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PMSoft User Manual

1. 0008 6 2 61 3 Eating ENVIrONMENI sivesnssceeswaenivesnxeoersaansavenavesisspavinevimevsiorseasveatueoeets 6 2 Gu AODA a O E EA E Ea 6 3 Bo CONEXE MENU sera eater area 6 4 6 2 Creating a Ladder Diagram in PMSOft ccccccccccsseeeeeseeeeeeseeseeseeeeeeeaes 6 5 6 2 1 Adding a POU which is a Ladder Diagram cccceesseeeeeeeeeeeenees 6 5 6 2 2 Selecting an Object or a Block ccccecccesseeeeeeeeeeeeeseeeeeeseeeeeesaeeees 6 6 6 2 3 Networks in a Ladder Diagram cccsccccsececseeeceeeeceeeecseeesseeesseeeeas 6 7 6 2 4 Making a Comment on a Network ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeaeeees 6 9 6 2 5 Making Comments on Devices and Instructions ccceeeeeeeees 6 9 6 2 6 Displaying Hiding Information ccccccssccceeceseeeneeeceeeseeeeneeeseeesees 6 11 62 7 DeViCe GOMMEIIS sxeeeceaeteee eee eee 6 11 628 Contaci and Gols o ccja rece ces setietocne a 6 13 6 2 8 1 IASEMING A COMACT scivnetohtienctuttianuiutinwaubstenenububiiunsbetttumubetihenubatths 6 13 6 2 8 2 EE EEO o Eeememcnent teen A E A a tet A E ener A etn ee 6 15 6 2 9 Applied Instructions Motion Instructions G codes Function Blocks and Comparison Contacts cccccceecccceeeeeceeeeeseeeeseeeseseeeesseeesaeees 6 17 6 2 9 1 Inserting an Applied instruction a Motion Instruction or a G code OE E d iatdueae doh caaia et cueie aeduute jes uate gat Maen gee deceit 6 18 6 2 9 2 Inserting a FU
2. P Delete Del Select All Ctrl Auto Generate Symbols F Generate by Default Find Ctr F Input Worb by Prefix Replace Ctrl H Activate Hetarork Inactivate Network T Set ON Hum Set OFF Hum Figure 13 32 Automatically assigning symbols to the pins of a function block 13 14 Chapter 13 New Functions and Revised Functions Function 1 Generate by Default 1 After Generate by Default is clicked symbols will be assigned to the pins of the function block and they will be declared in the local symbol table in the POU as shown in figure 13 33 The rule of generating a symbol is First seven letters in a function block definition Pin name For example the symbol automatically assigned to the Axis pin of the function block definition T_AbsSeg1 is T_AbsSe_ Axis T_AbzSez Ul T_Absiezl T_AbsSe_ Asis T_AbsSe_Done T_AbsSe_ Execute T_AbsSe_Fhsy T_AbsSe Position T_AbsSe_ Aborted T_AbsSe Velocity T_AbsSe_ Error Figure 13 33 Automatically assigning default symbols to the pins of a function block 2 If a function block definition has two function block instances in a program the symbols assigned to the pins of the second function block instance will be generated according to the same rule after Generate by Default is clicked but a number will be added to the ends of the symbols Please see figure 13 34 T_AbsSez Ul T_AbsSez T_AbsSe U2 T_AbsSezl T_AbsSe_Asis T_AbsSe_Execute T_AbsS
3. In this section the users only disable the protection of a POU Please refer to section 10 3 6 for more information about removing a PEP password 10 3 4 Downloading a Program Before users download the program in a project they have to make sure that PMSoft is connected to a motion controller normally 1 After the users click Download Program on the Communication menu or on the toolbar the Data Transfer window will appear Menasha Options Window E PG Download Program Ctrl F8 PS Upload Program Ctrl F D Password Setting Ctrl TY En 0100 Ctrl F11 E step 0100 Ctrl F12 OF IG IG S RBPEBOSeBEe System Log PM Information a Edit Register Memory T Edit Bit Memory EE Monitoring l fs Communication Setting 10 9 PMSoft User Manual Data Transfer Transfer Options i Program CAM Chart Parameter Copy SRAM to Flash Password Apply PEP Setting Cancel 2 Selecting Unselecting the Apply PEP Setting checkbox Selecting the Apply PEP Setting checkbox setting a password and clicking OK gt Ifthe users have not set a PEP password for the motion controller the program and the password set in the Data Transfer window will be downloaded to the motion controller and the data downloaded will replace the data in the motion controller gt Ifthe users have set a PEP password they have to type the PEP password in the PEP Password Setting window After the users click OK in the PEP
4. J Symbols Allocation VAR VAR_O1 M3000 BOOL FALSE e Symbols Information oof Global Symbols Programs 4 0100_610 E Ox Fea dz oe Tg me Function Blocks GS Instruction fel anitat Tahlia m system Information Fa i Met Id 1 ONS G Modi ed E 9 1 4 Opening a Recently edited Project 1 After users click the File menu they will find the projects which have been edited recently The users have to click a project Hew Ctrl H Gar Open Cho Save Cts DI Save As Ctrl altes Es Close E Print Ctrl P Open Examples A Import G Code j Exit AlE 2 If the project which is being edited presently has not been saved the system will ask the users whether they want to save the project After the users click Yes or No in the PMSoft window the project they click on the File menu will be opened PMSoft Do vou want bo save the modified project to File C best Project_1 ppm Ves No Cancel 9 1 5 Saving Saving as 1 After users click Save on the File menu or on the toolbar the project which is being 9 7 PMSoft User Manual edited presently will be saved If the project is saved for the first time the Save As window will appear The users can type a file name and set a path in the Save As window If the users do not set a file name and a path in the Save As window the project will be saved as a ppm file with a default file name in a folder in a disk If the users save the project agai
5. PMSoft la A RELTA e System Information After New on the File menu or onthe toolbar is clicked a new project is created 2 2 Chapter 2 Starting and Setting Delta PMSoft File Comurmincatia Qe OR se Project Open Examples Import G Code Exit Alg In the PM Type Setting window type a program title in the Program Title box and select a model in the PM Type drop down list box The users can type a comment in the Comment box if necessary Finally type a file name in the File Name box Click OK after a file name is typed The program title typed in the Program Title box is similar to a comment It is not displayed in another place The users can type a program title in the Program Title box if necessary The file name typed in the File Name box is the name with which the project is saved It is also a project name PM Type Setting Program Title PM Type 20PMOOD Comment File Name Froject_1 After the project is created successfully a system information area will appear at the left side of the main screen The relation between the items listed in the system information area is represented by a hierarchical tree structure If the system information area does not appear the users can click View System Information on the View menu If the users click View Error Message Box on the View menu an error message area will appear The 0100 window will appear in the main working area af
6. 4 0100 5 OUP uj a V W Programs 4 2100 i 5 O Confirm mom E we eS Figure 13 16 Deleting an Ox POU 13 7 PMSoft User Manual 13 2 4 Displaying Hiding the POUs which Are Not Created After the Ox P I section is expanded a list of Ox P I POUs will be displayed If users want to hide the POUs which are not created they have to right click Programs and click Show Hide not created POUs on the context menu which appears as shown in figure 13 17 Show Hidel not created POs Wi Ta Feo J Ids Programs z e t Soo 0100 a 0 10 W Pout 1 Import Frogram 3 Ok Pi G ak 4B Export T a 010 W 2 00 POP 6 7 W 4 10 Jed amp P Wa 4 40 Figure 13 17 Displaying Hiding the POUs which are not created If the users want to create a new Ox P I POU the POUs which are not created must be displayed If the POUs which are not created need to be displayed the users have to right click Programs again and click Show Hide not created POUs on the context menu which appears 13 3 Delta Libraries 13 3 1 Using Delta Libraries PMSoft provides various libraries for various models so that users can use motion control functions conveniently A library can be used only after it is added to the Function Blocks section There are two methods of adding libraries Method 1 Libraries are added when a project is created 1 When users create a project the Add Motion Control Library checkbox i
7. Baud Rate S600 Default Setup Responding Time Time of Auto retry 3 Time Interval of Auto retry sec 3 Chapter 2 Starting and Setting 2 3 4 Setting Communication Parameters for RS232 Driver Name Drv_RS Connection Setup COM Port Prolific USB gt Prolific USE to 5 erial Comm Port COME Lupe Prolific USB to Serial Comm Port COM Communication Protocol COM Fort Data Length 7 f ASCII lt C RTU Parity le Stop Bits 1 Awubo detect Baud Rate 3800 Default Setup Responding Time Time of Autoret 3 Time Interval of Auto retry sec 3 Users can type a driver name in the Driver Name box Select RS232 in the Type drop down list box in the Connection Setup section Select a RS232 communication port in the COM Port drop down list box Each item in the COM Port drop down list box is composed of a device name and a communication port number The communication ports in the COM Port drop down list box are the same as the communication ports in the Device Manager window 4 The communication format can be ASCII or RTU The communication protocol for exchanging data through the communication port selected must be the same as the communication protocol for exchanging data through a communication port on a device connected If users click Default all communication parameters will return to the default values If users do not know
8. DVP series motion controller RS232 A computer is connected to a DVP series motion controller through a Delta communication cable The connection type that the driver created uses is RS232 Note Users have to make sure that the communication protocol for exchanging data through a 2 2 32 driver is the same as the communication protocol for exchanging data through a communication port on a motion controller before they connect the driver to the motion controller AH500 series motion control module USB A computer is connected to an AH500 series motion control module through a USB cable Owing to the fact that an AH500 series motion control module converts USB to RS232 the connection type that the driver created uses must be RS232 if the USB port of an AH500 series motion control module is used Note a Users have to make sure that the USB driver for an AH500 series motion control module has been installed on a computer Please refer to appendix A for more information b Users have to make sure that the communication protocol for exchanging data through a driver is the same as the communication protocol for exchanging data through a communication port on an AH500 series motion control module before they connect the driver to the AH500 series motion control module E E HE h AH500 series motion control module or DVP series motion controller equipped with the function card DVP FPMC Ethernet An AH500 series
9. Users can set the distance for which the controlled device moves lead Speed Users can set the speed parameters needed for controlling motion After the users finish setting the speed parameters they can click Draw to refresh the line chart about the relation between the speed and the time Please refer to DVP PM Application Manual for more information about setting speed parameters Chapter 2 Starting and Setting EM Main Parameter Max Speed SUOO00 ys Bias Speed Timelines s200 0 Hz Ace Time Dec Time 100 ms 100 ms JOG Speed S00 gt Max Speed Users can set the maximum speed at which an axis rotates gt Bias Speed Users can set the start up speed at which an axis rotates The minimum start up speed is 0 Hz gt JOG Speed Users can set a JOG speed gt Acc Time Users can set the time it takes for the start up speed to increase to the maximum speed gt Dec Time Users can set the time it takes for the maximum speed to decrease to the Start up speed MacZero The parameters related to returning to zero are described below Please refer to DVP PM Application Manual for more information about setting the parameters EM Main Parameter n_Limit Switch Logic p_Limit Switch Logic r DOG Switch Logic Direction 2 Normally Open Normally Open Normally Open Increasing Normally Clased Normally Clased Normally Clasec Decreasing Isolate from DOG near Signal _ Contact DOG near Signal i
10. 10 14 Chapter 10 Managing Passwords suggested that users should return a motion controller to its factory setting before they download a new program to the motion controller PMSoft Ed Failed to compile If the motion controller used is a DVP series motion controller and users do not select the Apply PEP Setting checkbox they are asked to type a PEP password when they download the cam data in a project 10 15 PMSoft User Manual MEMO 10 16 Chapter 11 Online Functions Table of Contents 11 1 Online FUNCTIONS cece ceeccceeeceeeeeseeeeeeeeeueeeeaeeeeaeeesaueeseueeseeeeseeeeseeenaes 11 2 11 2 OANE ODSTO M eE E E E 11 2 11 2 1 Downloading Uploading a Project ccccccceseeceeeeceeeeceeeeseeeeseees 11 2 11 2 2 Editing FREGISTCIS cccceccceecceececeeeceeeceeeeceeeceeesauseeeesseeseeesenens 11 4 11 2 3 Editing the States of DeVICES 0 cccccsccccceecesceeeescesceeeeeescsesss 11 7 11 2 4 Sy lem IE 6 6 Ree eee ee eee eee ee eee eee 11 10 11 2 5 Operate the Memory in a Motion Controller ccccceeeeeeeees 11 11 11 3 Monitoring a Motion Controller ccccccccseccccseeeeeeeeeeseeeeseeeeseeeeeeas 11 12 11 3 1 Running Stopping a Motion Controller cccccecccsseeeeeeeeeeeaees 11 13 11 3 2 Monitoring a Ladder Diagram cccsececeeeeeeeeeceeeeeeeeesaueesaees 11 14 11 3 3 Creating a Device Monitoring Table ccccsesceeseeeeeeeeeseeeees
11. View System Infomation View Error Message Box View Ratio 100 Morutornng Radi Signed Decimal Project Ja Symbols Allocation Symbols Information Global Symbols lg Programs B Function Blocks ge Instruction E Monitor Tables I X Chart K Device Comments D OVP_FPMc CAM Chart E PEP Setting mM i system Information 11 25 PMSoft User Manual Instruction oooo1 OLOO ooooz LD M1002 oooos DMOV 0 D1646 oooo4 DMOV O D1926 oooos RST M1074 oooos MOV HEOOO D1868 oooo7 SET M1074 oooos M102 oooos OXO ooo10 GOO 00011 GOO X 10 0 10 0 ooo1l2 G01 x20 0 10 0 F40 0 00013 GUS H2O 0 Y0 0 J30 0 F20 0 oool4 G01 H 10 0 y70 0 F20 0 oo015 GUS X 10 0 10 0 J 3230 0 F20 0 opole M k gt 2 The users have to click Tracing Ox Position on the Communication menu on the toolbar They can click Tracing Ox Position on the Communication menu e on the toolbar only when the Instruciton window is opened Besdies the users have to enable the main program 0100 in the motion controller apaiia Options Window E IPG Download Program Ctrl F8 Pd Upload Progam Ctrl F9 i Password Setting Ctrl CY En 0100 Ctr F11 OR oe eh e Oe Z 282 amp Stop 0100 CtrtF12 M2 Tracing Ox Position t PIM Information 6 aa Edit Register Memory Cl Edit Bit Memory Monitoring 1 Communication Setting i gt Enabling 0100 3 The motion instruction which is being executed p
12. ap OOO 10 Ox E F Hf E l a Function Blocks mr Instruction E Monitor Tables i Chart WA Device Comments D OVP_FPMC CAM Chart PEP Setting oystem Information The error messages related to the compiling of a program are displayed in the error message area The error message area appears at the bottom of the main screen After View Error Message Box 2 8 Chapter 2 Starting and Setting on the View menu is clicked the error message area will appear If users want to close the area they can click in the upper right corner of the area Error Wlessages CD Error at 0100 Metwork IDS Error Code 154 Unknown Symbol or address Error Messages Users can change the way in which the system information area error message area is displayed by clicking A in the upper right corner of the area If the icon is H the area will be hidden automatically After the mouse cursor leaves the area for a while the area will contract If the mouse cursor moves to the tab on the edge the area will expand Project_1 Delta PMSof Project_1 Delta PMSoft File View Commmicatio File View Con system Information Project Ja Symbols Allocation Symbols Information Global Symbols Programs 4 o100_ao H Ox HP ari B Function Blocks mr Instruction If a mouse cursor moves to the tab on the edge the area will expand UOEUHOJUI WaqsAc Besides if the system information area error mess
13. f Programs Ap OOO 10 fk OK HP gl Function Blocks FB oe Instruction E Monitor Tables I rcha H Device Comments P OVP_FPNC CAM Chart E PEP Setting 3 2 2 Changing the Attributes of a POU Which Is a Function Block 1 If users want to modify the attributes of a POU which is a function block they have to right click the POU and click Properties on the context menu Project Ge Symbols Allocation Symbols Information gP Global Symbols Programs Delete POU 4 0100 i10 7 c CH E F gehi g Function Blocks aE or Instruction E Monitor Tables iE x Chart J H Device Comments P OVP_FPMC CAM Chart ES PEP Setting 2 The users can follow the description in the previous section and change the attributes of the POU They can not change the programming language used Besides the users can not modify the attributes of a POU which is a program 3 2 3 Deleting a POU 1 Deleting a POU which is a program If users want to delete a POU which is a program they have to right click the POU and click Delete Program on the context menu 3 6 Chapter 3 Program Organization Units lig Programs LJ Programs 4 01 Per d J O100_10 Efi Oe PY H OH i D nm Fe tw hi mM Fe to bi O 2 Deleting a POU which is a function block If users want to delete a POU which is a function block they have to right click the POU click Delete
14. ldentifi Address Type Initial Comm Figure 12 44 Clicking an object 12 21 PMSoft User Manual 2 After the users click Comment on the PMSoft toolbar the comment binding with the object will appear as shown in figure 12 45 The users can edit the comment pla S d A Ud St ee Bee ae 0 v SimedDecimal wo f O H L Vv Program 0100 See Local Symbols Class Identiti Address Type Initial Gomi Figure 12 45 Comment binding with an object 3 The position of the comment varies with the movement of the object When the users move the object the comment moves as shown in figure 12 46 Program 0100 Local Symbols Class Identifi Address Type Initial Camm Enter the comment Figure 12 46 Comment binding with an object 12 22 Chapter 12 Continuous Function Chart 12 2 11 Changing the Order in Which Objects are Executed The numbers in the upper right corners of the objects in a continuous function chart indicate the order in which the objects are executed If users want to change the number in the upper right corner of an object they can right click the object point to Execution Order on the context menu which appears and click Up Down Front Back Insert After Data Flow or Topology Please see figure 12 47 If Data Flow is clicked the order in which the objects in a continuous function chart are executed will be determined by the data flow of the objects If Topolo
15. w Export Symbols If the users click a cell in the last row and press Enter on the keyboard they can also insert a row in the table 4 8 Chapter 4 Symbols Global Symbols Global Symbols Identifiers Address Type Initial Press Enter Global Symbols Global Symbols Identifiers Address Type Initial Comment 2 The users can select a class in a Class drop down list cell or type a class in a Class drop down list cell The items which can be selected in a Class drop down list box vary with the POU created Please refer to section 4 1 2 for more information Function Block Program 0100 Class Identifiers Class Identifiers 1 VAR is the only item which can be selected in the Class drop down list cell for a local symbol in the window for a POU which is a program There is no Class column in a global symbol table 2 The items which can be selected in the Class drop down list box for a local symbol in a POU which is a function block are VAR INPUT INOUT and OUTPUT 3 The users can type an identifier in an Identifiers cell Please refer to section 4 1 1 for more information about creating an identifier Program 0100 Sle Local Symbols Type Initial Comment 4 If the Address cell for a symbol is blank the system will automatically assign a device to the symbol If the users want to assign a device to a symbol they have to type a device address in the Addr
16. A NELTA Smarter Greener Together Industrial Automation Headquarters Delta Electronics Inc Taoyuan Technology Center No 18 Xinglong Rd Taoyuan City Taoyuan County 33068 Taiwan TEL 886 3 362 6301 FAX 886 3 371 6301 Asia Delta Electronics Jiangsu Ltd Wujiang Plant 3 1688 Jiangxing East Road Wujiang Economic Development Zone Wujiang City Jiang Su Province People s Republic of China Post code 215200 TEL 86 512 6340 3008 FAX 86 769 6340 7290 Delta Greentech China Co Ltd 238 Min Xia Road Pudong District ShangHai P R C Post code 201209 TEL 86 21 58635678 FAX 86 21 58630003 Delta Electronics Japan Inc Tokyo Office 2 1 14 Minato ku Shibadaimon Tokyo 105 0012 Japan TEL 81 3 5733 1111 FAX 81 3 5733 1211 Delta Electronics Korea Inc 1511 Byucksan Digital Valley 6 cha Gasan dong Geumcheon gu Seoul Korea 153 704 TEL 82 2 515 5303 FAX 82 2 515 5302 Delta Electronics Int l S Pte Ltd 4 Kaki Bukit Ave 1 05 05 Singapore 417939 TEL 65 6747 5155 FAX 65 6744 9228 Delta Electronics India Pvt Ltd Plot No 43 Sector 35 HSIIDC Gurgaon PIN 122001 Haryana India TEL 91 124 4874900 FAX 91 124 4874945 Americas Delta Products Corporation USA Raleigh Office P O Box 12173 5101 Davis Drive Research Triangle Park NC 27709 U S A TEL 1 919 767 3800 FAX 1 919 767 8080 Delta Greentech Brasil S A Sao Paulo Office Rua Itapeva
17. AH Simulator RS 232 A computer communicates with a PLC through a communication port on the computer Owing to the fact that an AH500 series motion control module converts USB to RS232 RS232 will be selected if the USB port of an AH500 series motion control module is used USB Virtual COM A computer can connect to a Delta PLC equipped with a USB port through a USB cable However users have to make sure that a USB driver is installed on a computer before the computer connects to a PLC equipped with a USB port Please refer to appendix A for more information about installing a USB driver Ethernet A computer communicates with a PLC through an Ethernet port on the computer DirectLink USB amp DirectLink Ethernet They are the connection functions provided by Delta human machine interfaces HMI If a PLC connects to a HMI normally a computer can connect to the HMI through a USB cable or Ethernet and connect to the PLC indirectly Please refer to manuals for Delta human machine interfaces for more information about setting a connection 3 Communication parameters Communication parameters are set according to the connection type selected Different connection types have different communication parameters The setting of the parameters for the different connection types is described in the following sections 2 24 Communication Protocol COM Port COM gt f ASCII Data Length 7 rat Parity le Stop Bits Auto detect
18. Symbols Information Global Symbols i Programs a Function Blocks FEl Instruction I Monitor Tables I X Chart K Device Comments D OVP_FPMc CAM Chart E PEP Setting system Information Monitor Table Mare WlonitorTable 1 3 If the users want to delete a device monitoring table they have to click the device monitoring table right click the device monitoring table and click Del Monitor Table on the context menu 11 18 Chapter 11 Online Functions System Information A x System Information g a Project Project fem Symbols Allocation za Symbols Allocation A Symbols Information A Symbols Information EP Global Symbols EP Global Symbols Programs Programs ge Function Blocks a Function Blocks FEl Instruction Add Monitor Table Ee Instruction 4 Montor Tables Renae Monitor Table JE Chart I X Chart K Device Comments KA Device Commen D OVP_FPMc D OVP_FPMc CAM Chart CAM Chart E PEP Setting E PEP Setting system Information system Information 4 If the users want to rename a device monitoring table they have to click the device monitoring table right click the device monitoring table click Rename Monitor Table on the context menu type a name in the Add Monitor Table window and click OK in the Add Monitor Table window System Information g x Project Ja Symbols Allocation Symbols Information gP Global Symbols W Programs
19. a Function Blocks Be Instruction Add Montor Table 6 J Monitor Tables Del Monitor Table I X Chart K Device Comme D OVP_FPMc CAM Chart E PEP Setting system Information System Information A x Project Ja Symbols Allocation Symbols Information Global Symbols Add Monitor Table fx hf Programs a Function Blocks mr Instruction Monitor Table Marne E C Bog eee K Device Comments D OVP_FPMc CAM Chart E PEP Setting system Information 11 19 PMSoft User Manual 5 After the users double click a device monitoring table in the system information area a window in which the device monitoring table is created will be opened The users can open several windows in which device monitoring tables area created System Information g x Project fe Symbols Allocation Symbols Information E Global Symbols E MonitorTable_2 SEE W Programs Radix Value Comment ips Blocks MonitorTable_1 Ex w IASTPUCTION aa Ps Monitor Tables Device Radix Value Comment Al Monitor able 1 i E MonitorTable_2 i X Chart s K Device Comments I Ove_FPmc CAM Chart ER PEP Setting system Information 6 The users have to add devices or symbols to a device monitoring table fthe users want to add a device to a device monitoring table they have to click the Device No cell in a row type a device in the Device
20. cccccseeeeeseeeeeeeeeesaeeeeees 3 15 3 2 8 Exporting POUs Which are Function BIOCKS cccccsseeeeeneeeeees 3 16 3 2 9 Importing POUs Which are Function BIOCKS c cesceeeseeeeeeeeees 3 18 Chapter 4 Symbols 4 1 Introduction of SYMDOIS cccccecsecessecesseeeseseesaeeeceeeseeesaseesaeeesaseesaes 4 2 4 1 1 Application of Symbols and Creation of IdentifierS cccccseeeeee 4 2 Me Or 2 0S ee nee Pte E 4 3 Ato DAA TYDO Sonso tacts tanatinea a tana ened lean erage tio eseateen tied 4 3 4 1 4 Assigning a Device to a Symbol and Setting the Initial Value of a OY MON east Accented easateeA asbestos AE 4 4 4 1 5 Modifying a Symbol with an Index Register cccseeseeeeseeeeeeeeeeees 4 5 4 1 6 Combining Bit Devices into a Word Devices ccceceeeeeeeeeeeeeeeees 4 6 4 2 Managing the Symbols in PMSoft cccccecccssseeeseeeesseeeesseeeesseeeesaaeees 4 7 4 2 1 SYDE TA k spanner seteretr ce tar ent ener eee aerated ere eer eer ene ere en 4 7 Aiea ANIE YND 4 8 4 2 3 Modifying a Symbol and Editing a Symbol Table ee 4 13 4 2 4 Clearing Device Addresses and Selecting Multiple Symbols 4 14 AZ DEICTING SY MOOlS esre 4 15 4 2 6 Exporting Importing a Symbol Table cc cceeeeeeeeeeeeeeeeeeeeeeaeees 4 16 424 AMFAMOING SYIMDOIS vita xctrascnsndy sin cctvsnteauteiedecadesudecyducedysnduniedesedededescreiett 4 18 Ae OYMA ACON
21. 0100 SEE Local Symbols lass Identifiers Address Type Initial Comment Local symbol table Editing position The network is not selected Working area The black dotted frame in the network selected indicates the position which is being edited presently lt also indicates the object which is being selected presently The meaning that the black dotted frame in the network selected conveys varies with the position where the black dotted frame appears 6 2 Chapter 6 Ladder Diagram The coil is selected The whole network is selected Mo his a 1 E n The contact is selected The applied instruction is selected 6 If users click the network number the network will be selected 6 1 4 Toolbar After a program editing window in which a ladder diagram can be created is opened a toolbar will appear in the PMSoft window The functions of the toolbar are described below e PMSotft toolbar Te dh vt dh dh a C7 bt be Se Ge SE BP 100 w SimedDecimal wo 7 0 H L leon Keyboard shortcut Function Selection E ee CE O e ee m L B eee EE E tating eoetiggeredcontact E ee ee O E ee Inserting a network under the network selected EE Ctrl F7 Compiling the program Transforming an instruction list into a ladder diagram The function is not applicable to ladder aa Signed Decimal Converting the values monitored Num When the online monitoring function is enabled the contact selected is set t
22. 26 3 andar Edificio Itapeva One Bela Vista 01332 000 Sao Paulo SP Brazil TEL 55 11 3568 3855 FAX 55 11 3568 3865 Europe Deltronics The Netherlands B V Eindhoven Office De Witbogt 15 5652 AG Eindhoven The Netherlands TEL 31 40 2592850 FAX 31 40 2592851 DVP 4949220 02 We reserve the right to change the information in this catalogue without prior notice 20140421 jenuelW AVSM LIOSINd PMSoft User Manual www delta com tw ia A ELTA IN NELTA Smarter Greener Together PMSoft User Manual Revision History Version Revision i Cte The first version was published 2013 05 30 version Chapter 12 Chapter 13 and Appendix B are added 2014 04 21 PMSoft User Manual Table of Contents Chapter 1 Introduction of the Software 1 1 Introduction of PMSoft and System Requirement ccccccesseeeeeeeees 1 3 1 1 1 GharacteriS lC S orrera aa na Ane Ane 1 3 1 1 2 System Requirements cccccccsecccsececeeeecsececesecssecsusessusessasesseeeeas 1 3 RES Mtaling PMSO eae ee a 1 4 wA Uninstalling PMS O Eeer ne a raar aaran 1 7 1 2 Introduction of COMMGR isis csesessevssecsnewswevssevewewsvewenevsnaweweveuavewavesexeseensesveds 1 7 1 2 1 Working Mode of COMMGR cccccceecccceeeeeceeeeeseeeeseeeesaeeeesaeeeesanes 1 7 ke2 Installing COMMGR seanar 1 8 t23 Uninstalling COMMGR cessiasioinenneeenn eenia a 1 11 1 3 Important Points about Writing a Program for an AH500 Seri
23. Are you sure You want bo uninstall this product 1 2 Introduction of COMMGR COMMGR is a new generation communication management tool developed by Delta Electronics Inc It functions as a communication bridge between Delta software and hardware 1 2 1 Working Mode of COMMGR Users can create communication parameters which must be set on the management list in COMMGR in advance The communication parameters which have been created in advance are 1 7 PMSoft User Manual called a driver Users can start or stop a driver in COMMGR If a driver is started a connection will be created automatically After the users specify a driver in PMSoft a communication will be carried out Software Communication port PMSoft COMMGR In addition to PMSoft other software communicating with hardware through COMMGR can operate simultaneously COMMGR manages all communication commands and makes software connect to hardware ses S sme et rome y eco The COMMGR window and the management list are shown below Drivers which are named by users are displayed in the Name column parameters related to the drivers are displayed in the Description column and the statuses of the drivers are displayed in the Status column l COMMGR Hame Description mitatus O Driver RS232 Rataa COM4 ASCII Protocol9600 7 1 Retry 3 Timet START Ditrer Ethermet Ethernet AMD PONET Family PCI Ethernet Adapter Pac STOP 1 2 2 Installing COMM
24. FB1 insti 4 sesa fb1 7 M Add to global symbol table f oo 6 2 9 3 Inserting a Comparison Contact Comparison contacts which can be created in PMSoft are shown below The operands DO and D1 are the objects which are compared The output produced can drive the coil M1 or can be connected to the contact MO in series in parallel There are three types of comparison contacts They are LD AND and OR Users can insert a comparison contact rapidly 6 23 PMSoft User Manual Ml LD Do Dl gt MO Mil AND DI Dl gt If a comparison contact created in a ladder diagram is an incorrect contact the ladder diagram can still be executed Besides after the program is compiled the incorrect comparison contact in the Instruction window will be modified automatically but the incorrect comparison contact in the ladder diagram will not be modified For example if AND should be created in a ladder diagram but OR or LD is created instead the ladder diagram can still be executed There are three methods of inserting a comparison contact Method 1 Instruction Wizard 1 The users have to click a network into which they want to insert a comparison contact 2 The users have to make sure that the mode displayed in the status bar is the the OVR mode After the users press Insert on the keyboard the mode displayed in the status bar will be the OVR mode Ne Press Insert on BJOVE the keyboard on the fast toolbar the A
25. FB2 4 If a subfolder is dragged to another folder the POUs contained in the subfolder will also be dragged If a subfolder is dragged to a folder containing a subfolder whose name is the same as the subfolder dragged a warning message will appear Besides owing to the fact that a folder contains a global symbol it can not be dragged a Function Blocks a Function Blocks Process Data Process Data Global Symbols Global Symbols I Info_l Info lf Fe FB1 AP Save Data i no EP Global Symbols n FB2 I Save Data Global Symbols a Function Blocks Process Data lt Global Symbols PMSoft A Info_1 4 Folder Info_1 already exists in Process Data FB1 AP Save Data j Global Symbols iG G FB2 5 If the users want to delete a folder subfolder they have to right click the folder subfolder click Delete Folder on the context menu and click OK in the Warning window After a folder is deleted the items in the folder will also be deleted The global symbol table in a folder can not be deleted alone If the users want to delete the global symbol table in a folder they have to delete the folder Chapter 3 Program Organization Units By Project fae Symbols Allocation E Symbols Information E Global Symbols Hew FOU Programs 4 010010 C Jx 4 F a f l Jf J e Function Blocks BET EP Global Symbols A Info_1 Hew Folder
26. Paste Down Ctrl D AP Delete Del When the network which is inactivated is selected the Select All Ctrl network number is in a dark color Fina CtrltF i Replace Ctrl H Activate Netarork T Set OW Mut Ss Set OFF Hum When the network which is inactivated is not selected the network number is not in a dark color 3 If the users want to activate the network they have to right click the network and click Activate Network on the context menu 6 2 15 Error Hint The completeness of the networks in a ladder diagram in PMSoft is checked automatically If users do not assign a device to the contact in the figure below a red bar will appear at the right side of the busbar The red bar will not disappear until the editing of the network is complete In a network the output object of a motion instruction the output object of a M code and the output object of a G code are allowed to appear independently However other instructions in a network must contain output objects and input objects The editing of the network is not complete 6 33 PMSoft User Manual MEMO 6 34 Chapter 7 Instruction List Table of Contents l MAthOGUIGTONWOR an NS tuUc ion LIST s2cctecceccatcecocacaccsaceececenentuacencaseedoneceqecnness 7 2 7 1 1 Instruction LISTE susisneiansi asdsctiacetuectiucduacdiuedonnsdueisoudanadenadaneanedanadaneciaetaaes 7 2 7Ac2 Structure ofan INSTUCTON Lisi iscccecsccusccecvennrcmacscenssanevaedeausser
27. S amp M oY _ SMorsmies8e3 J o m o O Additional remark If the bits in the X Y devices which are word devices in an AH500 series motion controller are manipulated the memory blocks that the X Y devices occupy are manipulated However the memory blocks that the T C devices used as bit devices occupy are different from the memory blocks that the T C devices used as word devices occupy If a timer is used as a bit device the timer is ON when the time interval which is measured conforms to the setting value and the timer is OFF when the time interval which is measured does not conform to the setting value If a timer is used as a word device the value stored in the timer is the present value of the timer If a counter is used as a bit device the counter is ON when the number of times a particular event or process has occurred conforms to the setting value and the counter is OFF when the number of times a particular event or process has occurred does not conform to the setting value If a counter is used as a word device the value stored in the counter is the present value of the counter PMSoft User Manual MEMO Chapter 2 Starting and Setting Table of Contents 2 1 Guide to Starting PMSoft and Introduction of the Environment 2 2 2 1 1 First Step of Entering PMSoft ccccccceeccceseeeeeeeeeseeeeesaeeeeseeeesaees 2 2 Ne NS a E E E 2 5 29 MEUD Al oee SRE E EEEE E E EEEE 2 5 ng te TOOD eee EE EE ES 2 7 2 1
28. and will be placed in the P255 section in the Instruction window The users can cut the code and paste it into another program section the 0100 section the Ox section or the P section Instruction oooo1 P255 ooooz LD M1002 00003 MOV HO D1799 X Y AxisPolari input 00004 MOV HO D1804 Z AxisPolari input oooos DMOV HO D1816 X Axis Parameter Motor xi U D o0006 DMOV HO D1896 Y Axis Parameter Motor x U D 00007 DMOV HO D1976 Z Axis Parameter Motor xi U D oooos DMOV K2000 D1818 X Axis Pulse rat oooos DMOV K2000 D1898 Y Axis Pulse rat o0010 DMOV K2000 D1978 Z Axis Pulse rat 00011 DMOV K1000 D1820 X Axis Feed rat 00012 DMOV K1000 D1900 Y Axis Feed rat 00013 DMOV K1000 D1980 Z Axis Feed rat o0014 DMOV K500000 D1822 X Axis Max Sp ooo1s DMOV K500000 D1902 Y Axis Max Sp oo016 DMOV K500000 D1982 Z Axis Max Sp 00017 DMOV KO D1824 X Axis Bias Sp oooig DMOV KO D1904 Y Axis Bias Sp 00019 DMOV KO D1984 Z Axis Bias Sp ooozo DMOV KS000 D1826 X Axis JOG Sp o0o021 DMOV K5000 D1906 Y Axis JOG Sp ooozz DMOV K5000 D1986 Z Axis JOG Sp lt 2 3 Communication Setting The communication between ISPSoft PMSoft and a Delta PLC is shown below The communication manager COMMGR is a communication interface between ISPSoft PMSoft and a PLC This section introduces how to create a connection between ISPSoft PMSo
29. paste the frame and cut the frame The Chapter 6 Ladder Diagram devices selected must be in the same network in a ladder diagram and must be adjacent to one another An input device and the output device in a network in a ladder diagram can not be ina dotted frame Ml pari D Lia er UN OF L ui The users can also select devices by means of the direction keys gt V and on the keyboard They can click a device and hold down Shift on the keyboard while they press the direction keys to enlarge the dotted frame which appears iT 7 Press Shift and sag ane Da n gt on the keyboard 3 simultaneously Select devices by means of direction keys Selecting multiple networks in a ladder diagram If users hold down Ctrl on the keyboard while they click networks which are not adjacent to one another the networks will be selected If the users click at the start of a selection scroll to the end of the selection and hold down Shift on the keyboard while they click where they want the selection to end they will select a range of networks 6 2 3 Networks in a Ladder Diagram A ladder diagram consists of networks Every network in a ladder diagram is an independent program 256 contacts at most can be connected in series in PMSoft There is no limit on the 6 7 PMSoft User Manual number of contacts or coils which can be connected in parallel and there is no mark which is used to connect two netw
30. 32 bits Hexadecimal Binary aaa a Oo aaa aa a a a oO oO a oOo oO a A aaa a oH a a aaa Oo a aa a aaa a a a aa oO oO oO oO oO oo A ao oO fo Oo a a The users can switch between the D Register tab and the W Register tab The users can select the 16 bits option button or the 32 bits option button If they select the 32 bits option button a value will occupy two consecutive registers The users can select the Decimal option button the Hexadecimal option button or the Binary option button If a value that the users type does not match the option button selected an error message will appear The users can change the values in the registers There are ten registers in a row For example DO D9 are in the first row The users have to click a tab select an option button in the Data Length section and select an option button in the Data Format section After the users click a cell they have to type a value in the cell and press Enter on the keyboard If the users want to change the values in the cells to 0 they have to click Clear All Press Enter on the keyboard After the users type values in cells they have to click Transfer In the Transfer Setup window the users have to select the Write to PM Device Register option button and select a range in the Range Setup section After the users click OK in the Transfer Setup window the values in cells will be written into to the m
31. COMMGR window by right clicking the icon and clicking Open on the context menu l COMHMGR Description mitatus Add Configure The COMMGR window is shown below The drivers created are listed in the window ISPSoft PMSoft connects to COMMGR by means of specifying a driver The users can manage the drivers through the buttons at the right side of the window Please refer to the section below for more information about managing drivers 2 21 PMSoft User Manual T COMMGR Description atatus MWe Driver R3232 R3232 COM4 ASCI Protocol 94600 7 e 1 Retry 3 TimeQut STOP EP Driver_Etherne Ethernet AMID PCNET Family PCI Ethernet Adapter Packet STOP S Drive USB USB COMS Retey 3 TimeOut 3 HATART The users can close the COMMGR window by clicking A or al in the upper right corner of the window However the icon representing COMMGR is still displayed on the system tray If the users want to close COMMGR completely they can right click the icon displayed on the system tray and click Close on the context menu The drivers listed in the COMMGR window connect programs and communication ports If the status of a driver displayed in the COMMGR window is START COMMGR connects to the communication port specified by the driver Whenever the computer is restarted COMMGR starts the driver automatically However if COMMGR can not connect to the communication port specified by a driver COMMGR automatically stops the driv
32. Chapter 2 Starting and Setting Error message area The messages related to the compiling of a program are displayed in this area Status bar The information about the editing of a program and a connection is displayed Working area A program editing area a symbol table a device table and etc are displayed in this area When using PMSoft the users can click an item on the Help menu to get help My About PMSof aie PMSoft Instruction Wizard Version 2 04 04 PM Instruction Mammal T a aa m Project Number PJ1345 PM5 001 PMSoft User Mamal Fl Release Date 2012 9 21 Copyright fC 2007 2012 Delta Electronics Inc All rights reserved Internet http Awww delta com tw About PMSoft Users can get the information about the version of the software and the date when the software is released Instruction Wizard The Application Instruction window leads users to type an instruction PM Instruction Manual M Users can get the information about the instructions and the registers PMSoft User Manual Users can get the usage of the software Users can also press F1 on the keyboard to get the usage of the software 2 1 2 Status Bar The status bar displays all kinds of working states including the network which is edited presently the replacement insertion mode the program modification status the connection status the status of the motion controller execution stop error the scan time and the size o
33. DELTA FMSoft AHZOMC D Register V1 0 0 l 2 3 3 EO 44 44 44 0 4 D10 0 0 0 i 5 D20 0 0 0 0 6 D30 0 0 0 0 Y D40 0 i 0 0 5 D50 0 0 0 0 7 If the users want to import the csv file they have to right click the table click Import on the context menu click the csv file in the Import Table window and click Open in the Import Table window 11 2 3 Editing the States of Devices Users can change or read the states of the M devices and the SM devices in a motion controller There are M devices and SM devices in an AH500 series motion controller There are M devices ina DVP series motion controller 1 The users have to click Edit Bit Memory on the Communication menu or fa on the toolbar PMSoft User Manual iin Options Window E PG Download Program Ctrl F8 EJ Upload Program Ctr F9 i Password Setting CtrtW TY Em 0100 Ctrl F1 1 E stop 0100 Ctrl F12 mei A OR ag E A PM Information E Edit Register Memory TE Edit Bit Memory Mormntonng Ci Commimication Setting lt amp Edit Bit Memory The users can switch between the M Device tab and the SM Device tab The users can change the states of the devices There are ten devices in a row For example MO M9 are in the first row 2 The users have to click a tab and double click a cell If the users want to change the states in the cells to OFF they have to click Clear All 3 After the users change the states in cells they have
34. Fat fF Save Data Rename Folder k EP Global Symbols j 3 Save_t FBZ Warnin E ae Function Blocks AP Save Data Global Symbols AP Save_t FB2 3 2 6 Exporting POUs Which Are Programs PMSoft allows users to export POUs which are programs and import POUs which are programs The users can edit the same POU which is a program in different projects If the users want to export POUs which are programs they have to right click Programs in the system information area and click Export Program on the context menu Project Ge Symbols Allocation Symbols Information gP Global Symbols i Programs o1olan sA PLOP a f l A g Function Blocks oe FB1 ae Instruction E Monitor Tables I x Chart H Device Comments D OVP_FPMC CAM Chart EA PEP Setting 3 13 PMSoft Users Manual After the users click Export Program on the context menu the Export POUs window will appear The users can expand the program sections in the Program Info box and select the POUs which they want to export in the Programs box If the users click Select All all the POUs in the Programs box will be selected If the users click Deselect all the POUs in the Programs box will not be selected If the users set a password when they export POUs they will be asked to type the password next time the POUs are imported After the users click OK in the Export POUs window they have to type a file nam
35. LD Confirm lt 4 6 chars gt POL Comment POU Name Users can type a POU name in this box gt Special marks such as amp and can not be used gt Every POU name in a project must be unique gt The POU name typed in this box is case insensitive gt APOU name is composed of twenty characters at most 3 4 Chapter 3 Program Organization Units POW Mame Version Users can type a version number in this box A version number is composed of numbers and decimal points Two decimal points at most can be typed in this box ersiorn Protection If users want to set a password the password typed in the Password lt 4 8 chars gt box must be the same as the password typed in the Confirm lt 4 8 chars gt box Protection Password lt 4 8 chars gt Confirm lt 4 6 chars gt POU Comment Users can type a comment in this box POU Comment gt Users can type a comment in this box Language Users can select a programming language in this section Only the Ladder Diagram LD option button can be selected now Language Ladder Diagram LD O After the users click OK a program editing window will appear and the new POU will appear in the system information area 3 5 PMSoft Users Manual Project wen oyvtnibols Allocation Symbols Information sca SEI Global Symbals Class Identifiers Address Type Initial Comment
36. MSoft User Maral Fl There are three toolbars If a mouse cursor is moved to an icon and stays there for a while the function represented by the icon and the shortcut to the function will be displayed 2 PMSoft User Manual aNG Mew Cth Standard toolbar It provides the functions related to processing a project D E LAIO Fast toolbar It provides the functions related to operating a motion controller GORepeeboek amp PMSoft toolbar It provides the functions related to editing a program Ty 4t yt det dh ACh CD O lt ib GE me oye SS ones el siemed Decimal 7 O H L IDIDI I0ID0I 2 1 5 System Information Area and Error Message Area The contents of the project management area are items related to project development including device information symbols programs and function blocks The system information area adopts an interface which uses a hierarchical tree structure The system information area appears at the left side of the main screen If users want to close the area they can click in the upper right corner of the area After View System Information on the View menu is clicked the system information area will appear After the users double click or right click an item in the system information area the corresponding window or the corresponding context menu will appear system Information Project fem ovmboals Allocation Symbols Information Global Symbols Programs
37. NERE EEEE 13 7 13 2 4 Displaying Hiding the POUs which Are Not Created 00 13 8 13 3 Delta lt 6 gt ee 13 8 13 3 1 Using Deta LID GANIC S seese aE EE EEEE 13 8 13 3 2 Using Delta Libraries ccccccccsecccsseeceeeeceeeeceusecsueessueessueessaes 13 11 13 4 New Functions Related to a Function Block ccceseeeeeeeeeeeeeeeees 13 11 13 4 1 Condition Contact of a Function BIOCK ccccsseeeeseeeeeeeeeeeees 13 11 13 4 2 Omitting the Pins of a Function BIOCK ccccccesseeeeeeeeeeeeees 13 12 13 4 3 Declaring the Symbol Assigned to a Pin of Function Block 13 13 13 4 4 Automatically Assigning Symbols to the Pins of a Function Block irradia EE EAEE EE EE EE EEA A EE E EE EERE EA E E 13 14 13 4 5 Repeated Function Block Instances cccccececeeeceeeeeeeeseeeeaes 13 17 13 5 Other New Functions cccceeccceececececeeeeceececeueeseuceceueesueeseneesaes 13 18 13 5 1 Correspondence between the Symbols in the Local Symbol Table in a POU and the Symbols Used in the POU ccccccseeeeeneeeeeeees 13 18 13 5 2 Viewing the Statuses of the Axes of a Motion Controller 13 19 13 5 3 Default Mode of Program Encryption Protection c06 13 20 13 5 4 Exporting a Cam Chart to a Path Importing a Cam Chart from a Path PONN E vse aah nto uri A E E 13 21 13 5 5 Compatibility of Special Marks ccccccccseeeeeeeeeeeeeeeeseeeeesaeeees 13 22 1
38. Network f Forward f Entire scope C Backward search By Scope Match Case W Device Corrment Whole Word i All Program POUs Ww ANFBR POUs gt Find Users have to type the text which will be searched for or select text which has been searched for after they click in the box gt Origin If the Current Network option button is clicked the search starts at the position selected If the Entire Scope option button is clicked the search starts at the beginning of the program gt Direction Users can search down or search up gt Search By If the Match Case checkbox is selected PMSoft searches only for words that match the case of the word that users type in the Find box If the Whole Word checkbox is selected the Whole Word checkbox instructs PMSoft to find complete words only and not to find words that only contain what users type gt Scope Users can select ranges which will be searched Users can switch between the Find tab and the Replace tab in the Find Replace Ladder window 9 13 PMSoft User Manual Replacing an object 1 After users open a window they have to click an editing position Program 0100 Local Symbols Class Identifiers Address Tye Initial Comment VAR WAR 1 Waoga BOOL FALSE note 2 The users have to click Replace on the Edit menu The users can right click the working area in the window and then click Replace on the context menu G Undo Ctrl Z GS Redo Ctrlt eee SSeS
39. Oe AOOL FALSE Local symbol table lt Program editing area 3 2 Managing POUs 3 2 1 Adding a POU 1 Adding a new POU which is a program Users have to select an item which they want to create in the system information area A default main program is created in PMSotft If the users want to create another POU they have to expand a program section and double click a number Programs J 0100_ 10 Default main program i Gx F a f l a Function Blocks Sf Programs f Programs f Programs J oro io J O100_ 10 J ooo eo C Ox Shwe Cle SJ Ox 1P Oo D at D ase g Function Blacks 2 New subroutine 71 d D S Oi Bu 2 Adding a new POU which is a function block Users have to click Function Blocks right click Function Blocks and click New POU on the context menu 3 3 PMSoft Users Manual Project za oy tbols Allocation Symbols Information Global Symbols Programs J o100_ 010 C Gy j Import Function Blocks H S Se oe Instruction E Monitor Tables A xrcChar Hew Folder ye Device Comments i DYP FPG CAM Chart ES PEP Setting The users have to set the attributes of the POU they want to create in the Create a New POU window After the setting of the attributes is complete they have to click OK Create a New POU En Eno Box With En Eno version 0 Protection Language Password lt 4 0 chars gt Ladder Diagram
40. POU caller When a function block is executed the value of the operand specified by the caller is copied into the function block Besides the system automatically assigns device addresses to the symbols of the INPUT class in a function block Users can not assign device addresses to the symbols of the INPUT class in a function block A symbol of the OUTPUT class is used as an output pin of a function block After the execution of a function block is complete the operation result will be sent to the operand specified by the superior POU caller through the symbol of the OUTPUT class in the function block Besides the system automatically assigns device addresses to the symbols of the OUTPUT class in a function block Users can not assign device addresses to the symbols of the OUTPUT class in a function block A symbol of the INOUT class is used as a feedback pin of a function block When a function block is called the value of an operand specified by the superior POU caller is sent to the function block through the symbol of the INOUT type in the function block After the function block is executed the operation result is sent to the operand specified by the superior POU caller Besides the system automatically assigns device addresses to the symbols of the INOUT class ina function block Users can not assign device addresses to the symbols of the INOUT class in a function block The data types supported by a function block are B
41. Password Setting window the program and the password set in the Data Transfer window will be downloaded to the motion controller and the data downloaded will replace the data in the motion controller the POUs which are not protected by the PEP password will be stored in the general program storage area and the POUs which are protected by the PEP password will be stored in the program protection storage area Data Transfer Ed PMSoft Transter Options Transfer Complete Ww Program CAM Chart Parameter Copy SRAM to Flask Password PEP Password Setting Download PEP or CAM please PMSoft Ed Users have Enter Password set a PEP password 10 10 Chapter 10 Managing Passwords gt Ifthe motion controller used is a DVP series motion controller the cam chart in the project will be downloaded The CAM Chart checkbox in the Data Transfer window can not be unselected The data which can be protected by a PEP password varies with the motion controller used The storage area where cam data Is stored varies with the motion controller used Please refer to section 10 3 1 for more information Unselecting the Apply PEP Setting checkbox and clicking OK gt Ifthe users have not set a PEP password for the motion controller the program in the general program storage area will be replaced by the program downloaded gt Ifthe users have set a PEP password the program in the program protection area will be retained and the prog
42. Setting window will appear and the users will be asked to type the project password if the users want to open a POU in the project Please see figure 13 46 Project Password Setting Password 4 0 Characters Locked Figure 13 46 Project s being protected by a project password If the users want to remove a project password they have to click Project Password Setting on the Options menu type the project password in the Project Password Setting window and click OK Please see figure 13 47 EE Window Help Project Password Setting Restore PM Default Setting Clear PM Code Area Copy SRAM to Flash Password 4 6 Characters Parameter Project Password Setting Figure 13 47 Removing a project password If the users want to upload the program in a motion controller or data from a motion controller they have to click Upload Program If the users click OK after they select the Synchronize Project and PM Password checkbox in the Data Transfer window the PM password which protects the motion controller connected to PMSotft will be used as the project password which protects the project created i Data Transfer Transfer Options i Program CAN UC hart AD P W Synchronize Project and PM Password Cancel Figure 13 48 Using a PM password as a project password 13 23 PMSoft User Manual MEMO 13 24 Appendix A Installing a USB Driver Table of Contents A 1 A 2 Installing the USB Driver for a Mot
43. The users have to click j on the PMSoft toolbar as shown in figure 12 14 OJ Figure 12 14 Clicking Add Pin on the PMSoft toolbar 12 9 PMSoft User Manual 3 Anew input pin is added to the bottom of the logic gate as shown in 12 15 Figure 12 15 Adding a new input pin 4 If users select an input pin and then click j a new input pin will be put on the top of the input pin selected as shown in figure 12 16 Figure 12 16 Adding a new input pin 5 If the users click a logic gate and then click on the PMSoft toolbar the input pin at the bottom of the logic gate will be deleted If the users select an input pin and then click Jj the input pin will be deleted Please see figure 12 17 Figure 12 17 Deleting an input pin 12 10 Chapter 12 Continuous Function Chart 12 2 4 Changing a Pin Type Users can change a pin type in a way described below and design a complex continuous function chart 1 If users select the pin of a node a pin of a logic gate a pin of a function block or a pin of an instruction and then click on the PMSoft toolbar or on the context menu which will appear after the users right click the pin the state of the pin will be negated Please see figure 12 18 If the users select a pin whose state is negated and then click 4 the state of the pin will not be negated mF mp 6 AND 1 AND 1 Tik Tik Figure 12 18 Negating the state of a pin 2 If the users selec
44. There are ten default networks in a program editing window 6 5 PMSoft User Manual Program 0100 Identifiers War o War War_2 War_3 Local Symbols Address Type M3000 BOOL byooo WORD M3001 BOOL M3002 BOOL 6 2 2 Selecting an Object or a Block Initial Comment FALSE 0 FALSE FALSE Before an object a block or a network is selected users have to press Esc on the keyboard or click e on the toolbar 6 6 Selecting an object Users have to move the mouse to the object they want to select and then click the left mouse button If an object in a network is selected the color at the left side of the network will be yellow If no object in a network is selected the color at the left side of the network will be gray MO lf MO OO002 M Selecting a block The contact is selected lt _ The network is selected The whole network is Seceda The coil is selected The applied instruction is selected 6 If users click the network number the network will be selected Lee eee ee The network is not selected M1 O MI M3 mH n e If users click a device and hold down Shift on the keyboard while they click another device the devices clicked and the devices between the devices clicked will be selected and will be ina dotted frame The users can connect the frame to a position in parallel connect the frame to a position in series delete the frame copy the frame
45. Transfer Complete o O Unselecting the Password checkbox and clicking OK gt Ifthe users have not set a PM password for the motion controller the program will be downloaded to the motion controller gt Ifthe users have set a PM password they have to type the PM password in the PM Password Setting window After the users click OK in the PM Password Setting window the program will be downloaded to the motion controller 10 2 3 Uploading a Program Before users upload a program they have to make sure that PMSoft is connected to a motion controller normally 1 After the users click Upload Program on the Communication menu or on the toolbar the Data Transfer window will appear Bpa Options Window E IPG Download Program Ctrl F8 EF Upload Program Ctr F9 i Password Setting 9 Ctrl CY En 0100 Ctr Fll E stop 0100 Ctrl F12 System Log PM Information a Edit Register Memory T Edit Bit Memory Monitoring VD Li Commmication Setting 10 5 PMSoft User Manual Data Transfer Transfer Options W Program CAM Chart Parameter Read PEP Cancel 2 Clicking OK fthe users have not set a PM password for the motion controller the program will be uploaded to PMSotft fthe users have set a PM password they have to type the PM password in the PM Password Setting window After the users click OK in the PM Password Setting window the program will be uplo
46. User Manual 2 AH500 series CPU module USB A computer is connected to an AH500 series CPU module through a USB cable An AH500 series CPU module is equipped with a type B mini USB interface The connection type that the driver created uses must be USB Virtual COM Note 2 34 N a Before users connect the AH500 series CPU module in an AH500 system to a computer they have to make sure that the power supply modules the CPU module the network modules and the backplanes in the AH500 system are installed properly b Users have to make sure that the USB driver for an AH500 series CPU module has been installed on a computer Please refer to appendix A for more information AH500 series CPU module Ethernet An AHCPU5xx EN series CPU module is quipped with an Ethernet port to which a RJ45 cable can be connected and can be connected to a computer through a network cable A computer can connect to an AHCPU5xx EN series CPU module in two ways One way to connect a computer and an AHCPU5xx EN series CPU module is connecting them to the same domain by means of a switching hub The other way to connect a computer and anA AHCPU5xx EN series CPU module is connecting them by means of a network cable no jumper wire is needed The connection type that the driver created uses is Ethernet Please refer to the figure in 3 above for more information Note a Before users connect the AH500 series CPU module in an AH500 system to a co
47. Users can create program organization units declaring global symbols and declaring local symbols t supports two programming languages They are ladder diagrams LD and instruction lists IL It supports electronic cams and G codes It provides a good interface for designing motion control t provides simulators displays an x axis y axis Z axis path provides monitoring modes and trace motion instructions Users can debug the program created conveniently lt supports a large number of applied instructions lt provides basic functions such as copying objects cutting objects pasting objects undoing actions and printing projects It supports traditional Chinese simplified Chinese and English Users can search for replace networks or symbols The project management adopts an interface which uses a hierarchical tree structure It provides many convenient functions such as making comments activating inactivating networks managing devices and symbols simulation and etc Users can import export projects It provides several password setting and data protection mechanism It supports COMMGR a new generation communication manager 1 1 2 System Requirements Before using PMSoft users have to make sure that an operating system meets the requirements below o iem System requirement Operating system Windows 2000 NT Me XP Vista 7 CPU Pentium 1 5 G or above 256 MB or above A memory having a capacity of 512 MB or
48. W Programs a2 Function Blocks im Instruction N PEP Setting Monitor Tables 4 2100 xrChart Sf Ox P H Device Comments I OvP_FPMc CAM Chart PEP Setting 4 100 Je OX a system Information In this section the users only specify a POU which will be protected by a PEP password in the project After the users download the POUs created in the project and set a PEP password the POU specified will be protected by the PEP password 10 3 3 Disabling the Protection of POUs 1 After users right click a POU number which represents a POU protected by a PEP password under a program type and click Disable Protection on the context menu _ PY at the right side of the POU number will be removed the POU represented by the POU number will not be protected by a PEP password and n in _ nP at the right side of the program type will decrease by 1 the number of POUs protected by a PEP password will decrease by 1 If n in nP at the right side of a program type becomes 0 _ nP will be removed 10 8 Chapter 10 Managing Passwords system Information Project A fe Symbols Allocation oe Symbols Information gP Global Symbols WF Programs a2 Function Blocks fe Instruction PEP Setting El Monitor Tables 4 0100 t I srChart Sj Ox H Device Comments E ove FEC p CAM Chart PEF Setting 6 gt J 5100 Ox 1P 3 system Information Di hi
49. a Node ONIine ccccccccescceceeeeeseeeesseeeeseeeesseeeeeas 12 25 PMSoft User Manual 12 1 Introduction of a Continuous Function Chart 12 1 1 Continuous Function Chart A continuous function chart is a programming language further defined by IEC 61131 3 Continuous function charts are frequently used in the field of motion control The main character of a continuous function chart is that a program is represented by a diagram resembling a circuit diagram Compared with other programming languages a continuous function chart defines the relation between the inputs and the outputs in a program more clearly and the order in which the instructions in the program are executed The creation of a continuous function chart in PMSoft will be introduced in the following sections The principle of a continuous function chart will be not be described further in this chapter 12 1 2 Important Points about Creating a Continuous Function Chart Users can enter instructions by means of a keyboard but the instructions LD LDI LDP and LDF are not supported After the users type a register name or a variable an input node will be pasted automatically Acontinuous function chart is case insensitive That is the words OUT Out and out have the same meaning Constants are represented in the following ways gt Decimal system 2345 gt Hexadecimal system 16 5BA0 gt gt Floating point number 4 123 A continuous function chart s
50. a function block instance in the Add Symbol window The users have to create a symbol whose data type is a function block Then the users have to click OK or press Enter on the keyboard Finally the users have to assign devices or symbols to the pins of the function block inserted Add Symbol Identifier Address Type Initial Comment fib x M Add to global symbol table 6 22 Chapter 6 Ladder Diagram Method 2 Typing a function block definition 1 The users have to click a network into which they want to insert a function block 2 After the users select a position they have to press Enter on the keyboard or type a function block definition After the users press Enter on the keyboard or type a function block definition the New Instruction window will appear After the users type a function block definition in the Instruction box they have to press Enter on the keyboard or click OK New Instruction Instruction Please refer to section 6 2 5 for more information about making comments on devices and instructions 3 The users have to type a function block instance in the Add Symbol window The users have to create a symbol whose data type is a function block Then the users have to click OK or press Enter on the keyboard Finally the users have to assign devices or symbols to the pins of the function block inserted Add Symbol Identifier Address Type Initial Comment
51. above is recommended Hard disk drive Capacity 500 MB or above CD ROM drive For installing software It is optionally required Resolution 16 bit color quality or above Memory Keyboard Mouse A general keyboard mouse or devices compatible with Windows A printer with a driver for Windows It is used to print a project and is optionally required For connecting to a motion controller E EE One of them is used but a motion USB port g controller which is connected must controller z l l have a corresponding port 1 Ethernet port or connecting to a motion controller Communication COMMGR version 0 53 or above must be installed on a computer 2 PMSoft User Manual System requirement Models which are AH20MC 5A AH10PM 5A AHO5PM 5A DVP 20PMOOD supported DVP 20PMOOM and DVP 10PMO0M 1 PMSoft supports several ways in which a computer is connected to a motion controller Users have to make sure of the port and the mode supported by a motion controller before a computer is connected to the motion controller 2 Please refer to section 1 2 for more information about COMMGR 3 The functions and specifications mentioned above are only applicable to PMSoft version 2 04 or above The older versions are not equipped with the complete functions 1 1 3 Installing PMSoft If an older version of PMSoft has been installed on a computer users have to uninstall it before installing PMSoft Pleases refer to section 1 1 4
52. an Instruction List 9 15 9 2 4 Searching for an Object in a Symbol Table cc ceeeeeeeeeeeeeeeeees 9 18 9 2 5 Checking and Compiling the Program in a Project ccccceeeeees 9 19 TIONS ersin nenene iE E E EEEE EEEE EEE EEEE EERE EE ESERE EEE 9 20 PMSoft User Manual 9 1 File Operation 9 1 1 Creating a New Project 1 Users have to click New on the File menu or on the toolbar i Edt Compile View i ar pen Ctro Save trs MI Save As Ctrl alt S fe e ES Close Ss OR Print Ctrl F 6 Open Examples Import G Code Exit AlE 2 The users have to type a program title a file name and a comment in the PM Type Setting window PM Type Setting Program Title motion Prog 1 PM Type 20PM00D Comment for X motion control File Name Project_1 3 The users have to select a model in the PM Type drop down list box 9 2 Chapter 9 Project Management PM Type Setting Program Title motion Prag 1 PM Type 20PMO0D ZOPMOOD Comment for Y rmotic File Name Project_1 4 After the users click OK in the PM Type Setting window a project window will be opened Project_1 Delta PMSoft Program 0100 7 5 File Edit Compile View Commmication Options Window Help Hae amp Bea 9 OG Boe8kkt amp Gy 100 v SignedDecimal v J QO H L Local Symbols a Project Class Identifiers Address Type Initial Comment J Symb
53. and click Add or Remove Programs In the Currently installed programs box click COMMGR x xx xx and then click Remove x xx denotes the version of the software Add or Remove Programs Currently installed programs C Show updates Sort by Change or z SS Sias 52 Aone TA E COMMGR 1 00 Size 23 43MB Programs Click here For support information Used occasionally Last Used On 8 13 2012 73 To remove this program From your computer click Remove Add Hew Programs DCISoft 1 08 Size 25 38MB m jp 15PSoft 2 00 Size 234 00MB ff Oracle M VirtualBox Guest Additions 4 1 18 Size 3 03MB AddiRemove windows jy PL 2303 USB to Serial Size 2 39MB Components Set Program Access and Defaults B WPLSoft 2 30 Size 120 00ME Method 2 Start gt Programs gt Delta Industrial Automation gt Communication gt COMMGR gt Uninstall liz i eee fin Accessories m Startup Documents fin Toals E irr Delta Industrial Automation fm PLZ P Settings Internet Explorer ie HMI Search ca Outlook Express Mi Remote Assistance Help and Support Windows Media Player 2 After users click Yes COMMGR will be removed Windows Installer COMMGR 1 00 Are vou sure you want to uninstall this product 1 11 PMSoft User Manual 1 3 Important Points about Writing a Program for an AH500 Series Motion Controller AH20MC 5A AH10PM 5A and AHO5PM 5A are medium types of mo
54. are input pins and output pins The usage of a function block is also similar to that of an applied instruction However before a POU calls a function block users have to declare a symbol whose data type is a function block in the POU caller Besides a function block can call another function block A function block is a memory unit Every function block is assigned a substantial memory block where the values of the internal symbols are stored Owing to the fact that the values of the symbols in a function block will be retained after the function block is executed every execution result is affected by the last execution result In other words the output values may be different even if the input values are the same An application example of a function block is shown in the figure below There is a symbol whose data type is a function block in the local symbol table in the superior POU caller The name in the Type cell is the same as the name of the function block Please refer to the following sections for more information about the usage of a function block 5 2 Chapter 5 Function Block Prognm 0100 Local Symbols Class Identifiers Address Type Initial Comment b VAR FB1_inst1 FB1 posse eee ee 4 beeen eonee Local Symbols Class Identifiers Address Initial Comment gt VAR FALSE INPUT FALSE OUTPUT FALSE 5 1 2 Characteristics and Advantages of Function Blocks Owing to the fact that fun
55. coil is N MO Ma T n I I I l L l Current value in this device This contact is ON M3 100 0 Moy DO Dl The users can select Signed Decimal Unsigned Decimal Hexadecimal or Float Point in the Monitoring Radix drop down list box on the View menu or in on the PMSoft toolbar 11 14 Chapter 11 Online Functions GRY commmication Options Winde ir Instruction t IE x Chart A Edit Device Comments Add Monitor Table Signed Decimal Unsigned Decimal PS Add CAM Chat Hexadecimal Float Fount View System Information View Error Message Box e View Ratio Moritoring Kalix Signed Decimal OR S 100 w Signed Decimal 1 0 Signed Decimal is selected signed Decimal 100 0 Unsigned Decimal Bo d Mov Du D1 Float Pout Hexadecimal is selected signed Decimal onde ong Unsigned Decimal MC Do D Hexadecimal Float Pout 2 If the users want to control a contact they have to select the contact right click the contact and click Set ON or Set OFF on the context menu or click 7 or 0 onthe toolbar 11 15 PMSoft User Manual Ma Fina Ctrl F Feplace Ctrl H T Set OW Mur Set OFF Mur OR MO M2 i M1 S 100 w Signed Decimal w EAL O Set ON The contact selected is set to ON Set OFF The contact selected is set to OFF 3 If the users want to change the value in a device they have to click the value type a value and press En
56. comment they can open the New Instrucion window again H 9 sssae Press Enter on Sl the keyboard New Instruction Instruction LD M0 Comment Making a comment on a device New Instruction Instruction TMR TO DO Eel Comment farm CSS Enter on al OR EE he keyboard Making a comment on an instruction Instruction Hote 1 Method 2 The users have to click the position under a device or an instruction in a network Then the users have to type a comment Finally the users have to press Enter on the keyboard or click the blank in the network M i L i evice Mote a Device Note 1 Making a comment on a device Chapter 6 Ladder Diagram Instruction Hote 1 Making a comment on an instruction If a contact or a coil used is assigned a symbol the users can only make a comment on the symbol and they can not make a comment on the contact or the coil Please refer to chapter 4 for more information Besides after the mouse cursor stays at the contact or the coil which is assigned a symbol for a while the comment on the symbol will appear Global Symbols Seles Global Symbols Identifiers Address Type Initial comment Var 0 M3001 BOOL FALSE Push_Button_1 War Dy OOO WORD 0 Input value War M3002 BOOL FALSE Light_1 Comment on the ymbol Var M1 te Class YAR Le Mame Var O ywerT Tre Type BOOL Address M3001 Comment P
57. devices The data type of FB_Var is LWORD not ARRAY gt The third basic principle for the symbols whose data types are ARRAY is satisfied As a result P_Var and FB_Var are legal symbols v Example 9 P_VAR is an array composed of four word devices and FB_ Var is an array composed of two double word devices gt The third basic principle for the symbols whose data types are ARRAY is satisfied As a result P_Var and FB_Var are legal symbols Xx Example 10 P_VAR is an array composed of thirty two Boolean devices and FB_Var is an array composed of two word devices gt The second basic principle for the symbols whose data types are ARRAY is not satisfied As a result P_Var and FB_Var are illegal symbols 5 2 4 Function Block Definition and Function Block Instance After users add a POU which is a function block to the system information area in PMSoft declare local symbols in the POU and write a program in the POU they will get a function block definition If a function block created is not called by any POU which is a program it will not participate in any operation and the system will not assign any memory block to the function block and the local symbols in the function block In other word if a function block created in a project is not called by any POU which is a program it is just data saved with the project and does not appropriate any resource that the motion controller uses By Project fe Symbols Allocation Symb
58. era Return Direction Go Zero Mode Normal 7 Overwrite Dog Switch Option Rise Edge lt Falling Edge oO 8 DOG wising edge detecting PMSoft User Manual Users can set the polarity of the negative limit switch the polarity of the positive limit switch and the polarity of the DOG switch When the motor returns to zero it rotates in the positive direction or in the negative direction VRT Speed of returning to zero VCR Users can set the deceleration of returning to zero When the motor returns to zero it rotates at the speed of returning to zero VRT After the DOG signal is triggered the motor will begin to decelerate the return to zero P The motor will stop rotating after a certain number of pulses are generated After the DOG is signal is triggered the motor will not be at zero until P pulses are generated O N The motor will stop rotating after a certain number of zero signals PGO are generated by the encoder of the motor After the DOG is signal is triggered the motor will not be at zero until N zero signals PGO are generated Users can select a mode of returning to zero mode If the Normal option button in the Go Zero Mode section is selected the motor will stop rotating after N zero signals and P pulses are generated If the Overwrite option button in the Go Zero Mode section is selected the motor will stop rotating after N zero signals or P pulses are generated If the Ris
59. for more information about uninstalling PMSoft 1 Start a Windows 2000 NT Me XP Vista 7 operating system 2 Puta PMSoft CD in the CD ROM drive or download the installation program from http www delta com tw ch index asp Before the installation program downloaded from the website is installed it has to be decompressed 3 Click Start and then click Run to open the Run window Specify a path which denotes the installation file in the Open box and then click OK Users can also double click the installation file to execute the installation program PMSoft_2 04 04_120921 File Edit View Favorites Tools Help ae t gt Type the name of a program Folder document or e Back C wi DO search E gt Folders Internet resource and Windows will open it For you Address E PMSoft_2 04 04_120921 v E o PMSoft120921_ Install Setup Launcher Installshield Software Corpora Readme Text Document J 1K6 4 Welcome to the InstallShield Wizard for PrISoft 2 04 The InstallShield R Wizard will install PMSoft 2 04 on your computer To continue click Next WARNING This program is protected by copyright law and international treaties j Cancel 1 4 Chapter 1 Introduction of the Software 5 Type related information in the User Name box and the Organization box and then click Next ie PMSoft 2 04 InstallShield Wizard Customer Information Please enter your information User Nam
60. in figure 12 49 p The input node is OFF The output node is lane false mo HD 1 trie mi a a ee false Value in the node false he b Moy 2 ii En Do 5 D E Figure 12 49 Monitoring a continuous function chart online The users can select Signed Decimal Unsigned Decimal Hexadecimal or Float Point in the Monitoring Radix drop down list box on the View menu or in on the PMSoft toolbar as shown in figure 12 50 and figure 12 51 E Conmmnication chee N Gur Instruction T IE EY Chart IE 3D Chat al Edit Device Comments Signed Decimal Add Monitor Table a Ea Add Monitor Unsigned Decimal i add CAM Chart Hexadecimal Float Pout View System Infomation View Error Message Box View Ratio 100 vw Monitoring Radix Signed Decimal Figure 12 50 Monitoring Radix Signed Decimal is selected Signed Decimal M3 Unsigned Decimal Moy 4 Hexadecimal Pt Float Point 100 Do D 12 24 Chapter 12 Continuous Function Chart Hexadecimal is selected false Signed Decimal Ma P Unsigned Decimal oy 2 f En Float Foint O06 4 DO z D OO00 Figure 12 51 Changing a radix 12 3 2 Controlling a Node Online 1 If users want to change the state of a node online they have to select the text box showing the state of the node right click the text box and click Set ON or Set OFF on the context menu which appears or click 7 or onthe toolbar Please see figure 12 52 true
61. in the folder will also be exported If the users want to export POUs which are function blocks they have to right click Function Blocks in the system information area and click Export Function Blocks on the context menu Chapter 3 Program Organization Units Project ame o MbOoS Allocation Symbols Information Global Symbols Hew POU fla Programs JL 010010 Ox 1P Ht amp PEF Import Function Blocks A oe Instruction E Monitor Tables IE X Chart BA Device Comments P OVP_FPMC CAM Chart EA PEP Setting Hew Folder After the users click Export Function Blocks on the context menu the Export POUs window will appear The users can expand the function block sections in the Function Block Info box and select the POUs which they want to export in the Function Blocks box If the users click Select All all the POUs in the Function Blocks box will be selected If the users click Deselect all the POUs in the Function Blocks box will not be selected If the users set a password when they export POUs they will be asked to type the password next time the POUs are imported After the users click OK in the Export POUs window they have to type a file name and select a file path in the Export Function Blocks window The POUs exported are saved as a fbu file Export POUs Export selected POs Function Black Info Function Blocks Protection Option g Function Blocks dt FB1 O
62. is less than the present position the motor will rotate in the negative position An incremental coordinate is the distance from the present position If an incremental coordinate is a positive the motor will rotate in the positive direction If an incremental coordinate is a negative the motor will rotate in the negative direction gt Selection of Acceleration Curve Users can select the Trapezoid Type Curve option button or the S Type Curve option button gt Home Position Users can set a machine zero point Electrical Zero Point Address Users can set an electrical zero point gt Electronic Gear Users can set a gear ration They can type a numerator anda denominator in the Electronic Gear section v Others Users can select a motion program number Ox0 Ox99 set the output of M codes and the manual function Please refer to DVP PM Application Manual for more information about setting the parameters EM Main Parameter Axis Program Murmber Mi Code Out Fix Program Mumber MoO Gutput Mi Code Selecting Program Number M Code Output Y Number Output READY to Y Select Manual Function ZRN MPG MPG Input Response Hz Input A Stat Number lt Users can select a motion subroutine which can be triggered by an external signal When a M code is executed the M code is displayed in the corresponding Y device If the motion subroutine is ready the corresponding output device will be ON Us
63. is specified by the users is found the system will install the driver If the Hardware Installation window appears during the installation the users have to click Continue Anyway PMSoft User Manual Found New Hardware Wizard Please wait while the wizard installs the software F Delta PLC Hardware Installation The software you are installing for this hardware Delta PLC has not passed Windows Logo testing to werty its compatibility with Windows P Tellme why this testing is important Continuing your installation of this software may impair or destabilize the corect operation of your system either immediately or in the future Microsoft strongly recommends that you stop this installation now and contact the hardware vendor for software that has passed Windows Logo testing Continue Anyway D o STOP Installation 5 After the users finish the installation they have to click Finish Found New Hardware Wizard Completing the Found New Hardware Wizard The wizard has finished installing the software for F Delta PLE fi Click Finish to clase the wizard 6 lt Back Finish Cancel ee 6 After the users finish the installation they have to open the Device Manager window If the name of the USB device connected is in the Ports COM amp LPT section the driver is installed successfully and the system assigns a co
64. of a comparison is met meMotor WORD 0 WORD T_AxisSetting2 Mechanical unit T_TrSeg2 T_TrSeg1 T_AxisSetting2 i _meComp WORD 2 ee mUD WORD 0 ounting up down mcPD WORD 1 Pulses Directions O T_AxisSetting2 O mAB WORD 2 T Hent A B phase pulses Four times the frequency of MEANE ART A B phase pulses meSD_M WORD 0 ape WORD T_SDDevRead sing D devices meSD_W WORD 6 Using W devices An interrupt signal is didir o ene triggered by a time interval Cc Appendix B Delta defined User Manual Name Type Value Motion control function block Description The source of an interrupt nixe ARENT signal is X0 8 The source of an interrupt sca las signal is X0 9 The source of an interrupt a iain signal is X0 10 The source of an interrupt net ACE signal is X0 11 EMUR The source of an interrupt nee nical signal is X0 12 The source of an interrupt Mite enone 68 signal is X0 13 The source of an interrupt M liked signal is X0 14 The source of an interrupt d cd Eg signal is X0 15 The source of a comparison mcCmpAxis1 WORD is the present position of the first axis The source of a comparison mcCmpAxis2 WORD 1 is the present position of the second axis The source of a comparison mcCmpAxis3 WORD 2 is the present position of the third axis The source of a comparison mcCmpAxis4 WORD 3 is the present position of the fourth axis The source of a comparison meCmpyee PAORA is the
65. or Paste on the context menu The users can cut or copy data in a device monitoring table and paste it into another device monitoring table MN Cut Chl MonitorTable_1 SEE HA Copy Chee Perice no Radix Vale Commem gt A zet a bit AP Delete Del bit Select All Ctrl a bit Insert a Kow Ctrl Delete Selected Rows Ctrl D Insert Multiple Devices Ctrl Ma Insert Sytubols Ctrl B Change Radix Ctr k 11 23 PMSoft User Manual 11 3 4 Monitoring the Devices in a Device Monitoring Table Users have to connect a motion controller to PMSoft and download a program to the motion controller When the state of the motion controller is monitored the users can monitor the devices in a device monitoring table 1 The users have to open a window in which a device monitoring table is created when the motion controller is monitored The first row and the first column in the table are filled with light blue The users can create a device monitoring table online or offline MonitorTable_1 Device Mo Radix 0100 Switch 1 DO 2 The users have to click the Value cell for a device and type a value If the motion controller operates the values in the devices related to the device will be changed Monitor fable_1 Si Eg Monitor fable_1 Device No o Radix Value n Comment 0100 Switch 1 bit OOO Switch 1 bit DO DO dibs amp Monitor Table_i Device Mo Radix Value QVOU Switch 1 bit
66. sacnieacte aaa ames 4 19 A2Z9 Symbols lntormavonwiaccciawacia wave ejsectieten weiss 4 20 Chapter 5 Function Block Set KNOWING PUI GU ON BIOCKS creiren tated edad deienarhddaiutamuinittebams 5 2 5 1 1 IFIFOGUCTION OF FUNCHOMN BIOCKS se coe caer toate E aie Ger seek teed 5 2 9 1 2 Characteristics and Advantages of Function BIOCKS 0e 5 3 5 2 Structure of the Function Blocks in PMSoft ccceccccseeeeeeeeeeeeeeeeeaeeees 5 4 5 2 1 EF Inv OM ail WACOM BOCK sai3 2 ite ee ees lw aed hetes 5 4 922 SVMDOIS IMa FUNCION BIOCK piceno a E 5 4 5 2 3 Input Output Pins of a Function BIOCK s sssessssssenssnsnnsnsrnnesrnrsnnrrrnsene 5 6 5 2 4 Function Block Definition and Function Block Instance 0 5 9 5 2 5 Calling Relation Between Function BIOCKS cccseceeeeeeeeseeeeeees 5 11 9 2 6 Assigning a Memory Block to a Function BIOCK cece 5 13 S9 USNO A FUNCOM BOCK esvssserseosrssrrgar det ooon r OENES EN NE EEES 5 14 5 3 1 Basic Specifications for Function Blocks cccseseeeeseeeeeeeeeeeeeees 5 14 5 3 2 Motion Control Function BIOCKS ccccccccseeceeeeeeeeeeeeeeneeeeseeeeeees 5 15 Chapter 6 Ladder Diagram 6 1 Introduction of a Ladder Diagram cccccceeeeeceeeeseeeeseeeeseeeeseeeeseeeenees 6 2 6 1 1 Ladder B foo 2 aq beeeereeenee ee eer een er tee en nee ere anne ee eee eee 6 2 6 1 2 Important Points about Creating a Ladder Diagram
67. saved G code is a CNC computer numerical control programming language widely used in automatic equipment Delta motion controllers and PMSoft support the majority of G codes on the market The minority of G codes which are not supported are skipped and are not executed 8 1 2 Structure of a G code A G code is composed of an instruction name and operands and an operand is composed of the indication of a function and the setting of a parameter In the figure below the instruction name represents the function which is executed the indication of functions represents the targets of the operands and the setting of the parameters represents the values of the operands The instruction GOO indicates that the x axis and the y axis are moved at the maximum speed to the target position 100 100 Indication of a function A GOO X100 Y100 operano Setting of a parameter Instruction name Please refer to DVP PM Application Manual for more information about G codes 8 1 3 I mporting G codes PMSoft allows users to import G codes into the Instruction window The users have to click Import G Code on the File menu click a txt file or a nc file in the Import G Code window and click Open 8 2 Chapter 8 G codes and Electronic Cams Hew Ctrl H Gar Open Cho Save Ctrl4s DI Save As Ctrl altes Es Close Print Ctrl P Open Examples Import G Code Exit Alt X Import G Code Look ir B prog d E 2 Emer D S amp My Recent
68. setting If the motion controller used is set to Auto M1002 will be ON in the first scan cycle and will be OFF thereafter D1848 amp D1849 The values in D1848 and D1849 represent the current position of the x axis D1928 amp D1929 The value in D1928 and D1929 represent the current position of the y axis 8 14 Chapter 8 G codes and Electronic Cams D1860 amp D1861 The values in D1860 and D1861 represent the frequency of pulses sent to the input terminals of the pulse generator connected to the output terminals of the X axis D1862 amp D1863 The values in D1862 and D1863 represent the number of pulses sent to the input terminals of the pulse generator connected to the output terminals of the X axis D1864 The value in D1864 is H200 It indicates that the signals received by the input terminals of the pulse generator connected to the output terminals of the x axis are A B phase signals D1896 The value in D1896 is H30 It indicates that the unit used is a motor unit and the signals sent by the output terminals of the y axis are A B phase signals D1799 The input terminals MPGA and MPGB are normally open contacts D1920 The value in D1920 is 5000 It represents the speed at which the y axis rotates D1926 The value in D1926 is H10 It indicates that the rotation of the y axis is enabled D1846 The value in D1846 is H2000 It indicates that cam 0 is a cyclic cam D1868 The value in D1868 represents the cam chart number selec
69. the figures below 6 25 PMSoft User Manual o A 6 Inserting a comparison contact into the line 4 The users have to double click the comparison contact inserted or press Enter on the keyboard after they click the comparison contact inserted Press Enter on the keyboard 5 The users have to type an instruction and operands in the Instruction box or click aal If the users click H they have to click the Compare tab select an instruction in the API No drop down list box or the Application Instruction drop down list box select devices which are supported according the explanation at the bottom of the window and click OK 6 26 Chapter 6 Ladder Diagram New Instruction Instruction New Instruction Instruction amp Application Instruction AJ AFI Basie Loop Transfer Moth Ext iO Float Data Detta Compare Motion APINo 234 Application instruction AND lt 7 Funchen 38 492 Companies tonbect r OH whan dl 4 S2 a Lee al D r Device Number 2i index Device Humber 1 af Index Dente Explanalen B si Dela sowce dence 1 Please refer to section 6 2 5 for more information about making comments on devices and instructions 6 The result that the users get is like the figure shown below Han DO D1 H Method 3 Typing a comparison instruction and operands After the users select a position they have to press Enter on the keyboard or type a comparison instruction and operands After the users pre
70. the function of transforming an instruction list into a ladder diagram Seal View Commmmication Op l Check Alt F EH Compile Program Ctrl F ET IL to LD View Users can zoom in or zoom out the working area and open some function windows GR commmmication Options Winde ir Instraction IE 2 Chat p Edit Device Comments Add Monitor Table i Add CAM Chart View System Infomation View Error Message Box View Ratio 100 ka Mormtonng Rade Signed Decimal 4 Communication The items on the Communication menu are functions related to a motion controller 2 6 Chapter 2 Starting and Setting Beate Options Window E IPG Download Program Ctrl F8 Pd Upload Program Ctrl F9 D Password Setting CtrtW CY En 0100 Ctr Fll E stop 0100 Ctr F12 se Tracing Ox Position System Log PM Information a Edit Register Memory T Edit Bit Memory Monitoring Commmiucation Setting Options Users can set the memory of a motion controller and motion control parameters Biehl Window Help Restore PH Default Setting Clear FM Code Area Copy SRAM to Flash Parameter Change PM Type Tools Window Users can manage the windows in the working area Help It provides help to users 2 1 4 Toolbars ati Help Arrange All Tile Horizontally M Tile Vertically Previous Window aAlt Left Next Window Alt Fught 1 Program O100 2 Program OX0 v 3 Instruction M Instraction Marmall ht
71. the motion control module The parameters which need to be set do not vary with the motion control module AH20MC 5A AH10PM AA 5A selected The page shown below displays the name of the motion control module double clicked in 2 38 Chapter 2 Starting and Setting HWCONFIG the version of the MDS for the motion control module and the date when the MDS is created Parameter Setting AHCPU and AH10PM D devic AHCPU and AH10PM M dewic MDS Information Normal Exchange Area Module Name AHIOPM 5A MDS Version 1 00 00 MDS Build Date 2012 07 14 Import File lt Export File Default Cancel The page shown below displays the data registers involved in data exchange between the CPU module connected to the computer and the motion control module double clicked in HWCONFIG The device addresses are typed in the Initial cells Parameter Setting AH10PM 5A AHCPU and AH1OPM D device communation AHCPU and AH10PM D devic AHCPU and AH10PM M devic _AHCPU lt lt AH10PM AHIOPM D Device Start Nur AHCPU lt lt AHIOPM D Device Size AHCPU lt lt AHCPU gt AHIOPM AHCPU D Device Start Nurabe __ AHCPU gt AHCPU gt gt AHIOPM AHIOPM D Device Start Nun AHCPU gt gt AHCPU gt AHIOPM D Device Size AHCPU Import File lt Export File Default Cancel gt AHCPU lt lt AH10PM AHCPU D Device Start Number Before the motion control module sends data to the CPU module users have to set a start
72. the version of PMSotft f CP210x_VCP_Win_XP_S2K3_Vista_7 Seles Fie Edit View Favorites Tools Help ae pack kJ a Search Folders E Address C Program Files DELTA Industrial Automation pM Soft 2 08idriversP2 10x CP win F a0 BOP210 VCP Win sP Sek W MnstallScript Setup Launcher File and Folder Tasks bikicee R cresso Software Inc Other Places Details 3 The installation of the USB driver is the same as the installation of a general program After the Appendix A Installing a USB Driver users accept the terms of the license agreement they have to click Next The users can select an installation path in the process of installing the USB driver Finally the users have to restart the computer to finish installing the USB driver Silicon Laboratories CP210x YCE Drivers for Windows AP720003 Serverit istal __ Fq ee Welcome to the InstallShield Wizard for Silicon Laboratories CP210x CP Drivers for Windows amp P 2003 Server ista vb 3a The InstallShield Wizard will copy Silicon Laboratories CP210 VCP Drivers for Windows amp P 2003 Serverska vE 3a onto your computer To continue click Next License Agreement Please read the following license agreement carefully END USER LICENSE AGREEMENT IMPORTANT READ CAREFULLY BEFORE AGREEING TO TERMS SILICON LABORATORIES INC SILICON LABORATORIES INTERNATIONAL PTE LTE AND THEIR AFFILIATES COLLECTIVELY SILICON LABS HAVE D
73. to click Transfer In the Transfer Setup window the users have to select the Write to PM Device Register option button and select a range in the Range Setup section After the users click OK in the Transfer Setup window the states in cells will be written into to the motion controller connected to PMSoft Chapter 11 Online Functions Transfer Setup Read fram PM Device Register Write to PM Device Register xy Range setup Mw Range MO M999 Range M1000 M3000 Range M3001 M4096 PMSoft Eg PC FM D Writing complete 4 Ifthe users want to read the states of registers in the motion controller they have to select the Read from PM Device Register option button in the Transfer Setup window select a range in the Range Setup section and click OK 5 If the users want to save the states in a table in the computer they have to right click the table click Export on the context menu set a path and a file name in the Export Table window and click Save in the Export Table window Edit Bit Memory Sele PMSoft User Manual Export Table Save IF ie Desktop bi Emy Documents of My Computer My Recent dmy Network Places Documents My Network File name Save J Places 2 Save as type Export Table File cs Cancel 6 The states exported are saved as a csv file The csv file can be edited through Microsoft Excel Besides the users can type states in the csv file and th
74. to the computer and the motion control module double clicked in HWCONFIG The device addresses are typed in the Initial cells Parameter Setting AH10PM 5A lt Default AHCPU and AH1OPM M device communa AHCPU and AH10PM D devic AHCPU and AH10PM M devic Description Address Monitor Initial gt AHCPU lt lt AH1IOPM AH1OPM M Device Start Nutr AHCPU lt lt AH10PM M Device Size AHCPU lt lt AHCPU gt AHIOPM AHCPU M Device Start Numb SHCPU gt AHCPU gt gt AHIOPM AH1OPM M Device Start Nurr AHCPU gt AHCPU gt AHIOPM M Device Size AHCPU gt Import File Export File cone AHCPU lt lt AH10PM AHCPU M Device Start Number Before the motion control module sends data to the CPU module users have to set a starting relay in the CPU module For example the data sent by the motion control module will be stored in the devices starting from M100 in the CPU module AHCPU lt lt AH10PM AH10PM M Device Start Number Before the motion control module sends data to the CPU module users have to set a starting relay in the motion control module For example the data in the device starting from MO in the motion control module will be sent AHCPU lt lt AH10PM M Device Size Users have to set the length of the data which will be sent For example the data in 50 relays will be sent AHCPU gt gt AH10PM AHCPU M Device Start Number Before the CPU module sends data to the motion control module users h
75. 0 Bit Range M Bit Range SM C Cx 3000 i TO j4063 9192 TO 16383 i 4 Word Range D Working Register VV 65535 S 7000 TO 9999 0 Timers T _ 100ms Counters C 100 TO 1 192 100 TO J199 Clear all allocated symbol addresses Pointers P 200 10 254 a Function Blocks The range set in the Pointers P section is P200 P254 The P subroutine numbers and the P pointer numbers used in POUs can not be in the range The system assigns devices to the local symbols declared in a function block according to the data types of the local symbols For example the system assigns a D device to a local symbol whose 9 13 PMSoft User Manual data type is WORD and a M device to a local symbol whose data type is BOOL As a result the device that an instance of a function block occupies depends on the definition of the function block Please refer to the figure below After the windows for the two function block instances are opened users can see the devices that the system assigns to the two function block instances C INS_C1 Declared by 0100 INS_A INS_B Class Identifiers Address Initial Comment INOUT Wari M3005 FALSE INPUT WVar2 M3006 FALSE VAR Var3 FALSE go Function Blocks Heid A TB si G J me Spions ANSE INS calga Ns A NS By g INS C1100 INS By Local Symbols l Ns CATO OO INS Fy Class Identifiers Address Type Initial INOUT Vari M300
76. 00 5 000 Slave axis o i 5 000 10 000 0 S000 10 000 145 000 20000 25000 30000 35000 40000 45 000 50 000 Master axis slave output Slave input Programming order 1 Creating a cam chart 2 Setting the parameters in the main program 0100 8 4 2 Explanation Cam chart Users have to set sections in the Data Setting window They can set resolutions according to their need After the users click Draw click Save and close the Data Setting window a cam chart will be created 8 13 PMSoft User Manual Data Setting sect Master Axis pu Slave Axis p CAM Curve 0 MA Const Speed Const Speed Const Speed Const Speed Const Speed 12 0w m MAn B to ba Initial Setting Slave Axis pulse e CAM Chart Seles im mo E wm D a we he E 2 mu gt a uw 10 000 15 000 25 000 35 000 40 000 45 000 50 000 Master Axis Slave Axis Velocty 5 000 10 000 15 000 20 000 25 000 30 000 35 000 40 000 45 000 50 000 Master Axis Slave Axis 4cc 5 000 10 000 15 000 20 000 25 000 30 000 35 000 40 000 45 000 50 000 Master Axis Displacement Velocity Ace Resolution Y_Max Y_Max 2047 if 2000001 1920929 100 Y Min Y Min Aone Spline ee 0 550000011920929 0 Data Setting nport Speed Dat Main program 0100 The special registers which are used are described below Please refer to DVP PM Application Manual for more information M1002 M1002 is used for initializing
77. 00 7 6 1 Retry 3 TimeOut STOF Time of Auto retry d Time Interval of Aubo ret Configure Delete i 2 3 10 Starting Stopping a Driver If users want to start a driver they have to connect a PLC to a communication port select the driver in the COMMGR window and click Start If the status of the driver displayed in the window becomes START the driver is started successfully Please refer to section 2 3 12 for more information about connecting a PLC to a communication port 2 29 PMSoft User Manual T COMMGR Hame Descriptior etatus EP Driver_Etherne Ethernet AMDO PCNET Family PCI Ethernet Adapter Packet STOF O Driver R3232 R5232 COM4 ASCI Protocol 9600 7 e 1 Retry 3 TimeOut STOP gt Driver USB USB COMG Reto 3 TimeOut 3 We Dov RS lf users want to stop a driver they can select the driver in the COMMGR window and click Stop If the status of the driver displayed in the window becomes STOP the driver stops J COMMGR Mame Description mitats EP Driver_Ethere Ethernet AMD PCNET Family PCI Ethernet Adapter Packet STOP C Driver_RS232 R9232 COM4 ASCII Protocol 9600 7 1 Retry 3 TimeOut STOP USB COMS Retry 3 TimeOut 3 STOE Additional remark When users start or stop a RS232 driver they have to notice the following items gt If the same communication port number is assigned to different drivers only one of these drivers can be started gt If the communi
78. 016 add Z axis operation here lt 00017 D1328 32bits as Z axis travel distance Subroutine P255 00018 D2330 32bits as Z axis travel velocity 00019 SRET ooozo o0021 OXO ooozz G90 00023 GOOx100Y100 lt G Codes which are oo0z4 GO1xX20Y30 imported ooozs M2 lt lt 4 Motion subroutine Ox0 The users can click IL to LD on the Compile menu or on the PMSoft toolbar to transform the instruction list into ladder diagrams Please refer to chapter 6 for more information about editing a ladder diagram Instruction Ee A oo001 P100 ooooz LD m1002 o0003 MOV kO d1846 00004 MOV h1000 dlt oooos add machi 00006 00007 if M code oooos user can 2 Say View Commmication p 00009 LDP m1794 lt Check Alt E ooo10 RST m1744 Compile Program Ctrl F 00011 SET m1744 oar z 1 OR 00012 M102 ILta LD 00013 o0014 P255 00015 BRET o0016 add Z axis 00017 D2328 32bits 00018 D1330 32bits lt siji Program P255 E ETTE oH Bunn l ri El aie 4 Program 0X0 Program 0100 r 3 TETEE TES nabling positi Operation it MOV H1000 D1846 Operation t i 8 1 4 Important Points about G codes As long as the format of an instruction is not destroyed leaving spaces is allowed For example GO1X50 Y15F20 is legal and is equivalent to G01 X50 Y15 F20 GO1X50Y15F 20 is illegal because there are spaces betw
79. 11 17 11 3 4 Monitoring the Devices in a Device Monitoring Table 11 24 11 3 5 Monitoring the Motion Instruction which is being Executed 11 25 11 3 6 MOMONDO AAY a g ere 11 27 11 4 RE EO rer ote est we siete E E E EE E 11 29 11 5 NG e a E 11 30 PMSoft User Manual 11 1 Online Functions After users connect a computer to a motion controller in accordance with chapter 2 they can execute the online functions of the motion controller through PMSoft The online functions of a motion controller are the uploading of a program the downloading of a program the reading of data from registers the writing data to registers the starting of the motion controller the stopping of the motion controller the monitoring of the motion controller They are described in this chapter The functions that an AH500 series motion controller supports are different from the functions that a DVP series motion controller supports The difference will be described in the following sections Communication ISPSoft PMSot COMMGR 11 2 Online Operation 11 2 1 Downloading Uploading a Project Downloading data After users click Download Program on the Communication menu or on the toolbar the Data Transfer window will appear The users have to select checkboxes in the Data Transfer window and click OK Meise Options Window E PG Download Program Ctrl F8 4 Upload Program Ctrl F D Password Setting CtrtW DY Em 0100 C
80. 2 2 De IE CHING Jat C Cl eceazaeceatascearencsetenciesaececcerceanacesauctcearedstcegeeictetase 12 7 12 2 3 Input Nodes Output Nodes and Logic Gates ccccseeeeeseeees 12 7 12 2 3 1 Inserting a Node or a Gate cccceccccceeeeeeeeeeeaeeeseeeeeseeeeeeas 12 8 12 2 3 2 Adding Delen A P eae E 12 9 12 2 4 Changing a Pin Type ccccceeccseeeceeeeeseeeeeeeeseeeeseeesseeeeseeesaeeeeas 12 11 12 2 5 Connecting objects and Canceling Connections c c0000 12 12 12 2 6 Instructions and Function BIOCKS ccccseccseeeseeeeeeeeneeeeeeeeees 12 12 12 2 6 1 Inserting AN Instruction ccceeccceeeceeeeeeeeneeeceeeeeueeneeeseeeeees 12 14 12 2 6 2 Inserting a Function Block csaiicviciuiinrsiubintinieddavbsiedateaieddavides 12 15 12 2 7 BEIE IMO Ol CCS o a E E E 12 17 12 2 8 Editing Devices or Symbols cccccssecceeeeeseeeeseeeeseeeeseeeeseeeeaees 12 19 12 2 9 Activating Inactivating an ODJeCt ccccceccecseeeeseeeeeeeeeeesaeeeees 12 19 12 2 10 Inserting a Comment ce eecccceeeeeceeeeeseeeeeseeeesseeesaaeeeseeeeeas 12 20 12 2 11 Changing the Order in Which Objects are Executed 12 23 12 2 12 Displaying Hiding Information ccccceeeeseeeeeeeeeseeeeneeeeneeeesees 12 23 12 3 Monitoring a Continuous Function Chatt ccccsccccsseeeeseeeeeeeeeeeens 12 24 12 3 1 SOTO O cece fo sed ci setae eeetne fice eect edness ances vedeatee ER 12 24 12 3 2 Controlling
81. 2 7 Arranging Symbols In the local symbol table in a function block the order in which the symbols of the INPUT class the symbols of the INOUT class and the symbols of the OUTPUT class are arranged affects the order in which the operands in the function block are arranged If users want to move a symbol in the local symbol table in a function block upwards they have to click the symbol and press Alt and on the keyboard at the same time If the users want to move a symbol in the local symbol in a function block downwards they have to click the symbol and press Alt and YX on the key board at the same time Chapter 4 Symbols Local Symbols Class Identifiers Address d Meee FEVar_0 NOUT FBWar_1 INPUT FBVar_ OUTPUT FBVar_3 Type Initial Comment BOOL FALSE BOOL FALSE BOOL FALSE BOL FALSE LY Press Alt Y twice Local Symbols Class Identifiers Address NOUT FBWar_1 INPUT FBVar_ gt Semen FBVar_0 OUTPUT FEWar_3 4 2 8 Symbols Allocation Type Initial Comment BOOL FALSE BOOL FALSE BOOL FALSE BOL FALSE Users can set device ranges in a project When the program in the project is compiled the system assigns devices in the device ranges to the symbols in the project If the number of symbols in the project is larger than the number of devices in the device ranges an error message occurs when the program in the project is compiled Please refer to section 4 1 4 for more information
82. 3 5 6 FPMOJSCE PAS SW ONO E drosencuduuvsred cuovenstcusve vetixcvixctdvovexchixonsnct duende 13 22 PMSoft User Manual 13 1 Three dimensional Chart 13 1 1 Functions When the multiaxial motion controlled by a program is monitored a motion path can be drawn ona three dimensional chart Users can check whether the multiaxial motion is correct by monitoring the three dimensional chart A motion controller has to be connected a computer and a program has to be downloaded to the motion controller When the state of the motion controller is monitored a three dimensional chart can be monitored 1 The users have to click 3D Chart on the View menu or double click 3D Chart in the system information area as shown in figure 13 1 System Information on EAR Conumnication Opiom Wand Project fae Symbols Allocation A Symbols Information EP Global Symbols Programs B Function Blocks Er Instruction Add Monitor Table OJ EE Instruction OR E Monitor Ta add CAM Chart s a 3 Chart View System Infomation n t View Error Message Box a 3D Chart KA Device Comments CAM Chart fe a E PEP Seting Morutoring Radi Signed Decimal p system Information 3D Chart r Position o ir o uo ew ew SE jm 4 4 g D a oO mo Position Pause cs o oo Jog View blode e Path Points fo 3D wd iiag fo xY Plane 0 Flen E oes C YA Plane Auto Fi
83. 31 New Instruction Instruction Figure 12 31 Typing a function block definition 12 16 Chapter 12 Continuous Function Chart 2 The users have to type a function block instance in the Add Symbol window The users have to create a symbol whose data type is a function block Then the users have to click OK or press Enter on the keyboard If the users move the mouse cursor and click a position in the program editing area a function block will be inserted Finally the users have to assign devices or symbols to the pins of the function block inserted Please see figure 12 32 Add Symbol ldentifier Address Type Initial Comment FE1_inst lt D mooo p p z A Class VAR M Add to global symbol table Gq o p FEl mstl Figure 12 32 Typing a function block definition 12 2 7 Deleting objects lf users want to delete a single object or several objects in a continuous function chart they can use one of the methods below 1 The users have to click an object and click Delete on the Edit menu or amp onthe standard toolbar as shown in figure 12 33 LY eke Compie View Come C Undo Ctrt Z Dr Pa Fedo Ctr Y y Tut Ctrl X Aa Xf ala oo ER copy cic l i OR E Faste Ctrt N P Delete Del Select Al Ctr A N Find Ctrl F Feplace Ctrl H END 11 M P Figure 12 33 Deleting an object P2717 PMSoft User Manual 2 The users have to click an object right click the object and cl
84. 5 System Information Area and Error Message Area ceeeeeeeees 2 8 21O WORNI ATO eee E AE E 2 10 2 2 Basic Settings in PMSOft cc cecccccccecsseeeceeeeeeseeeeseeeeeseeeeeseeeeeseeeesaees 2 12 2 2 1 MOOS aea E arch ceahceeeennn 2 12 2 2 2 Be 0 eee eee eee eee 2 15 29 GOMMUNICAION SUING nnsevecccccesecrcccevrsicexceteensnssbeepesseiyeyeaeiveuccieeeseeteers 2 20 2 3 1 Dla IG IO SING NE a A A E T 2 21 2 3 2 Managing Drivers ccccccccccesccsececeeeeeeeeeeeeseeeceueeneeeseeeeueeneeeneeseegs 2 22 2 3 3 Creating a Connection Creating a DIiVel ccceccecseeeeeseeeeeeeeeeees 2 22 2 3 4 Setting Communication Parameters for RS232 ccccceeeeeeeeeeeeees 2 25 2 3 5 Setting Communication Parameters for USB Virtual COM 2 25 2 3 6 Setting Communication Parameters for DirectLink USB 2 26 2 3 Setting Communication Parameters for Ethernet cccccceeees 2 27 2 3 8 Setting Communication Parameters for DirectLink Ethernet 2 28 2 3 9 Completing the Setting of the Parameters for a Driver 00 2 29 2 3 10 Starting Stopping a DIiVelr ccceecccceececceeeeseeeeeeeeeeeeaeeeeseeeeesaeeeeeas 2 29 2 3 11 Configuring Deleting a Driver cceecccceececseeeeeeeeeeeeeeeeseeeeesaeeeeens 2 30 2 3 12 Connecting a PLC and a Communication Pott ccccecceeeeeeeees 2 31 2 3 13 Creating a Connection Between ISPSoft PMSoft and COM
85. 63 fi Figure 13 5 Information which is displayed In the View Mode section the users can select the 3D option button the XY Plane option button the ZX Plane option button or the YZ option button Besides the users can select the Path Points checkbox the Shadow checkbox and the Grids checkbox If the Auto Fit checkbox is selected the coordinate ranges on the chart will be modified according to the size of the path drawn Clear is used to clear the path which has been drawn The path of the three axes of the motion controller is shown here The users can turn the chart in the 3D Chart window by dragging the chart as shown in figure 13 6 Besides the users Can adjust the coordinate ranges on the chart by using the mouse wheel Y 96900 Figure 13 6 Turning the chart in the 3D Chart window When the mouse cursor hovers over the path on the chart coordinates appear as shown in figure 13 7 ee L H Jint ee E aee a a A B oa ye 42200 78400 107000 Figure 13 7 Coordinates 13 4 Chapter 13 New Functions and Revised Functions 13 2 POUs Which are Programs 13 2 1 Creating POUs Which Are Programs 0100 POU Users can manage the main program 0100 by creating several 0100 POUs There is no limit on the number of 0100 POUs which can be created but users have to note the limit on the size of the program in a motion controller The users have to right click 0100 in the system information area and c
86. 8 2 Inserting a Coil There are two methods of inserting a contact Users can use one of the methods according to their habit Method 1 PMSoft toolbar 1 The users can insert a coil into a line or connect a coil to a coil in parallel OR Inserting a coil into a line or connecting a coil to a coil in parallel 2 The users have to click J on the toolbar Room ah COO Lit Whe BE S SE 100 v siie VFO HL O 3 The users have to move the mouse cursor to a position The mouse cursor becomes a coil when it is at the top of the position or at the bottom of the position After the users click the left mouse button a coil will be inserted Please refer to the figures below 6 15 PMSoft User Manual Inserting a coil into the line aty o FE H Pg 4 After the users click on the coil added to a network they can type a device name or a symbol After the users type a device name or a symbol they have to press Enter on the keyboard or click the blank in the network Please refer to chapter 4 for more information about symbols ed 9 OTH saap 2 Bas Press Enter on H e keyboard Method 2 Typing an instruction After the users select a position they have to press Enter on the keyboard or type an IL instruction After the users press Enter on the keyboard or type an instruction the New Instruction window will appear After the users type an IL instruction in the Instruction box they have to press Ente
87. 9 BOOL FALSE INPUT Var2 M3010 FALSE VAR vars FALSE Varl Var2 H a 5 3 Using a Function Block ii e S 5 3 1 Basic Specifications for Function Blocks The specifications for the function blocks in PMSoft are shown below When users use function blocks in a project they have to make sure that the use conforms to the specifications in the table below Otherwise an error occurs when the program in the project is compiled or executed Specifications for function blocks Number of function block instances The number of function block instances depends on the number of P devices available One function block instance occupies one P device Size of a The size of a function block depends on the device assigned to the function block function block Number of A function block can call another function block and 32 layers of function layers blocks at most can be called Note gt The use of a function block must conform to the specifications in the table above gt The pins of a function block must be assigned operands The operands can be device addresses symbols or constants gt An inferior function block can not call a superior function block and a function block can not call itself gt Ifa function block is exported the definition of the function block is exported but the definitions of the inferior function blocks and the global symbols used are not exported gt Users can modify function block def
88. AR 9 Wart WORD H D OK Cancel 4 2 3 Modifying a Symbol and Editing a Symbol Table After users click a cell for a symbol they can modify the setting value in the cell according to the description in section 4 2 2 Besides the users can edit a symbol in a symbol table by means of the standard toolbar the context menu which appears after the users right click the symbol or the Edit menu Please refer to the following table for more information 2 Ega Program 0100 Local Symbols Class identifiers Address Type Initial Comment OR oar l fait Compile iea CAREM 5 Copy Che G Undo Ctrl Z ME Paste Chh E Redo Chlt a Delete Del Select All Cir x Cat Insert a Rove Ctrl HA Copy Clear Selected Addresses Ctr E E Faste 3 Find Ctrl F Paste Right Ctrl k ry TEN Paste Down Ctrl D d Export Syambok E Delete Select All Ctr d Fina Ctr lt Replace Ctrl H After users right click a symbol a context menu will appear Cutting the symbol selected Copying the symbol selected Paste pesentaymbliatie rO present symbol table Insert a Row Inserting a row above the row selected Clear Selected Addresses _ Find Opening the Find Replace window Import Symbols Importing the symbol table which was exported Clearing the device address selected PMSoft User Manual Export Symbols Exporting the symbol table 4 2 4 Clearing Device Addresses and Selecting Multi
89. After users type passwords in the boxes they have to click OK Property POU Name En Eno FB1 Box With En Eno ersion 1 00 Protection Language Password lt 4 0 chars gt Ladder Diagram LD Contin lt 4 6 chars gt ee POL Comment k 1 Users can set a password when they add a new POU 2 A POU which is a program is protected only when it is uploaded from a motion controller or downloaded to a motion controller Please refer to chapter 10 for more information 2 If users want to remove the password which protects a POU which is a function block they have to right click the POU and click Properties on the context menu 3 8 Chapter 3 Program Organization Units Project za Symbols Allocation Symbols Information Global Symbals J W Programs Delete POU 4 OOO 10 iy Gy E F H E ae Function Blocks on Instruction Monitor Tables N IE X Chart j HA Device Comments D OVP_FPMc CAM Chart E PEP Setting After the users type the correct password they have to click OK Property POU Name En Eno FB1 Box With En Eno ersion 1 00 Protection Language Password lt 4 0 chars gt Ladder Diagram LD p LO POL Comment ae 3 If a POU which is a function block is protected by a password the Password Dialog window will appear after users double click the POU in the system information area After the users type the correct passwo
90. Card section 4 Owing to the characteristics of Ethernet a computer can communicate with all the devices ona network Users can create IP addresses of the devices connected to this driver in the IP Address Setting section gt After users click Add to add a new IP address to the list of IP addresses in the IP Address Setting section they can type related information in the IP Address column the Port Number column and the Comment column Users can type the IP addresses of the devices connected in this column Users can type the communication port numbers specified Users can type comments in this column IF Address 169 254 95 50 Eee Lit Fort Number FO Comment Hhal_1 gt After users select an IP address they can click Del or press Delete on the keyboard to delete the IP address from the list gt Delta human machine interfaces support the Search function After users click Search the 2 28 Chapter 2 Starting and Setting Delta human machine interfaces in the same domain as the network interface card selected will be searched for and the results will be displayed in the IP Address Setting section Users can select the number of times the sending of a command is retried if a connection error occurs in the Time of Auto retry box and select an interval of retrying the sending of a command in the Time Interval of Auto retry box When the Driver Properties window is opened
91. DO 3 The users can also change the data format selected in a Radix drop down list box Please refer to section 11 3 3 for more information about the data formats which can be selected in a Radix drop down list box 11 24 Monitor Table_i Device Mao Bai Comment Radix bit bit bit O100 Switch_1 bit footie ea Value Device Mo Chapter 11 Online Functions Monitor Table_i Radix bit bit bit Value o O100 Switch 1 bit 100 11 3 5 Monitoring the Motion Instruction which is being Executed Only the motion instructions executed by a DVP series motion controller can be monitored When the state of a motion controller is monitored users can monitor the instruction which is being executed presently in a Ox motion subroutine The users can make sure of the motion instruction which is being executed presently when the motion controller operates A motion controller has to be connected to a computer and a program has to be downloaded to the motion controller When the state of the motion controller is monitored the motion instruction which is being executed presently can be monitored 1 The users have to click Instruction on the View menu or double click Instruction in the system information area System Information hx TT H foe Conmmuucation Options Windc Gur Instruction T IE xvchart A Edit Device Comments Add Monitor Table i add CAM Chart
92. EVELOPED CERTAIN MATERIALS E G DEVELOPMENT TOOLS EXSMPLE CODE EMBEDDABLE CODE DLLs SOFTWARE COMPUTER PROGRAMS AND OTHER THIRD PART PROPRIETARY MATERIAL LICENSED MATERIALS THAT YOLU May USE IN CONJUNCTION WITH SILICON LABS MCU BIMIDUCTS ANY USE OF THE LICENSED MATERIALS IS SUBJECT TO THIS ENG LICENSE we ATO kh de CriimtTriimm AMIR PO SO TE I oar mist me am aTr ldo not accept the termes of the license agreement InstallShield eS TET ET e A 3 PMSoft User Manual Choose Destination Location Select folder where setup will install files Setup will install Silicon Laboratories CP210 YCF Drivers for Windows P 2003 Sermvervistas vb 3a in the following folder To install to this folder click Next To install to a different folder click Browse and select another folder Destination Folder o MCUSCP210xswindows_xP_S2K3 Vista_7 Ready to Install the Program The wizard is ready to begin installation Click Install to begin the installation IF You want to review or change any of pour installation settings click Back Click Cancel to exit the wizard Appendix A Installing a USB Driver Silicon Laboratories CP210x TCE Drivers for Windows ZPS2003 Serveri Y istal Ins InstallShield Wizard Complete The InstallShield Wizard has successtully copied the Silicon Laboratories CP2108 VCP Drivers for Windows Pr 200a Seven vista vB sa to your hard dive The driver installer listed belo
93. Fina Ctrl F Replace Ctrl H true mo b trie mi vi AND 1 Mi on EA 100 Signed Decin E 0 g tne tne Figure 12 52 Changing the state of a node Set ON The node selected is set to ON 12 25 PMSoft User Manual Set OFF The node selected is set to OFF The users can change the state of a node by double clicking the text box showing the state of the node as shown in figure 12 53 ia AND 1 me Mi ana E tre Mo b AND 1 L MI P M pe Figure 12 53 Changing the state of a node 2 Ifthe users want to change the value in a node they have to double click the text box showing the value in the node type a value and press Enter on the keyboard or click the blank in the program editing area Please see figure 12 54 A Click the blank OR false Ma nu DO s D i Figure 12 54 Changing the value in a node 12 26 Chapter 13 New Functions and Revised Functions Table of Contents 13 1 PARES GIMENSIONGN GAME witcc cc ccew eres cccwarenscewsestacsegdensdeeederaestndesncdeyedesenenes 13 2 13 1 1 FUNCION S ok sae scteeceee suet sec eseteseegeeteten cect skeeseetsnneeacteaneneseaoceecusencesee 13 2 13 2 POUS Which are Programs cccsccccssecceesecseeecsesecsueecsueecsueeesaueesaaees 13 5 13 2 1 Creating POUs Which Are Programs cccccccseseeseeeeseeeeseeeeeees 13 5 13 2 2 Changing the Property of an 0100 POU cee eeeeeeeeee cette 13 6 13 2 3 SO areen en EN
94. GR COMMGR is software independent of PMSoft It must be installed and uninstalled separately If an older version of COMMGR has been installed on a computer users have to uninstall it before installing COMMGR Pleases refer to section 1 2 3 for more information about uninstalling COMMGR 1 Start a Windows 2000 NT Me XP Vista 7 operating system 2 Puta COMMGR CD in the CD ROM drive or download the installation program from http www delta com tw ch index asp Before the installation program downloaded from the website is installed it has to be decompressed Chapter 1 Introduction of the Software 3 Click Start and then click Run to open the Run window Specify a path which denotes the installation file in the Open box and then click OK Users can also double click the installation file to execute the installation program f COMMGR_v1 00 SEE File Edit View Favorites Toos gt 7 Type the name of a program Folder document or vim Internet resource and Windows will open it For you Q pak hi 3 wi pa Search N on mome O or eee Ble R cancel Browse asad 4 Type 11 2 ME a Local intranet 4 After the InstallShield Wizard window appears click Next InstallShield Wizard G COMMGR 1 00 Setup is preparing the InstallShield Wizard which i will guide you through the program setup process Please wait Checking Windows R Installer Version Gan fe COMEGR 1 00 InstallShield W
95. INS Eno Basic principles for the general data types 1 The relation between the device that the caller assigns to FB_Var and the data type of FB_Var is shown below Please pay attention to in the table If FB_ Var is the input pin of the function block and the data type of FB_ Var is BOOL the device assigned to FB Var can be a counter or a timer If FB_ Var is the output pin of the function block and the data type of FB_Var is BOOL the device assigned to FB_Var can only be aM device a SM device or a S device Data type FB_Var function block TIMER D D device V device Cave V Tee A A 2 The relation between the symbol that the caller assigns to FB_Var and the data type of FB_Var is shown below Please pay attention to in the table If FB_Var is the input pin of the function block and the data type of FB_Var is BOOL the data type of the symbol assigned to FB_Var can be COUNTER or TIMER If FB_Var is the output pin of the function block and the data type of FB_Var is BOOL the data type of the symbol assigned to FB_Var can only be BOOL FB a Selec block Can O N EEE E ER ESE BASARE ea n rlr l Data type caller FLOAT pw pv of wv fof of caller RDP Pee aoe EEE 9 7 PMSoft User Manual In addition to the principles for the general data types described above there are principles for the symbols whose data types are ARRAY Basic principles for the symbols whose data types are ARRAY 1
96. Ifthe array type of P_Var is the same as the array type of FB_Var the size of the array for P_Var must be larger than or equal to the size of the array for FB_VAR lf the array type of P_Var is different from the array type of FB_ Var the second basic principle for the general data types must be satisfied If a single element can call another single element an array composed of a certain number of elements can call another array composed of the same number of elements For example a caller P_Var which is an array composed of 11 counters can call another array FB_Var composed of 11 word devices lf the array type of one symbol is WORD DWORD or LWORD the data type of the other symbol can be WORD DWORD LWORD or ARRAY Besides the data sizes of the two symbols have to be the same For example if one symbol is an array composed of two word devices the data type of the other symbol can be DWORD Description v Example 1 The data type of P_Var in the caller is WORD and the data type of FB_Var in the function block is WORD gt The second basic principle for the general data types is satisfied As a result P_ Var and FB_Var are legal symbols xX Example 2 The data type of P_Var in the caller is WORD and the data type of FB_Var in the function block is DWORD The second basic principle for the general data types is not satisfied As a result P_ Var and FB_Var are illegal symbols X Example 3 The data type of P_Var in the cal
97. MGR 2 35 2 3 14 Using PMSoft Direct CONNECTION ccecccseeeeeseeeeeeeeeeeaeeeeeeeeeeas 2 35 2 3 15 Using ISPSoft and PMSoft Indirect Connection ccceeeeeeeees 2 36 2 3 16 Practical CONNECTION TESt cccceccccseececeeeeeeseeeeseeeeseeeeesseeeesaeeeeeas 2 45 PMSoft User Manual 2 1 Guide to Starting PMSoft and Introduction of the Environment 2 1 1 First Step of Entering PMSoft After PMSotft is installed shortcuts to the program will be created on the desktop and the Start menu Users can click the shortcut on the Start menu or double click the shortcut on the desktop to start PMSoft Besides several PMSoft windows are allowed The users can start PMSoft again in the same way fim Accessories k aa Communication r 2 Documents lien Games Sim ric T PRMSoft 2 04 PMiaft 2 04 j Pro grams gm Delta Industrial Automation Oracle YM VirtualBox Guest Additions gt Settings I Startup Search t Internet Explorer we msn J Help and Support eo Outlook Express Run yee Remote assistance Windows Media Player OR p My Computer My Documents Pimms ane a e gO My Network Internet Recycle Bin Places Explorer After the welcome screen disappears the Delta PMSoft window will appear There are basic functions available to the users Delta PMSoft File Comummnication Options Window Help B System Information Project
98. NCTION BIOCK ccccccceeeceeeeeeeeseeeseeeeneeeseeeseeeens 6 22 6 2 9 3 Inserting a Comparison COntact ccccccccseeceeseeeesseeeesaeeesaees 6 23 6 2 10 WIOGUIV ING OD CCS eena eran inn rence neeaniiansemriated 6 28 6 2 11 Deleng ODICGIS caraca a E EE ata 6 29 6 2 12 struction Editing MOG Cree sesnssvecessarcousssevimevstesveadsuacssusimesyeatenenedde 6 30 6 2 13 Editing Devices or SyMbOIS cccccccceeecceeecceeeseeesceeesceeesoeees 6 32 6 2 14 Activating Inactivating a N tWOrk ccccseccsseeceseeeeeeseeeseeeneeeneees 6 32 6 2 15 i lo 0 eer ne eee eer rr cone ner eee 6 33 Chapter 7 Instruction List ZN INWOGUCTION SOLAN IMSIFUCUOI LSE eeen diel sie 7 2 7 1 1 STOCU BIS Crepe EE RR RS 7 2 7 1 2 Structure of an INStruction LISt cccccceececeeeeeceeeeeseeeeesseseenseeeenes 7 2 7 1 3 Important Points about Creating an Instruction List cceeeeeee 7 3 L2 EGUUAG EAVIFOMMEN nsn niente 7 3 7 2 1 Introduction of the Editing Environment ccccseeeeseeeeeeeeeseeeeeees 7 3 Fe TOODI erna ee ee eee 7 3 Pee SOMIEX GMOs ccaraciaceacncausadesacseptaqteccatvonecea Geneesateoaueadecaaseatectecentcs 7 4 7 3 Creating an Instruction List in PMSOft cccccseecceseeeeeeeseeseeeeesaeeeeseees 7 5 7 3 1 Opening the Instruction Window cccceecceceeeeeeeeeesseeeeeseeeeseeeeees 7 5 733 2 EQiuno ILWASIUClONS ws sicrsessseavsnavsoaresnrenavenawasacpsesn
99. No cell and select an item in the Radix drop down list cell in the row After the users type a comment in a Comment cell they have to click OK Monitor fable_1 Sele Monitor Table_1 Bix eem e i a LEPPEPTTETTETE a CEEE lp MonitorTable_1 eee ee f Mo hit Monitor Table_1 Sele gt Device No Device which is monitored gt Radix bit A bit device is monitored If the item selected in the Radix drop down list cell ina 11 20 Chapter 11 Online Functions row is bit the value in the Value cell in the row will be O or 1 bitnk Several bit devices are monitored If the item selected in the Radix drop down list cell in a row is bit1k bit2k bit3k or bit4k the value in the Value cell in the row will be a 16 bit value If the item selected in the Radix drop down list cell in a row is bit1k and the device in the Device No cell in the row is M5 the four bit devices M5 M68 will be monitored If the item selected in the Radix drop down list cell in a row is bit5k bit6k bit7k or bit8k the value in the Value cell in the row will be a 32 bit value If the item selected in the Radix drop down list cell ina row is bit6k and the device in the Device No cell in the row is MO the twenty four bit devices MO M23 will be monitored b16 A 16 bit binary value represents the value in a device which is monitored If the item selected in the Radix drop down list cell in a row is b16 the value in the Value cell in the
100. OOL WORD DWORD LWORD FLOAT COUNTER TIMER ARRAY and function blocks Every symbol whose data type is a function block is assigned a P device Besides the system automatically assigns device addresses to the local symbols in a function block instance according to the data types of the local symbols The global symbol table contained in a folder added to Function Blocks in the system information area in a project is edited in the same way as the global symbol table in the project is edited However the global symbol table contained in a folder is only applicable to the function block definitions in the folder and the subfolders in the folder As a result the global symbol table contained in a folder can be regarded as a local variable table in the table Project wee ovmbols Allocation amp Symbols Information Programs Function Blocks Mew Folder Global Symbols Global symbol tables are contained in the folder added to Function Blocks in the system information area and are not contained in the subfolders added to Function Blocks in the system information area 9 5 PMSoft User Manual 5 2 3 I nput Output Pins of a Function Block lf the class of a symbol in a function block is INPUT or OUTPUT the symbol will be the input interface or the output interface of the function block When a POU calls a function block it sends the value in a device to the input pin of the function block After the functio
101. POU However if the identifier of a local symbol declared in a POU is the same as the identifier of a global symbol the system will automatically regard the local symbol declared in the POU as a local symbol The regulations of creating the identifier of a symbol are as follows G codes do not support symbols A symbol can not be declared repeatedly in a symbol table An identifier is composed of 30 characters at most and a Chinese character occupies two characters The identifier of a symbol is case insensitive A symbol can be composed of underlines English letters numerals and Chinese characters Spaces can not be used Asymbol can not be composed of constants or be a number preceded by K KK H HH or F If a symbol begins with DD and DD is followed by a decimal value the symbol represents a 32 bit data registers and is an illegal symbol The identifier of a symbol can not be a name reserved by the system e g an instruction code a device name or a name given a special significance However if a name reserved by the system is a part of the identifier of a symbol the identifier is a legal identifier For example MO is an illegal identifier but _MO is a legal identifier Underlines can be used but they can not be used continuously For example INPUT CHO is a legal identifier but INPUT CHO and INPUT _CHO_ are illegal identifiers An underline c
102. POU on the context menu and click OK in the Warning window Project fen S Mmbols Allocation Symbols Information EP Global Symbols W Frograms Warning 4 010010 ey JX E F eal I E Function Blocks FE E e Hepi WF Programs E Monitor Tables 4 O100_10 JE xrChar HC O g Device Comments at P I OvP_Femc a f x CAM Chart as Function Blocks PEP Setting l Instruction 3 2 4 Managing the Password Protecting a POU Which Isa Function Block If some parts of a program need to be protected users can write the parts in a POU which is a function block and protect the POU by a password A PM password and a PEP password will be introduced in chapter 10 A POU password protects a POU which is a function block in a PMSoft project APM password and a PEP password protect the program in a motion controller 1 If users want to protect a POU which is a function block by a password they have to right click the POU and click Properties on the context menu 3 7 PMSoft Users Manual Project Se Symbols Allocation amp Symbols Information Global Symbols fl Programs Delete POU 1 O00 10 C Gx F af S gf Function Blocks a or Instruction E Monitor Tables I x Chart H Device Comments P OVP_FPMc CAM Chart EA PEP Setting hk The password typed in the Password lt 4 8 chars gt box must be the same as the password typed in the Confirm lt 4 8 chars gt box
103. Program window can not be changed Please see figure 13 12 Create Program lds Programs W Programs 4 0100 POL Name Language 4 0100 a OX SA Ox P Ladder Diagram LD Fa H 0 10 1 Continuous Function Chart CFC 4 2 2 3 3 4 4 5 5 G 6 Figure 13 12 Create Program window 13 2 2 Changing the Property of an 0100 POU If users want to change the property of an 0100 POU they have to right click the 0100 POU and click Properties on the context menu which appears as shown in figure 13 13 Delete FOU Wi Programs Ad 0100 a a POU a act Figure 13 13 Changing the property of an 0100 POU The POU name in the Property window can be changed Please see figure 13 14 POU Name Language Ladder Diagram LD POU Figure 13 14 Property window 13 6 Chapter 13 New Functions and Revised Functions 13 2 3 Deleting a POU If users want to delete an 0100 POU they have to right click the 0100 POU click Delete POU on the context menu which appears and click OK in the Confirm window as shown in figure 13 15 W Programs OJ d 0100 Properties Confirm Ids Programs J o100 O 3 F H S l Figure 13 15 Deleting an 0100 POU If the users want to delete an Ox POU P POU I POU they have to right click the Ox POU P POU I POU click Delete Program on the context menu which appears and click OK in the Confirm window as shown in figure 13 16 Delete Program k lig Programs
104. R EE OReSenEOSoBz E42 Se 100 v Signed Decimal v 7 Local Symbols P Project Identifiers Address Type Initial Comment le Symbols Allocation v i Symbols Information Global Symbols i Programs J 01004 HC Ox ag P af x nahling positive pul a Function Blocks fr Instruction Monitor Tables i X Chart Device Comments E DvP_FPmc CAM Chart 0 PEP Setting j System Information ag HE Net Id 1 f ins 5 LE Method 2 1 Users have to open a window and double click a ppm file in the window Slee File Edit View Favorites Tools Help Back 7 S ka Search er Folders Fa Address C test prog File and Folder Tasks 3 Other Places yi eM Soft projectOS09 project_dyp 2 After the users double click a ppm file the system will open another PMSoft window The users can copy cut and paste parts of the program in a PMSoft window into another PMSoft window 9 6 Chapter 9 Project Management i ECAM Delta PMSoft Program 0100 i File Edit Compie View Commmiwration Options Window Help ij Project_1 Delta PMSoft Program 0100 gM File Edit Compile View Communication Options Window Help Pemanas oo PG SREBOSCZESE Wil De ak dt inh a ach C O Ut Wk Be Be Se 100 M Signed Decimal V System Information xi Local Symbols Pe Ta Project te Class identifi Address Type Initial comm
105. SM project_2 O Documents Desktop My Documents My Computer z My Network File name GCODE T Places Ss Files of type Import Files Cancel After the file selected is imported the instruction list in the Instruction window will be composed of the main program 0100 the subroutine P255 and the motion subroutine Ox0 In the figure below the main program 0100 is composed of the program code which enables a Ox motion subroutine and the program code related to flags the subroutine P255 is a blank program The users can add program code to the main program O100 the subroutine P255 and the motion subroutine Ox0O Besides the system removes the comments the line numbers and the G codes which are not supported in the G codes imported and then put the G codes in the motion subroutine Ox0 Please refer to chapter 7 for more information about the Instruction window _ If the z axis is used the subroutine P255 will be used to control the motion of the z axis 8 3 PMSoft User Manual DA Instruction oooo1 0100 ooooz LD m1002 oooo3 MOV kO d1846 lt i 00004 MOV h1000 d1846 start Ox Main programi 0100 00005 add machine initial prameter here ooo06 00007 if M code ON then clear it 00008 user can use D1703 M code value M1794 code ON bit for specified purposet oooos LDP m1794 ooo1o RST m1744 00011 SET m1744 M code off control bit o001z M102 00013 ooo14 P255 00015 BRET 00
106. Sew comem Y Cut Ctrlt X D Undo Ctrlt F cy deny SE Fedo Ctr Y E ok n A Cut Ctr X Paste Right Ctrl R HA Copy Ctr Paste Down Ctrl D Ej Paste Ctrl V OR AP Delete Del Paste Eight Ctrl k Select All Ctrl aA Paste Down Ctrl D gt m ne F select All triti gt Find eae e Activate Nebaork Inactivate Netarork T Set OW Mur Set OFF Mur 3 The users have to type an object in the Find box and an object in the Replace With box in the Find Replace Ladder window They can do a search on the object typed in the Find box by clicking Find Next If the users click Replace an occurrence of the object typed in the Find box will be replaced by the replacement object If users click Replace All all the occurrences of the object typed in the Find box will be replaced If the users click More they can set replacement conditions Chapter 9 Project Management i Find Replace Ladder Find Replace z Cepece Origin Direction C Current Network f Forward f Entire scope C Backward search By Scope Match Case fa Whole Word i All Program POUs i All FE POUs gt Find Users have to type the text which will be searched for or select text which has been searched for after they click in the box gt Replace With Users have to type replacement text or select replacement text which has been typed after they click in the box gt Origin If the Current Network option button is clicked the search starts at the pos
107. T FB2 Password lt 4 cha Password Confirmation N Oo Aa Imo 3 17 PMSoft Users Manual Export Function Blocks A my Documents EG od My Computer My Recent J mMy Network Places Documents Desktop My Documents a a My Network File name ExpFileNamed hi Save J Places Save as type Export Files fou Cancel After the user click Save in the Export Function Blocks window the POUs selected in the Export POUs window will be exported PMSoft X Export success 3 2 9 Importing POUs Which Are Function Blocks If POUs which are function blocks are imported the folders in which the POUs are contained and the global symbol tables which are contained in the folders will also be imported If users want to import POUs which are function blocks they have to right click Function Blocks in the system information area and click Import Function Blocks on the context menu 3 18 Chapter 3 Program Organization Units Project za o mbols Allocation amp Symbols Information Global Symbols Hew POU f Programs J O00 io f ONT PY amp POP E Po Import Function Blocks m Export Function Blocks e oe Instruction E Monitor Tables IE x Chart KA Device Comments P OVP_FeMc CAM Chart ER PEP Setting Hew Folder 1 After the users select the file which they want to import in the Import Function Blocks window they hav
108. The function block definitions which are added can not be modified and can only be used to produce function block instances Chapter 6 Ladder Diagram Table of Contents 6 1 Introduction of a Ladder Diagram cccccccccseeeceeeeceeeeceeeeseeeecseeeseeeenees 6 2 6 1 1 Ladder DiaQram cccccccsecccsececeececeeeeceeeeceuceceueeseueeseueeseueesueeseeesaeees 6 2 6 1 2 Important Points about Creating a Ladder Diagram c 0008 6 2 6 1 3 Editing Environment essen woxrveasnsunerndeeuduensconeremtwrneweeiamennwenes 6 2 Gba TOODI onioni enpa EEEE EE EE EEE EEEE ES EEEE EE NEES 6 3 oS 76 10 4 181 gt 0 0 e ere Renee a nen nee ee eon ee ere ee 6 4 6 2 Creating a Ladder Diagram in PMSolft cccccceccceeeeeseseeseeeeeseeeeesaaeees 6 5 6 2 1 Adding a POU which is a Ladder Diagram cccsccceeseeeeeeeeeeeaees 6 5 6 2 2 Selecting an Object or a BIOCK cc ceccceccccseeeeceeeeeteeeeesseeeesaeeeseees 6 6 6 2 3 Networks in a Ladder DiaQram cccsscccseeeceeeeceeeeseeeesseeesseeesseeeess 6 7 6 2 4 Making a Comment on a Network c ccccccsseeeeeeeeeeseeeeeaeeesaaeeesaaes 6 9 6 2 5 Making Comments on Devices and Instructions ceceeeeeeeees 6 9 6 2 6 Displaying Hiding Information ccccccseccceeceeeeseeeseeeeeeeeneeeseeesaes 6 11 627 Deyice COMMS NS serrera A AAEE R 6 11 6 2 8 Contacts and Coils scscecnccecccsschancwseevenscimetaun
109. VM ONS eseas REEE EEEE EE 4 15 4 2 6 Exporting Importing a Symbol Table cc ceeeeeeeeeeeeeeeeeeeeeeaeees 4 16 4 2 7 Arranging Symbols ccccccceeeeeceeeeeeeeeeeeeeeeeseeeeeseeeesseeeesseeeeseneeesas 4 18 BZ VMD OCA eE 4 19 Ae yD ONS Oa WO seis ice esa E E 4 20 PMSoft User Manual 4 1 Introduction of Symbols During the process of developing a traditional program for a PLC it generally takes much time to manage device addresses Besides managing or debugging the program in a big project is a burden on users As a result the concept of symbols in a high level programming language is introduced into IEC 61131 3 A device in a PLC can be represented by a symbol and a device can be automatically assigned to a symbol The time of assigning devices is saved a program is more readable and the efficiency of developing a program increases Variables in PMSoft are called symbols As a result variables are the same as symbols in terms of meaning in this manual 4 1 1 Application of Symbols and Creation of I dentifiers A symbol has to be declared before it is used There are two types of symbols They are global symbols and local symbols The global symbols in a project can be used in all the POUs in the project and the local symbols in a project can only be used in the POU in which the local symbols are declared Besides the identifier of a local symbol in a POU can be the same as the identifier of a local symbol in another
110. WCONFIG 2 Project C Program Files DELTA Industrial AutomatiorilSFSoft 2 00FrojectiFroject_1 isp G amp Device Corment amp Used Device g HWCONFIG D CARD Utility EP Global Symbols i bi Programs p Function Blocks amp Device Monitor Table PP APIs Bel 7 Fie Edt compie View Commmication Options Window Help SSE A EE IESER Eg D GF amp Foose aHe De 4b ve anh am Gp 100 Signed Decimal w 7 O H L system Information x Local Symbols T Project Class Identifiers Address Type Initial Comment wae Symbols Allocatic VAR i Symbols Informa EY Global Symbols lig Programs go Function Blocks or Instruction Monitor Tables i xchat K Device Commen o0002 D OVeP_FPNC CAM Chart he t iii gt system Information P PF Net Id 1 ENNS y Modified E 4 After the users click Communication Setting on the Communication menu in PMSoft the 2 43 PMSoft User Manual Communication Setting window will appear The users have to select the AH CPU option button select the correct rack number and select the correct slot number aie Options Window E IPG Download Program Ctrl F8 Communication Setting E Upload Program Ctrl F9 Driver Driver R5232 i Password Setting Ctrl W TY Em 0100 Ctrl F11 stop 0100 Ctrl F12 IP Address a N System Log O O Connection T3 PM Informat 5 S AHcePU llRack1 Sioto m Edit Register Memory TL Edit Bit Memory Monitoring
111. a Driver Uap USB COMES Reti Timelut 3 me IP If users want to delete a driver they have to make sure that the driver stops select the driver and click Delete or press Delete on the keyboard to delete the driver T COMHGR Mame Description etatus EP Driver Etherne Ethernet AMD PCNET Family FCI Ethernet Adapter Packet STOP G Drive FS232 R3232 COMA ASCII Protocol 9600 7 e 1 Retry 3 TimeQut STOP 2 3 12 Connecting a PLC and a Communication Port Communication After all the setting is complete users can connect a PLC to the communication port specified through a communication cable ISPSoft PMSoft can be connected to a motion controller in two ways If a motion controller is regarded as an independent motion controller and a computer is connected to the motion controller directly the connection is called a direct connection If a motion controller is an extension module in an AH500 system a computer is connected to the CPU module in the AH500 system and the computer is connected to the motion controller by means of a 2 31 PMSoft User Manual backplane in the AH500 system the connection is called an indirect connection Different connection types must be used with different software Some common ways to connect a PLC to a communication port and some points for attention are listed below Please refer to operation manuals for more information about connecting PLCs to communication ports Direct connection 1
112. aawinanuusseunseussndsantes 8 13 Chapter 9 Project Management Pig PROE 102 genet eae ret eter eee ear meena ar ee 9 2 9 1 1 Creating a New Project cccccccsecccsseeceececeececececeucecsusessaeessaeesseeeeas 9 2 9 1 2 Changing the Model and the Project information cccccseeeeeees 9 3 DS QpPeniinG aPiOjeChistarnicet eacct Sein ce e behest bale takai teh aese al 9 4 9 1 4 Opening a Recently edited Proje ct cceccccseececseeeeseeeeeseeeeeseeeeeeas 9 7 Lio SWM SAVING AS sic esosesqussatesmeusoisgaciosyenavneiunausseeeaauiusueueseyeunmeuswenaeenes 9 7 OG OSI GRAN ONC eateries EE he eee ere eee 9 8 Sei PARNO a tos sbotanecsiebstataninatanetbenanetamsasnenate 9 9 JW EXN JV e ee I ee ene 9 11 9 2 Functions Related to Project Management cccccccseeceeeeeeeeeeeeeeeees 9 12 9 2 1 System Information Asrea cccccccccececcseecceeecceeecceeescseeseeeseeesoeees 9 12 9 2 2 Searching for Replacing an Object in a Ladder Diagram 9 12 9 2 3 Searching for Replacing an Object on an Instruction List 9 15 9 2 4 Searching for an Object in a Symbol Table ceeeeeeeeeeeeeee tees 9 18 9 2 5 Checking and Compiling the Program in a Project cccccceeeees 9 19 Io EXAMS S a nutes odeden 9 20 Chapter 10 Managing Passwords 10 1 Managing Passwords in PMSOft ccccccccccseceeeeeeeseeeeeseeeesaeeeesaaeees 10 2 10 2 PNF AS SW OM cr atetd c
113. ables Monitor Tables IE xvchar ale i a aril a a K Device Comments a gt I OvP_FPMc E CAM Chart CAM Char E PEP Setting E PEP Setting 2 If the users want to change the name of the folder added they have to right click New Folder click Rename Folder on the context menu type a folder name in the Rename Folder window and click OK Project Ge Symbols Allocation Symbols Information Global Symbols Programs J 0100610 f Ox r3 P ari gl Function Blocks fr Instruction Monitor Tables J XyChart A WA Device Comments I CFP_FPMC CAM Chart PEP Setting Hew POT Hew Folder Delete Folder Ej Rename Folder Folder Ware Process Datal lt R p Function Blocks A Process Data A global symbol table is in the folder added Please refer to section 5 2 2 for more information The users can add a subfolder to the folder in the way described above a Function Blocks a Function Blocks 4 Process Data Global Symbols f Process Data Global Symbols Inoi 3 The users can add a new POU which is a function block to the folder in the way described in section 3 2 1 They can also drag a POU which has been created to the folder 3 11 PMSoft Users Manual a Function Blocks a Function Blocks J Process Data AP Process Data Global Symbols Global Symbols G InfO_T ye A nfo A Save Data S afi En 1 En ee AGS Save Data JFB 7
114. about assigning a device to a symbol After users double click Symbols Allocation in the system information area the Symbols Allocation window will appear After the users set device ranges in the Symbols Allocation window they have to click Apply System Information J E Project noo Smkbols Information gP Global Symbols 4 Programs J O00 10 Ox EP a f a l J e Function Blacks f FBO on Instruction Monitor Tables I X Chart K Device Comments D OVP_FPMc CAM Chart E PEP Setting system Information Symbols Allocation Set the device range of system symbols The setting range of device will be allocated by system for symbol declaration in Bit Range Ml 3000 TO Word Range D 7000 TO Timers T _ 100ms Counters C 100 TO vr vr Pointers FP Clear all allocated a a A resses 200 TO The device types that an AH500 series motion controller has are different from the device types that a DVP series motion controller has The device types which can not be used are shown in grayscale If the users click Clear all allocated symbol addresses in the Symbols Allocation window the device addresses assigned to the global symbols and the local symbols will be cleared PMSoft User Manual Global Symbols Global Symbols Identifiers Address Type Initial Comment Var OFOod WORD g5 Wara M3000 BOOL FALSE Wari M3001 BOOL FALSE Yara M3002 BOOL FALSE Symbols Allo
115. act that Instruction Wizard does not support G codes the users can only use method 2 if they want to insert a G code e Method 1 Instruction Wizard 1 The users have to click a line into which they want to insert an instruction in the working area oooo1 O100 ooooz LD MO oooo3 AND M1 oooo4 OR HM oooos OUT MS ooone oooo7 M102 6 2 After the users click appear on the fast toolbar the Application Instruction window will OGer Application Instruction AILAPL Basic Loop Transfer Math Ext IO Float Data Delta Compare Motion API No Application Instruction i Function Cancel 3 The users have to select an instruction type select an instruction in the API No drop down list box or the Application Instruction drop down list box select devices which are supported according the explanation at the bottom of the window and click OK 7 6 Chapter 7 Instruction List Application struction All API Loop Transfer Math ExtIO Float Data Delta Compare Motion API Mo 96 Application Instruction TMR Function Timer Device Number 0 Device Number O K F Kex Koay Kom Kns D v Z P x mM s T c Explanation Device Explanation Timer number V oooo1 1100 ooooz LD MO oooo3 AND M1 oooo4 OR M oooos OUT H3 oooos THE TO DO oooo 7 MLO oooog e Method 2 Typing an instruction Users have to type an instruction in the working area according to the format of t
116. ad Program on the Communication menu or i on the toolbar the Data Transfer window will appear Commniucation Options Window E IG Download Program Ctrl F8 PS Upload Program Ctrl F D Password Setting CtrtW Y Emolo Ctr Fll amp step 0100 Ctrl F12 EH System Log PM Information min Edit Register Memory T Edit Bit Memory Monitoring E Communication Setting Data Transfer Transfer Options iw Program CAM Chart Parameter Copy SRAM to Flash Password Apply PEP Setting 2 Selecting Unselecting the Password checkbox Selecting the Password checkbox setting a password and clicking OK gt Ifthe users have not set a PM password for the motion controller the program and the password set in the Data Transfer window will be downloaded to the motion controller gt Ifthe users have set a PM password they have to type the PM password in the PM Password Setting window After the users click OK in the PM Password Setting window the program and the password set in the Data Transfer window will be downloaded to the motion controller 10 4 Chapter 10 Managing Passwords PMSoft Eg Data Transfer Transter Options R Program Users have not CAM Chart set a PM password Transfer Complete Parameter Copy SRAM to Flash Password 4 5 Characters OR 6 E Confirmation Apply PEP Setting PM Password Setting PMSoft Users have Enter Password Smead D
117. aded to PMSoft Data Transfer PMSoft Transfer Options Transfer Complete AICI Users have CAM Chart not set a PM Parameter password Read PEP OR PM Password Setting PMSoft fx Users have Enter Password set a PM password Cancel o I w A a j 10 3 PEP Password Users can protect POUs which are programs by means of setting a PEP password They can decide whether to protect the main program O100 the Ox motion subroutines Ox0 Ox99 and the P subroutines PO P255 Before the users download the POUs which are programs in a project to a motion controller they can set a PEP password After the PEP password is downloaded to the motion controller the POUs which the users decide to protect will be protected by the PEP password If the users want to upload the POUs which are protected by the PEP password they have to type the PEP password 10 3 1 Storage Areas in a Motion Controller The memory in a Delta motion controller is divided into two parts One part is a general program storage area and the other part is a program protection storage area The data stored in the general program storage area is the data which is not protected by a PEP password and the data stored in the program protection storage area is the data protected by a PEP password There are two types of Delta motion controllers They are DVP series motion controllers and AH500 series motion controllers The division of the memory in a DVP series moti
118. age area is not automatically hidden the users can press the left mouse button while the mouse cursor hovers over the tab and move the mouse cursor to any position the other area while holding the left mouse button down If the users want to drag the whole area they have to press the left mouse button while the mouse cursor hovers over the title bar and moves the mouse cursor while holding the left mouse button down amp Project 1 Delta PMSoli Tee Cogimimcalion Optica oder alp Projeti Dela PMSoli Vere Commie Gpe Wimke jalp ii ty amp is Gy amp m t m bart Projet ae Syne Aleator amp Sarmbols Information E Global Sebis W Programs 4 100 iid T On nP EY gy Function Blocks i niatan Moniku Tables IE vGnan iA Dawice Comments Erno Messages la y Projtet ae giboni Allocagon 2 Syrnbole infeemation oth Eror Massages CY 2 9 PMSoft User Manual amp Project_1 Detta PaSa EBR L Projech 1 Detia Pisal Tee Ceommmuucalion Qiplica Worker lijalp Yew omineen Gpe Wiske Jalp i Gy amp ng e i i z m J beh 3 een an Project ae SeTMbOSs Allocalion fe Emboke intonation EF ional Symbols W Programs ae mbole Allocadon Symbols Information at Glnkeal aenhnle En 7 Mess ants Gyan hannah 2 1 6 Working Area All windows are displayed in this area If a window is maximized or minimized it is maximized or minimized in this area If a window is maximized the statu
119. an not be put at the end of an identifier Special marks can not be used For example and etc can not be used Ifa device is assigned to a symbol users have to make sure that the device is in the device range allowed fan index symbol is used the index register modifying it must be in the range of VO V7 orZ0 Z7 A folder added to Function Blocks in the system information area contains a global symbol table and the global symbol table is applicable to the function block definitions in the folder and the subfolders in the folder Please refer to section 5 2 2 for more information Program 0100 Secs Local Symbols Class Identifiers Address Type Initial Comment VAR test_in BOOL FALSE 4 2 Chapter 4 Symbols 4 1 2 Classes In terms of functions symbols can be classified into four classes The characteristics of these four classes are described below VAR General symbol The symbols of this class are for general operations only The significance of a symbol of this class depends on the data type of the symbol INPUT Symbol used as an input pin of a function block A symbol of this class is used as an input pin of a function block It can only be declared in the function block If a function block is called the symbols of this class can receive the input values sent by the caller Besides in a ladder diagram the symbols of this class are put at the left sides of function blocks a
120. an AH500 series CPU module they have to make sure that the driver is started in COMMGR After the users click OK the communication setting is complete The communication setting varies with the driver selected Communication Setting Driver Radia lt Driver RS232 Driver Usb Driver Ethernet Driver ntation Address IF Address gt RS232 and USB Users have to select the station address of the CPU module connected to the computer in the Station Address drop down list box If the station address selected is 0 a broadcast communication will be carried out Communication Setting Driver Driver RS232 Station Address IF Address gt Ethernet Users have to select the station address of the CPU module connected to the computer in the Station Address drop down list box If the station address selected is 0 a broadcast communication will be carried out The users also have to select the IP address created in COMMGR in the IP Address drop down list box 2 37 PMSoft User Manual Communication Setting Driver Driver Ethernet bal tation Address 6 IF Address 192 162 1 1 192 168 1 1 Setting HWCONFIG HWCONMFIG is a hardware configuration tool for Delta PLCs It helps users configure the hardware in a system set the parameters in the system and download the setting values to the CPU module and the modules in the system If a motion controller functions as an extension mod
121. and is the object of an operation An operand can be a device a symbol or a constant In the example below OUT is an operator outputting a state and M3 is an operand which acts an output object 7 2 Chapter 7 Instruction List OUT M3 L Operand Operator IL instructions can be classified into basic instructions and applied instructions Please refer to DVP PM Application Manual for more information about the usage of IL instructions 7 1 3 Important Points about Creating an Instruction List e As long as the format of an instruction is not destroyed leaving spaces is allowed An instruction list is case insensitive That is the words OUT Out and out have the same meaning e f users want to use constants in a program created by means of an instruction list in PMSoft the constants must be represented in the following ways gt Decimal value 2345 gt Hexadecimal value 16 5BA0 gt Floating point number 4 123 A instruction list still supports the use of K and the use of H e There is no limit on the number of lines which can be created but users still have to consider whether the size of the program compiled exceeds the capacity of the memory in the motion controller used e The sections of an instruction list in PMSoft can be copied cut pasted Users can copy the text in a file edited with a text editor into an instruction list in PMSoft 7 2 Editing Environment 7 2 1 Introduction of the Editing Environment The e
122. and the Symbols Used in the POU If an identifier in the local symbol table in a POU is changed the symbols corresponding to the identifier in the POU will also be changed as shown in figure 13 39 amp Program POU_1 DOR Local Symbols Class Identifiers Address Type Initial Comment VAR BOOL VAR FBI instt amp Program POU_1 Local Symbols Class lt Identifiers Address Initial Comment vit festa O O O Fer FAT inst t Figure 13 39 Automatically updating a symbol 13 18 Chapter 13 New Functions and Revised Functions 13 5 2 Viewing the Statuses of the Axes of a Motion Controller When a motion controller is monitored users can view status of the axes of the motion controller by clicking View Axis Status on the View menu If users find that an error occurs in an axis they can click System Log in the Axis Status window and view the error log in the System Log window as shown in figure 13 40 Axis Status Sec Axis Status Tiew Comumiunication Options Windc Description Ger Instruction Error JE xy chat Stop JE 3D Chet atap al Edit Device Comments Error Stop E Add Monitor Table Stop i add CAM Chat Stop View System Infomati a Ler oyster OATI a Stop View Error Message Box o Stop Stop View Ratio 100 Ww Moritorng Radix Signed Decimal System Log Description The positive pulses generated by motion are inhibited The motor used comes into c
123. ardware Wizard This wizard helps you install software for IF your hardware came with an installation CD or floppy disk insert it now What do vou want the wizard to do Install the software automatically Recommended Install from a list or specific location Advanced Click Next to continue A N O N lt back News 3 After ISPSoft version 2 00 or above is installed the USB driver for an AH500 series PLC will be installed in the folder denoted by the path C Program Files Delta Industrial Automation SPSoftx xx drivers Delta_PLC_USB_ Driver If the users get the driver in another way they have to specify the path denoting the driver After the users specify the path denoting the driver they have to click Next Found New Hardware Wizard Please choose your search and installation options Search for the best driver in these locations Use the check boses below to limit or expand the default search which includes local paths and removable media The best driver found will be installed Search removable media floppy CD ROM Include this location in the search Se C Program Files Delka Industrial Automation SFS ott w Don t search will choose the driver to install R amp Choose this option to select the device driver from a list Windows does not guara O at the driver you choose will be the best match for your hardware xO 4 After the driver denoted by the path which
124. are as follows Users can assign devices to the global symbols and the local symbols declared in the POUs which are programs The system can also automatically assign devices to the global symbols and the local symbols declared in the POUs which are programs Ifa local symbol declared in a function block is not a symbol of the VAR class the system will automatically assign a device to the symbol and users can not assign a device to the symbol The devices assigned by the system are usable devices Users can set a range of devices which can be assigned automatically lf asymbol is declared the device assigned to the symbol the data type of the symbol and the initial value of the symbol must be compatible with one another The relation between the data types and the device types which can be assigned is described below DVP Daa A800 NP type Device assigned by Device assigned by Device assigned by Device assigned by users the system users the system Contact M SM or BOOL bit in the device Contact M SM Contact M X Y Contact M X Y 3 WORD D W X Y SR V DW Y DW E E ow w o o o LWORD D W X Y SR FLOAT D W X Y SR 4 4 Chapter 4 Symbols Data A500 NP type Device assigned by Device assigned by Device assigned by Device assigned by users the system users the system The devices assigned to a symbol whose data type is ARRAY depend on the array type specified An array is composed of the devices starting from the dev
125. area in a program editing window a context menu will appear as shown in figure 12 3 The functions of the items on the context menu are described in table 12 2 G undo ChhZ D Redo Ch MN Cut Chk HS copy Ctrl c T Paste Chey SP Delete Del Select All Cirt Auto Generate Symbols Fm Ctrl F Replace trl H Ji Comment skuft F10 Execution Order t Actrrate Tnactivate JEN En Shift F12 c Hegate Shift Fs E Rising Falling Shift F2 Set Reset Shift F7 Crossing Line T Set OH Him Set OFF Hum Figure 12 3 Context menu 12 4 Chapter 12 Continuous Function Chart Table 12 2 Description of the context menu Item Function Undoing the last action The number of previous actions which can be undone is 20 Redoing an action which has been undone Cutting the object selected Copying the object selected is 20 Pasting the object which has been copied or cut on the present position Deleting the object selected SelectAll Selecting all the objects in the program editing area ion Auto Generate Automatically assigning symbols to the pins of a function block Symbols Please refer to chapter 13 for more information Searching for an item Please refer to chapter 9 for more information Replacing the item found with another item Please refer to chapter 9 Replace for more information Comment Inserting a comment in the position to which the mouse cursor moves Users can set the
126. area will be cleared only if the Apply PEP Setting checkbox in the Data Transfer window is selected After users disable the protection of POUs in a project select the Apply PEP Setting checkbox in the Data Transfer window and download the program in the project to a motion controller the data in the program protection storage area will be cleared the POUs which are protected by a PEP password in the project will be stored in the program protection storage area the POUs in the general program storage area will be cleared and the POUs which are not protected by a PEP password in the project will be stored in the general storage area This method can be used if a POU which is protected by a PEP password has to be added In the figure below 0100 is stored in the general program storage area and Ox0 is stored in the program protection storage area After the protection of Ox0 is disabled and the Apply PEP Setting checkbox in the Data Transfer window is selected 0100 Important Points about Disabling the Protection of POUS 10 13 PMSoft User Manual and Ox0 will be stored in the general program storage area and the data in the program protection area will be cleared PEP Setting J 0100 0100 a is 0100 amp Ox0 mae program He General program storage area 9 F Apply PEP Setting stole alee D 4 0 Characters D Confirmation Disable the protection of OxO Original data select the Apply PEP Setting New data checkbox typ
127. as four pairs of decimals for the sake of simplification The path shown below can be drawn on a XY plane by means of G codes The motion controller which is used is DVP 20PMO00D 10 0 70 0 20 0 70 0 10 0 10 0 20 0 10 0 Programming order 1 Writing the main program 0100 2 Setting and enabling the motion subroutine Ox0 in 0100 8 5 PMSoft User Manual 3 Writing G codes in the motion subroutine Ox0 8 2 2 Explanation 8 6 Main program 0100 The special registers which are used are described below Please refer to DVP PM Application Manual for more information M1002 M1002 is used for initializing setting If the motion controller used is set to Auto M1002 will be ON in the first scan cycle and will be OFF thereafter D1848 amp D1849 The values in D1848 and D1849 represent the current position of the x axis D1928 amp D1929 The value in D1928 and D1929 represent the current position of the y axis D1868 The value in D1868 is H8000 It indicates that the motion subroutine number used is Ox0O M1074 If M1074 is set to ON the motion subroutine Ox0 will be enabled Program 0100 M1002 D18248 tabling positi Current posi D1928 Current posi M1074 Enabling OF Heoou D1268 setting up tl Motion subroutine Ox0 The G codes used are described below Please refer to DVP PM Application Manual for more information G90 The coordinates used are absolute coordinates GOO It move
128. ave axis are shown in this section They are calculated by the system according to the data related to displacement Users can change the maximum acceleration of the slave axis and the minimum acceleration of the slave axis by themselves Data setting The description of the relation between the master axis and the slave axis in terms of displacement is shown in the Data Setting window The displacement resolution set in the data setting area will be brought into the Data Setting window after the Data Setting window is opened If users click the Apply B spline checkbox in the data setting area B spline will be automatically selected in the Data Setting window Import Importing the description of the relation between the master axis and the slave axis in terms of displacement Export Exporting the description of the relation between the master axis and the slave axis in terms of displacement Importing speed data Importing the description of the relation between the master axis and the slave axis in terms of speed After the users click Data Setting in the CAM Chart 0 window the Data Setting window will appear The Data Setting window is composed of sections The users can set a section of acam curve in every section Acomplete cam curve is composed of several sections The users can set 360 sections at most An electronic cam cycle is composed of the sections created by the users Displacernent Resolution 2047 Apply B Splin
129. ave to set a starting relay in the CPU module For example the data in the devices starting from MO will be sent AHCPU gt gt AH10PM AH10PM M Device Start Number Before the CPU module sends data to the motion control module users have to set a starting relay in the motion control module For example the data sent by the CPU module will be stored in the devices starting from M100 in the motion control module AHCPU gt gt AH10PM M Device Size Users have to set the length of the data which will be sent For example the data in 50 relays will be sent Setting the project management area in ISPSoft Users can manage the projects in the project management area in ISPSoft If users want to use a motion controller as an extension module in an AH500 system they have to create a motion project in the project management area in ISPSoft 1 After users start ISPSoft they can see Motion Module in the project management area After the users right click Motion Module a context menu will appear After the users point to Motion Module on the context menu they can click New Motion Module or Add Existed Motion Module on the menu which appears 2 40 Chapter 2 Starting and Setting aa NWCONFIG fF Project C Program Files DELTA In G amp Device Comment amp Used Devic g HWCONFIG gt D CARD Utilit ee Wotion WIodue Add Existed Motion Modile gD Global Symbols W eae Haie phe i Pesce p Function Blocks Dev
130. bols Select window all the symbols in the Symbols section will not be selected If the users right click a device monitoring table click Insert Symbols on the context menu click a POU in the Object Source section select symbols in the Symbols section and click Apply in the Symbols Select window the symbols selected will be added to the device monitoring table After the users click Apply they can click another POU in the Object Source section and select symbols in Symbols section MN Cut Ctrl MonitorTable_1 HA Capi Chee E Paste Ctrl 2 Delete Del Select All Otri Insert a Kow Ctrl I Delete Selected Rows Ctr D Insert Moltiple Devices Ctrl M Insert Sytubols Ctrl B Change Radix Ctr k After the users add a symbol in a POU to a device monitoring table the symbol and the POU will be shown in a Device No cell 0100 Switch_1 in the figure below indicates that Switch_1 is a symbol declared in the main program 0100 The users can also add a symbol to a device monitoring table by means of the keyboard they use Chapter 11 Online Functions Symbols Select select symbols and add to the device monitoring table Object Source symbols EP Global Symbols W Switch 1 BOOL S Programs LJ switch 2 BOOLI O Light 2 BOOL ge Function Blocks amp MonitorTable_1 pevce No Radix vae comment e bit Input_1 bit hit After the users right click the blank in a device monitoring table they can click Cut Copy
131. can operates cyclically or non cyclically If an electronic cam operates non cyclically the relation between the master axis of the electronic cam and the slave axis of the electronic cam will be maintained for only one cycle If an electronic cam operates cyclically the relation between the master axis of the electronic cam and the slave axis of the electronic cam will be repeated Users can create 12 cam charts at most in a PMSoft project Only three of the twelve cam charts created in a project for a DVP series motion controller can be used and the twelve cam charts created in a project for an AH500 series motion controller can be used 8 4 Example 8 4 1 Drawing a Path by Means of an Electronic Cam Program requirement Users have to create the cyclic electronic cam relation shown in figure 1 The master axis is the y axis of the motion controller used The output terminals FP1 FP1 RP1 and RP1 of the y axis are connected to the input terminals A0 AO BO and BO of the pulse generator which are connected to the output terminals of the x axis of the motion controller as shown in figure 2 If MO is ON the signals sent to the input terminals of the pulse generator will undergo the transformation related to the electronic cam and the transformation results will be sent to the output terminals of the x axis The x axis is the slave axis The motion controller used is Chapter 8 G codes and Electronic Cams DVP 20PMOOD 10 0
132. cation Set the device range of system symbols The setting range of device will be allocated by system for symbol declaration in Bit Range M 3000 TO 4095 Word Range D 7000 TO 9999 Timers T _ 100ms Counters C 100 100 TO J199 Pointers P _6 clear all allocated symbol addresses all allocated clear all allocated symbol addresses addresses Global Symbols Seles Global Symbols Identifiers Address Type Initial Comment Var WORD g5 Wara BOOL FALSE Wari BOOL FALSE Yara BOOL FALSE 1 There are restrictions on setting device ranges For example users can only set timers which take 100 milliseconds as a unit of measurement for time the D registers which can be used start from D2000 the M devices which can be used start from M2000 the C devices which can be used are 16 bit counters If a device address typed is not correct the system will modify it automatically 2 Only AH500 series motion modules are equipped with W devices and SM devices Besides D devices are assigned before W devices are assigned and M devices are assigned before SM devices are assigned 4 2 9 Symbols Information After users declare symbols they can view the information about the symbols declared in the POUs created by means of Symbol Information in the system information area After the users double click Symbol Information in the system information area the Symbol Info window will appear After the use
133. cation Instruction E Function Figure 12 26 Instruction Wizard 2 The users have to select an instruction type select an instruction in the API No drop down list box or the Application Instruction drop down list box select devices which are supported according to the explanation at the bottom of the window click OK move the mouse cursor and click a position in the program editing area as shown in figure 12 27 Application mr OQ All AFI Basic Loop Transfer Math Ext IO Float Data Delta Compare Motion Application Instruction TMR Function Timer Figure 12 27 Instruction Wizard 12 14 Chapter 12 Continuous Function Chart e Method 2 Keyboard When the users type an instruction the New Instruction window appears After the users type an instruction in the Instruction box they have to press Enter on the keyboard or click OK in the New Instruction window If the users move the mouse cursor and click a position in the program editing area the instruction will be inserted The instruction that the users type is case insensitive If the users type an incorrect applied instruction or an incorrect device name an error message will appear after they click OK Please see figure 12 28 New Instruction Instruction Figure 12 28 Keyboard 12 2 6 2 Inserting a Function Block There are two methods of inserting a function block Users can use one of the methods according to their habit Method 1 Dragging a fu
134. cation port number specified does not exist e g the cable converting USB to RS232 is removed the driver can not be started gt f a driver to which a communication port is assigned is started software which is not connected through COMMGR can not use the communication port assigned to the driver If the software wants to use the communication port users have to stop the driver gt f a communication port is used by software not connected through COMMGR a driver to which the communication port is assigned can not be started If users want to start the driver they have to close the software or the software has to use another communication port 2 3 11 Configuring Deleting a Driver If users want to modify the values of the parameters for a driver they have to stop the driver and click Configure or double click the driver to open the Driver Properties window The users can set the parameters in the Driver Properties window according to the descriptions in the previous sections 2 30 Chapter 2 Starting and Setting E COMMGR Mame Description mitatis EP Driver_Etherme Ethernet AMD PCNET Family PCI Ethernet Adapter Packet STOP C Driver RS232 RS232 COM4 ASCII Protocol 9600 7 1 Retry 3 TimeQut STOP Drive i a CU et imeOut l COMHMGR Mame Description otatus Driver_Etherne Ethernet AWD PONET Family PCI Ethernet Adapter Packets STOP T Drive FS232 R3232 COM4 ASCII Protocol 9600 7 e 1 Retry 3 TimeQut STOP e
135. cccsssseeccsseeeeceeeeeeeseeeeeseaeeeesees 2 30 Connecting a PLC and a Communication Potft cccccecseeeeeeees 2 31 Creating a Connection Between ISPSoft PMSoft and COMMGR 2 35 Using PMSoft Direct CONNECTION ce cceeceeeeeeeeeeeeeeneeeeeeaeeeeeeees 2 35 Using ISPSoft and PMSoft Indirect Connection c ccceeeeeeee 2 36 Practical Connection TeStieiuenwmeinnunnniwnennnnnannn mane 2 45 Chapter 3 Program Organization Units 3 1 Knowing Program Organization Units POUS cccecccseeeeeeeeeeeeeeeees 3 2 3 1 1 Program ArCNIECIU O tcscussneviwevenavs nur soasyversene eoveiaxeeavedavpbuvenacianuareoutyle 3 2 eM VIN recht endctes ere ka ents ee ete vated vn ve tres Sede evened tee 3 2 Sk FOUSIMEPMSOM Ieee Bre eres rte eae ate ee wv ee me cer atte ret Mer ee eee ee eee 3 2 Se IMaMAGINGHP OWS ivererineitnsi innit e E E E R E E iene bie 3 3 3 2 1 Adding a POU six cnewseiair ier 3 3 3 2 2 Changing the Attributes of a POU Which is a Function Block 3 6 oc ame B a e 2 gO 0 Renee ere mer en eee ee terre ee erin eee Merete meereat tenet 3 6 3 2 4 Managing the Password Protecting a POU Which is a Function Block a et te tn ert ee en reer mre ttre 3 7 3 2 5 Managing POUs which are Function BIOCKS cssceeseeeeeeeees 3 10 3 2 6 Exporting POUs Which are Programs ccccceseeeeeseeeeeeeseeseeeeeees 3 13 3 2 7 Importing POUs Which are Programs
136. chart can be created is opened a toolbar will appear in the Delta PMSoft window as shown in figure 12 2 The functions of the toolbar are described in table 12 1 PMSoft toolbar Bore G opie ddd as io Be EE SM Fp 100 w Signed Decimal vo f O H L Figure 12 2 PMSoft toolbar Table 12 1 Descriptions of the PMSoft toolbar lco Keyboardshortcut Function ee Shift F9 Input node 2 Shift Output node Shift F10 tk Shit OUT gate DR Shift FA AND gate ShifF2 ORgate den Shift F12 Enabling Disabling the EN pin of a function block or an Instruction F F Setting Resetting a pin 12 3 PMSoft User Manual Icon Keyboard shortcut Function Objects are reassigned numbers according to their None data flow and then all objects are arranged according to the order in which they are executed PMSoft zooms out on all objects automatically so that None all the objects can be seen l Alt F7 Checking a program Ctrl F7 Compiling a program n Transforming the instruction list into a ladder diagram er None The function is not applicable to continuous function charts an Displaying information 100 w Zooming in Zooming out When the online monitoring function is enabled the node selected is set to ON Num When the online monitoring function is enabled the node selected is set to OFF Num Signed Decimal Converting the values monitored T 12 1 5 Context Menu After users right click the working
137. ck instance will be produced even if it is not used in the program in the project If a function block is called by a POU the modification of the definition of the function block will change the appearance of the function block in the superior POU After users modify the definition of a function block they have to check whether the input pins and the output pins of the function block are correct If a POU which is a function block is deleted the function block representing the POU in the superior POU will be marked with a cross and users have to delete the function block FB1 instl FB1_ insil in 1H ar_l Var_2bMout_1 aH aAA Le 5 2 5 Calling Relation Between Function Blocks In PMSoft a function block can call another function block and 32 layers of function blocks at most can be called The function block instance called by a POU which is a program is the first layer The program in function block A calls function block B and the program in function block B calls function block C In other words function block A is superior to function block B and function block C and function block B is superior to function block C In PMSoft a function block is not allowed to call itself As a result if function block A is superior to function block B function block B and function block C can not call function block A but a POU which is a program can call function block A function block B or function block C mHE Heg If function bloc
138. clared in a symbol table 1 After users click a pin of a function block in a POU they can type text as shown in figure 13 30 Program POU_1 amp 5 Eg Local Symbols Class Identifiers Address Tye Initial Comment VAR FA1_inst1 Figure 13 30 Clicking a node 13 13 PMSoft User Manual 2 After the users type an identifier and press Enter on the keyboard the Add Symbol window will appear as shown in figure 13 31 The identifier and the data type of the pin are automatically brought into the Add Symbol window The users can type other information If the Add to global symbol table checkbox is selected the symbol will be declared in the global symbol table If the Add to global symbol table checkbox is unselected the symbol will be declared in the local symbol table in the POU FB1_insil Eno VAR 2P Vv ldentifier Address Type Initial Comment Add Symbol int BOOL Figure 13 31 Adding a symbol 13 4 4 Automatically Assigning Symbols to the Pins of a Function Block If users want to assign symbols to the pins of a function block in a POU at a time they have to right click the function block point to Auto Generate Symbols on the context menu which appears and click Generate by Default or Input Words by Prefix Please see figure 13 32 C Undo Ctr z GS Eedo Chl MV Cut ChE HA Copy Ctrl C Ej Paste Ch Paste Fight Ctrt k T_AbsSerzl Ul Paste Down Ctrl D
139. ct All Ctrh Replace Ctrl H A 3 The users have to set search conditions in the Search Text window After they click OK the gt gt Search Text window will be closed automatically and the search for the text typed in the Search for box will be carried out i Search Text Search for Direction Forward C Backward Options Case sensitivity Whole words only W Search from caret Selected text only Cancel Regular expression Search for Users have to type the text which will be searched for or select text which has been searched for after they click in the box Case sensitivity PMSoft searches only for words that match the case of the word that users type in the Search for box Whole words only The Whole words only checkbox instructs PMSoft to find complete words only and not to find words that only contain what users type Search from caret If this checkbox is selected the search will start at the text cursor If this checkbox is not selected the system will search the whole program Selected text only If this checkbox is selected the search will start at the text selected Regular expression If this checkbox is selected regular expressions can be used in the Search for box Direction Users can search down or search up Aregular expression is a type of standard syntax Please refer to related technical documents for more information Replacing an object 1 After users
140. ction blocks present characteristics and advantages that traditional programming of a PLC does not have function blocks are supported by IEC 61131 3 Modular design A large program is divided into several subroutines and the subroutines are created as function blocks The function blocks are arranged and called by POUs which are programs Reusable Once a function block is created it can be used repeatedly as long as users conform to the rule of using the function block Highly portable After a function block is created it can be used in the original project Besides after the function block is exported it can be imported into another project As a result users can gradually create their own function blocks Function blocks can be maintained conveniently The program in a function block is an independent module If an error occurs in a function block or the function of a function block does not meet the actual requirement users can just modify the program in the function block and do not need to debug or modify the whole program in the project created The readability of a program is increased Users can write a complex program or a program which will be used repeatedly in a function block and the function block can be called by the original program The structure of the original program becomes more simplified and the program becomes more readable Highly confidential After users set a password for a function bloc
141. d lt 4 6 chars gt Ladder Diagram LD Prog_1 e Te Continuous Function Chart CFC Continuous Function Chart CFC Confirm lt 4 6 chars gt ome POU Comment Figure 12 4 Creating a POU which is 0100 left and a POU which is a function block POU right 2 After a POU is created PMSoft will automatically open a program editing window The users can used the PMSoft toolbar in the window and create local symbols in the local symbol table in the window as shown in figure 12 5 Please refer to chapter 4 fore more information Program 0100 Sle Local Symbols Identifiers Address Type Initial Comment Var_O M3000 BOOL FALSE Var_t DFOO0 WORD 0 Var_ M3001 BOOL FALSE Var_3 M3002 BOL FALSE Figure 12 5 Creating local symbols in a program editing window 12 6 Chapter 12 Continuous Function Chart 12 2 2 Selecting an Object Users can select the objects in a continuous function chart by means of the mouse cursor The objects selected can be cut copied Selecting an object Users have to move the mouse cursor to the object they want to select and then click the left mouse button The object which is selected is indicated by orange and the objects which are not selected are indicated by white as shown in 12 6 The users can also select an object by means of the direction keys Figure 12 6 Selecting an object e Selecting multiple objects If users want to select several objects they have to click the blank i
142. d click OK Please see figure 13 44 Considering the compatibility of programs it is suggested that users should not use special marks as symbols The Special Symbol Compatibility checkbox in the Tools window are unselected by default English Diagnosis S Window Help C 0in0 f Oy Restore PM Default Setting C Ox D Cleese Clear PM Code Area Copy SRAM to Flash Whiscellaneous Clear MIRU List Parameter iM Load Default Layout Load Previous PPM Project Passarord Setti Check Program Consistency Change FM Type o ompiling special symbol Compatibility Figure 13 44 Compatibility of special marks 13 5 6 Project Password A project password is used to protect the program in a project If users want to open a POU which is a program in a project which is protected by a project password the system will ask the users to type the project password If the users want to set a project password they have to click Project Password Setting on the Options menu type the project password in the Project Password Setting window and click OK Please see figure 13 45 Project Password Setting Restore PM Default Setting Clear PM Code Area Copy SRAM to Flash Password 4 0 Characters Parameter Project Password Setting Chanze PM Typ Figure 13 45 Project password 13 22 Chapter 13 New Functions and Revised Functions After a project which is protected by a project password is closed the Project Password
143. dresses and data types Local Symbols Class Identifiers Address Initial Comment VAR SHIFT _ VAR SHIFT _ 4 1 6 Combining Bit Devices into a Word Devices In a DVP series motion controller the X Y M S devices are bit devices Some applied instructions allowed the bit devices to be combined into word devices A word device composed of bit devices is represented by KnX KnY KnM KnS If n is 1 four bit devices will be used As a result n must be in the range of 1 to 1 if a 16 bit instruction is used and n must be in the range of 1 to 8 if a 32 bit instruction is used For example K4M0 indicates that MO M15 are used In the program below if XO is ON the values in MO M7 will be moved to bit O bit 7 in D10 and the values of bit 8 bit 15 in D10 will be O OOO01 ea Moy E2MIO D10 1 Please refer to DVP PM Application Manual for more information about the applied instructions which allow bit devices to be combined into word devices 2 Different applied instructions may place different restrictions on the modification of a bit device by Kn Please refer to DVP PM Application Manual for more information In an AH500 series motion controller the X Y devices can not be combined into word devices Some applied instructions allow the M S SM devices to be combined into word devices 4 6 Chapter 4 Symbols 4 2 Managing the Symbols in PMSoft 4 2 1 Symbol Tables Global symbol table After users double click Global Symbol
144. e user Organization Delta Install this application for Anyone who uses this computer all users Only for me th yao InstallShield 6 Leave the default path unchanged or click Change to change the path Click Next to proceed to the next step is PHSoft 2 04 InstallShield Wizard Destination Folder Click Next to install to this folder or click Change to install to a different folder G N Install PMSoft 2 04 to C Program Files iDELTA Industrial Automation PMSoft 2 04 Change J InstallShield 6 7 i PMSoft 2 04 InstallShield Wizard Ready to Install the Program The wizard is ready to begin installation If you want to review or change any of your installation settings click Back Click Cancel to exit the wizard Current Settings Setup Type Destination Folder C Program Files DELTA Industrial Automation PMSoft 2 04 User Information Name user Company Delta InstallShield 1 5 PMSoft User Manual 8 After PMSoft is installed shortcuts to the program are created on the desktop and the Start menu Click Finish to complete the installation j PMSoft 2 04 InstallShield Wizard Installing PMSoft 2 04 The program features you selected are being installed Please wait while the InstallShield Wizard installs PMSoft 2 04 This may take several minutes Status InstallShield ii PMSoft 2 04 InstallShield Wiza
145. e Initial Gorm Class Identifi Address Type Initial Gorm Enter the comment Figure 12 41 Inserting a comment 12 20 Chapter 12 Continuous Function Chart 3 After the users double click the object inserted a box will appear The users can type a comment in the box as shwon in figure 12 42 If the users want to start a new line of text at a specific point they can press Shift Enter on the keyboard Program 0100 Seles amp Program 0100 ABHA Local Symbols Local Symbols Class Identifi Address Type Initial Gor Class identifi Address Type Initial Comm Enter the comment Ye Figure 12 42 Typing a comment 4 After the users type a comment they have to click the blank in the program editing window or press Enter on the keyboard as shown in figure 12 43 This type of comment is independent of the other types of objects in the program editing area It does not vary with the deletion or the movement of another type of object Program 0100 Sele amp Program 0100 SE Local Symbols Local Symbols Class Identifi Address Type Initial Comm Class ldentifi Address Type Initial Comm new cormtnett Figure 12 43 Comment which is inserted e Method 2 Inserting a comment binding with an object 1 The users have to click the object in which a comment will be inserted as shown in figure 12 44 Program 0100 Seles Local Symbols Class
146. e Data Setting O Data Setting Sect 2 a 4 5 G T g Master Axis pu Slave Axis p 0 a0 BO 40 0 100 s0 20 50 0 CAM Curve Fesolution MA MA BSpline 34 BSpline Single Hypot Single Hypot Cycloid Cycloid Initial Setting slave Axis pulse pe As puea Users can define the relation between the master axis and the slave axis in every section Master axis Users can set the displacement of the master axis A pulse is a unit of the measurement for displacement The values that the users type in the Master Axis pulse column must be greater than 0 and must be in numerical order Slave axis Users can set the displacement of the master axis A pulse is a unit of the measurement for displacement The values that the users type in the Slave Axis pulse column can be positive values or negative values Cam curve The functions which can be selected are Const Speed Const Acc Single Hypot Cycloid and B Spline If users click the Apply B spline checkbox in the CAM Chart 0 window B spline will be automatically selected in the Data Chapter 8 G codes and Electronic Cams Setting window Resolution Users can set the number of data points used in a section The number of data points must be in the range of 10 to 2047 If the users do not set resolutions for sections the number of data points left will be equally distributed to the sections The users have to set resolutions acco
147. e Program of PM ppr Cancel 9 21 PMSoft User Manual MEMO 9 22 Chapter 10 Managing Passwords Table of Contents 10 1 Manading Passwords imn PMSOR ateacsacctcecececscaconecececoccsocedonesdacconeceqeaaece 10 2 10 2 PM P amp SSWOIG ccccccccsececeeceeeeceeeeeeeeeeecaeeeeeeeeseeeesaeesaueeseeeessneesaneesanees 10 2 10 2 1 Setting and Removing a PM Password cc scccecseeeeeeeeeeteeeeenes 10 2 10 2 2 Downloading a Program cecccceeeeceeeeceeeeeeeeeseeeeseueeseneeseneesaaees 10 3 10 2 3 Uploading a Program cccsccccsececeeeeeeeeeseeeeseeeeseeeeseueesaeeeseeeenanees 10 5 10 3 FEP FAS WO e me takeseuee 10 6 10 3 1 Storage Areas in a Motion Controller cccccseseeeeseeeeeeeeeeeeeees 10 6 10 3 2 Enabling the Protection of POUS ccccccseeeeesseeeeeeeesaeeeesaaeees 10 7 10 3 3 Disabling the Protection of POUS ssessneensnennnsnnesenenerrsrrrrrrresnne 10 8 10 3 4 BOWO A IPO A eee 10 9 10 3 5 UDIOAGING Program isevissuevesnviraressenccaseresranierer eter ENNE KEE NENEN 10 11 10 3 6 Important Points about Disabling the Protection of POUS 10 13 PMSoft User Manual 10 1 Managing Passwords in PMSoft A Delta motion controller provides two protection mechanisms for internal data APM password and a PEP Program Encryption Protection password are the two protection mechanisms The two passwords are independent from each other Users can set or remove a PM pa
148. e and select a file path in the Export Programs window The POUs exported are saved as a mpu file Export POUs Export selected POUs Program Info Programs A ket Programs C100 O J 1100 610 C Ox PY Password lt 4 8 chars gt PP DEA Password Confirmation Export Proprams Save in E Desktop z T a my Documents EG 4 My Computer My Recent Emy Network Places Documents Desktop My Documents 9 My Network File name ExpFileN amel ki Places Save as type Export Files mpu Cancel After the user click Save in the Export Programs window the POUs selected in the Export POUs window will be exported Chapter 3 Program Organization Units PMSoft Export success 3 2 7 Importing POUs Which Are Programs If users want to import POUs which are programs they have to right click Programs in the system information area and click Import Program on the context menu Project le Symbols Allocation Symbols Information Global Se see programs J o100lao Fe ON PY Ht E POP JAk ae Function Blocks r f FB1 or Instruction E Monitor Tables IE xrChart BA Device Comments D OVP_FPMCc CAM Chart EA PEP Setting 1 After the users select the file which they want to import in the Import Program window they have to click Open Import Program Look in E Desktop q ci Eg E my Documents i My Computer My Recent Soy Network P
149. e Edge option button in the Dog Switch Option section is selected the circuit is rising edge triggered If the Falling Edge option button in the Dog Switch Option section is selected the circuit is falling edge triggered Motion The parameters related to motion are described below Please refer to DVP PM Application Manual for more information about setting the parameters EM Main Parameter Axis Pulse Output Format stop Mode Complete Remaining Distance start from the Mext Step Start Forward and Reverse Rotation Pulses Rotation Pulses and Direction AJB Phase Pulses Rotation Direction Coordinate System selection of Acceleration Curve Increases Absolute system Decreases Incremental System Trapezoid Type Curve o Type Curve Electronic Gear Home Position D x10 pls Numerator 1 Electrical ero Point Address O Denominator x10 pls gt Pulse Output Format There are three types of pulse outputs Stop Mode Mode of restarting the motion control after the motion control pauses gt Rotation Direction If the motor rotates in the positive direction the present address increases If the motor rotates in the negative direction the present address decreases gt Coordinate System An absolute coordinate is the distance from 0 If the target position is larger than the present position the motor will rotate in the positive v Chapter 2 Starting and Setting position If the target position
150. e a password twice and download the program Returning a motion controller to its factory setting If users want to delete the data and the setting in a motion controller they have to click Restore PM Default Setting on the Options menu Stene Window Help Restore PM Default Setting Clear FM Code Area Copy SRAM to Flash Parameter Change PM Type Tools lf the users do not use one of the methods described above to clear the POUs in the program protection storage area and they download the same POUs again the motion controller may not operate normally In the figure below 0100 is stored in the general program storage area and Ox0 is stored in the program protection storage area After the data in the general program storage area is cleared the new main program 0100 and the new motion subroutine Ox0 which is not protected by a PEP password will be downloaded to the general program storage area and the original motion subroutine Ox0 in the program protection storage area will be retained If the motion controller is started it may not operate normally New POUs 0100 0100 amp Ox0 General ne rogram prog The new POUs 0100 SEG aA storage area Ox0 storage area and Ox0 are downloaded to the motion controller They are not protected by a PEP password Original data New data If the program is uploaded to PMSoft the error message shown below will appear As a result it is
151. e global symbol table applicable to the function block definitions in the T_DVP20PM folder The SingleAxis subfolder represents the function block type which is added The T_DVP20PM folder the SingleAxis subfolder and Global Symbols are created when the function block definition T_AbsSeg1 is added The function block definitions and the folders which are created by the users can not be the same as the function block definition and the folders mentioned above Otherwise a message will appear and the users will be asked to modify the function blocks and the folders they create gf Function Blacks AR T_DVP20F h ey Global Symbols Singles ic TAbsSegt Figure 13 23 Selecting function blocks which need to be added The use of the function block definitions which are added is the same as that of general function block definitions Please refer to section 4 2 2 for more information The function block definitions which are added can not be modified and can only be used to produce function block instances Pins of function blocks in Delta libraries are provided with parameters which are defined so that users can use the function blocks conveniently After the users type parameters which are defined in a function block the function block can be executed The users do not need to know the values or the states which should be set In figure 13 24 TRUE mcNegative mcFalling are parameters which are defined Please refer to appendix B for more infor
152. e information in the System Log window Clearing the information in the System Log window 11 2 5 Operate the Memory in a Motion Controller Before users operate the memory in a motion controller they have to make sure that the motion controller is connected to a computer The users have to click the Options menu and click Restore PM Default Setting Clear PM Code Area or Copy SRAM to Flash 11 11 PMSoft User Manual Siem Window Help Restore PH Default Setting Clear FM Code Area Copy SRAM to Flash Parameter Change PM Type Took Restore PM Default Setting All the data in the motion controller is cleared including the program the values of the parameters and the passwords The motion controller is returned to its factory setting Clear PM Code Area The program in the motion controller is cleared i e the POUs in the general program storage area and the program protection storage area are cleared The values of the parameters the cam data DVP series motion controller the PM password and the PEP password are not cleared Copy SRAM to Flash The data in the SRAM is copied into the flash memory 11 3 Monitoring a Motion Controller After a program is downloaded to a motion controller users can monitor the state of the motion controller by means of PMSoft In other words the state of the motion controller can be accessed and displayed in PMSoft The users can change the values in the devices in the motion con
153. e of Contents B 1 Delta defined Parameter Table c cccccccecccccceccccceccccacsceceacsueaeaesueaeas B 2 PMSoft User Manual B 1 Delta defined Parameter Table Delta defined parameters are for input pins in Delta motion control function blocks Users can directly use Delta defined parameters to operate motion control function blocks without having to know the descriptions of the input pins in the motion control function blocks Delta detined parameters are described below Table B 1 Delta defined parameter table Name Type Value Motion control function block Description Mie Bee All motion control function blocks ul zal FALSE BOOL Input pin r Transition in DOG s signal menising or from low to high T_HomeReturn Transition in DOG s signal mean cae from high to low Returning home in the T_HomeReturn Seiwa ath mcNegative BOOL False S ee negative direction BOOL peed curve S curve mcTrapezoid BOOL False Ses a Oe BOOL T InputPolatiry Normally closed contact BOOL Normally open contact eS aea T_DMCServoWrite a R mc16bits BOOL 16 bit value A high speed timer becomes mcUp_ Up BOOL True active when its signal goes T HTmr Tom low to high A high speed timer becomes mcUp_Down BOOL False active when its signal goes 1 0e Domn B001 Fe from high to low An output is set when the mcCmpSet BOOL True condition of a comparison is T_Compare De p An output is reset when the mcCmpRst BOOL False condition
154. e of a symbol is ARRAY the Array Initial Values window will appear after the users Click the Initial cell for the symbol In the Array Initial Values window the users have to set the initial values of the elements in the array created Array Initial Yalues Array Data Type WORD E If the data type of a symbol is a function block users can not type a value in the Initial cell for the symbol otherwise an error message will appear after the program created is compiled The users can also type values in the Initial cell for a symbol whose data type is ARRAY They have to pay attention to the following points Values are put in square brackets The values in the brackets are separated by commas e g 1 2 3 4 Ifa value is repeated the repetition can be represented by Value Number of times the value is repeated The array shown in the figure below is composed of four word devices 1 2 indicates that the initial value in the first word device is 1 and the initial value in the second word device is 1 0 2 indicates that the initial value in the third word device is 0 and the initial value in the fourth word device is 0 Local Symbols Class Identifiers Address Type Initial Comment 7 After the users click a Comment cell they can type a comment in the box which appears Chapter 4 Symbols Program 0100 Local Symbols Class Identifiers Address Type Initial Comment To V
155. e steps described below 1 Start PMSoft and click Communication Setting on the Communication menu Merits Options Window E IPG Download Program Ctrl F8 Communication Setting Pd Upload Program 9 Ctrl F9 i Driver Driver R5232 A Password Setting Ctr wW 3 bm o100 Ctl4F11 station o E stop 0100 Ctrl F12 IF Address System Log Connection Target PM Information AH CPU EH Edit Register Memo e 7 Motion Controller Edit Bit Memory k Morntonng j l i Commmmnication Setting 2 Select a driver in the Driver drop down list box Before users create a connection between PMSoft and a motion controller they have to make sure that the driver is started in COMMGR Select the Motion Controller option button and click OK The communication setting varies with the driver selected Communication Setting Driver Driver S232 Station Driver RS232 Driver USB Driver Ethernet IP Address AH CPU fotion Controller Connection O PMSoft User Manual gt RS232 and USB Users have to select the station address of the motion controller connected to the computer in the Station drop down list box If the station address selected is 0 a broadcast communication will be carried out Communication Setting Driver Driver R232 Station gt Ethernet Users have to select the station address of the motion controller connected to the computer in the Station drop down list box If the station add
156. e to click Open Import Function Blocks Look irs is Desktop my Documents 4 My Computer hy Recent J my Network Places Documents Desktop My Documents My Computer _ F My Network File name ExpFileN amel ki Open D Places Files of type Import User FBs tbu Cancel 2 If the file selected is protected by a password the users have to type the correct password and click OK in the Password Dialog window 3 19 PMSoft Users Manual Password Dialog Unlock password 3 20 Chapter 4 Symbols Table of Contents Al OAU COn OF VMO S ar E E 4 2 4 1 1 Application of Symbols and Creation of Identifiers cccceeeeeee 4 2 A2 GASO e E E E 4 3 AS Da GS ee E uevaeseneeeaneueenesivern vane 4 3 4 1 4 Assigning a Device to a Symbol and Setting the Initial Value of a IVDO E EE 4 4 4 1 5 Modifying a Symbol with an Index ReGISter ccccseeeeeeseeeeeseeeeees 4 5 4 1 6 Combining Bit Devices into a Word Devices cceeeeeeeeeeeeeeeeeeees 4 6 4 2 Managing the Symbols in PMSoft cccccssseeesseeeeeeeeeeeeeeeeeeeeeseeeeesaaeees 4 7 4 2 1 gt 04186 Il 62 8 e ee eee ee ee eee 4 7 422 AACINGaAOYVMDO sseserrsswowsvasriamveaunearersaais EENEN EENEN ENERE 4 8 4 2 3 Modifying a Symbol and Editing a Symbol Table c eee 4 13 4 2 4 Clearing Device Addresses and Selecting Multiple Symbols 4 14 B22 CIO TING S
157. e_Position T_AbsSe_Velocity T_AbsSe_Executel T_AbsSe Position T_AbsSe_ Velocity T_AbsSe_Aborted T_AbsSe_Enrror T_AbsSe_Aborted1 T_AbsSe_Errorl Figure 13 34 Automatically assigning default symbols to the pins of a function block again 3 If a symbol which has been declared is assigned to a pin of a function block the symbol will be retained after Generate by Default is clicked as shown in figure 13 35 T_AbsSez 1 Ul T_AbsSezl T_Abs5e 1 U1 T_AbsSez T_AbsSe_ Axis T_AbsSe Execute T_AbsSe Position T_AbsSe_ Velocity T_AbsSe Aborted T_AbsSe_Error Figure 13 35 Automatically assigning default symbols to pins of a function block 13 15 PMSoft User Manual Function 2 Input Words by Prefix 1 After Input Words by Prefix is clicked the Input Words by Prefix window will appear After the users type a prefix and click OK in the Input Words by Prefix window symbols will be assigned to the pins of the function block automatically and they will be declared in the local symbol table in the POU as shown in figure 13 36 The rule of generating a symbol is Prefix _Pin name For example if the prefix typed in the Input Words by Prefix window is Test the symbol automatically assigned to the Axis pin of the function block definition T_AbsSeg1 will be Test_Axis Input Words by Prefix Words by Pretix Test_Axis Test_Execute Test_Positron Test_Velocity Figure 13 36 Typ
158. echnical documents for more information about installing the USB drivers for AH500 series motion control modules and CPU modules 2 If the USB port of an AH500 series motion control module is used RS232 in the Type drop down list box must be selected Please refer to section 2 3 3 for more information 2 3 6 Setting Communication Parameters for DirectLink USB 1 gt Driver Name Drv_DL USB Connection Setup 2 p Type DirectLink USB Setup Responding Time 3 gt Timed Auto retry a Time Interval of Auto retry sec E E Users can type a driver name in the Driver Name box Select DirectLink USB in the Type drop down list box in the Connection Setup section Users can select the number of times the sending of a command is retried if a connection error occurs in the Time of Auto retry box and select an interval of retrying the sending of a command in the Time Interval of Auto retry box 2 26 Chapter 2 Starting and Setting 2 3 7 Setting Communication Parameters for Ethernet D Driver Name Drv_EN Connection Setup D Type Ethernet Ethernet Card P Description IntellF O25 LM Gigabit Network Corn 169 254 95 246 IP Address Setting Add Del Search IF Address Por Number Comment 169 254 595 100 502 PLC_1 Setup Responding Time 6 Time of uto retry 3 Er Time Interval of Auto retry sec E Users can type a driver name in t
159. ected Please refer to chapter 5 for more information about function blocks 4 10 Chapter 4 Symbols Type Selection Type Class simple Type 3 0 Function Blocks 1 FBO ARRAY lf Array in the Type box is selected the Array Type window will appear after OK is clicked The users have to select an array type and set the size of the array created The size of an array must be in the range of 1 element to 256 elements The users can click or p to decrease or increase the digit in the ones place of the setting value and they can click u or e to decrease or increase the digit in the tens place of the setting value Type Selection Type Class Simple Type Function Block Type Array Type BOOL WORD DWORD LWORD FLOAT COUNTER K 6 The users can type the initial value of a symbol in the Initial cell for the symbol The initial value typed must be compatible with the data type of the symbol If the data type of a symbol is BOOL the initial value of the symbol must be TRUE or FALSE If the data type of a symbol is WORD or DWORD the initial value of the symbol can be preceded by 16 which indicates that the value following it is a hexadecimal value For example 16 2A0 represents a hexadecimal value If the value in an Initial cell is not preceded by 16 the value is a decimal value 4 11 PMSoft User Manual Program 0100 Local Symbols Class Identifiers Address Type VAR Var If the data typ
160. eeaeeeees 5 6 5 2 4 Function Block Definition and Function Block Instance 08 5 9 5 2 5 Calling Relation Between Function BIOCKS ccceeceeeeeeeeeeeeeeees 5 11 9 2 6 Assigning a Memory Block to a Function BIOCK cece 5 13 59 WSING a FUNCTION BIOCK eg asserencnzsextsenesenencceceuscesxieuescuescubecveusabueeessniseueeee tees 5 14 5 3 1 Basic Specifications for Function Blocks ccccseeeeeeseeeeeeseeeeeeees 5 14 5 3 2 Motion Control Function BIOCKS ccccceececeeeeceeeeteeeeseneeseneesaaees 5 15 PMSoft User Manual 5 1 Knowing Function Blocks Function blocks abbreviated as FB play an important role in the writing of the program in a PLC Owing to the characteristics and advantages of function blocks PMSoft provides much support and many functions for function blocks 5 1 1 Introduction of Function Blocks A function block is a component in a program which performs an operation It is a type of POU but it can not operate by itself After a POU which is a program calls a function block and sends the parameters related to the function block the function of the function block will be executed After the execution of the function block is complete the internal operation result will be sent to the device or symbol specified by the superior POU caller A function block is shown below The appearance of a function block is similar to that of an applied instruction in that there
161. een F and 20 8 4 Chapter 8 G codes and Electronic Cams Users can put several instruction names in a line e g G91G01X10Y30F50G04X4 5 lfinstructions of the same type are in a line the last instruction is given preference For example G02G00G01 X10 Y30 F50 is equivalent to G01 X10 Y30 F50 because G02 GOO and G01 are movement instructions AG code can be directly connected to a busbar It does not need to be connected to a condition contact lf there is a decimal point in a coordinate or a speed value the decimal point will be regarded as multiplication by 1000 For example G0O1X100Y 125 5F200 0 is equivalent to G01X100Y 125500 F200000 G00 G01 can be extended The speed parameter F of GO1 G02 G03 can be extended eee eee ee He Hg La a ste ves Ge ee cc Equivalent to G03 X 40 Y 50 R10 F20 AG code can only be put in a Ox motion subroutine or in the P subroutine called by a Ox motion subroutine It can not be put in the main program O100 or the P subroutine called by the main program O100 Please refer to DVP PM Application Manual for more information about G codes 8 2 Example 8 2 1 Drawing a Path by Means of G codes Program requirement There are four pairs of absolute coordinates 10000 10000 20000 10000 20000 70000 and 10000 70000 They are signed distances from the origin 0 0 The left path and the right path are arcs The four pairs of absolute coordinates are expressed
162. en import the csv file A E le k I l g l 2 3 2 Mo ON ON ON ON 3 M10 OFF GFF OFF OFF 4 M20 OFF OFF OFF OFF 5 M30 GFF OFF OFF OFF 6 M40 OFF GFF GFF OFF 7 M50 GFF OFF GFF OFF amp M60 GFF GFF OFF GFF 7 Ifthe users want to import the csv file they have to right click the table click Import on the context menu click the csv file in the Import Table window and click Open in the Import Table window 11 2 4 System Log If an error occurs in the control of an axis of a motion controller after the motion controller is connected to PMSoft and executes a program the information about the error will be recorded Users can view the information in the System Log window 1 The users have to click System Log on the Communication menu 11 10 Chapter 11 Online Functions ieee Options Window E IPG Download Program Ctrl F8 Pd Upload Program Ctrl F9 i Password Setting CtrtW DY Em 0100 Ctrl F11 E stop 0100 Ctrl F12 PM Information a Edit Register Memory gt TL Edit Bit Memory Morntonng T Commmmication Setting 2 The users can view the error messages in the System Log window and eliminate the errors that occur After the users click Close the System Log window will be closed System Log Error Log Description Mo corresponding Pn for Cl CIN JIP Mo content in the applied subroutine es er ee The axes where errors occur and the information about the errors are shown here Refreshing th
163. ent to the En pin of a function block is OFF the function block will not be executed The Eno pin of a function block sends the logic state sent to the En pin of the function block 5 2 2 Symbols in a Function Block Function blocks are similar to POUs which are programs in that users can create local symbols in the function blocks Global symbols can also be used in a function block However if global symbols are used in a function block in a project the function block may not be portable If the function block is imported into another project the project may not have the same global symbols Users can add folders to Function Blocks in the system information area in PMSoft A folder added contains a global symbol table After a global symbol table and the folder in which the global symbol table is exported they can be imported into another project The symbols related to function blocks are described below Please refer to chapter 4 for more information 5 4 Chapter 5 Function Block Symbol class Class Description The symbols of the VAR class are for the operations in function blocks only After a function block is executed the values of the symbols of the VAR class in the function block will be retained Besides users can assign device addresses to the symbols of the VAR class in a function block A symbol of this class is used as an input pin of a function block It receives the value of the operand specified by the superior
164. entifiers Address Type M3000 BOOL elect All Ctr A M3001 BAOOL Insert a Row Ctrl I Var_3 BOOL Fina CtrltF alist Tawra Taek 1 Chapter 4 Symbols Program 0100 Local Symbols Identifiers Address Type Initial war CEU 07000 Magi Local Symbols identifiers Address Type Ir won me ete a YAP i Y cut Chix ar E Copy Ctr C ors 12 Bate Ch Program 0100 Local Symbols Identifiers Address Type AP Delete Del Select All Ctrl A 7 Insert a Row Ctrl I O Fim CtrtF m 4 2 5 Deleting Symbols If users want to delete a row in a symbol table they have to click a cell in the row and delete the row in a way described below If the users want to delete several rows in a symbol table they have to select the rows in a way described in section 4 2 4 and delete the rows in a way described below Click Delete on the Edit menu Click amp onthe standard toolbar Right click a symbol selected and then click Delete on the context menu Press Delete on the keyboard 4 15 PMSoft User Manual e ital aa i Global Symbols Seles Undo ae Global Symbols a Bedi ae Identifiers Address Type Initial Comment W cut M2001 BOOL HA Copy Var_ Ct F Paste 2 a Chic Paste Right Ctrl R OR Sf Ctrl V Paste Dom Ctrl D Select All Ctrl Insert a Row Ctr Find CHUT Clear Selected Addresses Ctrl E Rep
165. enu which will appear after they right click the cell will be a context menu in Windows 2000 NT Me XP Vista 7 Gna Compile View Coruwm X Cnt Ctr X HA Copy Ctrl C Y cut Chi T Paste Chie HA Copy Ctrl C u Delete Del T Paste Cte Select All Ctrlt i Paste Fight Ctrl k OR Insert a Row Ctrl I Paste Doan Ctrl D Clear Selected Addresses Ctrl E Powe m A Select All Ctr 5 Import Symbols aE Eeport Synbok 3 The users have to type an object in the Find box in the Find Replace window They can do a search on the object typed in the Find box by clicking Find Next If the users click More they can set search conditions Chapter 9 Project Management i Find Replace Global Symbols Origin Direction C Current Network f Forward f Entire scope C Backward search By Scope Match Case Whole Word gt Find Users have to type the text which will be searched for or select text which has been searched for after they click in the box gt Origin If the Current Network option button is clicked the search starts at the position selected If the Entire Scope option button is clicked the search starts at the beginning of the program gt Direction Users can search down or search up gt Search By If the Match Case checkbox is selected PMSoft searches only for words that match the case of the word that users type in the Find box If the Whole Word checkbox is selected the Whole Word checkbox instructs PMSoft t
166. er the status of the driver displayed in the window is ERROR and the icon representing COMMGR on the system tray is marked with a red cross ey ws t EF 1104 Hame Description abate CR em river USB Usb COMMS Retry 3 TimeOut 3 ERROR wt Drive R3232 R3232 COM4 ASCII Protocol 9600 7 e 1 Retry 3 TimeQut STOP EP Driver_Etherne Ethernet AMID PCNET Family PCI Ethernet Adapter Packet STOP 2 3 3 Creating a Connection Creating a Driver Click Add in the COMMGR window to open the Driver Properties window 2 22 Chapter 2 Starting and Setting Jt COMMGR Pok Description ii Driver Properties Driver Hame D river Connection Setup Type Communication Protocol COM Port coM4 P Data Length pTU Parity e Stop Bits 1 l Auto detect Baud Rate 3600 Default Setup Responding Time Time of Auto retry E Time Interval of amp uto retry sec 3 OF Cancel The steps of creating a driver are as follows 1 Driver name Users can type a driver name in the Driver Name box ISPSoft PMSoft specifies the driver which will be used according to the driver name typed It is suggested that users should set identifiable driver names for the drivers created Driver Mame Drv_RS 2 Connection type Users can select a connection type in the Type drop down list box The connection types supported by COMMGR are as follows 2 23 PMSoft User Manual Connection Setup Type
167. er 5 for more information about function blocks Function block instance Function block definition 6 17 PMSoft User Manual If an applied instruction or a function block is used in a ladder diagram the pin of the applied instruction or the En pin of the function block must be connected to a device or a block and can not be connected to a busbar directly However motion instructions comparison contacts and G codes can be directly connected to the busbars in networks If the networks are scanned the motion instructions comparison contacts and G codes will be executed 1000 F500 0 1000 000 6 2 9 1 Inserting an Applied instruction a Motion Instruction ora G code There are three methods of inserting an applied instruction or a motion instruction Users can use one of the methods according to their habit Owing to the fact that Instruction Wizard does not support G codes the users can only use method 2 or method 3 if they want to insert a G code Method 1 Instruction Wizard 1 The users have to click a network into which they want to insert an applied instruction or a motion instruction 2 The users have to make sure that the mode displayed in the status bar is the the OVR mode After the users press Insert on the keyboard the mode displayed in the status bar will be the OVR mode neumu m Press Insert on OVE A the keyboard Eme on the fast toolbar the Application Instruction window wi
168. ers can type a frequency in the MPG Input Response box or select a number in the Input X Start Number box After the ZRN checkbox the JOG checkbox and the JOG checkbox are selected and 0 in the Input X Start Number box is selected the motor will return to zero if X0 is ON the motor will jog in the positive direction if X1 is ON and the motor will jog in the negative direction if X2 is ON Show All Motion parameters and system operation parameters are displayed on this page Users can change the values of the parameters in the tables After the users click for a parameter they can see the description of the parameter The parameters in the tables correspond to special data registers The parameters are shown below PMSoft User Manual EM Main Parameter mom fa T A O item Axis Unit 2Axis Unit BAxis Unt A Parameter JO oo Be Pulse ret 2000 ple Feed rat 000 ooo tof Bias Sp f0 o h p e oa sooo e eo sooo He ooon z Po fe 1000 Neco fo Number o Number o Number PrPuises fo fes fo fes p fpe m oe F4 F4 FP FP F4 a The Generate Code button will be displayed only if the Instruction window is opened The function of the code generated is that the values of the parameters for the axes are moved to special data registers by means of the instruction MOV or DMOV The code is placed in a program section After users click Generate Code a code will be generated automatically
169. es Motion COOGEE E E A ARAR 1 12 Chapter 2 Starting and Setting 2 1 Guide to Starting PMSoft and Introduction of the Environment 2 2 2 1 1 First Step of Entering PMSoft ecccccceedencs ceedeveneeedcnssebedenenebedenerceedeouachos es 2 2 Bes ANS Baa cert eee tee 2 5 eal ees Moni 7 ee eee 2 5 2A TOODA Serra O 2 7 2 1 5 System Information Area and Error Message Area 0 ccceeeeeees 2 8 2G WORN AC Iina 2 10 Ze Basie oCtWNGS IM PMS OMe a a a E rria 2 12 2 2 1 TOOLS E 2 12 2 2 2 ee 162 O21 S ho ene en A a E a ann eA ee 2 15 2 9 lt GOMmMUNICAION SEUNG Miva 2 20 2 3 1 Starting Glosing COMMGR vxsderitecsdeetiuesdecteactcusideteectineteesiiectietieaeie 2 21 23 2 Managing DIVE Siw wim wana 2 22 2 3 3 Creating a Connection Creating a Driver cccceceesseeeeeseeeeeeeeeeees 2 22 2 3 4 Setting Communication Parameters for RS232 ccceeeeseeeeeeeees 2 25 2 3 5 Setting Communication Parameters for USB Virtual COM 2 25 2 3 6 Setting Communication Parameters for DirectLink USB 2 26 2 3 Setting Communication Parameters for Ethernet cccccceeees 2 27 2 3 8 Setting Communication Parameters for DirectLink Ethernet 2 28 2 3 9 Completing the Setting of the Parameters for a Driver 0 2 29 2 3 10 2 3 11 2 3 12 2 3 13 2 3 14 2 3 15 2 3 16 Stanin SLODDING a DIVER sirinin a 2 29 Configuring Deleting a DIivelr c
170. eseeseeseeeeseeeeeeas 11 12 11 3 1 Running Stopping a Motion Controller ccccceecessseeeeeeeeeeees 11 13 11 3 2 Monitoring a Ladder Diagram cccsccecseeeceeeceeeeseeeeseeeesaeees 11 14 11 3 3 Creating a Device Monitoring Table cccceseecsseeeeeneeeeeaeeees 11 17 11 3 4 Monitoring the Devices in a Device Monitoring Table 11 24 11 3 5 Monitoring the Motion Instruction which is being Executed 11 25 11 3 6 Montong aAA Y CNA esac aaa ese atta raha ia aaa 11 27 11 4 SMO ecieiet sscae St ersne E E 11 29 11 5 PT Sra torrus tae ausd acta e ni scet ean esetaee tis set cette had iu 11 30 Chapter 12 Continuous Function Chart 12 1 Introduction of a Continuous Function Chart ccccccseeeeeseeeeeeeeeeees 12 2 12 1 1 CONTINUOUS FUNCTION Chart ccccecccceeeeceeeeeeeeeeesaeeeeseeeeesaeeeeeas 12 2 12 1 2 Important Points about Creating a Continuous Function Chart 12 2 12 1 3 EGIINGENVIFOMMEN araar 12 3 12 1 4 WOOD A ensen nsa a E E pase nena 12 3 12 1 5 CONEXE ME AUnixsaz ssseveseveasvateweaaeaeseeeaneria OT 12 4 12 2 Creating a Continuous Function Chart in PMSoft cccceceeeeeeees 12 6 12 2 1 Adding a POU which is a Continuous Function Chart 12 6 12 2 2 SEICCING AOD ECan R a 12 7 12 2 3 Input Nodes Output Nodes and Logic Gates ccccseeeeeeeees 12 7 12 2 3 1 Inserting a Node or a Gate cccceccccceececceeeeeeeeeesseeees
171. esents the first bit the lowest bit in XO and X0 15 represents the last bit the highest bit in XO In an AH500 series motion controller there are 256 X devices which are used as bit devices and 256 Y devices which are used as bit devices They are X0 0 X15 15 and YO 0 Y15 15 In the example below the states of Y1 0 Y1 15 will change after the value in DO is moved to Y1 00 O 0 Moy DO Yl The devices in an AH500 series motion controller are listed in the following table Device Vie supporting oRange Supering forge Ramah x XO X15 ya wose vig M 7 wms o yO so 7 ws oo PY a s SCS spy sosie 0o o O obo o 7 w YS Woes OYO A counter is ON when the number of times a particular event or process has occurred conforms to the setting value and a counter C GO G255 is OFF when the number of times a particular event or process has occurred does not conform to the setting value Chapter 1 Introduction of the Software Device Manipulating the bits Manipulating the words type Supporting Range Supporting Range The value stored in a counter C v C0 C255 is the present value of the counter A timer is ON when the time interval which is measured conforms to the setting T v TO T255 value and a timer is OFF when the time interval which is measured does not conform to the setting value The value stored in a timer is TO T255 the present value of the timer Z0 Z7 Double word 32 bits aooo sg
172. ess cell for the symbol Please refer to section 4 1 4 for more information 4 9 PMSoft User Manual Program 0100 Local Symbols Class Identifiers Initial Comment TL VAR Wari 1 If the data type of a symbol is a function block user can not type a device address in the Address cell for the symbol 2 If a symbol is declared in the local symbol table in the window for a POU which is a function block and the symbol declared is a symbol of the INPUT INOUT OUTPUT class users can not type a device address in the Address cell for the symbol otherwise an error message will appear after the program created is compiled 5 After the users click the button at the right side of a Type cell the Type Selection window will appear After the users set a data type they have to click OK Please refer to section 4 1 3 for more information about data types Type Selection Type Class Simple Type Function Glock Program 0100 Local Symbols Class Identifiers Address Type VAR The setting about the Function Block option button and the setting about ARRAY in the Type box are described below Function Block After the users select the Function Block option button in the Type Class section they have to select a function block definition in the Type box Declaring a symbol whose data type is a function block is equivalent to declaring an instance of the function block definition which is sel
173. etdaayetendeansseudsauetendess 7 5 7 3 3 Comparison Contacts Applied Instructions Motion Instructions and COS S 55 ERE E E E ate eae 7 6 7 3 4 Comments on IL INStrUCtiOns cccccseccssececseeecseeeeseeeeseeseseeeeaeees 7 7 7 4 Transforming an Instruction List into a Ladder Diagram cccseceee 7 8 Chapter 8 G codes and Electronic Cams Sel IAMOCUCTIONDOF G COdES ai ecg etece ecg etccsen ete a Gola Gave Sole Gace ele a 8 2 8 1 1 A E OE S AEEA EEEO A A 8 2 8 12 Str t re Of A GCOdEsesceuiu naiean a eei E 8 2 Sk IMPONG G2COCSS vrata A 8 2 8 1 4 Important Points about G codes a nnenannnennnnnnnoennonnnnnnnnnnnnnsnnnnennee 8 4 G2 EXMO Oese anita 8 5 8 2 1 Drawing a Path by Means of G COdES cccceeeeeeeeeteeeeee eee teeeeeeeeaes 8 5 O22 EEX DIAM ON ossosa oror NOS TEO 8 6 8 3 Introduction of Electronic CAMs ccccccccsseccseeeeeseeeseeeeeeeeseeeeseeeeseeeesees 8 8 8 3 1 EIECIIONIC Ualiloranitasaews ease ae eee 8 8 S32 JGreating a Gani Chan nani warm E weno iec 8 8 8 3 3 Explanation of an Electronic Cam ccccccccseeeeeseeeeeeeeeeeseeeeseeeeeeas 8 11 8 3 4 Important Points about an Electronic Cam ccccceceeseeeeeeeeeeeeeees 8 12 of Sa 21 0 9 2 en re tr E eer eer eer acer rere ene nee eee eer 8 12 8 4 1 Drawing a Path by Means of an Electronic Cam ccccceeeeeeees 8 12 OZ EX DIAM ALON acapresessseraeusvrosesmnwsoorouasiwavemansoesieorroacs
174. etting PMSoft User Manual Data Transfer Transfer Options iw Program CAM Chart Parameter Read PEP Cancel gt Program Execution code gt CAM Chart The cam chart in a motion controller is uploaded The storage area from which a cam chart is uploaded depends on the model used Please refer to section 10 3 1 for more information gt Parameter The parameters which are related to motion control are uploaded Please refer to chapter 2 for more information gt Read PEP The POUs which are protected by a PEP password in the program protection storage area in a motion controller is read Please refer to chapter 10 for more information 11 2 2 Editing Registers User can change or read the values in the D registers and the W registers in a motion controller There are D registers and W registers in an AH500 series motion controller There are D registers in a DVP series motion controller 1 The users have to click Edit Register Memory on the Communication menu or on the toolbar Meriter Options Window E IPG Download Program Ctrl F8 Pd Upload Progam Ctrl F9 G Password Setting CtrtW TY Em 0100 Ctrl F11 step 0100 Ctrl F12 ania 6 OF DPE HOSEL PM Information Edit Register Memory T Edit Bit Memory Monitoring j Conummicatior Setting LY Chapter 11 Online Functions Edit Register Memory DRegister WW Register lt Clear Al Data Length Data Format 16 bits Decimal
175. export a cam chart they have to click Export on the cam chart select a path in the Export window and click OK After OK in the Export window is clicked a message will appear in the PMSoft window and the cam chart will be exported to the path specified as shown in figure 13 42 Export C Test PMSoft Successfully export data to the directory oTesth Data_S txt is Position File Data Vitek is Velocity File Data A txt is Acceleration File Op Figure 13 42 Exporting a cam chart If the users want to import a cam chart they have to click Import select the file corresponding to the cam chart in the Import window and click Open After Open is clicked a message will appear and the file will be imported as shown in figure 13 43 Likewise if users want to import speed data they have to click Import Speed Data select the file corresponding to the speed data in the Import Speed Data window and click Open Look in C9 Test My Recent Documents PMSoft Import success My Computer gt My Network File name Data 5 Places Files of type Import files tet Figure 13 43 Importing a cam chart 13 21 PMSoft User Manual 13 5 5 Compatibility of Special Marks Some special marks can not be used as symbols If users want to use a special mark which is not allowed as a symbol they have to click Tools on the Options menu select the Special Symbol Compatibility checkbox in the Tools window an
176. f the program compiled Status of the Size of the Connection status motion controller program compiled The communication indicator blinks if there s Scan time Model name connection J TE Net Id 1 JINS S Modified OX Stop OY Stop 0100 Stop ScanTime Oms 235teps AHIOPM 5A Driverl RS232 COMS3 L Program modification status Driver name f Replacement Insertion mode Port information Network which is been edited presently 2 1 3 Menu Bar There are eight menus in the menu bar The items on the menus vary with the editing work carried out The items shown in grayscale can not be clicked A brief introduction of the menu bar is presented here and a more detailed introduction of the menu bar will be presented in the following chapters Fie Edit Compile View Commmication Options Window Help File It provides the function of accessing projects 2 5 PMSoft User Manual GSM Edt Compile View C Hew Ctrl Gar Open Cho Save Ctrl s MI Save As Ctrl Alt s ES Close Print Ctrl P Open Examples Import G Code Exit AlE Edit It provides the function of editing a project nia Compile View Corum Undo Ciz Eed Ctl X Cut Ctrt X HA Copy Ctre T Paste Cty Paste Fight Ctr k Paste Down Ctrl D EP Delete Del Select l Ctrt Fina CtrltF Replace Ctrl H Compile It provides the function of checking syntax the function of transforming a program into an execution code and
177. ft and a PLC and complete a basic 2 20 Chapter 2 Starting and Setting 1 Please refer to section 1 2 for more information about the installation of COMMGR 2 Different connections are applicable to different software Please refer to the following sections for more information 3 COMMGR is used with PMSoft version 2 04 and above or ISPSoft version 2 0 and above An older version of PMSoft or an older version of ISPSoft still communicates with a PLC in a traditional way 2 3 1 Starting Closing COMMGR test gt COMMGR After COMMGR is installed on a computer successfully a shortcut to COMMGR will be created on the Start menu Users can click the shortcut on the Start menu to start COMMGR After the installation of COMMGR is complete the users have to start it by themselves However whenever the computer is restarted the system starts COMMGR automatically and the icon representing COMMGR is displayed on the system tray If the icon representing COMMGR is not displayed on the system tray the users can start COMMGR by clicking the shortcut on the Start menu fin Accessories _ fm Delta Industrial Automation fe Documents 8 Internet Explorer a Outlook Express ie Settings oo Remote assistance Programs After COMMGR is started successfully the icon representing COMMGR will be displayed on the system tray The users can open the COMMGR window by double clicking the icon They can also open the
178. ge related to an error in this area they will be lead to the position where the error occurs The users can remove the error After the users remove the error they can check or compiled the program again Project_1 Delta PMSoft Program 0100 By Fie Edit Compile View Conummication Options Window Help Hah s XL BEF O gg E BO amp amp Sp 100 w Signed Decimal v 7 Q System Information qx Local Symbols a Symbols Information Class Identifiers Address Type Initial Comment EP Global Symbols VAR YARO M3000 BOOL FALSE W Programs 4 010000 ia Ox vt P Hefal ge Function Blocks or Instruction monitor Tables Jb XvChart y Ti Deui Comments oo003 system Information lt IF Net Id 2 INS y Modified i Error Messages 9 3 Examples PMSoft provides two examples for users After the users click Open Examples on the File menu they have to click an example in the Open window There are two files in the PMExamples folder They are motionSample_26Letter p9m and XYChart ppm 9 20 Chapter 9 Project Management i Edt Compile View i Hew Ctrl H Gar Open Cho Save Ctrl4s Save As Ctrl Altes ES Close Ei Print Ctrl P Lv Import G Code Exit Alt X Look ir O PME samples r M1036 Med 4 motionSample_2 Letter My Recent au sichart lt Examples Documents xS Desktop My Documents My Computer hy Network File name Places Files of typ
179. gram in PMSoft users can edit devices applied instructions motion instructions G codes and function blocks by means of typing IL instructions Before the users use the instruction editing mode they have to make sure that the mode displayed in the status bar is the the OVR repalcement mode or the INS insertion mode The users can switch between the two modes by pressing Insert on the keyboard OVR mode Users can edit the object selected by means of typing an instruction The new object created will replace the original object Ee Net Id JOVR G Modified E INS mode Users can edit the object selected by means of typing an instruction The new object created will be put at the right side of the original object 6 30 Chapter 6 Ladder Diagram I Net Id 1 INS G Modified mu The method of using the OVR mode the INS mode is described below OVR mode If users click a contact in a network type an instruction in the New Instruction window and click OK the original contact will be replaced by a new contact New Instruction Instruction Please refer to section 6 2 5 for more information about making comments on devices and instructions INS mode If users click a contact in a network type an instruction in the New Instruction window and select the Insert after checkbox the new object inserted will be put at the right side of the original contact If the Insert after checkbox is not selected the new objec
180. gy is clicked the order in which the objects in a continuous function chart are executed will be determined by the relative positions of the objects GG Unde Cih GS Rede Ctr 4 Cut Ctr EB Copy Ctrl C T Baste Ctrl EP Delete Del Select All Cirlta Auta Generate Symbols Fim Ctrl F Feplace Ctrl H O Conunent Shift F1d Execution Order Activate Inactivate f Insert After Data Flow v Crossing Line Topology Figure 12 47 Changing the number in the upper right corner of an object 12 2 12 Displaying Hiding Information If users move the mouse cursor to a device or a symbol after they click 5 on the PMSoft toolbar the information about the device or the symbol will appear The information related to a device ora symbol includes a device address and a comment as shown in figure 12 48 Var 1 Class YAR Name Yar_1 Type BOL Address M3000 Comment inpuk_signal Yar 2 Figure 12 48 Displaying information 12 23 PMSoft User Manual 12 3 Monitoring a Continuous Function Chart 12 3 1 Screen Users have to connect a motion controller to a computer and download a program to the motion controller When the state of the motion controller is monitored the users can monitor a continuous function chart After the users open a program editing window in which a continuous function chart is created the text boxes showing the states of nodes and the values in nodes will appear as shown
181. have set a PEP password the users are asked to type the PEP password when they upload the cam data in the motion controller If the Read PEP checkbox is unselected the POUs which are protected by the PEP password will not be uploaded and the POUs which are not protected by the PEP password and the cam data will be uploaded If the Read PEP checkbox is selected all the data will be uploaded 10 3 6 In a motion controller the POUs which are protected by a PEP password are stored in the general program storage area and the POUs which are not protected by a PEP password are stored in the program protection storage area Once the POUs which are protected by a PEP password in a project are downloaded to a motion controller users can not disable the protection of the POUs stored in the program protection storage area even if the users disable the protection of the POUS in the project and download the POUSs If the users want to disable the protection of the POUs stored in the program protection storage area they have to disable the protection of the POUs in the project and select the Apply PEP Setting checkbox in the Data Transfer window The user can disable the protection of the POUs stored in the program protection storage area by returning the motion controller to the factory setting Disabling the protection of POUs in a project and selecting the Apply PEP Setting checkbox in the Data Transfer window The POUs in the program protection storage
182. he Driver Name box Select Ethernet USB in the Type drop down list box in the Connection Setup section Select a network interface card in the Description drop down list box The IP address assigned to the network interface card selected is displayed in the lower left corner of the Ethernet Card section 4 Owing to the characteristics of Ethernet a computer can communicate with all the devices on a network Users can create IP addresses of the devices connected to this driver in the IP Address Setting section gt After users click Add to add a new IP address to the list of IP addresses in the IP Address Setting section they can type related information in the IP Address column the Port Number column and the Comment column Users can type the IP addresses of the devices connected in this column Users can type the communication port numbers specified Users can type comments in this column IP Address Port Number Comment FPLC_1 gt After users select an IP address they can click Del or press Delete on the keyboard to delete the IP address from the list gt Some devices such as DVPEN01 SL and IFD9506 support the Search function If these devices are in the same domain as the network interface card selected they will be displayed in the IP Address Setting section after users click Search to search for IP addresses Users can select the number of times the sending of a command is retried if a connectio
183. he instruction oooo1 OLOO0 ooooz LD MO oooo3 AND M1 oooo4 OR M oooos OUT H3 oooo6 THR TO DO lt oooo 7 MLO oooog 7 3 4 Comments on IL Instructions The text between and in an instruction list is regarded as a comment No matter what instruction or keyword the text includes the compiling of the instruction list automatically skips the text Besides a comment can be added to any position as long as the formats of the instructions are not destroyed However the users have to make sure that the program created is readable The comment shown in the figure below is a legal comment 7 7 PMSoft User Manual ooo01 O100 ooooz LD MO coooz OUT notel For TL M3 00004 00005 notes for out IL mu oooos M102 7 4 Transforming an Instruction List into a Ladder Diagram PMSoft provides a function of transforming an instruction list into a ladder diagram After an instruction list is created it can be rapidly transformed into a ladder diagram However instruction lists do not support symbols and function blocks Suppose a program code created is a ladder diagram including symbols and function blocks Owing to the fact that the instruction list which will be created after the program code is compiled do not support the symbols and the function blocks the symbols will be replaced by devices assigned by the system after the instruction list is transformed into a ladder diagram and the function block
184. he instruction list created must be Ctrl F7 i transformed into a ladder diagram first None Transforming the instruction list into a ladder diagram 7 2 3 Context Menu Checking the program The instruction list created must be transformed into a ladder diagram first After users right click the working area in a program editing window a context menu will appear The functions of the items on the context menu are described below G Unb ChhZ GS Redo Ctrl Y Cut Ctrlt X el ls HA Copy Ctrl C IE Faste Ctrl Y a Delete Del Select AN Ctrl A Fina Ct F Replace Ctrl H Undoing the last action The number of previous actions that can be undone is 20 Redoing an action which has been undone Cutting the text block selected Copying the text block selected Pasting the text block which has been copied or cut on the present position Deleting the text block selected Selecting all the text in the working area Searching for an item Please refer to chapter 9 for more information Replacing the item found with another item Please refer to chapter Replace l 9 for more information 7 4 Chapter 7 Instruction List 7 3 Creating an Instruction List in PMSoft 7 3 1 Opening the Instruction Window After users double click Instruction in the system information area or click Instruction on the View menu the Instruction window will be opened Project za Symbols Allocation S Symbols Information
185. i i amp Program 0100 Ma Local Symbols Local Symbols Class Identifi Address Type Initial Gorn Class Identiti Address Type Initial Gorm Figure 12 11 Inserting an object 12 8 Chapter 12 Continuous Function Chart e Method 2 Keyboard 1 When the users type an instruction the New Instruction window appears After the users type an instruction in the Instruction box they have to press Enter on the keyboard or click OK in the New Instruction window If the users move the mouse cursor and click a position in the program editing area the instruction will be inserted The instructions that the users type is case insensitive If the users type an incorrect applied instruction or an incorrect device name an error message will appear after they click OK Please see figure 12 12 Program 0100 New Instruction Local Symbols Class Identifi Address Type Initial Gorm Instruction Figure 12 12 Inserting an object The instructions which can be typed are shown in table 12 3 Table 12 3 Instructions which can be typed Instruction which can be typed Function oR Creatingan OR gate OOOO O O 12 2 3 2 Adding Deleting a Pin Users can add an input pin to an AND gate OR gate and delete an input pin from an AND gate OR gate by following the steps below 1 The users have to select a logic gate as shown in figure 12 13 Figure 12 13 Selecting an object 2
186. ice ARRAY assigned by users or the system and the number of devices in an array conforms to the size of the array 1 Please refer to section 4 2 8 for more information about setting a range of devices which can be assigned automatically 2 Asymbol representing a function block definition has a special significance Please refer to chapter 5 for more information 3 X0 0 and YO 1 are bits in the word devices X and Y Please refer to section 1 3 for more information 4 1 5 Modifying a Symbol with an Index Register Users are allowed to use index registers in PMSoft There are two types of index registers The V devices are like general data registers in that they are 16 bit data registers The users can write data into the V devices and read data from the V devices freely If a V device is used as a general register it can only be used in a 16 bit instruction The Z devices are 32 bit data registers If a Z device is used as a general register it can only be used in a 32 bit instruction The modification of a symbol by an index register is represented by format is Identifier Index register If a V Z device is used to modify an operand it can be used in a 16 bit instruction or a 32 bit instruction Please refer to the program below The device assigned to VAR_0 is DO The data stored in an index register indicates the offset for the object which the index register modifies If the value in the index register VO is 2 VAR_O V0O indicates
187. ice Monitor Table a Export APIs E Inport lt Project iw gt New Motion Module If the users want to create a new motion project they have to click New Motion Module on the menu which appears After the users click New Motion Module on the menu which appears the New Motion Module window will appear The users have to type a file name in the File Name box select a model in the Type drop down list box select a rack number in the Rack No drop down list box and select a slot number in the Slot No drop down list box After the users click OK the model selected will be added to the project management area and the motion project created will be saved in the folder where the ISPSoft project created is saved New Motion Module Project_2 Pll E AHIOPM 3A AE OF 0 alot Ho 0 PF Motion Module AHIOPNWLESA Rack 0 Slot 0 C Frogram Files DELTA Industnal Automation SPSoft 2 00 ProjectiProject_2 PII pprol gt Add Existed Motion Module If the users want to add a motion project which has been created to the project management area they have to click Add Existed Motion Module on the menu which appears After the users click Add Existed Motion Module on the menu which appears the Open Project window will appear The users have to click a motion project in the Open Project window After the users click Open the motion project will be added to the project management area and will be saved in the folder where the ISPSoft pro
188. ick Delete on the context menu which appears as shown in figure 12 34 G Unde Chlz G Redo Ctrl X Cut Ctrl X EB Copy Ctre Paste Cth 2 Delete Del Pa Select All Ctra Auto Generate Symbols F Fim CtrltF Replace Ctrl H i Comment Shift F10 Execution Order AND 1 i heed c Hegate Shift F J w Crossing Line Figure 12 34 Deleting an object 3 The users have to click an object and press Delete on the keyboard as shown in figure 12 35 sa Delete Figure 12 35 Deleting an object 12 18 Chapter 12 Continuous Function Chart 12 2 8 Editing Devices or Symbols lf users want to edit a node they have to double click the node type a device name and click the blank in the program editing area or press Enter on the keyboard Please see figure 12 36 Figure 12 36 Editing a node If the users type a symbol in a node the Add Symbol window will appear after they press Enter on the keyboard After the users set a symbol and click OK in the Add symbol window they will finish declaring the symbol as shown in figure 12 37 Please refer to chapter 4 for more information about symbols Add Symbol ldentifier Address Type Initial Comment Vart Boo Class VAR el M Add to global symbol table G o D aa Figure 12 37 Symbol in a node 12 2 9 Activating I nactivating an Object If an object in a continuous function chart inactivated the compiling of the continuous functio
189. in PMSoft They are POUs which are programs and POUs which are function blocks POUs which are programs In PMSoft the main program the motion programs the subroutines and the interrupt subroutines are POUs which are programs The motion programs are activated by the main program The subroutines are also called by the main program The subroutines have different functions Please refer to DVP PM Application Manual for more information POUs which are function blocks Static symbols can be declared in a function block If static symbols are declared in a function block the values of the symbols will be retained after the operation in the function block is performed Owing to the fact that the operation is performed on the values memorized in the function block and the values input the values output may be different from the values output last time even if the values input are the same as the values input last time Besides a function block can call another function block 3 1 3 POUs in PMSoft The structure of a POU in PMSoft is shown below It is composed of two areas A local symbol table is at the upper part of the structure and a program editing area is at the lower part of the structure Please refer to chapter 4 for more information about creating symbol tables and programs 3 2 Chapter 3 Program Organization Units Local Symbols Class Identifiers Address Type Initial Comment INPUT Yar_04 BOOL FALSE QUTPUT Yar
190. ing The devices which are used in the program created x system Information If the users click the Used Device s tab they can view the devices used and the comments on the devices A Device Comments f m Ed lf the users right click a Comment cell a context menu will appear The items on the context menu are described below A Device Comments Seles undo Ctrl F View Edit Used Device s Edo Cte x Y o IE Y cut Chh Comment HA Copy Ctre Input_1 T Paste Chey 2 Delete Del q deet All Chie Export aa Import 6 12 Chapter 6 Ladder Diagram Editing functions Undo Redo Cut Copy Paste Delete and Select All Jump to Users can rapidly find a device The users have to type a device name in the Device Name box and click OK Go to Device Name Q ok Cancel Export and Import If users click Export the comments which the users make on devices will be exported and will be saved as DevCmtData txt in the DevCmtData folder If the users click Import Devemtdata txt in the DevCmtData folder will be imported 6 2 8 Contacts and Coils Contacts and a coil which can be used in PMSoft are shown below There are four types of contacts They are normally open contacts normally closed contacts rising edge triggered contacts and falling edge triggered contacts Normally open contacts are also called Form A contacts and normally closed contacts are also called Form B contacts OUT coils out
191. ing a prefix 2 If a function block definition has two function block instances in a program the symbols assigned to the pins of the second function block instance will be generated according to the same rule after Input Words by Prefix is clicked but a number will be added to the ends of the prefixes in the symbols rather than the ends of the symbols Please see figure 13 37 T_AbsSegl Ul T_AbsSegl_ U2 T_AbsSegzl T_AbsSezl Test_Velocity Figure 13 37 Using Input Words by Prefix again to assign symbols to the pins of a function block 3 If a symbol which has been declared is assigned to a pin of a function block the symbol will be retained after Input Words by Prefix is clicked 13 16 Chapter 13 New Functions and Revised Functions 13 4 5 Repeated Function Block Instances A function block instance can be used several times To prevent users from forgetting to declare a function block instance which is used repeatedly in a program the warning message reminding the users that the function block instance is used repeatedly will appear after the program is compiled as shown in figure 13 38 If the users make sure that the function block instance is used repeatedly the warning message can be ignored FB1_instl FB1_instl Error Wlessages Figure 13 38 Repeated function blocks 1371 7 PMSoft User Manual 13 5 Other New Functions 13 5 1 Correspondence between the Symbols in the Local Symbol Table in a POU
192. ing data register in the CPU module For example the data sent by the motion control module will be stored in the devices starting from D200 in the CPU module gt AHCPU lt lt AH10PM AH10PM D Device Start Number Before the motion control module sends data to the CPU module users have to set a starting data register in the motion control module For example the data in the device starting from D3000 in the motion control module will be sent gt AHCPU lt lt AH10PM D Device Size Users have to set the length of the data which will be sent For example the data in 50 data registers will be sent gt AHCPU gt gt AH10PM AHCPU D Device Start Number Before the CPU module sends data to the motion control module users have to set a starting data register in the CPU module For example the data in the devices starting from D3000 will be sent gt AHCPU gt gt AH10PM AH10PM D Device Start Number Before the CPU module PMSoft User Manual gt sends data to the motion control module users have to set a starting data register in the motion control module For example the data sent by the CPU module will be stored in the devices starting from D6000 in the motion control module AHCPU gt gt AH10PM D Device Size Users have to set the length of the data which will be sent For example the data in 50 data registers will be sent The page shown below displays the relays involved in data exchange between the CPU module connected
193. ingle axis function blocks multi axis function blocks and Delta new generation high speed network interfaces DMCNET function blocks The usage of the motion control function blocks are described below 1 Users have to right click Function Blocks in the system information area and then click Add Motion Control Function Blocks on the context menu which appears Project wee ovmbols Allocation Symbols Information Global Symbols Programs 0100 C X Import Function Blacks FJ F a f l al Function Blacks Add Motion Control Function Blocks E Monitor Tables Hew Folder oS on Instruction I x Chart ne Device Comments CAM Chart ES PEP Setting Hew POT 2 In the Add Function Block window the users have to select a function block type in the Function Block Info section and select function block definitions in the Function Blocks section If the users click Select All all the function block definitions in the Function Blocks section will be selected If the users click Deselect all the function block definitions in the Function Blocks section will be unselected Finally the users have to click OK 2219 PMSoft User Manual Add Function Block electe Function Blacks Function Block Info g4 Function Blacks T_AHIOPM 5A E Global Symbols SingleAxis 4 MultiAxis 4 Others 4 Net Function Blocks OT AxisSettinal bd gt CD eaves Project le Symbols All
194. initions but they can not modify function block instances gt The En pin of a function block must be connected to a contact or a block gt The usage of a function block is the same as that of a P subroutine A function block can be used by the main program 0100 a Ox motion subroutine or a P subroutine It can call a Ox motion subroutine or a P subroutine but can not call the main program O100 Please refer to DVP PM Application Manual for more information about the setting of special registers gt A function block used by a Ox motion subroutine supports basic instructions applied instructions G codes and motion instructions A function block used by the main program O100 or a P subroutine only supports basic instructions and applied instructions Chapter 5 Function Block gt Ifa function block used by a Ox motion subroutine uses a basic instruction or an applied instruction the instruction used can not be a pulse instruction gt If ajump instruction is used in a function block the jump destination must be a P pointer in the same function block and can not be outside the function block or in an inferior function block 1 Please refer to section 3 2 for more information about creating a POU which is a function block and refer to section 4 2 2 for more information about declaring a function block instance 5 3 2 Motion Control Function Blocks PMSoft provides a series of motion control function blocks for users including s
195. initions in the Function Blocks section If the users click Select All all the function block definitions in the Function Blocks section will be selected If the users click Deselect all the function block definitions in the Function Blocks section will be unselected Finally the users have to click OK Please see figure 13 22 Add Function Block Selecte Function Blacks Project zee Symbols Allocation i Symbols Information Function Block Info Function Blacks EP Global Symbols _ f Programs ghe Function Blocks Ans set Function Blocks T_DYVP2OPM fy T_DVP2OPM tay Global Symbols EP Global Symbols 4 singleAxis SingleAnis MultiAxis w TAbsSeq1 Others E Instruction Monitor Tables I Chart KA Device Comments OT HomeReturn LIT MPGearSource OT AxisSton fy DvP_FPMc CAM Chart Select All se Ca FR PEP Setting Figure 13 22 Selecting function blocks which need to be added 13 10 Chapter 13 New Functions and Revised Functions 13 3 2 Using Delta Libraries After users finish adding motion control function blocks the motion control function blocks will be displayed in the Function Blocks section in the system information area as shown in figure 13 23 In figure 13 23 the T_DVP20PM folder represents the function block type applicable to a DVP 20PM series motion controller The function block definitions which can be added vary with the motion controller used Global Symbols represents th
196. ion Controller ccccseceeseeeeeeeeees Installing the USB Driver for a PLC PMSoft User Manual A 1 Installing the USB Driver for a Motion Controller The installation of the USB driver for a motion controller on Windows XP is introduced below If users want to install the USB driver for a motion controller on another operating system they have to refer to the instructions in the operating system for more information about the installation of new hardware 1 The users have to make sure that the motion controller is supplied with power normally They have to connect the motion controller to a USB port on the computer with a USB cable and click Cancel in the Found New Hardware Wizard window Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by looking on Your computer on the hardware installation CD or on the Windows Update Web site with your permission Read our privacy policy Can Windows connect to Windows Update to search for software Yes this time only Ces now and every time connect a device No not this time Click Next to continue e 5 Ss SS n 2 The users have to double click the USB driver in the PMSoft x xx folder The default path which denotes the folder in which the USB driver is saved is C Program Files Delta Industrial Automation PMSotft x xx drivers CP210x_ VCP Win XP _S2K3_ Vista_7 x xx is
197. is ON the instruction and the function block is executed in order In figure 12 24 enable_1 controls the instruction and the function block Figure 12 24 En pin If an instruction or a function block does not need to be controlled by a condition the users can select the block representing the instruction or the function block and then click on the PMSoft toolbar or on the context menu which will appear after the users right click the block representing the instruction or the function block After the En pin of a block representing the instruction or the En pin of a function block is disabled the instruction or the function block will be executed if it is the instruction s turn or the function block s turn to be executed Please see figure 12 25 If the users select an instruction or a function block whose En pin is disabled and then click 41 the En pin of the instruction or the En pin of the function block will be enabled Figure 12 25 En pin 12 13 PMSoft User Manual 12 2 6 1 Inserting an Instruction There are two methods of inserting an instruction Users can use one of the methods according to their habit e Method 1 Instruction Wizard 1 After the users click El on the fast toolbar the Application Instruction window will appear as shown in figure 12 26 ETE p e E Application Instruction All AFI Basic Loop Transfer Math Ext 10 Float Data Delta Compare lotion API Mo Appli
198. ition selected If the Entire Scope option button is clicked the search starts at the beginning of the program gt Direction Users can search down or search up gt Search By If the Match Case checkbox is selected PMSoft searches only for words that match the case of the word that users type in the Find box If the Whole Word checkbox is selected the Whole Word checkbox instructs PMSoft to find complete words only and not to find words that only contain what users type gt Scope Users can select ranges which will be searched Users can switch between the Find tab and the Replace tab in the Find Replace Ladder window 9 2 3 Searching for Replacing an Object on an Instruction List Searching for an object 1 After users open a window they have to click an editing position or select an amount of text Instruction coool OLOO ooooz LD M1002 R oooos CALL P201 oooo4 LD MO oooos AND magga oooos OUT ML oooo LD MM oooos OUT Mal oooos LD Wsodl oo010 CALL P200 00011 LD M3001 ooo1z OUT MS nnnin bad ii zil 9 13 PMSoft User Manual 2 The users have to click Find on the Edit menu The users can right click the working area in the window and then click Find on the context menu Edit Compile View Corum G Undo Chrl Z GS Eedo Ch G Undo Ctr Y cut Chex Reto Cea HA Copy Ctrl C kd Cut Ctr BE Paste Ctrl HA Copy Ctrl C Ne Paste Ctrl V OR P Delete Del 2 Delete Del Select All CtrltA Sele
199. izard Welcome to the InstallShield Wizard for COMMGR 1 00 The InstallShield R Wizard will install COMMGR 1 00 on your computer To continue click Next WARNING This program is protected by copyright law and international treaties 1 9 PMSoft User Manual 5 Type related information in the User Name box and the Organization box and then click Next ie CONEGR 1 00 InstallShield Wizard Customer Information Install this application for Anyone who uses this computer all users Only for me 6 Check the installation information and then click Install je COMEGR 1 00 InstallShield Wizard Ready to Install the Program The wizard is ready to begin installation If you want to review or change any of your installation settings click Back Click Cancel to exit the wizard Current Settings Setup Type Destination Folder C Program Files Delta Industrial Automation COMMGR User Information Name User 7 After COMMGR is installed a shortcut to the program is created on the Start menu Click Finish to complete the installation je COMEGR 1 00 InstallShield Wizard InstallShield Wizard Completed The InstallShield Wizard has successfully installed COMMGR 1 00 Click Finish to exit the wizard 1 10 Chapter 1 Introduction of the Software 1 2 3 Uninstalling COMMGR 1 There are two methods of uninstalling COMMGR Method 1 Open the Control Panel window
200. ject created is saved 2 41 PMSoft User Manual Open Project Look ir Project d E My Recent Documents My Network File name Project_2_PM Places Files of type PH Soft Files ppm Cancel PF Motion Module AHIOPNLESA Rack 0 Slot 0 CO Program Files OELTA Industral Automation SPSoft 2 00 ProjectiProject_2 PIV ppro 2 After the users right click the motion project added a context menu will appear After the users point to Motion Module on the context menu they can click New Motion Module Add Existed Motion Module Remove Motion Module or Change Slot No on the menu which appears Every slot number in an AH500 system must be unique and the slot numbers in an AH500 system must be the same as the slot numbers used in HWCONFIG aa NWCONFIG Mt Project C Program Files DELTA Industrial Automation SPSoft 2 00 Project Project_1 isp b Device Comment amp Used Device g HWCONFIG B CARD Utility T AHCPUS3O EN Project_1 P Motion modue Tasks Global Syrribols lig Frozgams p Function Blocks amp Device Monitor Table FR APIs Project 2 42 Chapter 2 Starting and Setting i Add Existed Motion Mode Remove Motion Mode Change Slot Ho Find Replace in Project Export b Import j 3 After the users double click the motion project added PMSoft will be started The users can not click New Open Save As and Close on the File menu in PMSoft aa N
201. k A function block B and function C are not called by any POUs which are programs in a project they will not participate in the execution of the program in the project and function block instances will not produced after the program is compiled After function block A is declared in a POU which is a program or in a global symbol table in a project function block instances will be produced according to the relation among the three function blocks during the compiling of the program Please refer to the declaration of the function block instances and the relation among the function blocks below Function block D is declared in a global symbol table while the other function block instances are declared in the local symbol tables in the superior POUs callers PMSoft User Manual Declaration position Function block which is declared Global symbol table One instance of function block D INS_D Local bol ta aces Function block A One instance of function block B INS_B Function block B ne ela of function block C INS_C1 and The function block instances produced when the program is compiled according to the relation described above are shown below Owing to the fact that two instances of function block C are declared in the local symbol table in function block B the two instances of function block C are produced when another instance of function block B is produced Besides owing to the fact that function block D is declared in a g
202. k created they can create their own core technology in the function block without care and provide the function block for other users Besides system suppliers or software developers can provide function blocks which have specific functions for customers Highly efficient The application of function blocks provides a highly efficient develooment environment in terms of project development Owing to the fact that function block are modular developers and 9 3 PMSoft User Manual manufacturers can take part in the development of a project together and the use of human resources is more flexible 5 2 Structure of the Function Blocks in PMSoft Please refer to the following figure The internal structure of a function block is similar to that of a POU which is a program It is composed of a local symbol table and a program A function block is edited in much the same way as a POU which is a program is edited Local Symbols Class Identifiers Address Type Initial Comment VAR varo BOOL FALSE INPUT Yarl BOOL FALSE OUTPUT VWar_2 BOOL FALSE IMOT VYar_3 5 2 1 En Pin of a Function Block A superior POU caller calls a function block in a way similar to the way in which an applied instruction is executed Whether a function block is executed depends on the logic state sent to the En pin of the function block If the logic state sent to the En pin of a function block is ON the function block will be executed If the logic state s
203. k selected When the online monitoring function is enabled the contact selected is set to ON When the online monitoring function is enabled the contact selected is set to OFF 6 2 Creating a Ladder Diagram in PMSoft 6 2 1 Adding a POU which is a Ladder Diagram 1 If users want to create a POU which is a program they have to expand a program section in the system information area and double click a number If the users want to create a POU which is a function block they have to right click Function Blocks in the system information area and click New POU on the context menu Please refer to chapter 3 for more information Programs f Programs Programs 4 OOO 10h 4 010010 4 01000 A z 4 We E Shine O PY a Laie Blocks Creating the subroutine Ox0 D Project z ovmbols Allocation amp Symbols Information Global Symbols Programs J O100_ 0103 c Gy 4 amp P Import Function Blocks E a Add Motion Control Function Blocks Ea Instruction E Monitor Tables Chart Hew Folder ee Device Comments OM OVP_FPMc CAM Chart Eg PEP Setting 6 K W g 10 r 1 1 2 3 4 5 m7 Se to M Creating a POU which is a function block 2 After a POU is created PMSoft will automatically open a program editing window The users can use the PMSoft toolbar in the window and create local symbols in the local symbol table in the window Please refer to chapter 4 for more information
204. l i Commnnucation Setting Station T Motion Controller Routing If the ISPSoft project activated is a project in the group created the Routing Mode checkbox will appear in the Communication Setting window in ISPSoft If the Routing Mode checkbox in the Communication Setting window in ISPSoft is selected the motion project added to the project management area will bring the setting to PMSoft Please refer to chapter 2 and chapter 16 in ISPSoft User Manual for more information about creating a group of projects in ISPSoft routing and creating a network 2 44 Chapter 2 Starting and Setting Communication Setting Driver Driver RS232 Station Address Communication setting in ISPSoft IP Address t Routing Mode First Station tation Communication Setting Driver Driver_R 5232 hal Station T IP Address l Communication setting in PMSoft v Routing Mlode First Station Station 2 3 16 Practical Connection Test After users complete the steps described above they can check whether the computer communicates with the PLC normally by means of a simple test The users have to make sure of the items below before the PLC communicates with the computer a b e The users have to make sure that COMMGR has been started normally and the status of the driver which will be specified is START The users have to make sure that the parameters related to the driver which will be s
205. lace Ctrl H Fina Ctrl F Import ymbols Export Symbols OR ILCA K OR Press Delete on the keyboard 4 2 6 Exporting mporting a Symbol Table If users want to export a symbol table they have to right click the symbol table click Export Symbols on the context menu type a file name in the Export Variables window select a file path in the Export Variables window and click Save in the Export Variables window Program 0100 Bele Local Symbols Identifiers Address Type Initial Comment Y Cut Cibg LSE HA Copy Che Ej Paste Ctrl 2 Delete Del Select All Ctra Insert a Foar Ctrl 1 Clear Selected Addresses Ctrl E SE SE Ctrl F Import Symbols 4 16 Chapter 4 Symbols Export Variables Save Ir i Desktop r my Documents F My Computer Mu Recent J my Network Places Documents ey An My Network File name Place Save as type Export Variables File csv Cancel After the symbol table is exported it will be saved as a csv file The csv file can be edited through Microsoft Excel Besides the users can add symbols to the csv file and then import the csv file The users can easily create symbols by means of Microsoft Excel 1 Class Identifiers Address Type Initial Value Comment 2 VAR INO xX0 0 BOOL FALSE Input CHO 3 VAR IN_1 0 1 BOOL FALSE 4 VAR IN 2 BOOL FALSE 5 VAR OUT_O ECOL FALSE var OUT_1 BOOL FALSE If the users want t
206. laces Docume ExpFileNamed mpu Desktop My Documents My Computer _ My Network File name ExpFileNamel S Places Files of type Import Files mpu Cancel 3 15 PMSoft Users Manual 2 If the file selected is protected by a password the users have to type the correct password and click OK in the Password Dialog window Password Dialog Unlock password Password 4 3 Character yO 3 After the users click OK in the Password Dialog window the Confirm window will appear If the users decide to import the file they have to click OK in the Confirm window Confirm Importing POUls may modify current programs wy Continue bo import programs dl a gt Cancel amp 1 POU numbers can not be changed If a POU number imported is the same as a POU number in PMSoft the POU number in PMSoft will be overwritten 2 If the POUs which are imported do not include a POU created in PMSoft the POU will not be overwritten For example if Ox0 and Ox1 are created in PMSoft and another Ox0 is imported Ox1 in PMSoft will remain 3 2 8 Exporting POUs Which Are Function Blocks PMSoft allows users to export POUs which are function blocks and import POUs which are function blocks The users can edit the same POU which is a function block in different projects If a POU which is a function block is exported the folder in which the POU is contained and the global symbol table which is contained
207. lanef The current coordinates and the current speeds are shown here Zoom In wx Y egu A max 1000 x min Jog 1000 Y may Jogt h ood Y_min Jog 1 O00 The users can switch among the planes defined by the x axis the y axis and the z axis The users can adjust the range in which the plane selected is displayed and clear the path on the plane selected The users can click the buttons at the right sides of the axes and set boundary values for the x axis and the y axis If the users set boundary values and click Reset Range the boundaries of the chart shown in the X Y Chart window will change The users can not set boundary values for the z axis 11 4 Simulator The simulators which can be connected to PMSoft are DVP series simulators They can simulate the operation of motion controllers offline PMSoft will be connected to a simulator after onthe toolbar is clicked whether PMSoft has been connected to a motion controller or not If PMSoft has been connected to a motion controller it will not connect to the motion controller after onthe toolbar is clicked The operation of a simulator is the same as the operation of a motion controller 11 29 PMSoft User Manual age F PMsimulator 00M Mar 3 2009 LSPO e cer al 2k RE A e Ra OGQLSNO PGO FOGIILSNI PG1 x7 POWER E BAT LOW X READY ERROR Y READY ERROR Xaxis START S 887 DVP 20PM Listening lf use
208. ler is TIMER and the data type of FB_ Var which is the output pin of the function block is BOOL The second basic principle for the general data types is not satisfied As a result P_Var and FB_Var are illegal symbols v Example 4 The device that the caller assigns to FB_Var is TO and the data type of FB Var in the function block is BOOL gt The first basic principle for the general data types is satisfied As a result P_Var and FB Var are legal symbols 2 N FEI Ul TO4FB_Var lt The data type of FB_Var is BOOL v Example 5 The device that the caller assigns to FB_ Var is CO and the data type of FB_Var in the function block is LWORD gt The first basic principle for the general data types is satisfied As a result P_Var and FB_Var are legal symbols FB1 Ul CO4FE_Var lt The data type of FB_Var is LWORD v Example 6 The device that the caller assigns to FB_Var is DO and the data type of FB Var in the function block is LWORD 9 8 Chapter 5 Function Block gt The first basic principle for the general data types is satisfied As a result P_Var and FB Var are legal symbols v Example 7 The device that the caller assigns to FB_Var is SO and the data type of FB_ Var in the function block is BOOL gt The first basic principle for the general data types is satisfied As a result P_Var and FB Var are legal symbols v Example 8 P_VAR is an array composed of four word
209. lick New POU on the context menu which appears as shown in figure 13 8 ffl Frograms 4 10 Ta JX 7 F Ff go Function Blocks Figure 13 8 Adding a new POU The users have to type a POU name in the Create Program window select a programming language and click OK as shown in figure 13 9 Create Program Language POL Mame m P Ladder Diagram LD x i oie Continuous Function Chart CFC a Pou 1 za pec Ox E F a f al Figure 13 9 Items in the Create Program window If the users repeat the steps above they can create several 0100 POUs as shown in figure 13 10 When the 0100 POUs created are compiled they are transformed into execution code in order Ids Programs d d 0100 Ma poui W Pou Oy E P a f ea Figure 13 10 Several 0100 POUs 13 5 PMSoft User Manual If the users want to change the order in which the 0100 POUs created are executed they can drag an 0100 POU to another position In figure 13 11 the order in which POU_1 POU_ 2 and POU_ 3 are executed is POU _1 gt POU 33POU 2 L W Programs W Programs Figure 13 11 Shaneot the order in which the 0100 POUs created are executed Ox POU P POU and POU If users want to create an Ox POU P POU I POU they have to expand the Ox P I section in the system information area and double click a number After the users select a programming language in the Create Program window they have to click OK The POU name in the Create
210. lick the output object in a network the new object created will be put at the right side of the input objects in the network 6 28 Chapter 6 Ladder Diagram New Instruction Instruction MOV DO D1 al An applied instru tion is typed New Instruction Instruction 6 2 11 Deleting Objects Users can delete the objects in a ladder diagram including contacts coils applied instructions and blocks There are three methods of deleting an object in a ladder diagram 1 The users have to click an object and click Delete on the Edit menu or 4 onthe standard toolbar Mo MI O N O lt Wethey Compie View Commn D Undo CtrZ GS Redo Ctrl Y Yo Gut Ctr Ae x B nig Bow G F Paste Ctrl e Paste Fight Ctrl E 6 OR BF Paste Dom Ctrl D EP Delete Del Select All Ctrl A Fina CtrltF Replace Ctrl H 6 29 PMSoft User Manual Ml 2 The users have to click an object right click the object and click Delete on the context menu G Unde Ctrltz Redo Chit MO Ml Y Cut Chk 1 e EB Copy Ctrl X Ej Paste Chi S Paste Fight Ctrl E Paste Down Ctrl D 2 Delete Del elect All Ctrl A Fina CttF Replace Ctrl H M1 Activate Netarork Inactrzate Netarork T Set OW Mum Set OFF Him 3 The users have to click an object and press Delete on the keyboard Hi s ssa 2 Press Delete on the keyboard s 6 2 12 Instruction Editing Mode In a ladder dia
211. ll 3 After the users click appear Chapter 6 Ladder Diagram GRSetEOSGEE Application Instruction AILAPI Basic Loop Transfer Math ExtlO Float Data Delta Compare Motion API No Application Instruction zd Function 4 The users have to select an instruction type select an instruction in the API No drop down list box or the Application Instruction drop down list box select devices which are supported according to the explanation at the bottom of the window and click OK Application Instruction All API Loop Transfer Math Ext IO Float Data Delta Compare Motion API Mo 36 Application Instruction TMR Function Timer Device Number O Device Number Device Explanation Method 2 PMSotft toolbar 1 The users can insert an applied instruction into a line or connect an instruction to a coil in parallel Motion instructions and G codes can not be preceded by contacts 6 19 PMSoft User Manual OR Inserting an applied instruction into a line or connecting an applied instruction to a coil in parallel 2 The users have to click _ on the toolbar PR dh t dtt dm 4h CI lift fit Sls GIs YF ES 100 we Signed Decimal Ww J 0 H L 3 The users have to move the mouse cursor to a position The mouse cursor becomes an instruction block when it is at the top of the position or at the bottom of the position After the users click the left mouse button an instructio
212. lling GONG tees cee coat ates atcnsten ces qnennsencesaataeataratesauetcecceeasatee 1 11 1 3 Important Points about Writing a Program for an AH500 Series Motion CORTOT eee ee ee ee ee a re ee ee 1 12 PMSoft User Manual Note Graphic representations The graphic representations used in the manual are listed in the following table representation E Clicking the left mouse button E J Clicking the right mouse button 8 amp 8 Double clicking the left mouse button Pressing and holding the left mouse button and then moving the mouse without releasing the button Typing with a keyboard Operating sequence The graphic representation is used when an operating iy sequence is mentioned For example and 2 o Number used with a picture Point for attention The item mentioned may be related to damage to equipment property or a human body Trademark declaration The products and trademarks which do not belong to Delta Electronics Inc belong to the companies which produce and declare them Chapter 1 Introduction of the Software 1 1 Introduction of PMSoft and System Requirements PMSoft is a software development tool for Delta s new generation motion controllers In addition to basic programming functions and interfaces PMSoft also contains many convenient functions and tools The multilingual environment and the friendly user interface provide users with an efficient development environment 1 1 1 Characteristics
213. lobal symbol table the function of an instance of function block D and the data stored in the instance can be used by all the POUs In other words the system only produces one instance of function block D Although function block D is called by two POUs the same instance of function block D is executed in the two POUs INS_C1 C2 C The items which will appear in the system information area after the program is compiled are shown in the figure below The superior POU which is a program and the inferior POUs are in the brackets at the end of a function block instance Chapter 5 Function Block Ids Programs 4 olw fic H Ox P afal go Function Blocks ap A 4 a NS A010 if NS B010 INS A if NS B000 INS 10100 N_A Ns By INS e200 N_A Ns By INS C1 D100 INS By INS canlo INS By 34 D INS_D Glokal Symbols Users are allowed to declare a function block instance in the symbol table in a superior function block If an inferior function block instance called by a superior function block does not need to be called by another superior POU the inferior function block instance can be directly declared in the local symbol table in the superior function block which calls the inferior function block instance 5 2 6 Assigning a Memory Block to a Function Block During the process of producing instances of the function blocks in a project the system assigns memory blocks to the instances and device addresses to the symbol
214. low 2 12 Chapter 2 Starting and Setting Smirno Wanda Help Language Restore PM Default Setting Clear PM Code Area Diagnosis Copy SRAM to Flash C 0100 C Ox C Clear Error Parameter Miscellaneous Change PM Type l Clear MRU List W Load Default Layout Load Previous PPh Check Program Consisten Component Width Language Users can select Traditional Chinese Simplified Chinese and English in the drop down list box After the users select a language they can click OK Language English simplified Chinese Traditional Chinese English Diagnosis Users can select the 0100 option button the Ox option button the Oy option button and the Clear Error option button If an error occurs during the operation of a motion controller the system will not stop running For the sake of safety users can select an option button If an error occurs in the program which is diagnosed the system will stop running and an error message will appear If the users want to restart the system they have to clear the error flag Diagnosis C 0100 C Oy Ox C Clear Error Miscellaneous Users can select the Clear MRU List checkbox the Load Default Layout checkbox the Load Previous PPM checkbox and the Check Program Consistency checkbox These checkboxes are described below Miscellaneous Clear MRU List Ww Load Default Layout Load Previous PPh Check Program Consisten PMSoft User Man
215. ls Identifiers Address Type Initial Local Symbols Identifiers Address Type Initial Tile Vertically After the item is clicked all the windows will be tiled horizontally but take on a vertical shape The present window will be at the leftmost side Winnen Help Arrange All a Tile Horizontally Previous Window Alt Left Hext Window Alt Right 1 Program PU 2 Program O20 v 3 Program 0100 Project_1 Delta PMSoft File Edit Compile View Communication Options Window Help DOE B g 6 xna o R A ve int ih c ca O lt Wh E g System Information Project Se Symbols Allocation Z Symbols Information E Global Symbols k Programs J 0100_ 10 aC Ox IP Local om a Function Blocks fr Instruction Monitor Tables I X Chart Device Comments E OvP_FPmc CAM Chart EA PEP Setting system Information THE Net Id 1 GJINS Modified m 2 2 Basic Settings in PMSoft 2 2 1 Tools b abies Ure Leos ee Booekk 4 amp x 100 v Signed Decimal v 7 0 H L Pro Ox Pro Ox Local Symbols Local Symbols SMETAT Il Pes Re leo Peto ec bes Pe PMSoft allows users to set the operating environment After users click Tools on the Options menu the Tools window will appear There are four sections in the Tools window They are the Language section the Diagnosis section the Miscellaneous section and the Component Width section The four sections are described be
216. mation T HomeRetum Ul Figure 13 24 Parameters of a function block 13 4 New Functions Related to a Function Block 13 4 1 Condition Contact of a Function Block The state of the condition contact preceding a function block determines whether the function block is executed Pleas see figure 13 25 e If a function block is not connected to a condition contact it will always be executed Please see figure 13 26 If a function block does not need to be connected to a condition contact in a ladder Figure 13 25 Condition contact preceding a function block 13 11 PMSoft User Manual diagram it will be connected to a busbar directly If a function block does not need to be connected to a condition contact in a continuous function chart the En pin of the function block will be disabled FEl mstl O FB1 i R Mo P Tae ae 1 VAR 2b Mi Figure 13 26 Canceling the condition contact preceding a function block 13 4 2 Omitting the Pins of a Function Block The symbol or the device assigned to an input pin or an output pin of a function block is used as an input interface or an output interface of the function block Users sometimes do not need to specify an input value or can ignore output information and therefore they do not need to assign a symbol or a device to a pin of a function block After a function block is added to a program section the pins of the function block will be marked with that is the users does n
217. mmunication port device to the USB device Appendix A Installing a USB Driver Device Manager SEES File Action View Help 4 amp aP S66660D0CBS0 a Batteries 4 Computer S Disk drives a Display adapters 6 ODICO ROM drives fg Human InterFace Devices IDE ATAJATAFI controllers gt Keyboards 1 Mice and other pointing devices 2 Monitors Eg Network adapters _ y Printer Port ae Processors Sound video and game controllers by System devices rs Ts Universal Serial Bus controllers The device name shown in the figure above is the name of an AH500 series CPU module Different models have different names Additional remark If the PLC is connected to another USB port on the computer the system may ask the users to install the driver again The users can follow the steps above and install the driver again After the driver is installed the communication port number that the system assigns may be different If Windows XP SP3 has not been installed on the computer an error message will appear during the installation The users can deal with the problem in either way below a Cancel the installation install Windows XP SP3 and reinstall the driver according to the steps above b Get the file needed and specify the path pointing to the file in the Files Needed window A 9 PMSoft User Manual MEMO Appendix B Delta defined Parameter Table Tabl
218. motion control module is equipped with an Ethernet port to which a RJ45 cable can be connected DVP series motion controller equipped with the function card DVP FPMC can be connected to a computer through a network cable A computer can connect to an AH500 series motion control module or a DVP series motion controller in two ways One way to connect a computer and an AH500 series motion control module a DVP series motion controller is connecting them to the same domain by means of a switching hub The other way to connect a computer and an AH500 series motion control module a DVP series motion controller is connecting them by means of a network cable no jumper wire is needed The connection type that the driver created uses is Ethernet Note a Before users connect an AH500 series motion control module a DVP series motion controller to a computer they have to make sure that the network created is normal and the computer and the AH500 series motion control module DVP series motion controller are in the same domain Chapter 2 Starting and Setting b Users have to make sure that the values of the Ethernet parameters in an AH500 series motion control module DVP FPMC are correct The default values of the Ethernet parameters in an AH500 series motion control module DVP FPMC are shown below If users want to change the IP address of an AH500 series motion control module a DVP series motion controller or the port number of an AH500 series motio
219. mporting POUs Which Are Programs cccccseeeeeeeeeeeeeeeeeeeeeees 3 15 3 2 8 Exporting POUs Which Are Function BIOCKS cccesseeeeeeeeeeees 3 16 3 2 9 Importing POUs Which Are Function BIOCKS cccesseeeeeeeeeeees 3 18 PMSoft Users Manual 3 1 Knowing Program Organization Units POUs 3 1 1 Program Architecture Program organization units are the basic elements of the program in a PLC The characteristic of the program architecture in PMSoft is that a program is divided into several units These units are called program organization units In the classic architecture shown below the source code for a PLC is composed of all procedures including subroutines If the size of a program becomes larger the maintenance of the program and the debugging of the program will be burdens In the program architecture in PMSoft a program is divided into several units according to functions or characteristics It is convenient to develop and maintain a program Besides owing to the fact that program organization units are modular different program organization units can be developed by different designers It benefits the distribution of manpower and the execution of a project Main Program Main Program Subroutine Procedure 1 0100 unction Procedure 2 Block Procedure 3 Subroutine Motion Interruption Procedure 4 Subroutine caer ania Subroutine Procedure 5 3 1 2 Types There are two types of POUs
220. mputer they have to make sure that the power supply modules the CPU module the network modules and the backplanes in the AH500 system are installed properly b Before users connect an AHCPU5xx EN series CPU module to a computer they have to make sure that the network created is normal and the computer and the AHCPU5xx EN series CPU module are in the same domain c Users have to make sure that the values of the Ethernet parameters in an AHCPU5xx EN series CPU module are correct The default values of the Ethernet parameters in an AHCPU5xx EN series CPU module are shown below Value IP addressing Static IP address IP address 192 168 1 1 255 255 255 0 Gateway address 192 168 1 1 Chapter 2 Starting and Setting 2 3 13 Creating a Connection Between I SPSoft PMSoft and COMMGR After drivers are created and started in COMMGR users can specify a driver in ISPSoft PMSoft After the setting is complete a connection between ISPSoft PMSoft and COMMGR is created If software directly connects to a motion controller the software is PMSoft If software indirectly connects to a motion controller through an AH500 series CPU module the software is ISPSoft and PMSoft 2 3 14 Using PMSoft Direct Connection A direct connection is applicable to Delta DVP series motion controllers and AH500 series motion control modules After users directly connect a computer to a motion controller and complete all the setting they have to follow th
221. n the project will overwite the project saved last time iS Edt Compile View i Hew Ctrl H al Lar Open trit Save Ctrl s T y m Save s CtrtAlt S E A Close OR Print Ctrl P e Open Examples Import G Code Exit AlE 2 Ifthe users want to save the project with another file name or in another folder they have to click Save As on the File menu set a path and a file name in the Save As window and click Save Save in 2 Desktop IE Edt Compie View C A My Documents B Hear Ctrl H ig Y My Computer My Recent Jmy Network Pl rs Open Ctra Documents aes alii il Save Ctrl S Desktop MI Save ds Ctrl Alt S a Close p Print Ctrl F Open Examples Import G Code Exit AlE 9 i 4 My Network File name Project_ D Places Save as type Program of PM ppm v Cancel 9 1 6 Closing a Project After users click Close on the File menu the project which is being edited presenily will be closed If the project has not been saved the system will ask the users whether they want to save the project After the users click Yes or No in the PMSoft window the project will be closed 9 8 Chapter 9 Project Management EY cat Gamay Wass cl Hew Ctrl H Gar Open Cho z Save Chs PMsoft j Do you want bo save the modified project to file lt iitest Project_1 ppm wo cons Open Examples Import G Code Exit AlE Delta PMSoft SEE Comurniuucati
222. n a program editing window hold down the left mouse button and drag the mouse cursor over the object that they want to select as shown in figure 12 7 Figure 12 7 Selecting several objects 12 2 3 Input Nodes Output Nodes and Logic Gates The principle of a continuous function chart is that logic gates perform operations on the states of variables or registers that input nodes put into the logic gates and the outputs that the logic gates produce are sent to output nodes An input node can not be connected to an output node directly If a state needs to be moved an OUT gate must be used In figure 12 8 the state of the variable Var_1 is moved to the register M1 The ladder diagram corresponding to the movement is also shown in figure 12 8 Figure 12 8 Use of an OUT gate 12 7 PMSoft User Manual Other logic gates include AND gates and OR gates Users can design complex loops by these gates as shown in figure 12 9 Figure 12 9 Continuous function chart 12 2 3 1 Inserting a Node or a Gate There are two methods of inserting a node Users can use one of the methods according to their habit e Method 1 PMSoft toolbar 1 The users have to click an icon on the PMSoft toolbar as shown in figure 12 10 z DE Bi yt 53 100 WF Signed Decimal 1 O H L Figure 12 10 PMSoft toolbar 2 After the users click a position in the program editing area an object will be inserted as shown in figure 12 11 Program 0100
223. n block is executed the operation result will be sent to a device in the POU through the output pin of the function block Please refer to the following figures 9 6 Before a function block is executed The caller assigns DO to DT_IN the input pin of the function block When the function block is called the system sends the present value in DO to DT_IN DT_IN is a symbol of the INPUT type Function Block After a function block is executed After the function block is executed the value of DT_IN will become 89 The value in DO is unchanged Besides DI_OUT sends the final operation result to D2 a device specified by the caller Even if the value in D2 is overwritten during the execution of the program the value of DT OUT will remain unchanged DT _ OUT is a symbol of the OUTPUT class Function Block Dt_OUT Although the value of the symbol of the INOUT class will be sent to the device that the caller assigns to the symbol after the function block is executed the present value in the device specified by the caller is sent to the symbol before the symbol sends the final operation result to the device Function Block Function Block Please refer to the function blocks below FB_ Var is the pin of the function block and P_Var is the operand that the superior POU caller assigns to FB_ Var The data type of P_Var and that of FB_Var must conform to the basic principles described below Chapter 5 Function Block
224. n block will be inserted Please refer to the figures below n D Inserting an applied instruction into the line 0 T A m mof oF 4 The users have to double click the instruction block inserted or press Enter on the keyboard after they click the instruction block Press Enter on the keyboard 5 The users have to type an instruction and operands in the Instruction box or click pa If the users click Eel they have to select an instruction type select an instruction in the API No drop down list box or the Application Instruction drop down list box select devices which are supported according the explanation at the bottom of the window and click OK 6 20 Chapter 6 Ladder Diagram New Instruction Instruction New Instruction Instruction amp Application Instruction AJ API Basie Loop Transfer Moth Ext iO Fisst Data Bette Compare Motion APINo Application Instruction TMR Device Number U Device Humber U Dance Explanatean Please refer to section 6 2 5 for more information about making comments on devices and instructions 6 The result that the users get is like the figure shown below TME TO D Method 3 Typing an instruction After the users select a position they have to press Enter on the keyboard or type an applied instruction a motion instruction a G code and operands After the users press Enter on the keyboard or type an applied inst
225. n chart will skip the object Users can temporarily inactivate some parts of a program 1 The users have to right click an object as shown in figure 12 38 Figure 12 38 Right clicking an object 12 19 PMSoft User Manual 2 After the users click Activate Inactivate on the context menu which appears the object will be in a dark color as shown in figure 12 39 GG Unde Ctrl GS Redo Ctlt Y Cut Chex EB Copy Ctrtc Ej Baste Ctr Ay Delete Del Select All Ctra The object which is inactivated is 4uto Generate Symbols selected Fina CtrltF Replace Ctrl H i Comment Shift F10 Execution Order The object which is inactivated is not w Crossing Line selected Figure 12 39 Object which is inactivated 3 If the users want to activate the object they have to right click the object and click Activate Inactivate on the context menu which appears 12 2 10 Inserting a Comment Users can insert comments in a continuous function chart There are two methods of inserting a comment e Method 1 Inserting a comment in any position 1 The users have to click Comment on the PMSoft toolbar as shown in figure 12 40 2 A fn DO OO SS BBE FE 100 w Siedem Vl tO H L Figure 12 40 Comment 2 After the users click a position in the program editing area an object will be inserted as shown in figure 12 41 Program 0100 ei Program 0100 Local Symbols Local Symbols Class Identifi Address Typ
226. n control module a DVP series motion controller they have to move values to special data registers in the AH500 series motion control module DVP series motion controller by means of instructions Value IP address 192 168 0 100 1024 Indirect connection 1 AH500 series CPU module RS232 Owing to the fact that an AH500 series CPU module is quipped with standard communication ports users have to connect an AH500 series CPU module to a computer with a RS232 cable depicted in the figure below or with an adapter into which jumper wires are built The connection type that the driver created uses is R8232 Note a Before users connect the AH500 series CPU module in an AH500 system to a computer they have to make sure that the power supply modules the CPU module the network modules and the backplanes in the AH500 system are installed properly b Users have to make sure that the communication protocol for exchanging data through a driver is the same as the communication protocol for exchanging data through a communication port on an AH500 series CPU module before they connect the driver to the AH500 series CPU module c The communication ports on an AH500 series CPU module can be RS232 communication ports RS485 communication ports or RS422 communication ports Users have to make sure that a communication port on an AH500 series CPU module is a RS232 port before they connect the communication port to a computer 2 33 PMSoft
227. n error occurs in the Time of Auto retry box and select an interval of retrying the sending of a command in the Time Interval of Auto retry box 2 2 PMSoft User Manual When the Driver Properties window is opened the information about the network interface cards in the computer is retrieved once However the information in the Description drop down list box will not be updated If a network interface card is added to the computer system after the Driver Properties window is opened the network interface card will not be displayed in the Description drop down list box Users have to close the Driver Properties window and open it again 2 3 8 Setting Communication Parameters for DirectLink Ethernet gt Diver Name Dre_DL EN Connection Setup gt Type DirectLink Ethernet Ethernet Card gt Description Intell Be LA Gigabit Network Corni 169 254 55 246 IP Address Setting Add Del Search IF Address Por Number Comment 4 6254550 502 Hal 1 Setup Responding Time O j gt Time of Auto retry 3 Time Interval of Auto retry sec 3 Users can type a driver name in the Driver Name box Select DirectLink Ethernet in the Type drop down list box in the Connection Setup section Select a network interface card in the Description drop down list box The IP address assigned to the network interface card selected is displayed in the lower left corner of the Ethernet
228. n menu or on the toolbar again 11 3 1 Running Stopping a Motion Controller When the state of a motion controller is monitored the main program 0100 in the motion controller can be enable disabled by means of PMSoft 1 When the state of a motion controller is monitored users can click Run 0100 on the Communication menu or J on the toolbar to enable the main program 0100 in the motion controller ET Download Progam Cule Pd Upload Program 9 Ctrl F9 i Password Setting CtrtW stop O100 Ctr Fl2 System Log PM Information Edit Register Memory T Edit Bit Memory Monitoring if Commmmication Setting 2 After the users click Stop 0100 on the Communication menu or on the toolbar the main program 0100 will be diabled 11 13 PMSoft User Manual ieee Options Window E IPG Download Program Ctrl F8 Pd Upload Program Ctrl F9 G Password Setting CtrtW TY Em 0100 Ctrl F1 1 E stop 0100 Ctrl F12 OF GS GF 2 amp 2 8 OO 2 Bt System Log PM Information a Edit Register Memory gt T Edit Bit Memory Monitoring i Commmmication Setting 11 3 2 Monitoring a Ladder Diagram Users have to connect a motion controller to a computer and download a program to the motion controller When the state of the motion controller is monitored the users can monitor a ladder diagram 1 The users have to open a program editing window in which a ladder diagram is created m This contact is OFF This
229. n set for the AH500 series motion controller users are asked to type the PEP password when they download cam data to the AH500 series motion controller 10 3 2 Enabling the Protection of POUsS 1 Users have to expand the PEP Setting section in the system information area The POU numbers in the PEP Setting section correspond to the POU numbers in the Programs section However the interrupt subroutines in a project can not be protected by a PEP password 10 7 PMSoft User Manual system Information Project z Symbols Allocation i Symbols Informatio EP Global Symbols Programs PEP Setting W Programs a Function Blocks J o100 J 100 mr Instruction Fe Ox H O Ox E Monitor Tables Fe p JE X Chart H t amp P Correspondence i 3 e K Device Comments D OVP_FPMc CAM Chart i ER PEP Setting gt Information 2 After the users right click a POU number under a program type and click Enable Protection on the context menu the POU number will be marked with _ P the POU represented by the POU number will be protected by a PEP password and the program type will be marked with nP n in _ nP indicates the number of POUs which are protected by a PEP password In the example below only Ox0 is protected and therefore Ox is marked with _ 1P system Information gt Project Ja Symbols Allocation Symbols Information gP Global Symbols
230. n the Open window and click Open 9 4 Chapter 9 Project Management prog Project_1 My Recent Documents i iniaa File name z aces Files of type Program of PM ppm l Cancel 3 After the users click Open in the Open window the system will close the project which is being edited presently If the project has not been saved the system will ask the users whether they want to save the project amp Project_1 Delta PMSoft Program 0100 Mh File Edit Compile View Communication Options Window Help Ais a LADI e SHerEBOSBER RAe ve itt dh ach co it bbe Se Be system Information Local Symbols Project Class Identifiers Address Type Initial Comment Se Symbols Allocation VAR VAR_O1 M3000 BOOL FALSE Z Symbols Information i 7 E EP Global Symbols Programs 4 0100_ 10 H O Ox Ge 100 wv SigedDeciml v 7 QO H L Do you want to save the modified project to file C Program Files DELTA Industrial Automation PMSoft 2 04 Project Project_1 ppm Yes No Cancel CAM Chart EA PEP Setting 000 i System Information lt TE Net Id 1 INS 9 Modified m 4 After the users click Yes or No in the PMSoft window the ppm file clicked in the Open window will be opened J 9 PMSoft User Manual ECAM Delta PMSoft Program 0100 File Edit Compile View Commmmication Options Window Help SSF A r IESE
231. n the PM Type Setting window is selected by default After the users click OK all Delta libraries will be added to the Function Blocks section as shown in figure 13 18 PM Lyne setting System Information of x Project za Symbols Allocation Symbols Information Proqram Title PM Type 20PMO0D EP Global Symbols W Programs Comment f T_DVP20PM EP Global Symbols A Singleaxis AP Multiaais Others on Instruction Monitor Tables gL Chart W Device Comments D OVP_FPMC File Name CAM Chart Untitled E PEP Setting J system Information Figure 13 18 Adding motion control libraries Chapter 13 New Functions and Revised Functions Method 2 Libraries are added to a project 1 If users do not need to add all libraries when they create a project they have to unselect the Add Motion Control Library checkbox in the PM Type Setting window Please see figure 13 19 PM Type Setting Proqram Title Syster Information 4 x Project ze CV MbOS Allocation PM Type 20PMOOD Symbols Information EP Global Symbols Add Motion Control Library jj Programs Comme B Function Blocks ae Instruction E Monitor Tables Chart K Device Comments D OvVP_FPMc CAM Chart EF PEP Setting File Name Untitled 4 O System Information Figure 13 19 Not adding motion control libraries 2 The users have to right click the item which needs to be added in the Del
232. nction block definition 1 The users have to press the left mouse button while the mouse cursor hovers over a function block definition They have to move the mouse cursor to a position in the program editing area while holding the left mouse button down The Add Symbol window will appear after the users release the left mouse button Please see figure 12 29 fe Metren E Monitor Tables H b Chart K Device Comments D OveP_FPMc CAM Chart PEP Setting Figure 12 29 Dragging a function block definition 12 15 PMSoft User Manual 2 The users have to type a function block instance in the Add Symbol window The users have to create a symbol whose data type is a function block Then the users have to click OK or press Enter on the keyboard as shown in figure 12 30 Finally the users have to assign devices or symbols to the pins of the function block inserted Add Symbol ldentifier Address Type Initial Comment Do LE OO ee Y M Add to global symbol table q ox D FEl instl Figure 12 30 Declaring a function block instance e Method 2 Typing a function block definition 1 When the users type a function block definition the New Instruction window appears The function block definition that the users type is case insensitive After the users type a function block definition in the Instruction box they have to press Enter on the keyboard or click OK in the New Instruction window Please see figure 12
233. nd the pins which receive the input values sent by the caller are assigned to the symbols of this class OUTPUT Symbol used as an output pin of a function block A symbol of this class is used as an output pin of a function block It can only be declared in a function block After the execution of a function block is complete the operation result will be sent to the caller through the symbols of this class Besides in a ladder diagram the symbols of this class are put at the right sides of function blocks and the pins which send the operation results to the caller are assigned to the symbols of this class INOUT Symbol used as a feedback pin of a function block A symbol of this class is used as a feedback pin of a function block It can only be declared in the function block Please refer to the following example When the function block is called the caller sends the value in D1 to DT_IO which is a symbol of the INOUT class After the operation comes to an end the final value of DT_IO is sent to D1 Besides in a ladder diagram the symbols of this class are put at the left sides of function blocks ce enti DT_OUT PROCESS 4 1 3 Data Types The data type of a symbol determines the significance of the value of symbol Suppose there are two symbols VAR_1 and VAR_2 The data type of VAR_1 is BOOL and the data type of VAR_2 is WORD If VAR_1 and VAR_2 are used in a program VAR_1 will represent a contact and VAR_1 will rep
234. nnnsvaresnectosscancwaxceescvenseckese 6 13 6 2 8 1 Inserting a Contact cee cc cc eecccceeeeeceeeeeseeeeseeesseseesaaseesaaeeesaees 6 13 6 2 8 2 KE a GOl eaea 6 15 6 2 9 Applied Instructions Motion Instructions G codes Function Blocks and Comparison Contacts cccccceecceceeceeseeeeeeeeeeseeeeesseeeesaeeeesaeees 6 17 6 2 9 1 Inserting an Applied instruction a Motion Instruction or a G code RERE EAA AE E E A A A E EEA 6 18 6 2 9 2 Mseing a FUNCHONMABIOGK catssicnadencssvewsronsvonaxensveresessvareuesnwercwanawhs 6 22 6 2 9 3 Inserting a Comparison COntact ccccccccseeceeeeseeeeeeeesaeeeesaees 6 23 6 2 10 Modifying Objects cccccececeeeeeeeeeceeeeceeeeeeeeseeeeeeaeeseeeesaeeeeaaeeeas 6 28 6 2 11 Deleng ODJECE ERER E 6 29 6 2 12 WAS TUG OTA EUN MOOG serere 6 30 6 2 13 Editing Devices or Symbols cccccseececeeeeceseeceeeeseeeeseeeesaeeesaees 6 32 6 2 14 Activating Inactivating a Network cccssccseeeceeeeeeeeneeeseeeaeeenaees 6 32 6 2 15 Error Hint ee 6 33 PMSoft User Manual 6 1 Introduction of a Ladder Diagram 6 1 1 Ladder Diagram A ladder diagram is one of the programming languages defined by IEC 61131 3 and is widely used to create a PLC program A ladder diagram is a programming language that represents a program by a graphical diagram based on the circuit diagrams of relay logic hardware The creation of a ladder diagram in PMSoft will be introduced in the following sections The p
235. nt Preview window will be opened There is no Pint Setting tab in the Print Preview window 9 1 8 Exiting PMSoft 1 If users want to close a PMSoft window they have to click Exit on the File menu or A in the upper right corner of the window H Edit Compie View Ci a Hew Ctr H ia Open Ctr Save Ctrl4s DI Save As Ctrl Alt s Es Close OR Print Ctrl P 6 Open Examples Import G Code 2 Ifthe project which is being edited presently has not been saved the system will ask the users whether they want to save the project PMSoft 2 Do vou want to sawe the modified project to File Cibest Project_1 ppm Wes Mo Cancel 9 11 PMSoft User Manual 9 2 Functions Related to Project Management 9 2 1 System Information Area The system information area in PMSoft adopts an interface which uses a hierarchical tree structure Users can manage projects by means of this interface The system information area is described below System Information q x Project le Symbols Allocation Symbols Information Global Symbols Wf Programs B Function Blocks oe Instruction E Monitor Tables I rcha W Device Comments I OVF_FPMC CAM Chart PEP Setting l system Information Information about symbols and devices Symbols Allocation Symbols Information Global Symbols and Device Comments Programming objects Programs Function Blocks and CAM Chart Instruction The instruction li
236. nt teeth E E 10 2 10 2 1 setting and Removing a PM Password cccccseeeeeeeeeeeeeeesaees 10 2 10 2 2 DOW AIO AGING Progi aM rns cicsvewsvewivisarinavswevetvdeersiunueneiusenensensier 10 3 10 2 3 TOC Ch a I FOO el cca nnr EE ERRER 10 5 10 3 PEF PASSWOlC saaran auasdpeeeaeies hte etetee 10 6 10 3 1 Storage Areas in a Motion Controller ccccsecceesseeeeeeeeeeeeeaeees 10 6 10 3 2 Enabling the Protection Of POUSusaccnenena 10 7 10 3 3 Disabling the Protection of POUS ccccececseseeceeseessseeeneeeees 10 8 10 3 4 DOWNIOACING A PrOQraMM cecccceeeeceeeeeeeeeceeeeseeeeeeeeeeeueeseneenanees 10 9 10 3 5 WIOICa GINO ati OO AN cuansasauiananetsnradanstnan taal rualaan Guntieiaaabornaieds 10 11 10 3 6 Important Points about Disabling the Protection of POUs 10 13 Chapter 11 Online Functions 11 1 ONNE FUNCIONS ss neta th 25s Ban e eT E a eE Eae 11 2 11 2 ONINS Operati ON sen e e EE SE EE 11 2 11 2 1 Downloading Uploading a Project sssseessssennssennsserrrrsrrrrerrrnen 11 2 11 2 2 EGUNO FREOISICLS neavssensserucardvavovendvanccuncnasetaydueyetonduaecosduanseerdvanseatas 11 4 11 2 3 Editing the States Of D VICES ccceccccceececeeeeesseeeeseeeesaeeeeseaeees 11 7 11 2 4 ELSE LAIN 6 6 ene nee pene E E E E E E EE TEA ae ee ees 11 10 11 2 5 Operate the Memory in a Motion Controller ccccseceeeeeees 11 11 11 3 Monitoring a Motion Controller cccccccccsecceceeseeeeeee
237. nvironment in which an instruction list can be edited is shown below There are line numbers at the left side of the working area The text which is being edited presently is on a green background The use of the environment in which an instruction list can be created is the same as the use of a general text editor Users type text or modify text in the working area e The Instruction window is shown below Instruction ooo01 0100 ooooz LD MO oooos AHD M1 lt The text which is being o0004 OR M edited presently is on a nooos OUT M3 green background oooos M102 oonan Working area Line number 7 2 2 Toolbar After a program editing window in which a ladder diagram can be created is opened a toolbar will 7 3 PMSoft User Manual appear in the PMSoft window The functions of the toolbar are described below After an instruction list in a project is created users have to click IL to LD on the PMSoft toolbar After the instruction list is transformed into a ladder diagram the users can click Check or Compile Program on the PMSoft toolbar If the users click Check or Compile Program on the PMSoft toolbar without clicking IL to LD on the PMSoft toolbar first the ladder diagrams rather than the instruction list created in the project will be compiled and the IL code created will overwrite the instruction list in the Instruction window e PMSoft toolbar en Keyboard shortcut Ctrl F10 Compiling the program T
238. o ON 6 3 Cope PMSoft User Manual Icon Keyboard shortcut Function When the online monitoring function is enabled the contact selected is set to OFF Num H None Maximum baud rate 6 1 5 Context Menu After users right click the working area in a program editing window a context menu will appear The functions of the items on the context menu are described below 0 Undo Chl GS Redo Ctl Y cut Ctrl X ES Copy Ctrl C 75 Paste Ch Paste Right Ctr Paste Down Ctrl D 2 Delete Del select All Ctri Fim Ctrl F Replace Ctrl H Activate Nebaork Inactiyvate Metanork T Set ON Mur Set OFF Mir Undoing the last action The number of previous actions that can be undone is 20 Redoing an action which has been undone Cutting a device a block or a network Copying a device a block or a network Pasting the object which has been copied or cut on the present position Paste Right Pasting an object at the right side of the position selected The object will be connected to the position selected in series The object will be connected to the position selected in parallel Searching for an item Please refer to chapter 9 for more information Replacing the item found with another item Please refer to Replace i chapter 9 for more information Activate Network Activating the network selected 6 4 Chapter 6 Ladder Diagram a Network Inactivating r networ
239. o find complete words only and not to find words that only contain what users type 9 2 5 Checking and Compiling the Program in a Project After users write a program they have to check and compile the program In PMSoft checking a program and compiling a program are two independent functions The former checks the syntax of a program The latter will create an execution code after a program is checked In principle there is no regulation on the order in which the two functions are executed The users can compile a program without checking the program They can use the functions according to their habits The checking compiling of a ladder diagram and the compiling of an instruction list are described below Please refer to section 7 4 for more information Checking a program 1 Method 1 Click Check on the Compile menu View Comrniucation Op 2 Method 2 Click on the toolbar 9 19 PMSoft User Manual 3 Method 3 Press Alt F7 on the keyboard Compiling a program 1 Method 1 Click Compile Program on the Compile menu eal View Commmiration p d5 Check Alt F 7 mp Compile Program Ctrl F 2 Method 2 Click on the context menu 3 Method 3 Press Ctrl F7 on the keyboard After the users check or compile a program results will be displayed in the area under the PMSoft window If an error occurs the message related to the error will be displayed in this area After the users double click the messa
240. o import a symbol table they have to right click a symbol table click Import Symbols on the context menu select a file path in the Import Symbols List window select an option button in the Clear Table before Importing section select an option button in the Conflict Option section and click Import A 17 PMSoft User Manual Global Symbols Seles Global Symbols Identifiers Address Type Initial Comment 4 Pa X Ct ChE O Copy Ctrl C Ej Paste Ctr 2 Delete Del select All Ctra Insert a Row Ctrl I Clear Selected Addresses Ctrl E Fina ChltF Import Symbols Export Symbols Import Symbols List symbals File C Documents and Settingss USER Desktopifile 1 csv Browse Clear Table before Importing Conflict Option C Yes C Replace All CAE C Ignore All Ask Every Time A global symbol table can be imported into another global symbol table or a local symbol table A local symbol table can be imported into another local symbol table or a global symbol table However after the local symbol table in a POU which is a function block is exported the symbols which are symbols of the INPUT class the symbols which are symbols of the OUTPUT class and the symbols which are symbols of INOUT class in the local symbol table can not be imported into a global symbol table or the local symbol in a POU which is a program Besides an error message occurs when the local symbol table is imported 4
241. o section 2 3 3 for more information 2 3 5 Setting Communication Parameters for USB Virtual COM If the USB port of an AH500 series CPU module is used USB in the Type drop down list box must be selected Users have to make sure of the items below before opening the Driver Properties window a AUSB driver is installed on the computer Please refer to appendix A for more information about 2 25 PMSoft User Manual installing a USB driver b The computer is connected to the PLC through a USB cable The computer and the PLC operate normally Driver Name Dry _USB Connection Setup D Type USB virtual COM E COM Fort Delta PLCE 3 omunication For Delta PLC COM COM Fort 4 Setup Responding Time Time of Auto retry E Time Interval of Auto retry sec E T Users can type a driver name in the Driver Name box 2 Select USB Virtual COM in the Type drop down list box in the Connection Setup section Select a communication port in the COM Port drop down list box If users have made sure of the two items above the PLC which is connected and its communication port will be displayed in the COM Port drop down list box Users can select the number of times the sending of a command is retried if a connection error occurs in the Time of Auto retry box and select an interval of retrying the sending of a command in the Time Interval of Auto retry box 1 Please refer to appendix A or t
242. ocation Symbols Information gP Global Symbals lg Programs a2 Function Blocks T_SH1 OF M54 gP Global Symbols fF SingleAxis 1 T_AbsSeg1 BE Instruction Monitor Tables J XyChart we Device Comments CAM Chart EA PEP Setting 3 The function block definitions selected in the Add Function Block window are added to the Function Blocks section in the system information area In the figure below the T_AH10PM 5A folder represents the function block type applicable to AH1O0PM 5A The function block definitions which can be added vary with the motion controller used Global Symbols represents the global symbol table applicable to the function block definitions in the T_AH10PM 5A folder The SingleAxis subfolder represents the function block type which is added The T_AH10PM 5A folder the SingleAxis subfolder and Global Symbols are created when the function block definition T_AbsSeg1 is added The function block definitions and the folders which are created by the users can not be the same as the function block definition and the folders mentioned above Otherwise a message will appear and the users will be asked to modify the function blocks and the folders they create S a Function Blocks T_AH1OPM 54 EP Global Symbols 3 Singleaxis 1 T_AbsSeg1 The use of the function block definitions which are added is the same as that of general function block definitions Please refer to section 4 2 2 for more information
243. ols Allocation VAR Z Symbols Information E Global Symbols lig Programs 4 0100_ 10 re a Ox r4 P E a Function Blocks pm Instruction E Monitor Tables i XYChart Device Comments E OVP_FPMc CAM Chart PEP Setting 00003 system Information Al TE Net Id 1 LJINS 4y Modified amp 9 1 2 Changing the Model and the Project information After users create a project they can click Change PM Type on the Option menu to view or modify the information in the PM Type Setting window The users can only change the motion controller selected in the PM Type drop down list box to another motion controller of the same series For example AH20MC 5A can only be changed to AH10PM 5A or AHO5PM 5A and can not be changed to a DVP series motion controller 9 3 PMSoft User Manual PM Type Setting Proqram Title AH Prog ate PM Type AH20MC 54 X Sime Windor Help AHZOMC 5A Restore PM Default Setting Comment 4AH10PM 54 Clear PM Code Area modified at AAHUSP M 54 Copy SRAM to Flash Parameter A 6 Tools File Name new Proj 1 lt D 9 1 3 Opening a Project Method 1 1 Users have to click Open on the File menu or g amp on the toolbar Eat Wecmoe ane Ctr H Y Ctrl O j Gi ak CP Ctrl s ave As CtrltAlte s OR CEL 6 ras E wi iT Si Bal BE J bgm B Ctrl P Open Examples Import G Code 5 Exit AlH E 2 The users have to click a ppm file i
244. ols Information g Global Symbols Programs 4 o100_a0 ft OK F EA Function Blocks FR Instruction E Monitor Tables J XyChart pA Device Comments I ovP_FeMc l CAM Chart EA PEP Setting Once a function block is called by a POU which is a program the function block will participate in an operation and the system will assign a substantial memory block to the function block and the local symbols in the function block The object produced is a function block instance If the data type of a symbol declared in a superior POU caller is a function block the identifier of the symbol is a function block instance In other words declaring a symbol whose data type is a function block is equivalent to declaring a function block instance 9 9 PMSoft User Manual Project fae Symbols Allocation Symbols Information Global Symbols Programs 4 O10 an C Ox HP Function Blacks iE gt al oio Wi an Instruction E Monitor Tables i X Chart K Device Comments D OVP_FPMc CAM Chart E PEP Setting Program 0100 Identifiers FA1_instt in_1 in_2 out_1 Local Symbols Address Comment Type Initial BOOL BOOL BOOL FALSE FALSE FALSE If the same operation is required and a different memory block is also required users can make use of the characteristic of a function block instance After a different symbol is declared for a function block
245. on they can drag the line to a new target pin or to the blank Ty ri o T Figure 12 21 Connecting objects 12 2 6 Instructions and Function Blocks The instructions in a continuous function chart in PMSoft are represented by blocks An instruction name and operands are shown in a block The order in which the instructions in a continuous function chart are executed are indicated by the numbers in the right corners of the blocks representing the instructions An instruction is executed only when the logic state connected to the En pin of the block representing the instruction is ON Please see figure 12 22 Instruction name Execution order En pin ti wo MO PAE N Operand a Figure 12 22 Instruction A function block in a continuous function chart in PMSoft is shown in figure 12 23 It is executed only when the logic state connected to the En pin is ON Besides the text on the top of the function block is the name given to the function block i e a function block instance Please refer to chapter 5 for more information about function blocks See figure 12 23 Function block instance Function block definition Figure 12 23 Function block 12 12 Chapter 12 Continuous Function Chart If users need to enable an instruction and a function block by a condition they can connect the input node of the condition to the En pin of the block representing the instruction and the En pin of the function block When the input node
246. on Options Window Help mp Eoo Information Project System Information System Information f i 9 1 7 Printing After users write a program they can print related data PMSoft can print ladder diagrams and instruction lists Printing a ladder diagram Users have to open a window where a ladder diagram is created and click Print on the File menu or on the toolbar 9 9 PMSoft User Manual iS Edt Compile View i Hew Ctrl al Lar Open Ctr Save Ctrl48 Open Examples e Import G Code Exit AlE Print Setup The users have to select the All option button or the Part option button in the Print Options section in the Print Setup window If the users select the All option button all the networks in the ladder diagram will be previewed If the users select the Part option button they have to select a network number in the Start box and a network number in the End box After the users select the All option button or the Part option button they have to click Preview Chapter 9 Project Management amp Print Preview Print One Page Oye rie Page Up Page Down ee a E View AA DENTEN MT MITE HLA L After the users click Preview they can switch among the pages zoom in out on the pages setting a printer and etc Printing an instruction list Users have to open the Instruction window After the users click Print on the File menu or on the toolbar the Pri
247. on controller is different from the division of the memory in an AH500 series motion controller 10 6 Chapter 10 Managing Passwords The storage areas in a DVP series motion controller are shown below If users set a PEP password the general program storage area will not be protected by the PEP password the POUs which are not protected by the PEP password and the values of the parameters will be stored in the general program storage area and the POUs which are protected by the PEP password and the cam data will be stored in the program protection storage area If the users want to upload data from the motion controller or download data to the motion controller they have to type the PEP password DVP series motion controller Users have not set a PEP password Users have set a PEP password Program Program Parameter Parameter Cam data General General program program storage area storage area lf users set a PEP password for an AH500 series motion controller the cam data will be stored in the general program storage area and the POUs which are protected by the PEP password will be stored in the program protection storage area AH500 series motion controller Users have not set a PEP password Users have set a PEP password Program Program Parameter Parameter aa Cam data General General program program storage area storage area If there is cam data in an AH500 series motion controller and a PEP password has bee
248. onic Cams A cam is an input object with an irregular shape It can pass motion to a follower through direct contact and make the follower move regularly A mechanical cam is composed of a cam a follower and a support Please see the figure below When the cam rotates the follower moves up and down according to the shape of the cam If users want to control motion there must be relation between axes The relation is established by a cam Follower After the relation between an electronic cam and a follower is established by means of creating an electronic cam chart a motion controller will stimulate the motion of the electronic cam The electronic cam can be modified by modifying the electronic cam chart There is no need to change the mechanism of the electronic cam and the mechanism is not damaged 8 3 2 Creating a Cam Chart After users create a project right click CAM Chart in the system information area and click Add CAM Chart on the context menu the CAM Chart 0 window will appear 8 8 Chapter 8 G codes and Electronic Cams Project Project Ja Symbols Allocation Ja Symbols Allocation Symbols Information a Symbols Information EP Global Symbols lig Programs Global Symbols Programs a Function Blocks D ge Function Blocks om Instruction pe Add CAM Chart x om Instruction El Monitor Tables E Monitor Tables I Chart I XY Chart KA Device Comment ee Device Comments i y E Ove_FPMc CAM Cha
249. ontact with the left right limit switch set Figure 13 40 Status of the axes of a motion controller 13 19 PMSoft User Manual 13 5 3 Default Mode of Program Encryption Protection If users select the Default Mode checkbox in the Data Transfer window all the POUs excluding the POUs which are programs except Ox0 in the project created will be protected by a PEP password all the POUs which are programs will be downloaded to a motion controller and the users can save the time it takes to select the POUs which need to be protected by a PEP password If the Default Mode checkbox in the Data Transfer window is unselected the program in the project created will be stored in a motion controller according to the PEP setting in the project Users have to note that the PEP setting in a project will remain unchanged even if the Default Mode checkbox in the Data Transfer window is selected Please refer to chapter 10 for more information about setting a PEP password Data Transfer Transfer Options iw Program r Parameter l Copy SRAM to Flash Password W Apply FEF Setting i Default Mode 4 8 Characters K Figure 13 41 Default mode 13 20 Chapter 13 New Functions and Revised Functions 13 5 4 Exporting a Cam Chart to a Path I mporting a Cam Chart from a Path Users can manage cam charts conveniently in that they can export cam charts to specific paths or import cam charts from specific paths If the users want to
250. open a window they have to click an editing position or select an amount of text Chapter 9 Project Management Instruction oooo1 OLOO ooooz LD W1od2 oooo3 CALL P201 oooo4 LD MO oooos AND P3000 oooos OUT Ml oooo7 LD M oooos OUT M3001 oooos LD M3001 00010 CALL P200 ooo1l LD WMSBO0L ooolz OUT MS nnnin bad i lt 2 The users have to click Replace on the Edit menu The users can right click the working area in the window and then click Replace on the context menu a Undo Ctrt Z Redo Ctrl Gy Undo Chr Yo cut Chit Bei Clty HA Copy Ctrl C y Cut Otri E Paste Ctrl HA Copy Ctrl C E Paste Ctrl V OR 2 Delete Del p Delete Del Select All CtrltA Select All Ctr D Find CteF Find Ctrl F S Replace Ctrlt H Feplace Ctrl H 3 The users have to set search conditions in the Search Text window i Search Text search for Replace with Options Direction Case sensitivity f Forward Whole words only C Backward W Search from caret selected text only Regular expression gt Search for Users have to type the text which will be searched for or select text which has been searched for after they click in the box gt Replace With Users have to type replacement text or select replacement text which has been typed after they click in the box gt Case sensitivity PMSoft searches only for words that match the case of the word that users type in the Search for box gt Whole words onl
251. ora 2610 6 era eee ee eee ee eee 8 2 8 1 3 Importing G COCES oe eecccccccceeeeceeeeceeeceeeeceeeesaueecsueesageesseessueesaaees 8 2 8 1 4 Important Points about G COGS ccccccccecceceeeeeeeeeeseeeeeseeeesaeeeeeas 8 4 oe EXIN Saree ere ere rr a nnn tT errr rer ren rrr rr rT rT 8 5 8 2 1 Drawing a Path by Means of G COdES cceeececeeeeeeeeeeeeeeeeeeeeeenes 8 5 Cre POIANA ON se E EES 8 6 8 3 Introduction of Electronic CAMS cccccceecccceeeecceeeeeeeeesseeeesseeeesseeesaeees 8 8 8 3 1 Elec TONIC OGIS eee eee eee en eee ee ee eee eee 8 8 8 32 Grealing a cam Chart sveceisccseccccctxecccsvexisecextsevccisyeeuessyiyeyeasieeueaeeeeeye 8 8 8 3 3 Explanation of an Electronic Cam ccccccccseseeeseeeeeeeeeeseeeeesaeeeeeas 8 11 8 3 4 Important Points about an Electronic Cam ccccceccccseeeeeeeeeeeeeees 8 12 of EXAMI ae en E ee ee ene ee 8 12 8 4 1 Drawing a Path by Means of an Electronic Cam cccccceeeeeeee es 8 12 9 4 2 ONIN AU OU eect cetcgeereterse sate cencnsecemntensatteneenetenanceaenandetereatsedectantedadecns 8 13 PMSoft User Manual 8 1 Introduction of G Codes 8 1 1 G Codes During the control of motion users can generate G codes for the complex processing paths of two axes or more than two axes by means of computer aided manufacturing software and the G codes can be input to a controller which can drive the axes The time of developing a motion program can be
252. order in which logic gates instructions or function block are executed If Data Flow is clicked the order in which objects Execution Order are executed will be determined by the data flow of the objects If Topology is clicked the order in which all objects are executed will be determined by the relative positions of the objects EN Efabling Disabling the EN pin ofa function block or an instruction Setting Resetting a pin When the online monitoring function is enabled the node selected is set to ON When the online monitoring function is enabled the node selected is set to OFF 12 5 PMSoft User Manual 12 2 Creating a Continuous Function Chart in PMSoft 12 2 1 Adding a POU which is a Continuous Function Chart 1 If users want to create a POU which is 0100 or a POU which is a function block they have to right click 0100 or Function Blocks in the system information area and then click New POU on the context menu which appears The users can select the Continuous Function Chart CFC option button in the Create Program window or the Create a New POU window as shown in figure 12 4 If the users want to create a POU which is a program they have to expand a program section in the system information area and double click a number Please refer to chapter 13 for more information Create a New POU POU Name En Eno FB_ Box With En Eno Version 00 Protection Language Create Program POU Name Language Passwor
253. orking area through the items on the Window menu Wintana Help Arrange All Tile Horzontally i Tile Vertically Previous Window Alt Left Hext Window lt kight 1 Program PU lt Selecting an item to switch 2 Program O20 among the windows v 3 Program 0100 Arrange All After the item is clicked all the windows will be tiled horizontally or vertically according to the previous shape they took on Tile Horizontally After the item is clicked all the windows will be tiled vertically but take on a horizontal shape The present window will be the topmost window oA PMSoft User Manual Window He lp Arrange All Ed Tile Horizontally TT Tile Vertically 2 Previous Window Alt Left Next Window lt kight 1l Program PU 2 Program O20 v 3 Program 0100 Project_1 Delta PMSoft File Edit Compile View Comummication Options Window Help Ae 4 x 00a R v4 dh i c ca lt e Se g System Information Program 0100 Pe Project Se Symbols Allocation Z Symbols Information E Global Symbols ki Programs 4 0100_ 10 e Ox_ 1P 4 P_C1P a Function Blocks fm Instruction E Monitor Tables i XChart Device Comments I Ove_FPmc Program CAM Chart EA PEP Setting j System Information THE Net Id 1 LJINS Modified E DUE Hoek se Ge 100 v Signed Decimal v Local Symbols Identifiers Address Type Initial Sc Local Symbo
254. orks lt Network number Inserting a network 1 If users click I on the toolbar a blank network will be put under the network selected 2 If users click i f onthe toolbar a blank network will be put above the network selected 6 8 Chapter 6 Ladder Diagram OOO f OOOO 6 2 4 Making a Comment on a Network Click in the upper left corner of a network Bice 2 Type a comment in the box which appears If users want to start a new line of text at a specific point they can press Enter on the keyboard note M1 After the users type a comment they have to click the blank in the network Er 6 2 5 Making Comments on Devices and Instructions Users can make comments on contacts coils applied instructions and comparison contacts They can only type a line of text in the Comment box in the New Instruction window There are two methods of typing comments on devices Please refer to sections 6 2 8 and 6 2 9 for more information about contacts coils applied instructions and comparison contacts 6 9 PMSoft User Manual Method 1 The users have to double click a device or an instruction or press Enter on the keyboard after they select a device or an instruction Then the users have to select the checkbox at the right side of the Comment box in the New Instrucion window and type a comment in the Comment box Finally the users have to click OK If the users want to modify the
255. ot need to define the pins of the function block ade VAR VAR 2 d gt Figure 13 27 Mark indicating that a pin of a function block can be omitted However the users have to assign a symbol or a device to a general contact or coil 77 ona general contact or coil reminds the users to assign a symbol or a device as shown in figure 13 28 Figure 13 28 Mark indicating that a contact coil can be omitted 13 12 Chapter 13 New Functions and Revised Functions 13 4 3 Declaring the Symbol Assigned to a Pin of Function Block A device or a symbol can be assigned to a pin of a function blocks There are two methods of assigning a symbol to a pin of a function block Method 1 A symbol which has been declared in a symbol table is used 1 If users have declared symbols in the global symbol table or in the local symbol table in a POU a drop down list on which there are symbols whose data types are the same will appear after the users click a pin of a function block in the POU Please see figure 13 29 Global Symbols Seles Global Symbols Identifiers Address Type Initial Comment In_1 M3020 BOOL In_2 M3021 BOOL Program POU_1 Local Symbols Le elas Identifiers Address Tye Initial Comment I VAR ing woz BOOL L VAR FA1_instt FA i I n N aS Figure 13 29 Selecting a symbol which has been declared for a pin Method 2 After a symbol is assigned to a pin the symbol will be de
256. otion controller connected to PMSoft PMSoft User Manual Transfer Setup Read fram PM Device Register Write to PM Device Register K Fange Setup M Range 00 0999 Range 01000 D2999 Range 03000 D4096 Range 04096 D9999 PMSoft EC lt gt FH 4 If the users want to read the values in registers in the motion controller they have to select the Read from PM Device Register option button in the Transfer Setup window select a range in the Range Setup section and click OK 5 If the users want to save the values in a table in the computer they have to right click the table click Export on the context menu set a path and a file name in the Export Table window and click Save in the Export Table window Edit Register Memory SEs D Register VY Register Clear All Data Length Data Format 16 bits Decimal a2 bits Hexadecimal Select All Reset to 0 Chapter 11 Online Functions Export Table Save in fis Desktop hi Emy Documents 4 My Computer My Recent my Network Places Documents Desktop Mo Documents ee Eene _ My Network File name Save Places SSS Save as type Export T able File csv Cancel 6 The values exported are saved as a csv file The csv file can be edited through Microsoft Excel Besides the users can type values in the csv file and then import the csv file E m C E 1
257. pecified are set correctly If the connection type the driver uses is RS232 the users have to make sure that the communication protocol for exchanging data through the driver is the same as the communication protocol for exchanging data through a communication port on the PLC The users have to make sure that the communication port used e g a network interface card in the computer a switching hub or a serial port is in a normal state The users have to make sure that the driver the station address and the IP address which are specified in the Communication Setting window in PMSoft or ISPSoft are correct If an IP address is specified the users have to check whether the IP address of the PLC is the same as the IP address specified The users have to make sure that the PLC is correctly connected to the computer through a communication cable power is supplied to the PLC and the PLC operates normally After the users make sure of the items above they can click PM Information on the 2 45 PMSoft User Manual Communication menu in PMSoft If the computer communicates with the PLC normally PMSoft will retrieve information from the PLC and the information retrieved from the PLC will be displayed in the PM Information window PM Information Wara Options Window E PM Data 0100 m Doanload Program Ctrl Fs Model Name AH1OPM 5A READY Status Ea Upload Program Ctrl PFo Program Version 1 1 9200 Program Capacity 65535 E Pass
258. ple Symbols The device addresses selected in a symbol table can be cleared whether the device addresses selected are device addresses assigned by users or device addresses assigned by the system After users right click a device address in a symbol table and click Clear Selected Addresses on the context menu the device address will be cleared If the users hold down Ctrl on the keyboard while they click device addresses right click a device address selected and click Clear Selected Addresses on the context menu the device addresses selected will be cleared If the users click at the start of a selection scroll to the end of the selection hold down Shift on the keyboard while they click where they want the selection to end right click a device address selected and click Clear Selected Addresses on the context menu the device addresses selected will be cleared The users can also clear device addresses by means of Symbols Allocation in the system information area Please refer to section 4 2 8 fore more information Program 0100 Seles Local Symbols Class Identifiers Address Type Initial Comment VAR Var 0 M3000 BOOL FALSE oma m 3 VAR Var M3001 BOOL FALSE Holding down Ctrl f a a 3 M3002 BOOL FALSE Program 0100 Local Symbols Class Identifiers Address Type In YAR Yari M3000 BOOL FAI Program 0100 trh Local Symbols f HA Copy Ctrl C abe T Paste Chev EP Delete Del Class Id
259. pplication Instruction window will 3 After the users click appear SESH H00822 amp Application Instruction AILAPI Basic Loop Transfer Math Ext IO Float Data Delta Compare Motion API Mo Application Instruction Function 4 The users have to click the Compare tab select an instruction in the API No drop down list 6 24 Chapter 6 Ladder Diagram box or the Application Instruction drop down list box select devices which are supported according the explanation at the bottom of the window and click OK Application Instruction API Mo 234 Application Instruction AND WK N Al aa Comparison contact is ON when al lt 82 is true O Function Device Number Device Number 1 Method2 PMSoft toolbar 1 The users can insert a comparison contact into a line or connect a comparison contact to a contact in series in parallel MO OR Inserting a comparison contact into a line or connecting a comparison contact to a contact in series in parallel 2 The users have to click LF on the toolbar TOF O Wt ik D Gs c o Ga 100 w Signed Decimal w J H L R dk t itt elt G2 e 3 The users have to move the mouse cursor to a position The mouse cursor becomes a comparison contact when it is at the right side of the position at the left side of the position or at the bottom of the position After the users click the left mouse button a contact will be inserted Please refer to
260. put states Besides the text above a contact or a coil is the device address or the symbol which is assigned to the contact or the coil Normally open Normally closed Rising Falling OUT coil contact contact edge triggered edge triggered contact contact Ma M3 M4 MO Mil HE H M NW x The usage of the instruction SET and RESET is the same as the usage of applied instructions Please refer to section 6 2 9 for more information 6 2 8 1 Inserting a Contact There are two methods of inserting a contact Users can use one of the methods according to their habit Method 1 PMSoft toolbar 1 The users can insert a contact into a line or connect a contact to a contact or a block in series in parallel Before the users connect a contact to a block they have to select the block OR Inserting a contact into a line or connecting a contact to a contact in series in parallel 6 13 PMSoft User Manual 2 The users have to click 4 onthe toolbar k Jt dte ish C Co O lt Ie B Be yt Ta 100 w Signed Decimal Wo 7 H L 3 The users have to move the mouse cursor to a position The mouse cursor becomes a contact when it is at the right side of the position at the left side of the position or at the bottom of the position After the users click the left mouse button a contact will be inserted Please refer to the figures below a p e Wp Lb 4 If the users want to connect a contact to a block in
261. r of pulses sent The range 0 3000 on the horizontal axis is an electronic cam cycle 8 11 PMSoft User Manual 2000 4 E 1 000 4 1 g in 1000 q ha 0 20 400 600 800 1 000 1200 1 400 1 600 1800 2000 2200 2400 2600 2800 3 000 Master Axis lf the cam chart is used cyclically the description of the relation between the master axis and the master axis in terms of pulse output will be as shown below The electronic cam created is used by a motion controller repeatedly After the master axis completes an electronic cam cycle the number of pulses that the master axis sends will continue to increase However after the slave axis completes an electronic cam cycle it will repeat the electronic cam cycle lf a motion controller is connected to a master servo motor and a slave servo motor the master servo motor will regarded as a drive shaft rotating in a direction and the slave servo motor will be regarded as a processing shaft which rotates back and forth This characteristic can be applied to flyingsaws and flyingcuts 2000 f p 0 iG wn 3000 9000 2000 JN Master Axis Cycle 1 Cycle 2 Cycle 3 8 3 4 I mportant Points about an Electronic Cam The source of the signals sent to a master axis can be a servo encoder the feedback on the pulse output sent by the master axis or a virtual axis Please refer to DVP PM Application Manual for more information about wiring a motion controller Anelectronic cam
262. r on the keyboard or click OK The instruction that the users type is case insensitive If the users type an incorrect applied instruction or an incorrect device address an error message will appear after they click OK Chapter 6 Ladder Diagram New Instruction Instruction Please refer to section 6 2 5 for more information about making comments on devices and instructions 6 2 9 Applied Instructions Motion Instructions G codes Function Blocks and Comparison Contacts The applied instructions the motion instructions and G codes in a ladder diagram are represented by blocks An instruction name and operands are displayed in a block The pin at the left side of the block is connected to a logic state If the logic state is ON the instruction represented by the block will be executed Besides the block can only be added to the end of a network Instruction name t Moy DO 7 Operands A function block in PMSoft is shown below The En pin is connected to a logic state If the logic state is ON the function block will be executed The Eno pin connects the state of the En pin to the device or the contact which follows it A function block can be put in any position in a ladder diagram but the En pin of the function block must be connected to a device a function block or a block Besides the name above a function block is the symbol assigned to the function block i e a function block instance Please refer to chapt
263. ram in the general program storage area will be replaced by the program downloaded The original data in the motion controller and the new data in the motion controller are shown below The program in General Unselecting the general program the Apply program storage PEP Setting storage area is area replaced checkbox Original data New data OR General The program in program the general program storage Unselecting storage area is area the Apply replaced PEP Setting checkbox Original data New data gt Ifthe motion controller used is a DVP series motion controller and the users have set a PEP password the users are asked to type the PEP password when they download the cam data in the project If the Apply PEP Setting checkbox is unselected the PEP password which has been set is removed when the cam data in the project is downloaded If the Apply PEP Setting checkbox is selected the password set in the Data Transfer window will replace the PEP password which has been set 10 3 5 Uploading a Program Before users upload a program they have to make sure that PMSoft is connected to a motion controller normally 1 After the users click Upload Program on the Communication menu or on the toolbar the Data Transfer window will appear 10 11 PMSoft User Manual Meriter Options Window E IG Download Program Ctrl F8 Pd Upload Program Ctrl F9 G Password Setting CtrtW Y En 0100 Ctrl F1 1 s
264. rd InstallShield Wizard Completed The InstallShield Wizard has successfully installed PMSoft 2 04 Click Finish to exit the wizard 1 6 Chapter 1 Introduction of the Software 1 1 4 Uninstalling PMSoft 1 There are two methods of uninstalling PMSoft Method 1 Open the Control Panel window and click Add or Remove Programs In the Currently installed programs box click PMSoft x xx and then click Remove x Xx denotes the version of the software Add or Remove Programs Currently installed programs C Show updates Sort by Change or Pa jE commer 1 00 Size 23 43MB Remove Programs E Oracle YM VirtualBox Guest Additions 4 1 14 Size 3 03MB Z jE PL 2303 USB to Serial m Ls a F Add Mew e PMSoft 2 04 Size 111 00MB Programs Click here For support information Used f Last Used n 27 2012 im To remove this program From your computer click Remove Add Renove Windows x Silicon Laboratories CP210 USB to UART Bridge Driver Removal Size Components Set Program Access and Defaults a Silicon Laboratories CP210 YOP Drivers For Windows XPI2Z003 Size Server Vistal Programs i I Oracle YM VirtualBox Guest Additions oi Settings k E Startup ye Search Internet Explorer we Msn 2 Help and Support a Outlook Express cat Run p Remote Assistance windows Media Player 2 After users click Yes PMSoft will be removed Windows Installer PMSoft 2 04
265. rd in the Password Dialog window they can view the contents of the POU 3 9 PMSoft Users Manual Project za ovmbols Allocation Symbols Information Global Syrnbals f Programs J O100_6105 Password Dialog He OM Unlock password FP a f l gl Function Blocks HA x on Instruction gt E Monitor Tables IE x Chart ee Device Comments P OVP_FPNC CAM Chart PEP Setting Local Symbols Class Identifiers Address Type Initial Comment INPUT Var_1 BOOL FALSE INPUT Var_2 BOOL OUTPUT Var_3 3 2 5 Managing POUs Which Are Function Blocks Users can manage the function blocks in PMSoft by adding folders to Function Blocks in the system information area A folder added contains a global symbol table and the global symbol table is applicable to the function block definitions in the folder and the subfolders in the folder 1 If users want to add a folder to Function Blocks in the system information area they have to right click Function Blocks and click New Folder on the context menu Chapter Project le Symbols Allocation Symbols Information Global Symbols Programs Hew POU 3 Program Organization Units Project Ja Symbols Allocation Symbols Information gP Global Symbols Programs 4 OOO 10 x i AN Sa a yp E F m Import Function Blocks E om ie eS alee Jma Function Blocks Function Blocks new FOET El Instruction cf Rede roa Monitor T
266. rding to equipment s requirements The higher the resolutions set are the more smoothly the equipment used operates Besides the size of the electronic cam data gotten is big if the resolutions set are high After sections of a cam curve are created users can click Save Load Clear Draw OK Cancel or set the initial position of the slave axis Save Saving the data set in sections Load Loading the data which was saved Clear Clearing all the data in sections Draw Compiling the data set in sections and drawing the electronic cam data gotten on the electronic cam chart created OK Compiling the data set in sections drawing the electronic cam data gotten on the electronic cam chart created and closing the Data Setting window Cancel Closing the Data Setting window Initial Setting Setting the initial position of the slave axis The electronic cam chart created is shown below CAM Chart 0 SEE Slave 4xis Displacement g Master Axis in a co oO J1 Cc Slave 4Axis Yelocity co co cc 90 Master Axis Slave Axis Acc D 90 Master Axis Displacement Velocity Acc Resolution Max Max 2047 109 238706970215 165 Min Y Min P _C109 838706970215 165 nport Speed Dat 8 3 3 Explanation of an Electronic Cam A cam chart is shown below The horizontal axis represents the master axis used and the vertical axis represents the slave axis used Every value in the chart represents the numbe
267. resent a 16 bit device which can be involved in arithmetic or data transfer The data types supported by PMSotft are listed below Data type Function block Boolean data type A Boolean value represents the state of a v v contact 16 bit value Y Y ne 16 bit data can be stored pv fo ov 4 3 PMSoft User Manual Data type Function block 32 bit value P 32 bit data can be stored 64 bit value 64 bit data can be stored 32 bit value lt is applicable to floating point number v v instructions COUNTER 16 bit counter value or 32 bit counter value lt represents a counter DWORD TIMER 16 bit timer value lt represents a timer Array If a symbol is declared the size of an array and an array type must be specified An v v array is composed of 256 elements at most 7 Function Block It represents a function block definition A symbol representing a function block definition has a special significance Please refer to chapter 5 for more information 4 1 4 Assigning a Device to a Symbol and Setting the I nitial Value of a Symbol A device is assigned to a symbol according to the data type of the symbol Users can set the initial value of a symbol After the program in a project is downloaded to a motion controller the initial values of the symbols will be written into the devices assigned to the symbols if the program is scanned for the first time The principles of assigning devices to symbols
268. resently is on a green background The users can monitor the motion instruction which is being executed presently 11 26 Chapter 11 Online Functions Instruction oooos DMOV O D1646 oooo4 DMOV O D1926 oooos RST M1074 oooos MOV HEOOO D168 oooo7 SET M1074 oooos M10 oooos OXO ooo10 G90 00011 GOO X 10 0 10 0 ogole G01 H2O 0 10 0 F40 0 00013 GOS H2O 0 Y0 0 730 0 F20 0 oool4 G01 X 10 0 y70 0 F20 0 oo015 GUS H 10 0 10 0 J7 30 0 F20 0 oo016 M 00017 The motion instruction is being executed aj 11 3 6 Monitoring a XY Chart When the control of the x axis y axis z axis of a motion controller is monitored a motion path can be drawn on a XY chart Users can check whether the motion of the x axis y axis z axis is correct by monitoring the XY chart A motion controller has to be connected a computer and a program has to be downloaded to the motion controller When the state of the motion controller is monitored a XY chart can be monitored 1 The users have to click XY Chart on the View menu or double click XY Chart in the system information area System Information A x Project am cyvMbolS Allocation GRY commission Options Winde Li cur Instruction i Symbols Information IE x Chat Global Symbols eal Edit Device Comments k Programs ao Function Blocks oe Instruction Add Monitor Table H add CAM Chart OR E Monitor Table View System Infomati E chat Z a WA Device Comment
269. ress selected is 0 a broadcast communication will be carried out The users also have to select the IP address created in COMMGR in the IP Address drop down list box Communication Setting Driver Driver_Ethernet Station p IF Address 192 168 1 1 i92 16811 Connection Tal4qo 168 0 100 AH CPU Motion Controller C 9 ee 2 3 15 Using I SPSoft and PMSoft Indirect Connection An indirect connection is applicable to AH500 series motion control modules AH2OMC 5A AH10PM 5A and AHO5PM 5A After users connect a computer to the CPU module in an AH500 system and complete all the setting the CPU module will communicate with the motion control module in the AH500 system through a backplane The motion control module is regarded as an extension module in the AH500 system and therefore needs to be set by means of ISPSoft If the users want to write a motion program or upload download a program they have to use PMSoft The use of PMSoft will be introduced in the following chapters Setting ISPSoft 1 Start ISPSoft and click Communication Settings on the Tools menu 2 36 Chapter 2 Starting and Setting Tool Window Help a me Communication Setting Driver Driver Raia Program Settings b A Set RTC Station Address 0 Y a Export IP Address Le Import b Language Enghsh Options 2 Select a driver in the Driver drop down list box Before users create a connection between ISPSoft and
270. riar E a ilinte fla Programs T JL ooo I X Chart S ca Ox KA Edit Device Comments f l Add Monitor Table a La Blocks OF e Add CAM Chart aa Instruction LS View System Infomation E TO e View Error Message Box J X Chart BA Device Comments View Ratio 100 y P OYF_FFMC Monitoring Radix Signed Decimal w CAM Chart EA PEP Setting Instruction 7 3 2 Editing IL Instructions 1 The text which is being edited presently is on a green background Users have to click a line and type text If the users want to add a new line they can press Enter on the keyboard oooo1 0100 ooooz LD MO oooos 2 If users want to select any amount of text they can click where they want to begin the selection hold down the left mouse button and drag the pointer over the text that they want to select The 7 5 PMSoft User Manual users can also click at the start of the selection scroll to the end of the selection and hold down Shift on the keyboard while they click where they want the selection to end The text block selected can be cut copied or pasted samasm Hold down Shift on the keyboard 00004 OR M2 oooos OUT M3 oooos MLO 7 3 3 Comparison Contacts Applied Instructions Motion Instructions and G codes There are two methods of inserting a comparison contact an applied instruction or a motion instruction Users can use one of the methods according to their habit Owing to the f
271. rinciple of a ladder diagram will not be described 6 1 2 Important Points about Creating a Ladder Diagram e A ladder diagram is case insensitive That is the words OUT Out and out have the same meaning e f users want to use constants in a program created by means of a ladder diagram in PMSoft the constants must be represented in the following ways gt Decimal value 2345 gt Hexadecimal value 164 5BA0 gt Floating point number 4 123 A ladder diagram still supports the use of K and the use of H e There is no limit on the number of lines which can be created but users still have to consider whether the size of the program compiled exceeds the capacity of the memory in the motion controller used In a network the output object of a motion instruction the output object of a M code and the output object of a G code are allowed to appear independently However other instructions ina network must contain output objects and input objects 6 1 3 Editing Environment The environment in which a ladder diagram can be edited is shown below The table at the upper part of the window is a local symbol table and the area at the lower part of the window is a working area A ladder diagram consists of networks The color at the left side of a network indicates the state of the network A network can be selected or unselected The network which is selected is in yellow and the networks which are not selected are in gray Program
272. row will be a 16 bit value b32 A 32 bit binary value represents the combination of the value in a device which is monitored and the value of the following device If the item selected in the Radix drop down list cell in a row is b32 the value in the Value cell in the row will be a 32 bit value For example if the item selected in the Radix drop down list cell in a row is b32 and the device in the Device No cell in the row is T10 the value in the Value cell in the row will be the combination of the value in T11 and the value in T10 d16u A 16 bit unsigned real number represents the value in a device which is monitored It must be in the range of O to 65 535 d16s A 16 bit signed real number represents the value in a device which is monitored lt must be in the range of 32 768 to 32 767 d32u A 32 bit unsigned real number represents the value in a device which is monitored It must be in the range of 0 to 4 294 967 295 d32s A 32 bit signed real number represents the value in a device which is monitored It must be in the range of 2147 483 648 to 2 147 483 647 h16 A 16 bit hexadecimal value represents the value in a device which is monitored It must be in the range of 0 to FFFF h32 A 32 bit hexadecimal value represents the value in a device which is monitored It must be in the range of 0 to FFFFFFFF float A floating point number represents the value in a device which is monitored The IEEE 754 standard is used gt Val
273. rs click an item at the left side of the window they can view symbols created the device addresses assigned to the symbols the data types of the symbols and the comments on the symbols 4 20 Chapter 4 Symbols system Information Project za Symbols Allocation S Symbols Information Global Symbols L I Programs 6 nin Symbol Info J odo 10 ot Ox Global Symbols 0100 4 P Programs Identifiers Address Type Comment H S A l VarO M3000 BOOL Function Blocks aC Ox J Vai D7000 WORD 1f FBO i 3 T vanz M3001 BOOL ae pF Function Blocks val ee ee I XChart FBO K Device Comments D OVP_FPMc CAM Chart PEP Setting system Information 4 21 PMSoft User Manual MEMO 4 22 Chapter 5 Function Block Table of Contents Ol IRMOWING FUNCUON DOCKS cccauecdscctecctanconnetsacoacateedaceateedaecctanconeetaccoucetanconcee 5 2 5 1 1 Introduction Of Function Blocks ccceccceecceeceeeeeceeeseeeeseeeseeeeseeesaees 5 2 9 1 2 Characteristics and Advantages of Function BIOCKS e 5 3 5 2 Structure of the Function Blocks in PMSoft ccccccccssecesseeeseeeeseeeeeees 5 4 5 2 1 En Pin of a FUNCTION BIOCK ccc cccccecceeeeeeeeeece cece eeeeeeeeeeeeeeeeeseeeaes 5 4 S22 OVMIDOIS ina PUNCIOM BIOGK since sistas aentisisncseiatonsnteenniaheinemnoenatouss tace 5 4 9 2 3 Input Output Pins of a Function BIOCK ccccceeeeeeeeeeeeeeeeeeee
274. rs want to stop the operation of the simulator which is used they have to close the PMsimulator window or click t on the toolbar If PMSoft is connected to a motion controller before it is connected to a simulator it will be connected to the motion controller after the operation of the simulator is stopped 11 5 DVP FPMC If the function card DVP FPMC is installed in a DVP series motion controller the DVP series motion controller can communication with a device by means of Ethernet and it can be connected to a ASDA A2 series servo drive through CANopen By means of PMSfot users can scan the servo drives which are connected to a motion controller equipped with DVP FPMC add a servo drive and turn on off the servo drives which are connected to the motion controller 1 After the users right click DVP_FPMC in the system information area a context menu will appear System Information g a Project za Symbols Allocation All Serva n i Symbols Information eine Global Symbols j Programs erect a Function Blocks All Scan me Instruction ddd Servo Drive E Monitor Tables I X Chart A Del Serva Drive serra On K Device Corry Z sero OT EFH CAM Chart Erret Reet E PEP Setting FPMC Info system Information Some items on the context menu are shown in grayscale They can be clicked only when a connection is created or a device is added 11 30 Chapter 11 Online Functions 2 If the user
275. rt f CAM Chart ER PEP Setting PEP Setting The CAM Chart 0 window is shown below CAM Chart 0 ere Ser Seren Se oe ee ate eee Lee me eee Slave Axis Displacement 150 210 240 Master Axis CC Cc Solis Ss bes Sa bas aob ee eee es eo Slave Axis Yelocity 150 210 240 Master Axis ee Se Sire Oe Se yl oi Sree i Slave Axis 40c0 120 150 150 210 240 Master Axis Displacement Velocity Resolution Max 2047 100 Apply B Spline a Data Setting npor Speed Dat Displacement The relation between the master axis and the slave axis is described in terms of displacement Velocity The relation between the master axis and the slave axis is described in terms of speed Acceleration The relation between the master axis and the slave axis is described in terms of acceleration 8 9 PMSoft User Manual Data setting area Displacement resolution Users can set the number of data points required in the electronic cam chart The number of data points must be in the range of 10 to 2047 Velocity The maximum speed of the slave axis and the minimum speed of the slave axis are shown in this section They are calculated by the system according to the data related to displacement Users can change the maximum speed of the slave axis and the minimum speed of the slave axis by themselves Acceleration The maximum acceleration of the slave axis and the minimum acceleration of the sl
276. ruction a motion instruction a G code and operands the New Instruction window will appear After the users type an instruction and operands in the Instruction box they have to press Enter on the keyboard or click OK The instruction that the users type is case insensitive If the users type an incorrect applied instruction or an incorrect device address an error message will appear after they click OK New Instruction Instruction TME TO DO 6 21 PMSoft User Manual Please refer to section 6 2 5 for more information about making comments on devices and instructions 6 2 9 2 Inserting a Function Block There are two methods of inserting a function block Users can use one of the methods according to their habit Method 1 Dragging a function block definition 1 The users can insert a function block into a line or connect a function block to a contact in series OR Inserting a function block into a line or connecting a function block to a contact in series 2 The users have to press the left mouse button while the mouse cursor hovers over a function block definition They have to move the mouse cursor to a position while holding the left mouse button down The Add Symbol window will appear after the users release the left mouse button Function Blopkee th or Instruction E Monitor Tables I XyChart ee Device Comments D OVP_FPMC CAM Chart EA PEP Setting 3 The users have to type
277. s View Error Message Box I OWP FPA er Pati zi CAM Cha Al Mormtonng Radix Signed Decimal E PEP Setting p j system Information 11 27 PMSoft User Manual l X Y Chart Routing Zoom In M X equ X_max Jog 1000 X_min 1000 _ma Jog Y_min Jog 1000 z Jog 100 000 iay 2 After the motion controller begins to operate the motion paths of the two axes of the motion controller will be drawn in the X Y Chart window according to the motion instructions executed If the motion controller has three axes the users can view the motion paths of the three axes by switching among the planes defined by the three axes X Y Chart Routing reset Range 110 0004 Position Velocity x10 Jo 100 000 7 pulse 7 90 000 y 2 Zoom Ou Disp Plane 70 000 XY Plane 3 l Clear Points 60 000 C ZX Plane W X Y equ C YZ Plane X_max Jog 50 000 40 000 30 000 1000 20 000 i X_min 1 000 10 000 Y_ma Jog 1000 1 0 000 Y min 20 000 i i i Moo 30 000 z Jog 3 The X Y Chart window is described below 11 28 X Y Chart Routing 60 000 70000 50 000 50 000 4 40 000 30 000 2 20 000 10 000 A o4 10 000 t x Plane Chapter 11 Online Functions SO pene PEER 1 el a a E E ES LosoSeSoeeseesecsooosaean Lostecesecs ee eoocasced 1 1 C YZ P
278. s 13 20 13 5 4 Condition Contact of a Function BIOCK ccccceceeeeeeeeeeeeeeees 13 21 13 5 5 Condition Contact of a Function BIOCK cccccceceeeeeeeeeeeeeeeees 13 22 13 5 6 Condition Contact of a Function BIOCK ccccceseeeeeeeeeeeeeees 13 22 Appendix A Installing a USB Driver A 1 Installing the USB Driver for a Motion Controller cccccsseeeeeeeeeeeeees A 2 A 2 Installing the USB Driver for a PLO oe cceccceeecceeeeceeeceeeeseeeeseeeenees A 6 Appendix B Delta defined Parameter Table B 1 Delta defined Parameter Table cccccccccsececseeeseeeeceeeeseeeeseeeeseeeeseaees B 2 viii Chapter 1 Introduction of the Software Table of Contents 1 1 Introduction of PMSoft and System Requirement cccccseeceeeeeeeeeees 1 3 1 1 1 Characteristics cccecccsececeeeceeeeceeeeseeeeeeeeeeeeeseeeseeesseeeseeeesseeesaeeeeas 1 3 ti2 SY SUS FRO QUIS NCIS se R 1 3 1 1 3 Installing PMSoft 0 6 ccccccccccsececssecesesenecssscenesesensseseneseneneseneseseeeneeee 1 4 1 1 4 Uninstalling PMSoft cece ccccccseeeeeeeeeesaeeesseeeeseeeeesseeeeseeeeseees 1 7 1 2 introductione COMMGR wrscessscceccctsessct Shcueccieenedeet anuneettaceecesienuoseetosesactyaaks 1 7 1 2 1 Working Mode Or GOMIMGIR ccsarccoseracscoseeocecosscececssecossacetecensseeeccevsere 1 7 1 2 2 Installing COMMGR 1 00 0 ceccccccececeeeeeeeeeeesaeeeesaeeeesaeeeeseaeeeseeeeeseaes 1 8 teo Uninsta
279. s before downloading the values of the parameters or transform the values of the paramters into instruction codes The parameter setting interface simplifies the setting of the axis parameters The parameters are described below PMSoft User Manual Sissy Window Help Restore PM Default Setting Clear FM Code Area Copy SRAM to Flash Change PM Type Took Units PMSoft provides three system units Please refer to DVP PM Application Manual for EM Main Parameter Motion Others Show ALL system of Units Unit Type Motor Scale Mechanical Pulse Rate Compound Feed Rate more information about setting the system units EM Main Parameter system of Units e 1 Unit Type Mlotor flechanical Compound Users can choose s system unit If the Motor option button is selected a pulse is a unit If the Mechanical option button is selected a millimeter a degree or an inch is a unit If the Compound option button is selected a millimeter a degree or an inch is a position unit and a pulse is a speed unit Users can select the mm option button the deg option button or the inch option button All the information about the positions set must be multiplied by the scale selected Users can set the number of pulses it takes for an axis to rotate once resolution mm C deg Cinch lt 2 Scale 0 0 Pulse Rate 2000 PLyREY lt QO Feed Rate 1000 micro mrey lt O
280. s buttons for the window appear at the right side of the menu bar e Display of windows Project_1 Delta PMSoft File Edit Compile View Communication Options Window Help Age Hh 8a g9 o D Boek kz 28 Gp 100 v Signed Decimal v Project amp Program PO Ja Symbols Allocation Z Symbols Information Program 0X0 9 Global Symbols Program 0100 bi Programs 4 0100_ 10 Local Symbols Ox_ 1P Clas Identi Addr Type Initial Com H g PCP VAR bE ikea a Function Blocks E Instruction Monitor Tables I XChat Device Comments E DvP_FPmc CAM Chart EA PEP Setting system Information THE Net Id 1 ins 9 Modified W 2 10 Chapter 2 Starting and Setting e A window is maximized Project_1 Delta PMSoft Program 0100 ES File Edit Compile View Communication Options Window Help CERE Agekh aa9g amp Boek zs M Gp 100 v SignedDecimal VY 7 0 H L System Information qx Local Symbols a Project Class Identifiers Address Type Initial Commen J Symbols Allocation VAR Z Symbols Information E Global Symbols ki Programs 4 0100_ 10 eC Ox_ 1P H 3 P_C1P F a Function Blocks fr Instruction E Monitor Tables IE XChart Device Comments L DYP_FPMC CAM Chart EA PEP Setting System Information lt Net Id 1 ONS Q Modified W Users can manage the windows in the working area and switch among the windows in the w
281. s can set a PM password when they download a program Please refer to section 10 2 2 for more information 2 If Unlocked appears at the bottom of the PM Password Setting window the motion controller is protected by a PM password If Locked appears at the bottom of the PM Password Setting window the motion controller is not protected by a PM password 10 2 Chapter 10 Managing Passwords The motion controller is not The motion controller is protected by a PM password protected by a PM password PM Password Setting PM Password Setting Password 4 0 Characters Password 4 0 Characters po p Password Confirmation Pus Setting a PM password If Unlocked appears at the bottom of the PM Password Setting window the users have to type a password twice in the PM Password Setting window click OK in the PM Password Setting window and click OK in the PMSoft window PM Password Setting Password 4 0 Characters PMSoft EA 1 Password Zontirmation Cancel Removing a PM password The users have to type a correct PM password in the PM Password Setting window click OK in the PM Password Setting window and click OK in the PMSoft window PM Password Setting Password 4 0 Characters PMSoft 10 2 2 Downloading a Program Before users download a program they have to make sure that PMSoft is connected to a motion controller normally 10 3 PMSoft User Manual 1 After the users click Downlo
282. s click All Scan on the context menu the function card will scan the servo drives which are connected to the motion controller After the function card scans the servo drives which are connected to the motion controller four nodes and the connection statuses of the nodes will be displayed Lae Add Servo Drive FPMC Info System Information g A Project Ja Symbols Allocation Symbols Information gP Global Symbols lg Programs B Function Blocks tr Instruction E Monitor Tables J X Chart WA Device Comments I OVe_FPMc is 4 CAM Chart Es PEP Setting system Information 3 If the users click Add Servo Drive on the context menu they can type a node number in the Add Servo Drive window All Scan Add Servo Drive FPMC Info System Information g x Project Ja Symbols Allocation Symbols Information gP Global Symbols W Programs a2 Function Blocks BE Instruction Monitor Tables i XyChart WA Device Comments DY FPMc CAM Chart PEP Setting system Information 4 If there are servo drives which are connected to the motion controller the servo drives will be started after the users click All Servo On on the context menu If the servo drives which are connected to the motion controller are started successfully the PMSoft window shown below will appear and the statuses of the servo drives will be displayed in the system information area 11 31 PMSoft User Man
283. s each axis to the coordinates set at its max speed G01 Linear interpolation lt moves each axis to the coordinates set at the speed set G03 Circular interpolation lt moves each axis to the coordinates set along an arc path by setting a center Chapter 8 G codes and Electronic Cams amp Program OXO Kef 10 0 10 0 100 Execution result Please refer to chapter 2 and chapter 11 After a motion controller or a simulator is connected to PMSoft users have to compile the program created in PMSoft download the program double click XY Chart in the system information area click Monitoring on the toolbar and click Run 0100 on the toolbar After the path drawn according to the G codes described above appears in the X Y Chart window the users can click Zoom In or Zoom Out The path starting from the origin 0 0 goes through the four pairs of coordinates mentioned above A Project za Symbols Allocation A Symbols Information mi Global Symbols D Oo r Programs r r ge Function Blocks 6 ae Instruction 6 6 Please refer to section 11 3 6 for more information about the X Y Chart window 8 7 PMSoft User Manual 1 X Y Chart Routing C ZxPlane _ F X Y equ C YZ Plane max Jog 1000 x_min 1000 Y_ma Jog 1000 _min Jog 1000 og 60 000 40 000 20 000 20 000 40 000 60 000 80 000 J AxisX og 8 3 Introduction of Electronic Cams 8 3 1 Electr
284. s in the function blocks Users can assign device address to the symbols of the VAR class in the function blocks If users assign device addresses to the local symbols in a function block in a project or global symbols to which the users assign device addresses are used in a function block the symbols will be regarded as absolute addresses and the system will not assign device addresses to the symbols after the program in the project is compiled Even in a different instance of a function block the device addresses that the users assign to the local symbols participate in an operation However it is the system that assigns device addresses to the symbols of the INPUT class the symbols of the OUTPUT class and the symbols of the INOUT class Besides if a function block instance is declared in a global symbol table in a project it can be called by all the POUs in the project and the system will assign an independent memory block to it After the system assigns memory blocks to the function block instance in a project every function block instance will occupy a P device which is in the range set in the Pointers P section in the Symbols Allocation window The P pointer numbers used in POUs which are programs in a project and the P subroutine number in the project can not be in the range set in the Pointers P section in the Symbols Allocation window Symbols Allocation lig Programs ie cones ee E by system for symbol declaration in 4 0 0i
285. s in the system information area the Global Symbols window will appear System Information Project za Symbols Allocation A Global Symbols Kaf Global Symbols d 010010 identifiers Address Type Initial Comment C Ox 7 F a Function Blocks on Instruction E Monitor Tables I schat K Device Comments D OVP_FPMc CAM Chart E PEP Setting system Information Local symbol table In PMSoft a local symbol table is at the top of the window for a POU After users click the button under a local symbol table the local symbol table will be hidden If the users click the button again the local symbol table will be displayed 4 7 PMSoft User Manual Progra 0100 Local Symbols Identifiers Address Type Initial Comment Program 0100 4 2 2 Adding a Symbol 1 After users open the Global Symbols window or the window for a POU for the first time the system will create a table in the window If the users want to insert a row in the table they have to right click a cell in the table and click Insert a Row on the context menu Program 0100 Program 0100 Local Symbols Local Symbols Class Identifiers Address Type Initial Comment Class Identifiers Address Type Initial Comment Pa Y cut Ctrl X amp A Copy Ctrl C Oj A Paste Ctrl V EP Delete Del Select All Ctrl A Insert a Row Ctrl I g Clear Selected Addresses Ctr Fina Ctrl F Import Symbols
286. s will be regarded as P subroutines If users click IL to LD on the PMSoft toolbar or on the Compile menu after they create an instruction list the instruction list will be transformed into a ladder diagram and the ladder diagram will be compiled OR Se View Commomication p DE check AlHF mn Compil Program Ctrl F 3 IL to LD a If there is an error in the program code in the Instruction window an error message will appear The users will be led to the incorrect program after they double click the error message G4 Instruction E EES ooo001 O100 ooooz LD mo oooo3 OUT DO oooo4 M102 00005 Error Messages Error Messages If the users click IL to LD on the PMSoft toolbar or on the Compile menu after they modify the program the PMSoft window shown below will appear 7 8 Chapter 7 Instruction List PMSoft After the users click OK in the PMSoft window shown above the system will create the ladder diagram corresponding to the instruction list oooo1 OLOO0 ooooz LD MO ee rT oooo3 AND M1 oooo4 OR M2 oooos5 OUT MS oooos LD M4 oooo 7 MOV HEOOO D18668 oooos SET M1074 oooos LD M6 00010 CALL PO 00011 M10 ooo01z 00013 OXO oool4 LD M5 o0015 OUT Mb ogole M 00017 ooo1s PO ooo19 LD MT oooz0 OUT MB oo0z1 SRET 7 9 PMSoft User Manual MEMO Chapter 8 G codes and Electronic Cams Table of Contents Sal WAN OCUCTIONNOT a OOE ree e E E EEE EEE 8 2 8 1 1 COo 1S 8 2 o2 Olucue
287. scene tee aioe eaer rE 13 5 13 2 1 Creating POUs Which Are Programs c cccccseseeseseeseeeeseeeenees 13 5 13 2 2 Changing the Property of an 0100 POU cc eeeeeeeeee eens 13 6 13 2 3 DACT a aa 0 Peeenpeenretns taper Deere or emer an nents sen taet stein nearer renee eS 13 7 13 2 4 Displaying Hiding the POUs which Are Not Created 0 13 8 13 3 Delia EID FANGS ranor araa eR 13 8 13 3 1 WISING Deta Libraries airett emacs aaa aiaa aea Aaa 13 8 13 3 2 WSING DCI AIL IDI ANC S steed ee eet ed he ha ee ce 13 11 13 4 New Functions Related to a Function BIOCK cccecceeeseeeeeeeeeees 13 11 13 4 1 Condition Contact of a Function BIOCK ccccceceeeeeeeeeeeeeeeees 13 11 13 4 2 Omitting the Pins of a Function BIOCK ccccccesseeeeeeeeeeeeees 13 12 13 4 3 Declaring the Symbol Assigned to a Pin of Function Block 13 13 13 4 4 Automatically Assigning Symbols to the Pins of a Function Block E PENA AOE EAE OEE uate EA O net een AOS ue abe NESE AS 13 14 13 4 5 Repeated Function Block Instances ccccceceeeeeeeeeeeeeeeeeeeees 13 17 13 5 New Functions Related to a Function BIOCK cccceceeseeeeeeeeeees 13 18 155 1 Condition Contact of a Function BIOCK ccccceceeeeeeeeeeeeeeees 13 18 13 5 2 Condition Contact of a Function BIOCK cccccceceeeeeeeeeeeeeeeees 13 19 13 5 3 Condition Contact of a Function BIOCK ccccccecceeeeeeeeeeeeeee
288. seeesaaeees 12 8 t2232 Adding Deleting GH IM cvteceectuesiatcneeeees eens 12 9 12 2 4 Chandini a Pini We eisa wae en aianaeeceeews 12 11 vi 12 2 5 Connecting objects and Canceling Connections cc000 12 12 12 2 6 Instructions and Function BIOCKS ccccceeceseeeseeeeeeeeneeeseeeeees 12 12 12 2 6 1 Inserting AN INStrUCTION ccccccecccseeeceeeeeeeeaeeeseeeceeeeneeeseeeeees 12 14 12 2 6 2 Inserting a Function BIOCK ccccccsccceseceeeeceeeseeeeeeeesseesees 12 15 12 2 7 DIEING ODOC E et eet he iene ean 12 17 12 2 8 Editing Devices or Symbols sccis 12 19 12 2 9 Activating Inactivating an ObDjeCt ccccceececseeeesseseesseeeesaeeeeeas 12 19 12 2 10 Inserting a Comment ce cccceeceeceeeeeceeeeseeeeesseeeeseaeeesseeeeas 12 20 12 2 11 Changing the Order in Which Objects are Executed 12 23 12 2 12 Displaying Hiding Information ccceececeeeeeeeeeeeeeeeeeeeeneeenees 12 23 12 3 Monitoring a Continuous Function Chatt ccccccccssseeeeseeeeeeeeeeeees 12 24 12 3 1 SCOE cae vetces a eerste E E 12 24 12 3 2 Controlling a Node OMIine ccccecccceecceceeeeeseeeesseeeesseeesaeeeeeas 12 25 Chapter 13 New Functions and Revised Functions 13 1 Three dimensional Chart cccccccccccceccesseseeseeeeeeeeeeeeeeeeueeuenuenueneeeeeas 13 2 13 11 FLUC EU Sc cecal che a ast tap asa nape arched tah banter 13 2 13 2 POUS WALCA are PlOGKAINS
289. series in parallel they have to select the contact in accordance with the description in section 6 2 2 move the mouse cursor to a position and click the left mouse button MO M1 and M2 in the figure below are selected A contact is connected to MO M1 and M2 in parallel 2 Ml ee Ma M3 Mo M1 M2 M3 5 After the users click on the contact added to a network they can type a device name or a symbol After the users type a device name or a symbol they have to press Enter on the keyboard or click the blank in the network Please refer to chapter 4 for more information about symbols Click the blank pic r O ss Press Enter on the keyboard Method 2 Typing an instruction Chapter 6 Ladder Diagram 1 After the users select a position they have to press Enter on the keyboard or type an IL instruction After the users press Enter on the keyboard or type an instruction the New Instruction window will appear After the users type an IL instruction in the Instruction box they have to press Enter on the keyboard or click OK The instruction that the users type is case insensitive If the users type an incorrect applied instruction or an incorrect device address an error message will appear after they click OK New Instruction Instruction 7 LD Mo lt EE D l o m W Inset after Cancel Please refer to section 6 2 5 for more information about making comments on devices and instructions 6 2
290. ss Enter on the keyboard or type a comparison instruction and operands the New Instruction window will appear After the users type a comparison instruction and operands in the Instruction box they have to press Enter on the keyboard or click OK The instruction that the users type is case insensitive If the users type an incorrect applied instruction or an incorrect device address an error message will appear after they click OK New Instruction 6 27 PMSoft User Manual Please refer to section 6 2 5 for more information about making comments on devices and instructions 6 2 10 Modifying Objects Users can modify the objects in a ladder diagram including contacts coils and instructions If the users want to change an object in a ladder diagram they have to double click the object or press Enter on the keyboard after they click the object modify the instruction in the New Instruction window and click OK New Instruction i Ml D Instruction 1 Mli OR MO M1 TA Please refer to section 6 2 5 for more information about making comments on devices and instructions If the users type an applied instruction a motion instruction or a G code in the New Instruction window after they double click an input object in a network the new object created will be put under the output object in the network If the users type a comparison instruction or a contact instruction in the New Instruction window after they double c
291. ssword or a PEP password in PMSoft When data is downloaded to a motion controller or data is uploaded from a motion controller a PM password protects the data in the motion controller A PEP password protects POUs which are programs in a project A PM password and a PEP password are different from a POU password A POU password protects a POU which is a function block in a project It is used to protect the project Please refer to section 3 2 for more information about setting a POU password 10 2 PM Password A PM password is set in a motion controller It is used to protect the data in the motion controller If users want to download a project from a computer to a motion controller or upload data from a motion controller to a computer they have to type a PM password PM Password Setting Password Prei Errr ry Ts i Adda j _ a HE 10 2 1 Setting and Removing a PM Password Before users set a PM password for a motion controller or remove a PM password from a motion controller they have to make sure that PMSoft is connected to the motion controller normally 1 The users have to click Password Setting on the Communication menu Bepa Options Window E Ea Download Program 9 Ctil FS EJ Upload Program Cte F9 i Password Setting 9 Ctrl CP Eun 0100 Ctrl F1 1 gt amp step 0100 Ctr F12 System Log PM Information m Edit Register Memory T Edit Bit Memory Monitoring ry Communication Setting User
292. st which is created is shown in the Instruction window The instruction list can be transformed into a ladder diagram Objects which are monitored Monitor Tables and XY Chart DVP_FPMC Setting the function card DVP FPMC PEP Setting Setting a password for a program 9 2 2 Searching for Replacing an Object in a Ladder Diagram Searching for an object 1 After users open a window they have to click an editing position Program 0100 Local Symbols Class Identifiers Address Type Initial Comment VAR YAR M3000 BOOL FALSE note kai 2 The users have to click Find on the Edit menu The users can right click the working area in the window and then click Find on the context menu Chapter 9 Project Management Undo Chrl Z Redo Ctrl a a ee X Cut Ctrl X ree cor cec 7 T Paste Cty A Cat Ctr X Paste Right Ctrl R HA Copy Ctr Paste Down Ctrl D T Paste Ctrl V OR A Delete Del Paste Eight Ctrl k Select All Ctrl Paste Down Ctrl D rf F F e A Feplace Ctrl H Select All Ctrl 4 Activate Hetaork Fina Ctrl Inactivate Netarork Feplace Ctrl H T Set OW Mur Set OFF Mur 3 The users have to type an object in the Find box in the Find Replace Ladder window They can do a search on the object typed in the Find box by clicking Find Next If the users click More they can set search conditions i Find Replace Ladder Find Replace lore Origin Direction C Current
293. t Clear Figure 13 1 Opening the 3D Chart window 13 2 Chapter 13 New Functions and Revised Functions 2 Users have to make the motion controller operational After the motion controller begins to execute the motion program the three dimensional motion path of the three axes of the motion controller will be drawn in the 3D Chart window according to the actual output of the three axes Please see figure 13 2 J 3D Chart SE g l i G S q f Pause Postion Pause E o iar View bodem i Path Points Y aD W Shadow C XY Plane C 7X Plane M Grids C YA Plane i Auto Fit Clear x Figure 13 2 Three dimensional chart 3 The 3D Chart window shown in figure 13 3 is described below 3D Chart W Grids C YZ Plane fw Auto Fit Cia Figure 13 3 Three dimensional chart The users can select the channel or the station address corresponding to an axis in the left drop down list box of the axis and select Position or Speed in a right drop down list box as shown in figure 13 4 I Position Figure 13 4 Setting a channel and selecting Position or Speed When an axis moves the box under the right drop down list box of the axis shows the 13 3 PMSoft User Manual position or the speed of the axis as shown in figure 13 5 If the Jog button or the Jog button of an axis is clicked the axis will move in the positive direction or in the negative direction ka 7
294. t inserted will be put at the left side of the original contact Likewise if the users click a coil in a network type an instruction in the New Instruction window and select the Insert after checkbox the new object inserted will be put under the original coil If the Insert after checkbox is not selected the new object inserted will be put above the original coil New Instruction 6 31 PMSoft User Manual New Instruction Please refer to section 6 2 5 for more information about making comments on devices and instructions 6 2 13 Editing Devices or Symbols If users click a device name or a symbol in a network they can modify the device name or the symbol After the users modify the device name or the identifier in the network they have to click the blank in the network or press Enter on the keyboard Please refer to chapter 4 for more information about symbols 6 2 14 Activating Inactivating a Network If a network in a ladder diagram is inactivated the compiling of the ladder diagram will skip the network Users can temporarily inactivate some parts of a program 1 The users have to right click a network number in a ladder diagram gigg M2 M3 6 32 Chapter 6 Ladder Diagram 2 After the users click Inactivate Network on the context menu the network number will be in a dark color G Undo Ctrtz GS Redo Chit Y Cut Ctr OF Copy Ctrl C gogoz D Paste Ctrl V Paste Fight Ctrl E
295. t the pin of an output node and then click 4 on the PMSoft toolbar or on the N context menu which will appear after the users right click the pin the pin will be set Please see figure 12 19 If the users select a pin which is set and then click 4 the pin will be reset If the users select a pin which is reset and then click lt 4 the pin will not be reset wo Figure 12 19 Setting Resetting a pin If users select a pin of a logic gate a pin of a function block or a pin of an instruction and then click onthe PMSoft toolbar or on the context menu which will appear after the users right click the pin the pin will be rising edge triggered Please see figure 12 20 If the users select a pin which is rising edge triggered and then click 2 the pin will be falling edge triggered If the users select a pin which is falling edge triggered and then click 4 the pin will not be falling edge triggered LIDS OD FI Figure 12 20 Rising edge Falling edge 12 11 PMSoft User Manual 12 2 5 Connecting objects and Canceling Connections When users click a pin of an object and hold down the left mouse button the target pins to which the pin can be connected are indicated by gray When the users drag the mouse cursor to a target pin of an object an arrow appears After the users release the left mouse button the two pins will be connected Please see figure 12 21 If the users want to change the connection or cancel the connecti
296. ta Libraries section After the users click Add to Function Block Area on the context menu which appears the item will be added to the Function Blocks section in the system information area as shown in figure 13 20 System Information og al Project Symbols Allocation Symbols Information EP Global Symbols T_DVP20PM J T_DYP20PM om Instruction i Libraries K Device Comments E PEP Setting Libraries x W Programs Global Symbols EP Global Symbols E Monitor Tables D OVP_FeMc system Information Delta Libraries Function Blocks Single xi Multi xis LN ingleaxis Others f Chart CAM Chart Figure 13 20 Adding libraries to the Function Blocks section 13 9 PMSoft User Manual 3 The users can right click Function Blocks in the system information area and click Add Motion Control Function Blocks on the context menu which appear as shown in figure 13 21 Project lee cymbals Allocation i Symbols Information Global Symbols Programs E Function Blocks rU Import Function Blocks om Instruction El Monitor Tables Add Motion Control Function Blocks H b Char K Device Comments D OVe_FeMc CAM Chart PEP Setting Figure 13 21 Adding motion control function blocks Hea POT Mew Folder 4 In the Add Function Block window the users have to select a function block type in the Function Block Info section and select function block def
297. ted The default value in D1868 is 0 The default value does not need to be changed PMSoft User Manual Program 0100 M1002 i ZEST D1848 D1849 Enabling positi Curent posi Current posi ZRST D19283 D1329 Current posi Current posi MPG imputi Acconlater Disses Responding MOY H30 D1396 Parameter s MOY F D1799 High word o 5000 T peration 5 D1846 k000i DIS 26 Operation it Operation i MOY H2000 D1846 L peratior t D246 Operation 1 gt Execution result Please refer to chapter 2 and chapter 11 After the users connect the terminals they have to compile the program created in PMSoft download the program double click XY Chart in the system information area click Monitoring on the toolbar and click Run O100 on the toolbar After the path drawn according to the electronic cam relation described above appears in the X Y Chart window the users can click Zoom In or Zoom Out Owing to the fact that the electronic cam used Is a cyclic electronic cam the electronic cam cycle created is repeated The path drawn is shown below Chapter 8 G codes and Electronic Cams Ja Project om Symbols Allocation i Symbols Information Ey Global Symbols O r Wa Programs ooo Function Blocks R oe Instruction 6 6 Iml F A E XY Chart Please refer to section 11 3 6 for more information about the X Y Chart window X Chart 5 Ed Routing eset Fange 160 0007 Posi
298. tem devices Universal Serial Bus controllers 10x Ts Bele A 2 Installing the USB Driver for a PLC The installation of the USB driver for a PLC on Windows XP is introduced below If users want to install the USB driver for a PLC on another operating system they have to refer to the instructions in the operating system for more information about the installation of new hardware 1 The users have to make sure that the PLC is supplied with power normally They have to connect the PLC to a USB port on the computer with a USB cable The users have to select the No not this time option button in the Found New Hardware Wizard window and then click Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by looking on Your computer on the hardware installation CD or on the Windows Update Web site with your permission Read our privacy policy Can Windows connect to Windows Update to search for software Yes this time only Yes now and every time connect a device No not this time Click Next to continue Appendix A Installing a USB Driver 2 The name of the USB device detected is displayed in the window The device name shown in the figure below is the name of an AH500 series CPU module Different models have different names Please select the Install from a lost or specific location Advanced option button Found New H
299. tency If the Check Program Consistency checkbox is selected PMSoft will automatically check whether the program created in PMSoft is the same as the program in the motion controller connected to PMSoft after Monitoring on the Communication menu is clicked If the program created in PMSoft is the same as the program in the motion controller connected to PMSoft the Confirm window shown below will appear Confirm e The program is not consistent Do you want to download current opened program to PM ceel 2 2 2 Parameters After users click Parameters on the Options menu the Main Parameter window will appear There are six tabs corresponding to six types of parameters in the Main Parameter window The users can select an axis which they want to set Please refer to DVP PM Application Manual for more information about setting the parameters After the users finish setting the parameters they can click OK and close the window If the users click 4 in the upper right corner of the window the present setting will be cancelled and the window will be closed If the users click Default the parameters will be restored to the factory setting After the users finishes setting the paramters they can decide whether to select the Paramter checkbox in the Data Transfer window The values of the parameters are not saved in the project file If the users want to donwload the values of the paramters several times they have to set the paramter
300. tep 0100 Ctrl F12 OR G T O 22t System Log PM Information mo Edit Register Memory T Edit Bit Memory Monitoring es F Commmmication Setting Data Transfer Transfer Options W Program CAM Chart Parameter Read PEP Cancel 2 Selecting Unselecting the Read PEP checkbox 10 12 Selecting the Read PEP checkbox and clicking OK gt Ifthe users have not set a PEP password for the motion controller the data in the general program storage area will be uploaded to PMSoft gt Ifthe users have set a PEP password for the motion controller they have to type the PEP password in the PEP Password Setting window After the users click OK in the PEP Password Setting window the data in the general program storage area and the data in the program protection storage area will be uploaded to PMSoft Data Transfer Transter Options Ww Program CAM Chart E A iw Read PEP PMSoft Chapter 10 Managing Passwords enera program Btorage area Unselecting the Read PEP checkbox and clicking OK gt The data in the general program storage area will be uploaded to PMSoft whether the users have set a PEP password for the motion controller Data Transfer Transter Options Ww Program CAM Chart Parameter Read PEP PMSoft x General program storage area PMsoft gt Ifthe motion controller used is a DVP series motion controller and the users
301. ter on the keyboard 11 16 Chapter 11 Online Functions 11 3 3 Creating a Device Monitoring Table Users can create a device monitoring table offline Values will be displayed in the Value column only if a motion controller is monitored 1 There are three methods of creating a device monitoring table Method 1 The users have to click Add Monitor Table on the View menu GR commmicstion Options Winde ir Instraction IE ZYC pA Edit Device Comments Add Monitor Table mE Add CAM Chart View System Infomation View Error Message Box View Ratio 100 wf Moruitonng Radi Signed Decimal Method 2 The users have to click on the toolbar SR enlslooze 6 Method 3 The users have to click Monitor Tables in the system information area right click Monitor Tables and click Add Monitor Table on the context menu 11 17 PMSoft User Manual System Information A x Project fan Symbols Allocation Symbols Information gP Global Symbols 6 W Programs ee E Function Blocks Add Monitor Table om Instruction f Monitor Tables I X Chart K Device Comme D OVP_FPMc CAM Chart E PEP Setting system Information 2 The users have to type a name in the Add Monitor Table window After the users click OK in the Add Monitor Table window a device monitoring table will be added to Monitor Tables in the system information area System Information 4X Project za Symbols Allocation
302. ter the project is created successfully 2 3 PMSoft User Manual Project_1 Delta PMSoft Program 0100 7 File Edit Compile View Commmmication Options Window Help Hae HG a D Z Boestett gs Gy 100 v Signed Decimal VY 7 0 H L System Information q x Local Symbols Project A Class Identifiers Address Type Initial Comment Ja Symbols Allocatic VAR Z Symbols Informa P Global Symbols big Programs 4 0100_ 10 Ox 3 P E a Function Blocks 00002 pm Instruction Monitor Tables I XChart Device Commen E DvP_FPMc CAM Chart v System Information am TE Net Id 1 LJINS Modified amp Error Messages 00003 Error Messages The main screen of PMSoft is shown below Seles File Edit Compile View Communication Options Window Help B g x Bee al o T HL Local Symbols Project A Class Identifiers Address Type Initial comment za Symbols Allocatic VAR Symbols Informa Global Symbols Programs 4 010060 Ox E P E Bl Function Blocks Be Instruction E Monitor Tables l Chart KA Device Commer D ovP_FPMc CAM Chart EVINS S Modified E Error Messages Window title It displays the project name or the file name and the program which is edited Menu bar There are eight menus Toolbar There are three toolbars System information area It adopts an interface which uses a hierarchical tree structure 2 4
303. tgexseudeuce 7 2 7 1 3 Important Points about Creating an Instruction List cccceeeeeee 7 3 7 2 Editing Environment ectcacceecnsarceaateansteennesdsentccunitecnetedieenatedeenuetedtanneaateaniendes 1 3 7 2 1 Introduction of the Editing Environment ccccccsseceeeeeeeeeeseeeenees 7 3 LeeL 6 6 0 gene eeer eee rere E E eee 7 3 Fee OPO SIU eE EEEN 7 4 7 3 Creating an Instruction List IN PMSoft cccccccseeceeseeeeeeeeeeeeeeeeseeeeeseees 7 5 7 3 1 Opening the Instruction WiINdGOW ccccsecccceeeeeseeeeseeeeesseeesaeeeeas 7 5 7 3 2 Editing IL INStructions ccc cccceeceseeeceeeeeeeeneeeseeeeeeeeseeeseueeaeeeseeesees 7 5 7 3 3 Comparison Contacts Applied Instructions Motion Instructions and Eoo rc E E E E EE TEE T EET 7 6 7 04 Comments on iL NSIUCHONS sasssa RR 7 7 7 4 Transforming an Instruction List into a Ladder Diagram ccceeceeees 7 8 PMSoft User Manual 7 1 Introduction of an Instruction List 7 1 1 Instruction List An instruction list resembles an assembly language In earlier times users entered control instructions into a PLC through a programming panel and the programming language used was an instruction list Nowadays although the function of PLC development software is getting stronger and there are many convenient programming languages available the high compatibility of an instruction list can not be replaced completely As a result an ins
304. that 2 is added to the device address DO assigned to VAR_0O that is VAR_O VO0O represents D2 If MO is ON the value in VO will be 2 the value in ZO will be 3 and the value in D2 will be moved to D103 Progrn 0100 Seles Local Symbols Identifiers Address Initial Comment ae EE mov C7 aron piezo Ip es Besides if the value in an index register is changed the device which actually operates differs from the original device As a result if the original device is not used in the program the final value in the Original device is retained In the figure below if the value in ZO is 3 the value in D2 will be moved to D103 If the value in ZO is changed from 3 to 4 the value in D2 will be moved to D104 and the value in D103 will remain unchanged 4 5 PMSoft User Manual Program 0100 Local Symbols Identifiers Address Initial Comment YARO YaR_O v0 D120 1 The data stored in an index register indicates the offset for the device which the index register modifies If the system automatically assigns a device to a symbol the use of an index register to modify the symbol will cause the program to be executed incorrectly because users do not know which device is assigned to the symbol 2 Bit devices can only be modified by index registers in some applied instruction Please refer to DVP PM Application Manual for more information If the users want to assign index registers to symbols they have to specify device ad
305. the communication protocol for exchanging data through a communication port on a device connected the users can connect the device to a RS232 communication port selected with a RS232 cable and click Auto detect to automatically detect the communication protocol If the communication protocol is detected successfully the related communication parameters in the Driver Properties window are set However when the communication protocol is detected automatically the COM Port parameter and the ASCII RTU parameter are not detected As a result the users have to set the COM Port parameter and the ASCII RTU parameter before clicking Auto detect Users can select the number of times the sending of a command is retried if a connection error occurs in the Time of Auto retry box and select an interval of retrying the sending of a command in the Time Interval of Auto retry box 1 When the Driver Properties window is opened the information about the communication ports in the Device Manager window is retrieved once However the information in the COM Port drop down list box will not be updated If a device is added to the computer system after the Driver Properties window is opened the device will not be displayed in the COM Port drop down list box Users have to close the Driver Properties window and open it again 2 If the USB port of an AH500 series motion control module is used RS232 in the Type drop down list box must be selected Please refer t
306. the information about the network interface cards in the computer is retrieved once However the information in the Description drop down list box will not be updated If a network interface card is added to the computer system after the Driver Properties window is opened the network interface card will not be displayed in the Description drop down list box Users have to close the Driver Properties window and open it again 2 3 9 Completing the Setting of the Parameters for a Driver After users complete the setting of the communication parameters for a driver and click OK the values of the parameters for the driver will be displayed in the COMMGR window Creating a driver is equivalent to creating a connection The users can start or stop the driver according to the actual requirement Please refer to the following section for more information about starting stopping a driver BEK Driver Mame Dre_AS Connection Setup Type R5232 Communication Protocol COM Port COM4 er Data Length 7 M RTU Parity le Stop Bits 1 lel Auto deterct Baud Rate 300 l Default T COMMGR T Driver Properties Setup Responding Time Mame Description otatus EP Driver Etherne Ethernet AMD PCNET Family FCI Ethernet Adapter Facket STOP C Drive RS232 R9232 COM4 ASCI Frotocol 9600 7 e 1 Retry 3 TimeOut STOP a Driver USB USB COMS Rety i TameOut 3 aTOF T Dry RS Rodda COLA ASCH Protocol 26
307. till supports the use of K and the use of H There is no limit on the number of loops which can be edited in a continuous function chart buts users still have to consider whether the size of the program compiled exceeds the capacity of the memory in the motion controller used Each input pin of a node logic gate instruction or function block can only be connected to one source but each output pin of the node logic gate instruction or function block can be connected to several targets A continuous function chart has not supported G codes M codes and comparison instructions yet 12 2 Chapter 12 Continuous Function Chart 12 1 3 Editing Environment The environment in which a continuous function chart can be edited is shown in figure 12 1 Users can declare local symbols in the local symbol table at the top of the window and create a continuous function chart in the program editing area at the bottom of the window The objects in a continuous function charts are nodes and logic gates The numbers in the upper right corners of the objects in a continuous function chart indicate the order in which the objects are executed Program 0100 Local Symbols Class Identifiers Address Type Initial Comment Local symbol table Serna Output node pee order ws Logic gate Program editing area Figure 12 1 Working area 12 1 4 Toolbar After a program editing window in which a continuous function
308. tion Velocity 150 000 42015935 lo oom In foom Ou ee ra a a ee ee ee zoom Fit lt lt 7 7 e Clear Points lt 7 lt lt C Zs Plane e o Plane los Y equ lt 7 7 ee Max 7 es x min Jog 1000 _mas Jog pog Y min A000 7 7T 57 c r Jog p 4 p p Jag 100 000 100 000 8 17 PMSoft User Manual MEMO Chapter 9 Project Management Table of Contents Se MN OCA OI a E E E E 9 2 9 1 1 Creating a New Project cccccccseccceeeeeeeeecaeeeeeeeeeseeeeseeesaeeeeaeeesaeeeeas 9 2 9 1 2 Changing the Model and the Project information cccecseeeeees 9 3 9 1 8 Opening a PLOject ec ccccccsseccceeeeeseeeeeseeseesseeeeseeeeeseaeeeseeeeeseeeeeeas 9 4 9 1 4 Opening a Recently edited Proje ct ccccccccseececseeeeseeeeeseeeeeeeeeeeens 9 7 ELI DWN NVN ec een ne eee S 9 7 IRO CONO a od 60 21 eee eee ee eee eee 9 8 lad PANO eee E douse cateuamoneen 9 9 Ose EMI PN O aecceeen aces cece ccaee E EEEE 9 11 9 2 Functions Related to Project Management ccccccceseeeseeeseeeeeeeeeeees 9 12 9 2 1 System Information Area ccccccsecccseecceeeceeeeceeeeceeeeeeeeeeeeseeeeseeees 9 12 9 2 2 Searching for Replacing an Object in a Ladder Diagram 9 12 9 2 3 Searching for Replacing an Object on
309. tion control modules The system frameworks of the AH500 series motion control modules are slightly different from those of the DVP series motion controllers An AH500 series motion control module can be used independently It can also function as an extension module because it can be used with an AH500 series CPU module Users have to refer to related manuals for more information before they develop a project The important points about writing a program in PMSoft are listed below Some M devices and some D devices in a DVP series motion controller are special relays and special data registers The special relays and the special data registers in an AH500 series motion controller are SM devices and SR devices Users can use SM9192 SM16383 by themselves The SM devices assigned to symbols can function as general registers The system does not assign SM devices until the M devices are assigned There are W devices in an AH500 series motion controller They function as D devices Users can use the W devices by themselves The system does not assign W devices to symbols until the D devices are assigned to symbols The X Y devices in DVP series motion controllers are represented by X0 Y1 and etc The X Y devices which are used as word devices in AH500 series motion controllers are represented by XO YO and etc Besides the X Y devices which are used as bit devices in AH500 series motion controllers are represented by X0 0 Y0 0 and etc X0 0 repr
310. trl F11 step 0100 Ctrl F12 System Log PM Information o Edit Register Memory T Edit Bit Memory Monitoring i Commmmication Setting gt gt Chapter 11 Online Functions Data Transfer Transfer Options iw Program CAM Chart Parameter Copy SRAM to Flash Password Apply PEP Setting Cancel Program Execution code CAM Chart The storage area in which a cam chart is stored depends on the model used Please refer to section 10 3 1 for more information Parameter The parameters which are related to motion control are downloaded Please refer to chapter 2 for more information Copy SRAM to Flash The data in the SRAM in a motion controller is copied into the flash memory in the motion controller when a project is downloaded Password Please refer to chapter 10 for more information about setting a PM password Apply PEP Setting Please refer to chapter 10 for more information about setting a PEP password Uploading a project After users click Upload Program on the Communication menu or E3 on the toolbar the Data Transfer window will appear The users have to select checkboxes in the Data Transfer window and click OK ieee Options Window E PG Download Program Ctrl F8 EF Upload Program Ctr F9 G Password Setting CtrtW TY En 0100 Ctrl F1 1 6 step 0100 Ctrl F12 OR 9 System Log PM Information i Edit Register Memory T Edit Bit Memory Monitoring D Communication S
311. troller by means of PMSoft AN Before users change the state of a motion controller or change the value in a device they have to make sure that the operation does affect the system equipment or staff 1 The users have to click Monitoring on the Communication menu or on the toolbar Bpa Options Window E PG Download Program Ctrl F8 EJ Upload Program Ctr F9 G Password Setting CtrtW CY En 0100 Ctr Fll stop 0100 Ctr F12 System Log OR PM Information m Edit Register Memory 6 TL Edit Bit Memory W Commimication Setting The users can monitor the ladder diagrams devices the motion instructions the XY chart in the motion controller by means of PMSoft 2 When the state of the motion controller is monitored the information about the motion controller is displayed in the status bar and the communication indicator blinks 11 12 Chapter 11 Online Functions Status of the size of the motion controller program compiled The communication indicator blinks if there s Scan time Model name connection J Connection status Net Id 1 EINS Modified OX Stop OY Stop 0100 Stop Scan Time Oms 23Steps AH1OPM 5A_Driverl RS232 COM3 L Program modification status Driver name Replacement Insertion mode Port information Network which is been edited presently 3 If the users do not want to monitor the state of the motion controller they have to click Monitoring on the Communicatio
312. truction list is still one of the programming languages supported by the IEC 61131 3 standard 7 1 2 Structure of an Instruction List An example of an instruction list is shown below An instruction list is composed of statements Every statement represents an action oooo1 0100 Program 0100 SEE ooooz LD MO j oooos AND M1 MIO Mi oooo4 OR M H oooos OUT M3 M2 ooo06 M10 m A program is scanned cyclically The scan of the main program O100 starts from the starting flag 0100 After the ending instruction M102 is scanned the scan of the main program 0100 will go back to the starting flag 0100 If the main program O100 includes a Ox motion subroutine or a P subroutine the Ox motion subroutine or the P subroutine will follow the main program 0100 and will be called by the main program 0100 Please refer to DVP PM Application Manual for more information oooo1 OLOOD ooooz LD MO or aND M1 lt Main program 0100 oooo4 OR M oooos5 OUT MS oooos LD M4 oooo 7 MOV HEOOO D18668 oooos SET M1074 oooos LD M6 ooo10 CALL PO Calling the subroutine PO 00011 M10 ooo01z 00013 OXO ool LD M5 oo015 OUT Mb ogole M 00017 ooo1s PO ooo19 LD MT ooozo OUT MB oo0z1 SRET Setting the motion subroutine Ox0 and enabling it lt Motion subroutine Ox0 _ Subroutine PO Every statement on an instruction list is composed of an operator and operands An operator is a function representing an operation and an oper
313. ual Component Width Users can set the widths of the components on the screen If the slider is slid leftward the components on the screen will appear larger If the slider is slid rightward the components on the screen will appear smaller Component Width The Miscellaneous section in the Tools window Language Diagnosis C 0100 C Dy wo C Clear Error Miscellaneous Clear MRU List i Load Default Layout Load Previous PPM Check Program Consisten Component Width gt Clear MRU List If users select the Clear MRU List checkbox and click OK the MRU list on the File menu will be cleared i Edt Compile View Corr Fr z B Hew Ctre W Edit Compile View C al Gar Open Ctr Hew CtrltH al Save Ctrl s ae Open Ctrl DI Save ds CirhAl s Sarre Cilts ES Close TI Save As Chl Altes SS Print Ctrl P ER Close 7 ae Open Examples E Ennt Ctr P Import G Code Open Examples 1 Critest Project_1 ppm Import G Code 2 Cites ETAM ppr Exit Alte Exit Alt gt Load Default Layout If the Load Default Layout checkbox is selected the system information area appears whenever PMSoft is started Chapter 2 Starting and Setting Untitled Delta PMSoft Commmuucation Options Window Help cH Project system Information gt Load Previous PPM If the Load Previous PPM checkbox is selected the previous project file PPM is opened whenever PMSott is started gt Check Program Consis
314. ual System Information A x Project e fan Symbols Allocation Symbols Information All Serva OF f Programs a Function Blocks PMSoft on Instruction a E Monitor Tables I schat K Device Comments 4 DVP_FPMC All Error Keset All Scan FPMC Info aa CAM Chart E PEP Setting system Information 5 If there are servo drives which are connected to the motion controller the servo drives will be stopped after the users click All Servo Off on the context menu Besides if the users want to clear the error states which appears when servo motors are connected to the motion controller they have to click All Error Reset on the context menu 6 If the users click FPMC Info on the context menu they can view the status of the function card 11 32 Chapter 12 Continuous Function Chart Table of Contents 12 1 Introduction of a Continuous Function Chaft cccccccseeeeeseeeeeeeeeeees 12 2 12 1 1 Continuous FUNCTION Chart ccccceececeeeeeeseeeeeeeeeeseeeeesaeeeesaeeeeeas 12 2 12 1 2 Important Points about Creating a Continuous Function Chart 12 2 12 1 3 Editing EM IGONMICT Mexnctaxsnanevosnuasenasananerarenaehanadhavanenekewdaneouncinsnends 12 3 12 1 4 TOC MOON eeaeee EEE EEE E EEOAE EE EEEE 12 3 12 1 5 JONE MON a 12 4 12 2 Creating a Continuous Function Chart in PMSoft ccceeeeeeeeeees 12 6 12 2 1 Adding a POU which is a Continuous Function Chart 0 12 6 12
315. ue When a motion controller is monitored the value in a device can be displayed or set gt Comment Users can make a comment on a device If the users want to add a device to a device monitoring table they have to right click the blank in the device monitoring table click Insert Multiple Devices on the context menu type a device number in the Device No box type an interval between two devices in the Interval box and type the number of devices that they want to add in the Device Count box select a data format in the Radix drop down list box and click OK in the Insert Multiple Devices window x Cut Cir m Monitor Table _1 BHA HA Cope Chee IE Paste Ctrl 2 Delete Del Select All Otri Insert a Kow Ctrl I Delete Selected Rows Ctrl D Insert Multiple Devices Ctrl M Insert fymbols Ctrl B Change Radix Ctri k 11 21 PMSoft User Manual 11 22 Insert Multiple Devices amp Monitor Table_i Device No Poveo Rau Value commen Je Interval Device Count Radix If the users right click a device monitoring table click Insert Symbols on the context menu click a POU in the Object Source section select symbols in the Symbols section and click OK in the Symbols Select window the symbols selected will be added to the device monitoring table If the users click Select All in the Symbols Select window all the symbols in the Symbols section will be selected If the users click Deselect in the Sym
316. ule in an AH500 system it needs to be configured and set by means of HWCONFIG 1 Start HWOCONFIG in ISPSoft and configure the hardware architecture which is need according to the actual AH500 system Please refer to ISPSoft Users Manual for more information Y a Delta ISPSoft Prog0 Er ARS Q 100 a oa a Network 1 ma NWCONFIG Project C Program FilesiDELTA Inu E D C im Project_1 HWCONFIG File Edit Option Help F GE p y Product List FA AHCPUS30 EN P Extension Rack P Motion Module Digital I O Module Tasks Analog I O Module tay Global Symbols Temperature Module S Programs Motion Control Module ki Prog0 PRG LD a Function Blocks Device Monitor Table APIs Network Module Specification lt Information Rack 1 Project slot Label Firmware Descrption Input De Output D Comment AHPSO5 AH Powers None None AHCPU 1 00 Basic CPU 1 None None AHIOPI 1 00 6 axis pulse None None ATTION A 1 NAN 1AN nsen TORT BT Offline Driver_RS232 RS232 COM3 2 After users configure the system needed they have to set the modules in the system After the users double click a motion control module in HWCONFIG the Parameter Setting window will appear The users can set the parameters in the Parameter Setting window After the setting of the parameters is complete the users can download the values of the parameters to special data registers in
317. ush Button 1 6 2 6 Displaying Hiding Information If users move the mouse cursor to a device or a symbol a contact a coil an instruction a function block or a comparison contact after they click 5 on the toolbar the information about the device or the symbol will appear The information related to a device or a symbol includes a device address and a comment Yay 1 Ys TME T Var i Class YAR Instruction Hote Mame Var 1 Class VAR iL Name Var 2 Type BOOL 7 7 Address M3000 Type WORD Comment Address OFO00 input_signal Comment variable For timer 6 2 7 Device Comments After users double click Device Comments in the system information area the Device Comments window will appear After the users click the View Edit tab they can view lists of devices The devices used in the program created are marked with The comments which the users make on devices will appear in the Comment cells for the devices The users can also edit comments in the Device Comments window 6 11 PMSoft User Manual system Information P Project The tab and the device type which are selected am ovMmbols Allocation Symbols Information Ee Male 4 Device Comments Mima y Programs E onan View E att Used Device s fp Ox i1 F E P a a l gf Function Blocks 1 fb oe Instruction E Monitor Tables Z GA Y J x Chart j KA Device Comments DVP_F PMC CAM Chart PEP Sett
318. value of C200 The source of a comparison MENE AAT R is the value of C204 The source of a comparison meres ee 6 C is the value of C208 E i ihe The source of a comparison MESME PORE is the value of C212 The device used for a Ie ee al comparison is Y0 8 The device used for a ee eae comparison is Y0 9 The device used for a ne ple comparison is Y0 10 The device used for a biel ci comparison is Y0 11 The device used for a ieee llling comparison is C200 The device used for a a a comparison is C204 The device used for a a head ES comparison is C208 The device used for a a War comparison is C212 B Q PMSoft User Manual Name Type Value Motion control function block The source of capture is the mcCapAxis1 WORD 1 present position of the first second axis axis mcCapAxis2 WORD The source of capture is the mcCapAxis3 WORD 3 present position of the third axis mecaps WORD 4 The source of capture is the mcCapAxis4 WORD 4 present position of the fourth axIS ie al Cd ee vacate naan oe S masaa nnee maeaea rue te momo woro o e aeaa e ea Taea aaeoa e ao ee en ET aaea Taea eaa Taea Taea ae aea The source of capture is the present position of the
319. w should be executed in order to install drivers or Update an existing driver Click Finish to complete the Silicon Laboratories CP210 YCF Drivers for Windows P 2003 ServerVistas vb 3a setup ER lt Back Finish D m Zal Silicon Laboratories CF210x USB to VART Bridge Driver Installer Eg F Silicon Laboratories a i fa Silicon Laboratories CP210 USB to UART Bridge Installation Location Driver Version 6 3 CiProgram Files Silabs MCUVCP21 0x4 Change Install Location i System Settings Change You must restart your computer before the new settings will take effect E j Do you want to restart your computer now 4 After the users finish installing the USB driver they have to open the Device Manager window If there is device called Silicon Labs CP210xUSB to UATY Bridge in the Ports COM amp LPT section the USB driver is installed successfully and the system assigns a communication port number to the device A 5 PMSoft User Manual Device Manager File Action View Help t Fea P mA mmg E m AP 566660DDCB80 E wi Batteries Computer See Disk drives i Display adapters 4 DYDICD ROM drives cl H a Human Interface Devices f IDE 4TA ATAPI controllers 2 Keyboards ng 2 Mice and other pointing devices H Monitors H Eg Network adapters milicon Labs CP210 Printer Pork LPT 1 ae Processors Sound video and game controllers Sys
320. which requires a different memory block the system will regard the different symbol as a different function block instance When the program is compiled a different memory block is assigned to the different function block instance In the main program O100 in the figure below the function block definition FB1 has the two function block instances FB_inst1 and FB_inst2 Project Ge Symbols Allocation Symbols Information Global Symbols Programs 4 10060 H Q Ox FP ari gl Function Blocks FB1 insti 0100 on Instruction E Monitor Tables I schat K Device Comments D OVP_FPMc CAM Chart E PEP Setting Program 0100 Identifiers FA1_insti FA1_inst2 in_1 in_ out_1 Lo Kox Local Symbols Address Type Initial FB1 FB1 MSO05 BOOL FALSE Wi SO08 BOOL FALSE Watir para Comment Only the function block definitions in a project are in the Function Blocks section before the program in the project is compiled After the program in the project is compiled the function block instances which actually participate in operations will be under the function block definitions The format of a function block instance is Instance name POU name a Function Blocks FB1 5 10 a Function Blocks FB1 FB1 insti 0100 FB4_inst2 01 00 Chapter 5 Function Block After a symbol whose data type Is a function block is declared in a symbol table in a project a function blo
321. word Setting Ctrl W Program Check Sum 0 DY En 0100 Ctrl Fl 1 PM Check Sum E step 0100 Ctrl F12 PM Program Steps Ox PM PEP Steps READY Status Sic ise PM CAM Steps Communication Address Communication Protocol ASCII 9600 E 7 1 Ee Edit Register Memory e Password Status Unlocked SWITCH Status MANU OY T Edit Bit Memory Extension Module READY Status Stop Morutonng Extension 10 X Extension lO Y Commniucation setting 2 46 Chapter 2 Starting and Setting MEMO 2 47 Chapter 3 Program Organization Units Table of Contents 3 1 Knowing Program Organization Units POUS ccceceeseeeeeeeeeseeeeeees 3 2 3 1 1 Program Architecture ccccccccseeccseeeseeeceeeeeeeeeeeeseeeseueeseeesseeseeeeaeeens 3 2 ote TYPO eee eee eee ae ere 3 2 S3 OS TEI SO sersercce cera weeercs saresnwecrwnnereenaenencosereseweuesnsecauesseenssevoeeesersoest 3 2 92 Managing POLUS yearweomieteceacreaadtacmeteteagesteuttennetastennetedtanscuttemeaedtamsetectanctandte 3 3 3 2 1 Adang a POU seee nee errr nr eet rr re 3 3 3 2 2 Changing the Attributes of a POU Which Is a Function Block 3 6 223 DELUGE FOU seeren oer N N ETENEE EEEREN 3 6 3 2 4 Managing the Password Protecting a POU Which Is a Function Block A EE E E 3 7 3 2 5 Managing POUs which Are Function BIOCKS cccecseeeeeeeeeeees 3 10 3 2 6 Exporting POUs Which Are Programs cccceseeeeeseeeeeeeeeeseeeeeees 3 13 3 2 7 I
322. y The Whole words only checkbox instructs PMSoft to find complete words only and not to find words that only contain what users type 9 17 PMSoft User Manual gt gt gt gt Search from caret If this checkbox is selected the search will start at the text cursor If this checkbox is not selected the system will search the whole program Selected text only If this checkbox is selected the search will start at the text selected Regular expression If this checkbox is selected regular expressions can be used in the Search for box Direction Users can search down or search up Aregular expression is a type of standard syntax Please refer to related technical documents for more information 9 2 4 Searching for an Object in a Symbol Table 1 After users open a window they have to click the left side of the symbol table or the blank in the symbol table The users can search for an object in a global symbol table or an object in a local symbol table Besides the users can not replace an object in a symbol table Global Symbols Seles Global Symbols Identifiers Address Type Initial Comment gt M3001 BOOL FALSE D7000 WORD 0 BOOL FALSE OR Click the blank 2 The users have to click Find on the Edit menu The users can right click the symbol table in the window and then click Find on the context menu If the users click a cell in the symbol table in the previous step the context m

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