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1. Manual MPLCMotion_MDxX Library 67 Description of the Function Modules Error ID 4 8 Error ID The following table displays the error codes error desginations and a description of the errors that could occur at the Error D output of the function modules Error code Error designation Error description General IEC error code FA0001h E_IEC_GENERAL_MAX_NUMBER_OF_AXIS Maximum number of axes exceeded FA0002h E_IEC_GENERAL_INTERNAL_ERROR Error during initialization of a MOVI PLC interface FA0003h E_IEC_GENERAL_COM_NOT_READY COM interface is not ready FA0004h E_IEC_GENERAL_INVALID_COM_NODE COM interface is not valid FA0005h E_IEC_GENERAL_INVALID_COM_ADR COM address is not valid FA0006h E_IEC_GENERAL_INVALID_TECHNOLOGIE_OPTION To perform the requested function a MOVIDRIVE drive inverter in application version is required FA0070h E_IEC_PARAMETER_VALUE_OUT_OF_RANGE Value for parameter access is outside the permitted range of values FA0071h E_IEC_PARAMETER_INVALID_SELECTION Invalid input selection on function module FA0072h E_IEC_PARAMETER_INVALID_SERVICE Invalid service MPLCMoti on_MDxX error codes FB0030h E_MDX_CONNECTAXIS_NO_INVERTER_CONNECTED No MOVIDRIVE MDX drive inverter detected on CAN bus Check CAN connection FB0031h E_MDX_CONNECTAXIS_CAN_ID_ERROR Required CAN ID is occupi
2. FALSE No error has occurred in the function module ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library 45 4 Description of the Function Modules Directory MDX_SingleAxisSensorless 4 5 2 Function module MC_StopSensorless_MDX MC_StopSensorless_MDX Execute BOOL Done BOOL Axis AXIS_ REF VAR_IN_ OUT Active BOOL Error BOOL ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT 20012AXX Description The function module MC_StopSensorless _MDX slows the current rotational movement of the motor axis using the ramp set in the drive inverter Note The PLCopenState of the motor axis remains in the status Stopping as long as the Execute input is set to TRUE This means a motion task for a subsequent movement is not possible To be able to leave the PLCopenState Stopping the Execute input of the function mod ule must be reset to FALSE in at least one call of the function module Application The function module MC_StopSensorless MDX can only be used on motor axes without encoders Note In the speed control status motor axes without encoders can only be operated at speeds higher than the minimum speed drive parameter P301 however not at less than 15 1 min In contrast to the process of function module MC_AxisStop_MDxX the function module MC_StopSensorless_MDX a
3. Semin Val Gee Vs Dike cles ve lot Sees cw rT EURODRIVE 7 Leg gt Y lt z fa y tdi MPLCMotion_MDX Library FE330000 for MOVI PLC Edition 07 2005 Mi 11350415 EN anual SEW EURODRIVE Driving the world C39 Important Notes ccccesseeeceeessneeeeeensneeeeeesseceeeeenseeeeseeessneeseeensaneeeeensseeeeesesseeeeeeenss 4 IntrOGUCTION 2 285 i hee tied ete ee oe aide See 5 21 AppliGatiOm areas ae A EEA E AS 6 2 2 Overview of the MPLCMotion_MDxX library seeseeeeeseseseeesrressrrsrrrnrrrsre 6 2 3 Overview of additional libraries for the MOVI PLC controller c s c e 0 0 8 Project Planning and Startup ccccsccssseecesseeeeeseeseseeeeeeseeeeseeeeenseeeesseesenseeeeeenees 9 S21 Prerequisites 2ie ita ariwaat tia eed Ge tia ai ea ey 9 3 2 COMMUNICATION TIMES ceccccccccccesceesssssecceceecececeecseseesseaaeeeeeesceseeereeaaea 10 BS Slanupsncavie citi edit adenine chia aaa iiaia 10 3 4 Units and ranges Of values 0 eeeenne eee eeenaeeeeeeeeaaeeeeeeeaaeeeeeeeaaeeeeeeeaas 14 Description of the Function MOCUIES ccceceeecceeeeeeeeeeeeeseeeeeeenseeeeeeensneeeeeeenes 15 4 1 General functionality of the function modules cceeeeeeeeeeteeetteeeteeeeees 15 4 2 State AIAG eee a T eaa aa a aaa Dea iae aaa haaa i iaa eat aaaea aa ai 19 4 3 Directory MDX Mall enera e E A A E TEA 20 4 3 1 Function mo
4. 231 Velocity DINT This input specifies the motor speed during the constant speed phase Unit 1 ms maximum setting range 0 6000 Acceleration DINT This input specifies the ramp time for acceleration to a speed increased by 3000 1 min increase of kinetic energy in the motor Unit ms maximum setting range 10 20000 Deceleration DINT This input specifies the ramp time for deceleration to a speed lowered by 3000 1 min reduction of kinetic energy in the motor Unit ms maximum setting range 10 20000 Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed The function module MC_MoveAbsolute_MDX has the following outputs Output Type Description Done BOOL This output shows whether the motor axis has been positioned e TRUE The motor axis has performed the rotation The motor axis has reached the target position window e FALSE The motor axis has not completed the rotation The motor axis has not yet reached the target position window Active BOOL This output shows whether the motor axis is turning to reach the target position window e TRUE The motor axis is rotating FALSE The motor axis is not rotating Command Aborted BOOL This output shows whether another function module has cancelled the task of the function module TRUE Another function module
5. 20000 Deceleration DINT This input specifies the ramp time for deceleration to a speed lowered by 3000 1 min reduction of kinetic energy in the motor Unit ms maximum setting range 10 20000 Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed The function module MC_MoveRelative_MDX has the following outputs Output Type Description Done BOOL This output shows whether the motor axis has been positioned e TRUE The motor axis has performed the rotation The motor axis has reached the target position window e FALSE The motor axis has not completed the rotation The motor axis has not yet reached the target position window Active BOOL This output shows whether the motor axis is turning to reach the target position window e TRUE The motor axis is rotating FALSE The motor axis is not rotating Command Aborted BOOL This output shows whether another function module has interrupted the task of the function module TRUE Another function module has interrupted the task of the function module e FALSE The task of the function module has not been interrupted Error BOOL This output shows whether an error as occurred in the function mod ule TRUE An error has occurred in the function module FALSE No error has occurred in the function module ErronD DWO
6. the function module does not recalculate the output signals all the output signals remain at the value that was last calculated Exception Done Busy and Error are reset to FALSE Therefore the function module must verify the value of the output signals by setting the output signal Done to TRUE The input Enable of the MC_ConnectAxis_MDX function modules differs from the behavior described here For details refer to the description of this function module Function modules that are activated by the input signal Execute typically perform an action once e g MC_ReadParameter_MDX A positive edge change at the Execute input starts the action The output signals remain in effect until the input signal Execute is reset to FALSE fall ing edge However if the input signal Execute is reset to FALSE before the action is completed the output signals remain in effect for at least one more control cycle after the action has been concluded If a rising edge occurs at the Execute input the values of the input signals are adopted for the action Changing the input signals during the action has no effect Another rising edge signal is required at the Execute input to adopt the modified values Manual MPLCMotion_MDxX Library 15 Output signal Done Output signal Active Output signal Busy Output signal Command Aborted 16 Description of the Function Modules General functionality of the function modules
7. BOOL ErrorlD DWORD Position DINT Axis AXIS_REF VAR_IN_OUT 20025AXX Description The function module MC_ReadActualPosition_MDxX is used to read in the current posi tion of the motor axis that is detected by the encoder system The encoder system used is specified in the controller configuration in the module parameters of the drive inverter Application The function module MC_ReadActualPosition MDX can be used on all motor axes For motor axes without encoders the value of the transferred actual position may not be used when a motor encoder is not connected at input X15 and set as an encoder in the controller configuration X15 Inputs The function module MC_ReadActualPosition_MDX has the following inputs Input Type Description Enable BOOL This input is used to activate the function module This task of the function module is only executed when this input is set to TRUE Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed Outputs The function module MC_ReadActualPosition_MDX has the following outputs Output Type Description Done BOOL This output shows whether the motor axis position has been trans ferred is in effect TRUE The value of the motor axis position of the Position output e FALSE The motor axis position has not been transferred module position Error BOOL This output shows whether an error as occ
8. Hazard Possible consequences Severe or fatal injuries Hazardous situation Possible consequences Slight or minor injuries Harmful situation Possible consequences Damage to the unit and the environ ment Tips and useful information Manual MPLCMotion_MDxX Library Introduction 2 Introduction Content of the manual Description Functions Additional documentation This user manual describes the function modules of the MPLCMot ion_MDx library and their application MOVI PLC is a programmable logic controller designed in accordance with IEC 61131 3 One feature of the MOVI PLC controller is for example the DHP11B control card You can use the MOVI PLC controller for example as the control unit of a machine module In this way MOVI PLC controls all the drives within the machine module and in doing so takes off load from the master controller e g machine or system PLC In conjunction with a DOP operator terminal MOVI PLC can also be used as a controller for entire machines The MPLCMotion_MDx library of the MOVI PLC controller described in this manual allows you to program the axis movements of connected MOVIDRIVE MDX60B 61B drives simply and centrally The MPLCMotion_MDx library provides the following functions for each connected MOVIDRIVE MDX60B 61B drive e Administrative functions e Inverter operation speed specification e Reference travel e Positioning e etc
9. This output shows whether an error as occurred in the function module TRUE An error has occurred in the function module FALSE No error has occurred in the function module ErronD DWORD This output displays the error code of the error page 68 Manual MPLCMotion_MDxX Library 35 36 Description of the Function Modules Directory MDX_SingleAxis 4 4 4 Function module MC_MoveRelative_MDX Description Application Prerequisite Effect MC_MoveRelative_MDX Execute BOOL Done Distance DINT Active Velocity DINT CommandAborted Acceleration DINT Error Deceleration DINT ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT Axis AXIS_REF VAR_IN_OUT 20006AXX This function module MC_MoveRelative _MDX is used to move the motor axis a speci fied distance e The inputs Velocity Acceleration and Deceleration determine the dynamic behavior of the rotation The motor axis remains at the target position subject to position control The function module MC_MoveRelative_ MDX can only be used on motor axes with encoders For the function module MC_MoveRelative_ MDX to be executed the motor axis must be assigned the status Standstill or DiscreteMotion in PLCopenState output signal of the function module MC_ConnectAxis_MDX The following parameters of the MOVIDRIVE MDX60B 61B drive inverter have a direct effect on the execution of the function module MC_Mov
10. DWORD Axis AXIS_REF VAR_IN_OUT 20017AXX The function module MC_WriteParameter_MDxX is used to transfer parameters indices from the MOVI PLC controller to the drive inverter The function module MC_WriteParameter_MDX can be used on all motor axes Important Changing some parameters which require certain settings to ensure fault free control of the drive inverter by the MOVI PLC controller can lead to unforeseeable operating states Therefore you should only use this function module after consultation with SEW EURODRIVE or after testing the required functionality thoroughly ensuring the protection of personnel and machinery The function module MC_WriteParameter_MDX has the following inputs Input Type Description inverter Execute BOOL This input is used to start the parameter transfer process When a rising edge occurs at this input the function module starts to transfer the parameter from the MOVI PLC controller to the drive Index UINT This input specifies which parameter is to be transferred from the MOVI PLC controller to the drive inverter The index number of the parameter can be displayed in Shell of the MOVITOOLS MotionStudio software To do so place your cursor in the relevant paramter field and press CTRL F1 Data DINT This input contains the transferred parameter value non volatile memory Non Volatile BOOL This input specifies whether the parameter should be copied to th
11. MPLCMotion_MDxX Library Description of the Function Modules 4 State diagram 4 2 State diagram In accordance with the execution of the function modules in the MPLCMot ion_MDX library the MOVI PLC controller is always in a defined state The current state can be determined at any time at the output PLCopenState of the function module MC_ConnectAxis_ MDX or at the outputs of the function module MC_ReadStatus_MDX The following diagram shows which function modules can be executed in the various states and the state transitions that they cause MC_MoveAbsolute_MDX MC_MoveVelocity_ MDX MC_MoveAbsoluteModulo_MDX MC_MoveVelocitySensorless_MDx MC_MoveRelative_MDX EN MC_MoveVelocitySensorless MDX DISCRETE_ CONTINUOUS _ MOTION MC_AxisStop_ MDX MOTION MGC_Stop_ MDX MC_StopSernsdrless_MDX MC_AxisStop_MDX MC_Stop_M DX MC_Stop_MDX MC_MoveVelog ity_ MDX MC_MoveAbsolute_MDX MC_MoveVelgcitySensorless_ MDX MC_MoveAbsoluteModulo_MDX MC_MoveRelative_MDX MC_AxisStop Stop StopSensorless _MDX MC_AxisStop_MDX MC_Stop_MDX Alle Zustande MC_ConnectAxis _MDX Done FALSE NOT_CONNECTED 20095AEN 1 MC_ConnectAxis_MDX Done FALSE when there is a communication error between the MOVI PLC controller and the drive inverter 2 MC_ConnectAxis_MDX must be called in each control cycle and therefore in each state Drive Error Done MC_ConnectAxis M
12. Sec 4 2 page 19 e NotConnected There is no communication betwee the MOVI PLC controller and the drive inverter e Standstill The target position window of a discrete motion task has been achieved or the task of the function module MC_AxisStop_MDX MC_Stop_MDxX or MC_StopSensorless_ MDX has been completed Errorstop There is an error in the drive inverter The motor axis has been stopped using the emergency stop ramp Exit the error state by triggering a reset e Stopping The motor axis is being decelerated because of a task of one of the function modules MC_AxisStop_MDX MC_Stop_MDX or MC_StopSensorless_MDX or the cancellation of the motion function module that was last active as an error was detected in the function module MC_ConnectAxis_ MDX The motor axis is assigned the state Stopping when abraking movement has already been completed and the Execute input of the function module MC_Stop_MDxX MC_AxisStop_MDX or MC_StopSensorless_MDxX is still set to TRUE ContinuousMotion The operating mode Speed control is active The movement was started by the function module MC_MoveVelocity_MDX or MC_MoveVelocitySensorless_MDxX Homing The motor axis performs reference travel e DiscreteMotion The motor axis performs a positioning task Manual MPLCMotion_MDxX Library 23 24 Description of the Function Modules Directory MDX_Main Output Type Descri
13. These functions are carried out decentrally in the drive inverters The MP LCMot ion_MDx library ensures fast communication with the drive inverters It allows the motor axis movements to be programmed simply and centrally in the MOVI PLC controller For simple and effective use of the MP LCMot ion_MDx library you should also order the following documentation MOVI PLC programming manual MPLCinterface Library for MOVI PLC manual MOVIDRIVE MDX61B Control Card MOVI PLC DHP11B manual MOVIDRIVE MDX60 61B system manual You must follow the instructions and safety notes published in these manuals when working with the drive system Manual MPLCMotion_MDxX Library Introduction Application areas 2 1 Application areas The MPLCMotion_MDX 1ib library is suitable for all application areas in which the MOVI PLC controller controls one or more drive inverters centrally Application Typical application examples of the MPLCMot ion_MDX 1ib library examples Machine modules Small machines System modules Storage and retrieval systems Hoist stations Characteristics The MPLCMot ion_MDX 1ib library has the following characteristics The MOVI PLC controller can control up to twelve drives using the MPLCMotion_MDX 1ib library Users do not have to work with communication interfaces Instead they can operate the MOVI PLC controller using only motion and administration commands This means that users d
14. Units and ranges of values Drive inverter If the drive system is controlled using the MPLCMot ion_MDX 1ib library users cannot IPOS program the IPOS software in the connected drive inverters themselves 3 4 Units and ranges of values Units The function modules of the MPLCMot ion_MDx library used the following units for their input and output signals e Positions in increments incr 4096 increments correspond to a 360 revolution of the motor axis e Speed in revolutions minute 1 min e Accelerations as ramp times in milliseconds to achieve a speed ms changed by 3000 1 min e Jerk as time in milliseconds for the duration of the torque build up ms Ranges of values For the function modules of the MPLCMotion_MDx library the following maximum ranges of values are permitted If the values of the input signals are outside of the setting ranges the function modules issue error messages However the drive inverter adjusts the travel tasks to these limit values automatically depending on the motor connected and the limit values set in the inverter parameters These limit values can be lower than the maximum values that can be set in the function modules In this case the function modules do not issue error messages As a result lag errors can occur during positioning tasks Positions 29 23 incr e Speeds for positioning tasks 0 6000 1 min e Speeds for speed controlled travel tasks 6000 6000
15. 0005 MoveRelstve_1 MC MoveReiatie MO ME _Connecias MON AND a len vie SSUS NODE 1 4Node 149US_Address jEnaeve st CTRLJNHISIT P owerOtMode Emor nneci s_1 Asis Asts gt Error 20039AXX 1 Click the right mouse button in a free area of the 0001 network A context menu appears Choose Network after 2 In the new 0002 network insert an MC_MoveRelative_MDX function module and give it an instance name e g MoveRelative_1 as described in step 4 The MC_MoveRelative_MDX function module is included in the MDxX_SingleAxis directory of the MPLCMot ion_MDxX library under the Standard Function Blocks entry 3 Enter the following values at the inputs of the function module Distance 40960 Velocity 1000 Acceleration 500 Deceleration 500 Axis ConnectAxis_1 Axis 4 The travel command can only be executed when the MC_Power_MDX function mod ule has been performed beforehand Therefore at the Execute input of the MC_MoveRelative_MDX function module enter the result of an AND connection between the Status output of the MC_Power_MDxX function module and the digital input which is to be used to start the movement To do so click on the line before the Execute input Insert a new AND function module by clicking the f button Assign the inputs of the AND function module as required see screenshot above 5 To rebuild the project choose Project Rebuild al
16. Edge MC_TP_EDGE_MDX Error BOOL PresetCounter DINT ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT TouchProbePos DINT Counter DINT 20028AXX The function module MC_TouchProbe2_MDX controls a maximum of two touch probe interrupt routines The function module copies the interrupt routines in the IPOS code of the connected drive inverter The drive inverter initializes a total of three acyclical send objects control word 2 touch probe 1 position touch probe 2 position When the Enable input signal of the function module is set to TRUE the function module sets up a receive object When the function module detects the touch probe event it reads the actual position from the drive inverter Calling the function module e The function module MC_TouchProbe2_MDX is called by setting the Enable input signal to TRUE The drive inverter initializes the IPOS state automatically and starts a touch probe interrupt routine Edge change and touch probe selection Waiting for a touch probe event e The function module MC_TouchProbe2_MDxX sets the Enabled output to TRUE The touch probe event has occurred The drive inverter signals to the MOVI PLC controller that the touch probe event has occurred CtrlWord2 TouchProbe2 gt Bit 0 TouchProbe2 gt Bit 1 e The function module MC_TouchProbe2_MDxX reads in the touch probe position of the selected encoder system The function module MC_TouchProbe2_MDxX increases
17. FB 3 MC_Interpolation FB N MC_Interpolation_MDX FB 2 a MC_Power_MDX FB a MC Reset MDX FB 1 MC_SetSync_MDX FB 3 MDX_SingleAxis amp 2 MDX_SingleAxisSensorless amp J MDX_Supplements User defined Function Blocks User defined Programs Canversion Operators 1 Structured 20036AXX 4 Mark the text AND in the function module you have just added 5 Press the lt F2 gt button The software opens the Help Manager dialog box 76 Manual MPLCMotion_MDX Library Programming Examples qu 5 Positioning a motor axis 6 In the panel on the left of the screen choose Standard Function Blocks 1 7 In the panel on the right of the screen choose the function module MC_ConnectAxis MDX FB from the directory MDX_Main of the MPLCMot ion_MDX library Click OK 2 l0 x 20037AXX 8 Click on the inserted function module MC_ConnectAxis_MDX and then on the ques tion marks above the function module 1 9 Enter the instance name e g ConnectAxis_1 of the function module 2 and press the lt ENTER gt key Confirm the Declare Variable dialog box that appears by press ing the OK button 10 Enter the following values at the inputs of the function module by clicking on the question marks to the left of the input enter the value and press the lt ENTER gt key Enable TRUE Node SBUS_NODE_1 SBUS_Address SBUS 1 address set during
18. MC_AxisStop_MDX The drive is operated by using only the digital inputs The MOVI PLC controller evalu ates the inputs of the drive inverter and controls the speed of the motor axis Unchanged steps Program steps 1 3 5 and 7 as described in the previous programming example Posi tioning a motor axis Set the controller configuration _ lolx E ij MOVI PLC basic DHP11B T EB 44 Communication F i Digital 10 disabled SLOT Q 4 Can 1 enabled SLOT A MOVIDRIVE MDX BIVAR amp Iinputs F ix amp DI_MDX1 AT IWV128 WORD Digital Inputs CHANNEL 1 AT IX1 28 0 BOOL Bit 0 Power_MDX1 AT IX128 1 BOOL Bit 1 41 Move_MDX1 AT IX128 2 BOOL Bit 2 t iRapidSpeed_MDX1 AT IX128 3 BOOL C Bit 3 AxisStop_MDX1 AT IX128 4 BOOL Bit 4 Stop_MDX1 AT IX128 5 BOOL Bit 5 _ ay 20088AXX In the controller configuration in addition to the identifiers Power_MDX1 and Move_MDX1 assign the identifiers e RapidSpeed_MDX1 AxisStop_MDX1 e Stop_MDX1 to the digital inputs of the MOVIDRIVE MDX60B 61B drive inverter as shown in the screenshot 1 Manual MPLCMotion_MDX Library 83 5 C x Programming Examples Speed control of a motor axis with encoder Step 6 Program the speed control function 0091 ConnectAxis_1 Power_1 MC_ConnectAxis_MDX MC_Power_MDX TRUE Enable Done Enable Status SBUS_NOUDE_1 Node Error PowerOmMode Error 148B
19. The function module sets the output signal Done or In Velocity to TRUE once the action of the function module has been executed successfully Some of the function modules display the conditions In Position discrete motion tasks or Speed reached continuous motion tasks of the drive inverter at the Done output signal These function modules check the conditions until a falling edge occurs at the Execute input As long as the input signal Execute is setto TRUE the function module resets the output signal Done to FALSE when the condition In Position or Speed reached is no longer fulfilled Accordingly the output signal Done is set to TRUE when the condition is fulfilled again Consequently when the input signal Execute is set to TRUE the output signal Done can change between TRUE and FALSE several times The output signal Active only exists for function modules that control a movement of the motor axis The function module sets the output signal Active to TRUE when the motor axis con trolled by the function module turns to reach the target target position or target speed The function module usually sets the output signal Active to TRUE shortly after a rising edge occurs at the input Execute If the motor axis is prevented from rotating due to the terminal assignment on the drive inverter e g controller inhibit the function module is executed but the output signal Active is reset to FALSE The function module sets the out
20. Value outside the permitted range of val ues F20002h E_MVLINK_RS485 MOVILINK error Possible cause Value outside the permitted range of val ues Manual MPLCMotion_MDxX Library 69 5 70 qu Programming Examples Prerequisites 5 Programming Examples This section describes how to program a number of drive tasks using the function mod ules described in this manual by means of specific examples Furthermore this section introduces you to the basic functionality of the controller con figuration the library manager and the FUP Editor of the MOVITOOLS MotionStudio software For more information refer to the online help of the MOVITOOLS MotionStudio soft ware 5 1 Prerequisites To be able to test the created programs with a motor axis the following prerequisites must be fulfilled The MOVI PLC controller and a MOVIDRIVE MDX60B 61B drive inverter with a connected motor are installed according to the instructions in the relevant manuals e Asystem bus connection is installed correctly between the CAN 1 connection of the MOVI PLC controller and the CAN 1 connection of the MOVIDRIVE MDX60B 61B drive inverter in accordance with the instructions in the relevent manuals The engineering PC is connected correctly to the MOVI PLC controller in accor dance with the instructions in the relevant manuals The interface of the engineering PC is configured correctly e You used
21. a maximum of six drive frequency inverters to one system CAN bus When connecting between one and three drive inverters to one system CAN bus Set the baud rate of the system CAN bus to 2 500 kBit s When connecting between four and six drive inverters to one system CAN bus Set the baud rate of the system CAN bus to 1000 kBit s This manual contains information on controlling MOVIDRIVE MDX60B 61B drive inverters For information on controlling frequency inverters refer to the following manual e MPLCMotion_MMc MPLCMotion_MCO07 libraries for MOVI PLC Manual MPLCMotion_MDxX Library 3 3 10 g Project Planning and Startup Communication times Important The technical characteristics given in this section only apply when no other CAN bus stations are active on the system CAN bus used to control the drive inverters Do not connect any other CAN bus stations to the system CAN bus on which drive inverters controlled by the MPLCMotion_MDX 1ib library are connected 3 2 Communication times Drive inverters SSI encoders 3 3 Startup All MOVIDRIVE MDX60B 61B drive inverters connected to the MOVI PLC controller send their current actual values to the MOVI PLC controller The cycle time for trans ferring the actual values is dependent on the data profile and the encoder used which are set in the control configuration of the module parameters of the drive inverter Take the update times of the
22. has cancelled the task of the function module e FALSE The task of the function module has not been cancelled Error BOOL This output shows whether an error as occurred in the function module TRUE An error has occurred in the function module FALSE No error has occurred in the function module ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_SingleAxis 4 4 3 Function module MC_MoveAbsoluteModulo_ MDX Description Application Prerequisite Effect MC_MoveAbsoluteModulo_MDX Execute BOOL Done Position DINT Active Velocity DINT CommandAborted Acceleration DINT Error Deceleration DINT ErrorlD DWORD Mode MC_MODULO_MODE_MDX Numerator DINT Dominator DINT EncoderResolution DINT Axis AXIS_ REF VAR_IN_OUT 20022AXX The function module MC_MoveAbsoluteModulo_MDX starts the movement of a motor axis to an absolute axis position The function module specifies the position as a modulo position A rotation of the motor axis of 360 corresponds to 21 e The inputs Velocity Acceleration and Deceleration determine the dynamic behavior of the rotation The Mode input specifies the strategy of the task short distance clockwise counter clockwise e The inputs N
23. of the motion function module When one or more of the following conditions applies the function module interrupts the active travel task discrete motion continuous motion homing of the motor axis e Controller inhibit e No enable e Safe stop However the function module does not cancel the travel task When the active travel task is interrupted the function module resets the output signal Active to FALSE However it does not set the output signal CommandAborted to TRUE As soon as the above conditions no longer apply the function module continues the in terrupted travel task Interrupting the action of a motion function module does not lead to an error If the action of a motion function module is to be cancelled without executing another function mod ule the task of one of the function modules MC_Stop_ MDX MC_AxisStop_ MDX or MC_StopSensorless_MDX must be executed Exception The reference travel triggered by the function module MC_Home_MDxX is cancelled by setting a controller inhibit or triggering a safe stop At the same time the function module MC_Home_MDxX sets the output signal CommandAborted to TRUE When the enable is revoked reference travel is only interrupted When the process is enabled again the motor continues the reference travel When a braking movement triggered by one of the function modules MC_Stop_MDx MC_AxisStop_MDX or MC_StopSensorless_MDxX is interrupted by a controller inhibit no enable
24. or safe stop this braking movement does not continue at the speed it had pri Manual MPLCMotion_MDxX Library 17 18 Description of the Function Modules General functionality of the function modules Response to 24 V operation Changing between discrete motion continuous motion or to the interruption once the interruption condition has been removed The motor axis continues to decelerate during the interruption When 24 V operation is activated the function module currently controlling the move ment of the motor axis cancels the travel task The function module sets the output signal CommandAborted to TRUE The MOVIDRIVE drive inverter implements continuous motion function blocks in one of the following operating modes e WVEFC n control e CFC control e SERVO control The MOVIDRIVE drive inverter implements discrete motion function blocks in one of the following operating modes VFC n control IPOS positioning CFC control IPOS positioning SERVO control IPOS positioning The MOVIDRIVE drive inverter does not allow an on the fly changeover that is with out a controller inhibit in all operating modes However standard behavior for all operating modes is required Therefore changeover is not possible when the motor axis is rotating In this case a corresponding error message is issued at the function module that would require the changeover to execute its travel task Manual
25. set to Stopping StandStill BOOL This output shows whether the PLCopen state of the drive inverter is set to StandStill e TRUE The PLCopen state is set to StandStill e FALSE The PLCopen state is not set to Standstill Discrete Motion BOOL This output shows whether the PLCopen state of the drive inverter is set to DiscreteMotion TRUE The PLCopen state is set to DiscreteMotion FALSE The PLCopen state is not set to DiscreteMotion Continuous Motion BOOL This output shows whether the PLCopen state of the drive inverter is set to ContinuousMotion e TRUE The PLCopen state is set to ContinuousMotion FALSE The PLCopen state is not set to ContinuousMotion Synchronized Motion BOOL This output shows whether the PLCopen state of the drive inverter is set to SynchronizedMotion e TRUE The PLCopen state is set to SynchronizedMotion e FALSE The PLCopen state is not set to SynchronizedMotion Homing BOOL This output shows whether the PLCopen state of the drive inverter is set to Homing e TRUE The PLCopen state is set to Homing FALSE The PLCopen state is not set to Homing Interpolation BOOL This output shows whether the PLCopen state of the drive inverter is set to Interpolation e TRUE The PLCopen state is set to Interpolation e FALSE The PLCopen state is not set to Interpolation Axis AXIS_REF This output displays the axis reference
26. tae 9 MC Power MDX cccccccccccececcceeeeeceeseessaaees 26 MC_ReadActualPosition_ MDX 00 0000008 64 R MC_ReadAxisError MDX 0 0 65 Ranges of values exticcs ta leciteatacasarsinnantaaneincciastie 14 MC_ReadParameter_MDxX sessen 48 MC_ReadStatus MDX ossos 66 S MC_Reset_MDX nnns 28 Sale StD asia ata 17 a MDX SSI BPS Safely NOLS eaa a ara AREE AETR 4 eg OME Parameters MDA aang Safety notes for bus Systems ceesseeeeeeees 4 MC_Setderk MDX ccccccscccccccccccceeseessestaeees 56 i MC_SetLimiter_MDX cccccccccccccccccceeeetetttaeees 54 Setting the controller configuration 73 83 88 MC_Stop_MDX ee weatsaies Mceiuehaelnteeedaste 42 Startup E E A E E ih baht Stale 10 MC_StopSensorless MDX ccccccccccccceceeees 46 State diagrami reni ia eia aN 19 MC_TouchProbe1_ MDX ccecce 60 Switching the drive inverter on off 008 78 Manual MPLCMotion_MDxX Library 93 94 Index T Testing the program eseese 80 85 90 Trace recording cccecceeeeeeeeeeeeeeeeees 81 86 91 Transferring the project asssssssssseessrreserrrrensrnnes 80 U UNIS sorier a aa e eed 14 WwW Warming NOTES scii deira iaaiiai aia 4 Manual MPLCMotion_MDxX Library SEW EURODRIVE Driving the world Gearmotors Industrial Gear Units Drive Electronics Drive Automation Services How we re driving the world With people who think fast and With a worldwid
27. the motor axis on which the actions of the function module are to be executed Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_InverterParameters Outputs The function module MC_ReadParameter_MDX has the following outputs Output Type Description Done BOOL This output shows whether the parameter has been transferred TRUE The value of the parameter at the Data output is valid e FALSE The parameter has not been transferred Busy BOOL This output shows whether the parameter is being transferred TRUE The parameter is being transferred FALSE The parameter is not being transferred at present Error BOOL This output shows whether an error as occurred in the function mod ule TRUE An error has occurred during parameter transfer e FALSE No error has occurred ErronD DWORD This output displays the error code of the error page 68 Data DINT This output contains the transferred parameter value Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library 49 50 Description of the Function Modules Directory MDX_InverterParameters 4 6 2 Function module MC_WriteParameter_MDX Description Application Inputs MC_WriteParameter_MDX Execute BOOL Index UINT Data DINT NonVolatile BOOL Axis AXIS_REF VAR_IN_OUT Done BOOL Busy BOOL Error BOOL ErrorlD
28. the value of the Counter output by one e The function module MC_TouchProbe2_MDX sets the EdgeDetected output to TRUE e Monitoring of the touch probe input is started again Evaluating the touch probe event e The function module MC_TouchProbe2_MDxX transfers the touch probe positions to the outputs TouchProbePos_X14 to TouchProbePos_ X62 e The function module resets the output EdgeDetected to FALSE The function module activates the touch probe interrupt routine The function module MC_TouchProbe2_MDxX can be used on all motor axes Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_Supplements Inputs Outputs The function module MC_TouchProbe2_MDxX has the following inputs Input Type Description Enable BOOL This input is used to activate the function module MC_TouchProbe2_MDxX The function module is only executed when the Enable input is set to TRUE The values of the other inputs are only read in when a rising edge occurs at the Enable input TouchProbe MC_TP_ This input specifies the encoder system This setting is made indepen Source SOURCE dent of the setting in the controller configuration _MDX X15 A motor encoder measures the position X14 An external encoder measures the position e SSI An absolute encoder measures the position DIP11B Edge MC_TP_ This input defines the edge evaluation of the touch probe input EDGE_MDX _ EN Both e
29. 1 min e Accelerations for positioning tasks 10 20000 ms e Accelerations for speed controlled travel tasks 0 2000000 ms e Jerk not used for speed controlled travel tasks 5 2000 ms Manual MPLCMotion_MDxX Library Description of the Function Modules General functionality of the function modules Description of the Function Modules This section describes the functions and the behavior of the function modules in the MPLCMot ion_MDx library 4 1 General functionality of the function modules Input signal Enable Input signal Execute This section describes the basic functionality of the inputs and outputs of the function modules and other general features of the MOVI PLC controller and drive inverters For specific examples of the interaction and sequence of several function modules including time diagrams refer to Sec 5 Programming Examples from page 70 There are different methods to activate two types of function modules e Function modules that are activated by the input signal Enable e Function modules that are activated by the input signal Execute Function modules that are activated by the input signal Enable typically perform cyclical actions e g MC_ReadActualPosition_MDX When the input signal Enable is set to TRUE the function module is active the function module recalculates the output signals in each cycle e When the input signal Enable is set to FALSE
30. 500 m3224 ms 3000 s 3750 ms 400 ms WA ms Ale msfi7 40 tis 20093AXX When a rising edge occurs at the JogPlus_MDX1 signal the motor axis starts speed control using the speed specified by the RapidSpeed_MDX7 signal 1 When the RapidSpeed_MDX7 signal changes from FALSE to TRUE the motor axis increases the speed to the higher of the two values 3 If both signals JogPlus_MDX1 and JogMinus_MDX1 are set to TRUE at the same time the XOR operation in conjunction with the negation in the controller program causes a rising edge at the Execute input of the MC_StopSensorless_MDX function module The braking process is started 5 For axes without encoders a braking process triggered by a rising edge at the Execute input of the MC_StopSensorless_MDX function module can be cancelled The cancel lation is executed when a speed controlled movement is called up by a rising edge at the Execute input of the MC_MoveVelocitySensorless_MDX function module 6 In this example the required rising edge is generated by the XOR operation in the 0005 net work when the JogPlus_MDX7 signal is switched from TRUE to FALSE Manual MPLCMotion_MDxX Library 5 91 5 92 qu Programming Examples Jog mode of a motor axis without encoder When the RapidSpeed_MDX1 signal switches from TRUE to FALSE the motor axis is slowed to the lower of the two speeds 8 Resetting both the signals JogPlus_MDX1 and
31. AXIS_REF VAR_IN_OUT 20018AXX The function module MC_SetHomeParameters_MDxX is used to set the parameters that are required for the motor axis to perform reference travel The function module MC_SetHomeParameters_MDxX transfers parameters required for reference travel from the MOVI PLC controller to the drive inverter For more information on the reference travel parameters and the reference travel types refer to the online help of the MOVITOOLS MotionStudio software The function module MC_SetHomeParameters_MDX can only be used on motor axes with encoders The function module MC_SetHomeParameters_MDxX has the following inputs Input Type Description Execute BOOL This input is used to start the parameter transfer When a rising edge occurs at this input the function module starts to transfer the parameters from the MOVI PLC controller to the drive inverter RefSpeed1 DINT This input specifies reference speed 1 RefSpeed2 DINT This input specifies reference speed 2 Reflype DINT This input defines the type of reference travel 0 8 ZeroPulse BOOL This input shows whether the motor axis is referenced to the zero pulse during reference travel TRUE The motor axis is referenced to the zero pulse during refer ence travel e FALSE The motor axis is not referenced to the zero pulse during reference travel Axis AXIS_REF This input specifies the motor axis on which the actions of the function modul
32. C_Home_MDX _MDX Done 2 3 MC_Reset_MDX can be called in each state but it only has an effect in the state ERRORSTOP 4 Prerequisite _MC_AxisStop_MDX Execute MC_Stop_MDX Execute MC_StopSensorless_ MDX Execute FALSE 5 Prerequisite MC_StopSensorless MDX Execute FALSE Manual MPLCMotion_MDxX Library 19 4 Description of the Function Modules Directory MDX_Main 4 3 Directory MDX_Main The directory MDX_Main includes function modules for managing communication between the MOVI PLC controller and the MOVIDRIVE MDX60B 61B drive inverters This directory also includes function modules for managing the drive inverter e g enable reset 4 3 1 Function module MC_ConnectAxis_ MDX MC_ConnectAxis_MDX Enable BOOL Done BOOL Node CAN_NODE Error BOOL SBUS_Address UINT ErrorlD DWORD Axis AXIS_REF DebugInfo MC_DEBUGINFO_MDX PLCopenState MC_PLCOPENSTATE InverterData MC_INVERTERDATA_MDX 20001AXX Description The function module MC_ConnectAxis_MDX establishes the connection with the con trolled motor axis It is called cyclically in the program and creates a process image of the motor axes at the place where it is called Note The process input or process output image is not created at the start and end of the con trol cycle Instead the process image for the inputs and outputs is created when the function mod ule MC_ConnectAxis_MDxX is called Application The function module MC_C
33. C_MoveAbsolute_MDX can only be used on motor axes with encoders For the function module MC_MoveAbsolute_MDX to be executed the motor axis must be assigned the status Standstill or DiscreteMotion in PLCopenState output signal of the function module MC_ConnectAxis_MDX The following parameters of the MOVIDRIVE MDX60B 61B drive inverter have a direct effect on the execution of the function module MC_MoveAbsolute_MDX e You can use parameters P916 Ramp type and P933 Jerk time to define positioning ramps with jerk limitation Use function module MC_SetJerk_MDX to set these parameters e Use parameter P922 Positioning window to set the positioning window to the target position within which the function module sets the output signal Done to TRUE Target position reached The startup assistant helps you to set these parameters Manual MPLCMotion_MDxX Library 31 32 Inputs Outputs Description of the Function Modules Directory MDX_SingleAxis The function module MC_MoveAbsolute_MDX has the following inputs Input Type Description Execute BOOL This input is used to start the rotation of the motor axis When a rising edge occurs at this input the function module starts the motor axis rotation Position DINT This input specifies the target position of the motor axis rotation 4096 increments correspond to one motor axis rotation of 360 Unit increments maximum setting range 23
34. DINT ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT TouchProbePos DINT Counter DINT 20020AXX The function module MC_TouchProbe1_MDX controls a maximum of two touch probe interrupt routines The function module copies the interrupt routines in the IPOS code of the connected drive inverter The drive inverter initializes a total of three acyclical send objects control word 2 touch probe 1 position touch probe 2 position When the Enable input signal of the function module is set to TRUE the function module sets up a receive object When the function module detects the touch probe event it reads the actual position from the drive inverter Calling the function module e The function module MC_TouchProbe1_MDX is called by setting the Enable input signal to TRUE e The drive inverter initializes the IPOS state automatically and starts a touch probe interrupt routine Edge change and touch probe selection Waiting for a touch probe event e The function module MC_TouchProbe1_MDxX sets the Enabled output to TRUE The touch probe event has occurred The drive inverter signals to the MOVI PLC controller that the touch probe event has occurred CtrlWord2 TouchProbe1 gt Bit 0 TouchProbe2 gt Bit 1 e The function module MC_TouchProbe1_MDxX reads in the touch probe position of the selected encoder system The function module MC_TouchProbe1_MDxX increases the value of the Counter output by one e The functi
35. DRIVE MDX60B 61B drive inverter are used for the sig nals Jog positive and Jog negative for this purpose The motor axis should turn in jog mode when 24 V DC voltage is applied at one of the two digital inputs Otherwise the drive must be slowed The speed of the motor axis should be able to be switched between two values using another digital input The drive is operated by using only the digital inputs The MOVI PLC controller evalu ates the inputs of the drive inverter and controls the speed of the motor axis Unchanged steps Program steps 1 3 4 and 7 as described in the previous programming examples Positioning a motor axis and Speed control of a motor axis with encoder Note You do not have to program step 5 because the MC_Power_MDxX function module is not used for motor axes without encoders Set the controller configuration olx H MOVI PLC basic DHP118 B 44 CommunicationtF K Digital IO disabled SLOT EB 45 Can 1 enabled SLOT E Jy MOVIDRIVE MDX BIVAR E Inputs Fix t E DI_MDxX1 AT SIV 1 28 WORD Digital Inputs CHANNEL DOR AT IX128 0 BOOL Bit 0 JogMinus_MDX1 AT IX128 2 BOOL Bit 2 RapidSpeed_MDx1 AT IX128 3 BOOL Bit 3 ei In the controller configuration assign the identifiers e JogPlus_MDX1 e JogMinus_MDX1 e RapidSpeed_MDX1 to the digital inputs of the MOVIDRIVE MDX60B 61B drive inverter as shown in the screenshot 1 20091AXX Ma
36. JogMinus_MDX171 to FALSE starts the braking process in the same way as setting both signals to TRUE as described above 10 Manual MPLCMotion_MDxX Library Index 6 Index Numerics MC_TouchProb 2_MDX cccccccccceeeeeeeeees 62 24 V Operation cccceeeececceeeeeeeeeeeeeenteeaeeeeeeeees 18 MC_WriteParameter_MDX osoen 50 A FUNCIONS 2 022 02 ata ea eee Lee 5 Application areas cceccccceceeceeeseeeeeeeetteeeeeeeeeees 6 l Application examples ccceceecceeeeeeeceeeeeeeeeeees 6 Input signal c EN DIC ee a ne aah 15 Gharactenistics tcact itcn area een ete 6 EXOCCUIE s sre Aa ha te a 15 Communication times ccccccsecseceeeeeeeeeeeenees 10 L Connecting the libraries cceseceeeeeeeeeseeeeeees 75 Controller inhibit 0 ccccccscecssessscssecessecseeeseeeeees 17 LibrarieS reQUuire ou eee ceeeee eters teeeeeeeeeeees 6 Creating a project ceceecececeeeeseeeeteeeeeseeeeeaes 72 Literature additional eee ccteeeeeeeetteeeeseeeeees 5 D N eel as sabiei iel orent anatase etda 5 Noenable invemo ni E 17 irectory l MDX hvera PAIAMEIBIS anueiai 48 Notes important ccccececeeeeeeeeeeeeeceeeeeeeeeeeeees 4 MDX Maiti tee ae anai aa iaaa 20 0 MDX_SINGICAXIS naaa 29 O tput l MDX_SingleAxisSensorless ccceeee 44 x ae PAR 16 MDX Supplements ceccccccccsssocssseessssssesseeeeee G0 CHIE ecses esses teesstetesteeetenteennneetnnaeeennneetnnaene Discr
37. MOVIDRIVE MDX60B 61B drive inverter sends its actual values to the MOVI PLC controller The type of actual values transferred and the cycle time it takes to transfer the actual values depends on the data profile and the encoder used These settings are made in the controller configuration of the module parameters on the drive inverter The following table gives an overview of the MOVIDRIVE actual values trans ferred and the cycle times required to send the actual values to the MOVI PLC controller Data profile gt 1 1 2 3 3 Encoder type gt X15 X14 SSI X15 X14 X15 X14 SSI SSI Optimized MDX actual values refresh time Status word During change X X X X X MDX inputs During change X X X X X Touch probe positions During change X X X X x Set speed 2ms X 3 ms X X 10 ms 3 fe R Actual speed 2 ms X X 3 ms E X X g X 10 ms 7 5 7 gt Actual position 2 ms X X 3 ms 7 X X X 10 ms Modulo 2 ms x Actual position 3 iis 7 X 3 7 10 ms a 3 Active current 2 ms s 5 5 X 3 ms X S X 10 ms 7 7 5 Analog inputs 2ms 3 ms z B 10 ms x 1 In addition to the optimized refresh time you can also set transmission rates of 5 ms 10 ms 20 ms 30 ms 40 ms 50 ms and 100 ms 2 If you set the Refresh time to 5 ms the analog inputs will still be tr
38. MotionStudio software to optimize the control of the drive and frequency inverters provided by SEW as well as other periphery modules The following is an overview of the basic libraries available for controlling units that are connected to the MOVI PLC controller In addition to these libraries further applica tion specific libraries are available e g for handling cams synchronous operation winder applications etc depending on the inverter type MPLCProcessdata MPLCMotion_MDX MPLCMotion_MC07 MPLCMotion_MX MPLCMotion_MM MPLCUtilities MOVI PLC canbe MOVI PLC as MOVI PLC as MOVI PLC as MOVI PLC as To connect e g used as a conven motion controller for motion controller for motion controller motion controller CANopen I O tional controller MOVIDRIVE B MOVIDRIVE 07 for MOVIAXIS for MOVIMOT modules e Controls all Single axis Speed com Single axis Speed com SEW inverters motion com mands motion com mands via process mands e Uses mands e Uses data Uses MOVITRAC 07 Uses MOVIMOT e Uses process MOVIDRIVE B interfaces MOVIAXIS interfaces data profiles interfaces interfaces application modules or your own IPOS pro grams L L L L L L SEW process data MOVIDRIVE MDX MOVITRAC 07 MOVIAXIS MOVIMOT CANopen IO modules modules Elements that have to be installed in the control configuration of the PLC Editor to be able to use
39. RD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library 37 38 Description of the Function Modules Directory MDX_SingleAxis 4 4 5 Function module MC_Home_MDX Description Application Prerequisite Effect Inputs MC_Home_MDX Execute BOOL Done BOOL RefOffset DINT Active BOOL Axis AXIS_ REF VAR_IN_ OUT CommandAborted BOOL Error BOOL ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT 20007AXX The function module MC_Home_MDX triggers the reference travel of a motor axis After reference travel the function module sets the position of the motor axis to the value specified by the RefOffset input The function module MC_Home_MDX can only be used on motor axes with encoders For the function module MC_Home_MDX to be executed the motor axis must be assigned the status Standstill in PLCopenState output signal of the function module MC_ConnectAxis_ MDX In controller configuration set the encoder to be used for reference travel in the module parameters of the drive inverter Parameters P900 to P904 of the MOVIDRIVE MDX60B 61B drive inverter specify the type of reference travel You can change these parameters using the function module MC_SetHomeParameters_MDX The function module MC_Home_MDxX has the following inputs Input Type Description Execute BOOL This
40. RIVE MDX60B 61B drive inverter Errors that occur in a function module of the MPLCMot ion_MDx library are not acknowl edged by this function module These errors reset themselves automatically once the cause of the error has been removed Application The function module MC_Reset_MDX can be used on all motor axes Inputs The function module MC_Reset_MDX has the following inputs Input Type Description Execute BOOL This input is used to acknowledge inverter errors When a rising edge occurs at this input the function module resets the inverter error Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed Outputs The function module MC_Reset_MDxX has the following outputs Output Type Description Done BOOL This output shows whether the reset has been performed e TRUE Reset successful FALSE Reset unsuccessful Busy BOOL This output shows whether the inverter error has been reset TRUE The function module is currently resetting the inverter error e FALSE The function module is not resetting the inverter error at present Error BOOL This output shows whether an error as occurred in the function module TRUE An error has occurred during the execution of the function module FALSE No error has occurred in the function module ErronD DWORD This output displays the error code of the error gt page 68 Axis AXIS_REF This o
41. Tere D Arcee D Tompi Library diwwctory CProgramme Gemeinsame Dateien SEMTARGETS DI 1 Trew 5 9 Tagger 1 E TEG ge CE 4 2003A 1 Activate the Library manager by double clicking the entry 1 2 Click the right mouse button in the library field and choose Additional Library 2 3 Select the library MPLCMot ion_MDX 1ib and click Open Manual MPLCMotion_MDxX Library 5 75 5 C x Programming Examples Positioning a motor axis Step 4 Program the communication with the motor axis To establish and execute communication between the MOVI PLC controller and the drive inverter add an instance of the MC_ConnectAxis_ MDX function module as fol lows 20034AXX 1 Choose the POUs tab page located at the bottom of the screen 1 2 Open the editor of the PLC_PRG PRG module by double clicking on the entry 2 3 Insert a new function module by first clicking on the box next to the questions marks and then pressing the button 3 Help Manager 5 Standard Functions User defined Functions x 3 Standard Function Blocks C o fp CAPROGRAMME GEMEINSAME DATEIEN SEW TARGETS C fp CAPROGRAMME GEMEINSAME DATEIEN SEW TARGETS C Cael i C PROGRAMME GEMEINSAME DATEIEN SEW TARGETS C 6f C PROGRAMME GEMEINSAME DATEIEN SEW TARGETS C amp pCA PROGRAMME GEMEINSAME DATEIEN SEW TARGETS C 3 MPLCMatian_MDX 4 MDX_InverterParameters amp 4 MDX Main BIMC_ ConnectAxis_ MDX
42. US Address Se ErroriD Power_MDX NO_ENABLE ConnectAsis_1t Ads inverterDatal SEL RapidSpeed MDX Speed 500 1000 i MoveVelocity_1 MC_MoveVelocity_ MDX Move_MDX1 Connecwas_1 Done 3 Speed Speed_old N i Spoo Speed_old AxisStop_1 MC_AosStop_MOX AxisStop_MDX1 Connecuuais_1 Anis Stop _MDXI ConnectAxis_1 Axis 20089AXX os Create the program shown in the diagram in accordance with the procedure de scribed in the previous programming example 2 To program the value assignment of the variable Speed to the variable Speed_old insert the network 0004 and then click on the box next to the question marks Then press the button 1 Replace the question marks with the variable names 84 Manual MPLCMotion_MDX Library Programming Examples qu 5 Speed control of a motor axis with encoder Step 8 Test the program Execute the program by activating the digital inputs as required Warning Depending on the terminal assignment the drive inverter status and the control program the motor axis can begin to move immediately after the MOVI PLC controller has been started To prevent risk of injury keep sufficient distance from all moving parts Turn on the MOVIDRIVE MDX60B 61B drive inverter if it was not already switched on in step 1 in connection with the MOVI PLC controller Start the MOVI PLC controller by clicking on the men
43. _InverterParameters Outputs The function module MC_SetLimiter_MDX has the following outputs Output Type Description Done BOOL This output shows whether the parameter has been transferred TRUE The parameter has been transferred from the MOVI PLC controller to the drive inverter e FALSE The parameter has not been transferred Busy BOOL This output shows whether the parameter is being transferred TRUE The parameter is being transferred e FALSE The parameter is not being transferred at present Error BOOL This output shows whether an error as occurred in the function mod ule TRUE An error has occurred during parameter transfer FALSE No error has occurred ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library 55 56 Description of the Function Modules Directory MDX_InverterParameters 4 6 5 Function module MC_SetJerk_MDX Description Application Prerequisites Inputs Execute BOOL JerkTime DINT Axis AXIS_REF VAR_IN_OUT MC_SetJerk_MDX Done BOOL Busy BOOL Error BOOL ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT 20019AXX The function module MC_SetJerk_MDX is used to activate the jerk limitation for posi tioning function modules The function module MC_SetJerk_MDxX transfers the jerk ti
44. _MoveVelocity_ MDX However it should be possible to change the speed smoothly from zero to a different speed during a controlled speed change for motor axes both with and without encoders The function module MC_StopSensorless_MDX has the following inputs Input Type Description Execute BOOL This input is used to start the braking process for the motor axis When a rising edge occurs at this input the function module starts to slow the motor axis Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed The function module MC_StopSensorless_MDX has the following outputs Output Type Description Done BOOL This output shows whether the braking process has been completed TRUE The braking process of the motor axis is completed The motor axis is at a standstill status of motor axis No enable e FALSE The braking process of the motor axis is not yet complete Active BOOL This output shows whether the motor axis is rotating e TRUE The motor axis is rotating FALSE The motor axis is not rotating Error BOOL This output shows whether an error as occurred in the function module TRUE An error has occurred in the function module FALSE No error has occurred in the function module ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis refe
45. actual values of the MOVIDRIVE MDX60B 61B drive inverters into account during project planning For a detailed description of the data profiles and the corresponding communication times refer to the section Function module MC_ConnectAxis_MDX from page 20 Using an SSI encoder slows access to all the parameters by a factor of five Therefore you should avoid using SSI encoder and use a Hiperface encoder instead These characteristics affect the response time of the MOVI PLC controller in conjunc tion with the drive inverters Take these characteristics into account during project planning This section describes the startup process for the drive inverter when it is to be con trolled by the MOVI PLC controller Warning Only start up the drive inverter using the startup assistant described in this section You must not change the drive inverters parameter settings manually or start up the drive inverter directly using the motor startup assistant either during initial startup or dur ing subsequent restarts or optimizations Manual changes could lead to unforeseeable operating states that could cause severe or fatal injuries to personnel Manual MPLCMotion_MDxX Library Project Planning and Startup qu 3 Startup Appkeation Builder 4 20 DriveStartup Ete Edt Prowct Help D Ge Oy ells gt e lee Startup Assistant for MOVI PLC Mode MDx State SBUS1 Address fi Inverter st
46. ansferred in a 10 ms cycle Manual MPLCMotion_MDxX Library 25 26 Description of the Function Modules Directory MDX_Main 4 3 2 Function module MC_Power_MDX MC_Power_MDX Enable BOOL Status BOOL PowerOffMode UINT Error BOOL Axis AXIS_REF VAR_IN_OUT ErrorlID DWORD Axis AXIS_REF VAR_IN_OUT 20002AXX Description The function module MC_Power_MDX switches a drive inverter on inverter status A or 5 depending on the selected operating mode e or off inverter status 1 or 2 depending on the PowerOffMode set Application The function module MC_Power_MDxX can only be used on motor axes with encoders Note A power function module does not have to be called up for drives without encoders Interruption If the Enable input is reset to FALSE the function module MC_Power_MDxX interrupts the motion function module that is currently controlling the motor axis The output signal Active of the motion function module is reset to FALSE When the Enable input signal of the function module MC_Power_MDxX is set to TRUE again the motion function module continues its previous motion task Exception If a discrete motion task has already been assigned the status Standstill when the input signal Enable is reset to FALSE the function module cancels the discrete motion task and sets the output signal CommandAborted to TRUE Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_Mai
47. as concluded As arising edge then occurs at the Execute input the motor axis starts the positioning process again 3 However the next rising edge occurs at the Execute input before positioning has been concluded Another positioning process starting from the current position of the motor axis at the time the last rising edge occurred at the Execute input is started without interruption 4 In this way the motor axis is not slowed to a standstill but starts the next movement directly Manual MPLCMotion_MDxX Library 81 5 82 qu Programming Examples Positioning a motor axis Once positioning is complete the function module resets the Active output to FALSE In this case however the Done output signal remains set to TRUE after positioning is com plete because the Execute input signal has not been reset to FALSE 5 Manual MPLCMotion_MDxX Library Programming Examples qu 5 Speed control of a motor axis with encoder 5 3 Speed control of a motor axis with encoder Task description Programming Step 2 When a rising edge of 24V DC voltage occurs at a digital input of the MOVIDRIVE MDX60B 61B drive inverter the connected motor axis should start movement subject to speed control The speed of the motor axis should be able to be switched between two values using another digital input Two inputs should be used to start a braking process with the help of the function module MC_Stop_MDX or
48. ate TAL INHIBIT Signature Movi PLC axe 1 Furst startup of the everter Onine help Cancel Startup ET A008 0 A 20094AEN To start the DriveStartup MOVI PLC Mode startup assistant open the context menu for the entry MDX in the unit tree of the MOVITOOLS MotionStudio software The startup assistant guides you step by step through the startup procedure 1 Load the delivery status Startup the drive inverter Configure the Shell parameters Download the input values Save the inverter data The startup assistant detects automatically whether you want to perform initial startup or a restart For the initial startup process you must perform all five steps one after the other For a restart the startup assistant goes directly to step 3 However you can start with step 1 or 2 by clicking on the entries manually This procedure allows you to use the star tup assistant to optimize the data for example for motor startup at a later date a A OO N Manual MPLCMotion_MDxX Library 11 3 12 qu Project Planning and Startup Startup Start Diagnostics Monitor Initial Startup Factory Settings Delivery Conditions 20029AEN Only perform startup using the startup assistant Proceed as follows Step 1 Load the factory settings The delivery status is loaded When the delivery status is loaded e The startup data is reset e All Shell parameters are reset t
49. cccsssceeeeeesteeeeeees 52 4 6 4 Function module MC_SetLimiter MDX c cccccccccsseesesseeeeeeeeeees 54 4 6 5 Function module MC_SetJerk MDX c ccccccscccceeceessessestaaeeeeees 56 4 6 6 Function module MC_SetHomeParameters MDX cccccsccceeees 58 4 7 Directory MDX_Supplement ccccesecceeeeeeeeeeeeeeeeeeeeeeeseeeeeeeaaeeeeneees 60 4 7 1 Function module MC_TouchProbe1_ MDX cccceeeeesseeaeeeeeeeees 60 4 7 2 Function module MC_TouchProbe2_MDX cccceceeeeesseeeeeeeeeeees 62 4 7 3 Function module MC_ReadActualPosition MDX ccccccsceeeeees 64 4 7 4 Function module MC_ReadAxisError MDX cccceceessseseeeeeeeees 65 4 7 5 Function module MC_ReadStatus MDX ccccceesesseeeceeeeeees 66 48 Error D ainoan e a a a EE AE E E EEE ETEA 68 Programming Examples c ccccceeeeeeeeeeeneeeeeeeseeeeeeenseeeeeeeenseeeeeeenseceeeeensneeeeeeenas 70 5 1 gt Prerequisites aaan ie aE KEETE eo AARRE 70 52 POSITIONING motor AXIS siesena ie i aTa aaea a T E 71 5 3 Speed control of a motor axis with encoder cccceeeeesseeeeeeestteeeeeesnaees 83 5 4 Jog mode of a motor axis without encoder cccecee eee eeeeeeteeeeeeeeeeeeeetees 88 INMGOX enter eee Soins an a tee A oi ad Se 93 Manual MPLCMotion_MDX Library 1 Important Notes 1 Important Notes A Documentation Bus systems Safety and warning notes This manual does not rep
50. controller to the drive inverter FALSE The jerk time has not been transferred Busy BOOL This output shows whether the jerk time is being transferred TRUE The jerk time is being transferred FALSE The jerk time is not being transferred at present Error BOOL This output shows whether an error as occurred in the function mod ule TRUE An error has occurred during the transfer of the jerk time FALSE No error has occurred ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis reference Note The function module MC_SetJerk_MDX changes the ramp type of the drive inverter from a linear ramp to a jerk limited ramp For speed controlled travel tasks the drive inverter automatically uses a linear ramp When the drive inverter then executes a positioning task it automatically switches back to the jerk limited ramp If you set the JerkTime input to 0 the function module MC_SetJerk_MDX switches the ramp type back to linear again Manual MPLCMotion_MDxX Library 57 58 Description of the Function Modules Directory MDX_InverterParameters 4 6 6 Function module MC_SetHomeParameters_MDX Description Application Inputs Execute BOOL RefSpeed1 DINT RefSpeed2 DINT RefType DINT ZeroPulse BOOL Axis AXIS_REF VAR_IN_OUT MC_SetHomeParameters_MDX Done BOOL Busy BOOL Error BOOL ErrorlD DWORD Axis
51. ctory MDX_SingleAxis MC _Home_MDX MC_AxisStop_MDX MC_Stop_ MDX e Continuous motion function module MC_MoveVelocity_ MDX Discrete motion function modules MC _MoveAbsolute_MDX MC MoveAbsoluteModulo MDX MC_MoveRelative MDX Directory MDX_SingleAxisSensorless MC_StopSensorless_ MDX e Continuous motion function module MC_MoveVelocitySensorless MDX Directory MDX_InverterParameters MC ReadParameter_MDX MC_WriteParameter_MDX MC_SetDynamics_MDX MC_SetLimiter_ MDX MC_SetJerk_MDX MC SetHomeParameters_MDX Directory MDX_Supplements MC_TouchProbe1_MDX MC_TouchProbe2_MDX MC _ReadActualPosition MDX MC_ReadAxisError_ MDX MC ReadStatus_ MDX Note The MPLCMotion_MDX 1ib library can be used with all the other libraries for the MOVI PLC controller at the same time However fault free operation can only be ensured when you operate all drive inverters which are controlled using the function modules of the MPLCMot ion_MDX lib library on one or more system CAN buses on which no other CAN objects e g I O modules are set up Manual MPLCMotion_MDxX Library Introduction Overview of additional libraries for the MOVI PLC controller 2 3 Overview of additional libraries for the MOVI PLC controller In addition to the MPLCMot ion_MDx library you can install a number of other libraries in the PLC Editor of the MOVITOOLS
52. d at speeds higher than the minimum speed drive parameter P301 however not less than 15 1 min In contrast to the process of function module MC_MoveVelocity_ MDX the function module MC_MoveVelocitySensorless_MDX rotates the motor axis at the mini mum speed even when a speed of for example 0 is specified Prerequisite For the function module MC_MoveVelocitySensorless_MDX to be executed the motor axis must be assigned the status Standstill ContinuousMotion or Stopping in PLCopenSiate output signal of the function module MC_ConnectAxis_MDX Cancellation The speed control triggered by the function module MC_MoveVelocitySensorless_ MDX is cancelled by the function module MC_StopSensorless_MDX Note A rising edge at the input of either function module MC_Stop_MDX or MC_AxisStop MDX does not cancel the task of the function module MC_MoveVelocitySensorless_MDX 44 Manual MPLCMotion_MDX Library Description of the Function Modules Directory MDX_SingleAxisSensorless Inputs Outputs The function module MC_MoveVelocitySensorless_MDX has the following inputs Input Type Description Execute BOOL This input starts the task of the function module When arising edge occurs at this input the function module starts the speed control Velocity DINT This input specifies the target setpoint speed of the motor axis rota tion Unit 1 ms maximum setting range 6000 6000 Acceleration DINT This i
53. d then pressing the f button Convert the AND function mod ule that you have inserted to an MC_Power_MDxX function module by following the instructions described in step 4 Enter a name for the function module e g the instance name Power_1 5 At the PowerOffMode input enter the constant CTRL_INHIBIT 6 At the Axis input enter the axis reference ConnectAxis_1 Axis that is output by the module instance ConnectAxis_1 To do so click the field before the Axis input and enter ConnectAxis_1 Select the entry Axis from the dialog box that appears automatically Confirm the entry by pressing the lt ENTER gt button Manual MPLCMotion_MDxX Library Programming Examples qu Step 6 Positioning a motor axis Program the positioning process for the motor axis Insert an MC_MoveRelative_MDX function module that controls a relative positioning movement of the motor axis In this example the motor axis should turn ten revolutions 10 x 4096 increments of the encoder clockwise each time a rising edge of the 24V DC voltage occurs at the digital input D 02 of the drive inverter During constant travel the motor axis should turn at a speed of 1000 1 min 4 PLCEditor Example_Positioning pro PLC_PRG PRG FBD SAX TS File Edit Project Insert Extras Online Window Help _ x osm ganS aala oo aeaa og IRAM PLC PRO a Vag ome J POUs Connectas t MC Connectas MDO Powet_ MC_Power_MD
54. dges e EN_HI Rising edge e EN_LO Falling edge PresetCounter DINT This input specifies the initial value of the Counter output Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed The function module MC_TouchProbe2_MDxX has the following outputs Output Type Description EdgeDetected BOOL This output shows whether a touch probe interrupt event has taken place e TRUE Touch probe event has taken place e FALSE This output is set automatically to FALSE after each control cycle Enabled BOOL This output shows whether the function module is active TRUE The Enable input is set to TRUE FALSE The Enable input is set to FALSE Error BOOL This output shows whether an error as occurred in the function module TRUE An error has occurred in the function module FALSE No error has occurred in the function module ErronD DWORD This output displays the error code of the error page 68 TouchProbePos DINT This output shows the touch probe position of the selected encoder system Counter DINT This output displays the number of touch probe interrupt events Manual MPLCMotion_MDxX Library 63 64 Description of the Function Modules Directory MDX_Supplements 4 7 3 Function module MC_ReadActualPosition MDX MC_ReadActualPosition_ MDX Enable BOOL Axis AXIS_REF VAR_IN_OUT Done BOOL Error
55. dule MC_ConnectAxis MDX c cccccccccccesssssessseeeeeeees 20 4 3 2 Function module MC_Power_MDX ccccccscccccececesseessstaaeeeeeeeees 26 4 3 3 Function module MC Reset MDX cccsccsececseeecesseesestseaeceeeeeees 28 4 4 Directory MDX_SingleAxis cecceeceee cece eee eceeeeeeeeeecaeeeeeeeeseeeeeetaaeeeeneees 29 4 4 1 Function module MC_MoveVelocity_MDX ccccccssseeeeeessteeeeeees 29 4 4 2 Function module MC_MoveAbsolute_ MDX cceceessseseeeeeeeees 31 4 4 3 Function module MC_MoveAbsoluteModulo MDX c ccceeeee 33 4 4 4 Function module MC_MoveRelative MDX ccccccceesessseceeeeeees 36 4 4 5 Function module MC Home MDX cccccccsceccceecesseesesteeaeeeeeeeees 38 4 4 6 Function module MC_AxisStop_ MDX ccccsscccceeesseeeeeeessteeeeeee 40 4 4 7 Function module MC_Stop MDX cccssccccssseeceeesssneeeeeeesteeeeeee 42 4 5 Directory MDX_SingleAxisSensorless ccccecceeeeteeeeeeee seer eeeetaeeeeeeeees 44 4 5 1 Function module MC_MoveVelocitySensorless MDX 008 44 4 5 2 Function module MC_StopSensorless MDX 0 ccccsscesseeeeeees 46 4 6 Directory MDX_InverterParameterS ccccceeeeseeeeeeeenneeeeeeeaeeeeeeeaaeeeeeeeaas 48 4 6 1 Function module MC_ReadParameter_MDX rerne 48 4 6 2 Function module MC_WriteParameter_MDX cccssssseeeeeeeees 50 4 6 3 Function module MC_SetDynamics_MDX cccc
56. e e TRUE The parameter is transferred to the non volatile memory of the drive inverter The parameter value is still stored once the drive inverter is switched off and then on again e FALSE The parameter is transferred to the volatile memory of the drive inverter When the drive inverter is switched off and then back on again the parameter is reset to its original value module are to be executed Axis AXIS_REF This input specifies the motor axis on which the actions of the function Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_InverterParameters Outputs The function module MC_WriteParameter_MDX has the following outputs Output Type Description Done BOOL This output shows whether the parameter has been transferred TRUE The parameter has been transferred from the MOVI PLC controller to the drive inverter e FALSE The parameter has not been transferred Busy BOOL This output shows whether the parameter is being transferred TRUE The parameter is being transferred e FALSE The parameter is not being transferred at present Error BOOL This output shows whether an error as occurred in the function mod ule TRUE An error has occurred during parameter transfer FALSE No error has occurred ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output dis
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58. e MOVIDRIVE MDX inverter FB0075h E_MDX_MOTIONBLOCK_INVALID_INVERTER_STATUS Motion function module cannot be executed in the state currently active on the MOVIDRIVE MDX inverter FB0076h E_MDX_MOTIONBLOCK_INVALID_ VELOCITY Specified speed is outside the permitted range of values FBOO90h E_MDX_PARAMCHANNEL_SEND_BUFFER_OVERFLOW Buffer for parameter channel is full FB0091h E_MDX_PARAMCHANNEL_WRITEPARAMETER_BUSY Trying to access parameter while the parameter channel is busy FB0092h E_MDX_PARAMCHANNEL_READPARAMETER_BUSY Trying to access parameter while the parameter channel is busy 68 Manual MPLCMotion_MDxX Library Description of the Function Modules Error ID Error code Error designation Error description MPLCUtilities error codes FC0001h E_WAGO_TIME_OUT_SBUS_INIT Internal timeout during SBUS initialization FC0002h E_WAGO_TIME_OUT_WAGO_INIT Timeout during initialization of the WAGO module FC0003h E_WAGO_NO_CONNECTION_DURING_INIT_SEQ Termination of the connection to WAGO module during ini tialization FC0004h E_WAGO_WATCH_DOG_ERROR Watchdog error Communication to WAGO module inter rupted MPLCSystem error codes extract CC0070h E_NO_MATCH_FOR_PARAMSET No entry found in controller configuration for the axis F2000Ah E_MVLINK_CAN MOVILINK error Possible cause
59. e are to be executed Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_InverterParameters Outputs The function module MC_SetHomeParameters_MDX has the following outputs Output Type Description Done BOOL This output shows whether all parameters have been transferred TRUE All parameters have been transferred from the MOV PLC controller to the drive inverter e FALSE The parameters have not been transferred Busy BOOL This output shows whether the parameters are being transferred TRUE The parameters are being transferred e FALSE The parameters are not being transferred at present Error BOOL This output shows whether an error as occurred in the function module TRUE An error has occurred during the transfer of the parame ters e FALSE No error has occurred ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library 59 60 Description of the Function Modules Directory MDX_Supplements 4 7 Directory MDX_Supplements 4 7 1 Function module MC_TouchProbe1_MDX Description TouchProbe Routine Application MC_TouchProbe1_MDX Enable BOOL EdgeDetected BOOL TouchProbeSource MC_TP_SOURCE_MDX Enabled BOOL Edge MC_TP_EDGE_MDX Error BOOL PresetCounter
60. e configuration of the project fl a m HH ms3100r sisp hsoa ms r70 hso00hrs JES 20090AXX The motor axis starts speed control when a rising edge occurs at the Execute input of the MC_MoveVelocity_MDX function module 1 The function module sets the Active output to TRUE until the setpoint speed is reached When the setpoint speed is reached the Active output is reset to FALSE and the nVelocity output not shown in the time diagram is set to TRUE Due to a rising edge at the Execute input of the MC_AxisStop_MDX function module the motor axis executes a braking process with the deceleration speed defined at the Deceleration input of the MC_MoveVelocity_ MDX function module 2 The MC_MoveVelocity_MDX function module displays the cancellation of the speed control task by setting the CommandAborted output to TRUE While the Execute input of the MC_AxisStop_MDX function module is still set to TRUE another rising edge occurs at the MC_MoveVelocity_MDX function module Although the braking process was already complete the motor axis does not move To start movement the status Stopping must first be activated by resetting the Execute input of the MC_AxisStop_MDX function module to FALSE As soon as the condition is fulfilled the motor axis starts movement with speed control again when a rising edge occurs at the Execute input of the MC_MoveVelocity_MDX function module 4 Manual MPLCMotion_MDxX Library Programming Exa
61. eRelative_MDX e You can use parameters P916 Ramp type and P933 Jerk time to define positioning ramps with jerk limitation Use function module MC_SetJerk_MDX to set these parameters e Use parameter P922 Positioning window to set the positioning window to the target position within which the function module sets the output signal Done to TRUE Target position reached The startup assistant helps you to set these parameters Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_SingleAxis The function module MC_MoveRelative_MDX has the following inputs Input Type Description Execute BOOL This input is used to start the rotation of the motor axis When a rising edge occurs at this input the function module starts the motor axis rotation Distance DINT This input specifies the target position of the motor axis rotation as a position relative to the current motor axis position when the function module starts 4096 increments correspond to one motor axis rotation of 360 Unit increments maximum setting range 23 231 Velocity DINT This input specifies the motor speed during the constant velocity phase Unit 1 ms maximum setting range 0 6000 Acceleration DINT This input specifies the ramp time for acceleration to a speed increased by 3000 1 min increase of kinetic energy in the motor Unit ms maximum setting range 10
62. eate a new project 1 2 Switch on the engineering PC and the MOVI PLC controller Start the PLC Editor of the MOVITOOLS MotionStudio software in accordance with the instructions in the section Starting MOVITOOLS MotionStudio in the MOVI PLC manual Create a new project by choosing File New The Target Settings dialog box appears Select the configuration of your MOVI PLC controller in this programming example it can be MOVIPLC basic DHP1 1B and click OK SS x Name of the new POU Pl C_PRG Type of POU Language of the POU Cancel amp Program e IL C Function Block c LD Function FBD Return Type C SFC Boo E SI C CFC 20030AXX In this example do not change the name of the function module PLC_PRG in the Name of the new POU selection field After you start the program step 8 in this example the MOVI PLC controller will execute the module PLC_PRG automati cally In the Type of POU field choose Program 7 In the Language of the POU group box check the radio button FBD and confirm your entries by clicking OK Save the project by choosing File Save and enter a name for the project Save the project regularly once you have made a number of changes or after you have fin ished creating the program 1 The MOVI PLC controller must be powered as your version requires or the drive inverter that the hard ware of the MOVI PLC controll
63. ed FB0032h E_MDX_CONNECTAXIS_CYCLIC_COMMUNICATION Cyclical communication between the MOVI PLC controller and the MOVIDRIVE drive inverter has been interrupted FB0033h E_MDX_CONNECTAXIS_IPOS_DOWNLOAD_ERROR Error during IPOS download FB0034h E_MDX_CONNECTAXIS_WRONG_DEVICE_CONNECTED Incorrect unit connected Check controller configuration FB0035h E_MDX_CONNECTAXIS_SIMULATION_NOT_AVAILABLE Function cannot be executed in simulation mode FBOO60h E_MDX_POWER_INVERTER_NOT_READY MOVIDRIVE MDX drive inverter assigned the status 24V operation or Safe stop Device cannot be switched on FB0061h E_MDX_POWER_INVERTER_FAULT_STATE Error detected on MOVIDRIVE MDX drive inverter Device cannot be switched on FB0070h E_MDX_MOTIONBLOCK_INVALID_DATA_PROFIL Motion function module cannot be executed from the current PLCopen state FBOO71h E_MDX_MOTIONBLOCK_LOG_ADR_NOT_INITIALIZED Motion function module was called up before MC_ConnectAxis_MDX had generated a logical address AXIS_REF FB0072h E_MDX_MOTIONBLOCK_INVALID_LOG_ADR motion function module was called up with an invalid logical address AXIS_REF FB0073h E_MDX_MOTIONBLOCK_INVALID_STATE Motion function module cannot be executed from the current PLCopen state FB0074h E_MDX_MOTIONBLOCK_INVALID_OPERATING_MODE Motion function module cannot be executed in the operating mode set on th
64. eplace element Can 1 enabled from the context menu that appears 5 6 Configure the MOVIDRIVE MDX60B 61B drive inverter at the CAN 1 interface by clicking on the right mouse button on the entry Can 1 enabled and choosing Ap pend subelement and MOVIDRIVE MDX B from the context menu that appears Manual MPLCMotion_MDxX Library 73 5 74 qu Programming Examples Positioning a motor axis nid PLC Configuration a pum HPG J Min mias zj 20032AXX Mark the element MOVIDRIVE MDX B and in the Module parameters tab page enter the SBus address that you selected when you started the drive inverter 1 Inthe control program you can use the inputs and outputs by specifying the address details directly using the syntax l Q However it is easier to use symbolic identifiers as follows Click on the symbol in front of the entries MOVIDRIVE MDX B and Inputs Click on the corresponding AT field in the configuration tree and enter the name as required In this example the symbolic identifier for the digital inputs of the drive inverter is DI_MDX1 For individual inputs outputs the symbolic identifiers are Power _MDX1 and Move_MDX 4 2 Manual MPLCMotion_MDxX Library Programming Examples C xD Step 3 Positioning a motor axis Connect the libraries To use the function modules of the MPLCMotion_MDX 1ib library add the library MPLCMotio
65. er is plugged into must be switched on Manual MPLCMotion_MDxX Library Programming Examples qu 5 Positioning a motor axis Step 2 Set the controller configuration Set the controller configuration as required to be able to use the interfaces of the MOVI PLC controller to connect peripheral equipment and to enable communication with other devices e g inverters I O modules or a master controller Ge PLCEditor Example_Positioning pro PLC Configuration 4 0 x GJ Fle Edit Project Insert 5 x mo reas f Base parameters Module parameters og ier al ne AES at 5 Module id 1000 Taa gt 9 ees Node id xg i 4 pe Input address 15256 aceon Opt adivess x08256 De Bre A Wo _ N i 1 B POs S Dara ypes amp Resouces gt 20031AXX 1 Choose the Resources tab page located at the bottom of the screen 1 2 Activate PLC Configuration by double clicking the entry 2 3 From the Extras menu set the Standard configuration once Confirm the query as to whether you want to delete the current configuration and replace it with the stan dard configuration by selecting Yes 3 4 Open the configuration tree by clicking on the symbol in front of the entries MOVI PLC basic DHP11B and Communication 4 5 Activate the CAN 1 interface of the MOVI PLC controller by clicking with the right mouse button on the entry Can 1 disabled and choosing R
66. error as occurred in the function mod ule TRUE An error has occurred in the function module FALSE No error has occurred in the function module ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library 41 42 Description of the Function Modules Directory MDX_SingleAxis 4 4 7 Function module MC_Stop MDX Description Application Cancellation Effect Inputs MC_Stop_MDX Execute BOOL Done BOOL Axis AXIS_ REF VAR_IN_OUT Active BOOL Error BOOL ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT 20009AXX The function module MC_Stop_MDX slows the current rotational movement of the motor axis using the ramp set in the drive inverter Use function module MC_Stop_ MDX to brake the motor axis with the highest possible deceleration Note The PLCopenSiate of the motor axis remains in the status Stopping as long as the Execute input is set to TRUE This means a motion task for a subsequent movement is not possible To be able to leave the PLCopenState Stopping the Execute input of the function mod ule must be reset to FALSE in at least one call of the function module The function module MC_Stop_MDxX can only be used on motor axes with encoders It cannot be used during the execution of interpolated movements using the function mod ule MC_Interpola
67. esets the output signals Done or InVelocity and Active to FALSE The func tion module resets the output signal CommandAborted to FALSE by setting a falling edge at the input signal Execute The following function modules can cancel motion function modules e MC_Stop_ MDX MC_AxisStop_ MDX MC_StopSensorless_MDX e MC_ConnectAxis_MDX when the MOVI PLC controller detects an inverter error communication error or 24 V operation of the drive inverter in this function module e MC_Power_MDX when Enable FALSE only for discrete motion tasks that have already reached the target position window once other function modules are only interrupted see below e Discrete motion function modules can only cancel discrete motion function modules e Continuous motion function modules can only cancel continuous motion function modules The function module resets the output signal Done to FALSE on cancellation even if the goal of the function module has already been achieved and the specified position or speed window of the cancelled function module is still maintained If an error occurs in the MOVI PLC controller during the execution of a function module the function module sets the output signal Errorto TRUE In this case the relevant error is displayed at the output signal ErrorlD Errors in the drive inverter do not cause the output signal Error to be set but are detect ed in the MC_ConnectAxis_MDX function module and cause the cancellation
68. ete motion continuous motion 18 Busy PAPE TEE ET EE TA aaa E areata TETE 16 Command Aborted cccccccceccccececeecsentesaees 16 i 4 DONC AEE E E P obit letvhocs teen tglieeh Ree Die ubel ces 16 rror codes moar nodgi Pen sal Sdzc stahdes chase EE 17 General iEG ae e eia ee Ea A ea EE AAI 68 ertor Bs MPCLMotion MDX 68 Overview of additional libraries c cceeees 8 MPCLUtilites ssccsscscvssscssssieesssesssissin 69 Overview of the MPLCMotion_MDX library 6 LKA D tes E E T O E E 68 P Establishing communication ceceeeeeeeeeeeees 76 z Positioning the motor axis eeee 79 F I Prerequisites for programming examples 70 Function module Prerequisites for project planning c0ce 9 General functionality o n 15 Programming example MC_AxisStop_MDX oi eeccccececscecceesteeeesesseeees 40 Yaa mode ofa motoras without encoder 88 MC_ConnectAxis_MDX eeen 20 g ee 7 MC HOME MDX Kj 38 Positioning a motor AXIS s es 71 MC_MoveAbsolute MDX scs sssesssssessssseeeeee 31 Speed control of a motor axis with encoder 83 MC_MoveAbsoluteModulo_MDX ascesa 33 Programming examples ccceeeeeeeeeeeeees 70 MC_MoveRelative_MDX sescca 36 Programming jog Mode eee ees 89 MC_MoveVelocity MDX sreannannesnaannaannansaanaanna 29 Programming the speed control function 84 MC_MoveVelocitySensorless_MDX 44 Project planning eke escent cee
69. from the MOVI PLC controller to the drive inverter e P301_P302_SPEED_LIMIT The function module transfers the parameters Minimum speed and Maximum speed Unit 1 min maximum setting range 0 6100 e P303_CURRENT_LIMIT The function module transfers the parameter Current limit Unit I maximum setting range 0 150 BGO 200 P304_TORQUE_LIMIT The function module transfers the param Unit Ij maximum setting range 0 150 BGO 200 P920_SW_LIMIT_SWITCH_CW The function module transfers the parameter Software limit switch CW Unit increments maximum setting range 28 1 231 1 P921_SW_LIMIT_SWITCH_CCW The function module transfers the parameter Software limit switch CCW Unit increments maximum setting range 23 1 231 1 MaxLimit DINT This input specifies the transferred parameter value When the Select input is set to P301_302_SPEED_LIMIT this input specifies the value for the parameter P302 Unit and maximum setting range see input Select parameter P301 MinLimit DINT This input is only used when the input Select is set to P301_302_SPEED_LIMIT in this case it specifies the value for Unit 1 min maximum setting range 0 6100 module are to be executed Axis AXIS_REF This input specifies the motor axis on which the actions of the function Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX
70. in the function module ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library 43 4 Description of the Function Modules Directory MDX_SingleAxisSensorless 4 5 Directory MDX_SingleAxisSensorless The MDX_SingleAxisSensorless directory contains function modules that enable motion tasks for a motor axis without encoder 4 5 1 Function module MC_MoveVelocitySensorless_MDX MC_MoveVelocitySensorless_MDX Execute BOOL InVelocity Velocity DINT Active Acceleration DINT CommandAborted Deceleration DINT Error Axis AXIS_REF VAR_IN_OUT ErrorlID DWORD Axis AXIS_REF VAR_IN_OUT 20011AXX Description The function module MC_MoveVelocitySensorless_MDX triggers continuous rotation of a motor axis without encoder e The inputs Velocity Acceleration and Deceleration determine the dynamic behavior of the rotation e The drive inverter controls the speed of the motor axis specified by the input signal Velocity until the task of the function module MC_MoveVelocitySensorless_MDX is cancelled or interrupted Sec General functionality of the function modules page 15 Application The function module MC_MoveVelocitySensorless_ MDX can only be used on motor axes without encoders Note In the speed control status motor axes without encoders can only be operate
71. input is also used to switch between Controller inhibit and No enable when the drive inverter is switched off Enable FALSE Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed Outputs The function module MC_Power_MDxX has the following outputs Output Type Description Status BOOL This output shows whether the drive inverter is switched on or off e TRUE Drive inverter is switched on inverter status 5 or A depending on the operating mode set e FALSE Drive inverter is switched off inverter status 1 or 2 depending on the input PowerOffMode Error BOOL This output shows whether an error as occurred in the function module TRUE An error has occured during the execution of the function module e FALSE No error has occurred in the function module ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library 27 28 Description of the Function Modules Directory MDX_Main 4 3 3 Function module MC_Reset_MDX Execute BOOL Axis AXIS_REF VAR_IN_OUT MC_Reset_MDX Done BOOL Busy BOOL Error BOOL ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT 20003AXX Description The function module MC_Reset_MDX is used to acknowledge errors on the MOVID
72. input is used to start reference travel When a rising edge occurs at this input the function module starts ref erence travel RefOffset DINT This input specifies the actual position of the motor axis that is to be set after reference travel Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_SingleAxis Outputs The function module MC_Home_MDxX has the following outputs Output Type Description Done BOOL This output shows whether the reference travel of the motor axis has been completed e TRUE Reference travel of the motor axis is completed The motor axis is at the position specified by the RefOffset input FALSE Reference travel of the motor axis is not yet complete Active BOOL This output shows whether the motor axis is performing reference travel TRUE The motor axis is performing reference travel FALSE The motor axis is not performing reference travel Command BOOL This output shows whether another function module has interrupted Aborted reference travel e TRUE Another function module has interrupted reference travel e FALSE Reference travel has not been interrupted Error BOOL This output shows whether an error as occurred in the function module TRUE An error has occurred in the function module FALSE No e
73. ion of the function module FALSE No error has occurred ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis reference The output signal must be transmitted to all function modules that refer to this physical motor axis DebugInfo MC_DEBUGI This output is used to locate any errors in the Debugging operation NFO_MDX mode setting in the control configuration in the module parameters of the drive inverter ParameterChannelldleTime This value displays the availability of the parameter channel in A maximum of one parameter tele gram is processed in each control cycle per motor axis 0 One parameter telegram in each MOVI PLC cycle 100 No parameter telegram PDOxxTransmitCount Number of PDOxx sent from the MOVI PLC controller to the MOVIDRIVE MDX60B 61B drive inverter e PDOxxTransmitTimeStamp Time stamp of the PDOxx sent from the MOVI PLC controller e PDOxxReceiveCount Number of PDOxx sent from the MOVIDRIVE MDX60B 61B drive inverter to the MOVI PLC con troller e PDOxxReceiveTimeStamp Time stamp of the PDOxx received by the MOVI PLC controller NumberOfReceiveErrors Number of errors that occurred when receiving data e NumberOfTransmitErrors Number of errors that occurred when sending data PLCopenState MC_ PLCOPEN STATE This output displays information on the operating status of the motor axis gt
74. ioning of the motor axis by applying 24 V DC voltage at the DIO2 input of the drive inverter Programming is correct when the motor axis turns ten revolutions clockwise each time a rising edge of 24 V DC voltage occurs at the DIO2 input For more details on the behavior of the MOVI PLC controller and the connected MOVIDRIVE drive inverter in this example refer to the following section Trace record ing Manual MPLCMotion_MDxX Library Programming Examples qu Trace recording Positioning a motor axis 0 x Trace current configuration v Triggor Move _MDX1 Move _ MOXI v Vari PLC_PRG MoveRelatwe_1 Active w V r 2 PLC_PRG MoveRelatve_ Done Var3 AcualSpeed v Var 4 ActualPosition v current configuration This is the current trace configuration of the project 2000u4 ms inms 600 ms and ms ha ms 140A ma 108 fas 108 ms2400 a 20087AXX When a rising edge occurs at the Move_MDX7 signal at the Execute input of the MC_MoveRelative_ MDX function module the motor axis starts to move to the target position 1 The Active output shows that this is the case when it is set to TRUE Once positioning is complete the function module resets the Active output to FALSE and sets output Done to TRUE 2 In this example the Done output is only set to TRUE for one control cycle because the Execute input signal was already reset to FALSE before the positioning w
75. l When the programming is error free the message window displays the message 0 Error s 0 Warnings s Manual MPLCMotion_MDxX Library 5 79 5 80 qu Step 7 Step 8 Programming Examples Positioning a motor axis Transfer project to the MOVI PLC controller Choose the menu item Online Communication Parameters In the dialog box that appears set the communication parameters in accordance with the communication channel to be used You only have to perform this step once Next select the menu item Online Login In the dialog box that appears choose Yes in response to the question whether you want to load a program Test the program In the final step execute the program by activating the digital inputs as required Warning Depending on the terminal assignment the drive inverter status and the control pro gram the motor axis can begin to move immediately after the MOVI PLC controller has been started To prevent risk of injury keep sufficient distance from all moving parts Turn on the MOVIDRIVE MDX60B 61B drive inverter if it was not already switched on in step 1 in connection with the MOVI PLC controller Start the MOVI PLC controller by clicking on the menu item Online Run Switch on the drive inverter by applying the 24 V DC voltage first to input D 00 Control ler inhibit and then to input DIO1 Enable of the MC_Power_MDX function module Start posit
76. lace the detailed operating instructions The MOVI PLC controller and the drives it controls may only be installed and started up by trained personnel observing the applicable accident prevention regulations the MOVI PLC controller manual and the MOVIDRIVE MDX60B 61B operating instructions Read through this manual carefully before you start to install and startup drive inverters controlled by the MOVI PLC controller This manual assumes that the user has access to and is familiar with the MOVIDRIVE documentation in particular the MOVIDRIVE MDX60B 61B system manual In this manual cross references are marked with gt For example Sec X X means Further information can be found in section X X of this manual A requirement of fault free operation and fulfillment of any rights to claim under guar antee is that you observe the information in the documentation General safety notes for bus systems This communication system allows you to match the MOVIDRIVE drive inverter to the specifics of your application As with all bus systems there is a danger of invisible external as far as the inverter is concerned modifications to the parameters which give rise to changes in the inverter behavior This may result in unexpected not uncontrolled system behavior Always observe the safety and warning notes contained in this publication OORE D Electrical hazard Possible consequences Severe or fatal injuries
77. me to the drive inverter You cannot change the jerk time of the drive inverter while a travel task is being per formed The function module MC_SetJerk_MDX can only be used on motor axes with encoders For the function module MC_SetJerk_MDX to be executed the motor axis must be assigned the status Standstill in PLCopenState output signal of the function module MC_ConnectAxis_ MDX The function module MC_SetJerk_MDX has the following inputs Input Type Description Execute BOOL This input is used to start the jerk time transfer When a rising edge occurs at this input the function module starts to transfer the jerk time from the MOVI PLC controller to the drive inverter JerkTime DINT This input specifies the jerk time Unit ms maximum setting range 0 5 2000 Note The positioning process is longer than a positioning process using a linear ramp by approximately the jerk time Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_InverterParameters Outputs The function module MC_SetJerk_MDX has the following outputs Output Type Description Done BOOL This output shows whether the jerk time has been transferred TRUE The jerk time has been transferred from the MOVI PLC
78. movements triggered by the function module MC_AxisStop_MDX can only be cancelled by e The function module MC_Stop_ MDX the input signal Execute must have already been reset to FALSE e The status Controller inhibit The status No enable e The status Safe stop When one of these statuses occurs the motor axis is decelerated with the highest pos sible braking effect The function module MC_AxisStop_MDxX has the following inputs Input Type Description Execute BOOL This input is used to start the braking process for the motor axis When a rising edge occurs at this input the function module starts to slow the motor axis Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_SingleAxis Outputs The function module MC_AxisStop_MDxX has the following outputs Output Type Description Done BOOL This output shows whether the braking process has been completed e TRUE The braking process of the motor axis is completed The motor axis is at a standstill position control e FALSE The braking process of the motor axis is not yet complete Active BOOL This output shows whether the motor axis is rotating e TRUE The motor axis is rotating FALSE The motor axis is not rotating Error BOOL This output shows whether an
79. mples qu 5 Speed control of a motor axis with encoder A braking process is started when a rising edge occurs at the Execute input of the MC_AxisStop_MDX_ function module 5 However in this case the MC_MoveVelocity_MDX function module does not set the CommandAborted output to TRUE because the Execute input has already been reset to FALSE When the RapidSpeed_MDX1 signal is changed from TRUE to FALSE the Execute input of the MC_MoveVelocity_MDX function module is reset to FALSE 6 The reset is caused by the comparison module EQ in the control program during a control cycle The rising edge in the following control cycle activates speed control with the new slower setpoint speed Accordingly the motor axis turns at the higher speed again when the RapidSpeed_MDX7 signal is changed to TRUE 7 The braking process started by a rising edge at the Execute input of the MC_AxisStop_MDxX function module can be cancelled by a rising edge at the Execute input of the MC_Stop_ MDX function module Consequently the braking process is executed using the brake ramp set in the parameters of the drive inverter 8 Manual MPLCMotion_MDxX Library 87 5 88 qu Programming Examples Jog mode of a motor axis without encoder 5 4 Jog mode of a motor axis without encoder Task description Programming Step 2 In this programming example jog mode is to be performed with two motor axis speeds Two digital inputs of the MOVI
80. n Inputs The function module MC_Power_MDX has the following inputs Input Type Description Enable BOOL This input is used to switch the drive inverter on and off The function module is executed with the current input values even if the Enable input is set to FALSE TRUE lf the Enable input is set to TRUE the drive inverter is switched on inverter status 5 or A depending on the operating mode set The first time that the function module MC_Power_MDxX is used to switch on the drive inverter the inverter is assigned the status Position control if a continuous motion task has not already been started e FALSE lf the Enable input is set to FALSE the drive inverter is switched off inverter status 1 or 2 depending on the input Power OffMode PowerOffMode UINT This input is used to set the status of drive inverter when it is switched off using the function module MC_Power_MDX e CTRL_INHIBIT The drive inverter changes to the status control ler inhibit The motor axis is decelerated when the drive inverter is switched off gt inverter status 1 e NO ENABLE The drive inverter changes to the status No enable gt inverter status 2 Whether or not the brake is activated in inverter status 2 depends on the setting of the drive parameter P730 The brake function is switched on as the default setting which means that the brake will be activated In inverter status 1 the brake is always activated This
81. n_MDxX lib to the existing libraries as follows 25 PLCEditor Example_Positioning pro Library Manager Ea ne alx fici File Edit Project Insert Extras Online Window Help A x Aan HOMEA ol PyLACAMnACk in GN RS GAOT B J Gris Vonabier MP LOtysten_frecceces m n 0S 00701 Ld ren Cimerfece_MowLink lib 0 6 05 06 20 19 qf MPLCHystem Orth mm af oS otya B D torony MPLCOyrtem HPI ID ko 86 65 08 204 qi MPLCIAMCE_MowLieman t hes ntina ager Wd brary MPLCSystom_ ErrorCodes So 6 6 05 08 20 13 oo BD abenry sardar ah A h 0500 221 gichal unenbles ih S Stormy SyaLeCelibeck ite 6 05 082013 global v BP Aine ccotgurnten OR age naene 1 2 x Suchen in SLi MOVLPLC basic DHPTIB x Qo te Bi amping Trace 40 Torpel Iringi NA 1 Tan contguasen A POs B T Dstodie Fu Welcir end Reope Manager 1 RSF MPLCDatatypes lib SMPLCIntern ib i Werkspace 8 spl SMPLCInterface_CAN ib IMPLCMotion_MC07 lib D lt 8 Courter MPLCInterface_COM lib MPLCMotion_MDX lib g ph IMPLCInterface_DigitallO lib MPLCProcessdata lib HAS EMPLCInterface_DPRAM lib MPLCSystem_basic_TaskSys lib D a Seng Fane MPLCInterface_MoviLink lib MPLCSystem_ConfigLibDataEx_Inte T jaapan MPLCInterface_Profibus lib I MPLCSystem_OHP11B lib D precia i Terre Dune Datoiname MPLCMutiun_MDX ib D MOIN Ommen H REMA Dateityp PLCE ditor Library lib x Abbrechen DG
82. nly be reactivated to use the modified input signals after the MOVI PLC controller has been reset e FALSE The task of the function module will not be executed after the MOVI PLC controller has been switched on or reset as long as the Enable input is set to FALSE However if the Enable input has been set to TRUE once the Enable input no longer has any function Node CAN_NODE This input is used to set the CAN bus node to which the drive inverter is connected e SBUS_ NODE_1 CAN 1 connector X33 at DHP11B e SBUS_NODE_2 CAN 2 connector X32 at DHP11B SBUS_Address UINT This input is used to enter the system bus address of the connected drive inverter Note e To transfer the input signals Node or SBUS_Address you have to trigger a Reset on the MOVI PLC controller PLC Editor menu item Online Reset 22 Manual MPLCMotion_MDX Library Description of the Function Modules Directory MDX_Main Outputs The function module MC_ConnectAxis_MDX has the following outputs Output Type Description Done BOOL This output shows whether the initialization of the function module has been completed e TRUE The function module MC_ConnectAxis_ MDX has com pleted initialization and set up communication with the drive inverter e FALSE Initialization has not yet been completed Error BOOL This output shows whether an error as occurred TRUE An error has occured during the execut
83. nput specifies the ramp time for acceleration to a speed increased by 3000 1 min increase of kinetic energy in the motor Unit ms maximum setting range 0 2000000 Deceleration DINT This input specifies the ramp time for deceleration to a speed lowered by 3000 1 min reduction of kinetic energy in the motor Unit ms maximum setting range 0 2000000 Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed The function module MC_MoveVelocitySensorless_MDxX has the following outputs Output Type Description InVelocity BOOL This output shows whether the motor axis turns at the target setpoint speed e TRUE The motor axis turns at the speed specified by the Velocity input e FALSE The motor axis is accelerated to reach the target setpoint speed Active BOOL This output shows whether the motor axis is accelerated to reach the setpoint speed TRUE The motor axis is accelerated or decelerated e FALSE The motor axis is not accelerated or decelerated Command Aborted BOOL This output shows whether the task of the function module has been cancelled e TRUE The task of the function module has been cancelled e FALSE The task of the function module has not been cancelled Error BOOL This output shows whether an error as occurred in the function module TRUE An error has occurred in the function module
84. nual MPLCMotion_MDxX Library Programming Examples C xD 5 Step 6 Jog mode of a motor axis without encoder Programming jog mode Connectaxis_1 MC_ConnectAxis_MDX TRUEEnable SBUS_NODE_1 Nude 1SBUS Address SEL RapidSpeed_MDx1 SpeedAbsolute 00 1500 0003 JogMinus_MDX1 Speed SpeedAbsolute SpeedAbsolute 0004 StopSensorless_1 MC_StopSensorless_MDX JogPlus_MDX1 JogMinus_MDX1 ConnectAxis_1 Axis JogPlus_MDX1 JogmMinus_MDx1 Speed 1000 1000 ConnectAxis_1 Axis 0006 Speed SpeedOld 20092AXX Create the program shown in the diagram in accordance with the procedure described in the previous programming examples Manual MPLCMotion_MDX Library 89 5 90 qu Step 8 Programming Examples Jog mode of a motor axis without encoder Testing the program Execute the program by activating the digital inputs as required Warning Depending on the terminal assignment the drive inverter status and the control pro gram the motor axis can begin to move immediately after the MOVI PLC controller has been started To prevent risk of injury keep sufficient distance from all moving parts Turn on the MOVIDRIVE MDX60B 61B drive inverter if it was not already switched on in step 1 in connection with the MOVI PLC controller Start the MOVI PLC controller by clicking on the menu item Online Run Deactivate the controller inhibit by ap
85. o not have to be familiar with system bus communication and only require basic knowledge of the parameter settings of the drive inverter e g for star tup or setting the system bus address The system bus enables fast communication between the MOVI PLC controller and the drive inverters The MPLCMot ion_MDX 1ib library contains numerous function modules Users can use these modules to program their own applications quickly and flexibly PLCopen compliant commands allow users to familiarize themselves with the pro gram quickly and easily 2 2 Overview of the MPLCMotion_MDXxX library Required libraries You require the following libraries to program the MOVI PLC controller in conjunction with MOVIDRIVE MDX60B 61B drive inverters MPLCDatatypes MPLCIntern MPLCSystem_ErrorHandling_Intern MPLCSystem_ConfigLibDataEx_Intern MPLCInterface_CAN These libraries are inserted automatically in the PLC Editor of the MOVITOOLS MotionStudio software when you install the MPLCMot ion_MDx library Manual MPLCMotion_MDxX Library Introduction Overview of the MPLCMotion_MDxX library MDX_Main MDX_SingleAxis MDX_SingleAxis Sensorless MDX_Inverter Parameters MDX_Supple ments The MPLCMotion_MDx library contains the following function modules which are divided into several directories according to their functions Directory MDX_Main MC_ConnectAxis_ MDX MC_Power_MDX MC_Reset_MDX Dire
86. o the default values All IPOS variables are deleted Any IPOS program code is deleted L Manual MPLCMotion_MDxX Library Project Planning and Startup qu Step 2 Step 3 Step 4 Step 5 Important During and after startup you must not change the parameters in Shell Changing pa Startup Startup the drive inverter Follow the instructions of the startup assistant For details on motor startup refer to the MOVIDRIVE MDX60B 61B system manual Note In the operating mode groups V f and VFC only function modules of the MDX_SingleAxisSensorless directory can be executed One of the following operating mode groups has to be set for function modules in the MDX_SingleAxis directory e VFC n control e CFC control e SERVO control Within an operating mode group the MOVI PLC controller sets the operating mode required for continuous or discrete motion function modules automatically see also the detailed description on page 18 L Configure the Shell parameters Follow the instructions of the startup assistant You can either accept the default values by clicking Apply proposals or change the values as required Notes 1 The SBus address set here must match the SBus address used for the MC_ConnectAxis_MDX function module and the address set in the control configuration of the PLC Editor module parameter of the entry MOVIDRIVE MDX B The baud rate here must match the baud
87. of the motor rota tion Unit 1 min maximum setting range 6000 6000 Acceleration DINT This input specifies the new ramp time for acceleration to a speed increased by 3000 1 min increase of kinetic energy in the motor Unit ms maximum setting range 0 2000000 Deceleration DINT This input specifies the new ramp time for deceleration to a speed low ered by 3000 1 min reduction of kinetic energy in the motor Unit ms maximum setting range 0 2000000 Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_InverterParameters Outputs The function module MC_SetDynamics_MDxX has the following outputs Output Type Description Done BOOL This output shows whether the motor axis rotates according to the new dynamic parameters Velocity Acceleration and Deceleration e TRUE Motor axis rotates according to the new dynamic parame ters e FALSE Motor axis rotates according to the previous dynamic parameters Active BOOL This output shows whether the new dynamic parameters are trans ferred to the drive inverter e TRUE New dynamic parameters are transferred to the drive inverter e FALSE No new dynamic parameters are transferred to the drive inverter Error BOOL This output shows whether an er
88. oller loads an IPOS program required for communication once Manual MPLCMotion_MDxX Library 21 4 Description of the Function Modules Directory MDX_Main The following parameters of the MOVIDRIVE drive inverter are changed each time the power supply is switched on or when the MOVI PLC controller is reset during the initialization of the function module MC_ConnectAxis_MDX first call with Enable TRUE Parameter Description P941 Source actual position Dependent on data profile P938 P939 IPOS execution speed tasks Optimized for the process Inputs The function module MC_ConnectAxis_MDxX has the following inputs Input Type Description Enable BOOL This input is used to activate the function module It acts differently to the general description of the input Enable given in section 4 1 from page 15 TRUE When the function module is called for the first time by set ting Enable TRUE the function module is activated and the applied input signals are adopted In all the following cycles the MOVI PLC controller has to continue to call the function module to prevent communication errors between the MOVI PLC con troller and the MOVIDRIVE drive inverters in OperationMode NORMAL setting in the control configuration However regard less of the status of the Enable input changes to the input signals are no longer adopted in the following cycles The function module can o
89. on module MC_TouchProbe1_MDX sets the EdgeDetected output to TRUE e Monitoring of the touch probe input is started again Evaluating the touch probe event e The function module MC_TouchProbe1_MDX transfers the touch probe positions to the outputs TouchProbePos_X14 to TouchProbePos_ X62 e The function module resets the output EdgeDetected to FALSE The function module activates the touch probe interrupt routine The function module MC_TouchProbe1_MDX can be used on all motor axes Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_Supplements Inputs Outputs The function module MC_TouchProbe1_MDxX has the following inputs Input Type Description Enable BOOL This input is used to activate the function module MC_TouchProbe1_MDxX The function module is only executed when the Enable input is set to TRUE The values of the other inputs are only read in when a rising edge occurs at the Enable input TouchProbe MC_TP_ This input specifies the encoder system This setting is made indepen Source SOURCE dent of the setting in the controller configuration _MDX X15 A motor encoder measures the position X14 An external encoder measures the position e SSI An absolute encoder measures the position DIP11B Edge MC_TP_ This input defines the edge evaluation of the touch probe input EDGE_MDX _ EN Both edges e EN_HI Rising edge e EN_LO Falling edge PresetC
90. onnectAxis_ MDX can be used on all motor axes To ensure that communication between the MOVI PLC controller and the MOVIDRIVE MDX60B 61B drive inverters does not breakup a different instance must be called cyclically for each motor axis Note If the function module MC_ConnectAxis_MDxX is not called in one cycle of the control program the drive inverter issues the communication error F46 and changes to the state No enable Settings The function module MC_ConnectAxis_MDX specifies which interface the MOVI PLC controller system bus CAN 1 2 is connected to and the system bus address that is connected to the controlled drive inverter via this function module 20 Manual MPLCMotion_MDX Library Description of the Function Modules Directory MDX_Main Prerequisites Return values Cancellation Effect The following prerequisites must be fulfilled to ensure that communication can be estab lished between the MOVI PLC controller and a MOVIDRIVE MDX60B 61B drive inverter via the function module MC_ConnectAxis_ MDX e The system bus address set in the function module MC_ConnectAxis_MDX must match the address set in the inverter parameters P881 for SBUS 1 connector X12 P891 for SBUS 2 DFC11B e The baud rate set in the control configuration must match the baud rate set in the inverter parameters P884 for SBUS 1 connector X12 P894 for SBUS 2 DFC11B The startup assistant helps you to set the
91. ounter DINT This input specifies the initial value of the Counter output Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed The function module MC_TouchProbe1_MDxX has the following outputs Output Type Description EdgeDetected BOOL This output shows whether a touch probe interrupt event has taken place e TRUE Touch probe event has taken place FALSE This output is set automatically to FALSE after each con trol cycle Enabled BOOL This output shows whether the function module is active TRUE The Enable input is set to TRUE e FALSE The Enable input is set to FALSE Error BOOL This output shows whether an error as occurred in the function module TRUE An error has occurred in the function module FALSE No error has occurred in the function module ErronD DWORD This output displays the error code of the error page 68 TouchProbePos DINT This output shows the touch probe position of the selected encoder system Counter DINT This output displays the number of touch probe interrupt events Manual MPLCMotion_MDxX Library 61 62 Description of the Function Modules Directory MDX_Supplements 4 7 2 Function module MC_TouchProbe2_MDX Description TouchProbe Routine Application MC_TouchProbe2_MDX Enable BOOL EdgeDetected BOOL TouchProbeSource MC_TP_SOURCE_MDX Enabled BOOL
92. plays the axis reference Manual MPLCMotion_MDxX Library 51 52 Description of the Function Modules Directory MDX_InverterParameters 4 6 3 Function module MC_SetDynamics_MDX Description Application Inputs MC_SetDynamics_MDX Execute BOOL Velocity DINT Acceleration DINT Deceleration DINT Axis AXIS_ REF VAR_IN_OUT Done BOOL Busy BOOL Error BOOL ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT 20023AXX The function module MC_SetDynamics_MDX is used to change the dynamic parame ters while a task of one of the function modules MC MoveAbsolute MDX or MC_MoveRelative_MDxX is being executed e The task of the function module MC_SetDynamics_MDX should only be started when the drive is executing a task of one of the function modules MC_MoveAbsolute_MDX or MC_MoveRelative_ MDX e The inputs Velocity Acceleration and Deceleration determine the dynamic behavior of the rotation The function module MC_SetDynamics_MDX can be used on all motor axes The function module MC_SetDynamics_MDX has the following inputs Input Type Description Execute BOOL This input starts the task of the function module When a rising edge occurs at this input the function module changes the dynamic parameters of the motor rotation according to the inputs Velocity Acceleration and Deceleration Velocity DINT This input specifies the new target setpoint speed
93. plying 24V DC voltage at the D OO input Control ler inhibit Start jog mode of the motor axis by applying 24V DC voltage at one of the inputs D O7 or DIO2 of the drive inverter Programming is correct when e the motor axis turns in a positive clockwise or negative counterclockwise direction when 24V DC is applied at input DIO1 or DIO2 the absolute value of the motor speed switches between 500 1 min and 1000 1 min when the voltage is switched between OV and 24V DC at the DIO3 input e the motor axis is decelerated by applying the 24 V DC voltage to both the inputs DI01 and D 02 or by removing the voltage from both For more details on the behavior of the MOVI PLC controller and the connected MOVIDRIVE drive inverter in this example refer to the following section Trace record ing Manual MPLCMotion_MDxX Library Programming Examples Jog mode of a motor axis without encoder qu Trace recording OE CRC lt Ts Rs CO xs o 0 x TRUE EI rT ld TTT E TI ara Trigger JogPius_MDX1 JogPlus_MDX1 v Yar 1 Joominus_Moxt v EROE I TITT TTT TT FALSE e a Var 7 Rapinspeed_woxi v var 3 ActualSpeed Var4 hho i FALSE AMANA A AN TRUE curer configuration This Is the current trace configuration of the project FALSE 2000 Hy TT WH Iil m hak ra Ams 740hns 1
94. pplies the motor brake shortly before the motor axis comes to a standstill so that the motor axis is decelerated until it comes to a complete stop Furthermore the drive inverter switches to the status No enable Cancellation Braking movements triggered by the function module MC_StopSensorless_ MDX can only be cancelled by e The status Controller inhibit The status No enable e The status Safe stop When one of these statuses occurs the motor axis is decelerated with the highest pos sible braking effect Effect The motor axis is slowed using the stop ramp set in parameter P736 in the drive inverter The startup assistant helps you to set these parameters 46 Manual MPLCMotion_MDX Library Description of the Function Modules Directory MDX_SingleAxisSensorless Inputs Outputs Note If a rising edge occurs at the Execute input of an instance of the function module MC_MoveVelocitySensorless MDX the task of the function module MC_StopSensorless_MDxX is cancelled when the Execute input of the function module MC_StopSensorless_MDxX is no longer set to TRUE The difference in behavior compared to the function modules MC_Stop_ MDX and MC_AxisStop_MDxX for motor axes with encoder is due to the fact that For motor axes without an encoder you have to use the function module MC_StopSensorless_MDxX to slow the motor axis until it comes to a standstill For motor axes with encoders you can use the function module MC
95. ption InverterData MC_INVERT This output displays information on the operating status of the motor ERDATA_MD axis X Error An error has occurred in the drive inverter Referenced The drive inverter is referenced InverterStatus The status of the drive inverter corresponds to the 7 segment display on the drive inverter FaultStatus Error number of the drive inverter in case of error ActualPosition Current actual position of the motor axis in the drive inverter The encoder used is set in the controller configuration Unit increments ActualModuloPosition Current actual Modulo position of the drive inverter The encoder used is set in the controller configuration Unit increments SetpointSpeed Setpoint speed of the motor axis in the drive inverter Unit 1 min ActualSpeed Actual speed of the motor axis in the drive inverter Unit 1 min ActualCurrent Actual active current of the drive inverter Unit Iy SoftwareLimitSwitchCW Software limit switch CW for clockwise rotation SoftwareLimitSwitchCCW Software limit switch CCW for counterclockwise rotation Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_Main Transferring MOVIDRIVE actual values to the MOVI PLC controller Various cyclic and acyclic process data objects are transferred between the MOVI PLC controller and the MOVIDRIVE MDX60B 61B drive inverter via the CAN bus Each connected
96. put shows whether the error code has been transferred TRUE The value of the error code at the output is in effect FALSE The error code has not been transferred Error BOOL This output shows whether an error as occurred in the function mod ule TRUE An error has occurred while the error code was being transferred e FALSE No error has occurred ErronD DWORD This output displays the error code of the error page 68 AxisError BOOL This output shows whether the drive inverter has detected an error e TRUE The drive inverter has detected an error e FALSE No error has occurred AxisErrorCode WORD This output contains the transferred error code Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library 65 66 Description of the Function Modules Directory MDX_Supplements 4 7 5 Function module MC_ReadStatus_ MDX Enable BOOL Axis AXIS_REF VAR_IN_ OUT MC_ReadStatus_MDX Done BOOL Error BOOL ErrorlD DWORD Errorstop Stopping StandStill DiscreteMotion ContinuousMotion SynchronizedMotion Homing Interpolation Axis AXIS_REF VAR_IN_OUT 20027AXX Description The function module MC_ReadStatus_MDxX is used to read in the PLCopen state of the motor axis from the drive inverter to the MOVI PLC controller Application The function module MC_ReadStatus_MDX can be used on all motor axes Inputs The f
97. put signal Active to TRUE when e the terminal assignment on the drive inverter enables the motor axis to turn when the function module is executed e and the motor axis moves until it reaches the target The function module resets the output signal Active to FALSE when one of the output signals Done or InVelocity Error or CommandAborted is set to TRUE This output signal only exists for function modules that require several control cycles for execution and that do not control any movement of the motor axis The function module sets the output signal Busyto TRUE as long as the function module is executed The function module resets the output signal Busy to FALSE when one of the output sig nals Done or Error is set to TRUE This output signal only exists for function modules that control a movement of the motor axis The function module sets the output signal CommandAborted to TRUE when its execu tion is cancelled e By another function module e Or by another instance of the same function module when both control the same motor axis This means that the cancelled task of the function module is no longer executed afterwards Manual MPLCMotion_MDxX Library Description of the Function Modules General functionality of the function modules Output signal Error Response to Controller Inhibit No Enable or Safe Stop When the function module that was cancelled sets the output signal CommandAborted to TRUE it r
98. rate set in the control con figuration of the PLC Editor module parameter of the entry CAN 1 2 default value 500 kBaud 2 The MOVI PLC controller can read and use the digital inputs of the drive inverter basic unit or rather its option in the control program independent of the parameter settings in the groups P60x or P61x However to prevent the digital input terminals from executing additional functions the relevant parameters must be set to POS Input or No Function To be able to use the digital outputs of the drive inverter basic unit or rather its option in the control program of the MOVI PLC controller the corre sponding parameters in the groups P62x or P63x have to be set to POS Output If these parameters are not set to IPOS Output the digital outputs will be written in the program but the physical output signals will not be changed The difference between the output variables and the physical out put signal is not displayed in the control program Some of these parameters are already set to the correct value on delivery l Download the input values You can use this function to load the relevant SHELL user data into the drive inverter L Save the inverter data A complete set of the drive inverter data is saved in the file vd0 rameters manually can lead to unforeseeable operating states Manual MPLCMotion_MDxX Library 3 13 3 14 qu Project Planning and Startup
99. rence Manual MPLCMotion_MDxX Library 47 48 Description of the Function Modules Directory MDX_InverterParameters 4 6 Directory MDX_InverterParameters The MDX_InverterParameters directory contains function modules required to write and read parameters of the MOVIDRIVE drive inverter 4 6 1 Function module MC_ReadParameter_MDX MC_ReadParameter_MDX Execute BOOL Done BOOL Index UINT Busy BOOL Axis AXIS_REF VAR_IN_OUT Error BOOL ErrorlD DWORD Data DINT Axis AXIS_REF VAR_IN_OUT 20016AXX Description The function module MC_ReadParameter _MDX is used to read parameters indices of the drive inverter into the MOVI PLC controller Application The function module MC_ReadParameter_MDX can be used on all motor axes Inputs The function module MC_ReadParameter_MDX has the following inputs Input Type Description Execute BOOL This input is used to start the read process for the parameter When a rising edge occurs at this input the function module starts to transfer the parameter from the drive inverter to the MOVI PLC controller Index UINT This input specifies which parameter is to be transferred from the drive inverter to the MOVI PLC controller The index number of the parameter can be displayed in Shell of the MOVITOOLS MotionStudio software To do so place your cursor in the relevant paramter field and press CTRL F1 Axis AXIS_REF This input specifies
100. ror as occurred in the function mod ule TRUE An error has occurred in the function module FALSE No error has occurred in the function module ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library 53 54 Description of the Function Modules Directory MDX_InverterParameters 4 6 4 Function module MC_SetLimiter_MDX Description Application Inputs MC_SetLimiter_MDX Execute BOOL Select MC_LIMITER_MDX MaxLimit DINT MinLimit DINT Axis AXIS_REF VAR_IN_OUT Done BOOL Busy BOOL Error BOOL ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT 20024AXX The function module MC_SetLimiter_MDX is used to transfer one of the following parameters from the MOVI PLC controller to the drive inverter P301 to P303 param eter set 1 e Minimum speed e Maximum speed e Current limit e Torque limit The function module MC_SetLimiter_MDX can be used on all motor axes The function module MC_SetLimiter_MDX has the following inputs Input Type Description Execute BOOL This input starts the task of the function module When a rising edge occurs at this input the function module transfers the parameter specified by the Select input eter Torque limit Select DINT This input specifies which parameter the function module is to transfer
101. rror has occurred in the function module ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library 39 40 Description of the Function Modules Directory MDX_SingleAxis 4 4 6 Function module MC_AxisStop MDX Description Application Cancellation Inputs MC_AxisStop_MDX Execute BOOL Done BOOL Axis AXIS_REF VAR_IN_ OUT Active BOOL Error BOOL ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT 20008AXX The function module MC_AxisStop_MDX terminates the current rotation of the motor axis The motor axis is slowed with the deceleration specified at the start of the rotational movement input Deceleration or the reference travel parameter Use the function module MC_AxisStop_MDX to interrupt motor axis rotations during standard processes Note The PLCopenState of the motor axis remains in the status Stopping as long as the Execute input is set to TRUE This means a motion task for a subsequent movement cannot be performed To be able to leave the PLCopenState Stopping the Execute input of the function mod ule must be reset to FALSE in at least one call of the function module The function module MC_AxisStop_MDX can only be used on motor axes with encod ers It cannot be used during the execution of interpolated movements using the function module MC_Interpolation_MDX Braking
102. scription Execute BOOL This input starts the task of the function module When a rising edge occurs at this input the function module starts the speed control Velocity DINT This input specifies the target setpoint speed of the motor rotation Unit 1 min maximum setting range 6000 6000 Acceleration DINT This input specifies the ramp time for acceleration to a speed changed by 3000 1 min increase of kinetic energy in the motor Unit ms maximum setting range 0 2000000 Deceleration DINT This input specifies the ramp time for deceleration to a speed changed by 3000 1 min reduction of kinetic energy in the motor Unit ms maximum setting range 0 2000000 Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion_MDxX Library 30 Outputs Description of the Function Modules Directory MDX_SingleAxis The function module MC_MoveVelocity_MDX has the following outputs Output Type Description InVelocity BOOL This output shows whether the motor axis turns at the target setpoint speed e TRUE The motor axis turns at the speed specified by the Velocity input e FALSE The motor axis is accelerated or decelerated to reach the target setpoint speed Active BOOL This output shows whether the motor axis is accelerated to reach the setpoint speed TRUE The motor a
103. se parameters The function module MC_ConnectAxis_MDX provides the user with various pieces of information including for details see the Outputs table e Reference of the motor axis logical address of the motor axis This address is used to access other function modules on the motor axis Debugging information State of the system bus Capacity utilization of the parameter channel etc e Current state Sec 4 2 page 19 e Inverter data Inverter state Actual position of the motor axis Actual speed of the motor axis etc When either an inverter error 24V operation or a communication error occurs the motion function module that is currently controlling the motor axis cancels the travel task The motion function module resets the output signal Active or Done InVelocity to FALSE As long as the input signal Execute is set to TRUE the motion function module sets CommandAborted to TRUE The following parameters of the MOVIDRIVE drive inverter are changed once when the MOVI PLC controller is connected to the MOVIDRIVE drive inverter via the func tion module MC_ConnectAxis_ MDX Parameter Description Value Entered P630 P637 Binary outputs of the option DIO11B or DIP11B IPos output signal P885 Sync ID 128 P888 5 ms synchronization On P876 PO data Position high or Position low After these parameters have been downloaded the MOVI PLC contr
104. startup of the drive inverter Manual MPLCMotion_MDX Library 77 5 qu Schritt 5 78 Programming Examples Positioning a motor axis Program the switch on off procedure for the drive inverter Insert a function module that turns the MOVIDRIVE MDX60B 61B drive inverter on off The drive inverter can only be switched on if the MC_ConnectAxis_ MDX function mod ule has already been executed for this axis Furthermore the drive inverter should only be switched on when 24 VDC voltage is applied at the digital input DIO1 of the drive inverter Therefore the corresponding signals are linked with each other using an AND module EH PLCEditor Example_Positioning pro PLC_PRG PRG FBD OZ File Edit Project Insert Extras Online Window Help daa Dag HSA ola oo aeaea BOOT ROGRAM FL AR OnnecYuds 1 MO Connect MOX Pow t 1 MC Power MOX ONAR iB POJ S Da 20038AXX 1 Click on the line of the Done output of the MC_ConnectAxis_MDX function module 2 Insert a new AND function module by clicking the lt gt button 3 At the second input of the new AND function module add the value read in at the digital input D O7 of the drive inverter To do so enter the symbolic name selected in the controller configuration in this example MDX1_DI 1 or directly Power_MDX1 4 Insert the function module MC_Power MDxX by clicking to the right of the AND function module an
105. the libraries Overview of the inverter unit specific motion libraries and input output libraries Manual MPLCMotion_MDxX Library Project Planning and Startup qu Prerequisites 3 Project Planning and Startup This section describes the prerequisites for using the MPLCMot ion_MDX 1ib library and contains important information for project planning and startup 3 1 Prerequisites PC and software Drive inverters Control topology An engineering PC and the MOVITOOLS Motion Studio software are both required to program the MOVI PLC controller using the MPLCMotion_MDX 1ib library For more information on the PC and software requirements refer to the MOVI PLC programming manual Note The MOVI PLC controller can only be used to control the MOVIDRIVE MDX60B 61B drive inverters from firmware version 824 854 0 15 of the drive inverter basic unit The standard version of the MOVIDRIVE MDX60B 61B drive inverters is sufficient to use the continuous motion function modules MC_MoveVelocity_MDX MC_MoveVelocitySensorless_MDX The application version of the MOVIDRIVE MDX60B 61B drive inverters is required for function modules that position the motor axis discrete motion function modules MC_Home_MDX You can connect twelve of the following drive frequency inverters to the MOVI PLC controller e MOVIDRIVE MDX60B 61B MOVITRAC 07 e MOVIMOT Comply with the following prerequisites e Connect
106. the startup assistant to start the MOVIDRIVE MDX60 B61B drive inverter to be controlled with a MOVI PLC controller Sec 3 3 page 10 1 A motor with encoder is required for positioning 2 When the MOVI PLC controller communicates with the drive inverter via the backplane connector you do not need the system bus connection via the CAN 1 connection Manual MPLCMotion_MDxX Library Programming Examples qu 5 Positioning a motor axis 5 2 Positioning a motor axis Task description When a rising edge of 24V DC voltage occurs at a digital input of the connected MOVIDRIVE MDX60B 61B drive inverter the connected motor axis should turn 10 revolutions clockwise and be positioned The drive is operated by using only the digital inputs The MOVI PLC controller evaluates the inputs of the drive inverter and controls the positioning of the motor axis Sub tasks The programming example is divided into the following sub tasks 1 Creating a new project Setting the controller configuration Install the required libraries Programming communication with the motor axis Programming the switch on off procedure for the drive inverter Programming the positioning process for the motor axis Transferring the project to the MOVI PLC controller ON OOF W PD Testing the program Manual MPLCMotion_MDX Library 71 5 72 qu Step 1 Programming Examples Positioning a motor axis Cr
107. tion module MC_MoveAbsoluteModulo_MDxX has the following inputs Input Type Description Execute BOOL This input is used to start the rotation of the motor axis When arising edge occurs at this input the function module starts the motor axis rotation Position DINT This input specifies the target position of the motor axis rotation 218 increments correspond to a motor axis rotation of 360 Unit modulo increments the number of complete rotations is given in the high word the target angle between 0 and 360 in the low word Maximum setting range dependent on the modulo numerator denominator and encoder resolution see the IPOS manual Velocity DINT This input specifies the motor speed during the constant speed phase Unit 1 ms maximum setting range 0 6000 Acceleration DINT This input specifies the ramp time for acceleration to a speed increased by 3000 1 min increase of kinetic energy in the motor Unit ms maximum setting range 10 20000 Deceleration DINT This input specifies the ramp time for deceleration to a speed lowered by 3000 1 min reduction of kinetic energy in the motor Unit ms maximum setting range 10 20000 mode MC_ This input specifies the travel strategy MODULO _ e SHORT Short distance MODE_MDX CW Clockwise rotation e CCW Counterclockwise rotation Numerator DINT Simulation of the gear unit by entering the number of teeth Unit number of teeth ma
108. tion_ MDX The task of the function module MC_Stop_MDxX is not cancelled by a task of different function modules The motor axis is slowed using the stop ramp set in parameter P136 in the drive inverter The startup assistant helps you to set this parameter The function module MC_Stop_MDxX has the following inputs Input Type Description Execute BOOL This input is used to start the braking process for the motor axis When a rising edge occurs at this input the function module starts to slow the motor axis Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_SingleAxis Outputs The function module MC_Stop_MDX has the following outputs Output Type Description Done BOOL This output shows whether the braking process has been completed TRUE The braking process of the motor axis is completed The motor axis is at a standstill position control e FALSE The braking process of the motor axis is not yet complete Active BOOL This output shows whether the motor axis is rotating e TRUE The motor axis is rotating FALSE The motor axis is not rotating Error BOOL This output shows whether an error as occurred in the function mod ule TRUE An error has occurred in the function module FALSE No error has occurred
109. u item Online Run Switch on the drive inverter by applying the 24 V DC voltage first to input DIOO Control ler inhibit and then to input DIO1 Enable of the MC_Power_MDX function module Start speed control of the motor axis by applying 24 V DC voltage at the DIO2 input of the drive inverter Programming is correct when e the motor axis begins to turn when a rising edge of 24 V DC voltage occurs at input DI02 e the speed of the motor axis switches between 500 1 min and 1000 1 min when the voltage is switched between OV and 24V DC at the DIO3 input e the speed of the motor axis is slowed when 24 VDC voltage is applied at the input D104 or DIO5 For more details on the behavior of the MOVI PLC controller and the connected MOVIDRIVE drive inverter in this example refer to the following section Trace recording Manual MPLCMotion_MDX Library 85 5 86 Programming Examples Speed control of a motor axis with encoder Trace recording ins 3X 5 6 7X 2 ee fea B 4 TEDEN ME EE DE ee TRUE Hl Trigger MoveVelocity_1 Execute MoveVelocity_1 Execute v FALSE Var 1 TRUE tI MoveVelocity_1 Active us lie Movevelocity_1 Commandaborted FALSE Yar3 TRUE MoveYelocity_1 Error v Var 4 RapidSpeed_MDX1 FALSE Var 5 TRUE AxisStop_1 Execute Var6 Stop_1 Execute Y ActualSpeed current configuration This is the current trac
110. umerator Denominator and EncoderResolution are parameters of the connected drive The motor axis remains at the target position subject to position control For more information on position specification and position management refer to the IPOS manual Note The CalcLCD function Calculate Least Common Denominator is available in the MPLCUtlilities library for calculating the least common denominator of two natural numbers The function module MC_MoveAbsoluteModulo_MDX can only be used on motor axes with encoders For the function module MC_MoveAbsoluteModulo_MDX to be executed the motor axis must be assigned the status Standstillor DiscreteMotion in PLCopenState output signal of the function module MC_ConnectAxis_ MDX The following parameters of the MOVIDRIVE MDX60B 61B drive inverter have a direct effect on the execution of the function module MC_MoveAbsoluteModulo_ MDX e You can use parameters P916 Ramp type and P933 Jerk time to define positioning ramps with jerk limitation Use function module MC_SetJerk_MDX to set these parameters e Use parameter P922 Positioning window to set the positioning window to the target position within which the function module sets the output signal Done to TRUE Target position reached The startup assistant helps you to set these parameters Manual MPLCMotion_MDxX Library 33 34 Inputs Description of the Function Modules Directory MDX_SingleAxis The func
111. unction module MC_ReadStatus_ MDX has the following inputs Input Type Description Enable BOOL This input is used to activate the function module This task of the function module is only executed when this input is set to TRUE Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_Supplements The function module MC_ReadStatus_ MDX has the following outputs Output Type Description Done BOOL This output shows whether the PLCopen state has been transferred TRUE The PLCopen state has been transferred FALSE The PLCopen state has not been transferred Error BOOL This output shows whether an error as occurred in the function module TRUE An error occurred while the PLCopen state was being transferred e FALSE No error has occurred ErronD DWORD This output displays the error code of the error page 68 Errorstop BOOL This output shows whether the PLCopen state of the drive inverter is set to Errorstop e TRUE The PLCopen state is set to Errorstop FALSE The PLCopen state is not set to Errorstop Stopping BOOL This output shows whether the PLCopen state of the drive inverter is set to Stopping e TRUE The PLCopen state is set to Stopping FALSE The PLCopen state is not
112. urred in the function TRUE An error has occurred during the transfer of the motor axis e FALSE No error has occurred ErronD DWORD This output displays the error code of the error page 68 Position DINT This output contains the transferred motor axis position Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_Supplements 4 7 4 Function module MC_ReadAxisError_MDX MC_ReadAxisError_ MDX Enable BOOL Done BOOL Axis AXIS_ REF VAR_IN_OUT Error BOOL ErrorlD DWORD AxisError BOOL AxisErrorCode WORD Axis AXIS_REF VAR_IN_ OUT 20026AXX Description The function module MC_ReadAxisError_MDX is used to read in the current error code of the motor axis from the drive inverter to the MOVI PLC controller Application The function module MC_ReadAxisError_MDX can be used on all motor axes Inputs The function module MC_ReadAxisError_MDX has the following inputs Input Type Description Enable BOOL This input is used to activate the function module This task of the function module is only executed when this input is set to TRUE Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed Outputs The function module MC_ReadAxisError_MDxX has the following outputs Output Type Description Done BOOL This out
113. utput displays the axis reference Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_SingleAxis 4 4 Directory MDX_SingleAxis The MDX_SingleAxis directory contains function modules that enable motion tasks for a motor axis with encoder 4 4 1 Function module MC_MoveVelocity_MDX MC_MoveVelocity_MDX Execute BOOL InVelocity BOOL Velocity DINT Active BOOL Acceleration DINT CommandAborted BOOL Deceleration DINT Error BOOL Axis AXIS_REF VAR_IN_OUT ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT 20010AXX Description The function module MC_MoveVelocity_MDX triggers continuous rotation of a motor axis e The inputs Velocity Acceleration and Deceleration determine the dynamic behavior of the rotation e The drive inverter controls the speed of the motor axis specified by the input signal Velocity until the task of the function module MC_MoveVelocity_MDxX is cancelled or interrupted Sec General functionality of the function modules page 15 Application The function module MC_MoveVelocity_MDX can only be used on motor axes with encoders Prerequisites For the function module MC_MoveVelocity_ MDX to be executed the motor axis must be assigned the status Standstill or ContinuousMotion in PLCopenState output signal of the function module MC_ConnectAxis_ MDX Inputs The function module MC_MoveVelocity_MDX has the following inputs Input Type De
114. ximum setting range 1 231 Denominator DINT Simulation of the gear unit by entering the number of teeth Unit number of teeth maximum setting range 1 231 Encoder Resolu DINT This input specifies the resolution of the connected encoder system tion Unit increments maximum setting range 1 20000 Axis AXIS_REF This input specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_SingleAxis Outputs The function module MC_MoveAbsoluteModulo_MDX has the following outputs Output Type Description Done BOOL This output shows whether the motor axis has been positioned e TRUE The motor axis has performed the rotation The motor axis has reached the target position window e FALSE The motor axis has not completed the rotation The motor axis has not yet reached the target position window Active BOOL This output shows whether the motor axis is turning to reach the target position window e TRUE The motor axis is rotating FALSE The motor axis is not rotating Command Aborted BOOL This output shows whether another function module has cancelled the task of the function module TRUE Another function module has cancelled the task of the function module e FALSE The task of the function module has not been cancelled Error BOOL
115. xis is accelerated or decelerated e FALSE The motor axis is not accelerated or decelerated Command Aborted BOOL This output shows whether the task of the function module has been cancelled TRUE The task of the function module has been cancelled FALSE The task of the function module has not been cancelled Error BOOL This output shows whether an error as occurred in the function module TRUE An error has occurred in the function module FALSE No error has occurred in the function module ErronD DWORD This output displays the error code of the error page 68 Axis AXIS_REF This output displays the axis reference Manual MPLCMotion_MDxX Library Description of the Function Modules Directory MDX_SingleAxis 4 4 2 Function module MC_MoveAbsolute_MDX Description Application Prerequisite Effect MC_MoveAbsolute_MDX Execute BOOL Done Position DINT Active Velocity DINT CommandAborted Acceleration DINT Error Deceleration DINT ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT Axis AXIS_REF VAR_IN_OUT 20005AXX The function module MC_MoveAbsolute_MDxX starts the movement of a motor axis to an absolute axis position e The inputs Velocity Acceleration and Deceleration determine the dynamic behavior of the rotation The motor axis remains at the target position subject to position control The function module M

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