13 Multiplexing Input Enabled YES Multiplexing Output Enabled YES Highest Multiplexing Index 2 Bus Confg Input List DP channel Bus Confg Output List DP channel Object Object Type Word Object Object Type 0x5F81 16 bit single 00 0x5F91 16 bit single OxSEB1 32 bit single 01 OxSEFI 32 bit single 0x0000 02 0x0000 0 5 2 32 bit single 03 OxSEF2 0x0000 04 0x0000 Ox5F20 16 bit baseMP 05 0 5 40 0 5 80 32 bit baseMP 06 OxSECO 0x0000 07 0x0000 0 5 90 08 Ox6EDO 0x0000 09 0x0000 0 5 0 10 0 5 0 0 0000 11 0x0000 Ox5FFd MP StatusWord 12 OxSFFC MP ControlWord CLC GPS data mapping Lists for DPF card DP channel Data mapping IN List DP channel Data mapping OUT List DP channel Word Data Type Object Type Word Data Type Object Type 00 RX0 120 16 bit single 00 RX0 100 16 bit single 01 02 HP0 22 32 bit single 01 02 FP0 2 32 bit single 03 04 GP0 44 32 bit single 03 04 1P0 4 32 bit single 05 RX0 31 16 bit mult00 05 RX0 11 16 bit mult00 RX0 32 16 bit multO1 RXO0 12 16 bit multO1 RX0 33 16 bit mult02 RX0 13 16 bit mult02 06 07 102 32 bit mult00 06 07 FPO 11 32 bit mult00 AP2 102 32 bit multO1 FP0 21 32 bit multO1 AP3 102 32 bit mult02 FP0 31 32 bit mult02 08 09 100 32 bit mult00 08 09 IPO 11 32 bit mult0
383. ote Because the number of data objects in the IN list is less than the number in the OUT list the remaining data word in the IN list must be assigned an available object that will not be used DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 4 Fieldbus Mapper Examples Interbus Fieldbus Interfaces for VisualMotion 6 0 Following are descriptions of the buttons to manipulate the bus configuration lists APPEND inserts an available object after the last word placed in the current list removes the selected object from the current list INSERT inserts an available object above the selected object in the current list DEL NEW clears up the current list only in the direction selected under Available Objects Configure Slave Telegram PD DP IO Channel Available Objects Bus Conf IN List To From Word Word Type FieldBus FieldBus 0 Single Length of PD channel word Single 32 1 5 5EB1 Single Single Indramat Object ID B Single Object Type Single S single Object Number Configure Multiplex Channel 1 1 object Enable Input Data 2 2 object etc Multiplexing Output Data Object Size Highest Index 16 16 bit 3 22 Byte s Used 32 32 bit Fieldbus Error Reaction Ignore v Configuration Direction I Input CLC gt PLC Send To CLC O Output PLC gt CLC Cancel Figure 2 4 Configuring the Interbus Configuration IN Li
384. otion 6 0 Fieldbus Mapper Examples 2 13 5 Setthe device address to a unique number for the devices on the bus 2 99 6 Setthe Length of I O Channel Word to the number of data words to be allocated for the input channel or the output channel whichever is greater According to the example data in Table 2 4 Sample Cyclic Data with Multiplexing under STEP I Determine the Cyclic and Non Cyclic Data we have set the length of the channel to 12 for the output and input channels 7 Select the baud rate in the Baudrate combo box to match that of the other network devices 8 Select Not swapped default or Bwapped under 32 bit object word swapping as required by your PLC See Word and Byte Swapping on page 4 1 9 Select Not swapped default or Swapped under Explicit message byte swapping as required by your PLC See Word and Byte Swapping on page 4 1 10 Click in both checkboxes next to Enable Multiplexing because we want to configure multiplex objects in both the output and input channels Notice that the 13 word word 12 shows the status control word STAT in the Bus Conf IN list CNTL in the Bus Conf OUT list The bus now actually has 13 words in each of the bus configuration lists the 12 words that were set on the left plus the status control word See Multiplex Control and Status Words on page 1 5 for information about the usage of this extra word when accessing data from the Fieldbus master PLC
385. otocol read or write data Acknowledge fieldbus The response message contains response from slave FB Response only a confirmation that the Received error fieldbus message was sent properly Therefore the size of the data field will be 0 FB Response OK Read request from the FB Read Command The read request message contains only header information master to get VisualMotion ASCII response the data field is 0 You must anticipate the approximate size of the data field VisualMotion ASCII response message in order to select the appropriate data exchange object If the selected object is too short the error Receive fieldbus response The response message will from slave FB Response contain the VisualMotion ASCII Received response to the VisualMotion ASCII command text in Step 1 FB Response OK VM ASCII protocol response text write or transmit data Figure 4 13 Non Cyclic FMS VisualMotion ASCII Communication Process Example Read Card Parameter 100 CLC D firmware version 1 Write request from the master with VisualMotion ASCII Protocol Header Data Field Write command VisualMotion ASCII Protocol contains contains code e object number 5 70 gt 0_CP 0 100 CR LF 00 00 00 e data field size bytes in this case 16 2 After the first read request from the master the CLC D card sends a response message DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 22 Information for
386. pe of master axis to follow Sets up to 16 on and off switch positions with the option of phase advance Selects the type of Master Slave Axis used Sample program uses Virtual Master Axis 0 Add Edit Slave Axis number 1 sync type cam fine adjustments if required Moves the slave axis 1 to its home position Sets the System Parameter C 0 0157 to 0 00 This resets the Virtual Master to its home position Defines the ELS mode which causes a slave axis 1 to sync to the master axis according to the cam table as defined in the ELS axis configuration ICON GO starts the virtual master according to the acceleration velocity and deceleration values defined in their respective icons Defines the velocity for the Virtual Master Axis 0 Sample program sets it at F1 units min Branch setup which checks an unused I O register to create a loop in program Standard FINISH for all programs No optional returned values Indramat D 34 Example Programs VisualMotion 6 0 D 4 ECODRIVE 3 PLS Function Indramat s ECODRIVE 03 series digital controllers include 16 channel PLS also referred to as a CAM Switch The individual ON OFF and Lead times can be adjusted using the PLS tool in VisualMotion The ECODRIVE 03 also has the added functionally of allowing two digital outputs to be configured to output the state of up to two PLS channels Note The DKCO02 3 SERCOS configurable digital outputs are located on X3 pin
387. ping list Ww Gets the currently selected object mapping list from the CLC D Card from card Get From CLC parameter C 0 2600 if the cyclic PD channel is selected and C 0 2700 if the non cyclic PCP channel is selected Allows the user to open a previously saved file with a prm extension of an Get From File object mapping list When the file is opened displays that object mapping list Display 5 Generates an on line summary report of the currently selected Fieldbus This ctl ls report can be printed by selecting Print from the File menu in the Fieldbus Mapper window Eyit Exits the Fieldbus Mapper utility Note For debugging purposes the Fieldbus Mapper follows each mapped item with the cursor as it is saved to the CLC D If there is a problem with the mapping of a particular object an error message appears while the cursor remains on the object 10 Mapping is complete For programming information refer to Information for the GPS Programmer on page 3 1or Information for the PLC Programmer on page 4 1 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 10 Fieldbus Mapper Examples Interbus Fieldbus Interfaces for VisualMotion 6 0 2 2 Multiplexing Example Multiplexing is available in the cyclic PD channel for applications where more than the allotted 15 data transfer words are required For a more detailed description of multiplexing see Multiplex Data Types Cyclic Data Channel on page 1 4 Importan
388. port RAM Four buffers are available for data exchange Variable and register data can be directly read while ASCII communication is controlled via interrupts and the contents of the associated DPRAM register The following relationship exists between the PC and the CLC P e When parameters are transmitted via the ASCII Protocol the requests transmission and the CLC P acknowledges after executing the transmission This method is used to ensure data consistency e Global Integers Global Floats and I O Registers can be read or written at anytime Note Care must be taken to ensure data consistency in the CLC user program For the PC to be able to recognize a CLC P the CLC writes an identification reset into the DPRAM after switch on The base address of the DPRAM on the CLC P01 card is set by jumpers S8 S9 810 and 511 Sixteen 16 different base addresses can be set in 16K increments over the address range 000C0000 to 000FCO000 Refer to Table 2 1 CLC P01 card number and base memory address selection for details The base address of the DPRAM on the CLC P02 card is set by opening and closing switches 1 thru 4 on the S1 DIP switch Sixteen 16 different base addresses can be set in 8K increments over the address range 00000000 to 000 000 Refer to Table 2 2 PC 104 card base memory address selection for details Bus Communications 01 ISA bus The CLC P01 uses 4 Kbytes dual port RAM to exc
389. program It also limits the number of Sequencer Lists Steps and Functions Refer to the VisualMotion 6 0 Reference Manual for more information To maximize memory on the CLC place limits on the data storage space The default size for both Floats and Integers is 50 Change this value to 10 for each and click on OK Task Data Storage Sizing Variables Points Dther Floats ABS Events ii 10 o 0 Integers REL Zones Sequencer Cancel Lists Steps Functions Caption Calculated memory usage for this data storage 0 bytes DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Create Download Sample Program 3 3 Select and place the Axis icon to the right of the Size icon The Axis icon configures the primary operation mode for the axes to be used in this Task a Choose Single Axis from the Motion Type drop down menu box b Click on the Add button to setup the axis c Configure the axis according to the Single Axis Setup window shown below When done select OK and then Cancel to close the Single Axis Setup window Select OK once again to close the Task Axes Setup window Task Axes Setup GT Coordinated Velocity Mode Ratioed Axis T LI Hate flaat Fx Hate flaat Fx GE apel Event H Integer DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 4 Create Do
390. ption Required Harddisk Space All All files including English and 16 MB German help files Required files no help files 4 5 MB Custom User selectable installation depends on selections 4 5 MB 16 MB Typical English Required files and English 8 MB help files Typical German Required files and German 13 MB help files Table 2 6 Setup Types Click the type of Setup you prefer then click Next Typical German Description All files includes English and German help files 16MB lt Back Cancel Note The selected Setup Type also determines the number of floppy diskettes required to make a complete installation For example Compact only requires the first 4 diskettes DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 32 System Installation VisualMotion 6 0 8 Select the location where you would like to add program icons Select Program Folder x Setup will add program icons to the Program Folder listed below You may type a new folder name or select one from the existing Folders list Click Next to continue Program Folders Existing Folders Adobe Acrobat ANW_02DE Corel CATALYST H CorelDRAW 8 D2Gsnow Documentation Studio HP LaserJet lt Back Cancel 9 The setup program will show the progress of the installation and you will be prompted to insert Diskettes 2 through 6 one at a time Insert each disk into drive A when it is requested and click OK 1
391. q Run Initiate Finish VM Program Activate Gripper 2 Sequencer WAIT State 0 lt gt 1 pug gp Cancel Previous Es Next Indramat D 14 Example Programs VisualMotion 6 0 2 Change the state of the following bits as listed in the order shown below Bit Label State a 07 Emergency Stop 0 to 1 b 01 Param Mode 1100 05 Errors 0 to 1 d 02 Mode Auto Manual 0 to 1 e 03 Task Stop 0 to 1 f 04 Task Start 0 to 1 Bits of Register 100 User_Inputs_Reg 1 Bit Physical Name State Para_Mode Task Sto Mode amp uto Manual O lt gt 1 Cancel Bit 09 is normally low 0 Clear Errors 1 and goes high 1 when 06 0 the sequencer is first 07 Emergency Stop 1 initialized 08 08 0 09 Seq Initiate 1 10 Finish VM Program 0 m 11 Activate_Gripper i visual 12 Bit 12 0 representation of a 13 Bit 13 0 Previous gripper hand closing 1 14 Bit_14 0 and opening 0 15 Bit15 0 Next 15 Sequencer WAIT 0 after State indicates forced CLC sequencer str ale Setup 02F4 WAIT 1 1 7 PICK AND PLZ AUTO MODE IT 3 The program should now be running with the bits in this state To view which program icon is being processed within VisualMotion Toolkit select Tools Show Program Flow or press F7 on the keyboard to turn the feature on or off
392. r Forward Return Position and Speed This subroutine also adds values to the absolute point table for axis acceleration Abs a deceleration Abs d jerk Abs j and blend radius Abs b In addition the axis is homed and register 100 bit 10 is turned off Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Index A Absolute point table D 24 D 43 acceleration profiles 1 13 Add User Label 3 12 Archiving VisualMotion System 2 18 B Boolean equation 4 4 1 10 C Cam Coefficient ccce D 21 D 24 CLC Operating System 1 10 System Architecture 1 9 CLC Card Installation and Setup 2 3 CLC D Card Gonfig ration uoc cete 2 5 installation 2 etnies 2 5 CLC D Installation Screens 2 34 CLC D Memory Reset 2 6 CLC P01 Card configuration 2 8 2 8 CLC P01 card number and base memory selection 2 10 CLC P01 Installation 2 13 CLC P01 Installation Screens 2 35 CLC P01 Jumper Location 2 11 CLC P01 memory allocation 2 10 CLC P01 Memory Reset 2 9 CLC P02 Card configuration 2
393. r R action eiie 3 9 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat Il Contents DeviceNet Fieldbus Interfaces for VisualMotion 6 0 4 Information for the PLC 4 1 4 1 COS 4 1 4 2 Word Byte Swappihg rettet te Eee ete or a en 4 1 Example Allen Bradley SDN Module for SLC Series 4 1 4 3 Multiplex Data Bits in the Control and Status 4 1 4 4 Non Cyclic Transmission Direct Mapped Objects nennen 4 3 Selecting a Direct Mapped 4 3 Transmission Sequence via a Direct Mapped 4 3 Direct Mapped 4 4 Direct Mapped 4 5 4 5 Non Cyclic Transmission Data Exchange 4 6 Selecting a Data Exchange 4 6 Transmission Sequence via a Data Exchange 4 7 5 DeviceNet DCF01 x Slave 2 5 1 esum PEE 5 1 d duree m 5 1 5 3 DCF01 x Card 5 2 Front View of the 5 2 DGFO ies e 5 2
394. r Register 11 12 13 Position Command Floats called out in VisualMotion program see Note Multiplex 16 bit Multiplex 32 bit Status Registers preassigned per axis Register 31 gister32 Register 33 Axis Parameter 102 Feedback Position Parameter Parameter Parameter 1 102 2 102 3 102 Multiplex 32 bit Multiplex DOK VISMOT VM 06VRS PR Counter Integers called out in VisualMotion program see Note Integer 11 Integer 21 Integer 31 Dwell Time Integers called out in VisualMotion program see Note We suggest devising a system for assigning multiplex integers and floats to particular axes or data sets However there is no limitation on how to divide multiplex objects except size In our sample data the system is as follows 1 digit Axis number 274 digit Purpose e g position counter dwell For example Integers in above sample data 34 1 Multiplex 32 bit Multiplex 32 bit l 1 Counter 4 Dwell Time Axis Parameter 112 Feedback Velocity Parameter Parameter Parameter A 1 100 A 2 100 A 3 100 Maximum Attempts Integers called outin VisualM otion program see Note Integer 13 Integer 23 Integer 33 Table 2 4 Sample Cyclic Data with Multiplexing 02 AE P 09 99 Indramat 2 12 Fieldbus Mapper Examples Profibus Fieldbus Interfaces for VisualMotion 6 0 Non Cyclic Data We will assume that the following data will be transfer
395. r VisualMotion 6 0 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Contents Contents 1 General Information 1 1 1 1 CLC D System Description with a Fieldbus 1 1 The VisualMotion Fieldbus 1 1 1 2 Data Transfer Direction Output vs 1 2 1 3 Fieldbus Data Channel 1 2 Gyclic 1 2 The Real Time 1 3 Parameter Channel Profibus DPFO05 x with CLC D only 1 6 Channel enisi 1 7 Direct Mapped 1 7 Data Exchange Objects 1 8 2 Fieldbus Mapper Examples 2 1 2 1 Basic Example ni reb isto trt ett te 2 1 STEP I Determine the Cyclic and Non Cyclic Data 2 1 STEP II Configure Fieldbus Slave Card with Setup Information and Cyclic Data Object Lists Using the Fieldbus Mapper cerea eet rt 2 2 STEP Define Cyclic Data Mapping Lists 2 5 STEP IV Define Non Cyclic Data Mapping Lists Direct Mapping 2 8 2 2 Multplexing tee ette te RE BET a ERR ede e uude 2 11 STEP I Determining the Cyclic and N
396. r a few seconds the CLC will exit to the PROBE monitor Close any remaining pROBE Monitor windows and cancel any additional request to connect to the DDE Server Note The pROBE monitor function within the CLC is comparable to exiting Windows to the DOS prompt Only low level commands can be performed within the pROBE function Note The above procedure uses VisualMotion Toolkit to activate the pROBE monitor function within the CLC card Afterwhich VMT is closed to free up memory resources for HyperTerminal to communicate with the CLC card via the X27 serial port 5 In Windows 95 98 or NT4 use Explore to locate the HyperTerminal application icon Double click on the HyperTerminal icon and create a file for the PC Com port connected to X27 as follows e Bits per second 9600 e Data bits 8 e Stop bits 1 e Flow control Hardware 6 Reset the CLC P02 card using one of the following methods e Recycle power to the CLC card e While power is applied to the card short the two pins labeled Reset found next to the battery Afterwhich HyperTerminal will display pROBE gt DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 20 System Installation Indramat VisualMotion 6 0 7 To increase the communication speed of the CLC PO02 enter the following command using the pROBE function and press Enter PROBE gt baud 38400 8 Now change the baudrate of HyperTerminal to match the CLC P02 by selecting Fil
397. r example the objects to be added are Object Output Data Input Data Type From Bus to CLC Card From CLC Card to Bus Single Register 100 Register 120 Float 2 Global Float 22 Integer 4 Global Integer 44 Multiplex Register 11 Register 12 Register 13 Register 31 Register 32 Register 33 Float 11 Float 21 Float 31 Parameter Parameter Parameter A 1 102 A 2 102 A 3 102 Integer 11 Integer 21 Integer 31 Parameter Parameter Parameter A 1 110 A 2 110 A 3 110 Integer 14 Integer 24 Integer 34 Integer 13 Integer 23 Integer 33 Table 2 6 Objects to be transferred cyclically with multiplexing Adding Objects to the Cyclic 1 Ensure that the designated bus type is correct Data Mapping List 2 Choose the desired cyclic data channel PD 3 Select the desired Mapping Direction Our example begins with From Bus to CLC Card 4 Select the Data Type In our example the first single item to be added to this list is Register 120 Select Register as the data type Note The CLC D will show only the objects associated with the chosen data type in the Source Object list For example if you have selected the mapping direction From Bus to CLC Card and designate Register as the data type only 16 bit output objects that have been mapped in the bus configuration list see STEP will be shown in the Source Object list 5 Select or fill in the Destination In our example we must select Register 120 from
398. r removing the card rack Power 5V is supplied by the drive or CCD card rack via a connector on the back of the DPFO05 x Note The DBSO03 x or DCF01 x board may be operated along with a Profibus DPFO05 x slave board Only one DPF05 x board can be connected to the CLC D at a time The DPFO5 x has the following interfaces Interface to the Drive or CCD This interface is used to supply power to the DPFO05 x board if the CLC D Card Rack does not supply the power Interface between CLC D Information is exchanged between the CLC D and other card racks via Other Card Racks this interface The interface is an extended bus interface with partial coding of the address space so that other cards can also be mounted e g DEA28 DEA29 DEA30 etc Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Profibus DP Combi Slave Board DPF05 x 5 3 External Inputs There are three hardware outputs 24V on the DPFO05 x These inputs can only be used with the CLC D if supported by the firmware The signal states at this input are transmitted from the Profibus on off state to the CLC D They can also be queried by the Profibus master via the PD or the FMS channel Note The external inputs are not supported on the CLC D card Profibus Interface The Profibus interface meets requirements listed in DIN 19245 Section 1 for category A and B lines according to DIN 19245 S
399. r the XVME 244 inputs by setting the bits corresponding to the appropriate card The direction of the inputs is fixed at 32 in and 32 out for each board 0000000000001001 Card 1 LSB 1 MSB JK2 Card 8 Parameter C1 8 Parallel Device VME Start Address must be set to specify the VME bus base address for the card The parameter is set as a 16 bit hexadecimal word equal to the desired base address and must be equal to the address set in SW1 positions 1 through 6 see the SW6 table in the board configuration section below DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat C 20 Non CLC Hardware VisualMotion 6 0 XVME 244 Board Configuration The XVME 244 card requires on board jumper configuration for the range of operating voltage and VME bus address and supervisory control signals m 11m Je Js Sw HEBEBEBH 4 Figure C 7 XVME 244 Card Jumper Locations Configuration Jumpers The jumper settings are application dependent The following are the default settings Default A clear output registers on VME SYSFAIL signal A assert VME SYSFAIL when FAIL LED on Group 1 A power supply range 15 30VDc B power supply range 10 15 VDc A power supply range 15 30VDc B power supply range 10 15 VDc Group 3 A power supply range 15 30VDc B power supply range 10 15 VDc J A Group 4 A power s
400. ransfer Locations DCFO01 x Fieldbus PLC Field 4 Fieldbus Cyclic Object List network update poll from master Bus Config uration List C 2640 through C 2698 CLC Data Object Mapping List C 2600 Figure 1 2 Object Lists and Their Transfer Locations for Cyclic Data The cyclic data channel is limited to a total of 16 input words and 16 output words CLC D data types consume these objects in either one word or 16 bit groups for CLC registers or two word or 32 bit groups for all other data types in the object mapping list C 0 2600 Note The bus configuration list must be set up in the Fieldbus mapper bus configuration screen before the object mapping list can be configured Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 General Information 1 3 For the cyclic data the CLC D data object mapping list is scanned every third SERCOS update cycle and data is sent and received to from the slave board s dual port RAM The cyclic data channel can be made up of any combination of the following data types e Real Time Channel Single Channel Multiplex Channel word 0 word 15 word 0 to word 7 f Multiplex Channel Only b Real Time Channel Cyclic Polled 1 0 Channel word 15 Multiplex Channel Single Channel Only gt Real Time Channel 4 gt Cyclic Polled 1 0 Channel word 0 Sing
401. rd Message Axis in ON Message Position to 5 21 Position R100 15 See OFF Load Data Move Subroutine os Return Below Position Move Move Wait for 100 15 Position Return to Message Axis in ON Message ABSI11 Position Abs 1 b 0 Ret Blend Radius Return Return Abs i a Abs t d Abs 1 j 0 Position 0 Speed 100 50 50 Ret Jerk Ret Accel Ret Decel Abs 2 b 0 Setup Fwd Blend Radius Subroutine Forward Forward Abs 2 a XAbs 2 d Abs 2 j 0 Position 10 Speed 100 50 50 Fwd Jerk Fwd Accel Fwd Decel Part Timer 1 Timer 2 R100 10 Count 0 1sec 1sec OFF Load Data Subroutine Abs 1 x Abs 1 s Abs 2 x Abs 2 s Return Return Forward Forward Position Speed Position Speed Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Example Programs D 43 Move Forward Position R100 16 Move Move R100 16 Position Timer 2 Forward Message Axis ON Message to 5 21 Position Demo_2 uses coordinated motion so the Velocity and Move icons used in Demo_1 have been replaced with a Load Data subroutine and a Path icon The Load Data Subroutine See below assigns values to the absolute point table Active Program Points Card 0 IDE x File Edi View Table Update Settings No x Blend 965p De k 001 00 00 100 50 50 0 002 100 00 100 50 50 0 003 00 00 0 0 0 0 004 00 0 0 0 0 0 0 005 00 00 0 0 0 0 E Yv Absolute Point The Path
402. rding to DIN 19245 3 is possible Profibus DP e Profibus FMS Using this board real time data via the process data channel requires Profibus DP as well as parameters and data via FMS specified objects can be transmitted as long as the network is additionally or alternately supported as a Profibus FMS service Note The use of a master scanner which supports both Profibus DP and Profibus FMS is recommended 5 2 Functional Description The DPFO5 x board has the following functional features e Profibus cyclic DP and non cyclic FMS channels are both supported all data supported according to DIN 19245 3 to 12 MBit instrinsic microcontroller for autonomous processing of FMS and functions e monitoring of DP channel watchdog function with data exchange to the CLC D card via dual port RAM hardware and software synchronization with the CLC D control card e diagnostic LEDs on the front panel of the DPFO05 x board for easy diagnosis of the bus functions and the communication between the DPF05 x and CLC D cards implementation of an object structure for simplified accessing of variables and parameters on the CLC D control card and drives e upload download function via 4 data exchange objects 16 to 128 bytes in data length 5 3 Profibus Interface The Profibus DP combi slave board DPF05 x supports e interfaces according to DIN 19245 Sections 1 and 2 e expanded interface according to DIN 19245 Sec
403. re are three types of floating point and integer variables global program and local Global variables designated GF Global Float and GI Global Integer are stored in CLC RAM and their values are not retained during power off There are 256 global floating points and 256 global integers and they are shared among the programs stored on the CLC card They can also be used to exchange values between external components of a CLC system that are capable of accessing the global memory area Program variables are designated F and I The number of program variables allocated to a CLC program is determined by the Size icon in VisualMotion Program variables retain their values during power off The variables can be addressed in a user program by assigning a label to the variable number Local or stack based variables exist only while in the function task subroutine or event where they are declared Local variables are used within a subroutine for local data only They don t exist outside the subroutine This type of variable is useful for temporary results within a function or to pass values to a function Task VisualMotion can have up to 4 tasks running in each program Tasks A D run simultaneously and are given equal priority task A is executed first A task is a process that the user runs in his machine Using VisualMotion the user can have 4 separate processes or task running simultaneously and each task can be independent o
404. re ring is o k SW RUN Green This LED is used with LED H14C It supports Software RUN diagnosis of correctly running software and successful synchronization between the CLC D and DBSO3 x cards LEDs H14A and H14C indicate by their flashing frequency the current SERCOS cycle time If the CLC D and DBSO3 x cards are synchronized the LEDs flash alternately If the two LEDs flash in unison there is a synchronization problem although the Interbus is functioning on this board Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Interbus Slave Board DBSO03 x 5 5 24V 24V Green This LED is used only for the DBS04 1 board External Voltage SW RUN Green See description for LED H14A Software RUN RD Remote Bus This LED is on when the continuing bus is not o k The board recognizes whether or not a continuing bus is connected via the RBST signal which is connected to 5V via a jumper If a continuing cable is connected but the connection to the next device is interrupted this LED turns on when the Master completes a bus check Table 5 3 LED Definitions 5 5 Interbus Process Data Cyclic Channel DBSO03 x Process Data Configuration The DBSO3 x card is an intelligent Interbus card that can be configured according to process requirements Not only does it provide a particular number of words which are transmitted in both data directions during each Interbus cycle but
405. rectory Indramat clc param Refer to I O Mapper on page 4 3 5 The run each demo program select register 100 from Data Registers and change the state of the following bits Bit Label State a 07 Emergency Stop 0 to 1 b 01 Param Mode 1100 c 05 Clear Errors to 1 d 02 Mode Auto Manual Oto 1 e 03 Task Stop 0 to 1 f 04 Task Start 0 to 1 g 10 Motion start Bit 0 to 1 Refer to Run Sample Program on page 4 9 for examples DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 39 VisualMotion Icon Language Program Demo 1 Single Axis Demo 1 is a Single Axis program that when started using register 100 loads and sets up the required variables and axis and waits for the activation of register 100 bit 10 to begin motion Once motion begins values for the variables can be modified by selecting Data Variables and changing the Program Variables Single Axis Program Variables The following variables are used in this program and each one has been assigned a corresponding label F1 Return Position l1 Timer 1 Return Dwell F2 Forward Position 12 Timer 2 Forward Dwell F3 Return Speed I3 Part Counter F4 Forward Speed F5 Accel Rate The dash lines are used as references to the subroutines that are called by the SetUp icon SetupSub in the main Task A program To view these subroutines select Subroutines from the View menu To return to the main program select Task A from the
406. red non cyclically for system initialization or setup Remember the direct mapped non cyclic data is intended for infrequent data transfer Note Output Data From Fieldbus Master to CLC Card Float 16 Integer 7 Register 101 Data Words See Table 1 3 Non Cyclic Data Objects for data limitations Size Data Words Size Input Data From CLC Card to Fieldbus Master Float 5 Integer 8 Table 2 5 Sample Non Cyclic Data with Multiplexing Note For other data types such as diagnostic text messages or S and P parameters use the data exchange object STEP Il Configure Fieldbus Slave Card with Setup Information and Cyclic Data Object Lists Using the Fieldbus Mapper Important The drive must be set to Parameter Mode to configure and assign the data mapping for Fieldbuses STEP Il and STEP III 1 In the VisualMotion Data Menu select Fieldbus Mapper CLC File new str Task File Edit View Setup Tools Status Options Help Indexer Events Field Bus Mapper 140 Mapper PID PLS Points Registration Registers Sequencer Variables Zones Figure 2 11 Selecting the Fieldbus Mapper from the main VisualMotion Screen 2 Inthe scroll box under Bus Type choose the desired bus Profibus The bus type may appear automatically if the Fieldbus card is connected and the firmware version is recognized 3 Choose the cyclic data channel DP Indramat AM 4 D
407. referring to the Program Layout figures for dialog box input information Refer to the Program Icons section and the CLC Reference manual for icon descriptions and any general programming information DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 2 Example Programs VisualMotion 6 0 Program Instructions Before the main sequencer program is created all corresponding subroutines must first be created A sequencer is a series of subroutines that are called up in a particular order to produce a process Using VisualMotion toolkit s icon programming environment create the following four subroutines Subroutine Name Usage MOVE ABS Moves the programmed axis to a programmed absolute distance SET IO Sets an I O bit and off to emulate the function of a gripper COUNT Cycle counts in increments of one for every complete cycle of the sequencer WAIT Creates a delay in milliseconds after each absolute move MOVE ABS subroutine 1 Select Edit Add Subroutine to create the MOVE ABS subroutine 2 Name the subroutine MOVE ABS and click on OK This will open a new programming window with a Start and a Finish icon Subroutine Control Ea Enter the name for the function 20 characters maximum MOVE ABS 3 Create the subroutine illustrated below according to the selections and values given in their corresponding dialog boxes Refer to Program Layout Function Subroutine MOVE_ABS
408. repeat Select Mapping Direction i C From CLC card to Bus p Select CLC Card Options Send To CLC Get From CLC 1T Data C GF Card Parameter Destination Save ToFile Get From File C C Gis 6 Register 16 1 512 us 0 4 7 7 Display fi Axis Parameter New Lis ead as Tas v Task Parameter Exit g r Figure 2 8 Adding Objects to the Cyclic Object Mapping List Important Cyclic data uses the objects configured in STEP Il 8 Repeat steps 3 through 7 above until each of the desired cyclic data objects has been added to the OBJECT MAPPING LIST Note When mapping a PLC output object to a parameter the parameter must be of the type Read Write Any Time For parameters that are Read Any Time Write in Parameter Mode or Read Only an error message is generated when you click Send to CLC if you try to map the parameters to PLC output object Examples C 0 1550 Read Any Time Write in Parameter Mode and C 0 1518 Read Only 9 Click Send to CLC to save the selected object mapping list to the CLC D card Use any of the following buttons as needed Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 7 Saves the currently selected object mapping list to the CLC D Card to card Send To CLC parameter C 0 2600 if the cyclic PD channel is se
409. reqeny XP Goss Gurtent Postion xe o 01568 Meser2CurntVeociy xo E C 0 2014 Start of SERCOS L O Station Registers do 215 Registers Allocated per O Staion x T0002 TaskOptions x T0005 World Position T0000 KinematicNumber Coordinate xais T0002 Coordinated y ais x T0003 OoodnmaedZAds x 100020 MaxmumPahSped 11 00022 MaximumDeceleration x x J Maximum Jog Increment DweimumdgYeosy x or T0005 Relative Point Used for Origin E eos Roae Pein sed Too Frame fx xx T0000 Target Point Number sere 7 A T0002 RaelimtSats Ts xg E 1 Must be configured by GPS in SERCOS telegram to update data Otherwise unexpected GPS system errors may occur IA qn 2 The data in this parameter is ONLY interpreted as type Float 3 This parameter is valid for fieldbus mapping in firmware version 06v64 and later The data is read written via the fieldbus in SERCOS phase 4 only This parameter requires additional GPS resources to transfer data to from the fieldbus Therefore care must be taken when
410. retch Factor X x A o 0034 CLC Cam Currenty active x x A 0 0035 CLC Cam Position Constant L o Ratio Mode Step Rate A 0 0037 Ratio Mode Step Rate lt x x 22 A 0 0038 Ratio Mode Options Oox eu 0 0100 Target Position A 0 0101 iti A 0 0102 Feedback Position A 0 0110 A 0 0111 A 0 0112 A 0 0120 A 0 0141 0 0142 A 0 0150 A 0 0151 A 0 0153 0 0155 A 0 0157 A 0 0159 A 0 0160 x S x x x e xe e gt lt lt lt x 56666666 w X X x e ab X 3 X 1 3 e x A 0 0164 ELS Options Oox X 151 0 0180 Optional Command ID 1 o x A 0 0181 Optional Command ID 2 d TETTE Optional Command ID 3 EN ER NN PERS 10 0185 Optional Feedback D X x 9 0196 Optional Feedback 2 x Se A 0 0190 Command Data 1 X 1 2 3 A 0 0191 Command Data 2 X 1 2 3 X 1 2 3 X 1 2 3 X 1 2 3 A 0 0192 Command Data 3 X 1 2 3 X 1 2 3 X 1 2 3 X 1 2 3 A 0 0195 Feedback Data 1 X 1 2 3 A 0 0196 Feedback Data 2 1 2 3 1 2 3 X 1 2 3 C 0 0001 Language Selection o x C 0 0002 Unit Number C 0 0009 Error Reaction Mode C 0 0010 System Options 1 Must
411. roduction 1 9 CLC System Architecture The CLC card is a part of a larger motion control system which also includes digital servo drives and SERCOS a fiber optic communication system The VM Controller can provide multi axis coordinated and non coordinated motion control with tightly integrated l O logic control functions The flexibility of the VM System allows it to be used for a wide variety of applications from general motion control to sophisticated multi axis electronic line shafting ELS to robotics CLC controls use SERCOS SErial Realtime COmmunications System fiber optic interface to interconnect with Indramat drives The SERCOS interface is an internationally accepted standard for real time high speed digital communication requires only a single daisy chained fiber optic cable interconnecting the drives with the control e Synchronous data protocol guarantees response time e provides continuous monitoring and diagnostics for all devices and includes comprehensive standardized definitions for control loop functions e High noise immunity and electrical isolation The CLC P V open bus architecture provides easy l O interfacing to virtually any manufacturer s PLC s and I O cards Both digital and analog are available Interrupt type inputs can be used to provide minimum response time recognition of external events
412. rograms D 1 Example 1 Sequencer Application D 2 Example 2 Cam Application D 3 Example 3 Programmable Limit Switch PLS Application Index Program Instructions 2c Lii eter Corset Program Layouts ace eaten Lec adit ld Run Sequencer Program Program Operations EE Program Icons ia teet dnt dei adn Wl ed din desde Program IMStruCtiOns uice de elt eed cnc eene Program on ceteri ersetzt date lide GAM Program uen eet runter bete edd eene pa Program Instructions eniin ect ene Program Layout led PLS Program 5 EC D 4 ECODRIVE 3 PLS Function Configuring Signal Status Word sse Modifying a Parameter 5 Programming PLS ON OFF Supplement A Profibus FieldBus Interfaces Supplement B DeviceNet Fieldbus Interfaces Supplement C Interbus Fieldbus Interfaces DOK VISMOT VM 06VRS PRO2 AE P 09 99 Contents 111 Indramat VisualMotion 6 0 List of Figures List of Figures V Figure 1 1 VisualMotion System components 1 3 Figure 1 2 drive 1 4 Figure 1 3 Motors used with 1 5 Figure 1 4 DIAX04 drive 1 6 Figure
413. rors must be toggled from 1 to O to 1 before running again To run the program again toggle bit 100 4 Task Start from 1 to O to 1 with the other bits in the state shown below Bits of Register 100 User Inputs Reg 1 Bit Physical Name State Param Mode 0 0 lt gt 1 Mode Auto Manual 1 9e Cancel Clear Errors 1 06 Live Man 0 07 Emergency Stop 1 08 Bit 08 0 03 Finish VM Program 0 10 Bit 10 0 11 Bit 11 0 12 Bit 12 0 13 Bit 13 0 Previous 14 Bit 14 0 15 Bit 15 0 15 Bit 16 o after State indicates forced Note In order to start the program from the very begining toggle bit 100 2 Mode Auto Manual from 0 to 1 prior to toggling the Task Start bit DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 12 Program Execution VisualMotion 6 0 4 4 Parameter Overview There are four sets of parameters contained within a CLC Drive system Card C Task T Axis A and Drive S P parameters Each parameter can be viewed and edited where applicable from VisualMotion Axis Card and Task parameters are stored on the CLC card while the Drive parameters are stored in the DSM firmware module on the drive Many of the basic parameter values needed for initialization will be present with a new system However because of the wide variety of configurations available for each application some of the these parameters may need to be modified by the system builder before the system wi
414. s relays 17 24 Card 3 Opto 22 station 2 16 outputs relays 1 16 08 inputs relays 17 24 The table below shows how the least significant bit LSB in parameter C1 7 XVME 201 card 1 Opto 22 station 1 affects the number of card inputs and outputs and the mapping to CLC registers Sixteen position Opto 22 stations only connect to the first 16 module positions position 17 through 24 are empty CLC Opto 22 CLC Inputs CLC Outputs Parameter relay function register bit register bit 120 1108 Parameter 1 8 Parallel Device VME Start Address must be set to specify the VME bus base address for the card The parameter is set as a 16 bit hexadecimal word equal to the desired base address and must be equal to the address set by the XVME 201 on board jumpers JA10 through JA15 See the jumper settings and corresponding addresses in the section below DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat C 12 Non CLC Hardware VisualMotion 6 0 XVME 201 Card Configuration JK2 PIN 50 JK1 PIN 50 VME P1 CONNECTOR ONL TE TE 3E IE TE ID TE fT UT IE IE ino Figure C 5 XVME 201 Card Jumper Locations Jumper J1 determines the VME bus short I O Address Modifier Codes that can affect the card XVME 201 open closed function Jumper closed card responds to 0x2D VME AM code Supervisory only default open card responds to 0x2D and 0x29 VME AM codes Supervisory and
415. s 8 and 10 with pin 9 as OV reference This section provides information on how to implement the drive s PLS functionality using the two digital outputs on X3 for ESM2 1 SGP 01VRS firmware Configuring Signal Status Word To remap the PLS to the drive s digital outputs the user must adjust several factory default parameter settings that are configured to output a Warning and Error state SERCOS parameters S 0 0026 and S 0 0328 are used to configure the Signal Status Word S 0 0144 S 0 0026 Configuration List Signal Status Word List of Parameter ID numbers This parameter contains a list of ID numbers i e P 0 0135 that are mapped to the signal status word S 0 0144 The order of the ID numbers in this configuration list determines the bit numbering beginning with the LSB in the Assign List Signal Status Word S 0 0328 Assign List Signal Status Word List of Bit Numbers for S 0 0026 This parameter contains a list of bit numbers that correlates to each ID number listed in S 0 0026 Each bit number assigned in S 0 0328 must have a corresponding ID number in S 0 0026 S 0 0144 Signal Status Word This parameter contains the binary output status of the parameter and bit numbers listed in S 0 0026 and S 0 0328 It s a 16 bit word where bit 0 of S 0 0144 is mapped to X3 8 and bit 1 is mapped to X3 10 with pin 9 as OV reference on the DKC02 3 S 0 0026 S 0 0328 P 0 0135 Bit 0 P 0 0135 gt equals P 0 0135 gt
416. s Sizes Two separate objects will be consumed when sending and receiving the same CLC D data both cyclically and non cyclically Data Exchange Objects Four data exchange objects Class 100 Instance 1 4 Attribute 100 are available for the transfer of non cyclic data These objects represent fixed data containers of varying lengths that transfer the VisualMotion ASCII Protocol to the CLC D card in the same way that data is transferred using the VisualMotion ASCII Format via an Explicit Message These objects serve as an open ended possibility to access any VisualMotion data including cams diagnostic text etc but more work is required in the master to perform a transmission of this type For more specific information about these objects see Non Cyclic Transmission Data Exchange Objects on page 4 6 09 99 Indramat 1 8 General Information DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Fieldbus Mapper Examples 2 1 2 Fieldbus Mapper Examples 2 1 Basic Example The following example demonstrates the process for configuring the mapping of basic data between the CLC D card and a DeviceNet Fieldbus Important The Fieldbus Mapper is an on line configuration tool The following conditions must be met when performing STEP through STEP IV below The system must be powered up The CLC D card must be connected to the system The system must
417. s can be accommodated allowing a maximum of 384 I O points Each card occupies 1K of the short VME address space Card base addresses are assigned on 1K boundaries within the 64K short address space by properly placing jumpers on the card and setting CLC parameter C1 8 The XVME 201 is a half height 3U VME card If the XVME 201 you receive has the standard half height front panel installation of the card into the full height VME card enclosure requires replacement of the half height front panel with a full height front panel available from Xycom This replacement is required for proper forced air cooling of cards in the VME enclosure For most systems the Indramat supplied driver for the Xycom XVME 201 card is all that is required to use the card as the interface to an Opto 22 system Accessing I O Lines If programming the card through the VME bus interface is desired a thorough understanding of the XVME 201 card and the Motorola MC68230 PI T chip used to manage the cards I O lines is required Please refer to the Xycom and Motorola documentation for the necessary information The CLC registers 100 through 115 are reserved as input registers for the eight XVME 201 cards The outputs from the card are similarly mapped to CLC output registers 120 through 135 The even numbered CLC registers correspond to the XVME 201 JK1 card connector The odd numbered registers correspond to the JK2 card connector mae
418. s data type will appear in the Source Object list Choose the first available object 7 Click the Add button The object will appear in the OBJECT MAPPING LIST at the right Note This step associates the object assigned in STEP Il to the CLC D data The CLC D scans the list created in this step and executes each mapping instruction in order every third SERCOS update cycle Multiplex data can only be updated when this index is commanded by the multiplex control word Select Bus Options OBJECT MAPPING LIST Bus Type Define Config Slave Objects Polled 1 0 Channel DeviceNet Source Object Totalof 1 record s 5 91 single RX0 100 Channels 9x5F 40 base index Ox5F41 MP index Polled 0 5F42 um C Explicit Msg Select Mapping Direction Jo 4 Ee td 1 repeat as necessary T From CLC card to Bus 4 Select CLC Card Options 9 1 Send To CLC Get From CLC T F amp C GF Card Parameter UE C C Register 16 1 512 po 4 Display Summar fi Parameter A 71 Task Parameter Save To File Bet From File Figure 2 18 Adding Objects to the Cyclic Object Mapping List Important Cyclic data uses the objects configured in STEP Il 8 Repeat steps 3 through 7 above until each of the desired cyclic data objects has been added to the OBJECT MAPPING
419. s is capable of accessing memory using three data widths D8 D16 and D32 there are limitations on the data transfer modes that may be used to exchange data between the CLC tables and registers and VME memory Attempting to transfer 132 4 byte VME data to a CLC 116 2 byte integer variable target creates a problem A D32 transfer operation cannot be used because the highest 2 bytes of the 4 byte operation would overwrite the next two memory locations Therefore only a D16 or D8 transfer mode can be used and the transfer is limited to VME write only A similar problem can result from trying to write from a smaller source say U8 to a wider VME target say 132 Since the source is a single byte only a D8 transfer operation would be allowed Transferring one byte leaves the upper bytes undefined therefore the 132 target data would be undefined Consequently transfers from a source smaller than a target are limited to VME read only The CLC s byte swapping support of both the Motorola and Intel byte order on the VME bus adds other considerations for signed and unsigned integer formats DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat B 6 VME Versa Module Eurocard Interface CLC V VisualMotion 6 0 Supported CLC VME bus Data Transfer Operations Source Data Destination Data D32 capability D16 capability D8 capability 116 write only write only wey YO U32 write only write only write only ue redo
420. s of bit 10 again Move Forward Position R100 16 OFF Forward Move Move Wait for R100 16 Position Timer 2 Speed Forward Message Axis ON Message Position Position This section sends the velocity rate value Forward_Speed and move distance value Forward_Position to the drive and initiates the forward position move The message icon sends a Moving to forward position status message The wait icon suspends further program execution until the axis has reached the forward position Once in the forward position Register 100 bit 16 turns on the in position indicator light on the interface The second wait icon is used to cause the forward dwell Timer_2 After the dwell Register 100 bit 16 is turned off reset to 0 DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Example Programs D 41 Move Return Position R100 15 gt 18255278525 Return Move Move Wait for R100 15 Position Ti Speed Return Message Axis ON Message Position Position This section sends the velocity rate value Return Speed and move distance value Return Position to the drive and initiates the reverse position move The message icon sends a Moving to return position status message The wait icon suspends further program execution until the axis has reached the reverse position Once in the return position Register 100 bit 15 turns on the in position indicator light on the interface The second
421. s to CLC Card From CLC Card to Bus Float 16 Float 5 Integer 7 Integer 8 Table 2 3 Objects to be transferred non cyclically Adding Objects to the Non 1 Ensure that the designated bus type is correct Cyclic Data Mapping List 2 Choose the non cyclic data channel PCP see Figure 2 10 Adding Select the desired Mapping Direction Objects to the Non Cyclic In our example we will begin with the output list or From Bus to CLC Object Mapping List 4 Select the Data Type In our example the first item to be added to this list is Float 16 Select Float as the data type 5 Fill in the Destination In our example we must type 16 as the destination 6 The source objects that are applicable to this data type will appear in the Source Object list Choose the first available object 7 Click the Add button The object will appear in the OBJECT MAPPING LIST at the right This list is scanned by the CLC only when a non cyclic request comes in and executes the mapping 8 Repeat steps 2 through 7 above until each of the desired non cyclic objects has been added to the OBJECT MAPPING LIST in both directions From Bus to CLC card AND From CLC card to Bus Note If you want to insert replace or delete items in the Object Mapping List double click on the item in question A new set of buttons appears to the left of the Object Mapping List box See Changing an Existing Object Mapping List on page 2 7 for a detailed explanat
422. se of a Fieldbus error This reaction can be set in the Configure Slave Telegram screen using the combo box labeled Fieldbus Error Reaction Three options are available for the Error Reaction setting Depending on the selected setting the value 0 1 or 2 is stored in Parameter C 0 2635 Setting Value in Parameter C 0 2635 Shutdown CLC 0 default Table 3 9 Parameter C 0 2635 Values for Error Reaction Settings The Fieldbus Mapper continually scans the system for sufficient resources to process the cyclic data mapping list 2600 list If 10 out of 10 attempts of the mapping list update are missed the system is DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 3 10 Information for the GPS Programmer Profibus Fieldbus Interfaces for VisualMotion 6 0 Lost Fieldbus Connection Indramat considered to have insufficient resources and the selected error reaction is evoked as follows If Shutdown CLC 0 is set in Parameter C 0 2635 the following error is generated from the CLC D card 520 Fieldbus Mapper Timeout If Warning Only 1 is set in Parameter C 0 2635 the following error is generated 209 Fieldbus Mapper Timeout If Ignore 2 is set in Parameter C 0 2635 the system will update as resources become available but there is no way to monitor whether or not updates actually occur Object 5ff2 the dual port RAM location on the Fieldbus card indicates the status of the Fieldbus Register 19 Bit
423. set The PLC writes a 16 bit error code here when the error bit in PLC control is set The CLC can optionally display this code This 16 bit counter is incremented by the CLC every 4 milliseconds The PLC or bus master may check this counter to determine if the CLC is still running When the PLC option is enabled on the CLC the PLC increments this counter every scan The CLC checks this counter every 200ms to determine if the PLC is running The CLC sets FFB to 01 after responding to a communication request in the Comms Buffer A PC task is responsible for clearing this after reading the response in the Comms Buffer Any write to either byte by the PC triggers an interrupt on the CLC card Setting FFF to 01 after entering a request in the Comms Buffer the CLC will put the response in the Comms Buffer and set the Response Flag to 01 Setting FFF to 02 after entering a request in the Comms Buffer the CLC will put the response in the Comms Buffer set the Response Flag to 01 and write to PC_IRQ to generate an interrupt on the PC if enabled When the CLC writes to either bit an interrupt is sent to the PC interrupt selected by jumpers 55 S6 S7 on the CLC P01 and S1 DIP switches 5 8 on the 02 The CLC uses this for handshaking with the CLC DDE server The interrupts are used in conjunction with the DDE Server for improved communications and speed This feature is only designed for NT 4 0 based systems DOK VISMO
424. sic Example 2 3 Multiplex Example Cyclic 2 13 Destination Indramat 6 2 Index Indramat Profibus Fieldbus Interfaces for VisualMotion 6 0 Basic Example Cyclic Data ne 2 6 Non Cyclic Data 2 8 Multiplex Example Cyclic Data 2 16 Non Cyclic Data Device Address Basic 2 3 Multiplex Example Cyclic Data 2 13 Diagnostics LEDS 5 3 Direct Mapped Data 1 7 Display Summary Cyclic Multiplex Data 2 18 Cyclic Single Data File Menu Non Cyclic Multiplex Data 2 19 Non Cyclic Single Data 2 9 DPF05 x 5 2 Interfaces 5 2 DPFO5 x board 1 1 E EMC Error Bit E Error Reaction e tees Shutdown CLC Warning Errors 208 Lost Fieldbus Connection 3 10 209 Field Bus Mapper Timeout 3 10 519 Lost Fieldbus Connection 3 10 520 Field Bus Mapper Timeout 3 10 Exit Cyclic Multiplex Data Cyclic Single Data
425. ss Counter e Fieldbus Timeout Counter Table 3 8 Bit Assignment for Fieldbus Resource Monitor Register 26 contains the bit assignment for the Fieldbus counters The assigned bits are labeled with an x followed by the bit number Current Miss Counter Peak Miss Counter Fieldbus Time out Counter 15 14 13 12 11 10 x16 x13 x12 x11 x10 x9 x8 Table 3 8 Bit Assignment for Fieldbus Resource Monitor Register 26 Note View register 26 in Hexadecimal format to more easily monitor the Fieldbus counters Hex display format of register 26 0x0000 Fieldbus Time out Counter 00 FF Increments by one every time 10 cyclic mapping list attempts are missed in 10 attempts Peak Miss Counter 0 9 Displays the peak value of the Current Miss Counter Current Miss Counter 0 9 Displays the count of missed cyclic mapping list attempts out of the last 10 attempts DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the GPS Programmer 3 9 Bit Definitions x13 x16 x9 x12 x1 x8 Note To view registers in hex select Data Registers within VisualMotion Toolkit If the registers are not currently viewed in hex format select Format Hex in the Active Program Register window Status bits for the Current Miss Counter An attempt is made to transmit the cyclic Object Mapping List C 0 2600 across the Dual port RAM every third SERCOS up
426. st 12 Choose the radio button below the words From FieldBus Configure Slave Telegram PD DP IO Channel Available Objects Bus Conf OUT List To From Word Word Type FieldBus FieldBus 0 Single 032 1 5 a Single Single Single Single Length of PD channel word Single Configure Multiplex Channel N A Enable Input Data 016 3 5 5F93 N Mutiplexing Dutput Dat 015 4 5 5F34 016 5 5 595 N A man a eran Highest Index H Fieldbus Error Reaction 22 Bytefs Used Ignore 52 DK Send To CLC Cancel Figure 2 5 Configuring the Interbus Configuration OUT List Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 5 13 For each data type desired choose a corresponding available object in the list on the left and click APPEND to place it in the Bus Conf OUT List If you are configuring a new list click on the NEW button to clear any current data in the selected list We have now allocated the data objects in the cyclic channel so the desired data can be transferred between the CLC D card and the Interbus Fieldbus card see Figure 2 5 Configuring the Interbus Configuration OUT List Note The non cyclic data requires no configuration of objects in a list These objects are addressed directly and preassigned as non cyclic Th
427. standard geometry segments Blend segments provide the capability of continuous smooth motion from one standard segment to another without stopping They reduce calculation cycle time as well as provide a means of optimal path shaping The VM System is capable of calculating a path in any of several different modes Constant Speed mode is always active and tries to maintain a constant speed between any two connecting segments in the path This mode is constrained by the system s acceleration and deceleration Constant speed is the optimum path motion for applying adhesives or paint and welding and some forms of cutting such as laser or water jet etc DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Linear Interpolation Circular Interpolation Kinematics Introduction 1 13 A coordinated motion straight line segment is defined by two points The motion is calculated from the end point of the last segment or the current position if the system is not in motion to the new end point Multi axis coordinated motion is used when a relationship must be maintained between two or more axes during motion A coordinated motion circular segment is defined by three points Circular motion begins with the end point of the last segment executed or the current System position if the system is not in motion moves in a circular arc through an intermediate point and terminates at the specified endpoint In addition to the standard lin
428. sualMotion system The response to a successful command message is only the Fieldbus status word Word Word1 Word2 Word3 Word4 Word5 Word6 FB control ASCII ASCII ASCII ASCII ASCII word bytes bytes bytes bytes bytes 1 and 2 3 and 4 5 and 6 7 and 8 9 and 10 Message Fieldbus control VisualMotion ASCII Protocol e g 0 CP 0 5 lt CR gt lt LF gt word Parameter Channel Message Parameter Channel Message Data Intel Format Header Motorola Format Each ASCII character takes up 1 byte of memory space If an ASCII protocol message to be transmitted is longer than 10 bytes multiple transmissions are necessary to complete the transaction Refer to the fieldbus control word for a description of how to handle multiple transmissions of a transaction The largest ASCII message can be 128 bytes DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 12 Information for the PLC Programmer Verify Status Word Profibus Fieldbus Interfaces for VisualMotion 6 0 2 Verify the status word Word Message Format Word 1 FB status word Fieldbus status word Parameter Channel Message Header Motorola Format Message Layout Request Response from CLC D Request the resp Word 2 Word3 Word4 Word 5 Word 6 No Data onse message from the CLC D Word Word 1 FB control word Message Format Fieldbus Message control word Layout Parameter Channel Message
429. sure uninterrupted communications Follow the procedure below prior to installing the CLC card into the PC 3 Start Windows 95 98 4 From the Windows 95 98 toolbar select Start Settings gt Control Panel 5 Double click on the System icon Select the Device Manager tab and click on the Properties button The shaded area within the Computer Properties window in Figure 2 6 represents the allowable memory range in which the CLC card communicates Considering Figure 2 6 the possible memory locations are represented in the table as card number 2 through 11 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 10 System Installation VisualMotion 6 0 System Properties 2 x General Device Manager Hardware Profiles Performance Computer Properties View Resources Reserve Resources ed 11 Je 3 2 Interrupt request IRQ Direct memory access DMA 0 000 0000 000 3 Display ac Input output 1 0 000C8000 000CBFFF 000CC000 000CFFFF 000D0000 000D3FFF View devices b amp 3y Floppy dis Setting Hardware using the setting Hard disk zi 00000000 0009 System board extension for PnP BIOS amp amp Keyboard DODAFFFF 53 Inc B Modem D DBFFFF 53 Inc 4 000D04000 000D7FFF 8 20 Monitor 53 Ine TrioB4V 000D8000 000DBEFE Mouse DOOFFFFF System board extension Tor Fri 000DC000 0
430. t Data Mapping List 2 Choose the desired cyclic data channel Polled I O 3 Select the desired Mapping Direction Our example begins with From Bus to CLC Card 4 Select the Data Type In our example the first item to be added to this list is Register 100 Select Register as the data type Note The CLC D will show only the objects associated with the chosen data type in the Source Object list For example if you have selected the mapping direction From Bus to CLC Card and designate Register as the data type only 16 bit output objects that have been mapped in the bus configuration list see STEP II will be shown in the Source Object list 5 Select or fill in the Destination In our example we must select Register 100 from the list in the pop up screen shown in Figure 2 7 Sample Selection List OR type 100 as the destination DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 6 Fieldbus Mapper Examples DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Note The Fieldbus Mapper selection lists display only the labels of the currently active program CLC Card Data Type Selection No label names defined in this Program System Control TaskA Control TaskB Control TaskC Control TaskD Control System Diag Code Figure 2 7 Sample Selection List 6 The source objects that are applicable to this data type will appear in the Source Object list Choose the first available object 7 Clic
431. t INSERT inserts an available object above the selected object in the current list NEW clears up the current list only in the direction selected under Available Objects DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 14 Fieldbus Mapper Examples Indramat Object ID Object Type S single B base for multiplex object Object Number 1 1 object 2 2 object etc Object Size 16 16 bit 32 32 bit DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Configure Slave Telegram Channel p Device MAC ID 2 63 Length of 1 0 channel word 2 Baudrate Selection 12K m Configure Multiplex Channel Enable Input Data Mutiplexing Output Data Highest Index p Available Objects To From FieldBus FieldBus C 32 1 5 90 x 32 2 B 5E90 32 3 B 5EAD 132_1_5 5EB1 32 2 5 5EB2 32 3 S 32 4 S 32 5 S 5 32 S 32 7 5 32 8 5 Bus Conf IN List Word t Word Type 0 Single APPEND Single DEL ES Base M INSERT Base M 7 m NEW 5 Single STAT N N N Fieldbus Error Reaction Byte s Used Configuration Direction I Input To Field Bus O z Output From Field Bus lanore DK Send To CLC 32 bit object word swapping Explicit Message byte swapping 7 Notswapped Swapped
432. t The Fieldbus Mapper is an on line configuration tool The following conditions must be met when performing STEP I through STEP IV below The system must be powered up The CLC D card must be connected to the system The system must be set to parameter mode STEP I Determining the Cyclic and Non Cyclic Data with Multiplexing Cyclic Data typical multiplexing example in multi axis application is to assign cyclic data to each index by axis e g index 0 to axis 1 index 1 to axis 2 etc Although this example shows data for only three axes in this manner remember that multiplexing allows sending up to 16 unique pieces of data for each multiplex object Single and multiplex objects can be combined to fill up the first 14 words of the list In this example we will assume that you want to cyclically transfer the following data between the CLC D card and the Fieldbus master in the order listed Object Output Data Object Input Data Type Size From Fieldbus Master to CLC Card Type Size From CLC Card to Fieldbus Master bits bits Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3 Index 0 Index 1 Index 2 Index 0 Index 1 Index 2 Single Register 100 1 Single Register 120 1 16 bit 16 bit Single Float 2 2 Single Global Float 22 2 32 bit 32 bit Single Integer 4 Single Global Integer 44 32 bit 32 bit Multiplex Control Registers preassigned per axis Multiplex Status Registers preassigne
433. t Disk 1 of the VisualMotion 6 0 disk set into your floppy drive 2 Select Run from the Start menu 3 Type a setup in the Command Line box and click The install program will prompt you to select the language you wish to use This option can be changed at any time after installation Note To change the language select Setup Configuration from VisualMotion Toolkit s main menu 4 Select the language from the scroll list and click OK Choose Setup Language EG Select the language for this installation from the choices below English United States gt English United States German Standard 1 Install Shield program launches to guide you through the setup process 5 Follow the instructions in the setup program DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 30 System Installation VisualMotion 6 0 6 When the Choose Destination Location screen appears you can choose where to install the VisualMotion program on your system The default directory is c indramaticic Choose Destination Location Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 31 7 The Setup Type screen allows you to choose from 4 different installation types The amount of available harddisk space required is dependant upon the setup type selected The following table outlines how much harddisk space is required per setup type Type of Setup Descri
434. t supports only 16 and 32 bit data of the following types for reading and writing Integer Float Binary used in CLC parameters Hex used in CLC parameters For all other data types e g diagnostic messages strings use the non cyclic Data Exchange Object or the Parameter Channel CLC Data Type Data Size in Data Words Integer currently active program ONLY Float currently active program ONLY 2 CLC Axis Parameter CLC Task Parameter 2 Note Drive parameters S or P cannot be transmitted cyclically because of the inherent delay of parameter access over the SERCOS service channel See Non Cyclic Channel Data Exchange Objects on page 1 8 However if a drive parameter is mapped to an axis parameter that axis parameter could be used in cyclic data see description of Axis Parameters 180 196 in the VisualMotion 6 0 Reference Manual Global Float CLC Card Parameter Important Note Integers and floats are shown only for the currently active program Each time you activate a new progam the fieldbus reads writes to the newly activated program Table 1 1 CLC D Cyclic Data Types and Sizes Indramat Fieldbus interfaces have single 16 bit and double 32 bit word objects in the cyclic data channel with which simple applications can be handled without any difficulty These objects are directly mapped to CLC D data types and updated every third SERCOS update cycle In some mult
435. ta The following table outlines the directly mapped CLC D data object types that can be transmitted via the non cyclic channel and the amount of space in data words that each data type consumes CLC Data Object Type Data Size in Data Words Reiter Integer currently active program ONLY Float currently active program ONLY Table 1 6 Data Object Types Sizes Two separate objects will be consumed when sending and receiving the same CLC D data both cyclically and non cyclically Data Exchange Objects Four data exchange objects 5E70 to 5E73 are available for the transfer of non cyclic data These objects represent fixed data containers of varying lengths that transfer the VisualMotion ASCII Protocol to the CLC D card These objects serve as an open ended possibility to access any VisualMotion data including cams diagnostic text etc but more work is required in the master to perform a transmission of this type For more specific information about these objects see Non Cyclic Transmission Data Exchange Objects on page 4 6 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 1 8 General Information Interbus Fieldbus Interfaces for VisualMotion 6 0 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Fieldbus Mapper Examples 2 1 2 Fieldbus Mapper Examples 2 1 Basic Example The following example demonstrates the process for configuring the mapping of basic data between the CLC D card
436. ta Bit 6 bytes Bit 8 toggle bit Bit 9 7 first and last cycle Bit 10 only one data transmission Word Word 1 Word 2 Word 3 Word 4 1218 4 t Description Status Word Data nput Response Data Value 0x070D 0x0000 0x0000 0x0000 Explanation Binary Equivalent No Data received 0001011100001101 High Bits Bit 0 Bit 2 Short Format 2 transmission Bit 3 Bit 8 toggle bit Assume no error Bit 9 first and last cycle bit 1 Bit 10 only one data transmission Figure 4 7 Write Transmission in Short Format 2 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 11 VisualMotion ASCII Protocol Write Message to CLC D VisualMotion ASCII Format General Explanation The VisualMotion ASCII Format allows for the highest degree of flexibility with regard to data transmission but it is the most complex format in terms of PLC implementation When this format is received in the parameter channel the entire message is transferred to the designated data exchange object and handled as if it were a non cyclic FMS message For an explanation of the data exchange object see Data Exchange Objects on page 1 8 For PLC implementation see Information for the PLC Programmer on page 4 1 All VisualMotion data types except Fieldbus objects can be accessed using the VisualMotion ASCII Format This format is selected by spec
437. tained from VisualMotion system list parameter C 0 2700 valid range 0x5e74 to Ox5fff Note It is important to note the mapping of the object in the Fieldbus Mapper If a particular object is mapped as a VisualMotion Read Object you cannot write to the object in Short Format 2 Conversely if the object is mapped as a VisualMotion Write Object you cannot read to that object in Short Format 2 In Short Format 2 this data word represents the high word of any user data that is either sent in the command telegram or received in the response telegram The format of this data is dependent upon the data type being transmitted Note If the data type being transmitted is only 16 bit this word is not used and should be set to NULL DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 User Data Low Word Bytes 2 amp 3 Write Command to Fieldbus Objects Read Command to Fieldbus Objects a Error Free Read Response b Error Free Write Response DOK VISMOT VM 06VRS PRO2 AE P 09 99 Information for the PLC Programmer 4 7 In Short Format 2 this data word represents the low word of any user data that is either sent in the command telegram or received in the response telegram The format of this data is dependent upon the data type being transmitted Short Format 2 Structure of the Command Telegram Data FB control Object High word Low word word nu
438. talling and Configuring the 01 Motion Control 2 8 Installing and Configuring the CLC PO2 Motion Control 2 14 Upgrading 02 flash firmware 2 18 Installing and Configuring the CLC V Motion Control 2 21 Upgrading CLC V flash 2 25 Saving CLC V User Programs and Parameters to Flash 2 27 Restoring CLC V User Programs and Parameters from Flash 2 27 Erasing CLC V User Programs and Parameters from Flash 2 28 2 3 VisualMotion Toolkit Installation and Setup sse 2 29 3 Create Download Sample Program 3 1 cx Mio tei 3 1 3 2 5 3 1 Homing 2 3 4 Save Compile and Download 3 9 3 9 Program Varlables tese itt deceret endete cr degere te dee sae eade ku Y dra deed 3 11 Assigning Labels to Variables 3 12 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat Il Contents VisualMotion 6 0 Assigning a Value to a Variable
439. te message write message only unused for e direct mapped object from Table read message 1 17 above This is the size limited to 16 or 32 bit destination of the data field Object selection depends on the required VisualMotion data and its configuration in the non cyclic object mapping list in the Fieldbus Mapper Important The format of the Fieldbus message header and the method of implementation are dependent on the Fieldbus type and the master PLC being used Refer to your Fieldbus master PLC documentation for proper transport and formatting of the message header Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 17 Message Steps Write request from the master with raw data Acknowledge fieldbus response from slave Example Non Cyclic Direct Mapped Write Process Comments FB Write Command to The data field for the write appropriate object request contains the value to be stored in the VisualMotion data The response message contains FB Response Diagnose only a confirmation that the Received error fieldbus message was sent properly Therefore the size of the data field will be 0 FB Response OK Figure 4 10 Non Cyclic Direct Mapped Write Process Write the value 27 43 to Float 16 This is a 32 bit non cyclic output object In our Fieldbus Mapper example it is mapped to object 5FOO 1 Write requ
440. te or transmit data Figure 4 7 Non Cyclic Explicit Messaging VisualMotion ASCII Communication Process Example Read Card Parameter 100 CLC D firmware version 1 Write request from the master with VisualMotion ASCII Protocol Header Data Field Write command VisualMotion ASCII Protocol contains contains code e object number Class 100 0 CP 0 100NCRNLEN00N00NOO Instance 1 Attribute 100 data field size bytes in this case 16 2 After the first read request from the master the CLC D card sends a response message Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Information for the PLC Programmer 4 9 Header No data field Response Message contains message o k 3 Read request from the master for the VisualMotion ASCII response message Header No data field Read Command contains e object number Class 100 Instance 3 Attribute 100 anticipated return data size between 32 and 64 bytes Note To ensure that all of the data requested in this step is received in step 4 below a data exchange object of the appropriate size must be selected If the selected data exchange object is too small the data will be truncated If the selected data exchange object is too large efficiency of transmission will be compromised 4 The CLC D sends the final response message Header Data Field Response Message VisualMotion ASCII
441. ted as type Param Configure Slave Telegram PD DP IO Channel Set Device Address Available Objects 1 Bus Conf IN List From Word Word Type FieldBus FieldBus Param Param Length of DP channel word Param 132 1 B 5E8 Papam Single ite 1 b 5F20 Single Parameter Channel Lenath word 16 2 5F30 9 tu a 2 2 132 1 S 1 Base M Configure Multiplex Channel Base M Enable Input Data Base M Mutiplexing Output Data FA Base M 32 8 5 5EB8 STAT Highest Index Field Bus Error Reaction Ignore b 32 Byte s Used Cancel Figure 2 20 Parameter Channel Setup in the Fieldbus Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 21 2 Continue with the Fieldbus setup as indicated in one of the previous examples Basic Example beginning on page 2 1 or Multiplexing Example beginning on page 2 11 For detailed information about setup for the parameter channel related data on the PLC side see Information for the PLC Programmer on page 4 1 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 22 Fieldbus Mapper Examples Profibus Fieldbus Interfaces for VisualMotion 6 0 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 Information for the GPS Programmer 3 1 3 Information for the
442. tem above 9 axes think of S2 low as the ones place and S3 high as the tens place in a two digit number Drive 1 Drive 2 S3 HIGH s 3 PEU 241144 S2 LOW X EN Figure 2 2 Drive Address Setting through DSS card Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 System Installation 2 5 Installing and Configuring the CLC D Motion Control Card The CLC D02 3M plug in card is one of the hardware platforms used for motion control The GPS General Purpose Software firmware IC chips installed on this card contain the firmware and functionality of what makes up VisualMotion To ensure proper installation and configuration of this essential component follow the recommended steps contained in this section Figure 2 3 CLC D02 3M Hardware Electro static discharge Sensitive electronic device The CLC card is a sensitive electronic device Use caution when handling this board Do not expose to Caution Electro static discharge or place the board directly on a conductive surface Only handle the board by its face plate or card edges Unexpected Movement of Machine Load To reduce any possibility of unexpected movement during and after installation remove all motor connects to machine load before proceeding Warning Machine movement after installation should only be performed by trained personnel who understan
443. tempts of the cyclic mapping list update A count incremented by one represents a Fieldbus Mapping Timeout Error and is process by GPS according to the selected Fieldbus Error Reaction in parameter C 0 2635 See Error Reference source not found for an explanation of the Fieldbus Error Reaction setting Note The GPS programmer can monitor the Current Miss Counter and define a custom error reaction for missed mapping list update attempts less than 10 Note The values in register 26 are read write and can be reset by the user 3 6 Fieldbus Error Reaction Fieldbus Mapper Timeout Note The Fieldbus Error Reaction setting is active only in SERCOS Phase 4 In all other SERCOS phases it will be inactive You can choose how you would like the CLC D system to react in case of a Fieldbus error This reaction can be set in the Configure Slave Telegram screen using the combo box labeled Fieldbus Error Reaction Three options are available for the Error Reaction setting Depending on the selected setting the value 0 1 or 2 is stored in Parameter C 0 2635 Setting Value in Parameter C 0 2635 Shutdown CLC 0 default Table 3 9 Parameter C 0 2635 Values for Error Reaction Settings The Fieldbus Mapper continually scans the system for sufficient resources to process the cyclic data mapping list 2600 list If 10 out of 10 attempts of the mapping list update are missed the system is DOK VISMOT VM 06VRS PRO2 AE P
444. ter Destination Save ToFile Get From File C C Gls Register 16 Avis 1540 Display S Axis Parameter New Sco ded as Tesh T Task Parameter Exit Figure 2 2 Main Fieldbus Mapper Screen Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 3 4 Click the button labeled Define Config Slave Objects The Fieldbus Mapper will try to detect any configuration data from the CLC D If you are configuring a new list click on the NEW button to clear any current data in the selected list The Interbus Configuration Screen is pictured in Figure 2 3 Interbus Configuration Screen Configure Slave Telegram PD DP IO Channel cd x Length of PD channel word SE Available Objects Bus Conf IN List To From Word Word Type FieldBus FieldBus 0 I32 1 S Configure Multiplex Channel Enable Input Data Mutiplexing Output Data Highest Index Fieldbus Error Reaction 0 Bytes Used Ignore Shutdown CLC DK Send To CLC Warning onl iP Cancel Figure 2 3 Interbus Configuration Screen 5 Set the Length of PD Channel Word to the number of data words to be allocated for the input channel or the output channel whichever is greater According to the example data in Table 2 1 Sample Cyclic Data under
445. that set by the of the command location CLC when input data is valid for the PLC Figure 4 1 Bit Definitions in Multiplex Control and Status Words DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 2 Information for the PLC Programmer Interbus Fieldbus Interfaces for VisualMotion 6 0 Figure 4 2 Write Write and Read Process and Figure 4 3 Read Only Process explain the exchange of multiplex information between the master PLC and the slave CLC D using the control and status words Control Word Bit s Status Word Bit s PLC CLC Comments Reset control bit Issue command Slave Sets Input Data DBS verifies new command Valid Bit to 0 Write Data to Multiplex Output Objects Write data Control Index Status ndex Await acknowledgement OK for multiplex data sent to PLC from CLC Figure 4 2 Write Write and Read Process Control Word Bit s Status Word Bit s PLC gt CLC CLC gt PLC Comments Set Output Data Valid Bit Issue command to 0 Change Multiplex Index Slave Sets Input Data DBS verifies new Valid Bit to 0 command Await CLC s Status Index acknowledgement of index number Yes No Await acknowledgement Input Data Malle Bit OK for multiplex data sent to PLC from CLC Read Data from Multiplex Input Objects Figure 4 3 Read Only Process Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotio
446. the left of the Object Mapping List box Insert Inserts a new object into the list directly before the selected object Replace Replaces the selected object with a new object Delete Removes the selected object from the list Back To Add Returns to Fieldbus mapper normal mode which allows adding new items to Hui the end of the list and deleting items STEP IV Define Non Cyclic Data Mapping Lists Direct Mapping The non cyclic data uses objects that are pre defined for this type of data In our example the following data will be transmitted non cyclically Output Data Input Data From Bus to CLC Card From CLC Card to Bus Float 16 Float 5 Integer 7 Integer 8 Table 2 3 Objects to be transferred non cyclically Adding Objects to the Non 1 Cyclic Data Mapping List 2 see Figure 2 10 Adding 3 Objects to the Non Cyclic Object Mapping List Ensure that the designated bus type is correct Choose the non cyclic data channel Explicit Messaging Select the desired Mapping Direction In our example we will begin with the output list or From Bus to CLC Select the Data Type In our example the first item to be added to this list is Float 16 Select Float as the data type Fill in the Destination In our example we must type 16 as the destination The source objects that are applicable to this data type will appear in the Source Object list Choose the first available object Click the Add bu
447. the cyclic channel is called the parameter channel Note The parameter channel is always allocated as the first 4 or 6 words of the Profibus cyclic DP channel The length of the parameter channel plus the length of the real time channel used to exchange cyclic data represent the entire length of the DP channel maximum total length 16 words See Figure 1 3 Configuration Options for the Cyclic Data Channel 7 possibilities for DP channel configuration options For an example of how to set up the parameter channel see Parameter Channel Example on page 2 20 Two messaging formats are available in the parameter channel to allow for a varying degree of implementation depending on application requirements e Short Format 2 simple messaging format for basic limited requirements e VisualMotion ASCII Format complex messaging format when flexibility and extensive diagnostics are required The data in the message header the parameter channel control or status word determines which message type is being sent or received This format allows for direct access to the Fieldbus objects on the DPF board These objects can also be directly mapped to VisualMotion data types Short Format 2 is the easiest format to implement from the PLC side but it is also the most limiting in the flexibility of access and the number of different VisualMotion types Setup is the same as for non cyclic objects see Non Cyclic Data on page 2 1 for the set
448. this bit goes to O after a Fieldbus card was initially found by the CLC D the selected Error Reaction system shutdown error message or ignore is initiated See Fieldbus Error Reaction on page 3 9 for detailed information about the possible settings 0 gt The Fieldbus slave is not yet ready for data exchange 1 gt The Fieldbus slave can actively participate on the bus Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Information for the GPS Programmer 3 7 x5 Status bit for the non cyclic channel PCP Non Cyc Ready 0 gt The non cyclic PCP channel can not yet be used 1 gt The non cyclic PCP channel is ready for use by the Fieldbus Master x6 Status bit for the reconfiguration of the cyclic PD channel nCyc Chan Ready 0 The cyclic PD channel on the Fieldbus card is configured properly The system looks for this bit to be O before allowing data transfer 1 gt The cyclic PD channel is being reconfigured on the Fieldbus Card at this time x13 Status bit for non supported GPS firmware nVM FW 0 gt The GPS firmware version is supported with this Fieldbus interface 1 gt The GPS firmware version is NOT supported by this Fieldbus interface card The CLC D hardware could support the Fieldbus interface but the firmware version is not recognized as valid by the Fieldbus card firmware x15 Status bit for the cyclic data output Cyclic
449. time in ms can be set for the case of an Error Reaction upon bus failure Error Reaction Upon Bus Failure Two possible error reactions can be set for the Process Data channel using the object 6004 Process Data Channel Error Reaction Retain Output Data If a value of 0x0000 is written to object 6004 the output data is retained upon bus failure The data that was last output is the current data A bus failure is reported to the CLC D s status register e Reset Output Data For critical applications and especially in cases where movement is controlled by output signals resetting the data makes sense If a value of 0x0001 is written to object 6004 the output data is reset upon bus failure DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 5 6 Interbus Slave Board DBS03 x Interbus Fieldbus Interfaces for VisualMotion 6 0 5 6 Interbus Peripherals Communication Protocol Non Cyclic Channel Supported PCP Services for the DBSO3 x DBSO03 x PCP Firmware Indramat The following PCP actions are supported by the DBSO3 x card INITIATE PCP connection to a device via the Master e ABORT Cancellation by the Master of a connection with a designated device e STATUS The device status which contains information about the current operating and communication status is read e IDENTIFY Identification data of the device Virtual Field Device VFD is read This data contains Vendor Name Device Mode Name
450. time this program is executed the sequencer is initialized The state of register 100 bit 09 goes high 1 indicating that the squencer has initialized DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 16 Example Programs Modifying Sequencer List Indramat Values VisualMotion 6 0 The program flow will then reset a cycle counter and Run the sequencer To view the cycle counter select Data Variables and change the Types to x program integers F x program floats program integers GF x global floats GI x global integers Task Local Variables Task B Local Variables Task C Local Variables Task D Local Variables File Edit Format Update Settings label value 11 Cycle Count 0 E I2 0 E The program will continue running in the sequencer loop until a WAIT condition register 100 bit 16 is active high 1 or finishes when bit 10 goes high 1 When the program is stop and restarted using bits 03 and 04 the I O state of register 100 bit 09 will cause the program to branch to the Run Sequencer icon and continue into the sequencer loop The user can make changes to the performance of the sequencer by modifying the values of each argument without having to save compile and download the program again With the sequencer program actively running select Data Sequencer to open an Active Program window containing the Sequencer and Steps Card 0 Active Program
451. tion 3 e line types A and B according to DIN 19245 Section Note DPFO5 x supports baud rates of 9 6 to 12000 KBit To guarantee EN standard for EMC safety the Profibus interface is completely optically isolated According to DIN 19245 Section 1 the DPFO05 x board has a 9 pin D sub miniature connector for connection to the Profibus To switch the bus signal through to the rest of the bus participants plug in connector INS 0450 is available DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 5 2 Profibus DP Combi Slave Board DPF05 x Profibus Fieldbus Interfaces for VisualMotion 6 0 5 4 DPFO05 x Board Hardware Front view of the DPF05 x s 8 Diagnostic not used RxD TxD P CNTR P DGND vP not used Receive Send Data N i RxD TxD N Repeater Control Signal N CNTR N Receive Send Data P Repeater Control Signal P Data Reference Potential Bus 5 V i CO N 1 1 1 o front view Figure 5 1 Front View of the DPFO05 x DPFO05 x Structure The DPF05 x board has been designed as a plug in board so that it can be directly mounted to the CLC D control board Once secured with three guide pins it forms one unit with the CLC D card which can be inserted into two slots on the drive or CCD card rack Note Additional boards can be attached to the DPFO5 x card for integration into the system Exercise caution when disassembling o
452. tion in the non cyclic object mapping list in the Fieldbus Mapper Important The format of the Fieldbus message header and the method of implementation are dependent on the Fieldbus type and the master PLC being used Refer to your Fieldbus master PLC documentation for proper transport and formatting of the message header DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 4 4 Information for the PLC Programmer Interbus Fieldbus Interfaces for VisualMotion 6 0 Non Cyclic Direct Mapped Write Message Steps Process Comments Write request from the FB Write Command to The data field for the write master with raw data appropriate object request contains the value to be stored in the VisualMotion data Acknowledge fieldbus The response message contains response from slave FB Response only a confirmation that the error fieldbus message was sent properly Therefore the size of the data field will be 0 Received FB Response OK Figure 4 4 Non Cyclic Direct Mapped Write Process Example Write the value 27 43 to Float 16 This is a 32 bit non cyclic output object In our Fieldbus Mapper example it is mapped to object 5FOO 1 Write request from the master with raw data Header Data Field Write command VisualMotion Raw Data contains contains data here shown in e object number 5 00 decimal format e data field size bytes in this 27 43 case 4 2 After the write request from the master the CLC D c
453. tion to use clc dde exe server in order to communicate with the CLC This application must be running in order for Wonderware to communicate with the CLC 1 To establish a DDE link a Choose DDE Access Names under the Special Menu in Intouch Development The DDE Access Name Definition window will open b Press the Add button Modify DDE Access Name DDE Access Name c c DDE Application Server Name clc dde DDE Topic Name serial 1 Handling of initial data values Request initial data Wait for change UE to advise server C Advise all items Advise only active items Figure 5 6 DDE Access Name e DDE Access Name The DDE Access Name can be any name you choose e DDE Application Server Name For the CLC this is the clc_dde server clc_dde exe provided in the VisualMotion Toolkit It is not necessary to use the exe extension It is good practice however to include the path for the clc dde server in the DOS Path statement and to configure Wonderware to launch the clc dde server If Wonderware is in your Windows Start up group then the clc dde server application should also be in that group Since Windows launches applications in the startup group from left to right the clc dde server icon should be to the left of the Intouch icon Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 DDE Client Interfaces 5 9 The topic name will depend upon the method of communic
454. tly transmitted CLC D data type is based on an index value placed in a multiplex control word attached to the end of the cyclic data list Depending on the index specified by the master the multiplex channel permits a different set of data within the cyclic channel to be transferred as current real time data in both data directions Note Using the multiplex channel will reduce the maximum number of usable words for storing CLC data to 14 The 15 word or last used word if fewer than 14 words is used as the multiplex entry control status word DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 General Information 1 5 In the Fieldbus configuration lists the following multiplex objects are available Type of Input Objects Total Input Output Objects Total Output Multiplex Object Available Objects Available 32 bit 3 base x16 indices 48 3 base x16 indices 16 bit 2 base x16 indices 8 2 base x16 indices Table 1 4 Available Multiplex Objects L obt 7 lobt 3200 7 3t 7 multiplex control word m object bject indexo lex 0 Fuer Pues n n 1 9 n n n n n n n n n n n Z lebt 7 i6 bt IE 2 single single multiplex object multiplex object multiplex object single object single object EI ae multiplex status word iplex
455. to CLC if you try to map the parameters to a PLC output object Examples C 0 1550 Read Any Time Write in Parameter Mode and C 0 1518 Read Only Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 7 9 Click Send to CLC to save the selected object mapping list to the CLC D card Use any of the following buttons as needed Saves the currently selected object mapping list to the CLC D Card to card Send To CLC parameter C 0 2600 if the cyclic Polled I O channel is selected and C 0 2700 if the non cyclic Explicit Messaging channel is selected Save To File Saves the currently selected object mapping list to a file with a prm extension New Clears up the current object mapping list Gets the currently selected object mapping list from the CLC D Card from card Get From CLC parameter C 0 2600 if the cyclic Polled I O channel is selected and C 0 2700 if the non cyclic Explicit Messaging channel is selected Allows the user to open a previously saved file with a prm extension of an Get From File object mapping list When the file is opened displays that object mapping list Generates an on line summary report of the currently selected Fieldbus This Display Summary report can be printed by selecting Print from the File menu in the Fieldbus Mapper window Exit Exits the Fieldbus Mapper utility Important Ensure that your syste
456. ts Interbus Fieldbus Interfaces for VisualMotion 6 0 4 Information for the PLC 4 1 4 1 51 4 1 4 2 Multiplex Data Bits in the Control and Status Words 4 1 4 3 Non Cyclic Transmission Direct Mapped 4 3 Selecting Direct Mapped 4 3 Transmission Sequence via Direct Mapped 4 3 Direct Mapped Write nennen 4 4 Direct Mapped 4 5 4 4 Non Cyclic Transmission Data Exchange 4 6 Selecting a Data Exchange 4 6 Transmission Sequence via a Data Exchange 4 6 5 Interbus Slave Board 803 248 PEE DR FIM EUR CIAM 5 1 II EMIL MEM d NE 5 1 PUMCUOMANILY E T 5 1 5 3 BUS 5 1 5 4 0 503 Board 5 2 Front view of the 503 5 2 08503 cue 5 2 X40 Connector Interbus Pin outs Incoming 5 3 X41 Connector Interbus Pin outs Outgoing
457. tton The object will appear in the OBJECT MAPPING LIST at the right This list is scanned by the CLC only when a non cyclic request comes in and executes the mapping Repeat steps 2 through 7 above until each of the desired non cyclic objects has been added to the OBJECT MAPPING LIST in both directions From Bus to CLC card AND From CLC card to Bus Note If you want to insert replace or delete items in the Object Indramat Mapping List double click on the item in question A new set of buttons appears to the left of the Object Mapping List box See Changing an Existing Object Mapping List above for a detailed explanation of each button DOK VISMOT VM 06VRS PRO2 AE P 09 99 DeviceNet Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 9 6 4 File Help 1 Select Bus Options OBJECT MAPPING LIST Bus Type Define Config Slave Objects Explicit Msg Channel DeviceNet Z Source Object Totalof 1 records EE Obj109 Insti Atti DO FPO 16 BISFOO Ehannels Ob 109 Inst2 Att100 Add Dbi103 Inst3 Atti 00 Hor eae 12 Polled 1 0 Obj109 Inst4 Att100 Trece Objt Snst5 At10O E Explicit Msa 21 Delete Select Mapping Direction 19 Jose Recon 778 repeat From CLC card to Bus Select CLC Card Options Send To CLC Get From CLC 4 ee 5
458. tun Ped ru ei A 1 Dual Port RAM Organization A 2 hw anc A 4 B VME Versa Module Eurocard Interface CLC V B 1 CLC V System Memory B 1 CLC VME Memory Window B 2 B 2 CLC V Backplane B 4 CLC V Direct Data 55 B 5 VME Memory Access 5 B 5 VME 7 VME Address Access 5 B 7 VME System Signal Sinin ice B 8 VME Bus RE B 11 C Non CLC Hardware C 1 VME Card C 1 VME Card Cage Secondary C 1 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 VME Backplane Connecting AC Input C 2 CLC VME I O Systems DEA I O DIAX Drive Resident Xycom XVME 201 Digital Xycom XVME 202 PAMUX I O Xycom XVME 244 Digital l O Western Reserve SmartMux Pentland MPV922 VME Digital l O sse PC ISA I O Systems D Example P
459. two types of non cyclic data transmissions for the CLC D VisualMotion system e data transmitted via the data exchange object e data mapped directly to CLC D data types Non cyclic data can be accessed via e PCP support of the Fieldbus master Direct Mapped Data Just as there are pre defined cyclic data objects for mapping CLC data to the Interbus PD channel there are also pre defined non cyclic PCP data objects 16 and 32 bit that can be mapped to CLC data types Non cyclic objects have the following numeric names e 16 bit 5F60 5F7F and 5F90 5FBF e 32 bit 5F00 5F1F This type of data is mapped using the non cyclic data mapping list C 0 2700 It provides easy access to non cyclic data However the fixed mapping list is limited to a certain number and types of CLC D data The directly mapped non cyclic data take note of size and direction can be assigned to the following objects DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 General Information 1 7 Data Object Types and Sizes Sending and Receiving the Same CLC D Data Non Cyclically Number of Data Size Direction Numeric Objects reference Names of Objects 5F10 5F1F Available Master Fieldbus 5F00 5FOF 5F60 5F6F 5FAO0 5FAF 5F70 5F7F 5Fb0 5FbF Table 1 5 Non Cyclic Data Objects Note The available CLC data types for directly mapped non cyclic data are the same as for directly mapped cyclic da
460. ubroutine 1 Select Edit Add Subroutine to create the WAIT subroutine 2 Name the subroutine WAIT and click on OK This will open a new programming window with a Start and a Finish icon Subroutine Control Enter the name for the function 20 characters maximum var L Cancel 3 Create the subroutine illustrated below according to the selections and values given in their corresponding dialog boxes Refer to Program Layout Function Subroutine WAIT Figure D 5 When done return to Task A by selecting View Task A Main Sequencer Program After all four subroutines are created the next step is to create the main Task Sequencer program This main sequencer program will be used to initiate and run in a predefined order or list the previous four 4 subroutines 1 Create the subroutine illustrated below according to the selections and values given in their corresponding dialog boxes Indramat DOK VISMOT VM 06VRS PRO2 AE P e 09 99 VisualMotion 6 0 Example Programs D 5 Program Layout Function Subroutine MOVE ABS Arguments for function MOVE ABS Single Axis Move Setup I pe Minimum Value Maximum Value oe Ies faxisNumber m i Speed Cancel Distance Abs 1 Caption Axis to move integer Glx or label AxisN umber Distance float Fx or label 1 1 1 Dista
461. uous CLC VME memory within the VME system memory space The CLC DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat B 8 VME Versa Module Eurocard Interface CLC V VisualMotion 6 0 VME System Signals Fair Arbitration Enabled Indramat VME memory block cannot have a base address of less than the memory size of the CLC card The lowest base address the CLC can use depends upon the size of the CLC memory it must be a multiple of the CLC memory size A 2 Meg CLC card can occupy from 2MB to 4MB a 4 Meg CLC can occupy 4MB to 8MB etc Note The base address should never be set lower than the address space required by the largest VME card in the VME system The value specified by the Base Address Page provides the high 8 bits A24 addressing or 16 bits A32 addressing of the address the lower 16 bits are zeroed 64k pages The base address must be an integer multiple of the CLC card s RAM size Specific areas in the CLC s memory are accessed using offsets from this specified base address A user must specify a number of settings that determine how and if the CLC is to generate and or respond to VME bus control signals These include selection of the CLC as the slot 1 master providing VME bus arbitration VME bus release modes and the CLC s responses to certain VME bus error conditions Bus Arbitration Fair Arbitration Enabled resolves simultaneous same priority bus requests on the BRO BR3 bus request lines from mult
462. up procedure in the Fieldbus Mapper Note When using only Short Format 2 messaging only 4 words need to be allocated in the Parameter Channel VisualMotion ASCII Format is the Parameter Channel s method of accessing data exchange objects For an explanation of the data exchange object see Data Exchange Objects on page 1 8 For PLC implementation see Information for the PLC Programmer on page 4 1 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Profibus Fieldbus Interfaces for VisualMotion 6 0 General Information 1 7 Non Cyclic Channel The non cyclic channel is used for data that needs to be transferred only once or sporadically such as e transmission of lists e parametriziation of axes or programs e non cyclically mapped data Instead of being updated during each cycle non cyclic data is transferred whenever time is available on the Fieldbus Though any data type can be transferred non cyclically diagnostic messages and drive parameters S and P must be transferred non cyclically because of the non cyclic retrieval for drive parameters through SERCOS and the length of the diagnostic messages For example ASCII text in a diagnostic message requires one data word for every two ASCII characters The non cyclic channel can transfer only up to 16 data words or 32 characters of a diagnostic message at once This would mean that one diagnostic text message if 32 characters or more could consume all the availa
463. upply range 15 30VDc B power supply range 10 15 VDc A A Group 2 A J2 J3 J4 J5 6 Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Non CLC Hardware C 21 Configuration Switch SW1 Switch SW1 positions 1 through 6 set the base address of the XVME 244 card Switch positions 7 and 8 must be set to the indicated defaults SWI Default setting Function position Open card responds to VME bus 10 1 see address table Closed card responds to VME bus A10 0 Open card responds to VME bus A11 1 see address table Closed card responds to VME bus A11 0 Open card responds to VME bus A12 1 see address table Closed card responds to VME bus A12 0 Open card responds to VME bus A13 1 see address table Closed card responds to VME bus A13 0 Open card responds to VME bus A14 1 see address table Closed card responds to VME bus A14 0 Open card responds to VME bus A15 1 see address table Closed card responds to VME bus A15 0 Closed supervisor and non private mode UBL LEE Open VME standard A24 address space Closed VME short address space XVME 244 Base Address SW position SW position E CEPS Address __ ee 6 8 The base address may be calculated by the formula base address card 1 0x400 C1 8 Note The card s base address must also
464. us request when it is high for a minimum of 20 nanoseconds In order that all participants are able to sample the high state of the request signal line the gate array asserts its request output not earlier than 50 nanoseconds after it has detected the BRx signal high DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Bus Request Level VME Slot 1 Mode Release Every Cycle Release On Bus Clear ROR Inhibit Time VME Bus Access Error Fatal SYSFAIL Signal Fatal VME Versa Module Eurocard Interface CLC V B 9 Bus Request Level indicates the VME bus request hardware priority that the CLC has when requesting the VME bus Four bus request levels are available BRO lowest to BR3 highest The bus request level must be set manually using switches SW5 6 and SW5 7 on the CLC card VME slot 1 mode provides a pop down list of three bus arbitration modes These selections are only active if the CLC card is the VME system Slot 1 controller arbiter Note that the VME bus s BRO BR3 daisy chains also determine the priority of bus requesters according to the physical positioning on the VME backplane Prioritized arbitrates the VME bus according to hardware bus requests using the four daisy chained bus request lines BRO BR1 BR2 and BR3 BR3 has the highest priority BRO the lowest A higher priority bus request releases the bus to the higher priority requester when the current bus access cycle is completed Round
465. ust be set to Parameter Mode to configure and assign the data mapping for Fieldbuses STEP Il and STEP III 1 In the VisualMotion Data Menu select Fieldbus Mapper CLC File new str Task File Edit View Setup Tools Status Options Help c fa B e CI RI Field Bus Mapper 140 Mapper PID PLS Points Registration Registers Sequencer Variables Zones Figure 2 11 Selecting the Fieldbus Mapper from the main VisualMotion Screen 2 n the scroll box under Bus Type choose the desired bus DeviceNet The bus type may appear automatically if the Fieldbus card is connected and the firmware version is recognized 3 Choose the cyclic data channel Polled I O DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 12 Fieldbus Mapper Examples DeviceNet Fieldbus Interfaces for VisualMotion 6 0 6 Field Bus Mapper of x File Help Select Bus Options OBJECT MAPPING LIST Bus Type Define Config Slave Objects Polled 1 0 Channel Source Object Total of 0 record s DeviceNet Channels Add C Explicit Ms Delete r Select Mapping Direction 6 From Bus to CLC card E From CLC card to Bus Select CLC Card Options Send To CLC Get From CLC Data Type C Fx C GF Card Parameter Destination Save To File Get From File C Ix C Glx C Register 16 vis 04401
466. ut Dat 132 7 S 5EB I32 8 S5EB8 Highest Index t 2 Fieldbus Error Reaction 24 Bytes Used Ignore Figure 2 13 Interbus Configuration Screen 5 Set the Length of PD Channel Word to the number of data words to be allocated for the input channel or the output channel whichever is greater According to the example data in Table 2 4 Sample Cyclic Data with Multiplexing under STEP I Determine the Cyclic and Non Cyclic Data we have set the length of the channel to 12 for the output and input channels 6 Click in both check boxes next to Enable Multiplexing because we want to configure multiplex objects in both the output and input channels DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 Fieldbus Mapper Examples 2 13 Notice that the 13 word word 12 shows the status control word STAT in the Bus Conf IN list CNTL in the Bus Conf OUT list The bus now actually has 13 words in each of the bus configuration lists the 12 words that were set on the left plus the status control word See Multiplex Control and Status Words on page 1 5 for information about the usage of this extra word when accessing data from the Fieldbus master PLC 7 Fillin the highest index number as 2 because we are using only 3 sets of multiplex data Indexes 0 2 for axes 1 3 The index number will always be one less than the number of indices because the first index num
467. vailability of the product INDRAMAT Hoffman Estates e 5150 Prairie Stone Parkway Hoffman Estates IL 60192 Phone 847 645 3600 Fax 847 645 6201 e Dept TechDoc DP HK DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 Contents Contents 1 Introduction 1 1 1 1 PURPOSE Of Mantal mS 1 1 Manual 1 2 1 2 VisualMotion 1 3 VisualMotion System Components 1 3 CLC System 1 9 Indramat s VisualMotion Programming 1 10 1 10 CLC Operating System 1 10 1 3 VM System Motion 5 1 12 Non Coordinated Motion 1 12 Coordinated Motion RM 1 12 Electronic Line Shaft ELS oci audeo eee tee 1 13 2 System Installation 2 1 ZB eie mee c TUE 2 1 Host System 2 1 Hardware Requirements 2 1 2 2 CLC Card Installation and 5 2 3 Installing and Configuring the DSS SERCOS communication 2 3 Installing and Configuring the CLC D Motion Control Card sse 2 5 Ins
468. ve Board DBS03 x Interbus Fieldbus Interfaces for VisualMotion 6 0 Diagnostic Array 5E7A Object Type Access from PD Number Master Channel CLC D Error Code 5FFO 1 R RW 5FF6 Table 5 5 Diagnostic Array Object 5FFO Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 Interbus Fieldbus Interfaces for VisualMotion 6 0 6 Index gsd file Basic Example 2 3 Multiplex Example 2 14 208 Lost Fieldbus Connection 3 10 209 Field Bus Mapper Timeout 3 10 5 519 Lost Fieldbus Connection 3 10 520 Field Bus Mapper Timeout 3 10 4 19 4 19 5E72 ein ceti es 4 19 up 4 19 A Available Objects Basic Example 2 4 Multiplex Example Gyclic Dat 5 nere 2 14 B baud rates supported by DPFO5 x 5 1 Bit Definitions Register 19 Cyclic Data Valid 3 7 FB Init OK FB Slave Ready nCyc Chan Ready 3 7 Non Cyc 3 7 NVM FW 3 7 Register 20 FB Card Fault Code 3 8 FB Card Found Register 26 Current Miss Counter 3 9 Fieldbus Timeout Counter 3 9 Peak Miss Counter 3 9 Bus Conf IN List Basic Example 2 3 Multiplex Example Cyclic Data nie 2 14 Bus Conf OUT List
469. ver the SERCOS service channel See Non Cyclic Channel Data Exchange Objects on page 1 8 However if a drive parameter is mapped to an axis parameter that axis parameter could be used in cyclic data see description of Axis Parameters 180 196 in the VisualMotion 6 0 Reference Manual Important Note Integers and floats are shown only for the currently active program Each time you activate a new progam the fieldbus reads writes to the newly activated program Table 1 1 CLC D Cyclic Data Types and Sizes Single Data Types Indramat Fieldbus interfaces have single 16 bit and double 32 bit word objects in the cyclic data channel with which simple applications can be handled without any difficulty These objects are directly mapped to CLC D data types and updated every third SERCOS update cycle Multiplex Data Types In some multi axis applications 16 words of cyclic data transfer are not Cyclic Data Channel sufficient to meet the data transfer requirement of the application When insufficient data transfer space is available multiplex data can be set up within the cyclic channel One data object base object acts as a placeholder for multiple possible CLC D data types all of the same word size The currently transmitted CLC D data type is based on an index value placed in a multiplex control word attached to the end of the cyclic data list Depending on the index specified by the master the multiplex channel permits a dif
470. wait icon is used to cause the return dwell Timer 1 After the dwell Register 100 bit 15 is turned off reset to 0 Setup Subroutine Counter Reset Variable R100 10 Setup OFF This subroutine resets the part counter to zero and runs the following Variable Setup subroutine It moves Axis 1 to its home position After running the subroutine the program returns back to Task A Variable Setup Subroutine Return Return Timer 1 Forward Forward Timer 2 Accel Rate Position 0 Speed 100 1sec Position 10 Speed 100 15 100 This subroutine sets the variable values for all Floats and Integers The user can make changes to these variables by selecting Data gt Variables F1 Return_Position l1 Timer_1 Return Dwell F2 Forward Position 12 Timer 2 Forward Dwell F3 Return Speed I3 Part Counter F4 Forward Speed F5 Accel Rate DOK VISMOT VM 06VRS PRO2 AE P e 09 99 Indramat D 42 Example Programs VisualMotion 6 0 VisualMotion Icon Language Program Demo 2 Coordinated Motion Demo 2 is a Coordinated Motion program that is similar to Demo 1 with the exception of movement type Demo 2 uses a series of points within a absolute points table that contains the values required for motion The starting and ending of Demo 2 is identical to that of Demo 1 Program Setup Size SetupSub Axis 1 Start Stop Loo Waiting p for start bit Message Move Move Move Waitfor R100 16 In Position 7 Forward Forwa
471. when a firmware upgrade is performed The following is a list of items that may be loss during a firmware upgrade e CLC System parameters C 0 xxxx Warning e Axis parameters 0 e CLC Cam tables e Events e Mapper FieldBus Mapper e Points tables Variables e Zones e Downloaded VisualMotion programs Upgrading CLC V flash firmware using serial Port A requires the following A PC or Laptop running Windows 95 98 or NT4 with HyperTerminal installed e An IKS0110 RS 232 serial cable for connecting from the PC Com port to serial port Aon CLC V card e A firmware upgrade file named according to the hardware platform and firmware version For example vgp05v48 abs 1 Connect the 50110 serial cable from the laptop or PC to serial port A on the CLC V and power up system Close any running instances of VisualMotion Toolkit and the CLC DDE Server even if the programs are minimized 2 In Windows 95 98 or NT4 use Explore to locate the HyperTerminal application icon Double click on the HyperTerminal icon and create a file for the PC Com port connected to serial port A as follows Select Communications from the Setting menu and setup communication for the following Bits per second 19200 e Data bits 8 e Stop bits 1 e Flow control None DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat 2 26 System Installation VisualMotion 6 0 3 Switch the CLC V to the pROBE function using the following met
472. wn in the following figure which are all accessible from both the CLC P card and the PC s ISA bus The CLC reads bits in Motorola format There are 256 global float and 256 global integer variables and there are 512 16 bit registers Additionally there is a response flag for the Comms Buffer as well as interrupt flags At this time the CLC P does not interrupt the PC The Comms Buffer is 256 bytes It uses the same protocol as serial communications The flowchart below depicts the handshaking protocol in the dual port RAM and can be used for direct access to the Comms_Buffer when not using the DDE Server WRITE REQUEST TO COMMS BUFFER xC00 Generates interrupt to CLC WRITE 01 TO card xFFF Response flag CHECK FOR 01 AT xFFB READ REPLY AT COMMS BUFFER 00 Figure A 1 Dual Port RAM Handshaking Protocol Indramat DOK VISMOT VM 06VRS PRO2 AE P 09 99 VisualMotion 6 0 PC Interface CLC P ISA PC 104 bus A 3 CLC P02 Memory Range c Table A 1 Dual Port RAM Organization Status and Control Bits Note For CLC P02 the use of some Status and Control bits are dependent on the parametrization of 0 0035 PLC Communication option Status Bits Bit 1 Heartbeat bit toggles every two seconds longer under some cases Bit2 Probe a 1 indicates CLC card has faulted into P SOS OS Card must be reset Bit 3 Paramet
473. wnload Sample Program VisualMotion 6 0 Homelcon 7 Select and place the Home icon to the right of the Axis icon The Home icon executes the drive controlled homing procedure Homing Setup 2 x Axis to homef integer Glx 6 or label o Cancel Caption Note Before and axis can be Homed using the Home icon a homing routine must be setup Refer to the following procedure for details Enter a 1 and then select OK Homing Procedure Select Setup Drives from VMT s main menu to open the CLC Drive Parameter Editor window Now select Parameters Drive Reference and VMT will automatically sense the active drive s motor encoder type and launch either the single or multi turn encoder setup window Note Verify that the motor and drive are properly connected and powered up Check the serial communication cable between the CLC card and host computer for proper connection Drive 1 Single Turn Encoder Homing Setup Setup the motor s homing routine according to the window below The Acceleration and Velocity parameters should be set to a low enough value as to not cause sudden jerk movement When done click on Save and then Close to complete the homing routine for Drive 1 m Motor Homing Direction Sense Source Clockwise Homing switch and marker pulse C Counter Clockwise Homing switch only PE Marker pulse only 1ominig Edge Jon Neither Positive 5
474. x2D and 0x29 VME AM codes Supervisory and non privileged Jumpers JA10 through JA15 set the base address of the card within the VME 64k Short I O Address space on 1k boundaries The table below lists the base addresses and corresponding jumpers for XVME 201 cards one through eight Xycom XVME 201 Address Jumper Card Base 10 12 13 14 15 Address 0 1000 closed closed open closed closed closed pelos open dee dise abes 7 800 closed open open closed closed closed 8 04000 open open open closed closed closed The base address of each card may be calculated using the expression Short Address Base Address XVME 201 card 1 0x400 DOK VISMOT VM 06VRS PRO2 AE P 09 99 Indramat C 18 Non CLC Hardware VisualMotion 6 0 Xycom XVME 244 Digital I O Xycom 244 1 0 Example Xycom 244 Direct Digital I O 64 1 0 lines per Card 32in 320ut n CLC Card I O Registers stem nt S Co A 0001 00000000000 0000 Two 44 Pin HD subD Two 26 Pin HD subD sk Gemet 0000000000000 T J2 0002 000 0005 0000000000000000 Axis Control 0011 0000000000 00000 0018 0000000000000000 MTT 0020 000000 0025 0000000000000000 94 Status 0031 0000000000000000 0039 0000000000000000 1 0 Mapper Reg to Reg Tr
475. yclic and non cyclic channels are freely configurable by the user when using the object structure of the 503 card The DBSOS3 x card has the following characteristics nterbus Slave with support of PCPS 2 0 Long distance bus to interface connection with completely isolated interfaces according to Interbus DIN 19258 specifications e Freely configurarable cyclic channel with 1 16 word capacity on the bus e Two D SUB connectors for the incoming and outgoing bus according to and described in DIN specification 19258 X40incoming bus9 pin D SUB male connector X41 outgoing bus9 pin D SUB female connector e Data exchange to the CLC D control module via Dual Port Memory 8 LEDs integrated in the Front Panel with diagnostic field according to Interbus specification e Implementation of an object structure to simplify access to variables and parameters in the control card and drives e Upload Download function via 4 arrays from 16 to 128 Bytes Data Exchange Object e DBS04 1 Board ONLY Power fail functionality which prevents the Interbus network from going down when the DBS CLC loses power 5 3 Bus Configuration Each device on the Interbus network including the DBS slave card reports its information ID words etc to the Interbus master The Indramat 0 503 supports automatic configuration of the bus which functions as described in the Interbus specification DOK VISMOT VM 06VRS PRO2 AE P
476. ystem Requirements Computer VisualMotion Toolkit VMT can be installed on any IBM PC compatible Pentium computer running e Windows95 Windows98 or Windows NT 4 e 4Mb of RAM system memory e Running Windows in enhanced mode is recommended e Complete dual language English and German installation requires 16 MB of Harddisk space 3 5 MB is reserved for the help system Additional space is required for user files Display A VGA display is required A color display allows you to take full advantage of VMT s graphic interface Printer VMT uses the default printer installed on your computer For optimum resolution specially when printing icon programs use a high resolution 300 dpi laser or ink jet printer Mouse serial or bus mouse is required to use VMT s Icon programming environment Serial VMT be configured to use the PC s serial port for communication between the Host PC and the CLC A special RS 232 serial cable is required between the Host PC and the CLC Host communication port Hardware handshaking is not used Note When VisualMotion Toolkit is configured for serial communication it requires exclusive use of its assigned serial port specifically the serial port interrupt Some PCs have additional accessory or I O cards that share interrupts as when a card has been added for an internal modem fax card or third and fourth serial port These other devices should not be used when running VisualMot

Start-up Guide

Contents

Download Pdf Manuals

Related Search

Related Contents