Home

B - Schneider Electric

1. F Service PROCESS Toggles between AXIS PROCESS modes Keypad AXIS TSX XBT 182 2 only FONET Indirect access functions Function Configuration Parameters Modif Mnemonic F31 Sensor resolution RESOL F32 Maximum velocity VMAX F33 User selected length unit UPUL F34 User selected velocity unit UPUV F35 User selected acceleration unit UPUA F36 Higher soft stop XMAX F37 Lower soft stop XMIN F38 Acceleration X ACCE F39 Deceleration X DECE F40 Type of reference set up X TYPEPO F41 Manual mode velocity X VMAN F42 Stopped velocity X VSTOP F43 Stop time out X TSTOP F44 Target window X TW F45 Maximum error deviation X DMAX F46 Speed drive voltage for VMAX X UMAX F47 Position gain X KPOS F48 Velocity limit X LIMV F49 Velocity feedforward gain X KV F50 DMAX error divert mask X MDMAX F51 DMAX error divert step X NDMAX F52 Stop error divert mask X MSTOP F53 Stop error divert step X NSTOP F54 Target window error divert mask X MTW F55 Target window error divert step X NTW F56 Synchronization time out X TSYN F57 Synchronization error divert mask X MSYN F58 Synchronization divert step X NSYN F59 CPUF error divert mask X MCPUF F60 CPUF divert step X NCPUF Function List of Functions Mnemonic F61 Machine characteristic factor KR F62 Parametered referenced position PRF F70 AXM TSX memory transfer F71 PLC TSX AXM memory transfer F80 Divert AXM program DIVERT AXM F81 External position EXT F82 Internal c
2. As B8 VEL COR Reminder The velocity correction factor multiplies all programmed and config ured velocities but cannot exceed the limit set by VMAX Performance differences depending on the type of module TSX AXM 172 TSX AXM 182 Number of digits 3 4 in the factor E g 1 78 E g 1 782 Min value 0 01 0 001 Max value 1 99 1 999 e Factor modification Deferred until the Immediate in Manual accepted next motion mode Assisted man command and in Auto Mode for instructions GP 1 GP9 Deferred until the next command in all other cases 6 2 6 Direct Access Auxiliary Functions 6 6 3 Teaching Set Points 1 Validation conditions Access e Module configured e Module running e Calibrated axis e No errors e WNi set points can be displayed in XBT Normal Mode but values can only be acquired in Confidential Mode The user has two options when teaching set points e Position the moving part in Manual mode on the set point e Directly enter the value of an immediate set point 1st Option Position the moving part on the set point Commands XBT Display Comments 1 esmaaaun Displays the content of WN1 M caa Displays the current position of the or moving part Allows access to the next or the previous word optional H 2 esmaaaLH Displays the content of WN2 c5 1 Displays the current position of the moving par
3. N e N zi Oa FW N NOOA O N ain N O O O O 8 A Appendix A 2 List of Abbreviations A ACCE Acceleration ACK Acknowledgment ADJ Adjust APP Application AST Assisted manual mode AUTO Automatic AX Axis AXM TSX AXM 172 or 182 module B B B Block by Block Point to Point C CD Code CL PASS Passive current loop CM Centimeter CONF Configuration CONFIG Configuration CPU PLC processor CYC Cycle D D Error Fault DAC Digital Analog converter DECE Deceleration DEU German DIVERT Divert DMAX Max deviation allowed DMSK Demask E ENA Enable ENG English EXT External set point F F Velocity feedrate FBIT Fault bit FR French H HDX Half duplex HS Unserviceable IT Interrupt K KPOS Position gain KR Machine characteristic factor KV Velocity correction factor L LAST Last LIMV Maximum velocity manual modes 9 10 Appendix List of Abbreviations M MAN MCPUF MDMAX MOD MOT MM MSTOP MSYN MTW N NC NCONF NCPUF NDMAX NPR NSTOP NSYN NTW OUT OUTDIS PARM POS POSIT PR PRF PROG REF RESOL REV R S 2 SAFE SELECT S TEST SYN T TBLK TSTOP TSYN TSX TYPEREF TW Meter Manual mode Mask CPUF error Mask DMAX error Mode Motion Millimeter Mask VSTOP error Mask Syncronization error Mask TW error Number Not configured Not configured CPUF
4. EN INE EN 8 289 RESERVED words 32767 FREE words 32361 TSX FILE ARIS BIN AXIS DIRECTORY ALL DIR DIFF ARIS APPLI MUU ON PACK NO DIFF displays the differences between the configuration of the AXM modules stored in the AXIS directory and the current I O configuration of the AXM modules in X TEL In connected mode the current I O configuration of the AXM modules corresponds to the I O configuration stored in the PLC In local mode the current I O configuration of the AXM modules corresponds to the I O configuration defined under XTEL CONF This key is not displayed unless a difference is detected addition removal or modification of a module ___ WEE EMEN MEE XTEL Function axis line1 factory E xproprj RACK SLOT DIR MODULES RTEL CONF L 5 ARM 172 8 6 ARM 172 ARM 172 DIFFERENCE Meaning of the characters in the margin no change module added module removed different type of module If a configuration is made up of more than 16 modules the following soft keys are displayed TOP BOT PREVPAGE NEXTPAGE XTEL CONF accesses the first module on the first page of the directory accesses the first module on the last page of the directory accesses the first module on the previous page of the directory accesses the first module on the next page of the direc
5. Contents Divider C2 Section Page 1 Introduction and installation Contents 1 1 1 14 General Configuration required for PL7 AXE Checking the hardware Connections Installing the software Using the keyboard and the mouse Methodology for installing an axis control application on a TSX PMX V5 programmable controller wid 2 Using the AXM configuration and programming software Contents 2 1 2 1 Accessing the configuration and program software 2 2 Introduction to the display screen 2 3 Selecting modes 2 4 Relationship with PLC memory 2 5 Methodology 3 Selecting working memory Contents 3 1 3 1 Introduction 3 2 Selecting AXM memory 3 3 Selecting TSX PMX memory 3 4 Selecting an AXM file 3 5 Selecting a TSX PMX memory 4 Managing the dedicated AXE zone Contents 4 1 4 1 Dedicated AXE zone 4 2 Directory p Introduction and installation Section 1 Sub section Page 1 1 General 1 2 1 1 1 Functions available with PL7 AXE 1 2 1 2 Configuration required for PL7 AXE 1 3 1 3 Checking the hardware 1 3 1 4 Connections 1 4 1 5 Installing the software 1 4 1 5 1 Preliminary operations 1 4 1 5 2 Installation procedure 1 5 1 6 Using the keyboard and the mouse 1 6 1 7 Methodology for installing an axis control application on a TSX PMX V5 programmable controller 1 7 This section end
6. Preface About this document This document is a supplement to the TXT DM PL7 AXS V4e manual It describes the installation and use of PL7 AXE V5 software installed under the X TEL or MINI X TEL V5 Software Workshop PL7 AXE V5 software can be used to create applications on TSX PMX PLCs versions V3 V4 or V5 PL7 AXE software takes account of the model of the TSX PMX target station and displays e V5 screens and menus if the TSX PMX selected is V5 e V4 screens and menus if the TSX PMX is V4 V3 or V4 station selected in this case this supplement is not relevant refer to the TXT DM PL7 AXS V4e manual V5 station selected in this case this supplement replaces sections 1 to 4 in divider C2 of the TXT DM PL7 AXS V4e manual Developments to PL7 AXE version V5 compared to previous versions The main developments to the TXT L PL7 AXS V5E software compared to TXT L PL7 AXS V42E are as follows Data exchanges between PL7 AXE and XTEL CONF PL7 AXE uses certain objects generated by the XTEL COMF tool These objects the type of processor the rack module configuration the cartridge memory size the memory size reserved by XTEL CONF The application structure must be generated by XTEL CONF before using PL7 AXE software see section 1 7 in divider C2 Uniqueness of file names Only one application file is generated by PL7 AXE which contains the entire TSX PMX configuration The applic
7. 8 Specifications Input Characteristics Auxiliary inputs In3 In4 These inputs are compatible with Cenelec standard proximity sensors Rated voltage 24 VDC Rated current 16 5 mA Voltage limits 19 2 to 30 V Input impedance 1360 to 1560 ohm Voltage for state 1 gt 11V Current for state 1 gt 6mA Voltage for state 0 lt 5V Current for state 0 lt 2mA Line resistance lt 500 ohm on dry contact Leakage resistance gt 30 Kohm Response time on In3 change state 50 to 250 us Response time on In4 change state TSX AXM 172 5 to 20 ms TSX AXM 182 50 to 250 us Protection Characteristics are identical to those of 24 V inputs InO In1 In2 on TSX AXM 172 modules General characteristics Isolation Between inputs and bus 1500 Veff Between channels inputs and outputs 500 Veff 8 3 8 8 3 Specifications Output Characteristics Analog output 8 4 TSX AXM 172 TSX AXM 182 162 Range 10V 10V True range 10 24 V 10 24 V 10 24 V to 10 24 V Resolution 10 bits sign 12 bits sign LSB value 10 mV 2 5 mV Divert value OV OV Monotonicity yes yes Differential linearity 0 024 in of FSR 0 024 in of FSR Max output load 1 Kohm 1 Kohm Recovery time lt 100 us lt 200 us Max output rate 10 mA 10 mA Protection Against shorting and overloading Precision
8. 6 Dialog with the PLC Processor 6 Full Module Control from the PLC Processor Terminal block Power failure and capacity overflow errors In normal operation only a Power Failure error should occur The other two errors are the result of incorrect operator intervention atthe wrong time in the cycle or of a programming error These errors cause the loss of the axis reference and in addition to acknowledgment require that the axis reference be set up again The simplest processing to take into account one of these errors is to restart the initialization sequence This can be done as shown below SOUND WARNING BUZZER 104 0 0 017 5 Sn mU er mm RESTART THE INITIALIZATION SEQUENCE HE 1U4 1 A t SUB AND sve 5024 5 KO S Note Errors are acknowledged in the initialization sequence Reminder Step activation bits can only be accessed in the PRL 6 15 6 6 16 Dialog with the PLC Processor 6 Full Module Control from the PLC Processor Soft stop error Again this error should not occur in normal operation if the Debug phase was correctly performed This type of error can be the result of a programming error or a mechanical failure In these conditions it is not advisable to resume program execution immediately In the programming example below the moving part is first cleared from the illegal area it entered and then the initialization sequence is run
9. Confidential yes yes yes yes yes yes yes 1 1 1 General conditions Module running and no faults present 1 TSX AXM 172 or TSX AXM 182 modules Selection principle e Pressing a key to select a different operating mode disables the currently selected mode e The corresponding key indicator LED lights e The display shows the axis module status as long as the function is not active e The appropriate mode display appears Selected Abbreviated mode Axis Nbr designation _________ Linked parameter condition to meet to activate the mode START Starts mode execution except in Manual or Manual Ref Set up modes where lt X gt lt X gt are used to activate the mode STOP Stops execution of the current mode The table below lists the parameters that are accessible in each of the operating modes refer to Sub section 4 1 Position Position Velocity Discrete Step in error I O prog Automatic yes yes yes yes yes Manual no Assisted Manual yes yes yes yes no Manual Ref Set up yes yes yes yes no Open Loop yes no yes yes no 3 1 3 Selecting the Operating Mode 3 2 Automatic Mode Activation conditions e Module configured e Module running e Module programmed e No errors Automatic cycle sub mode not relevant to TSX AXM 162 module Commands XBT Display ove AUTO CYC RF As 8 AUTO CYC START AX
10. E A Position 0 Initial position A Target position V Velocity to reach at point A 1 Immediately e Increase the acceleration value or e Move the moving part in manual mode in the opposite direction 2 Later e Modify the program Command refusal when executing a move to target position instruction or a motion command in manual mode Axis not referenced set up Calibrate set up the axis Command refusal when executing a move to external set point instruction GP1 F or GP9 F X EXT The target point in the EXT register OWxy 6 7 is outside of the valid interval HSS or LSS Check the coherence of the value sent in relation to module measurement units LoN coN Refusal to execute a command Symptoms Probable Cause Corrective Action Command refusal when synchronizing two GP1 instructions m GP1 m 1 GP1 F V1X X1 F V2X X2 The two instructions generate motion in opposite directions Velocity E V1 v2 Reminder Reversing the direction of motion withoutfirst stopping the moving partis not allowed 1 Immediately e Resume program execution from the step corresponding to the instruction that caused the command refusal 2 Later e Modify the program To immediately reverse the direction of motion use the following procedure m 1 RCTL STOP m GP1F V1 1 m 1 STOP m 2 V2 X X2 Select maximum
11. L Function axis ta T XTE b3axe malo D xproprj EE Um UT nPPLT DOC SUB MODE CONFIGURATION 1 PR GRAH 2 ARM URRIRBLES CURRENT PARAMETERS REVISION 0 0 9 1 NO 9 Documentation Mode 9 Mode Description The screen comprises two boxes One reminds the user which sub mode is selected the other displays the current parameters e GRAP Y N Defines the type of printout graphic or not e PRI FILE Defines the output target device printer or disk e FILE Defines the output target file only when printing to disk e DIR Y N Prints the directory Important When print to disk is selected the output file will be located in The AXISVAPPLI directory ifthe print directory option is selected DIR Y N dynamic soft key The AXIS MOD directory if the print directory option is not selected In both cases the file name takes a DOC extension To ensure that the documentation file generated can later be used in XTEL DOC always ensure that two conditions are met The file is stored in the AXIS APPLI directory The file is generated with the graphic print out option selected selected with GRAP Y N Print procedure including print to disk In connected mode TSX MEM or AXM MEM selected the AXIS and APPLI keys letthe user select the application to document with the following options To document all applic
12. TSX 172 182 modules List of Instructions continued Other Instructions Code 1st Operand 2nd Operand 3rd Operand Organization and Motion Instructions Unconditional jump JMP N Step Nbr Jump if CNi 0 JNZ N Step Nbr CNi Jump if immediate value OWxy 3 LSB JEX N Step Nbr VAL Value Jump if Position 1 gt Position 2 JHP N Step Nbr X1 PRF WNi CP X2 WNi CP EXT Jump if Position 1 gt Immediate position JHI N Step Nbr X1 PRF WNi CP X2 Immediate position Call subroutine CALL N Step Nbr Return from subroutine RET Timer TIME VAL Value X 10 ms Await event WAIT EVENT DI3 UC Activate discrete outputs and synchronization M SYN UI3 DI3 UC N OUT Output value IT YN No action instruction NOP End AXM program END Variable Control Instructions Load Position 2 Position 1 LDP X1 WNi X2 WNi CP EXT PRF Plmm Add Position 1 Position 2 Position 1 ADD X1 WNi X2 WNi CP EXT PRF Plmm Subtract Position 1 Position 2 Position 1 SUB X1 WNi X2 WNi CP EXT PRF Plmm Increment CNi INC CNi Decrement CNi DEC CNi Load immediate values CNi LDC CNi VAL Value Modify parameters MOD PARAM VAL Value Store PRF on rising edge of IN3 MPRF Test Instructions Start a test SCTL DMAX STOP TW SYN CPUF End a test RCTL DMAX STOP TW SYN CPUF PARAM ACCE DECE DMAX
13. Connections mode within the module SANA _ Male connector seen from the pin side Specific to Specific to TSX AXM 172 TSX AXM 182 AXM 162 Signals BLK 4 Term Block Signals Input 1 4 24V a8 E Input In4 Input In3 24V 7 bo FE 3 c2 Input n3 lt Shield Input n2 24 48 cs Input 1 2 BV as Lo 4 C 5v Input Int 24V Input Ini 24V fe cs ENSOR Input Ind 24V 43 pt Input Ino press Output R2 2 i c7 5V Output R1 NO NC Output R2 OV ENCODER 5 VDC NC B8 Common R1 R2 SUPPLY 0v Output RO M 02 INO Output RO Output RO 89 m NC connections made NC os C Output RO within the module Output R3 C e L 05 NO Output m 2 Output pe NC OV encoder NC Output R3 5VDC encoder e Ground B1 1 D8 Ground M Ind O To encoder O Ini O i In2 u O O Sense O T Block O oc 5 25 13 6 3 PLC AXM Interface Addressing Discrete I O Register bits lor Oxy i words IW OWxy i Bit Nbr L Word Nbr Input Read by CPU Input Read by CPU Slot Nbr Slot N
14. DSK STA displays a screen which allows the contents of an AXIS BIN file previously stored to disk to be transferred to the dedicated AXE zone of the PLC memory XTEL Function axis line1 factory RETRIEVE AREA AXIS FROM TSX SOURCE FILE TO TSK MEMORY TSX SOURCE FILE RHIS BIN ACCESS TSK FILE RPROPRJ FACTORY LINE1 SARIS APPLI LINE RETRIEVE rs uj pc PARE DSK gt STA COMPARE starts the comparison between the source file and the dedicated AXE zone of the PLC DSK STA retrieves the selected AXIS BIN files to the dedicated AXE zone in the PLC memory 3 4 Selecting working memory 3 3 2 Selecting AXM MEMORY The AXM memory is the only one which can be used for debugging and operating modules The application is stored directly in the module memory on each confirmation The AXM memory can only be used if a STATION APP configuration file containing at leastthe I O configuration performed under XTEL CONF has previously been transferred to the PLC memory The PLC can be in STOP or in RUN XTEL Function line1 factory E xproprj BE RRH TER 8 L R83H 8 L 8 6 RRIS 8 0 PL7 RHS 05 0 INSTALLATION OF AXM 182 172 162 Copyright TE 1998 93 PROC TSK 187 455 V5 0 SAVE MANUAL FILE AXIS BIN CONNECTED MEMORY OPERATING HODES 1 TSK MEMORY 1 PROGRAH 2 ARM FILE 2 DEBUG 3 TSK FILE 3 TRANSFER
15. XM 0 Select the operating mode 1 3 Reset error acknowledgment bits to zero ae Initialize the start step number Waiting for the activation command and moving part stopped XM1 4 START AXM PROGRAM AXM program execution in progress 5 Reset the START command OUT 1 AUTOMATIC CYCLE for AXM 172 182 MANUAL ASSISTED for AXM 162 Note This sequence assumes that Reference set up has already been performed or That the first instruction of the AXM program is a reference set up instruction SRP or SRP This condition means that only type 3 cam at end of travel reference set up can be selected Demask IT and activate the IT task if the interrupt function is used XMO Initialization macro step XM1 Operation macro step not described here Functions not available on TSX AXM 162 module 6 11 6 6 12 Dialog with the PLC Processor Full Module Control from the PLC Processor ACTION ON ACTIVATION 0 0W4 0 OW4 1 gt OW4 2 gt OW4 3 gt OW4 4 gt OW4 5 gt OW4 6 gt OW4 7 0 gt 04 0 8 SET 04 7 ACTION ON ACTIVATION SET 4 0 ACTION ON ACTIVATION H 7AAA gt OW4 2 ACTION ON ACTIVATION 10 gt 0W4 1 0 gt OW4 2 H xx00 gt OW4 3 1 DMASKINT I4 START CTRL1 2 ACTION ON ACTIVATION SET 04 4 3 ACTION ON ACTIVATION RESET 04 4 1 Where xx Start step of the AXM program
16. Moving part at step 4 Action at B 1 GP9 F 1000 X 500 2 WAIT EVENT PLC 3 GP9 F 600 X 800 RESUME 8 4 WAIT EVENT PLC Moving part at 0 step 6 o GPs F 1000 X 0 iii 6 END Action START CYCLE If the TSX XBT terminal remains operational during the operating phase Fig 1A available to the operator the PL7 3 programming required to insert the axis control function will be reduced to the strict minimum The terminal will be tasked with controlling the operating modes errors and application transfers etc Sub section 6 2 is dedicated to this type of application However if the TSX XBT terminal does not remain in service once the Debug phase is complete it is up to the application program to control module operation Fig 1 B Fig 1 A Fig 1 B AXM PLC Prog AXM Oper Mode Control PLC Prog Error Control 1 Transfer Appli 7 MSG 122 This means that more programming will be required using all of the resources provided by the Discrete I O and Register interfaces described in Sub section 6 4 Programming is simplified by the use of OFBs described in Divider C3 Sub section 6 3 describes this type of application Functions not available on TSX AXM 162 module 6 Dialog with the PLC Processor 6 6 2 Integrating Axis Control into the Sequential Program List of bits and words described in this section Read by the PLC Read by the AXM module e AXM program step currently e PLC event
17. SOUND WARNING BUZZER 104 2 0 017 5 RETURN FROM SOFT STOP OVERSHOOT 113 2 IU4 2 0 0U4 2 6 I iu 2 1 8 004 1 7 13 2 ees TRIGGER THE INITIALIZATION SEQUENCE when the DEG BL bit is reset IU4 1 7 _ H sue AND reo SY24 The 104 1 7 B47 AXM DG OFB Instead of using the information sent via the register interface it is possible to obtain this information from the Status word of the AXM DG OFB For more information on programming and using this OFB refer to Divider C3 of this manual 6 Dialog with the PLC Processor 6 Full Module Control from the PLC Processor 6 4 3 Loading an Application from the PLC Program Reminder An application is an indivisible entity comprising three segments Configuration segment AXM program segment Data segment WNi A TSX AXM module can only store a single application However it is possible to store up to nine applications per axis in the PLC memory These applications are stored in the dedicated Axis memory field PLC Memory Zoom onto the Axis Field Directory Appli 0 Appli 1 Ax 0 Appli 2 Appli 0 Appli 1 Ax 1 Appli 2 Multiple applications Ifthe TSX AXM module uses multiple applications corresponding to different production recipes itis necessary to ensure that applications are transferred from the PLC memory to
18. Select the TSX PMX File memory Select AXIS DIR the software automatically recognizes STATION APP files Quit by pressing ENTER 2 4 phase Creating the application n Program mode select the TSX PMX File Local and for each axis select the axis number and the application number create the configuration CONFIGURATION create the PIC program PROGRAM n Debug mode select AXM MEM connected modify the configuration and the program update TSX PMX MEM using the Transfer function AXM MEM TRANSFER TSX PMX MEM 3 phase Documentation n Program mode select the TSX PMX File document each application output to printer or to STATION DOC file XTEL DOC In Debug mode select TSX PMX MEM Note In TSX PMX File mode PL7 AXE works directly on the AXIS BIN file It is not necessary to perform saves 2 12 X Selecting working memory Section 3 Sub section Page 3 1 Introduction 3 2 3 1 1 Role of the common soft keys 3 3 3 2 Selecting AXM memory 3 5 3 3 Selecting TSX PMX memory 3 7 3 4 Selecting an AXM file 3 9 3 5 Selecting a TSX PMX file 3 11 This section ends at page 3 12 3 1 N 3 1 Introduction The choice of working memory defines the PL7 AXE operating mode local or connected Local mode operation In this case the hard disk is selected as the working memory In local mode the user can define the con
19. User units Physical units for display and entry of all values with PL7 AXE software or TSX XBT terminals Valid measurement field The field of measurement points between the two soft stops Feedforward gain Afactor usedto adjustthe velocity anticipation action of the positioning servo loop a compromise between the dynamic position error and the stop point overshoot Speed reference Theoretical moving part velocity calculated by the module using the maximum acceleration and velocity rules Velocity correction coefficient A multiplication factor applied to all velocities configured and programmed in the module velocity peaks restricted to VMAX Variation 0 01 to 1 99 for TSX AXM 172 module 0 001 to 1 999 for TSX AXM 182 162 modules Zero mark A pulse supplied by a rotary incremental encoder It is sensed on each complete axis revolution connect to In2 Functions not available on TSX AXM 162 module 11 A Appendix A 4 A A 12 Abbreviations ACCE AXM pgm CONF CNi CP CPU CPUF DAC DECE DI3 DMAX EVENT EXT F IEXT IPmm IT IWNi KPOS KR KV LIMV MCPUF MDMAX MSTOP MSYN MTW NBWN NCPUF NDMAX NSTOP NSYN NTW OUT PARAM PRF PCPU TYPEREF TSTOP TSYN TW Acceleration AXM program AXM module internal program Configuration Internal counter Current position PLC processor CPU Fail PLC processor Digital Analog converter Deceleration Falling edge on input
20. pull down the Define menu and activate the New item click on AXIS then on OK Q For greater ease open the AXIS full screen window by clicking on the arrow up button of the window e o9 o0 Notes Ifa PL7 AXE session is already open the corresponding icon appears on the screen outside the secondary Functions window double click on this icon to open the corresponding window To close a session click on the corresponding icon to pull down a menu Then click on the Shutdown Close command 2 2 Using the AXM configuration and programming software 2 2 2 Introduction to the display screen The window which displays the PL7 AXE screens is known as the display screen All items specific to the X TEL Software Workshop icons window title window commands etc are described in the Software Workshop manual Information displayed 0 Function axis line1 factory EXxproprj NEPROPRJ FACTORYSL TNEI IRIS MOD PIC 172 units Length um Velocity mm mn Acceleration mm s2 Fxx Parameters Values Limits W AF31 RESOL Sensor resolution 3 6 um 8 1 1888 8 AF32 YMAK velocity 4868 nn nn 11 7776 User units AF33 L Length un 1 AF34 UPUY Velocity mmmn mm mn cn mn dm mn m mn 1 AF35 UPUA Acceleration nn s2 nn s2 cn s2 dn s2 n s2 1 AF36 XMAX Max soft limit 38888888 um 52658888 52658888 AF37 XHIN Min so
21. 5 LIST THE APPLICATIONS displays the list of applications associated with a module e the upper box indicates the number the geographic address and the type of module the lower box indicates the application number the name the date and time of creation or last modification as well as the size of all the applications stored in the PLC memory RUN TSX or RUN PMX sets the PLC to RUN STOP TSX or STOP PMX sets the PLC to STOP DELETE THE PROGRAM clearsthe PIC program ofthe selected application after confirmation DELETE THE APPLICATION deletes the entire selected application after confirmation AXIS selects the axis number lt APPLI gt provides access to the application n lt AXIS APP gt displays the directory MODIFY THE AREA NAME assigns a name of up to 24 characters to the dedicated AXE zone in the TSX PMX memory XTEL Function axis line1 factory EXxproprj Be CONNECTED MEMORY UTILITIES 8 ARH MEMORY 8 APPLICATION LIST CS 1 RUN TSH 2 ARM FILE 2 STOP TSX 3 TS FILE 3 DELETE PROGRAH 4 DELETE APPLICATION 5 MODIFY THE AREA UTILS L 8 3 8 Selecting working memory 3 3 4 Selecting an AXM file This is recommended for creating AXM configurations in the design office or as a means of archiving It does not require the PLC the module nor the X TEL CONF con
22. FILE enables selection of another name for the store file xxx BIN STORE executes the store function RETRIEVE Enables an xxx BIN file previously stored using the STORE function to be retrieved The file is restored in the X TEL zone under the name AXIS BIN 3 11 NO UTILS accesses the utilities functions associated with the TSX PMX file L Function axis line1 factory EAxproprj ME E VIPROPRNFRCTORVALTNET VRRTS VAPPLT MARIS BIN LOCAL MEMORY UTILITIES 8 ARM MEMORY 8 DIRECTORY APPLI 1 TSX 1 LIST OF TS FILES 2 ARM FILE 2 APPLICATION LIST HNERELHSUSENEENEN 5 DELETE PROGRAM 4 DELETE APPLICATION 5 MODIFY THE AREA NAHE UTILS TS8 FILE 0 DIRECTORY APPLI displays the list of files contained in the directory AXIS APPLI xxx BIN xxx DOC files etc 1 LIST OF TSX PMX FILES displays the list of configuration files xxx BIN files 2 LIST OF APPLICATIONS displays the list of all the applications linked to an AXM module in the current xxx BIN file 3 DELETE THE PROGRAM deletes the program specified by an axis number and an application number in the current xxx BIN file 4 DELETE THE APPLICATION deletes the application specified by an axis number and an application number in the current xxx BIN file 5 MODIFY AREA NAME assigns acomment of up to 24 characters to the current xxx BIN file 3 12 X Managing
23. IWxy 1 5 PROG RUN At 1 During AXM program execution Information is valid if Auto Mode is selected 0 1 When Start command is received 1 0 When Stop command is received When the End instruction is encountered At 0 if a non Auto Mode is selected IWxy 1 6 SET REF At 1 during Ref Set up 0 1 When Start cmd received in Man Ref Set up Mode or when the SRP instruction is executed in Auto Mode 1 0 When Ref set up is complete When a Stop command is received during Ref Set up IWxy 1 7 DEG BL At 1 during return from soft stop overrun is in Condition Soft stop error present IWxy 2 0 or IWxy 2 1 0 1 When a soft stop error occurs 1 0 When return from soft stop overshoot is complete When a Stop cmd received during overshoot return IWxy 1 8 ATTENTE At 1 when the selected mode can be activated 1 0 When the mode is activated by Oxy 4 When the mode becomes inactive set point reached in Assisted Man Mode End instruction in Auto 0 1 On receiving a Stop command When the mode is changed When a command is refused Functions not available on TSX AXM 162 module 6 25 6 6 26 Dialog with the PLC Processor Discrete I O and Register Interfaces IWxy 1 9 At 1 at the end of the AXM program END inst END Condition Auto Mode selected PROG 0 1 When the END instruction is encountered 1 0
24. N APPLI AXM UNEXPECTED WRITE APPLI The YES soft key stores the application with the specified number The NO soft key retains the initial application with its original number 3 6 Selecting working memory 3 3 3 Selecting TSX PMX MEMORY The PLC memory is essentially for archiving It allows the various configurations to be stored in the dedicated AXE zone of the PLC memory This store operation allows the PLC program to reload the applications into the modules via the AXMLD optional function block if required The AXMLD OFB is described in section 2 in divider C3 The TSX PMX MEMORY can only be used if the I O configuration performed under XTEL COMF has previously been transferred to the PLC memory The PLC can be in STOP or in RUN XTEL Function axis line1 factory E xproprj 12 7 85 05 0 INSTALLATION OF AXM 182 172 162 Copyright 1998 93 PROC TSK 187 455 05 0 SAVE MANUAL FILE AXIS BIN CONNECTED MEMORY OPERATING HODES 8 AXM HEHORV CONFIGURATION CSS 1 PROGRRH 2 ARM FILE 2 TRANSFER AH 3 TSK FILE 3 DOCUMENTATION LINE WORKING HEM CHOICE ERIT AXIS aL A gt DSKEDSK UTILS 3 7 N UTILS accesses the utilities functions associated with the TSX PMX MEMORY 0 1 2 3 A 1 5 LIST THE APPLICATIONS displays the list of applications associated with a module the upper box indicate
25. e No errors Access Commands DIRECT DRIVE MODIF 100 ENTER or INCR DECR STOP 3 8 XBT Display Comments PRSE one M HE 1 Temporary display that appears during mode selection I LOOP RF Display linked to the mode As OPEN LOOP DAC OPEN LOOP Dac 8 Displays the velocity instruction in mV for TSX AXM 182 10230 to 10230 and in tens of mV for TSX AXM 172 1023 to 1023 Access to instruction modification Enter the new value As OPEN LOOP DAC 1 Increments or decrements the instruc tion value min increment 10mV As OPEN LOOP DAC 181 Moving part motion command if no incrementing As OPEN LOOP DAC 181 Commands moving part stoppage 4 Motion Monitoring 4 41 Motion Monitoring Function Principles This function allows the display of the following data on the axis selected by the XBT terminal e Position of the moving part e Position error deviation e Output status e Velocity of the moving part e Simultaneous display of the position of another axis The table below lists the access conditions for each parameter Position of the moving part e Module configured POS Position o eModule configured POS error deviation ERROR e Operating mode open loop Velocity of mm eModule con
26. r 255 252 47 112 P Selecting the counter to modify CHa CH1 CHE CH3 255 ese 47 112 100 Enter the new value between 0 and 255 CHE CNS eaa 166 47 112 7 1 7 7 2 F80 F81 F82 F83 7 2 Indirect Access Auxiliary Functions 7 Function Description Divert the AXM program 1 As 8 DIVERT ARM M START Divert step number The divert step number can be modified lt START gt causes the AXM program to divert to the predefined step Access Only in Confidential Mode during AXM program execution Display modify the external position Set point display unit External set point value OWxy 6 7 Access Display in Normal and Confidential Modes modify in Confidential Mode only Display modify the CNi internal counters 1 CH1 CH2 CHS 255 252 47 112 Value of the 4 internal counters The values of the internal counters can be modified lt MODIF gt key and allow access to the counter to be modified Access Display in Normal and Confidential Modes modify in Confidential Mode only Display the standard status word IWxy 0 ITO Interrupt request indicator SFB Module error Status error bit SFB3 Application fault F Module failure S TEST Self test in progress TBLK Terminal block error 1 Not relevant to TSX AXM 162 module 7 indirect Access Auxiliary Functions 7 Function Description
27. 1024 512 0 4512 1023 The TSX AXM 162 module appears therefore as a sub processor of the PLC for motion control 6 Dialog with the PLC Processor 6 TSX AXM 162 module Programming motion 6 7 2 Implementation For each motion to be made the PLC provides the following information the target point in registers OWxy 6 7 expressed in module physical units 1 the velocity correction coefficient in register OWxy 5 enabling the required motion velocity to be reached V COEF contents OWxy 5 1024 COEF 1 VMAN where the contents of OWxy 5 1024 COEF 1 are taken then on the following cycle the execution order is given via bit Oxy 4 1 Module physical unit this is a function of the VMAX parameter VMAX m mn 54 254 gt 540 lt 540 Unit um 10 x100um A Mes I X 2 OWxy 6 7 SET Oxy 4 Note The sequencing is imperative i e bit Oxy 4 must not be set to 1 except on the cycle following that of modification of the registers 6 45 6 Dialog with the PLC Processor 6 TSX AXM 162 module Programming movements 6 7 3 Example To perform the following cycle v mm mn 6000 2000 800 X mm point B 8000 The moving part starts at point 0 Following a Start Cycle command it moves to point A at a velocity of 6000 mm mn where the first operation is performed command given by O17 0 Once the op
28. 4 1 Movein direction 0 Move in direction store the last motion direction if stopped 1 AXM program running 1 Reference set up in progress 1 Return from soft stop overrun 1 Awaiting a start command for the se lected operating mode 1 End of AXM program A 1 Referenced axis 1 program loaded in module memory C 0 Supply to input In4 lost D 1 Motion command refused 1 AXM program synchronization error 1 Position error Not relevant to TSX AXM 162 module Configuration Access XBT Function Parameters Values A F31 RESOL Sensor resolution Units um Limits 0 1 and 1000 0 A F32 VMAX Maximum velocity Units mm mn A USER UNITS F33 UPUL Length Units um mm cm dm m F34 UPUV Velocity Units mm mn cm mn dm mn m mn F35 UPUA Acceleration Units mm s cm s dm s m s A F36 XMAX Higher Soft Stop F37 XMIN Lower Soft Stop C F38 ACCE Acceleration F39 DECE Deceleration B F40 TYPEPO Type of reference set up 1 Short cam Marker 2 3 Long to zero Marker B F41 VMAN Manual mode velocity Limits 1 mm mn and VMAX F42 VSTOP Stopped velocity Limits 1 mm mn and VMAX B F43 TSTOP Stop time out Units 10 ms Limits 65535 F44 TW Target window Limits 1 um and XMAX XMIN 2 C F45 DMAX Max position deviation Limits 1 um and XMAX XMIN B F46 UMAX Speed drive level for VMAX Units Volts Limits
29. An XBT 2908 cable comprising A25 pin male connector for the XBT terminal end A 15 pin male connector to plug into one of the female connectors on the TSX XBT 182 TSX SCA 62 tap junction gx TSX SCA 62 XBT Z908 The data link protocol used is Uni TE to be selected on power up as described in Sub section 1 3 Mains Supply A power cord connects the terminal to a 220 VAC 50 60Hz mains power supply 1 3 1 Setting the Terminal into Service 1 1 3 Service Introduction On initial service introduction or after a power break regardless of the position of the mode selection keyswitch the following display sequence is shown by the terminal Commands XBT Display Comments Depending on the selected protocol e SERIE7 when using the program B SERIE 1 UNITE ming port UNITE when connected to a TSX SCM 21 module Enter the axis number Displays the status of the selected axis As B RUN PR AUTO CYC It may be necessary to select the XBT Configuration mode e modify the stored language e To modify the characteristics of the currently selected data line To do this set the mode selection key to Configuration The diagram on the opposite page describes the characteristics selection procedure e Selection of the message display language e Modification of the communication protocol e Access to data line characteristics 1 4 1 Set
30. C0 LILILILILILILI APPLI 0 AXE 0 APPLI 1 AXE 0 APPLI 2 AXE 0 APPLI 0 AXE 1 APPLI 1 AXE 1 APPLI 2 AXE 1 APPLI 0 AXE 2 pU APPLI 1 AXE2 APPLI 2 AXE2 APPLI 1 AXE 0 Je APPLI 1 AXE 1 APPLI 1 AXE2 Files 172 A Appendix Use of PL7 AXE in V3 configuration 3 Dedicated AXIS field With a V3 PLC the memory is not organized in dedicated zones as it is with a V4 PLC the available memory field is all assigned to PL7 3 V4 PLC V3 PLC PL7 3 DATA PL7 3 DATA PL7 3 PROG CONST COM PROG AXE CONST BRIDGE PL7 AXE therefore has to use the memory field in the W CW zone It is up to the user to reserve in these two zones the necessary area for handling the axis control modules directory and application storage With a V3 PLC the directory is stored in the CW zone atthe address indicated in CWO Example CWO 100 directory stored in CW100 It is advisable to put the directory in CW1 so that the start of the CW zone is set aside for this purpose The axis control applications which are intended to be run on TSX AXM 172 modules can be stored in the CW or the W zones If the amount of memory required to store all the applications is not excessive use of the CW zone is recommended If it is significant particularly if it exceeds 5000 words the W zone must be u
31. Coherence of the RESOL VMAX and UMAX parameters must absolutely be ensured or incoherent results will be obtained from the servo loop during normal operation A 3 A Appendix Determining Parameters Parameters Parameters A 4 XMAX XMIN limit switches UPUL UPUV UPUA length velocity and acceleration display units ACCE DECE acceleration deceleration The tables on pages A 5 and A 6 show the following data for each type of module depending on the selected value of the VMAX parameter The maximum axis length maximum values allowed for parameters XMAX and XMIN The min and max values ofthe acceleration and deceleration parameters The display units length velocity acceleration allowed along with the length unit used by the module given for information only VSTOP TSTOP TW DMAX KPOS KV The values used for the various parameters are closely related to the type of process to control and the performance levels required from the servo loop It is therefore difficult to give typical values Without any precise indications the parameters can be initialized with the values recommended for the Adjust Set up phase i e Parameters Value VSTOP VMAX 10 TSTOP 1 sec TW XMAX XMIN 10 DMAX XMAX XMIN 10 KPOS 16 KV 0 The first four parameters can then be adjusted experimentally from a TSX XBT 182 terminal For servo loop parameters KPOS KV it is possible to p
32. IWxy 2 4 At 1 when a target window error occurs DEFTW Conditions Assisted Manual and Auto Modes TW error not masked 0 1 When error occurs error t gt TW moving part stopped 1 0 acknowledgment OWxy 2 6 or OWxy 2 7 IWxy 2 5 At 1 when a CPU error occurs DEF CPU Conditions Module in Safety On Mode OWxy 0 E at 0 CPU error not masked 0 1 When error occurs CPU stoppage or failure 1 0 On acknowledgment OWxy 2 8 or OWxy 2 9 if the PLC is running 6 27 6 6 28 Dialog with the PLC Processor Discrete I O and Register Interfaces IWxy 2 6 At 1 indicates that the module detected a supply failure DEF PWF 0 1 When a supply error occurs that exceeds the au tonomy of the power supply 200 ms Note A change to 1 loses the axis reference 1 0 On acknowledgment OWxy 2 E or on power up IWxy 2 7 1 if a calculation capacity overflow occurs DEF OVF 0 1 On overflow measurement overflow 1 0 On acknowledgment OWxy 2 D Note When bit IWxy 2 7 changes to 1 the position is forced to 0 This error results in losing the axis reference IWxy 2 8 Currently executed program step to Condition Auto Mode IWxy 2 F If the current Mode is not Auto Last step number executed in Auto Functions not available on TSX AXM 162 module 6 Dialog with the PLC Processor 6 Discrete I O and Register Interfaces IWxy 3 OW Condition
33. Position presentation has the advantage of showing both useful parameters in the same graph The other graph showing Velocity Time will be used later in this manual To simplify the illustration of motion with acceleration and deceleration periods line segments will be used and not curves Negative velocities indicate reverse direction motion Positions The module can process the following types of position Immediate positions positions where the value is given explicitly in the instruction WNi internal positions numbers 0 to 100 internal words designed to receive the positions obtained by teaching the module set points or by entering instructions External positions provided by the TSX XBT terminal or by the PLC processor using register words OWxy 6 and OWxy 7 Measurement units The position velocity and acceleration measurement units are physical units User defined physical units The user defines the configuration parameters refer to Sub section 2 2 the physical units for the display of the measurement values by PL7 AXE and the TSX XBT terminal Module physical units These are calculation units used by the module and the display units used for the measurement values in register words OWxy 4 to 7 and IWxy 6 and 7 They depend on the maximum velocity VMAX selected remember that VMAX depends on the resolution refer to the complete table given in the Appendix Functions not available on TSX AXM 162 module 1
34. Receipt of an operator command 2 10 2 The AXM LD OFB 2 Examples 1st solution recommended An OFB is assigned to each axis AXM LDO to axis 0 AXM LD1 to axis 1 AXM LD2 to axis 2 Programming FOLLOWING WARM OR COLD RESTART IF SY1 THEN RESET IF NOT RE 11 0 LDO READY THEN EXEC AXM LDO 0 0 gt IF NOT BO RE 11 0 AXM LD1 READY THEN EXEC AXM LD1 1 0 IF NOT RE 11 0 AXM LD2 READY THEN EXEC AXMLD2 2 0 SET BO The values between parentheses can be entered Explicitly or Using the PARAM dynamic soft key that displays the OFB graphically AXM LD1 1 AXIS 0 APPLI Effect of the sequence shown above Question Answer On a cold restart SYO a warm restart SY1 or a rising edge on input 11 0 the three applications are simultaneously transferred from the PLC memory to the modules Why use RE 11 0 rather than 11 0 to trigger the transfer If 11 0 is used the OFB will continue to transfer the application as long as 11 0 remains at 1 Setting the modules to Run must be conditional on the end of transfer IF AXM LDO READY NOT AXM LDO ERROR THEN SET OW5 0 C IF AXM LD1 READY NOT AXM LD1 ERROR THEN SET OW6 0 C IF AXM LD2 READY NOT AXM LD2 ERROR THEN SET 0W7 0 C 2 11 2 The AXM LD OFB 2 Examples Grafcet can be used to sequence the operations ACTIV EXEC AXM LDO 0 0
35. Stop execution of the PLC program Ifthe condition ends this was the correct action SYSTEM ERROR and COMMAND REFUSAL when a Manual Mode motion commandis entered e Moving part position incompatible with the se lected direction of motion A target window value that is too large may cause this situation e Enter a reasonable value for the target win dow Unexpected System Reactions and Probable Causes System Reaction Probable Causes Remedial Action Error not acknowledged after an ABORT com mand elfthe error ends 9 9S Check that the AXM module is indeed running Function F 93 As soon as the module starts running this will acknowledge the error XBT goes into a LINE FAULT as soon as the UNI TE protocol is selected XBT goes into a LINE FAULT as soon as the axis number is selected e XBT SCM 21 or XBT SCI disconnected e The line parameters of the XBT and SCM or SCI are incompatible incorrectly configured e Module absent or module physically present is of a type different to that declared in the PL7 3 configuration e RESET MESSAGE bit OWxy 0 2 at 1 e Check the type of cables and the connections e Check the parameters e Reset the bit to 0 and if necessary correct the PLC program The START key has no effect buzzer e START command before a mode was selected e START command before stop check time out e Wait for
36. e Command LDWNi OWxy 1 5 to specify the address in the module table of internal positions WNi table where the value of the current moving part position is loaded Condition Contents lt 99 Axis referenced Moving part already in position Functions not available on TSX AXM 162 module 6 35 6 Dialog with the PLC Processor 6 Discrete I O and Register Interfaces OWxy 5 Depending on the current mode this register has two functions 1 Servo off mode D A converter value CT LSB weighting 10 mV for TSX AXM 172 2 5mV for TSX AXM 182 162 Variation range 1024 1023 for AXM 172 4096 4095 for AXM 182 162 Conditions Servo off mode currently selected IWxy 1 AND H 000F 7 AND NOT IWxy 1 8 Attention Any change of value is immediately applied FTTTTTT z 2 Other modes Velocity modulation value follows the correspondence diagram shown below OWxy 5 2 2 1 1 0 0 128 0 127 1024 0 1023 172 182 162 The multiplication factor affects the velocity of motion VMAN in Manual Mode Parameter F of the motion command in Auto Mode The effect of a modification of the value of this factor is Immediate with a TSX AXM 182 162 module in Manual Control Mode in Assisted Manual or in Automatic Mode if the current instruction is GP1 or GP9 Delayed until the next command in all other cases i e e Regardless of the situation when
37. um 1 0 um lt RESOL lt 1000 um Depending on the maximum application velocity selected this table lists the other maximum application parameter values VMAX m mn 5 4 lt 108 lt 21 6 lt 43 2 lt 54 lt 108 lt 216 lt 432 540 lt 1080 lt 2160 lt 4320 Axis length meters 30 60 120 240 300 600 1200 2400 3000 6000 12000 24000 ACCEL min mm s 1 10 100 ACCEL max m s 1 4 5 9 18 36 45 90 180 360 450 900 1800 3600 Display Length um mm cm dm m mm cm dm m mm cm dm m Units Velocity mm mn cm mn dm mn m mn cm mn dm mn m mn m mn Accel mm s cm s dm s m s cm s dm s m s m s Length Calculation Unit 2 x 10 um x 100 um 1 Theoretical value corresponding to the acceleration rate that lets the moving part go from 0 to VMAX in 20 ms 2 module cycles 2 Internal calculation unit used by the module This unit must be used for positions sent by the PLC to the module via registers OWxy 6 7 and those sent from the module to the PLC on registers IWxy 6 7 current position and IWxy 5 deviation A Appendix Determining Parameters Predetermining the parameters of the servo loop Position gain KPOS The performance of the mechanical system are usually expressed as a function of position gain KPOS KPOS V de V Velocity de Deviation error The ve
38. 1 1 a be modified or Enables selection of another output Rx B RB R1 R2 E3 The newly selected output is displayed and blinks Modifies relay status Rel R AX RI RE Note veray output 0 cannot be modi fied safety interlock 111 MODIF 4 2 4 Motion Monitoring 4 Parameter Display Velocity Displays the velocity real time in user units SPEED As H True moving part velocity gs5B8B8HH HH Programmed velocity Display the position of another axis Commands XBT Display Comments AXIS N 2 Displays the position of a moving part on the current axis Allows entry of the number of the other axis Hx B 256 636M Enter the axis number Moving part position axis 0 As 256 838MM As 5 5 188CN Moving part position axis 5 4 3 4 4 5 AXM Program Access 5 5 1 Display AXM Program 1 Display Principle The terminal can display the instruction being executed or any other instruc tion in the AXM program Measurement Step Nbr Instruction unit code CD F Data line GPS eaa Instruction coding Displays other operands of the selected instruction Display current step Condition Automatic mode selected Commands XBT Display Comments H CD F AA MH B GPS Bana Displays the program step currently
39. 1000 00 UHI 1000 AAA UH32 1004 1000 AAA WN16 1006 608 WN33 1000 608 UNSA 1000 080 LINE i POSITION URRIRBLES STOP PREUPAGE HEATPAGE NEXTPAGE Calls up the next table PREVPAGE Returns the user to the previous page MODIFY Lets the user modify the values of the internal position displayed in reverse video Use the cursor keys to selectthe required WNi position STOP AXM Stops the TSX AXM module TOP Returns the user to the first screen WNO to WN50 BOT Lets the user access the last screen counter CNi Access to CNi internal counters From the screen shown above NEXTPAGE Lets the user access the values of the four internal counters or BOT CNi MODIFY Lets the user modify the value of the internal counter displayed in reverse video Use the cursor keys to select the required counter CNi STOP AXM Stops the TSX AXM module PREVPAGE Returns the user to the screens displaying the internal positions WNi 7 5 NO 7 Debug Mode 7 7 4 Setting the Machine Factor KR Purpose Access 7 6 The machine characteristic factor KR is the correction factor used by the module to scale or adjust travel measurements from the encoder pulses received This factor is calculated by PL7 AXE from configuration parameters There is however a procedure which allows the user to adjust the value of this factor in order to compensate for any errors due to imprecis
40. 2 2 41 7 1 4 6 3 4 4 8 5 4 4 7 111 7 10 8 2 12 84 5 1 5 9 6 5 3 2 4 6 7 1 8 1 3 1 1 4 4 7 4 7 5 7 4 2 5 5 4 3 4 4 3 3 4 7 7 2 3 3 4 8 5 9 6 2 4 7 4 4 4 7 8 3 5 12 7 4 19 A Appendix A 7 Application Diagnostics Assistance Experience with axis control modules has shown that some situations may appear unusual These are recognized by Refusal to execute a command 1 Unusual module response The tables shown on the following pages show examples of typical symptoms that may occur along with their probable cause and the recommended corrective action that the user should attempt to solve the problem This manual does not attempt to list all possible error conditions and the list may be completed by the user s own experience 1 ACOMMAND REFUSED message causes The module to stop The module program to stop on the instruction that caused the refusal e RFS CDE in the register interface to be set to 1 IWxy 1 D The error LED on the TSX XBT 182 terminal to light A 20 Refusal to execute a command Symptoms Probable Cause Corrective Action Command refusal when executing a com mand GP1 F X Note This situation may occur When execution is requested When a resume command is sent after an error When a restart command is sent after stop The distance to travel does not allow the moving part to reach the specified velocity
41. 4 3 6 2 21 2 5 A 19 A Appendix A 5 Setting up an Axis from a TSX XBT 182 Refer to Divider B Sub section 7 4 for a full description A 20 A Appendix 6 Different software versions There are two software versions for the TSX XBT 182 axis control terminal Version V1 available October 1990 to November 1991 operates with configurations having a maximum of 16 TSX AXM 172 or TSX AXM 182 axis control modules Version V2 available December 1991 onwards is restricted to 16 axes even if the configuration has more than 16 modules and is compatible with all 3 types of module TSX AXM 172 TSX AXM 182 and TSX AXM 162 Comparison table of the two versions Criteria Version V1 Version V2 Number of axes 16 16 handled Behaviour if Fault appears Restricted to 16 configuration has with message Access to more than more than 16 axes DIRECT NOT AVAIL 16 axes not possible Types of modules TSX AXM 172 TSX AXM 172 handled TSX AXM 182 TSX AXM 182 TSX AXM 162 Behaviour when Message Normal configuration includes DIRECT NOT AVAIL TSX AXM 162 modules Divider D of this manual describes the operation of the TSX XBT 182 terminal under version V2 Taking into account the previous restrictions this manual applies equally to version V1 However TSX XBT 182 terminal version V2 does not perform a coherence check of operator commands with the type of module Thus for a TSX AXM 162 module non pro
42. Connecting the Module 7 3 3 Terminal Block and Connectors TSX AXM 172 Module Connections are made using e A TSX BLK 4 terminal block for the I O and power supplies e A TSX CAC 04 connection kit for the analog output e TSX BLK 4 terminal block This removable terminal block is equipped with 32 screw terminals The terminal block is wired according to the configu ration selected and the user s requirements Signals TSX BLK 4 Terminal Block Signals Input In4 Input in4 Input In3 Input In3 Input In2 Input in2 Input In2 i Input Int Input In1 Input Int Input InO Input InO Output R2 Input InO Output H1 Output R2 Common outputs R1 R2 Output RO contact a lt 9 R lt A lt oa lt Output contact a Output RO contact b Output RO contact b Output R3 contact a Output R3 contact a Output R3 contact b O m OO m O O m m Output R3 contact b Ground Ground e TSX 04 connector A 9 pin Sub D connector Its metal coated plastic casing ensures ground continuity Within the Module An Out An Out An Out An Out Male connector seen from the pin side 7 8 7 Sett
43. DELETE PROGRAH 4 DELETE APPLICATION 5 MODIFY THE AREA NAHE LINE UTILS TSX MEH Other soft keys specific to the selected mode are described in section 2 selecting working memory 2 7 2 4 Relationship with PLC memory 2 4 1 Dedicated axis zone in the PLC memory If the PL7 AXE function is declared for a station a dedicated axis zone is automatically created by the XTEL CONF tool when the STATION APP file is generated The size of this zone is set by the XTEL COMF tool by default and may be modified by the user The position of this zone is determined by the size of the PL7 3 and other dedicated zones which it follows PL7 3 data PL7 3 program Other dedicated functions Axis Contents of the axis zone When the PLC memory image is created the XTEL CONF tool creates an empty zone This can then be filled by PL7 AXE 1 It comprises the directory consisting of a correspondence table between the logic numbers 0 to 63 and the physical positions of the modules in the racks The program offers default assignments 2 which may be modified a table which gives the start address and the size of the applications stored in the dedicated zone the applications in ascending logic number order 1 Providing the PLC memory image or the PL7 3 application contains the I O configuration and the slots are occupied by TSX AXM modules 2 Ascending numbering f
44. F83 contd F84 F85 F86 Display the standard status word contd NCONF Module awaiting a configuration R S Module running ADJ Adjust state SEC Interlock disabled OUT DIS Inhibited outputs Note Bits active at 1 0 complementary status Access In Normal and Confidential Modes Select interrupt masking or demasking 1 Indicates the function used eDMSK Demask LAST IT N Step number that caused the IT lt MODIF gt ENTER allows selection of the interrupt mask or demask function Access Display in Normal and Confidential Modes modify in Confidential Mode only LAST IT Select Safety Interlock On Off modes Indicates the selected mode e Safety Interlock On Safety Interlock Off Reminder the Safety Interlock Off mode allows module control by the XBT terminal with the PLC Stopped lt MODIF gt lt ENTER gt selects the complementary mode Access Display in Normal and Confidential Modes modify in Confidential Mode only Inhibit the output eENAB enabled outputs Rx B OUT ENRE eDISAB disabled outputs 2 eR Status of relay outputs RO to R3 R 1811 DRC e DAC D A converter output TSX AXM 172 x 10 mV TSX AXM 182 x 2 5 mV lt MODIF gt lt ENTERs gt selects enabled or disabled outputs Access Display in Normal amp Confidential Modes modify in Confid only 1 Not relevant to TSX AXM 162 module 2 Inhibit only affects relay output
45. Function Nbr gt ENTER This sequence displays the param eters assigned to the selected function Modifying numerical parameters Service keypad MODIF QUIT DEL ENTER DECR INCR Access to parameter modification The parameter starts to blink A new value can be entered from the service keyboard Validates the data entry the parameter takes the value entered if it is correct and the display stops blinking Cancels the current data entry the parameter retains its Original value Deletes a character during data entry For some parameters these keys can be used to increment or decrement their value Modifying Boolean parameters Simplified modification sequence 2 2 MODIF ENTER Blinking display of the inverse state of the currently selected parameter Validates the displayed state 2 Using the Terminal Type Errors AXM Program Display Control Motion Monitoring SPEED 2 Presentation and Data Entry Principles Description of keys Function keypad Key Function Refer to p Select axis display axis module SS 24 SELECT status VEN Display errors for the selected SS 10 1 DISPLAY axis o Acknowledge error command Resume SS 10 2 CLEAR selected mode command type 2 fault E Acknowledge error command Quit SS 10 2 ALARM STOP
46. However when ENTER is pressed to store the application another message requests confirmation from the user N APPLI AXM UNEXPECTED WRITE APPLI The YES soft key stores the application with the specified number The NO soft key retains the initial application with its original number 3 6 Selecting working memory 3 3 3 Selecting TSX PMX MEMORY The PLC memory is essentially for archiving It allows the various configurations to be stored in the dedicated AXE zone of the PLC memory This store operation allows the PLC program to reload the applications into the modules via the AXMLD optional function block if required The AXMLD OFB is described in section 2 in divider C3 The TSX PMX MEMORY can only be used if the I O configuration performed under XTEL COMF has previously been transferred to the PLC memory The PLC can be in STOP or in RUN FI XTEL Function axis line1 factory E xproprj PL7 ARS V5 8 INSTALLATION OF AXM 182 172 162 Copyright TE 1998 93 PROC TSK 187 455 U5 8 SAVE MANUAL FILE ARIS BIN CONNECTED MEMORY OPERATING MODES ARM MEMORY 6 CONFIGURATION 1 PROGRAM 2 ARM FILE 2 TRANSFER AXH 3 TS8 FILE 3 DOCUMENTATION LINE WORKING CHOICE EXIT DIR ARIS eA DEL UTILS 3 7 UTILS accesses the utilities functions associated with the TSX PMX MEMORY 0 1 2 3 A 1
47. IAXIS internal constant is transferred to the AXIS input parameter Reservation As the transfer of an application requires a number of PLC cycles the AXM LD OFB uses the reservation routine described in Divider B Sub section 6 6 in the same way as a terminal This means that e If the module is already reserved the transfer is refused ERROR bit and STATUS bit 2 go to 1 the instruction EXEC AXMLD must be repeated e Ifaterminal attempts to access the module while the transfer is in progress it will receive the refusal message AXM RESERVED 2 7 2 The AXM LD OFB 2 Internal Operation External view The EXEC AXM LD instruction starts the transfer sequence if the OFB is not already being executed While this sequence is being run the AXM LD READY and AXM LD ERROR bits are set to 0 Once the transfer is complete the AXM LD READY bit is reset to 1 and the AXM LD ERROR bitis setto 1 if the transfer was unsuccessful The AXM LD Status variable allows the user to identify the type of problem encountered Transfer duration AXM LD READY AXM LD ERROR EXEC AXM LD INSTRUCTION or set LOAD bit to 1 1 The module is not reset to Run by the OFB It is up to the user to do this once the transfer is complete i e when the AXM LD READY bit changes from 0 1 on condition that the ERROR bit is at 0 If the EXEC AXM LD instruction is encountered again while a transfer is in progress it is ignored Itis up
48. The instruction M SYN CPU OUT xxx IT x starts a check by the PLC processor on bit OWxy 1 9 changing from Oto 1 rising edge If this bit has not been set to 1 before the TSYN time out a module synchronization error occurs or a divert sequence is executed Example By adding the synchronization instruction M to the previous example the module will also check pallet loading If the pallet has not been loaded before the TSYN time out defined in the configuration is reached the AXM program is diverted to step 20 defined in the NSYN configuration return to the start position at high velocity oib GP9 F 5000 mm mn X 500 cm 6 M SYN CPU OUT 000 IT N o7 WAIT EVENT CPU o8 GP9 F 500 mm mn X 0 cm o9 JMP N 5 o 20 GP9 F 5000 mm mn X 0 cm Comparison value OWxy 3 LSB PLC AXM The comparison register word is used to check the execution of the AXM program loops by the PLC program JEX instruction Example In the example above a position sensor detects the last pallet The uncon ditional jump JMP can be replaced by a conditional jump JEX The jump is stopped when the last pallet is sensed 13 1 AXM Program PLC Program 05 GP9 F 5000 mm mn X 500 cm T 0 9 gEX N 5 VAL 1 1 13 1 THEN 0 gt OW4 3 0110 GP9 F 5000 mm mn X 0 cm O ELSE 1 ow4 3 Loading the internal counters CNi by PLC program 6 4 OWxy 4 MSB CNi counter number OWxy 4 LSB CNi counter
49. The user enters the target position for the moving part Moving part velocity is specified in the configuration by the VMAN parameter Manual velocity This mode is usedto position the moving part during application debug steps It can also be the primary operating mode in applications with basic motions Procedure e Select the mode e Enter the target position e Start the mode The moving part moves to the target position and stops This is the preferred operating mode for the TSX AXM 162 module Servo loop disabled open loop The module directly controls the analog output on open loop i e the servo loop is disabled This mode is used to analyze axis operation separately from the position control servo loop e g for machine system adjustment Procedure e Select the mode e Enter the velocity of the moving part Module TSX AXM 172 TSX AXM 182 162 TSX XBT 182 1023 1023 x 10 mV 1023 1023 x 10 mV PL7 AXE Debug Mode 1023 1023 x 10 mV 4096 4096 x 2 5 mV e Start the mode The moving part moves in the specified direction at the specified velocity with the ability to change the speed reference e Stop the mode Returns the analog output level to 0 causing return by gentle deceleration 3 3 3 Operating Modes 3 3 2 Module and Axis Status Module status Axis status 3 4 When the module is operating without any faults three module conditions can be defined e Module no
50. e Set this bit to 0 DIRECTORY MODIFIED BY ANOTHER PRO CESS Probable cause PLC memory loaded from XTEL MEM TARGET DESTINATION INCOMPATIBILITY ERROR e Attempt to transfer an AXM file to a different type of module e g 172 FILE to AXM 182 e Select a file with an extension corresponding to the type of module 6 A Appendix A5 PL7 AXE User Access Rights Selected Mode User Levels Operate Adjust Program min MAX min MAX min MAX CONFIGURATION Display no yes yes yes yes yes Modification no no yes yes yes yes PROGRAMMING Display no yes yes yes yes yes Modification no no no no yes yes DEBUG Status Commands Display yes yes yes yes yes yes Modification no yes yes yes yes Errors Display yes yes yes yes yes yes Acknowledge no yes yes yes yes yes Set Wi Display no yes yes yes yes yes Modification no no yes yes yes yes Set KR no no yes yes yes yes TRANSFER TSX module no no yes yes yes yes Hard disk no no no no yes yes DOCUMENTATION no no yes yes yes yes DIRECTORY Display no yes yes yes yes yes Modification no no no no yes yes UTILITIES Module Appli charac no no yes yes yes yes Mod RUN STOP no no yes yes yes yes Del appli pgm no no no no yes yes TSX Appli list no no yes yes yes yes TSX RUN STOP no no no yes yes yes Del appli pgm no no no no yes yes HARD DISK
51. receiving a Start command Oxy 4 Remains in the same state if the mode changes IWxy 1 A At 1 when the axis is referenced Ref Set up performed AXE 0 1 When Ref Set up completed or when REF Ref Set up is forced 1 0 When the terminal block is opened If a Power Fail error occurs If a capacity overflow occurs IWxy 1 B At 1 if the module is programmed AXM 0 1 When an application comprising an AXM PROG program is changed 1 0 When an application without an AXM program is changed When the Program is deleted or From When the Application is deleted aan IWxy 1 C Reflects the state of input In4 I4 1 Voltage present no errors ARTURG 0 Voltage absent supply failure Note When this bit changes to 1 an Emergency Stop error occurs IWxy 2 3 IWxy 1 D At 1 when the command cannot be executed RFS CDE 0 1 When a non executable command is encountered refer to the various Command Refusals described in Appendix Sub section 9 7 1 0 As soon as a valid command is given Note In Auto Mode Command Refusal stops AXM program execution A Start program is required to start the program again IWxy 1 E At 1 if a synchronization error is present DEF SYN Conditions Synch error not masked Auto Mode selected 0 1 When the error occurs TSYN overrun 1 0On an acknowledgment command OWxy 2 4 or OWxy 2 5 IWxy 1 F At 1 if a divergence error occurs DEF Condition Any Mo
52. 1 1 1 1 General Configuration required for PL7 AXE Checking the hardware Connections Installing the software Using the keyboard and the mouse Methodology for installing an axis control application ona TSX PMX V5 programmable controller EMEND ENSIS 2 Using the AXM configuration and programming software Contents 2 1 2 1 Accessing the configuration and program software 2 2 Introduction to the display screen 2 3 Selecting modes 2 4 Relationship with PLC memory 2 5 Methodology 3 Selecting working memory Contents 3 1 3 1 Introduction 3 2 Selecting AXM memory 3 8 Selecting TSX PMX memory 3 4 Selecting an AXM file 3 5 Selecting a TSX PMX memory 4 Managing the dedicated AXE zone Contents 4 1 4 1 Dedicated AXE zone 4 2 Directory CII 1 TXT L PL7 AXS V4 Axis Control Program Using the Program General Principles Memory Types Dedicated Axis Field Configuration Mode Programming Mode Debug Mode Transfer Mode Documentation Mode C2 Implementation Program 1 1 Installation 1 2 1 2 Accessing PL7 AXE 1 4 2 1 User Environment 2 1 2 2 X TEL Environment 2 8 2 3 PLC Memory Dedicated Axis Field 2 15 2 4 Reservation Mechanism 2 19 2 5 Recommended Work Practice 2 20 3 1 Selecting the Memory 3 1 3 2 Module Memory AXM MEMORY 3 3 3 3 PLC Memory TSX MEMORY 3 5 3 4 Disk Memory AXM FILE 3
53. 13 1 14 2 Configuration Parameter Table 2 2 1 General Purpose A table of 32 parameters enables the adaptation of module operation to the application to be processed There are three types of parameters e Axis parameters sensor resolution maximum velocity etc e Servo loop parameters position gain etc e Operating parameters error detection and processing etc The module can only operate if this table has been filled in and transferred to the internal memory by the user Parameter access These parameters must be entered using PL7 AXE in Configuration Mode Once the module has been configured some of the parameters can also be modified e From a TSX XBT terminal e By AXM program instructions Access to modifications depends on the type of parameters selected A Accessible only using PL7 AXE B Can be modified using the TSX XBT terminal C Can be modified using the TSX XBT terminal and AXM program instructions Selecting parameter values When using PL7 AXE to enter the parameter table in Configuration Mode once the resolution and maximum velocity parameters have been entered default values are proposed for other parameters These parameters must be appropriate for the application The table on the following page is designed to guide the user in selecting the values of these parameters Functions not available on TSX AXM 162 module 2 1 2 Configuration Parameter Table 2 2 Paramet
54. 232 test plug INCR DECR SELFTEST TEST INCORRECT ENTER A 6 A Appendix Self tests Test outputs Commands or INCR DECR ENTER or INCR DECR ENTER or INCR DECR ENTER or INCR DECR ENTER XBT Display SELFTEST TEST RS 232 SELFTEST TEST CORRECT SELFTEST TEST RS 422 SELFTEST TEST CORRECT SELFTEST TEST 28mA CL SELFTEST TEST CORRECT SELFTEST TEST BUS SELFTEST TEST CORRECT SELFTEST MODE COMF IDEM If XBT not connected Description Fit the RS 232 test plug SELFTEST TEST INCORRECT Fit the RS 422 test plug SELFTEST TEST INCORRECT Fit the current loop test plug SELFTEST TEST INCORRECT Fit the current loop test plug SELFTEST TEST INCORRECT SELECT PROTOCOL B SERIE 1 UNITE If XBT connected A 7 A Appendix Self tests Wiring the test plugs The test plugs are not supplied ready to use it is up to the user to wire their own using aconnecter plug and the diagrams below The diagrams apply to the three types of test that can be performed RS 232 and 20mA Current RS 422 Test Plug Addressing Test Plug Loop Test Plug OOOO 0 0 OOO 0 O O oO AN Oa FW N N
55. 7 1 Delete see Clear Directory 4 2 Documentation of an application 9 1 File management 2 8 File name 3 4 Inserting a program step 6 3 Loading PL7 AXE 1 2 Mode selection 2 7 Modifying a program 6 3 Modifying an instruction 6 3 Modifying the configuration 5 3 Modifying the directory 4 2 Module Run 3 5 Module Stop 3 5 PLC Run 3 6 PLC Stop 3 6 Powering up Printing an application 9 2 Program access 1 4 Program storage 8 2 Programming 6 1 Programming in Run 3 6 Reading a program 6 2 Reading a configuration 5 2 Selecting the language 2 7 Transferring an application 8 2 TSX AXE Field 2 15 Validating a program 6 2 Writing a program 6 1 A Appendix Adjustment and Initial Set up of an Axis with PL7 AXE Caution A procedure for adjustment and initial set up of an axis using a TSX XBT 182 operator terminal is described in Divider B Sub section 7 4 If such a terminal is not available it is possible to perform all of these operations using PL7 AXE Some are performed in Configuration mode others in Debug mode However given that the program does not have the same on line adjustment possibilities as a TSX XBT 182 terminal this procedure is more complex to use It is important to remember the following points e Any change of a parameter value requires a modification of the configuration Any modification of the configuration causes the loss of the axis calibration Any modification of the configuration causes th
56. 92 9 94 95 F61 F62 Indirect Access Auxiliary Functions Function Description Display the location of the module in the PLC rack As B 4 5 054 R 8 H e S Station number 254 by default e R Rack number e Slot number Module Nbr Access In Normal and Confidential Modes Module Run Stop As AKB or RUN MODULE if the module is lt MODIF gt lt ENTER gt toggles between module modes Run and Stop Access In Confidential Modes Display errors on other axes OTHER ARES Numbers of the axes with errors Access In Normal and Confidential Modes Service introduction function refer to Divider B Sub section 7 4 Adjusting the machine characteristic factor KR refer to Divider B Sub section 7 4 As ER 0 UM Display the position index value AX B PRE UH Unit reminder 1888 Parameter value Access For display in Normal and Confidential Modes 7 5 7 6 8 Access the Configuration Parameter Table 8 8 1 Configuration Parameter Access Principles Access The following example covers all of the options available for display and modification The modification of a configuration parameter linked to motion is not accepted directly when it applies to the motion in progress The modification will only become effective for the next motion command The table in Sub section 8 2 lists the parameters that can be modified Comm
57. A If the motion command to be performed is impossible with the various parameters defined acceleration deceleration target position programmed or config ured velocity velocity correction factor the module rejects the commandandstopsthe moving part Target position e Other cases of command rejection e When two single step motion commands are programmed in opposite directions as a continuous move without allowing for motion reversal e When a motion command is given for a non referenced axis Functions not available on TSX AXM 162 module 4 2 4 Module Functions 4 Motion Reference set up Reminder An incremental encoder does not provide a position measure ment only a number of pulses proportional to the distance travelled For this distance to indicate a position a reference point must be set up usually 0 This operation is the reference set up This allows the module to generate absolute position measurements using the incremental encoder The refer ence set up command is initiated by an AXM program command SRP or SRP or by a manual reference set up command The reference set up procedure is identical in both directions The module has two inputs that are used for reference set up IN2 for the zero marker and In3 for a cam and 3 types of detection Type 1 Shortcam the cam signal is only present for a single zero marker pulse and zero marker the reference point is indicated by the cam presence si
58. AP1 172 AXEZ APO 172 AXEZ AP1 172 17 A Appendix Use of PL7 AXE in V3 configuration e Create the directory e Transfer each application from the hard disk to the PLC memory 3rd phase Debugging the applications Identical to paragraph 2 5 except that the XBT terminal must be a TSX XBT 172 to be compatible with V3 PLCs 4th phase Storage documentation Processor NES 507 y Modules CONF 2 Disks eroe M L APPL PALET BIN MOD uos ew APPLI ory MOD AXEX AP0 172 AXEX AP 1 172 AXEY AP0 182 AXEY AP 1 182 AXEZ AP0 182 AXEZ AP1 182 e Terminal in TSX MEM connected mode e Transfer each of the axis control applications from the TSX memory to the disk 1 keeping the original file names file 172 in the AXIS MOD directory Q e Boot up PL7 3 and transfer the application to the PL7 3 APPLI directory This operation backs up the directory and any applications stored in the CW zone If necessary back up the W zone which is assigned to application storage TRANSFER mode SAVE RESTORE function e Reboot PL7 AXE in local mode AXM FILE or TSX FILE and document each of the applications on hard copy or DOC files stored in the AXIS MOD directory 1 This
59. AXMDG OFB Presentation AXIS This parameter identifies the number of the axis to which the OFB is assigned It is initialized automatically on a cold restart with the contents of the I AXIS constant It can be modified but this is not recommended As with the INIT parameter this input should not be wired Output parameters ERROR used by diagnostic program 0 no fault 1 one or more faults present disappeared but not yet acknowledged Note 1 This bit is not wired 2 It can be tested by the PLC program IF AXMDG3 ERROR THEN Memory occupation Program field Data field Constants field 1700 words 140 words 8 words for any number for each use for each use of uses Run time 3 4 This depends on the type of processor TSX 47 40 67 40 about 1 ms TSX 87 40 TSX 107 40 Although the EXEC instruction must be included in a user task MASTER about 0 5 ms about 0 4 ms task the execution rate of this function block is about 200 ms 3 The AXMDG OFB 3 3 3 Internal operation External view When any fault occurs on condition that the INHIB internal data is at 0 the ERROR bit and the STATUS word bit assigned to this type of fault go to 1 If the fault disappears before Init is activated it remains memorized in the STATUS word The ERROR bit only returns to 0 after an INIT command if no fault is present INHIB FAULT i STATUS bit i FAULT j STATUS bit j
60. Directory C B n d Wy B APPLI 0 AXIS 0 a ee 3 Dedi APPLI 1 AXIS 0 cated Axis Field APPLI 2 AXIS 0 The requirement is to transfer from PLC memory to the module Application 0 on warm or cold restart Application 1 when bit B1 goes to 1 Application 2 when bit B2 goes to 1 on condition that the module is not executing an application 2 14 2 The AXM LD OFB 2 Examples Solution e Assign the AXM LDO OFB to axis 0 by giving the IAXIS internal constant the value 0 e Assign a PL7 3 variable whose contents will be modified on each execution of the OFB to the APPLI input parameter AXM LDO AXIS W80 APPLI The AXIS parameter is not assigned as it is initialized by default to the value on the IAXIS internal constant i e 0 Programming IF SYO SY1 THEN 0 W80 EXEC LDO W80 gt IF B1 AXM 100 READY THEN 1 W80 EXEC AXM LDO W80 s RESET B1 IF B2 AXM LDO READY IW5 1 9 THEN 2 W80 EXEC AXM LDO W80 s RESET B2 IF AXM LDO READY NOT AXM LDO ERROR THEN SET OW5 0 C 2 15 N 2 16 3 The AXMDG OFB 3 3 1 Purpose The AXMDG OFB collects the fault information from an AXM module for treatment by a diagnostic program APPLIDIAG or SYSDIAG run from an operator dial
61. Directory no no no no yes yes Appli list no no no no yes yes partial A 10 A Appendix A6 Use of PL7 AXE in V3 configuration 1 General Version V4 5 of PL7 AXE reference no TXT LF PL7 AXS V42E is compat ible with V3 configurations PL7 AXE y proc IIT TSX AXM 172 FTX 507 np nnpu ge nip np npe HIE MI Lr nm E LILILILILILILI TSX 47 30 TSX 67 20 TSX 87 30 Most of the information in section C2 also applies to PL7 AXE when itis used to generate applications which will be run on a V3 PLC There are however some differences which are partly due to the limitations of these PLCs no dedicated zones and partly due to the required compatibility when running TSX TS6 AXB 72 software ona TSX T607 terminal which is also capable of generating this type of application The following restrictions apply The number of axis control modules is limited to 16 The software can only be run on a TSX AXM 172 module Applications must be stored in the Wi or CWi zone in PLC memory These differences result in a number of limitations when using the software The user must work in connected mode TSX MEMORY when creating the directory The user mus
62. ERROR INIT It is up to the user to ensure that the EXEC AXMDG instruction is only scanned once by the program thus making the instruction conditional on an event which only occurs only during a PLC cycle SYO SY1 etc 3 5 3 3 4 3 6 The AXMDG OFB 3 Examples Assume a configuration with 3 axis control modules ie 3 axes numbered 0 to 2 Proc axis 0 model40 a a as ja fa 5 o B Ml e Declare 3 uses of the AXMDG OFB e Initialize the I AXIS parameter with the axis number corresponding to the OFB number Example AXMDGO 1 0 e Program the following sequence in the MASTER task IF SYO SY1 THEN EXEC AXMDGO0 gt EXEC AXMDG1 gt EXEC AXMDG2 gt The OFBs are then ready to be used by APPLIDIAG If you wish to interrupt monitoring set the INHIB bit to 1 This can be performed from the program IF B70 THEN SET AXMDGO INHIB ELSE RESET AXMDGO INHIB or from PL7 3 APPLIDIAG SYSDIAG If you wish to use the information provided by the OFBs from the PLC program transfer the contents of STATUS to an internal word then test each of the bits used by the following program axis 1 IF AXMDG1 ERROR THEN AXMDG1 STATUS W60 ELSE JUMP L 10 IF W60 0 THEN IF W60 F THEN L 10 Note Given the operati
63. In3 Max deviation Event External position Velocity Indexed external position Immediate position Interrupt Indexed internal position Position gain Machine characteristic factor Feed forward Velocity limit CPUF divert mask Position error divert mask Stop check divert mask Synchronization fault divert mask Target window fault divert mask Number of WNis stored Divert step CPUF Divert step deviaiton error Divert step stop check error Divert step synchronization error Divert step on target window error Discrete output R3 R2 R1 set Parameter Position index value Part of the PLC program dedicated to axis control Type of reference point Stop time out Synchronization time out Target window A Appendix Abbreviations U UIS Rising edge on input I3 UMAX Speed reference for speed controller corresponding to VMAX UPUL User defined length unit UPUV User defined velocity unit UPUA User defined acceleration unit V VMAN Velocity manual mode VSTOP Maximum velocity level when stopped W WNi Internal module position X X Position XMAX Higher soft stop XMIN Lower soft stop A 13 A Appendix 5 Module units Formulas TSX AXM Configuration Formula XBT Function Velocity Parameters RESOL sensor resolution Acceleration Values VMAX maximum velocity USER SELECTED UNITS e UPUL Length e UPUV Velocity e UPUA Accelerati
64. LO aes goood oomnnn nooo Cooo 1 10 G Additional Information G Upgrading from V3 to V4 1st step TSX T607 terminal connected to a V3 level PLC Using TSX AXB 72 transfer all of the applications from the PLC TSX memory to a diskette 2nd step FTX 507 Workstation 1 connected to a V4 level PLC Usingthe T607 TO PC program under DOS transfer the applications from the diskette to the hard disk AXIS MOD directory Refer to the X TEL Software Workshop manual TXT DM XTEL V4E All of the files generated by TSX AXB 72 have a BIN extension When these files are transferred to the AXIS MOD directory the BIN extension must be changed to 172 Using PL7 AXE in Transfer Mode transfer all of the applications from the disk to the PLC TSX memory where they are automatically stored in the dedicated Axis field 1 If an IBM PS 2 or compatible is used TSX LK6 PC software is required to copy the applications from diskette to hard disk The BIN extension must still be changed to 172 1 11
65. Module Status 2 7 2 5 Operator Dialog Terminal 2 8 3 1 General Principles 3 1 3 2 Automatic Mode 3 2 3 3 Manual Drive Mode 3 4 3 4 Assisted Manual Mode 3 5 3 5 Manual Reference Set up Mode 3 7 3 6 Open Loop Mode 3 8 4 1 Motion Monitoring Function Principles 4 1 4 2 Parameter Display 4 2 5 1 Display AXM Program 5 1 5 2 Modify AXM Program Parameters 5 2 6 1 Forced Reference Set up 6 1 6 2 Velocity Correction Factor 6 2 6 3 Teaching Set Points 6 3 7 1 Selecting Indirect Access Functions 7 1 7 2 Function Description 7 2 8 1 Configuration Parameter Access Principles 8 1 8 2 Parameter List 8 2 D Contents TSX XBT 182 Operator Terminal Section 9 Application Transfer 10 Error Monitoring A Appendix D Sub section Page 9 1 TSX gt AXM Transfer 9 1 9 2 AXM gt TSX Transfer 9 2 10 1 Error Display 10 1 10 2 Error Acknowledgment 10 2 A 1 Self Tests 2 List of Abbreviations 9 Diagnostic Assistance A 12 A 4 Index A 18 A 5 Setting up an Axis from a TSX AXM 182 A 20 A 6 Different software versions A 20 0 Presentation 0 0 1 TSX XBT 182 Operator Terminal Adjustment Terminal General Kefretemecanique TSX XBT 182 NORMAL s m m m m m AXIS STOP ALARM m m m e m 7 PROCESS HELP CTRL AXIS m 4 MODIF INCR DECR m 1 2 3 QUIT FONCT DEL o o DIRECT
66. Process Control Modes AXIS and PROCESS 2 On power up the terminal will automatically select the Axis Control Mode AXIS 0 3 0 0 3 Presentation 0 Presentation Rules Graphics Used Display First display line Second display line A dashed underline indicates a flashing message Keys These are shown either by their pictogram or between angle brackets lt gt especially in the text Reading the block diagrams illustrating a succession of operator commands The block diagrams given in this manual resemble the Grafcet method They do not however follow all Grafcet representation rules for ease of presentation and understanding Example Commands XBT Display Comments M Basic display for the motion direction HX B MAN DRIVE selection mode CHOOSE DIRECTION Command for moving the moving part in the selected direction y le X positive direction X negative direction The moving part will move as long as the key remains depressed The 2nd display line gives the cur rent position of the moving part As 8 MAN DRIVE 1666 Release the key TSX XBT terminal commands can be taken to represent the transition conditions in the chart while the XBT display and the AXM commands mode selection moving part motion etc represent actions The diagrams show examples of entries made These examples must be interpreted by the user and adap
67. Run with interlock on In this mode the error is detected In addition if SY8 hold output bit 1 an error will set the module outputs to 0 analog and relay outputs The selection of an operating mode with interlock on or off is made using the TSX XBT terminal or the PLC program Functions not available on TSX AXM 162 module 4 9 4 Module Functions 4 Checks Disabling checks 4 10 In Manual Modes manual drive assisted manual and manual reference set up itis not possible to disable the checks The user can however invalidate them e g during the debug phase by giving the parameters values that are such that the checks are no longer able to operate In automatic programmed mode it is possible to disable the stop deviation synchronization target window and CPUF error checks using the RCTL instruction Notes e The Emergency Stop check cannot be disabled It is strongly recommended that the deviation check be invalidated only by entering a DMAX parameter value that is too high for an effective check This check is the only way to detect a break or a failure in the encoder data link Functions not available on TSX AXM 162 module 5 Programming TSX AXM 172 182 modules 5 5 1 Language Presentation Presentation The AXM module internal program AXM program enables automatic control of moving part motion The program comprises basic instructions that can be arranged in four families MO
68. S keys are not offered when changing mode TRANSFER MODE None DOCUMENTATION MODE The listing which is produced is limited to the single configuration 1 page only APPENDIX Al Application size and layout these are limited to the configuration A2 to A6 None A 22 TXT L PL7 AXS V4 Axis Control Software C3 Optional Function Blocks OFBs 1 Operation 1 1 Reminder of the concepts of OFBs 1 1 Common to all OFBs 1 2 Configuration 1 4 1 3 Programming 1 7 2 The AXM LD OFB 2 1 Purpose 2 1 2 2 Presentation 2 2 2 3 Internal Operation 2 6 2 4 Examples 2 10 3 The AXMDG OFBs 3 1 Purpose 3 1 3 2 Presentation 3 2 3 3 Internal Operation 3 5 3 4 Examples 3 6 4 The AXMPG OFBs 4 1 Purpose 4 1 4 2 Presentation 4 2 4 3 Internal Operation 4 5 4 4 Examples 4 8 A Appendix A 1 Replacing an AXMLD V4 1 OFB with AXMLD V4 5 OFB CIll 1 N CIII 2 1 Operation common to all the OFBs 1 1 4 Reminder of the concept of OFBs Introduction Description The optional function blocks are not a part of PL7 3 language but an extension to it They are classed by family communication analog axis control PID control each family being supplied with specialized set up software Axis control family AXM LD AXM DG AXM PG A family has various types of OFB and therefore may be used several times Once introd
69. VSTOP TW TSYN NDMAX NSTOP NTW NSYN TSTOP NCPUF 6 9 6 10 TSX XBT 182 NORMAL Loo O cen 5 s AXIS ALARM ALARM ALARM x STOP X ALARM SELECT CLEAR STOP ACQ o o o PROG 9 PRocess HELP CTRL AXIS o Pos ourPur SPEED 6 MODIF INCR DECR R 2E m X 3 FONCT DEL o o lo Function keypad left hand keypad AXIS Axis slection Axis Module status display SELECT EOS ALARM Display errors on the selected axis DISPLAY POM Error acknowledgment command and resume CLEAR selected mode command type 2 error pM Error acknowledgment command and quit STOP selected mode command type 2 error Ed Error acknowledgment systematically quit type 1 error AXM N Display the currently executed instruction Program oe Display an instruction Modify operands positions velocity Display Display the previous function or instruction Control P Display the next function or instruction Select the next parameter or operand Select the previous parameter or operand Auxiliary y Functions MM Velocity correction factor Teach set point WNi Forced reference set up 6 12 Motion Monito
70. XBT terminal be sure to program one off actions rather that permanent effect actions One off effect action Permanent effect action ACTIV 110 OWxy 1 TH If the AXM PG OFB is used the actions performed are not directly displayed in PL7 3 It is up to the user to keep in mind the various objects used by this function block If necessary refer to Divider C3 of this manual for a full description of OFBs 6 43 6 6 7 6 7 1 6 44 Dialog with the PLC Processor 6 TSX AXM 162 module Programming motion Principle The TSX AXM 162 module is used in Assisted manual mode for controlling movements as it does not have move instructions In this mode the module most be provided with the target point the move to be performed at a velocity equal to the product of the velocity specified in the VMAN configuration parameters multiplied by the velocity correction factor VMAN COEF A B X The velocity correction factor variation band is from 0 001 to 1 999 By setting the value of VMAN to that of VMAX 2 a velocity variation can be achieved from VMAX to VMAX instepsof 1 of VMAX 2048 2048 The PLC provides the target point for each move made via the registers OWxy 6 7 and the velocity correction factor which will enable the required velocity to be achieved via the register OWxy 5 Velocity 1 999 VMAN 15 VMAN 7 2 Contents of OWxy 5
71. a TSX AXM 172 module is used e In Automatic Mode when a TSX AXM 182 module is used and the current instruction is type Gt or SRP It is this modulation factor which is used by the TSX AXM 162 to determine the velocity of the movement Functions not available on TSX AXM 162 module 6 36 6 Dialog with the PLC Processor 6 Discrete I O and Register Interfaces o OWXxy 6 L 1 1 owx7 Register or external set point Used to transfer a set point from the PLC program to the module It is expressed in module physical units refer to the table for IWxy 6 7 double length format 1 LSB in OWxy 6 MSB in OWxy 7 The set point type depends on the module operating mode It is the start position value if the Manual Set Point Mode is selected it is the target point value if the selected mode is Assisted Manual or Automatic mode In the latter the register value is set by the instructions or 1 p or X EXT GP9 X 14 EXT Conditions The position must be within the valid interval defined by the soft stops Manual Ref Set up Mode Assisted Manual Mode or Automatic Mode 1 For ease of use initialize a double word with the value and transfer each of the two words to the registers 1 000 000 DW 100 W100 OWXy 6 W101 OWXxy 7 Functions not available on TSX AXM 162 module 6 37 6 Dialog with the PLC Processor 6 6 6 Access Conflicts 6 6 1 Reservation Mechanism Modu
72. another mode when the currently selected mode is enabled will disable it Note When the modes are controlled by the PLC program by OW register word bits execution can only be started when the mode is effectively selected by the module identity between the selected mode and the information returned by the module and presence of the activation wait bit Automatic mode or programmed mode The AXM program generated by the user and stored in the internal memory of the module automatically controls motion of the moving part This mode has three sub modes e Automatic cycle The program is executed until the end of program instruction END This is the standard operating mode e Automatic step by step After each program step is executed the moving part is stopped and the module awaits a resume command This mode is useful for debugging a program e Automatic point to point the program is executed in sequence until an instruction with a stop order is reached the module then waits for a restart command This mode is useful for debugging an application Procedure e Select the sub mode e Start mode The moving part executes the trajectories defined by the AXM program Manual reference set up mode 3 2 The user determines the direction of motion The velocity of the moving part or axis feedrate is defined in the configuration using VMAN manual velocity The moving part automatically sets its reference point from acam dependi
73. at 25 C with offset adjusted Gain error t 2 6 96 t 2 6 96 Temperature drift Gain drift 137 ppm C 137 ppm C Offset drift 2 ppm C FSR 2 ppm C FSR FSR Full Scale Range i e 10 24 V Internal logic isolation 1500 Veff 1500 Veff Isolation resistance 1000 Mohm 1000 Mohm Impedance to ground 20 Mohm 0 1 uF 630V 20 Mohn 0 1 uF Reminder Thecomponentcontrolled by the analog output must be isolated from the mains 8 Specifications 8 Output Characteristics Relay outputs Common to TSX AXM 172 182 162 AC operating voltage 24 VAC DC operating voltage 5 to 24 VDC Admissible switchable AC current 1 Admissible switchable DC current 0 8 A 2 Minimum admissible load 0 5 mA at 1 V Response time to close lt 5ms Response time to open lt 5 ms 1 Admissible current for 0 5 million operations For 1 million operations the admissible current should be 0 2 A If an inductive load is used fit an RC circuit to it where RC gt 22nF 47 ohm 2 Admissible current for 1 million operations For 4 million operations the admissible current should be 0 4 A If an inductive load is used fit a discharge diode to the load terminals Protection The outputs are not protected against shorting It is recommended that a fuse be fitted in series with the power supply 3 15 A Isolation Common to TSX AXM 172 182 162 modules Between ch
74. being executed Access to the next operand of the current step H 2H B 2404 mam Return to previous operand 1 Not relevant to TSX AXM 162 module 5 1 5 AXM Program Access 5 2 Modify AXM Program Parameters 1 Display AXM Program Access condition The module must programmed Commands XBT Display H H CD gt 4 GP1 48688 H HH 4 HERE CO F 5HHMA MBg 4 GP1 48688 H CD gt 2 0 1 dama Comments Enter the step number to be displayed step 0 by default Displays the selected program step Access to the next operand access to all operands of an instruction Return to previous operand Access to the next step access is possible up to the last step entered Return to previous step 1 Not relevant to TSX AXM 162 module 5 2 5 AXM Program Access 5 Modify AXM Program Parameters Program modification is accessible in Confidential mode allowing access to e Velocity values e Immediate positions Commands XBT Display Comments Display the program step to be modified CD F 2MN MM Displays the selected program step 1 GF anam H CD F 2HH HMH 1 GF1 4656 Access to velocity modification MODIF Enter the new value H CD gt 1 GP1 eaa Modifications can be made d
75. current 12 5 mA 15 mA Voltage limits 4 75107 V 19 2 to 30 V Input impedance 370 to 430 ohm 1 5 to 1 7 Kohm Voltage for state 1 gt 3 75 gt 11 Current for state 1 gt 7 mA gt 6 Voltage for state 0 lt 1 5V lt 5V Current for state 0 lt 2 mA lt 2 Line resistance 1 lt 30 ohm lt 500 ohm Leakage gt 30 Kohm gt 30 Kohm 1 For a 0 3 V drop on the encoder output Protection 5V Input 24V Input Permanent inverse voltage 5 V 25 V Temporary inverse voltage 1 minute 12 V 48 V Permanent direct voltage 10 V 30 V Temporary direct voltage 5 minutes 12 V 48 V Dynamic characteristics 40 KHz 8 1 8 Specifications Input Characteristics Inputs InO In1 In2 on TSX AXM 182 162 modules 8 2 These inputs are compatible with line output RS 422 incremental encoders Characteristics Values Voltage for state 1 20 2V pc Voltage for state 0 lt 0 2 V Hysteresis 50 mV Allowed common mode voltage lt 7V Allowed differential mode voltage lt 12 V Total terminator resistance 90 ohm Encoder supply voltage 4 75 to 5 25 VDC Phase shift between two signals A and B lt 15 degrees 1 1 If the phase shift error between the two signals A and B is more than 15 degrees the input frequency is limited as shown in the diagram below F kHz 80 75 70 65 60 55 90 AQ EM 8 1 29 encoder precision 50
76. dase mialo 20 10 1 SAP F 1000 nm nn R 6 000 nn 2 WAIT EUEHT UC 3 GP9 F 1000 nm nn n 30 000 H SYH UC OUT 808 IT V 5 WAIT EUEHT UC 6 6 9 F 1008 n 10 000 nn 7 H SYH UC OUT 608 IT V 8 WAIT EUEHT UC 8 Rag DISPLAY PROG OP iji MODIFY SAVE RESTORE PREUPAGE NEATPAGE MIS The Program mode provides assisted AXM program entry with automatic coherence checks performed on the values entered and the configuration parameters The entry and modification of a program are made easy by insert and duplicate actions and by the automatic numbering of program steps The on line provides the user with a list of instruction codes and their associated operands Other Functions Available 2 2 Debug Is only available when the selected working memory is a TSX AXM module This function displays the information received from the module and can be used to control various operations e g selection of an operating mode fault acknowledgment Note A more complete set of debug functions is provided by the TSX XBT 182 operator terminal Program storage An AXM application comprising the configuration parameters the AXM program and the internal variables can be stored on disk or in the user memory of a TSX Series 7 PLC e On disk An FTX 507 workstation or PS 2 compatible is required when later retrieving the program e In the PLC user memory Th
77. des y _ Modules BASIC RACK PROGRAM xL Terminal block TSX LES 64 TSX LES 74 TSX LES 20 TSX AXM 172 or LFS 200 ae see I Modules EXTENSION RACK 10 E 1 1 G Additional Information G 1 2 Upgrading from V3 to V4 Performing this upgrade requires Hardware modifications Application update Note An upgrade from V3 to V4 is possible with not limiting conditions if the V3 level PLC is a TSX 47 30 or TSX 67 20 Certain conditions apply however if the V3 level PLC is a TSX 87 30 refer to the PL7 3 Operating Modes V4 Manual TXT DM PL7 3 V4 Sub section 18 6 G Additional Information G Upgrading from V3 to V4 Hardware upgrade 1 Upgrades that are not specific to axis control applications V3 Configuration V4 Configuration TSX T607 Terminal FTX 507 Workstation 1 with the X TEL Software Workshop PL7 3 V3 Software PL7 3 V4 Software V3 PLC VA PLC TSX LES 60 70 Terminal block TSX LES 64 74 Terminal block 1 Or IBM PS 2 or compatible microcomputer 2 Upgrades that are specific to axis control applications V3 Configuration V4 Configuration TSX AXB 72 Software TXT L PL7 AXS V4 Software TSX XBT 172 T
78. details about this tool refer to the X TEL or MINI X TEL database manual The PL7 AXE V5 software key is identical to that of PL7 AXE V4 1 5 Installing the software 1 5 1 Preliminary operations Before installing PL7 AXE on the hard disk it is advisable to Read the licence agreement and guarantee concerning copying restrictions and installation of the software Make a duplicate of the diskette required for installation to avoid any accidental damage to the original diskette and work only with the copy Important The PL7 AXE program disks are supplied in the write locked position Do not alter the position of the locking tabs Introduction and installation 1 1 5 2 Installation procedure The following operations must be performed prior to installing PL7 AXE Check that the MINI X TEL or X TEL V5 Software Workshop is already installed if so install PL7 AXE according to the procedure described below otherwise first install the MINI X TEL or X TEL Software Workshop refer to the manual for the database concerned Close all the current sessions To do this open the Electronic Office Manager window pull down the Electronic Office menu and select the Close all item confirm by pressing the Close all button Installing PL7 AXE software Open an OS 2 full screen session To do this open the Start Programs window pull down the Group menu and select the Main Group item
79. direction LSS 2 x TW in direction Acommand refusal occurs if the moving part has already overrun the soft stops and the command would move it even further away from the stops This situation occurs especially when the Target Window value is too large e Check the Target Window value and adjust it again if necessary e Move the moving part in the reverse direction oN veN Unexpected servo loop performance Symptoms Probable Cause Corrective Action Deviation increases during travel e Inadequate LIMV parameter value e Incoherent RESOL and VMAX parameters e Increase the value of LIMV e Check the calculations for RESOL and VMAX Stop error occurs even before the moving part has stopped Incoherent RESOL and VMAX parameters Check the calculation of these parameters During motion the velocity follows the variation shown below Velocity LIMV vo Pitch VO Programmed velocity The acceleration value set in the configuration is too large in relation to the performance of the mechanical system Note The servo loop is still able to absorb the deviation error over time Optimize the value of the ACCEL parameter and if required adjust the servo loop parameters KPOS and KV Unexpected servo loop performance Symptoms Probable Cause Corrective Action In Manual Mode when the X or X command is released the moving part restarts in the
80. error the module is forced to the Stop Module state When no TSX XBT terminal is connected it is possible to perform fast diagnostics on the module and to take corrective action LED Diagnostics Corrective Action FAIL OK Module OK Module failure Replace the module Terminal block Check that terminal blk locked error or module Replace the module if the error error remains after removing and re installing the module On TSX AXM 182 162 modules check that the strap between terminals 12 and 24 of the 25 pin connector is present and that the encoder supply is OK 1 Internal module errors are referred to here as opposed to application errors described in Sub section 4 2 7 21 7 22 8 1 8 2 Specifications 8 Power Consumption The power supply to the modules is provided by the PLC Max Power Consumption Power Supply TSX AXM 172 TSX AXM 182 162 5 V Logic 460 mA 500 mA 12 V Logic 30 mA 30 mA 12 V Power 120 mA 120 mA Add 20 mA per relay energized Battery back up configuration and program Battery life 40 20 days at 25 C 45 C Battery charge time 40 hours at 45 C Input Characteristics Counter inputs InO In1 In2 on TSX AXM 172 modules The inputs are compatible with e5 V or 24 V incremental encoders with open collector or totem pole outputs Rated voltage 5 VDC 24 VDC Typical
81. executed e Comparison value e Current position e CNi value e Start Stop Resume PLC program command AXM program divert command Emergency stop command External position Velocity modulation factor Current step number IWxy 2 MSB AXM gt PLC Using this byte the PLC program can follow the evolution of the AXM program Its use is illustrated in the example below Await PLC event OWxy 1 9 gt The WAIT EVENT PLC instruction inhibits AXM program execution until bit OWxy 1 9 is set to 1 rising edge by the PLC program Example Velocity 500 mm mn Position 500 mm mn A moving part moves to a set point at 500 cm and stops there Once the set point has been reached the PLC program requests the loading of a pallet onto the moving part Once this is done the moving part returns to the start position The motion of the moving part is controlled by the module while pallet loading is controlled by the PLC program AXM Program PLC Program o o 5 5 GP9 F 5000 mm mn X 500 cm oi IF IW4 2 AND H FFOO H 0600 6 WAIT EVENT CPU THEN SET 02 0 5 7 GP9 F 500 mm mn X 0 cm IF 13 0 THEN SET OW4 1 9 5 8 UMP N 5 oi IF IW4 2 AND H FFOO H 0700 n o THEN RESET 02 0 E o RESET OW4 1 9 o Functions not available on TSX AXM 162 module 6 3 6 Dialog with the PLC Processor 6 Integrating Axis Control into the Sequential Program Synchronization check PLC gt AXM
82. independent control of simple or complex motion profiles The TSX AXM 162 module has no AXM program The module also exchanges data and can be synchronized with general application sequencing through the I O bus and the standard communica tions interfaces used between the module and the PLC processor The part of the PLC program dedicated to synchronization with the TSX AXM modules is referred to as the PLC program 1 1 1 Module Presentation Axis Control Presentation Main Characteristics 1 2 Inputs Outputs Counting frequency Servo loop Move programming Application rule Three inputs for incremental encoders Open collector 5 24 VDC on TSX AXM 172 e Line outputs RS 422 on TSX AXM 182 162 One 24VDC cam event detector input One 24 VDC safety interlock input Compatible with Cenelec standard proximity detectors One 10 V analog output for a speed controller Four auxiliary relay outputs with one dedicated to the speed controller safety interlock input 40 kHz max for TSX AXM 172 80 kHz max for TSX AXM 182 162 Proportional correction of deviation using feed forward overshoot compensation Specific motion control language for AXM 172 182 254 program steps max 32 basic instructions From CPU for AXM 162 A trapezoid velocity rule is applied The ACCEleration and DECEleration values can be modified Acceleration ACCE DECE 1 Module P
83. linked to the checks must be defined in the configuration parameter table Some of these parameters can be modified by the TSX XBT terminal and or by the AXM program Soft stop checks type 1 The module checks that the position of the moving part remains within the two limit values XMIN lower soft stop and XMAX higher soft stop This check is enabled as soon as the axis is referenced The return from soft stop overshoot command backoff allows the moving part to be automatically repositioned within the valid measurement field After acknowledgment return from overshoot is performed with the servo loop open Return velocity is calculated from the deceleration factor DECEL V DECEL 100 V in mm s DECEL in mm s Calculation capacity overflow check type 1 The module checks to ensure that when a calculation is made it does not exceed the calculation capacity The capacity level depends on the resolution selected and is set slightly above the maximum soft stop values accepted by PL7 AXE This type of error causes axis referencing to be lost Module power supply check type 1 The module is supplied by the PLC Configuration data AXM program and WNi and CNi internal variables are saved by the module s internal battery backed up memory This type of error causes axis referencing to be lost Terminal block Check type 1 The module runs a continuous check to ensure that the TSX BLK 4 terminal block on TSX AXM 172 modul
84. memory e Position the cursor on the program step that should come after the instruction to be restored e RESTORE will restore the saved instruction The same instruction can continue to be restored as long as a new instruction has not been saved Help Screen HELP Lets the user access nine screens that describe the various instructions and arguments available The dynamic soft keys displayed enable access to all of the pages TOP BOT NEXTPAGE PREVPAGE CLEAR Returns the user to the Programming Mode Screen ERROR Lets the user determine the reason that the operand selected by the cursor is not valid value out of bounds etc 6 3 6 4 7 Debug Mode 7 7 1 Mode Selection Purpose The Debug Mode lets the user display and modify discrete I O bits module register words internal positions WNi and internal counters CNi Accessing the Mode From the Mode Selection Screen e Select the AXM memory this is the only working memory that lets the user access the Debug Mode e lets the user access the Operating Modes e Enter the axis and application numbers e 2 lt Enter gt selects the Debug Mode A third column will then be displayed with the other two e lets the user access the selected function e 0 Enter selects the STATUS COMMANDS screen e 1 Enter lets the user access the contents of the WNi table 7 1 NO 7 7 2 7 2 Debug Mode 7 Command St
85. mm s2 mm s2 cm s2 dm s2 m s2 AF36 XMAX Max soft limit 1000 000 mm 30000 000 30000 000 AF37 XMIN Min soft limit 1000 000 mm 30000 000 30000 000 CF38 ACCE Acceleration 400 mm s2 1 4500 CF39 DECE Deceleration 400 mm s2 1 4500 BF40 TYPEPO Type of ref point 2 p deze sy 1 AXM units Length um Velocity mm mn Acceleration mm s2 Fxx Parameters Values Limits 41 VMAN Manual velocity 1000 mm mn 1 4050 42 VSTOP Stop velocity 200 mm mn 1 4050 CF43 TSTOP Stop time out 10 10 ms jb 44 TW Target Window T907 mm 0 001 6000 000 CF45 DMAX Max deviation 10 000 mm 0 001 30000 000 BF46 UMAX Max voltage PRS AE V 1700 9 00 BF47 KPOS Position gain 16 00 1 5 ALONG 5X2 ONG BF48 LIMV Velocity limitation 10 Vmax SEE 0 49 KV Velocity correction 80 0 100 application object rev date page AXIS 1 APPLI 0 CONF 0 19 051 1H9 91L Sic Identi Heading Revision Heading Nbr fication level Page 9 3 9 Documentation Mode 9 Mode Description Example of a printed listing page Configuration AXM 182 AXM units Length um Velocity mm mn Acceleration mm s2 Fxx Parameters Values Limits BF50 MDMAX Mask treatment DMAX Y See 3 CESI NDMAX Default step nb DMAKO 0 32 52 MSTOP Mask treatment VSTOPY ON CF53 NSTOP Default step nb VSTOP 0 32 54 MTW Mask treatment TW am Ibo Sen ints J Gig T NE NTW Default
86. mn EVENT U13 2 LDP X1 PRF X2 CP 3 GP9 F 500 mm mn X 1 300 mm Effect of this sequence Move in direction at a velocity of 2m mn until detection of a rising edge on In3 then move 300 mm at 500 mm mn once the event occurs The current position is stored in the PRF register 10 ms after the event 2nd solution 1 MPRF 2 G F 2000 mm mn EVENT U13 3 GP9 F 500 mm mn 1 300 mm This sequence provides better performance as the current position is stored in the PRF register in real time by using the MPRF instruction 5 Programming TSX 172 182 modules 5 Examples Example 4 Current cycle steps 1 to 7 Velocity mm mn 7000 4500 2000 Approach 9000 Return Preliminary operations e Teach position WN2 e Synchronization parameters 0 SRP 900 mm mn GP1 F 4500 mm mn GP9 2000 mm mn TIME VAL 500 10ms G 9 7000 mm mn M SYN DI3 GP9 9000 mm mn JMP 1 NOP NOP STOP G 9 450 mm mn TIME VAL 500 10ms GP9 F 1000 mm mn SCTL NAME SYN END Event Position mm MSYN N NSYN 10 TSYN 1000ms X20 mm X 2 150 mm X WN2 EVENT UI3 OUT 111 IT N X 0 mm EVENT DI3 X 0 mm The program comprises two parts Steps 1 to 7 correspond to the normal sequence described by the motion diagram above Steps 10 to 15 correspond to a divert sequence used in the event of a synchronization error The divert step NSYN 10 must be d
87. must have the same layout same size and same program as its image in the PLC memory i e the parameter values for velocity position etc may have been modified but not the instructions themselves nor the layout of the AXM program Commands XBT Display Comments lt FONCT gt 70 ENTER e Select the function indirect access function e Starts the transfer As 8 TRANSFER HAM gt TSA Transfer complete Hx TRANSFER Transfer result 10 Error Monitoring 10 10 1 Error Display This indicator blinks when at least one error or command refusal has occurred on the selected axis ALARM If the axis state is displayed the letter D blinking on the second display line indicates error detection Commands XBT Display Comments ALARM DISPLAY Displays the number of errors de tected on the selected axis Lets the user access error designation 18 ENG STOP CLEAR STOP Displays type of acknowledgment 01 STOP FAULT RCKHOHLETGE e lt lt amp 1 Notes Function F94 displays the numbers of axes with at least one error To determine the types of errors on each axis itis necessary to select the axis refer to Sub section 2 4 10 1 10 Error Monitoring 10 2 Error Acknowledgment Type 1 error ALARM ACQ 10 24 TER BLOCK ACKNOWLEDGE Acknowledges the error if it has en
88. not shown in the diagram The internal software of the module supports a set of functions and checks that apply to module operation Manual mode motion manual reference set up etc Deviation and stop checks etc Application interface This part comprises the module I O described in Sub section 1 4 Interface between the PLC processor and the TSX XBT terminals This function enables synchronization of the TSX AXM application with that of the PLC processor Communication is user transparent when a TSX XBT terminal is used to control the module Functions not available on TSX AXM 162 module 1 7 1 Module Presentation 1 4 Servo Loop Main servo loop function The servo loop is designed to link the position of a moving part to an instruction value As in all servo controlled components static and dynamic components are dependent on the complete motion system including both the algorithm and mechanical parts and on the variation of the instruction over time Machine layout Module Axis Speed Controller Tachometer Generator Incremental encoder Reduction r 1 l l 1 l 1 l 1 l 1 S PR Tm l l 1 l 1 l 1 l Pitch distance covered in a single shaft revolution The incremental encoder can be either linear or rotary In both cases it provides a signal with a frequency proportional to the velocity and a number of pulses that is proportional to the position Dependi
89. of WNi internal positions CONFIDENTIEL e Monitoring of moving part motion e Selection and execution of the following modes e Manual operation with visual control e Assisted manual operation e Automatic cycle and block by block XBT Confidential Mode This mode offers all of the functions of the Normal Mode and in addition allows CONFIGURATION e Modification of type B and C configuration pa NORMAL C rameters CONEIBENTIEK e Modification of operands positions and veloci ties AXM program e Teaching WNi internal positions e Forced reference setting e Selection and execution of the following modes e Servo loop disabled e Automatic step by step motion Changing the keyswitch setting Changing the position of the key has no effect on the mode currently executed by the TSX AXM 182 module NORMAL lt gt CONFIDENTIAL No effect on the display in progress NORMAL or CONFIDENTIAL CONFIGURATION Quits the Display mode and the current TSX XBT action 1 The choice available is between English and French 2 5 2 Using the Terminal 2 3 Functions Available on the TSX XBT Terminal Functions Access Mode Direct Indirect Normal Confidential Operating modes Automatic cycle 1 X X X Automatic block by block 1 X X X Automatic step by step 1 X X Manual X X Assisted manual X X Manual reference set up X X Servo loop disabled X X Motion monitoring Moving part position X X X Position error X X X Moving part
90. potentiometer on the front panel to obtain the smallest possible position error Adjusting the maximum position error DMAX and the target window TW e Select Assisted Manual Mode e Adjust DMAX Function F4 and TW Function F44 to obtain the required values Move the moving part from Position 1 to Position 2 and back the module should not cause an error condition If an error condition occurs repeat the adjustment of KR KPOS and KV then adjust DMAX and TW again Adjusting the velocity limit LIMV e Set LIMV to the required value Function F48 e Move the moving part from Position 1 to Position 2 and back The module should not cause a DMAX error If one occurs increase LIMV or adjust DMAX Adjusting the stop check parameters VSTOP and TSTOP The velocity must be less than VSTOP at the end of the TSTOP time out TSTOP counts down from the moment the position reference reaches the value of the requested position e Set VSTOP Function F42 and set TSTOP Function F43 to the required values e Move the moving part from Position 1 to Position 2 and back The module should not cause a stop error If one occurs repeatthe adjustment of VSTOP and TSTOP e Set the manual motion velocity VMAN to the required value 7 20 7 Setting into Service 7 7 5 Module Diagnostics A module error 1 is indicated in one of the ways listed below FAIL LED lit OK LED extinguished and bit Ixy S is set to 1 Regardless of the cause of the
91. protective enclosure e 10 indicator LEDs F Module failure OK module power on and operat ing correctly RO to R2 relay outputs active InO to In4 inputs at 1 3 connector for the module analog output 4 A connector for all encoder inputs to the module and the four relay outputs GA removable TSX BLK 4 terminal block with 32 screw terminals available for connection 6 9 pin TSX CAC 04 Sub D con nector EE ULLA eu UZ 7 adjustment potentiometer for the analog output offset level Notes The status of relay output R3 is not displayed The TSX BLK 4 terminal block and the TSX 04 connector not supplied with the module but are absolutely necessary for using the module For safety reasons never replace the TSX CAC 04 connector with a similar connector The software and hardware configuration code is 729 oe fee 1 Module Presentation 1 Axis Control Presentation TSX AXM 182 162 module hardware presentation The TSX AXM 182 162 is a single height module comprising the following parts 1 A protective enclosure 2 10 indicator LEDs F Module failure OK module power on and operat ing correctly RO to R2 relay outputs active InO to In4 inputs at 1 3 A connector for the module analog output A con
92. reverse direction before stopping In Auto or Assisted Manual Modes the moving part overruns the target before returning to it The deceleration value set in the configuration is too great in relation to the performance of the mechanical system Optimize the value of the DECEL parameter and if necessary reset the servo loop adjustment parameters KPOS KV The moving part jerks oscillation effect around the target These effects show servo loop parameters that are set too tightly Reset the KPOS and KV parameters The target point is reached as shown below Velocity Pitch These effects show servo loop parameters that are set too loosely Reset the parameters in particular increase the value of KV Attention Increasing the parameter values may cause performance instability SoN 9oN Other errors Symptoms Probable Cause Corrective Action Thereturn from soft stop overruncommand has no effect i e the moving part is not returned within the valid interval The output voltage from the module is not enough to overcome the inertia of the mechanical system Increasethe value ofthe DECEL parameter which defines the velocity to apply when returning from soft stop overrun An error occurs when a new mode is selected AUTO MAN A residual error is present Example A deviation error was detected and processed at module program level and by a divert
93. select the OS 2 full screen session item The C promptis displayed onthe screen Insert the TXT LF PL7 AXS V5 diskette in the drive Enter the drive identifier a or b then confirm with Enter From the new prompt for example or B typelnstall then confirm with Enter Follow the procedure displayed on the screen Wheninstallation is complete replace the diskette with the second diskette reference TXT LF FB AXS V42 Type the Install command then confirm with Enter Follow the procedure displayed on the screen When the installation is complete and if it is the last one check the configuration Confirm with Enter Remove the diskette from the drive and return to the Software Workshop using the Ctrl Esc command NO 1 6 Using the keyboard and the mouse Using the keyboard To use PL7 AXE Telemecanique recommends a 102 key QWERTY keyboard Certain PL7 3 function keys CLEAR ZOOM QUIT etc which are also used by PL7 AXE are not printed as standard on the keyboard but are accessed by another key or combination of keys These keys common to several programs are described in the PL7 3 Operating modes manual section 3 1 in divider A Using the mouse As for the keyboard detailed use of the mouse is described in the PL7 3 Operating modes manual section 3 2 in divider A Introduction and installation 1 1 7 Methodology for installing an axis control application
94. test or INCR DECR SELFTEST TEST INCORRECT ENTER Message memory test or INCR DECR SELFTEST TEST INCORRECT ENTER Addressing test The operator must fit the RS 232 test plug before running this test or INCR DECR SELFTEST TEST INCORRECT ENTER Refer to the wiring diagram at the end of this section for information on how to wire the test plugs A 3 4 Appendix Self tests Commands INCR AXIS SELECT ENTER INCR CONFIGURATION NORMAL FC CONFIDENTIEL CONFIGURATION NORMAL CONFIDENTIEL CONFIGURATION NORMAL C CONFIDENTIEL ENTER XBT Display Description SELFTEST TEST KEV BORFD Pressing a key will display the key code INCR To perform a complete test press all keys except FONCT That jumps to the next Auxiliary function ENTER That jumps to the next test and CTRL That exits the auxiliary functions mode DEL a SELFTEST TEST KEV BORFD SELFTEST MODE COMF IDEN Turn the key SELFTEST Display the corresponding mode SELFTEST MODE COMF IGUR SELFTEST MODE COMF IDEN Return to Confidential Mode to perform the rema
95. the OFB goes to the following state when the power returns bit AXMPG ERROR at 1 bit 12 of STATUS variable at 1 The EXEC AXMPG instruction causes the sequence to run provided that the module is programmed the program is not running the AXMPG DONE bit is at 1 the start step number is lower than 255 During sequence running the AXMPG DONE and AXMPG ERROR bits are set to 0 Once the program has started the AXMPG DONE bit goes to 1 if any stage does not run correctly both the AXMPG DONE bit and the AXMPG ERROR bit go to 1 AXMPG DONE JF AXMPG ERROR EXEC AXMPG 4 The AXMPG Internal Operation Programming rules It is absolutely essential that the EXEC AXMPG instruction is programmed in the task where the AXM module is configured Take care that this instruction is only scanned once LITERAL LANGUAGE IF B11 THEN EXEC AXMPGO gt RESET B11 or IF RE 12 1 THEN EXEC gt GRAFCET LANGUAGE Program the EXEC instruction on activation of the step rather than when the step is active ACTIVATE EXEC AXMPGO gt AXMPGO DONE Notes The AXMPG OFB does not perform reference point set up It is therefore essential that the module internal program begins with an instruction for reference point set up SRP or SRP before any motion command This instruction must be for a type 3 cam at end of travel as this is the only reference point s
96. the PL7 AXE function by double clicking on the corresponding AXIS icon If this icon is not displayed in the secondary Functions window even though the software has been installed this indicates that the function has not yet been defined To do this pull down the Define menu and activate the New item click on AXIS then on OK For greater ease open the AXIS full screen window by clicking on the arrow up button of the window eo Notes Ifa PL7 AXE session is already open the corresponding icon appears on the screen outside the secondary Functions window double click on this icon to open the corresponding window To close a session click on the corresponding icon to pull down a menu Then click on the Shutdown Close command 2 2 Using the configuration and programming software 2 2 2 Introduction to the display screen The window which displays the PL7 AXE screens is known as the display screen All items specific to the X TEL Software Workshop icons window title window commands etc are described in the Software Workshop manual Information displayed Function axis wel factory Ekxproprj HE wm varo e VARTS HOD TORT 172 PAGE 1 units Length Velocity mm mn Acceleration mm s2 Fxx Parameters Values Limits 1 RESOL Sensor resolution 3 6 un 8 1 1888 8 AF32 velocity 4868 mn mn 11 7776 User units AF33 U
97. the dedicated AXE zone Section 4 Sub section Page 4 1 Dedicated AXE zone 4 2 4 2 Directory 4 3 This section ends at page 4 6 4 1 NO 4 1 Dedicated AXE zone This PLC memory zone is used for storing the directory and the various applications which may be loaded into the AXM modules This zone is managed entirely by PL7 AXE The directory is created by PL7 AXM The configurations are entered either by direct entry to the TSX PMX memory from PL7 AXE or by transferring an AXM FILE to the TSX PMX MEMORY or by transferring an AXM MEMORY to the TSX PMX MEMORY Directory Application 0 Axis 0 Application 1 Axis 1 Dedicated AXE zone Application n Axis i Any attempt to transfer a application to the PLC memory or to modify an existing application may be preceded by one of the following two messages Area full The size of the dedicated AXE zone is insufficient to receive the new application The size of the zone can be modified using the XTEL CONF tool Area to be compacted The size of the dedicated AXE zone is sufficient provided that it is compacted Optimizing the dedicated zone in this way removes the holes created during transfer operations or when applications are deleted Compacting is performed by the PACK key accessible from the directory screen see section 4 2 Managing the dedicated AXE zone 4 4 2 Directory
98. to axis control by the module 3 The AXMDG OFB 3 Presentation For your information Some of the information in this word also reaches the CPU via the IW register interface bias The column on the right of the table below indicates the relevant bit Bit nbr Type of fault Corresponding IW 0 Module not working 0 8 1 Terminal block unlocked 0 A 2 Moving part below lower soft stop level 2 0 3 Moving part above upper soft stop level 2 1 4 Emergency stop fault 2 3 5 Moving part stop fault 2 2 6 Axis not referenced 1 2 6 or 2 7 7 Measurement setting deviation exceeds upper limit 1 F 8 Moving part not visible in target window 2 4 9 Synchronization fault 1 E 10 Command refused 1 D 11 Module not present 12 Type of module physically present different to type of module declared in configuration 13 Directory 2 non existent or unreadable 14 Communication with the module not possible 15 System error 1 This most commonly occurs after a power break or calculation overflow 2 See section C1 sub section 4 2 Input parameters INIT Bit reserved for use with diagnostic programs that acknowledge internal module faults Setting to 1 causes the ERROR bit and the STATUS word to be set to 0 Note 1 Application faults are acknowledged from the PL7 3 application in the PLC or from the TSX XBT 182 terminal 2 The INIT input must not be wired see sub section 3 4 for further details 3 3 3 The
99. to the input of the speed controller must not be broken no intermediate connections e The PLC and speed controller ground wires must be connected to the same point e The maximum wire gauge must be used for the ground cables at least 2 5 mm e The connections shown by must be tried before use depending on the application These guidelines exceptfor the second which is an absolute rule are given for information only and can be modified to suit the application Relay outputs Relay outputs are not protected against shorting It is recommended that a fuse be fitted in series with the power supply of the load e 380V FA 3 15 A 5x20 supply fuse e 250V FA 3 15 A 6x30 supply fuse For AC inductive loads an RC gt 22nF 47 ohm circuit should be placed on the load connectors For DC inductive loads a discharge diode should be placed on the load connectors Reminder Relay output RO is designed for connection to the enable input of the speed controller 7 13 7 7 4 Setting into Service 7 Preliminary Adjustments 7 4 1 Preparations Initial checks This Sub section provides guidelines only In all cases the user must follow the instructions given by the speed controller manufacturer e Check all wiring e Check that motion can take place without danger e Check that the mechanical end of travel switches are wired correctly and meet all applicable safety requirements they must normally act directly on t
100. transfer taking care to specify the new application number MESSAGE CIRCUMSTANCES INVALID STOP PROG After counting down from 12 to 0 when modifying a program in a module PROBABLE CAUSE e Application error present REMEDIAL ACTION e Acknowledge the error before making the modification WRITE OK WARNING KR MODIFIED when modifying a configuration NB This message is only displayed if the KR factor has been set since the last modification to the configuration e Modification certain parameters causes reinitialization of the machine characteristic factor e Reset this factor From the TSX XBT 182 terminal or From PL7 AXE in Debug mode AXIS INCOMPATIBLE WITH THE CONFIG when attempting to access the AXM memory e The module that is present is not the same type as the one declared in the I O configuration E g TSX AXM 172 in place of a TSX AXM 182 module e Correct the PL7 3 I O configuration AXIS INCOMPATIBLE WITH THE DIRECTORY in debug mode Possible cause PL7 3 application transfer Termi nal PLC in progress Wait for the end of the transfer and repeat the request MESSAGE REFUSED on attempting to access a station via the Mapway network Nonexistent network number or nonexistent station number or module faulty Redefine the STATION NETWORK pair MESSAGE REFUSED 10 on any attempt to access the module e Message reset bit OWxy 0 2 is at 1
101. up Conditions Position in registers OWxy 6 7 in module units must be within the valid interval LSS lt Start position lt HSS Moving part stopped Ixy F 1 Any mode except Servo Off Effect Transfers the position contained in registers OWxy 6 7 to the module current position register The axis is referenced IWxy 1 A 1 Functions not available on TSX AXM 162 module 6 31 6 6 32 Dialog with the PLC Processor Discrete I O and Register Interfaces OWxy 1 7 DEG BL Active on rising edge Return from soft stop Conditions Soft stop error present IWxy 2 0 or IWxy 2 1 but first acknowledged OWxy 2 C Effect Returns the moving part to the valid interval this is HSS 2 x TW if the moving part has reached HSS e LSS 2x TW until the moving part reaches LSS OWxy 1 8 DIVERT Active on rising edge Divert AXM program Condition Auto Mode selected The step number specified in register OWxy 3 must correspond to an AXM program step Effect Diverts the program to the step specified in the Most Significant Byte of register OWxy 3 If an error is present when the divert command is received the program will only divert once the error has been acknowledged by a Resume command OWxy 1 9 EVENTCPU Active on rising edge Synchronization Condition Auto Mode AXM pgm awaiting WAIT EVENT CPU instruction Or Instruction M awaiting synchronization Effect 1 Instructi
102. used Oxy 1 R1 Control relays R1 R2 R3 2 R2 Two active states 1 Relay closed 3 R3 0 Relay open Conditions Manual Mode Note When the operating mode changes from Manual to Auto the status of the outputs is not modified Oxy 4 Active On rising edge START Conditions Module awaiting activation IWxy 1 8 Moving part stopped Ixy F No errors IWxy 1 F IWxy 1 F IWxy 2 0 to 7 Effect Activates the selected mode in Automatic Modes starts the AXM program from the step specified in OWXxy 3 MSB Oxy 5 Active On rising edge STOP Conditions A mode currently being executed Effect Interrupts the selected operating mode Oxy 6 Active On rising edge RESUME Conditions Auto Mode interrupted or AUTO S S Mode while awaiting resume IWxy 1 8 Effect AUTO S S Resumes from the next step AUTO B B or CYCLE Resumes from the current step Oxy 7 Active At 0 EMG STOP Conditions None Effect Generates an emergency stop error Consequences Stops the moving part Interrupts the current mode Functions not available on TSX AXM 162 module 6 21 6 Dialog with the PLC Processor Discrete I O and Register Interfaces 6 5 4 Discrete Input Bits Conditions common to all bits e Module running e PLC running Ixy i Oxy i Ixy i 1 8 9 B Reflects the state of relay outputs Two significant states 1 relay closed 0 relay open Validity conditions None Not use
103. 0 to 2 Itis initialized at 1 by the system and its value can be changed via the OWxy 5 register For more information refer to sub section 6 5 Description of Discrete I O and Register Interfaces Functions not available on TSX AXM 162 module 6 6 6 Dialog with the PLC Processor 6 6 3 Using the Interrupts TSX AXM 172 182 This Sub section does not apply to the TSX AXM 162 Purpose Interrupt processing allows action at PLC program level to take effect without waiting for the start or the end of the I O refresh cycle This ensures fast PLC processor programmed reaction time to a module event Activation The AXM program instruction M SYN OUT IT Y activates the PLC program interrupt task Execution of the PLC program interrupt task programmed by the user is activated as soon as instruction M is accepted by the module when execution is not masked Interrupt masking At module level e Interrupt masking bit OWxy 0 0 1 masking At PLC program level refer to the PL7 3 Programming Manuals e START CTRL 1 Validates the interrupt task e MASKINT Ixy Masks interrupts e DMASKINT Ixy Demasks interrupts Note If an interrupt occurs while it is masked the interrupt request will be maintained until it is acknowledged by the PLC processor ACKINT Ixy instruction The interrupt request bit IWxy 0 0 remains at 1 until the interrupt is acknowledged Summary diagram DMASKINT Ixy MASKINT Ixy
104. 1 00 and 9 00 B F47 SERVO POSITION F48 KPOS Position gain Units 1 s Limits 1 00 and 32 00 LIMV Velocity limit Units Vmax Limits 5 and 20 F49 KV Feedforward factor Units Volts Limits 0 and 100 B F50 MDMAX DMAX divert mask Y YES N NO F51 NDMAX DMAX divert step Limits 0 and 253 B F52 MSTOP VSTOP divert mask Y YES N NO C F53 NSTOP VSTOP divert step Limits 0 and 253 B F54 MTW TW divert mask Y YES C F55 NTW TW divert step Limits 0 and 253 C F56 TSYN Synchronization time out Units 10 ms Limits 1 and 65535 B F57 MSYN Synchronization divert mask Y YES N NO F58 NSYN Synchronization divert step Limits 0 and 253 B F59 MCPUF CPUF divert mask Y YES N NO B F60 NCPUF CPUF divert step Limits 0 and 253 A NBWN Nbr of stored WN Limits 0 and 100 Access A Modify in the configuration B A Modify with XBT terminal C B Modify by AXM program Not relevant to TSX AXM 162 module 6 7 8 9 TSX 172 182 modules List of Instructions Positioning Instructions Code Velocity Position or Event Move to a target point Move to a position and continue GP1 X Imm Pos WNi EXT Imm Pos IWNi IEXT Move to a position and stop GP9 F X Imm Pos WNi EXT Imm Pos IWNi IEXT Move on an event Move in direction until an event and continue G 1 F EVENT UI3 DI3 Move in direction until an event and con
105. 100 Position 5 6 5 Programming TSX 172 182 modules 5 3 Move Organization Instructions Unconditional Jump Instruction code JMP JMP N Program step number Example JMP N 10 Jump to step 10 Jump if CNi 0 Instruction code JNZ JNZ N Program step number CNi CNO to CN3 A jump to a given step is carried out as long as the value of the selected internal counter is different than O When used with CNi increment and decrement instructions it enables repeated execution of a set of instructions Example JNZ N 2 CNO Jump to step 2 if CNO 0 Jump if the Immediate Value OWxy 3 LSB Instruction code JEX JEX N Program step number VAL Immediate value A jump to a given step is carried out as long as the value of word OWxy 3 LSB defined by the PLC program or XBT terminal is equal to the immediate value defined in the instruction Example JEX N 10 VAL 20 Conditional jump to step 10 if OWxy 3 LSB equals 20 Jump if Position 1 Position 2 Instruction code JHP JHP N Program step number X1 Position 1 X2 Position 2 Operands X1 ePRF index ref position X2 eWNi internal position e WNi internal position eCP current position eCP current position eEXT external position Example JHP N 5 X12 WN6 X2 CP Jump to step 5 if position WNG gt current position 5 7 5 Programming TSX AXM 172 182 modules 5 Move Organization Instructions Jump i
106. 2 Suitable modules TSX AXM 172 TSX AXM 172 TSX AXM 182 TSX AXM 182 TSX AXM 162 Application generated NO YES BIN file in local mode Compatibility with NO YES V3 configuration 1 With the following restrictions e The directory can only be created in CONNECTED mode e V3 PLCs can only be used with TSX 172 modules 2 Configuration V4 Up to 64 axes can be handled by the software but this is limited by the capacity of the CPU Type of processor Number of modules P47 40 4 P67 40 16 P87 40 32 P107 40 56 V3 Configuration Number of axis limited to 16 2 3 2 TXT L PL7 AXS V4 Axis Control Program 2 PL7 AXE Implementation Program Section C2 of this manual sections 1 to 8 Appendix describes the operation of the PL7 AXE program version 4 5 when it is used to create and debug applications which are to be executed on TSX AXM 172 or TSX AXM 182 modules in V4 type configurations Section C2 is applicable for creating and debugging applications for the TSX AXM 162 module given that all the restrictions mentioned in Appendix A7 are taken into consideration Appendix A6 provides information on the differences which are encountered by the program when it is used to generate applications which are to be executed on TSX AXM 172 modules with V3 type configurations 2 4 TXT L PL7 AXS V4 Axis Control Program Optional Function Blocks 3 1 Composition The family of axis control OFB
107. 2 D Active on rising edge Ack Calculation Overflow error Conditions Calculation Overflow error present Effect Acknowledge error Reminder This error causes the loss of the axis reference The acknowledgment must be followed by a Reference Set up command OWxy 2 E Active on rising edge Acknowledge PWF error Condition PWF error present Effect Acknowledge error OWxy 2 F Not used reserved 6 Dialog with the PLC Processor 6 Discrete I O and Register Interfaces OWxy 3 OWxy 4 Conditions common to words OWxy 3 to OWxy 7 e PLC running e Module running OWxy 3 Least signif byte Most signif byte OWxy 4 Least signif byte Most signif byte Comparison register Used by the JEX instruction that compares the con tents of this register to a parameter value Condition Auto Mode selected JEX Instruction Start or divert step Used in Auto Mode by the Start Oxy 4 and Divert commands OWxy 1 8 It specifies the step number from which the AXM program is started diverted Condition Auto Mode selected Value CNi Used by the PRSCN command OWxy 1 4 It specifies the value to load in counter CNi defined by the Most Significant Byte Conditions None Number CNi or WNi Used by e Command PRSCN OWxy 1 4 to specify the number of the counter in which the value contained in the LSB is loaded Condition Contents lt 3
108. 500 CF39 DECE Deceleration 408 nn 52 1 4588 TYPEPO Type of ref point 2 1 3 3 LINE AKM182 DISPLAY CONF AP NA HT Ub IET PREUPAGE HERIPREE Column indicates for each parameter e The Write access mode A Configuration mode only B Configuration mode and through the TSX XBT terminal C Configuration mode and through the TSX XBT terminal and through AXM program instructions e The TSX XBT terminal function number used to access the parameters Parameters Column gives the designation of each parameter Values Column parameter value display field This column is filled in by the user Limits Column lists the maximum and minimum values for each pa rameter Note The first line indicates the physical units used by the module They are a function of the displayed maximum speed VMAX 5 1 5 Configuration Mode 9 1 Mode Description Purpose of the mode The Configuration Mode lets the user enter the table of parameters for the application The function of each parameter is described in Divider B Sub section 2 2 of this manual Accessing the mode From the Mode Selection Display e Select the working memory refer to Sub section 3 e Allows access to the operating modes e Enter the axis and application numbers or file name if disk storage is selected e Select the Configuration Mode Configuration mode screens Each of the four screens in the mode compr
109. 6 gt used to move from one column to another lt Enter gt confirms the selections made 2 5 Role of the soft keys EXIT causes PL7 AXE to quit with the possibility of saving and comparing READ ME provides access to on line documentation The following 2 keys are offered when the working memory selected is the TSX PMX PLC memory STA DSK accesses a store function in the AXE zone of the TSX PMX memory in the AXIS BIN file on disk RI XTEL Function axis line1 factory TRIS SAVE AREA AXIS FROH TS amp MEMORY TO TSX TARGET FILE TSX TARGET FILE fIRIS BIN SAVE RUTO HAN MANUAL ACCESS TSX FILE RPROPRJAFACTORY LINE1 ARIS APPLI S LINE STORE AUTO HAN A gt DSK DSK STA enables the AXIS BIN file on disk to be retrieved from the AXE zone to the TSX PMX memory B XTEL Function axis line1 factory RETRIEVE AREA ARIS FROH TSX SOURCE FILE TO TSX MEMORY TSK SOURCE FILE ARIS BIN ACCESS TSX FILE RPROPRJAFACTORY LINE1 ARIS APPLI LINE RETRIEVE zz PARE DSK gt STA 2 6 Using the AXM configuration and programming software 2 UTILS accesses the utilities functions XTEL Function axis line1 factory CONNECTED MEMORY UTILITIES 8 AXM MEHORY 8 APPLICATION LIST CI 1 RUN TSX 2 ARM FILE 2 STOP TSX 3 TSK FILE 3
110. 7 3 5 Disk Memory TSX FILE 3 10 4 1 Access 4 1 4 2 Contents 4 3 4 3 Purpose of Dynamic Soft Keys 4 6 4 4 PLC Disk Transfers 4 8 5 1 Mode Description 5 1 6 1 Mode Description 6 1 7 1 Mode Selection 7 1 7 2 Command Status Screen 7 2 7 3 Access to WNi Internal Positions 7 5 7 4 Setting the Machine Factor KR 7 6 8 1 Mode Description 8 1 9 1 Mode Description 9 1 TXT L PL7 AXS V4 Axis Control Program A Appendix C Il 2 C2 Implementation Program A1 Application Size and Layout A2 Index 2 Adjustment Initial Set up of an Axis with PL7 AXE A 3 A4 Diagnostic Assistance A 7 A5 PL7 AXE User Access Rights A 10 A6 Use of PL7 AXE in V3 configuration 11 A7 Restrictions on TSX 162 21 X Introduction and installation Section 1 Sub section Page 1 1 General 1 2 1 1 1 Functions available with PL7 AXE 1 2 1 2 Configuration required for PL7 AXE 1 3 1 3 Checking the hardware 1 3 1 4 Connections 1 4 1 5 Installing the software 1 4 1 5 1 Preliminary operations 1 4 1 5 2 Installation procedure 1 5 1 6 Using the keyboard and the mouse 1 6 1 7 Methodology for installing an axis control application on a TSX PMX V5 programmable controller 1 7 This section ends at page 1 8 1 1 NO 1 1 General 1 1 1 Functions available with PL7 AXE PL7 AXE software reference TXT L PL7 AXS V5E is a help program for pr
111. 82 can access 16 modules and simultaneously display positions on two axes Multiple application layout 1 4 TSX Series 7 PLC A Pon M eee noc TSX AXM 182 Modules XI Aye Axis 0 I 0 Current Application 1 Application Application r m Internal Memory User Memory Field For each axis the user can generate up to nine applications Once generated the applications stored in the PLC memory can be transferred cycle by cycle to the internal memory of the axis control module via a TSX XBT 182 terminal the TXT L PL7 AXS V4 software or the user program via the AXM LD OFB 1 1 3 Presentation 1 Terminology Conventions To simplify the descriptions in this manual the following conventions are used e The term TSX AXM module refers to TSX AXM 172 TSX AXM 182 or TSX AXM 162 modules except in those sub sections where their detailed specifications are described TSX AXM 172 and TSX AXM 182 modules have identical functions only their user interface and performance differ The TSX AXM 162 has a user interface identical to the TSX AXM 182 but cannot be programmed e Theterm TSX XBT 182 refers to the operator terminal in either its dedicated axis control version TSX XBT 182 1 or its multi function version TSX XBT 182 2 e The term PL7 AXE program or software refers to the program used to set up axis control applications on the FT
112. 9 Operands Velocity Immediate value expressed in user selected physical units Event eUl rising edge on input In3 e DI3 falling edge on input In3 Example 1 G 1 2mm mn EVENT UI3 Velocity 2 m mn Position Motion in positive direction at a velocity of 2 mm mn until a rising edge is detected on input In3 without stopping on detection Example 2 G 9 F 1000 mm mn EVENT DI3 Velocity Position 1000 mm mn Y IN3 Motion in negative direction at a velocity of 1000 mm mn until a falling edge is detected on Input In3 with a stop command given when the event is detected Execution conditions e Axis referenced e Velocity lt VMAX defined in the configuration 5 4 5 Programming TSX 172 182 modules 5 Move Instructions Reference set up In negative direction instruction code SRP In positive direction instruction code SRP SRP or SRP F Approach speed X Position Operands Approach speed Immediate value expressed in user selected units Position Immediate position to load in the current measurement counter and expressed in user selected units offset in relation to the reference point Note The reference set up procedure is described in Sub section 4 1 Example 1 SRP F 5000mm mn Velocity 5000 0 Position PV Move at a speed of 5000 mm mn in positive direction until the reference point is detected mode 2 load 0 as cur
113. 9 6 A Appendix A 22 Optional Function 1 Operation Common to all OFBs 1 1 1 6 Blocks OFBs 2 The AXM LD OFB 2 1 2 16 3 The AXM DG OFB 3 1 3 8 4 The AXM PG OFB 4 1 4 10 A Appendix 5 1 5 2 General Contents Part 4 TSX XBT 182 Operator Terminal 6 Quick Reference Guides 7 Additional Information Section Page 0 Presentation 0 1 0 4 1 Setting the Terminal into Service 1 1 1 8 D 2 Using the Terminal 2A 2 8 3 Selecting the Operating Modes 3 1 3 8 4 Motion Monitoring 4 1 4 4 5 AXM Program Access 5 1 5 4 6 Direct Access Auxiliary Functions 6 1 6 4 7 Indirect Access Auxiliary Functions 7 1 7 6 8 Access to the Configuration Parameter Table 8 1 8 2 9 Application Transfer 9 1 9 2 10 Error Monitoring 10 1 10 2 A Appendix A 22 TSX AXM 172 182 162 Quick Reference Guide 6 1 TSX XBT 182 Terminal Quick Reference Guide 6 11 F Upgrading from V3 to V4 1 1 1 12 G Contents Axis Control System Presentation Section Sub Section Page 1 Presentation 1 1 Documentation Presentation 1 1 1 2 Axis Control System Presentation 1 2 1 3 Terminology Conventions 1 5 2 1 2 Set up Steps 1 2 1 1 1 Presentation 1 Documentation Presentation This manual describes the installation setting up and operation of TSX AXM 172 TSX AXM 182 and TSX AXM 162 axis control modules with the TXT L PL7 AXS V4 axis control software
114. ARH amp DOCUMENTATION LINE OPER MODES CHOICE ARIS APPLI AXIS APP DIR ARIS 9 3 5 UTILS Note accesses the utilities functions associated with the AXM memory 0 APPLICATION CHARACTERISTICS displays a table of the application characteristics contained in the module selected axis number application number geographic address in the PLC application name module type and version 1 RUN RUN the AXM TSX module 2 STOP AXM STOP the AXM TSX module 3 DELETE THE PROGRAM allows the PIC program to be deleted while maintaining the configuration and the internal WNi variables 4 DELETE THE APPLICATION deletes the entire module memory PIC configuration and internal variables Each of these functions is confirmed by the ENTER key The CLEAR key returns the user to the selection screen TEL Function axis line1 factory E xproprj HE CONNECTED MEMORY UTILITIES LLLA O APPLICATION CHARACTERISTICS 1 TSX MEMORY 1 RUN ARH 2 ARH FILE 2 STOP ARH 3 TSK FILE 3 DELETE PROGRAN 4 DELETE APPLICATION LINE UTILS ARM L amm In CONFIGURATION and PROGRAM modes the following message is displayed if the application number selected does not correspond to the application number of the module APPLI AXE APPLI EXPECTED but the application can still be accessed
115. AUTO CYC START MODIF As AUTO CYC START 18 As 8 AUTO CYC ACTUAL 18 END 3 2 Comments Temporary display that appears during mode selection Dedicated mode display Shows the starting step number for the AXM program Modification of the start step is possible Enter the new start step Starts AXM program execution from the start step Real time display of the step number being executed instruction Oifthe start step was not modified 3 Selecting the Operating Mode Automatic Mode Automatic step by step sub mode not relevant to TSX AXM 162 module Commands STEP START Executed instruction STOP XBT Display Comments B RUN Temporary display that appears a ee during mode selection Dedicated mode display Displays the start step for the TOME ATUS cnin AXM program modification of the M START 25 start step follows the same proce dure as the Automatic cycle mode Resume order from the next step Hx AUTO 55 Displays the step number being M ACTUAL 5 executed Go to the next display as soon as the instruction is executed AX 8 AUTO 55 Displays the number of the next step to be executed RESUME 6 instruction END Automatic block by block sub mode not relevant to TSX AXM 162 module The screens follow in the same sequenc
116. AXM 172 Module AXM LD AXIS a BRIDGE 1 5 G Additional Information G Upgrading from V3 to V4 Procedure 1st step 2nd step 3rd step 4th step 5th step 6th step Reminder 1 6 Generate the PLC memory image Create the dedicated axis field Using XTEL MEM Generate an APP file that includes a PL7 3 field that is big enough to contain the V4 level application and an Axis field that is big enough to accept the axis control applications Updating the PL7 3 application to V4 level The complete procedure is described in Section 18 of the PL7 3 Operating Modes V4 manual TXT DM PL7 3 V4E Transfer to the PLC memory Replace the V3 level PLC processor with a V4 level PLC processor THIS MUST ONLY BE DONE WITH THE PLC POWERED DOWN Then transfer the APP program to the PLC memory Creating the directory With MEM TSX selected in PL7 AXE lets the user access the directory e If the numbering proposed by default is not suitable renumber the axes and update the directory by selecting UPDATE e For each axis declare the number of applications that will be stored in the PLC memory e Validate the directory Transferring the applications to the dedicated axis field e Transfer all of the applications saved in the CW or W fields of the PLC memory to the dedicated Axis field The detailed procedure depending on various factors is described after page 1 9 in this Section Replacing
117. AXM LDO READY NOT AXM LDO ERROR ACTIV SET OW5 0 C e RE 11 0 3 This sequence is automatically activated on a cold restart For it to be activated on a warm restart activation of step 10 on a warm restart must be explicitly programmed in the PRL IF SY1 THEN SET X10 RESET X 11 2 12 2 The AXM LD OFB 2 Examples 2nd solution cost effective Only a single OFB is used for the three axes The AXIS parameter must be modified on each execution and therefore assigned to a variable Given the necessary sequencing of the three transfers Grafcet must be used Configuration AXM LDO W60 AXIS 0 APPLI Programming ACTIV 1 0 W60 EXEC AXM LDO W60 0 5 AXM LDO READY NOT AXM LDO ERROR ACTIV SETOWS5 0 C 1 W60 EXEC AXM LDO W60 0 5 AXM LDO READY NOT AXM LDO ERROR ACTIV SETOW6 0 C 2 W60 EXEC AXM LDO W60 0 AXM LDO READY NOT AXM LDO ERROR ACTIV SET OW7 0 I1 0 Once again this sequence will only be activated on a hot restart if the activation of step 0 on a warm restart is explicitly programmed in the PRL IF SY1 THEN SET RESET X1 RESET X2 RESET 2 13 2 The AXM LD OFB 2 Examples Example 2 Assume a configuration comprising a TSX AXM module axis 0 that may execute three different applications PLC Memory V4 PLC TSX AXM Module Ln
118. AXMLD V4 5 OFB Press the INSERT key Reconfigure the application The application is now ready to be loaded into the PLC 2 TSX XBT 182 Operator Terminal Introduction There are two models of the TSX XBT 182 terminal The TSX XBT 182 1 is a dedicated axis control terminal The TSX XBT 182 2 is a multifunction version of the terminal This manual describes the specific axis control functions that apply to both versions of the TSX XBT 182 terminal The standard operator dialog functions only available when using a TSX XBT 182 2 terminal are described in detail in the XBT User s Manual supplied with this terminal D Contents TSX XBT 182 Operator Terminal Section 0 Presentation 1 Setting the Terminal into Service 2 Using the Terminal 3 Selecting the Operating Mode 4 Motion Monitoring 5 AXM Program Access 6 Direct Access Auxiliary Functions 7 Indirect Access Auxiliary Functions 8 Access to the Configuration Parameter Table D Sub section Page 0 1 TSX XBT 182 Operator Terminal Adjustment Terminal 0 1 0 2 TSX XBT 182 2 Terminal Special Functions 0 3 0 3 Presentation Rules 0 4 1 1 Installation 1 1 1 2 Connecting the Terminal 1 2 1 3 Service Introduction 1 4 2 1 Presentation and Data Entry Principles 2 1 2 2 TSX XBT Operating Modes 2 5 2 3 Functions Available on the TSX XBT Terminal 2 6 2 4 Axis
119. Access The self tests are accessible in Confidential Mode CONFIGURATION NORMAL CONFIDENTIEL Commands XBT Display Description MODE COMF IDEN N EE LED on SELFTEST ABI 182 Wi H e CTRL LED off To exit the self test procedure and return to Confidential Mode functions press CTRL at any time Appendix Self tests Self test execution procedure A 2 TSX XBT 182 paca Keys that are active NORMAL oe procedure Start test Validate test and move to the next step The lt ENTER gt key can be pressed at any time to jump from one test to another To exit the self test procedure press lt CTRL gt or turn the key Commands CONFIGURATION NORMAL CONFIDENTIEL CTRL ENTER XBT Display Description IDEN SELFTEST SELFTEST ABT 182 V1 8 The XBT terminal software version is displayed A Appendix Self tests Memory tests Commands XBT Display Description SELFTEST TEST PROM SELFTEST TEST CORRECT SELFTEST TEST RAM SELFTEST TEST CORRECT SELFTEST TEST ADDRESS SELFTEST TEST CORRECT Program memory
120. An axis control application is defined by an axis or module number from 0 to 63 an application number from O to 8 Itis the directory which defines the correspondence between the geographic position of the modules in the I O configuration and the logic numbers Created by PL7 AXE the directory is stored initially in the dedicated AXE zone of the PLC memory The first 64 AXM modules in the I O configuration are allocated an axis number from 0 to 63 in ascending order The allocation of these numbers may be modified by the user If PL7 AXE is operating in connected mode AXM MEMORY or TSX PMX MEMORY the DIR AXIS soft key will display the AXIS DIRECTORY screen or enable this directory to be created XTEL Function axis line1 factory LOCAL ARTS AREA NAHE ARIS NO RACK SLOT MODULE ARIS RPPLI NB RPPLI SIZE words a mr m m m mium 289 8 woe RESERVED words 32767 FREE words 32329 TS8 FILE AXIS BIN ARIS DIRECTORY ALL DIR ARIS APPLI TSX PMX AXM space RESERVED The number of reserved words is fixed by XTEL CONF This number cannot be modified by PL7 AXE FREE The number of free words represents the memory area not used TSX FILE AXIS BIN is the name under which the dedicated AXE zone is stored on disk using the STORE command NO Soft keys ALL DIR AXIS PACK prov
121. B family is not present select the NEW OFB dynamic soft key to display a list of the AXIS OFBs that are available XTEL Function pl7_3 tab3axe malo D xproprj Jy ET i Hi MECANTOU OFB TYPE SELECTION FILE DATE TYPE VERSION FAMILY COMMENTS ilg F ARMPG U 4 5 ARIS Start ARM program ARIS ARM load ARIS diagnostic ARMLD Ua ARMDGUSS 13 86 91 ARMDG U4 5 LISTED TYPES 3 SELECTED TYPES 8 8 FAMILY ARIS OFB TYPE SELECTION i TO LAST PREU SCR 1 Should this not be the case then the program has not been installed for this station Refer to Divider C2 Sub section 1 1 1 4 1 Operation Common to all OFBs 1 Configuration The PREV FAM and NEXT FAM dynamic soft keys let the user display all OFB families available to this station Use the and f cursor keys to select an OFB for use and press the INS dynamic soft key The selected OFB will become an object in PL7 3 language similar to the standard function blocks timers counters etc Repeatthis procedure to select all the OFBs to be used Confirm with ENTER The DEL dynamic soft key will delete an OFB from PL7 3 language Declaring the number of times OFBs are used In the same way as the number of timers or counters required for use is declared in PL7 3 the number of times an OFB will be used must also be declared the term instances of use is also used This operation is performed whilst s
122. CAL ARTS AREA NAHE LINEL ARIS NO RACK SLOT MODULE AXIS APPLI NB APPLI SIZE words re 289 RESERVED words 32767 REE words 32361 TS8 FILE ARXIS BIN AXIS DIRECTORY ALL DIR DIFF ARIS APPLI MUU ON PACK 4 5 DIFF displays the differences between the configuration of the AXM modules stored in the AXIS directory and the current I O configuration of the AXM modules in X TEL In connected mode the current I O configuration of the AXM modules corresponds to the I O configuration stored in the PLC In local mode the current I O configuration of the AXM modules corresponds to the I O configuration defined under XTEL CONF This key is not displayed unless a difference is detected addition removal or modification of a module XTEL Function axis line1 factory EAxproprj IRIS RACK SLOT DIR MODULES RTEL CONF L 5 ARM 172 6 6 ARM 172 ARM 172 DIFFERENCE Meaning of the characters in the margin no change module added module removed different type of module If a configuration is made up of more than 16 modules the following soft keys are displayed TOP BOT PREVPAGE NEXTPAGE XTEL CONF accesses the first module on the first page of the directory accesses the first module on the last page of the directory accesses the first module on the previous page of the directory accesses the fi
123. Configuration Transfer Module Program Transfer WNi Variables Table Transfer For a TSX AXM 162 module The application does not have a module program or WNi table CONFIGURATION is transferred by the AXMLD OFB 4 PLC cycles 4to 17 PLC cycles 2to5 PLC cycles Only the 2 6 2 The AXM LD OFB 2 Internal Operation Checks performed by the OFB before executing the transfer 1 TSX AXM 172 TSX AXM 182 or TSX AXM 162 module present in the location corresponding to the axis number 2 Module ready to run self test phase completed and no module errors found 3 Modulenotreserved by another user TSX XBT 182terminal or PL7 AXE program 4 Coherent application number 5 Integrity of the application to transfer checked Checksum tested If these conditions are met the OFB starts the load sequence Execution requires a number of PLC cycles The exact number of cycles depends on the size of the program number of step and on the number of WNi variables stored in the PLC memory Each step must be executed correctly before the next step can be executed If not the transfer is cancelled Reaction to a mains power break return If a transfer is in progress when a power break occurs the OFB reacts by setting The AXM LD Error bit to 1 Bit 12 of the Status variable to 1 Reaction to a cold restart The parameters are reinitialized with the default values The content of the
124. EM 276 1 zs L zs 120 E DN i E 7 ES PUES bod eph g zem 140 96 2L 289 4 300 1 minimum mounting plate cut out dimensions 2 10 mm max mounting plate thickness 0 0 2 Presentation 0 TSX XBT 182 2 Terminal Special Functions The TSX XBT 182 2 terminal has two operating modes Axis mode that is the same as a TSX XBT 182 1 terminal i e a dedicated axis control terminal Process mode that is the same as an XBT C8 250 terminal i e an operator dialog terminal These two modes are mutually exclusive At any one time a TSX XBT 182 2 terminal can operate as a dedicated axis control terminal or as an operator dialog terminal The user can switch between the two modes of operation simply by pressing a key PROCESS AXIS The software design of the terminal comprises two separate parts One part that controls the terminal when the Axis Control Mode is selected e A second part that controls the terminal when the Process Control Mode is selected The Axis Control function handles control of the mode selection key PROCESS AXIS Selection Key Control Axis Control Process Control Function Function XBT 182 1 XBT C8 250 This layout implies certain constraints 1 Although a single data link is used between the Terminal and the PLC it must be configured separately for both Access Control and
125. L MAX _ Index Position H Absolute Position E a 0 Machine Origin X MIN Valid Measurement Field X MAX eee ea reae Position calculation The module generates the position measurement by counting the number of pulses received from an incremental encoder Position reference Axis positions are given relation to the reference point The module enables the use of various reference point set up procedures Point field The field that comprises all measurement points is restricted only by the counting capacity and the resolution of the selected sensor Travel limit By configuration the user defines two travel limit positions referred to as soft stops XMINand XMAX Axisormovingpartmotionis restricted to thedistance between the two limits This is the valid measurement field The module will systematically stop the moving part if it moves outsid the soft stops Indexed positions The moving part position can be referenced in relation to the PRF parameter position index Functions not available on TSX AXM 162 module 1 12 1 Module Presentation 1 Positioning Functions Various accessible positions Velocity Time presentation Velocity Position presentation Velocity Velocity 4 1000 mm mn 1000 mm mn 300 mm mn 300 mm mn 0 0 200 mm mn 200 mm mn Position These two presentations illustrate actual moving part motion The Velocity
126. M modules which are configured wee selects the number of the application In documentation mode the character confirms all the applications of the selected module AXIS and APPLI enable documentation of all the channels stored in the TSX PMX memory or in the TSX PMX file selects the number of the module and of the working application provides access to the AXE directory screen see section 4 2 in divider C provides access to the PL7 AXE help screens R S TSX or R S PMX STA DSK sets the PLC to RUN or to STOP displays a screen which allows the contents of the dedicated AXE zone to be stored to disk as an AXIS BIN file in the AXIS APPLI sub directory XTEL Function axis line1 factory vs SAVE AREA AXIS FROH TSX MEMORY TO TSX TARGET FILE TS TARGET FILE AXIS BIN SAVE RUTO HRN MANUAL ACCESS TS FILE RPROPRJ FACTORY LINE1 ARIS APPLI LINE STORE AUTO HAN UMPAH A gt DSK AUTO MAN allows the type of store operation to be selected in connected mode In automatic mode all modifications are systematically stored In manual mode modifications are not stored unless the STA DSK key is pressed 3 3 NO COMPARE starts the comparison between the source files and the target files STA DSK stores a file and starts up after confirmation DSK gt STA displays a screen which allows the contents of an AXIS BIN fil
127. Ni variables e In DEBUG mode only the operating modes which are available on the TSX AXM 162 are offered and only the appropriate information appears on the STATUS COMMANDS screen The next page contains a summary on the restrictions for use of PL7 AXE with the 5 AXM 162 module that apply to each chapter of section C2 A 21 A Appendix Restrictions on using a TSX AXM 162 module Chap 1 USING THE PROGRAM None Chap 2 GENERAL PRINCIPLES None Chap 3 MEMORY TYPES Chap 4 Chap 5 Chap 6 Chap 7 Chap 8 Chap 9 Chap A Mode Selection Screen Selection of PROGRAMMING mode not permitted Utilities DELETE THE PROGRAM function not permitted DELETE THE APPLICATION function causes the configuration to be deleted DEDICATED AXIS FIELD None CONFIGURATION MODE The configuration comprises only two screens PROGRAMMING MODE This chapter does not apply to TSX AXM 162 NB Any attempt to access the PROGRAMMING mode is barred message PROHIBITED FOR AXM 1625 DEBUG MODE Access barred to screen of WNi table STATUS COMMANDS screen Only the information which is appropriate to the TSX AXM 162 is included Information and commands concerning the following do not therefore appear program operation interrupt system sync fault handling WNi CNi management interrupts Dynamic soft keys The WNi CNi key does not exist The AUTO CYC AUTO B B and AUTO S
128. Note The modification proposed here is the one that can be performed in the most transparent manner requiring the least modifications However this modification does not fully use all of the features of AXM LD OFB programming For optimal programming especially to avoid the Grafcet sequence refer to Divider C3 Section 2 1 8 G Additional Information G Upgrading from V3 to V4 Procedure for retrieving applications in the dedicated Axis field 1st case The TSX AXM 172 module s only executes a single application Therefore there is only one application stored in the PLC memory CW or W field for each axis The transfer of applications stored in the PL7 3 CW or W field to the dedicated Axis field simply requires transferring the application from the module s to the PLC TSX memory using the Transfer function in PL7 AXE Module PLC M C Memory Fig 5 Memory PL7 3 FTX 507 NEN AXM TSX Transfer Mode BE nung O00 omna gonn i 80 00 1 9 G Additional Information G Upgrading from V3 to V4 2nd case The TSX AXM 172 module s may execute various applications There is therefore more than one application stored in the memory CW or W field The transfer of applications form the PL7 3 field CW or W to the dedicated axis field is performed by diskette PLC Memory Fig 7 PL7 3 Transfer FTX 507 Disk TSX w
129. O block diagram TSX AXM 172 encoder inputs Encoder open collector NPN output Process Module T 5VDC Supply o gt OV TZ In2 Output Supply 5V or 24V Encoder open collector PNP output Process Module Output Supply 5V or 24V 5VDC Encoder Supply 7 4 7 Setting into Service Connecting the Module Connecting the I O TSX AXM 182 162 encoder inputs 5VDC Encoder Supply Distance gt 20 meters Module VDC Encoder 1 4 pa Encoder gt c TSX AXM 182 Distance 20 meters 5VDC Encoder Supply VDC Encoder OV Encoder lt gt TSX AXM 182 7 5 7 7 6 Setting into Service 7 Connecting the Module Connecting the I O block diagram Sensor inputs Process Module In3 Sensor In4 Supply 24 V SD OK c In4 EMG STOP 15 15 In3 c i passing ref set up Attention The emergency stop and limit switches MUST act directly on the power side The contacts in series on input In4 are only auxiliary contacts The auxiliary contact used by the emergency stop is absolutely necessary The ot
130. ODIFY AREANAME assigns acommentof upto 24 characters to the current xxx BIN file 3 12 eS Managing the dedicated AXE zone Section 4 Sub section Page 4 1 Dedicated AXE zone 4 2 4 2 Directory 4 3 This section ends at page 4 6 4 1 41 Dedicated AXE zone This PLC memory zone is used for storing the directory and the various applications which may be loaded into the AXM modules This zone is managed entirely by PL7 AXE The directory is created by PL7 AXM The configurations are entered either by direct entry to the TSX PMX memory from PL7 AXE or by transferring an AXM FILE to the TSX PMX MEMORY or by transferring an AXM MEMORY to the TSX PMX MEMORY Directory Application 0 Axis 0 Application 1 Axis 1 Dedicated AXE zone Application n Axis i Any attempt to transfer a application to the PLC memory or to modify an existing application may be preceded by one of the following two messages Area full The size of the dedicated AXE zone is insufficient to receive the new application The size of the zone can be modified using the XTEL CONF tool Area to be compacted The size of the dedicated AXE zone is sufficient provided that it is compacted Optimizing the dedicated zone in this way removes the holes created during transfer operations or when applications are deleted Compacting is performed by the PACK key accessible from th
131. OR BIT STATUS WORD Specifies the axis number that the OFB is assigned to Its value is between 0 and 63 It has a default value of 64 which means the OFB cannot be used unless this parameter has been defined NB Make sure that the OFB has the same number as the axis E g AXM LD1 assigned to axis 1 Is set to 0 during the transfer and is reset to 1 as soon as the transfer is completed This bit changing from 0 to 1 determines whether the module can resume running This bit can be directly evaluated by the AXM LDi READY mnemonic Goes to 1 if the transfer is unsuccessful It is set to O at the start of a transfer This bit can be evaluated directly by the AXM LDi ERROR mnemonic Identifies why a transfer was unsuccessful Each bit among the 16 identifies an error cause 2 2 2 The AXM LD OFB 2 Presentation LOAD BIT Bit Description 0 TSX AXM module not working 1 Module refuses to Stop 2 Module reserved by another user 3 No terminal block 4 Not used 5 Module not present 6 Axis number not defined in the directory 7 Directory not defined 8 Module type does not correspond to the declared type 9 Application number does not exist 10 Application refused by the module 11 Not used 12 Transfer interrupted by a power break or a Reset command 13 OFB version incompatible with the PLC version 14 Communication with the module not possible 15 System error Setting this bit to 1
132. PUL Length um um mm cm dm m AF34 UPUY Velocity mmmn nn mn cn nn dn mn n mn 1 AF35 UPUA Acceleration nn s2 nn s2 cn s2 dn s2 n s2 1 AF36 Max soft limit 30000000 un 52658888 52658888 AF37 8MIN Min soft limit 38888888 um 52658888 52658 CF38 ACCE Acceleration 466 nn s2 1 14488 9 DECE Deceleration 468 nn s2 1 14488 On BF48 TYPEPO Type of ref point 2 E 1 2 3 1 ARM172 DISPLAY CONF 8 TOP BOT Working memory Network address for the terminal Working memory and its address if AXM MEM or TSX PMX MEM Axis number or file name if AXM file or TSX PMX file working memory Application number Current page number Name of application only in TSX PMX MEM TSX PMX file or AXM file Display zone available for the application configuration program etc Real time event zone indicating PLC status connected Parameter entry line Zone indicating current operation DISPLAY MODIF etc F1 to F9 soft key display line Message zone for syntax or entry errors or confirmation request ooeoooeocooco0o0o 2 3 Screen sequences Ecran choix de la m moire de travail L om L Ecran choix du mode UIT op ratoire Ecran choix du QUIT sous mode op ratoire Ecran du mode n choisi 1 To access AXM MEMORY or TSX PMX MEMORY in connected mode ensure that a configuration memory file has pr
133. RANSFER and DOCUMENT modes 2 4 Using the AXM configuration and programming software 2 2 3 Selecting modes The choice of modes screen the basic PL7 AXE screen provides access to all the functions available with this software XTEL Function axis line1 factory E xproprj PL R4S V5 0 INSTALLATION OF AXM 182 172 162 Copyright TE 1998 93 PROC TSK 187 455 U5 8 SAVE MANUAL FILE RSIS BIN CONNECTED MEMORY OPERATING HODES ea o CONFIGURATION 1 TSK MEMORY 1 PROGRAM 2 ARM FILE 2 DEBUG 3 TS8 FILE 3 TRANSFER ARH amp DOCUMENTATION LINE WORKING MEM CHOICE EXIT DIR ARIS mA ELS URL UTILS This screen has two parts a menu zone for selecting the working memory module PLC or disk the operating mode configuration programming debug transfer and documentation an operating sub mode for the debug mode or transfer mode an information zone which indicates in connected operation the type of processor and its version the associated file name and type of store Role of the function keys lt T gt lt l gt used to move the cursor in the active column working memory operating modes or operating sub modes An item in a column can also be selected by entering its number lt 7 gt lt gt used to move from one column to another lt Enter gt confirms the selections made 2 5 NO Role of the soft k
134. RPP DIR AXIS A gt DSKEDSK UTILS 3 5 NO UTILS Note accesses the utilities functions associated with the AXM memory 0 APPLICATION CHARACTERISTICS displays a table of the application characteristics contained in the module selected axis number application number geographic address in the PLC application name module type and version 1 RUN AXM RUN the AXM TSX module 2 STOP AXM STOP the AXM TSX module 3 DELETE THE PROGRAM allows the PIC program to be deleted while maintaining the configuration and the internal WNi variables 4 DELETE THE APPLICATION deletes the entire module memory PIC configuration and internal variables Each of these functions is confirmed by the ENTER key The CLEAR key returns the user to the selection screen XTEL Function axis line1 factory E xproprj ME CONNECTED MEMORY UTILITIES C 0 APPLICATION CHARACTERISTICS 1 TS MEMORY 1 RUN AXH 2 ARM FILE 2 STOP 3 TSK FILE 3 DELETE PROGRAM DELETE APPLICATION S LINE UTILS ARM In CONFIGURATION and PROGRAM modes the following message is displayed if the application number selected does not correspond to the application number of the module APPLI AXE APPLI EXPECTED but the application can still be accessed However when ENTER is pressed to store the application another message requests confirmation from the user
135. Rising Reverse motion 2 Negative Rising Falling Reverse motion and measurement 1 Reversing the measurement means reversing the encoder connection wires Inputs InO and In1 Refer to Sub section 7 3 2 Reversing the motion means that the machine system is incorrectly wired First ensure that the analog output is correctly connected Terminal 4 or 8 connected to the speed drive OV line If the connection is correct but the fault persists check the motor to speed drive connection wiring reverse the direction of inductance and tachometer dynamo connection e If the connection is incorrect rewire the entire system select Emergency Stop Function F87 7 17 7 Setting into Service 7 Preliminary Adjustments Checking the distance displayed in relation to the distance travelled e Make a note of the start position X1 e Make the moving part move a significant distance e Make a note of the end position X2 e Calculate the distance covered X2 X1 as recorded by the module e Measure the distance actually travelled e Check that the two values are equal or very close If the two values are radically different an error occurred when calculating the Resolution parameter Refer to the Appendix If the two values are very close though not equal the error can be corrected using the Machine Characteristic Factor setting and adjustment procedure described later Setting the module offset 7 18 This adjustment is
136. STOP ENTER STEP CYCLE 28 P This manual describes the various operating modes available and the rules that apply when using TSX XBT 182 terminals TSX XBT 182 terminals let the user operate axes controlled by TSX AXM 172 or TSX AXM 182 modules installed in TSX Series 7 Model 40 V4 level PLCs TSX 47 40 TSX 67 40 TSX 87 40 TSX 107 40 The TSX XBT 182 1 terminal is a dedicated axis control terminal while the TSX XBT 182 2 terminal offers in addition to these special functions all of the features of an XBT C8 250 operator dialog terminal 0 1 Presentation Hardware Characteristics TSX XBT 182 Operator Terminal Adjustment Terminal Keyboard Industrial meets IP 65 specifications Mode of Installation Flush mount with seal attached to the terminal 8 mounting screws Type of Case Front panel in black finished steel 3 mm thick with back panel in ABS plastic Mains supply connector 2 wires ground Connection Transmission connector 25 pin female Weight 3 1 Kg Electrical Characteristics Mains Supply TSX XBT 182 1 or 182 2 220 VAC Supply Ripple 10 15 Max Power Consumption 20 W Frequency 46 to 64 Hz Dimensions jT EE Eee 36 N
137. Telemecanique LIN TSX AXM 182 162 WIRING SHEET Wiring Connector 9 pin Sub D In3 Encoder D Ri RO R3 OV Sensor OV Encoder Encoder supply YY to 25 pin Sub D Update Date Design Draftsman 5 Telemecanique 8LN TSX AXM 182 162 WIRING SHEET Wiring TSX BLK 4 Terminal Block Wiring from 15 pin Sub D Y v 25 pin 5VDC Suppl OV Encoder Encoder InO In1 T Block Sensor jumper Design Draftsman 5 Telemecanique A Appendix 6 Acceleration Acknowledged Automatic mode AXM configuration Connection Command register word Deceleration Discrete I O bits Divert step Emergency stop Event Faults Incremental encoder Inputs Instructions Interrupt Manual mode Masking Module PLC interface Module identification Operating modes Position Position error Position index value Power break Program loop Reference set up Reference set up forced Return to soft stops Run Soft stops limit switches Status register word Stop Stop control Synchronization Target window Teaching set points Terminal block Trap Velocity correction factor 22 41 4 5 3 1 2 1 8 3 7 4
138. U Emergency Stop errors the program can only resume when the error is no longer present 1 If Manual mode is selected when the error occurs the Resume command has the same effect as the Abort command OWxy 2 1 OWxy 2 3 OWxy 2 5 OWxy 2 7 OWxy 2 9 OWxy 2 B Acknowledge and abort the mode on Stop error Acknowledge and abort the mode on Deviation error Acknowledge and abort the mode on Synchronization error Acknowledge and abort the mode on Target Window error Acknowledge and abort the mode on CPU error Acknowledge and abort the mode on Emergency Stop error All of these bits use the following principle Active on rising edge Condition Corresponding error present Error not masked For CPU error Module in Safety Mode Effect Acknowledges the error and resumes the current mode Return to the state awaiting activation IWxy 1 8 Note In the case of CPU and Emergency Stop errors acknowl edgment is only effective when the error ends Functions not available on TSX AXM 162 module 6 33 6 6 34 Dialog with the PLC Processor Discrete I O and Register Interfaces OWxy 2 C Active on rising edge Acknowledge software stops Conditions Soft stop present IWxy 2 0 or IWxy 2 1 Effect Acknowledge error Return of the moving part within the valid interval must be requested By the PLC via the DEG BL command OWxy 1 7 that is only accepted after acknowledgment Manually OWxy
139. UF divert step 1 F60 X NCPUF Machine characteristic factor F61 X 2 KR Note The configuration parameters can be scrolled using the Cursor Up and Cursor Down keys 1 Not relevant to TSX AXM 162 module 2 This parameter cannot be displayed as it is an intermediate value and therefore its value is meaningless The procedure for setting and adjusting this value is described in Divider B Sub section 7 4 8 2 9 Application Transfer 9 9 1 TSX gt AXM Transfer Purpose Allows the transfer of an application previously stored in the PLC user memory Wi or CWi to the module Prior Conditions Module Stopped Directory defined Application number corresponding to an existing application Procedure Commands XBT Display Comments lt FONCT gt 71 ENTER Select the function indirect access function As 8 TRANSFER TSH gt ARM APPLI NUM 7 APPLI 1 Enter the number of the application to transfer Starts the transfer Hx B TRANSFER CONF AHM HMCH Transfer results When the application comprises eA configuration eAn AXM program eWNi and CNi variables 9 1 9 Application Transfer 9 9 2 TSX Transfer Purpose Enables an AXM application to be saved in the PLC s user memory Validation Conditions Procedure 9 2 The application number must be coherent with the number of applications defined in the directory The application
140. VE eMotion eReference set up ORGANIZATION j e Subroutine eJump e Timer eActivate discrete outputs and synchronization DATA CONTROL elnternal counter control Position operations modification CHECKS eEnable disable checks Layout A program comprises a succession of steps up to 254 max Each program step has a label or step number and the instruction comprises an instruction code and one or more operands E g 10 GP1 F 1000 mm mn Xs 500 mm Step Nbr Instruction Operands code Program execution The program is executed step by step in ascending step order until the end of program instruction is reached except for the execution of jump and call subroutine commands or a divert program The transition from one step to another is only completed when the current step has been executed Minimum instruction execution time 10ms corresponding to the module scan time 5 1 5 Programming TSX 172 182 modules 5 Language Presentation Program entry and modification Program entry is made using PL7 AXE modifications to velocity and position values can be made using the TSX XBT terminal Variables linked to the language Positions The positions that can be used by the instructions are e Current position e Immediate positions e Internal WNi positions e External positions These positions can be absolute or indexed e Absolute position
141. X 507 workstation or an IBM PS 2 or compatible microcomputer e The term PLC Processor refers to Telemecanique TSX Series 7 Model 40 PLCs that accept axis control modules i e TSX 47 410 411 420 TSX 67 410 420 TSX 87 410 420 TSX 107 410 420 PLCs 1 5 1 6 2 Set up Steps The diagram below is intended to illustrate to the user the various steps that are required when setting up an axis control application and the order in which it is recommended that these steps be performed By each step is listed the corresponding Sections or Sub sections in this manual and where necessary the type of form that should be used Assumption PLC I O already configured using PL7 3 Install PL7 AXE Install modules Connection Terminal installation Install Hardware Parameter Configure table Modules Enter configuration Preliminary adjustments Preliminary checks Adjust servo loop Module Programming Write program Enter program Sequential PLC Programming From PL7 AXE From XBT 182 Store Documentation With XBT Without XBT C2 UO UU C2 or C2 C2 1 1 7 1 7 2 7 3 A5 3 7 4 7 4 1to4 3 to 7 8 and 9 6 4 2 1 2 2 B Contents TSX AXM 172 182 162 Axis Control Modules Section 1 Module Presentation 2 Configuration Parameter Table 3 Operating Modes 4 Module Functions 5 Module Programming TSX 172 182 6 Dialog with the PLC Proc
142. X FILE A consequence of this reservation mechanism It is not possible as was previously the case with a V4 configuration to gain simultaneous access to the same PLC from both PL7 3 and PL7 AXE whether from the same terminal or 2 different terminals A 16 A Appendix Use of PL7 AXE in V3 configuration 5 Recommended work practice The only differences to the recommendations in paragraph 2 5 are in relation to the characteristics of V3 PLCs No dedicated AXIS field resulting in no APP files and the directory being located in the CW zone No TSX FILE memory resulting in the requirement to work in connected mode in order to create the directory The recommended approach comprises the same four phases Application Creation 1 phase Dedicated Axis Field 2 phase In connected mode Creation Application 3 phase Debugging Storage 4 phase Documentation 1st phase identical to paragraph 2 5 in all respects except that it only generates 172 files 2nd phase Creating the dedicated AXIS field Note The terminology although incorrect is retained in order to be consistent with the recommended work practice in paragraph 2 5 e Reboot PL7 AXE in CONNECTED mode TSX memory FTX 507 jue a APPLIO AXEO APPLI1 AXEO MOD AXEX AP0 172 AXEX AP1 172 AXEY AP0 172 AXEY
143. a via the input interfaces Ixy i and IWxy i using a procedure that is identical but has its own 10 ms cycle 6 19 6 6 5 2 6 20 Dialog with the PLC Processor 6 Discrete I O and Register Interfaces Interface Description The following data is provided for each command Amnemonic The active state 1 0 rising edge The conditions to meet for the command to take effect The related operation The following data is provided for each bit mnemonic The meaning of states 0 and 1 and where necessary the cause of transitions 0 1 and 1 0 The conditions to meet so that the data is considered valid The following data is provided for each numerical value written by the PLC The type of contents The command to which it is assigned The conditions to meet so that the value sent is accepted by the module The following data is provided for each numerical value read by the PLC The type of contents The conditions to meet so that the value sent is accepted by the module To avoid repetition the conditions for data validity common to all component elements are condensed at the beginning of each interface description PLC running Module running etc 6 Dialog with the PLC Processor Discrete I O and Register Interfaces 6 5 3 Discrete Output Bits Conditions common to all 8 bits e Module running e PLC running Oxy i OW Oxy i Oxy 0 Not
144. acceleration defined in the configuration 2 Constant velocity motion with the velocity set Y by instruction or by configuration in manual modes 3 Deceleration with the parameters set in the configuration 4 Stop at a target position Functions not available on TSX AXM 162 module iM Acceleration ACCEL L gt 4 1 4 Module Functions 4 Motion Attention e Amotion command can only be executed if the axis is referenced This still applies when the servo loop is disabled e Moving part stoppage is effectively declared only after the TSTOP time out set in the configuration Velocity correction factor The user has access through the TSX XBT terminal or command register word to a velocity correction factor that enables all velocity values to be multiplied by a factor of 0 to 2 in increments of 1 100 TSX AXM 172 or 1 1000 TSX AXM 182 162 Program A Special cases a e Motion with stop on target velocity If the programmed or configured velocity cannot be reached during the motion command distance too short the module calculates the distance required for deceleration to the target point and automati Velocity cally starts to decelerate once the minimum distance is reached If N the deceleration distance as N entered is too short the module m rejects the command and stops the Target position moving part gt Target position e Motion without stop Velocity
145. ady been reserved by another entity the message TSX NOT RESERVED will be displayed to warn the user that the reservation request was not accepted The various types of reservation although used less often are the same as those of TSX AXM modules 6 Dialog with the PLC Processor 6 Access Conflicts 6 6 2 PL7 3 Terminal Access Conflicts Causes Access conflicts between the PL7 3 application and a terminal TSX XBT or PL7 AXE running on an FTX 507 terminal may sometimes occur especially during the debug phase The PL7 3 application communicates with TSX AXM modules via the Discrete I O and Register REG interfaces The terminals dialog with the TSX AXM module mainly through the Message MSG interface but ensure that the Discrete I O and REG interfaces path shown in dotted lines are updated with the commands sent via the MSG interface PLC processor message system ett Terminal MSG L TSX AXM Module Application When the PLC processor is running the O and OW fields are periodically refreshed by the PL7 3 application PL7 3 This means that commands from the terminal may not always take effect 6 41 6 Dialog with the PLC Processor 6 Access Conflicts Example 6 42 The PL7 3 application continually selects the Automatic Mode with the instruction 110 OWxy 1 The user attempts to select Manual Drive Mode from the TSX XBT terminal This means the terminal sends a request dire
146. ameters PL7 3 lets the user access the EXEC dynamic soft key and two other dynamic soft keys CONTENT and PARAM that specify respectively the values of the OFB constants and the I O parameters An instruction is entered using the following procedure e Select EXEC Result EXEC e Enter the mnemonic for the OFB followed by a number Example EXEC AXM LDO e Press CONTENT Anew screen will be displayed showing the value of the internal constants Initialize each constant and press Enter to validate gt TEL Function pl7 3 tab3axe malo D xproprj KT Dn TD ARCH NT 100 ARRAY MSG WRITE NEUSTEN 1 7 1 Operation Common to all OFBs 1 Programming e Press PARAM The OFB is then displayed graphically Assign a PL7 3 variable or an equation to each Input Output parameter 1 A coherence check is performed TEL Function pl _3 tab3axe malo DAxprop ie OPTIONAL FUNCTION BLOCKS IHPUT DUTPUT PARAMETERS ARMLDI ARIS gt word APPLI word MODIFY __ 1 1 8 X e Press Enter to validate the screen e Press Enter to validate the equation Result EXEC AXM LDO 1 W40 Internal data when it exists can be read and written from the PL7 3 program The data can be accessed by its mnemonic E g IF AXM LDO READY THEN 1 This assignment is not required for all parameters Some input paramet
147. amming and use of this OFB refer to Divider C3 of this manual 6 4 2 Error Processing It is possible to process stop position target window servo synchronization and processor errors directly at module level by diverting the AXM program to a specified sequence However other errors soft stops emergency stop etc always requires PLC processor involvement The programming used depends entirely on the type of reaction required on the occurrence of one of these errors The example described here is not a programming recipe that covers all cases but is provided as an illustration only Functions not available on TSX AXM 162 module 6 13 6 Dialog with the PLC Processor 6 Full Module Control from the PLC Processor Reminder 6 14 Processing description The occurrence of any type 2 error stop synchronization target window CPUF servo emergency stop sounds a warning buzzer 017 5 After intervention the operator acknowledges the error through 113 2 allowing program execution to restart from the point where it was stopped Programming for type 2 errors SOUND WARNING BUZZER 1U4 1 E 017 5 ACKNOWLEDGE ERROR AND RESUME AXM PGM EXECUTION 113 2 1 8 0U4 2 0 H QUA 2 2 QUA 2 4 QUA 2 6 QUA 2 8 QUA 2 0 017 5 iR An error can only be acknowledged if it is no longer present In some cases this means that the operator must first intervene emergency stop via In4
148. ands XBT Display Comments FONCT 31 Enter the function number ENTER 3ganm se Access to modification MODIF 200 ENTER Enter the new value As B RCCE 52 Note For values with only two states lt MODIF gt will toggle between the two possible states 8 1 8 Access to the Configuration Parameter Table 8 8 2 Parameter List Configuration parameters Function Modif Mnemonic Sensor resolution F31 RESOL Maximum velocity F32 VMAX User selected length unit F33 UPUL User selected velocity unit F34 UPUV User selected acceleration unit 5 UPUA Higher soft stop Max F36 XMAX Lower soft stop Min 7 XMIN Acceleration F38 X ACCE Deceleration F39 X DECE Type of reference F40 X TYPEREF Manual control velocity F41 X VMAN Stopped velocity F42 X VSTOP Stop time period F43 X TSTOP Target window F44 X TW Max position error deviation F45 X DMAX Speed drive max voltage F46 X UMAX Position gain F47 X KPOS Max velocity tolerance F48 X LIMV Velocity correction factor F49 X KV DMAX error divert mask 1 F50 X MDMAX DMAX divert step 1 F51 X NDMAX VSTOP error divert mask 1 F52 X MSTOP VSTOP divert step 1 F53 X NSTOP TW error divert mask 1 F54 X MTW TW divert step 1 F55 X NTW Synchronization time out 1 F56 X TSYN Synchronization error divert mask 1 F57 X MSYN Synchronization error divert step 1 F58 X NSYN CPUF divert mask 1 F59 X MCPUF CP
149. annels inputs or outputs 500 Veff Between outputs and bus 1000 Veff Between contacts on the same output 500 V 8 5 8 6 A Appendix A 1 Determining Parameters Reminder TSX AXM modules determine the position measurement value from data sent by a phase shifted incremental encoder The number of pulses is proportional to the distance traveled by the moving part The phase shift between signals A and B indicates the direction of motion RESOL parameter Resolution This is the distance that must be covered by the moving part to obtain a variation of one increment in the sensor signal or the distance separating two consecutive rising edges on the same channel channel A m Where Number of pulses per revolution rotary sensor or along the length of the linear measurement L Usable measurement length With a linear measurement the calculation of R is immediate R L N When a rotary encoder is used be sure to allow for the position of the reduction gearing Pitch N ne Equivalent reduction ratio It is the product of the reduction ratios between the encoder and the pitch e g ne 1 In all cases VI e I R VI Linear velocity Distance travelled Frequency Number of increments for a given motion 10 1 A Appendix Determining Parameters TSX AXM 182 162 Special features Quadruple multiplicat
150. applies to users with an installed base of axis control applications running on V3 level PLCs TSX 47 30 67 20 87 30 who wish to upgrade their system to use V4 level Model 40 PLCs 1 1 1 1 2 TSX Series 7 axis control system 1 2 Presentation Axis Control System Presentation cap 5 Speed Controller 5 ica al or TSX AXM 182 1 or FTX 507 TXTLPL7AXS fS IEEE 5 A TSX XBT 182 Incrementa Encoder The TSX Series 7 axis control system comprises e TSX AXM 172 TSX AXM 182 and TSX AXM 162 axis control modules for use with TSX 47 40 TSX 67 40 TSX 87 40 and TSX 107 40 PLCs These programmable axis control modules run a user developed program and are designed to control a speed controller used to move a moving part along a linear axis with servo loop feedback control of its position e The TXT L PL7 AXS V4 software pack for FTX 507 workstations This software is used to program TSX AXM 172 TSX AXM 182 and TSX AXM 162 modules It also provides the user
151. as an example only Application transfer AXM TSX Modification of the parameters of a program instruction Selection of an operating mode The module is released By PL7 AXE as soon as the current operation is complete writing the configuration writing the AXM program transfer completed By the TSX XBT terminal When the keyswitch is set to the Configuration position When the Auto mode is selected Any attemptto access a module in a mode that requires reservation while the module is already reserved by another terminal will cause the message AXM RESERVED to be displayed Functions not available on the TSX AXM 162 module 6 39 6 6 40 Dialog with the PLC Processor 6 Access Conflicts PLC memory reservation In the same way that there is a reservation mechanism for the TSX AXM module there is a similar reservation mechanism for the PLC memory Reservation only affects the dedicated field used to store axis control applications Reminder on V4 level PLC memory layout The PLC memory is divided into dedicated segments one of which is dedicated to axis control PL7 3 DATA PL7 3 PROG PL7 3 CONST PL7 AXE The only entities that are allowed access to the dedicated Axis field are The PL7 AXE program TSX XBT terminals The AXM LD OFB a PL7 3 language option Refer to Divider C3 of this manual Therefore if a terminal attempts to access a dedicated Axis field when it has alre
152. ation file name is AXIS BIN Simplifying the generation phase of the application structure APP In version V5 it is no longer necessary to regenerate the APP file after modifying a BIN file Terminology used The names of certain function keys have been modified between version V4 and version V5 These modifications are n connected mode STORE V4 is now STA DSK used to transfer the axis control application from the TSX PMX PLC memory to the AXIS BIN file on disk This transfer is executed using the TRANSFER tool RETRIEVE V4 is now DSK STA used to transfer the AXIS BIN file on disk to the TSX PMX PLC memory This transfer is executed using the XTEL TRANSFER tool In local mode BIN V4 is now RETRIEVE used to transfer any application file name from the hard disk to the AXIS BIN file in the X TEL database thus erasing the previous contents of the AXIS BIN file STORE V4 remains as STORE and is used to transfer the AXIS BIN file to any application file name on the hard disk or on a backup diskette It is also possible to modify the configuration of the application I O To do this the XTEL CONF tool must be used by pressing the XTELCONF soft key this key is only offered if there is a discrepancy between the directory and the configuration generated under XTEL CONF Connection to the FIPIO fieldbus PL7 AXE software can be used on an FTX 417 507 workstation connected to th
153. ations for a given axis enter the wildcard in place of the application number To document applications for all axes enter the wildcard in place of both the axis number and the application number Enter Starts the print out or the transfer to disk From this screen the cursor up and cursor down keys can be used to let the user select another part of the application documentation file to print out In addition the sub mode screen lets the user access the following dynamic soft keys e PSKIP Skips one page e P NBR Enter the start of print out page number absolute page num bering e REV Enter the revision number of the application Documentation file description 9 2 The complete application documentation file comprises e The configuration 2 pages e The AXM program 20 program steps per page e The variables WNi and CNi e The extended directory if this option is requested the number of pages is variable 9 Documentation Mode Mode Description Example of a printed listing page Configuration AXM units Length um Velocity mm mn Acceleration mm s2 Fxx Parameters Values Limits 1 RESOL Sensor resolution Sie 10 um UZ AF32 VMAX Max velocity 4050 mm mn AXE FAIGA User units AF33 UPUL Length mm um mm cm AF34 UPUV Velocity mm mn mm mn cm mn dm mn m mn AF35 UPUA Acceleration
154. atus Screen Fonction axis paleti ensach D xproprj ATI Hall RUN NOC DEF BL IRE P P SIP ARE H DEF BL AB STP REG AKE PROG DEF STP STOP MASK IT HS PROG DEF TW UMS DEROUT RB DHAR END PROG DEF DHAR EVENT UC StH REFUS CD DEF AnH PRES CH RB SYH TEST PO AUN DEF ARUR OUT DIS UH OUT DIS H DEF CPUF SENS AB TW I3 DEF PUE Al CPUE SENS DEF DUF R2 JAB CPUF 8 DEF R3 ARUR 9 AB n2 BORHIER ACK BL ACK QUE ACK PUF PAS COURANT MODE F AUTO CYC AUTO CYC WAL ARE DER PAS IT PAS RU REPLI 8 PAS DEPART VALEUR CHI M ECART POSITION 8 um MODUL WIT 1 001 POS COURANTE 0 um POS ERTERHE VITESSE 6 170 CH1 170 2 178 CH3 178 LINE 236 SRP 1000 nn nn B um AH HEADED STOP KR HELP This screen displays the information and the commands that are available to the discrete I O and register interfaces as mnemonics The left side of the screen shows information supplied by the module on the discrete I O Ixy i and register IWxy i interfaces The right side of the screen shows the commands destined for the modules that are sent via the discrete I O Oxy i and register OWxy i interfaces The parameters displayed across the bottom of the screen are from the IW or OW register words except for th
155. br Output Written by CPU Output Written by CPU Rack Nbr Rack Nbr Discrete I O Bits FEDCBAQ8 76543210 wy COLL Owy Reserved 1 Activate output relay R1 1 Activate output relay R2 1 Activate output relay Ixy 1 Input In3 supplied Ixy 1 Module reserved 1 START operating mode 1 STOP operating mode 1 Resume from nextstep step by step Resume current step after Stop Ixy 1 Moving part stopped 0 Emergency stop command 8 Input Register Words 8 Output Register Words 11 111 11 F 0 F 0 NS no 0 F 0 on x 1 Current Step Nbr 7 0 IWxy 3 Last IT Step Step Nbr Before OWxy 3 Start Step Nbr Comparison Divert Instruction Value IWxy 4 Position Error OWxy 4 CNi or WNi LSB Word Nbr 5 Position Error OWxy 5 DAC Value open loop or MSB Velocity Correction Factor IWxy 6 Position LSB OWxy 6 External Set Position LSB IWxy 7 Position MSB OWxy 7 CNi Word Value T HR IWxy External Set Position MSB Not relevant to TSX AXM 162 module 6 4 OWxy 0 Standard Command Word FEDCBA9876543210 Mask the interrupt 1 Reset message system to 0 Text block 1 Change module state to Run 0 Change module state to Stop E 1 Safety Off mode F 1 Inhibit outputs OWXxy 2 Complementary Command Word 2 FEDCBA9876543210 t Acknowledge stop error and resume current mode t Acknowledge stop er
156. cated AXE zone is not already reserved the requester can access this zone From this moment any attempt by another terminal to access is refused and the message TSX ALREADY RESERVED appears This reservation is cancelled when work has been completed Caution PL7 AXE cannot be used to set up a remote station over a TELWAY network 2 10 Using the AXM configuration and programming software 2 2 5 Methodology The AXM configuration software can be used in local mode working on the disk inconnected mode working on the module memory AXM MEM or the PLC memory TSX PMX MEM LOCAL MODE CONNECTED MODE FTX 507 FTX 507 Processor TSX AXM TSX FILE AXM FILE TSX MEM x T ad IS SSS The use of local mode is recommended when creating AXE applications and the dedicated AXE zone Although there is nothing to stop a complete application being created in connected mode it is really designed for modification correction and debugging Implementation is in three phases Program mode Debug mode local connected Create 1 phase directory Write the i Modify the 2 phase AXM ju applications applications I R Document Update 3 phase the AXM Documentation 2 11 NO 1 phase Creating the directory Open the main PL7 AXE window
157. cs for each protocol ENTER allows access to the next parameter Protocol SERIES 7 UNI TLW Data Link CL Passing RS 485 Mode HDX HDX Speed Current speed 9600 Format 8 bits 8 bits Parity Odd Odd Stop 1 bit 1 bit These characteristics can be modified by using the lt INCR gt and DECR keys e Data link RS 485 RS 232 Speed 9600 19200 Parity None Even Odd Stop 1 bit 2 bits 1 Setting the Terminal into Service 1 Service Introduction XBT 182 2 Special Case In addition to configuring the serial link line in axis control mode as described previously the terminal must also be configured in process control mode The correct procedure is fully described in the XBT C8 User s Manual Sub section 4 1 supplied with the terminal 1 7 1 8 2 2 1 Using the Terminal 2 Presentation and Data Entry Principles Eee TSXXBTT82 CONFIGURATION NORMAL CONFIDENTIEL E iS ALARM ALARM ALARM AXIS X STOP X ALARM CLEAR STOP ACQ F eres exe 5 o o o o o PROG K 8 9 PROCESS HELP CTRL AXIS o o OUTPUT SPEED Y 5 MODIF incr DECR R ANNA o o fy X 2 3 quit DEL o lo DIRECT ENTER ster i eve 0 5 2 lines of 16 characters for operator dialog e 1st line Operator gu
158. ct Drive Mode SS 3 6 DRIVE Servo loop disabled we Automatic step by step mode 1 SS 3 2 o Automatic block by block mode 1 SS 32 o Automatic cycle mode 1 SS 32 ove ram Starts execution of the selected mode SS 3 1 STOP Stops execution of the selected mode SS 3 1 Others 2 4 PROCESS AXIS Selects Process Mode when a TSX XBT 182 2 terminal is used not used on TSX XBT 182 1 terminals SS 2 5 CTRL Runs Self tests in Confidential Mode refer to the Appen dix Sub section 11 1 or the XBT User s Manual HELP Not used 1 Key not relevant for TSX AXM 162 module 2 Using the Terminal 2 22 TSX XBT Operating Modes TSX XBT 182 terminal operating modes are selected through the keyswitch located on the front panel The Normal mode is a sub mode of the Confidential Mode It does not allow parameter modification XBT Configuration Mode This mode allows ere e Message language selection French English or XC German 1 e Communication protocol selection CONFIDENTIEL e Display and modification of line characteristics Note Selecting this mode cancels TSX AXM 182 module reservation by the TSX XBT terminal refer to Divider B Sub section 6 6 XBT Normal Mode This mode allows Pen NN e Display of configuration parameters e Display of the AXM program e Display
159. ction of the displayed maximum speed VMAX 5 1 5 Configuration Mode 5 Mode Description Data entry and display procedure When creating a configuration this mode lets the user directly enter the first two parameters They must be entered before the user can access other parameters Once the first two parameters are entered the mode changes to Display DISP CONF screen All other parameters take a default value Note Itis possible to validate the configuration at this point but the default parameters may not be appropriate for the application To modify the other parameters e Press Cursor Up and Cursor Down to select the various parameters on the same page AP NAME To select the application name 16 alphanumeric characters max e NEXTPAGE To access the next page e PREVPAGE To access the previous page e TOP For direct access to the first page BOT For direct access to the last page MODIFY To modify the parameter selected by the cursor in the data entry line ENTER Validates each parameter once it has been modified Once all of the parameters are entered e ENTER Validates the configuration data entered and returns the user to the Mode Selection Screen e lt QUIT gt YES Cancels the modifications made and returns the user or lt CLEAR gt YES to the Mode Selection Screen Note PL7 AXE checks the coherence of the values entered Any values that are out of bounds wi
160. ctly to the TSX AXM module selecting Manual Drive Mode via the Register REG interface REG 1 gt OWXy 1 However on the next PLC cycle the PL7 3 application will override this and the Automatic Mode will remain selected This instruction may also cause the message SYSTEM ERROR to be displayed by the TSX XBT terminal m SS Manual Drive Terminal Mode ane TSX AXM Module 110 OWxy 1 6 Dialog with the PLC Processor 6 Access Conflicts Rules to observe to avoid these conflicts 1st case 2nd case Attention The TSX XBT terminal is not used during normal operation but only during the debug phase Proceed in two stages 1st stage Select TSX AXM module Safety Off Mode Stop the PLC Make the TSX XBT terminal take the part of the PL7 3 application operating mode selection start program synchronization etc 2nd stage Set the PLC to Run Restrict the TSX XBT 182 terminal to an observer function Repeat this as often as necessary The TSX XBT 182 terminal is used during normal operation in conjunction with a PL7 3 application Ensure that the areas of influence of the terminal and the application program are exclusive Example A TSX XBT 182 terminal dedicated to displaying and acknowledging System error conditions The PL7 3 application controls operating mode selection and starts the module program PL7 3 application programming instructions To avoid disabling the TSX
161. ctor As B the terminal ERROR 5 UM ERROR 7 un AX dg KR ADJUSTMENT OF e Repeat the reference set up and move the moving part to Position 1 The position error should be less than that required if not repeat the procedure e Any modification to the RESOL AND V MAX parameters by PL7 AXE will reset the KR factor 7 19 7 Setting into Service 7 Preliminary Adjustments 7 4 3 Adjustments Adjusting the position gain KPOS The moving part has inertia equal to the maximum value encountered in the application e Select Assisted Manual Mode e Move the moving part from Position 1 to Position 2 and back e Display the position error when stopped e Adjust KPOS Function F47 to obtain an acceptable error level while ensuring adequate stability otherwise review the design of the machine e Set VMAN VMAX Function F41 e Move the moving part from Position 1 to Position 2 and back again and if required adjust KPOS once again Adjusting the feed forward gain KV e Select Assisted Manual Mode e Move the moving part from Position 1 to Position 2 and back at velocity VMAX Display the position obtained when the moving part is in constant velocity motion e Adjust KV Function F49 to obtain the required sign and error values Note If the target point overshoot is too great KV can be reduced slightly Offset adjustment display optional When the moving part is stopped adjust the
162. ctor is assumed to be 1 5 Programming TSX 172 182 modules 5 5 2 Move Instructions Move to a Position Without stopping Instruction code GP1 And stop Instruction code GP9 GP1 or GP9 F Velocity X Target position Operands Velocity Immediate value expressed in user selected physical units Position elmmediate position e WNi internal position eEXT external position 1 e Immediate position Immediate indexed position eIWNi internal indexed position elEXT indexed external position 1 1 Value provided by PLC program via OWxy 6 7 registers in module unit cf table appendix A1 Example 1 GP1 F 1000 mm mn X 5000 mm 0 Move to position 5000 mm at a velocity of 1000 mm mn without stopping Example 2 GP9 F 1000 mm mn 0 Move to internal position WN1 set by teaching at a velocity of 1000 mm mn and stop Execution conditions e Axis referenced e Velocity lt VMAX defined in the configuration ePosition between XMIN and XMAX e Indexed position Position between XMIN and XMAX 5 3 5 Programming TSX AXM 172 182 modules 5 Move Instructions Move until an event is detected input In3 In direction without stopping Instruction code G 1 In direction without stopping Instruction code G 1 In direction and stop Instruction code G 9 In direction and stop Instruction code G 9 G 1 or G 1 F Velocity EVENT Event G 9 or G
163. d Ixy D I3 Reflect the state of input In3 Two significant states 1 Voltage present 0 Voltage absent Use Especially used to check that the moving part is on the reference set up cam Ixy E RES At 1 when the module is reserved Reservation can be PL7 AXE XBT terminal requested by PL7 3 application via OFB AXM LD Ixy F STOP Reflects the state of the moving part Two significant states 1 Moving part stopped 0 Moving part moving NB Bit Ixy F is set 0 when the moving part is physically stopped for the time required to perform the stop test TSTOP 6 22 6 6 5 6 5 5 Dialog with the PLC Processor 6 Discrete I O and Register Interfaces Input Register Words Oxy i OW Module status word IWxy O Conditions common to all bits e PLC running IWxy 0 0 Reflects the state of the module interrupt Flag Condition Module running Interrupt not masked IT 0 1 When an interrupt is sent by the module 1 0 When the interrupt is acknowledged by the PLC ACK INT instruction Ixy IWxy 0 1 Not used reserved IWxy 0 2 1 Indicates that the module MSG field is being reset RZM Access to the module from the XBT terminal or from PL7 AXE is impossible Normally it reflects OWxy 0 2 IWxy 0 3 Module availability 1 Module ready 0 Self test in progress Module failure 0 1 When self tests are complet
164. d application is read ERROR WNi PROG ABANDON APPLI YES deletes the applica tion NO reinitializes just the affected part A9 A Appendix Use of PL7 AXE in V3 configuration The directory which is created can be modified as long as certain precautions are taken e Ensure that changing a storage address does not cause the application to be transferred automatically to the new zone The user is responsible for checking this e Check that any new address does not cause an overlap with another application The user can also modify the PL7 3 application configuration by modifying the module location or the number of CWi or Wi words Changing the location of TSX AXM 172 modules When a directory has already been created and the user wishes to move a TSX AXM 172 module within the PLC configuration or remove a TSX AXM 172 module from the configuration altogether When a directory is read modules that have been relocated or removed are preceded by an asterisk UP DATE willupdatethe directory to reflect the new PL7 3 configuration Changing the number of words allowed in the PL7 3 configuration Utility keys When a directory has already been created and the user wishes to change the number of CWi or Wi words When a directory is read the addresses which exceed the maximum permissible number of words are preceded by an asterisk The user must change the invalid addresses one by one Note If the
165. d but Manual reference point set up and automatic mode not referenced if the first motion instruction is an automatic reference point set up command Not programmed All operating modes can be accessed except for but referenced automatic mode Not programmed Manual reference point set up not referenced Note Forced reference set up also enables the axis to be referenced see Sub section 4 1 Functions not available on TSX AXM 162 module 3 Operating Modes 3 3 3 Safety Interlocks Application safety interlocks Input In4 Must have a 24 V supply When this input is no longer supplied an emergency stop error is caused This stops the moving part disables relay RO and the currently selected mode This mode can be used as a safety interlock to ensure that the module can only operate when the speed controller is operational Relay output This output is designed to control the speed controller enable input Relay RO is activated by the module as soon as the module starts running It is immediately disabled if a module error occurs PLC safety interlock The Emergency Stop bit Bit Oxy 7 must be setto 1 by the PLC program or by the TSX XBT terminal Therefore when this bit goes to 0 it causes an emergency stop fault e Stopping the moving part e Disabling relay RO e Disabling the currently selected operating mode Interlock On and Interlock Off modes Interlock On If this is selected a PLC error or sto
166. de except Servo Off DMAX 0 1 When the error occurs DMAX exceeded 1 0On an acknowledgment command OWxy 2 2 or OWxy 2 3 Functions not available on TSX AXM 162 module 6 Dialog with the PLC Processor 6 Discrete I O and Register Interfaces IWxy 2 OW Axis status word Nbr 2 IWxy 2 Conditions common to all bits e PLC running e Module running IWxy 2 0 At 1 when the moving part has passed the lower soft stop DEF BL Condition Axis referenced 0 1 When LSS passed 1 0 Once the moving part is back within the valid interval position gt LSS 2 x TW and error acknowledged OWxy 2 C IWxy 2 1 At 1 when the moving part has passed the upper soft stop DEF Conditions Axis referenced 0 1 When HSS passed 1 0 Once the moving part is back within the valid interval position HSS 2 x TW and the error acknowledged OWxy 2 C IWxy 2 2 At 1 when a stop error occurs DEFSTP Conditions All modes except Servo Off Stop error not masked 0 1 When the error occurs V gt VSTOP after TSTOP 1 0 On acknowledgment OWxy 2 0 or OWxy 2 1 IWxy 2 3 At 1 when a emergency stop error occurs DEFARUR Conditions None 0 1 When the error occurs supply lost to In4 or Oxy 7 goes to 0 1 0 On acknowledgment OWxy 2 A or OWxy 2 B if the error is no longer present voltage present on In4 and Oxy 7 at 1
167. deceleration and acceleration rates compatible with the mechanical system Command refusal when executing a move to indexed position instruction GP1 F 1 or GP9 F 1 e The value in the PRF register does not meet the condition LSS lt PRF lt HSS This check that may not be justified cannot be deleted To avoid this symptom give the soft stops symmetrical values in relation to 0 Refusal to execute a command Symptoms Probable Cause Corrective Action Command refusal when executing a move to indexed point instruction GP1 F 1 or GP9 F 1 The target point PRF x is outside of the valid interval Programming error Correct the program Command refusal after encountering a TRAP instruction in the AXM program e No END instruction in the program e No jump to step instruction programmed e No divert to step instruction programmed e Wrong start step programmed Correct the program Command refusal when Forced Reference Set up is requested or Open Loop mode selected or when the mode selected is not present Refusal is justified Perform a Forced Ref Set up in another mode Reminder if the axis is not referenced POFOR cannot be performed except in the POMAN and AUTO modes Command refusal with an XBT terminal system error when a motion command is requested in Manual Mode In Manual Mode the target point is HSS 2 x TW in
168. ded Type 2 error ALARM CLEAR ALARM STOP Special case 10 2 MESSAGE CODE ERROR TER BLOCK 24 Terminal block unlocked or missing LIMIT 20 Soft stop limit switch OVERFLOW 22 Calculation overflow POWER FAIL 23 Power break Soft stop errors must be acknowledged by pressing lt ENTER gt F88 before returning the moving part from overrun if ENG STOP CLEAR STOP Acknowledges the error and continues the current program Acknowledges the error and quits deactivates the current program MESSAGE CODE ERROR EMG STOP 10 Emergency stop Bit Oxy 7 at 0 EMG STOP 14 10 Emergency stop Input In4 not supplied DEVIATION 02 Position error deviation SYNC ERROR 03 Synchronization TARGET WINDOWO04 Target window CPU FAIL 05 PLC stopped or PLC error STOP ERROR 01 Stop COMM REFUSED An impossible motion command has been re quested Acknowledged by the next valid com mand Divider B Appendix Sub section 9 7 describes the reasons for command refusal A Appendix A 1 Self tests Purpose The self tests check correct terminal operation e g when the system is first installed A self test can be performed even when the terminal is not connected to a TSX Series 7 PLC Essential terminal components are tested sequentially RAM PROM Buzzer Display etc The ENTER key can be pressed at any time to jump from one test to another
169. ding KVAR value Peak Limiting The LIMV factor entered in the configuration allows the user to adjust the authorized velocity overrun value 596 LIMV 20 of VMAX KV The feed forward factor or overshoot compensation factor is expressed as a percentage 10096 corresponds to the value that would completely remove any deviation at constant velocity when using a speed controller without continuous error When KV increases the deviation decreases however the risk of an overrun including the risk of stop point overshoot is increased Therefore a compro mise between the two must be found Note In some cases the deviation passes through a minimum level and may change sign when KV increases Digital Analog Converter DAC The function of this circuit is to convert the digital output value 10 bits sign into an analog voltage of between 10 V and 10 V Sampling Rate Although not shown by the diagram the servo loop operates with a sampling rate of 10 ms 1 10 1 Module Presentation 1 1 5 Module I O Inputs Outputs Note TSX AXM modules have five inputs InO In1 In2 In3 In4 InO In1 In2 Incremental encoder inputs These three inputs are designed to receive an incremental type position signal Various sensors can be used such as Rotary incremental encoder Linear incremental encoders signals from a MASAP variable speed controller InO and In1 are designed to receive signals from a direc
170. disk using the STORE command 4 3 Soft keys ALL DIR AXIS PACK provides a detailed view of the AXIS directory specifying for each logic number its geographic location rack module its type TSX AXM 162 TSX AXM 172 TSX AXM 182 etc the number of the associated AXM the size assigned to each application TOP displays the start of the directory BOT displays the end of the directory PREVPAGE displays the previous page NEXTPAGE displays the next page This is the view of the directory which will be provided in the documentation is used to modify the default assignment of the axis numbers A number can only be assigned to one slot compresses the dedicated AXE zone Itis also used to recover empty spaces which have been created for example when applications have been deleted only displayed if the configuration is made up of more than 16 TSX AXM modules It enables movement from one group to another 4 4 Managing the dedicated AXE zone 4 UPDATE Modification of a slot or the addition or removal of an AXM module affecting an I O configuration using XTEL CONF is indicated in the AXIS directory by an asterisk which precedes each module concerned Displayed only in this case the UPDATE key causes the directory to be updated following each new I O configuration defined by XTEL CONF XTEL Function axis line factory E xproprj He LO
171. divert step DMAX divert step Not programmed VSTOP divert step Sync error divert step TW divert step Output Output available Parameter Position Position Programmed Index parameter Programmed Referenced reference point set up Resolution Reverse Run Stop Seconds squared Safety interlock Selected Self test Synchronization Relay output discrete I O Terminal block Stop time out Synchronization time out TSX Series 7 PLC Type of reference Target window A Appendix List of Abbreviations U UM Micron UMAX Speed drive max voltage UNI TLW Uni Telway UPUA User units Acceleration UPUL User units Length UPUV User units Velocity V VAL Value VEL Velocity VEL COR Velocity correction VMAX Maximum velocity VMAN Manual control velocity VSTOP Stopped velocity WAIT Wait X X Position XMAX Higher soft stop Max XMIN Lower soft stop Min 11 A Appendix A 12 Diagnostic Assistance A number of operator errors incorrect parameter values selecting a function when the selected mode does not allow it etc are indicated by the terminal buzzer sounding In some cases an error message is also displayed to indicate the reason for command refusal Table 1 lists the various messages that may be displayed and their cause In most cases this is enough to allow the operator to take corrective action In other cases a generic message may be displayed or the system may react unex
172. e previously stored to disk to be transferred to the dedicated AXE zone of the PLC memory E XTEL Function axis line1 factory RETRIEVE AREA AXIS FROM TSX SOURCE FILE TO TSX MEMORY TSR SOURCE FILE ARIS BIN ACCESS TSK FILE RPROPRJ FACTORYALINE1 ARIS APPLI LINE RETRIEVE DSK gt ST COMPARE starts the comparison between the source file and the dedicated AXE zone of the PLC DSK STA retrieves the selected AXIS BIN files to the dedicated AXE zone in the PLC memory 3 4 Selecting working memory 3 3 2 Selecting AXM MEMORY The AXM memory is the only one which can be used for debugging and operating modules The application is stored directly in the module memory on each confirmation The AXM memory can only be used if a STATION APP configuration file containing at least the I O configuration performed under XTEL CONF has previously been transferred to the PLC memory The PLC can be in STOP or in RUN XTEL Function axis line1 factory E xproprj ws RRH TER 8 L R3H 8 L 8 6 RSIS 8 RPPLI 8 PL7 RHS U5 8 INSTALLATION OF AXM 182 172 162 Copyright TE 1998 93 PROC TSK 187 455 U5 8 SAVE MANUAL FILE AXIS BIN CONNECTED MEMORY OPERATING MODES 1 TSK MEMORY 1 PROGRAM 2 ARM FILE 2 DEBUG 3 TSK FILE 3 TRANSFER ARM amp DOCUMENTATION LINE OPER MODES CHOICE ARIS RPPLI RWIS
173. e the hard disk is selected as the working memory In local mode the user can define the configurations and the programs for each module application AXM file Applications created in this way are not associated with any module generate the AXIS BIN file image of the dedicated AXE zone TSX PMX file Connected mode operation In this case the AXM memory module memory or TSX PMX memory PLC dedicated zone is chosen as the working memory In connected mode the user can generate or modify a configuration generate the dedicated AXE zone transfer configurations from the disk to the modules or to the dedicated zone in the PLC memory When the terminal is connected to an AXM MEM module PL7 AXE can also be used for debugging E XTEL Function axis line1 factory E xproprj ARH TER 8 L R8H 8 L 8 6 ARIS APPLI PL7 RNS U5 8 INSTALLATION OF AXM 182 172 162 Copyright TE 1998 93 PROC TSX 187 455 V5 8 SAVE MANUAL FILE AXIS BIN CONNECTED MEMORY OPERATING MODES 1 TSK MEMORY 1 PROGRAM 2 ARM FILE 2 DEBUG 3 TSK FILE 3 TRANSFER AM 4 DOCUMENTATION LINE OPER MODES CHOICE ARIS RPPLI AXISZAPP DIR ARIS 3 2 Selecting working memory 3 3 1 1 Role of the common soft keys Details of the soft keys common to the different modes are given below AXIS APPLI AXIS APP DIR AXIS READ ME selects the number of the w
174. e 2 1 Axis Control Program 2 2 Different versions Compatibility rules 2 3 3 Optional Function Blocks 3 1 Composition 3 1 3 2 Different versions 3 2 C 3 C 4 2 TXT L PL7 AXS V4 Axis Control Program 2 1 Hardware Presentation The TXT L PL7 AXS V42 software pack comprises Two 3 1 2 program diskettes The PL7 AXE set up program diskette TXT LF PL7 AXS V42 The OFB diskette comprising AXM LD AXM DG and AXM PG OFBs TXT LF FB AXS V42 A software access key e This manual TXT DM PL7 V4E TXT DM PL7 AXS Documentation Diskettes Software Key 1 1 1 2 2 TXT L PL7 AXS V4 Axis Control Program 2 2 2 7 Implementation Program Purpose The PL7 AXE program is a multi lingual program allowing the user to select English French German Italian or Spanish as the working language It runs on an FTX 507 workstation or on an IBM PS 2 or compatible computer for use in setting up and implementing TSX AXM axis control modules and their applications It provides e A menu driven user interface that assists the user when entering application parameters e An editor for creating and modifying AXM programs using PIC language e The ability to store programs on diskette and to print out program listings e The ability to transfer the application machine parameters and motion program to various forms of memory storage Working Memories The PL7 AXE progra
175. e FIPIO distributed I O bus In this case the workstation uses the reserved connection point 63 Upgrading PL7 AXE V4 application to V5 Any V4 application can be converted to a V5 application provided the following operations are performed D Retrieve the V4 application under X TEL V5 using Save Restore or Copy Paste Q Create the initial window for a V5 station Start the Import function from the AXIS icon in the V5 station initial window and import the following files V4 station AXIS APPLI xxx BIN essential binary application file into the V5 station directory AXIS APPLI then V4 station AXIS MOD xxx 162 xxx 172 or xxx 182 optional into the V5 station directory AXIS MOD Run PL7 AXE in the V5 station and perform the following operations Select the TSX PMX file under the item local working memory depending on type of operation to display the RETRIEVE command Activate the RETRIEVE command which provides access to the list of xxx BIN station files Activate the DIR BIN command and select the previously imported xxx BIN file ENTER ENTER restores the xxx BIN file under the V5 station with the file name AXIS BIN Quit PL7 AXE Start XTEL CONF From the Generation menu activate the with entry of application parameters command Quit XTEL CONF Start PL7 3 and activate the V5 CONF command to assign the new configuration defined under XTEL CONF to the application program
176. e as the step by step mode with the following differences e Mode name AUTO B B e Restart after each move instruction with stop a command Special cases e If the AXM program is already being executed when one of the automatic sub modes is selected the screen that shows the current step is displayed immediately e Ifthe AXM program is waiting to resume the user can continue the program by pressing lt START gt 3 3 3 Selecting the Operating Mode 3 3 Manual Drive Mode Enable conditions Access Note 3 4 e Module configured e Module running e Calibrated axis e No errors Commands XBT Display Comments Qu d 1 Y Te B RUM Temporary display that appears IUE during mode selection IMAN DRIVE RF re c a n I Basic display for selecting the direction of motion or X X Command for Moving part motion in the selected direction e X Positive direction e X Negative direction The moving part will move as long as the key remains pressed The second display line displays the current position of the moving part Release the key The velocity of the moving part is set in the AXM configuration AXM VMAN parameter if the velocity correction factor is at 1 if not Velocity VMAN x Correction factor 3 Selecting the Operating Mode 3 3 4 Assisted Manual Mode Enable conditions e Module c
177. e between axis n and module location Directory Address and size of stored configurations AXIS 0 APPLICATION 0 AXIS 0 APPLICATION 1 AXIS 1 APPLICATION 0 AXIS n APPLICATION 0 AXIS n APPLICATION 1 This zone contains the information which can be accessed by the PL7 AXE functions concerned with its organization and by the axis control OFBs A compacting function is used to optimize the contents A copy of this dedicated AXE zone is stored in the AXIS BIN file under the AXIS APPLI directory on the hard disk or diskette An application stored in this zone can be transferred to the TSX AXM xxx module by the AXM LD OFB TSX AXM PL7 3 Directory Axis 0 Application 0 AXE zone Axis i Application J p OFB The AXMLD OFB is described in section 2 divider C2 2 9 NO 2 4 2 Reservation while operating in connected mode Any FTX 417 507 terminal or microcomputer can be physically connected to any TSX PMX PLC station on the same MAPWAY ETHWAY FIPWAY ETHERNET network Because ofthis several terminals can requestto be logically connected to the same PLC station In order to avoid access or procedural conflicts each terminal must request reservation of the entire dedicated AXE zone This reservation can only take place while reading from or writing to the directory or to an axis control application If the dedi
178. e code is used as the software configuration code which is entered from the terminal when the PL7 3 I O configuration is defined 7 1 7 Setting into Service 7 2 Identifying the Module Label location TSX AXM 172 modules comprise e Slots for user selected clip in characters D e A technical label They are supplied with a wiring label that should be affixed to the TSX BLK 4 terminal block TSX AXM 172 A A A B SY A B B A A a O M Clip in characters Clip in characters are used to identify the location of the module and the terminal block E g 127 Input Rack 2 Slot 7 Technical label Affixed to the front panel of the module it identifies D The type of module 2 The assignment of the LEDs 7 2 7 Setting into Service 7 7T 3 Connecting the Module 7 3 1 Overview TSX AXM 182 TSX AXM 172 TSX AXM 162 Speed controller E TSX BLK 4 24 VDC S ensor Se Encoder Discrete I O supply Detect Encoder Detect lt Ref Speed Controller Note The emergency stop and limit switches must act directly on the power circuit Encoder supply 5VDC or 24 VDC for TSX 172 module Encoder supply 5VDC TSX AXM 182 162 module 7 3 7 Setting into Service Connecting the Module 7 3 2 Connecting the I
179. e configuration parameters or mechanical tolerances This adjustment can also be performed from TSX XBT 182 terminals The correction factor must be adjusted if the deviation between the measured travel and the displayed travel is excessive checks should be performed over the greatest possible travel Modification of some configuration parameters can resetthe correction factor and require that it be checked and adjusted again In this case the user is warned by the message WRITE OK ATTENTION KR MODIFIED The function is accessed from the Status Command screen by pressing KR EL Function axis tab3axe malo D 7xpropr KR MACHINE CORRECTION FACTOR SELF ADJUSTMENT 21 MEASURED TRAVEL 000 510 nm DEVIATION DISPLAYED TRAVEL MEASURED TRRUEL 0 510 nn S LINE 7 Debug Mode 7 Setting the Machine Factor KR Procedure From the Status Command screen e Perform a manual reference set up e Select the mode MODE F MAN RFP Origin 0 POS EXT 0 e Ref set direction SET RES DIR Start ref set SET RES START e Select Assisted Manual Mode Select the mode MOD F MAN SET e Select the value corresponding to the longest possible travel as the target point EXTERNAL POS MAX LEN e Start travel SET RES START e Use a precise external measurement to determine the position reached by the moving part 2 e Enter the value obtained in the measu
180. e dedicated axis field allows the user to store anumber of applications The required application can be transferred using the PL7 AXE program or a TSX XBT 182 terminal or under control of the PLC program via an AXM LD OFB Printing The program lets the user print out all or part of an AXM application on a printer connected to the terminal Utility functions These functions are specific to each type of memory storage They let the user display a list of the applications available delete programs and appli cations 2 TXT L PL7 AXS V4 Axis Control Program 2 PL7 AXE Implementation Program 2 2 Different versions Compatibility rules Two versions of the PL7 AXE program are available Version V4 1 reference TXT LF PL7 AXS V4 whichis only compatible with V4 configurations that is to say for a model 40 PLC This version available from October 1990 to November 1991 can only be used with TSX AXM 172 and TSX AXM 182 modules and is limited to 16 axes per configuration Version V4 5 reference TXT LF PL7 AXS V42 available since December 1991 offers additional features 1 Compatibility with V3 configurations 1 model 47 30 67 20 87 30 PLCs 2 Limited to 64 axes 3 TSX AXM 162 module handling 4 Image of dedicated AXE field may be generated in LOCAL mode Version V4 5 is completely compatible with applications generated with version 4 1 Criteria PL7 AXE V4 1 PL7 AXE V4 5 Number of axis lt 16 lt 64
181. e directory screen see section 4 2 4 2 Managing the dedicated AXE zone 4 4 2 Directory An axis control application is defined by an axis or module number from 0 to 63 an application number from 0 to 8 Itis the directory which defines the correspondence between the geographic position of the modules in the I O configuration and the logic numbers Created by PL7 AXE the directory is stored initially in the dedicated AXE zone of the PLC memory The first 64 AXM modules in the I O configuration are allocated an axis number from 0 to 63 in ascending order The allocation of these numbers may be modified by the user If PL7 AXE is operating in connected mode AXM MEMORY or TSX PMX MEMORY the DIR AXIS soft key will display the AXIS DIRECTORY screen or enable this directory to be created XTEL Function axis line1 factory He LOCAL ARTS AREA NAHE LINEL AXIS NO 8 RACK SLOT MODULE AXIS RPPLI NB APPLI SIZE z words 209 L UN RESERVED words 32767 FREE words 32329 TS8 FILE RRIS BIN ARIS DIRECTORY ALL DIR ARIS APPLI TSX PMX AXM space RESERVED The number of reserved words is fixed by XTEL CONF This number cannot be modified by PL7 AXE FREE The number of free words represents the memory area not used TSX FILE AXIS BIN is the name under which the dedicated AXE zone is stored on
182. e module to Stop It is up to the user to reset the module to Run if necessary In addition the user must ensure that each command given in Debug mode produces the expected result Example Selecting the Manual Mode from the Commands half screen Use the Information half screen to check that the Manual Mode is selected For commands sent by bits never forget that the module reacts to rising edges a change from 0 to 1 and that it is up to the user to reset the bit to 0 afterwards Modification of certain configuration parameters will reinitialize the machine factor KR The user is advised of this when the configuration is validated by the system displaying the message WRITE OK ATTENTION KR MODIFIED A 3 A Appendix Adjustment and Initial Set up of an Axis with PL7 AXE Procedure e Perform the preliminary checks and adjust the speed drive as described in Divider B Sub section 7 4 1 e With a previously configured TSX AXM module perform the operations described in Divider B Sub section 7 4 2 and adapt them to the operating environment provided by the Debug mode Identification used for AXM R S bit at 1 binary variables AXM R S bit at 0 Forced reference set up A 4 As the INIT function is not available when PL7 AXE is used the set up sequence is modified as shown below Initial state PLC Stopped Command Resulting Module Stopped State e Set the module to Run AXM RS AXM RUN DEF ARUR e Set the Emerg
183. e moving part in assisted B man mode man drive mode and man set mode Min limit 1 mm mn Max limit VMAX See Section 4 2 Min limit 1 Max limit VMAX Typical values mm mm mn mm s2 VMAX 6 VMAX 10 VMAX 10 2 Configuration Parameter Table Parameter List Parameters Explanations and limit values Stop time period TSTOP Target window TW Max deviation DMAX Speed controller voltage for VMAX UMAX Min limit 1 volt Position loop KPOS LIMV KV Deviation check MDMAX NDMAX Stop check MSTOP NSTOP Target window checks MTW NTW See Section 4 2 Min limit 1 x 10ms Max limit 65535 x 10 ms See Section 4 2 Target Window Check Min limit 1 um See Section 4 2 Max limit XMAX XMIN 10 Min limit 1 Analog output voltage corresponding to max velocity VMAX Refer to appendix A1 Max limit XMAX XMIN 2 Max limit 9 volts Refer to appendix A2 Position gain 1 00 to 32 00 s Max velocity tolerance 5 to 2096 over VMAX Velocity correction factor 0 to 10096 See Section 4 2 Divert mask Y Fault process by XBT or PLC On error divert AXM program to divert step NDMAX Divert step number 0 to 253 See Section 4 2 Divert mask Y Fault process by XBT or PLC N On error divert AXM program to divert step NSTOP Divert step number 0 to 253 See Secti
184. e positions are stored in the WNi internal words Up to 100 can be stored Procedure e Move the moving part to the position to be stored e Select the internal position number e Enter the Teach command The moving part must be stopped when the teach command is sent Note The values of the WNi positions can also be set by AXM program TSX XBT terminal or PL7 AXE instructions Return from soft stops After the moving part overshoots the upper or lower travel stops called soft stops this command is used to automatically return it within the permitted movement field e In direction the moving part is located at point XMAX 2 x TW e In direction the moving part is located at point XMIN 2 x TW Procedure e Error acknowledgment e Return from soft stop overshoot backoff Functions not available on TSX AXM 162 module 4 5 4 Module Functions 4 4 2 Checks Purpose Principle 4 6 The check function is essential in position control applications due to moving part motion and the risks involved The checks are carried out internally and automatically by the module By default all checks are enabled module running Some of these checks can however be disabled by AXM program instruction The user can select the parameters assigned to the checks to adapt them to the particular application These checks are used to detect moving part positioning errors trajectory deviation errors or module and PLC errors Two typ
185. e user that a request made cannot be performed or that an additional confirmation is required Some of these messages are self explanatory but others may require some additional explanation The tables on the next page provide a complete list of these messages the events that may cause them and the suggested corrective action that should be taken A 7 8 MESSAGE CIRCUMSTANCES UNEXPECTED AXIS N When accessing the module memory PROBABLE CAUSE e The axis number stored in the module is not the same as the logical number that corresponds to the slot used This situation is caused by changing modules or swapping their positions CORRECTIVE ACTION e Transfer one of the applications stored in PLC memory to the module memory UNEXPECTED AXM APPLI N READ APPLI When accessing the module memory e The application number stored in the module memory is different from that entered by the user To identify the application number stored in the module memory select UTILS followed by the APPLICATION CHARACTERISTICS function e To change the number read the application and press Enter to validate The application will be rewritten in the module memory with the newly selected application number SPACE FULL When attempting an AXM TSXtransfer or when modifying the directory or creating an application in PLC memory e There is not enough space available in the dedi cated Axis field to accep
186. e velocity speed that is acquired via Message Mode The boolean information available is displayed in the upper part of the screen as shown on the next page Debug Mode 7 Command Status Screen Left column Information commands relative to module status Center column Information commands relative to axis status Right column Information commands relative to error handling Bits at 1 are displayed in reverse video The HELP key calls up a screen describing the function of the information command selected by the cursor Note Any modification of a control bit or of a numerical value results in the sending of a request addressed to the module via the message interface Updating the bit of the appropriate register in the discrete output Oxy i or register Oxy j interface only confirms the modification requested by the request TSX AXM Module Ixy i Oxy i Message Interface requests This mechanism explains why commands sent in Debug Mode are performed even if the PLC is stopped on condition that the TSX AXM module safety interlock is not selected while the same commands sent from the PL7 3 data screen do not take effect When the PLC is stopped it routes messages but does not refresh the discrete I O and register interfaces 7 8 NO 7 7 4 Debug Mode Command Status Screen Dynamic soft keys READ BDEF START F SET RES STOP F STOP AXM KR WNi CNi HELP Ac
187. eclared in the configuration see diagram below Velocity A mm mn Divert sequence steps 10 to 15 In3 Position mm Return 5 15 5 5 16 Programming TSX AXM 172 182 modules 5 6 Dialog with the PLC Processor 6 6 1 General Reminders The module exchanges commands and data with the PLC processor via the PLC bus and the standard communication interfaces e Discrete I O interface Exchanges discrete I O bits on each cycle of the task in which the module is configured e Register interface Exchanges register words on each cycle of the task in which the module is configured e Message interface Exchanges messages on request from the PLC program With TSX AXM modules this mode is not used by the PLC program it is only used for dialog between TSX XBT terminals FTX 507 workstations and TSX AXM modules e Interrupt Lets the module activate the PLC program interrupt task PLC Module Interface TSX AXM IT Task Module IT Periodic Task To Terminal MSG Ot The commands and the data provided on the Discrete I O and Register interfaces let the user place the axis control function in the general PLC sequential control program PLC program This is illustrated by the diagram overleaf 6 1 6 6 2 Dialog with the PLC Processor 6 General PLC AXM START AXM gt D Moving part at A step 2 Action at A 2 om A B RESUME gt
188. ed after power up 1 0 When a type 1 module failure occurs IWxy 0 4 IWxy 0 5 IWxy 0 6 IWxy 0 6 means a logic OR SDEF Combines errors IWxy 0 5 Type 2 error Not used by these modules IWxy 0 6 Type 3 error terminal block overflow SDEF3 0 1 When an error occurs 1 0 error read request 1 on condition that the error is no longer present Note This bit is not used with the TSX AXM module IWxy 0 7 Type 4 error Not used by these modules IWxy 0 8 Type 1 error Module failure AXM HS 1 Type 1 error detected during the self test phase or Module code is different from the code declared in the l O configuration No module 0 Module OK 1 Command supported by PL7 AXE READBDEF Functions not available on TSX AXM 162 module 6 23 6 6 24 Dialog with the PLC Processor Discrete I O and Register Interfaces IWxy 0 9 A TEST At 1 on power up changes to 0 when self tests are complete Hint Do not use this bit to check module availability test bit IWxy 0 3 instead IWxy 0 A Reflect terminal block state 1 Open 0 Locked TER Note When IWxy 0 A changes to 1 IWxy 0 6 and IWxy 0 4 also change to 1 IWxy 0 B N CONF 1 Module not configured 0 Module configured 0 1 When the application changes module not initially configured 1 0 On DELETE APPLICATION performed from PL7 AXE IWxy 0 C 1 Module ru
189. ency Stop bit to 1 STOP URG e Acknowledge the Emergency Stop error AB ARUR DEF ARUR STOP e Select interlock disabled AXM AXM HSEC e Acknowledge the PLC error otherwise AB CPUF DEF CPUF e Select Manual Set up mode MOD F MOD F MAN RFP MAN RFP MODIFY key e Measure the approximate position of the moving part in relation to the start cam and enter this value into the external position register in user units Example POS EXT 300 000 mm e Force a reference set up FOR REF AXE REF Cur Pos 300 00mm A Appendix Adjustment and Initial Set up of an Axis with PL7 AXE Checking the direction of moving part travel Only the Open Loop Mode selection procedure is described here For the conclusions which should be drawn from the resulting effects refer to Divider B Sub section 7 4 2 e Select open loop mode e 100 mV analog counter output e Activate the mode e Once the results are seen deactivate the mode Make any corrections required Checking the maximum frequency optional Command Resulting State MOD F MOD F OPEN LOOP OPEN LOOP VAL CNA WAIT 40 1 START WAIT or lt START F gt CUR POS evolves STOP Moving or part stops lt STOP F gt By making the same preparations as described in Divider B Sub section 7 4 2 apply to the output of the analog counter a voltage equal to UMAX 1 HMV and check that the frequency o
190. er List The table below gives the function of each parameter along with its possible values Parameters Explanations and limit values Type Sensor Distance travelled by the moving part between A resolution two sensor points 1 increment See Appendix A 1 RESOL Min limit TSX AXM 172 0 1 um Max limit 1000 0 um TSX AXM 182 1 um Maximum moving part velocity by applying the value UMAX velocity velocity to the analogue output See Appendix A 1 A VMAX Min limit 11 mm mn Max limit Value calculated by PL7 AXE depending on the resolution of the selected sensor User Display units for all parameters as opposed to the A selected module units that are used for internal calculations units UPUL Length unit um mm m UPUV Velocity unit mm mn cm mn dm mn m mn UPUA Acceleration unit mm s cm s dm s m s Soft Valid measurement field See Section 4 2 A stops XMAX Limits limit values are calculated by XMIN PL7 AXE depending on the resolution Acceleration Deceleration ACCE DECE Type of reference TYPEREF Manual drive velocity VMAN Stopped velocity VSTOP 2 2 and maximum velocity See Section 4 1 C Limits limit values are calculated by PL7 AXE depending on the resolution and maximum velocity See Section 4 1 B 1 short cam zero marker 2 cam long cam and limit switch zero marker Values This is the velocity of th
191. eration has been completed information provided by 116 0 the moving part goes to point b at a speed of 2000 mm mn where the second operation is performed command given by O17 1 When this second operation is competed information provided by 116 1 the moving part returns to point O at a speed of 8000 mm mn and waits for another Start Cycle command Determining the values of registers OWxy5 6 and 7 for each move The positions must be expressed in module units The velocities must be at manual velocity VMAN to enter the velocity correction coefficient value In this example assume that the module is at slot n 4 and that is has been configured with VMAX 10000 mm mn VMAN 5000 mm mn TW 2 0 1 mm The module physical unit gives the value of VMAX as um N Postion velocity segment X Contents V Velocity corr Contents OWA 6 7 coeff 1 OW4 5 2 1 500 500 000 6000 1 2 205 2 800 800 000 2000 0 4 613 3 0 0 8000 1 6 613 1 Velocity correction coefficient V VMAN 2 Contents OWxy 5 1024 COEF 1 6 46 6 Dialog with the PLC Processor 6 TSX AXM 162 module Programming movements PLC program Transfer movement parameters Point A 0 T EI 0 Movement command Point A XMO Moving part stopped at A Operation at Point A STARTCYC Transfer movement parameter
192. erminal TSX XBT 182 Terminal Software update 1 Updates that are not specific to axis control applications The V3 level PL7 3 application is updated to V4 level so that it can be executed by a V4 level PLC An image of the PLC memory must also be generated APP file using XTEL MEM and this image must be transferred to the PLC memory 2 Updates that are specific to axis control applications An axis control application a complete system comprising a configuration an AXM program and a data table is not modified when the V3 to V4 update is performed The modifications to be performed are due to the changes in the layout of the PLC memory as shown in Fig 3 This update results in Creating the dedicated Axis field using XTEL MEM Creating the directory using PL7 AXE Transferring applications previously stored in the CONST or PL7 3 DATA fields to the dedicated Axis field Replacing the application change sequence with a call to the AXM LD OFB as shown in Fig 4 where this is required 1 3 G Additional Information G Upgrading from V3 to V4 Fig 3 PLC memory layout changes and their effects V3 Level PLC V4 Level PLC Application transfer from CW or W fields to the dedicated Axis field AXIS BRIDGE 1 4 G Additional Information Upgrading from V3 to V4 Fig 4 Updating the application transfer procedure Load Sequence PL7 3 Modules COM OFB TSX AXM 172 Module TSX
193. ers do not have to be used Bit type output parameters are directly accessible by PL7 3 in mnemonic format E g IF AXM LDO READY THEN 1 8 1 Operation Common to all OFBs 1 Programming SUMMARY Programming an OFB requires Initialization of its internal constants e Assignment of its I O parameters e Modification of its internal data The first two operations are performed once only in the programming phase The third operation is performed on execution before the EXEC instruction 1 9 N 1 10 2 The AXM LD OFB 2 2 1 Purpose The AXM LD OFB will on request transfer the contents of the application stored in the dedicated axis field of the PLC memory to a TSX AXM 172 TSX AXM 182 or TSX AXM 162 axis control module PLC Memory Module APPLI 0 AXIS 0 APPLI 1 AXIS 0 Dedi cated APPLI 2 2 0 axis memory field APPLIO AXIS1 AXM LD APPLI 1 AXIS 1 APPLI 2 AXIS 1 Axis 1 2 1 2 The AXM LD OFB 2 2 2 Presentation The AXM LD OFB has internal constants internal data and input parameters It does not have output parameters The constants and parameters are defined during the programming phase The internal data is used when the OFB is executed AXM LD AXIS WORD APPLI WORD DATA CONSTANTS ERROR IAXIS STATUS READY LOAD Internal constants IAXIS Internal data READY BIT ERR
194. ert mask Yes e Error indication e Decelerate until DAC instruction 0 e Disable the speed controller interlock relay RO e Wait for a resume command or quit the current mode During this waiting phase the servo loop is disabled e With an AXM program divert sequence Divert mask No only in automatic mode e Disable the check e Divert to the program step defined in the configuration It is advisable to start a divert program with a Stop instruction to stop the motion where an error was detected It is necessary to enable the checks with the SCTL instruction if checks will be required again The stop position error synchronization target window and CPUF checks can be disabled by the RCTL instruction refer to Sub section 5 4 Note The Emergency Stop error cannot be inhibited or processed by a divert step The flow chart below provides a summary of the possible processing of type 2 errors Type 2 error Automatic No mode enabled Yes Yes Check Indication inhibited by Deceleration instruction RO inhibited End of error and DAC 0 Error not detected No oa ee Resume Abort No step command command Yes Yes Ack error Ack error resume current quit current mode mode Functions not available on TSX AXM 162 module 4 7 4 Module Functions 4 Checks Parameters linked to the checks The parameters
195. es is locked into place On TSX AXM 182 modules it checks that the 25 pin connector is present This type of error causes axis referencing to be lost Deviation check type 2 Deviation position setting measured position The module runs a continuous comparison moving part stopped or in motion between the calculated position setting and the measured position of the moving part An error is detected when the position deviation is greater than the maximum allowed error DMAX defined by the user in the configura tion Target window check type 2 When a move to position and stop commandis requested the module checks that the position reached corresponds to the requested position and is within the target window tolerance TW defined by the user The check is made as soon as the moving part is declared stopped and is continued until a new motion command is executed An error is declared when e Position reached gt target position TW or e Position reached target position TW Functions not available on TSX AXM 162 module 4 8 4 Module Functions 4 Checks Stop check type 2 As soon as the velocity instruction value calculated by the module equals 0 the module starts the TSTOP timer Once this is timed out the counter compares the measured moving part velocity and the stopped velocity VSTOP this velocity being the threshold value below which the moving part is considered to be stopped If the measured veloci
196. es of checks are defined depending on the seriousness of the detected error e 1st type Detection of this type of error systematically quits the current operating mode List of type 1 checks e Soft stops only operate if the axis is referenced e Disable the servo loop e PLC power supply error e Terminal block unlocked This type of check remains enabled regardless of the selected operating mode and causes e Error indication e Disable the servo loop e Decelerate until DAC instruction value equals 0 e Disable the speed controller interlock relay RO e Quit the mode disable e Await acknowledgment e 2nd type Detection of this type of error does not systematically quit the current operating mode List of type 2 checks Mode Position Target Stop Synchro Emergency CPUF error window nization stop error Automatic Yes Yes Yes Yes Yes Yes Manual ref Yes No Yes No Yes Yes Manual Yes No Yes No Yes Yes Assisted man Yes Yes Yes No Yes Yes Open loop No No No No Yes Yes The emergency stop cannot be processed by the AXM program This check is disabled in the step by step or point to point sub modes Functions not available on TSX AXM 162 module 4 Module Functions Checks This type of error can be processed in two different ways The selection is made in the software parameter configuration table for each check with the divert mask parameter e With operator intervention Div
197. ese rights to be transferred to the working key so that all rights are grouped on one key the working key so as to free a slot on the key support For further details about this tool refer to the X TEL or MINI X TEL database manual The PL7 AXE V5 software key is identical to that of PL7 AXE V4 1 5 Installing the software 1 5 1 Preliminary operations Before installing PL7 AXE on the hard disk it is advisable to Read the licence agreement and guarantee concerning copying restrictions and installation of the software Make a duplicate of the diskette required for installation to avoid any accidental damage to the original diskette and work only with the copy Important The PL7 AXE program disks are supplied in the write locked position Do not alter the position of the locking tabs 1 4 Introduction and installation 1 1 5 2 Installation procedure The following operations must be performed prior to installing PL7 AXE Check that the MINI X TEL or X TEL V5 Software Workshop is already installed if so install PL7 AXE according to the procedure described below otherwise first install the MINI X TEL or X TEL Software Workshop refer to the manual for the database concerned Close all the current sessions To do this open the Electronic Office Manager window pull down the Electronic Office menu and select the Close all item confirm by pressing the Close all button Instal
198. essor B Sub Section Page 1 1 Axis Control Presentation 1 1 1 2 Particulars of TSX AXM 162 module 1 6 1 3 Internal Layout of the Modules 1 7 1 4 Servo Loop 1 8 1 5 Module I O 1 11 1 6 Positioning Functions 1 12 2 1 General 2 1 2 2 Parameter List 2 2 3 1 Module Modes 3 1 3 2 Module and Axis Status 3 4 3 3 Safety Interlocks 3 5 4 1 Motion 4 1 4 2 Checks 4 5 5 1 Language Presentation 5 1 5 2 Move Instructions 5 3 5 3 Move Organization Instructions 5 7 5 4 Data Control Instructions 5 10 5 5 Check Instructions 5 12 5 6 Examples 5 13 6 1 General 6 1 6 2 Integrating Axis Control into the Sequential Program 6 3 6 3 Using the Interrupts 6 7 6 4 Full Module Control from the PLC Processor 6 10 6 5 Discrete I O and Register Interfaces 6 19 6 6 Access Conflicts 6 38 6 7 AXM 162 module Move Programming 6 44 B 1 B Contents B TSX AXM 172 182 Axis Control Modules Section Sub Section Page 7 Setting into 7 1 Location and Hardware Code 7 1 Service 7 2 Identifying the Module 7 2 7 3 Connecting the Module 7 3 7 4 Preliminary Adjustments 7 14 7 5 Module Diagnostics 7 21 8 Specifications 8 1 Power Consumption 8 1 8 2 Input Characteristics 8 1 8 3 Output Characteristics 8 4 A Appendix A 1 Determining Parameters A 2 Servo Loop Performance 9 Glossary 10 A 4 Abbreviations AA2 A 5 Configuration Programmi
199. eters Module physical units Physical units that are directly used as I O by the module especially for register interfaces Move A succession of basic motions Parametered indexed position PRF Index value for calculating indexed positions absolute position index PRF indexed position A 10 A Appendix Glossary Point field The field of all measurement points limited by the maximum counting Capacity 2 147 483 648 and 2 147 483 647 increments Point to point A series of instructions between two motion instructions with stop commands Positions External Position sent by the PLC program or by the TSX XBT to the module Immediate Position explicitly contained in the instruction Indexed Position referenced in relation to the PRF index value Internal Position stored in the module by a teach procedure or by program LDP instruction Reference point Machine axis measurement reference point Reference point set up Procedure for loading the current position measurement value by moving part motion or loading the preset value into the current value on the occurrence of an event In2 In3 Return from soft stop overshoot After a soft stop overshoot low velocity moving part return within the soft stops Safety system In this mode a PLC processor fault or stopping the PLC causes the immediate and systematic movement stoppage Target window TW parameter positioning tolerance around the stop point
200. etting mode in which it is possible to specify motion direction once and for all 4 7 4 AXMPG OFB 4 4 4 Examples Assume aconfiguration comprising 2 axes 0 and 1 After loading the required application into each of the two modules start execution of the axis O module program at step number 0 then the axis 1 module program at step number 10 APPLICATION LOADING Not described see AXMLD OFB Programming Applications transferred START EXECUTION 0 AXIS AXM AXIS 0 AXM RUNNING START EXECUTION 1 AXIS AXM AXIS 1 AXM RUNNING 151 solution Assign an AXMPG OFB to each axis and configure the axis number with the constant I AXIS Stage 1 Action on activation EXEC AXMPGO0 0 gt AXMPGO 5 0 Stage 2 Action on activation EXEC AXMPG1 10 gt AXMPG1 I AXIS 1 Transition 1 2 AXMPGO DONE NOT ERROR Transition 2 3 AXMPG1 DONE NOT AXMPG1 ERROR 4 8 4 The AXMPG 4 Examples 2nd solution Use only one OFB ensuring that its AXIS parameter has been initialized before starting execution Input parameters are assigned as follows AXMPGO W50 W51 Stage 1 Action on activation 10 W50 0 W51 EXEC W50 W51 gt Stage 2 Action on activation 1 W50 10 W51 EXEC AXMPGO W50 W51 gt Transition 1 2 AXMPGO DONE NOT ERROR Transition 2 3 AXMPGO DONE NOT AXMPGO ERROR Example of a modu
201. eviously been transferred to the PLC memory atleast one TSX AXM module is declared in the XTEL CONF I O configuration In DEBUG TRANSFER and DOCUMENT modes 2 4 Using the configuration and programming software 2 2 3 Selecting modes The choice of modes screen the basic PL7 AXE screen provides access to all the functions available with this software XTEL Function axis line1 factory EXxproprj 7 45 05 0 INSTALLATION OF AXM 182 172 162 Copyright TE 1998 93 PROC TSX 187 455 U5 8 SAVE MANUAL FILE AXIS BIN CONNECTED MEMORY OPERATING HODES 0 CONFIGURATION 1 TSK MEMORY 1 PROGRAH 2 ARM FILE 2 DEBUG 3 TSK FILE 3 TRANSFER 4 DOCUMENTATION LINE WORKING MEH CHOICE EXIT DIR ARIS A gt DSK DSK UTILS This screen has two parts amenu zone for selecting the working memory module PLC or disk the operating mode configuration programming debug transfer and documentation an operating sub mode for the debug mode or transfer mode an information zone which indicates in connected operation the type of processor and its version the associated file name and type of store Role of the function keys T ls used to move the cursor in the active column working memory operating modes or operating sub modes An item in a column can also be selected by entering its number lt gt gt lt
202. expressed in hexadecimal notation 2 If ITs are used 8 In general the START command is conditional on an event The resulting programming will look like this Ixy i O4 4 or IF THEN SET 04 4 Note Inthis program the module is located in slot 4 of the basic configuration rack Functions not available on TSX AXM 162 module 6 Dialog with the PLC Processor 6 Full Module Control from the PLC Processor If Automatic Mode is not used in the operating phase or if the reference set up procedure is initiated by an operator type 1 and 2 reference set up procedures where the direction of motion must be specified In this case the previously described program sequence should be modified The mode selection steps mode are shown below 1 Module running Acknowledge errors No errors Mode selection 1 Mode selected Await activation Moving part stopped Mode activated Naturally it is possible to program the control of operating modes in a language other than Grafcet Ladder or Literal but it is then up to the user to guarantee the sequencing of operations AXM PG OFB When the TSX AXM module is used in Automatic Cycle Mode the program sequence described on page 6 11 is better replaced by the AXM PG OFB that performs the same task The user has simply to specify the start program step and the event that triggers AXM program execution For a detailed description of the progr
203. eys EXIT causes PL7 AXE to quit with the possibility of saving and comparing READ ME provides access to on line documentation The following 2 keys are offered when the working memory selected is the TSX PMX PLC memory STA DSK accesses a store function in the AXE zone of the TSX PMX memory in the AXIS BIN file on disk XTEL Function axis line1 factory EAxproprj is SAVE AREA AXIS FROM TSX MEMORY TO TSK TARGET FILE TSK TARGET FILE ARIS BIN SAVE AUTO MAN MANUAL ACCESS TSX FILE RPROPRU FACTORY ALINE1 ARIS APPLI S LINE STORE AUTO HAN MP BIN DSK gt STA enables the AXIS BIN file on disk to be retrieved from the AXE zone to the TSX PMX memory XTEL Function axis line1 factory EAxproprj RETRIEVE AREA AXIS FROM TSX SOURCE FILE TO TSX MEMORY TSK SOURCE FILE ARIS BIN ACCESS TSX FILE XPROPRU FACTORY ALINE1 ARIS APPLI S LINE RETRIEVE DSK gt ST 2 6 Using the AXM configuration and programming software 2 UTILS accesses the utilities functions XTEL Function axis line1 factory EAxproprj CONNECTED HEMORY UTILITIES ARM MEMORY 8 APPLICATION LIST PA 1 RUN TSR 2 ARM FILE 2 STOP TSX 3 TSK FILE 3 DELETE PROGRAM amp DELETE APPLICATION 5 MODIFY THE AREA NAME S LINE UTILS TSX HEH Other soft keys specific to the selected mode are described in section 2 selectin
204. f OFB in a PL7 3 program it is necessary to declare the type of OFB in the PL7 3 configuration to determine the number of OFBs of each type which are to be used This OFB can then be used in LITERAL language IEXECOFBi or in ladder language which will require the use of an OPERATE block EXEC OFBi Separator between the input and output parameters Separator between 2 input parameters or 2 output parameters The PL7 3 variables associated with the I O parameters are in parentheses Exemple EXEC 1 2 W5 B10 W20 B 10 W 20 no parameters asso ciated with OUT 3 If a parameter has not been assigned its place in the instruction syntax is empty 1 3 1 Operation Common to all OFBs 1 1 2 Configuration Introduction Optional Function Blocks OFBs are supplied on the diskette labelled TXT BF PL7 AXS V42 The installation procedure for OFBs is described in Divider C2 Sub section 1 1 To use an a station it is necessary To have the Axis icon available for this station 2 To declare all OFBs in PL7 3 To set the number of instances of use To program the OFBs in PL7 3 Programming Mode Configuration mode Declaring OFBs OFBs are declared in PL7 3 Configuration Mode e Select item 5 from the menu OPTIONAL FUNCTION BLOCKS e A list of all available OFB families will be displayed e If the AXIS OF
205. f Position 1 gt Immediate Position Instruction code JHI JHI N Program step number X1 Position 1 X2 Position 2 Operands 1 ePRF index value X2 eWNi internal position e WNi internal position eCP current position Example JHI N 5 X1 CP X2 100cm Jump to step 5 if current position gt 100 cm Call subroutine Instruction code CALL CALL N Program step number Only one subroutine level is allowed Example CALL N 30 Call the subroutine located at step 30 Return from subroutine Instruction code RET Timer Instruction code TIME TIME VAL Value Operand Value Timer value in tens of ms Example TIME VAL 500 x 10ms 5 second timer Await event Instruction code WAIT Program execution remains at this instruction as long as the programmed event is not detected by the module WAIT EVENT Event Event eUI3 rising edge on input In3 eDI3 falling edge on input In3 eCPU rising edge on CPU sync bit OWxy 1 9 Example WAIT EVENT UIS await rising edge on input In3 Inactive instruction Instruction code NOP equivalent to a 10 ms delay End of AXM program Instruction code END Terminates program execution and sets bit IWxy 1 9 to 1 and bit IWxy 1 5 to 0 Program execution cannot resume without a new Start order 5 8 5 Programming TSX AXM 172 182 modules 5 Move Organization Instructions Activate CPU sync discrete outputs and
206. f the mouse is described in the PL7 3 Operating modes manual section 3 2 in divider A 1 6 Introduction and installation 1 1 7 Methodology for installing an axis control application on a TSX PMX V5 programmable controller The following methodology is intended as a guide to the user when creating debugging archiving and documenting a communication application This methodology refers to each operation without going into detail about the operations required Section 1 Divider C2 XTEL CONF tool XTEL CONF tool See next page XTEL TRANSFER tool PL7 AXE Section 7 Divider C2 Install the software Configure the I O Construct the See next page application structure Design Design PL7 AXE PL7 3 application application Transfer to PLC Debug Debug AXM AXE modules application Update Update Application file Application file Documentation file Documentation file 1 7 directory PL7 AXE Application Design Write AXM module configurations and programs AXE application documentation Incorporate OFBs under PL7 3 PL7 3 Application Design Program loading OFB diagnostic OFB AXE application documentation Back up and integrate into STORE ap
207. f the resulting pulses does not exceed 40 KHz for a TSX 172 module 80 KHz for a TSX AXM 182 module The procedure is identical to the one described above 1 LSB 2 5 mV for TSX AXM 182 10 mV for TSX AXM 172 A S A Appendix Adjustment and Initial Set up of an Axis with PL7 AXE Checking the distance travelled distance displayed Still using the same Open Loop Mode follow the instructions in Divider B Sub section 7 4 2 Setting the module offset As above Setting the machine factor KR This must be performed if the deviation between the distance actually covered and the distance displayed exceeds the level of precision required The adjustment procedure that applies when PL7 AXE is used is described in Sub section 7 4 Setting the KPOS and KV gains and other parameters The principle is the same as that described in Sub section 7 4 2 Divider B Only the procedure required for using Manual Mode is described here Command Resulting State e Select the Manual Set up Mode MOD F MOD F MAN SET MAN SET e Enter the target point in the external point register Example POS EXT 60 000 mm e Activate the mode Don t forget to reset the Start bit Reminder The parameter values can only be modified in the configuration mode A 6 4 Diagnostic Assistance While the various operations are being performed certain messages may be displayed to warn th
208. figuration The applications are stored on the hard disk or diskette defined in the VOLUMES of the X TEL Software Workshop as they are entered The applications created are anonymous they are not associated with any module and are not dependent on any PL7 3 application library function L Function axis line1 factory EH EPROPRIVFACTORVSLINEL ARTS OD VPTCRT 172 PL 7 AKS V5 0 INSTALLATION OF AXM 182 172 162 Copyright TE 1998 93 SAVE HANUAL FILE AXIS BIN LOCAL HEHORY OPERATING MODES DESTINATION 8 MEMORY 8 CONFIGURATION B RXH MEMORY 1 TSX HEMORY 1 PROCRAH TSR MEMORY RN D ARM FILE 2 TSX FILE 3 TSK FILE 3 DOCUMENTATION DESTINRTION CHOICE FILE DIR AXIS SUN A gt DSKEDSK UTILS 3 9 UTILS accesses the utilities functions associated with the DISK memory 0 MOD DIRECTORY Displays the list of files contained in the AXIS MOD directory the module type 162 172 or 182 and the size of the application 1 LIST OF APPLICATIONS 162 Table of the list of TSX AXM 162 application files stored in the AXIS MOD directory with the creation date and the size of the application alongside The CLEAR key returns the user to the selection screen 2 LIST OF APPLICATIONS 172 The same as the preceding function but for TSX AXM 172 application files 3 LIST OF APPLICATIONS 182 The same as functi
209. figurations and the programs for each module application AXM file Applications created in this way are not associated with any module generate the AXIS BIN file image of the dedicated AXE zone TSX PMX file Connected mode operation In this case the AXM memory module memory or TSX PMX memory PLC dedicated zone is chosen as the working memory In connected mode the user can generate or modify a configuration generate the dedicated AXE zone transfer configurations from the disk to the modules or to the dedicated zone in the PLC memory When the terminal is connected to an AXM MEM module PL7 AXE can also be used for debugging n XTEL Function axis line1 factory E xproprj vis TER B L R8H 8 L 8 6 ARIS RPPLI 8 PL7 AXS U5 8 INSTALLATION OF 182 172 162 Copyright TE 1998 93 PROC TSK 187 455 U5 8 SAVE MANUAL FILE AXIS BIN CONNECTED MEMORY OPERATING MODES 1 TSX MEMORY 1 PROGRAM 2 ARM FILE 2 DEBUG 3 TSX FILE 3 TRANSFER ARH amp DOCUMENTATION LINE OPER MODES CHOICE ARIS APPLI AXIS APP DIR ARIS D UTILS 3 2 Selecting working memory 3 3 1 1 Role of the common soft keys Details of the soft keys common to the different modes are given below AXIS APPLI AXIS APP DIR AXIS READ ME selects the number of the working module In documentation mode the character confirms all the AX
210. figured the moving part Relay UNE eModule configured outputs Position of e Module configured AXIS another axis e Module running z NI Note The Manual Drive mode does not allow access to any of these functions if either of the X or X keys is being pressed otherwise all functions are enabled In addition to the display the indicator LEDs allow monitoring of moving part motion e X The moving part moves in negative direction or stores the last move if Stop LED lit e STOP The moving part is stopped eX The moving part moves in positive direction or stores the last move if Stop LED lit 4 1 4 Motion Monitoring 4 4 2 Parameter Display Position o Real time display of the moving part position in user units AX B 2 668 Current moving part position 188 808 Target position Position error deviation Real time display of the position deviation error i e the differ ERROR ence between the actual position of the moving part in relation to the position instruction command This value is displayed in user selected units As B DEVIATION Actual position deviation Output status This function displays the status of the relay outputs Modification is possible so long as Automatic mode is not selected Commands XBT Display Comments Related display the blinking output OUTPUT He RB RL RE RS shows the output where the status
211. file xX Using the AXM configuration and Section 2 programming software Sub section Page 2 1 Accessing the configuration and programming software 2 2 2 2 Introduction to the display screen 2 3 2 3 Selecting modes 2 5 2 4 Relationship with PLC memory 2 8 2 4 1 Dedicated AXE zone in the PLC memory 2 8 2 4 2 Reservation while operating in connected mode 2 10 2 5 Methodology 2 11 This section ends at page 2 12 2 1 NO 2 1 Accessing the configuration and programming software Configuration and programming software for TSX AXM xxx axis control modules is accessed by opening the main PL7 AXE function window To do this Open the Start programs window by double clicking on the corresponding item Pull down the Group menu and activate the Telemecanique item Open the User window by double clicking on the X TEL item Enter the user parameters name and password and then confirm to open the Volumes window Open a volume by double clicking on the icon of the volume to be opened Open a project by double clicking on the icon of the project to be opened Open a station by double clicking on the icon of the station to be opened Open the PL7 AXE function by double clicking on the corresponding AXIS icon If this icon is not displayed in the secondary Functions window even though the software has been installed this indicates that the function has not yet been defined To do this
212. for a configuration having more than 16 axes having at least a TSX 162 module A 14 A Appendix Diagnostic Assistance Table 2 Situations that may cause generic messages to be displayed or unexpected system responses System Error message This message is displayed when a after an TSX XBT terminal command an unexpected system response occurs This situation can be caused by various events no response from the module conflict between the TSX XBT terminal and the PLC etc A 15 9LN Unexpected System Reactions and Probable Causes System Reaction Probable Causes Remedial Action SYSTEM ERROR when function F70 is used AXM TSX Transfer e The axis number stored in the module is not the same as the logical axis number corresponding to the slot used e The Axis Nbr Application Nbr pair stored in the module does not exist in the directory These situations are caused by replacing or moving modules within the racks e If this situation is not caused by inverting mod ules transfer the back up copy of the applica tion from the PLC TSX memory to the AXM module memory SYSTEM ERROR when attempting to change modes e An application error is present This makes it impossible to change modes e Conflict between the XBT terminal and the PLC program e Acknowledge the error before attempting to change modes e To check this condition Select AXM Safety Off Mode Function F 86
213. ft limit 38880888 um 52650000 52658888 CF38 ACCE Acceleration 408 nn s2 1 14488 CF39 DECE Deceleration 400 nn s2 1 14488 BF48 TYPEPO Type of ref point 2 1 2 3 1 T fiH172 DISPLAY CONF 4 RP NAME BOT MODIFY PREYPAGEBINEA TPA HELP Working memory Network address for the terminal Working memory and its address if AXM MEM or TSX PMX MEM Axis number or file name if AXM file or TSX PMX file working memory Application number Current page number Name of application only in TSX PMX MEM TSX PMX file or AXM file Display zone available for the application configuration program etc Real time event zone indicating PLC status connected Parameter entry line Zone indicating current operation DISPLAY MODIF etc F1 to F9 soft key display line Message zone for syntax or entry errors or confirmation request Oooceoeocooocego 2 3 NO Screen sequences Selection of working memory screen 1 Lace CLEAR p UIT Selection of operating Q mode screen A oe Selection of operating lt QUIT sub mode screen A Selected mode Screen To access AXM MEMORY or TSX PMX MEMORY in connected mode ensure that a configuration memory file has previously been transferred to the PLC memory atleast one TSX AXM module is declared in the XTEL CONF I O configuration In DEBUG T
214. g working memory 2 7 NO 2 4 Relationship with PLC memory 2 4 1 Dedicated axis zone in the PLC memory If the PL7 AXE function is declared for a station a dedicated axis zone is automatically created by the XTEL CONF tool when the STATION APP file is generated The size of this zone is set by the XTEL COMF tool by default and may be modified by the user The position of this zone is determined by the size of the PL7 3 and other dedicated zones which it follows PL7 3 data PL7 3 program Other dedicated functions Axis Contents of the axis zone When the PLC memory image is created the XTEL COMF tool creates an empty zone This can then be filled by PL7 AXE 1 It comprises the directory consisting of a correspondence table between the logic numbers 0 to 63 and the physical positions of the modules in the racks The program offers default assignments 2 which may be modified atable which gives the start address and the size of the applications stored in the dedicated zone the applications in ascending logic number order 1 Providing the PLC memory image or the PL7 3 application contains the configuration and the slots are occupied by TSX AXM modules 2 Ascending numbering from 0 to 63 in the order ofthe modules in the XTEL CONF configuration 2 8 Using the AXM configuration and programming software 2 Dedicated AXE zone Correspondence tabl
215. gnal on In3 and an edge on In2 rising or falling see next page 2 reference point is indicated by an edge In3 rising or falling see next page Type 3 Long cam and limit switch the cam signal is present for a number of zero marker pulses and the zero marker The reference is indicated in the same way as type 1 Functions not available on TSX AXM 162 module 4 3 4 4 4 Module Functions 4 Motion General description of the different phases of reference point set up Moving part motion at the pro grammed approach velocity or VMAN until the reference point is 90 reached V Stop the moving part when the reference point is sensed 8 Return the moving part at Low Velocity 1 until the reference point is reached PV Load the external position EXT in the position measurement counter and stop the moving part In reverse motion the reference point set up procedure is similar and its representation is symmetrical 1 Low Velocity PV is set to 1 8th ofthe approach speed for TSX AXM 172 modules and 1 16th of the approach speed for TSX AXM 182 162 modules The cam can be located in a position called reference position PREF other than the reference point The offset value between machine reference and the reference point cam must be loaded in the external position register EXT Note operates differently see table below and description on nex
216. grammable the programming mode commands are sent to the module without filtering which refuses them message AXM NOT PROGRAMMED For the same type of modules the TSX XBT 182 terminal accesses the WNi internal dimensions table TEACH key and the CNi counters F82 function which although not used are nevertheless present The same applies to the configuration parameters relative to fault processing functions F50 to F60 A 21 22 Indicator LEDs TSX AXM182 Red F LED Module failure Green LED Modulepowered upand operating correctly R2 Red Rx LEDs Relay outputs active output R3 is not RIO shown ROO Red Inx LEDs Inputs powered up or at 1 Indo In O Note The In4 indicator must always be lit during normal op In2 5 eration showing that motor drive current is present In4 CO Characteristics e Installation Any slot in a TSX 47 40 67 40 87 40 107 40 basic rack or TSX RCE 860 or TSX RCF 860 extension rack e Locating devices and software configuration code TSX AXM 172 729 TSX AXM 182 732 TSX AXM 162 735 e Response to a power break return power break of at least 10 ms Immediate travel stoppage Quit AXM program Axis calibration lost Software configuration and AXM program are protected by the internal battery back up of the module 6 2 Connections Common to TSX 172 AXM 182 AXM 162 Sub D 9 pin Connector
217. h 10 KPOS 16 LIMV 10 KV 0 Forced reference set up Procedure It is important that only the Service Introduction Function be selected Function F95 on the TSX XBT terminal Reference point set up ensures areferenced axis and activates the following functions e Limit switches e Backoff from limit switch overrun Note Operation will only be correct if the direction of moving part motion is the same as that of the measurement read from the TSX XBT terminal e Do not acknowledge the emergency stop error e Set the module to Run F93 e Select the Interlock Disabled Mode F85 e Stop the PLC using the FTX 507 terminal e Select the Service Introduction Function F95 and press ENTER to validate the selection e Measure the position of the moving part in relation to the reference set up cam an imprecise measurement using an external measurement source e Force reference point set up by entering the measured value with its sign as a reference position Effect of Function F95 This function sets the module to Run in Servo Off Mode It resets the analog output and enables forced reference point set up 7 15 7 Setting into Service 7 Preliminary Adjustments Checking the maximum frequency 7 16 This optional check lets the user ensure that the operational limits of the module will not be exceeded It is performed in Servo Off Mode e Apply a voltage equal to UMAX 1 LIMV e Check t
218. hat the pulse frequency obtained is less than e 40 kHz for a TSX AXM 172 module e 80 kHz for TSX AXM 182 162 modules Note This check can be delicate to perform as it requires e Being able to brutally apply the maximum input voltage to the speed controller e That the axis be long enough to allow adequate time to observe motion To reduce these effects apply a voltage that is only a certain percent of the maximum voltage UMAX 1 LIMV 100 and check that the resulting frequency on the input to the module does not exceed the same percentage of the maximum frequency Motor Reduction Gearing Oscilloscope STERN Moving part to TSX AXM module 7 Setting into Service 7 Preliminary Adjustments Checking the direction of encoder connection and direction of moving part motion It is important that only the Service Introduction Mode be selected Function F95 on the TSX XBT 172 terminal e Cancel the emergency stop F87 and acknowledge the emergency stop error e Display 100 mV on the output from the DAC in Servo Off Mode DAC Output Position Measurement Corrective Action Positive Rising Rising None connection OK Positive Rising Falling Reverse measurement 1 Positive Falling Falling Reverse motion 2 Positive Falling Rising Reverse motion and measurement Negative Falling Falling None connection Ok Negative Falling Rising Reverse measurement 1 Negative Rising
219. he configuration in an xxx BIN file By default the store name is AXIS BIN The screen displays two keys FILE enables selection of another name for the store file Xxx BIN STORE executes the store function Enables an xxx BIN file previously stored using the STORE function to be retrieved The file is restored in the X TEL zone under the name AXIS BIN 3 11 UTILS accesses the utilities functions associated with the TSX PMX file Function axis line1 factory Be P RHPR PRJNFRETORVALTNET VERTS APPLTAARTS BIN LOCAL MEMORY UTILITIES 8 MEMORY 8 DIRECTORY APPLI 1 TSK MEMORY 1 LIST OF TSK FILES 2 ARH FILE 2 APPLICATION LIST HNERELNESUSENEEEE 3 DELETE PROGRAM 4 DELETE APPLICATION 5 MODIFY THE AREA NAHE UTILS TS8 FILE Lo 0 DIRECTORY APPLI displays the list of files contained in the directory AXIS APPLI xxx BIN xxx DOC files etc 1 LIST OF TSX PMX FILES displays the list of configuration files xxx BIN files 2 LIST OF APPLICATIONS displays the list of all the applications linked to an AXM module in the current xxx BIN file 3 DELETE THE PROGRAM deletes the program specified by an axis number and an application number in the current xxx BIN file 4 DELETE THE APPLICATION deletes the application specified by an axis number and an application number in the current Xxx BIN file 5 M
220. he pro gram display mode DISP PROG Validates the program entered and returns the user to the Mode Selection Screen Since the number of steps in an AXM program may exceed the capacity of the display screen 10 pages max the following keys are available 4 1 STEP TOP BOT Access to the next step Access to the previous step Direct access to a program step by entering its number Direct access to the first program step Direct access to the last program step PREVPAGE Jump back 10 steps NEXTPAGE Jump forward 10 steps 6 Programming Mode 6 Mode Description Modification Procedure Modifying an existing step e Use the cursor to select the program step to be modified e MODIFY lets the user modify the selected step Deleting a step e Use the cursor to select the program step to be deleted e lt Del gt Deletes the selected program step The steps are then renumbered automatically Inserting a Step e Use the cursor to select the program step that should precede the instruction to be inserted e Ins Lets the user enter a new program step The step numbers are automatically shifted Attention No jump instructions or subroutine calls are updated It is up to the user to ensure that jumps and program loops remain coherent Modification Procedure e Position the cursor on the program step comprising the instruction to be duplicated e SAVE will save the program step in buffer
221. he supply sequence to the speed drive e Check the direction of tachometer dynamo connection Adjusting the speed drive 7 14 Adjust the speed drive for correct operation according to the instructions provided by the manufacturer Remember that speed drive instruction values can also be supplied by the module in Servo Off Mode Adjusting the current loop e Set the maximum value for the current supplied by the speed controller to a value acceptable to the motor switching dissipation and to the moving part acceleration torque e Set the current loop sensitivity Set the velocity loop e Set the maximum working velocity Set a speed controllers instruction level equal to the value set in the module configuration e Set the velocity loop gain e Set the offset Set the current limit depending on the velocity 7 Setting into Service 7 Preliminary Adjustments 7 4 2 Service Introduction The procedure described below corresponds to module service introduction performed from the TSX XBT terminal Service introduction can also be performed from PL7 AXE For further information refer to Divider C2 Appendix A3 Module configuration To adjust the servo loop the user must first assign specific values to certain configuration parameters while other parameters take values corresponding to the application Modified parameters Values VSTOP VMAX 10 TSTOP 1 second TW linear sensor length 10 DMAX linear sensor lengt
222. her contacts for the limit switches are optional The consequences of choices made are described below 1st case Auxiliary contacts are wired to input In4 as shown in the diagram If these contacts are triggered the moving part must be returned to its proper position by external intervention manually or by a direct command from the PLC processor as the absence of voltage on input In4 means that the module cannot request motion 2nd case No auxiliary contacts are wired to input In4 The module is not informed that it can no longer request or control motion This situation usually causes a deviation or target window error condition If no error occurs excessive parameter tolerance the module will continue to maintain a voltage on the analog output This will cause the moving part to jump as soon as the limit switch is reset It is therefore recommended that the module be resetin relation to the process e g by pressing the emergency stop button Note In all cases excessive travel that causes an overrun is due to incorrect axis reference set up Incorrectly defined software stop positions Reference set up performed with an incorrect value 7 Setting into Service 7 Connecting the Module Connecting the I O Relay outputs Module Process Speed Controller Valid Available Analog output Module Process An Out Speed Controller Valid 7 7 7 Setting into Service 7
223. ication to V4 level i e during step 2 Storage Using PL7 AXE One by one transfer all applications from the PLC TSX memory to the disk stored in the AXIS MOD directory Save the contents of the dedicated field to disk DIR AXIS to access commands STORE totransferthe contents ofthe dedicated axis field to disk inthe AXIS APPLI field 1 7 G Additional Information G Upgrading from V3 to V4 Procedure for replacing the application load sequence with a call to the AXM LD OFB a Declare the AXM LD OFB With PL7 3 in Configuration Mode The procedure is described in Divider C3 b Modify the Grafcet sequence Assuming that the sequence corresponds to the loading of application 2 in axis 1 the simplest modification with modified parts shaded is ACTIV RESET BO RESET B1 RESET B2 11 W101 2 W102 1 Attention this must be programmed ACTIV EXEC AXM LDO EXEC AXM LDO on activation and W101 W102 not CONTINUOUS AXM 100 READY ame NOT AXM LDO ERROR AXM LDO READY AXM LDO ERROR ACTIV SET Bl ACTIV SET B2 AXM LD 0 W101 AXIS W102 APPLI Application loading is always triggered by BO changing to 1 and when it is complete this is indicated by B1 or B2 c Delete subroutines SRO and SR1 These are no longer used by the transfer sequence so they can be deleted or recovered for other uses
224. ide e2ndline Parameter values 2 XBT operating modes selection keyswitch 3 positions 3 Function keypad with 30 direct access keys for e Selecting the terminal operating mode e Following moving part motion e Displaying programs e Selecting direct access auxiliary functions e Monitoring and acknowledging faults 4 Service keypad e For Indirect access to auxiliary functions accessed via lt FONCT gt key e With keys for parameter entry 5 Six indicator LEDs e AXIS Shows that the Axis Control Mode is selected e X Shows that the moving part is moving in the negative direction or stores the last motion if the Stop LED is lit e STOP Shows that the moving part is stopped e X Shows that the moving part is moving in the positive direction or stores the last motion if the Stop LED is lit eALARM Shows that a fault on the current axis has been detected e he sixth indicator LED is not used 2 1 2 Using the Terminal 2 Presentation and Data Entry Principles Function Selection Principle Direct access functions Function keypad These functions are selected as soon as the appropriate key is pressed These keys each comprise a built in indicator LED that is only used by the mode selection function The indicator shows the currently selected operat ing mode Indirect access functions Service keypad These functions are selected by pressing the following key sequence lt FONCT gt
225. ides a detailed view of the AXIS directory specifying for each logic number its geographic location rack module its type TSX AXM 162 TSX AXM 172 TSX AXM 182 etc the number of the associated AXM the size assigned to each application TOP displays the start of the directory BOT displays the end of the directory PREVPAGE displays the previous page NEXTPAGE displays the next page This is the view of the directory which will be provided in the documentation is used to modify the default assignment of the axis numbers A number can only be assigned to one slot compresses the dedicated AXE zone It is also used to recover empty spaces which have been created for example when applications have been deleted only displayed if the configuration is made up of more than 16 TSX AXM modules It enables movement from one group to another Managing the dedicated AXE zone 4 UPDATE Modification of a slot or the addition or removal of an AXM module affecting an I O configuration using XTEL CONF is indicated in the AXIS directory by an asterisk which precedes each module concerned Displayed only in this case the UPDATE key causes the directory to be updated following each new I O configuration defined by XTEL CONF XTEL Function axis line1 factory E xproprj lt LOCAL ARTS AREA NAHE LINEI ARIS 0 RACK SLOT MODULE ARIS RPPLI NB APPLI SIZE words
226. ile specified using the lt FILE gt soft key The file retains the configuration To completely destroy an application file the lt DELETE gt soft key must be used XTEL E RPROPRJ FACTORYALINE1 ARTS HOD Function axis line factory EAxproprj ME Filename Type Date Time Size Zone ENTER To select CLEAR QUIT To abort nit 8g Free MAYR ELE NENNEN UTILS ARM FILE Two soft keys are common to the disk utilities SEARCH DELETE searches for a file in a list deletes after confirmation YES the file indicated by the cursor 3 10 Selecting working memory 3 3 5 Selecting a TSX PMX file This mode allows an image of the PLC memory to be created in Local mode To use the TSX PMX file the station configuration must have previously been created using XTEL CONF B XTEL Function axis line1 factory ij 14 MAPPLINARTS BIN ARIS APPLI PL 7 AKS 05 0 INSTALLATION OF AXM 182 172 162 Copyright TE 1998 93 LOCAL MEMORY OPERATING MODES B AXH MEMORY CNN LEE ron 1 TSX MEMORY 1 PROGRAM 2 ARH FILE 2 TRANSFER HNEREZESUSENENENN 3 DOCUMENTATION OPER MODES CHOICE ARIS RPPLI AXISZAPP DIR ARIS AVM aA OF UTILS STORE Stores the configuration in an xxx BIN file By default the store name is AXIS BIN The screen displays two keys
227. ing into Service 7 Connecting the Module TSX AXM 182 162 module Connections are made using the TSX CAC 06 connection kit that comprises A 9 pin male Sub D connector for connecting the analog output A 15 pin male connector for connecting discrete I O and their power supplies A 25 pin male Sub D connector for connecting the encoder 3 metal coated plastic connector cases that ensure ground continuity Connectors seen from the pin side An Out Within the Module An Out An Out In3 An Out lt n4 24VDC Sensor supply R1 RO R3 OV Sensor supply OV Encoder supply Sensor common R2 R1 R2 Common RO R3 5VDC Encoder supply OV Encoder 1 lt gt 5VDC Encoder 1 Ind InO Encoder Ini inputs Int In2 In2 Terminal block detection 13 q 2 jumper 1 Ifthe length of the cable that connects the encoder to the module exceeds 20 meters the encoder must be supplied with 5 VDC from a local supply source This line must still be returned to the 25 pin connector to ensure terminal block presence testing 7 9 7 Setting into Service 7 Connecting the Module 7 3 4 Wiring Precautions Principles To protect the signals from induced noise in serial and common modes the following precautions should be observed Type of cab
228. ing moving part motion A 13 A Appendix Diagnostic Assistance 2 1 AXM STOPPED Function cannot be accessed with the module Stopped Place module in Run Function F93 2 2 AXM NOT CONF Function cannot be accessed module not configured 2 3 AXM RUNNING Function cannot be accessed with the module Running Stop module Function F93 2 4 AXM NOT RESERV The AXM module is reserved by another terminal Repeat the operation 3 1 TSX STOP Function cannot be accessed with the module stopped e Set PLC to Run or e Select Safety Off mode F85 3 3 TSX NOT CONF The PLC is not configured no AXM functions are available 3 6 TSX NOT RESERV The dedicated axis field in the PLC memory is already reserved by an other user 4 1 SYSTEM ERROR Refer to the possible causes described on the following pages Repeat the command 4 2 DIRECTORY ERROR The directory was not created 1 4 3 APPLI NOT DEF The nbr of applis in the ceeds the nbr of applis declared 4 4 KEY ERROR The function cannot be accessed in the selected XBT mode Change the keyswitch position APPLI FAIL Invalid application DIFF APPLI LEN The size of the application in AXM memory is different from the image in TSX memory Transfer by is F70 illegal 1 This message can also be obtained TSX XBT 182 terminal version 1 0
229. ining tests A Appendix Self tests Test display units Commands XBT Display Description SELFTEST TEST DISPLAY INCR DECR z P ests display segments 9 2 2 2 play seg INCR DECR H gt gt gt or gt gt gt gt INCR DECR 2 5 5 5 a 5 5 5 INCR DECR i lt lt lt lt i i i INCR DECR or eC INCR DECR SELFTEST TEST LEDS caderas S da ad rai cellas cm ee INCR DECR SELFTEST Lights all LEDs or LEDS OH INCR DECR SELFTEST Extinguishes all LEDs LEDS OFF ENTER 5 A Appendix Self tests Test outputs Commands XBT Display Description SELFTEST TEST BUZZER SELFTEST BUZZER OM SELFTEST BUZZER OFF SELFTEST TEST RELAY SELFTEST RELAY OH SELFTEST RELAY OFF SELFTEST TEST RS 232 SELFTEST TEST CORRECT or INCR DECR Sound buzzer or INCR DECR Stop buzzer ENTER For XBTs with relay outputs only INCR DECR Close relay contact or INCR DECR Open relay contact ENTER Data link test or Fit the RS
230. interrupts Instruction code M This instruction has three purposes e Enable synchronization check refer to Sub section 6 2 e Enable or disable relay outputs R1 to R3 eEnable an interrupt to the CPU refer to Sub section 6 3 M SYN Synchronization OUT Relay output IT Interrupt condition status Operands Synchronization UI3 Rising edge on input In3 condition e DIS Falling edge on input In3 e UC Rising edge on the CPU resume bit OWxy 1 9 eN Disable synchronization check Output relay e Set of three Os or 15 0 Disable relay 1 Enable relay XXX with X 0 or 1 L State of relay R1 State of relay R2 State of relay R3 Interrupt eY Enable interrupt eN Disable interrupt Example 1 GP1 F 21000mm mn X 300 2M SYN UI3 OUT 001 IT Y Velocity gt TSYN Time When the module reaches the 300 cm position step 2 is executed e The synchronization check is enabled e Relay R1 is enabled relays R2 and are disabled e interrupt is sent to the PLC processor The module executes step 3 while waiting for a rising edge on input In3 If this rising edge does not occur within the TSYN time out defined in the configuration a synchronization error is caused see Sub section 6 2 5 9 5 5 4 Programming TSX 172 182 modules 5 Data Control Instructions Load Position 2 gt Position 1 Instruction code LDP Transfer the value of pos
231. into operation requires several PLC cycles It is therefore necessary to make a distinction between the time required for the sequence to run number of cycles between the EXEC command and the moment when the bit AXMPG DONE goes to 1 and the CPU time occupied during each cycle Number of cycles CPU occupied for per cycle Processor TSX 67 40 TSX 87 40 TSX 107 40 Between 5 and 10 depending on the initial module about 1 5 ms about 0 6 ms about 0 5 ms 4 The AXMPG OFB 4 4 3 Internal Operation Chart of internal operation The AXMPG OFB performs all the necessary steps for the internal program module to be started as shown by the simplified chart below Preliminary checks Setting module to Run Module in Run Fault acknowledgement Faults acknowledged AUTOMATIC CYCLE mode selection AUTO CYCLE mode selected Start command program running 4 5 4 The AXMPG 4 Internal Operation Checks performed by the OFB before running the sequence e Presence of a TSX AXM 172 or TSX AXM 182 module in the slot specified by the axis number and auto test phase completed e AXM 172 182 module configured and programmed e Program not running e Start step number lower than 255 e Valid directory in existence e Valid axis number Reaction to a power break return External view 4 6 If a power break occurs during the execution of the program start up sequence
232. ion A 2 Whereas a TSX AXM 172 module takes into account the rising edge on signal A to determine the distance travelled TSX AXM182 162 modules take into account both rising and falling edges of signals A and B The value of parameter R that must be entered in the configuration always corresponds to the distance between two successive rising edges on the same channel but TSX AXM 182 162 modules evaluate the distance travelled using an equivalent resolution value RE that is four times greater This ensures Greater precision and therefore improved motion data or The same level of precision with four times the resolution and therefore a maximum speed that is four times greater Example System specifications require a precision of 1 1024th of a revolution 1stcase Selecta 1024 pts rev encoder the equivalent resolution that sets the precision is 1 4096th of a revolution 2nd case Select a resolution corresponding to the required precision It is then possible to select a 256 pts rev encoder A Appendix Determining Parameters VMAX parameter Maximum operating velocity This is closely related to the selected resolution and can never exceed a value corresponding to an input frequency of e 36 kHz for a TSX AXM 172 module e 72 kHz for TSX AXM 182 162 modules UMAX and LIMV parameters Example UMAX is the voltage that must be applied to the input of the speed drive to obtain a velocity equal to VMAX A
233. ion to be transferred is stored Working Memory e Access to the operating modes e Selects the Transfer Mode A third column is desplayed next to the other two columns e Access to the target memory Use the cursor keys or the appropriate number keys to select this memory from the list displayed e Define which application should be transferred Enter the axis or application number or the file name e Press lt Enter gt to access the appropriate selection screen 8 1 NO 8 Transfer Mode 8 Mode Description Screen XTEL Function axis tab3axe malo D xproprj i PL ARS U4 5 INSTALLATION OF 182 172 162 Copyright i 1990 91 SAVE MANUAL FILE TAB3AXE BIN LOCAL MEMORY OPERATING MODES DESTINATION ARM MEMORY CONFIGURATION URY 1 TSA MEMORY 1 PROGRAM 1 TSA MEMORY 2 AAM FILE HANSEER 2 TSH FILE 3 TS FILE 3 DOCUMENTATION DESTINATION CHOICE UE READ HE STORE RETRIEVE Ri This screen displays two boxes e One box lists the selected source and target memories The selected target memory can be changed at any time by pressing the cursor up or cursor down keys e One box that identifies the application selected for transfer and its axis and application assignment COMPARE Compares the source and target applications Transfer procedure 8 2 The transfer procedure requires that the user select the target address Use the cur
234. ions are used Operating Mode Control In almost all applications the TSX AXM 172 182 modules are used in the Automatic Cycle Mode The other modes available are only used in the Debug phase Operating mode control included selecting the Automatic Cycle Mode and starting AXM program execution on command from the PLC program Fora TSX AXM 162 module the ASSISTED MANUAL mode is used Everything mentioned in this Sub section applies to this module The difference is in the method of programming movements see Sub section 6 6 Functions not available on TSX AXM 162 module 6 Dialog with the PLC Processor 6 Full Module Control from the PLC Processor The Grafcet sequence below is a typical sequence that the user can write to execute the AXM module program in automatic cycle mode once the module has been configured and programmed using PL7 AXE This program sequence is run on cold restart or after initialization INIT from an FTX 507 workstation If the sequence must be run on hot restart or in other conditions itis up to the user to program this in particular by using the pre positioning features supported by PL7 3 Initialize Discrete I O and Register interfaces 1 Module OK Ready self tests complete and configured Run module odule running o 2 Acknowledge application errors _ No errors and module programmed
235. ises four columns DEE Function axis dann mala p xprop Length pee um Velocity RTI ce Train mn 52 Parameters Values Limits 2 1 RESOL Sensor resolution 3 4 un 1 8 1000 0 BF32 Max velocity 4058 nm nn 11 12968 User units AF33 UPUL Length nn dm m Jan AF Sh UPUU Velocity mnfmn mmmn cnfmn dn nn n AF35 UPUA Acceleration mn 52 nm 32 cm 52 dm 52 ns AF36 MAR Max soft limit 1000 add mm 30060 000 AFS AMIN Min soft limit 1000 000 300A AAA 30060 000 ACCE Acceleration nn 52 1 4500 9 DECE Deceleration ind mmis 1 4500 BF amp A TYPEPO Type of ref point 2 1 2 3 S LINE AKMI82 DISPLAY C HF PHEUPRGE HERTPAGE Column indicates for each parameter e The Write access mode A Configuration mode only B Configuration mode and through the TSX XBT terminal C Configuration mode and through the TSX XBT terminal and through AXM program instructions e The TSX XBT terminal function number used to access the parameters Parameters Column gives the designation of each parameter Values Column parameter value display field This column is filled in by the user Limits Column lists the maximum and minimum values for each pa rameter Note The first line indicates the physical units used by the module They are a fun
236. ition 2 to position 1 LDP X1 Position 1 X2 Position 2 Operands Position 1 ePRF Parametered indexed position eWNi_ Internal position Position 2 eWNi Internal position eCP Current position eEXT External position ePRF Parametered indexed position e Immediate position Example LDP X12 WN1 2 Load the current position in the internal WNi position Add Position 1 Position 2 gt Position 1 Instruction code ADD Add positions 1 and 2 transfer the result to position 1 ADD X1 Position 1 X2 Position 2 Operands Position 1 ePRF Parametered indexed position eWNi Internal position Position 2 2 eWNi Internal position eCP Current position eEXT External position ePRF Parametered indexed position e Immediate position Example ADD X1 PRF X2 EXT Add the PRF index to the external position and transfer the result to PRF Subtract Position 1 Position 2 gt Position 1 Instruction code SUB 5 10 Subtract positions 1 and 2 transfer the result to position 1 SUB X1 Position 1 X2 Position 2 Operands Position 1 Position 2 e PRF e WNi e WNi eCP e EXT e PRF Parametered indexed position Internal position Internal position Current position External position Parametered indexed position e mmediate position Example SUB X1 PRF X2 WN6 Subtract internal position WN6 from the PRF index and transfer the res
237. knowledges a terminal block error Activates the selected mode Lets the user modify the state of an output bit To do this position the cursor on the bit using the cursor keys and select the dynamic soft key Deactives the currently selected mode Stops the TSX AXM module Lets the user set the machine characteristic factor Lets the user access the table of internal values WNi and counter values CNi Defines the function of the element selected by the cursor 7 Debug Mode 7 3 Access to WNi Internal sitions The internal positions are accessed from the previous screen by selecting the WNi CNi dynamic soft key or from the primary window of the Debug Mode HE Function axis tab Jane malo D wproprj TAUGHT POSITIONS mm Hu 00 UHL 1000 000 UN34 1000 000 WN1B 1000 00 UH35 1000 00 WN2 100 088 19 1000 000 UN36 1000 000 WN3 200 000 Wm 1000 000 Uns 1000 000 UHG 300 000 WH21 1000 00 WH3 1000 0 UHS 400 000 UH22 1000 000 UN39 1000 000 UHG 500 088 WN23 1000 pap UNGA 1000 pag WH 600 000 WH24 1000 00 UHA 1000 00 UHG 100 000 WN25 1000 000 UNG 1000 000 WN 800 000 WN26 1000 000 1000 000 m 900 1000 000 UHG 1000 000 WN11 1608 000 WN28 1000 608 UNGS 1000 00A 12 1000 000 29 1000 000 UNA 1000 000 WN13 1000 000 Uns 1000 000 1000 000 WN14 1000 608 WN31 1000 008 UNG G
238. l occur When linked with the configuration loading OFB AXMLD it reduces the amount of programming required to initialize the TSX AXM module ACTIVATE EXEC AXMLD gt AXMLD READY ACTIVATE EXEC AXMPG gt AXMPG DONE Rest of specific application program 4 1 4 The AXMPG OFB 4 4 2 Presentation The AXMPG OFB has internal constants internal data and input param eters It does not have output parameters Constants and parameters are defined during the programming phase Internal data is used during execution DATA CONSTANTS ERROR I AXIS STATUS DONE Internal constants l AXIS This specifies the axis number to which the OFB is assigned and is between 0 and 63 It has a default value of 64 which means the OFB cannot be used unless this parameter has been defined NB Make sure the OFB number corresponds to the axis number Internal data ERROR Changes to 1 if a problem is encountered BIT STATUS Allows the problem to be identified WORD Each of these 16 bits can identify a cause of an error 4 2 4 The AXMPG OFB 4 Presentation Bit nbr Nature of problem 6 to 11 12 13 14 15 Module missing or not working START command results in a COMMAND REFUSED 1 Fault acknowledgement not possible Module Run command or transfer to AUTOMATIC CYCLE refused 2 Module not configured or not programmed Initial step number gt 254 or program already in o
239. l to the increment given for velocity if the velocity cor rection factor 1 motion completed 3 Selecting the Operating Mode 3 5 Manual Reference Set up Mode Validation conditions Access Note e Module configured e Module running e No errors Commands 8 XBT Display Ae 8 126 886 MODIF As As 8 ENTER As 8 RFP CHOOSE DIRECTIO As 8 AI MOTION Ref Set up As RUH HAH RF X X Comments Temporary display that appears during mode selection Display the value in the register Enter the reference position 1 Mode display Starts moving part motion e X Forward direction 2 e X Reverse direction 2 The key can be released Motion velocity VMAN if velocity correction factor 1 Display the axis status once reference set up is complete 1 Can be different than 0 The only condition that must be met is LSS lt Start Position lt HSS 2 Except when type 3 cam at end of travel reference set up is used and the moving part is on the cam at the time In this case motion takes place in the opposite direction to that specified 3 7 3 Selecting the Operating Mode 3 3 6 Open Loop Mode Enable conditions e Module configured e Module running e Axis calibrated
240. le program comprising several possible start points 0 SRP F 2000 x 0 1 GP9 6000 200 19 END 20 SRP F 4000 x 0 21 G 9 2000 EVENT UI3 35 END It is up to the user to ensure prior to starting execution that there is no program running or if necessary to stop the program AXM RUNNING STOP EXECUTION AXM COMPLETE AXM COMPLETE START EXECUTION OF AXM AT STEP 20 4 9 4 4 10 The AXMPG OFB Examples Stage 5 Action on activation SET 04 5 Stage 6 Action on activation RESET 04 5 120 Wb51 EXEC AXMPGO W51 gt AXMPGO W51 I AXIS 0 Transition 4 5 IW4 1 5 Transition 4 6 NOT IW4 1 5 Or IW4 1 9 Transition 5 6 NOT IW4 1 5 Transition 6 7 AXMPGO DONE NOT AXMPGO ERROR Note In this example the AXM module is assumed to be in slot 4 A Appendix A 1 Replacing an AXMLD V4 1 OFB with AXMLD V4 5 OFB Initial situation Procedure A PL7 3 application has AXMLD version 4 1 OFBs The user wishes to replace these version 4 1 OFBs with version 4 5 OFBs simply to bring them up to date or because he needs to exceed the limit of 16 axes imposed by the V4 1 version This update is made by reconfiguring the PL7 3 application Install the diskettes containing the OFBs Open a PL7 3 window RETRIEVE the application to be updated Select CONFIGURATION mode and then item 5 OPTIONAL FUNCTION BLOCKS Press the NEW key Select the
241. le reservation The entities that are likely to dialog with a TSX AXM module PL7 AXE during the debug phase of an application TSX XBT terminals PL7 3 applications being executed by the PLC processor via the Discrete and Register interfaces TSX AXM Interfaces Module PL7 AXE Program TSX XBT 182 Terminal Discrete I O PL7 3 Application The first two entities PL7 AXE and TSX XBT terminals use the same resources at module level To avoid access conflicts a reservation mechanism was developed It operates as follows when a terminal wishes to access the module to perform a modification it must first reserve the module The reservation is only effective if the module is not already reserved Reservation means that it is impossible for another terminal to access the module for the duration of the operation 6 38 6 Dialog with the PLC Processor 6 Access Conflicts Example PL7 AXE Program TSX AXM E UE ES a Module TSX XBT Terminal The TSX AXM module is reserved by the PL7 AXE program The TSX XBT terminal is only allowed to access the module for data display purposes Reservation by PL7 AXE The situations described below cause the PL7 AXE program to reserve the TSX AXM module Modification of the configuration Modification of the AXM program Use of the Debug Mode Application transfer AXM TSX AXM DISK Reservation by TSX XBT 182 terminal Incomplete list provided
242. length of the directory is greater than the configured number of CWi words an asterisk precedes the directory address CTRL W displays the configured number of Wi words CTRL C displays the configured number of constant CWi words A 20 A Appendix A7 Restrictions on the use of PL7 AXE with a TSX AXM 162 module Reminder The TSX AXM 162 module cannot be programmed which results in the following Anapplication is limited to a single configuration there is no internal module program or table of internal positions In addition the configuration is cut off from all parameters which enable fault processing by the module program Operating modes AUTOMATIC CYCLE AUTOMATIC BLOCK BY BLOCK AUTOMATIC STEP BY STEP are not available PL7 AXE takes these restrictions into account by only offering the user those functions which are available on the TSX AXM 162 module and refusing any attempt to access a non existent function General principles e The main menu screen selection of memory and mode and the screens which can be accessed with the UTILS key are identical for all module types In the case of the TSX AXM 162 module any attempt to access the PROGRAMMING mode whether for the purpose of creation or deletion using the DELETE THE PROGRAM function in the utilities results in the message PROHIBITED FOR AXM 162s This message is also displayed if an attempt is made to access the table of internal W
243. les The minimum wire cross sectional area in the cables used should be 0 22 mm AWG 24 Shield grounding a For Sub D connectors e Connect the shields together e Crimpthe shield in the metal coated plastic connector case b For TSX BLK 4 terminal blocks TSX AXM 172 modules e Connect the shielding of the cables to the PLC ground through the TSX RAC 20 grounding strip that must be installed on the PLC rack except for the analog output the connection should be made directly to the connector Grouping the cables in bundles Bundles of multiple twisted pair cables can be formed where the signals carried are of the same type and have the same reference to ground Cable routing e Keep the counting signal wires away from the discrete I O wires especially relay output wires and power cables e Avoid close parallel runs the cables should be at least 20 cm 8 inches apart Make any crossings at right angles Connecting the inputs 7 10 Compatibility with incremental encoders Inputs InO Ini In2 are designed to receive signals from an incremental encoder The encoders used must have e An NPN open collector ortotem pole output when used with a TSX AXM 172 module 5 V or 24 V supply A line transmitter RS 422 when used with TSX AXM 182 162 modules 5 V supply Telemecanique has a complete range of rotary and incremental encoders that are compatible with TSX AXM modules Note TSXAXM 172 modules a
244. ling PL7 AXE software Open an OS 2 full screen session To do this open the Start Programs window pull down the Group menu and select the Main Group item select the OS 2 full screen session item The C promptis displayed on the screen Insert the TXT LF PL7 AXS V5 diskette in the drive Enter the drive identifier a or b then confirm with Enters Fromthenew prompt for example or B type Install then confirm with Enter Follow the procedure displayed on the screen Wheninstallation is complete replace the diskette with the second diskette reference TXT LF FB AXS V42 Type the Install command then confirm with Enter Follow the procedure displayed on the screen When the installation is complete and if it is the last one check the configuration Confirm with Enter Remove the diskette from the drive and return to the Software Workshop using the Ctrl Esc command 1 5 1 6 Using the keyboard and the mouse Using the keyboard To use PL7 AXE Telemecanique recommends a 102 key QWERTY keyboard Certain PL7 3 function keys CLEAR ZOOM QUIT etc which are also used by PL7 AXE are not printed as standard on the keyboard but are accessed by another key or combination of keys These keys common to several programs are described in the PL7 3 Operating modes manual section 3 1 in divider A Using the mouse As for the keyboard detailed use o
245. ll be rejected by the terminal 5 2 5 Configuration Mode 5 Mode Description Modifying a configuration There are two possible cases The AXM program has not been entered The principle of the modification is the same as that described on the previous page Only the modification of both the resolution and maximum velocity parameters can cause a loss of all other parameters Ifthe resolution is reduced and the velocity VMAX is no longer within the new limit values If the maximum velocity VMAX is reduced and this reduction sets new limits for other parameters e The AXM program has been entered The new parameters may be incompatible with the immediate values declared in the program or with the WNi internal positions In this case when validation of the new configuration is requested the terminal prompts the user to Individually modify invalid operands in AXM program instructions Individually modify the WNi internal positions Ifthe user does not wantto modify the program and the internal set points and accept the modification of the configuration or if the program and internal set points are to be completely cleared QUIT lets the user access the following dynamic soft keys e DEL PROG Clears the entire AXM program e DEL WNIs Resets all WNi internal positions to the value of the lower soft stop XMIN e RECONF Lets the user return to the Configuration Mode Screen The configuration can on
246. locity and the position are measured at the same point on the machine KPOS Represents the static gain of the transfer function with an open loop If the velocity is constant KPOS represents the inverse value of the time required to absorb the deviation error This value is expressed as 1 second Increasing the position gain KPOS improves precision Reducing KPOS improves system stability causing a precision stability trade off When the speed drive is correctly set up complete machine system per formance can be expressed by the following approximation formula 4 m KPOS T 1 T Time constant for the complete speed drive motor mechanical system m Stability factor Overshoot value on an indice response as a function of m Overshoot 50 4 0 m 0 2 0 707 1 Example If T 30ms and the user requires a maximum overshoot of 4 m 0 707 the resulting value of KPOS is KPOS 1 4m2 T 1 4 0 707 2 30 10 16 s A 7 A Appendix Determining Parameters Identifying the parameter T A 8 e Set a speed drive value with a linear evolution over time The slope should be such that the speed drive does not have to limit the intensity level of the signal e Read the velocity instruction and the actual velocity from the tachometer dynamo e In these conditions T is given by one of the two formulas listed below where VMAX t2 Instruction e 7 Measu
247. ly be validated if the AXM program configuration parameters and the internal positions are not mutually exclusive Note Modification of some parameters resolution etc will reset the Machine Characteristic Factor KR and can therefore require that this factor be readjusted This can be done either with PL7 AXE refer to Sub section 7 4 or with a TSX XBT 182 terminal Function F61 If the Machine Characteristic Factor is changed the user is warned by the message WRITE OK ATTENTION KR MODIFIED when the complete configuration is validated 5 3 5 4 6 Programming Mode 6 6 1 Mode Description Purpose The Programming Mode lets the user enter and modify AXM programs Instructions and operands are not described in this Section refer to Divider B Section 5 It is not available for the TSX AXM 162 HELP lists all of the instructions and operands available Access to the Mode Screens From the Mode Selection Display e Select the working memory refer to Section 3 e lets the user access the operating modes e Enter the axis and application numbers or file name if disk storage is selected e Select the Programming Mode Note Theapplication parameter table must always be entered first in Configuration Mode The screen displayed lets the user enter program steps A full screen editor is provided e Three working modes are available e INSERT PROG For creating the program or inserting a program ste
248. m lets the user develop applications for TSX AXM modules directly in various storage locations e Hard disk when working in a design office environment e PLC memory when storing applications e TSX AXM module internal memory when executing the program Parameter Entry The Configuration mode lets the user access a set of screens that allow entry of the various application parameters e Axis parameters sensor resolution maximum velocity etc e Servo loop parameters position gain etc e Operating parameters user specified measurement units error process ing etc XTEL Function axis tabJaxe malo Diixpropr Wy DER EI Length um Velocity Acceleration mnjs Paraneters Values Limits RESOL Sensor resolution 3 8 un 1 8 1000 0 UMAR velocity 4058 mn mn 11 12960 User units Length nn un dm m Uelocity nn nn nnznmn cmim n nn Acceleration mnfs nm 52 cn s2 dm 52 n 52 AMAR Max soft limit 1000 gud mn 30000 000 Hin soft limit 1000 00A mn 30000 000 ACCE Acceleration An mnn 52 1 4588 DECE Deceleration An mn 52 1 4588 TYPEPU Type of ref point 2 1 2 3 1 amp 2 DISPLAY CONF PREUPAGE NEATPAGE 2 1 2 TXT L PL7 AXS V4 Axis Control Program PL7 AXE Implementation Program Program Entry tal
249. mentation 2 11 1 phase Creating the directory Open the main PL7 AXE window Select the TSX PMX File memory Select AXIS DIR the software automatically recognizes STATION APP files Quit by pressing ENTER 2 9 phase Creating the application In Program mode select the TSX PMX File Local and for each axis select the axis number and the application number create the configuration CONFIGURATION create the PIC program PROGRAM In Debug mode select AXM MEM connected modify the configuration and the program update TSX PMX MEM using the Transfer function AXM MEM TRANSFER TSX PMX MEM 3 phase Documentation n Program mode select the TSX PMX File document each application output to printer or to STATION DOC file XTEL DOC In Debug mode select TSX PMX MEM Note In TSX PMX File mode PL7 AXE works directly on the AXIS BIN file It is not necessary to perform saves 2 12 Ze Selecting working memory Section 3 Sub section Page 3 1 Introduction 3 2 3 1 1 Role of the common soft keys 3 3 3 2 Selecting AXM memory 3 5 3 3 Selecting TSX PMX memory 3 7 3 4 Selecting an AXM file 3 9 3 5 Selecting a TSX PMX file 3 11 This section ends at page 3 12 3 1 3 1 Introduction The choice of working memory defines the PL7 AXE operating mode local or connected Local mode operation In this cas
250. nector for module auxiliary I O connections and their supply lines 5 A connector for encoder connec tion 6 A connection kit comprising three Sub D connectors that must be ordered separately Ref TSX CAC 06 7 An adjustment potentiometer for the analog output offset level A 25 pin Sub D connector for connecting the incremental encoder Note Connections must be made using the TSX CAC 06 connection kit or VY1 M621 CLC5 and VY1 M621 CLA cables The software and hardware configuration code is TSX AXM 182 732 TSX 162 735 e3s Ce e3 ss e e eo 1 5 1 Module Presentation 1 Particulars of the TSX AXM 162 module 1 2 The TSX AXM 162 module is similar to the TSX AXM 182 module Its difference lies in the fact that it does not have an Automatic mode or program As this manual is common to all three modules TSX AXM 172 AXM 182 AXM 162 it is therefore necessary to explain the significance of the lack of automatic mode Section 5 PROGRAMMING does not concern the TSX AXM 162 module On the other hand paragraph 6 7 is entirely dedicated to programming moves from the CPU of the programmable controller In the rest of this document so as to avoid reading parts unnecessarily text which is not relevant to the TSX AXM 162 is highlighted in grey and a note is given at the bottom of the page List of functions not a
251. ng on the type of reference point set up selected refer to Sub section 4 1 This mode enables the axis to be referenced Note The reference point can be set up automatically using an instruction This can be difficult to perform if the position of the moving part is not known precisely by the module resulting in motion away from the cam for example A type 3 reference set up long cam at end of travel can be used to avoid this risk Functions not available on 5 AXM 162 module 3 Operating Modes 3 Module Modes Procedure e Select the mode e Enter the reference point e Start the mode The moving part moves towards the target position and stops the Start command is implicit when using a TSX XBT terminal Manual control mode Moving part motion and stopping are directly controlled by the user who can see the axis and moving part The velocity of the moving part VMAN parameter is specified in the configuration This mode is used to position the moving part during application debug phases Procedure e Select the mode e Enter the direction of motion e Start the mode The moving part starts to move in the selected direction e Stop the mode Stops the moving part The Start and Stop commands are implicit when using a TSX XBT terminal Note For safety reasons authorized motion is restricted to e XMAX 2x TW in the positive direction e XMIN 2 x TW in the negative direction Assisted manual mode
252. ng and Wiring Sheets 14 A 6 Index 19 A 7 Application Diagnostics Assistance A 20 B 2 1 Module Presentation 1 1 1 Axis Control Presentation Purpose TSX AXM 172 TSX AXM 182 and TSX AXM 162 Axis Control Modules are part of the TSX Series 7 range of intelligent I O modules These modules can operate independently and have their own microprocessor and operating software providing high level performance and the ability to control specialized applications These modules can control the motion of a moving part along a linear axis with servo loop position control Inputs Outputs The module receives as an input an incremental position signal and signals for reference point set up axis calibration or event detection The output from the module is an analog signal used to control a servodrive Analog Output 10V 0 8 Motor Tachometer Incremental Encoder TSX 7 40 The module also provides four auxiliary relay outputs Programming TSX AXM 172 and TSX AXM182 modules have their own programming language This language comprises a motion control instruction set and another instruction set for structuring programs with jump and subroutine call instructions The module program or AXM program allows totally
253. ng on the layout of the machine system the sensor can be fitted in A B positions rotary in and B linear in 1 8 1 Module Presentation Servo Loop Diagram Peak Limiting Upcounter Downcounter Encoder Inputs ACCEL DECEL Reference set up Scaling This function is not accessible by the user It is used to enter the instruction values for eref f t and vref f t as a function of the overshoot and velocity values specified by the user along with the acceleration ACCEL and deceleration DECEL values set in the configuration and the velocity modulation factor Depending on the maximum velocity distance and resolution the module calculates the value of the scaling factor KR that is also referred to as the machine characteristic factor The user can access a fine adjustment of this factor from the TSX XBT terminal or PL7 AXE program to compensate for any lack of precision in the machine parameters entered in the configuration Upcounter Downcounter The sum of the sensor increments gives the position of the moving object and allows monitoring of its motion 1 9 1 Module Presentation 1 Servo Loop KVAR Proportional gain factor KVAR C UMAX C Constant UMAX The value ofthe variable speed controller instruction corresponding to VMAX velocity UMAX 9 V The user enters the required KPOS value in the configuration and the module calculates the correspon
254. ng rules of the OFBs it serves no purpose to wire their I O as they cannot be updated AXMDG 1 B10 W20 NO USE 3 The AXM DG OFB 3 Examples Reason Values from PL7 3 objects B10 W20 B20 are only transferred to the OFB parameters when the EXEC instruction is scanned However for an AXMDG OFB the EXEC instruction should only be scanned once If for the sake of interest this wiring is performed it is seen that the INIT input remains at whatever the state of bit B10 thatthe AXIS input retains parity with whatever the value of W20 and that B20 remains at 0 even if the output ERROR goes to 1 Note Even if the I O parameters can still be read from the program Example IF AXMDGO ERROR THEN they cannot be written to Only diagnostic programs can force the INIT input 3 7 3 8 4 4 1 The AXMPG OFB 4 Purpose The AXMPG OFB performs all the necessary functions for setting the internal program module into operation It has a similar effect to the GRAFCET initialization sequence described in section B sub section 6 4 pages 6 11 6 12 Module set to run Fault acknowledgement Selection of AUTOMATIC CYCLE mode normal operating mode for TSX AXM 172 and TSX AXM 182 modules START AXM mode activated Because of its very nature the AXMPG OFB is not relevant to the TSX AXM 162 module If however an AXMPG OFB is accidentally assigned to this type of module no damage wil
255. nning All functions are supported AXM RUN 0 Module stopped Only the position monitoring function is supported Normally reflects OWxy 0 C if the module is configured Forced to 0 when the terminal block is opened IWxy 0 D Not used reserved IWxy 0 E 1 Module operating with Safety Off 1 SEC 0 Module operating with Safety On Normally reflects OWxy 0 E Condition Module running 1 On PLC failure or stoppage module continues to operate IWxy 0 F 1 Inhibited outputs 2 OUT DIS 0 Active outputs 2 Normally reflects OWxy 0 F 2 Only the R1 R2 R3 relay outputs are affected 6 Dialog with the PLC Processor Discrete I O and Register Interfaces AXIS STATUS WORD Nbr 1 yi IWxy 1 T Conditions common to all bits e PLC running e Module running IWxy 1 0 to IWxy 1 3 MODE OW Nibble that defines the active operating mode 0000 None 1000 Auto Step Mode 0001 Manual Ref Set up 1001 Auto Block Mode 0010 Manual Drive 1010 Auto Cycle Mode 0100 Assisted Manual No other combinations 0111 No Servo Control Normally reflects the corresponding nibble of OWxy 1 Itis set to 0000 if a soft stop error occurs or if the mode selected with the OWxy 1 nibble does not correspond to an authorized mode IWxy 1 4 DIRECT Direction of travel or if moving part stopped direction of the last motion 1 Negative direction reverse 0 Positive direction forward
256. of the Status word will identify the cause 3 Memory occupation Program field Data field Constants field 3750 words 336 words 8 words for any number for each use for each use of uses 2 4 2 The AXM LD OFB Presentation Execution time The transfer of an application requires a number of PLC cycles It is therefore necessary to distinguish the time required to transfer an application time between the EXEC OFB request and the time the AXM LD READY bit changes from 0 to 1 from the PLC time required during each PLC cycle Cycle N EXEC AXM LD Total transfer time M x T with T PLC cycle t A AXM LD READY 1 Cycle N M t Cycle N 1 t time taken for each cycle 1ms M Number of cycles required for the transfer is variable depending t on the size of the application see table below Appli AXM pgm with n steps and K WNi Maximum application CONF AXM of 253 steps 100 WN Typical application M Minimum application CONF only 6 Appli AXM pgm with n steps and no WNi 8 nx7 120 9 n x 7 120 K 30 28 2 5 2 2 3 The AXM LD OFB Internal Operation Internal operation diagram The AXM LD OFB performs all of the operations required to transfer the application as shown in the simplified diagram below Preliminary Checks Stop the Module Reserve the Module Application Transfer Release the Module
257. og with the PLC Processor Discrete I O and Register Interfaces 6 5 6 Output Register Words MODULE COMMAND WORD Ixy i OW 6 30 OWxy 0 Conditions common to all bits e PLC runn ing OWxy 0 0 MASK IT Mask Demask the interrupts Conditions Module running Effect At 1 Mask the interrupts sent by the module At 0 Demasking If the module sends an interrupt while ITs are masked the last interrupt will be sent to the PLC when ITs are demasked OWxy 0 1 Not used reserved OWxy 0 2 Active at 1 Reset message field Conditions None Effect Access to the module in MSG mode is ignored Consequences It is impossible to access the module from the TSX XBT terminal or from PL7 AXE when this bit is at 1 OWxy 0 3 to OWxy 0 B Not used reserved OWXxy 0 C Module RUN STOP command AXM R S Conditions Module configured self tests completed Effect At 1 Module running At 0 Module stopped OWxy 0 D Not used reserved OWxy 0 E Safety Off Safety On command AXM HSEC Conditions Module running Effect At 1 Module running with safety off if the PLC stops or fails the module runs independently At 1 Module running with safety off if the PLC stops or fails a CPU error is generated the resulting process ing depends on the configuration OWxy 0 F OUT DIS Active at 1 Inhibits module outputs Conditions N
258. ogramming and installing axis control applications PL7 AXE software comprises A software function for entering the configuration and program of TSX AXM 162 172 182 modules Optional function blocks program loading OFB diagnostic OFB automatic mode management OFB Functions associated with the axis control modules assistance with entering configuration and program parameters using menus and on line documentation assistance with diagnostics and debugging transferring the configuration and the program between the PLC memory the module memory and the disk documenting the configuration and the program archiving the configuration and the program to disk printing the configuration and the program 1 2 Introduction and installation 1 1 2 Configuration required for PL7 AXE To install PL7 AXE requires an FTX 417 507 terminal or an IBM PS 2 microcomputer or compatible PC with OS 2 operating system version 1 3 or 2 1 The MINI X TEL or X TEL Software Workshop reference TXT L BASE V5e or TXT L BJR V5e PL7 3 software reference TXT LPL7 V5e TXT L PL7 3D V5e or TXT LPL7 V5e Aminimum of 4 Mb of RAM memory and a 40 Mb hard disk Important Telemecanique cannot guarantee correct operation of this software on all microcomputers or compatible PCs on the market with the above mentioned characteristics 1 3 Checking the hardware The TXT L PL7 AXS V5 sof
259. ogue terminal TSX AXM TSX CPX 27 37 AXMDG EE This OFB is one of the elements in the fault transmission sequence which are necessary for the DIAGNOSTIC function Operating principle When a fault appears the OFB ERROR bit goes to 1 and the STATUS word bit corresponding to the fault also goes to 1 The fault can then be highlighted on the operator terminal screen so that after remedying it the operator can acknowledge the fault using the INIT command 3 1 3 The AXMDG OFB 3 3 2 Presentation The AXM DG OFB has internal constants internal data and I O parameters Constants are defined during the programming phase Internal data is used during execution The I O parameters must be left undefined Internal constants I AXIS Internal data INHIB STATUS 3 2 DATA CONSTANTS INHIB I AXIS STATUS This specifies the number of the axis to which the OFB is assigned is between 0 and 63 The default value is 64 which means the OFB cannot be used unless this parameter has been defined NB Make sure that the OFB number corresponds to the number of the axis This bit should normally be at It can be set to 1 to inhibit fault monitoring in which case the ERROR bit and the STATUS word are forced to O 16 bit word where each bit corresponds to a type of fault Two types of fault can be identified faults associated with the module itself bits 0 1 and 11 to 15 application faults those relating
260. omputers or compatible PCs on the market with the above mentioned characteristics 1 3 Checking the hardware The TXT L PL7 AXS V5 software package comprises 3 1 2 diskette reference TXT LF PL7 AXS V5 1 2 diskette reference TXT LF FB AXS V42 A software protection key Alicence agreement This manual reference TXT DM PL7 AXS V5 To use PL7 AXE the following hardware should be used An FTX 417 507 terminal or an IBM PS 2 microcomputer or compatible PC see required configuration section 1 2 Aterminal PLC connection cable for an FTX 417 507 terminal A terminal PLC connection kit for an IBM PS 2 microcomputer or compatible PC comprising an RS 232C current loop converter converter microcomputer connection cable with a 9 pin connector converter microcomputer connection cable with a 25 pin connector converter PLC connection cable a TSX SCC 02 software key support 1 3 1 4 Connections Allconnections specific to the terminal monitor keyboard mouse printer software key support etc are assumed to be in place this section only describes fitting the software key To do this place the key in the empty slot in the key support This operation must be carried out with the equipment switched off Note This software key contains the access rights needed to access PL7 AXE The Key Manager tool supplied with each Software Workshop allows th
261. on um mm cm dm m mm mn cm mn dm mn m mn mm s cm s dm s m s XMAX Higher soft stop XMIN Lower soft stop ACCE Acceleration DECE Deceleration TYPEREF Type ref point setting VMAN manual velocity VSTOP velocity at stop TSTOP stop time out TW target window DMAX max deviation error UMAX VSD instruction for VMAX B B C C C C B B POSITION LOOP eKPOS Position gain eLIMV Exceed velocity value eKV Velocity feedforward MDMAX divert mask for DMAX NDMAX divert step nbr for DMAX MSTOP divert mask for VSTOP NSTOP divert step nbr for VSTOP MTW divert mask for TW NTW divert step nbr for TW TSYN Sync time out MSYN Sync divert mask NSYN Sync divert step nbr ow MCPUF Divert mask for CPUF NCPUF Divert step on CPUF gt NBWN Number of saved WNs Access A modify in configuration B mod in config and with XBT C B modify by program A 14 A Appendix Formulas Axis Nbr Application Nbr Location Address Step Nbr INSTRUCTIONS TSX AXM Programming Sheet TSX Address W Archive Name Application Name COMMENTS Draftsman 9LN TSX AXM 172 WIRING SHEET TSX BLK 4 Terminal Block Update Design Draftsman E gt
262. on the Start command reactivates the checks that were previously disabled TRAP Instruction 5 12 This instruction is not user programmable It only appears during operation and indicates one of the following conditions e serious operating failure e A conflict between the declared program length and its actual length e Incomplete program entry no END instruction entered at the end of the program e AXM program side tracked towards a step which has not been pro grammed When this instruction is encountered AXM program execution and moving part motion is immediately interrupted If this type of failure occurs check the AXM program In particular check that the END instruction is in place then restart AXM program execution from the start step 5 6 Examples Example 1 Example 2 5 Programming TSX AXM 172 182 modules Velocity mm mn 1000 4 Aina Position mm 300 5007 0 GP1 F 1000 mm mn X 1000 mm 1G 9 F 300 mmmn EVENT UIS 2 GP9 F 500 mm mn 0 3 END Velocity mm mn 1000 300 0 200 400 600 800 Position mm 0 LDP X1 WNO X2 200 mm 1 LDC CNO VAL 4 2 GP9 500 mm mn X 3 ADD 1 WNO X2 200 4 DEC 5 JNZ N 2 CNO 6 END 5 13 5 Programming TSX AXM 172 182 modules 5 Examples Example 3 Synchronizing motion on event with relative motion 5 14 Velocity mm mn A ins 2m mn 0 5 m mn 300 mm 1st solution 1 G F 2000 mm
263. on 2 but for TSX AXM 182 application files 4 DELETE THE PROGRAM Destroys the PIC program of the file specified using the lt FILE gt soft key The file retains the configuration To completely destroy an application file the lt DELETE gt soft key must be used XTEL VIPR PRJXFACT RVALINETVARTSVHOD Function axis line1 factory EAxproprj BH Filename Type Date Time Size Zone ENTER To select CLEAR QUIT To abort Unit BHAYAL BL 248 UTILS ARM FILE Two soft keys are common to the disk utilities SEARCH DELETE searches for a file in a list deletes after confirmation YES the file indicated by the cursor 3 10 Selecting working memory 3 3 5 Selecting a TSX PMX file This mode allows an image of the PLC memory to be created in Local mode To use the TSX PMX file the station configuration must have previously been created using XTEL CONF RRIS RPPLT EL Function axis line1 factory E xproprj BE PL AXS 05 0 INSTALLATION OF AXM 182 172 162 Copyright TE 1998 93 LOCAL MEMORY OPERATING MODES 8 ARM MEMORY eS CONTICURNTYON 1 TSX MEMORY 1 PROGRAM 2 ARM FILE 2 TRANSFER ARH gt 3 DOCUMENTATION ARIS OPER MODES CHOICE RPPLI _AXIS APP DIR AXIS OF UTILS STORE RETRIEVE Stores t
264. on 4 2 Divert mask Y Fault process by XBT or PLC On error divert AXM program to divert step NTW Divert step number 0 to 253 Functions not available on TSX AXM 162 module Typical values 1 sec 16 20 20 2 3 2 Configuration Parameter Table Parameter List Parameters Explanations and limit values Type Typical values Sync time See Section 4 2 out period TSYN Synchronization time out B Min limit 1 x 10ms Max limit 65535 x 10 ms MSYN Divert mask Y Error processed by XBT or PLC B Y On error divert AXM program to NSYN divert step NSYN Divert step number 0 to 253 C PLC See Section 4 2 processor checks Divert mask Y Error processed by XBT or PLC B MCPUF N On error divert AXM program to NCPUF divert step NCPUF Divert step number 0 to 253 Number of internal positions Min limit Max limit 100 A 0 NBWN The AXM program can use a maximum of 100 WNi internal positions The NBWN parameter determines the number of WNi internal positions numbered from WNO that will be transferred when the application is stored in the internal memory of the PLC or saved to disk 2 4 Functions not available on TSX AXM 162 module 3 Operating Modes 3 Important Note Most of the operations described in this Section can be performed from three different systems e PL7 AXE which in addition to its configuration programming function also allo
265. on WAIT EVENT CPU proceed to the next instruction 2 Instruction M SYN CPU Freeze TSYN time out OWxy 1 A SENS Direction of motion Condition Manual or Manual Set up Modes Effect With the Start command Oxy 4 it determines the direction of the moving part 1 Negative direction reverse 0 Positive direction forward Note This bit is not updated by the TSX XBT terminal when it requests motion via the or X keys OWxy 1 E to OWxy 1 F we used reserved Functions not available on TSX AXM 162 module 6 Dialog with the PLC Processor 6 Discrete I O and Register Interfaces OWxy 2 AXIS STATUS WORD NBR 2 OWxy 2 Conditions common to all bits e PLC running e Module running OWxy 2 0 OWxy 2 2 OWxy 2 4 OWxy 2 6 OWxy 2 8 OWxy 2 A Acknowledge and resume mode on Stop error Acknowledge and resume mode on Deviation error Acknowledge and resume mode on Synchronization error Acknowledge and resume mode on Target Window error Acknowledge and resume mode on PLC error Acknowledge and resume mode on Emergency Stop error All of these bits operate according to the following principle Active on rising edge Condition Corresponding error present Error not masked For CPU error Module in Safety On Mode Auto Mode 1 Effect Acknowledge the error and resume program execution Note Inthe case of Stop Target Window CP
266. on a TSX PMX V5 programmable controller Thefollowing methodology is intended as a guide to the user when creating debugging archiving and documenting a communication application This methodology refers to each operation without going into detail about the operations required Install Section 1 Divider C2 the software XTEL COMF tool Configure the I O Construct the XTEL COMF tool application structure Design Design See next page PL7 AXE PL7 3 application application XTEL TRANSFER Transfer iol to PLC PL7 AXE poy Debug Section 7 n AXE Divider C2 MOGUES e Update Update See Application file Application file next page Documentation file Documentation file 1 7 NO Create directory PL7 AXE Application Design Write AXM module configurations and programs AXE application documentation Incorporate OFBs under PL7 3 PL7 3 Application Design Program loading OFB diagnostic OFB AXE application documentation Back up and integrate into STORE application file Section 4 Divider C2 AXIS BIN file Section 5 1 Divider C2 AXIS BIN file Section 9 Divider C2 STATION DOC file PL7 3 configuration mode R W memory Divider C3 R W memory STATION DOC file PL7 3 BIN
267. on corresponding to an event to be saved rising edge on input In2 This instruction differs in that it is executed not when it is encountered in the program but when a rising edge on In3 is detected see example 3 on page 5 14 Its only effect is on the first rising edge which occurs It is repeated only if the operation is repeated several times 5 11 5 5 5 Reminder Programming TSX AXM 172 182 modules 5 Check Instructions The checks are enabled by default They can be disabled and enabled by the following instructions Disable a Check Instruction code RCTL RCTL NAME Name of check Operand Name of check e Deviation check e STOP Stop check TW Target window check e SYN Synchronization check e CPUF PLC processor check Example RCTL NAME TW Disable target window check Enable a Check Instruction code SCTL Note SCTL NAME Name of check Operand Name of check e DMAX Deviation check e STOP Stop check e TW Target window check e SYN Synchronization check e CPUF PLC processor check Example SCTL NAME TW Enable target window check When fault condition appears and the fault is processed by diverting the AXM program divert mask the corresponding check is then automatically disabled The SCTL instruction can then be used when required to re enable the check The emergency stop check cannot be disabled After an End instructi
268. one Effect Outputs R1 R2 R3 are forced to 0 the analog output and output RO retain their state Functions not available on TSX AXM 162 module 6 Dialog with the PLC Processor Discrete I O and Register Interfaces AXIS CONTROL WORD Nbr 1 OWxy 1 Conditions common to all bits e PLC running e Module running IW OWxy 1 0 to OWxy 1 3 Ow MODE Mode selection nibble 0000 None 0111 SERVO OFF 0001 MAN REF SET UP 1000 AUTO STEP BY STEP 0010 MANUAL DRIVE 1001 AUTO POINT TO POINT 0100 ASSISTED MAN 1010 AUTO CYCLE No other combinations are allowed Conditions e In Manual Assisted Manual and Servo Off modes Axis referenced e In all modes the moving part must be stopped OWxy 1 4 PRES CN Active on rising edge Load CNi Conditions CNi number selected from OWxy 1 4 Most Significant Byte lt 3 Effect Transfers to the counter CNi selected by the MSB of register OWxy 4 the content of the Least Significant Byte of this same register OWxy 1 5 LDWNi Active on rising edge Load WNi teach set point procedure Conditions e Axis referenced WNi number selected in OWxy 4 Most Significant Byte lt 99 e Moving part positioned first Effect Transfers to the module table of set points at the address specified by the MSB of register OWxy 4 the contents of the current position OWxy 1 6 POFOR Active on rising edge Forced Reference Set
269. onfigured e Module running e Calibrated axis and divert step Access to motion to set point command Commands XBT Display o A IRM B RUM PR IMAN SET ENTER MODIF 10000 ENTER 16886UM ES START As amp 16886UM STOP Comments Temporary display that appears during mode selection Basic mode display Reminder of user units Displays target point Allows access to modification of the target point in Confidential Mode Enter the new target position Command for moving part motion to the selected set point at velocity VMAN velocity correction factor 1 position reached 3 5 3 Selecting the Operating Mode 3 Assisted Manual Mode Access to incremental motion Commands Comments XBT Display MODIF 10000 ENTER STOP 3 6 As 8 SET POINT MOTION As m SET JOG MOTION As 8 INC1 UM As 8 INCe UM As 8 INCe UN As m INCe Un 16886UM As 8 INCe UM 16886UM Basic mode display refer to previous page Allows motion to jog the moving part forward one step Displays jog increment 1 Displays jog increment 2 Access to modification of the jog increment selected in XBT Confi dential Mode Enter the jog increment value Commands moving part motion for a distance equa
270. operation is not necessary if the applications were not modified during the debug phase A 18 A Appendix Use of PL7 AXE V3 configuration 6 Directory handling From the Mode Selection Screen DIR AXIS accesses the screen below XTEL Function axis tab2axe malo D xproprj 1L AXIS NO APPLI NB START SIZE END ADDRESS words ADDRESS W126 321 nm 1050 310 W819 S LINE ARIS DIRECTORY Dum IIS RERUM AA HB APPLI UPDA e DIR ADDR lets the user define the address of the directory in CWi memory i 0 the length of the directory being calculated by the software automatically e AXIS lets the user modify how the axis numbers offered by default are assigned a number can only be assigned to one slot e NB APPLI lets the user define the number of applications per axis using the arrow keys to select the axis number e defines the storage address for each application select the axis by using the up and down arrow keys 7 accesses the Applications box if the number of applications is other than 0 ADDR lets the user select the type of Wi or CWi word and the application storage address Caution No check is made of overlap between applications and it is up to the user to estimate the size of his application and keep a sufficient safety margin when selecting storage addresses see Appendix A1 An application overlap will result in the following message when the affecte
271. optional and ensures that position errors are kept to a minimum Procedure e Select any operating mode except Servo Off e Ensure that relay RO is activated the corresponding LED is lit e Using a screwdriver adjust the potentiometer on the front panel of the module to obtain the smallest possible difference between the instruction and measurement values 7 Setting into Service 7 Preliminary Adjustments Self adjustment procedure for the machine characteristic factor KR Note This adjustment is designed to correct errors caused by imprecise configu ration parameters and mechanical tolerances in the mechanical system Procedure e Manually set up the reference point if the moving part is distant from the cam use the Servo Off Mode to bring it closer e Select Assisted Manual Mode e As target position select a value corresponding to the longest possible travel Position 1 e Start motion START Mode e Use an external device with adequate precision to measure the position reached by the moving part Commands XBT Display Comments lt FUNCT gt 61 ENTER Procedure selection Enter the value of the measured distance value 10000 displayed and 10005 measured in this example 10005 Enter the value of the position error between the measured position and the displayed position Position 1 e Error Calculated measurement Measured value e Automatic calculation of the fa
272. orking module In documentation mode the character confirms all the AXM modules which are configured selects the number of the application In documentation mode the character confirms all the applications of the selected module AXIS and APPLI enable documentation of all the channels stored in the TSX PMX memory or in the TSX PMX file selects the number of the module and of the working application provides access to the AXE directory screen see section 4 2 in divider C provides access to the PL7 AXE help screens R S TSX or R S PMX STA DSK sets the PLC to RUN or to STOP displays a screen which allows the contents of the dedicated AXE zone to be stored to disk as an AXIS BIN file in the AXISVAPPLI sub directory XTEL Function axis line1 factory EXxproprj TRIS SAVE AREA ARIS FROM TSK MEMORY TO TSX TARGET FILE TS amp TARGET FILE ARIS BIN SAVE RUTO HRN MANUAL ACCESS TSX FILE RPROPRJ FACTORY LINE1 ARTS APPLI S LINE STORE AUTO HAN UMPRH A gt DSK AUTO MAN allows the type of store operation to be selected in connected mode In automatic mode all modifications are systematically stored In manual mode modifications are not stored unless the STADSK key is pressed 3 3 COMPARE starts the comparison between the source files and the target files STA DSK stores a file and starts up after confirmation
273. ort end Model 40 PLC XBT 2902 The data link protocol used is the Series 7 Adjust protocol to be selected on power up Connection to the Uni Telway port of a PLC 1 2 This connection mode can only be used with a PLC processor that has a built in Uni Telway interface These include TSX 47 420 TSX 67 420 TSX 87 420 TSX 107 420 PLCs An XBT 2948 cable is required comprising e A 25 pin male connector for the XBT end Model 40 PLC A e An end without a connector prepared TSX XBT 182 for connection to a tap junction m A TSX LES 64 or TSX LES 74 tap a R TSX LES 64 junction r E E TSX LES 74 1 Setting the Terminal into Service 1 Connecting the Terminal Connection to a TSX SCM 21 module The TSX SCM 21 module used must comprise the UNI TE protocol type 6 adaptor TSX SCM 2116 or TSX SCM 2146 modules In both cases connection must be made to the lower connector channel 1 The TSX SCM 21module must be declared in the PLC I O configuration module code 697 e Point to point mode connection An XBT 2908 cable comprising A25 pin male connector for the XBT terminal end A 25 pin male connector to plug into the female connector on the TSX SCM 21 module Model 40 PLC XBT 2918 e Multipoint connection
274. ounters CNi F83 Status register word F84 Mask Demask IT MSK DMSK F85 Select Safety On Safety Off Mode F86 Inhibit Enable AXM outputs OUT F87 Emergency stop EMG STOP F88 Return from soft stop overrun XMIN XMAX F89 PLC Synchronization ACK CPU F90 Application name APPLI NAME F91 Stored application names F92 Module position in the rack F93 Module RUN STOP RUN STOP F94 Display axis errors DEF F95 Service introduction function G Additional Information G G Upgrading from V3 to V4 Initial situation An installed V3 level configuration with TSX AXM 172 modules The axis control applications were developed using TSX AXB 72 software on a TSX T607 terminal V3 PLC TSX AXM 172 A EEE J _ Modules BASIC j 5 d RACK Ns Terminal block TSX LES 60 TSX AXB 72 Ls PROGRAM TSX LES 70 TSX LES 20 TSX AXM 172 a or LFS 20 yy Modules EXTENSION Possible upgrade The solution is an upgrade to V4 i e replace the V3 level PLC with a V4 level PLC The result is the configuration shown below V4 PLC TSX AXM 172 ER eps
275. p e MODIF PROG For modifying program steps that have already been entered e DISP PROG For reading the program E XTEL Function axis tab3axe malo a LDC CHA UlL 1 SHP F 1868 nn mn X nn 2 EUEHT UC 3 LP9 F 1068 R 50 000 nn H SYH UC OUT 668 IT Y 5 URIT EVENT UC 6 LP9 F 1000 n 10 008 nn 7 H SvH UC OUT 660 IT Y 8 EVENT UC 8 1182 DISPLAY PROG UP JU Ub LET SAVE RESTORE PREUPREE NEATPAGE BIS 6 1 NO 6 Programming Mode 6 Mode Description Entry Procedure When a program is created the mode directly prompts the user to enter program steps from the INSERT PROG screen in rising order of step number e Enter the instruction code e NEXT F e NEXT F e lt Enter gt e PREV F Displays the format the operand units and prompts the user to enter the first operand Enables access to the next operand and so on until the last operand has been entered for instructions with multiple operands Validates the program step entered and prompts the user to enter the next program step Lets the user access the previous operand or instruction code if the cursor is located on the first operand Program steps are automatically numbered as they are entered CLEAR lt Enter gt Display Procedure 6 2 Quits the INSERT PROG working mode and selects t
276. pF m Frequency kHz Resistor in parallel No resistor in parallel A 40 35 30 20 30 50 100 00 Max Max Length meters Connection 1 Connection 2 Connection 1 Conn 2 10 Note Encoders with Totem pole outputs can deliver input frequencies of 40 kHz up to a distance of 50 meters with either type of connection Connecting an incremental encoder to a TSX AXM 182 162 module Encoder OV supply no i lu id Yee TSX AXM Remarks For the position of the encoder supply refer to the connection diagram for TSX AXM 182 162 module encoder inputs on page 7 5 of this manual The RS 422 serial link will support a cable length of up to 100 meters max overthe frequency range accepted by the module x 80 kHz when an AWG 24 cable with a capacity of 52 5 pF meter is used Inputs In3 and In4 Inputs In3 and In4 24 V are compatible with Cenelec standard proximity detectors 7 2 7 Setting into Service 7 Connecting the Module Analog output Connection Speed Controller Reference OV Common Measured ground TSX RAC 20 Guidelines e Follow the instructions provided by the speed controller manufacturer direct differential inputs e The speed controller inputs must be isolated from the mains supply OV at the module end is returned to ground e The cable that connects the analog output
277. pack and the TSX XBT 182 operator terminal The manual is in four main parts Part 1 Divider A Axis Control Presentation A presentation of the main components of the axis control system It describes the interactions between the various devices and the overall set up of an axis control application Part 2 Divider B TSX AXM 172 182 162 Axis Control Modules This part of the manual describes e Application parameters e Operating modes e Programming language syntax e Interaction between the axis control module and the PLC processor e Axis control module hardware installation Part 3 Dividers C1 C2 and C3 TXT LPL7 AXS V4 Axis Control Software This part of the manual describes the axis control software for use with TSX AXM 172 182 162 modules on FTX 507 workstations or IBM PS 2 or compatible microcomputers Only the entry and modification of axis parameters and the AXM program are covered here The parameters and instructions are described in the axis control module sections Part 4 Divider D TSX XBT 182 Operator Terminal A full description of the TSX XBT 182 operator terminal and its operating modes Divider F contains the TSX AXM 172 182 162 module and TSX XBT 182 terminal Quick Reference Guides that summarize all essential information on programming and operating TSX AXM 172 182 162 modules and their terminals Divider G Additional Information includes a procedure for updating applications This only
278. pectealy leaving the user to perform troubleshooting diagnostics to determine the cause Table 2 lists the most frequently encountered symp toms It cannot cover all possible situations and the user can add to it as specific situations are encountered in operational use A Appendix Diagnostic Assistance Table 1 Commands that cannot be executed A full list of errors caused by the application or the module is located in Sub section 10 2 Number Message Description 1 1 AXIS NOT PROG The selected AXM module does not have a loaded program 1 2 AXIS NOT REF The axis is not calibrated refer enced Set the reference point in order to access the selected function 1 3 AXM PGM STOP AXM program execution is not in progress lt START gt in Automatic Mode will start the program 1 4 WAIT RESTRT AXM The AXM program is waiting for a resume command Press lt START gt In step or block modes 1 5 MACHINE RUN The moving part is in motion or stop checks are still in progress Wait for it to stop before entering the required command 1 5 MACHINE STOP The moving part is stopped 1 6 INACTIVE MODE The selected mode is inactive START mode to activate it 1 7 MODE ERROR The selected function is not enabled in the currently selected operating mode 1 9 BACKOFF IMPOSS The return from soft limit overshoot function is only enabled if there is e No soft stop error e No other error inhibit
279. peration 3 Not used Execution of OFB cancelled due to power break Directory 4 non existent or unreadable Communication with the module not possible System error DONE Input parameters AXIS word STEP word For the reasons for the COMMAND REFUSED message see section B sub section 9 7 This occurs when the PLC program intervenes and cancels the order given by the OFB If this occurs request a program stop bit Oxy 5 before reactivating the OFB See section C1 sub section 4 2 Goes to 0 on receiving the EXEC instruction Goes back to 1 once the program is in operation Can be checked by the mnemonic AXMPGi DONE Initialized automatically when the PLC is cold started from inside the I AXIS constant This parameter can be modified by the user which makes it possible to use the same AXMPG OFB for several axes Unless it has been modified this OFB is therefore assigned to the axis number specified by I AXIS Denotes the initial step number This must be lower than the final program step number and must in any case be lower than 254 When this parameter has not been defined the default value 255 means the OFB cannot be used 4 3 4 AXMPG OFB Presentation Memory space occupied Run time 4 4 Program space Data space Constant space 1600 words 75 words 8 words for any number for each use for each use of uses The sequence for setting the internal program module
280. plication file Section 4 Divider C2 AXIS BIN file Section 5 1 Divider C2 AXIS BIN file Section 9 Divider C2 STATION DOC file PL7 3 configuration mode R W memory Divider C3 R W memory STATION DOC file PL7 3 BIN file 1 8 X Using the AXM configuration and Section 2 s programming software Sub section Page 2 1 Accessing the configuration and programming software 2 2 2 2 Introduction to the display screen 2 3 2 3 Selecting modes 2 5 2 4 Relationship with PLC memory 2 8 2 4 1 Dedicated AXE zone in the PLC memory 2 8 2 4 2 Reservation while operating in connected mode 2 10 2 5 Methodology 2 11 This section ends at page 2 12 2 1 21 Accessing the configuration and programming software Configuration and programming software for TSX AXM xxx axis control modules is accessed by opening the main PL7 AXE function window To do this Open the Start programs window by double clicking on the corresponding item Pull down the Group menu and activate the Telemecanique item Open the User window by double clicking on the X TEL item Enter the user parameters and password and then confirm to open the Volumes window Open a volume by double clicking on the icon of the volume to be opened Open a project by double clicking on the icon of the project to be opened Open a station by double clicking on the icon of the station to be opened Open
281. pping the PLC will stop the moving part and disable the currently selected module operating mode PLC CPU error condition Interlock Off If this is selected it allows the module to operate independently The safety interlock can be switched Off in Debug mode allowing the module to operate with the PLC stopped without causing a PLC CPU error The safety interlock can be selected through the TSX XBT terminal Function F85 or by bit OWxy 0 E 1 Interlock Off 3 5 3 6 4 Module Functions 4 1 Motion Motion functions performed by the module In addition to the moving part motion commands the module also performs other specific functions that cause motion The table below shows the modes where these functions are available Motion Mode Auto Manual Manual Assisted Servo Function matic Ref Set up Drive Manual Off Reference set up Yes Yes No No No Forced ref set up Module stopped no errors No Teaching set points Moving part stopped axis referenced no errors Return from Enabled after soft stop overshoot by the overshoot moving part and fault is acknowledged Except for TSX XBT Function F95 All motion commanded by the module except when the servo loop is disabled follows the velocity and acceleration rules shown below The internal module software generates a series of position instructions corresponding to the mo tion to be performed 1 Increase velocity according to the
282. range of speed controllers for DC motors e The MASAP range of servo drives comprising e An auto synchronous permanent magnet brushless motor fitted with a resolver e A dedicated speed controller When used with TSX AXM 172 182 162 modules these components let the user develop high performance servo loop systems Connection cables between the TSX AXM modules and the MASAP servo drives are also available Refer to the general catalog or specialized catalog for more information 1 3 1 Presentation 1 Axis Control System Presentation Multiple axis layout rre zi s TSX XBT 172 o Feng e Axis 0 Axis 1 EITE RAME Axis n P The TXT L PL7 AXS VA version 4 5 software allows up to 64 axis control modules to be handled The maximum number of modules physically present in a configuration depends on the PLC used These modules can operate independently or can be synchronized by a PLC program The TXT L PL7 AXS VA software pack lets the user program all of the axis control modules in a configuration Each module in a PLC rack slot is assigned an axis number from 0 to 63 The TSX XBT 1
283. re not designed to operate with differential output encoders signals AA BB ZZ 7 Setting into Service 7 Connecting the Module Connecting an incremental encoder to a TSX AXM 172 module These diagrams illustrate the connection of an NPN open collector output encoder Connection 1 Wiring with common shielding 5VDC OV Vin TSX BLK4 5 or24V terminal block a Ind In1 In2 5 or 24V Ind Int In2 TSX AXM 172 Connection 2 Wiring with shielded twisted pairs 5VDC OV Vin TSX BLK4 5 or24V terminal block InO In1 In2 5 or 24V Ind Int gt In2 TSX AXM 172 TSX RAC 20 In both of the connection diagrams shown above resistors can be inserted to on the encoder side to increase the permissible input frequencies Resistor values R 1 5 Kohms for Vin 24V R 330 ohms for Vin 5V The graphs on the next page show the permissible length of cable between the module and the encoder depending on the input supply voltage the input frequency desired and the type of wiring connection used for AWG 24 cable with a capacity of 52 5 pF meter 7 11 7 Setting into Service 7 Connecting the Module Open collector encoders Vin supply 24V Vin supply 5V AWG 24 cable C 52
284. red travel field e Calculate the deviation displayed travel measured travel and enter this value in the deviation field Enter the deviation and press ENTER ENTER Starts the self adjustment sequence e Wait for the system to return to the Status Commands screen e Set the reference point again e Perform travel to position 1 and check that the deviation error is now negligible or non existent Otherwise repeat the procedure Notes f the message INCOMPATIBLE PARAMETERS is displayed this means that there is a resolution value error in the configuration param eters entered Do not attempt to improve the correction factor precision check the resolution value instead The adjusted value of KR is only stored in the module memory It is up to the user to perform the MEM AXM TSX MEM AXM DISK transfers necessary to ensure that up to date back ups are available 7 7 7 8 8 Transfer Mode 8 8 1 Mode Description Purpose Access This mode lets the user transfer an application configuration program and internal variables WNi and CNi from the source memory to the target memory The table below shows all possible transfers TSX MEM AXM FILE TSX FILE AXM MEM no yes yes no TSX MEM yes no yes no AXM FILE yes yes no yes TSX FILE no no yes no From the Mode Selection Screen e Select the source memory where the applicat
285. rement 0 t t2 Feed forward gain KV The feed forward gain factor set by the user is expressed as a percentage 100 corresponds to the value that would totally absorb the deviation error at constant velocity for a speed drive that has no continuous velocity error When KV increases the deviation error is reduced but the risk of overshoot including target point overshoot increased It is therefore up to the user to find a compromise that ensures sufficient accuracy Note In some case the deviation error passes through a minimum value with a possible change of sign when the value of KV is increased The fact that there are two separate adjustments KPOS and KV lets the user obtain the best possible compromise for each application between precision stability and velocity Assuming that the speed drive is correctly adjusted the transfer function is as follows e p _ 1 KV p 100 KPOS eref p T p KPOS p KPOS 1 e p A Laplace transform of the expression of actual machine motion over time eref p A Laplace transform of the required machine motion over time servo loop reference A Appendix 2 Servo Loop Performance Error transfer function de P Tp 1 KV 100 eref p KPOS T p KPOS p KPOS 1 This function lets the user determine theoretical average error values after stabilisation depending on the input signal It is assumed tha
286. rent value and stop Example 2 SRP F 1000mm mn X 1000 mm Velocity PV 0 Position 1000mm Move at a speed of 1000 mm mn in negative direction until the reference point is detected mode 2 load position 1000 mm in the current value register and stop Execution conditions e Velocity lt VMAX defined in the configuration eLoad position between XMIN and XMAX 5 5 5 Programming TSX AXM 172 182 modules 5 Move Instructions Velocity to the target position Instruction code PV Purpose Placed after a motion instruction without a stop on position command 1 this instruction changes the moving part velocity before the end of execution of the previous instruction to ensure that the selected velocity is reached when the moving part reaches the target position PV F Velocity Operand Velocity Immediate value expressed in the user selected physical units Note The PV instruction is interpreted before execution of the GP1 instruction The module automatically calculates the position from which it must decel erate or accelerate Example 1 GP1 F 1000 mm mn X 100 cm 2 PV F 1500 mm mn Velocity 1500 1000 100Position Execution condition e Velocity lt VMAX defined in the configuration Immediate Stop Instruction code STOP Purpose Causes the module to stop with a slow down period Example 1 GP1 F 1000 mm mn 100 cm 2 STOP Velocity
287. request reservation of the entire dedicated AXE zone This reservation can only take place while reading from or writing to the directory or to an axis control application If the dedicated AXE zone is not already reserved the requester can access this zone From this moment any attempt by another terminal to access is refused and the message TSX ALREADY RESERVED appears This reservation is cancelled when work has been completed Caution PL7 AXE cannot be used to set up a remote station over a TELWAY network 2 10 Using the AXM configuration and programming software 2 2 5 Methodology The AXM configuration software can be used in local mode working on the disk inconnected mode working on the module memory AXM MEM or the PLC memory TSX PMX MEM LOCAL MODE CONNECTED MODE FTX 507 FTX 507 Processor TSX AXM TSX FILE AXM FILE AXM MEM The use of local mode is recommended when creating AXE applications and the dedicated AXE zone Although there is nothing to stop a complete application being created in connected mode it is really designed for modification correction and debugging Implementation is in three phases Program mode Debug mode local connected Create 1 phase directory Write the i 2 phase Modify the AXM AXM applications applications Document Update 3 phase the AXM Docu
288. resentation 1 Axis Control Presentation Adapting to Mechanical Characteristics Given the maximum counter fre Hen quency accepted by the TSX AXM ncoder Pulses _ _ _ _ _ modules the movement limit charac teristics depend on the selected InO encoder and its resolution defined as the distance covered by the moving In1 a part during one encoder pulse Maximum allowed encoder frequencies TSX AXM 172 module 40 kHz e TSX AXM 182 162 modules 80 kHz The TSX AXM 182 162 modules have a multiply by 4 feature that allows Improving the sensor resolution by a factor of 4 with a given type of encoder or Selection of an encoder that has 4 times less resolution when the resolution value is set In the Appendix Section refer to Appendix pages A 5 and A 6 two tables TSX AXM 172 182 162 module performance summarize the maximum axis characteristics length velocity etc A validity check on the values is provided by PL7 AXE during the definition of machine parameters The table below illustrates the differences between the three types of module Input interface Open oollector HS 485 Programmable TSX AXM 172 TSX AXM 182 Non programmable TSX AXM 162 1 3 1 Module Presentation 1 Axis Control Presentation TSX AXM 172 module hardware presentation 1 4 The TSX AXM 172 is a single height module comprising the following parts DA
289. reset their values as described on pages A 7 and A 8 Naturally this does not remove the need for later adjustment of these values VMAX lt 2 16 x resol m mn um 0 1 x RESOL lt 1000 TSX AXM 172 Module Performance Depending on the maximum application velocity selected this table lists the other maximum application parameter values VMAX appli m mn lt 2 16 4 32 8 64 lt 17 28 lt 34 56 483 2 86 4 lt 172 8 lt 3456 432 864 lt 1728 2160 Axis length meters 413 15 26 3 52 65 105 35 1210 7 263 4 526 5 1053 5 2107 2634 5269 10539 13150 ACCEL mm s 1 10 100 ACCEL max m s 1 3 6 7 2 14 4 28 8 57 6 72 144 288 576 720 1440 2880 3600 Display UPUL mm cm m mm cm m mm cm m Units UPUV mm mn cm mn m mn cm mn m mn m mn UPUA mm s cm s m s cm s m s m s Length Calcul Unit 2 um x 10 um x 100 um 1 Theoretical value corresponding to the acceleration rate that lets the moving part go from 0 to VMAX in 10 ms 2 Internal calculation unit used by the module This unit must be used for positions sent by the PLC to the module via registers OWxy 6 7 and those sent from the module to the PLC on registers IWxy 6 7 current position and IWxy 5 deviation SN oN TSX AXM 182 162 Module Performance VMAX lt 4 32 x resol m mn
290. riction TSX FILE memory not available 2 Restriction the TSX AXM 172 is the only module to which this applies YES YES YES YES YES YES YES YES YES YES YES YES YES A2 A Appendix Use of PL7 AXE in V3 configuration 2 X TEL environment Because a V3 PLC does not have any dedicated zones the structure of applications is simplified considerably The diagram on the next page should be compared with that on pages 2 12 and 2 13 Differences between a V3 and a V4 station At PLC level no dedicated zones All memory is delegated to PL7 3 The axis directory is located in the CW zone Applications are stored in the W or CW zone At file tree structure level No APP directory No dedicated directory apart from PL7 3 and PL7 AXE No BIN files in the AXIS APPLI sub directory only DOC files Only 172 files in the AXIS MOD sub directory A 13 The link between the PLC memory layout the files generated by the PL7 AXE software File name STATION 1 PL7 3 APPLI ds SEQU1 BIN SEQU2 BIN MOD XXXX LIT AXIS APPLI PALET V1 DOC MOD AXE X AP0 172 AXE X AP1 172 AXE X AP2 172 AXE Y APO 172 AXE Y AP1 172 AXE Y AP2 172 AXE Z AP0 172 AXE Z AP1 172 AXE Z AP2 172 m Processor FX TSX AXM 172 Module m4 x uc
291. ring Display the actual position of the moving POS ane part and its target position POS iti iati Em Display the position error deviation TS axis Simultaneous position display for two axes including the current axis Display Modify the status of the auxiliary relay outputs SPEED Display actual moving part velocity and its programmed velocity Mode Selection Manual control mode Move the moving part in the direction in manual or reference set up modes Move the moving part in the direction in manual or reference set up modes Assisted manual mode Manual reference set up mode gO e ee 3 3 4 a DRIVE Direct drive mode Automatic step by step mode Automatic block by block point to point mode Automatic cycle mode START Activate the selected mode STOP Deactivate the selected mode Service Keypad right hand keypad LEDs AXIS Indicates that axis control is operational Selected by the PROCESS AXIS key Move in negative direction or store the last motion if the STOP LED is lit STOP Moving part stopped Move in positive direction or store the last motion if the STOP LED is lit ALARM Error detected on the current axis 6 13 6 14
292. rom 0 to 63 in the order of the modules in the XTEL CONF configuration 2 8 Using the AXM configuration and programming software 2 Dedicated AXE zone Correspondence table between axis n and module location Directory Address and size of stored configurations AXIS 0 APPLICATION 0 AXIS 0 APPLICATION 1 AXIS 1 APPLICATION 0 AXIS n APPLICATION 0 AXIS n APPLICATION 1 This zone contains the information which can be accessed by the PL7 AXE functions concerned with its organization and by the axis control OFBs A compacting function is used to optimize the contents A copy of this dedicated AXE zone is stored in the AXIS BIN file under the AXIS APPLI directory on the hard disk or diskette An application stored in this zone can be transferred to the TSX AXM xxx module by the AXM LD OFB TSX AXM PL7 3 Directory Axis 0 Application 0 AXE zone Axis i Application 4 XMLD OFB The AXMLD OFB is described in section 2 divider C2 2 9 2 4 2 Reservation while operating in connected mode Any FTX 417 507 terminal or microcomputer can be physically connected to any TSX PMX PLC station on the same MAPWAY ETHWAY FIPWAY ETHERNET network Because ofthis several terminals can request to be logically connected to the same PLC station In order to avoid access or procedural conflicts each terminal must
293. ror and quit current mode t Acknowledge position error and resume current mode t Acknowledge position error and quit current mode 1 Acknowledge synchronization error and resume AXM program 1 Acknowledge synchronization error and quit automatic mode t Acknowledge TW error and resume current mode N t Acknowledge TW error quit current mode t Acknowledge CPUF and resume current mode t Acknowledge CPUF and quit current mode 1 Acknowledge emergency stop error and resume current mode 1 Acknowledge emergency stop error and quit current mode t Acknowledge soft stop error B 1 Acknowledge calculation overflow 1 Acknowledge PWF error gt Not relevant to TSX AXM 162 module OWxy 1 Complementary Command Word 1 FEDCBA9876543210 Operating mode selection nibble 0000 None 0111 Open loop 0001 Manual reference set up 0010 Manual operation 0100 Assisted manual operation 1000 Automatic step by step mode 1001 Automatic block by block mode 1010 Automatic cycle mode t Preset one of the four CNi internal words CNi Nbr CNi Value OWxy 4 MSB OWXxy 4 LSB 1 Loadone ofthe WNi internal positions WNi Nbr OWxy 4 MSB Current position value WNi value 1 Forced reference set up OWXxy 6 and OWxy 7 are loaded in the current position measurement 1 Return moving part from soft stop overrun 1 Divert the AXM program to the step given by regi
294. rst module on the next page of the directory displayed if there is a discrepancy between the directory and the I O configuration defined under XTEL CONF This key enables XTEL COMF to be launched directly from PL7 AXE 4 6 Axis Control Presentation TSX AXM 172 182 162 Axis Control Modules TXT L PL7 AXS V42 Axis Control Program TSX XBT 182 Operator Terminal Quick Reference Guides Additional Information General Contents Part Section Page 1 Axis Control System 1 Presentation 1 1 1 6 Presentation 2 Setup Steps 2 1 2 2 2 TSX AXM 172 182 162 1 Module Presentation 1 1 1 4 Axis Control Modules 2 Configuration Parameter Table 2 1 2 4 3 Operating Modes 3 1 3 6 4 Module Functions 4 1 4 10 5 Module Programming 5 1 5 16 6 Dialog with the PLC Processor 6 1 6 48 7 Setting into Service 7h 7 22 8 Specifications 8 1 8 6 A Appendix A 1 A 26 3 TXTLPL7AXS V4 Axis Control Program C1 Introduction 1 Module Control Programs 1 1 1 2 2 TXTLPL7 AXS V4 Axis Control Program 2 1 2 4 3 Optional Function Blocks 3 1 3 2 C2 Implementation 1 Using the Program 1 1 1 6 Program 2 General Principles 2 1 2 24 3 Memory Types 3A 3 42 4 Using the Dedicated Axis Field 4 1 4 12 5 Configuration Mode 5 1 5 4 6 Programming Mode 6 1 6 4 7 Debug Mode 7 1 7 8 8 Transfer Mode 8 1 8 2 9 Documentation Mode 9 1
295. s Point I Operation at A completed i XM1 2 Movement command Point B START CYC Moving part stopped at B Operation at Point B 3 Transfer movement parameters Point 0 Operation at B completed 4 Movement command Point 0 i Moving part stopped at 0 OUT XMO Initialization of macro step described on page 6 11 Step IN Action on activation lt Movement parameters to Point A 500 000 DW100 W100 OWA 6 W101 OW4 7 205 OWA 5 Step 0 Action on activation Movement command to A SET 04 4 Step 1 Action on activation RESET 04 4 Operation at Point A SET 017 0 Movement parameters to Point B 800 000 DW100 W100 OWA 6 W101 OW4 7 613 OWA 5 6 47 6 Dialog with the PLC Processor 6 TSX AXM 162 module Programming the movements Step 2 Action on activation lt Movement command to B SET 04 4 Step 3 Action on activation RESET 04 4 lt Operation at Point B SET 017 1 lt Movement parameters to Point 0 10 OW4 6 OW4 7 613 OW4 5 Step 4 Action on activation lt Command to return to 0 SET 04 4 Step 4 Action on activation RESET 04 4 Transition 0 1 14 15 Transition 1 2 1116 0 Transition 2 gt 3 14 15 Transition 3 4 116 1 Transition 4 OUT 14 F B15 B15 is a data bit indicating that the moving par
296. s Referenced to the machine reference point e Indexed positions Referenced to PRF index AXM program control These parameters are used to control and monitor AXM program execution e Four internal counters CNO to CN3 with values from 0 to 255 can be used for setting program loops for repeated motion These words can be loaded by the AXM program LDC instruction from the TSX XBT terminal or the PLC program They can be incremented or decremented e Comparison value A value sent by the PLC processor OWxy 3 Least Significant Byte enables execution of the AXM program loop to be controlled from the PLC program or the TSX XBT terminal e Start step and current step numbers cannot be accessed directly through AXM program instructions but can be used by the PLC program Motion and control parameters These are type C parameters see Sub section 2 1 They can be changed by the MOD instruction Note When a parameter is modified by program it replaces the configuration parameter Itis upto the user to control these parameters in the AXM program at the start of the program e All parameters are retained on power break Velocity correction factor 5 2 Reminder This factor with a value between 0 01 and 2 00 that be modified in steps of 1 100th TSX AXM 172 or 1 1000th TSX AXM 182 is set by the TSX XBT or a register word and multiplies all velocities de clared in the instructions in the examples used here the fa
297. s R1 to R3 7 3 7 F87 F88 F89 F90 F91 7 4 Indirect Access Auxiliary Functions Function Description Enable disable the emergency stop function As 8 EMG STOP or DISABLE if the emergency stop is i already activated lt MODIF gt lt ENTER gt causes emergency stop or ends the emergency stop Access In Confidential Mode Return the moving part from soft stop overrun As 8 BACKOFF or XMIN ifthe moving part location is less than the lower soft stop Causes automatic return of the moving part The fault must first be acknow ledged by pressing lt ALARM Note Once the fault is acknowledged pressing lt ENTER gt will also return the moving part from overrun without using function F88 Access In Normal and Confidential Modes PLC processor synchronization 1 As B CPU SYNC ACTIVATE ENTER causes synchronization of the AXM program refer to synchroni zation command M Access Normal amp Confidential Modes AXM pgm execution in progress Display the name of the current application As amp APPLI PALLETS Access In Normal and Confidential Modes Display the name of the applications stored in the PLC 1 3 APPLI S3 Gives the number of applications on LOAD the selected axis or allow the name of the next or previous application to be read Access In Normal and Confidential Modes 1 Not relevant to TSX AXM 162 module 7
298. s at page 1 8 1 1 1 1 General 1 1 1 Functions available with PL7 AXE PL7 AXE software reference TXT L PL7 AXS V5E is a help program for programming and installing axis control applications PL7 AXE software comprises Asoftware function for entering the configuration and program of TSX AXM 162 1 72 182 modules Optional function blocks program loading OFB diagnostic OFB automatic mode management OFB Functions associated with the axis control modules assistance with entering configuration and program parameters using menus and on line documentation assistance with diagnostics and debugging transferring the configuration and the program between the PLC memory the module memory and the disk documenting the configuration and the program archiving the configuration and the program to disk printing the configuration and the program 1 2 Introduction and installation 1 1 2 Configuration required for PL7 AXE To install PL7 AXE requires an FTX 417 507 terminal or an IBM PS 2 microcomputer or compatible PC with OS 2 operating system version 1 3 or 2 1 The MINI X TEL or X TEL Software Workshop reference TXT L BASE V5e or TXT L BJR V5e PL7 3 software reference TXT L PL7 3 V5e TXT LPL7 3D V5eor TXT L PL7 3T V5e Aminimum of 4 Mb of RAM memory and a 40 Mb hard disk Important Telemecanique cannot guarantee correct operation of this software on all microc
299. s common to words IWxy 3 to 7 e PLC running e Module running IWxy 3 Least signif byte Last program step executed before the AXM program was diverted to a divert sequence diversion caused by a PLC command via OWxy 1 8 or by a masked error Conditions Auto Mode If the current mode is different Store the contents Most signif byte Last program step that generated an interrupt this can IWxy 4 IWxy 5 IWxy 6 IWxy 7 only be a M SYN OUT2 ST Y type instruction Conditions Auto Mode selected If the mode is different the contents are stored Position error is expressed in module physical units 1 format Double length 2 e LSB in IWxy 4 MSB in IWxy 5 Conditions No errors Position expressed in module physical units 1 format Double length 2 LSB in IWxy 6 MSB in IWxy 7 Conditions Axis referenced Note The position value is valid even if the module is stopped OWxy 0 C at 0 1 Module physical units AXM 172 AXM 182 VMAX m mn 34 56 lt 345 6 2345 6 54 lt 540 2540 Unit um x10um x100um um x10um x100um 2 For ease of use of these variables transfer the LSB and MSB to two consecutive words in the W field and select DW E g IWxy 6 W100 IWxy 7 W101 DW 100 the contains the position Functions not available on TSX AXM 162 module 6 29 6 Dial
300. s comprises three OFBs 1 AXM LD for transferring axis control applications from the PLC memory to the TSX AXM module memory PLC memory TSX AXM module PL7 3 AXIS APPLI 2 AXIS 1 AXMLD pee e AXM DG that collects and formats some of the data provided by the TSX AXM modules ready for processing by the Applidiag program diagnostics program CPX 27 37 sar operator station Diagnostic software 0 1 Q C 0j ax AXM PG performs all the operations necessary when starting programs for the TSX AXM 172 and 182 modules It is the same as the initialization sequence in sub section 6 4 divider B 3 1 TXT L PL7 AXS V4 Axis Control Program Optional function blocks 3 2 Different versions of OFB AXE programs As with PL7 AXE there are two versions of AXE OFBs version V4 1 reference TXT LF FB AXS V4 which only has the AXMLD OFB and is capable of handling up to 16 axes version V4 5 reference TXT LF FB AXS V42 which has three AXMLD AXMDG and AXMPG OFBs and is capable of handling up to 64 axes Section C3 of this manual describes AXE OFB version 4 5 A procedure for updating an application presently using an AXMLD V4 1 OFB is provided in the appendix of this section 3 2 ON Contents Divider C2 Section Page 1 Introduction and installation Contents
301. s far as possible set the speed drive to obtain the maximum velocity VMAX at a voltage that is as close as possible to 9 V without exceeding this level Restricting the voltage to 9 V means that during speed transition periods there is enough of a reserve to allow a temporary overvoltage The amplitude of this overvoltage is determined by the LIMV value If there are no mechanical restrictions caused either by the maximum acceptable frequency or by the module the following values should be selected UMAX 9 V and LIMV 10 To control an axis with the following characteristics Motor Moving part Max velocity 30 mm sec 1000 pts rev Encoder 1 5 reduction gear The maximum linear velocity is 30 mm sec or 1800 mm minute The axis is driven by a motor that can run at 3000 rpm driving a screw via a 1 5 reduction gear The encoder is located on the motor shaft An open collector encoder output is assumed requiring the use of a TSX AXM 172 module e The Resolution parameter distance traveled by the moving part between two encoder increments is equal to Me Pitth 1x 5 1um N 5 1000 e The VMAX maximum operating velocity parameter is 1800 mm minute e Assuming itis possible to adjust the speed drive to obtain maximum velocity at a level of 9 V on the input to the speed drive The UMAX parameter is therefore 9 V e A 10 overvoltage during transition to full speed is allowed The LIMV parameter is therefore 10
302. s the number the geographic address and the type of module the lower box indicates the application number the name the date and time of creation or last modification as well as the size of all the applications stored in the PLC memory RUN TSX or RUN PMX sets the PLC to RUN STOP TSX or STOP PMX sets the PLC to STOP DELETE THE PROGRAM clearsthe PIC program ofthe selected application after confirmation DELETE THE APPLICATION deletes the entire selected application after confirmation AXIS selects the axis number lt APPLI gt provides access to the application n lt AXIS APP gt displays the directory MODIFY THE AREA NAME assigns a name of up to 24 characters to the dedicated AXE zone in the TSX PMX memory XTEL Function axis line1 factory 4 CONNECTED MEMORY UTILITIES ARM MEMORY APPLICATION LIST CYS 1 RUN TSK 2 ARM FILE 2 STOP TSK 3 TS8 FILE 3 DELETE PROGRRH 4 DELETE APPLICATION 5 MODIFY THE AREA UTILS TSX 8 3 8 Selecting working memory 3 3 4 Selecting an AXM file This is recommended for creating AXM configurations in the design office oras ameans of archiving It does not require the PLC the module nor the X TEL CONF configuration The applications are stored on the hard disk or diskette defined in the VOLUMES of the X TEL Sof
303. sed Impact of selecting W CW 1 The CW zone is stored on diskette with PL7 3 when a STORE is performed whilst the W zone is only stored on an explicit command 2 The CW zone may be a PROM and cannot therefore be modified A 15 A Appendix Use of PL7 AXE in V3 configuration 4 Reservation mechanism As in the case of V4 configurations there is a reservation mechanism which is designed to avoid any conflicts of access to the same zone from different program However it operates in a slightly different way due to the fact that there is no dedicated AXIS zone in a V3 configuration The reservation affects the whole of the PLC memory Itis designed to avoid conflicts of access to the CW zone between PL7 AXE and PL7 3 Operating principle The software which requires access to the PLC memory makes a reserva tion request If the PLC has not already been reserved the program making the request is then authorised to have access From this moment any attempt to gain access by another program results in a refusal identified by the message TSX NOT RESERVED Changing from connected to local mode causes the reservation to be cancelled With PL7 AXE changing into local mode is performed either once the AXM FILE memory has been selected at the time of validating the operating mode orby use of the LOCAL dynamic soft key displayed on the main menu bar when returning to connected mode AXM FILE or TS
304. selected mode command type 2 fault B Acknowledge error command SS 10 2 ALARM systematic quit type 1 fault o Display instruction currently being SS 5 1 executed M Display instruction SS 5 1 Operand modification positions velocities SS 52 Display previous function or SS 3 4 i instruction SS 5 1 Display next function or SS 3 4 instruction SS 5 1 2 Select next parameter or SS 4 2 Ts operand SS 5 1 Select previous parameter SS 4 2 bd operand SS 5 1 p Display true position of the moving SS 42 part and the target position Een Display position error deviation SS 42 ERROR Simultaneously display the positions of SS 4 2 Ne both axes including the current axis M Display modify status of the SS 42 auxiliary relay outputs Display true velocity of the moving SS 4 2 part and its programmed velocity 2 3 2 Using the Terminal Type Auxiliary Functions Mode Selection 2 Presentation and Data Entry Principles Key Function Refer to S Velocity correction factor SS 6 2 AW Teach set points WNi 1 SS 6 3 TEACH o Forced reference point set up SS 6 1 gt Fa Manual mode with visual control SS 3 3 5 Move the moving direction in SS 3 3 manual or reference set up mode SS 3 5 BA Move the moving part in direction in SS 3 3 manual or reference set up mode SS 3 5 2 Assisted manual mode SS 34 A Manual reference point set up mode SS 3 5 eee Dire
305. sequence However the accumulated de viation was not absorbed Therefore the error remains when the user selects AUTO MAN Usethe normal acknowledgment procedure Abort or Resume A stop error or a target point error at step m or another motion instruction m GP9F X m 1GP9F X Acknowledging the error by resuming motion will cause the same error to reoccur Acknowledgment by a resume command resets the check before restarting execution of the next instruction If conditions have not changed there is still a risk that the error will occur again Increase the tolerance to avoid unexpected errors or in the case of a Target Window error return the moving part to the required position using some other means TXT L PL7 AXS V4 Axis Control Program Introduction Divider C covers the presentation of the PL7 AXS Axis Control program This divider comprises three parts C1 A short description of the various program components e C2 Adescription of the axis control implementation program and its use with TSX AXM 172 182 162 axis control modules e A description of axis control Optional Function Blocks known as OFBs These are a new extension of PL7 3 language designed to simplify programming and to control intelligent modules from the PLC processor 2 TXT L PL7 AXS V4 Axis Control Program C1 Introduction 1 Hardware Presentation 2 TXT L PL7 AXS V4 2 1 Purpos
306. sor up and cursor down keys to change the selected target memory If the target is the PLC or AXM module memory e AXIS Lets the user enter the axis number e APPLI Lets the user enter the application number e AXIS APP Lets the user move the cursor to select the Axis Nbr Application Nbr pair e lt Enter gt Starts the transfer If the target is the AXM module memory PL7 AXE will prompt the user to stop the module This is necessary before the transfer can be performed If the target is a disk e FILE Lets the user select the file e lt Enter gt Starts the transfer 9 Documentation Mode 9 9 1 Mode Description Purpose Access Screen This mode lets the user print out paper copy from a printer or print to disk store as a file documentation on all or a part of an axis control application configuration program internal variables If the documentation file is printed to disk it can be reused later in XTEL DOC From the Mode Selection Screen e Select the location where the application to print is stored Working Memory e Lets the user access the operating modes e Select the Documentation Mode A third column is displayed next to the other two columns e Lets the user select which part of the application file should be printed e Define the application to document Axis and application number or file name e Enter Lets the user access the appropriate mode selection screen
307. starts the transfer of the application specified by anumber in APPLI to the axis number specified in AXIS Its effect is therefore the same as the EXEC AXM LD instruction This variable should only be changed by an adjustment terminal Typical use Loading an application after changing the module Input parameters AXIS WORD APPLI WORD Automatically initialized by a cold restart of the PLC with the contents of the IAXIS constant This parameter can be modified by the user This possibility lets the same AXM LD OFB be used for a number of axis In the absence of any modification the OFB is assigned to the axis number specified by IAXIS Specifies the number of the application to transfer By default this word is initialized at 10 and it must be assigned an immediate value or a PL7 3 word type variable that is initialized with the number of the application to transfer before execution of the EXEC AXM LD instruction Important If this parameter is not initialized the default value 9 means that the OFB cannot be run as it corresponds to an application number that is outside the limits allowed to 8 2 3 2 The AXM LD OFB Presentation Table of OFB status determined from the ERROR and READY bits ERROR READY OFB Status Transfer in progress Transfer completed correctly Transfer unsuccessful 1 0 0 1 1 Normally impossible state 1 The contents
308. step nb TW 0 0 32 C AXM units Length um Velocity mm mn Acceleration mm s2 2 Fxx Parameters Values Limits CF56 TSYN Synchro time out 3000 10 ms 10 6525 57 Mask treatment syn A gt 58 NSYN Default step nb syn 0 NEST BF59 MCPUF Mask treatment CPUF Y CF60 NCPUF Default step nb CPUFO NBWN Nb of WN saved 100 0 10 r application application nameobject rev date pag AXIS 1 APPLI 0 CONF 0 0 OSS TG OE a gt AXM 18 SUMMARY part page TITLE PAGE 2 AXIS ab 2 Reale tO rev date page LISTING SUMMARY OSU OS dLig dL 4 r1 TELEMECANIQUE 9 4 9 Mode Description TSX Memory Title Page 0 0 16 10 90 1 1 0 1 10 11 12 13 14 15 Documentation Mode Telemecanique LDC CNO VAL 4 SRP F 1000 mm mn X 0 000 mm WAIT EVENT UC GP9 F 1000 mm mn X 50 000 mm M SYN UC OUT 000 qr WAIT EVENT UC GP9 F 1000 mm mn X 10 000 mm DEC CNO JNZ N 10 CNO JMP N 14 INC CNO M SYN UC OUT 000 IT Y WAIT EVENT UC DEC CNO JNZ N CNO END EOP m application application nam object rev date page AXIS 1 APPLI 0 PROG ORO MOS xo fa ab AXM 182 SUMMARY TITLE PAGE 1 AXIS 1 2 gt application rev date page LISTING SUMMARY 0 0 OS s om TELEMECANIQUE 9 5 9 6 A Appendix 1 Application Size and Layout The information shown below is provided as a guide only It is not absolutely necessary
309. ster word OWxy 3 1 Synchronization in automatic mode In manual or manual reference set up mode 1 Move command in direction 0 Move command in direction 6 5 6 6 IWxy 0 Standard status word FEDCBA9876543210 1 IT AXM CPU reset to 0 by acknowledgment 2 1 Reset the message system Text block 1 Module ready 1 Module general error or store error 5 Reserved Module type 3 error or store error 7 Reserved Module failure Self tests in progress Terminal block not locked Awaiting configuration Module configured 1 Module running 0 Module stopped Reserved 1 Safety mode off 1 Inhibited output state st ete 20 ER EC ES REC IWxy 2 Complementary status word 2 FEDCBA9876543210 Current Step Nor Pt 1 Moving part position lt Stop 1 Moving part position lt Higher Soft Stop 1 Stop error 1 Emergency stop active In4 or Oxy 7 1 Currentposition measurementoutside of the target window PLC error or PLC stopped 1 Process PWF error 7 1 Calculation overflow error IWxy 1 Complementary status word 1 FEDCBA9876543210 Operating mode nibble 0000 None E 0111 Open loop 0001 Manual reference set up 0010 Manual operation 0100 Assisted manual operation 1000 Automatic step by step mode 1 2 1001 Automatic block by block mode 1010 Automatic cycle
310. stop is triggered Stopping the moving part stopping AXM program execution and sending an error indication Current position AXM gt PLC IWxy 6 and 7 store the moving part position expressed in module units see overleaf Note Value sampled by the module every 10ms but the register word refresh cycle depends on the cycle of the task in which the module is configured External position PLC gt AXM The OWxy 6 LSB and OWxy 7 MSB registers enable the transfer of a value from the PLC to the AXM module This value is then used for instructions that required the moving part to move to an external point Functions not available on TSX AXM 162 module 6 5 6 Dialog with the PLC Processor 6 Integrating Axis Control into the Sequential Program Example of use AXM Program PLC Program 112 WAIT EVENT PLC IF IWxy 2 AND H FF00 H OCOO 0 13 GP9 F 2000mm mn X EXT B THEN CW150 gt OWxy 6 CW151 gt OWxy 7 o f SET OWxy 1 9 The value is expressed the module length value This depends the range in which the VMAX parameter set in the configuration is defined TSX AXM 172 TSX AXM 182 VMAX 34 56 lt 345 6 2945 6 lt 54 lt 540 2540 Unit um 10 um 100 um um 10 um 100 um Attention In general this unit is different from the unit selected for display Velocity modulation factor This factor lets the user change the programmed velocity value by a factor of
311. t Allows access to current position in the selected WNi word Display linked to the function Enters the WNi number to store MODIF 2 U2 sseauM Stores the current position of the moving part in a WNi word agam 1 Not relevant to TSX AXM 162 module 6 3 6 Direct Access Auxiliary Functions 6 Teaching Set Points 2nd Option Entering a calculated immediate value Commands XBT Display Comments Display linked to the function Enters the WNi number to store 2 Displays the contents of WN2 ssu Displays current moving part position IU 2 2500AU Allows access to acquisition of a new pu value within the limits XMIN and 100000 Enter the new value ENTER MODIF He 188688UM Note Modification of a WNi internal position by entering a value calculated by the user can also be carried out while moving part motion is in progress 6 4 7 indirect Access Auxiliary Functions 7 1 Selecting Indirect Access Auxiliary Functions Access The example below covers the principles of e Selection e Display e Modification Commands XBT Display Comments FONCT 82 Enter the function number ENTER CH1 CHe CH3 255 252 47 112 Value of the 4 internal counters Access to modification MODIF CH2 CH3
312. t W17 o Reset sync oi Immediate writing of registers RESET OWy 1 9 oi WRITEREG Wl10 I4 oi of processing E oj EOP 6 8 6 Dialog with the PLC Processor 6 Using the Interrupts TSX AXM 172 182 Performance The time taken to activate the interrupt task in the PLC is the sum of two times tic tip etic Time between the change of state of the interrupt input enable instruction M andthe presence of the IT signal on the I O bus The tic value is less than 10 ms for TSX AXM modules e tip Time between the presence of the IT signal on the I O bus and the activation of the Interrupt task This time depends on the type of PLC and whether fiber optic connected remote I O are used It is not affected by the location of the module basic rack or extension rack PLC Local I O Remote I O TSX LES TSX LFS TSX 47 40 1 3 ms 67 40 1 3 ms 2 0 ms TSX 87 40 0 8 ms 1 5ms TSX 107 40 0 5 ms 1 0 ms 6 9 6 6 4 6 4 1 6 10 Dialog with the PLC Processor 6 Full Module Control from the PLC Processor This Sub section only applies to applications where the TSX XBT terminal does notremain in service during the operation phase In this case in addition to inserting the axis control function into the general sequential AXM program the PLC must also e Control module and axis operating modes e Control process errors e Load applications when multiple applicat
313. t configured No configuration parameter has been sent to the module and the module cannot control any motion A PL7 AXE configuration must be loaded before any other operation is performed e Module configured and stopped A module state that enables the modification or the transfer of the configu ration and the AXM program In this state the module cannot perform any motion but it will however continue to calculate moving part position e Module configured and running In this state the module is fully operational The module is stopped or started using a TSX XBT 182 terminal a micro computer running PL7 AXE or the PLC program through register or command words When a PLC error is present it is indicated by the Fail LED being lit or the OK LED being extinguished The status bit Ixy S is also set to 1 Regardless of the cause of the error the module is forced to stop This applies to errors effecting the module itself and not application errors described in Sub section 4 2 Programmed axis An AXM program must be loaded in the module with PL7 AXE or from the PLC program using the AXM LD OFB Referenced axis The axis has been referenced using one of the reference set up procedures refer to Sub section 4 1 The following table gives the different operating modes that can be accessed in each of the four states Axis state Accessible modes Programmed and All operating modes can be accessed referenced Programme
314. t handle application storage addresses in TSX memory These restrictions do have an impact on the different sub sections of section C2 The table on the next page summarises the sub sections which apply without restriction to V3 configurations in contrast with those that require some modification The section which follows provides further information about using PL7 AXE with this type of configuration A1 A Appendix Use of PL7 AXE in V3 configuration List of sub sections which apply to V3 configurations 1 Using the program 1 1 Installation 1 2 Accessing PL7 AXE 2 General principles 2 1 User environment 2 2 X TEL environment 2 3 PLC memory dedicated AXIS field 2 4 Reservation mechanism 2 5 Recommended work practice 3 Memory types 3 1 Selecting the memory 3 2 Module memory AXM MEMORY 3 3 PLC memory TSX MEMORY 3 4 Disk memory AXM FILE 3 5 Disk memory TSX FILE 4 Dedicated AXIS field 4 1 Access 4 2 Contents 4 3 Purpose of dynamic soft keys 4 4 PLC Disk transfers 5 Configuration mode 5 1 Mode description 6 Programming mode 6 1 Mode description 7 Debug mode 7 1 Mode selection 7 2 Command status screen 7 3 Access to internal positions 7 4 Setting the machine factor KR 8 Transfer mode 8 1 Mode description 9 Documentation mode 9 1 Mode description A Appendix 1 Application size and layout A2 Index A3 Adjustment and initial set up A4 Diagnostic assistance A5 User access rights 1 Rest
315. t has reached the required point It can be specified in pre processing Pre processing PRL Calculate the target window limits in microns DW100 100 DW102 DW100 100 DW104 Specify position of the moving part in double length IW4 6 DW106 IW4 7 DW107 Compare the position achieved with the target postion IF DW106 gt DW102 H DW106 lt DW104 THEN SET B15 ELSE RESET B15 6 48 7 Setting into Service 7 7 1 Location and Hardware Code Possible module locations General rule TSX AXM modules can be installed in any PLC rack that is equipped with the complete bus Basic PLC TSX PMX P47 4 ee All slots numbered from TSX PMX P67 4 ee 0 to 7 TSX PMX P87 4 ee TSX PMX P107 4 ee Local or remote TSX RKN 8 8F 8W1 1 All slots extension racks TSX RKN 5 However it is not possible to install a TSX AXM module in a TSX RKE 8 8W11 7 direct extension rack As TSX AXM modules have a high band pass level they should be kept away from all sources of electromagnetic radiation and from all components carrying or switching high voltages Configuration code TSX AXM modules have a three figure decimal hardware configuration code which is coded ex factory on the three female coding devices on the back of the module e SX AXM 172 Code 729 e SX AXM 182 Code 732 e TSX AXM 162 Code 735 To install the module set the PLC rack coding devices to the appropriate value Reminder The sam
316. t page Detailed description of each type of reference set up Off cam start On cam start Type Direct Direct direct direct Type 1 Motion 1 1 Zero Marker In2 2 1 Cam In3 Type 2 Motion INC 1 1 Cam In3 4 2 lt Motion Zero Marker In2 1 Cam In3 a CEPS EI i 1 For type 1 and 2 reference set ups move the moving part away from the cam before referencing 4 Module Functions 4 Motion Type 3 special case e Moving part stop in phase is commanded when the cam is no longer present falling edge on In3 e On cam The direction of motion is the opposite of that requested and moving part stop in phase is commanded when the cam is no longer present falling edge on In3 Forced reference point set up This is used to reference the axis without moving part motion Procedure e The moving part is stopped and no errors are present e Measure the moving part position in relation to the machine reference point e Load the measurement value in the external position register PREF or use the TSX XBT terminal e Forced reference set up command the current position measurement counter takes the loaded value Teaching set points The set point teaching function enables the acquisition of set points by the module memory by successively moving the moving part to the different positions to be stored Thes
317. t the modification e If it is impossible to gain extra space e g by deleting applications then the size of the dedicated field should be changed APP file Refertothe X TEL Software Workshop manual TXT DM XTEL V4E Divider D Section 2 SPACE TO PACK When modifying an application or a directory in PLC memory e The PLC memory field is big enough to accept the modification on condition that free space is recovered memory packing e Use the PACK dynamic soft key APPLICATION NOT IN DIRECTORY During an AXM TSX transfer This message is displayed when writing to PLC memory TSX MEM is confirmed when the application was read from the AXM module memory AXM MEM aftera UNEXPECTED AXM APPLI NBR READ APPLI message was displayed and the re quested application number exceeds the maxi mum number defined in the directory e The application number is the module does not correspond to a number listed in the directory e g appli 3 when only two applications are defined in the directory Cause Changing the module or modifying the directory e If the situation was caused by changing the module transfer one of the applications stored in the PLC memory to the module e If the situation was caused by a reduction in the number of applications listed in the directory modify either the number of applications listed DIR AXIS then NB APP or the application number AXM DISK transfer then DISK AXM
318. t there is no continuous speed drive error Note All ofthese formulas are provided for information only they assume that the machine system is fully set up and correctly adjusted Response to a step eref t Constant de t R t gt infinity resolution dev induced error due the speed drive Reponse to a slope eref t V t V velocity 2 de t KPOS 1 KV 100 V R dev t gt infinity or de t R 1 72000 1 100 dev ree KPOS t gt infinity with k _ operating velocity maximum velocity Response to a 2nd degree function eref t 1 2 A t A acceleration e where KV 100 de t infinity t gt infinity 2 e Where KV 100 de t KPOS R dev t gt infinity If the variable VMAX A is introduced 72000 T de t 1 KPOS VMAX Ta dev t gt infinity Note dev t dy t ne Pitch KPOS H where 1 H static gain of the entire speed drive motor assembly dy t error in volts on the input to the speed drive A 9 A Appendix Glossary Axis referenced Module status once the reference point has been set Position measure ments are only significant and motion is only authorized in this state Cam A raised plate or boss on an axis which actuates a limit switch when a moving part passes over it Current position measurement Position measurement value updated every 10 ms expressed by the module in ph
319. ted to each specific application They do not cover every special case and the user should be familiar with the data entry principles described in Sub section 2 1 0 4 1 1 1 Setting the Terminal into Service 1 Installation Ge GG D Key for keyswitch Cable with 25 pin male Sub D connector refer to Sub section 1 1 Quick acting protection fuse 5x20 mm 315 mA 250 V Fuse holder Standard mains power cord 2 wires ground 6 Cut out for flush mounting Washers with integral seal supplied Mounting screws F 90 MA not supplied 9 Allen key for mounting screws not supplied Notes e The TSX XBT 182 terminal will power up as soon as the mains power cord is connected there is no On Off switch fitted e Self tests can be run to check correct operation of the terminal refer to the Appendix Sub section 11 1 1 1 1 1 2 Setting the Terminal into Service 1 Connecting the Terminal The TSX XBT 182 terminal can be connected to the programming port of a TSX Series 7 Model 40 PLC or to a TSX SCM 21 module with UNI TE protocol Reminder As soon as the connection is established and the protocol is declared all of the TSX XBT 182 terminal s functions and operating modes can be used Connection to the programming port of a PLC An XBT 2902 cable comprising A25 pin male connector for the XBT TSX XBT 182 end A 9 pin male connector for the pro gramming p
320. the AXM module memory The transfer is performed by the AXM LD OFB supplied on the PL7 AXE program diskette Functions not available on TSX AXM 162 module 6 17 6 Dialog with the PLC Processor 6 Full Module Control from the PLC Processor Naturally the transfer procedure implies that the applications have first been stored in the PLC memory using PL7 AXE Once an OFB has been assigned to each TSX AXM module to load an application the user need only send this OFB the number of the application to transfer and activate the OFB TSX Dedicated Axis Field AXM AXM LDO AXIS Axis 1 For more information on the AXM LD OFB refer to Divider C3 in this manual 6 18 6 Dialog with the PLC Processor 6 6 5 Discrete I O and Register Interfaces This sub section describes the information exchanged between the PLC processor and the TSX AXM module on each PLC cycle 6 5 1 Reminder At the start of each cycle the PLC reads the contents of the discrete input 8 bits Ixy i and the Register input 8 words IWxy i interfaces At the end of each cycle the PLC writes the contents of the discrete output 8 bits Oxy i and the Register output 8 words OWXxy i interfaces Master Task Interface AXM Module Input Acquisition Acquisition Program Execution Write Outputs The module uses the command from the PLC processor via the output interfaces Oxy i and OWxy i and returns boolean and numerical dat
321. the Stop LED to go out If necessary adjust the Stop parameter COMMUNIC ERROR Incorrect Time Out parameter in the TSX SCM 21 module configuration Reset the value of this parameter to 30 ms LN A Appendix A 4 Index 18 Subject Pages Application name 7 4 Application storage 9 2 Automatic cycle 3 2 Axis module status 2 7 Axis selection 2 7 Block by block point to point 3 3 Choosing the protocol 1 3 CNi internal counters Zh 7 2 Configuration 8 1 Configuration parameters 8 1 Connection 1 1 Display the current instruction 5 1 Divert AXM program 7 2 Emergency stop 7 4 External position 7 2 Fault error 10 1 Fault error acknowledgement 10 2 Forced reference set up 6 1 Indicator LEDs 2 1 Interrupt masking 7 38 Language selection 1 3 Loading an application 9 1 Manual mode 3 4 3 5 Manual reference set up 3 7 Mode activation enable 3 1 Mode selection 3 1 Modification of configuration parameters 8 1 Modification of the AXM program 5 3 Module reservation 2 5 Module Run Stop 7 5 Moving part position 4 1 Open loop mode servo off 3 8 Position error deviation 4 1 Power return 1 2 Read AXM program 5 1 Relay outputs 4 1 Return from soft stop overshoot 7 4 A Appendix Index Safety interlock disabled mode Status register word Step by step Teaching a set point WNi Terminal block Velocity Velocity correction factor XBT mode selection keyswitch 7 3 7 2 3 3 6 3 10 2
322. the application load sequence with a call to the AXM LD OFB This step is only required if the TSX AXM 172 modules will execute multiple applications corresponding to different production recipes In this case the load sequence included on the TSX AXB 72 program diskette and comprising two programming modules TR 172 and SR 172 to transfer respectively to SRO and SR1 To trigger the transfer a Grafcet sequence is required A typical programming example is provided in the documentation G Additional Information G Upgrading from V3 to V4 Evolution Note 7th step ACTIV RESET B0 RESET B1 RESET B2 11 W100 1200 W101 H 0200 W102 W103 1 CONT CALL SRO W103 254 W103 gt 255 ACTIV ey SET B2 SET B1 To activate the sequence the program sets bit BO to 1 and waits for B1 and or B2 to change to 1 W100 and W101 specify the application storage address W 1200 W 102 specifies the location of the module in the rack Slot 2 in this example V4 level memory management requires the use of the AXM LD OFB that works from the logical axis number and not the physical location of the module in the rack The modifications described overleaf should be made from PL7 3 For clarity a 6th step is used for modifications to the PL7 3 program affecting the application transfer sequence In factthese modifications can be performed immediately after updating the PL7 3 appl
323. till in PL7 3 Configuration Mode with menu item 5 OPTIONAL FUNCTION BLOCKS e Oncethe varioustypes of OFB are declared a new screen then lets the user define the number of times each type of OFB will be used XTEL Function pl7 3 tab3axe malo D xproprj TOTAL VOLUME M DATA 2728 CNST 128 PROG 5744 SYST 436 VOLUMES WRDS ARMPG DATA 368 CNST 48 PROG 1472 SYST 136 NEAT TO LAST e Use the MODIFY dynamic soft key to enter the number of times that each defined OFB will be used 1 5 1 Operation Common to all OFBs 1 Configuration NB Ensure that for each type of OFB that will be used the declared number of instances of use is the same as the number of axis control modules Example In a configuration with three TSX AXM modules the AXM LD OFB is used to transfer the application from the PLC memory to the module memory MEM TSX MEM Once three AXM LD OFBs have been declared the program will create AXM LDO AXM LD1 and AXM LD2 that the user can later assign to the three axes e Once the number of times each type of OFB will be used is declared confirm C by pressing lt Enter gt 1 6 1 Operation Common to all OFBs 1 1 3 Programming Syntax OFBs can be used in any program module in Literal or Ladder languages using an OPERATE block In both cases the same syntax applies EXEC OFBi lt gt E Instance Input Output number parameters par
324. ting the Terminal into Service Service Introduction Commands XBT Display Comments CONFIGURATION NORMAL CONFIDENTIEL CONF IGUR Screen that appears on mode selec tion Language selection Lot FONCT LANGUAGE B FRE 1 ENG Displays the languages available Enter the number corresponding to the selected language or ENGLISH FONCT LINE PARANETERS Change to line configuration Protocol modification or Access to data link characteristics 1 refer to next page Protocol modification FONCT PROTOCOL B SERIEFr 1 UNITE Screen identical to that on displayed On power up FONCT Note Itis possible for the user to quit the Configuration mode at any time Any selections made are automatically stored by the TSX XBT terminal on power down 1 5 1 Setting the Terminal into Service 1 Service Introduction Access to data link characteristics review modification 1 6 Commands XBT Display Comments Refer to the previous page for how to access this screen 1 ENTER or LINE PARAMETERS PROTOCOL SERIE LINE PARAMETERS PROTOCOL UNI TLH Enables access to UNI TE protocol parameters INCR DECR Validates the protocol and allows access to the line characteristics ENTER The table below lists the corresponding data line characteristi
325. tinue G 1 EVENT UI3 DI3 Move in direction until an event and stop G 9 F EVENT UI3 DI3 Move in direction until an event and stop G 9 F EVENT UI3 DI3 Reference set up Reference set up in positive direction SRP F X Immediate position Reference set up in negative direction SRP Rs X Immediate position Other positioning instructions Velocity at target point PV F Immediate stop STOP Abbreviations ACCE Acceleration IT Interrupt PRF Parametered reference position CP Current position IWNi Internal referened point STOP Stop check CNi nternal counter N Step Nbr No synchronization No IT SYN Synchronization condition CPUF PLC processor error NAME Name of check TSTOP Stop check time out DECE Deceleration NCPUF Divert step if CPUF TSYN Synchronization time out DI3 Falling edge on module input In3 NDMAX Divert step if deviation error TW Target window DMAX Max position deviation NSTOP Divert step if stop error UC PLC processor CPU EVENT Event Divert step if synchronization error UI3 Rising edge on module input In3 EXT External position from XBT or PLC NTW Divert step if target window VAL Value OWxy 6 and 7 error VSTOP Stopped velocity F Velocity OUT Discrete outputs R3 R2 R1 set WNi Internal set point obtained by teaching Imm Pos Immediate referenced position PARAM Parameter X Position IEXT Referenced external position Pos Imm Immediate position Y Yes
326. tion discriminator encoder In2 is designed to receive the zero marker signal from the incremental encoder In3 Event detection input A 24V input designed to receive a signal from a position sensor when used with mechanical cam detection For manual reference point set up determining the physical reference point For motion with event sensing In4 Safety interlock input The safety interlock input that must be kept supplied When there is no voltage on this input an emergency stop is caused on the axis The module comprises one analog output and four relay outputs An analog output 10V 10 bits sign for TSX AXM 172 and 12 bits sign for TSX AXM 182 162 designed for controlling a variable speed controller RO Relay output designed to control the speed controller safety interlock input Relay RO is controlled by the module The analog output takes its value 200ms after the relay is enabled R1 R2 R3 Auxiliary relay outputs These three outputs can be enabled by instructions from the AXM program and can be used for direct action on the application These outputs can also be enabled by discrete I O interface bits or by the TSX XBT terminal in other operating modes The I O connection and technical characteristics are described in Sub sections 7 3 8 2 and 8 3 Functions not available on TSX AXM 162 module 1 11 1 Module Presentation 1 1 6 Positioning Functions Position reference L MIN Point Field
327. to know this information when setting up axis control applications An application comprises three parts The configuration with a preset size of 106 bytes 53 words The module internal program whose size depends on the number of steps each step requires 7 bytes or 3 5 words The table of internal variables e When stored in the module memory this table systematically comprises 100 variables numbered WNO to WN99 400 bytes and the four counters to CN3 4 bytes e When stored in the PLC memory or on disk this table only comprises the exact number of WNs stored this parameter is declared in the configu ration and four counters numbered CNO to CN3 Its size is therefore in words 2 Nbr WNs 2 the WNi variables are double length ones PLC Memory CONFIG 53 words 2 checksum words AXM Program Dedi cated axis field APPLI i AXIS j meer 7 Nbr steps 2 2 checksum words WN OCNi 2xNbr WN 2 1 2 checksum words The maximum size of an application in the PLC memory with 253 program steps 100 stored WN variables is 53 2 254x7 2 2 100x2 2 2 1150 words A Appendix A2 A 2 Subject Pages Application name 2 5 5 1 Application number 3 6 Application size Axis number 3 6 Clearing a program step 6 3 Configuration 5 1 Debugging a program
328. to the user to ensure that the EXEC AXM LD instruction is only scanned once in a program This instruction should be conditional on an event that will only occur once during a PLC cycle bit SYO SY1 rising edge etc 1 Using PL7 3 in DATA mode or SYSDIAG 2 8 2 The AXM LD OFB 2 Internal Operation Typical programming IF B10 AXM LDO READY THEN EXEC LDO gt RESET B10 IF RE I2 0 AXM LDO READY THEN EXEC AXM 100 In Grafcet it is preferable to program the EXEC AXM LD instruction on activation of a step rather than when the step is active continuous Note During the transfer the module is reserved by the OFB Any attempt by another user to access the module TSX XBT 182 terminal PL7 AXE program will generate the message AXM RESERVED 2 9 2 The AXM LD OFB 2 2 4 Examples Example 1 Assume a configuration with three TSX AXM modules i e three axes numbered 0 to 2 Each axis always executes the same application Therefore only one application is stored in the PLC memory for each axis axis 0 V4 PLC axis 1 y axis 2 APPLI 0 AXIS 0 3 Dedi APPLI 0 AXIS 1 cated axis field APPLI 0 AXIS 2 The stored application located in the PLC memory should be transferred to the module memory on A warm or cold restart
329. tory displayed if there is a discrepancy between the directory and the I O configuration defined under XTEL CONF This key enables XTEL CONF to be launched directly from PL7 AXE 5 Configuration Mode 5 5 1 Mode Description Purpose of the mode The Configuration Mode lets the user enter the table of parameters for the application The function of each parameter is described in Divider B Sub section 2 2 of this manual Accessing the mode From the Mode Selection Display e Select the working memory refer to Sub section 3 e Allows access to the operating modes e Enter the axis and application numbers or file name if disk storage is selected e Select the Configuration Mode Configuration mode screens Each of the four screens in the mode comprises four columns EL Function axis tab3axe malo D xproprj ANH units Length Hin Velocity mm mn Acceleration mm s Fux Parameters Values Limits RF31 RESOL Sensor resolution 3 0 un 1 8 1000 0 2 UMAR velocity 1050 nn mn 11 12968 User units AF33 UPUL Length nm um mn cm dm AFAL UPUU Velocity nn mn nn mn cm nmn dm mn m mn AF35 UPUA Acceleration 52 nnjs cm s dn s m s AF36 AMAR Max soft limit 1000 008 mn 30000 0000 30A0A 008 AF37 RHIM Nin soft limit 1000 000 mn 30000 0600 3000 880 amp ACCE Acceleration 100 nn s2 1 0
330. tware Workshop as they are entered The applications created are anonymous they are not associated with any module and are not dependent on any PL7 3 application library function XTEL Function axis line factory E xproprj X E VIPR PRJXFRCT RVALTNET ARTS VHODAPICHI 172 PL7 RNS 05 0 INSTALLATION OF AXM 182 172 162 Copyright TE 1998 93 SAVE HANUAL FILE AXIS BIN LOCAL HEHORY OPERATING MODES DESTINATION HEMORY 8 CONFIGURATION 8 RXH MEMORY 1 TSX HEMORY 1 PROCRAH A TSR MEMORY D ARM FILE 7 HRSG ON 2 TSX FILE 3 TSK FILE 3 DOCUMENTATION DESTINATION CHOICE FILE DIR AXIS EN UTILS 3 9 N UTILS accesses the utilities functions associated with the DISK memory 0 MOD DIRECTORY Displays the list of files contained in the AXIS MOD directory the module type 162 172 or 182 and the size of the application 1 LIST OF APPLICATIONS 162 Table of the list of TSX AXM 162 application files stored in the AXIS MOD directory with the creation date and the size of the application alongside The CLEAR key returns the user to the selection screen 2 LIST OF APPLICATIONS 172 The same as the preceding function but for TSX AXM 172 application files 3 LIST OF APPLICATIONS 182 The same as function 2 but for TSX AXM 182 application files 4 DELETE THE PROGRAM Destroys the PIC program of the f
331. tware package comprises 1 2 diskette reference TXT LF PL7 AXS V5 1 2 diskette reference TXT LF FB AXS V42 Asoftware protection key Alicence agreement This manual reference TXT DM PL7 AXS V5 To use PL7 AXE the following hardware should be used An FTX 417 507 terminal or an IBM PS 2 microcomputer or compatible PC see required configuration section 1 2 Aterminal PLC connection cable for an FTX 417 507 terminal A terminal PLC connection kit for an IBM PS 2 microcomputer or compatible PC comprising an RS 232C current loop converter converter microcomputer connection cable with a 9 pin connector converter microcomputer connection cable with a 25 pin connector converter PL C connection cable TSX SCC 02 software key support 1 4 Connections Allconnections specific to the terminal monitor keyboard mouse printer software key support etc are assumed to be in place this section only describes fitting the software key To do this place the key in the empty slot in the key support This operation must be carried out with the equipment switched off Note This software key contains the access rights needed to access PL7 AXE The Key Manager tool supplied with each Software Workshop allows these rights to be transferred to the working key so that all rights are grouped on one key the working key so as to free a slot on the key support For further
332. ty is greater than VSTOP the module declares a stop error Once the moving part has stopped the module runs a continuous check every 10ms of the velocity of the moving part until a new motion command is executed Note This check allows moving part hunting around the stop position Any drift of the moving part from the target will be detected by the target window check The TSTOP parameter value should always be optimized In practice to avoid errors VSTOP must be greater than resolution 10ms Example If the resolution is 5 VSTOP gt 5 um 10 ms result 30mm mn Synchronization check type 2 This check is activated by instruction M refer to Sub section 5 3 The module continues to run its program while awaiting an event either from input In3 or from the PLC processor depending on the operand declared in the instruction If this event is not detected within the TSYN time out an error is declared by the module Emergency stop check type 2 An emergency stop error is detected when input In4 is no longer supplied or when the emergency stop bit 7 is at 0 CPU error check type 2 When the PLC is stopped or a processor fault error occurs a CPU error CPUF is declared Run with interlock off In this operating mode a CPU error is ignored no error indication no divert processing step The module will then operate independently of the PLC processor with all the risks inherent to this type of operation
333. uced into the PL7 3 language they resemble standard function blocks timers counters etc but have their own special features EXEC instruction dedicated memory field They may only be introduced to V4 applications which will operate on model 40 PLCs On a PLC an OFB represents A sequence of instructions not accessible unique regardless of the number of declared OFBs of the same type located in the PL7 3 PROG OFBs field An area in the PL7 3 DATA OFB field for each use An area in the PL7 3 CONST OFB field for each use E g The AXMLD OFB used for 3 TSX AXM modules PL7 3 PROG AXM LD field PL7 3 CONST aw 7 3 field AXM LD 1 AXM LD 2 AXM LD 0 PL7 3 DATA field AXM LD 1 AXM LD 2 1 1 1 Operation common to all the OFBs 1 Reminder of the concept of OFBs Reminder The DATA PROG and CONST parts of the PL7 3 dedicated field are sub divided so as to reserve an area for the OFBs STANDARD DATA OFB DATA STANDARD PROG OFB PROG STANDARD CONST OFB CONST In addition to its constants and internal data a function block has its own I O parameters to which are associated values PL7 3 variables or equations Example BO B 10 SY1 11 2 DW 20 W5 This graphic format can only be accessed in the programming phase for assigning the I O parameters 1 2 1 Operation to all the OFBs 1 Reminder of the concept of OFBs Use To use a type o
334. ult to PRF 5 Programming TSX AXM 172 182 modules Data Control Instructions Load the Immediate Value gt CNi Instruction code LDC LDC CNi Internal counter VAL Immediate value Operand Internal counter CNi where i 0 1 2 or 3 Immediate value 0 255 Increment CNi Instruction code INC INC CNi Internal counter Operand Internal counter CNi where i 0 1 2 or 3 Decrement CNi Instruction code DEC DEC CNi Internal counter Operand Internal counter CNi where i 0 1 2 or 3 Parameter Modification Instruction code MOD Modify the values of type C parameters refer to Sub section 2 1 defined in the configuration parameter table MOD PARAM Parameter VAL Immediate value Operands Parameter e ACCE acceleration e DECE deceleration e DMAX maximum deviation e VSTOP stopped velocity e STOP stop time out e TW target window e SYN synchronization time out e NDMAX nbr of divert step on DMAX error e NSTOP nbr of divert step on STOP error e NTW nbr of divert step on TW error e NSYN nbr of divert step on Sync error e NCPUF nbr of divert step on CPU fault Immediate value e Parameter value e Divert step number 0 to 253 Store PRF on Rising Edge of In3 Instruction code MPRF Transfer the current position to the parametered indexed position when a rising edge is detected on input In3 MPRF Note The instruction enables the positi
335. uring AXM program execution If the instruction to be modified is being executed the parameter modification will only be accepted once execution is completed 5 3 5 4 6 Direct Access Auxiliary Functions 6 6 1 Forced Reference Set up Validation conditions Access e Module configured e Nodule running e No errors e No active operating modes and servo loop disabled mode not selected e Moving part stopped Stop LED lit e XBT mode Confidential Commands XBT Display As 8 FORCE 1888888UM MODIF As FORCE 1888000 As 8 FORCE AX RUM PR AUTO CYC RF Comments Display linked to the function Displays the external position Access to position value modification Enter the new value assigned to the position Commands reference set up 0 or 1000000 if no modification in the example Return to the display related to the current mode RF indicates that the axis is calibrated referenced 6 1 6 Direct Access Auxiliary Functions 6 6 2 Velocity Correction Factor Access Commands XBT Display Comments NU Display linked to function As B VEL COR As B8 VEL COR As B VEL COR 1 Enter the new factor value see below or Displays the factor value RES Increments or decrements the factor value Access to factor modification DECR
336. vailable on this module Automatic or program mode cycle point to point step by step Teaching of set points and consequently everything which concerns the internal set points table WNi table Fault processing by module program 1 6 1 Module Presentation 1 1 3 Internal Layout of the Modules Application TSX AXM Module PLC Incremental Processor Encoder Configura Ind A tion Ini Servo Parameters B In2 Loop Reference O XBT set up EL Inter IW OW AXM face Speed Controller __ re Enable Speed controller Bi Aux HS Internal 24VDC In3 Variables 24VDC In4 The TSX AXM modules incorporate five main functions Moving part position servo control Processing of the application programmed by the user Operating functions Interface with the application Interface between the PLC processor and the TSX XBT terminal Servo position control Depending on the position and velocity instructions and on the actual position ofthe moving part the module generates the velocity command forthe speed controller Application processing The configuration parameter table adapts module operation to the applica tion to be processed The module executes the AXM program entered by the user and derives the target positions and the motion velocities Operating functions
337. value OWXy 1 4 CNi counter preset command Word OWxy 4 and bit OWxy 1 4 are used to set the value of the CNi internal counters When used with the JNZ conditional jump instruction and CNi increment and decrement instructions they can be used to control the number of executions of an instruction sequence from the PLC program Functions not available on TSX AXM 162 module 6 Dialog with the PLC Processor 6 Integrating Axis Control into the Sequential Program AXM Program Start Stop Resume PLC AXM AXM program execution can be started stopped or resumed by the PLC program A rising edge on bit Oxy 4 starts the AXM program from the start step given in register word OWxy 3 MSB A rising edge on bit Oxy 5 stops AXM program execution A rising edge on bit Oxy 6 resumes program execution from the current program step Example of use An AXM program is split into sequences and each sequence can be called by the PLC program depending on the application to be processed AXM Program PLC Program 1 Sequence 1 uie ces dui 20 START SEQUENCE 2 Sequence 2 IF 10 2 THEN H 1400 0W4 3 30 o SET 04 4 Sequence 3 IF IW4 1 5 THEN RESET 04 4 40 2 Sequence 4 o 50 s Divert AXM program request PLC AXM A rising edge on OWxy 1 8 triggers the divert command to the program step number specified in OWxy 3 MSB Emergency stop request PLC gt AXM When bit Oxy 7 changes to 0 an emergency
338. velocity X X X Relay output status X D D M Second axis position X X X AXM program Display current step 1 X X X Display a step 1 X X X Modify operands 1 X X Auxiliary functions Teach set points 1 X X Velocity correction factor X X Forced reference set up X X Divert AXM program 1 F80 D D M External position EXT F81 D D M Internal counter CNi 1 F82 D D M Standard status register F83 D D Mask Demask IT 1 F84 D D M RUN safety enabled disabled F85 D D M Inhibited outputs F86 D D M Emergency stop F87 D D M Return to soft stops F88 D M D M Synchronization with PLC 1 F89 D M D M Application title F90 D D List of application titles F91 D D Module location F92 D D Module RUN STOP F93 D D M Display errors on other axes F94 D D Service introduction function F95 D D M Machine factor F61 D D M PRF parameter index F62 D D Configuration access Display F31 F60 X X Modification F38 F60 X Transfers TSX AXM F71 X X AXM gt TSX F70 X Faults e Display X X X e Acknowledgment X X X D Display mode access M Modification mode access 1 Key not relevant for TSX AXM 162 module 2 6 2 Using the Terminal 2 2 4 Axis Module Status Display Axis Module status Enables access to the status of the previously ee selected axis Status eNC Not Configured eSTOP eRUN Axis Nbr 0 to 15 e NPR NotProgrammed ePR Programmed eD Fault As B RUM PR MAN SET RF J eRF Referenced axis eNRF A
339. with ready to use Optional Function Blocks OFBs that simplify the module set up procedure e The TSX XBT 182 terminal for operating and adjusting the modules The TSX AXM 172 and TSX AXM 182 modules can be programmed and can operate independently of the CPU as compared with the TSX AXM 162 which cannot be programmed All movements are executed under the control of the CPU The TXT LPL7 AXS V4 software is used in the application programming and debug phases 1 Presentation 1 Axis Control System Presentation The TSX XBT 182 terminal provides all of the services required for normal operation It lets the user access all axes in a configuration When required by the user it will also monitor motion modify parameters control manual mode motion etc There are two versions of the terminal e The TSX XBT 182 1 dedicated axis control operator terminal TSX XBT 182 2 multi purpose terminal that provides a standard operator dialog terminal function in addition to the specialized axis control terminal features Companion products In addition to TSX Series 7 products that are used for servo loop control and processing Telemecanique can also supply all of the other component parts required in an axis control application operating part e The XCC range of incremental rotational encoders with an open collector Totem Pole or line transmitter output Refer to the general catalog or specialized catalog e The Rectivar
340. ws the user to debug applications e A TSX XBT terminal e The user program PLC program via the PLC TSX AXM module interface For a given operation the procedure that applies varies depending on which system the user wishes to use Rather than describe each operation three times once for each system the general procedure for each operation will be described It is then up to the user to refer to the appropriate Section for the system to be used The user can refer to e Sub section 6 4 that describes the interface between the user program and the module e Divider C2 Section 7 that describes PL7 AXE debug functions e Divider D Section 3 that describes TSX XBT terminal functions 3 1 3 3 1 Operating Modes 3 Module Modes The module can control the motion of a moving part in five operating modes e Automatic e Manual reference set up e Manual operation under visual control e Assisted manual operation e Servo loop disabled All of these modes can be selected from the TSX XBT terminal or by a register word However an operating mode can only be selected when the moving part is stopped If motion is in progress or if the moving part is not declared as stopped the Start command will be ignored by the module Once the mode and the associated parameter s have been selected the Start command starts mode execution the mode is enabled The Stop command stops mode execution the mode is disabled Selecting
341. x Appli IT Mask IT Request START CTRL 1 PLC Processing The interrupt is sent RESET e If it is not masked CTRL 1 If the demask order was sent Other e If the interrupt task is active Modules I O access using the interrupt task The I O tables are updated on each cycle of the tasks where it is configured In orderto operate in real time exchanges with the module using the interrupt task must use explicit exchange instructions 6 7 6 Dialog with the PLC Processor Using the Interrupts TSX AXM 172 182 Example Axis 1 Synchronization of two axes The end of moving part motion on axis 1 triggers the moving part motion command on axis 2 Axis 1 AXM in slot 2 rack 0 Axis 2 Axis 2 AXM in slot 4 rack O X1 AXM Program Axis 1 PLC Program Interrupt task 50 GP9 F 5000 mm mn X 500 cm Read IT module axis 1 amp 11 M SYN OUT 000 IT Y M L1 READINT 12 BO Otte eee eee n n nn nnn oi IF THEN JUMP 110 o AXM Program Axis 2 A e E E Misco eo IA o Er o 20 WAIT EVENT CPU 5 lt Interrupt processing 21 GP9 1000 mm mn X 600 cm oi 110 ACKINT 12 RESET BO Buch eu iaceo C ND oi SET OW4 1 9 o PLC Program master task lt Save register words as gu a OW4 0 W10 OW4 1 W11 o Validate interrupt task o OW4 2 W12 OW4 3 W13 oi 15 IF SYO THEN START CTRL1 o OW4 4 W14 OW4 5 W15 DMASKINT 12 oi 6 gt W16 OW4 7 g
342. xis not referenced Selected mode INACTIVE No mode selected e AUTO Automatic cycle AUTO S S Automatic step by step AUTO B B Automatic block by block e MAN DRIVE Manual MAN SET Assisted manual mode MAN RFP Manual reference set up e OPEN LOOP Servo loop disabled Selecting a new axis Commands XBT Display Comments AXIS SELECT Display the status of the axis MODIF Enter an axis number Newly selected axis status As 4 RUM MAN SET RF 2 7 2 2 5 2 8 Using the Terminal Operator Dialog Terminal This sub section only applies to TSX XBT 182 2 terminals The PROCESS AXIS key is always active active and can be pressed to toggle between Process and Axis Modes Commands XBT Display PASSAGE PROCESS AXIS ENTER PROCESS AXIS ENTER 1 For a complete description of this mode refer to the XBT User s Manual ABIS PROCESS PASSAGE PROCESS ASIS Comments Operator Dialog Terminal Mode Operation 1 Axis Control Terminal Mode Operation 3 Selecting the Operating Mode 3 3 1 General Principles Conditions for operating mode selection Automatic Manual Assisted Manual Step Block drive manual Ref Servo XBT mode STEP A D W M b DANE yes yes Normal no yes no no no
343. ysical units Default mode An AXM program sequence thatis called when a failure occurs if divert mask No The starting step for this sequence is defined in the software configuration and can be modified by an instruction Direction discriminator A microprogram which indicates the direction of moving part movement Deviation Difference between calculated position and the actual position during motion Emergency stop Motion stoppage with deceleration declared in the configuration Event A rising or a falling edge detected on input In3 Forced reference point setting Procedure used for loading the current position measurement value at a predefined value in the external position register on a command from the PLC processor This operation references the axis Higher soft stop XMAX Higher position measurement that must not be exceeded by the motion of the moving part set in the configuration Incremental encoder A device for measuring movement that generates a pulse for each increment of linear or rotary movement The direction is defined by two 90 phase shifted signals Lower soft stop XMIN Lower position measurement that must not be exceeded by moving part motion set in the configuration Machine characteristic factor Machine parameter adaptation characteristics An XBT self adjustment procedure is used to add precision to the value and to avoid any possible loss of precision in the definition of these machine param

B - Schneider Electric

Contents

Download Pdf Manuals

Related Search

Related Contents