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User Manual - LUCKINSlive

1. Step Action 1 In the Unity Pro Project Browser fully expand the Configuration directory and then double click on PLC bus 2 Double click on CANopen port of PLC Result The port configuration window appears E 0 0 CANopen CANopen comm head i0 Communicator head CANopen A CANopen comm head H Config a Channel 2 p Inputs Outputs f Maintain RESET No of words AMW 32 No of words MW 32 Index offirst MW 0 4 Index offirst MW 0 No ofbits AM vy m No ofbits AM 3 Index of first M 0 Index of first M 0 3 Bus parameters Transmission speed 500 xi kBaud SYNC Message COB ID 128 SYNC Message period 10 ms Function Ei Y Task MAST yi 3 In the Bus parameters area set 500 kBaud for the transmission speed In the Task area select MAST In the Outputs area select Reset radio button Strongly recommended 4 Validate the configuration 5 Note We recommend using the IODDT T_COM_CO_BMxX that corresponds to the CANopen port for the rest of the programming Enter CAN for the prefix name Close the window 35013563 10 2014 31 Application Configuration Configuration of the CANopen Slave How to Configure the CANopen Slave This table describes the procedure to configure the CANopen slave Step 1 Action CANopen i CANopen Bus Result The CANopen
2. Step Action 1 Click on the Basic Configuration The Basic Configuration window appears 0 Lexium 32 All parameter ABinput Signal selection position interface 1284 Simply start DeviceNet address node number 16898 ESSE Modbus address E 5640 i O In Pulse control Modbus Baud rate i 5638 La C In Position control CANopen address node number 16644 Configuration CANopen Baud rate 16646 Q 10 functions Almin Speed limitation H 4384 i Q 10 parameters 400 0 Current limitation i 1 0 External braking resistor 400 0 Current limitation for Quick Stop i C Holding brake 400 0 Current limitation for Halt i Q Encoder simulation ESIM EsimOff Desable Enable ESIM functionality OHM 4096 Encoder simulation setting of resolution i O Reference and limit switches fMains_choke no Mans de 1 Q Position scaling POSdirOfRotat clockwise Definition of direction of rotation i O Profile generator Umains_reduce_ off Reduced input mains voltage on 1 phase devices 0 Hats O Supervision Q Power amplifier 1 O Name E0 Settings a O Regulation loop Q Regulation loop 1 Ka O Regulation loop 2 O Limitations lz 0 Standstill r O Motion Sequence config i Q Electronic gear H ro Homing Jog 1 Q DeviceNet Q Datasheet Q Internal braking resistor f Device A Q Motor 1 Q Drive This screen is used to set parameters for the servodrive s CANopen address the bus speed and the u
3. i ATV31T_V1_3 Altivar 31 CANopen Slave DSP402 TEATV31T13E eds DA MFB EDS MFB ATV32 ATV32_MFB eds ATV61_V1_1 ATV61 TEATV6111E eds ATVI V11 ATV71 TEATV7111E eds lcIA_IFA IclA IFA CANopen IclA IFA eds vs IclA_IFE IclA IFA CANopen IclA IFE eds s lt IclA_IFS IclA IFS CANopen IclA IFS eds LXM05_MFB LXMO5A PLCopen LXM05_MFB EDS LXM05_V1_12 LXMO05A CANopen TELXM05A_0112E EDS SLXMI5LP_V1_45 EDS for Lexium 15 LP servodrive TELXM15LP_0142E eds LXM15MH_V6_64 LXM32_MEB EDS for Lexium 15 MPHP servodrive TELXM15MH_0661E eds LXM32_MFB LXM32_MFB EDS SD3_28 D328 CANopen BLSD328_0100E EDS Motor control Safety Sensors Third party products 3 Set 4 in Topological Address For the slave device choose ATV32_V1_2 35013563 10 2014 151 ATV 32 for MFBs Step Action 4 Click on OK to confirm the choice Result The CANopen window appears with the new device selected E CANopen Bus 3 CANopen comm head 0 annections configured 1 ATV32_MFB 5 Select Edit Open module If MFB has not already been selected choose it in the Function area 6 Validate your modifications when closing the Device and CANopen windows 152 35013563 10 2014 ATV 32 for MFBs Section 12 3 Config
4. Type Block name ATV 31 ATV 32 ATV 71 Lexium Lexium 05 Lexium IclA ATV312 32 32i 15 HP IFA 7 MP LP IFE IFS Advanced Lxm_GearPos X 4 X 5 functions for ym GearPosS xX X 4 X 5 the Lexium Lxm_UploadMTask X Lxm_DownloadMTask X Lxm_StartMTask X X System CAN_Handler X X X X X x x function 1 PLCopen V0 99 extension part 2 2 Not PLCopen standard 3 Only for firmware version gt 6 73 4 Only for firmware version gt 1 403 5 Only for firmware version gt 2 36 6 The parameter list is a Lexium32Advanced drive parameter list 7 Through an ATV 31 V1 7 CANopen Device configuration 18 35013563 10 2014 Foreword Methodology Overview The flowchart below lists the various stages involved in installing the application 1 Configuration of the hardware using Unity Pro Declaration and configuration of the 6 CANopen bus using Unity Pro y Configuration of the axes via MFB 3 using Unity Pro y 4 Hardware configuration of the servodrives y Programming the application using 5 the MFB library y 6 Debugging 7 Operation y 8 Maintenance The table below details the tasks to be performed for each stage of the flowchart Step Description 1 In Unity Pro create the project and select the processor In Unity Pro open a CANopen bus configuration choose the CANopen slave in hardware catalog attr
5. DO oo AJOJN The function will continue to be performed until you click on the Stop button Service Functions The table below explains how to use a service function Direct current Apply a direct current to the motor with adjustable size and electrical field vector angle The changeover from speed control to current control is made automatically commutation is made independently of the feedback resolver or similar The rotor locks onto a stator pole Speed Operates the drive at constant speed An internal digital setpoint is provided speed is adjustable Torque Operates the drive with constant current An internal digital setpoint is provided current is adjustable The changeover from speed control to current control is made automatically commutation is made independently of the feedback resolver or similar Reversing Operates the drive in reversing mode with separately adjustable speed and mode reversing time for each direction of rotation Motion task Starts the motion task that is selected in the screen page Entry of service parameters Zero Function used for feedback setting in conjunction with the positioning phase This function can only be accessed in OMODE2 NOTE For further information please refer to the Unilink software user manual NOTE Once the parameters have been correctly set you are advised to save them in EEPROM and to make a backup copy of them in a fi
6. Step Action 3 Choose Action and then Connect Result a text box is displayed 4 Type a project name Lexium05_MFB and then click on OK Result a transfer confirmation window is displayed 5 Press Alt F to start transferring data from the servodrive to the connected work station Basic Lexium 05 Configuration This table describes the procedure for entering basic settings Step Action in a new window that gives access to device control tuning and monitoring functions In the tree structure displayed choose CANopen in the Communication directory Result the following window is displayed File Parameters Command Display Configuration Tools AHATE 42 Find Code W Lexium05 Code Short label Long label Mini Maxi Current Default Logical_address User All parameters ID_COAD CANadr _ pen address node 1 127 3 127 5892 Simply start ID_COBD CANbaud_ CANopen 50KB IMB 500KB J25KB 5894 Basic configuration In speed control 10V In Current control 10V In Gear mode In position control Configuration D ANA2 analogue input External braking resistor Holding brake Encoder simulation HMI Reference and limit switches Position scaling PWM O Profile generator O Supervision Settings ANA analogue input Regulation loop Limitations Q Stanstill Motion 4 M Siate Speed control mode _p_refusr 1066883 usr
7. Analog Application Setup C Gearing Application Setup C Motion Task Application Setup Complete Setup This Setup Wisard will help you configure your drive Start by choosing the type of set up from the list below Quick Motor Drive Setup Analog Application Setup Gearing Application Setup Motion Task Application Setup or Complete Setup Click Next and Previous to move between screens or move directly to any screen by clicking in the tree on the left Click the Refresh toolbar button to bring back the original data for the screen currently showing 2 Select the Complete Setup on the screen Result the browser with all configurations links appears 3 Click on the Basic Setup on the browser Result the Basic Setup screen in the main frame appears r Power Supply Regen Resistor Internal Value Ohms max Regen Power Ww Mains Voltage 230 V C External Response to loss Input Phase Three Phase Current Limit x Amplifier Hardware Drive 3A Firmware V1 23 DRIVE Rev create d Aug 09 16 56 39 Serial Run Time Name 0 XXXX XX 0 Set Software Enable on Bootup This screen is used to set parameters of the power supply 120 35013563 10 2014 Lexium 15MP HP LP for MFBs Step Action 4 Click on the Units Mechanical on the browser The Units Mechanical screen in the main frame
8. Motor contro QMotor characteristics OSwitching mode CSpeed scale 0 Terminal Configuration dnputs Outputs Control command t cControl command Summing inputs Qlog CRamps configuration cCurrent limitation Preset speed choice CPreset speed values cDC injection CPI regulator or speed CBrake sequence CStop type CMotor 2 H lt Manage limit switche Fault Management t CFault behaviour CFault validation CStop on fault mode Communication Communication Inputs summary Active Inactive CANopen 7 Application functions FLO Forced local mode ADCO Drive CANopen address 4 BDCO CANopen trans speed ERCO Error registry CANopen Following a connection and transfer of the device s configurations PowerSuite displays a configuration screen in a new window that gives access to device control tuning and monitoring functions In the tree structure displayed choose Communication in the Communication directory Not assigned 500 kbit s Stop Device in fault Connected en In the ADCO line the CANopen address must be set to 4 In the BDCO line the CANopen bus speed must be set to 500 35013563 10 2014 139 ATV 31 for MFBs Step Action 4 Close the window to disconnect Note it is possible to adjust the servodrive s settings with the same procedure Result
9. i Ethernet TCP Sey yy Maximum continuous 4 Arms current rms CANopen Modbus RTU P D 4 10V Structure i i Serial gt i s Card Reference Version Vendor name number z E n waaa P840 10 i Device LXMO5AD10M2 015 10007438 y 1 ojgo3 Telemecanique Control Control part Board number BSH0551T Family BSH S 9 Telemecanique Telemecanique Motor Length 7 Configuration s Name LEXIUM_MFB Software release P840 10V 1 01E03 6 The Lexium 05 must be turned off and then turned back on in order to apply the new settings 35013563 10 2014 49 Application Configuration Configuring the Lexium 05 with the User Interface Overview A user interface is integrated in the Lexium 05 With this interface you can e put the device online e configure the device e carry out a diagnostic Interface Menu Structure The following graphic presents an overview of access to the interface s main menus Power On First Setup __ ent not done Save Kent First PEE te Pa r d4 nt esd a lt ISEE Settings SE ST dr E Drive Configuration SEJ 2 J tur Menus ali _ ob p ma Job oje End a E o Ne ole ECON EL E PS Qjo a a ma i n F FS hnformation dentification ole a EER Status formation 50 35013563 10 2014 Application Configuration Basic Settings The following tabl
10. Application Architecture with Lexium 15MP HP LP At a Glance The proposed structure represents a simple structure which is designed to assimilate the motion control implementation principles This realistic structure may well be expanded upon with other devices in order to manage several axes Illustration The figure below shows the structure used in the application Unity Pro 0 Galle Modicon M340 CANopen Line terminator r r 7 I E eae ee ee l LEXIUM 15 l l l l l a BSH or BDH Motoree 35013563 10 2014 109 Lexium 15MP HP LP for MFBs Software Requirements Overview As regards the software requirements presented in the quick start guide see page 24 PowerSuite is used for configuring and tuning the Lexium 05 PowerSuite for Lexium 05 enables tuning of the axis and guarantees a simple method for configuring the parameters of a Lexium 05 servodrive Unilink L MH for Lexium 15 does the same but for Lexium 15 servodrive Functional Diagram for the Lexium 15 The following diagram shows the different functions performed by the PLC and the servodrive Unity Pro PLC Application program MFB UnilinkL MH o Versions Servodrive Lexium 15e Motion Tasks Sets of parameters BSH or BDH Motoree A Speed Position The following table lists the hardware and software ver
11. IN3 Errold 0 MC_POWER_Z ERROR IN4 ARSE AxisFaultId 4194304 HOME_Z ERROR IN5 AxisDiag ABSOLUTE1_Z ERROR IN6 AxisDiagld 41760 ABSOLUTE2_Z ERROR IN7 Axis Warning UPLOAD_Z ERROR IN8 AxisWarningId 0 DOWNLOAD_Z ERROR IN9 AxisErrorld 9 READSTATUS_Z ERROR J IN10 MSGEtrorld 0 2 Refer to the CANopen documentation of the Lexium 05 and look for the code SigLatched 301C 08 80 35013563 10 2014 Maintenance Step Action 3 The AxisFaultID value is set to 4194304 This binary value means that bit 22 is set to one Refer to the CANopen documentation of the Lexium 05 and look for the code SigLatched 301C 08 Bit 22 for SigLatched designates a lag error 4 Reduce the speed constants in absolute block or external load or acceleration Execute the MC_Reset block 35013563 10 2014 81 Maintenance Replacing a Faulty Servodrive At a Glance If the servodrive fails it may be necessary to swap it for an identical servodrive reference To do this you are advised to save the adjustment parameters to a data table using the TE_UPLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks Block Library block The TE_DOWNLOADDRIVEPARAM see page 66 block then allows you to restore the saved data to a new servodrive Data Backup The table below describes the procedure used to back up the servodrive s data usin
12. terete i HALT inactive _p_actusr 1066883 usr ctive MIRAY Swich On j H S Fault 0x0000 n_ref 0 l min Inactive 5 Local access n at 0 l min DEVemdinterf CANOpen _Idq_act 0 03 _Apk Standard profile jen Connected 1 Following a connection and transfer of the device s configurations PowerSuite displays a configuration screen 2 Double click on the value in the ID_COAD line Current Value column and type the Lexium 05 CANopen address 48 35013563 10 2014 Application Configuration Step Action 3 Double click on the value in the ID_COBD line Current Value column and choose the CANopen bus baud rate 4 Save the CANopen settings to EEprom with the command Configuration Save to EEprom Note it is possible to adjust the servodrive s settings with the same procedure 5 Once the settings have been adjusted use the command Configuration Disconnect to disconnect Result the following screen is displayed showing the data saved locally PowerSuite File Action Display Tools Help 48 8 Pw Elva My devices N LEXIUM_MFB a Motor P Modbus keypad multidrop LEXIUM_MFB POOS My configurations 4 Connections Bc F Serial monodrop Serial multidrop F Bluetooth Characteristics LXMOSAD10M2 Nominal 0 75kW Power Supply Voltage 200 240 V1 Maximum transient 10 Apk current peak Ethernet bridge monodrop _j Ethernet bridge multidrop
13. Section 2 2 Configuration of the Application using Unity Pro Subject of this Section This sub section describes the hardware configuration using Unity Pro What Is in This Section This section contains the following topics Topic Page Creating the Project 27 Master Task Configuration 28 26 35013563 10 2014 Application Configuration Creating the Project At a Glance Developing an application using Unity Pro involves creating a project associated with a PLC Procedure for Creating a Project The table below shows the procedure for creating the project using Unity Pro Step Action 1 Launch the Unity Pro software 2 Click on File then New then select a PLC New project Show all versions PLC Min OS version Description E Modicon M340 BMX P34 1000 02 10 CPU 340 10 Modbus BMX P34 2000 02 10 CPU 340 20 Modbus BMX P34 2010 02 00 CPU 340 20 Modbus CANopen CPU 340 20 Modbus CANopen2 BMX P34 2020 02 10 CPU 340 20 Modbus Ethernet Premium Quantum Project Setting r Setting File m To see all PLC versions click on the box Show all versions Select the processor you wish to use from those proposed To create a project with specific values of project settings check the box Settings File and use the browser button to localize the XSO file Project Settings file It is also possible to create a new one If
14. Contents The screen below shows the Recipe section UPLOAD_Z TE_UPLOADDRIVEPARAM 1 Axis_Ref_Z AXIS ERROR Cmd_Upload_Z ENABLE DONE AxisParamDesc_0 PARAMETERLIST BUSY COMMANDABORTED PARAMETERSET Recipe_Z SIZE ERRORID ERRPARAMNUMBER DOWNLOAD_Z TE_DOWNLOADDRIVEPARAM 2 Axis_Ref_Z jAXIS ERROR Cmd_Download_Z ENABLE DONE BUSY Recipe_Z PARAMETERSET COMMAND AxisParamDesc_O PARAMETERLIST ERRORID ERRPARAMNUMBER If Cnd_Upload_Z is enabled the servodrive configuration is saved in the data table Recipe Z buffer variable for the recipes If Cnd_Download_Z is enabled the servodrive configuration is restored by the data table Recipe Z 66 35013563 10 2014 Application Programming Transferring the Project between the Terminal and the PLC At a Glance Transferring a project allows you to copy the current project from the terminal to the current PLC s memory PLC that has its address selected Project Analysis and Generation To perform analysis and generation of a project at the same time carry out the following actions Step Action 1 Activate the Rebuild All Project command in the Build menu Result the project is analyzed and generated by the software 2 Any errors detected are displayed in the information window at the bottom of your screen Project Backup To back up the
15. 11 1 Adapting the Application to the ATV 31 000005 130 Application Architecture with an ATV 31 0 20000 131 Software Requirements 00000 00 e eee eee ee 132 Hardware Requirements 000000 0 cece eee eee eee 133 11 2 CANopen Bus Configuration ATV 31 0 eee eee 134 Configuration of the CANopen Slave ATV 31 on CANopen bus 134 11 3 Configuring the ATV 31 0 0 02 c ee tees 137 Configuring the ATV 31 in PowerSuite 000 138 Configuring the ATV 31 with the User Interface 141 11 4 Tuning the ATV 31 0 0 cece eee eens 143 Tuning the ATV 31 with PowerSuite 00055 143 Chapter 12 ATV 32 Implementation for Motion Function Blocks 145 12 1 Adapting the Application to the ATV 32 000008 146 Application Architecture with an ATV 32 000 0200055 147 Software Requirements 0000 000 c eee eee eens 148 Hardware Requirements 00000 00 cee eee eee eee 149 12 2 CANopen Bus Configuration ATV 32 2200000005 150 Configuration of the CANopen Slave ATV 32 on CANopen Bus 150 12 3 Configuring the ATV 32 0 0 00 0c tee 153 Configuring the ATV 32 with SoMove 00 0055 154 Configuring the ATV 32 with the User Interface 157 Chapter 13 ATV 71 Implementation for Motion Function Blocks 159 13 1 Adapting the App
16. Block Library blocks are used to manage the production recipes An example of the procedure for creating and managing recipes is described in this section NOTE for flexible machines it is possible to manage several parameter recipes Creating and backing up the recipes The table describes the procedure for creating recipes Step Action 1 Create the recipes see page 39 using the Axis_Z directory Result new recipe variables Recipe 0 Recipe_1 etc are automatically created in the Data Editor see page 45 Create a variable corresponding to the type of recipe variables This variable is named in the Recipe _Z tutorial example Recipe _Z acts as a buffer when backing up or transferring data Note it is essential to check Allow dynamic arrays ANY_ARRAY_ XXX located in Tools Project options Tab Language extensions Zone Data type to be able to use table type variables such as the recipes Configure the servodrive s parameters using Powersuite see page 47 These initial settings are used to configure a recipe Perform a backup of the parameters using the TE_UPLOADDRIVEPARAM see Unity Pro Motion Function Blocks Block Library block in the buffer variable Recipe Z The backup was successful if the bits of the MC_READSTATUS see Unity Pro Motion Function Blocks Block Library block are as follows DOWNLOADING see Unity Pro Motion Function Blocks Block Library is set to 0 e STANDSTILL
17. Multi Axis Application 84 35013563 10 2014 Chapter 7 Foreword Application Architecture with All Servodrives Overview Following is a presentation of the usage of available hardware servodrives via an architecture for implementing Motion Function Blocks in Unity Pro Illustration The following figure shows the architecture used in the application that includes all servodrives i Modicon M340 CANopen ID 6 Junction box ID2 r amp LEXIUM 15 LEXIUM 05 gt Lexium 32 PowerSuite for ATV 71 Lexium CT for Lexium 32 PowerSuite for ATV 31 and for Lexium 05 35013563 10 2014 85 Foreword 86 35013563 10 2014 Chapter 8 Compatibility of Motion Applications with Unity Pro Versions Compatibility of XEF files Unity Target Unity Source version version V3 x V4 0 gt V4 0 M340 Proc lt V2 0 M340 Proc gt V2 0 V3 x Partially compatible in case of usage of Lexium15 NC M340 lt V2 0 gt V4 0 PC FC NC Not compatible The motion parts are ignored during the import PC Partially compatible the new axis type are ignored with an error message during the import the application is imported by the sections using the drives that are in error The new firmware version are downgraded to the highest available in the Unity version with a warning during import if the drives is
18. the following screen is displayed showing the data saved locally Powersuite File Action Display Tools a Ale t fF da Gi My devices ATV31_MFB ATV31_MFB J Serial point to point Serial multidrop Characteristics D j configurations DEVICE Tor Reference ATV31 H037M2 TEO Hardware type Product on heatsink ATV31_MFB T Connections Range Europe 8 Serial point to point Nominal power 0 37kW 0 5HP t 43 Serial multidrop Supply voltage 220 240 single phase Pi Continuous output current 3 3 A t J Eth bridge point to point i 3 se F Max transient current 5A J Eth bridge multidrop t 49 Ethernet Modbus TCP DEVICE Serial number XXX43E009309 Version V1 21E03 Vendor name TELEMECANIQUE Control board Serial number Unknown Version V1 21E03 HMI board Version V1 11E02 Configuration Configurations conf1 ATV31 ATV31_MFB ATV31H037M2 140 35013563 10 2014 ATV 31 for MFBs Configuring the ATV 31 with the User Interface Overview A user interface is integrated in the ATV 31 With this interface you can e put the device online e configure the device e carry out a diagnostic Interface Menu Structure The following graphic presents an overview of access to the interface s main menus Power up Displays the drive status hea Motor frequency the factory setting is only visible the first time the drice is powered up Olje End Se Se a a aaao o e Tpm SS m ior
19. ti deg amp FB instances e otion 58 H Axis Z 1 L Recipe_o E 9 Communication Program C3 Animation Tables GQ Operator Screens fj Documentation Variables name Recipe variable name Recipe_0 Parameter description variable name AxisParamDesc_0 Initial values saving Enabled Cancel Help Click on OK to confirm the configuration NOTE It is possible to create several recipes for the same axis there is one by default Loading of the required recipe depending on the request is performed by the TE_DOWNLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks Block Library block NOTE This MFB library block is used to e load parameters to a new servodrive if the previous one is faulty e load anew recipe to a servodrive during a production change for example NOTE You can delete the recipe if you can not use it NOTE The memory size of unlocated data for the management of a recipe by servodrive type is around 2 Kwords 35013563 10 2014 41 Application Configuration The Variables Axis_Ref Can_Handler AxisParamDesc and Recipe At a Glance For each axis creation four variables are created e ACan_Handler type variable automaticaly created by motion browser which can be renamed using the axis directory e An Axis Ref type variable which can be renamed using the axis directory e A byte table type variable ARRAY OF BYTE na
20. 0000 ae 91 Software Requirements 0 000 60 bee irati eee 92 Hardware Requirements 00 cece eee eee teenies 93 CANopen Bus Configuration Lexium 32 0 000000 eee 94 9 2 Configuring the Lexium 32 0 0 cee eee 97 Basic Parameters for Lexium 32 using Lexium CT 97 9 3 Tuning the Lexium 32 00 00 ees 101 Tuning the Lexium 32 00 00 ete 102 Debugging the Lexium 32 2 0 06 2 bce ee eee eee 103 Chapter 10 Lexium 15MP HP LP Implementation for Motion Function Blocks 202020202eeeeee 107 10 1 Adapting the Application to the Lexium 15MP HP LP 108 Application Architecture with Lexium 15MP HP LP 109 Software Requirements 02200 0c eee eee eee eee 110 Hardware Requirements 000 e cece ee eee eee eee 111 35013563 10 2014 10 2 CANopen Bus Configuration Lexium 15MP HP LP 112 Configuration of the CANopen Slave on CANopen bus 112 10 3 Configuring the Lexium 15MP HP LP 5 115 Basic Parameters for Lexium 15MP using Unilink MH 116 Basic Parameters for Lexium 15LP using UnilinkL 119 Specific Parameters for Lexium 15 MP HP LP using Unilink 123 10 4 Tuning the Lexium 15MP HP LP 00 200 2 eee 125 Debugging the axis 0 000 cee 125 Chapter 11 ATV 31 Implementation for Motion Function Blocks 129
21. 32 The following diagram shows the different functions performed by the PLC and the servodrive Unity Pro PLC Servodrive Lexium 32 Applicaton _ _a BSH program Motion Tasks MFB Sets of parameters Speed Position Versions The following table lists the hardware and software versions used in the Architecture see page 109 enabling the use of MFBs in Unity Pro Device Software version used in the Version of firmware example Modicon M340 Unity Pro V5 0 gt 2 0 Lexium 32 Lexium CT V1 0 V1 x for Lexium 32 Advanced V1 y for Lexium 32 Modular 92 35013563 10 2014 Lexium 32 for MFBs Hardware Requirements References of the Hardware Used The following table lists the hardware used in the architecture see page 91 enabling implemen tation of Lexium 32 MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 20302 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 Lexium 32 Advanced LXM32AU90M2 Lexium 32 connection cable TCSCCN4F 3M3T CAN to CANopen port of the PLC CANopen Line terminator TCSCAR013M120 Motor for Lexium 32 BSH055e 35013563 10 2014 93 Lexium 32 for MFBs CANopen Bus Configuration Lexium 32 Overview The implementation methodology for a CANopen bus using Modicon M340 is to Upgrade the hardware catalog Configure see page 31 the CANopen p
22. 60 Motion Control aasa aaua 00000 cee eee 61 35013563 10 2014 5 Motion Monitoring 000 0c eee 63 Status and Axis Error Code Section 220000200005 64 Backup and Transfer of the Servodrive Parameters 66 Transferring the Project between the Terminal and the PLC 67 Chapter 4 Application Debugging 000 eee eens 69 Tuning the Lexium 05 with PowerSuite 70 Using Data via the Animation Tables 2 000 71 Program Debugging 200 cee eee eee 73 Using Data via the Operator Screens 000s ee eee 75 Chapter 5 Operating the Application 77 Management of the Recipes 2200000 cece eeeeee 77 Chapter 6 Application Maintenance 79 Error Example s c2 4 3 steee sos bse ed Den eed eee Ae eee ee 80 Replacing a Faulty Servodrive 0 0 cece eee 82 Part Il Multi Axis Application 055 83 Chapter 7 Foreword 22202 0c eee eee eee eee 85 Application Architecture with All Servodrives 0 85 Chapter 8 Compatibility of Motion Applications with Unity Pro VERSIONS aa as ii a hee ae woes Dos ws A wees ede 87 87 Chapter 9 Lexium 32 Implementation for Motion Function BIOCKS siaa ea nie a E aa a Oe ate ea 89 9 1 Adapting the Application to the Lexium 32 0 90 Application Architecture with Lexium 32
23. Adapting the Application to the Lexium 32 Aim of this Section This section presents adaptation of an application to the Lexium 32 with an architecture hardware and software requirements In this section Lexium 32 means else a Lexium 32 Advanced reference LXM 32A else a Lexium 32 Modular reference LXM 32 M What Is in This Section This section contains the following topics Topic Page Application Architecture with Lexium 32 91 Software Requirements 92 Hardware Requirements 93 CANopen Bus Configuration Lexium 32 94 35013563 10 2014 Lexium 32 for MFBs Application Architecture with Lexium 32 At a Glance The proposed structure represents a simple structure which is designed to demonstrate motion control implementation principles This realistic structure may well be expanded upon with other devices in order to manage several axes Illustration The figure below shows the structure used in the application Unity Pro al n a a E Modicon M340 CANopen Line terminator a ra Wi get sy ee te Ds E E l l Lexium 32 ag l l 35013563 10 2014 91 Lexium 32 for MFBs Software Requirements Overview Following the software requirements presented in the Quick Start Guide see page 24 Lexium CT is used for configuring and tuning the Lexium 32 Functional Diagram for the Lexium
24. All provisions shall be taken to perform fault diagnostics and acknowledgement Standards The MFB library blocks comply with e PLCopen standard 16 35013563 10 2014 Foreword Availability of Blocks on the Various Servodrives Motion Function Blocks Not all blocks are available on all hardware platforms The blocks available on your Modicon M340 platform with CANopen fieldbus can be found in the following tables Type Block name ATV 31 ATV 32 ATV 71 Lexium Lexium 05 Lexium IclA ATV312 32 32i 15 HP IFA 7 MP LP IFE IFS PLCopen MC_ReadParameter x x x x x x x ri MC_WriteParameter x x x x x x x MC_ReadActualPosition x x x x MC_ReadActualVelocity 1 X X xX X X X X MC_Reset xX X X X X xX xX MC_Stop xX X X X xX X X MC_Power X X X X X X X MC_MoveAbsolute x x x x MC_MoveRelative x x x MC_MovedAdditive xX xX X MC_Home x x x x MC_MoveVelocity X X X xX X X X MC_ReadAxisError X X X x x x x MC_ReadStatus X X X X X X X MC_TorqueControl 1 X x x X 3 MC_ReadActualTorque 1 X x x x x x MC_Jog 2 X X X 3 X except 15 LP Parameter TE_UploadDriveParam x x x X 6 x x x set save and except 32i ark for TE DownloadDriveParam X x x X 6 x x x unctions for except 32i management of recipes or replacement of faulty servodrives 35013563 10 2014 17 Foreword
25. Encoder Motor selection Oo Input Axis Servodrive W Exit erian Disabled Disable F12 Enable Shit F12 E 35013563 10 2014 117 Lexium 15MP HP LP for MFBs Basic Parameters This table describes the procedure for inputting the basic parameters Step Action 1 Click on the Basic Setup button in the general screen The Basic Setup window appears Basic Setup 01 ix Sofware Version Servodrive Hardware N35 KS283 Drive 1A Hardware Version 49 01 ae Firmware Auxiliary Power Supply 6 63 DRIVE Rev created xxxxx Regen resistor Fieldbus address Serial number Address Baudrate Regen power 70269611 3 o 500 Kbaud W Run time Name Auto Ext WD Max Mains Voltage 4270 h DRVEO o M po 230 V Mains phase m Units missing Acceleration Speed Position ms gt VLIM Rpm um OK Carcel This screen is used to set parameters for the servodrive s CANopen address the bus speed and the units used for acceleration speed and position For the tutorial example from this screen set or select the following e In the servodrive zone the CANopen address to 2 the baud rate of the bus to 500 Kbaud see page 31 Inthe Unit see Unity Pro Motion Function Blocks Block Library zone e the acceleration in ms gt V
26. MC_HOME see Unity Pro Motion Function Blocks Block Library which allows a homing reference point to be set for the axis before then launching it in absolute motion e MC_MOVEABSOLUTE see Unity Pro Motion Function Blocks Block Library which allows the axis to make an absolute movement 35013563 10 2014 61 Application Programming Contents The screen below shows the part of the section HOME_Z MC_HOME 1 Axis_Ref_Z J AXIS ERROR Cmd_home_Z EXECUTE DONE 0 POSITION BUSY S 2000 SPEED COMMANDABORTED aa TPE ERRORID ABSOLUTE1_Z MC_MOVEABSOLUTE 2 Axis_Ref_Z AXIS ERROR Cmd_Mvt_Z EXECUTE DONE 50000 POSITION ey 2000 VELOCITY ee 0 ACCELERATION 0 _ DECELERATION ABSOLUTE2_Z MC_MOVEABSOLUTE 3 Axis_Ref_Z AXIS ERROR EXECUTE DONE BUSY 50000 POSITION 0 ACCELERATION ENRORIDS a 0 _ DECELERATION For the tutorial example the section is made up of a type of sequence of reversing movements The outward motion is conditioned by the Cmd_Mvt_Z bit from the operator screen see page 75 The return motion is conditioned by the end of the outward motion The position unit is USR and the velocity unit is rpm The Homing type HTYP direction of rotation E value 34 corresponds to an homing within a single turn positive 62 35013563 10 2014 Application Programmi
27. Motion Function Blocks Block Library is set to 1 78 35013563 10 2014 Chapter 6 Application Maintenance Subject of this Chapter This chapter describes the procedure involved in replacing a servodrive after a fault has been diagnosed What Is in This Chapter This chapter contains the following topics Topic Page Error Example 80 Replacing a Faulty Servodrive 82 35013563 10 2014 79 Maintenance Error Example At a Glance The MC_ReadAxis Error function is used to recover system errors If an error or warning occurs the block specifies a code by applying a value to the AXISFAULTID AXISDIAGID and AXISWARNINGID output parameters Error Codes The following table shows the Lexium 05 error codes Lexium 05 AxisFaultId SigLatched 301C 08 AxisDiagId WarnLatched 301C 0C AxisWarningId StopFault 603F 0 NOTE refer to the CANopen documentation for Lexium 05 to identify the error Finding Errors The table below describes a procedure for finding faults following an error or warning code Step Action 1 The AxisFault output parameter equals 1 The AxisFaultld output parameter displays an error value The graph below shows the error generated 4 MC_ReadAxisError OR 3 x Axis_Ref Axis Error AXIS_OK_Z c IN1 OUT Enable Valid MC_STOP_Z ERROR IN2 Busy MC_RESET_Z ERROR
28. PowerSuite Overview With PowerSuite users can define installed device bases and describe their associated configurations and communication settings PowerSuite then gives access to a group of actions for editing or transferring the configurations and for connecting to the devices PowerSuite s navigation principle associates a configuration interface with each device type making it possible to control tune and monitor them Connecting to the ATV 31 This table describes the procedure for connecting to the ATV 31 Step Action 1 Connect your PC on which PowerSuite for ATV 31 is installed to the RJ45 connector on the servodrive to be configured 2 Start PowerSuite for ATV 31 Result the following start up screen is displayed Eile Action Display Tools a a aa amp amp 3 Choose Action and then Connect Result a text box is displayed 4 Type a project name ATV31_MFB and then click on OK Result a transfer confirmation window is displayed 5 Press Alt F to start transferring data from the servodrive to the connected work station 138 35013563 10 2014 ATV 31 for MFBs Basic ATV 31 Configuration This table describes the procedure for entering basic settings Step Action 1 Use the command Display Configuration Result the following window is displayed Powersuite ATV31_MFB Edit in connected mode OEile Configuration Display Tools Oma t gt
29. The terminating resistor is integrated in the junction box and must be ON 35013563 10 2014 149 ATV 32 for MFBs Section 12 2 CANopen Bus Configuration ATV 32 Configuration of the CANopen Slave ATV 32 on CANopen Bus Overview The implementation methodology for a CANopen bus using Modicon M340 is to e configure see page 31 the CANopen port of the CPU declare the slave chosen from the hardware catalog see paragraph bellow configure the slave enable the configuration using Unity Pro check see page 35 the CANopen bus in the Project browser How to Configure the CANopen Slave This table describes the procedure to configure the CANopen slave Step Action 1 In the Unity Pro Project Browser fully expand the Configuration directory and then double click on CANopen Result The CANopen window appears E CANopen Bus Connections configured 0 150 35013563 10 2014 ATV 32 for MFBs Step Action 2 Select Edit New device New Device Topological Address 1 63 Result The New Device window appears Node ID Part Number Description CANopen drop Distributed I Os EE Motion amp Drive ATV31_V1_1 Altivar 31 CANopen Slave DSP402 TEATV3111E eds ATV31_V1_2 AVA V17 Altivar 31 CANopen Slave DSP402 TEATV3112E eds Altivar 31 CANopen Slave DSP402 TEATV3117E eds
30. agree to follow these instructions press Alt F Result The following screen is displayed File View Communication Device Tools Help dav n jO 2 a data are synchronized STD My Device Parameters Errors Detection Monitoring Safety ATV Logic ATV32 lt ee Jn A Search Japs Ont Option Board A i Code Long Label ContO Default Value Min Value Max Vi CANopen Daisy chain com LAC Level of access control Standard Standard Grid Menus 1 Open the Communication tab CANopen tab Result The following screen is displayed ADCO Drive CANopen address 5 f OFF OFF 127 BDCO CANopen baudrate 1 Mbps 7 250 kbps La ERCO Error code CANopen 0 0 0 5 35013563 10 2014 155 ATV 32 for MFBs Step Action 6 In the ADCO line set the CANopen address to 4 7 In the BCDO line set the CANopen baud rate to 500 kbps 8 Disconnect your workstation from the servodrive 9 Save the project using ATV32_MFB as the project name 156 35013563 10 2014 ATV 32 for MFBs Configuring the ATV 32 with the User Interface Overview A user interface is integrated in the ATV 32 With this interface you can put the device online e configure the device e adjust the settings e carry out a diagnostic Interface Menu Structure The following graphic shows how to the access to the Configuration menus using th
31. appears m User Units Position um Velocity rpm Velocity Loop Counts s Position Loop Acceleration ms gt VLIM m Mechanical Conversion 10000 Counts Resolution 1 Motor Revs For the tutorial example from this screen set or select the following e Inthe User Units zone e the acceleration in ms gt VLIM e the speed in rpm e the position in um 35013563 10 2014 121 Lexium 15MP HP LP for MFBs Step Action 5 Click on the CAN Field Bus Settings on the browser The CAN Field Bus Settings screen in the main frame appears m General Field Bus Settings Address External Watchlog Fieldbus 3 100 ms m CAN Bus Settings Baud Rate 500 kBaud For the tutorial example from this screen set or select the following e Inthe General Field Bus and CAN Bus Settings zones the CANopen address to 3 e the baud rate of the bus to 500 Kbauds 6 Click on the Motor Resolver folders on the browser to declare the motor and the feedback parameters Note for information on how to declare the motor correctly please refer to the motor documentation 7 Save the parameters via Drive Save to EEPROM Result the basic setup is saved and the main screen is displayed again 122 35013563 10 2014 Lexium 15MP HP LP for MFBs Specific Parameters for Lexium 15 MP HP LP using Unilink At a Glance Specific parameters are entered
32. gives you access to the following services which can be reached via the contextual menu Directory Service Motion New axis allows you to create a new axis Axis New recipe allows you to create a new recipe Delete allows you to delete an axis Properties allows you to access the axis properties Recipe Delete allows you to delete a recipe Properties allows you to access the recipe properties 38 35013563 10 2014 Application Configuration Axis Creation and Configuration General The Motion directory is used to declare an axis This creation allows you to simplify the management and programming of an axis using Unity Pro NOTE For any modification to a device on the CANopen bus those servodrives unaffected by the modification do not need to be reconfigured Creating an Axis Carry out the following actions Step Action 1 Right click on the Motion directory and then execute the New axis command in the contextual menu Clicking on the New axis command will open a dialog box with three tabs In the General tab enter aname select aservodrive from the list a compatible CANopen address Note If the CANopen addresses have not as yet been defined leave lt No link gt in the list It is possible to continue development of the application if lt No link gt is assigned to a compatible CANopen address When the CANopen addresses have been de
33. if Command Active and Enable Active Start J NOTE For further information please refer to the Lexium CT software user manual 35013563 10 2014 105 Lexium 32 for MFBs 106 35013563 10 2014 Chapter 10 Lexium 15MP HP LP Implementation for Motion Function Blocks Aim of this Chapter This chapter presents the implementation of Lexium 15MP HP LP servodrives according to the methodology see page 19 described in the quick start guide see page 13 with a Lexium 05 It only details the differences and actions for Lexium 15MP HP LP What Is in This Chapter This chapter contains the following sections Section Topic Page 10 1 Adapting the Application to the Lexium 15MP HP LP 108 10 2 CANopen Bus Configuration Lexium 15MP HP LP 112 10 3 Configuring the Lexium 15MP HP LP 115 10 4 Tuning the Lexium 15MP HP LP 125 35013563 10 2014 107 Lexium 15MP HP LP for MFBs Section 10 1 Adapting the Application to the Lexium 15MP HP LP Aim of this Section This section presents adaptation of the application to the Lexium 15MP HP LP with an architecture and hardware and software requirements What Is in This Section This section contains the following topics Topic Page Application Architecture with Lexium 15MP HP LP 109 Software Requirements 110 Hardware Requirements fo 108 35013563 10 2014 Lexium 15MP HP LP for MFBs
34. if the axes declared in the application have the same references and firmware version 42 35013563 10 2014 Application Configuration Recipe This variable is a byte table type variable ARRAY OF BYTE It is automatically created during Axis Creation see page 39 It is named after the recipe variable which can be seen in the Recipe_x properties of the axis This variable must be specified in the TE_UPLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks Block Library or TE_DOWNLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks Block Library block s PARAMETERSET input parameter taken from the MFB library and useful for recipe creation or for replacing the axis if it is faulty The variable name may be modified using the Recipe_x properties of the axis The recipe can be included in the application The application can be updated with a storage in the inital values either with update Init Values with Current values command or using the S94 bit Consequently the STU or XEF file will include the values got from the drive after a TE_Upload calling Finally tick the Initial Values saving Enabled checkbox to make this functionality available NOTE By default Initial Value saving Enabled checkbox is not ticked NOTE Initial Values saving Enabled functionality is available for M340 V2 0 or later firmware versions 35013563 10 2014 43 Application Configuration Motion D
35. in addition to the basic see MFB using Unity Pro Start up Guide parameters These specific parameters supplement the configuration of Lexium 15 MP HPI LP by modifying certain ASCII codes using the Terminal window Specific Parameters This table describes the procedure for inputting the specific parameters of Lexium 15 MP HP LP Step Action 1 Click on the C Terminal icon on the general page The Terminal window is displayed Terminal 3 DRIVEO Command DRveNFG 1050670 OK Cancel Apply This screen is used to fully configure the connection point of a Lexium 15MP HP LP For Lexium 15 MP HP i enter in the Command field e DRVCNFG 1050670 For Lexium 15 LP enter in the Command field e INPT2 x1 5 task time or IN20Mode42 either MAST or FAST Click on Apply to confirm the configuration of this ASCII parameter 35013563 10 2014 123 Lexium 15MP HP LP for MFBs Step Action 4 For Lexium 15 MP HP repeat the steps by entering in the Command field e DRVCNFG2 64 e INPT x1 5 task time MAST or FAST e ENGAGE 1 Click on OK to confirm the last Command and return to the general page ge Click on the fr Save icon on the general page to save the basic and specific parameters to the servodrive s EEPROM memory 7 Close the general window and click on DIS to disconnect from the servodrive Command Enter the ASCII com
36. present in the catalog for Mirano CPU If not the import is aborted FC Fully compatible NOTE 1 The news EFB causes errors in the sections using them NOTE 2 Processor M340 gt V2 0 initial value saving enabled support Compatibility of STA files Unity Unity Souce Version Target Version V3 x V4 0 application without motion V3 x V4 0 with gt V4 0 with M340 lt V2 0 M340 gt V2 0 V3 x FC PC NC gt V4 0 FC FC FC NC Not compatible PC Partially compatible compatible only for applications with drive supported by the Unity which is opening the application in case of drives type or firmwire versions evolutions The application can be opened but can not be modified deeply FC Full compatible 35013563 10 2014 87 88 35013563 10 2014 Chapter 9 Lexium 32 Implementation for Motion Function Blocks Aim of this Chapter This chapter presents the implementation of Lexium 32 servodrives according to the methodology see page 19 described in the quick start guide see page 13 with a Lexium 05 It only details the differences and actions for Lexium 32 What Is in This Chapter This chapter contains the following sections Section Topic Page 9 1 Adapting the Application to the Lexium 32 90 9 2 Configuring the Lexium 32 97 9 3 Tuning the Lexium 32 101 35013563 10 2014 89 Lexium 32 for MFBs Section 9 1
37. resistor 1 32767 RESext_R 100 00 Resistance value of external braking resistor 1 327 67 RESext_ton 1 Max permissible switch on time of external braking 1 30000 BRK_trelease 0 Time delay during opening releasing the holding bral 0 1000 BRK_tclose 0 Time delay during closing of holding brake 0 1000 ESIMscale 4096 Encoder simulation setting of resolution 8 65535 HMIDispPara DeviceStatus HMI display when motor rotates 0 2 HMllocked not locked Lock HMI 0 1 lOsigLimP normally closed Signal evaluation LIMP 0 2 lOsigLimN normally closed Signal evaluation LIMN 0 2 lOdigRef normally closed Signal evaluation REF 12 SPV_SW_Limit none Monitoring of software limit switches 0 3 SPVswLimNus 2147483648 Negative position limit for software limit switch a Be i Not connected SPVswLimPusr OP Stop 2147483647 Positive position limit for software limit switch Use double click to clear thid display Reset Press to clear list Use double click to clear thid display Halt inactive _p_usr 0 Lexium CT M2 DEVcmdinterf none 35013563 10 2014 99 Lexium 32 for MFBs Basic Parameters This table describes the procedure for inputting the basic parameters
38. see Unity Pro Motion Function Blocks Block Library is set to 1 Transfer the data backed up in the Recipe _Z buffer variable to the Recipe _0 variable 35013563 10 2014 77 Operating the Application Step Action 6 Repeat steps 3 and 4 to transfer the data backed up in the Recipe _Z buffer variable to the Recipe _1 variable The following programming presents a data transfer example based on the value of PRODUCTION IF UPLOAD _Z DONE AND PRODUCTION 0 THEN Recipe 0 Recipe 2 END_IF IF UPLOAD Z DONE AND PRODUCTION 1 THEN Recipe _1 Recipe_ 2 END_IF Transfer Data from the Recipes The table describes the procedure to transfer recipe data to the servodrive for a production change for example Step Action 1 Reload the Recipe _Z buffer variable based on the value of PRODUCTION type of production requested IF Cmd_Download_Z AND PRODUCTION 0 THEN Recipe Z Recipe_0 END_IF IF Cmd_Download_Z AND PRODUCTION 1 THEN Recipe Z Recipe_ 1 END_IF 2 Transfer the parameter data using the Recipe _Zbuffer variable s TE_DOWNLOADDRIVEPARAM see Unity Pro Motion Function Blocks Block Library block to the servodrive 3 The transfer was successful if the bits of the MC_READSTATUS see Unity Pro Motion Function Blocks Block Library block are as follows e DOWNLOADING see Unity Pro Motion Function Blocks Block Library is set to 0 e STANDSTILL see Unity Pro
39. the connected work station is begun 35013563 10 2014 187 IclA for MFBs Basic IclA Configuration An example is given to illustrate modification of the acceleration value This table describes the procedure for entering this setting Step Action 1 Following a connection and transfer of the device s configurations Icl A Easy displays a screen that gives access to device control tuning and monitoring functions 2 Choose the Motion parameter in the Parameter Groups Result the Parameter window is displayed Icla Easy Parameter File Edit Connection Parameter Functions Diagnose Windows Zea eHe aa li lawl tar ar Parameter groups Cong Name Value f Unk Desorption Raes Sate fimeeDi no drcion iverson Deion of areston of ean Control Deceleration of Quick Stop 1 250000 a peoo O fom _ Deal sepo speed Moton TA 0 Homing Manual ProglOO ProglO1 Progl02 Progl03 Enable Fault on DISABLED STOP F off 6 Op Enable Connected CAN Adresse 6 Baudrate 500KBil s In the acc line the acceleration can be set to 1000 4 Save the CANopen settings to EEprom with the command Parameter Send parameter group to drive Note it is possible to adjust the servodrive s settings with the same procedure 5 Once the settings have been adjusted use the command File Close to disconnect 188 35013563 10 2014 IclA for MFBs Tuning the IclA with IclA Eas
40. view the axis recognized by the CANopen bus Position_Z to determine the value of the axis position Velocity_Z to determine the value of the axis speed Result the animation table looks like this v Value Type v Comment Home_Z BOOL M Z BOOL _Run_Z BOOL _Stop_Z BOOL Reset_Z BOOL Upload_Z BOOL Download_Z BOOL _OK_Z BOOL ion_Z DINT f Velocity Z DINT eed oe 72 35013563 10 2014 Application Debugging Program Debugging At a Glance After transferring the program and running the axis using Powersuite for Lexium 05 the process is commissioned An animation table is a commissioning solution used to monitor modify and or force the values of variables The sets of parameters of the axis may be accessed and modified in Unity Pro using the MFB messaging blocks MC_READPARAMETER see Unity Pro Motion Function Blocks Block Library and MC_WRITEPARAMETER see Unity Pro Motion Function Blocks Block Library Modification Mode The following screen shows the animation table in modification mode Lf a i Table iL Modify Fore y amp fs HE s H Name v Value Type y Comment Cmd Home z BOOL 4 Cmd MZ BOOL Cmd_Run_Z BOOL f Cmd Stop Z BOOL Cmd_Reset_Z BOOL 4 Cmd Upload Z BOOL 4 Cmd_Download_Z BOOL pee Ais OKZ BOOL A Position Z DINT 1 2 Vel
41. window appears Connections configured In the Unity Pro Project Browser fully expand the Configuration directory and then double click on 0 32 35013563 10 2014 Application Configuration Step Action 2 Select Edit New device Result The New Device window appears New Device Topological Adress 1 63 2 Node ID 2 OK Part Number Description Ses Help ivar 31 CANopen Slave DSP402 TEATV31T13E eds ei IAIFE CANopen CAIFE eds LXMOBAPLCopen LEIME MFB EDS JES SLP erode EDMI DZE Oee Drop end communicator 3 Set 2 in Topological Address Choose Lexium05_MFB for the slave device 35013563 10 2014 33 Application Configuration Step Action 4 Click on OK to confirm the choice Result The CANopen window appears with the new device selected Hi CANopen Bus Connections configured 1 5 Select Edit Open module If MFB has not already been selected choose it in the Function area 6 Select the tab Error Control Verify that Node Heartbeat Producer time value is equal to 300ms 7 You will be asked to validate your modifications when closing the Device and CANopen windows 34 35013563
42. 00 120 Halt inactive _p_actusr 56310814 Command Enable POWER STOP Use double click to clear thid display p ENABLED kroi l ga oft 16 Op Enable off eee Stop Press to clear list___ Connected COM1 248 19200 3606480076831 P091200V003401 3400 Use double click to clear thid display Exclusive Lexium CT M2 DEVcmdinterf Modbus 35013563 10 2014 103 Lexium 32 for MFBs Description Buttons The buttons below can be accessed by clicking Start recording Stop recording Zoom in y axis Zoom out y axis Infinitely variable zoom x axis and y axis Zoom selected rectangle 1nd display of values for a specific time Change displayed values for first display 2nd display of values for a specific time 10 Change displayed values for second display 11 Restore original display 12 Invert y axis 13 Display table of recorded values 14 Enter description 15 Show hide configuration 16 Print recording OCOONODOOaARWND Recording The desired parameters are selected in the Available signals input field A maximum of 4 parameters can be selected If a parameter is no longer required it can be deselected by a double click on the name of the parameter The desired recording increment is select in the Timebase input field The smaller the Time base the smaller the maximum recording time will be Recording Trigger Tuning Available signals Timeba
43. 10 2014 Application Configuration Checking the CANopen Bus Configuration At a Glance The CANopen bus is represented in the Configuration directory of the project browser After having selected and enabled the CANopen configuration the CANopen slaves appear in the Project Browser The topological address of the CANopen bus is calculated automatically by Unity Pro This value cannot be modified The diagram below shows the CANopen bus with slave device from the tutorial example Project Browser ta Structural View er an Station vegeeed Configuration Eh SO PLC bus i Ek Mo Bvx xBP 0800 beneennnne PVP P BMx cPs 2000 El 4 By 2 BMX P34 2030 7v CANopen Ethernet E N N SSCS oe ee A Ww N ae Topological address of the CANopen bus cannot be modified CEIC E S w 0 U1 l TRS CANopen v 2 CANopen drop priania Mv 0 0 Lexium05_MFB Derived Data Types Slave address wees Derived FB Types Dewe neme is aaaea Variables amp FB Instances Bl J Motion 35013563 10 2014 35 Application Configuration Section 2 4 Axis Configuration using the Motion Tree Manager Subject of this Section This sub section describes the Motion directory added to Unity Pro s project browser It also presents a procedure for creating the axis in this directory What Is in This Section This section conta
44. 340 PLC BMX P34 2030 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 CANopen junction box VW3CANTAP2 between the Modicon M340 and ATV 31 servodrive PC connection kit VW3A8106 ATV 31 servodrive ATV31H037M2 NOTE The terminating resistor is integrated in the junction box and must be ON 35013563 10 2014 133 ATV 31 for MFBs Section 11 2 CANopen Bus Configuration ATV 31 Configuration of the CANopen Slave ATV 31 on CANopen bus Overview The implementation methodology for a CANopen bus using Modicon M340 is to configure see page 31 the CANopen port of the CPU declarate the slave chosen from the hardware catalog see paragraph bellow configure the slave enable the configuration using Unity Pro check see page 35 the CANopen bus in the Project browser How to Configure the CANopen Slave This table describes the procedure to configure the CANopen slave Step Action 1 In the Unity Pro Project Browser fully expand the Configuration directory and then double click on CANopen Result The CANopen window appears E CANopen m m Bus Connections configured 0 134 35013563 10 2014 ATV 31 for MFBs Step Action 2 Select Edit New device Result The New Device window appears New Device Topological Adress 1 63 3 Node
45. 35013563 07 MFB for Modicon M340 Using Unity Pro Start up Guide 10 2014 www schneider electric com Schneider Electric The information provided in this documentation contains general descriptions and or technical characteristics of the performance of the products contained herein This documentation is not intended as a substitute for and is not to be used for determining suitability or reliability of these products for specific user applications It is the duty of any such user or integrator to perform the appropriate and complete risk analysis evaluation and testing of the products with respect to the relevant specific application or use thereof Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for misuse of the information contained herein If you have any suggestions for improvements or amendments or have found errors in this publication please notify us No part of this document may be reproduced in any form or by any means electronic or mechanical including photocopying without express written permission of Schneider Electric All pertinent state regional and local safety regulations must be observed when installing and using this product For reasons of safety and to help ensure compliance with documented system data only the manufacturer should perform repairs to components When devices are used for applications with technical safety requirements the relevant inst
46. 35013563 10 2014 ATV 71 for MFBs Application Architecture with an ATV 71 Overview The proposed architecture is simple and designed to assimilate the implementation principles of motion control Other equipment can be added to this realistic architecture in order to manage several axes Illustration The following figure shows the architecture used in the application that includes an ATV 71 Unity Pro PowerSuite for ATV71 Junction box 35013563 10 2014 161 ATV 71 for MFBs Software Requirements Overview As regards the software requirements presented in the quick start guide see page 13 PowerSuite is used for configuring and tuning the ATV 71 PowerSuite for Lexium 05 enables tuning of the axis and guarantees a simple method for configuring the parameters of a Lexium 05 servodrive PowerSuite for ATV 71 does the same for an ATV 71 servodrive It is possible to configure certain permaters without PowerSuite cases by using the ATV 71 front panel user interface see page 177 Versions The following table lists the hardware and software versions used in the architecture see page 161 enabling the use of MFBs in Unity Pro Hardware Earliest version of software Version of firmware Modicon M340 Unity Pro V4 0 ATV 71 PowerSuite for ATV 71 V2 00 Compatible since V1 1 V 1 7 managed by MTM 162 35013563 10 2014 ATV 71 for MFBs Ha
47. DCO line the CANopen address must be set to 5 3 In the BDCO line the CANopen bus speed must be set to 500 Note it is possible to adjust the servodrive s settings with the same procedure 4 Once the settings have been adjusted use the command Configuration Disconnect to disconnect Result the following screen is displayed showing the data saved locally File Action Display Tools Help BS4 08 f FH Elv My devices O O O O OO E ATV71 y t t ATV71 ATV71 t p Modbus network monodrop 4 P Modbus keypad monodrop EA Konnect ons Characteristics 7 P Serial monodrop 7 Serial multidrop P Bluetooth Reference ATV71H075N4Z 4 i Ethernet bridge monodrop Nominal iq Ethernet bridge multidrop ane 0 75kW er ope Power _ jg Ethernet TCP Supply Voltage 380 480 V1 Maximum transient current Continuous output current Structure x Serial eee H Card Reference Version Vendor name number Device ATV71H075N4 9217821317921431 V1 IIEO1 Telemecanique Control Control part M apes 71101 Talemecan inne Board ithber 02461310245256 V1 1IEO1 Telemecanique Power part 2211280153 V1IIEO1 Telemecanique Motor number Configuration s Name ATV71 Software release V 1 1 EO1 Standard jen 170 35013563 10 2014 ATV 71 for MFBs Configuring the ATV 71 with the User Interface Overview A user interface is integrated in the ATV 71 With this interface you can e put the device online e configure the device e car
48. Hardware and Software Environments 22 2 2 Configuration of the Application using Unity Pro 26 2 3 CANopen Bus Configuration 29 2 4 Axis Configuration using the Motion Tree Manager 36 2 5 Configuring the Lexium 05 46 35013563 10 2014 21 Application Configuration Section 2 1 Hardware and Software Environments Subject of this Section This sub section describes the hardware and software environments used in the application What Is in This Section This section contains the following topics Topic Page Application Architecture with a Lexium 05 23 Software Requirements 24 Hardware Requirements 25 22 35013563 10 2014 Application Configuration Application Architecture with a Lexium 05 Overview The proposed architecture is simple and designed to assimilate the implementation principles of motion control Other equipment can be added to this realistic architecture in order to manage several axes Illustration The following figure shows the architecture used in the application that includes a Lexium 05 Junction box LEXIUM 05 35013563 10 2014 23 Application Configuration Software Requirements Overview To implement the example it is essential to have certain items of software on single PC In particular this will allow you to configure set parameters for and operate the various devices used The software architecture is com
49. ID 3 OK Part Number Description Ses Help ivar 31 CANopen Slave DSP402 TEATV31T13E eds ei IAIFE CANopen CAIFE eds LXMOBAPLCopen LEIME MFB EDS JES SLP erode EDMI DZE O eee Drop end communicator 3 Set 4 in Topological Address For the slave device choose ATV31_V1_2 35013563 10 2014 135 ATV 31 for MFBs Step Action 4 Click on OK to confirm the choice Result The CANopen window appears with the new device selected Hi CANopen Bus Al Connections configured 1 10 4 0 5 Select Edit Open module If MFB has not already been selected choose it in the Function area 6 You will be asked to validate your modifications when closing the Device and CANopen windows 136 35013563 10 2014 ATV 31 for MFBs Section 11 3 Configuring the ATV 31 Aim of this Section This section describes the basic servodrive configurations using PowerSuite for ATV 31 and the servodrive s front panel user interface What Is in This Section This section contains the following topics Topic Page Configuring the ATV 31 in PowerSuite 138 Configuring the ATV 31 with the User Interface 141 35013563 10 2014 137 ATV 31 for MFBs Configuring the ATV 31 in
50. LIM e the speed in rpm e the position in um Click on the Motor Selection Current Resolver buttons to declare the motor and the feedback parameters Note for information on how to declare the motor correctly please refer to the motor documentation Click OK to confirm the basic configuration Result the basic setup is saved and the main screen is displayed again Note when certain ASCII parameters have been enabled a window appears asking you to save changes to the servodrive s EEPROM memory Click on OK to restart the servodrive and update the memory Click on Exit 118 35013563 10 2014 Lexium 15MP HP LP for MFBs Basic Parameters for Lexium 15LP using Unilink L At a Glance Connecting to Lexium 15LP Unilink is a commissioning tool for axes intended for motion control applications Its graphic user interface provides a simple method for configuring the parameters of a Lexium 15LP type servodrive This table describes the procedure for connecting to Lexium 15LP Step Action 1 Start Unilink L via Start Program gt Unilink Unilink L Result a window ask you if you would like to connect to the drive 2 Click on the Yes button Result a window to select the device appears 3 Select RS 232 and click on the OK button Result a window of RS 232 settings appears 4 Set the serial port COM1 to COM10 the Baud Rate 38400 the Timeout 2000ms Click on th
51. LP using Unilink L 119 Specific Parameters for Lexium 15 MP HP LP using Unilink 123 35013563 10 2014 115 Lexium 15MP HP LP for MFBs Basic Parameters for Lexium 15MP using Unilink MH At a Glance Unilink is a commissioning tool for axes intended for motion control applications Its graphic user interface provides a simple method for configuring the parameters of a Lexium 15MP type servodrive Connecting to Lexium 15MP This table describes the procedure for connecting to Lexium 15MP Step Action 1 Start Unilink MH via Start Program Unilink gt Unilink MH A communication window is displayed on main window of Unilink MH com COM6 COM2 COM coM4 CcOM9 Disconnect ee JE Interfaces If the port that you are using is available i e is not being used by other devices or programs the name COM1 COM2 COM3 COM4 COM5 COM6 COM7 COM 8 COM9 COM10 appears in black Otherwise it appears in grey 116 35013563 10 2014 Lexium 15MP HP LP for MFBs Step Action 2 Click on one of these communication ports the port that you use on your PC to transfer the values of the servodrive parameters to your PC When communication has been established this general screen appears Servodrive 2 Basic Setup OPMODE Slot Torque 0 Digital speed lt gt Analog iO Current lt gt Digtalvo Feedback Resolver Eua ROD SSI
52. alified personnel No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material A qualified person is one who has skills and knowledge related to the construction and operation of electrical equipment and its installation and has received safety training to recognize and avoid the hazards involved 10 35013563 10 2014 About the Book Z At a Glance Document Scope This manual presents using a documented example how to use motion function blocks MFB with Modicon M340 using Unity Pro These blocks enable simplified management of servodrives and servo amplifiers using the CANopen bus Expert knowledge of Unity Pro software is required in order to use MFBs with it since their implementation requires use of its standard functions data editor IODDT etc Moreover it is advisable to have expert knowledge of the specialist area of motion control before developing and commissioning an application involving implementation of axis movements Validity Note This document is valid for Unity Pro V8 1 or later 35013563 10 2014 11 12 35013563 10 2014 Part Start up Guide for a Single Axis Application Subject of this Part This Part presents in the form of a tutorial an example of a motion control application implementing MFBs using Unity Pro What Is in This Part This part contains the following chapters Chapter Chapte
53. ance field Function Input Assistant FFB type CAN_HANDLER SA lel Instance Can_Handler_Z MZ ts Prototype Name Type No _ Comment Entry field 43 lt Inputs gt NET BOOL 1 Specify if the netw 1 4 AXIS AXIS_REF 2 Axis reference Trigge 4 lt Outputs gt 1 AXIS BOOL 1 Indicate if the com ERR BOOL 2 Error code lt lt Inputs Add Pin Remove Pin s Help on Type Special Assistant OK Cancel Help 8 Confirm the block configuration by clicking on OK Result the FBD section is displayed again A symbol is added to the mouse cursor 9 Click on an empty field in the FBD section Result the CAN_HANDLER block instantiated by the Can_Handler_Z variable is inserted in the FBD section 10 Specify the input and output parameters as defined in the contents 58 35013563 10 2014 Application Programming Contents The screen below shows the section result CAN_HANDLER_Z CAN_HANDLER 1 CAN SLAVE_ACTIV_2 NETWORKOPERATIONAL AXISREADY Axis_OK_Z Axis_Rof_Z JAXIS ERRORID CAN SLAVE_ACTIV_2 corresponds to the active slave bit created by the IODDT T_COM_CO_BMX The input parameter NETWORKOPERATIONAL must be assigned to a bit that validates the correct operation of the CANopen network The assignment of this parameter left to the discretion of the developer It depends on the philosophy of the process and the way the bus is managed For examp
54. apter 12 ATV 32 Implementation for Motion Function Blocks Aim of this Chapter This chapter presents the implementation of an ATV 32 servodrive according to the methodology see page 19 described in the quick start guide see page 13 with a Lexium 05 It only details the differences and actions for an ATV 32 What Is in This Chapter This chapter contains the following sections Section Topic Page 12 1 Adapting the Application to the ATV 32 146 12 2 CANopen Bus Configuration ATV 32 150 12 3 Configuring the ATV 32 153 35013563 10 2014 145 ATV 32 for MFBs Section 12 1 Adapting the Application to the ATV 32 Aim of this Section This section presents adaptation of the application to the ATV 32 with an architecture and hardware and software requirements What Is in This Section This section contains the following topics Topic Page Application Architecture with an ATV 32 147 Software Requirements 148 Hardware Requirements 149 146 35013563 10 2014 ATV 32 for MFBs Application Architecture with an ATV 32 Overview The proposed architecture is simple and designed to assimilate the implementation principles of motion control Other equipment can be added to this architecture to manage several axes Illustration The following figure shows the architecture used in the application that includes an ATV 32 ATV 32 1 Junc
55. ard mmand _Rotation Genel E POWER Operati b px Z Pend 0 0 os 50 0 ENABLE peration enabled Inactive Reverse Fregiency wimoe Test stop Standard protle en Connected _A 7 Place the Command zone cursor on Inactive once tuning has been finalized 35013563 10 2014 173 ATV 71 for MFBs 174 35013563 10 2014 Chapter 14 IclA Implementation for Motion Function Blocks Aim of this Chapter This chapter presents the implementation of an IclIA servodrive according to the methodology see page 19 described in the quick start guide see page 13 with a Lexium 05 It only details the differences and actions for an IcIA What Is in This Chapter This chapter contains the following sections Section Topic Page 14 1 Adapting the Application to the IclA 176 14 2 CANopen Bus Configuration IclA 180 14 3 Configuring the IclA 183 14 4 Tuning the IclA 185 35013563 10 2014 175 IclA for MFBs Section 14 1 Adapting the Application to the IclA Aim of this Section This section presents adaptation of the application to the IclA with an architecture and hardware and software requirements What Is in This Section This section contains the following topics Topic Page Application Architecture with an IclA ATT Software Requirements 178 Hardware Requirements 179 176 35013563 10 2014 IclA for MFBs Application Architecture wit
56. area Animation table Mode selection zone Command zone Display zone Creating an Animation Table The table below presents the procedure for creating an animation table Step Action 1 Right click on the Animation Tables directory in the project browser Result the contextual menu is displayed 2 Select New Animation Table Result a table properties window is displayed 3 Click on OK to create the table which is given a default name Result the animation table is displayed 35013563 10 2014 71 Application Debugging Adding Data to the Animation Table The table below presents the procedure for creating data to view or force in the animation table Step Action 1 In the Table window click on the empty line in the Name column 2 There are two possible ways of adding data Enter the variable directly e Click onthe iconto display the instance selection window in order to select the variable Enter or select the respective variables Cmd_Home_Z to issue an return axis to home position command Cmd_Mvt_Z to issue a move axis command Cmd_Run_Z to issue a run axis command Cmd_Stop_Z to issue a stop axis command Cmd_Reset_Z to issue an axis acknowledgement command Cmd_Upload_zZ to issue a save axis data to a recipe table command Cmd_Download_Z to issue a transfer data from the recipe table to the axis command Axis _OK_Z to
57. associated configurations and communication settings IclA Easy then gives access to a group of actions for editing or transferring the configurations and for connecting to the devices IcIA Easy s navigation principle associates a configuration interface with each device type making it possible to control tune and monitor them NOTE The required signals i e LIMN LIMP REF must be wired or deactived by the tuning software Connecting to the IclA This table describes the procedure for connecting to the IclA Step Action 1 Connect your PC on which IclA Easy is installed to the Dongle PCAN PS 2 connector on the servodrive to be configured Start IclA Easy for IclA Result the following start up screen is displayed Icla Easy File Edit Connection Parameter Functions Diagnose Windows vlae Ee B ee DISABLED O POWER Not Connected 186 35013563 10 2014 IclA for MFBs Step Action 3 Choose the command Connection CAN Connection Result a text box is displayed ey CAN connection m Connection to Peak CAN converter Baudrate 500 kBaud CAN address 6 Hardware LPT1 v IRQ 7 IO address 0378 Node guarding Deactivate Value in seconds Abort 4 The Baudrate must be set to 500 Kbaud The CAN address must be set to 6 The Hardware must be set to LPT1 Dongle PCAN PS 2 Result a data transfer from the servodrive to
58. asy 00 00 cee eee 189 INDEX Sccc ange eons nae EE LE 191 35013563 10 2014 Safety Information G Important Information NOTICE Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure electrical hazard exists which will result in personal injury if the instructions are not p The addition of this symbol to a Danger or Warning safety label indicates that an followed hazards Obey all safety messages that follow this symbol to avoid possible injury or death A DANGER DANGER indicates a hazardous situation which if not avoided will result in death or serious injury This is the safety alert symbol It is used to alert you to potential personal injury A WARNING WARNING indicates a hazardous situation which if not avoided could result in death or serious injury A CAUTION CAUTION indicates a hazardous situation which if not avoided could result in minor or moderate injury NOTICE NOTICE is used to address practices not related to physical injury 35013563 10 2014 9 PLEASE NOTE Electrical equipment should be installed operated serviced and maintained only by qu
59. built Build the project and transfer it Rebuild all then transfer 6 Transfer progress is displayed on screen At any moment you can interrupt the transfer by using the Esc key In this case the PLC project will be invalid Note In the event that the project is transferred to a Flash Eprom memory card the transfer can take several minutes 68 35013563 10 2014 Chapter 4 Application Debugging Subject of this Chapter This chapter describes the possibilities for debugging the application using Unity Pro and PowerSuite for Lexium 05 What Is in This Chapter This chapter contains the following topics Topic Page Tuning the Lexium 05 with PowerSuite 70 Using Data via the Animation Tables 71 Program Debugging T3 Using Data via the Operator Screens TO 35013563 10 2014 69 Application Debugging Tuning the Lexium 05 with PowerSuite In Advance We recommend tuning the axis kinematic before the program automatically starts it Tuning Example The following table gives an example of kinematic tuning Step Action 1 Connect see page 47 to the Lexium 05 2 After a connection and transfer of the device s configurations PowerSuite opens a new window with the configuration screen which gives access to device control tuning and monitoring functions The following figure shows part of the new window This lower window provides access
60. cona asss je End lt ie 9 Menus beacon a E 9 S Fn a e lt Ma u Q 6 J lt r OC 2 pT A e A o O 35013563 10 2014 ATV 31 for MFBs Basic Settings The following table describes the procedure for entering basic settings CANopen address and speed with the interface Step Action 1 Press the ENT button on the interface Result the SET Setting menu is displayed on the interface s status indicator Press the Y button several times to access the COM menu Result the COM Communication menu is displayed on the interface s status indicator Press the ENT button on the interface Result the COAD CANopen Address submenu is displayed on the interface s status indicator Press ENT again Result a value corresponding to the device s CANopen address is displayed Press the Y button to decrease or the O button to increase the CANopen address value Press ENT when the desired CANopen address is displayed 4 Result the value is confirmed and the COAD CANopen Address submenu is displayed again Press the Y button to access the COBD CANopen Baud submenu Press ENT Result a value corresponding to the device s CANopen speed is displayed Press the Y button to increase or the O button to decrease the CANopen baud rate value Press ENT when the desired CANopen speed is displayed 500 Result the value is confirmed and the COBD CANo
61. e or the O button to decrease the CANopen baud rate value Press ENT when the desired CANopen speed is displayed 500 Result the value is confirmed and the COBD CANopen Baud submenu is displayed again Press ESC several times to return to the main display RDY by default 172 35013563 10 2014 ATV 71 for MFBs Section 13 4 Tuning the ATV 71 Tuning the ATV 71 with PowerSuite In Advance We recommend tuning the axis kinematic before the program automatically starts it Tuning Example The following table gives an example of kinematic tuning Step Action 1 Connect see page 168 to the ATV 71 2 After a connection and transfer of the device s configurations PowerSuite opens a new window with the configuration screen which gives access to device control tuning and monitoring functions The following figure shows part of the new window This lower window provides access to ATV 71 command functions i SI HSP Stop mand _ Rotation oo 4 Testun H State Device in fault Active Forward rt HIRA swin On Inactive F 7 Standard profile fen Connected 4 3 Place the Command zone cursor on Active 4 Click the Reset button to clear any problems 5 Enter the value 10 in the Frequency reference zone 6 Click the Test Run button Result the motor runs and the sub window is animated LSP HSP RUN forw
62. e Jog Dial to go to the COnF menu O Qo O COnF ENT Enter ESC Escape 35013563 10 2014 157 ATV 32 for MFBs Basic CANopen Settings This table gives the procedure for entering the basic CANopen address and speed settings through the User Interface Step Action 1 Use the Jog dial to select COnF Result The COnF CANopen configuration menu is displayed 2 Press the ENT key Result a rolling list of sub menus is displayed 3 Use the Jog dial to select FULL Result The FULL non preloaded parameters menu is displayed 4 Press the ENT key Result A rolling list of sub menus is displayed 5 Use the Jog dial to select COM Result The COM Communication menu is displayed 6 Press the ENT key Result A rolling list of sub menus is displayed 7 Use the Jog dial to select CnO Result The CnO CANopen menu is displayed 8 Press the ENT key Result A rolling list of parameters is displayed 9 Use the Jog dial to select AdCO Result The AdCO CANopen address parameter is displayed 10 Press the ENT key Result A value corresponding to the default CANopen address is displayed 11 Use the Jog dial to choose the CANopen address 4 Result The selected CANopen address is displayed 12 Press the ENT key Result The AdCO CANopen address parameter is displayed 13 Use the Jog dial to select bdCO Result The bdCO CANopen speed param
63. e New Device window appears New Device Topological Address 4 63 4 Node ID 4 Description Part Number Po AIV31 V11 Altivar 31 CANopen Slave DSP402 TEATV ds Po ATV3IT_V1_3 Altivar 31 CANopen Slave DSP402 TEATV31T13E eds x05 V1 12 LXMO5A CANopen TELXMOSA 012E EDS C OMM M MFB M32 MFBEDS Sd O i CSC SSNCCCCC Y E o OK Help 35013563 10 2014 95 Lexium 32 for MFBs Step Action 3 Set 3 in Topological Address For the slave device choose Lexium 32 4 Click on OK to confirm the choice Result The CANopen window appears with the new device selected HB CANopen C Bus 3 CANopen comm head 01 00 Connections configured 1 3 5 Select Edit Open module If MFB has not already been selected choose it in the Function area 6 You will be asked to validate your modifications when closing the Device and CANopen windows 96 35013563 10 2014 Lexium 32 for MFBs Section 9 2 Configuring the Lexium 32 Basic Parameters for Lexium 32 using Lexium CT At a Glance Lexium CT is a commissioning tool for axes intended for motion control applications Its graphic user interface provides a simple method for configuring the parameters of a Lexium 32 type servodrive 35013563 10 2014 97 Lexium 32 for MFBs Connecting to Lexi
64. e OK button Result Unilink L software appears Untitled Unilink L File Edit Communication Drive Tools View Help nea 2 2h eee ORO OE tm ci m OP 1E 4 0 Digital Velocity f DWE r Power Supply Setup Wizard Basic Setup Units Mechanical CAN Field Bus Set Feedback 4 Motor r Regen Resis Internal Value Ohms max Regen Power A Current Loop w 4 Velocity Loop C External amp Position Loop Position Data Mains Voltage Position Registers Electronic Gearing p y Encoder Emulation Response to loss Input Phase amp Analog I O Three Phase Current Limit R amp Digital 1 0 r Ampilifi Hardware Drive 3A Firmware V1 23 DRIVE Rev create d Aug 09 16 Serial Run Time Name 0 XXXX XX jo Set Software Enable on Bootup Motion Service Status Monitor Homing Motion Tasks Oscilloscope i L Bode Plot Terminal Next gt Browser Main Frame Ready l OnLine Disabled Warning notnormed NUMI A 35013563 10 2014 119 Lexium 15MP HP LP for MFBs Basic Parameters This table describes the procedure for inputting the basic parameters Step Action 1 Click on the Setup wizard on the browser Result the Drive Setup screen in the main frame appears Welcome to the Drive Setup Select Type of Setup Wizard C Quick Motor Drive Setup
65. e describes the procedure for entering basic settings CANopen address and speed with the interface Step Action 1 Press the ENT button on the interface Result the SET Setting menu is displayed on the interface s status indicator 2 P Press the v button several times to access the COM menu Result the COM Communication menu is displayed on the interface s status indicator 3 Press the ENT button on the interface Result the COAD CANopen Address submenu is displayed on the interface s status indicator 4 Press ENT again Result a value corresponding to the device s CANopen address is displayed Press the V button to decrease or the O button to increase the CANopen address value Press ENT when the desired CANopen address is displayed 3 Result the value is confirmed and the COAD CANopen Address submenu is displayed again 6 Press ESC once to return to the COAD submenu Press the V button to access the COBD CANopen Baud submenu Press ENT Result a value corresponding to the device s CANopen speed is displayed Press the O button to decrease or the Y button to increase the CANopen baud rate value Press ENT when the desired CANopen speed is displayed 500 Result the value is confirmed and the COBD CANopen Baud submenu is displayed again 9 Press ESC several times to return to the main display RDY by default 35013563 10 2014 51 Application C
66. er Execute Result the servodrive switches to Downloading see Unity Pro Motion Function Blocks Block Library mode The data table assigned to the input parameter PARAMETERSET loads the input PARAMETERLIST which corresponds to the servodrive parameter 82 35013563 10 2014 Part Il Multi Axis Application Aim of this Part This part describes the other hardware available for the Motion Function Blocks offer with a Modicon M340 running Unity Pro The Lexium 05 servodrive was used in the previous part to carry out an example This part begins with a presentation of the following servodrives in a full architecture Lexium 32 Lexium 15 ATV 31 ATV 32 ATV 71 e IclA Following this presentation configuration of each of the servodrives is described detailing differences with the Lexium 05 so as to carry out the same example What Is in This Part This part contains the following chapters Chapter Chapter Name Page 7 Foreword 85 8 Compatibility of Motion Applications with Unity Pro Versions 87 9 Lexium 32 Implementation for Motion Function Blocks 89 10 Lexium 15MP HP LP Implementation for Motion Function Blocks 107 11 ATV 31 Implementation for Motion Function Blocks 129 12 ATV 32 Implementation for Motion Function Blocks 145 13 ATV 71 Implementation for Motion Function Blocks 159 14 IclA Implementation for Motion Function Blocks 175 35013563 10 2014 83
67. er than the period value 7 Click on OK to confirm the configuration 28 35013563 10 2014 Application Configuration Section 2 3 CANopen Bus Configuration Subject of this Section This section presents the CANopen bus configuration methodology What Is in This Section This section contains the following topics Topic Page Implementation Methodology for a CANopen Bus 30 Configuration of the CANopen port 31 Configuration of the CANopen Slave 32 Checking the CANopen Bus Configuration 35 35013563 10 2014 29 Application Configuration Implementation Methodology for a CANopen Bus Overview The following flowchart shows the implementation methodology for a CANopen bus using Modicon M340 Using Unity Pro Configuration of the CANopen port of the CPU the master Declaration of the slave choosen in the Hardware catalog y Configuration of the slave y Enabling the configuration using Unity Pro y Checking the CANopen bus in the Project Browser 30 35013563 10 2014 Application Configuration Configuration of the CANopen port At a Glance With Unity Pro you can define the CANopen bus The CANopen bus master is a port integrated in the CPU First the bus master must be configured How to Configure the CANopen Bus Master This table describes the procedure to configure the CANopen port using Unity Pro
68. eter is displayed 14 Press the ENT key Result A value corresponding to the default CANopen speed is displayed 15 Use the Jog dial to choose the CANopen speed 500 Result the selected CANopen speed is displayed 16 Press the ENT key Result The bdCO CANopen speed parameter is displayed 17 Press ESC several times to return to the main menu 158 35013563 10 2014 Chapter 13 ATV 71 Implementation for Motion Function Blocks Aim of this Chapter This chapter presents the implementation of an ATV 71 servodrive according to the methodology see page 19 described in the quick start guide see page 13 with a Lexium 05 It only details the differences and actions for an ATV 71 What Is in This Chapter This chapter contains the following sections Section Topic Page 13 1 Adapting the Application to the ATV 71 160 13 2 CANopen Bus Configuration ATV 71 164 13 3 Configuring the ATV 71 167 13 4 Tuning the ATV 71 173 35013563 10 2014 159 ATV 71 for MFBs Section 13 1 Adapting the Application to the ATV 71 Aim of this Section This section presents adaptation of the application to the ATV 71 with an architecture and hardware and software requirements What Is in This Section This section contains the following topics Topic Page Application Architecture with an ATV 71 161 Software Requirements 162 Hardware Requirements 163 160
69. fined select an adress in the compatible drive list In this tab the Axis_Z is configured as follows Project Browser Ta Structurial view r Station De ey ae Types General Axis parameters Variables name pe i 3 Derived FB Types Name Variables amp FB instances aa ee List of available Drive x Communication Fleum05 S y Program A Animation Tables Network type Gy Operator Screens CANOpen R Documentation List ofcompatible address z Cancel _Hep a BRaER 35013563 10 2014 39 Application Configuration Step Action 4 Inthe Axis Parameters tab select e the reference of the servodrive e the minimum version of the servodrive s firmware In this tab the Axis_Z is configured as follows Project Browser Ta Structurial view f Station z a Configuration General Axis parameters Variables name 3 Derived Data Types z O Derived FB Types Part Num ig parables amp FB instances LXMO5AD10777 an nea Software version 3 mmunication Gy Program 10 zl 6 E Animation Tables SSS E Operator Screens 1 403 amp k Documentation _Cancel_ _ Hep Note You are advised to check for consistency between the version of the servodrive s firmware and the version declared in Unity Pro The version is used to define the drive parameters During the servodrive init by the CAN_HANDLER MFB func
70. g the TE_UPLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks Block Library block Step Action 1 Disable the Enable parameter which belongs to the MC_POWER see Unity Pro Motion Function Blocks Block Library block Result the servodrive switches to Disable see Unity Pro Motion Function Blocks Block Library mode Enable the input parameter Execute Result the servodrive switches to Downloading see Unity Pro Motion Function Blocks Block Library mode The data table assigned to the output parameter PARAMETERSET is filled in Note Please back up data to a DAT file using PLC Transfer PLC data to the file if the PLC has no memory card Restoring Data The table below describes the procedure used to restore the servodrive s data using the TE_DOWNLOADDRIVEPARAM see page 66 block Step Action 1 Disable the Enable parameter which belongs to the MC_POWER see Unity Pro Motion Function Blocks Block Library block Result the servodrive switches to Disable see Unity Pro Motion Function Blocks Block Library mode Change the servodrive The new servodrive must have the same references as the faulty servodrive Note make sure you take all the necessary precautions when changing the servodrive Configure the new servodrive with the basic parameters see page 47 CANopen address speed or using the keypad on the front panel Enable the block s input paramet
71. h an IclA Overview The proposed architecture is simple and designed to assimilate the implementation principles of motion control Other equipment can be added to this realistic architecture in order to manage several axes Illustration The following figure shows the architecture used in the application that includes an IcIA IFS Unity Pro CANopen Icla IFS 35013563 10 2014 177 IclA for MFBs Software Requirements Overview As regards the software requirements presented in the quick start guide see page 13 IclA Easy is used for configuring and tuning the IclA PowerSuite for Lexium 05 enables tuning of the axis and guarantees a simple method for configuring the parameters of a Lexium 05 servodrive IclA Easy does the same for an IclA servodrive It is necessary to configure certain parameters without Icla Easy by using the IclIA switches see page 183 since this is the only way to configure these parameters Versions The following table lists the hardware and software versions used in the architecture see page 177 enabling the use of MFBs in Unity Pro Hardware Earliest version of software Version of firmware Modicon M340 Unity Pro V4 0 IclA EasylclA V1 104 IclA IFA compatible since V1 1007 IclA IFE compatible since V1 1007 IclA IFS compatible since V1 1007 178 35013563 10 2014 IclA for MFBs Hardware Requirements References of the Hardwa
72. he address and baud rate are set with DIP switches on the IclA IFX drive DIP Switches The following graphic presents the DIP switches inside the drive S1 Hex kBaud s4 0 ON OFF 2 1234 3 4 res OFF 5 Bit 6 5 4 6 High address T 8 F S3 S2 ON ON m OFF OFF 1234 12 _ res OFF y interface mode Bit 32 10 ON A B OFF Low address PULSE DIR terminating resistor ON on res OFF 35013563 10 2014 183 IclA for MFBs Basic Settings The baud rate is set with the S4 switch on position 5 for a baud rate of 500 The CANopen address is set with the S1 and S2 switches Set S2 3 and S2 2 ON for the drive to have address 6 By default as shown in the graphic above all the switches on S1 and S2 are set ON except the first switch on S1 which gives address 127 Set S3 2 ON to activate the terminating resistor 184 35013563 10 2014 IclA for MFBs Section 14 4 Tuning the IclA Aim of this Section This section gives an example of tuning the IclA with IclA Easy What Is in This Section This section contains the following topics Topic Page Configuring the IcIA in IclA Easy 186 Tuning the IclA with IclA Easy 189 35013563 10 2014 185 IclA for MFBs Configuring the IcIA in IclA Easy Overview With IclA Easy users can define installed device bases and describe their
73. his freeware is SIMPLE TIME SAVING and USER FRIENDLY To facilitate setup and maintenance SoMove software can use a direct USB RJ45 cable link or a Bluetooth wireless link In order to collect your valuable feedback please use the following email address Schneider T c 154 35013563 10 2014 ATV 32 for MFBs Step Action Choose Connect Result The following screen is displayed ANGER UNINTENDED EQUIPMENT OPERATION A machine controlled by this software can be prone to unintended operation This software is for set up and commissioning purposes only Do not use this software for real time control of the devices The user must have a hardwired STOP device or disconnect switch to ensure it is possible to stop the equipment The user must ensure guards are in place so that unintended operation will not cause injury to personnel or damage to equipment The user must read and understand the help file for this Testing and Commissioning Software and the device User Manuals and know how to operate the equipment Check that any modification of the current device configuration is compatible with the wiring diagram used It is strongly recommended to o Disable the screensaver o Close the other applications Failure to follow these instructions will result in death or serious injury If you agree to follow these instructions press Alt F Cancel If you are
74. ibute a topological address to the new device check or set MFB function in the configuration window of device enable CANopen configuration check the accuracy of the configuration using the CANopen configuration tree structure in the project browser 35013563 10 2014 19 Foreword Step Description 3 Create the axes in the project browser s Motion directory Define the variables associated with these axes during their creation 4 With the PowerSuite software e connect to the device e enter the required parameters for the correct operation of the CANopen communication address speed etc 5 Program the motion sequences using the appropriate functions blocks from the MFB library Associate the variables defined during creation of the axis with the MFB blocks 6 Debug the axis using PowerSuite In Unity e debug the program via the animation table e use the data via the operator screens 7 manage the production recipes using the appropriate function blocks from the MFB library create and back up the recipes e transfer data from the recipes 8 Data backup and restore procedures 20 35013563 10 2014 Chapter 2 Application Configuration Subject of this Chapter This chapter describes the various stages involved in configuring the application What Is in This Chapter This chapter contains the following sections Section Topic Page 2 1
75. ins the following topics Topic Page Motion Directory 37 Axis Creation and Configuration 39 The Variables Axis_Ref Can_Handler AxisParamDesc and Recipe 42 Motion Directory Configuration Result 44 36 35013563 10 2014 Application Configuration Motion Directory At a Glance The Motion directory of the structural view of the project allows you to access the declaration and configuration of the servodrives When declaring a servodrive various information is required such as the name given to the servodrive the type of servodrive the CANopen address of the servodrive the reference of the servodrive the version of the servodrive the input of variable names associated to the axis The following diagram shows an example of a tree structure for the Motion directory Project Browser Ta Structural View Kpa 21 Derived Data Types B Derived FB Types Bt tarrez 1 Variables amp FB Instances El Motion EF 7 Q Motion Tree Manager core Drecipet a Recipe2 E terenne 21 Communication Bl Program Bh 1 Operator Screens Documentation In this diagram the name given to the servodrive is Axis_Z A recipe is linked by default each time an axis is created It is possible to create several recipes see page 66 35013563 10 2014 37 Application Configuration Accessible Services The Motion directory
76. irectory Configuration Result In the Project Browser The following diagram shows the tree structure for the Motion directory after configuration Project Browser Pe Structural View CS Eh Station i woeecee C Configuration B 1 Derived Data Types a er 1 Derived FB Types El 2222an 1 Variables amp FB Instances B l Motion by beveeee Oo Recipe_O E bassar l Communication El CI Program g coerce 1 Animation Table Bh Operator Screens p I Documentation 44 35013563 10 2014 Application Configuration In the Data Editor The following screen shows the variables that are created in the data editor during the creation of the axes To access this screen double click on the Variables amp FB instances directory in the project browser E Data Editor DDT types Function blocks DFB types AxisParamDesc_O a a ARRAY 0 218 OF UINT ables ilter YT Name a MeT v DDT ODDT Name Type ow Addre w Value Comment w F Recipe_0 ARRAY 0 190 OF BYTE Axis_RefZ AXIS_REF Variable declared for axis Axis_Z Type 306 Ref 12592 Ver 1 03 The variable Can Handler _Z may be accessed by clicking on the Function blocks tab 35013563 10 2014 45 Application Configuration Section 2 5 Configuring the Lexium 05 Aim of this Section This section de
77. ium05 000 23 Software Requirements 00 00000 cee eee eee eee 24 Hardware Requirements 000020 cee eee eee ee eee 25 2 2 Configuration of the Application using Unity Pro 26 Creating the Projects 2 4 css c bears sapar beeen ee kee a ees 27 Master Task Configuration 00000 cee eee eee 28 2 3 CANopen Bus Configuration 0 0 eee eee 29 Implementation Methodology fora CANopen Bus 30 Configuration of the CANopen port 0 0 e eee eee eee 31 Configuration of the CANopen Slave 0 e eee e ee 32 Checking the CANopen Bus Configuration 35 2 4 Axis Configuration using the Motion Tree Manager 36 Motion Directory 0 0 0000 c eee 37 Axis Creation and Configuration 0002000 eee eae 39 The Variables Axis_Ref Can_Handler AxisParamDesc and Recipe 42 Motion Directory Configuration Result 00000 44 2 5 Configuring the Lexium 05 0 0 00 cee ee 46 Configuring the Lexium 05 in PowerSuite 47 Configuring the Lexium 05 with the User Interface 50 Chapter 3 Application Programming 53 Declaration of Variables 00 000000 54 Programming the Example 0 0 e eee eae 55 The CAN HANDLER Function Block 0 000 57 Management of the Axis Operating and Stop Modes
78. le 35013563 10 2014 127 Lexium 15MP HP LP for MFBs 128 35013563 10 2014 Chapter 11 ATV 31 Implementation for Motion Function Blocks Aim of this Chapter This chapter presents the implementation of an ATV 31 servodrive according to the methodology see page 19 described in the quick start guide see page 13 with a Lexium 05 It only details the differences and actions for an ATV 31 What Is in This Chapter This chapter contains the following sections Section Topic Page 11 1 Adapting the Application to the ATV 31 130 11 2 CANopen Bus Configuration ATV 31 134 11 3 Configuring the ATV 31 137 11 4 Tuning the ATV 31 143 35013563 10 2014 129 ATV 31 for MFBs Section 11 1 Adapting the Application to the ATV 31 Aim of this Section This section presents adaptation of the application to the ATV 31 with an architecture and hardware and software requirements What Is in This Section This section contains the following topics Topic Page Application Architecture with an ATV 31 131 Software Requirements 132 Hardware Requirements 133 130 35013563 10 2014 ATV 31 for MFBs Application Architecture with an ATV 31 Overview The proposed architecture is simple and designed to assimilate the implementation principles of motion control Other equipment can be added to this realistic architecture in order to manage several axe
79. le this parameter may be connected to an object or to a T_ COM_CO_BMX see Modicon M340 with Unity Pro CANopen User Manual type ODDT equation 35013563 10 2014 59 Application Programming Management of the Axis Operating and Stop Modes At a Glance This section is made up of the following MFB blocks e MC_POWER see Unity Pro Motion Function Blocks Block Library which is used to disable or enable the servodrives e MC_STOP see Unity Pro Motion Function Blocks Block Library which is used to stop any movement in progress e MC_RESET see Unity Pro Motion Function Blocks Block Library which is used to initialize the function blocks and to acknowledge servodrive faults Contents The screen below shows a part of the section to develop MC_POWER_Z MC_POWER 1 Axis_Ref_Z AXIS ERROR Cmd_Run_Z ENABLE STATUS ERRORID MC_STOP_Z MC_STOP 2 Axis_Ref_Z AXIS ERROR Cmd_Stop_Z EXECUTE DONE BUSY ERRORID m COMMANDABORTED MC_RESET_Z MC_RESET 3 Axis_Ref_Z AXIS ERROR Cmd_Reset_Z EXECUTE DONE BUSY ERRORID The blocks are instantiated to variables input directly in the Instance zone of the FFB Input Assistant to facilitate subsequent diagnostics using the animation tables 60 35013563 10 2014 Application Programming Motion Control At a Glance This programming section is made up of the following MFB blocks e
80. lication to the ATV 71 02 eee eee 160 Application Architecture with an ATV 71 2000 0200005 161 Software Requirements 00 00000 eee eee eee eee 162 Hardware Requirements 000000 cece eee e eee eee 163 13 2 CANopen Bus Configuration ATV 71 0 0 c ee eee ee 164 Configuration of the CANopen Slave ATV 71 on CANopen bus 164 35013563 10 2014 T 13 3 Configuring the ATV 71 2 222 ene eee ee ee eee eee eee a eee ai 167 Configuring the ATV 71 in PowerSuite 0000 168 Configuring the ATV 71 with the User Interface 171 13 4 Tuning the ATV 71 00 002 c eee 173 Tuning the ATV 71 with PowerSuite 00 173 Chapter 14 IclA Implementation for Motion Function Blocks 175 14 1 Adapting the Application to the IcIA 20022005 176 Application Architecture with anIcIA 00002 02ers 177 Software Requirements 00 000 0c eee eee eee 178 Hardware Requirements 0000 cece eee eee 179 14 2 CANopen Bus Configuration IcIA 0 0 0 0 2 eee ee 180 Configuration of the CANopen Slave IclA on CANopen bus 180 14 3 Configuring the ICIA x23 2 heres ee ea wees a Ys chee eee eee 183 Configuring the IclA with DIP Switches 000 183 14 4 Tuning the IcIA 0 0 0 teen 185 Configuring the IclA in IcIA Easy 0 0 eee eee 186 Tuning the IclA with IcIA E
81. lly expand the Configuration directory and then double click on CANopen Result The CANopen window appears E CANopen m m Bus Connections configured 0 180 35013563 10 2014 IclA for MFBs Step Action 2 Select Edit New device Result The New Device window appears New Device Topological Adress 1 63 3 Node ID 3 Part Number Description Sias Cancel Help ivar 31 CANopen Slave DSP402 TEATV31T13E eds Aopen ec IAIFE CANopen clA IFE eds LXIMOSAPLCopen CEUM MFB EDS Drop end communicator 3 Set 6 in Topological Address For the slave device choose IclA_IFS 35013563 10 2014 181 IclA for MFBs Step Action 4 Click on OK to confirm the choice Result The CANopen window appears with the new device selected Hi CANopen Connections configured 1 O 6 0 5 Select Edit Open module If MFB has not already been selected choose it in the Function area 6 You will be asked to validate your modifications when closing the Device and CANopen windows 182 35013563 10 2014 IclA for MFBs Section 14 3 Configuring the IclIA Configuring the IclA with DIP Switches Overview T
82. mand Cmd_Reset_Z BOOL Acknowledge axis command Cmd_Upload_Z BOOL Save axis data in a recipe table command Cmd_Download_Z BOOL Transfer data from recipe table to axis command Axis OK Z BOOL Axis recognized by CANopen bus Position Z DINT Value of axis position Velocity Z DINT Value of axis speed Recipe Z ARRAY 0 190 OF BYTE Buffer variable for management of recipes CAN T_COM_CO_BMX IODDT that manages CANOpen port NOTE the size of the recipe management table complies with that of the recipes created by the Motion directory 54 35013563 10 2014 Application Programming Programming the Example At a Glance Just after declaration and parameter setting of the hardware motion programming is the second development phase of the tutorial example Axis programming is divided up into e declaration of variables e an operator screen which is used to view and control the axis e structured programming in several sections Declaring the Sections The table below presents a summary of the program sections to create Section name Language Description CAN_Handler FBD This section allows you to check that the parameters see page 57 of the axis correspond to reality Operating_mode FBD This section allows you to power up the servodrives see page 60 and to check the axes Cmd_Mvt FBD This section allows you to set a homing reference see page 61 point for the axis and to then control it in abs
83. mand here with the corresponding parameters Confirm the entry with RETURN or press the APPLY button to start the transmission CAUTION UNEXPECTED APPLICATION BEHAVIOR Before sending the ASCII command ensure that is appropriate to the equipment Failure to follow these instructions can result in injury or equipment damage 124 35013563 10 2014 Lexium 15MP HP LP for MFBs Section 10 4 Tuning the Lexium 15MP HP LP Debugging the axis Pre requisite You are recommended to debug the axis dynamics before it is automatically started by the program Description The oscilloscope is one way of carrying out the debug operation It allows you to e display up to three variables simultaneously as a function of time e save the recorded measurements to a data medium in CSV format can be used with MS Excel e load a CSV data file and restore the curves on the oscilloscope diagram e use certain services Illustration for Lexium 15MH The screen below can be accessed by clicking on the Unilink MH menu s Tools Oscilloscope E Oscilloscope 101 LEX pia Residen Channel Auto min max Trigger signal Trigger level Rew foa E PR RO Ret ENO et se TimesDivision a Z a Load E Service Parameters 35013563 10 2014 125 Lexium 15MP HP LP for MFBs How to start service for Lexium 15MH The table below explains how to use a ser
84. med by default Recipe x where x isa value but which can be renamed using the Recipe x directory e An unsigned integer table type variable ARRAY OF UINT named AxisParamDesc_ x where x is a value and which may not be renamed Can_Handler This variable is an EFB type variable It is named after the CANopen manager variable It is declared in the Variables Name tab during Axis Creation see page 39 It must be used in the program as the instance of the CAN_ HANDLER see page 57 MFB function block Axis Ref This variable is an AXIS_REF type structured variable named after the axis reference variable It is declared in the Variables Name tab during Axis Creation see page 39 It must be specified in the input parameter for each MFB block used by the axis AxisParamDesc This variable is an unsigned integer table type variable ARRAY OF UNIT It is automatically created during Axis Creation see page 39 It is named after the parameter description variable which can be seen in the Recipe_x properties of the axis This variable must be specified in the TE_UPLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks Block Library and TE_LDOWNLOADDRIVEPARAMETER see Unity Pro Motion Function Blocks Block Library blocks PARAMETERLIST input parameter taken from the MFB library and useful for recipe creation or for replacing the axis if it is faulty This variable e cannot be modified e is identical
85. ng Motion Monitoring At a Glance This section is made up of the MC_READACTUALPOSITION see Unity Pro Motion Function Blocks Block Library and MC_READACTUALVELOCITY see Unity Pro Motion Function Blocks Block Library MFB blocks These blocks are used to determine the exact position and speed of the axis Contents The screen below shows a part of the section to develop Position_Z POSIT_Z MC_READACTUALPOSITION 1 Axis_Ref_Z AxIS ERROR Axis_OK_Z ENABLE VALID BUSY ERRORID POSITION VELOC_Z MC_READACTUALVELOCITY 2 Axis_Ref_Z AXIS ERROR AXIS_OK_Z J ENABLE VALID BUSY ERRORID VELOCITY t Velocity_Z Whilst the Axis OK_Z bitis enabled the position and speed values are continuously displayed on the operator screen see page 75 35013563 10 2014 63 Application Programming Status and Axis Error Code Section At a Glance This section is made up of the following MFB blocks e MC_READSTATUS see Unity Pro Motion Function Blocks Block Library which is used to determine the drive status see Unity Pro Motion Function Blocks Block Library e MC_READAXISERROR see Unity Pro Motion Function Blocks Block Library which is used to determine the error values according to the type of errors on the drive and to deduce their causes see Unity Pro Motion Function Blocks Block Library 64 35013563 10 2014 Application Programming Contents The screen below sh
86. nits used for acceleration speed and position 2 For the tutorial example from this screen set or select the following e Inthe servodrive zone The CANopen address to 2 The baud rate of the bus to 500 Kbaud see MFB using Unity Pro Start up Guide 3 Click Items Parameter Save device parameters in EEPROM to confirm the SIMPLYSTART_BASICCONFIGURATION Result The SIMPLYSTART_BASICCONFIGURATION is saved and the main screen is displayed again 4 Click on Exit NOTE For information on how to adjust parameters correctly please refer to the drive documentation 100 35013563 10 2014 Lexium 32 for MFBs Section 9 3 Tuning the Lexium 32 Aim of this Section This section gives an example of tuning the Lexium 32 with Lexium CT What Is in This Section This section contains the following topics Topic Page Tuning the Lexium 32 102 Debugging the Lexium 32 103 35013563 10 2014 101 Lexium 32 for MFBs Tuning the Lexium 32 Operating modes The various operating modes can be selected from the tabs in the Operating modes windows The windows is subdivided into two sections e Tabs for the selected operating mode and for setting specific parameters top section e Display of status information bottom section The user can switch between the tabs in the Operating Modes window without interfering with a currently active operating mode Profile Velocity In the
87. nnections configured 0 164 35013563 10 2014 ATV 71 for MFBs Step Action 2 Select Edit New device Result The New Device window appears New Device Topological Adress 1 63 3 Node ID 3 OK Part Number Description Ses Help ivar 31 CANopen Slave DSP402 TEATV31T13E eds ei IAIFE CANopen CAIFE eds LXMOBAPLCopen LEIME MFB EDS JES SLP erode EDMI DZE O eee Drop end communicator 3 Set 5 in Topological Address For the slave device choose ATV71_V1_1 35013563 10 2014 165 ATV 71 for MFBs Step Action 4 Click on OK to confirm the choice Result The CANopen window appears with the new device selected Hi CANopen Bus Connections configured 1 r I I i I I I I I xi 5 Select Edit Open module If MFB has not already been selected choose it in the Function area 6 You will be asked to validate your modifications when closing the Device and CANopen windows 166 35013563 10 2014 ATV 71 for MFBs Section 13 3 Configuring the ATV 71 Aim of this Section This section describes the basic servodrive configurations using PowerSuite for ATV 71 and the servodrive s front panel user inte
88. ocity_Z DINT f READSTATUS_Z REFERENCED BOOL This table is used to determine the status of the MC_ POWER block s input and output parameters To access this mode click on the Modify button in the mode selection zone NOTE this operation may be assigned to other function blocks NOTE the animation table is dynamic only in online mode display of variable values 35013563 10 2014 73 Application Debugging Modifying Values The tutorial example uses Boolean variables To modify a Boolean value carry out the following actions Step Action 1 Use the mouse to select the Boolean variable you wish to modify 2 Click on the t button corresponding to the desired value or execute the Set to 0 or Set to 1 commands in the contextual menu Starting the System The following table describes the procedure for starting the system used in the example Step Action 1 Set the variable Cmd_Run_Z to 1 Result the variable Axis OK_Z changes to 1 Set the variable Cmd_Reset_Z to 1 Set the variable Cmd_Home_Z to 1 Result the axis is referenced To rotate the axis set the variable Cmd_Mvt_Z to 1 Result the axis starts to turn and the values of the variables Position _Z and Velocity Z are no longer set to 0 To stop the axis from rotating e set the variable Cmd_Stop_Zto1 e set the variable Cmd_Mvt_Z to 0 Result the axis stops rotating To start
89. olute motion Control_Mvt FBD This section is used to determine the position and see page 63 speed of the axis Status_Axes FBD This section is used to determine the status of the axis see page 64 and to carry out diagnostics for an event Recipe see page 66 FBD This section allows you to save or restore a servodrive s data 35013563 10 2014 55 Application Programming The diagram below shows the program structure after the programming sections have been created Ta Structural View E O h MAST h amp Sections j 7 DS Fog CAN Handler i maere Fog Operating_mode f EDB Cmd_Mvt brasat FoB Control _Mvt EPRA Enp Status_Axis sewewe fpg Recipe leneeeee AT SR Sections Ey Events N N N m al m lt a a Ebe s Gy Operator Screens boreeser Wj Screen 56 35013563 10 2014 Application Programming The CAN_HANDLER Function Block At a Glance The use of the CAN_HANDLER see Unity Pro Motion Function Blocks Block Library MFB function block is essential and mandatory in the programming of the axis The program section with this MFB function block must be associated with the same task of the CANopen bus master see page 31 It allows you to check e the CANopen communication e consistency between the software configuration and the connected physical de
90. onfiguration 52 35013563 10 2014 Chapter 3 Application Programming Subject of this Chapter This chapter describes the various development phases of the application program What Is in This Chapter This chapter contains the following topics Topic Page Declaration of Variables 54 Programming the Example 595 The CAN_HANDLER Function Block 57 Management of the Axis Operating and Stop Modes 60 Motion Control 61 Motion Monitoring 63 Status and Axis Error Code Section 64 Backup and Transfer of the Servodrive Parameters 66 Transferring the Project between the Terminal and the PLC 67 35013563 10 2014 53 Application Programming Declaration of Variables At a Glance In addition to the variables associated with the axis when it is created in the Motion directory other variables must be declared They must be assigned to e Input or output parameters of the MFB blocs e Operator Screen see page 75 objects They allow you to use certain data and to control the axis with blocks from the MotionFunctionBlock library Declaration in the Data Editor The table below summarizes the variables to be created in the data editor for the tutorial example Name Type Comment Cmd_Home_Z BOOL Return axis to home position command Cmd_Mvt_Z BOOL Move axis command Cmd_Run_Z BOOL Run axis command Cmd_Stop_Z BOOL Stop axis com
91. ooa a XM0 LXER PLCop Da 2S Dane Via A CaNepen TEX EED M Bar Vas FEDS er lexim Psi TEDL TEESE XMS VE 4 TEDS for Lexum 18 MPHP servodrive TELXMTOMF O66TE 605 S03 28 SD 328 CANopen BLSD328 O100EEDS __ _ 4 Motor Control a R e Sensors O o O OS d party prod Do O Set 3 in Topological Address For the slave device choose Lexium15LP_V1_4 for a Lexium 15LP or Lexium15MH_V6_61for a Lexium 15MP 35013563 10 2014 113 Lexium 15MP HP LP for MFBs Step Action 4 Click on OK to confirm the choice Result The CANopen window appears with the new device selected HB CANopen Bus 3 pA lopen comm head 01 Connections configured 1 O 3 5 Select Edit Open module If MFB has not already been selected choose it in the Function area 6 You will be asked to validate your modifications when closing the Device and CANopen windows 114 35013563 10 2014 Lexium 15MP HP LP for MFBs Section 10 3 Configuring the Lexium 15MP HP LP Aim of this Section This section describes the basic servodrive configurations using Unilink L MH for Lexium 15MP HP LP What Is in This Section This section contains the following topics Topic Page Basic Parameters for Lexium 15MP using Unilink MH 116 Basic Parameters for Lexium 15
92. operating mode Profile Velocity the drive accelerates to an adjustable target speed of rotation You can set a motion profile with values for acceleration and deceleration ramps amp Operating modes Pointto point SPeed mode Homing Manual movement Electr gear Oscilator Speed 0 41 min Ok v 0 0 102 35013563 10 2014 Lexium 32 for MFBs Debugging the Lexium 32 Pre requisite You are recommended to debug the axis dynamics before it is automatically started by the program Description The commissioning software provides the Recording Tuning function for visualizing internal device data during movements The connected device stores the movement data to an internal memory for a defined recording period and then sends it to the PC The PC processes the data and displays it in the form of charts or tables Recorded data can be saved on the PC and can be archived or printed for documentation purposes Use the menu Item Functions Record Tuning to start the record function Illustration The screen below can be accessed by clicking on the Oscilloscope tab LJILJA F 200 5 200 300 500 600 70 800 900 Time ms Recording Trigger l Tuning l Signal Available signals Timebase xl 10 ms x lt Double click to delete signal from the list 1000 11
93. or Device Motor Drive lOfunct_DI0 TouchProbe_1 Description Function Input DIO 1Ofunct_DI1 Reference switch REF Function Input D14 lOfunct_DI2 Positive limit switch LIMP Function Input DI2 lOfunct_DI3 Negative limit switch LIMN Function Input DI3 lOfunct_Dl4 Free available Function Input Di4 lOfunct_DIS Free available Function Input DI5 1Ofunct_DQO No fault Function Output DQO 1Ofunct_DQ1 Active Function Output DQ1 lOfunct_DQ2 Free available Function Output DQ2 SPVn_lim Speed limitation via input 1 9999 SPVz_clmp Speed limit for Zero Clamp 0 1000 SPVi_lim Current limitation via input 0 3000 SPVChkWinTin ms Monitoring of time window 0 9999 SPVp_DiffWin revolutio Monitoring of position deviation 0 0 9999 SPVn_DiffWin 1 min Monitoring of speed deviation 1 9999 SPVn_Thresho A min Monitoring of speed value 1 9999 SPVi_Threshol Monitoring of current value 0 3000 SPVSelError1 First selective error entry 0 65535 SPVSelError2 Second selective error entry 0 65535 SPVSelWarn1 First selective warning entry 0 65535 SPVSelWarn2 Second selective warning entry 0 65535 RESint_ext internal Resistor Braking resistor control 0 1 RESext_P 10 Nominal power of external braking
94. or on OFF once tuning has been finalized 190 35013563 10 2014 Index C configuring the application ATV 31 129 ATV 32 145 ATV 71 159 IclA 175 Lexium 05 21 Lexium 15LP MP HP 107 Lexium 32 89 configuring the axis 36 configuring the CANopen bus 29 configuring the servodrives ATV 31 137 ATV 32 153 ATV 71 167 IclA 183 Lexium 05 46 Lexium 15LP MP HP 115 Lexium 32 97 D debugging the application 69 motion function blocks 13 ATV 31 129 ATV 32 145 ATV 71 159 IclA 175 Lexium 05 27 Lexium 15LP MP HP 107 Lexium 32 89 methodology 19 quick start 13 O oscilloscope 103 P programming the application 53 R recipes 77 replacing servodrives 82 7 tuning the servodrives ATV 31 143 ATV 71 173 IclA 185 Lexium 05 70 Lexium 15LP MP HP 125 Lexium 32 101 35013563 10 2014 191 Index 192 35013563 10 2014
95. ort of the CPU Declare the slave chosen from the hardware catalog see paragraph below Configure the slave Enable the configuration using Unity Pro Check see page 35 the CANopen bus in the Project browser How to Upgrade the Hardware Catalog This table describes the procedure to configure the CANopen slave Step Action 1 Open the Hardware Catalog Start Program Schneider Electric Socollaborative UnityPro Hardware Catalog Manager Result The Hardware Catalog Manager window appears Hardware Catalog Manager File Edit View Service Help E CANopen drop Distributed I Os K Motion amp Drive E Motor control fee Safety fe Sensors el Third party products Import Export 2 In the menu tab click on File gt Import User Devices then import the LXM32_MFB cpx file in the directory Application Data Schneider Electric ConfCatalog Database Motion this file can be located in a hidden directory 94 35013563 10 2014 Lexium 32 for MFBs How to Configure the CANopen Slave This table describes the procedure to configure the CANopen slave Step Action 4 In the Unity Pro Project Browser fully expand the Configuration directory and then CANopen Result The CANopen window appears double click on m m E E CANopen Connections configured 0 a Bus Select Edit gt New device Result Th
96. ows a part of the section READSTATUS_Z MC_READSTATUS 1 Axis_Ref_Z AXIS ERROR TRUE ENABLE VALID BUSY ERRORID ERRORSTOP STOPPING STANSTILL DISCRETEMOTION CONTINUOUSMOTION SYNCHRONISEDMOTION MOTIONTASKMOTION REFERENCED DOWNLOADING DISABLED HOMING READERROR_Z MC_READAXISERROR 2 Axis _Ref_Z AXIS ERROR A VALID OR 3 Busy ENABLE AXIS_OK_Z o IN1 ERRORID MC_STOP_Z ERROR IN2 AXISFAULT MC_RESET_Z ERROR IN3 AXISFAULTID MC_POWER_Z ERROR IN4 AXISDIAG HOME_Z ERROR INS AXISDIAGID ABSOLUTE1_Z ERROR IN6 einen E ABSOLUTE2_Z ERROR IN7 UPLOAD_Z ERROR IN8 AXISERRORID DOWNLOAD_Z ERROR INO MSGERRORID READSTATUS_Z ERROR IN10 The UPLOAD_Z ERROR and DOWNLOAD Z ERROR variables must be added to the OR block after the recipe see page 66 section has been created 35013563 10 2014 65 Application Programming Backup and Transfer of the Servodrive Parameters At a Glance This programming section is made up of the following MFB blocks e TE_UPLOADDRIVEPARAM see Unity Pro Motion Function Blocks Block Library which is used to back up the configuration of a servodrive in a data table e TE_DOWNLOADDRIVEPARAM see Unity Pro Motion Function Blocks Block Library which is used to transfer the data table parameters to a servodrive
97. pen Baud submenu is displayed again Press ESC several times to return to the main display RDY by default 142 35013563 10 2014 ATV 31 for MFBs Section 11 4 Tuning the ATV 31 Tuning the ATV 31 with PowerSuite In Advance We recommend tuning the axis kinematic before the program automatically starts it Tuning Example The following table gives an example of kinematic tuning Step Action 1 Connect see page 138 to the ATV 31 2 After a connection and transfer of the device s configurations PowerSuite opens a new window with the configuration screen which gives access to device control tuning and monitoring functions The following figure shows part of the new window This lower window provides access to ATV 31 command functions Active Bi Status Slop E Inactive gl a Device in fault Connected en 3 Place the Command zone cursor on Active 4 Click the Reset button to clear any problems if status is red 5 Enter the value 1 in the Frequency reference zone 6 Click the Test Run button Result the motor runs and the sub window is animated cle Forward LSP HSP ere H Status Rin forward F Inactive uA i 500 Steady state Bieri Becton Frequency reference Test stop Rese Connected en 7 Place the Command zone cursor on Inactive once tuning has been finalized 35013563 10 2014 143 ATV 31 for MFBs 144 35013563 10 2014 Ch
98. posed of e Unity Pro which is used to control the servodrive via the CANopen bus by programming movements e Powersuite which is used to set parameters and adjust the Lexium 05 servodrive It is nonetheless possible to go without PowerSuite in certain cases by using the Lexium 05 front panel user interface see page 50 Versions The following table lists the hardware and software versions used in the architecture see page 23 enabling the use of MFBs in Unity Pro Hardware Softvare version used in the example Firmware Version Modicon M340 Unity Pro V5 0 Lexium 05 PowerSuite for Unity V5 0 V2 5 patch V2 2 0B V1 403 24 35013563 10 2014 Application Configuration Hardware Requirements References of the Hardware Used The following table lists the hardware used in the architecture see page 23 enabling implemen tation of Lexium 05 MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 2030 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 CANopen junction box between the VW3CANTAP2 Modicon M340 and Lexium 05 servodrive RJ45 programming cable with ACC2CRAAEF030 RS485 RS232 adapter between the junction box and servodrive Lexium 05 servodrive LXM05AD10M2 Lexium 05 motor BSH0551T NOTE The terminating resistor is integrated in the Lexium 05 35013563 10 2014 25 Application Configuration
99. project carry out the following actions Step Action 1 Activate the Save As command in the File menu 2 If necessary select the directory to which the project will be saved disk and path Enter the file name MFB_Lexium05 4 Confirm with Save Result the project is saved as MFB_Lexium05 STU Transferring the Project to the PLC You must carry out the following actions to transfer the current project to a PLC Step Action 1 Use the PLC Define the address command Enter SYS if you are using a USB media that is directly connected from the PC terminal to the PLC 2 Switch to online mode using the PLC gt Connection command 35013563 10 2014 67 Application Programming Step Action 3 Activate the PLC Transfer Project to PLC command Result the screen used to transfer the project between the terminal and the PLC is displayed Transfer Project to PLC PC Project Overwritten PLC Project Name invalid project Name Station Version Version 0 0 0 Last build Last build 05 04 02 15 40 07 Compatibility Transfer Cancel 4 Activate the Transfer command If the project has not been generated in advance the screen below will be displayed allowing you to generate it before the transfer Rebuild All then Transfer or interrupt the transfer Cancel Transfer Transfer Project to PLC Project is not
100. r Name Page 1 Foreword 15 2 Application Configuration 21 3 Application Programming 53 4 Application Debugging 69 5 Operating the Application 77 6 Application Maintenance 79 35013563 10 2014 Single Axis Application 14 35013563 10 2014 Chapter 1 Foreword Subject of this Chapter This chapter presents the specifications of the application as well as the methodology used in its development What Is in This Chapter This chapter contains the following topics Topic Page General 16 Availability of Blocks on the Various Servodrives 17 Methodology 19 35013563 10 2014 15 Foreword General Introduction The MFB using Unity Pro offer is a new motion control functionality Using the CANopen bus it provides you with simplified access to the basic functions on servodrives and variable speed drive VSD This functionality which may be accessed via the project browser allows you to e declare and configure axes in Unity Pro e create motion control variables e control the axes by using motion control elementary function blocks Specifications The purpose of the proposed application is to e manage the operating modes of a linear axis using a Lexium 05 type servodrive e move the axis to the home position carry out reversing movements or move the axis to various positions e provide the possibility of interrupting the motion in progress with a Stop command
101. rdware Requirements References of the Hardware Used The following table lists the hardware used in the architecture see page 161 enabling implemen tation of ATV 71 MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 2030 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 CANopen junction box VW3CANTAP2 between the Modicon M340 and ATV 71 servodrive RJ45 programming cable with ACC2CRAAEF030 RS485 RS232 adapter between the junction box and servodrive ATV 71 servodrive ATV71H075N2Z NOTE The terminating resistor is integrated in the junction box and must be ON 35013563 10 2014 163 ATV 71 for MFBs Section 13 2 CANopen Bus Configuration ATV 71 Configuration of the CANopen Slave ATV 71 on CANopen bus Overview The implementation methodology for a CANopen bus using Modicon M340 is to configure see page 31 the CANopen port of the CPU declarate the slave chosen from the hardware catalog see paragraph bellow configure the slave enable the configuration using Unity Pro check see page 35 the CANopen bus in the Project browser How to Configure the CANopen Slave This table describes the procedure to configure the CANopen slave Step Action 1 In the Unity Pro Project Browser fully expand the Configuration directory and then double click on CANopen Result The CANopen window appears HB CANopen E Bus Co
102. re Used The following table lists the hardware used in the architecture see page 177 enabling implemen tation of IcIA MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 2030 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 CANopen SUB D9 Way female connector TSX CAN KCDF 90TP bended at 90 additional SUB D9 Way connector to connect a PC on the bus CANopen preassembled cordset with TSX CAN CADD03 moulded female SUB D9 Way connectors at both end Dongle PCAN PS 2 for IclA Easy parallel to IPEH 002019 CAN converter CANopen cable TSX CAN CA50 IclIA servodrive IFS61 2 CAN DS I B54 0 001RPP41 NOTE The terminating resistor is integrated in the IclA and must be ON see page 183 35013563 10 2014 179 IclA for MFBs Section 14 2 CANopen Bus Configuration IclA Configuration of the CANopen Slave IclA on CANopen bus Overview The implementation methodology for a CANopen bus using Modicon M340 is to configure see page 31 the CANopen port of the CPU declarate the slave chosen from the hardware catalog see paragraph bellow configure the slave enable the configuration using Unity Pro check see page 35 the CANopen bus in the Project browser How to Configure the CANopen Slave This table describes the procedure to configure the CANopen slave Step Action 1 In the Unity Pro Project Browser fu
103. rface What Is in This Section This section contains the following topics Topic Page Configuring the ATV 71 in PowerSuite 168 Configuring the ATV 71 with the User Interface 171 35013563 10 2014 167 ATV 71 for MFBs Configuring the ATV 71 in PowerSuite Overview With PowerSuite users can define installed device bases and describe their associated configurations and communication settings PowerSuite then gives access to a group of actions for editing or transferring the configurations and for connecting to the devices PowerSuite s navigation principle associates a configuration interface with each device type making it possible to control tune and monitor them Connecting to the ATV 71 This table describes the procedure for connecting to the ATV 71 Step Action 1 Connect your PC on which PowerSuite for ATV 71 is installed to the RJ45 connector on the servodrive to be configured Start PowerSuite for ATV 71 Result the following start up screen is displayed PowerSuite File Action Display Tools Help J4P On f H Connections a My devices standardjen 168 35013563 10 2014 ATV 71 for MFBs Step Action 3 Choose Action and then Connect Result a text box is displayed 4 Type a project name ATV71_MFB and then click on OK Result a transfer confirmation window is displayed 5 Press Alt F to start transfer
104. ring data from the servodrive to the connected work station Basic ATV 71 Configuration This table describes the procedure for entering basic settings Step Action 1 Following a connection and transfer of the device s configurations PowerSuite displays a configuration screen in a new window that gives access to device control tuning and monitoring functions In the tree structure displayed choose Communication in the Communication directory Result the following window is displayed PowerSuite ATV71 ATV71 File Parameters Command Display Configuration Tools Bo Once ae Find Code W Code Short label Minimum value_ Maximum value Current value _ Default All parameters ADCO CANopen address OFF 127 Z OFF O Access level BDCO CANopen bit rate Baud rate 50kbps Baud rate 1Mbps Baud rate 500kbps 125KB O Input summary O Simply Start D Settings Control H O Inputs Outputs configuration O Command 6 Applicative functions O Fault management Communication 7O Comm scanner configuration 0 Modbus configuration 70 CANopen configuration D Forced local mode LSP HSP Command Rotation 0 0 0 1850 0 H State STOP Active Forward i jams Switch on disabled Inactive Reverse 5 Frequency reference Standard profile en Connected 35013563 10 2014 169 ATV 71 for MFBs Step Action 2 In the A
105. ructions must be followed Failure to use Schneider Electric software or approved software with our hardware products may result in injury harm or improper operating results Failure to observe this information can result in injury or equipment damage 2014 Schneider Electric All rights reserved 35013563 10 2014 Document Set Related Documents The following related documentation may be consulted Unity Pro Online Help MFB library on Unity Pro Online Help CD Documentation Lexium 15 delivered with the product CD Documentation Lexium 05 delivered with the product Unilink L for Lexium 15LP and Unilink MH for Lexium 15MP HP Online Help PowerSuite for ATV Online Help PowerSuite for Lexium 05 Online Help Lexium CT for Lexium 32 Online Help SoMove for ATV 32 Online Help 35013563 10 2014 35013563 10 2014 Table of Contents Safety Information 142 cceusieeadenRawne see se ane 9 About the Book 00 ee eee eee eee eens 11 Part Start up Guide for a Single Axis Application 13 Chapter 1 Foreword 222222 2c ee eee eee eee 15 General 343 262 eens eae Meter bales bean ee ea ee 16 Availability of Blocks on the Various Servodrives 17 Methodology e200 sce net oeaeeee edo es ethes tipi eee en eee 19 Chapter 2 Application Configuration 21 2 1 Hardware and Software Environments 0000005 22 Application Architecture with a Lex
106. ry out a diagnostic NOTE There is a more user friendly graphic display terminal for instance for diagnosing faults Interface Menu Structure The following graphic presents an overview of access to the interface s main menus Power up Displays the drive status lt LAC 35013563 10 2014 171 ATV 71 for MFBs Basic Settings The following table describes the procedure for entering basic settings CANopen address and speed with the interface Step Action 1 Press the ENT button on the interface Result the SET Setting menu is displayed on the interface s status indicator Press the Y button several times to access the COM menu Result the COM Communication menu is displayed on the interface s status indicator Press the ENT button on the interface Result the COAD CANopen Address submenu is displayed on the interface s status indicator Press ENT again Result a value corresponding to the device s CANopen address is displayed Press the V button to decrease or the O button to increase the CANopen address value Press ENT when the desired CANopen address is displayed 5 Result the value is confirmed and the COAD CANopen Address submenu is displayed again Press the Y button to access the COBD CANopen Baud submenu Press ENT Result a value corresponding to the device s CANopen speed is displayed Press the Y button to increas
107. s Illustration The following figure shows the architecture used in the application that includes an ATV 31 Unity Pro PowerSuite for ATV 31 Junction box 35013563 10 2014 131 ATV 31 for MFBs Software Requirements Overview As regards the software requirements presented in the quick start guide see page 13 PowerSuite is used for configuring and tuning the ATV 31 Powersuite for Lexium 05 enables tuning of the axis and guarantees a simple method for configuring the parameters of a Lexium 05 servodrive PowerSuite for ATV 31 does the same but for an ATV 31 servodrive It is possible to configure certain parameters withlout using PowerSuite by using the ATV 31 front panel user interface see page 147 Versions The following table lists the hardware and software versions used in the architecture see page 131 enabling the use of MFBs in Unity Pro Hardware Earliest version of software Version of firmware Modicon M340 Unity Pro V4 0 ATV 31 PowerSuite for ATV 31 V2 00 V1 7 Entry existing on Unity V3 1 new MFB profile for V4 0 NOTE ATV31 V1 7 is compatible with V1 2 functions 132 35013563 10 2014 ATV 31 for MFBs Hardware Requirements References of the Hardware Used The following table lists the hardware used in the architecture see page 131 enabling implemen tation of ATV 31 MFBs in Unity Pro Hardware Reference Modicon M
108. scribes the basic servodrive configurations using PowerSuite for Lexium 05 and the servodrive s front panel user interface What Is in This Section This section contains the following topics Topic Page Configuring the Lexium 05 in PowerSuite 47 Configuring the Lexium 05 with the User Interface 50 46 35013563 10 2014 Application Configuration Configuring the Lexium 05 in PowerSuite Overview With PowerSuite users can define installed device bases and describe their associated configurations and communication settings PowerSuite then gives access to a group of actions for editing or transferring the configurations and for connecting to the devices PowerSuite s navigation principle associates a configuration interface with each device type making it possible to control tune and monitor them NOTE The required signals i e LIMN LIMP REF must be wired or deactived by the tuning software Connecting to the Lexium 05 This table describes the procedure for connecting to the Lexium 05 Step Action 1 Connect your PC on which PowerSuite for Lexium 05 is installed to the RJ45 connector on the servodrive to be configured 2 Start PowerSuite for Lexium 05 Result the following start up screen is displayed PowerSuite File Action Display Tools Help 4f On f FF Connections My devices standardjen 35013563 10 2014 47 Application Configuration
109. se x 10 ms x lt Double click to delete signal from the list 104 35013563 10 2014 Lexium 32 for MFBs Tuning Tuning can only be started if the Access and Enable switches are set to On The Amplitude field is used to set the maximum amplitude of the reference value The offset of the amplitude in positive or negative direction can be set in the Offset field The duration of a period is set in the Period field The signal type for the reference value is set in the Signal dropdown list The controller to be used is set in the Type dropdown list The number of periods is specified in the Count field The maximum number of revolutions that can be triggered by tuning can be set in the Range field This value can for example help to avoid a movement to block e The auto start radio buttons allow you to link the execution of the tuning movement and the start of recording If the option is set to Off the software displays a Start button The Start button lets you trigger the tuning movement separately from starting the recording NOTE Settings that you may have made on the Trigger tab are lost if you set auto start to On Recording Trigger Reference Amplitude 0 1imn Offset fo 1 mn Period 50 ms Signal square symetric x Control Type Speed control x Count period Range 71 0 auto start Off On TUNE only possible
110. sions used in the architecture see page 109 enabling the use of MFBs in Unity Pro Device Software version used in the example Version of firmware Modicon M340 Unity Pro V4 0 Lexium 15LP Unilink V1 5 V1 45 only MFB Function V2 36 Managed by MTM Lexium 15MH Unilink V4 0 Compatible sInce V6 64 110 35013563 10 2014 Lexium 15MP HP LP for MFBs Hardware Requirements References of the Hardware Used The following table lists the hardware used in the architecture see page 109 enabling implemen tation of Lexium 15MP MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 2030 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 Lexium 15MP Servodrive LXM15MD28N4 Lexium 15MP connection TLA CD CBA eee cable to CANopen port of the PLC CANopen connector for AMO 2CA 001 V000 Lexium 15MP Motor for Lexium 15MP BPH055ee The following table lists the hardware used in the architecture see page 109 enabling implemen tation of Lexium 15LP MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 2030 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 Lexium 15LP Servodrive LXM15LD13M3 Lexium 15MP connection TLA CD CBA eee cable to CANopen port of the PLC CANopen connector for AMO 2CA 001 V000 Lexium 15LP Motor for Lexium 15LP AKM 31E NOTE the line
111. terminator is an interrupter built into the AMO 2CA 001 V000 CANopen connector 35013563 10 2014 111 Lexium 15MP HP LP for MFBs Section 10 2 CANopen Bus Configuration Lexium 15MP HP LP Configuration of the CANopen Slave on CANopen bus Overview The implementation methodology for a CANopen bus using Modicon M340 is to configure see page 31 the CANopen port of the CPU declarate the slave chosen from the hardware catalog see paragraph bellow configure the slave enable the configuration using Unity Pro check see page 35 the CANopen bus in the Project browser How to Configure the CANopen Slave This table describes the procedure to configure the CANopen slave Step Action 1 In the Unity Pro Project Browser fully expand the Configuration directory and then double click on CANopen Result The CANopen window appears E CANopen E Bus gt Connections configured 0 112 35013563 10 2014 Lexium 15MP HP LP for MFBs Step Action Select Edit New device Result The New Device window appears New Device Topological Address _ 4 63 Node ID Part Number Description ANopen drop Distributed 70s nr ee nea Altivar 31 CANopen Slave DSP40 uss 1E eds ATV31_V Altivar ANopen Slave DSP40 ans ds ATV31 V Altivar 31 CANopen Slave DSP402 TERWVSTITE ses 95o DEE AN LA TEATV31T13E eds Motion amp Die
112. the Settings File box is not checked default values of project settings are used Confirm by clicking OK The application inserts a rack and a power supply by default 35013563 10 2014 27 Application Configuration Master Task Configuration General The first operation you need to perform to create a program is to select the type of Tasks You are advised to program the servodrive movements using MFB blocks in the MAST task This task must be scanned at regular intervals CAUTION MFB BLOCKS UNEXPECTED BEHAVIOR Failure to follow these instructions can result in injury or equipment damage Do not mixe MAST and FAST tasks It is possible to use the FAST task to program the MFBs Configuration The following table describes the procedure for setting the parameters of the MAST task Step Action 1 In the Project Browser expand the Program directory The MAST directory is displayed Right click on the MAST directory and then execute the Properties command in the contextual menu Click on Properties and the following dialog box appears MAST Properties General _Comment Name Configuration MAST E fe Periodic Period 20 H ms Cyclic i Watch Dog 250 ms OK Cancel Apply Help 4 Select the Periodic type of scanning 5 Set the task period to 20 6 Set the Watchdog value which must be great
113. tion block the vesrsion is tested 5 in the Variables Name tab enter a name forthe Axis_Ref type variable linked to the servodrive a name for the Can_Handler type variable linked to the servodrive In this tab the Axis_Z is configured as follows Project Browser Ta Structurial view 6 Station i Configuration h Derived Data Types y Derived FB Types 3 Variables amp FB instances g Motion i Communication Program Animation Tables Operator Screens Ra Documentation Er pepp E General Axis parameters Variables name Axis reference variable name Axis_Ref_Z CANopen handler variable name Can_Handler_Z 40 35013563 10 2014 Application Configuration Step Action Click on OK to confirm the selections Right click on the Recipe_0 sub directory and then select Properties in the contextual menu It is then possible to modify the recipe and parameter variables created by default when creating the axis Notes Tick the Initial Values saving Enabled checkbox allows to include the recipe in the application This functionality is available for M340 V2 0 or later firmware versions see the recipe variable see page 42 In this window the variables for the Axis_Z are named by default as follows Project Browser ts Structurial view GY Station 4 G3 Configuration 4 9 Derived Data Types Derived FB Types a
114. tion box 2 SoMove 35013563 10 2014 147 ATV 32 for MFBs Software Requirements Overview As regards the software requirements presented in the quick start guide see page 13 SoMove is used for configuring and tuning the ATV 32 PowerSuite for Lexium 05 enables a simple method for configuring the parameters of a Lexium 05 servodrive SoMove does the same for an ATV 32 servodrive Without using SoMove it is possible for certain parameters to be configured by using the ATV 32 front panel the user interface see page 157 NOTE ATV 32 servodrive does not support the torque operating mode Versions The following table lists the hardware and software versions used in the architecture see page 147 enabling the use of MFBs in Unity Pro Hardware Earliest version of software Version of firmware Modicon M340 Unity Pro V6 0 or higher ATV 32 SoMove V1 2 148 35013563 10 2014 ATV 32 for MFBs Hardware Requirements References of the Hardware Used The following table lists the hardware used in the architecture see page 147 enabling implemen tation of ATV 32 MFBs in Unity Pro Hardware Reference Modicon M340 PLC BMX P34 2030 Modicon M340 power supply BMX CPS 2000 Modicon M340 rack BMX XBP 0800 CANopen junction box VW3CANTAP2 between the Modicon M340 and ATV 32 servodrive PC connection kit VW3A8106 ATV 32 servodrive ATV32 eeccee NOTE
115. to Lexium 05 command functions Speed control mode _p_refusr 1066883 usr Command Di State HALT inactive _p_actusr 1066883 usr O Adive prl A Ready Ie Faut 0x0000 href 0 1min Inactive Local access In act 0 1min Tes sp Reseni DEVerndinter CANOpen _Idg_act 0 03 Apk Standard profile en Connected 3 Place the Command zone cursor on Active 4 Place the Enable zone cursor on On 5 Click the Reset button to clear any problems 6 Click the Test Run button 7 Enter the value 0 1 in the CUR_I_target zone 8 Place the CURref zone cursor on On Result the motor runs and the sub window is animated Current control mode _p_refusr 59241111 usr Command CURref Min Max H Power Enabled HALT inactive _p_actusr 11997039 usr i A 990 popeo ES E Op Enable S Faut 0x0000 nret 0 timin Inactive Exclusive Powersuite n_act 1772 1min CUR Iire MEM DEVemdinter CANOpen Idq_act 0 05 Apk Standard profile len Connected 9 Place the Command zone cursor on Inactive once tuning has been finalized 70 35013563 10 2014 Application Debugging Using Data via the Animation Tables At a Glance The animation table is the Unity Pro basic tool for viewing and forcing the status of variables NOTE Unity Pro also offers a graphic tool called Operator Screens which is designed to facilitate use of the application see page 75 An animation table is divided into 3 areas that include e the Mode area e the Command area e the Display
116. to rotate the axis again and complete the movement e set the variable Cmd_ Stop Zz to 0 e set the variable cmd Mvt_zto1 Result the axis starts to rotate again and completes its movement 74 35013563 10 2014 Application Debugging Using Data via the Operator Screens At a Glance When a project is created without input cards output cards or supervision the Unity Pro operator screen associated with unlocated bits and words allows to carry out initial debugging of the program In the tutorial example the operator screen is used to e view data from the servodrives e send commands to the servodrives Representation The representation below symbolizes the operating example which is used to control the axis and indicate the variables to be assigned to the objects push button LED and text Axis_OK Position Speed AXIS_Z Text Text A Velocity_Z Position_Z Commands Run o a cmd_Run_Z Reset oe lt J __ Cmd_Reset_Z Home ce a Cmd_Home_Z Motion a Cmd_Mvt_Z Stop a p cmd_Stop_Z UpLoad Z a w Cmd_Upload_Z DownLoad Z lt Cmd_Download_zZ 35013563 10 2014 75 Application Debugging 76 35013563 10 2014 Chapter 5 Operating the Application Management of the Recipes At a Glance The TE_UPLOADDRIVEPARAM see Unity Pro Motion Function Blocks Block Library and TE_DOWNLOADDRIVEPARAM see Unity Pro Motion Function Blocks
117. um 32 This table describes the procedure for connecting to Lexium 32 Step Action 1 Start Lexium CT Click on Connection and then select ModbusSerialLine connection connection The Connection window is displayed Connection Serial interface Connection supervision COM Port com zj De activate E Baudrate 19200 x Value in seconds 5 Parameter xl E don t show again Protocol Modbus Point to Point v OK J Abbrechen J Select the COM Port Validate by OK The following screen appears Loading configuration Schneider Electric 3606480076831 P091200V003401 iT CO 98 35013563 10 2014 Lexium 32 for MFBs Step Action When configuration has been established this general screen appears s a Lexium 32 Q All parameter F O Simply start 0 Basic configuration n Pulse control n Position control 0 EMI O functions O parameters External braking resistor Holding brake Encoder simulation ESIM HMI Reference and limit switches Position scaling f Profile generator Supervision Q Power amplifier Q Name Settings r O Regulation loop f Regulation loop 1 Q Regulation loop 2 7 Limitations Standstill EO Motion Motion Sequence config i r Q Electronic gear Q Homing Jog EO Communication Q Drivecom O CANopen 1 Modbus tQ DeviceNet I Datasheet internal braking resist
118. uring the ATV 32 Aim of this Section This section describes the basic servodrive configurations using SoMove and the servodrive s front panel user interface What Is in This Section This section contains the following topics Topic Page Configuring the ATV 32 with SoMove 154 Configuring the ATV 32 with the User Interface 157 35013563 10 2014 153 ATV 32 for MFBs Configuring the ATV 32 with SoMove Overview With SoMove users can define installed device bases and describe their associated configurations and communication settings SoMove then gives access to a group of actions for editing or transferring the configurations and for connecting to the devices The SoMove navigation principle associates a configuration interface with each device type making it possible to control tune and monitor them Connecting to the ATV 32 This table describes the procedure for connecting to the ATV 32 Step Action 1 Connect your PC that has SoMove for ATV 32 installed to the RJ45 connector on the servodrive to be configured 2 Start SoMove Result The following start up screen is displayed E SoMove Lite SoMove Lite Build 1 1 11 1 Welcome to SoMove Lite V1 11 In a search for delivering improved software and always looking for friendly user interface we listened closely to your request It is time to share our new software tool Developed in collaboration with our ergonomics team t
119. vice This block uses the two variables that belong to the axis directory The Can Handler _2Z variable must be used as instance and the Axis Ref_Z variable must be assigned to the block s AXIS input parameter Inserting and Instantiating a Block This table describes the procedure for inserting and select the instance of a block in a program section Step Action 1 Right click in an empty field in the FBD section to display the contextual menu 2 Execute the FFB Input Assistant command in the contextual menu Result The Function Input Assistant opens Click on the icon on the FFB Type line Result the FFB Type Selection window opens Expand Libraries MotionFunctionBlock and click on MFB Result all of the blocks from the MotionFunctionBlock library are displayed on the right hand side of the FFB Type Selection window Select the CAN_ HANDLER block and confirm your choice by clicking on OK Result The FFB Input Assistant window is displayed set up by the CAN_HANDLER block Click on the icon on the Instance line Result the FB Instance Selection window opens 35013563 10 2014 57 Application Programming Step Action 7 Select the Can Handler _Z instance and confirm your choice by clicking on OK Result The Can Handler Z variable is displayed in the Inst
120. vice function with a Lexium 15MH Step Action 1 On the field Service select one of the service functions see page 127 described below Click on the Parameters button Set the corresponding parameter Then start the function by using the Start button aJ AJOIN The function will continue to be performed until you click on the Stop button or press the function key F9 lllustration for Lexium 15LP The screen below can be accessed by clicking the folder Oscilloscope on the Unilink L browser s paria 0 100 0 200 0 300 0 400 Zeit K 4 nist K 1 n_sol K 1 nist K 1 n_VBUS Channels rigger Recording Scope Files Motion Service Tuning Resolution Chanel 1 v_cmd x M Auto scale Auto Svaling Mode normal z Chanel 2 v_act x M Auto scale Auto Svaling Mode Time Div Chanel 3 1_cmd x M Auto scale Auto Svaling Mode 100 ms z Restore Chanel 4 _act x M Auto scale Auto Svaling Mode Oscillo 126 35013563 10 2014 Lexium 15MP HP LP for MFBs How to start service for Lexium 15LP The table below explains how to use a service function with a Lexium 15LP Step Action 1 Click on the Motion Services tab Select one of the service functions see page 127 described below Click on the Parameters button Set the corresponding parameter Then start the function by using the Start button
121. y In Advance We recommend tuning the axis kinematic before the program automatically starts it Tuning Example The following table gives an example of kinematic tuning Step Action 1 Connect see page 186 to the IclA 2 The following figure shows part of the new window This lower window provides access to IclA command functions Enable g BOWER Fault On Bee Connected CAN Adresse 6 Baudrate 500kBit s Click the Reset button to clear any problems 4 Place the Enable zone cursor on ON Choose the command Functions Operating modes Result Operating modes windows is displayed 35013563 10 2014 189 IclA for MFBs Step Action 6 Choose the Speed mode tab Enter the value 200 in the Setpoint value zone Result the motor runs and the sub window is animated Icla Easy File Edit Connection Parameter Functions Diagnose Windows 7 eel esol col cis ss 2 kalale Operating Modes jagi ointto point Speed mode Homing Manual Movement Setpoint Value 200 rpm v 0 11000 Actual values Operation Voltage Y Speed mode Temperature 44 Deg Celsius error xer Motor current 16 4 _ endend Speed 192 rpm _ warning active Position 1255571 Increment _ referenced ref_ok Enable Fault On POWER DISAB_ED Of 610p Enable Connected CAN Adresse 6 Baudrate 500KBitls 7 Place the Enable zone curs

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