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Hoisting Optimized CANopen M238

1. Gateway Name Gateway 1 Driver TCP IP Method for adding a Device CoDeSysAddress IP Address Hoisting Optimized CANopen M238 By double clicking the MyController in the SoMachine project browser Schneider Electric Cancel 82 Create a switch Select the Switch icon in the Tool bar Select the position and dimension where you wish to place the button by opening a rectangle on the display and pressing enter Click on the bulb icon as Switch Settings General Color Label visibility Advanced Mode Switch O Switch with Lamp Category Primitive Mame Switch02 Style State m Up LJ 00001 Lus x O Reverse On Touch When Touch while Touch when Release Operation Bit v x tir Operation Set O Reset C Toggle O Momentary ON O Momentary OFF Destination indicated in the image above to open the Expression Editor Pad dialog Use the SoMachine tab click OK In the Switch Settings dialog select the variable that should be linked Lamp icon to the button Hoisting Optimized CANopen M238 Js E E MyController 3 9 Application select the required variable and ms ps LI1 xDoorGuard Ok LI xEmcy Ok LIT xHoisti Ok LIT xHoist2 Ok aransi Ok Saldachine Cancel Schneider Electric 83 Go to the Label tab Switch Settings General Color Label Visibility Advanced Label Type Static v Here select
2. Altivar 312 drives are supplied with a heat sink for normal environments and ventilated enclosures Multiple units can be mounted side by side to save space Drives are available for motor ratings between 0 18 kW and 15 kW with four types of power supply 200 Vac to 240 Vac 1 phase 0 18 kW to 2 2 kW 200 Vac to 240 Vac 3 phase 0 18 kW to 15 kW 380 Vac to 500 Vac 3 phase 0 37 kW to 15 kW 525 Vac to 600 Vac 3 phase 0 75 kW to 15 kW Hoisting Optimized CANopen M238 Schneider Electric Modicon M238 Logic controller TM238LFDC24DTS0 The M238 is powered with 24 Vdc offer Magelis HMI XBTGT2330 CANopen bus master link s 14 x 24 Vdc inputs including 8 fast inputs dedicated to e special functions such as HSC high speed counting E 10 x 24 Vdc solid state outputs including 4 fast outputs pce to special functions such as counting PWM and lt An RS 232 RS 485 serial link ASCII or Modbus protocol A Modbus RS 485 serial link mainly dedicated to connection of a Human Machine interface terminal link providing a 5 Vdc power supply for a Magelis Small Panel XBT NP00 R400 RT500 Expand the I O count by adding up to 7 expansion modules The following modules are available o Discrete TM2 DDI DDO DMM DRA o Analog TM2 AMI ALM ARI AMO AVO AMM o High speed counter TM200 HSC210DT DF e Sensor screen STN Technology with 24 Vdc power supply e Brightness and Contrast adjustment e Communication via Uni Telway and
3. to increase the number of safety output contacts of the base module est EE peel gt t aio be rici aL Safety outputs Signalling output When installing base modules and modules for increasing the number of safety contacts into different electrical enclosures run separate cables for terminals U1 13 and U1 23 Operating status of internal electronic fuse Hoisting Optimized CANopen M238 Schneider Electric 22 Modicon M238 Logic Controller TM238LFDC24DTS0 14 Digital Input 10 Digital Output Hoisting Optimized CANopen M238 1 Mini B USB port for a programming terminal 2 A hinged access cover with 2 cable glands 1 removable for the terminal cord set and 1 for the CANopen cable 3 The controller status by means of 4 LEDs PWR RUN Batt and Err The integrated communication port status by means of 4 LEDs SL1 SL2 CAN Run and CAN Err 4 A display unit showing the I O states 10 113 and Q0 Q9 5 A removable screw terminal block 12 terminals for connecting the sensors 24 Vdc fast inputs 6 A removable screw terminal block 7 terminals for connecting the sensors 24 Vdc inputs 7 Aconnector for discrete TM2Dee analog TM2Aee and counter TM200HSC210De l O extension modules 7 modules max 8 A removable screw terminal block 10 terminals for connecting 6 pre actuators 24 Vdc outputs Schneider Electric 23 Modicon Logic controller M238 TM2DDI16DT 16 Digital Inputs
4. 0 1 2 1 3 Software Com m Rev SoMachine incl Vijeo Designer MSDCHNSFUV20 SoMachine solution extension Programming cable XBTZG935 E I9 Hoisting Optimized CANopen M238 Schneider Electric 107 Component Protection Classes x P PGS IP67 IP55 IP65 IP20 ManSwich L L L J j j X Ep ememer B E E R E E XALK Preventa safety module XPS T J 1 L X Single Double switch housing L X 1 D L Control switch 3 positions L J L X Indicator buttons X L L Positions switch Universal X Contactors 0 L S Phaseo Power Supply Modicon M238 Logic controller es LJ Protection Class Altivar 312 and Altivar 71 dL TeSys contactor Magelis XBTGT HMI Environmental Characteristics NOTE The equipment represented in the architecture s of this document has been rigorously tested to meet the individually specified environmental characteristics for operation and storage and that information is available in the product catalogs If your application requirements are extreme or otherwise do not appear to correspond to the catalog information your local Schneider Electric Support will be eager to assist you in determining what is appropriate for your particular application needs Hoisting Optimized CANopen M238 Schneider Electric 108 Component Features Components Compac
5. Add library 88 Standard 3 3 1 10 Syst Util 3 3 0 20 System 88 M238 PLCSystem 1 0 1 7 Schneit M238 Relocation Table 1 0 0 2 Schneid 0 M238 HSC 1 0 1 1 Schr tric Library repository lt Click on Library Placeholder S O u t l O n Company la companies TT Miscellaneous H Application 4 Communication amp Controller gt Devices i3 Hoisting 1 9 2 2 Schnaider Elect Packaging 1 9 4 gt System Be Target aaa Z Group by category Display all versions For experts only Library Repository Hoisting Optimized CANopen M238 Schneider Electric Add POU Hoisting Optimized CANopen M238 Select Hoisting Click on OK Right click on Application gt Add Object Select POU and enter the Name Main Type Program Implementation language Structured Text ST All the IEC languages can be used for Programs function blocks and functions Click on Open Repeat step 1 to add another POU called Name Hoisting Type Program Implementation language Continuous Function Chart CFC Click on Open Library Placeholder Company a companies 4 Miscellaneous 1 Application 4 Communication amp Controller gt Devices 4 Intern amp Solution Target nil V Group by category Display all versions For experts only 1 MS Sort by gt Sort order 7 gi Find El Hosting Optim
6. tCC is not set to SPEED REFERENCE OUTPUTS CFG I O menu is set Local LOC freewheel stop rEF menu to Local LOC page 45 If 2 3 wire control CC is set to Local LOC stop on ramp or freewheel stop during DC injection braking Hoisting Optimized CANopen M238 Schneider Electric CANopen settings Hoisting Optimized CANopen M238 Using the buttons on the front panel select the sub menu Communication In the Communication COM sub menu input the CANopen address in the parameter AdC0 In the example application the addresses for the four drives are 4 to 7 Also in the Communication COM sub menu in the parameter BdCO set the Baudrate to 500 0 kBits These three parameters are only visible when the drive is powered up for the first time The settings can be amended subsequently in the menus ee CONTROL drC or Standard mot freq bFr COMMAND CtL for Ref 1 channel Fr1 INPUTS OUTPUTS CFG I O for 2 3 wire control tCC SPEED REFERENCE rEF SETTINGS SEt MOTOR CONTROL drC INPUTS OUTPUTS CFG I O COMMAND CtL APPLICATION FUNCT FUn FAULT MANAGEMENT FLt COMMUNICATION COM MONITORING SUP For the ATV312 to operate with the new address or Baudrate a power cycle on off on is required Schneider Electric 93 Changing the Access Level To set the parameters for the brake function a higher access lev
7. 15H00 Option communication F 16 2026 16 00 Reserved 15H2D27 15HUD Prog Card ID Values 15H2028 15HDU Fault behavinur 1BH2 123 1F8HD I Fault mananement Hame PUC Index 16H 2014 Bilengh 16 Sublndex 16H c EX aree The data available in the 2nd Transmit POO 15641801 186300 ILIR 1642016 16 03 2nd Transmit PDO PUC 16432014 l620C Hoisting Optimized CANopen M238 Schneider Electric jj Hoist 1 1 4 b x Click on Send PDO Mapping Service Data Objed i Btatus Inform lt gt Channels variable Mapping Channel Address Type Current Va Controlword SSQW1 UINT LI i 9 CANopen I O Mapping tab xeu ome Deceleration QW4 UINT Statusword Sio Tw1 UINT Penk PCCW s THIS TuT lt Reset mapping Iv Always update variables IEC Objects Variable Mapping Type Hoist 1 1 CANRemoteDevice Always u pd ate va ri a b es d Create new variable 7 Map to existing variable CANopen Remote Device PDO Mapping Receive PDO Mapping Send PDO Mapping S Assign user defined symbolic names in the Variable section variate F Hoistl Cw Controlword 9SSQW1 UINT Hoist1_Tv Target Velocity S QWw2 INT 9 Hoisti_Acc Acceleration YoQWS LINT d Hoist1 Dec Deceleration Si QW LINT 4 Hoistl Sw Statusword Sow LINT 4 Hoisti Ce Control EFFort SIw2 INT 4 Hoisti Mc Motor current Vol WS UINT 4 Hoisti Mt Motor torque SS IW4 INT 4 Hoisti In ILIR YolW S UINT 4
8. 32 1 CircuitBreakerC60N2P C 2A 23747 33 1 CircuitBreakerC60N2P C 10A 23756 1 J 34 5 CircuitBreakerC60N1P C 3A 12427 35 7 CircuitBreakerC60N2P C 3A 2444 36 6 Auxiliary contacts for COON 26924 1 Hardware Components Rev Qty Description Part Number Vers Modicon M238 Logic controller S type TM238LFDC24DTSO Digital Input Module 16 IN 24 Vdc TM2DDI16DT Cs Hoisting Optimized CANopen M238 Schneider Electric 105 Hardware Components Rev Qty Description Part Number Drives ATV312 variable speed drive 0 75 kW IE 50 ATV71 variable speed drive 0 75 kW IE 33 1 Brake resistor ATV71H075N4 VW3A7801 NEN Magnetic circuit breaker 4 A GV2L08 LP Auxiliary contacts for circuit breaker 1 GVAE11 NO 1 NC Encoder interface card Altivar 71 VW3A3401 D Extended I O card Altivar 71 VW3A3202 as Logic I O card Altivar 71 VW3A3201 Co a Hardware Components Sensors 60 2 Inductive Proximity Sensor OsiSense XS618B1PBL2 Lo Photo electric Sensor OsiSense XUX1ARCNT16 Wm 6 2 2 Reflector for Photo electric Sensor XUZC80 OsiSense Inductive Proximity Sensor OsiSense XS9C111A1M12 s 64 6 Limit Switch OsiSense XCKMR54D1H29 Overload Limit Switch OsiSense XCKM110 DEM 2 Screw Limit Switch depends on the TER International Third party Scaling rates Load Cell Vishay Third party KISD 6 EXE 2 Web Tension Transmitter for Load PS 1010T Cell Hardware Components Encoder ATV71
9. Drivecom command r 1646040 16400 16 Drivecom status regist 16285041 1630 16 vibthReceive PDO 1681405 Bth Transmit PDO 1621805 Drivecom command r 15636040 16400 15 Drivecom status regist 1626041 16300 15 Frequency Reference 1642037 16303 18 Extended status regist 1642002 16207 16 Control effort 16 6044 16800 16 Logic Input Output im 1632016 16329 16 Click on jj atv7i_v2s jJ CAN jJ Altivar 312 1 J Altivar_312 ANopen Remote Device PDO Mappi Receive PDO Mapping Zend PDO Mappi Receive PDO Mapping tab Name Index Subindex Bitlenc 1st Receive PDO 16 1400 16 00 6th Receive PDO 16 1405 16 00 Expand the Name Index Subindex Bitlength 6th Recieve PDO ist Receive PDO 1621400 16200 Eth Receive PDO 1641405 16400 Click on gj amies Z can altivar_312_1 6th Receive PDO ANopen Remote Device POO Mapping Receive POO P Marne 6th Receive POO UIFIVecom command Target velocity Select the parametes Drivecom command reg 6th Receive POO 1681405 16400 Drivecom command reg letoi 16200 16 Frequency Reference Frequency Reference lo 2037 16303 16 Click on Delete Delete Click on Add Mapping Hoisting Optimized CANopen M238 Schneider Electric L FL FL Se L Se Se I Repeat the steps 11 to 12 to add the following parameters Acceleration ramp time Deceleration ramp time The overview of Name Index Subindex Bitlength 1st Re
10. Hoisti_Puc PLIC Sio IW 6 LINT 9999999996 NOTE Repeat the same steps with the other ATV71 drive Hoist 2 2 and change the node ID to 2 ATV312 Double click on 3 ij CANapen Optimized CANopen Optimized CANopen Hoist 1 1 Altivar 71 configuration Hoist 2 2 Altivar 71 Tral 1 4 Altivar 312 Tral 2 5 Altivar 312 Trans 1 amp Altivar 312 Trans z 7 Altivar 312 Trol 1 4 e e L C C C Set the Node ID to 4 CoMopen Remote Device PDO Mapping Service Data Objec General e h eck CAMopen Remote Device PDO Mapping Receive PDO Mapping Send PDO Mapping Service Data General Node ID 4 CANopen Create all SDO s v Optional Device Ej J No initialisation Enable Expert PDO Settings n Guard time ms Life time Factor Click on CANopen Remote Devicg POO Mapping Receive PDO Mapping 5 PDO Mapping tab Select receive POO RPDIO Mame Index SubIndex Bitlength ist Receive PDO 1621400 Drivecom command r 16 6040 16700 16 ww 6th Receive PDO 16521405 Drivecom command r 15636040 16700 16 Frequency Reference 16 2037 16x03 16 Hoisting Optimized CANopen M238 Schneider Electric 1st Receive PDO 1st Transmit PDO CANopen Remote Device POO Mapping Receive POO Mapping Send POO Mapping Service Data Object CANopen I O Mapping Status Information Select send PDO TPDO Index SubIndex Bitlength Index SubIndex Bitlength 1631400 st Transmit PDO 1541800
11. Quick Go to FORCED LOCAL and press Enter FORCED LOCAL Code lt lt Set Forced local assign LI3 Time out forc local 0 1s Local mode Local mode is required to manage the axis movement when the wiring is directly connected to the Altivar and not to the controller Local mode is used to test the axis during e Commissioning of the crane for the first time in this case the operator is able to check that the movement Is correct e Maintenance when it is required to move an axis without the help of the controller Hoisting Optimized CANopen M238 Schneider Electric 104 Sarel cabinet Main switch Power supply Controller Appendix Detailed Component List The following is a list of components for the main components of the Hoisting Optimized CANopen M238 architecture A complete component list for the architecture can be found in the EPLAN file Hoisting Optimized CANopen M238 WID Hardware Components 1 0 1 Cabinet with mounting plate NSYSF181060P 1800 x 1000 x 600 mm HxWxD Cabinet light incl socket magnetic NSYLAM75 Thermostat 1 NC 0 60 C NSYCCOTHO ers Mains witch 3pin 36 kA LV429003 24 1 Contact block TM16D LV429085 22 1 Terminal cover LV42021 Rotary drive with door interface LV429340 Hardware Components a Rev BE j 1 Power supply 230 Vac 24 Vdc 10A ABLBRPS24100 34 1 CircuitBreakerC60N1P C 2A 1 237270
12. Select LI6 and press enter Once the the limitswitches are configured return to the LST with ESC Return to the FUn with ESC Hoisting Optimized CANopen M238 Schneider Electric Local mode The input LI3 is assigned to Local mode configuration To assign LI3 for the local mode configuration Select Con Communication and press enter Select FLO Forced local mode and press enter Select LI3 and press enter Once the the local mode is configured return to the FLO with ESC Return to the Con with ESC Local mode Local mode is required to manage the axis movement when the wiring is directly connected to the Altivar and not to the controller Local mode is used to test the axis during e Commissioning of the crane for the first time in this case the operator is able to check that the movement is correct Maintenance when it is required to move an axis without the help of the controller Hoisting Optimized CANopen M238 Schneider Electric 97 Altivar 71 Introduction The ATV71 parameters can be entered or modified using the graphic keypad panel Note If this is not a new drive it is recommended to return to the factory settings If you need instructions on how to do this please read the drive documentation CANopen settings To set the CANopen address and the Baudrate go to 1 DRIVE MENU DRIVE MENU and press Enter COMMUNICATION lt gt gt Quick CANopen Code Set th
13. Soviachine Zx Altwar Z encoder card Hoisting Optimized CANopen M238 Schneider Electric 9 M ulti8 circuit breaker 10 T eSys motor protection GV 2L 11 FPreventa door guard x CS 12 T eSysD contactor L C1D 13 Harmarny tower light BC 11 Harmarny pushbuttons enclosure ALD 15 Bbsnlute encoder X CC 16 4 C motor Ax Altivar 312 14 Components Quantities of Components Degree of Protection Cabinet Technical Data Hardware e Compact NSX100F main switch e Phaseo ABL8 power supply e Modicon M238 Logic controller S type e Magelis XBTGT2330 HMI e Preventa safety relay XPSAF e Altivar 1 variable speed drive e Altivar 312 variable speed drive e TeSysD load contactors LC1D e TeSys GV2 motor circuit breaker e OsiSense Sensors e Harmony XACA Pendant Station e Harmony tower light XVBC e Limit Switch XCKMR e Screw Limit Switch TER International e OsiSense XCC Encoder e Force sensor load cell from Vishay Software e SoMachine V2 0 For a complete and detailed list of components the quantities required and the order numbers please refer to the components list at 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 such as housings depending on the environment in which you intend to use them For environmental details of the individual components please refer to th
14. Speed 4 selector Speed 5 Speed 5 Speed 7 opeed Hoisting Optimized CANopen M238 Schneider Electric 36 Speed reference Speed optimization amp rope slack The speed optimization function gives the operator the possibility to use a higher speed value as the optimum speed for the hoisting movement with the actual load The actual speed is compared with the actual and maximum allowable torque to obtain the optimum speed for the current load Speed optimization and rope slack FB loaded Hosting ATTI CANopen The Rope slack function detects when the load drops below a minimum torque the weight of the hook and reduces the speed to the minimum LSP speed This protects the crane against unwinding the whole cable from the drum E SAC het Wa Wa wa wa VA NEA A WA A war rm Th Se Lom E Tom ud z io ie dp Tu e s Ac pss WE A dh PP e ales D ow Hoisting Optimized CANopen M238 Schneider Electric 37 Hoisting position The Hoisting position synchronization function for industrial cranes is designed to synchronization synchronize the movement of two hoists in two trolleys for simultaneous movement The image below shows an over head crane with a Hoisting position synchronization function Hoist position Haisting1 synchronization Hoisting ATW loaded ATVI 1 Encoder Encoder card CANopen Encoder Encoder Hoisting Optimiz
15. i amp ctSpd wActCur wSpdRef wAcC i wDec iEn wDrvStat xFwd Rev Altivar71 Control q x lm q wAcc q wDec q xEn q wDrevComCtrl q wSpdTarg i Freewhl FItRist i_xOckStop L i amp ctSpd q x lrm q wAcc q wDec q wMstrDrvSpdRef a xMstiAty em J q_wMstrAce q wMstrDec q_sHoistPositionSync lrm gl q _wSlavDrvSpdRef qslavAtv om q wSlavAcc T q wSlavDec 90 Devices Introduction This chapter describes the steps required to initialize and configure the different devices required to attain the described system function General Altivar 312 and Altivar 1 drives are configured by using the local control panel Note If this is not a new drive it is recommended to return to the factory settings If you need instructions on how to do this please read the drive documentation It is recommended that the controller is in stop mode before parameterizing the drives Hoisting Optimized CANopen M238 Schneider Electric 91 Altivar 312 Introduction The ATV312 parameters can be entered or modified via the local control panel on the front of the device Note If this is not a new drive it is recommended to return to the factory settings If you need instructions on how to do this please read the drive documentation Jog dial that is a part of the local control panel and can be used for navigation by turning it clockwise or counter clockwise Pressing t
16. 12 11 TER International Reference depends on the Scaling rates Hoisting Optimized CANopen M238 21 4 22 21 22 Contact amp Contact B Reference mark on head B2 A2 12 i 12 1 12 Contact contact B Schneider Electric Direction V7 of rotation 11 12 11 12 Contact A 2 x 2 pole N C N C break before make contacts non interchangeable contacts Direction of rotation 3X AM x M A2 BIN A2 B2 A1 B1 0 Nn 12 14 12 Contact A ontact B 21 22 21 L 22 21 22 21 22 Zi 1 22 g 22 Contact B 1 Input drive shaft 2 Reduction gear 3 Cams 4 Contact blocks 5 Potentiometer option 26 Overload Limit Switch OsiSense XCKM110 Incremental Encoder OsiSense type R N 5 V output driver RS 422 5 V XCC1510PS11R Spring coupling XCCRAR1010 Inductive Proximity Sensor OsiSense XS618B1PBL2 BU Blue BN Brown BK Black Hoisting Optimized CANopen M238 Schneider Electric 2f Hoisting Optimized CANopen M238 Photo electric Sensor OsiSense XUX1ARCNT16 REFLECTOR XUZC80 Inductive Proximity Sensor OsiSense XS9C111A1M12 Load Cell 3 9 Party Component Vishay KISD 6 Installation example Web Tension Transmitter PS 1010T Schneider Electric Relay output i N Re icing NC Transmitter e 2 BNM o o BK 4 s Output
17. 61131 3 languages integrated field bus configurators expert diagnostics and debugging as well as outstanding capabilities for maintenance and visualization SoMachine integrates tested validated documented and supported expert application libraries dedicated to Packaging Hoisting and Conveying applications SoMachine provides you e One software package e One project file e One cable connection e One download operation Hoisting Optimized CANopen M238 Schneider Electric 5SoMachime er 112 Contact Process amp Machine Business OEM Application amp Customer Satisfaction Schneider Electric Automation GmbH Steinheimer Strasse 117 D 63500 Seligenstadt Germany http www schneider electric com sites corporate en nome page As standards specifications and designs change from time to time please ask for confirmation of the information given in this publication Hoisting Optimized CANopen M238 Schneider Electric 113
18. Device Update Device Version Add Folder Edit Object Export Import Select the following devices are connected to the CANopen fieldbus 2 x ATV71 and 4 x ATV312 Add each device by clicking on Add Device Once you have added all devices click on Close Note The name of the device can be changed under Name taa Add Device Mame gt f i r Action Append device Insert device Plug device r Device vendor Schneider Electric z Mame Vendor Version F Altivar 3 Li Altivar 31 Schneider Electric 3 2 6 0 Altivar 71 Schneider Electric 3 2 6 0 a a L Ff remm Display all versions For experts only Information Mame Alti ar 71 gt vendor Schneider Electric Groups Alkivar Yersion 3 2 6 0 Model Number 71 Description Alriar 71 Multifunction Variable speed drive For Asynchronous motors 200 690 vc single three phase 0 18 630k IPZD IPZ1 IP31 IP54 Append selected device as last child of CANopen_Optimized amp You can select another target node in the navigator while this window is open Add Device Close Note The name of the device can be changed under Name Schneider Electric 54 ATV71 CANopen configuration Hoisting Optimized CANopen M238 HE Add Device Mame BAlrivar 312 r Ackian Append device C Insert device Plug device r Device vendor Schneider Electric a Mame Ven
19. HMI Application W comi Communication Settings Status Information Select the network path to the controller Gateway 1 Driver TCP IP r Settings IP Ad localhost Port 1217 Schneider Electric 74 J XBTGT2330 Select Gateway 1 Communication Settings Status Information Select the network path to the controller Gateway 1 v Pie Gateway 1 Node name Gat 1 Click on Scan network seat Add gateway Port Add device Edit Delete Connect gateway Don t save network path in project Prompt network path at login Secure online mode When the scan is finished the Select the network path to the controller devices pop up under the Caesar 0 sae atewa He Gateway 1 J y Bo ose 2 Add gateway 1 o M238 SN 629 0389 0001 e TM258LF42DT 0080F44000CC 02 Add device Y a XBTGC1100 0389 4001 We foray Select the used HMI E s E o keTeT2330 0138 4001 188 400 ee Delete _ pe Bo ess SN 1274 0348 0001 3 Riscoles aduress Click on Set active path A warning pop up window s Warning opens WARNING UNINTENDED EQUIPMENT OPERATION Ensure that the software application being downloaded ts installed on the intended device Confirm you have entered the correct device designation or device address Ensure guards are in place so that unintended equipment operation will not cause injury to pers
20. Index SubIndex Bitlength Name Index SubIndex Bitlength ist Receive PDO 1671400 9 Ist Transmit PDO 1621800 Controlword 162604 16200 lo OLIR lex2016 l6 0D l6 Target Velocity 1646047 16300 l y 2nd Transmit PDO 1621801 w2ndReceivePDO 1521401 Statusword 6 6D41 16200 l6 Controlword 1636040 15 00 l ETI status word 16 2002 16807 l HMI Frequency ref 1842037 16403 16 Contral Effort 1626044 16400 l Jd Receive PDO 1621402 ILIR l zii 16803 16 Reserved 1622004 16202 l 3rd Transmit PDO 1521802 Reserved lox2064 16 03 l Reserved 1637064 10200 16 Reserved 1622064 16204 lo Reserved 1637064 l6 0D l6 Reserved 1622004 16205 l Reserved 6 g2064 16 0E l6 Reserved 6 2064 lo80F 16 Check 1st Receive PDO 1st Transmit PDO 2nd Transmit PDO Uncheck the 2nd Receive PDO CANopen Remote Device PDO Mapping Receive FDG Mapping Send PDO Mapping Service Data Object CANopen TIO Mapping Status Information Select receive PDO RPDO Select send PDO TPDO Index SubIndex Billength aida Index SubIndex Bitlength 1621400 1621800 16 6040 16300 16 M l z0l6 16 00 i 1626042 16 00 16 1671801 i 1641401 1626041 15x00 16 6040 16300 16 ETI status word 1622002 15207 HMI Frequency ref 1622037 1603 16 Control Effort 16 6044 16200 3rd Receive PDO 16541402 ILIR l6 2016 16303 Click on CANopen Remote Device PDO Mapping Receive PDO Mapping tab Name Index Ist Rece
21. Label Type Static and enter a name for the button e g Enable Font Vijeo Modern 8x13 v Font Width 8 v Font Style Normal w Font Height 13 Enab le Once you have finished your settings click on OK Alignment The display now shows the new button Enable m Create a Click on the Numeric Display L il L Y Numeric icon in the tool bar r i gt I ED HI Display L anel Lanqua 123 Numeric Display BRE String Display T Date Display Q Tire Display Select the spot where you want to position the display by opening the rectangle and pressing enter Hoisting Optimized CANopen M238 Schneider Electric In the Numeric Display Numeric Display Settings I General Input Mode Color visibili dvanced Settings dialog go to the ame NumericDisplay01 General tab i Style r 00026 n Data Type Integer Float Variable Es Suppress _ Enable Input Made Display Digits 6 _ 0 Display Zero s In Display Digits you can set ma pe il Digt Grouping the maximum number of the Font Resource lt Use Local Settings gt digits to be displayed for both Language integral and fractional part of the Borg veo Modern 6x13 w Font width 8 Font Style Normal iv Font Height value I 3 123455 To link a Variable to the display prie E click on the bulb icon to browse PPE for a variable Press OK
22. Logic Input Output image 1632016 Control effort 16 6044 6th Tra nsm it P D O Motor Current 16 2002 Physical value 413 16 2016 i g Hoist_1_1 4 b x Click on Send PDO Mapping Service Data Objed n Channels CAN O pe n I O M a p p In g ta b variable Mapping Channel Address Type Current va 2 Controlword QW1 UINT Target Velocity YoQW2 INT Acceleration QW3 UINT Deceleration QW4 UINT Statusword ol 1 UINT aww bk nl PCCW o TII TuT lt Reset mapping v Always update variables IEC Objects Variable Mapping Type Always u pd ate variables 9 Hoist 1 1 CANRemoteDevice d Create new variable Map to existing variable Assign user defined symbolic names in I CANopen Remote Device PDO Mapping Receive PDO Mapping Send PDO Mapping Service Data the Variable section Channels Variable Mapping Channel Address Type Transi_Cw Drivecom command reg QW17 UINT Transl_Tv Target velocity QW18 INT d Transi Acc Acceleration ramp time SeQWI9 UINT Transi_Dec Deceleration ramp time QW20 UINT xp Transi Sw Drivecom status register Se Tw21 UINT 4p Transi in Logic Input Output image 9122 UINT Control effort IW23 INT Motor Current IW24 UINT 4 Transi_Ce Transi_Mc Physical value AI3 1W25 UINT 4p Transi Sen 99999292929 NOTE Repeat the same steps with the other Altivar 312 drives and change the Node ID to 5 6 7 Hardware The picture shows the hardware layout of Layout c
23. Modbus Manager Modbus Manager h Serial Line 2 Double click on CAN ark Manager SoMachine nized CANopen Optimized Select 500000 bits s as fi Library Manager MyPLC PLC Logic Applicat Baudrate CANbus Baudrate rbits s 500000 Net nline Bus Access Block SDG and NMT access while application is rL le EdiE When Project Build hoe ee tonale hrr Add Right click on the cut CANopen C RECHRIBCNCONLOR ON cony Devices CANopen Optimized FS Sort by T sort order G riba Optimized CANopen x g MyController TM238LFD Properties Select Add Device FE PLC Logi Add Device From Template Application oo con in Add Object ri Library Man Add Device S Task Config E MAST Embedded Functions TE IO IO i HSCIHSC FLi PTO PWM PTO Update Device Version a Serial Line 1 Cy Add Folder t Modbus Manage a 2 Serial Line 2 g SoMachine_Met Export TON j Import H ee er m Delete Disable Device Edit Object Hoisting Optimized CANopen M238 Schneider Electric Hoisting Optimized CANopen M238 Edit Whew Project Build Select Add Device KI Ca db Cut Copy Delete Properties Add Device From Template Add Object 1 Add Device Embedded Functions S IO IO LP HSC HSC PG PTO PWM PTO Serial Line 1 8 Modbus Manage Serial Line 2 n Far Devices Disable
24. equipment and related software is used to control a variety of industrial processes The type or model of automation equipment suitable for each application will vary depending on factors such as the control function required degree of protection required production methods unusual conditions government regulations etc In some applications more than one processor may be required as when backup redundancy is needed Only the user can be aware of all the conditions and factors present during setup operation and maintenance of the machine therefore only the user can determine the automation equipment and the related safeties and interlocks which can be properly used When selecting automation and control equipment and related software for a particular application the user should refer to the applicable local and national standards and regulations A National Safety Council s Accident Prevention Manual also provides much useful information In some applications such as packaging machinery additional operator protection such as point of operation guarding must be provided This is necessary if the operator s hands and other parts of the body are free to enter the pinch points or other hazardous areas and serious injury can occur Software products by itself cannot protect an operator from injury For this reason the software cannot be substituted for or take the place of point of operation protection Ensure that appropriate safeties and m
25. fast plug connectors H Power point arm for crane power feed and connection boxes l Bridge travel cabinet J Bridge travel limit switch K End limit L Festoon cable protection supports M Pendant plug in connector N Supports for trolley and pendant power feed systems O Profile connection P Sliding support Q Cable clips fitted to the profile for supporting extra electric cables R Load Limit device S Trolley limit switch T Limit of carriage cross travel running U Radio optional V Fixed beam trolley limit Hoisting Optimized CANopen M238 Schneider Electric Introduction General Introduction Explanation of Crane movements Hoisting Solution This chapter describes the function the architecture dimensions quantities and the different types of components used within this solution The controller in this application is a Modicon M238 Logic controller The drives ATV71 and ATV312 are connected to the controller via a CANopen bus The example application includes two functional safety options according to EN ISO 13849 1 standards an Emergency Stop function supervised by a Preventa Safety Module see the appropriate hardware manual plus a second Preventa Safety Module to evaluate protective door sensors Operational Function e he Industry crane has a dual 3 axis movement 2 x Hoist 2 x Trolley and 2 x Traveling The movement is performed using variable speed drives e The operator controls the crane using a pe
26. voltage ll E Bus li o Us Rus Load impedance value R 1000 9 28 SHIELD ue VISHAY BLH Q POWER O O sin O ADJUST PS 1010T ANALOG TRANSMITTER 4 20mA ISO COM 0 10 V COM V IN Amplifier Inputs Amplifier Outputs 1 Shield 8 VIN 2 SEN Orange 9 COM EXC Black 10 0 10V SIG Red 11 ISOCOM SIG White 12 4 20mA EXC Green SEN Blue Note 1 Forthis application that uses a four wire load cell cable two jumpers must be installed between SEN and EXC and between SEN and EXC 2 The 4 to 20 mA outputs are used for this architecture Hoisting Optimized CANopen M238 Schneider Electric 29 General Software The main programming work is the programming of the Modicon M238 Logic controller the configuration of the CANopen fieldbus and creating the screens for the HMI display if it s used Programming the M238 is done by using SoMachine Programming of the Magelis XBTGT2330 HMI is done by using Vijeo Designer which is integrated in the SoMachine software tool Configuration of the drives ATV312 and ATV71 is done using the control panel on the drive To use the software packages your PC must have the appropriate Microsoft Windows operating system installed e Windows XP Professional The software tools have the following default install paths e SoMachine C Program Files Schneider Electric SoMachine Schneider e Vijeo De
27. 38 Schneider Electric 88 Function Overload control Function Speed optimization and rope slack Hoisting Optimized CANopen M238 This screen shot shows the configured function blocks for the hoisting axis OverloadCtrIDist OverloadCtriEnc and OverloadCtrlTrq SL DVLDDIST OverloadCtriDrt E En iISlavDre amp ctlTr ID ry T rN t q L LeMaTm Fi wrvTraMex wD vid F ltr T ime E WF ltr ime iSlavDre amp ctl5 pd iIDreSpd ct SL_OVLDENC OverloadCtrEnc En iSlavDrectlTrq iDrvTrg ctl C DMa E LworvTigMas LwOveTime gt wFltrTime iDreSpd cti wEncPas SL DVLDTRU OverloadCtriTig EM i iSlavDrv ctiTra 7 HDT rct eS a mg lia E wOvidFitrTime LisFitrTime telesales g U wHookTrq q xEn q 0 vld lm q rDustCbvld q xEn q xDvid amp lm q En q 0 vid lim SpeedSelect and SpeedOptRopeSlack Speed selecinn for mazfer and save devez MA Speeds elect SpeedS elect q_wOrySpdT arg q x lm q vaelrmild L wDreSpdHera s LwGentosf i GenCoet q xSlavE vld lm a T Hota This screen shot shows the configured function blocks for the hoisting axis M SORS SpeedO pthopedlack q_xEn q wDrvSpdT arg q_wOrySpdT argh as iMstrDresctiSpd 5 LiDrmSpd ctl G S 1 NUM wL sp LitdstrDrvActT rq LD T r cl iwGenT rq imeAvge _WHookTrgUp i L wHaakTrgqDawn m L wHanokTr mus eS 13 q xMstr5peedSelect lm E Sch
28. ANopenDry IecVarAccessLibrary To export variables to the HMI Iostandard select them and click on Data Types The global variables are located in the GVL folder uuu Hoisting Optimized CANopen M238 Schneider Electric The right frame lists the Selected variables which are to be used in the HMI Communication Settings Controller PC Configure the communication gateway Double click on MyController On Communication settings tab click on Add gateway Keep the factory settings and Click on OK Available variables Refresh Selected variables Available Items Access Ric Selected Items 3 variables Variab cv E IoConfig Application Mappings IoConfig Globals PLC Logic L5 Application i Gv EL Library Manager Fil Hoisting PR E Main PR 25 Task Configuration ERES MAST 3 MyController 4 b x m Don t save network path in project Prompt network path at login Iv Secure online mode Driver TCP IP Settings Parame Value IP A localhost Port 1217 Hoisting Optimized CANopen M238 Schneider Electric 72 Select Gateway 1 Click on Scan network During the scan the Scan network button becomes grayed out When the scan is finished the Scan network button becomes active again and the devices that have been detected are listed under Gateway 1 Select the controller that is being used and click on Set acti
29. GRAM Hoisting VAR END VAR corre ane Fuction Bleecks Libe aree Functions Libe dares y Presar Libra Function flecks Project Furgtieons Proper Fragata Poole 5T Operator M reist ond namen Schneider Electric KS Sort by 5 Sort order 7 He Find k Pointer E Input Return AT Composer TE Selector Comment a r Input Pin Output Pin Tieni mr gt worstEE C Hohti L2 Anti crab b LO An miy Junu meerspeeit centred LO Merton date strae Lj Chr nad contra LJ Smooth sev LO Seeed aptimzation and repe sadi 3 Uh m i a L Lk E he Shrocbared sawa A Shoe docuanentahon 67 The HoistPositionSync will appear in the TR HoistPositionSync POU En q En xSunc r x5ync LO ryF dM str q_diEncPosDitt xDreHevMstr q xDreFesdldstr xOrnvAdyStathd str q xDreRevMstr xDryRiunStatMstr q wLDrespdT argh str this function block is still not instantiated iDrvSpd ctiMstr q wDre amp ccHstr wDreSpdHefMstr q wDreDecMstr wEncPaosMstr q xDreFwdslav xDreFwdslav q xDreRevSlav DreHevSlav q wDreSpdT argslav Click on xDreRdyStatSlav q wDree amp ecslav wDreSpdBsefslav q wDreDecslav wEncPosSlay q x amp lm iD S pd amp cti5 lav q wlmnld wDre amp ecMstr wDreDechstr wDre amp ecSlav wDreDec lav dwSuynecMaxThsh wDreSpdHsp wDreSpdLsp rPidKpSync xHst and Type a user defined variable name PPT fo
30. MS 91 A Am AN 31 pam 92 AIIVaE T IS y n sauna uy my a MeL iu cuoi ye CoD LAM e bote celos LL LRL ka aa um matu ta As uu E Ou 98 Append Eu Kr m 105 Detailed Component LIS uuu y u ayu a aa aka 105 Component Protection Classes 108 Environmental Characteristics Vs Dv DER 108 Component Features uci ttn satt ns bliss eA En IRE M IRA MM GRE SER MM E Mate aer ME 109 Contao uy uyu UU MN CM EE M M t Ra m UM uL UN p MM 113 Hoisting Optimized CANopen M238 Schneider Electric 2 Important Information NOTICE Read these instructions carefully and study the equipment to become familiar with the device before trying to install operate or maintain it The following types of special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists that will result in personal injury if the instructions are not followed hazards Obey all safety messages that follow this symbol to avoid possible injury or This is the safety alert symbol It is used to alert you to potential personal injury death A DANGER DANGER indicates an imminently hazardous situation that if no
31. Magelis HMI XBTGT2330 24 Vdc Input TFT Color LCD 320 x 240 Pixels 65536 Colors 16 MB Application Flash EPROM with Built in Ethernet USB interface Serial interface COM1 Power supply connector Serial interface COM2 RJ45 Polarization Switch Altivar 312 ATV312H075N4 3 phase 400 Vac 0 75 kW Terminal Function Ground terminal Power supply Output to braking resistor polarity Output to braking resistor DC bus polarity Outputs to the motor EIE TEST Hoisting Optimized CANopen M238 Schneider Electric 24 Altivar 71 Terminal Function ATV71 H075N4 Protective ground connection terminal R L1 Power supply S L2 T L3 PO DC bus polarity PA Output to braking resistor polarity FH Output to braking resistor 400 Vac 0 75 kW PORAS ve 3 phase U T1 Outputs to the motor Altivar 71 RS422 Encoder Interface Card VW3A3401 Harmony Tower light XVB C Wire 5 Green Wire 4 XVBC2B3 Wire 3 Wire 2 Red Wire 1 XVBC2B4 Wire green yellow Wire 6 Yellow XVBC2B8 Blue XVBC2B6 Signal Lamps and Illuminated Pushbutton Harmony Style 5 XB5AVB1 XB5AW36B5 Hoisting Optimized CANopen M238 Schneider Electric 25 Limit Switch OsiSense Direction V of rotation A A2 B2 Direction V of rotation Bl a B2 A2 0 A1 21 22 214 22 11 12 1 12 Contact A Contact Screw Limit Switch 3 Party Component 11 L
32. Modbus Communication via Ethernet TCP IP is also available in specific models Flat Profile Memory expansion for application program Temperature range 0 50 C Certificates UL CSA Hoisting Optimized CANopen M238 Schneider Electric 111 SoMachine OEM Machine Programming Software MSDCHNSFUV20 and MSDCHNSFUS0V20 SoMachine is the OEM solution software for developing configuring and commissioning the entire machine in a single software environment including logic motion control HMI and related network automation functions SoMachine allows you to program and commission all the elements in Schneider Electric s Flexible and Scalable Control platform the comprehensive solution oriented offer for OEMs which helps you achieve the most optimized control solution for each machine s requirements Flexible and Scalable Control platforms include Controllers HMI controllers e Magelis XBTGC HMI controller e Magelis XBTGT HMI controller e Magelis XBTGK HMI controller Logic controllers e Modicon M238 Logic controller e Modicon M258 Logic controller Motion controller e Modicon LMCO58 Motion controller Drive controller e Altivar ATV IMC Drive controller HMI HMI Magelis graphic panels e XBTGT e XBIGK SoMachine is a professional efficient and open software solution integrating Vijeo Designer It integrates also the configuring and commissioning tool for motion control devices It features all IEC
33. SO 14119 They provide protection for both the machine operator and the machine by immediately stopping the dangerous movement on receipt of a stop instruction from the operator or on detection of a fault in the safety circuit itself Hoisting Optimized CANopen M238 Schneider Electric eo ga MT 7 1T ae a PRE KPB s 109 Altivar 71 Variable Speed Drive e 200 Vac to 240 Vac 1 phase 0 37 kW to 7 5 kW 200 Vac to 240 Vac 3 phase 0 37 kW to 75 kW 380 Vac to 480 Vac 3 phase 0 75 kW to 500 kW 500 Vac to 690 Vac 3 phase 2 2 kW to 630 kW Integrated EMC filter Temperature range 10 to 50 C Speed range 0 to 1000 Hz Graphical display for control and parameterization Operation via Modbus CANopen or other buses possible x 2 analog inputs plus 1 analog output Digital inputs 2 digital status outputs 1 shutdown output Power removal function Option cards for communication buses Extended I O and encoder Protections of drive and motor e Compact design side by side installation possible Altivar 312 Variable Speed Drive The Altivar 312 drive is a variable speed drive for 3 phase squirrel cage asynchronous motors The Altivar 312 is robust compact easy to use and conforms to EN 50190 IEC EN 61800 2 IEC EN 61800 3 standards UL CSA certification and to CE marking Altivar 312 drives communicate on Modbus and CANopen industrial buses These two protocols are integrated as standard
34. The display shows the new numeric display Hoisting Optimized CANopen M238 Schneider Electric Application functions Application Functions movements Anti crab within traveling axis Anti sway within trolley axis Load overspeed control within hoisting axis Overload control within hoisting axis The following is a list of application functions describing the operations of the crane Speed optimization and rope slack within hoisting axis Hoisting position synchronization within hoisting axis Monitoring data storage Function Anti crab SWITCH_AC LimitS witch M _xTravFwdStop i _xTravFwdSlow _xTravReyS EE i SS LLxfvev L 1i ITravSpd cti wTravDistStop q xDrvFwdSlow q xDrvRevSlow q wLsStat q rDistTrvl q x lrm wTravSpdNom B i wTravLinSpd En i UCTS l 1 L iA _xT ravHighspeed TRUE 1 TRUE Hoisting Optimized CANopen M238 Scaling of fhe raw signals from fhe sensors q_xEn q wScal put Scalelnput wMaxThshlput wMinThshlput Scale2 Scalelnput q_xEn xDevlm q wScal put i diDevlput xSenSel wDevMaxThsh i wDevMinThsh i_wMaxThshOput i_wMinThshO put wMaxThshlput wMinThshlput i wTravSpdl wTravSpd2 This screen shot shows the configured function blocks for the traveling axis LimitSwitch Scalelnput and SpeedSelect part 1 Lami swich function for fhe fraveding axis Speed Select fun
35. This document is based on European standards and is not valid for use in U S A Compact CANopen Logic Controller M238 Optimized Hoisting System User Guide EIO0000000295 xv reid MAY 2010 Contents PET OT CAINE EATON IACI ON sence u u T uu Epp 3 B fore VOU BEGI Mee mE 4 NTE O CEI CONN asso L luu u uuu N E A ES 6 AB5BrIGVIGSIIO Su ul l u u dass dua dea daa dus duas dv dde dus dave es div des Pav esu dua deae kuna 7 LOSS ANV eee a P 8 Application Source CoOod uuu dto en ets etos itd dnd td t 9 Example of the Typical Machine 10 HO ISUng SOU OI p 4S0S 12 Op rational FUNCOM c anaa aea aean arean hanaan hanere ha era AEE 12 PREC MIRO CCUG uu uwi um 2 EE 14 Stala On a A mm Si mu MEL DEL nu ua 17 Har aWare uu uu ne cae ap mu MEC C MU AM CI CL an I EE E ua a EE 19 SOW E toa uos chier aa niku suu aypana E UM E Ctm bre UI cle ELI EE 30 Comniunicationbo u A abu Nara De Receive Gl ab ctu re bar wu ERN du E A auqa aka aku aski i daba Ge EAR 39 Implemehtalloituasais iei vac ad veu Kx Dn ana sansa aasan ua EUN UE UNA UNE SEM I ENS MA 44 Comnmunicati Is uu u X su umum u u duct d oo n a e um a T a a E aa 46 ON ONE cae u u uu Z ane ess w 48 IIMISFGVZuzzucuxam au u i Xia una 81 Application UNCION S u a ETE D TOO EE 86 DEVICES ROTE TT T EU U
36. Verify that the completed system is free from all short circuits and grounds except those grounds installed according to local regulations according to the National Electrical Code in the U S A for instance If high potential voltage testing is necessary follow recommendations in equipment documentation to prevent accidental equipment damage Before energizing equipment Remove tools meters and debris from equipment Close the equipment enclosure door e Remove ground from incoming power lines Perform all start up tests recommended by the manufacturer OPERATION AND ADJUSTMENTS The following precautions are from NEMA Standards Publication ICS 7 1 1995 English version prevails e Regardless of the care exercised in the design and manufacture of equipment or in the selection and rating of components there are hazards that can be encountered if such equipment is improperly operated e t is sometimes possible to misadjust the equipment and thus produce unsatisfactory or unsafe operation Always use the manufacturer s instructions as a guide for functional adjustments Personnel who have access to these adjustments should be familiar with the equipment manufacturer s instructions and the machinery used with the electrical equipment e Only those operational adjustments actually required by the operator should be accessible to the operator Access to other controls should be restricted to prevent unauthorized changes in operating charac
37. against a control maximum torque parameter The overload alarm can be reset in three different ways For each method the Schneider Electric hoisting library includes a separate function block The Overload Torque method can be reset by returning the load to a configured hook torque value In the event of an overload using the actual RPM and time the Overload Distance method calculates the distance and position until the upward movement stops Using the same method the function block calculates the distance to the original starting point To reset an overload alarm the actual torque must drop below the maximum torque value and the calculated position must be equal to or lower than the position when the overload event occurred The Overload Encoder method stores the encoder value if an alarm is recognized and resets it after moving back to the stored encoder value and the torque value is less than the maximum torque Overload control FB gt loaded 2 Hoisting gt AT YET peers CANopen Hoisting Optimized CANopen M238 Schneider Electric 35 Speed select The Speed select function block is used to select a speed value from different sources The required speed value can be either a fixed or an analog value Speed Select Enable Enable Forward Forward Reverse Reverse Forward slow C anto Alarm ID Reverse slow Alarm HSP LSP Speed selection Analog reference Speed 1 speed 2 speed 3
38. ar BH2UBB 16H 0D Reserved t BHZOBCTBHOO DC bus management 16 2060 16 00 Motor Flusing TBAZOBE TBHOO Drive boards group 16 206F 16 00 Braking transistor 16 2070 16 00 Vector control 2 points 16 2071 16 00 Load sharing 1 5H2074 15HDU Frequency meter 16 2075 16 00 Half floor speed 16 603F 16 00 Error Code 16 6041 16 00 Statusword 15H5D43 15EHDU Velocity Demand Ho 16 604416 00 Control Effort H 16 6071 16 00 Target Torque 15H5BD77 15HDUU Torque Actual Value Mame Statusward Index 15s E041 Bilengh 16 EX Sublndex 16H 0 Hoisting Optimized CANopen M238 Schneider Electric Select the patemeter 2nd Transmit PDO 1621801 Statusword ETI status w 1642002 Control Effort 166044 ETI status word 2 ILIR 1642016 3rd Transmit POO 16z1802 Control Effort Delete these parameter Click on Add Mapping Add the parameter PUC encoder value Click on OK Select item from object directory Index Subindex Mame AccessType Default 16 201416 00 Dlutputs_ affectatians t 16 2016 16 00 10 values gt 16 2014 16 00 Encoder management 16 05 Number of pulses 16 06 Encoder check BH Encoder usage 15HDGS Encoder coupling 16 09 Encoder type ABA Encoder check time 16 0B PEI TBHOC PUE ogo oc oO oc oO A 16 201E 16 00 Product communication T6H 2022 16 00 Customer 162024
39. ceive POO 1641400 162400 1st Receive PDO and the Bi Geen 6th Receive PDO 1521405 16400 6th Receive PDO Target velocity 1646042 16400 HE Acceleration 16 205C 16402 Deceleration 163203C 16403 1 CANopen Remote Device PDO Mapping Receive PDO Mapping Send PDO Mapping Name Index Subindex Bitlength Send PDO Mapping tab 1st Transmit PDO 1641800 16400 6th Transmit PDO 1621805 16300 Expand the Name Index Subindex Bitlength ist Transmit POO 1641800 16300 eth transmit PDO B rh Transmit POO 1641805 15300 Click on Index Subindex Bitlength i eth Transmit PDO wa Extended sta 16 2002 16 07 Control effort 16 6044 16 00 Logic Input 1632016 16329 Add parameter Target velocity Click on OK Select item from object directory Index Subindex Mame AccessType Default 16 2050 16 00 Threshold 16 2051 16 00 Terminal block control 16 20524 16 00 Stop settings 16 2053 16 00 Jump frequency 16 205416 00 Freset_ speeds 16 2055 16 00 Upper and lower speed L 16 2056 16 00 Limit switch management 16 2057 16 00 Stop on prolonged speed 16 2055 16 00 Summing reference function H JBH2D053 15H00 PI regulator 16 2054 16 00 Customer unit 1BH2256215800 Keypad management TBHBOSF 16800 Error code 16E 6040 16 00 Drivecorn command reg TBHEO44 16400 Control effort Mame Target velocity Index 158 6042 Bitlerigth 16 Sublnd
40. celeration Type Default 1646040 16746042 164 203C 164205 Subindex Cancel Bitlength CANopen Remote Device PDO Mapping Receive PDO Mapping Send PDO Mapping Index 16 1800 16 1801 16 1802 Name ist Transmit PDO 2nd Transmit PDO 3rd Transmit PDO 2nd Transmit PDO 3rd Transmit PDO ocr 2nd Transmit PD 3rd Transmit PDO Mame st Transmit PD QL1R 2nd Transmit POO 3rd Transmit PDO Schneider Electric Subindex 16 00 16 00 16 00 me Index ist Transmit POO 1621800 16213801 16 1502 Tide s 15 2016 16 1501 16 1802 Index 1641800 1622016 1641501 1641802 Bitlength Subindex Bitlenath 16400 16400 16400 16400 16400 16400 Subindex 16400 16400 16 16700 16400 Bitlength 57 Delete this parameter Edit Add Mapping Click on Add Mapping Add PDO AccessType Type Default Repeat the steps 17 to 18 to add the following parameters Control Effort Motor current Motor torque ITE IS The data available in the MEC Stakusword Control Effort Motor current 1646041 1676044 1642002 1563 2002 1st Transmit PDO Motor torque Expand the 1641801 1641602 2nd Transmit PDO EZ Pod Transmit PEO 3rd Transmit PDO Add the parameter Statusword and Click on OK Select item from object directory Index Subindex Name BH205A 16H00 Input line contact
41. chneider Electric 46 CANopen Addresses M238 is CANopen master Device CANopen Address M238 ATTI ATTI ATV312 ATV312 ATV312 8 E ATV312 Datalink ATV71 M238 Data Direction Device M238 SPDO ATV71 Send PDO1 PDO Data Direction M238 Device RPDO Mapping Index Subindex 6040 Drivecom command register Rocce 6042 Target velocity PDO 203C 2 Datalink ATV312 M238 Data Direction Device M238 SPDO ATV312 Mapping Index Subindex Send 6041 Drivecom status register PDO1 Send PDO6 Data Direction M238 Device RPDO Mapping Index Subindex Receive 6040 Drivecom command register PDO1 Receive 6042 Target velocity PDO6 203C 2 Acceleration ramp time 203C 3 Deceleration ramp time Hoisting Optimized CANopen M238 Schneider Electric 47 Controller Introduction The controller chapter describes the steps required for the initialization and configuration and the source program required to fulfill the functions Requirements The following is required before proceeding with the controller configuration e SoMachine is installed on your PC e The Modicon M238 Logic controller is switched on and running e The M238 is connected to the HMI with the programming cable XBTZ9008 M238 to HMI e The HMI is connected to the PC via the cable XBTZG935 HMI to PC Setting up the Controller is done as follows e Create a new project Add the Controller Add the CANopen fieldbus Add CANopen d
42. ction Anti sway Hoisting Optimized CANopen M238 LKgo ik D IKpSkew q wActualDrift aj q w ctualSkew q rCalbSenl q rCalbSen2 q xAlrm nticrab al dWAco L qwTrav ccZ T i_xFitRst q wDec i_xOckStop _iActSpd j wActCur i wSpdRef WACC i wDec This screen shot shows the configured function blocks for the trolley axis SpeedRef 2 CableLength Enc and Antisway Param Configuration part 1 Spe resar fiction lack AG GSPEEDREF TRUE i rTralSpdHig i rTralsxxll ere i_rTralSedSiaw Fwd i rTraizxlcre Here i xTralFwclscre i xTra Bereccree i_xTralF i xTraR i xTral Fwd i xTralBese i xTral Hired i xTralHigrzxsed i li q CableLength_Enc i_ En SSS i_zEnCalblengh Enc i xGalbMade i rC Ele Leni i rCilebend sx i rCBilelenMin rGBlelenMin i rCalbGBlleLen i rcalbiGBlleLen i dicalbPulsval i wPulsEnc ixHighlim i xHighlim i_rLoadLen q dicsbPusval ix Lepas S L i wRomToHzRe q xEn q rDrespd q xDreeFwd F q xOrvRev q xsernsin q rDreespdFsdax q rDrsodBesM ax dq wArrmid c west Alri Jam paraneter copo Lia w e j i ST 7 2 NEEEENENEEN dH Ko m i n Schneider Electric 87 Function Load overspeed control This screen shot shows the configured function blocks for the trolley axis AntiSwayOpenLoop and Altivar31_Control part 2 ERIT 3 x3 focio dock AGLOOP AT device contro facio lock ANTI PAWATI Alti
43. ction for the kaveling axis SPEED_SELECT_AC i_xEn xDrvFwd T wDrvSpdHsp i_wDrvSpdRefl i_wDrvSpdRef2 i wDrvSpdRef8 q_xAlrmLinmitS witch D q xAlrmSpeedSelect u q wSenScall q wSenScal2 Schneider Electric 86 This screen shot shows the configured function blocks for the traveling axis Anticrab and Altivar31_Control part 2 Anticrab function for the kaveling aym AC Anticrab L_xTravAnticrabEn En q_xEn q wDrvSpdT arg Device function blocksfor the kaveling axis Inst Atv T Altivar31_Contol q_xEn q wDrvComCtrl TRUE iEn i wDrvStat q wTravCmdl a i_xCalb RstCalb i xDrvRdyStatl i DrvRidyStat2 i DrvSpdActil i iDrvSpdActl2 i sDrvFwd 3xDrvRev i_wDrvSpdRef wSenl wSen2 L Ji wskewMas i_wDrftMax F JiwDdfiMin LIE wSenAvgel wSen amp vge2 LwDrvSpdHsp D i wDrvSpdLsp kwDiv cc i wDrvDec stPac ixHst Hist q wDrvAccl q wDrvDecl q wDrvSpdT arg2 q wDrvA amp cc2 q wDrvDec2 q xDrvFwd q xDrvRev q wDrftActl q wSkewdctl q rCalbSen amp vgel q rCalbSen amp vge2 q_xCalb q x lm q w lmld TRUE i xEn ij Fwd Rev L_xFreeWhl i_xFitRist q wSpdTarg aiT q Alm 7 qixAmAtvT 7 T7 qWAcc ag wTrav cel fg q wDec Inst2 Atv Altivar31 Control q En m q wDrvComCtrl da wiravemde 47 q wSpdTarg mOn pAs q s lm alm t fra i wDrvStat Fwd Rev i Freew hl Fun
44. de a complete user program for a crane but they can save the OEM a lot of development effort The following is a list of AFB functions for the gantry crane of type Hoisting Industry Hoist Movement Limit switch management Overload control Load overspeed control Speed optimization and rope slack Hoisting position synchronization Trolley Movement e Anti sway e Limit switch management Traveling Movement e Limit switch management e Anti crab e Anti sway General e Speed select e Scale input e Monitoring Data Storage For additional information concerning the Hoisting AFBs please refer to the SoMachine online help Hoisting Optimized CANopen M238 Schneider Electric 13 Architecture General The controller is a Modicon M238 Logic controller S Type The user can control the application using the pendant control station The Altivar 71 and Altivar 312 drives are connected via CANopen fieldbus to the M238 Field devices such as encoder limit switches and proximity sensors monitor position The HMI shows only the crane status The example application includes an option for an Emergency Stop function supervised by a Preventa safety module Layout 1 Compact NSX main switch 2 Phased power suppi ABLS S Modicon M238 Logic controller 4 Madelis graphic HMI XBTGT 5 A tivar drive ATV 71 encoder card 6 Altivar drive ATY 312 P F Prewenta safety module XPS 11 6 Harmony E stop enclosure ALK
45. dor Version t3 Altivar E s T T ti Encoder PA exim Display all versions For experts only Information LE Name Alrivar 312 vendar Schneider Electric Groups Altivar Version 3 2 6 0 Model Sumber 0 Description Altivar 312 compact Variable speed drive For Asynchronous motors 110 600 YAT single three phase 0 18 15 kw IPz Append selected device as last child of CANopen_Optimized You can select another target node in the navigator while this window is open The default names of devices are changed in our example Double click on the Hoist 1 1 Set the Node ID to 1 Click on CANopen Remote Device tab and check Enable Expert PDO Settings Add Device Close H AMopen Optimized CAMopen Optimized Hoist 1 1 Altivar 71 9 Hoist 2 2 Altivar 71 Trol 1 4 Altivar 312 Tral 2 5 Altivar 312 Trans 1 amp Altivar 312 Trans z 7 Altivar 312 C AMopen Remote Device POO Mapping Service Data Object CA General Mode ID Enable Expert PDO Settings CANopen Remote Device FDO Mapping Receive POO Mapping Ser General Made ID p rts Expert PDO Settings Create all SDG s L 1 Schneider Electric 55 Click on PDO Mapping tab CANopen Remote Device POO Mapping Receive POO Mapping Send PDO Mapping Service Data Object CANopen 1 0 Mapping Status Information Select receive PLO REDO Select send PDO TPDO Name
46. double click on HMI application in SoMachine Vijeo Designer creates the HMI program main window Communi To set the communication ramaga cation parameters select in the saMachineNebworkD1 i OP Som Mycontroll settings Navigator we _MyController IO Manager SoMachineNetwork01 double click on SOM MyController Hoisting Optimized CANopen M238 Schneider Electric 81 In the dialog window set the controller Equipment Address You will find this address in SoMachine see next step In the Communication tab select the M238 and click Edit The Equipment Address of the M238 is displayed under Device Name soMachine Network Equipment Config PLC Configuration Equipment Address Connection Optimization Time Out 10 Retry Count TCP AIP Configuration Gateway IP Address eat d Port E 247 i Application Anticrab J MyControlier hopications Files PLC settings Services Status Information Select the network path to the controller Gate i3y 1 020 1 0001 ghe Gateway 1 4o Ugu M238 SN 1698 0001 0001 active Node name 04238 SN 1695 Target Type 1621000 Address 0301 0001 Device Name Target I0 15510140111 Dont save network path in project Prompt network path at login Iw Secure online mode TM 23EL FOC 240750 Vendor Dee Resolve address
47. e additional and or different components In this case you will have to adapt the information provided in this document to your particular needs To do so you will need to consult the specific product documentation of the components that you are substituting in this architecture Pay particular attention in conforming to any safety information different electrical requirements and normative standards that would apply to your adaptation It should be noted that there are some major components in the architecture described in this document that cannot be substituted without completely invalidating the architecture descriptions instructions wiring diagrams and compatibility between the various software and hardware components specified herein You must be aware of the consequences of component substitution in the architecture described in this document as substitutions may impair the compatibility and interoperability of software and hardware A CAUTION EQUIPMENT INCOMPATIBILITY OR INOPERABLE EQUIPMENT Read and thoroughly understand all hardware and software documentation before attempting any component substitutions Failure to follow these instructions can result in injury or equipment damage This document describes a hoisting architecture based on Modicon M238 Logic controller S Type Hoisting Optimized CANopen M238 Schneider Electric Abbreviations Abbreviation Signification Alternating Current A C Circuit Breaker C f
48. e CANopen address to 1 for the first one and 2 for the next second one Set the CANopen bit rate to 500 kbps Hoisting Optimized CANopen M238 Schneider Electric 98 Access level settings Macro configuration settings After changing the configuration it is necessary to power cycle the drive Note For high power drives more than 90 kW it is recommended to do an automatic reboot with the graphic keypad panel refer to drive user s manual for details To change the Access level go to 2 ACCESS LEVEL and press Enter Go to Expert and press Enter ACCESS LEVEL To change the brake settings go to 1 DRIVE MENU and press Enter Hoisting Optimized CANopen M238 DRIVE MENU Schneider Electric 99 Enable Auto tuning Hoisting Optimized CANopen M238 Go to 1 1 SIMPLY START and press Enter Go to Macro configuration and select Hoisting NOTE These parameters are for the test machine only They are NOT VALID for every machine To enanle the auto tuning go to 1 DRIVE MENU and press Enter Go to 1 4 MOTOR CONTROL and press Enter SIMPLY START Macro configuration Hoisting DRIVE MENU MOTOR CONTROL Quick Schneider Electric 100 Go to Auto tuning and select Auto tuning Yes NOTE These parameters are for the test machine only They are NOT VALID for every machine Parameterizat To parameterize the encoder ion of Encode
49. e list in the appendix of this document and the corresponding user manual Input Mains voltage 400 Vac Power requirement 4 5 kW Cable Size 5 x 2 5 mm L1 L2 L3 N PE Cable Connection 3 phase Neutral Ground Neutral is needed for 230 Vac Phase and Neutral Output Motor power ratings 4 asynchronous motors 4 poles 1500 RPM controlled by ATV312 0 75 kW 2 asynchronous motors 4 poles 1500 RPM controlled by ATV71 0 75 kW Hoisting Optimized CANopen M238 Schneider Electric 15 Functional Safety Notice EN ISO 13849 1 EN IEC 62061 Emergency Stop Safety Functions Dimensions The standard and level of functional safety you apply to your application is determined by your system design and the overall extent to which your system may be a hazard to people and machinery As there are no moving mechanical parts in this application example category 1 according to EN ISO 13849 1 has been selected as an optional safety level Whether or not this functional safety category should be applied to your system should be ascertained with a proper risk analysis This document is not comprehensive for any systems using the given architecture and does not absolve users of their duty to uphold the functional safety requirements with respect to the equipment used in their systems or of compliance with either national or international safety laws or regulations Emergency Stop Emergency Disconnection function This function f
50. echanical electrical interlocks for point of operation protection have been installed and are operational before placing the equipment into service All mechanical electrical interlocks and safeties for point of operation protection must be coordinated with the related automation equipment and software programming NOTE Co ordination of safeties and mechanical electrical interlocks for point of operation protection is outside the scope of this document START UP AND TEST Before using electrical control and automation equipment for regular operation after installation the system should be given a start up test by qualified personnel to verify correct operation of the equipment It is important that arrangements for such a check be made and that enough time is allowed to perform complete and satisfactory testing Hoisting Optimized CANopen M238 Schneider Electric 4 4 CAUTION EQUIPMENT OPERATION HAZARD e Verify that all installation and set up procedures have been completed e Before operational tests are performed remove all blocks or other temporary holding means used for shipment from all component devices e Remove tools meters and debris from equipment Failure to follow these instructions can result in injury or equipment damage Follow all start up tests recommended in the equipment documentation Store all equipment documentation for future reference Software testing must be done in both simulated and real environments
51. ed CANopen M238 Schneider Electric 38 General Communication The TVDA architecture includes two different communication networks The CANopen fieldbus connects the Modicon M238 Logic contoller as CANopen Master and Altivar drives as CANopen slaves All the drives are connected via CANopen TAPs The CANopen transmission rate is 500 kb s The M238 and the HMI communicate using the SoMachine protocol The download from the PC to M238 and to the HMI is done using a single cable connection The PC has to be connected to the HMI over USB Using this connection the data is also sent across to the M238 For hardware communication e CANopen fieldbus M238 ATV71 and ATV312 e SoMachine protocol M238 XBTGT For programming e SoMachine protocol PC XBTGT and M238 The local control panel is used to configure the ATV312 and the ATV71 PC XBTGT M238 The download direction is from the PC to the HMI and via the HMI to the controller Note For a direct connection from the PC to the controller the TCSXCNAMUM3P cable should be used 1 PC 2 HMI XBTGT 3 Modicon M238 4 USB to USB cable XBTZG935 5 SubD 9 to RJ45 cable XBTZ9008 Hoisting Optimized CANopen M238 Schneider Electric 39 M238 HMI XBTZ9008 Cable for connecting XBTGT and M238 PC HMI PC connection cable XBTZG935 Cable for the connection between a SoMachine equipped PC and XBTGT CANopen ATV71 and ATV312 Modbus CANopen por
52. el L3 is LAC required To go to expert mode L3 Select CtL COMMAND and press enter Select LAC ACCESS LEVEL and press enter L1 Level 1 is displayed Select L3 Level 3 and press enter for 2 seconds to set the new level Return to the LAC with ESC Return to the CtL with ESC Hoisting Optimized CANopen M238 Schneider Electric Brake settings Hoisting Optimized CANopen M238 To assign the r2 relay output Select FUn APPLICATION FUNCT and press enter Select bLC BRAKE LOGIC CONTROL and press enter Select bLC BRAKE LOGIC CONTROL and press enter Select r2 and press enter Set the parameters to the values shown here on the right Note These parameters are for the test machine only They are NOT VALID for every machine After all parameters are set return to the bLC with ESC Return to the bLC with ESC Return to the FUn with ESC ii The r2 relay output is used for brake control Brake Loqic parameters Schneider Electric 95 Limit The input LI5 and LI6 are assigned to Limit switches switches configuration To assign the inputs LI5 and LI6 for the forward and reverse limit switches Select FUn APPLICATION FUNCT and press enter Select LST Limit switches and press enter Select LAF Forward limit switch and press enter Select LI5 and press enter Press ESC Select LAr Reverse limit switch and press enter
53. encoder card VW3A3401 WESSSSE OsiSense incremental encoder 58 mm XCC1510PS11X RENE Encoder cable 10 pin XCCPM23121L5 Shaft coupling with spring XCCRAR1010 P 74 2 Fixing brackets for 58 mm encoder XCCRE5RN KK S Hardware Components k u NE s HMI 80 1 Magelis XBTGT 5 7 touch display XBTGT2330 Cable for connecting XBTGT and XBTZ9008 M238 Hoisting Optimized CANopen M238 Schneider Electric 106 E Stop and Door guarding Harmony CANopen Software Tools Hardware Components ee Rev Qty Description Part Number Vers Safety module XPSAF5130 Safety extension module XPSECP5131 Door guarding safety module XPSAC XPSAC5121 E Stop pushbutton for field XALK178G Emergency stop push button for XB5AS844 cabinet door Auxiliary contacts for cabinet E Stop Illuminated push button 1 NC blue Assembly housing Door guard switch Actuator for door guard switch Load contactor 18 A Auxiliary contact 2 NO 2 NC Load contactor 9 10 o 0xo c lojojo N O1 ION 9 12 10 Hardware Components Rev Key lock selector switch XB5AG41 Box for 3 button XALDO3 Signal lamp LED white XB5AVB1 1 10 10 10 11 10 12 10 0 1 3 10 10 1 1011 4 1092 A1 ii Hardware Components pum Rev CANopen taps with 4x SUBD9 TSXCANTDM4 CANopen cord set SUBD9 SUBD9 TSXCANCADD1 1m CANopen cord set SUBD9 RJ45 1 m TCSCCNAF3M1T M12 female socket for CANopen 5 m 1525704
54. evices ATV71 CANopen configuration ATV312 CANopen configuration Hardware Layout Add Hoisting Library Add POU Task configuration Add Vijeo Designer HMI Configure Controller gt HMI Data Exchange Communication Setting Controller PC Communication Setting HMI PC Save the Project Build Application Download the Controller and HMI project Login to the Controller Application overview Hoisting Optimized CANopen M238 Schneider Electric 48 Create a new Project To create a new project select Create new machine Start with empty project In the Save Project As dialog enter a File name and press Save Note As default the project is saved under My Documents SoMachine cot 4 Home cx Show existing machine Start with appiicata Chart with existing projed Start with example Save Project As Save in OM Documents Cr EJ Amy Music E My Pictures My Recent Documents 3 Desktop My Documents My Computer My Network Filename Hoisting Optimized CANopen M238 Places Save as type Project File project Cancel ri sa biy poet Dur lux uui La imaman amp Hoisting Optimized CANopen M238 project SoMachine In the User Interface select the eon amp Home Configuration Program tab Hoisting Optimized CANopen M238 Schneider Electric 49 The Program window appears Adda Right click on Project Build Online Debug Controller MEF Hoistin
55. ex 16H n ESRESR S 13 Hoisting Optimized CANopen M238 Schneider Electric Select the parameters 6th Transmit POO 1641805 185400 t Drivecam ska 16 6041 16700 Drivecom status register Extended sta 164 2002 16 07 Click on Delete Click on 6th Transmit PDO Meme Subindex Bitlength Logic Input 16 2016 16 29 Click on Add Mapping Add the parameter Motor current and Click on OK Select item from object directory Index Subindex Name AccessType Type Default 16H 2000 16 00 Base inteme 16 2001 16 00 Base 16 2002 16 00 Base monitoring g o 15HD2 Drivecom status register Fw UNT D 15HD3 Output frequency Rw INT Bes z m A BHO Extended status register Hw UMT D 16 08 Line voltage Hw UNT O 15HDA Drive thermal state Hw JINT 16 0B Mas drive thermal state Rw UINT H BHOC Motor power Hw UMT 16415 Reserved Rw INT 15H2D Matar run time Rw UINT oO 15H21 Reserved Rw UINT 15H2353 Reserved Hw UINT 1 15H33 Extended status req 1 Rw UINT RH Fetended status red 3 Ru INT RH Mame E otor Current Index 15H 2002 Bitlength 16 EN Sublndex 158 5 anne Repeat the steps 21 to 22 to add the following parameter Physical value AI3 Hoisting Optimized CANopen M238 Schneider Electric 63 Name Index Subindex Bitlength ist Transmit PDO 1631800 hb 5LI4 The overview of 1st Transmit PDO and the
56. g_Optimized_CANope ine P c m E n M238 x L Sort by 5 Sort order g Find Click on Add Device TE ay Properties Scan For Devices Update Device Version y Add Folder Edit Object Import Device Configuration Select the controller ii Add Device x Name MIC Action Append device Insert device Plug device Update device M238 TM238LFDC24DTSO0 et Eni M Name Vendor Version TM238LFAC24DRSO Schneider Electric 2 0 20 2 Click Add Device qc WE e qp ij LMCOS8LF4250 Schneider Electric 2 0 0 21 Al Tw 5a n42nT Schneider Flectric 2 0 0 21 Display all versions For experts only Information Name TM238LFDC24DT50 Vendor Schneider Electric Groups PLC Centric Lu sa Version 2 0 20 2 Model Number TM238LFDC24DTSO Description Compact base controller For Solutions 24V DC 6 normal inputs 8 m pem Fast inputs 4 Fast outputs 100 kHz 6 transistor outputs 0 5 A Timer and calendar CANopen embedded Removable terminal blocks lt Add selected device to the project top level vou can select another target node in the navigator while this window is open bee Hoisting Optimized CANopen M238 Schneider Electric The Devices folder displays the new controller Add the Right click on CANopen fieldbus Click on Add Device Ho
57. he jog dial enables the user to make a selection or confirm information Control panel The drive parameters can be input using the buttons and the jog dial on the control panel of the Altivar REF LED illuminated if 4x 7 segment display SPEED REFERENCE rEF menu is active Load LED MONLED illuminated if MONITORING SUP menu is active 2 CANopen status LEDs j Used to quit a menu or parameter CONF LED illuminated ifthe I 1 or to clear the value displayed in SETTINGS SEt i order to revert to the value in the MOTOR CONTROL Mi drC INPUTS OUTPUTS CFG I O COMMAND R Jog dial can be used for CtL APPLICATION navigation by turning it clockwise FUNCT FUn FAULT or counter clockwise pressing MANAGEMENT FLt the jog dial enables the user to or COMMUNICATION CA make a selection or confirm COM menus are active information do ENT Functions as a potentiometer if Ref 1 channel Fr1 in the COMMAND CtL menu is set to Image input MODE button 1 If AIV1 AIV1 SPEED REFERENCE rEF is displayed this will RUN button Controls powering up STOP RESET button take you to the of the motor for forward running if Enables detected fault to be reset SETTINGS SEt menu the 2 3 wire control tCC Can be used to control motor stopping If not it will take you to the parameter in the INPUTS If 2 3 wire control
58. hole project HMI and Controller click Build All After the build you are notified in the Messages field as to whether the build was Build Description generate global initializations generate code initialization generate relocations Size of generated code 39458 bytes size of global data 21820 bytes Total memory size required 58692 bytes If the build was not successful Memory area O contains Data and Code size 2048000 largest contiguous memory gap 1989308 97 i i Build complete 0 errors warnings ready For download there will be a list in the i UA Messages field successful or not Hoisting Optimized CANopen M238 Schneider Electric Download NOTE the Controller If it is the first time you are connecting to the HMI you have to first download the and HMI latest runtime version to the HMI using Vijeo Designer projects This first download is described in the following steps If this is not the first download go directly to step 7 In Vijeo Designer select the Navigator w H x HMI in the device list C1 EL E j 3 Then in the Property Inspector select ri Base Panels 1 HOME 2 BUS Z 4 Safety Popup Windows Master Panels IE Forms amp Reports fa Akim a vijeo Manager Project The PC must be connected to Property Inspector w H x the HMI via the cable XBTZG935 Download via USB Note Target Heme serar2sso Descripti
59. ic Application Design Expert The example source code is in the form of configuration application and import files Use the appropriate software tool to either open or import the files Extension FileType Software Tool Required MS Excel DOC Document file Microsoft Word oor Peer Wise Designer i WG Project file AutoCAD D Electronic Data Sheet Device Definition Industrial standard PF Portable Document Format document Adobe Acrobat PROJECT Project file SoMachine Project file Vijeo Designer Z13 Project archive file EPLAN Hoisting Optimized CANopen M238 Schneider Electric 9 Example of the Typical Machine standard complex 2 girder bridge crane Control pane Footwalk I Trolley i 2 ya rEuxdae girar A Hoist main Bnd ge rad Lg Tia hy Conductor bridge Diner girder A will diee motors A Conductors Bridge travel mechanism Ider girder Be faith bridge eondaducters ow i Lifting device Enc truck end carriage Fr N imemberi Mara gushitulten LT tumpers control station Rimay rails Stap Industry Two Trolley crane Hoisting Optimized CANopen M238 Schneider Electric 10 Standard girder bridge crane Profile support Hoist cabinet Limit switch for the end of the lifting height restriction bar and safety limit bar Carriage power feed traveling arm E Profile fixing support to the girder F Cable carriers G Motor connection to the control cabinet via
60. isting Optimized CANopen M238 File Edit View Project Build Online Debugiwatch Tm d D tn Devices k Sort by Sort order AN Find B Holsting Onimized CANopen M238 PLC Lagic C Application fa vL rial Library Manager 25 Task Configuration E MAST amp Embedded Functions 73 IO IO LM HS HSC rG PTO PW PTO PI amp Serial Line 1 H Modbus Manager Modbus Manager amp Serial Line 2 A SoMachine_Network_Manager SoMachine Mebwc CAN g My Controller TM238LFDC24D750 El PLC Logic r Application M GL Ti Library Manager S Task Configuration ge MAST Embedded Functions 4 IO IO LT HSC HSC rG PTO PWM PTO PIN Serial Line 1 lala X amp Delete Properties xi I j m s Add object Add Device Update Device Version C Add Folder d Edit Object Export Import Device Configuration Schneider Electric 91 Select CANopen Optimized Click on Add Device To activate the Heartbeat of the M238 double click on CANopen_Optimized Click on CANopen Manager tab Check Enable heartbeat generation The Heartbeat time is 200 ms Hoisting Optimized CANopen M238 Name CANopen_Optimized Action Append device Insert device Plug device Update device Device Vendor schneider Electric T iJ CANopen Optimized Schneider Electric 2 0 0 8 Display all versions for experts only Informati
61. ive POO 1671400 16400 2nd Receive PDO 1621401 16400 3rdReceive PDO 1621402 16400 Expand the Mame Index Subindex Bitlength ist Receive PDO 1641400 16400 1st Receive PDO T 2ndReceive PDO 1641401 16400 3rd Receive PDO 1641402 156300 Click on ame Index Subinde Bitlenath Ist Receive PDO 161400 1600 1st Receive PDO Target veloc 1646042 16400 2nd Receive PDO 1681401 16300 3rd Receive PDO 16x1402 16400 Click on Add Mapping gus Hoisting Optimized CANopen M238 Schneider Electric Add the parameter Acceleration Click on OK Access Type Repeat the steps 9 to 10 to add the following parameter Deceleration The data available in the 1st Receive PDO Click on the Send PDO Mapping tab Expand the 1st Transmit PDO Click on 1st Transmit PDO Click on OL1R Hoisting Optimized CANopen M238 Select item from object directory Index Subindex Mame t 16 2038 16 00 Drivecorn o 5H2D36 TBHDU Reserved JBH203C 16H00 Ramps 15HU2 Acceleration Dec ramp adapt Hamp type Begin Acc round End Ace round ZEE Begin Dec round E End Dec round ZEE Hamp switch ass Lo E Ramp 2 threshold i dee Acceleration 2 i pi Deceleration 2 obe Ramp increment boe FR 00 BAT FROT TAHPASN TREN Sneed Iann Mame Acceleration Index 16H 203 t Bitlenath 1E Sublndexs 16H z uH Controlword Target Velocity Acceleration De
62. ized CANopen M238 j My Cantroller TM238LFDC24DTSO EM PLC Logic 0 Application dj Cut d M Copy Embedde 22 Delete wa IO Properties in ce 5 Serial u Add Object i ciun table Aor program agua Server i ang Bad m Interface herb impii checks Reca Tabia E Symbol configuration test Lut LT LP ves is nein Bl vieuskzataon Manager Ereate a ree POU preyan Cn onis nbion Lipa Add Object J Api ation CAM babile F ways dll igi ata Server gitaar Fou i oa vaniable List J1mayqe Poal V Text Lut Trage Bl isualzetion Bl viaaa manager Schneider Electric 66 Hoisting Optimized CANopen M238 The new Hoisting is now visible under Application Double click on Hoisting to open it The upper frame displays the declaration section The lower frame is for programming On the right side is a toolbox Use drag and drop with the toolbox to place example templates in the programming section e g Box for function or function blocks Once you have placed a template in the programming section click on the The will invoke the Input Assistant window Select Function Blocks Libraries Hoisting Hoisting position synchronization HoistPositionSync Click on OK T gn Aa tng Ootimged CANopen MITE me MyController TM238LFDC24DTS0 Ell PLC Logic f Application GVL gi Hoisting PRG L PRO
63. k on Add POU POLIS Add POLI Open POLI Input Assistant Move Up Move Down In Input Assistant select Input Assistant Categories Items C ateg O ri es P rog ra m s Programs Project MyController Programs Libraries Ell PLC Logic MyController Cancel P roj ject IC Application MyController PLC Logic ErrorProvider PROGRAMI Bj Hoisting PROGRAM Items Main 2 Click on OK Iv Insert with arguments v Structured view v Show documentation Now the Main POU is in the MAST task Change the following parameter by recommended values Interval 40 Time 100 Sensitivity 3 Hoisting Optimized CANopen M238 Schneider Electric The other POU s will be called from the Main POU Double click on Main PRG Enter in body of the POU Hoisting Now this program part will be compiled and invoked _ E Main MyController PLC Logic Application PROGRAM Main VAR EHD VAR Hoisting 1 Add Vijeo To add a HMI unit to the project Designer right click on HMI Hoisting Optimized CANopen E Task Configuration _M238 Add Device Select HMI XBTGT 2000 Series XBTGT2330 Click on Add Device Hoisting Optimized CANopen M238 Ef PLC Logic s u fs Add Object Application ez jec d cn ume i il Library Manager g MAST Embedded Functions Update Device Version tle 10 10 E Add Folder LI HSC H8C G PTO PM PTO PwIM W Se
64. led Buzzer E File Edit k amp Devices View Project Build Online DebuglWwatch of Login Tools k KS Sort by Sort order 7 Create boot application 45 Aag Ootinged CaManen rel MycContraller TM238LFDC Ell PLC Logic Application A cv Multiple Download Schneider Electric 78 Check the Controller Multiple Download MyCo ntrol ler the H M Please select the applicatioris For download iw MyController Application XBTGT2330 and wi XBTGT2330 2930 HMI Application check Always perform a full download click on OK Online change options If the application in the project differs From the application already present on the PLC then behave as Follows C Try to perform an online change If this is not possible perform a Full download C Force an online change IF this is not possible cancel the operation Always perform a full download If an application is not yet present on the PLC a full download is always performed Additional operations v Delete all applications on the PLC which are not part of the project v Start all applications after download or online change cea Before the download starts a Description build of the complete project IS e Implicit conversion from UDINT to REAL possible loss of information Implicit conversion from unsigned Type UINT to signed Type INT possible change of sign done Implicit conversion from un
65. n M238 Schneider Electric 44 Course of Flow chart of the implementation procedure Action Functions clearly defined SoMachine controller application design Variable export for Vijeo Designer Vijeo Designer Altivar 312 HMI application Parameterization design via control panel Save and download the project Begin start up Hoisting Optimized CANopen M238 Schneider Electric Altivar 71 Parameterization via control panel 45 Communication Introduction This chapter describes the data passed via the communication fieldbus example CANopen that is not bound directly with digital or analog hardware The list contains e The device links e Direction of data flow e Symbolic name and e Bus address of the device concerned Device Links CANopen fieldbus systems are used in this application for the communication with the drives SoMachine protocol is used to communicate with the HMI The following devices are networked via CANopen Modicon M238 Logic controller bus address 127 master 4 Altivar 312 variable speed drives bus address 4 5 6 and 7 2 Altivar 71 variable speed drives bus address 1 and 2 CANopen Transmission rate 500 kb s Communication CANopen Master 127 pe nodes ma SoMachine Ca 3oMachine NOTE CANopen device addresses Node IDs are given in decimal while all COB IDs and CANopen object addresses are in hexadecimal Hoisting Optimized CANopen M238 S
66. nd you can J soMachine Network Manager amp SoMachine Netwark Manager Ethernet start pera ng m SoMachine Network Manager SoMachine Wetwork_Manager See chapter HMI A USB J SoMachine_Network_Manager8 SoMachine Network Manager Configure Right click on El PLC Logic controller HMI Data Application Exchange Add Object Delete Properties 4407 In IC Add Function From Template Tol WU HSC HSC Add Object rli PTO_P WM P Serial Line 1 Select Add Object 7 Application Name Symbol configuration table Symbol configuration CNC program Data Server 3 DataLogManager DUT Global Variable List Click on Open ed Image Pool Interface T Persistent variables amp Pou d POUs for implicit checks Recipe Manager ES Text Lis ag Trace d Visualization imis r solimabiann Riom moe Remote access symbol configuration Cancel CI i ck on Re fres h in the now Available variables Selected variables Available Items Access Rights Selected Items open Symbol configuration O Variables O variables 3 Data Types 9 3 Data Types All Va ri able S cre ated In the user Available variables Refresh Selected variables Available Items Access Ric Selected Items program are shown in the mem variables n j 5 Data Types Available variables list gt SS See IoConfig_Globals Cancfg clagos CmpBinTagutillec FDTM FDT_C
67. ndant station or optionally a radio remote control station The control device has the power on off switches e For bridge travel and trolley movements a minimum of two speeds are implemented e To help protect the crane from damage all movement is monitored with sensors for indication or detection The controller software uses the input from these devices as inputs to the Application Function Blocks which are described in further detail within this document Hoist Limit Switch Over speed Sensor devices mJ oy Es Anti collision Trolley Devices Limit Switch Controller station Pendant Station Hoisting Optimized CANopen M238 Schneider Electric 12 Automation Device Placement Application Functions Hoisting Hoisting Limit Switch Bridge amp Trolley Overload Limit Switch es Anti collision device et i Pi Over speed Limit Switch Control ane W AEk T AN Trolley Limit Switch Panel N He Im Lan lt UE EH I 15 g Q Joysticks Control Station li v oi Travel Limit Switch Pushbutton Pendant Station Schneider Electric provides an Application Function Block Library AFB for Hoisting This is a set of function blocks tested amp validated for functionality and has been designed to help OEMs develop their crane applications Schneider Electric offers a set of function blocks FBs that provide various application and device functions They do not provi
68. neider Electric qDown 89 Function Hoisting position synchronizatio n This screen shot shows the configured function blocks for the hoisting axis HoistPositionSync and Altivar71_Control Note Altivar71_Control is part of Altivar library Syn isa IMstrDrvActl5pd wSlavStat 1 wSlavEncPos l E am n LwMst cc LwMstDec LwSlavAcc ieSlsDec dwSyncMaxThsh lans i rKpHoPoSy iSt HoistPositionSync iEn i_xSyne i DrvFwdMstr xDrvRevMstr i 3DrvRdyStatMstr i DrvRunStatMstr i IDrvSpd ctlMstr wDrvSpdRefMstr i wEncPosMstr i DrvFwdSlav 3DrvRevSlav DrvRdyStatSlav i wDrvSpdRefSlav i wEncPosSlav iDrvSpd ctlSlav ET n wDrvAccMstr i wDrvDecMstr wDrvAccSlav wDrvDecSlav i_dwSyncMaxThsh i_wDrvSpdHsp i_wDrvSpdLsp rPidKpSync Rist Hoisting Optimized CANopen M238 q En q xSync q diEncPosDiff q xDrvFwdMstr q xDrvRevMstr q wDrvSpdT araMstr q wDrvAccMstr q wDrvDecMstr q xDrvFwdSlav q xDrvRevSlav q wDrvSpdT araSlav q wDrvAccSlav q wDrvDecSlav q x lrm q_walimid TRUE ww wMstrStat TRUE ETRE iL ihs TRUE LiMstDrvActlS pd aie IMstrhctlCur TRUE LWS A ctlSpd ia iSlavActlCur Schneider Electric iEn i wDrvStat xFwd xRev Altivar71 _Contol q xEn q wDrvComCtrl q wSpdTarg i_xFreeWhl i_xFItRst xckStop
69. on 5j Name CANopen Optimized Vendor Schneider Electric Groups Version 2 0 0 8 lt Model Number 1506 ah Description CANopen Manager Optimized FDT Support 31 slaves Append selected device as last child of CAN You can select another target node in the navigator while this window is open Add Device m My Controller TM238LFDC24DT50 Ell PLE Logic e Application a Gv WT Library Manager 328 Task Configuration E MAST Embedded Functions Th IO IO 11 HSC HSC rL PTO PWM PTO PAM Serial Line 1 Modbus Manager Modbus_ Manager Serial Line 2 ms CAN H CANopen Optimized CANopen Optimized Tools Window Help Library Manager MyPLC PLC Logic Application Y CAN CANopen Manager ANopen I O Mapping Status Information 127 Sync Enable Sync generation Sync cycle period us Sync COB ID Synchronous window length us I CANopen Manager CANopen I O Mapping Node ID 127 Sync Enable Syne generation Sync cycle period us Sync COB ID Synchronous window length us Heartbeat w Enable heartbeat generation ode ID 127 eartbeat time ms 200 Schneider Electric 52 Set the Baudrate of the My Controller i TMz236LFDC2aDTS0 EY PLC Logic CANopen with f3 Application a cv fin Library Manager P Task Configuration E MAST Embedded Functions 1 IO IO LT HSC HSC Fl PTO PWM PTO PWM amp Serial Line 1 a
70. on Type ABT T2000 Series TargetColor 64k Colors Model xBTGT2330 320x240 InitialPanelID LH Startup Options Buzzer Enabled TaCanfiguratian z Corner Data Sharing Disabled tl web Server Disabled lt lt 4 lt lt Select Build HMI Arrange Variable Build Clean All 1 Validate All Download All Build All Fa Validate Target m Build Target 5 Simulation Download All z l s Hoisting Optimized CANopen M238 Schneider Electric T Hoisting Optimized CANopen M238 The VDPLoad dialog indicates that the runtime version does not match Start the download of the new version Click on Yes The actual state of the download is displayed in a progress bar Once the download is complete change the Download connection in the Property Inspector back to SoMachine To download the application to the Controller and the HMI go to SoMachine Program window and select Online Multiple Download Runtime version does not match or the runtime is unknown Download will install the current version of the runtime system Continue Installing Runtime File Transfer Progress 17 MAIN SYS Property Inspector Target Heme sprarzsa0 Description Type TargetColor Model InitialPanelID Startup Options SBT 2000 Series 54K Colors SBTG T2330 320x240 Enabled ToConfiguration 2 Corner Download SoMachine Data Sharing Disabled Web Server Disab
71. onnel or damage to equipment Head and understand the software User Manual and know how to operate the equipment Failure to follow these instructions can result in death serous Injury or equipment damage If You agree to follow these instructions press AJF Cancel Th eu sed H M s now m arked Select the network path to the controller Gateway 1 0138 4001 v Set active path Be Gateway 1 F 3 o 0589 2 Add gateway Y o M238 SN 629 0389 0001 4 e TM258LF42DT 0080F44000CC 0389 Add device Y o XBTGC1100 0389 4001 Bo fors F o M238 SN 364 0138 0001 F j o XBTGT2330 01389 4001 activo as active Bo 103387 Hoisting Optimized CANopen M238 Schneider Electric Save the To save the project and Edit view Proje project change the name click m Save Project Save Project 4s File Save Project As 2 Select the desired location and put a file name Save Project As Save in L My Documents ex E3 ei My Music ui A My Pictures My Recent Documents In this case the file name is Hoisting_Optimized_CANope n_M238 m My Network File name Hoisting Optimized CANopen M238 Places Save as type Project File project Y Cancel Click on Save Build To build the application click on Application En Build Build Application CONECO NEI Build Online Debug Watch Tools Window F PLC Logic Build All Note If you wish to build the w
72. onsists Hardware 5 Hiiting Optimized CANopen MEI fte MyController TM238LFDC24D750 Ell PLC Logic e 2x ATVT1 Drives Embedded Functions Serial Line 1 k W Serial Line 2 e 1x digital TM2 I O module CAN i CANopen Optimized CANopen Optimized IB Hoist 11 Altivar 71 Hoist 2 2 Altivar 71 G Trol 14 altivar 312 G Trl 2 5 Altivar 312 Trans 1 6 Aktivar 312 Trans 2 7 Aktivar 312 moonen TM2DDI16DT e M238 Controller TM238LFDC24DTS0 e 4x ATV312 Drives Hoisting Optimized CANopen M238 Schneider Electric In the current project the tag names of the drives changed to t CANopen Optimized CANopen Optimized e Hoist 1 1 Hoist 1 1 Altivar 71 IB Hoist 2 2 Altivar 71 Trol 14 Altivar 312 e Trol 1 4 E trol 2 5 Altivar 312 E Trans 1 6 Altivar 312 Trans 2 7 Altivar 312 e Hoist 2 2 e Trol 2 5 e Trans 1 6 e Trans 2 7 the second no is the Node number Add Double click on m My Controller TM238LFOC24DT50 Hoisting EW PLC Logic F Application Library Library Manager EETA 5 Task Configuration Embedded Functions T IO IO i 1 HSC HSC rLi PTO_PWM EPTO PWM Serial Line 1 Modbus Manager Modbus Manager Serial Line 2 t SoMachine Mebwork Manager SoMachine Net h CAM C Ck on rill Library Manager MyController PLC Logic Application 4b hid cg dee cce E Add library e IoStandard 3 3 1 10 System
73. or stopping in an emergency is a protective measure which compliments the safety functions for the safeguarding of hazardous zones according to prEN ISO 12100 2 Door guarding up to Performance Level PL b Category 1 Safety Integrity Level SIL 1 The dimensions of the individual devices used controller drive power supply etc require a main cabinet size of at least 1000 x 1800 x 600 mm WxHxD The HMI display illuminated indicators such as SYSTEM ON SYSTEM OFF or ACKNOWLEDGE EMERGENCY STOP as well as the Emergency Stop switch itself can be built into the door of the cabinet Hoisting Optimized CANopen M238 Schneider Electric Installation Introduction This chapter describes the steps necessary to set up and assemble the hardware and configure the software required to implement the application Assembly Main cabinet LP Eos INE n front A l I Roig Coirre CANopen MITT ne 1 we j inne X Hoisting Optimized CANopen M238 Schneider Electric Main cabinet interior LLLVLIPUIIIYU JJENEUITEF I Y BU Electrical equipment should be installed operated serviced and maintained only by qualified personnel No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material NOTE A qualified person is one who has skills and knowledge related to the construction and operation of electrical equipment and the installation and has received safe
74. r go to 1 DRIVE MENU DRIVE MENU and press Enter Go to 1 4 MOTOR CONTROL and press Enter MOTOR CONTROL Quick Set the parameters to the bd shown here on the idi NOTE These parameters are for the test machine only They are NOT VALID for every machine Hoisting Optimized CANopen M238 Schneider Electric 101 Brake To change the brake settings settings 1 DRIVE MENU DRIVE MENU and press Enter 1 7 APPLICATION FUNCT and press Enter 1 d APPLICATION FUNCT BRAKE LOGIC CONTROL and press Enter BRAKE LOGIC CONTROL Set the parameters to the ee in Note These parameters are for the Brake contact test machine only They are NOT VALID for every Snc ats machine Brake release Fy DB Brake release time Brake release freq Hoisting Optimized CANopen M238 Schneider Electric 102 Limit switch configuration go to Limit switch configuration 1 DRIVE MENU DRIVE MENU and press Enter m Go to 1 7 APPLICATION FUNCT and press Enter 1 7 APPLICATION FUNCT Go to LIMIT SWITCHES and press Enter LIMIT SWITCHES Configure the Forward and the Reverse limit switches Stop FW limit sw LI5 Stop RV limit sw LI6 Hoisting Optimized CANopen M238 Schneider Electric 103 Local mode configuration Local mode configuration Go to 1 DRIVE MENU DRIVE MENU and press Enter Go to 1 9 COMMUNICATION and press Enter 1 9 COMMUNICATION Code lt lt gt gt
75. r the Function block Scope hasaa Type VAR gt HoistPositionSync gt Object Initialization Address Hoisting MyPLC gt al I 1 i Flags Comment In this case the variable name is e PositionSynchronization FEM The meaning of the is to show that x Cancel Click on OK Drag and drop from the toolbox an input PostionS ynchronization HoistPositionSync and place it at the first input of the Pe W ixEn i OOIVI o o i x5unc function block i aDrvFwdMst aa xDrvHevistr q x xDreRdustatM str q s DreRunstatM str q wDrv5 The connection between both will be iDrvSpdActlMstr qw wDrespdhetMstr q wl drawn with the mouse wEncFasMstr q sx xDrvFwdslav q s sDrvRevSlay q wOrvs Click on and create a user defined variable na a m e Scope Name Type Object Initialization Address Scope VAR for local variable Flags Comment CONSTANT RETAIN PERSISTENT Name Enable Type BOOL Click on OK Hoisting Optimized CANopen M238 Schneider Electric Task Configuration In the Mast task of the Task sil Hong Gotinied Canaan M238 Configuration there must be at fm MyController TM238LFDC24DTS0 minimum one POU otherwise PLC Logic no program code will be invoked 463 Application cyclically ab cv Til Library Manager gi Hoisting PRG Double click on MAST ae Task Configuration 2 MAST x Embedded Functions T IO IO Clic
76. r with m Hoisting _PostionSynchronization PRG Slewing gi Slewina PRG Translation program gi Translation AntiCrab PRI 3 2 Trolley A Trolley 1 AntiSway PRG Slewing as an Application B Trolley 2 AntiSway PRG program Windcontrol d WindSpeedContral PR e Translation folder with i avr Translation AntiCrab as an if Library Manager Application program al MAIN PRG a Symbol configuration e Trolley folder with 388 Task Configuration Trolley_1_AntiSway and 2 MAST Hoisting PositionSynchron ization as an Application e Slewing folder with Trolley 2 AntiSway as an Application program e Windcontrol folder with WindSpeedControl as an Application program These entire programs are called in the MAIN program Hoisting Optimized CANopen M238 Schneider Electric HMI Introduction This application uses a Magelis XBTGT2330 HMI This HMI device communicates via the SoMachine protocol with the M238 The HMI is programmed using the software tool Vijeo Designer delivered with SoMachine described briefly in the following pages For the connection between the PC and the HMI Controller use the cable XBTZG935 NOTE The Vijeo Designer Tool is opened and closed via SoMachine software For more information see the chapter Controller Add Vijeo Designer HMI Setting up the HMI is done as follows e Main Window e Communication settings e Create a switch e Create a numeric display Main Window After
77. rial Line 1 H Modbus Manager Modbr pi Serial Line 2 E Device configuration k H SoMachine_Network_Manager SoMachine Network_Manager CAN Import l l is Add Device Name BTGT2330 Action Append device Insert device Plug device Device Vendor Schneider Electric ie Name Vendor Version 1 Drive Controller 1 HMI Controller kt Logic Controller ij Magelis HMI j XBTGH Series J XBTGK Series J XBTGT1005 Series J xBTGT2000 Series J xBTGT2110 Schneider Electric dj xBTGT2120 Schneider Electric 3j xBTGT2130 Schneider Electric dj xBTGT2220 Schneider Electric tH Schneider Electric H xBTGT2430 Schneider Electric Jj xBTGT2930 Schneider Electric 4 Display all versions For experts only Information 5j Name xBTGT2330 Vendor Schneider Electric Groups XBTGT2000 Series Version 2 0 1 33 Model Number Description XBTGT2330 320x240 Add selected device to the project top level o You can select another target node in the navigator while this window is open Add Device Close Schneider Electric 70 The new HMI XBTGT2330 is 3E ang nee CANopen M238 i I MyController TMzZ3SLFDC24DTSO0 now listed in the configuration i Bl een narsa Ci Hmi Application With double click on HMI W COMI Application the program Vijeo m SoMachine_Network_ Managers SoMachine Nebwark Manager A COM2 Designer opens a
78. se instructions can result in death serious injury or equipment damage IF you agree to follow these instructions press ATEKF Cancel Select the network path to the controller Gateway 1 03468 0001 Je aateway 1 H Wa w260 Ma for d a M238 SN 1274 0348 000 eive da PIZA B000 14GA Hoisting Optimized CANopen M238 Schneider Electric 73 Communication Setting HMI PC Hoisting Optimized CANopen M238 NOTE Every M238 has a unique Serial Number that is a part of the default name in this case SN 1274 If you would like to change the default name of your controller click on Edit In the displayed pop up window go to the Device Name field and enter the new unique name for your controller In our example we keep the factory setting name To configure the communication gateway Double click on XBTGT2330 On Communication Settings tab Click on Add gateway Retain the default values and Click OK 5 Precontroller Commonicabon Sethings applieabins Files PLC setting Services Status irfcematien Select the network path bo the controller paba l CR JCI Node name OME SN 1274 Tarpt Typ La ion Address rra aca Gateway Name Gateway 1 Driver TEPIP Method for adding a Device Device Name M238 SN 1274 Cancel 3j Seething Cofinzeo CANopen M23 spans e MyController TMzZ3SLFDCz4DTS0 Hj XBTGT2330 XETGT2330
79. signed Type UINT to signed Type INT possible change of sign E Size of generated code 328745 bytes Size of global data 54648 bytes H Total memory size required 384864 bytes The result of the build IS Memory area 4 contains Data and Code size 819200 largest contiquos memory gap 434336 53 Build complete 0 errors 3 warnings ready for download displayed in the Messages window The results of the download to the controller are displayed in the Multiple Download Result window Multiple Download Result MyController Application Created Here are two examples XETGT2330 HMI Application Downloaded In the first dialog there was downloaded And in the second dialog the application was created and downloaded Click on Close to close to the results window Once the download to the controller is finished the HMI Vijeo Designer download starts Description e Started downloading HMI application The result of the HMI download is displayed in the Messages window Vijeo Designer Description b Started downloading HMI application s e The project was transfered successfully into the HMI target MBTGT2330 Hoisting Optimized CANopen M238 Schneider Electric Application The picture on the right shows _ Overview the structure of the application ue MyController TM238LFDC24DTSD E l PLC Logic The Application consists 3 Application B Hoisting e Hoisting folde
80. signer Installed with SoMachine C Program Files Schneider Electric Vijeo Designer Vileo Desianet zunfhigunatbeon Ef dne K Hoisting Optimized CANopen M238 Schneider Electric 30 Software Schneider Electric offers a hoisting relevant function block library Libraries amp Hoisting lib includes the following function blocks Function Blocks Anti crab Limit switch management Load overspeed control Overload control Smooth slewing Speed select Speed optimization and rope slack Hoisting position synchronization Wind speed control Scale Input Monitoring data storage Anti sway open loop All function blocks are described in detail in their separate user guides The following function blocks are used in the Hoisting_Optimized_ CANopen_M238 solution Anti crab Antisway Limit switch management Load overspeed control Overload control Speed optimization and rope slack Hoisting position synchronization Speed select Scale input Wind speed control Altivar31 Control FB Altivar71 Control FB Note The Altivar31 Control FB Altivar71 Control FB are part of the Altivar Library More detailed information on the function blocks can be found in the documentation of the Hoisting library and in the function block user guides Hoisting Optimized CANopen M238 Schneider Electric 31 Anti crab The Anti crab function detects a skew or drifts in the bridge against the rail and calculates a corrected speed for both of
81. t Note In case of CANopen the CANopen tap is used to connect the drive to the CANopen bus via RJ45 Hoisting Optimized CANopen M238 Signal CAN H CAN L Description data wire data wire inverted MOD 10V_OUT 10V power supply MOD OV Signal MOD D1 MOD DO MOD 10V OUT MOD OV Schneider Electric Reference potential formoD 10V OUT Description Bidirectional transmit receive signal RS485 level Bidirectional transmit receive signal inverted RS485 level 10 V power supply max 150 mA Output Reference potential forMoD 10V_OUT Output 40 CANopen tap TSXCANTDM4 4 port CANopen tap ERES JENA For the purpose of this application the sliding switch should be set to OFF if it is not at the end of the CANopen line At the end of the bus the terminating resistor must be active To do this set the switch on the tab to ON The bus cable must be connected to the in coming side Hoisting Optimized CANopen M238 Schneider Electric CANopen tap TSXCANTDM4 Power supply V 1 24 Vdc CG1 0 Vdc cui cLi cGi Vel CHACLICGI V 2 24V DC CANopen CANopen V 1 V 2 red CANopen pre assembled connection cable TCSCCN4F3M3T This cable is used to connect the CANopen tap to the ATV312 and ATV71 Hoisting Optimized CANopen M238 Schneider Electric CANopen cable TSXCANCxy The cable is available in various versions x A Standard B No Flame D Heavy Duty and vario
82. t NSX main switch Compact NSX rotary switch disconnectors from 12 to 175 A are suitable for on load making and breaking of resistive or mixed resistive and inductive circuits where frequent operation is required They can also be used for direct switching of motors in utilization categories AC 3 and DC 3 specific to motors e 3 pole rotary switch disconnectors 12 to 175 A e Padlock able operating handle padlocks not supplied e Degree of protection IP65 Power Supply Phaseo ABL8RPS24100 1or 2 phase connection 100 120 Vac and 200 500 Vac input 24 Vdc output 10 A output Diagnostic relay Protected against overload and short circuits Preventa safety module XPSAC5121 Main technical characteristics For monitoring Emergency Stop Max Category accord EN 954 1 3 No of safety circuits 3 N O No of additional circuits 1 Solid State Indicators 2 LED Power supply AC DC 24 V Response time on input opening 100 ms AC 15 breaking capacity C300 DC 13 breaking capacity 24 Vdc 2 A L R o0ms Minimum voltage and current 17 V 10 mA Dimensions mm 114 x 22 5 x 99 Connection Captive screw clamp terminals Degree of protection IP20 terminals IP40 casing Safety modules XPSAC are used for monitoring Emergency Stop circuits conforming to standards EN ISO 13850 and EN 60204 1 and also meet the safety requirements for the electrical monitoring of switches in protection devices conforming to standard EN 1088 I
83. t avoided will result in death or serious injury AWARNING WARNING indicates a potentially hazardous situation that if not avoided can result in death serious injury or equipment damage A CAUTION CAUTION indicates a potentially hazardous situation that if not avoided can result in injury or equipment damage Electrical equipment should only be installed operated serviced and maintained by PLEASE H boda NOTE qualified personnel No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material A qualified person is a person who has skills and knowledge related to the construction and operation of electrical equipment and the installation and has received safety training to recognize and avoid the hazards involved 2008 Schneider Electric All Rights Reserved Hoisting Optimized CANopen M238 Schneider Electric Before You Begin Do not use this product on machinery lacking effective point of operation guarding Lack of effective point of operation guarding on a machine can result in serious injury to the operator of that machine 4 WARNING UNGUARDED MACHINERY CAN CAUSE SERIOUS INJURY e Do not use this software and related automation products on equipment which does not have point of operation protection e Do not reach into machine during operation Failure to follow these instructions can cause death serious injury or equipment damage This automation
84. teristics WARNING UNEXPECTED EQUIPMENT OPERATION e Only use software tools approved by Schneider Electric for use with this equipment e Update your application program every time you change the physical hardware configuration Failure to follow these instructions can cause death serious injury or equipment damage Hoisting Optimized CANopen M238 Schneider Electric 5 Introduction Introduction This document is intended to provide a quick introduction to the described system It is not intended to replace any specific product documentation nor any of your own design documentation On the contrary it offers additional information to the product documentation for installing configuring and implementing the system The architecture described in this document is not a specific product in the normal commercial sense It describes an example of how Schneider Electric and third party components may be integrated to fulfill an industrial application 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 The architecture described in this document has been fully tested in our laboratories using all the specific references you will find in the component list near the end of this document Of course your specific application requirements may be different and will requir
85. the drives in order to maintain the bridge parallel to the rail Sensor mounting Sensor 2 position 1 III Sensor mounting position 2 Sensor 1 x Sensor mounting SS position 3 m Sensor mounting Z position 4 R Reverse A NS BRIDGE Forward Direction Direction L 4 Z a sensor 2 Sensor 1 Anti sway The Anti sway function interacts with one axis trolley or travel and based on the operational input calculates a movement profile so that the drive compensates for the normal sway effect of the load The Anti sway solution from Schneider Electric works without using sensors to measure the amount of sway Hoisting Optimized CANopen M238 Schneider Electric 32 Limit switch The Limit switch management function block limits the movement of the Trolley Bridge Hoist management along a rail This function block controls the Trolley Bridge Hoist by stopping slowing it down according to the status of limit switch sensors Trolley AT Wad 2 CANopen Cross Limit Switch Hoisting ATY Limit switch management FH loaded Load The Load overspeed control function block has two functions It detects if the hoist drive can overspeed hold the load during the hoist movement This is done by checking the actual speed against control the maximum speed via the pulse sensor While the drive is stopped and the brake is on it detects load movement due to brake failure Overspeed Pulse Sensor Load o
86. ty training to recognize and avoid the hazards involved The architecture will have to be redesigned to match power requirements This includes the drives the cabling the switches and the contactors Hoisting Optimized CANopen M238 Schneider Electric 18 Hardware General General description of the hardware Main Switch Compact NSX100F LV429003 36kA 380 415 Vac Main Switch Compact NSX100F LV429035 Trip unit TM32D Thermal magnetic 32 A Ir Thermal protection Im Magnetic protection Main Switch Compact NSX100F Rotary handle LV429340 Terminal shield LV429515 Rotary handle with red handle on yellow front Terminal shield short Power supply Phaseo ABL8RPS24100 Primary 200 500 Vac Secondary 24 Vdc 240 W 10A Hoisting Optimized CANopen M238 Schneider Electric 19 Motor Circuit Breaker GV2L08 and GV2L10 with auxiliary contact GVAE11 Load Contactor TeSysD LC1D18BL T2 4 ai 3 L2 OE terre TFG ai 5 L3 NI COS 14 oo Circuit Breaker Multi 9 23726 23747 23756 24427 24444 Emergency Stop Switch trigger action Harmony XALK178G Hoisting Optimized CANopen M238 Schneider Electric 20 Emergency Stop Harmony XB5AS844 B5AZ141 Including Label ZBY8330 Safety Module Preventa XPSAF5130 mo Bd se Bu Em al a De Hoisting Optimized CANopen M238 Schneider Electric 21 Expansion Module Preventa XPSECP5131
87. unction chart it tap B6 ita utp Derived Function Blocks FBD J Function Block Diagram an IEC 61131 programming language MI Human wachine interlace P memePoted Pc Root Mean Square Revolution Per Minute IPS PowerSuppy RU Remote Terminal Uni Stepper Drive SE Schneider Ete Sequential Function Chart an IEC 61131 programming language RT SF Service Data Object ST Structured Text an IEC 61131 programming language TCP RPDO Receive Process Data Object CANopen U mee TensmssonConmoPrtool U o Ub Userbar OOOO Wwa Dimensions Width HeghtandDeph Hoisting Optimized CANopen M238 Schneider Electric T Glossary Expression Sifiaion Magelis SE productname for a family of HMI Devicess Osisense SE productname for a family of sensors SeMachine SE product name for an integrated software tool TeSys SE product name for a family of motor protection devices and load contactors Vijeo Designer An SE software product for programming Magelis HMI devices Hoisting Optimized CANopen M238 Schneider Electric 8 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 registration is required contact your Schneider Electr
88. us lengths y 50 for 50 m 100 for 100 m 300 for 300 m 22 mm 0 86 inch 7 mm 0 27 inch 5 mm 0 13 inch M238 CANopen If the M238 is installed at the beginning of the CANopen you have to install a terminating resistor 120 Ohm between terminal 2 CAN_L and terminal 4 CAN_H Hoisting Optimized CANopen M238 Schneider Electric 43 Introduction Functional Layout Implementation This chapter describes all the steps necessary to initialize configure and program the system to achieve the described application functions Although the implementation of the application source code for the controller and the devices includes a combination of function blocks which fulfill several application and device functions for the customer this solution is not a complete user program for a crane The Application Function Block Library together with the Schneider Electric device function blocks for example for drives facilitate a full adaptation for the OEM The following chapter describes step by step how to implement the hoisting FBs in the user program The AFB blocks have been tested and validated in a structured program The Application Design Experts together with the OEM must adapt them to fulfill the exact requirements for a complete crane application Magelis XBTGT M238 Preventa E stop gaa si SoMachine Altivar 7 1 Altivar 312 Acknowledge CANooen Hoisting Optimized CANope
89. ve path A warning pop up window opens The used M238 is now marked as active g MyController 4 b x Communication Settings Applications Files PLC settings Services status gt Select the network path to the controller Gateway 1 Pie Gateway t Add gateway Add device Edit Delete Don t save network path in project Connect gateway Prompt network path at login v Secure online mode J MyController 4 b x Communication Settings Applications Files PLC settings Services Status Inf lt gt Select the network path to the controller Gateway 1 0348 0001 v Set active path We Gateway 1 p 0260 Add gateway EI AFAR 2 o M258 SN 1274 0348 0001 Add device POCO 74 o TOIT DOCU TRA o 0179 8000 14C9 do 05 do 102387 d f0619 8110 0101 Debte uw Resolve address Don t save network path in project Coins uatensy Prompt network path at login V Secure online mode Warning WARNING UNINTENDED EQUIPMENT OPERATION Ensure that the software application being downloaded Is installed on the intended device Confirm vou have entered the correct device designation or device address Ensure guards are in place so that unintended equipment operation will not cause injury to personnel or damage to equipment Head and understand the software User Manual and know how to operate the equipment Failure to follow the
90. verspeed control FB Hoisting loaded ATV71 Hoisting Optimized CANopen M238 Schneider Electric 33 Monitoring data storage The Monitoring data storage function consists of three parts e Alarm data storage function block series e Statistic data storage function block e Maintenance data storage function block The Alarm data storage function block series are pre configured for the following events Overload Overspeed Encoder Alarm Overtorque and Load current All event signals are archived with their respective date time and duration The Statistic data storage function block records all events that are part of the movement The function block records four separate movements Hoisting Trolley Bridge travel and Slewing Depending on the crane the inputs can also be used for other movements For each type of movement the function block counts the events and calculates an overall runtime for each axis The maintenance block uses actual loading information to calculate the amount of used theoretical lifetime for each movement and generates an alarm if maintenance is needed S type controller Monitoring data storage Operator Statistic data storage Commands Commands Maintenance data storage Magelis HM Hoisting FB or Data Process Inputs Storage Retain Memory Crane logic Hoisting Optimized CANopen M238 Schneider Electric 34 Overload The Overload control function block use the actual torque and evaluates it
91. wardi Control q xEn q wDncamnct i rDrscpdF wea i rDrscspel en arc i rc leben cd i rLasdLen i Trepar This screen shot shows the configured function blocks for the hoisting axis LoadOverspeedControl Load over spped control for fhe Master and fhe Slave M LOADOVERSPEED fj LoadO verspeedChi HSCSimple IMC i iEn q En ry Enable HSC_REF i_xDrvRunStat q rMotFreq 4qMsuCachreg Preset HSC Error i iDrvSpd ctl q xAlm ACK Modulo Current alue ij wPulsCntActl q_wa limld Run w vspFreq E i_wFreqOvsp Modulo_Flag LtPulsGdnt i rPulsGdnt i w vspFltTime __LwrrequrakWearMax i wFregBrakW earM ax az Lw rskwWeart lime i_wBrakWearFltrT ime iiserroctriTine Lwsenroocr LwSenFbekFhTime i wSenFbckFltrTime LwiicOvepCycNb i wPlcO vspCyclNb wPlcBrakwW earCyclNb i wPlcBrakwearCyclNb pxHst LAist SL_LOADOVERSPEED LoadO verspeedChl i xEn q En ST HSCSimple IMC i xDrvRunStat q rMotFreq 4SlevCalerreq A HSC_REF iDrvSpdActl q xAlm HSC Error i wPulsCntActl q wlrld il Current alue i_wFreqOvsp iPulsGdnt Run i rPulsGdnt Modulo Flag i_wOvspFltrT ime __LwerreqBrakWearMax i_wFreqBrakW ear ax i_wBrakWearFltrT ime ry LwSenFdbkAim__ F i wSenFbckAlm LwSenFbckFTime i wSenFbckFltrTime Lwfic vspCyciNb i wPlcDvspCyciNb E i wPlcBrakwW earCyclNb pxHsto xRist Hoisting Optimized CANopen M2

Hoisting Optimized CANopen M238

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