Manual - Festo
Contents
1. From Internal Logic FILTER D A ANALOG VOLTAGE CONVERTER MUX CURRENT Figure 47 Analog outputs schematic diagram Specification Output channels 4 analog output not isolated channels voltage or current output 12 bit Output voltage type Single ended Output voltage range 10VDC Output voltage load impedance 1K minimum Output current linearity error Table 13 Analog Outputs specifications FED CEC FED UIM Description 46 1 6 1 8 FED UIM wiring examples The next sections describe some typical wiring examples for digital and analog IOs 1 6 1 8 1 Digital IO wiring examples The next figure describes two digital inputs switches and two digital outputs connection LOAL LOAD QDOQQOOOOD VODIDIDOA DIDEIDELIZO VDELEDIDO Se ee a es eae E Trg Cae i es D NA B Ga Ka om eo inin TVWLISIO A INANI WLU INi INi DM nM i POWER SI LY o ANAT OG NPAT a PT100 GU EN ANALOG OUTPUT G 4 2 2 o 3 CO CO LC pa ES A gt r r 25008 POOOR 200008 n AAAA 24V DC SUPPLY Figure 48 Wiring example two digital inputs switches and two dig2. O RDAL pi jp Figure 29 The Keyboard Area Tag Tekno eee eee week evVebeeeeeeee pay wem INTI NET III IRIS AENA Her Figure 30 The Panel Area GG RDA 12 RDA 11 RDA 10 RDA Q a aP EELEE E ee EEEE CECECEGE ECEE EEEE EEEE Pr eera Figure 31 The PLC Area 1 3 4 Programming the Mailbox The Mailbox can be configured in the Internal Controller memory area using an array of bytes USINT To the mailbox should be reserved an array of minimum 40 bytes in length Tag Aereas aerea Command Response Word Status Word te O ma meter O rar Figure 32 The Mailbox 1 3 5 Alarms The Alarm area in the Internal Controller memory is organized as bytes An array of bytes USINT can be configured to handle Alarms Alarm bits are organized according to Figure 33 Tag Bi os Figure 33 The Alarm Area FED CEC FED UIM Description 29 1 3 6 Alternative Approach to RDA Alarms and Mailbox Instead of using arrays the Controller interface areas can be defined statically into the iPLC memory declaring all variables as global with their corresponding names As an example the RDA Keys area can be declared as follows RDA Keys area RDA_Keys1 AT MWO WORD RDA_Keys2 AT MW1 WORD RDA_Keys3 AT MW2 WORD RDA_Keys4 AT MW3 WORD The RDA Panel area can be declared as follows RDA panel area RDA_RTC_DayOfWeek AT MB8 BYTE RDA_RTC_Month AT MB10 BYTE RDA_RT
3. FED CEC FED UIM Description 49 1 6 2 CoDeSys Support for FED UIM In order to use FED UIM hardware with the FED CEC Internal Controllers the proper I O boards must be selected in the PLC Configuration Support for FED UIM consists of a set of I O boards as shown in Figure 53 To insert the I O board in the configuration just Replace the NolO slot with FED UIM element El 4 FED CEC A a a CanOpenMaster SLOT 3 Base parameters ola de NolO SLOT Module id 5 Replace element Nolo Node 1d Calculate addresses FED UIM Copy Chrl Comment Figure 53 1 6 3 Configuration of Analog Inputs The FED UIM Analog Input board has several parameters that have to be properly configured according to the operation mode requested for each channel For all the four channels it is required to specify the operating mode and the full scale limit Each channel can be used for 1 Voltage differential measure or 2 Voltage single ended measures or 1 resistance measure or 1 current measure Figure 54 shows the configuration of the four Analog Inputs Couples FED CEC FED UIM Description 50 gt sete gg FED CEC 3 oo de CandOpeniaster SLOT base parameters FED UIM SLOT ve a Diagnostic FIx lt oe al Digital Inputs F i Index Name Value 5 CAITT O oltage Differe E Ch2T 0 Voltage Differe E Ch3T 0 Voltage Differe 8 Ch4T 0 Voltage Differe Al CHI_PAT SID
4. g CHIF D 10040 Al_CH1_N AT ID3 Dil 10 Char O 41 00m ALCH2_P AT ID4 Dir 11 GASE OCH Om C ALCH2_NAT ID5 Dit 1200 CHAR 0100m Al_CH3_P AT IDE Dit Al_CH3_N AT ID DI Al_CH4_P AT ID Dir Al_CH4_N AT ID9 Dil Al COMP AT ID10 DI Figure 54 All the four channels are independently programmable to execute six different types of measurements The parameters ChiType Ch2Type Ch3Type and Ch4Type can be configured like show in Table 14 MEASURE TYPE Table 14 Different Full Scale can be selected for each Channel Couple as shown in Table 15 Full Scale for Voltage Full Scale for Current Full Scale for Resistance Measurement Measurement Measurement 100mV 0 802 0 4000 0 9002 0 8KQ 0 1MQ Table 15 Table 16 shows the different meaning assumed by the nine channels of the Analog Input board depending on the measure mode selected in the configuration parameters CREA TC FED CEC FED UIM Description 51 eet Si ce eee SOT DIFFERENTIAL ENDED RESISTANCE Couple 1 Measure Couple 1 Couple 2 Measure Couple 2 ram meee Couple 3 Couple 4 Measure TSR e See Couple 4 le e e t PT100 Table 16 5 Ana Inp Diff measure Single Ended CH Res measure Current Couple 3 Measure The 9 channel is an input channel dedicated to thermocouple cold junction compensation Please refer to the hardware description for additio
5. s with contiguous addresses must be configured in the CoDeSys program The easiest way to declare a list of variables in CoDeSys which can be considered contiguous is to use an array as shown in Figure 27 and address the RDA using the tags 00 3 RDA ARRAY 1 36 OF USINT Alarms ARRAY 4 OF USINT Mailbox ARRAY TT 40 OF USINT 0032 Figure 27 The array must contain bytes elements declared in CoDeSys as unsigned short integer USINT The absolute address into the controller memory segment of a variable declared in CoDeSys is only visible in the symbol file created by the programming software at compile time The CoDeSys array structure ensures that all its elements have contiguous addresses the first element of the array can be used as offset reference for the RDA area Panel Controller Interface RDA Setup Interlock MailBox Panel 1 0 W Keep ADA continuous W Enable ADA References Update Cycles ADA Elements W Keps New group rda ga 1 sec H Keps E4 W Panel El 1 sec i Time M Status i CP W PLE fisec PR LEDs 32 Cu Cancel Apply Help Figure 28 If the Keep RDA Contiguous check box is enabled Designer calculates the proper address of the RDA segments showing the absolute memory address into the PLC memory FED CEC FED UIM Description 28 Considering the example of variable declaration shown in Figure 27 the Keyboard area is mapped as shown in the Figure 29
6. 5000 For Panels which have no integrated Ethernet interface the FED CEC has to be used In the documentation only the synonym FED CEC is used 1 1 1 FED and CoDeSys Control Solutions At the core of HMIcontrol there is the FED CEC PLC module Control modules based on CoDeSys are compatible with all FED panels except for FED 40 models with firmware 5 12 or higher FED CEC Ethernet interface supports also basic TCP IP Ethernet connectivity for FED and CANopen master interface The FED CEC modules physical memory configuration is described in Table 1 The table refers to CoDeSys firmware version V4 01K and above Data Memory Code Memory FED CEC FED CECCAN Table 1 They all have a typical scan time measured for the execution of BOOL instructions written in IL language of 350 us K Note The CoDeSys implementation on FED CEC modules correspond to a single task model with no multithreading the CoDeSys kernel has a system execution time fixed at operating system level to 10ms this means that the fastest possible reaction on I O image is limited to 10ms CoDeSys is the complete development environment for the FED CEC PLC modules CoDeSys offers the PLC programmer a simple approach to the powerful IEC languages FED CEC FED UIM Description 3 The original documentation of CoDeSys will be installed when the software is installed The available documentation includes a clear and detailed presentation of the software and cont
7. FED provides some useful communication diagnostic information in the System Menu This is available also for the internal controller When the communication error status LED is available it will also include status information for the Internal Controller FED CEC FED UIM Description 31 There are various cases depending on the system configuration The Designer project is configured to use an external controller along with the FED CEC application the FED COMM LED blinks when an error occurs in the communication link with the external controller or when the error is detected in the link with FED CEC internal controller In case of a communication error with the external controller the System Menu provides the communication error code as usual The Designer project is configured to use only the Internal Controller In this case the Communication status LED blinks when a communication error with the FED CEC module occurs The FED System Menu does not provide any information about the nature of the communication error Communication error with the internal PLC should never appear gt Note FED will communicate with the CoDeSys Internal Controller even if the PLC application is not running 1 4 Using the Internal Controller The FED Internal Controller is fully compatible with the CoDeSys standard The description ofthe CoDeSys programming tool is contained in the CoDeSys manual distributed with the package please refer to this docu
8. aa iaa 39 1 4 6 PEC Project UDI AG scada deca 39 1 5 I O Boards Overview and General Information oocccoccccocnccccnccncncnannnoncnnnnncnnnncnnnnnnnos 39 1 5 1 Diagnostic INIONMANOM cri lia 39 FO ED JINE ali A das 40 1 6 1 Overview and Technical SpecificatiONS o ccooccconncconncconncnacononnnnononenonos 40 1 6 2 CoDeSys Support for FED UIM occooccccoccccccccncnncncnncncnonanonnannonanonnnnnnanons 50 1 6 3 Configuration of Analog INputS ooocccoccccocnccccnconcnconnnnnnnnnncnconcnonanonononononos 50 1 6 4 Configuration of Analog Outputs cooocccoccccccnccccnconcnconnnnonnnoncnonncnnnanononnnnnnnos 52 1 6 5 Digital Input and Digital Output Configuration ccooccccccncocccnccncconnnoncnonas 54 1 6 6 Counter mer Als late enida 54 1 6 7 Diagnos iia carat dann dla 57 FED CEC FED UIM Description 1 Festo FED CEC FED CECCAN 1 1 Overview This manual describes the FED HMIcontrol system based on the CoDeSys control software The documentation covers FED CEC FED CECCAN control modules factory loaded with CoDeSys run time FED local I O subsystems CANopen distributed I O interface This manual is not intended to be a reference for CoDeSys programming If you need a CoDeSys programming manual please refer to the appropriate documentation FED CECCAN has no Ethernet interface It can be used in all FEDs with integrated Ethernet interface FED 400 FED 550 FED 700 FED 1000 FED 2000 FED
9. cases in the connection with the Internal Controller FED Mode Communication Selection in System Connect Internal Controller to Ports Menu Configuration PC Printer PLC PLE Port PC PLC IT o o P Programmable only in Operation Mode PC Printer PLC Printer Application PC Printer Port PC PLC Printer Application PC PLC Port Table 4 PC Printer PLC PLC Application PLC Port 1 3 HMI Programming FED Designer software version 6 03 or higher is required to program the HMI panel equipped with the FED CEC modules when the use of the Internal Controller is required 1 3 1 Enabling the Internal Controller CoDeSys FED supports three different modes of operation of the Internal Controller The mode of operation can be selected in the dialog box ProjectiConfigure Controllers as shown in Figure 11 FED CEC FED UIM Description 13 Configure Controllers Controller Mode le External controller only Internal controller only Lancel Internal External controllers Help Enable Double protocol Controller 1 AUX port Select protocol Festa EasylP Figure 11 1 3 1 1 No Internal Controller If you select External Controller Only from the Configure Controllers dialog box the FED HMI panels will not activate the internal controller FED will communicate to an external controller using the communication driver selected from the list of drivers displayed when you click on the reference button This optio
10. keywords VAR_RETAIN and END_VAR FED CEC FED UIM Description 25 These variables maintain their value when the controller is powered off and even after an uncontrolled shutdown of the controller The content of retain variables is saved when the device is turned off and restored at the following power up gt Note FED firmware can allocate memory for retentive variables ONLY when the panel is in Operation Mode There is a limit to the maximum number of retentive variables that can be defined The current implementation will support a maximum of up to 2048 bytes Retain settings are shown in the Target Settings dialog box as shown in Figure 26 They are fixed and can not be changed by the user At programming time it will be responsibility of the programmer to ensure that the maximum amount of available memory will not be exceeded When compiling the project the CoDeSys software will use the specific Target Settings information to check if the total amount of retentive variables has been exceeded As FED CEC module has no on board battery backup removing the controller from the unit will result in losing the information of the retentive memories The content of retentive memories will also be lost in the following cases a new project file has been downloaded to FED a new firmware has been downloaded to FED the FEC CEC module is moved from one FED panel to another a new PLC program is downloaded to the controller gt
11. la d livrance d un brevet d un mod le d utilit ou d un modele de pr sentation E vietato consegnare a terzi o riprodurre questo documento utilizzarne il contenuto o renderlo comunque noto a terzi senza esplicita autorizzazione Ogni infrazione comporta il riscarimento dei danni subiti Sono riservati tutti i diritti derivanti dalla concessione di brevetti per invenzioni industriali di utilita o di brevetti per modelli ornamentali Detta dokument far inte utan vart tillstand utl mnas till obeh riga eller kopieras ej heller far dess innehall delges obehGriga eller utnyttjas Overtr delse medf r skade standskrav Alla r ttigheter forbehalls s rskilt r tten att inl mna patent bruksm nster eller m nsterans kningar Copyright O Festo AG Co KG Postfach D 73726 Esslingen Phone 49 711 347 0 Fax 49 711 347 2144 e mail service internationalOfesto com Internet http www festo com Original en Version 1108 Contents 1 R6Sto RED CEC FED CEG CAN cosas scada 3 A A seeds 3 1 1 1 FED and CoDeSys Control Solutions coccccocncoccncccnncccnncncncnncncnacnnnnnnnnonos 3 1 1 2 System CONPGQUIATIONS rnp naei aaia inida aaa ai iE iainih 4 1 1 3 Requirements and LiMitatiONS ooocccocnccocncconncnonononnncnnnnonnnonnnnnnanonnnnnnnonos 5 k2 E e AAA dla vateciue ele ended edt ant ehetarcsin 6 1 2 1 Installing the FED CEC Control Module occccoccccccncccccconccco
12. need eventually to check the configuration of the symbol file in order to be sure that symbols are created for all variables in all POUs Please refer to CoDeSys documentation for additional information FED CEC FED UIM Description 16 Options Category Load amp Save User Information Editar Desktop Dump ML symbol table Colors Directories Log Build Passwords Configure symbol file Source download Symbol configuration Database connection Macros i Dump symbol entries Figure 14 A new version of the sym file is created each time the project is built Symbol files should be re imported in Designer Tag Editor to update the Designer s tag list every time they are updated The CoDeSys symbol file can be imported in Designer selecting the Import tags command from the File menu of the Tag Editor The first step of the import process is shown in Figure 15 in the list of the available controllers the CoDeSys is listed as iPLC CoDeSys Mew lag Dictionary Tag Dictionary Driver Model New Dictionary 1 CoDeSys Controller Oriver DLL Name DLL CoDesys 40 D32U ple 75 dll CoDeSys ETH 4 03 Ds2Uplesl2 dil 5 03 Festo 40 Ds2Uplce023 dl 5 17 Festo EasplP 4 05 Ds2Uplel5s dil 5 14 PLE CoDeSus 3 00 Ds2Uole136 dil 524 lt Refresh x Cancel Figure 15 The second step is shown in Figure 16 FED CEC FED UIM Description 17 Tag Import Wizard Step 2 Sel
13. pulse and gate and or frequency inputs frequency logic connection The external modules must be 24V powered connect OV reference of the external module to the OV of the FED UIM power supply FED CEC FED UIM Description 48 1 6 1 8 4 Analog inputs wiring examples The next figures describe two typical wiring examples for analog inputs two single ended voltage sources on the same channel IN3 IN3 COM one differential voltage source IN2 IN2 one current source INO INO a 2 wire PT100 and a single ended voltage source on the same channel IN3 IN3 COM a 3 wire PT100 IN2 IN2 COM a shielded thermocouple INO INO a 3 wire PT100 EXC IN COM dedicated inputs for cold junction Single ended Differential Current Voltage Voltage Source Source Source Figure 51 Wiring example two single ended voltage sources on the same channel IN3 IN3 COM one differential voltage source IN2 IN2 one current source INO INO DO PAGANA O IAA LA CARALE C TET m ea a mm ai _ ee Ode Mi R 4 5 2 PACS ee JOSE 2020 2 DUE EE a PT100 PT100 Thermocouple PT100 WIRE 3VVIRE JWIRE OUTPUT DEVICE Figure 52 Wiring example 2 wire PT100 and a single ended voltage source on the same channel IN3 IN3 COM a 3 wire PT100 IN2 IN2 COM a shielded thermocouple INO INO a 3 wire PT100 EXC IN COM dedicated inputs for cold
14. size Detailed description will be given in the following sections FED CEC FED UIM Description 22 Data Field Properties Network Reference Dictionary Lodesyz Tag E Comment Reference Data Type Data Format PLC Memory WORD Bin Offset ff g Cancel Help Figure 21 All variables used in a CoDeSys program must be declared in the Declaration Editor The CoDeSys Declaration Editor is shown in Figure 22 The Declaration Editor is used to declare variables of POUs and global variables for data type declarations and in the Watch and Receipt Manager OOO PROGRAM PLC_PRG a o002 VAR E 0003 Timer TIME Counter INT 0006 Step1 BOOL Step2 BOOL 0008 Stepa BOOL Step4 BOOL Step5 BOOL Step6 BOOL 0012 hd Figure 22 FED CEC FED UIM Description 23 1 3 2 5 PLC Memory Variable of type PLC Memory refer to the flag memory area in the PLC Data Field Properties Network Reference Data Type Data Format PLE Memory ETTE Bin Offset A A Figure 23 1 3 2 6 PLC Input and PLC Output Variable of type PLC Input refer to the variables configured as Input variables in the PLC Configuration tool The PLC Configuration tool can be opened from the Resources tree in the CoDeSys programming software The CoDeSys PLC Configuration window is shown in Figure 24 FED CEC FED UIM Description 24 CoDeSys
15. system supports the following system events EVENT _BEFORE_DOWNLOAD 1 4 4 Setting up the PLC Configuration The PLC configuration of the Internal Controller must be defined in the PLC Configuration tool available under the Resources tag as shown in Figure 37 CoDeSys Untitled PLC Configuration aa ao aa sl E Resources H Global Variables library ANALYZATION LIB 5 10 99 1 library IECSFC LIB 27 7 05 04 03 00 library SYSLIBTIME LIB 27 7 05 04 library SYSTASKINFO LIE 27 7 05 0 F Alarm configuration Til Library Manager EN PLE Browser FEE PLE Configuration l ntl Sampling Trace i aia am Target Settings a Task configuration i a Watch and Recipe Manager ba JA Workspace Ejes gg FED CEC CanOpenMaster SLoT eo El FED UIM SLOT Figure 37 a Diagnostic FIx E Digital Inputs F lx Digital Outputs Fi ane Analog Inputs FL Analog Outputs F l To obtain a valid PLC Configuration the target settings must be properly configured CoDeSys implementation for FED CEC modules corresponds to the target FESTO FED CEC as shown in Figure 38 FED CEC FED UIM Description 36 Target Settings Configurators FESTO FED CEC Target Platform Memory Layout General Network functionality Visualization Default Cancel Figure 38 The correct selection of the target ensures a proper configuration of the CoDeSys programming software e
16. that the actual number of POU defined in the project does not exceed the value specified in target settings Please note that at download time if the number of POUs used is greater than 1024 it will be not possible to download the project to the target FED CEC FED UIM Description 33 Target Settings Configurators FESTO FEQ LCEC Target Platform Memory Layout General Network functionality Visualization 0 Configuration W Configurable No address check p Download symbal file E a Symbol config from IMI File E a i PLC Browser Load bootproject automatically ue Mw Trace M Online Change Cycle independent forcing Retain forcing E Update unused Ls Default Cancel Figure 36 Figure 36 shows the General tab and the customizable options available for the Festo target Network functionality Network Global Variables is supported starting from FED CEC firmware version V4 01K Visualization capabilities are at the moment not supported The corresponding tab in Target Setting does not contain any information 1 4 2 System Library Support The FED CEC implementation of the CoDeSys system supports the following system libraries Library Function Supported Notes _ _ SysLibFiles SysFileOpen tes o ooo y O S SysFileClose Yes Se i SysFilewrite Ves o o i SysFileRead es o i SysFileDelete Ves fF ATEO FE SysfileSetPos Ves fF SEE es si SysFileGetSize te
17. the side protection inserts from the rear box Replace the rear cover and fix the screws A B C D Stick the labels indicating the pin assignment Figure 5 Figure 6 FED CEC FED UIM Description Figure 7 1 2 4 1 0 Module Diagnostic The System Menu of FED provides some basic diagnostic information on the operation of the internal I O modules To view the diagnostic information 1 2 3 4 Make sure the operator panel is in Operation Mode Recall the System Menu Scroll down the display to show the bottom row of the page The diagnostic information will be shown as in the example below UIMO5 0 H160 X130 OK UIMO5 type of module O Hnnn Xnnn internal version codes OK confirms the correct installation of the control module 1 2 5 Installing the CoDeSys provided by Festo Programming System Please take the FED Designer CD 6 06 05 or higher Select the subdirectory CoDeSys pb Festo Start the installation of CoDeSys provided by Festo by double click on the file CoDeSys_pbF_vXXXX exe and follow the instructions 1 2 6 Setting up the Communication The HMIcontrol system is composed by two subsystems the FED Operator Panel and the FED CEC Internal Controller Module Programming both subsystems will be via the same serial communication link The FED CEC modules offer as a more efficient alternative an Ethernet interface that can be used for Programming the internal PLC communication wi
18. C_Day AT MB11 BYTE RDA_RTC_Hour AT MB12 BYTE RDA_RTC_Year AT MB13 BYTE This means that the individual bits in the Status word can be identified as follows RDA_SO AT MX8 0 BOOL RDA_S1 AT MX8 1 BOOL RDA_S2 AT MX8 2 BOOL RDA_S3 AT MX8 3 BOOL RDA_S4 AT MX8 4 BOOL RDA_S5 AT MX8 5 BOOL RDA_S6 AT MX8 6 BOOL RDA_S7 AT MX8 7 BOOL RDA_S8 AT MX8 8 BOOL RDA_S13 AT MX8 13 BOOL RDA_S14 AT MX8 14 BOOL RDA_S15 AT MX8 15 BOOL A Similar approach is valid also for the Mailbox area MailBox mapping MB_Status AT MW21 WORD MB_CmdResp AT MW22 WORD MB_Param00 AT MW23 WORD MB_Param01 AT MW24 WORD MB_Param02 AT MW25 WORD MB_Param03 AT MW26 WORD MB_Param04 AT MW27 WORD MB_Param05 AT MW28 WORD MB_Param06 AT MW29 WORD MB_Param07 AT MW30 WORD MB_Param08 AT MW31 WORD MB_Param09 AT MW32 WORD MB_Param10 AT MW33 WORD MB_Param11 AT MW34 WORD MB_Param12 AT MW35 WORD FED CEC FED UIM Description 30 MB_Param13 MB_Param14 MB_Param15 MB_Param16 MB_Param17 AT MW36 WORD AT MW37 WORD AT MW38 WORD AT MW39 WORD AT MW40 WORD The main advantage of this approach would be the natural possibility to overlay the variables definition and to give to each word byte or bit the proper tag for a proper reference into the PLC program and later into the Designer project This approach requires of course accepting that a fixed memory area in the controller memory is allocated and reserved t
19. FESTO Description PLC Interface FED CEC FED CECCAN Digital and analog I O Module FED UIM 760 372 1108a en Weitergabe sowie Vervielf ltigung dieses Dokuments Verwertung und Mitteilung seines Inhalts sind verboten soweit nicht ausdriicklich gestattet Zuwiderhandlungen verpflichten zu Schadenersatz Alle Rechte sind fiir den Fall der Patent Gebrauchsmuster oder Geschmacks mustereintragung vorbehalten The reproduction distribution and utilization of this document as well as the comunication of its contents to others without express authorization is prohibited Offenders will be held liable for the payment of damages All rights reserved in the event of the grant of a patent utility module or design Sin nuestra expresa autorizaci n queda terminantemente prohibida la reproducci n total o parcial de este documento as como su uso indebido y o exhibici n o comunicaci n a terceros De los infractores se exigir el correspondiente resarcimiento de da os y perjuicios Quedan reservados todos los derechos inherentes en especial los de patentes de modelos registrados y est ticos Toute communication ou reproduction de ce document sous quelque forme que ce soit et toute exploitation ou communication de son contenu sont interdites sauf autorisation crite expresse Tout manquement a cette r gle est illicite et expose son auteur au versement de dommages et int r ts Tous droits r serv s pour le cas de
20. LAC HO CO FHPP EDS SFC LAC H2 CO D5402 EDS SFC LAC H2 CO FHPP EDS wt Figure 39 The parameters of the CAN controller are configurable in the rightmost part of the PLC Configuration dialog once the CAN Master device has been selected in the tree with one mouse click The configuration window is shown in Figure 40 H m O C2 m C2 mA es Base parameters PRECO EDS WAF ATA Ee a OT l Module id 5 Mode id i Digital Outputs Flx Input address pre a Analog Inputs FIXx Output address _ Analog Outputs Fi nn E Counter TimervAR Diagnostic address a A CounterTimervAR Comment 200 Figure 40 FED CEC FED UIM Description 38 A complete and detailed description on how the CAN controller should be configured and about the configuration of CAN slave devices is included in the CoDeSys User Manual in chapter 6 5 7 Configuration of CAN Modules CANopen implementation is described in 3S document CANopen for 3S Runtime Systems V2_3_5_0 pdf available in the Help subfolder of the Target package installation path 1 4 5 PLC Programming The CoDeSys software is based on the IEC 61131 3 standard It includes the 5 standard programming languages defined in the IEC 61131 3 model SFC Status Flow Chart FBD Function Block Diagram LD Ladder Diagram ST Structured Text IL Instruction List In addition the CFC Continuous Function Chart language has be
21. Note The Retentive Memory mechanism requires a specific sequence for its activation after CoDeSys project download or FED firmware update the power of the panel MUST be cycled for TWO times to activate the mechanism 1 3 2 8 PLC Parameter The data type PLC Parameter refers to all POU local and global variables The POUref parameter must be fixed to 4 FED CEC FED UIM Description 26 Data Field Properties Network Reference Data Type Data Format PLC Parameters BYTE Bin POLI Ref Offset hp E Lancel Help Figure 25 Target Settings Configurators Target Platform Memon Layout General Network functionality Visualization Base Size Code h Automatic ret 00000 Global M Automatic resrasoo per segment Memory h Automatic rei 000 Input he Automatic feen Qutput M Automatic rereno Retain IY Automatic Em he Retain in own segment Maximum number of POL 1024 Total size of data memory resooooo Maximum number of global data segments li Default Cancel Figure 26 1 3 2 9 Internal Panel Memory The variables of type Internal Panel Memory refer to an internal memory structure located in the FED panel Accessing this memory does not involve any communication with the iPLC controller memory FED CEC FED UIM Description 27 1 3 3 Using the RDA The Reserved Data Area can be configured in the memory of the Internal Controller To use the RDA a certain number of Tag
22. Printer or PLC are highlighted use the Left Right arrow keys to change the assignment of the selected port Two options related to the Internal Controller are available for each FED port Application ports should always be assigned to the Internal Controller in Mode Application Mode if it has to be used for normal operations such as application downloading and debugging Service Service Mode is reserved for special Internal Controller Mode maintenance and should not be used The Port is assigned to the Internal Controller in Application Mode when the corresponding row of the System Menu displays the text Application This message is reduced to A for displays with 20 characters per row When the PC Printer port is not assigned to the Internal Controller it reports the printer status as usual When the PLC port is not assigned to Internal Controller and the Designer project does not use an external controller the System Menu contains the string NOT IN USE in the PLC row In case an external controller is used the PLC row reports the communication error code as usual gt Note Any modification to the port assignment done in System Menu becomes effective after you exit the menu Communication with the Internal Controller is possible both when the panel is in Configuration Mode and when it is in Operation Mode Standard FED programming cables can be used to connect the CoDeSys software FED A gender changer may be r
23. Untitled PLC Configuration aa aaa sa E Resources Global Variables 9 library ANALYZATION LIB 5 10 99 1 E 74 FED CEC pee de CanOpenMaster SLOT ibrary IECSFC LIB 27 7 05 04 03 00 Eb Diagnostic r lx library SYSLIBTIME LIB 27 7 05 04 Er Digital Inputs F Ix H E library SYSTASKINFO LIB 277 050 Ee Digital Outputs F i Y Alarm configuration HA Ee Analog Inputs Fl 1 3 2 7 PLC Retain od JA Workspace Til Library Manager eee Analog Outputs Fi pa a Watch and Recipe Manager Figure 24 Input and Output points can be addresses either using tags or pointing directly to them direct addressing mode Designer can specify 4 different Data Types for Input and Output depending on the size of the element you want to address The data types for Input are PLC Input X to address bit elements PLC Input B to address byte elements PLC Input W to address word elements PLC Input D to address double word elements The data types for Output are PLC Output X to address bit elements PLC Output B to address byte elements PLC Output W to address word elements PLC Output D to address double word elements The different data types must be used depending on the PC Configuration built into the CoDeSys PLC program the mnemonics are compatible Variables of type PLC Retain refer to CoDeSys variables declared in the Declaration Editor in the section enclosed between the
24. ains also a useful First Steps with CoDeSys that should be your first guide in getting confidence with the system The main technical data of the FED CEC control modules are shown in the table CPU 32 bit MIPS RISC processor Clock speed 24Mhz Program Flash memory 4MB Data Flash Memory 16MB SDRAM memory 8MB CPU supervision Reset Watchdog Yes Interface Ethernet 10BASE T only FED CEC CAN interface with optical isolation Table 2 1 1 2 System Configurations You can apply the HMIcontrol systems in different configurations 1 1 2 1 Compact Stand alone Controller The HMIcontrol system can be used to build very compact standalone HMI and PLC systems Input output is available via the FED UIM internal modules Local I O Figure 1 1 1 2 2 Controller with Distributed 1 0 A built in fieldbus interface is provided with the HMIcontrol modules Configurations with local and distributed I O are possible FED CEC FED UIM Description Local I O Remote l O Figure 2 1 1 2 3 HMIcontrol Connectivity An HMicontrol system still offers the same connection capabilities of the FED products Control capability can be combined with connection to a conventional controller PLC Local I O Remote I O Communication with external controller Figure 3 1 1 3 Requirements and Limitations The following firmware and software
25. atisfy most of the typical process I O signals The main feature of the FED UIM is its configurability Due to the high level of integration FED UIM offers a one board solution for most typical I O configurations The current version of FED UIM board includes the following 20 Optically isolated digital inputs 12 Optically isolated digital outputs 4 Non isolated 12 bit Analog outputs user programmable as current 0 20mA current 4 20mA or voltage 0 10V 4 Non isolated 4 differential or 8 single ended channels 12bit Analog inputs with different types of input 1 Dedicated PT100 channel input for general usage or compensation of thermocouples Support for fast counter inputs Connectors view COSOSMSASNS SLSVSOVA SSSOVSSS LLALLA 50 00 iS miro 0 0 narcos P FL seo E T T E q y DIGITAL OUTPUT ANALOG Figure 42 FED CEC FED UIM Description 4O 1 6 1 1 Digital inputs 20 opto isolated The FED UIM module supports 20 opto isolated digital inputs source active high 24VDC inputs All inputs are internally connected to OVDC of power supply 1 6 1 1 1 Digital inputs schematic diagrams The next figures describe the digital input connection schemes and Table 6 summarizes the digital input specifications To intemal logic Figure 43 Digital input schematic diagram for S inputs INO IN1 IN4 IN5 IN8 IN9 IN12 IN13 FED CEC FED UIM Description 41 To internal logic 2 Figure 44 Digi
26. cnccncncnncnnnnos 6 1 2 2 Control Module Diagnostic cri dt 6 1 2 3 Installing the FED UIM I O module oocccoccccoccccccnccncnccocononcnnnnnconcnonanononos 7 1 2 4 O Module Dago ici cd aa delle elit cdas 9 1 2 5 Installing the CoDeSys provided by Festo Programming System 9 1 2 6 Setting up the COMMUNICATION ooccoccncnoccncccnncccnccnononnnncnncnnnnnnnnnnnnnrnnnaninnnnnnns 9 To a ete eee emer Oe ee eae eee ene ne ree cee nee ae rt 13 1 3 1 Enabling the Internal Controller CoDeSys ooccocccccccccccnccccnccocnconcnonanononcnnos 13 1 3 2 A iat ae r Cf lo 1 Lo Pe E teeter ent a ee 16 15349 USING UNG IAS Ao ii pia 28 1 3 4 Programming the MADE s365s On otee dome ssah icasesnaancieSatwonutecdonnpaeaecnseecaaneet 29 1 3 5 AMS sche tdi 29 1 3 6 Alternative Approach to RDA Alarms and Mailbox cooccooccooncconcoo 30 1 3 7 Transferring Data with the Internal Controller ooocccoccccccnccccncconnnos 31 1 3 8 FED Communication Diagnostic ccoccccocnccccnccncnconcnnnnnnnnnnnnnnnonacnconcnnnnnonos 31 1 4 Using the Internal Controller oooccoccncoocncconnoconncconnnccncononocannonannonancnnnnonannonannnnons 32 1 4 1 Tager SOUMING S ia sco eli 32 1 4 2 Systemi LIDFAly SUD DOM aacra van aed e 34 1 4 3 SVSICMINCVEMIS SUDO ONG usina io dde 36 1 4 4 setting up the PLC Configuration oocccocccconcoconncccnnconnonannnnannnnancnnnnonanoss 36 1 4 5 PEC ProgrammiNg
27. d internal logic gt xOUTO HIGH SIDE POWER SWITCH OVdc Figure 45 Digital outputs schematic diagram Description Specification Output channels 12 digital source type opto isolated outputs with feedback of outp ee driver fault status Output voltage pows Output current O OSA Output delay time 150 us max Output protection Over current and over temperature protected driver 1500Vrms Table 11 Digital Outputs specifications 1 6 1 6 Analog inputs The FED UIM module supports 8 single ended or 4 differential analog inputs for voltage and current measurement 1 PT100 RTD input for temperature measurement or for cold junction compensation of thermocouples 1 6 1 6 1 Analog input schematic diagram The next figure describes the analog input connection scheme and Table 12 summarizes the analog input specifications FED CEC FED UIM Description 44 VOLTAGE CURRENT RESISTIVE FILTER To Internal Logic INO ND O VOLTAGE CURRENT FILTER el OK AGND lt COM Figure 46 Analog input schematic block diagram Input channels 4 multifunction analog not isolated input channels All analog common inputs COM are internally connected to M pin of the panel power supply connector Input or measurement type Voltage input Current input Temperature measurement various types of thermocouples or PT100 RTD with incorporated external cold junction compensation A D resol
28. e not specified to complete the configuration the Ex 99 FED CEC FED UIM Description must be replace with unique identifier as shown for example in Figure 58 55 El J FED CEC _ aea u _ cs Diagnostic Flx mo a Digital Inputs FIx me if Digital Outputs FIX _ a Analog Inputs F i vo if Analog Outputs FIX a am fi CountenTimer vAR Value AT 1011 DINT E ZeroFoundr AT Sold 0 UniderFlowF AT Sola2d 1 LwerFlow F AT bla24 2 E ZerosearchEnabler AT S Es f ay Figure 58 The board inputs channels have the following meaning Counter Frequency Value ZeroFound Flag Underflow Flag Overflow Flag The board output channels Board parameters have different options and they can be selected at design time An explanation of the parameters follows in Table 20 Table 21 Table 22 Table 23 and Table 24 O Counter Timernotactive 1 Quadrature incrementalencodercounter 2 02 NormalCounting SSS p38 Gated Counting o 4 Frequency Measurement _ _ Table 20 MachineZeroEnabledF Corresponding terminal block is used as normal digital input true Corresponding terminal block is used as Machine Zero Input Table 21 FED CEC FED UIM Description 56 MachineZeroPolarityF Means Input is active LOW Means Input is active HIGH Table 22 EncoderZeroEnabledF Corresponding terminal block is used as normal digital input true Corresponding terminal block is used as Enc
29. ect a file to import Type the fle name or Click button to browse the file C Genenc formats lt Back Lancel Help Figure 16 Support for CoDeSys native tag format is provided selecting the Native Driver Tags format radio button Any new set of tags imported in Tag Editor after the first one will be imported as a new Dictionary The new Dictionary should be properly linked to the Designer project when enabling the Tag Support under ProjectiConfigure Tag Dictionaries Note New Tags can be ONLY created starting from CoDeSys programming software The Designer tag database must not be changed from within Designer a Note When the Clean all command is executed in the CoDeSys programming software all the absolute tag addresses are re calculated by the CoDeSys compiler and the tag file needs to be imported again in the Designer Tag Editor 1 3 2 2 Source Selection Dialog Box If the Internal Controller set up uses only the internal PLC the Define Field dialog box immediately appears and includes only the CoDeSys variables as shown in Figure 17 FED CEC FED UIM Description 18 Data Field Properties Data Type Data Format pic Pasear worDtti DD het Ulffisel E m Figure 17 If the Internal Controller set up is configured to use a combination of internal PLC and an external controller the Network tab allows the source selection of the variable to be added as shown in Fig
30. en included Please refer to the CoDeSys documentation for all the necessary information and details about programming languages 1 4 6 PLC Project Upload PLC project Upload is supported in the FED implementation To upload a project from the FED CEC module select the command Open from the File menu and click on the PLC button to specify the source of the open action When opening a program from PLC CoDeSys requires the specification of the target settings they should be as shown in Figure 41 Target Settings Configuration Target Platform Memory Layout General Metwoark functionality Visualization Figure 41 Project upload can be executed only if the project source code has been downloaded to the target device The Source code download command is available form the Online menu of the CoDeSys programming software 1 5 1 0 Boards Overview and General Information 1 5 1 Diagnostic information Each board when added to the PLC Configuration is assigned a Diagnostic Address FED CEC FED UIM Description 39 Each board reserves at least 4 bytes starting form this Diagnostic Address Diagnostic information at the moment is not supported the addressing space is reserved for future enhancements 1 6 FED UIM 1 6 1 Overview and Technical Specifications FED UIM is general purpose multifunction I O board compatible with FED 500 FED 1000 FED 2000 and FED 5000 FED UIM should s
31. equired to connect to the FED PLC port 1 2 6 2 1 Limitations There are some limitations in the configurations available for programming the Internal Controller This chapter provides an overview 1 If FED contains a valid project that uses the PLC port to communicate with an external controller and it is in Operation Mode then communication with the Internal Controller is not allowed through the PLC Port because it is already assigned to the PLC communication 2 If FED contains a valid project configured to work with Remote Passthrough the communication with the Internal Controller through the PC Printer Port is FED CEC FED UIM Description 12 not allowed The PC Printer port is already assigned to wait for incoming commands for the Remote Passthrough operation 3 If FED contains a valid project configured to use the UniNet network and the PC Printer port is assigned to network communication the same FED port cannot be used to communicate with the FED Internal Controller A similar consideration applies in case the PLC port is used as network port communication with the PLC is not allowed through the same port 4 f FED contains a valid project where the external controller is configured with a protocol that requires a TCM module then the Internal Controller may not work properly Operations with external controllers that require Ethernet interface via FED CEC are instead always allowed The table below summarizes the most common
32. ital outputs connection FED CEC FED UIM Description 47 1 6 1 8 2 Counter wiring example gt gt gt S S S porno 5 5 gt GATE i T T i K tr H PULSE OV REFERENCE E 2 E 2 E E FREQUENCY Oana On On ZOOQ PO DODODIODOA VDODGODVADO DODOIDVADO f uh _ mu gt O cimaimo VID NY UA AIN IMANI Va 0 TSE UN a oO 2 na OO NO ohWwhND ia VO POWER SUPPLY ANALOG INPUT PT100 ANALOG Wde c Z 4325 Baggi BL el 22 la Oo Z ZO ZZ o 220622 oz gt oO 6 O O ENN Doo PASGBS SSSL BSSOSSG Lodo Figure 49 Wiring example logic connection of 4 encoder modules The encoder modules must be 24V powered connect OV reference of the encoder to the OV of the FED UIM power supply 1 6 1 8 3 Encoder wiring example em ee A A ee me ee a ee a me a a a a a ee Encoder Encoder Encoder Encodar la a 3 y f i E ic i ii MACHINE ZERO INDEX j E a 1 if ZERO INDEX Ad cad i ELE y ug IE E w wl PHASE B TEETER 5229 OV REFERENCE E i Al m f eur zi PHASE A i Hi i T CEH A o SEAT E AH S546 bbdddadd 2eaeened pooooooe ts ES amp UN o le al ll of LA O paa azaete a 2 nda S Figure 50 Wiring example counter inputs
33. mentation for detailed information 1 4 1 Target Settings Target Settings are accessible from the Resources tag of the CoDeSys programming software Please note that most of the options are fixed and cannot be changed by the user This chapter includes the basic explanation of the options available in the Festo Target Settings A complete explanation of all the options is available in the CoDeSys online help The tools provided by 3S to the OEMs allow a high level of customization of the Target Settings dialog depending on the specific hardware requirements and capabilities Most of the options described in the on line help are not available in the Festo Target Support Package This is not an error but the result ofthe OEM decision to keep the interface as simple as possible leaving to the user the possibility to control only some of the most important options FED CEC FED UIM Description 32 Target Settings Configurators FESTO FED CEC Target Platform Memory Layout General Network functionality Visualization Base Size Code Global Memory Input Output Retain we Default Cancel Figure 35 Figure 35 shows the Memory Layout tab of the Target Settings The Maximum number of POUs specifies the max number of POU allowed ina project The maximum number of POUs supported by the FED CEC modules is 1024 The user can specify here any number at compilation time CoDeSys will verify
34. n and Ethernet connection are correct for operation with FED When defining the driver for Ethernet connection the Address parameter shown in Figure 10 must contain the IP address assigned to the FED CEC module Communication Parameters Channels localhost via Topp Tcpilp Leve 2 localhost wia Tcprlp_ C Walue Address 192 168 0 136 IP address or hostname Fort 455 Blocksize 128 Must match with runtime Motorola byteorder Mo Remove Gateway Figure 10 1 2 6 1 1 Setting the IP address in FED CEC Control Modules Setting the IP address of the module follows the standard rules for FED IP address setup FED CEC FED UIM Description 11 1 2 6 2 Communicating with the Internal Controller When FED does not contain a valid project it stays in Configuration Mode in this situation the PLC port is assigned by default to the Internal Controller To program the Internal Controller when no project is loaded in the panel use the normal FED programming cable connected to the PLC port of the panel Note that the Ethernet port is always available for communication with the PLC run time system When a valid project is present in FED and the panel is in Operation Mode the System Menu will allow the user selecting the mode of communication for the Internal Controller using the following procedure recall the System Menu in the panel use the Up Down arrow keys to scroll the menu lines until PC
35. n can be chosen also when an FED CEC Control Module is present in the system In this case the Control Module will not be activated 1 3 1 2 Stand Alone Operation Selecting Internal Controller Only from the Configure Controllers dialog box will activate the Internal Controller in the HMIcontrol system FED will not communicate to an external controller via the PLC Port HMI projects will only reference the Internal Controller Note If the Designer project is configured to use the Internal Controller and FED CEC module is not installed on the panel the project will not run properly Additionally using a TCMxx module with a project configured to use the Internal Controller may result in an unexpected behavior 1 3 1 3 Operation with External Controller Operation Internal External Controller is the most general configuration FED is connected to an external controller via the PLC port or Ethernet port and the Internal Controller is also activated FED CEC FED UIM Description 14 The Internal Controller will work independently of the communication with the external controller When operation with external controller has been selected the Designer will always present the Source Selection dialog box when entering communication references for all dynamic data items The Source Selection dialog box lets the user choose the location of the requested data 1 3 1 4 Selecting the Internal Controller Type After selec
36. nal details All the configuration parameters of the FED UIM Analog Input board can be easily changed run time using the EXOR_I0_CTRL function with the following Function Codes FunctionCode Argument Description 222 a 4 Set Analog Input Full Scale for Channel 1 po 4 Set Analog Input Full Scale forChannel2 _ _ Table 17 Other Function Codes are reserved for factory test procedures and they can not be used 1 6 4 Configuration of Analog Outputs The FED UIM Analog Output board has several parameters that have to be properly configured according to the operation mode you desired for each channel For all the four channels it is required to specify the operating mode the full scale limit is fixed to a certain value depending on the selected mode Each channel can be used for Voltage Output Current Output FED CEC FED UIM Description 52 Figure 55 shows the configuration of the four Analog Outputs channels E a FED CEC A dy CanOpenMaster SLOT Base parameters oe a Diagnostic Flx Ma Value a La Digital Inputs F i 5 Chi D Yoltage 100 a 4 Digital Outputs FU E Che OYoltage 1 100 aans a Analog inputs Fis T Chi 0 voltage 1 00 8 h4 O Voltage 100 7 Analg Outputs F is n f AOL CHT AT 2107 Dih AG CH AT ALO DIR 7 AO_CH3 AT 0D3 DIN _ ft AO_CH4 AT QD4 DIN _ Al CounterTimerM AR sree fi CountenTimer vAR Figure 55 All
37. ncoder and Machine zero index pulse inputs per channel All inputs are internally connected to OVdc of power supply A amp B amp Z amp Mchannel inputs INO 8 IN1 amp IN2 amp IN3 IN4 amp IN5 amp IN6 amp INZ IN8 amp A AA 8 IN10 8 IN11 IN12 amp IN13 amp IN14 8 IN15 Input frequency 1 MHZ Max E 32bit ss Input frequency Table 8 Encoder channel specifications 1 6 1 3 Counter inputs specifications Counter channels 4 pulse and gate input per channel All inputs are internally connected to OVdc of power supply The gate input enables the count of input pulses the count could be enabled only by SW so the gate input is available as a general digital input Table 9 Counter inputs specifications 1 6 1 4 Frequency inputs specifications Specification Frequency channels 4 one input per channel All inputs are internally connected to OVDC of power supply INO IN4 INS 1N12 Input frequency 20KHz max 1 Hz min Pulse width 50 us min 0 005 Table 10 Frequency inputs specifications 1 6 1 5 Digital outputs 12 opto isolated The FED UIM module supports 12 digital source type opto isolated outputs 1 6 1 5 1 Digital outputs schematic diagram The next figure describes the digital output connection scheme and Table 11 summarizes the digital output specifications FED CEC FED UIM Description 43 From Cmd internal logic X OUT1 HIGH SIDE POWER SWITCH vin _ 24Vdc From Cm
38. nvironment 1 4 4 1 Configuring CANopen Distributed I O Distributed I O systems based on the CANopen fieldbus interface of the FED CEC can be easily configured using the I O Connection tool The Internal Controller CANopen master interface must be configured adding the I O devices to the CanOpenMaster Slot which is automatically inserted in the PLC configuration upon selection of the Festo target Right click over the CanOpenMaster board to append the elements as shown in Figure 39 available devices list depends on availability of devices eds files in the proper folder of the Target settings FED CEC FED UIM Description 37 E jg FED CEC s SI ip CanOpenM n i oie nana E Baze parameters CAN parameters El FED UIM S ae ee een CMMS 5T EDS ps a Diagn Replace element PUO CMMS 5T FHPF EDS Gwei La Digital Calculate addresses OZ EWS a a i Digital COS EDS CPCO EDS ee E Analog Copy Ctrl EDS CPCO EDS Analog FB14 EDS y Count MTR DCI 32 CO DS402 EDS i CountenTimerlvAr MTR DCI 32 CO FHPP EDS MTR OCI 42 CO D5402 EDS MTR DCI 42 COlFHPP EDS MTR DCI 52 COro 5402 EDS MTR DCI 52 C Of FHPPY EDS MTR OCI 62 CO D5402 EDS MTR OCI 62 CO FHFPP EDS SFC OC YC 3 E H0 CODS402 EDS SFC DC YC 3 E H0 COLFHPPY EDS SFC DC YC 3 E H2 CO D5402 EDS SFC DC Wil 3 E He COlFHPP EDS SFC L4AC HO CO D540 EDS SFC
39. o FED RDA 1 3 7 Transferring Data with the Internal Controller The FED Data Transfer function can be used to copy data from an external controller to the CoDeSys memory Data can also be copied from the internal CoDeSys memory to the external controller memory The Data Transfer process has different options based on the different Data Format of the data involved in the copy process Source and target tag data format should be always compatible In case more than one variable needs to be copied using data transfer the physical memory address of all the elements must be contiguous The easiest way to obtain this is in CoDeSys is configuring an array Before starting a copy operation the Data Transfer module checks the byte order convention used by the Source and the Target addresses In FED the so called Intel data format little endian is considered not inverted the Motorola format big endian is considered inverted When Source and Target are both inverted or not inverted the Data Transfer module does not apply any transformation If Source and Target have different byte ordering the Data Transfer module applies a byte swap according to the rules explained in Figure 34 Word Byte Swapping Double Word Byte Swapping Source Byte1 ByteO Source Byte3 Byte2 Byte1 ByteO Target ByteO Byte1 Target ByteO Byte1 Byte2 Byte3 Figure 34 1 3 8 FED Communication Diagnostic
40. oder Zero Input Table 23 EncoderZeroPolarityF Means Input is active LOW Means Input is active HIGH Table 24 These parameters can also be changed run time with EXOR_IO_CTRL function with the following Function Codes Function Code Description Set Mode r FO Set MachineZeroEnabledF Set MachineZeroPolarityF O Set EncoderZeroEnabledF Set EncoderZeroPolarityF Table 25 100 101 102 103 04 Other Function Codes are reserved and cannot be used 1 6 6 1 Encoder Input When input is attached to an incremental encoder then at power up the Encoder Zero Search procedure is usually performed The user program should handle the procedure enabling the Zero Search using the channels of the FED UIM Encoder Zero Search Enable board Each Counter Timer board has its own ZeroSearchEnable output 1 6 7 Diagnostic FED UIM is able to report the following diagnostic information using the FED UIM Diagnostic board The 2 outputs of this board are Missing 24V Flag Output short circuit FED CEC FED UIM Description 57 El jg FED CEC _ da CandpenMaster SLOT r al MISSING_244_F AT IX0 0 BOOL a SHORT_CIRCUIT_F AT IX0 1 BC Digital Inputs Flx a Digital Outputs F I sn Analog Inputs F is Analog Outputs Fi pes fl CounterTimer vAR oe fl CountenTimer vAR FED CEC FED UIM Description Figure 59 E 58
41. r Timer type consumes up to 4 digital inputs In case all the 4 Counter Timer inputs are enabled 4 digital inputs are still free for standard operation Please refer to FED UIM hardware manual for additional specification and wiring diagrams For each counter timer input you want to use a Counter Timer board has to be setup in the PLC Configuration Figure 57 shows an example of possible configuration with 2 channels enabled FED CEC FED UIM Description 54 E ig FED CEC ee Can penblaster SLOT or 10 Di besa E Di ee Di Ps agnostic F ls Base parameters Module parameters Index Mame agp gital Inputs F is 5 ChannelNr 1 3 gital Outputs FIs E Mode UO counte weaved Analog Inputs F ls T Machine Mo D EA oa OuthutsIF a Machine Inputis Acti a era 4 Encoderz No Ay CountenTimer vAR 10 Encoderz Inputis Acti oc CT_CHxsMalue AT SID PA eagle slhens CT_CHx_UnderFlowF A Z a CT_CHx_OwerFlowF AT mE a CT_CHx_ ZeroSearchEr E repitan a CT_CHx_OverFlow AT i 7 CT_CHx_ZeroSearcher Figure 57 The parameter ChannelNr specifies the number of the associated counter timer input allowed range is 1 4 Note Please note that Channel number must be assigned manually and must be different per eac Each Counter timer board is inserted in the configuration using generic names h Counter timer board in the range 1 4 where the channel numbers ar
42. rt rz Festo EaslP 1 FST Import 2 Festo 1 IPC FEC Help Properties Delete Figure 19 Data Field Properties Network Reference Configured Nodes UniNETE Address Controller Brand Controller Model AECA 92 168 0 5 Festo SE 1 FST PLE i ODE Sr yz PLE Cobesys Festa O DPOC BLS CoDeSys PLC CobeSys Soa eh les High Priority Figure 20 FED CEC FED UIM Description 21 1 3 2 4 Data Field Dialog Box for the Internal Controller The Data Field dialog box for an Internal Controller data item is show in Figure 21 The Enable Tag checkbox allows browsing the Tag list created or imported in the Designer project See chapter The Tag Editor for detailed description of the Tag Editor tool In a CoDeSys system the following data types are available PLC Memory PLC Input PLC Output PLC Retain PLC Parameter Internal Panel Memory The CoDeSys user program data is divided into segments as shown in the table below Segment Type O M Memory Table 5 If the option Retain in own segment is on retain variables are in segment 3 Global and POU Program Organization Unit local variables without direct address are in the subsequent segments starting with segment 4 If the option Retain in own segment is off they start at segment 3 The reference to variables in the CoDeSys system consists of POUref the segment Offset and
43. s 3 3 3 3 3 SysfileGetlime Yes fF Ss ie oy es i SysFileRename Yes fF EE A OO IO SysLibSockets SysSockAccept SysSockBindSys ES O SysSockClose es FED CEC FED UIM Description 34 SysSockConnect Yes SysSockCreate Yes SysSockGetHostByName Yes No DNS implemented SysSockGetHostName Yes gt gt SysSockGetOption Yes oo SysSockGetlastErorSync Yes i SysSockGetLastError Yes SysSockHtonl Ves SysSockHtons Yes SysSockinetAddr Yes fF SysSockinetNtoa Yes pf SysSockloctl Yes o SysSocklisten Yes SysSockNtoht FE SysSockNtohs Ves fF id SysSockSelect Yes o SysSockSetIPAddress Yes i SysSockSetOption Yes i SysSockShutdown Yes i SysSockRecv Ves SysSockSend Yes SysSockRecvFrom Yes SysSockSendTo Yes A S S SyslibTime CurTime es pd CurTimeex es P A MN A AUN SysktcGetHourMode Yes Return always TRUE oo SysktcGetlime Yes fF o SysRtcSetTime Yes IA AOS PES pf SysStrCmplh es SysStrcmpN es SSP es pd SysStrCpy FE S pd SysStrlen es A ee HA o SysMemFree Yes oo SysMemSet_ es SysMemCmp Ves SysMemCpy Yes SysMemSwap Ves PO E G SysLibGetaddress SysLibGetAddress EC e SyslibGetSize A SysLibCallBack SysCallbackRegister SysCallbackUnregister FED CEC FED UIM Description 35 1 4 3 System events Support The FED CEC implementation of the CoDeSys
44. some basic diagnostic information on the operation of the communication and control modules To view the diagnostic information 1 2 3 Make sure the operator panel is in Operation Mode Recall the System Menu Scroll down the display to show the bottom row of the page 4 The diagnostic information will be shown as in the example below FED CEC FED UIM Description 5 SCMxx 0 H160 X130 OK SCMxx type of module xx 05 FED CECCAN xx 12 FED CEC O Hnnn Xnnn internal version codes OK confirms the correct installation of the control module FED CEC firmware version can be read directly in System Menu when the SCMxx line is highlighted by the cursor press the right arrow key to display the version information FED CEC modules always include the TCP IP software usable for all Ethernet based FED protocols Internal I O modules are compatible with FED 500 FED 550 FED 1000 FED 2000 and FED 5000 models 1 2 3 Installing the FED UIM I O module Follow the procedure described below to install an internal I O module NO e Nm BR Uy 0 N FED CEC FED UIM Description Turn off the operator panel and remove all cables Unscrew but not remove with the crosshead screwdriver the four screws A B C and D Remove the rear cover Insert the FED UIM module Fix the FED UIM module with the two screws E and F Plug the FED UIM internal flat cable connector in to the red connector and make sure they are properly latched Remove
45. tal input schematic diagram for E inputs IN2 IN3 IN6 IN7 IN10 IN11 IN14 IN15 IN16 IN17 IN18 IN19 Description Specification Input channels 20 digital optoisolated source active high 24VDC inputs All inputs are internally connected to OVdc of power supply Input Input voltage range range 12 30Vdc min 3mA 35Vdc max for 500ms ON state voltage current 12 30Vdc min 3mA 6mA O 24Vdc 9mA O 30Vdc OFF state o E E _ _ _ max 1mA Input Inputimpedance 3K3 3K30hm Input filter delay max 200 ns for E input 50 us for S input see note below Table 6 Digital Inputs specifications gt Note About the input filter delay please note that the encoder counter and frequency inputs are digital ones with lower filter delay the other characteristics are the same as described in the above table Each digital input can be used as a standard encoder or counter timer one Refer to the next table for the input filter delay specification Input type input filter delay Input list S EA ns INO IN1 IN4 IN5 INS INO IN1 IN4 INS INS IN9 IN12 IN13 IN12 IN13 E a us aa leaa aeaa aaa IN3 IN6 IN7 IN10 IN11 IN14 IN15 IN16 IN17 IN18 IN19 Table 7 Input filter delay gt Note The time delay for the digital input filter refer to the complete input stage FED CEC FED UIM Description 42 1 6 1 2 Encoder channel specifications Specification Encoder channels 4 Phase A Phase B Zero e
46. th an external controller using a FED Ethernet communication protocol and finally programming FED FED CEC FED UIM Description The set up of the CoDeSys communication is described in the following chapters 1 2 6 1 Setting up the Port for the CoDeSys Programming Software Select Online Communication Parameters in the CoDeSys programming software The Communication Parameters dialog will appear as shown in Figure 8 The first time this dialog is opened the user will be requested to specify the channel for the connection with the PLC Connection channels can be created with the New button Communication Parameters Channels localhost via Topp Teps p Level 2 localhost via Tecp Ip_ C Value Comment Address 192 168 0 136 IP address or hostname Fort 2455 Blocksize 128 Must match with runtime Motorola byteorder Mo Remove Gateway Figure 8 When defining a new channel the type and all the relevant parameters can be defined in the dialog box shown in Figure 9 The following options are possible FED CEC FED CECCAN Serial RS232 TCP IP Level 2 FED CEC FED UIM Description 10 Communication Parameters New Channel Name LLENEN Device e Seral AS232 35 SenalAS232 driver TcporIp Level 2 35 Teprlp level 2 driver Seral Modem 35 Modem driver Tcp Ip Level 2 Route 35 Teplp Level 2 Router Driver Figure 9 Default parameters for both serial port connectio
47. the four channels are independently programmable to be used like voltage or current outputs The parameters ChiType Ch2Type Ch3Type and Ch4Type can be configured as shown in next Table Channel Mode Output Range 10000 10000101 0 2000 44 Table 18 The output range is fixed as specified in the previous table The value written by the PLC program to the output channels is an integer value between O and 10 000 in case of voltage and between 0 and 20 000 in case of current Units are specified in the previous Table 18 All the configuration parameters of the FED UIM Analog Output board can be easily changed run time using the EXOR_IO_CTRL function with Function Codes listed in the next table Function Code Argument Description 22 o 0 oo Osl Set Analog Output Mode Channel 1 ptt Set Analog Output Mode Channel 2 a Ol Set Analog Output Mode Channel 3 BT Set Analog Output Mode Channel 4 Table 19 Other Function Codes are reserved for factory test procedures and they can not be used FED CEC FED UIM Description 53 1 6 5 Digital Input and Digital Output Configuration FED UIM has 20 digital inputs and 12 digital outputs grouped as shown in Figure 56 El J FED CEC _ enlace iil gt Base parameters Module id q Mode id l Output address A Comment i Figure 56 1 6 6 Counter Timer Inputs The FED UIM board features four counter timer inputs Each channel of Counte
48. ting one of the modes including Internal Controller in the Configure Controllers dialog box Designer will prompt you for the Internal Controller type selection showing the dialog box of Figure 12 Choose internal controller type Ed Figure 12 1 3 1 5 UniNet and the Internal Controller Internal Controllers are compatible with the UniNet network The data of the Internal Controller running in any operator panel configured as UniNet server is available to all clients in the network Internal Controllers appear in the list of available data sources in the Source Selection dialog box See figure below FED CEC FED UIM Description 15 Data Field Properties Network Reference Configured Nodes 11 IPC FEC PLE CoDesyz PLE CoDesyz 192 168 0 200 Festo Ea ylP 11 FST IPLE CobeSys PLE Cobesys UniHNET Address Controller Brand Controller Model Communication Priority Lancel Help Figure 13 1 3 2 The Tag Editor The Designer Tag Editor supports direct import of the tag file generated by the CoDeSys programming software 1 3 2 1 Importing a Tag File The CoDeSys programming software saves a list of all the names used into the PLC program in a file with extension sym This file is stored in the application folder The software creates the sym file only if the option Dump symbol entries is selected in the CoDeSys Option under Symbol Configuration as shown in Figure 14 You may
49. ure 18 FED CEC FED UIM Description 19 Data Field Properties Network Reference Configured Nodes Controller Brand Controller Model Festo EasvylP PLE CoDeSys PLE Cobesys Communication Priority 3 Cancel Help Figure 18 1 3 2 3 Using the Internal Controller with UniNet If the UniNET network has been enabled and any of the UniNET servers includes an Internal Controller then the Internal Controllers appears in the list of available data sources in the Network tab of the Data Field Properties An example is given in the rest of this chapter The UniNET network has been configured according to Figure 19 the network has two panels both configured as Server and both configured to use their internal PLC the Network tab of the Define Field dialog box will appear as shown in Figure 20 There are four possible sources for a reference to be added the external controller connected to the UniNET node 1 Festo EasyIP the internal controller of the panel that has UniNET node 1 the external controller connected to the UniNET node 2 Festo the internal controller of the panel that has UniNET node 2 FED CEC FED UIM Description 20 Network Configuration Maximum Node Number Disable undeclared client access E UniNET TCPAP leat F M Enable UniNET Network k Cancel Broadcast Periodic Clack Synchronization Messages Met Comm Configured Nodes Controller Driver Controller Model Expo
50. ution 12 bits Accuracy 25 C Voltage input type Single ended up 8 inputs or differential configuration up 4 inputs Voltage input range Bipolar 100mV 1V 5V 10V Unipolar 0 ffi 100mV O ffi 1V O ffi 5V O ffi 10V Voltage input linearity error 0 1 Voltage input accuracy Bipolar 100mV or unipolar Offi100mV 0 1 F S Bipolar 500mV or unipolar Offi500mV 0 2 F S Bipolar 1V or unipolar Offi1V 0 1 F S Bipolar 5V or unipolar Offi5V 0 1 F S Bipolar 10V or unipolar Offi10V 0 1 F S Voltage input absolute 15V AGND referenced maximum ratings Current input absolute 15V AGND referenced maximum ratings Thermocouple inputs 4 with tested break condition Thermocouple types Thermocouple types E 270 1000 C J 210 760 C K 270 1370 C R 0 1768 C S 0 1768 C T 270 400 C Cold Junction Compensation External via dedicated PT100 input FED CEC FED UIM Description 45 PT100 RTD input 4 for two or three wires configuration in two wires configuration 4 inputs remain free for single ended measurements break or short circuit detected Table 12 Analog Inputs specifications 1 6 1 7 Analog outputs The FED UIM module supports 4 analog voltage or current outputs 1 6 1 7 1 Analog output schematic diagram The next figure describes the analog output connection scheme and Table 13 summarizes the analog output specifications VOLTAGE CURRENT COM
51. versions are required to work with the CoDeSys HMIcontrol systems Pp Version FED Designer 6 03 or higher FED Fi 5 12 or higher 2 3 2 or higher Table 3 All the FED units have only one slot available for the communication or control module and if one PLC module is used it is no longer possible to plug one additional communication module Note The current implementation of CoDeSys on FED CEC does not include drivers for Ethernet distributed I O FED CEC FED UIM Description 1 2 Getting Started The following chapter describes the basic steps to follow in order to get HMlcontrol running on the FED CEC control modules 1 2 1 Installing the FED CEC Control Module The FED CEC Control Module must be installed in the socket available for the optional Communication Modules The Control Module must be installed with the panel powered off Once the power supply is connected again the FED firmware will recognize the new module Follow this procedure to install the module in the operator panel 1 2 3 4 Ji Turn off the operator panel Remove the rear cover Plug the module in the slot with red connectors and make sure the connectors are properly latched Re install the rear cover Mount back the rear cover Stick in the area B the label indicating the type of module that has just been plugged in A CS aoc Figure 4 1 2 2 Control Module Diagnostic The System Menu of FED provides
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