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SIMOTION Supplement to SIMODRIVE POSMO A

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1. SIMOTION Hardware platform such as C2xx PROFIBUS DP Positioning Motor 75 W Figure 1 1 Connection of SIMODRIVE POSMO A to the SIMOTION C2xx hardware platform Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition Description 7 2 Installation and startup 1 2 Installation and startup Overview You must perform the following steps to commission the SIMODRIVE POSMO A and control it from the SIMOTION system 1 2 Mount and wire the SIMODRIVE POSMO A positioning motor Set the PROFIBUS DP node address on the connection cover of the SIMODRIVE POSMO A Switch on the terminating resistor at the first and last bus node Note For steps 1 to 3 refer to Section Installation and Connection of the Distributed Positioning Motor on PROFIBUS DP user manual You can use any of the following to commission the SIMODRIVE POSMO A C1 master SIMODRIVE POSMO A PROFIBUS MASTER Commissioning tool SimoCom A Note Refer to the Distributed Positioning Motor on PROFIBUS DP user manual Section Commissioning of DP Master Drive ES tool This tool includes SimoCom A Note Refer to the Drive ES Basic function description Insert the SIMODRIVE POSMO A into the SIMOTION project refer to Section Inserting a SIMODRIVE POSMO A positioning motor into a SIMOTION project Page 12 Control the SIMODRIVE POSMO A from th
2. Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 23 Function blocks 2 3 Function block _POSMOA_nControl Name P type Data type Default Meaning dataReady OUT BOOL FALSE Several cycles are required for transferring the ramp up time for example Completion of the data transfer is indicated by a rising edge TRUE Data transfer finished data have been transferred FALSE Data transfer in progress e g ramp up time statusWord OUT WORD 16 0000 Display of status word actValue OUT DINT 0 Actual speed error OUT BOOL FALSE TRUE Request completed with error refer to the errorlD parameter errorlD OUT WORD 16 0000 Number of the parameter assignment error signaled by the drive parameter identifier value PKW range 2 driveError OUT BOOL FALSE Drive error is pending driveErrorld OUT WORD 16 0000 Reason for the error Bit format Value corresponds to parameter 947 errors 2 driveWarning OUT BOOL FALSE A drive warning is pending refer to parameter driveWarnld driveWarnld OUT WORD 16 0000 Reason for the warning Bit format Value corresponds to parameter 953 warnings 2 driveWarnInfo OUT WORD 16 0000 Supplementary information for warnings for POSMO A firmware version 1 4 and higher Bit format The value corresponds to P954 supplementary information for warnings 1 Parameter types IN input parameter OU
3. driveWarnInfo Warn_info driveError driveError driveErrorld driveErrorNumber error Fault error errorID Fault_number errorNumber _POSMOA_nControl FB 9 enable pkwin pzdin init Initialization releaseBrake Brake_release accelTime Acc_Time releaseRamp Ramp_en startRamp Ramp_on setpoint Sp releaseSetpoint Sp_en resetError Fault_acknowledgement reqControl Ctrl_req busy FB_coordination pkwOut pzdOut ready Ready active dataReady Data_transfer_ready statusWord Status_word actValue Pv error errorlD driveError Fault driveErrorld Fault_number driveWarning Warning driveWarnld Warn_number driveWarnInfo Warn_info 52 Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition Appendix A 7 SIMOTION and SIMATIC names Name in the SIMOTION system as of V4 1 command library in SCOUT Name in the SIMATIC system Name in the SIMOTION system up to V3 2 SIMOTION function library _POSMOA_rwParameter FB 11 _FB_posmoA_readWriteParameter pkwin _O_address PKWinputinterface paraNumber Number parameterNumber subindex Index subindex enableRead Read read execWrite Write write setDefault Factory_default setFactorySettings saveParameter Parameter_save saveParamet
4. SIMOTION MCC Motion Control Chart Programming Manual SIMOTION LAD FBD Ladder Diagram and Function Block Diagram Programming Manual These documents are shipped with SIMOTION SCOUT in electronic form Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition Function blocks 2 2 1 Overview of function blocks This section contains a description of all of the function blocks FBs and the data structure you need for communication between a SIMOTION hardware platform and the SIMODRIVE POSMO A The function blocks form the software interface between the SIMOTION system and the SIMODRIVE POSMO A positioning motor These function blocks make it easier to control and assign parameters for a SIMODRIVE POSMO A positioning motor from the SIMOTION program For example you can assign parameters fora POSMO A without being familiar with PROFIBUS parameter formats and request specifiers The function blocks must be called repeatedly in cycles from the user program The following function blocks are available e Function block POSMOA_control Page 16 e Function block _POSMOA_nControl Page 22 V4 1 and higher e Function block POSMOA_rwParameter Page 28 e Function block POSMOA_rwAllParameter Page 31 Note For the complete control and communication of the SIMODRIVE POSMO A from the SIMOTION program an instance must be created for each POSMOA_rwParameter and _POSMOA_rwAllParameter function blo
5. Name P type Data type Default Meaning blockNumber IN BYTE 16 00 Traversing block numbers 3 to 27 Single block or program blockNumber 3 gt MDI operation resetError IN BOOL FALSE Acknowledges fault 1 Remedy cause of fault 2 FALSE gt TRUE edge 3 Parameter must remain set to TRUE until driveError FALSE setStartInformation IN BYTE 16 00 Start byte Bit combination transmitted to the drive as an additional start requirement 2 mdiMode IN BOOL FALSE TRUE MDI relative The value in the mdiPosition parameter is evaluated relative to the current position FALSE MDI absolute The value in the mdiPosition parameter is evaluated in absolute terms relative to the drive zero position set by homing mdiVelocity 3 IN INT Velocity of MDI travel 0 to 100 mdiAcceleration IN INT Acceleration of MDI travel 0 to 100 mdiPosition IN REAL Target position of MDI travel Value range 2 105 to 2 105 reqControl 4 IN BOOL FALSE Control requested by the open loop control p701 1 Message frame substitution active TRUE PROFIBUS data are taken over by the POSMO A FALSE Data from the PROFIBUS are frozen the data last received are used p701 0 Message frame substitution inactive Behavior as for POSMO A before software version V3 0 pkwOut IN OUT ARRAY 0 7 Prepared FB data for I O outputs of the POSMO A of BYTE pzdOut IN OUT ARRAY 0 3 Prepared FB data for I O outputs of the POSMO A of BYTE
6. Note The Message frame substitution function takes effect immediately with p701 1 Make sure that the drive can be shut down at any time by an EMERGENCY STOP For more information refer to the SIMODRIVE POSMO A user manual Distributed Positioning Motor on PROFIBUS DP Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 25 Function blocks 2 3 Function block _POSMOA_nControl Graphical overview of the functionality Level init statusWord Bit 0 Einschaltbit enable ready statusWord Bit 0 Einschaltbit enable ready releaseRamp startRamp releaseSetpoint Status word bit 13 drive traveling V Velocity Figure 2 1 Signal propagation diagram Supplement to SIMODRIVE POSMO A Positioning Motor 26 Function Manual 03 2009 Edition Function blocks 2 3 Function block _POSMOA_nControl Task integration call The _POSMOA_nControl function block must be called cyclically in the BackgroundTask or in the TimerlnterruptTask Calling in the SystemInterruptTask is not permitted Calling the function block in synchronous tasks e g IPOSynchronousTask is not recommended for runtime reasons Error messages errors and warnings The TRUE value at the error output parameter indicates a parameterization error The errorlD output parameter provides more detailed information on the parameterization error that has occurred Parameterization errors do not need to
7. jog1 Jogging_1 jog1 jog2 Jogging_2 jog2 jogOverride Jogging_override jogOverride start Start start singleBlock Automatic_operation enableRadIn Read_in_enable extBlockChange External_blockchange noStopIntermediate No_intermediate_stop intermediateStop noStop No_stop stop resetError Fault_acknowledgement resetError blockNumber Block_number blockNumber veloOverride Override velocityOverride setStartlnformation Start_byte setStartInformation mdiMode MDI_type MDIMode mdiVelocity MDI_velocity MDIVelocity mdiAcceleration MDI_acceleration MDI Acceleration mdiPosition MDI_position MDIPosition reqControl Ctrl_Req pkwOut _O_address PKWOutputInterface pzdOut _O_address PZDOutputInterface busy FB_coordination busy ready Ready ready active SIMOTION Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 51 Appendix A 7 SIMOTION and SIMATIC names Name in the SIMOTION system as of V4 1 command library in SCOUT dataReady Name in the SIMATIC system Data_transfer_ready Name in the SIMOTION system up to V3 2 SIMOTION function library statusWord Status_word statusWord actBlockNumber Actual_block actualBlockNumber statusInformation Checkback_signal_byte statusInformation driveWarning Warning driveWarning driveWarnld Warn_number driveWarningNumber
8. 3 2 Operator control and monitoring of the application example in the detail view Homing mode 44 The approach using visual axis marking and assign actual value options have been implemented For homing POSMO A must be switched to closed loop control and zero speed The actual value parameter 40 of POSMO A can be set via the Parameter handling write individual parameter operating mode In the Control value column of the symbol browser select the check boxes for the following variables and select the values to be assigned e myCommand START_HOMING Clicking Immediate control assigns the value to the variable and the POSMO A is homed to the value set in parameter 40 of POSMO A Note For more information on the homing of the POSMO A refer to the Distributed Positioning Motor on PROFIBUS DP user manual This documentation is included in the SIMOTION SCOUT scope of delivery as electronic documentation The current Homing state can be read in the symbol browser as follows e myCheckbacks actCommand HOMING_ACTIVE Homing activated e myCheckbacks actCommand NO_COMMAND_ ACTIVE myCheckbacks done TRUE Homing completed without error Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition Application example 3 2 Operator control and monitoring of the application example in the detail view MDI mode Requirement The POSMO A is homed In the MDI mode one MDI block absol
9. Array element Data type Initial value Comment 0 BOOL TRUE Type of motion 1 BOOL TRUE Type of positioning 2 BOOL FALSE Type of timer 3 BOOL FALSE Connection between timer and start byte 4 BOOL FALSE Program return 5 BOOL FALSE Type of traversing 6 BOOL FALSE Invert start byte condition 7 BOOL FALSE SM start type 8 BOOL FALSE Program stop 9 BOOL FALSE Set actual value Task integration call Fault messages The _POSMOA_rwAllParameter function block must be called cyclically in the BackgroundTask or in the TimerInterruptTask Calling in the SystemInterruptTask is not permitted Calling the function block in synchronous tasks e g IPOSynchronousTask is not recommended for runtime reasons Note The functionality of the POSMOA_rwAllParameter FB has been expanded with V4 1 To enable you to use the newly implemented functionality you must add the new posMode input parameter when calling the POSMOA_rwAllParameter FB If you want to work with the previous functionality lt V4 1 you can leave out the new input parameter with a detailed notation when calling the FB The TRUE value at the error output parameter indicates a parameterization error The errorlD output parameter contains more detailed information on the parameterization error that has occurred or has been signaled by POSMO A The errorParaNumber output parameter supplies the number of the parameter that has caused the error Parameterization errors do no
10. D Data structure of Struct_POSMOA_params 33 I O variable Creating 14 Installation and startup 11 Integrating the function blocks 13 M Message frame substitution FB _POSMOA control 21 FB _POSMOA_nControl 25 P POSMO A application example 41 POSMO A function blocks _POSMOA_control 16 _POSMOA_nControl 22 _ POSMOA_rwAllParameter 31 _POSMOA_rwParameter 28 Call example 38 Overview 15 R References 3 S SIMOTION and SIMATIC names 51 Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 57
11. INTERFACE Definition of global variables for demo VAR_GLOBAL myPosmoAControl _POSMOA_ control myEnable BOOL myHoming BOOL myJogPositive BOOL myJogNegative BOOL myBusy BOOL myError BOOL END VAR PROGRAM ExamplePosmoA END INTERFACE IMPLEMENTATION PROGRAM ExamplePosmoA VAR temporary array for outputs of FBs tmpPkwOutput ARRAY 0 7 of BYTE tmpPzdOutput ARRAY 0 3 of BYTE END_VAR INSTANCE CALL of FB _POSMOA_ control myError variable created by the user myError myPosmoAControl error myPkwOut myPzdout tmpPkwOutput tmpPzdOutput END PROGRAM END IMPLEMENTATION BExamplePosmoA program create _POSMOA control instance enable posmoA 1 homing posmoA jog positive posmoA jog negative posmoA coordination bit variable created by user for accessing an output variable of the function block Program of BackgroundTask Program of BackgroundTask 3 4 myPosmoAControl pkwiIn myPkwin 5 pzdin myPzdin enable myEnable homing myHoming jogl myJogNegative jog2 myJogPositive busy myBusy pkwOut tmpPkwOutput pzdout tmpPzdOutput an output variable in the _POSMOA control function block is assigned to a 6 Assignment of intermediate buffer byte arrays to I O addresses 7 Note The ExamplePosmoA program must be assigned in the execution system Supplement to SIMODRIVE POSMO A P
12. Electronics temperature r p48 INT 0 Current traversing block number r p49 INT 0 Subsequent block number r p50 DINT 0 Speed setpoint r p51 DINT 0 Actual velocity value r p52 DINT 0 HW version r p53 DINT 0 Firmware version r p54 DINT 5 P gain of speed controller zero speed r w p55 REAL 0 0 Signal position r p56 INT 0 Operating position r w p57 DINT 20 P gain of stop controller zero speed r w HW Version F and higher p58 DINT 100 Holding brake release time r w p59 REAL 10 0 Holding brake closure speed r w p60 DINT 400 Holding brake deceleration time r w p61 DINT 100 Holding brake controller disable time r w p62 REAL 0 0 Measuring position r p80 ARRAY 0 27 of Traversing blocks 1 to 27 r w Array_POSMOA_prgCtrllnfo see Table Structure of Array_POSMOA_prgCtrllnfo p81 ARRAY 0 27 of REAL 28 0 0 Target position for traversing blocks 1 to 27 r w p82 ARRAY 0 27 of INT 28 100 Velocity or speed for traversing blocks 1 to 27 r w p83 ARRAY 0 27 of INT 28 100 Acceleration for traversing blocks 1 to 27 r w p84 ARRAY 0 27 of DINT 28 0 Timer value for traversing blocks 1 to 27 r w p85 ARRAY 0 27 of REAL 28 0 0 Signaling position for traversing blocks 1 to 27 r w p86 ARRAY 0 27 of INT 28 0 SMStart MMStart for traversing blocks 1 to 27 r w p87 ARRAY 0 27 of INT 28 0 MMStop MMPos for traversing blocks 1 to 27 r w p99 ARRAY 0 20 of INT 13 18 23 0 0 0 0 0 0 Program management see Distributed Positioning rhw 0 0 0 0 0 0 0 0 0 0 0 Motor o
13. Write individual parameter e myWrParaNumber You state the number of the parameter to be written here e myWrSubindex You state the subindex of the parameter to be written here for indexed parameters only e myWrRealValue You state the value of the parameter to be written here data types C4 and N2 2 e myWrDintValue Here you state the value of the parameter to be written data types 12 T2 V2 and T4 2 2 Refer to the Distributed Positioning Motor on PROFIBUS DP user manual This documentation is included in the SIMOTION SCOUT scope of delivery as electronic documentation Supplement to SIMODRIVE POSMO A Positioning Motor 46 Function Manual 03 2009 Edition Application example 3 2 Operator control and monitoring of the application example in the detail view Saving all parameters in the EEPROM In the Control value column of the symbol browser select the check boxes for the following variables and select the values to be assigned Clicking Immediate control assigns the value to the variable this activates saving of all parameters in the EEPROM e myCommand SAVE_PARAMETER Saving all parameters in the EEPROM The current Parameter handling state can be read in the symbol browser as follows e myCheckbacks actCommand READ_PARA_ACTIVE Read individual parameter activated e myCheckbacks actCommand WRITE_PARA_ACTIVE Write individual parameter activated e myCheckbacks actCommand SAV
14. accelTime IN DINT 0 Ramp up ramp down time ms During this time the setpoint is adjusted in speed controlled mode as follows e Ramp up From zero to the maximum permissible actual speed e Ramp down From the maximum permissible actual speed to zero releaseRamp IN BOOL FALSE TRUE Release ramp function generator output startRamp IN BOOL FALSE Edge FALSE gt TRUE Start ramp function generator setpoint IN INT 0 Speed setpoint releaseSetpoint IN BOOL FALSE Setpoint release TRUE Setpoint released resetError IN BOOL FALSE Acknowledge error 1 Remedy cause of error 2 FALSE gt TRUE edge 3 Parameter must remain set to TRUE until driveError FALSE reqControl IN BOOL FALSE Control requested by the open loop control p701 1 Message frame substitution active TRUE PROFIBUS data are taken over by the POSMO A FALSE Data from the PROFIBUS are frozen the most recent data received are used p701 0 Message frame substitution inactive Behavior as with POSMO A before software version V3 0 busy IN OUT BOOL Coordination of the function blocks pkwOut IN OUT ARRAY O 7 Prepared FB data for I O outputs of the POSMO A parameter of BYTE identifier value interface pzdOut IN OUT ARRAY O 3 Prepared FB data for I O outputs of the POSMO A process data of BYTE interface ready OUT BOOL FALSE Drive ready for operation AND operation Status word bit 2 bit 1 bit O active OUT BOOL FALSE TRUE Drive traveling n gt 0
15. all data one time The start takes place on a positive edge execWrite IN BOOL FALSE edge FALSE gt TRUE Writes all data one time The start takes place on a positive edge posMode IN BOOL TRUE TRUE Positioning mode of the POSMO A FALSE Speed controlled mode pkwOut IN OUT ARRAY 0 7 of Prepared FB data for I O outputs of the POSMO A BYTE allParaPosmoA IN OUT Struct POSMOA_ Data structure for all parameters of the POSMO A params busy IN OUT BOOL Coordination of the FBs done OUT BOOL FALSE TRUE When current request has been completed FALSE There is no request pending or a request is being executed error OUT BOOL FALSE TRUE Request completed with error refer to the errorlD parameter errorlD OUT WORD 16 0000 Number of the parameter assignment error signaled by the drive parameter identifier value PKW range 2 errorParaNumber OUT INT 0 Number of the parameter that caused the error 2 1 Parameter types IN input parameter OUT output parameter IN OUT in out parameter 2 See Distributed Positioning Motor on PROFIBUS DPuser manual 3 As of SIMOTION V4 1 this parameter is part of the POSMOA_rwAllParameter FB and can only be operated with POSMO A software version 3 0 and higher Data structure of Struct_POSMOA_params The data structure of type Struct_POSMOA_params contains all of the parameters for controlling the SIMODRIVE POSMO A This data structure is used by the POSM
16. busy IN OUT BOOL Coordination of the FBs ready OUT BOOL FALSE Drive ready for operation Logic operation Status word bits 2 to 0 2 active OUT BOOL FALSE TRUE Axis in motion dataReady OUT BOOL FALSE Several cycles are required for the transfer for example of mdiPosition and jogOverride TRUE Data transfer completed e g mdiPosition jogOverride FALSE Data transfer in progress ramp up time or data transfer not yet started statusWord OUT WORD 16 0000 Read out of status word 2 actBlockNumber OUT BYTE 16 00 Readout of current block number Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 19 Function blocks 2 2 Function block _POSMOA_control Name P type Data type Default Meaning statusInformation OUT BYTE 16 00 Checkback signal byte Bit combination as additional status signal 2 driveWarning OUT BOOL FALSE A drive warning is pending refer to parameter driveWarnld driveWarnld OUT WORD 16 0000 Reason for the warning Bit format Value corresponds to parameter 953 warnings 2 driveWarnInfo OUT WORD 16 0000 Warnings or supplementary information corresponds to p954 of the POSMO A driveError OUT BOOL FALSE A drive error is pending refer to the driveErrorld parameter driveErrorld OUT WORD 16 0000 Reason for the error Bit format Value corresponds to parameter 947 errors 2 error OUT BOOL FALSE TRUE
17. on the POSMO A are signaled in the driveError output parameter with the value TRUE The reason for the fault can be read out in the driveErrorld output parameter value corresponds to P947 Drive faults have to be acknowledged and must be reset in the resetError input parameter with the rising edge Warnings pending from the POSMO A and the associated information are output in the driveWarning driveWarnld value corresponds to P953 and driveWarnInfo value corresponds to P954 output parameters Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 21 Function blocks 2 3 Function block _POSMOA_nControl 2 3 Function block _POSMOA_nControl Task You can control the connected SIMODRIVE POSMO A in speed controlled mode with the _POSMOA_nControl function block Note The _POSMOA_nControl function block is contained in SIMOTION SCOUT as of V4 1 The technology objects TOs cannot be used to operate the POSMO A via the speed setpoint interface Call LAD representation ARRAY 0 7 of BYTE ARRAY 0 3 of BYTE BOOL BOOL BOOL DINT BOOL BOOL DINT BOOL BOOL BOOL BOOL ARRAY 0 7 of BYTE ARRAY 0 3 of BYTE Parameter description EN pkwin pzdin init enable releaseBreake accelTime releaseRamp startRamp setpoint releaseSetpoint resetError reqControl busy pkwOut pzdOut 1 LAD specific parameters _ POSMOA_nControl ENO ready ac
18. parameter14 p15 p15 parameter15 p16 p16 parameter16 p17 p17 parameter17 p18 p18 parameter18 p19 p19 parameter19 p20 p20 parameter20 p21 p21 parameter21 p22 p22 parameter22 p23 p23 parameter23 p24 p24 parameter24 p25 p25 parameter25 p26 p26 parameter26 p27 p27 parameter27 p28 p28 parameter28 p29 p29 parameter29 p30 p30 parameter30 p31 p31 parameter31 p32 p32 parameter32 p33 p33 parameter33 p34 p34 parameter34 p35 p35 parameter35 p36 p36 parameter36 p37 p37 parameter37 p38 p38 parameter38 p39 p39 parameter39 p40 p40 parameter40 p41 p41 parameter41 p42 p42 parameter42 p43 p43 parameter43 p44 p44 parameter44 p45 p45 parameter45 p46 p46 parameter46 p47 p47 parameter47 p48 p48 parameter48 p49 p49 parameter49 p50 p50 parameter50 Supplement to SIMODRIVE POSMO A Positioning Motor 54 Function Manual 03 2009 Edition Appendix A 7 SIMOTION and SIMATIC names Name in the SIMOTION system as of V4 1 command library in SCOUT Name in the SIMATIC system Name in the SIMOTION system up to V3 2 SIMOTION function library p51 p51 parameter51 p52 p52 parameter52 p53 p53 parameter53 p54 p54 parameter54 p55 p55 parameter55 p56 p56 parameter56 p57 p57 parameter57 p58 p58 parameter58 p59 p59 parameter59 p60 p60 parameter60 p61 p61 parameter61 p62 p62 parameter62 p80 p80 parameter80 p81 p81 parameter81 p82 p82 parameter82
19. speed controller r w p19 REAL 1 0 Kv factor r w p20 REAL 30 0 Current setpoint smoothing r w p21 REAL 2 0 Rotation speed setpoint smoothing r w p22 REAL 1000 0 Maximum acceleration r w p23 DINT 0 Jerk time constant r w p24 INT 100 Override r w p25 INT 100 Acceleration override r w p26 INT 20 Rotation speed override for jogging r w p27 INT 50 Acceleration override for jogging r w p28 REAL 9 0 Maximum current r w p29 DINT 12000 Electronics temperature tolerance time r w p30 INT 0 Interference suppression r w p31 INT 0 Terminal 1 function r w p32 INT 0 Terminal 2 function r w p33 DINT 0 Address for measurement output 1 r w p34 INT 7 Shift factor for measurement output 1 r w p35 INT 128 Offset for measurement output 1 r w p36 DINT 0 Address for measurement output 2 r w p37 INT 0 Shift factor for measurement output 2 r w p38 INT 128 Offset for measurement output 2 r w p39 REAL 0 0 Position reference value r p40 REAL 0 0 Actual position value r p41 REAL 0 0 Speed setpoint r Supplement to SIMODRIVE POSMO A Positioning Motor 34 Function Manual 03 2009 Edition Function blocks 2 5 Function block _POSMOA_rwAllParameter Name Type Initial value Comment r w 1 p42 REAL 0 0 Actual speed r p43 REAL 0 0 Current setpoint r p44 REAL 0 0 Actual current value r p45 DINT 0 Timer status r p46 REAL 0 0 Following error r p47 REAL 0 0
20. AE E EEE EEE EEE TEE EEE EE 51 A 1 SIMOTION and SIMATIC names ccccceesceceeceeceeeceeeeeeeeceaeeesaececaeeseeeeceaeeeseaeeesaeeseeeeseneesineeees 51 A 2 Listof abbreviations esua a airia EAE AEEA aE AN aa E 56 ING OX a E T A ie be ee eh ied a 57 Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 7 Table of contents Supplement to SIMODRIVE POSMO A Positioning Motor 8 Function Manual 03 2009 Edition Description 1 1 1 General Overview Requirement Communication SIMODRIVE POSMO A is an intelligent distributed positioning drive on the PROFIBUS DP field bus DP standard slave The power unit and all of the motion control are located in the motor All of the signals and data for commissioning and operating the drive are transferred via the PROFIBUS DP The operating energy is supplied by a 24 VDC connection for a 75 W motor or a 48 VDC connection for a 300 W motor The integrated positioning functionality is suitable for a variety of simple single axis applications such as adjusting endstops and formats Note Hardware and software requirements The following requirements apply for the functionalities described in this manual e Hardware release POSMO A 75 W As of O e Software release POSMO A 75 W As of V3 0 e Hardware release POSMO A 300 W As of G e Software release POSMO A 300 W As of V3 0 POSMO A positioning motors with different hardware and software requir
21. E_PARAMETER_ACTIVE Save all parameters of the POSMO A activated e myCheckbacks actCommand NO_COMMAND_ACTIVE myCheckbacks done TRUE Parameter handling completed without error Acknowledging faults on POSMO A Faults on POSMO A are acknowledged as follows e myCommand RESET_ERRORS The current fault acknowledgement state can be read in the symbol browser as follows e myCheckbacks actCommand RESET_ERRORS_ACTIVE Fault acknowledgement active e myCheckbacks actCommand NO_COMMAND_ ACTIVE myCheckbacks done TRUE Fault acknowledgement completed Note A POSMO A fault can only be acknowledged successfully when the cause of the error no longer exists Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 49 Application example 3 3 Variables used in application example 3 3 Variables used in application example Table 3 1 Overview of the variables used Symbol Data type Initial value Meaning myCommand enumCommands NO_COMMAND Command interface myCheckbacks Struct_Checkbacks NO_COMMAND_ACTIVE Command status Additional information Table 3 2 Overview of the enums enumCommands Symbol Enum Value Meaning START_HOMING 0 Start homing of POSMO A START_JOG_NEGATIVE 1 Start jogging in negative direction START_JOG_POSITIVE 2 Start jogging in positive direction START_MDI_BLOCK_ABSOLUTE 3 Star
22. Function blocks 2 5 Function block _POSMOA_rwAl Parameter Call LAD representation _POSMOA_rwAllParameter EN ENO ARRAY 0 7 of BYTE pkwin done BOOL BOOL execRead error BOOL BOOL execWrite errorlD WORD BOOL posMode errorParaNumber INT ARRAY 0 7 of BYTE pkwOut pkwOut ARRAY 0 7 of BYTE Struct_POSMOA_params allParaPosmoA allParaPosmoA Struct_ POSMOA_params BOOL busy busy BOOL 1 LAD specific parameters Parameter description Note The SIMOTION identifiers have changed as of V4 0 You can find a comparison of SIMOTION and SIMATIC names in the Appendix SIMOTION and SIMATIC names Page 51 The busy parameter must not be overwritten by the user It is supplied and checked by the function block and must be supplied with a global variable created by the user only when the respective function block is called This parameter coordinates the individual function blocks for the POSMO A This ensures that no more than one function block can access a POSMO A at the same time Supplement to SIMODRIVE POSMO A Positioning Motor 32 Function Manual 03 2009 Edition Function blocks 2 5 Function block _POSMOA_rwAllParameter Table 2 4 Parameters of the POSMOA_rwAllParameter function block Name P type Data type Default Meaning 1 pkwin IN ARRAY 0 7 of 8 16 00 Transfer I O inputs of POSMO A to FB BYTE execRead IN BOOL FALSE edge FALSE gt TRUE Reads
23. LE S E E A E EIE AA AEI E S A E Renee 9 1 2 Installation and Stamp s a ed eee ce Aa 11 1 3 Inserting a SIMODRIVE POSMO A positioning motor into a SIMOTION project 000 12 1 4 Integrating the function blocks in the user project ssssssssssssesesrrsserrrsrirrssttrrsserssttrnsstenrsennne 13 1 5 Creating I O VanlableS saaa e he dative A A AE T eel el ee ed eee 14 2 PuNnCtON DIOCKS 4 25 0 ates eee teeta oe ease wie a a a Era 15 2 1 Overview Of FUNCTION DIOCKS srn iao aRar AE A Er RE aN EAA ATE AT 15 2 2 Function block POSMOA comrOl sn ais aieiaa aE a R a aaa 16 2 3 Function block POSMOA AC OMMIOl ss ienen E EE 22 2 4 Function block POSMOA_rwParameter eee ccccceeeeeeeeeeenneeeeeeeaeeseeaaeeeeeeaaeeeeeaeeeeeeteeseenaeeeeeeaes 28 2 5 Function block POSMOA_rwAllParameter ccccccceeceeeeeeeeeeneeeeeenaeeeeeeaeeeeenaeeeeeeateeeeenaeeeeseaes 31 2 6 Galing function DOCKS eect sntetecet a tiated E best thaceesthiataeevecitialy 38 3 Application examples ccycccticivsccotewedeettencovees cues ceuueteadecouvece theunes fete a EE EEEa e Aa e a Taaa aa 41 3 1 General information on the application example ccceceeeeeeeececeeeeeseneeaeceeeeeseeenaeeeteeeeteees 41 3 2 Operator control and monitoring of the application example in the detail view 43 3 3 Variables used in application example cceeeee cence cece cece eeneeceeeeeeesececaeeeeeeeeesecaeeeeeeeeteseinaneeeas 48 A ADD ONGIX A
24. OA_rwAllParameter function block Self defined variables of data type Struct_POSMOA_params are used to access data structure elements Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition The following table contains the Struct_POSMOA_params data structure Note The SIMOTION identifiers have changed as of V4 0 You can find a comparison of SIMOTION and SIMATIC names in the Appendix SIMOTION and SIMATIC names Page 51 33 Function blocks 2 5 Function block _POSMOA_rwAllParameter Table 2 5 Data structure of Struct_POSMOA_params Name Type Initial value Comment riw 1 p1 REAL 0 0 Linear rotary axis r w p2 REAL 10 0 Travel per gear revolution r w p3 REAL 1 0 Gear reduction factor r w p4 INT 0 Unit of measure r w p5 REAL 0 0 Position at home position r w p6 REAL 200000 0 Start of software limit switch r w p7 REAL 200000 0 End of software limit switch r w p8 REAL 3000 0 Maximum rotation speed r w p9 INT 10 Rampup time r w p10 DINT 30000 Maximum velocity r w p11 REAL 2 0 Target area r w p12 REAL 20000 0 Maximum following error r w p13 DINT 50 Monitoring time r w p14 REAL 20000 0 Zero speed area r w p15 REAL 0 0 Backlash on reversal compensation r w p16 REAL 9 0 Maximum overcurrent r w p17 DINT 20 P gain of speed controller r w p18 INT 22 Integral time of
25. Request completed with error refer to the errorlD parameter errorlD OUT WORD 16 0000 Number of the parameter assignment error signaled by the drive parameter identifier value PKW range 2 1 Parameter types IN input parameter OUT output parameter IN OUT in out parameter 2 See Distributed Positioning Motor on PROFIBUS DPuser manual 3 This parameter is only transferred when the value of the parameter changes 4 As of SIMOTION V4 1 this parameter is part of the POSMOA_controlFB and can only be operated with POSMO A as of software version V3 0 Supplement to SIMODRIVE POSMO A Positioning Motor 20 Function Manual 03 2009 Edition Function blocks 2 2 Function block _POSMOA_control Message frame substitution POSMO A as of software version V3 0 For specific applications it is necessary that under no circumstances the drive comes undesirably to a standstill or the drive state can be configured to freeze to run down the master SIMOTION device The Message frame substitution function can be activated with the reqControl input parameter using software version V3 0 or higher of the POSMO A with parameter p701 TRUE set The process data sent by the SIMOTION device are taken over by the POSMO A with reqControl TRUE When the transition from TRUE to FALSE occurs on the reqControl input parameter the POSMO A uses the process data received most recently control word block selection and
26. SE Any pending parameter errors output parameter error TRUE are reset Data transfer is performed as soon as the in out parameter busy FALSE If data transmission was active when the accelTime input parameter was newly parameterized e g read parameter with _POSMOA_rwParameter FB data transfer is suspended until busy FALSE The value which was parameterized when busy TRUE changed to busy FALSE at the input parameter accelTime is transferred Completion of data transfer is displayed with a rising edge at the output parameter dataReady and stays at TRUE until the next data transfer is started Message frame substitution POSMO A software version V3 0 and higher With certain applications it is essential that the drive be prevented from coming to an undesirable standstill under all circumstances or that freezing of the drive status can be configured for the purpose of shutting down the master SIMOTION device The Message frame substitution function can be activated with the reqControl input parameter as of software version V3 0 of the POSMO A with set parameter p701 TRUE The process data sent by the SIMOTION device are taken over by the POSMO A with reqControl TRUE With the transition from TRUE to FALSE on the reqControl input parameter the POSMO A uses the process data received last control word block selection and start byte If parameter P701 FALSE the status of the reqControl input parameter is not evaluated
27. SIEMENS SIMOTION Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition Introduction Description 1 Function blocks 2 Application example 3 A Appendix Legal information Warning notice system This manual contains notices you have to observe in order to ensure your personal safety as well as to prevent damage to property The notices referring to your personal safety are highlighted in the manual by a safety alert symbol notices referring only to property damage have no safety alert symbol These notices shown below are graded according to the degree of danger NDANGER indicates that death or severe personal injury will result if proper precautions are not taken NWARNING indicates that death or severe personal injury may result if proper precautions are not taken NCAUTION with a safety alert symbol indicates that minor personal injury can result if proper precautions are not taken CAUTION without a safety alert symbol indicates that property damage can result if proper precautions are not taken NOTICE indicates that an unintended result or situation can occur if the corresponding information is not taken into account If more than one degree of danger is present the warning notice representing the highest degree of danger will be used A notice warning of injury to persons with a safety alert symbol may also include a warning rel
28. Since variance cannot be precluded entirely we cannot guarantee full consistency However the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions Siemens AG Copyright Siemens AG 2009 Industry Sector 03 2009 Technical data subject to change Postfach 48 48 90026 NURNBERG GERMANY ntroduction Contents of the function manual This document is part of the SIMOTION Programming References documentation package This documentation serves as a supplement to the documentation on SIMODRIVE POSMO A in the Distributed Positioning Motor on PROFIBUS DP user manual This documentation is included in the SIMOTION SCOUT scope of delivery as electronic documentation This manual describes how you can use function blocks to control and assign parameters for a POSMO A drive from a SIMOTION program This manual describes differences in handling that arise when controlling and assigning parameters for a POSMO A drive from the SIMOTION system as compared to the SIMATIC system Function block The function blocks for communication between the SIMOTION system and the distributed SIMODRIVE POSMO A positioning motor are part of the program library of the SIMOTION SCOUT engineering system SIMOTION Documentation An overview of the SIMOTION documentation can be found in a separate list of references This documentation is included as electronic documentation with the suppl
29. T output parameter IN OUT in out parameter 2 See Distributed Positioning Motor on PROFIBUS DPuser manual 24 Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition Function blocks 2 3 Function block _POSMOA_nControl Function description The POSMO A is set to the ready to start state control word 0x040E with the TRUE level on the init input parameter The ready to start state is displayed in the output parameter statusWord bit 0 TRUE When the transition from FALSE to TRUE level occurs at the input parameter enable the drive is set to ready for operation The POSMO A changes to the ready for operation state which can be read out on the output parameter ready TRUE Traversing is started when the input parameters enableSetpoint TRUE enableRamp TRUE enable ramp function generator execRamp TRUE start ramp function generator with a positive edge and setpoint gt 0 The order in which the input parameters enable enableSetpoint enableRamp and execRamp are set for starting traversing is at the user s discretion The input parameters specified above have equal status Traversing stops when the input parameters enable enableSetpoint enableRamp and execRamp are reset Transferring parameters e g ramp up time input parameter accelTime requires several task cycles If a new value is parameterized at the accelTime input parameter the output parameter dataReady is set to FAL
30. YTE busy IN OUT BOOL Coordination of the FBs realValue IN OUT REAL Write gt value to be written data types C4 and N2 2 Read gt value to be read data types C4 and N2 2 dintValue IN OUT DINT Write gt value to be written data types 12 T2 V2 and T4 2 Read gt value to be read data types 12 T2 V2 and T4 2 done OUT BOOL FALSE TRUE When current request has been completed FALSE There is no request pending or a request is being executed error OUT BOOL FALSE TRUE Request completed with error refer to the errorlD parameter errorlD OUT WORD 16 0000 Number of the parameter assignment error signaled by the drive parameter identifier value PKW range 2 1 Parameter types IN input parameter OUT output parameter IN OUT in out parameter 2 See Distributed Positioning Motor on PROFIBUS DPuser manual Task integration call The _POSMOA_rwParameter function block must be called cyclically in the BackgroundTask or in the TimerinterruptTask Calling in the SystemInterruptTask is not permitted Calling the function block in synchronous tasks e g POSynchronousTask is not recommended for runtime reasons Fault messages The TRUE value at the error output parameter indicates a parameterization error The errorlD output parameter provides more detailed information on the parameterization error that has occurred or has been signaled by POSMO A Parameterization errors do not nee
31. alog menu command 4 Inthe hardware catalog open the PROFIBUS DP folder and the SIMODRIVE subfolder and select SIMODRIVE POSMO A 5 Use a drag and drop operation to move the SIMODRIVE POSMO A onto the PROFIBUS subnet of your project The Properties PROFIBUS Interface SIMODRIVE POSMO A dialog box is displayed In this dialog box you select the address you set in the connection cover of POSMO A see Section Installation and Connection of the Distributed Positioning Motor on PROFIBUS DP user manual and confirm with OK The SIMODRIVE POSMO A positioning motor you have selected is inserted into the project 6 Input and output addresses of the POSMO A When you insert the POSMO A into your SIMOTION project the input and output addresses are assigned default values You can see these values when you select the inserted POSMO A You can read the input and output addresses in the lower part of the HW Config window You must create these addresses as I O variables in the symbol browser before calling the function blocks see Section Creating I O Variables Page 14 Supplement to SIMODRIVE POSMO A Positioning Motor 12 Function Manual 03 2009 Edition Description 7 4 Integrating the function blocks in the user project 1 4 Integrating the function blocks in the user project Creating the instance of the FBs in the user project The function blocks are part of the program library of the SIMOTION SCOUT engineering system For wor
32. ating to property damage Qualified Personnel The device system may only be set up and used in conjunction with this documentation Commissioning and operation of a device system may only be performed by qualified personnel Within the context of the safety notes in this documentation qualified persons are defined as persons who are authorized to commission ground and label devices systems and circuits in accordance with established safety practices and standards Proper use of Siemens products Trademarks Note the following WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation If products and components from other manufacturers are used these must be recommended or approved by Siemens Proper transport storage installation assembly commissioning operation and maintenance are required to ensure that the products operate safely and without any problems The permissible ambient conditions must be adhered to The information in the relevant documentation must be observed All names identified by are registered trademarks of the Siemens AG The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described
33. be acknowledged Parameters that have been changed e g ramp up time can be transferred again Errors in the POSMO A are signaled in the driveError output parameter with the value TRUE The reason for the error can be read out in the driveErrorld output parameter value corresponds to P947 Drive errors have to be acknowledged and must be reset in the resetError input parameter with a rising edge Warnings from the POSMO A that are pending and their associated information are output in the driveWarning driveWarnld value corresponds to P953 and driveWarnInfo value corresponds to P954 output parameters Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 27 Function blocks 2 4 Function block _POSMOA_rwParameter 2 4 Function block _POSMOA_rwParameter Task The _POSMOA_rwParameter function block enables parameters to be assigned for the connected SIMODRIVE POSMO A The functions are as follows e Reading a parameter Provides the value of the specified parameter e Writing a parameter value Sets the specified parameter to the specified value Loading factory settings Resets the parameter configuration to the factory settings e Saving a parameter Saves the current parameter configuration in non volatile memory The following parameters can be read written with this function block Parameter Read from POSMO A Write
34. ble Jog mode In the Jog mode the POSMO A can be moved in positive and negative direction Jogging is implemented with the following parameter settings on the instance created of the _POSMOA_control function block e jogOverride 100 e veloOverride 100 e noStopintermediate TRUE No intermediate stop e noStop TRUE No stop In the Control value column of the symbol browser select the check boxes for the following variables and select the values to be assigned e myCommand START_JOG_POSITIVE Jogging in positive direction e myCommand START_JOG_NEGATIVE Jogging in negative direction Clicking on Immediate control assigns the value to the variable and the POSMO A is moved in the respective direction The current Jog state can be read in the symbol browser as follows e myCheckbacks actCommand JOG_POSITIVE_ACTIVE Jogging in positive direction activated e myCheckbacks actCommand JOG_NEGATIVE_ACTIVE Jogging in negative direction activated e myCheckbacks jogPositiveBusy TRUE POSMO A moves in position direction e myCheckbacks jogNegativeBusy TRUE POSMO A moves in negative direction The current actual position of POSMO A can be read in the symbol browser in the myCheckbacks actPosition variable Note The Jog mode may be terminated only after the POSMO A is stopped nyCommand STOP Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 49 Application example
35. ck and depending on the parameterized operating mode speed or position control mode an instance of the POSMOA_control or _POSMOA_nControl function block Note If the SIMODRIVE POSMO A is disconnected and then reconnected to the power system any MDI traversing block data see the table titled Parameters of the POSMOA control function block that had been transferred previously must be transferred to the POSMO A again Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 15 Function blocks 2 2 Function block _POSMOA_control 2 2 Task 16 Function block _POSMOA _control You can control the connected SIMODRIVE POSMO A with the _ POSMOA_control function block The functions are as follows Initialize Sets the drive in ready to operate mode Requirements A drive fault has not been signaled driveError FALSE Fault acknowledgement is not active resetError FALSE Referencing Sets the home position for the drive Tippen The drive travels at a controlled speed in a plus or minus direction Program execution Starts stops or aborts a single block addressed by blockNumber or a block within the program MDI The drive travels at the assigned speed and acceleration to an assigned position The MDI parameters are transferred in block 3 The MDI block can be started with blockNumber 3 and start TRUE Fault acknowledgement Acknowledges a fault in the
36. ctual position of POSMO A positionReached BOOL Position when moving MDI block absolute reached error BOOL Error has occurred request canceled a POSMO A error is pending ctrlErrorlD WORD Error specification of the _POSMOA_control block Number of the parameter assignment error signaled by POSMO A driveErrorID WORD Error specification of the POSMO A Reason for an error signaled by POSMO A rwErrorID WORD Error specification of the POSMOA_rwParameter block Error during reading or writing has occurred driveWarning BOOL POSMO A warning is pending driveWarningID WORD Warning number Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 49 Application example 3 3 Variables used in application example Supplement to SIMODRIVE POSMO A Positioning Motor 50 Function Manual 03 2009 Edition Appendix A 1 SIMOTION and SIMATIC names The table below contains a comparison of SIMOTION and SIMATIC names Table A 1 SIMOTION and SIMATIC names for SIMODRIVE POSMO A Name in the SIMOTION system as of V4 1 command library in SCOUT Function block parameters Name in the SIMATIC system Name in the SIMOTION system up to V3 2 SIMOTION function library _POSMOA_control FB 10 _FB_posmoA_control pkwin _O_address PKWInputInterface pzdin _O_address PZDInputlnterface enable Initialization initialize homing Referencing homing releaseBrake Brake_release
37. d to be acknowledged Changed parameters e g ramp up time can be transferred again Supplement to SIMODRIVE POSMO A Positioning Motor 30 Function Manual 03 2009 Edition Function blocks 2 5 Function block _POSMOA_rwAllParameter 2 5 Function block _POSMOA_rwAllParameter Task The _POSMOA_rwAllParameter function block enables reading and writing of the parameter block of the connected SIMODRIVE POSMO A The data to be read or written are saved in a variable created by the user with the Struct_POSMOA_params data structure when the associated function block instance is called The following parameters are read written with this function block Parameter Read from POSMO A Write to POSMO A Write to POSMO A numbers positioning mode speed controlled mode 1 5 Yes Yes Yes 6 7 Yes Yes No 9 23 Yes Yes Yes 24 Yes Yes No 25 38 Yes Yes Yes 39 53 Yes No No 54 Yes Yes Yes 55 Yes No No 56 61 Yes Yes Yes 62 Yes No No 80 28 87 28 Yes Yes Yes 99 21 Yes Yes Yes 100 Yes Yes No 101 11 Yes Yes No 700 1 Yes Yes Yes 701 1 Yes Yes Yes 880 1 Yes Yes Yes 918 928 No No No 930 Yes No No 947 954 No No No 964 8 Yes No No 967 990 116 No No No 1426 1 Yes Yes Yes 1427 1 Yes Yes Yes 1 This parameter is new or extended with SIMOTION V4 1 Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 31
38. ding variables by clicking Immediate control Pending errors and warnings for example reading during jogging or of individual parameter are displayed in the following variables myCheckbacks error TRUE An error has occurred request canceled a POSMO A error is pending e myCheckbacks ctrlErrorlD Error specification of the _POSMOA_control function block Number of the parameter assignment error signaled by POSMO A e myCheckbacks driveErrorID Error specification of POSMO A Reason for an error signaled by POSMO A e myCheckbacks rwErrorlD Error specification of the POSMOA_rwParameter function block Error has occurred during reading or writing e myCheckbacks driveWarning TRUE POSMO A warning is pending e myCheckbacks driveWarningID TRUE Warning number of an alarm signaled by POSMO A Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition Application example 3 2 Operator control and monitoring of the application example in the detail view 3 2 Operator control and monitoring of the application example in the detail view POSMO A will be automatically initialized when your SIMOTION hardware platform changes from STOP to RUN mode The POSMO A provides feedback that the drive is ready to operate with the following variable e myCheckbacks driveReady TRUE Select operating mode You can choose between Jog Homing MDI or Parameter handling modes This is done via the myCommand varia
39. drive Note A fault must be acknowledged before the drive can move This requires that parameter enable TRUE Automatic single block operation automatic control Checkback signals are as follows Current traversing block Data Set Ready Warning and fault information Complete status status word and checkback signal byte Data transfer status Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition Function blocks Call LAD representation ARRAY 0 7 of BYTE ARRAY 0 3 of BYTE BOOL BOOL BOOL BOOL BOOL INT BOOL BOOL BOOL BOOL BOOL BOOL BOOL BYTE INT BYTE BOOL INT INT REAL BOOL BOOL ARRAY 0 7 of BYTE ARRAY 0 3 of BYTE Parameter description EN pkwln pzdin enable homing releaseBrake jog1 jog2 jogOverride start singleBlock enableRdiIn extBlockChange noStopIntermediate noStop resetError blockNumber veloOverride setStartInformation mdiMode mdiVelocity mdiAcceleration mdiPosition reqControl busy pkwOut pzdOut 1 LAD specific parameters 2 2 Function block _POSMOA_control _ POSMOA_control ENO ready active dataReady statusWord actBlockNumber statusInformation error errorlID driveWarning driveWarnld driveWarnInfo driveError driveErrorld BOOL BOOL BOOL WORD BYTE BYTE BOOL WORD BOOL WORD WORD BOOL WORD BOOL ARRAY 0 7 of BYTE ARRAY 0 3 of BYTE Note The SIMOTION
40. e SIMOTION system using function blocks see Section Function blocks Page 15 Note Refer to the Distributed Positioning Motor on PROFIBUS DP user manual for more information on the following topics e Axis commissioning e Communication via PROFIBUS DP e Description of functions e Error handling and diagnostics e Assembly and service Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 11 Description 7 3 Inserting a SIMODRIVE POSMO A positioning motor into a SIMOTION project 1 3 Inserting a SIMODRIVE POSMO A positioning motor into a SIMOTION project Requirement The following requirements must be met 1 You have created a project in SIMOTION SCOUT and have inserted a rack with a SIMOTION hardware platform in the hardware configuration 2 You have configured a PROFIBUS subnet Note For information on creating a project and configuring a PROFIBUS subnet refer to the online help for SIMOTION SCOUT Inserting SIMODRIVE POSMO A To integrate the SIMODRIVE POSMO A into the PROFIBUS subnet of your project proceed as follows 1 In SIMOTION SCOUT open the User Projects dialog box with the Project gt Open menu command In this dialog box select your project and confirm your choice with OK 2 Open HW Config by double clicking the SIMOTION device in the project navigator of SIMOTION SCOUT 3 In the HW Config window open the hardware catalog with the View gt Cat
41. ements can be controlled with function blocks integrated in SIMOTION SCOUT V4 1 The functionality is restricted by the hardware software release of the POSMO A positioning motor used The following software versions are required for the standard functions described in this documentation e SIMOTION SCOUT V4 1 or higher e SIMOTION Kernel V4 1 or higher e SIMOTION technology packages V4 1 or higher The PROFIBUS DP field bus allows rapid cyclical data exchange between the DP slave POSMO A and the higher level DP master SIMOTION hardware platform such as SIMOTION C2xx Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition Description 1 1 General Further information Note For more information refer to the Product brief section of the Distributed Positioning Motor on PROFIBUS DP user manual This documentation is included in the SIMOTION SCOUT scope of delivery as electronic documentation Installation and connection 10 For a description of how to install and connect a SIMODRIVE POSMO A and points you must be aware of when doing so refer to the Installation and connection section of the Distributed Positioning Motor on PROFIBUS DP user manual On the SIMOTION device hardware platform connect SIMODRIVE POSMO A to one of the PROFIBUS DP interfaces The following figure shows how to connect a SIMODRIVE POSMO A drive to a SIMOTION hardware platform such as SIMOTION C2xx
42. er pkwOut _O_address PKWOutputInterface busy FB_coordination busy realValue Value REALValue dintValue Value DINTValue done Task_completed done error Fault_present error errorlD Fault_number errorNumber _POSMOA_rwAllParameter FB 12 _FB_posmoA_readWriteAllParameter pkwin _O_address PKWInputInterface execRead Read_all read execWrite Write_all write posMode Pos_en pkwOut _O_address PKWOutputInterface allParaPosmoA allPosmoAParameter busy FB_active busy done Task_complete done error Fault_present error errorlD Fault_number errorNumber errorParaNumber Fault_parameter_number errorParameterNumber Data structure elements Struct_POSMOA_params Struct_posmoA_parameter p1 p1 parameter1 p2 p2 parameter2 p3 p3 parameter3 p4 p4 parameter4 p5 p5 parameter5 p6 p6 parameter6 p7 p7 parameter7 p8 p8 parameter8 p9 p9 parameter9 Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 53 Appendix A 1 SIMOTION and SIMATIC names Name in the SIMOTION system as of Name in the SIMATIC system Name in the SIMOTION system up to V3 2 V4 1 SIMOTION function library command library in SCOUT p10 p10 parameter10 p11 p11 parameter11 p12 p12 parameter12 p13 p13 parameter13 p14 p14
43. identifiers have changed as of V4 0 You can find a comparison of SIMOTION and SIMATIC names in the Appendix SIMOTION and SIMATIC names Page 51 The busy parameter must not be overwritten by the user It is supplied and checked by the function block and must be supplied with a global variable created by the user only when the respective function block is called This parameter coordinates the individual function blocks for the POSMO A This ensures that no more than one function block can access a POSMO A at the same time Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 17 Function blocks 2 2 Function block _POSMOA_control Table 2 1 Parameters of the PPOSMOA control function block Name P type Data type Default Meaning pkwin IN ARRAY 0 7 8 16 00 Transfer I O inputs of POSMO A to FB of BYTE pzdin IN ARRAY 0 3 4 16 00 Transfer I O inputs of POSMO A to FB of BYTE enable IN BOOL FALSE Sets drive to ready for operation The drive is now ready for operation provided there are no faults homing IN BOOL FALSE Sets the home position This signal must be present for at least 50 ms releaseBrake IN BOOL FALSE TRUE Release holding brake FALSE Brake sequence control effective jog1 IN BOOL FALSE Selection of jog 1 If jog 1 and 2 are set simultaneously a warning is issued and the drive does not move jog2 IN BOOL FALSE Selection
44. ied SIMOTION SCOUT The SIMOTION documentation consists of 9 documentation packages containing approximately 80 SIMOTION documents and documents on related systems e g SINAMICS The following documentation packages are available for SIMOTION V4 1 SP3 e SIMOTION Engineering System e SIMOTION System and Function Descriptions e SIMOTION Diagnostics e SIMOTION Programming e SIMOTION Programming References e SIMOTION C e SIMOTION P350 e SIMOTION D4xx e SIMOTION Supplementary Documentation Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 3 SIMOTION Supplement to SIMODRIVE POSMO A Positioning Motor Hotline and Internet addresses Technical support If you have any technical questions please contact our hotline Phone Europe Africa 49 180 5050 222 subject to charge Fax 49 180 5050 223 Internet http www siemens com automation support request Phone Americas 1 423 262 2522 Fax 1 423 262 2200 E mail mailto techsupport sea siemens com Phone Asia Pacific 86 1064 719 990 Fax 86 1064 747 474 E mail mailto adsupport asia siemens com Note Country specific telephone numbers for technical support are provided under the following Internet address http Awww siemens com automation service amp support Calls are subject to charge e g 0 14 min on the German landline network Tariff
45. king with the blocks an instance has to be created in the user project for each function block used and if using the _POSMOA_rwAllParameter function block a variable of type Struct_POSMOA_params Example VAR_GLOBAL myPosmoAControl _POSMOA_control FB for controlling of POSMO A myPosmoArwParameter _POSMOA_rwParameter FB for handling single parameter myPosmoArwAllParameter _POSMOA_rwAllParameter FB for handling parameterset myA11ParaPosmoA Struct_POSMOA_ params Variable for structure of all parameters POSMO A END_VAR Call LAD representation The LAD representation of the individual function blocks can be found in the respective function block descriptions Example of an application The application example is contained on the SIMOTION Utilities amp Applications CD ROM and is available for various SIMOTION hardware platforms The SIMOTION Utilities amp Applications CD ROM is provided free of charge and part of the SIMOTION SCOUT scope of delivery Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 13 Description 1 5 Creating I O Variables 1 5 Overview 14 Creating I O Variables Communication between the SIMOTION hardware platform and the SIMODRIVE POSMO A takes place through direct access to the I O I O variables are used to address the direct read write access to the I O You can freely assign the names of I O variables in SIMOTION SCOUT Y
46. n PROFIBUS DP user manual p100 INT 0 Control word simulation r w p101 ARRAY 0 10 of INT 10 0 Blocks 1 to 10 of the data structure for the r w POSMO A parameters p7002 INT 2 Operating mode r w 1 speed controlled mode 2 positioning mode p701 2 INT 0 Message frame substitution r w p880 2 REAL 4096 Normalizing of the speed at the gear output when r w a setpoint of 4096 decimal is specified via the control word STW Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 35 Function blocks 2 5 Function block _POSMOA_rwA lParameter Name Type Initial value Comment r w 1 p930 INT 0 Current mode r 1 speed controlled mode 2 positioning mode p964 ARRAY 0 7 of INT 8 0 Drive identification r p1426 2 REAL 100 Tolerance band for actual speed value r w p1427 2 INT 0 Delay time for Ramp up completed signal r w 1 r read w write 2 This parameter is new or extended with SIMOTION V4 1 Supplement to SIMODRIVE POSMO A Positioning Motor 36 Function Manual 03 2009 Edition Function blocks 2 5 Function block _POSMOA_rwAllParameter Structure of Array_POSMOA_prgCtrllnfo Array_POSMOA_prgCtrllnfo contains the program control word Here you can define the behavior of a traversing block see Distributed Positioning Motor on PROFIBUS DP user manual Table 2 6 Structure of Array_POSMOA_prgCtrllnfo
47. of jog 2 If jog 1 and 2 are set simultaneously a warning is issued and the drive does not move jogOverride IN INT 20 Speed override of jogging 0 to 100 The override can also be changed during travel veloOverride IN INT 20 Velocity override 0 to 100 This override can also be changed during travel start IN BOOL FALSE edge FALSE gt TRUE The traversing block specified in blockNumber is started Once a block has been selected in blockNumber the start parameter cannot be set until the next block call singleBlock IN BOOL FALSE TRUE Automatic single block Each block has to be re started FALSE AUTOMATIC mode enableRdlin IN BOOL TRUE TRUE Read in enable Next block is enabled for execution FALSE Read in disable extBlockChange IN BOOL FALSE Edge FALSE gt TRUE The active block is interrupted and the next block is selected FALSE No external block change noStopintermediate IN BOOL FALSE TRUE No intermediate stop or block in intermediate stop is resumed FALSE Intermediate stop Interruption of current travel requeststart is not accepted noStop IN BOOL FALSE TRUE No stop FALSE Stop Abort of current travel request If start parameter is set at the same time start is not accepted 18 Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition Function blocks 2 2 Function block _POSMOA_control
48. ositioning Motor Function Manual 03 2009 Edition 39 Function blocks 2 6 Calling function blocks Supplement to SIMODRIVE POSMO A Positioning Motor 40 Function Manual 03 2009 Edition Application example 3 3 1 General information on the application example Task The application example shows how POSMO A can be controlled with the help of the function blocks and how POSMO A drive parameters can be read and written Ther is a command interface enumCommands for starting the desired action e g jogging The Struct_checkbacks data structure shows the status of the actions and additional information The following operating modes and functionalities are implemented e Homing Option Approach using visual axis marking and assign actual value e Jogging Move in positive or negative direction e MDI Travel to the required position e Parameter handling Write or read individual parameters Save all parameters in the EEPROM of the POSMO A e Read out current actual position e The current actual position of the POSMO A is read cyclically in jog mode and in MDI and stored in a variable Hardware platform The application example is available for various SIMOTION hardware platforms Note If the application example is not available for your SIMOTION hardware platform you must adapt the hardware configuration SIMOTION Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 41 A
49. ou must define the I O variables as ARRAY 0 7 and 0 3 of BYTE You assign the address settings in the hardware configuration to these I O variables The names of the I O inputs must be transferred to the function blocks as call parameters The prepared data for the I O outputs are provided by the function block as in out parameters The in out parameters must be be supplied with variables of type ARRAY 0 7 of BYTE and 0 3 of BYTE Once the block has been called these variables must be assigned to the I O variables for the I O outputs see call example in Section Calling function blocks Page 38 Note The variable for supplying the in out parameters must not be created as a temporary variable VAR_TEMP or local variable of a function The following example shows how to assign the module addresses to the I O variables in SIMOTION SCOUT __ hame WO address Field length mypkwin PIB 256 mypzdin PIB 264 3 E mypkwout POWY 256 4 E mypzdout PAW 264 Figure 1 2 Address assignment in SIMOTION SCOUT Each input and output address has a range of 8 bytes which corresponds to the parameter identifier value PKW range of POSMO A and a range of 4 bytes which corresponds to the process data PZD range of POSMO A Note For additional information refer to e SIMOTION SCOUT online help e Programming Manual of the corresponding programming language e g SIMOTION ST Structured Text Programming Manual
50. p83 p83 parameter83 p84 p84 parameter84 p85 p85 parameter85 p86 p86 parameter86 p87 p87 parameter87 p99 p99 parameter99 p100 p100 parameter100 p101 p101 parameter101 p700 p700 p701 p701 p880 p880 p930 p930 parameter930 p964 p964 parameter964 p1426 p1426 z p1427 p1427 Program control word Array_POSMOA_prgCtrllnfo Array_posmoA_programControllnformation Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 55 Appendix A 2 List of abbreviations A 2 List of abbreviations Table A 2 Abbreviations Abbreviation Meaning DC Direct current DP Distributed I O EEPROM Electrically Erasable Programmable Read Only Memory ES SIMOTION SCOUT FB Function block FW Firmware HW Hardware IN Input parameters IN OUT In out parameter LAD Ladder diagram MDI Manual Data Input OUT Output parameters PIV Parameter identification value Parameter part of a PPO POSMO A Positioning Motor Actuator PPO Parameter Process data Object Cyclic data message frame when transferring data with PROFIBUS DP and the variable speed drives profile PZD Process data Process data part of a PPO ST Structured text STW Control word SW Software TO Technology object Supplement to SIMODRIVE POSMO A Positioning Motor 56 Function Manual 03 2009 Edition Index C Calling function blocks POSMO A 38
51. ple 3 2 Operator control and monitoring of the application example in the detail view Parameter handling mode In the Parameter handling mode you can read and write individual parameters and save all parameters in the EEPROM of POSMO A Read individual parameter In the myRdParaNumber variable you state the parameter you want to read In the myRdSublindex variable you state the subindex for the parameter you wish to read indexed parameters only In the Control value column of the symbol browser select the check boxes for the following variables and select the values to be assigned e myCommand READ_ONE_PARAMETER Read individual parameter e myRdParaNumber You state the number of the parameter to be read here e myRdSubindex You state the subindex of the parameter to be read here for indexed parameters only The value read is saved in the myReadValue variable Write individual parameter In the myWrParaNumber variable you state the parameter you want to write In the myWrSublindex variable you state the subindex for the parameter you wish to write indexed parameters only In the myWrRealValue variable data types C4 and N2 2 or myWrDintValue data types I2 T2 V2 and T4 2 you state the value for the parameter to be written In the Control value column of the symbol browser select both the check boxes for the following variables and the values to be assigned e myCommand WRITE_ONE_PARAMETER
52. pplication example 3 1 General information on the application example Adapting the application example The configuration in the example and its available hardware must be adapted The following options are available 1 The configuration in the example can be adapted to suit the available hardware commission drive PROFIBUS DP address 2 The hardware configuration can be adapted to the example commission drive PROFIBUS DP address Note Please observe the drive documentation when commissioning the drive This documentation is included in the SIMOTION SCOUT scope of delivery in electronic format Calling the application example Error messages 42 The application example can be found on the SIMOTION Utilities amp Applications CD ROM The SIMOTION Utilities amp Applications CD ROM is provided free of charge and part of the SIMOTION SCOUT scope of delivery 1 De archive and open the project containing the application example 2 Check the hardware configuration PROFIBUS DP addresses 3 Save and compile the example project You can then download the example to the SIMOTION device and switch to RUN mode Additional handling steps for the example are carried out using the Enums in the symbol browser within the myCommand structure This requires that the E_posmoA element be selected from the Programs container in the project navigator Values from the Control value column are assigned to the correspon
53. s of other phone companies may differ Questions about this documentation If you have any questions suggestions corrections regarding this documentation please fax or e mail us at Fax 49 9131 98 63315 E mail mailto docu motioncontrol siemens com Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition SIMOTION Supplement to SIMODRIVE POSMO A Positioning Motor Siemens Internet address The latest information about SIMOTION products product support and FAQs can be found on the Internet at e General information http www siemens de simotion German http Awww siemens com simotion international e Product support http support automation siemens com WW view en 10805436 Additional support We also offer introductory courses to help you familiarize yourself with SIMOTION Please contact your regional training center or our main training center at D 90027 Nuremberg phone 49 911 895 3202 Information about training courses on offer can be found at www sitrain com Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 5 SIMOTION Supplement to SIMODRIVE POSMO A Positioning Motor Supplement to SIMODRIVE POSMO A Positioning Motor 6 Function Manual 03 2009 Edition Table of contents WOU CHO a AEE A PATEE TTA E ancesdhs A TT 3 1 B el i 01110 0 EPEA ETAT E A E E AA A A E AT 9 1 1 E aT e ES E e AE
54. start byte If parameter P701 FALSE the status of the reqControl input parameter is not evaluated Note The Message frame substitution function takes immediate effect when p701 1 Make sure that it is possible to shut down the drive at any time using an EMERGENCY STOP For additional information refer to the SIMODRIVE POSMO A user manual Distributed Positioning Motor on PROFIBUS DP Task integration call The _POSMOA_control function block must be called cyclically in the BackgroundTask or in the TimerinterruptTask Calling in the SystemInterruptTask is not permitted Calling the function block in synchronous tasks e g IPOSynchronousTask is not recommended for runtime reasons Note The functionality of the POSMOA_control FB has been expanded with V4 1 To enable you to use the newly implemented functions you must add the new input parameters when calling the POSMOA_control FB If you want to work with the previous functions lt V4 1 you can leave out the new input parameters with a detailed notation when calling the FB Error messages faults and warnings The TRUE value at the error output parameter indicates a parameterization error The errorlD output parameter provides more detailed information on the parameterization error that has occurred or has been signaled by POSMO A Parameterization errors do not need to be acknowledged Changed parameters e g ramp up time can be transferred again Faults
55. t moving MDI block absolute STOP 4 Stop all actions RESET_ERRORS 5 Acknowledge faults on POSMO A READ_ONE_PARAMETER 6 Start reading individual parameter WRITE_ONE_PARAMETER 7 Start writing individual parameter SAVE_PARAMETER 8 Save all parameters in the EEPROM of POSMO A NO_COMMAND 9 No action to be carried out Table 3 3 Overview of the enums enumActCommand Symbol Enum Value Meaning HOMING_ACTIVE 0 Homing of POSMO A activated JOG_NEGATIVE_ACTIVE 1 Jogging in negative direction activated JOG_POSITIVE_ACTIVE 2 Jogging in positive direction activated MDI_BLOCK_ACTIVE 3 Moving MDI block absolute activated STOP_ACTIVE 4 Stop all actions activated RESET_ERRORS_ACTIVE 5 Acknowledge faults on POSMO A active READ_PARA_ACTIVE 6 Read individual parameter active WRITE_PARA_ACTIVE 7 Write individual parameter active SAVE_PARAMETER_ACTIVE 8 Save all parameters in the EEPROM of POSMO A active NO_COMMAND_ ACTIVE 9 No action active 48 Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition Application example Table 3 4 Data structure Struct_checkbacks 3 3 Variables used in application example Symbol Data type Meaning actCommand enumActCommand Enums active actions done BOOL Action completed driveReady BOOL Drive POSMO A ready for operation jogPositiveBusy BOOL Jogging positive active jogNegativeBusy BOOL Jogging negative active actPosition REAL Current a
56. t need to be acknowledged Changed parameters e g ramp up time can be transferred again Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 37 Function blocks 2 6 Calling function blocks 2 6 38 Calling function blocks In order to be able to work with the function blocks in your user program proceed as follows The numbers shown in the following program segment correspond to the steps below 1 oon KR WwW DN Create the function block instances see the following program segment e g create instance for the POSMOA_control function block Create a variable for the data structure for FB POSMOA_rwAllParameter only Create an array for the in out parameters of the FB Call instance of the function block Transfer input parameters The output parameters of the FB are accessed with lt instance name of FB gt lt name of output parameter gt Data prepared by the FB for the I O outputs are assigned to the I O variables from the array created in step 3 see the following program segment Note If you want to control more than one SIMODRIVE POSMO A you must create a new variable for the data structure FB _POSMOA_rwAllParameter and FB instances with new names for each POSMO A you use Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition Function blocks Call example 2 6 Calling function blocks UNIT E_posmoA
57. tive dataReady statusWord actValue error errorlD driveError driveErrorld driveWarning driveWarnld driveWarnInfo busy pkwOut pzdOut BOOL BOOL BOOL WORD DINT BOOL WORD BOOL WORD BOOL WORD WORD BOOL ARRAY 0 7 of BYTE ARRAY 0 3 of BYTE Note The busy parameter must not be overwritten by the user It is supplied and checked by the function block and must be supplied with a global variable created by the user only when the respective function block is called This parameter coordinates the individual function blocks for the POSMO A This ensures that no more than one function block can access a POSMO A at the same time 22 Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition Function blocks 2 3 Function block _POSMOA_nControl Table 2 2 Parameters of the PPOSMOA_nControl function block Name P type Data type Default Meaning pkwin IN ARRAY O0 7 8 16 00 Transfer I O inputs of POSMO A to _POSMOA_nControl FB of BYTE pzdin IN ARRAY O0 3 4 16 00 Transfer I O inputs of POSMO A to FB of BYTE init IN BOOL FALSE TRUE Sets the drive to Ready to start STW 0x040E enable IN BOOL FALSE TRUE Sets the drive to Ready for operation The drive is now ready for operation provided there are no errors releaseBrake IN BOOL FALSE TRUE Release holding brake FALSE Brake sequence control effective
58. to POSMO A Write to POSMO A numbers positioning mode speed controlled mode 1 5 Yes Yes Yes 6 7 Yes Yes No 9 23 Yes Yes Yes 24 Yes Yes No 25 38 Yes Yes Yes 39 53 Yes No No 54 Yes Yes Yes 55 Yes No No 56 61 Yes Yes Yes 62 Yes No No 80 28 87 28 Yes Yes Yes 99 21 Yes Yes Yes 100 Yes Yes No 101 11 Yes Yes No 700 1 Yes Yes Yes 701 1 Yes Yes Yes 880 1 Yes Yes Yes 918 928 No No No 930 Yes No No 947 954 No No No 964 8 Yes No No 967 990 78 No No No 1426 1 Yes Yes Yes 1427 1 Yes Yes Yes 1 This parameter is new or extended with SIMOTION V4 1 Supplement to SIMODRIVE POSMO A Positioning Motor 28 Function Manual 03 2009 Edition Function blocks Call LAD representation EN ARRAY 0 7 of BYTE pkwin UINT paraNumber USINT subindex BOOL enableRead BOOL execWrite BOOL setDefault BOOL saveParameter 2 4 Function block _POSMOA_rwParameter _POSMOA_rwParameter ENO done error errorlID pkwOut busy realValue dintValue 1 LAD specific parameters BOOL BOOL WORD ARRAY 0 7 of BYTE BOOL REAL DINT ARRAY 0 7 of BYTE pkwOut BOOL busy REAL realValue DINT dintValue Parameter description Note The SIMOTION identifiers have changed as of V4 0 You can find a comparison of SIMOTION and SIMATIC names in the Appendix SIMOTION and SIMATIC names Page 51 The busy parameter must not be overwritten by the user It is supplied and checked by the f
59. unction block and must be supplied with a global variable created by the user only when the respective function block is called This parameter coordinates the individual function blocks for the POSMO A This ensures that no more than one function block can access a POSMO A at the same time Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 29 Function blocks 2 4 Function block _POSMOA_rwParameter Table 2 3 Parameters of the POSMOA_rwParameter function block Name P type Data type Default Meaning 1 pkwin IN ARRAY 0 7 8 16 00 Transfer I O inputs of POSMO A to FB of BYTE paraNumber IN UINT 0 Parameter number to be read or written subindex IN USINT 0 Subindex 0 for parameters with no index This value is the array index for parameters with an array 2 enableRead IN BOOL FALSE TRUE Reads parameter cyclically edge FALSE gt TRUE Reads parameter one time execWrite IN BOOL FALSE edge FALSE gt TRUE Writes parameter When set simultaneously with enableRead read is executed setDefault IN BOOL FALSE edge FALSE gt TRUE Loads factory settings When set simultaneously with enableRead read is executed saveParameter IN BOOL FALSE edge FALSE gt TRUE Saves parameter When set simultaneously with enableRead read is executed pkwOut IN OUT ARRAY 0 7 Prepared FB data transferred to the I O outputs of the POSMO A of B
60. ute can be moved Jogging of the MDI block is implemented with the following parameter settings on the instance created of the POSMOA_control function block e mdiMode FALSE MDI absolute e mdiVelocity 100 e mdiAcceleration 100 e veloOverride 100 e noStoplintermediate TRUE No intermediate stop e noStop TRUE No stop The target position of the MDI block is specified in the myAbsolutePosition variable In the Control value column of the symbol browser select the check boxes for the following variables and select the values to be assigned e myCommand START_MDI_BLOCK_ABSOLUTE e myAbsolutePosition The target position of the MDI block is specified here Default 0 0 Clicking on Immediate control assigns the values to the variables and the POSMO A moves the MDI block absolute The current state of the MDI mode can be read in the symbol browser as follows e myCheckbacks actCommand MDI_BLOCK_ACTIVE Move MDI block absolute activated e myCheckbacks actCommand NO_COMMAND_ ACTIVE e myCheckbacks done TRUE e myCheckbacks positionReached TRUE MDI block traversed without error The current actual position of POSMO A can be read in the symbol browser from the myCheckbacks actPosition variable Note The MDI mode may be terminated only after the POSMO A is stopped myCommand STOP Supplement to SIMODRIVE POSMO A Positioning Motor Function Manual 03 2009 Edition 49 Application exam

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