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1. Ads 1 3 sa E 50032 2012 Fam Tie rt x Fam Tier tsi Fas Tier Faz Ther rn Taa Ti zc Tir r gt Fa Tir rr zs Fas Ti faz Tir xz Fam Tip Fas Tick cz fam Tie Tam Te rcx Fas Tie Ec xs i Iz 4 E Schneider Electric 46 Twido and Altivar with CANopen_EN doc For legibility the macros are given the same number as the slave addresses i e 1 4 Select a macro to configure it by activating the check box Set Network CANopen Network Address 1 Reserve the memory words for the function in the entry D Manager In the example 30 words are reserved for macro drive 1 from MW30 to MW5S by giving the Start address and the number of words required Huria Comm Macros Dese Setting the check box in the Symbols column allows the variables to be included in the variable list Simple M object Click Apply to implement the drive configuration Simpie ahjrrir Pinton Eine ub peta In the example drives 1 4 set up with MW30 60 MW90 and MW120 rir al Dita e EIC Dalina objects H Apply Cancel Help wiih riwa macros eaen peee address Functions r nore DO TAR ERR HAHAGER
2. 22 Twido and Altivar with CANopen_EN doc The Magelis needs the correct driver to exchange data with the PLC Use Add to go to the driver selection dialog and select a new driver In the New Driver dialog Select Manufacturer Schneider Electric Industries SAS Driver Modbus RTU Equipment Modbus Device confirm with OK After setting up the driver you can exit the dialog with Finish Schneider Electric Create New Project Driver Modbus RTL Modbus Uni Telway Create New Project to Create Project winder Equipment List Adds divers and equipment Define settings in the Navigator window s Dive and Equipment properties Equipment Modbus Equipment Project Name winder mme to Create Target 1 1 Equipment List AA Adds divers and equipment Define settings in Ehe Navigator window s Diver and Equipment properties 23 Connect to HMI Twido and Altivar with CANopen_EN doc Vijeo Designer now returns you to its work top with an empty display and the project navigator A mouseclick on Target in the navigator brings up the properties inspector or if the properties inspector is closed right mouseclick on Target1 and selecting Properties opens up the properties inspector Check the properties of the project and in particular the properties of the COM port It must be set to se
3. 81 Introduction This document is intended to provide a quick introduction to the described System It is not intended to replace any specific product documentation On the contrary it offers additional information to the product documentation for installing configuring and starting up the system A detailed functional description or the specification for a specific user application is not part of this document Nevertheless the document outlines some typical applications where the system might be implemented Twido and Altivar with C ANopen EN doc Schneider Electric 2 Abbreviations ATV EDS HewoncDaaShel O HW HwmnMabimeWtefa oo oo Magis ___________ SE product name Tor a family of HMI Devices Micro SE product name for a middle range famiy of _ mm T SE product rame for a Network Interface Mode Osiswih product name Tor a family of postion _ Premium SE product name for a middle range famiy of LOS 198 SE Vijeo Designer SE product name for alow range PLC family ZeioSoft SE product name Tor a PLC programming software Twido and Altivar with C ANopen EN doc Schneider Electric 3 Application Source Code Introduction Examples of the source code and wiring diagrams used to attain the system function as described in this document can be downloaded from our website under this link The example source code 15 in the form of configuratio
4. D pnm CLs Tor 3 SELECT SPEED Dafne objects Aem a 1 n la EY LOU UID e E Define Alincailn ade Lu o Schneider Electric mw m Re ope jj 4 Wow mop i Woxm 4 ee z m 11 2 pa d anane 1010 1 ae 47 Resizing Workspace Twido and Altivar with CANopen_EN doc Change now to the main menu Describe and you will receive a request to resize the workspace Acknowledge the message with OK TwidoSuite has increased the workspace and the configured drives and CANopen bus are now shown in the graphics You can re position objects in the graphic to save space and for better legibility Note if you now print the image for documentation purposes empty fields are printed too To delete the empty fields change the workspace format from 3x3 to 1x2 Adding the CAN and or ASI slave requires you 10 resize the workspace Schneider Electric 48 Variable List Twido and Altivar with CANopen_EN doc In the variable list you can add symbols give them a memory address and input a comment about the
5. automatic start drive Hz or Auto statt brd automatic start drive 3 Auto start bwd automatic start drive O OM Autostart state State of auto start 2 51 Auto velo 1 PL velocity Einla Auto velo 2 PL ah 20 Auto velo 3 PL AM Ww ZZ Ee mem Select All Select None Selected 0 When adding variables Create az Elements in equipment structure C Variables that combine equipment and name C Variables that keep the same name Variable named Add to Scan Group ModbusE quipment 5601 Close Help Twido and Altivar with CANopen_EN doc Schneider Electric Create variables Twido and Altivar with CANopen_EN doc All variables can now be viewed in the navigator on the Variables tab To create variables click on the Tab variable in the navigator A right mouse click on Target1 opens up the pop up menu to go to New Variable gt New and the variable definition dialog To create a variable you must input a Variable name Data type Data Source External Address in the PLC Device Address Here you can address bits M memory words MW in the PLC Havigator A 5 Sorted by Mame Filter System Variables Target agi RU Auto start bwd drive 1 9111 1 m d Auto start drive 2 9112 Auto start bwd drive 3 96MW13
6. Power supply V OV DC reference potential Com 24V DC Com 1 24V DC Com 2 24V DC Com 3 24V DC Wiring Motor ATV31 No Status i e No digital or Analog I O Drives Twido and Altivar with C ANopen EN doc Schneider Electric Hardware General e The mains switch including sag protection and indicator can be set up ona mounting plate The components to be including in a housing i e Twido PLC Phaseo Power Supply emergency off switch circuit breaker contactors can be mounted snap on ona 35mm DIN rail The motor drive can either be screwed directly to a mounting plate or with the use of an adapter also be mounted ona DIN rail The emergency off door safety actuator signal column as well as the acknowledgment battery are designed for rear wall mounting All switches except the door safety sensor can be mounted without their housings ina cabinet or cabinet door The XB5 buttons and indicators can either be mounted in the front door of a housing with a 22mm cutout or mounted in an XALD housing for direct wall mounting The wiring schemes for the individual components can be found in the detailed wiring diagram attached Mains Switch NSC 100 Compact Emergency OFF switch for cabinet door mounting XB5AS844 XB5AZ141 Incl E OFF label ZBY9330 Indicator Press Button Series Harmony Style 5 5 Twido and Altivar with C ANopen_EN doc Schneider Electric 11 Emergency Off Safety relay XPS AC
7. Automation and 230V Contactor Actuator accessory 1 NC Locking device fixed Rotary drive with door switch red yellow Part Number Vers 29003 29321 29035 29407 23725 29450 29371 29340 Hardware ts Group 2 Emergency Stop EIL T N Mushroom switch red yellow E Off Contact block for E OFF switch 2NO E OFF Sign red yellow 60mm diameter Emergency Off Switch Tamper free Preventa Safety Relay Fuse for Safety 1P C2A Redundant Contactors 18A 24V control circuit Acknowledge Indicator Safety Einfachtastergehause Switch Housing Part Number Vers XB5AS844 XB5AZ1 41 ZBY9330 XALK178G XPSAC5121 23 26 LC1D18BD XBSAW 36B5 XALDO1 XALDO1 Hardware Components Group 3 Door Safety Twido and Altivar with CANopen_EN doc Description Preventa Safety Relay Door Safety Switch Actuator door Safety Acknowledge Indicator Safety Switch Housing Schneider Electric Part Number Vers XPSAC5121 XCSA502 XCSZ02 XBSAW 36B5 XALDO1 74 Hardware Components Group 4 Display and Indicators Description PartNumber Vere Vers 1 1 1 1 1 1 Signal Column connector element XVBC11 Signal Column tube XVBCO2 Connector element XVBC21 Signal element red System Fault XVBC2B4 Signal element blue Door Safety XVBC2B6 Signal element white PLC on mains XVBC2B7 on Signal element green Drives Runni
8. og Auto start bwd drive 4 9414 LM Auto start state M10 cog Auto velo 1 96MW 18 Auto 2 920 1 ow Auto velo 3 95MW21 ou Auto velo 4 22 og Auto vela 5 MW23 1 LTT Automatic mode 6 1 LF Automatic sel 3 U Bottom layer actual 1 96MM 154 oom Bottom layer actual 2 MWI155 Id Bottom layer setpoint 1 96MMW 151 ow Bottom layer setpoint 2 MW152 Project Varia Mew Variable Paste erly Import Variables Export Variables Discrete Integer Float Properties AlE Enter String LPT Auto 5tart 00008 Structure LIT Reset steps 00009 1 Load Default 00010 LM Stark State 00011 LM CAMapen Reset CAMopen 00017 LM CB Drive 1 00032 LTT CB Drive 2 00033 To 4 4 Basic Properties Details Settings Data Scaling Alarm Block Integer Block Float Variable N ame Descnption TEST ln Data ritesger D ata Source ir 5 C ntemal hane PLC Ewtemal eniin Device Address Indirect Address Schneider Electric 29 clicking on the Device Address opens up a dialog for the input of the address Modbus Ee Address 40001 Offset 1 151 Eit 1 Preview 40752 ees PLC internal formats such as counters muss first be transferred to memory words before the Magelis can display them In
9. Drive 4 Ladder 7 Push Button Lights Ladder 8 Lighting Ladder 9 Application Ladder CHI 10 Application Simulation Ladder 11 CANopen Init Ladder RE 60 Data Communication Introduction This chapter describes the data transferred via the communcations bus e g Modbus or CANopen that is not bound directly with digital or analog hardware The list contains e The devices concerned e Direction of Data flow e symbolic name and e Bus address of the device concerned Devices This application uses Modbus and CANopen busses Concerned CANopen connects the following devices A twido PLC on bus address 127 fixed 4 Altivar variable frequence drives bus adresses 1 4 The Modbus connects Magelis Panel XBT G bus address 1 Twido PLC bus address 2 Datalink Twido PLC CANopen Master 127 Altivar 31 Drive 1 CANopen Slave 1 Drive 1 lt gt PLC Data Direction ATV PLC Address __ index Designation IWC1 0 0 D STATUS DRIVE 1 6041 Drivecom status register IWC1 0 1 D CONTROL DRIVE 1 6044 Control effort IWC1 0 2 D IERROR DRIVE 1 603F Error Code Data Direction PLC ATV Address __ index Designation QWC1 0 0 D COMMAND DRIVE 1 6040 Drivecom command register QWC1 0 1 D TARGET DRIVE 1 6042 Target velocity Datalink Twido PLC CANopen Master 127 Altivar 31 Drive 2 CANopen Slave 2 Drive 2 PLC Data Direction ATV PLC Address _
10. TWDBTFU10EF TSXPCX1031 24VDC 12 digital inputs 8 digital relay outputs extensible up to 7 modules analog und communications modules also available 2 Programming Languages e Contact plan COP e Statement list STL 1 Drum control Fast Counters up to 5kHz TWO LMA Very Fast counters up to 20 kHz Frequency measuring 1 20 kHz Reserved Memory for LIFO FIFO processing PWM PLS Outputs External PLC Start PID controller Pre defined functions CANopen master module TWDNCO1M Master Module for Twido PLCs with Control of up to 16 Slaves Depends on number of H PDOs SDOs Baudrates 125 250 500 kBit s Slave watchdog with Node Guarding or Heartbeat Configuration tool integrated in Twidosuite Bus configuring via Modul Rear wall on the PLC Integrated macros for quick installation Slim Format 30mm width Plugable contacts for power supply Configuration by PLC during switch on Twido and Altivar with C ANopen EN doc Schneider Electric 78 Components contd Safety Module Preventa XPSAF5130 Main technical characteristics For monitoring Max category accord EN954 1 No of safety circuits No of additional circuits Indicators Power supply AC DC Synchro time between inputs Response time AC 15 breaking capacity DC 13 breaking capacity Minimum voltage and current Dimensions mm Connection Degree of protection Generic description o
11. diei ner ib If erros found these 000 listed at the bottom m of the edit field Click on 08 the arrow icon to enlarge lt 23 m ETE the display pe 1 05 eng er abies A SF i vm 41 be 1 1 zl 1 L E fine Variables Subroutines T i A common error is ZEXECUTION WARNING HO START IN RUN WAS SELECTED No Start In Run Was Selected To fix this select Program gt Configure gt Configure the behavior In the Configure the Behavior dialog select Automatic start in Run This is an operation mode that causes the PLC to start up automatically on return of power after a power failure Twido and Altivar with C ANopen_EN doc Schneider Electric Macro Drive Twido and Altivar with CANopen_EN doc After restarting the analysis the error field is To use the macros for the drives a second rung is added using the add a rung icon Insert an operation block for the macro To link the operation block to the macro drive input D manager 1 D manager is the macro function to access the drive and the 1 indicates Drive 1 The space between D manager and the 1 is mandatory Comment WB Se wi Rea 1 Bb Lb S gt 4 4 3 Larder 8 E T wir Bn oF 4 HF 4 t bd 0 p Def ariables b e LAND ron IR Bottom 1 START CONDITIONS Subr
12. press Powersuit displays a progress bar as it prepares for the P Detection of communication parameters download 59 9600 81 Cancel To successfully complete the download Powersuite asks for confirmation You about to transfer local data to the drive Any data in the drive wil be overwritten Repeat the procedure to configure the other drives but remember you must use different bus addresses for the other drives 50 you must create new configurations with new devices Do you wish to continue To activate the downloaded bus parameters address and baudrate you must now switch off the controller display goes off On switching back on the new parameters are ready Schneider Electric 72 Manual Input You can configure the ATV 31 by inputting the parameters using the front panel using the display and buttons on each Altivar as follows Altivar Front Panel The CANopen Address and _ Baudrate can be input using the Rei LED ge 11 1 buttons on the front panel of the 777 __ __ 118 8 8 8 2 ANSpen status LEDS Altivar 1 fi Eita menu parameter dews ihe ispayed value In a nium to Ene previous shor Fr wale iw i Goes bo lhe next menu ar as V Enies Parmeter ne Gece 1 ar savers the disnlayed ihe dapiyan amp Pos
13. 9 3 1 Programming software for Magelis VijeoDesigner 44 XBT G 9 4 1 Programming cable Magelis XBTZG915 9 5 1 Configurationsoftware PowerSuite CD with the ATV31 ATV31 9 6 1 Altivar Set PC connection VW3A8106 accessories Control Cabinet Group 10 SAREL NUR Vers Cabinet 800x600x300mm HxBxD with mounting plate Sarel ENN83357 Fuse for Fan 2P C2A 23747 fan with filter 230V 56 m3 h Sarel ENN17901 Filter for fan Sarel ENN17911 Thermostat for Fan 0 60 C Sarel ENN17562 Twido and Altivar with C ANopen EN doc Schneider Electric Positioning Protection class Twido and Altivar with CANopen_EN doc Component Protection Classes Component In Field On site E Off switch Emergency off switch housing Mains Switch with or without undervoltage protection and integrated indicator Rotating Door handle for master switch contactor LC1D und Contactors and fuses all types Phaseo Power supply E Off safey switches XPSAC Twido PLC and expansion modules Magelis XBTG Touch panel all types Altivar 31 Drive 3phase 380 500V AC all types CANopen TAPS Switch series in housing Filter und Filterfan Fan Thermostat Schneider Electric inside IP20 gt X X X X X X X X X X 77 Component Features Components PLC Twido This example uses a Twido modular PLC with Twidosuite software and programmiing cable set TIWDLMDA20DRT
14. ATV314 BASIC ATV31 HeartBeat 3 4 J E 8 The tab Linking lists the PDOs for the individual a 5 devices eas dee Sees This tab is for inform e oro ation only You need to make no changes here The Symbol tab lists all config ured Variables CANopen Configuration Tool Lnag eq Symbol Access and their symbolic names 56 S o connect rene eres Die Variables for the reg Altivar31 are listed with o Stans ness x M D CONTROL DRIVE 16 aaria standard names DRIVES 3 Enc im D TAEBZET 1 1 ToC 11 1 n comae DRIVER Bo WALLI Wo re ESSE These names can be n STATUS emean i i M n cenmRcL DRIVES 16 changed if required SEXIES D cow MUN DRIVES i6 NOMCIIU E D TARET CRIMES DRIVES Target echt 16 WOMKI2 k To save the config uration click on Apply PAETE Ta Close the dialog with OK Tih be IDE forqys_cursct_msnsgens k M 99e me Twido and Altivar with C ANopen EN doc Schneider Electric Back in TwidoSuite the configured Slaves are now listed in the entry for the CANopen Master Digital Input Modul click on the the d
15. Address Nam MW151 YMW152 153 154 155 156 Twido and Altivar with CANopen_EN doc DRIVE 1 MANU VELO DRIVE 2 MANU VELO DRIVE 3 MANU VELO DRIVE 4 MANU VELO AUTO VELO 1 AUTO VELO 2 AUTO VELO 3 AUTO VELO 4 AUTO VELO 5 BOTTOM LAYERS SET1 BOTTOM LAYERS SET2 TOP LAYERS SET BOTTOM LAYERS ACTI BOTTOM LAYERS ACT2 TOP LAYERS ACT DriveO01 Manu Velo Drive02 Manu Velo DriveO3 Manu Velo Drive04 Manu_ Velo Auto velo 1 Auto velo 2 Auto velo 3 Auto velo 4 Auto velo 5 Bottom Layers 1 setpoint Bottom Layers 2 setpoint Top Layers setpoint Bottom Layers 1 actual Bottom Layers 2 actual Top Layers actual Schneider Electric 64 Introduction General Start Program Devices This chapter describes the steps required to initialise and configure the devices to attain the described system function To do this we use the Powersuite software You can configure the altivars using the front panel on the device itself however using the software tool Powersuite has certain advantages e Save data to your hard drive and duplicate it e Print documentation for your configuration e Test and optimise the parameters online The CD which accompanies the altivar drive not only holds documatation on the drive but also has a light version of powersuite to enable a quick set up of the drive note the version of the factory setup actually delivered in your drive may be different to the version of the
16. Open recent projec Twido and Altivar with CANopen_EN doc Schneider Electric Create a new Project Select the Hardware Twido and Altivar with C ANopen EN doc Once Create a new Project is selected enter a Project name and select the Directory Project management path to save it Centr n nn aanhing prnjact You can enter Project cu hae Information if required but it is not mandatory idis scean you salacha projed end Confirm with Create Bele nse rege beh Lick 3n dg creata he pce Now go to Describe to configure the hardware In the configuration Workspace you will see a Twido PLC In the Catalog on the RHS you can select the hardware modules you wish to configure The Workspace offers you graphical docu mentation Schneider Electric Project information Sure lea Properts File informal 37 Twido and Altivar with CANopen_EN doc In the Catalog first select the correct type of Twido TWDLMDA2ODRT Catalog Fl Bases H Compact Modular TDLMDA2ODTK TWDLMDA2ODUE TV TDLMDAAODUK Expansion madules Serial Expansion madules Serial Adapter RTC cartridge Memory cartridge Viewer Network elements Use Drag amp Drop to drag the selection to the graphical image
17. an existing project function in the Project menu Frog ram Document In the open an existing project window select the medium disk or Controller Give the file type under Format for a project file Open a recent project Project select the folder and select the file you wish to open When ready click on Open to open the project DP Op 22 06 2006 1 gl Dco Example Twi 22 06 2006 1 File Example TwidoSuite Format Schneider Electric 55 Connecting to the Twido PLC Twido and Altivar with CANopen_EN doc Proceed as above except for Import the file type is Archive To connect the PC to the Twido PLC select Program in the main menu then Debug in the sub menu to get access to the connect selection You can now either configure a new connection see menu at bottom of window or select a pre configured connection To connect click on OK E rogram Toscurnient Project management Create a new project L Open an existing project Open a recent project File Format Dermei F a e rims Thea ovd Connection mode address Hurt ICON CONT Puni CDM Serial C Oh P unit FC anda B AS Twido Suite Schneider Electric 56 Download a Program Twido and Altivar with CANopen_EN doc you will be shown progress bar while Twidosuite establishes the connection After succesfully connecting to the Twido Twidosuit
18. at their default values Exit with OK Acknowledge the confirmation for the IEC61131 Syntax with YES As the variables have already been input in TwidoSuite or some other Schneider product Vijeo Designer offers an option to link up to these variables Select the Variables tab in the the Navigator Right mouse click on the Equipment Configuration Slave Equipment Address 2 Dec Preferred Frame Length 51131 Syntax sddressing Mode o based Default Possible pus Optimization variables Double Word word order High word first ASCI Display byte order Low byte first Cancel Vijeo Frame a All Device Addresses associated with te equipment will be converted to IBS 61131 format Continue Havigator m 8 un A Sorted bv Filter System Variables ORES Mew Variable Paste Import variables Export Variables project name here TARGET1 Mew variables Front Equipment and select Link Variables in Link Validate Variables Properties Alt Enter 300 AG BEN i DO ER a E a 18 18 Pete eter EE E I EE EL EA a Vijeo FE Project Toole a Se ee 400 Twido and Altivar with CANopen_EN doc Schneider Electric In the Link
19. at will e guit iT aF er Hor 2 ial 9 Em g EO 1 sits i DX You are about to launch the controller To do so click on OK Otherwise click Cancel Schneider Electric 58 Twido and Altivar with CANopen_EN doc Here the expanded window with the PLC in run mode Application untitled Twido State Running Reference Tuy D LAID AZO D RT wersion 3 20 Current Time K Failure TRUE K Forced Current PLe scanning penod 17 Address used Port used Ac HA L 5t If the online status window is closed a click the upper left hand corner of the main window opens it again Configure Program ETT g Anim ate the program JERN FUR HMI ACTUEL VALUE FROM DRIVES SAVE FOR Em Ea lt The sub menu Manage animation tables allows acces to animation tables Lita HARI Schneider Electric 59 Twido and Altivar with CANopen_EN doc Use the project browser to navigate through the program sections Program 1 2 3 El Program m 1 Mode Operation Ladder 12 Drives velo Config Ladder Subroutines Schneider Electric H 2 Step Chain Ladder 3 Drive 1 Ladder 4 Drive 2 Ladder 5 Drive 3 Ladder 5
20. factory setup as found on the CD If you wish to retain the factory setup as delivered in your drive you should first upload the factory setup from your drive to your PC If your Windows operating system is set up for it the CD will start up automatically The CD runs just like an online installation from a website To install Powersuite click on PowerSuite to the right of the CD icon Follow the directions given and click on click here to install the software Twido and Altivar with C ANopen EN doc Schneider Electric 65 Click on Open to confirm installation of the software File Download Some files can harm your computer IF the file information below looks suspicious or vau do not fully trust the source do not open or save this file File name setup exe File type Application From D Apower suitesdownload This type of file could harm your computer if it contains malicious code Would you like to open the file sawe it ta your computer Open Cancel Mare Info ask before opening this type of file Finally click on Finish to complete the installation You 210710108717 now start up Powersuite PowerSuite ATV31 has been Click the Firash button to exit this installation lack Lancel You will find PowerSuite under the start menu Anos scr ies 5 CIF Device Driver Programs gt Schneider Electric gt ME int
21. narameier valur A D Vx Fj Fi NA i Reus 10 previous memi perzanebes car ncneases the dispiawod valuz Using the buttons on the front panel select the sub menu x Displays drive status Communication auszuw hlen EEL Moter frequency the factory setting is only visible esr i the first time the drive is powered In the Communication sub menu input the CANopen address in the parameter AdCO In the example application the adresses for the four controlers are 1 to 4 Control __ Conil _____ Also in the Communication sub menu in the parameter set the baudrate to 500 0 kBits Alternatively you can use the PowerSuite software to configure the CANopen 2 z The 1 flash addresses and baudrates vig Ue Menu Parameter Value or assignment Next parameter To activate the downloaded bus parameters address and baudrate you must now switch off the controller display goes off On switching back on the new parameters are ready Twido and Altivar with C ANopen EN doc Schneider Electric 73 Appendix Detailed Component List Hardware Components Group 1 Mains Switch 1 1 1 1 1 Description Mains switch 3 pole 36 kA Compact NS100 N Connector cover 3 pole Switch Mounting TM16D 12 16 A 3 pole Undervoltage Protector 230V Fuse Undervoltage release 1A C
22. the HMI connection move the mouse icon over the HMI until the mouse icon changes to a screwdriver Now a doubleclick opens up the configuration dialog Give the device a Name and check that the default Protocol Modbus at Address 1 is offered Confirm with OK Cont iguration Bases Expansion modules Serial Expansion Modules Serial Adapter RTC Cartridge Memory Cartridge Operations Display Network Elements Modbus Elements Ethernet Interface TD 33 80 Modem Generic Modem 2 Generic Modbus element OTB 150 H ASCII Elements H Remote Twido Element Protocol Type Address Schneider Electric 40 Name and Modbus address now appear in the graphic display next to the HMI device Now connect the two devices in the graphics display by linking the white crosses that reperesent the linking points To do this click on the white cross of one device and then the next so that the link is displayed After linking the devices you can give the network a name and set the baud rate by double clicking on the connecting line or the network box my 13200 In this case we use the default values Now do the same for the PLC modbus interface Position the mouse icon Configuration s on the modbus interface of the PLC When the mouse icon
23. us Ade E TENDRE 1 Navigator 2 Info Display 3 Inspector 4 Data list 5 Feedback Zone 6 Toolbox Coleg Rone aoas Taki spe Funi ime fies amp sa Downkevding Downes Comets 0 eat Create new After starting Vijeo Designer View Decanter project select Create New Project and press Next What would vou like ta da Twido and Altivar with C ANopen EN doc Schneider Electric Twido and Altivar with CANopen_EN doc Input a Project Name e g Winder and select Project with Single Target You may enter a description or comment but it is not compulsory Press Next Select the target device Target Name Target1 Target Series XBTG Model 22330 The device has no Ethernet interface so it requires no IP address Here simply press Next and go to the next dialog Schneider Electric Create New t Type Project with Single Target Project with Multiple Targets Number offenges 2 Project bo Ceste ProjectName Taga Hane Tage 000 Tange Type HETG Sede Enter Project to Create M inder 0 ft f
24. window to edit the config uration To communicate with the Twido PLC via CANopen the Altivar must know which address and baud rate to use On the left hand side you see a list of parameter groups Clicking on a group opens up an edit window with the parameters for that group Select Communication in the parameter group Communication In the dialog that opens insert the Addresses 1 to 4 und 500kbit s baudrate for each Save your changes using the menu File gt Save and close the configuration with File 2close Any further changes you wish to make to the configuration can be be done in the same Way File Action Display Tools 7 My devices EE My configurations EOS Ativar drives EL e 1 configuration drive ES E Connections y Serial point to point m E Serial multidrop Pe Eth bridge point to point m y Eth bridge multidrop y Ethernet Modbus TCP i 3 ae Hoste rA Lc P cdi pE Ta Te Common conte eaman xd Posta Sur Ei M Motor 2 Manage limit switches Fault Management Faut behaviour Fault validation Stop fault mode Communication Poke fe Communication Inputs summary CANopen ADCO Drive CANopen address BDCO CANopen trans speed 500 kbit s 10 kbit s 20 kbit s 50 kbit s 125 khit s 250 kbit s S00 kbit s ERCO Erro
25. 42 Target velocity Datalink Twido PLC Modbus 2 HMI Magelis XBT G Modbus 1 HMI gt PLC Data Direction HMI gt PLC Address __ Address Designation RESET General Reset AUTOMATIC SEL Automatic Selection MANUAL SEL Manual Selection SIMU START Auto Start RESET STEPS Heset steps CANOPEN RESET CANopen Reset CANopen 9eMW11 X1 MANUAL START FWD 40012 1 DriveO01 Forward manu DRIVE 1 11 2 MANUAL START BWD 40012 2 Drive01 Revers manu DRIVE 1 MW12 X1 MANUAL START FWD 40013 1 Drive02 Forward manu DRIVE 2 12 2 MANUAL START BWD 40013 2 Drive02 Revers manu DRIVE 2 9eMW13 X1 MANUAL START FWD 40014 1 DriveO3 Forward manu DRIVE 3 13 2 MANUAL START BWD 40014 2 DriveO3 Revers manu DRIVE 3 9eMW14 X1 MANUAL START FWD 40015 1 DriveO4 Forward manu DRIVE 4 MW14 X2 MANUAL START BWD 40015 2 DriveO4 Revers manu DRIVE 4 Twido and Altivar with C ANopen EN doc Schneider Electric Datalink Twido PLC Modbus 2 HMI Magelis XBT G Modbus 1 PLC gt HMI Data Direction PLC gt HMI Address Name Address Designation 5 MANUAL MODE 6 Manual Mode 6 AUTOMATIC MODE 7 Automatic Mode 10 AUTO_START_STATE 11 Auto Start State D ERROR 1 Drive01 Errorcode D SELECT SPEED VAL 1 Drive01 act speed D ERROR 2 Drive02 Errorcode D SELECT SPEED VAL 2 Drive02 act speed D ERROR 3 Drive02 Errorcode D SELECT SPEED VAL 3 Drive03 act speed D ERROR 4 Drive02 Errorc
26. 5121 Contactor Short circuit protected GV2 L Load contactor LC1D18P7 LP4K0601BW3 Twido and Altivar with CANopen_EN doc Schneider Electric o c a gt Q 2 o Ax O ABL7RE2403 ABL7RE2405 PLC Twido Modular Device TWDLMDA20DRT A ___ g j uueg OND 8 Myg 2 auo H jda 3 5 sng NYI PLC Twido Interface Module CANopen Master TWDNCO1M E ud und pas 10H ez al 13 Schneider Electric Twido and Altivar with CANopen_EN doc CANopen T AP VWS3CANT AP2 CANopen Plug TSX CAN KCFD 180 T with integrated terminal resistor for linking to the Twido CANopen Master CANopen Cable TSX CAN CA 50 Magelis HMI Display XBT G2330 Twido and Altivar with C ANopen EN doc Schneider Electric Switch set ta OFF CAM L bus ine Opbonal shiold Opbonal supply 17 the image shows a device with the end resistor switched off and 2 CAN cables attached Male pins 3 GND Shield to the connector Can L to pin 2 Can H to pin 7 Can GND to pin 3 Ring terminals Power Input terminal block Rear af XTB G 14 Twido and Altivar with CANopen_EN doc Motor
27. C in this application is a Twido The user can control the application using the Magelis HMI device The motor drives connected to the PLC via a CANopen bus are of type Altivar 31 The example application includes two safety options A tamper free emergeny off function supervised with a Preventa safety module and a second safety module to evaluate protective door sensors Layout cap Magelis XBT G Op1ional Emergency Stop Twido and Altivar with CANopen_EN doc Schneider Electric Components Quantities of Components Degree of Protection Technical data Safety Notice Twido and Altivar with CANopen_EN doc Hardware Mains switch type Compact NSC100 sag protection and indicator Contactor GV2 L Short Circuit protected for the motor drives Motor drive type Altivar ATV31 with integrated CANopen interface Power circuit breakers of type Tesys and Tesys D LP1K und LC1D Emergency off switch with rotation release tamper free Emergency off safety module of type Preventa XPSAC Power Supply Phaseo ABL7 Modular Compact PLC TWIDO with CANopen module Compact colour display HMI device Magelis XBT G Buttons and indicators XB5 of type Harmony Style 5 Standard rotary current motors Software e Twidosuite Version 1 0 e PowerSuite V2 3 e Vijeo Designer V4 4 For a complete and detailed list of components the quantities required and the order numbers please refer to the components list at
28. Configuration dialog input COM2 19200 Baud 8 Data bits 1 Stop bit No Parity Exit the dialog with OK The configuration must match the port definition on the Twido In the Navigator you can rename the configuration to PLC with a right mouseclick on the name and selecting Rename Rightmouse click on PLC to go to the device configuration In this configuration the HMI is slave the PLC is master Havigator Targeti 1 4 ph Graphical Panels EN 27 1 Paneli Application Scripts HR Alarms Popup Windows md Languages Data Files Recipes B IO Manager Seg ModbusR TLIO COMI ModbusEquipment Mew Equipment Insert Configuration Delete Delete Rename Fz Properties alt Enter x Vanutactue Driver Modbus COM Port Party Be Serial Interface Elow Contra Transmission Speed 18200 Retry Count 2 TX Wait Time value AZ IO Manager ModbuskTUOL COM Mew Scan Group Insert Configuration Properties lt Enter Fl Manager GG COME Mew Scan Group Insert Configuration Delete Delete Rename FZ Properties Alt Enter Schneider Electric 25 Link Variables In the Equipment Configuration dialog set the Slave Equipment Address to 2 and set the checkbox for IEC61131 Syntax you can leave the other inputs
29. Drive Altivar ATV31 ATV31 H037 NA ATV31 055 4 Terminal Description 2 EE R L1 Power supoly s 12 R L 1 512 TALS DC bus polarity Output to Erak ng resistor polarity X bus polarity Outputs io the motor VIT2 o U T1 Schneider Electric 15 General Twido and Altivar with CANopen_EN doc Software The main programming work lies in the programming of the Twido PLC the configuration of the CANopen bus and creating the faceplates for the HMI display Programming the Twido PLC is done using Twidosuite Die HMI application on the Magelis XBT G 2330 display is created using Vijeo Designer Although the motor drives can be configured using the front panels on the drivers themselves it is recommended that you use the PowerSuite tool Powersuite not only offers you more comfort for the configuration but also offers possibilites for saving and archiving your configration Not only does it allow to do a quick recovery returning the motor drive to factory mode it also allows you to test your configuration online and make online adjustments and optimisations during the test session The software packet is delivered with the altivar Your PC must have the appropriate Microsft windows operating system installed e Windows 2000 or e Windows XP The software tools have the following default install paths e TwidoSuite C Programs Schneider Electric TwidoSuite e Vijeo Design
30. Twido and Altivar with CANopen System User Guide source code 33003584 04 Schneider Electric Building a New Electric World Merlin Gerin Telemecanique SEP 2006 Contents SOUlCS fe 4 ene RT PL 5 eau c EE T IEEE 6 ACAI B eee en sedis 6 WAS TaN A i 9 HAON ANC 11 SONWALE srira 16 6 17 HONE CM lolo 20 PUI AE E P 21 36 Deh COMMUNI CANO LTD 61 HEVC lt arama 65 74 Detailed ULIS 74 Component Protection Classes tes cuim Oe et nue EROR UR in O 77 COMPONENT FCQtUIGS trons tvs I T EL 78 CONTAC eee
31. Variables window give the path to the file the Link Variables type of file and the Equipment Lookin ShacdDocmens d 29 7 type here as named above ui PLC gt Shared Video Select the file and click on Open My Documents My Compute Filename Files of ype Equipar PLE In this example the path was set to the TwidoSoft directory Link Variables the file type set to TwidoSoft TordeSot 32 and the equipment set to PLC Then Twido file twd was selected and opened Desk Documents er My Computes Once the file was successfully opened you will be offered a New Variables From Equipment selection list of the available ar j Equipment variables Linked file D CEU pdatesT Example twd Update WU Filtered By 7 Autostart bwd automatic start drive 1 7 Auto start bwd automatic start drive Hz Auto start bwd Ahw13 automatic start drive Hz 7 Auto start 14 automatic start drive Hz L Auto start state 2 10 State of auto start 51 Auto vela 1 SMW19 Infeed velocity Einla Auto velo 2 2 Auto velo 3 21 velo 4 22 T Select All Select None Selected 0 When adding variables Create az f Elements in equipment structure Variables that combine equipment and name Variables that keep the same n
32. _ __________ Index Designation IWC1 1 0 D STATUS DRIVE 2 6041 Drivecom status register IWC1 1 1 D CONTROL DRIVE 2 6044 Control effort IWC1 1 2 D IERROR DRIVE 2 603F Error Code Data Direction PLC ATV Address Name 1 9 Index Designation 96QWC1 1 0 D COMMAND DRIVE 2 6040 Drivecom command register QWC1 1 1 D TARGET DRIVE 2 6042 Target velocity Twido and Altivar with C ANopen EN doc Schneider Electric Datalink Twido PLC CANopen Master 127 Altivar 31 Drive 3 CANopen Slave 3 Drive 3 PLC Data Direction ATV PLC Address __ index Designation IWC1 2 0 D STATUS DRIVE 3 6041 Drivecom status register IWC1 2 1 D CONTROL DRIVE 3 6044 Control effort IWC1 2 2 D IERROR DRIVE 3 603F Error Code Data Direction PLC ATV Address Name Index Designation QWC1 2 0 D COMMAND DRIVE 3 6040 Drivecom command register QWC1 2 1 D TARGET DRIVE 6042 Target velocity Datalink Twido PLC CANopen Master 127 Altivar 31 Drive 4 CANopen Slave 4 Drive 4 PLC Data Direction ATV PLC Address __ index Designation _______ IWC1 3 0 D STATUS DRIVE 4 6041 Drivecom status register IWC1 3 1 D CONTROL DRIVE 4 6044 Control effort IWC1 3 2 D IERROR DRIVE 4 603F Error Code Data Direction PLC ATV Address 1 9 Index Designation QWC1 3 0 D COMMAND DRIVE 4 6040 Drivecom command register QWC1 3 1 D TARGET DRIVE 4 60
33. act format side by side installation possible using adapter VW3A11852 can be mounted on a DIN rail Magnetic Circuit breaker GV2L07 and GV2L08 e 2 5A 4 0A e Short circuit protected e Magnetic cut off at 33 5 A e lockable Twido and Altivar with C ANopen EN doc Schneider Electric 80 Contact Schneider Electric GmbH 49 6182 81 2555 cm systems de schneider electric com Machines and Process Architectures Schneider Electric GmbH As standards specifications and designs Steinheimer Strasse 117 change from time to time please ask for D 63500 Seligenstadt confirmation of the information given in this Germany publication Twido and Altivar with CANopen EN doc 81
34. ame Variable named Add to Scan Group ModbusE quipmentl1 5 501 __ Twido and Altivar with Schneider Electric Mark the variables you wish to link to and click on Add New Variables From Equipment Equipment Linked file D ACEO Update Twid CEU Example twd Update Lr1 Ju un A Filtered By Auto start bwd Mw automatic start drive 1 Auto start bwd automatic start drive Hz Auto start bud SMW automatic start drive H Auto start bwd 2M W14 automatic start drive Hz OM Auto start state State of auto start 51 Auto velo 1 ZMWwIS Infeed velocity Einla Auto velo 2 hw 20 velo 3 Auto velo 4 Z2 Tc Select All Select None Selected 0 When adding variables Create az Elements in equipment structure 7 Variables that combine equipment and name Mariables that keep the same name Variable named Add to Scan Group ModbusE quipment 5601 xe Linked variables are now de activated with grey text New Variables ini inki Equi PLC If you have finished linking the variables you require exit the Linked file D CEO Update Twid ACEO Exampletwd Update dialog with a click on Close ee ee Filtered By mn Auto start bed automatic start dive 1 Auto start bud
35. changes to a screwdriver doubleclick di M CR TE IU MER to open up the config Type emate link uration dialog Address Change the Protocol type to Modbus set the Address to 2 i Confirm with OK Twido and Altivar with CANopen_EN doc Schneider Electric Hardware For the hardware Configuration configuration select the main menu Program Describe Program The screen shows the PLC rack Note the menus on the RHS and bottom of the display area Menus on the RHS are ne sub menus to the main i en D menu along the top 2 3 a im Twido SPS You can now configure all the I O variables for the PLC To name the variables click on the Symbol column for a particular P I O and input the new Samael name T ECL e M SSS Cer roit T i eccle 1 Spaces and special characters are not PETER aati canal allowed symbol names n 5 5 r 5 5 3 Jms Hot usad Hotused Hot used Hot used If the variable is already i jme in use in the program ims the check box to the LHS E iu ims is activated sii tis 3 E EI All symbol names shown in uppercase Table of Address Symbol 100 INPUT_00_TWIDO 1 101 02 Twido and Altivar with EN
36. connected to the TV ATV 31 PowerSuite u V1 0 tap 5 509 m male i rn lu Peas LU LLLI Lf ae Se Making sure the correct device is marked in the project BM h Powersu browser first use the menu File Action Display Tools 7 Action Transfer F to download your configuration J simulate Ctrl Z to the drive o Cil Ctrl M Ctrl T LE RUM Ctri U 5 crinietcne serial point to point be 2 serial multidrop is E Eth bridge point to point is E Eth bridge multidrop 22 Ethernet Modbus TCP Twido and Altivar with C ANopen EN doc Schneider Electric 71 Twido and Altivar with CANopen_EN doc Before the download proceeds you will receive a warning that must be read and WARNING acknowledged LININTENDED EQUIPMENT OPERATION machine controled by this software may be prone to unintended operation The user must have a hard wired STOP device ar disconnect switch to ensure it is possible to stop the equipment THe user must ensure guards are in place so thet unintended operation wall not Cause injury to personnel or damage to equipment The user must read and understand the helo for this Testing and Commissioning and the Drive User Manual and know hoe to operate the equipment Failure to follow these instructions can result In serious injury or damage to ecuipment It you agree to tobo these instructions
37. ctional description Dip uec 00 10 Oplional Emergency Stop Switch on all fuses and contactors The master switch is off Acknowledge the emergency off Switch on at mains switch Check safety door s and acknowledge Wait for the red light to turn off You can now select automatic or manual mode on the HMI screen Manual Mode Using the screen TEST you can select on control an individual moter drive Automatic Mode Using the screen CONFIGURE you can adjust the speed parameters and the number of top and bottom wrapping layers The button DEFAULT SETTINGS re installs the default factory setup Select APPLICATION via the main menu to observe the individual steps of the process or start a simulation Use the DIAGNOSE displays to control error messaging and observe the individual drive status Magelis XBT G Twido and Altivar with C ANopen EN doc Schneider Electric 20 HMI Introduction This section describes the steps needed to create the Magelis images For this we use Vijeo Designer Setting up the HMI is done as follows e tool setup Create a new project Connect to HMI configure the driver Link variables Create variables Examples Download the project Example application The Tool Vijeo Designer has the Setup following components Tm Seach Window Sp ce E08 553 PHOT Pie ae
38. doc Schneider Electric CANopen Master Twido and Altivar with CANopen_EN doc Changes are only made when the Apply button is pressed If you try to exit the dialog without pressing Apply you will be reminded oymbols entered in the configuration are automatically inserted into the variable list The next step is to configure the CANopen Master Click on the CANopen module in the graphics image Click on Configure in the module configuration The CANopen Configuration Tool appears Module configuration Table of input Peres cambio 00 Two Tosco H hsrt t Relerence PACHECO Address 1 ES CANopen bus master mes Descripivn of the module Module condiguration Cunfiqeare Mudule vunfigurauurn Conflqure Slave Sl peres Cu operi Condicgurzab ion Tool Rls fey or Liang Tenen ie SAL Hodis We EADE Drives and Motian Contro Superson 2 Schneider Electric 43 Twido and Altivar with CANopen_EN doc Inthe Tab Network double click on BASIC ATV31 V1 0 in the Catalogue to add an entry in the Slave list of the Network Add another Slave with each double click The row number in the Network list is used as the CANopen Address Use the cursor keys to move slaves up or down in the list Default en
39. e compares the status of the project and the Twido PLC Now you can either download your project or upload the contents of the PLC To download the project select Transfer PC gt controller and confirm with OK If the Twido is already running it must be stopped first Confirm with OK if you wish to proceed You will be shown a warning that the contents of the PLc are about to be overwritten confirm with OK to continue The download condition is indicated with a process bar Twidosuite Cailin pa al aha Esoblishing te communicotion Remark Controller running Click on to stap the controller or on Cancel to stop the transfer TwicoSuite Cancel You will overwrite the application in the controller Click ta continue the transfer or on Cancel to abort Schneider Electric Transfering binas dat Cancel 57 Twido and Altivar with CANopen_EN doc After a successful download Twidosuite jumps automatically to the online viewing A control panel appears in the foreground Here you can start and stop the PLC The upper button extends the window offering more PLC status information If you start the PLC you will be asked to confirm the action If you wish to proceed with the start click on OK After successfully starting the PLC the RUN LED changes from yellow to green Ee ee ben ee Rss eran ee ee ee ee ee i xb ME
40. en In the screen that pops up click on the input fields in the columns Set Point Manual and input a value von 0 1500 corresponds to 0 50 2 Now select Manual Mode and hold down one of the green arrows to the right of a drive number The drive starts up in the direction selected and the actual speed value is displayed Releasing the button locks the drive again ALL IN EVOLUT IVE Lanvduave Ei APP lication Automatic OPeration mode Manual mode Manual made Automatic Schneider Electric 35 PLC Introduction The PLC chapter describes the steps required for the initialisation configuration and the source program required to fulfil the functions The application program is produced using Twidosuite Preconditions order to proceed you require the following Twidosuite installed on your PC The Twidosuite example project The Twido PLC is connected to a power supply and switched on The PLC is connected to the PC with the programming cable TSXPCX1031 Starting To start work with Twidosuite Twidosuite click on Programming Mode DUE ues ms nmm i ag ds 4 Pragrarmming Wide Mode Use the language 8 b Monitoring Mode selection buttons to set the language for this b PLC firmware update a session The start up screen for the main menu is displayed With Create a new project you can start a new project
41. er C Programs Schneider Electric Vijeo Designer e PowerSuite C Programs Schneider Electric PowerSuite Schneider Electric Communication General This chapter describes the hardware used for data communications CANopen and the use of programming cables used in configuring the individual devices of the system HMI lt gt Twido Magelis Communication Cable XBTZG915 Twido PC Twido Programming Cable TSX PCX 1031 serial or TSX PCX 3030 USB Twido and Altivar with CANopen_EN doc The data transfer between the Magelis Terminal and the Twido PLC is implemented with a Modbus connection For this connection the communication cable XBT ZG915 is required The necessary Modbus drivers are included both in the software for the Magelis panel and Twido PLC For programming the Twido PLC the programming cable TSXPCX1031 serial or TSXPCX3030 USB is required Note the switch integrated into the cable must be set to position 2 Port 1 on the PLC must be configured for point to point communication Serial PC Interface TSA PCA 3030 Schneider Electric HMI lt gt PC XBTG Programming Cable XBTGZ915 ATV31 lt gt PC ATV31 Programming Cable VW3A8106 Twido and Altivar with C ANopen EN doc The data communcation between the HMI XBTGT1000 and the dem PC during configuration is done using the communication cable XBTGZ915 This cable comes with the Vijeo Designer sof
42. eret Explorer PowerSuite de 2 Oo flock Eigen Here click on 19 42 Hardcopy Print Screen Wrec Deseper Powersuite ATV31 to start the tool The tools displays the standard screen on start up In the menu Display click on Configurations TEPEYE Twido and Altivar with _ Schneider Electric 7 Use the project browser on the left side of the window to view ch Powersuite your project File Action Display Tools My devices My configurations Er Altivar drives E Connections Serial point to point 1 E Serial multidrop Jy Eth bridge point to point y Eth bridge multidrop Ethernet Modbus TCP To work with the drive you must create a new 2 Powersuite configuration File Action Display Tools 7 Click on ATV31 in the project Bie broswer 7 TTE And then on mename Girit B oce FG Configuration Delete Inport Export File gt New gt Configuration Print Exit n A new window opens up Here you can input a name for your configuration a description and select the drive type our case ATV31H037N4 Close the dialog with OK Twido and Altivar with C ANopen_EN doc Schneider Electric Twido and Altivar with CANopen_EN doc The name of the configuration now appears in the project browser below ATV31 Double click on the config uration name to open up a
43. erts the selected object at the first available place on the rung So you can add contacts and outputs etc Le dai XE eh ee ma BOm ee 4 Schneider Electric 50 Twido and Altivar with CANopen_EN doc To make a logical connection simply mark the source and pull it to the destination All possible connecting points are shown in green Once a link has been inserted you can add a contact to form the logical OR To assign an object to an address or variable click on the upper half of the object The editor automatically recognises whether a rung is syntactically complete and marks it in yellow The rung however has not yet been analysed The Analyze program button is in the bottom right hand corner The Analysis is done for all contacts sum OMA VES ES AS E ANN gt 0 i Bottom D 0 i d 1 4 EU eee 41 S 2748 E Program B Bn LE AE 4I 5 4 Kl 1 variables A Schneider Electric 91 If the analysis is error free the yellow band TEN EFFEC WEN changes to green uj 2 3 EE Hs i 9 o 00 E D You can now change the Safine Varaia Sa En m aL LI bd display mode to LIST if Top 0 RL Define Variables ish 0 you WISN atnes 117
44. f the product Emergency stop 4 3 3 LED 24V Infinite 40 ms C300 24V 1 5A L R 50ms 17V 10mA 114 x 22 5 x 99 Captive screw clamp terminals IP20 terminals 40 casing Preventa XPS security light barrier monitoring module for monitoring circuits to protect access to a danger zone Depending on the model they meet the requirements of a category 2 or 4 maximum solution according to EN954 1 Power Supply Phaseo ABL7RE2403 and ABL7RE2405 e 100 240V AC 24V DC e 3A with 5A secondary Narrow fitting e Parallel wiring possible e Short circuit and power surge protected Twido and Altivar with C ANopen EN doc Schneider Electric 6 iS 19 Components Contd Display terminal Magelis XBT G2330 Sensor screen TFT Technology with 24V DC power supply Brightness and Contrast adjustment e Communication via Uni Telway Modbus and in cases via Ethernet TCP IP Flat Profile Memory expansion for application program Temperature range 0 50 C Certificates UL CSA VSD Altivar ATV31H037N4 and ATV31H055NA 0 37 kW 0 55kW 380 500V AC 3 phase Integriated class B EMC Filter Temperature range 10 50 C Speed Range 1 to 20 0 200 Hz Speed control using Flow Vector control Modbus and CANopen compatible 2 analog inputs 1 analog output 6 Digital inputs 2 3 digital stati outputs possible Drive and motor protection Comp
45. igital input module in the graphic The list of Inputs appears for the module Symbol names can be input and applied The variables are automatically inserted into the variable list Digital Output Modul click on the the digital output module in the graphic The list of outputs appears for the module Symbol names can be input and applied The variables are automatically inserted into the variable list To use the TwidoSuite macros for the Altivar 31 they must first be configured Drive Macros To do this select Program gt Configure gt Configure the Data gt Advanced object Macros drive Twido and Altivar with CANopen_EN doc dula conliguration IE BASIC_ATYS1 CRIVE BASIC v C HecrlBeal 3 BASIC ATV3I fy HeertBeal L FIVE 4 rv C HeertBieal e upenision HeertBeal Indiam 2 Planer errnrsnk 7 zl Dizsr pricn Exwpanzien module ch 1248 inpats ML concor 24 ammon ing sr 3x The madula Tabte at Lined Adress ipleranca number 3 Jezcrig o Lano on et E culputs JAA s nk trensclors 1 common Ine nemiresklg screw bering zm A Modala contigurminn Tabie puta
46. jeo Designer package contains a serial cable as standard The download process is indicated with a progress bar Schneider Electric Drive zc CANoren T 1 icat ion Feedback fone Error act HHH HHHHH hi mi di uf 1 Hc C hMarmen lla inment Clean All Validate All Build All lean Target validate Target Build Target Stark simulation Build Stark Device Simulation Validating All alidating Services arget Plattform Bt AIOP evolutive 1 ijeo Frame Plattform1 Diagnostics File Edit Build HMI Arrange Variable Report Search To joen Feedback Zor Plattorrn Flattfarm1 Clean All Validate All Build All ean Target validate Target Build Target Simulation Start Device Simulation Download All Download Target Options Downloading All Project Example Target Platform Status Romizing Progress 34 Example Application Twido and Altivar with CANopen_EN doc The example application contains several user screens The picture shows the main screen which on clicking on the buttons leads to further screens This screen shows the language selection and drive mode etc To test individual drives click on Manual Mode in the above scre
47. m To add a symbol click on the insert icon First enter the symbol name Now you can add the address and a comment Use the different column headers as sort criteria to sort the table in alphabetical order MW ID CANSTATE 1 Altivar state D CANSTATE CANOpen state D D_COMMAND_DRIVET PWET 1 010 COMMAND DRIVE f Fi dl go SR dL 460 Pm amm MIEL ME 2 74 Mo A ea Mieux ZA al Schneider Electric 49 Create an application Program Twido and Altivar with CANopen_EN doc Use the Edit Program function to go to the Telemecanique program editor Starting a new program always begins with LADDER as the programming language You can only view the program in LIST mode once the first rung has been completed and analysed Starting with an empty program add a section This will create a section with empty rungs The first rung is marked in red on the LHS to denote that it has logical errors Click on the top of a rung to rename it uaa CETTE Ede Lt LB gt You can also rename the section 1 2 3 s Ti pe REE Clicking on the rung changes its colour to green and indicates the ow ________ current rung being M een edited Clicking ae icon in the toolbar ins
48. n EN doc Schneider Electric Twido and Altivar with CANopen_EN doc After inputting the text you can define change the text characteristics in the Property Inspector A right mouse click on the text object in the display leads to the animation This is the same animation as seen in the property inspector see image above but in another format Both formats contain the same attributes Schneider Electric Property Inspector ee Name Top Left width Height BitmapDisplay Text Color Text Blink 3D Color 3D Blink Back Color Back Blink Line Color Line Blink Line Style Line Width Text TextFont Fant Width FontHeight FontStyle RestoreFonts LineSpacing Horizontalalign Vertical4lign Animation SaveDef aulls RestoreDefaults 02 59 59 2 2 Ma C 255 255 255 Mone Transparent Mone Transparent Mone 0 SOLID 1 Modern 8x13 5 13 Mormal Center Middle ilfTargeti Paneli e Edit Text Animation Cut Copy Ckri c Paste Duplicate Delete Delete Group Order Rotate Flip Align Selection qiab aroup Remove Group gl gt i zi Properties Alk Enter 32 Twido and Altivar with CANopen_EN doc Animation Properties Colour Position Value Visibility For the variable used to animate this object you can either man
49. n application and import files Use the appropriate software tool to either open or import the files Extension ________ Software Tool Required 2 EDS file Geraete Stamm Datei Project File Dp ms LN Gb _ PB POF Pse m Twido and Altivar with C ANopen_EN doc Schneider Electric Typical Applications Introduction Here you will find a list of the typical applications where this system subsystem can be applied Industrial e Small to middle sized automated machines e De centralised automated sub systems serving as components in large or middle sized machines Machines e Packaging Machines and box folders e Palette wrappers Food amp Drug e Drying Plants e Conveyor ovens Packaging machines or These machines are often used Box folders as feeder components in larger confectioning and filling systems Application Description Eampl Wrappers for Palettes These machines wrap palettes so that the layers of goods are securely held on the palette These stand alone machines can be integrated into production lines Drying plants and Used as Components in larger conveyor ovens system where products need to be dried Twido and Altivar with C ANopen EN doc Schneider Electric System Introduction The system chapter describes the architecture the dimensions the quantities and different types of components used within this system Architecture General The PL
50. ng XVBC2B3 System On Double switch housing XALDO02 Hardware Components Group 5 Automation Components Amt Description Part Number iiu Vers 1 Primary Fuse for PLC 1P C1A 23725 Twido PLC Modular TWDLMDA20DR T CanOpen Card TWDNCO1M CanOpen Plug TSXCANKCDF 90 Branch socket CANopen VW3CANTAP2 CAN Bus cable 1 VW3CANCARHR 1 Hardware Components Group 6 Magelis HMI DS NL Circuit Breaker fused for HMI 1P 23725 C1A Magelis Panel XBT G 2330 5 7 XBTG2330 Colour with Ethernet Interface cable to Twido PCX1031 Hardware Components Group 7 24 Volt Power supply Pon amn atte 1 Main fuse 24V 3A 2P 1DA 24516 1 Power Supply 240 VAC 1phase ABL7RE2403 24VDC 3A 1 Primary fuse 24V 5A 2P D1 5A 23 28 1 Power supply 240 VAC 1phase ABL7RE2405 24VDC5A Twido and Altivar with C ANopen EN doc Schneider Electric Hardware Lu di ts Group 8 Drives and Power we Amon Patan Vers 2 Magnetic circuit breaker 2 5A GV2L07 2 Magnetic circuit breaker 4 0A GV2L08 4 Switch cover GVAE11 8 4 2 Altivar Drive 0 37 KW 3 ATV31H037N4 1 7 8 5 2 Altivar Drive 0 55 kW 3 ATV31HO55N4 1 7 8 6 4 ATV31 Adapter for DIN rail VW3A31852 8 7 4 8 contactor 6A AC3 1xNC LP4K0601BW3 Software Components Group 9 Pon m een Para Vers 9 1 TwidoSuite Programming Software TWDBTFU10EF 01 00 incl Cable 92 1 Twido Programming and HMI TSXPCX1031 Communication cable
51. ode D SELECT SPEED VAL 4 Drive03 act speed MW11 X13 STOP DRIVE 1 40012 13 DriveO1 Stopped MW11 X14 ERROR DRIVE 1 40012 14 DriveO1 Error MW12 X13 STOP DRIVE 2 40013 13 Drive02 Stopped 12 14 ERROR DRIVE 2 40013 14 DriveO2 Error MW13 X13 STOP DRIVE 3 40014 13 Drive03 Stopped 13 14 ERROR DRIVE 40014 14 DriveO3 Error MW14 X13 STOP DRIVE 4 40015 13 Drive04 Stopped MW14 X14 ERROR DRIVE 4 40015 14 DriveO4 Error Datalink PLC lt gt HMI Address Name Address Designation ERROR CO MASTER CANopen Error Master ERROR SLAVE 1 CANopen Error DriveO1 ERROR SLAVE 2 CANopen Error 02 ERROR SLAVE 3 CANopen Error DriveO3 ERROR SLAVE 4 CANopen Error 04 MW2 X0 STEP_O ACTIVE 40003 0 Step_0 2 1 STEP 1 ACTIVE 40003 1 otep 1 9oMW2 X2 STEP 2 ACTIVE 40003 2 Step 2 9oMW2 X3 STEP 3 ACTIVE 40003 3 otep 3 MW2 X4 STEP_4 ACTIVE 40003 4 Step 4 MW2 X5 STEP_5 ACTIVE 40003 5 Step_5 MW2 X6 STEP_6 ACTIVE 40003 6 Step 6 MW2 X7 STEP 7 ACTIVE 40003 7 otep 7 2 8 STEP 8 ACTIVE 40003 8 Step 8 MW2 X9 STEP_9 ACTIVE 40003 9 otep 9 2 10 STEP 10 ACTIVE 40003 10 Step 10 2 11 STEP 11 ACTIVE 40003 1 1 Step 11 MWe X12 STEP 11 ACTIVE 40003 12 otep 12 Twido and Altivar with C ANopen EN doc Schneider Electric Datalink Twido PLC Modbus 2 HMI Magelis XBT G Modbus 1 PLC lt gt HMI Data Direction PLC lt gt HMI read and write
52. of the Twido The grahical image will change to green Drop the selected Twido while the mouse icon is in the green field Schneider Electric 38 As next modules select the CANopen Master TWDNCO1M Catalog Use Drag amp Drop to place it to the right of the 1 Bases Twido PLC in the Expansion modules graphical image Digital Expansions 8 Analog Expansions Communication Expansio amp AS Interface CANOpen WwONCOIM H Serial Expansion Modules amp Serial Adapter m RTE Cartridge H Memory Cartridge H Operations Display H Network Elements Now add the extra digital inputs module TWDDDH6DK E Catalog Again using drag amp drop Place place it next to the he CANopen Master Bases B Expansion modules Digital Expansions TWDDDISDT Finally add the digital outputs module TWDDDOS8UT TWDDRASRT TWDDRA18RT TWDDDO185UK TWDDDO18TK TWDDDOS2UK TWDDDOS3ZTK Analog Expansions H Communication Expansio H Serial Expansion Modules Serial Adapter Twido and Altivar with C ANopen_EN doc Schneider Electric Twido and Altivar with CANopen_EN doc Now add the Magelis Terminal XBT G2330 For this add the general Magelis Modbus element to the configuration The Workspace now shows a graphic display of the configured modules devices The connection HMI PLC via the Modbus interface has still to be done To confgure
53. outines em 89 Get Me et IT 00 08 ELE S Meets Sn En V Lia 3L 1 E AC i 1 p Schneider Electric 53 Save export the project Twido and Altivar with CANopen_EN doc As the macro is already configured the address field also contains the symbolic macro name D MANAGER 1 The SHORT seen here must be exchanged for a control variable TART CON L Ir rr OLI D T MVSHeGEE 7 You can now repeat this for the other macros D CLEAR ERR D RUN FWD D RUN REV D STOP und D SELECT SPEED To save the project select Save current project in the Project menu In the Save current project window you can select the folder for the save input the file name and designate the file Format You can save the file as a normal Project file or as an Archive file The Archive file has the advantage of being portable and is a single file projects Modified on m 28 06 2006 0 0CO Example Twida 27 06 2006 1 giDP CANopen Optimi 28 06 2006 D Optimized 2 CAN 22 06 2006 1 gl DCO Example Twi 22 06 2006 1 Format TwidoSuite Archive TwidoSoftt file Schneider Electric Project File informatio Project Directory Project mform Author Service Index Industrial Prog Comment 54 Open Import a Project Twido and Altivar with CANopen_EN doc To open a project use the Open
54. r Electric 69 Twido and Altivar with CANopen_EN doc Give the device a name note configuration and device names must be unique And describe your device as you wish serial number physical position in system document number etc Click on the tab Configuration Here you can select your configuration From the list and assign it to your device You can ignore the tab Communication for the moment Close the dialog with OK The device name can now be seen in the project browser You need only to mark the device name to select which configuration is to be downloaded to the drive IDCM 089 4 ROTER ehe communication area Aetsrence Advanced IDEE Configuration erie Communication ib Powersuite OOOO File Action Display Toole 7 H My devices S i Drive 1 serial point to point B A My configurations EC Altivar drives T arva i configuration drive 1 e Connections Serial point to point m serial multidrop B Eth bridge point to point 2 Eth bridge multidrop y Ethernet Modbus TCP Charac Schneider Electric 70 Use the connecting set VW3A8106 to connect the COM on your PC to the RJ45 socket on the Drive If you used CAN taps be RM B sees mde mam tanado careful that the PC is c connected to the middle socket RMS I RAMS 3m on the tap and that only the target drive is
55. r registry CANopen H4 Mbit s Schneider Electric 68 For each Altivar you must input the motor data To do this select Motor Control gt Motor Characteristics Input the motor data UNS Nominal motor voltage Hominal motor frequency Nominal motor current COS Motor power factor Nominal motor speed RSC Cold stator resistance Automatic tuning After finishing the configuration you must now create a device that uses this configuration Click on devices in the project browser then on File gt New gt Device to go to the input dialog to create a new device Twido and Altivar with CANopen_EN doc ep File Configuration Display Toole scope gt E ATV31 4 Fast settings E e Accel Decel Frequency range Thermal protection Optimization speed loop Detection Threshold e Motor control i Motor characteristics Switching Tse Speed scale 20 Terminal Configuration Inputs Outputs oe Control command Control command 54 Application functions en Summing inputs Lf JOG E Rame contin watin veo Hz 50 0 Aig 0 70 rpm han y mohm File Action Display Tools oy L3 System Rename viri Device M Configuration Delete Irmpart Export ration drive 1 joint Print a point drop E Ethernet Modbus TCP ES Cte Schneide
56. rial for the connection to work properly Ensure that the COM port settings are correct normally COM as default Although downloading to the Magelis will not actually be performed now you must connect the COM port of the PC with the Tool port on the Magelis to perform the download Use the cable XBTZG9156 to make the connection ra E hdc Ri de C m nube b rPCDET HJA ART Property Inspector it Mame Description Type TargetColor BTS Model InitialPanaelID Buzzer StartUipbelay sec ToConfiguration Download COM Port Baud Rate IPAddress SubnetMask BefaulEGatewa Printer Security Input Mode Alarm Banner XBT G Unit Lr Tool connector Target ABT ts Series 64 Colors with Blink SBT G23350 320x240 1 Main Enabled 0 3 Corner Serial COMI 115200 0 0 0 0 eon 25900 0 0 0 0 Disabled Disabled Personal Computer To an Ethemet Network 1 Data Transfer Cab XBTZG915 CF Card 2 XBTZGM16 XBTZGM32 1 not available on XBT G21 10 2120 2220 4320 2 not available on XBT G2110 Schneider Electric 24 Configure the driver Twido and Altivar with CANopen_EN doc For the communications to work you must set up the parameters in the Modbus RT U Driver For this right mouseclick on ModbusRTUO1 in the Navigator and select Configuration In the Driver
57. tegers and Reals 30001 i and 40001 Discretes 00001 1 and 10001 i and 30001 1 j and 40001 i j where represents the bit number or word number i e you address them with the appropriate offset Examples PLC M106 HMI 00001 106 gt 00107 PLC MW207 HMI 40001 207 gt 40208 Name PLC MW100 Bit5 Description HMI 40001 100 5 Array Dimension gt 40101 05 Data Type Integer Source External Twido and Altivar with CANopen_EN doc The image shows the variable Test with its attributes listed in the Property Inspector Schneider Electric Scan aroup Device4ddress Indirect Address Data Format Signed Data Length Keep History Data Details DataScaling Alarm PLC 40152 O BIN Unsigned 16 bits Disabled Disabled Disabled 30 Examples Example Insert Text Select the text tool in the tool E Es rd En gs m The toolbar displays the toolbox with tools for editing the display Example Create Text With the text tool position the text box on the display You can adjust its size by pulling on the box or by giving a value Tent Editor in the text editor dialog Language Language Font vieo Sans Serif v Fort width 16 Double click on the text box to ee open up the text editor dialog A ont NN you can input the text to be displayed and define its size font etc Twido and Altivar with C ANope
58. the rear of this document Not all the components in this configuration are designed to withstand the same environmental conditions Some components may need additional protection in the form of housings depending on the environment in which you intend to use them For exact environmental details of the individual components please refer to the appropriate user manual Mains voltage 400V AC Power requirement Approx 11 kW Drive power rating 2x 0 37 kW 2x 0 55 kW Motor brake none Connection 5x 2 5mm L1 L2 PE Safety Level category 3 optional Schneider Electric Dimensions The dimensions of the individual devices used PLC Drive Power supply etc require a housing cabinet size of at least 800x600x300mm WxHxD The HMI display illuminated indicators such as SYSTEM SYSTEM OFF ACKNOWLEDGE EMERGENCY OFF as well as the emergency off switch itself can be built into the door of the control cabinet Twido and Altivar with C ANopen EN doc Schneider Electric Installation Introduction This chapter describes the steps necessary to set up the hardware and configure the software for the described application Layout Note This document describes the implementation of a palette wrapper as a sub system within a larger paletting system The modules and I O here listed are a representative cross section of the modules and indicators required to implement the applica
59. tion as defined in this document and will without doubt differ from your own specific application Twido and Altivar with C ANopen EN doc Schneider Electric PLC I O Twido PLC Not used reserved for fast counters Wiring Inputs Not used reserved for fast counters Emergency off OK Door Safety OK Magnetic CB Drive 1 OK Magnetic CB Drive 2 OK Magnetic CB Drive 3 OK Magnetic CB Drive 4 OK Pallet arriving HW indicator Pallet on turntable in Stop position Turn turntable slowly Stop position turntable lower End position wrapping sled upper End position wrapping sled Wrapper arm activated Removal track ready HW indicator Pallet was received HW indicator Wrapping Torn Optional Detect Pallet Height Wrapper arm extended Wrapper arm retracted Cutter open Cutter closed Gap Control arrival Gap Control Departure Wrapping Minimum thickness 12 6 12 7 12 8 12 9 Twido PLC Q 0 0 Trans Display emergency off acknowledge Outputs Q 0 1 Trans Display Safety door acknowledge Q 0 2 Signal lamp red error in system Q 0 3 Signal lamp green running Automatic Q 0 4 Signal lamp white System on Q 0 5 Signal lamp blue Safety door error Q 0 6 System on Q 0 7 Wrapper is ready HW indicator Q 3 0 Pallet accepted HW indicator Q 3 1 Extend Wrapper arm Q 3 2 Cut wrapping Q 3 3 Pallet ready for departure HW indicator Wiring Twido I wido Com Inputs OV DC reference potential
60. try for a slave IS Supervision None The default timeout for all slaves is 300msec Set the supersvision to HeartBeat but leave the timeout at the default The default baud rate Is 250 Kbit s For the example project set it to 500 Kbit s CANopen Contiguraation Tad rapina sembal gt od des DE 422 Macon Corio E 1 VEN QUT il vend Talemecankqe Demla EOS for Akka 31 g F CANopen Tad ales DE ADE recs ond Motion Control E ALL BOS ATEN vw LO 8 ATi s d xL tia Vals vendr Desi Tile for 31 ls CANopen Trol secos C si fe 25 400 y Drive ange Melen Contra Ew ATE biz iI ATWII Be ATITL VLA PILLS Schneider Electric 44 Once you have entered all 4 drives in the slave Network list you can rename them 3 3 e g Drive 1 Drive 4 o thun TE oe To aid fault diag nosis 1 Drivel BASIC 1 HeartBeat the entries are made so 2 BASIC 3TV312 BASIC ATV31 Heartbeat that Drive 1 is Slave 1 BASIC ATV313 BASIC ATV31 HeartBeat Drive 2 is Slave 2 etc BASIC
61. tware packet Personal XBT G Unit Computer To an Ethemet Network 1 Vijeo L Tool connector Data Transfer Cable XBTZG915 Card 2 XBTZGM16 ABTZGM32 1 not available on XBT G2110 2120 2220 4320 2 not available on XBT G21 10 Programming the Altivar is done using the cable VW3A8106 and the Powersuite cable RJ45 lt gt SubD9 black RJ45 1 99009 female femelle Sub D 9 PowerSuite ame Sub D 9 female femelle PowerSuite Schneider Electric 18 CANopen CANopen Master Module TWDNCO1M The CANopen Interface Module is plugged into the Twido PLC and has a Sub D 9 CANopen connection CANopen Plug TSXCANKCDF90T Use this plug on the TWDNCO1M Plug includes a terminal resistor CANopen Kabel TSXCANCD50 Flexibles Kabel CANopen TAP VW3CANT AP2 Connection for 2 drives of type Altivar 31 Configuration port for use with PowerSuite Terminal resisitor can be selected using the ON OFF switch The image shows the resistor set to OFF CanOpen Branch Cable VWS3CANRR1 Connects the TAP to the Altivar 31 with two RJ54 plugs Twido and Altivar with C ANopen EN doc Schneider Electric Introduction Function Layout Implementation The implementation chapter describes all the steps necessary to initialise configure to program and start up the system Start up and fun
62. ually input the variable or click on the lightbulb icon to browse the variable list and select a variable If you input an unknown variable it is shown in red the variable has yet to be defined Once activated variables can be selected and their display format defined If the value requires further processing before use such as trigonomic functions you can select these via the calculator icon Text and Graphics examples m Enable Value Animation 01 zpeed le Zero Suppress F Enable Input Mode 6D E Kk Variable List im 8 2 apres speed sd Forward manu 40012101 Manu Vela 40016 LM Revers 4001212 Revers manu T 40012021 Z Product Settings P amp Telemecanique Schneider Electric 33 Download the project Twido and Altivar with CANopen_EN doc This picture shows the finished diagnostic screen with some animations and buttons Before you download the project to the Magelis you must validate it With Validate All you can analyse your project The feedback zone shows you the results of the analysis You can invoke the project analysis using Build All too Downloading the project to the Magelis HMI Select the project in the Navigator Use Build gt Download All to transfer the project to the HMI device The transfer is done using the configured protocol serial in this case The Vi

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