Programming Manual Easy Motion V 1.00

Programming Manual Easy Motion V 1.00
Easy Motion
Programming Manual
Retain for future use
V 1.00 April 2007
Table of Contents
Important information _________________________________________________________________________________________ 4
Documentation structure_______________________________________________________________________________________ 5
General organization of the screen_______________________________________________________________________________ 6
Organization of the screen __________________________________________________________________________________ 6
Configuring the devices _______________________________________________________________________________________ 7
Configuring the controller ___________________________________________________________________________________ 8
Configuring the axes_______________________________________________________________________________________ 8
Manual mode ______________________________________________________________________________________________
General organization of the screen___________________________________________________________________________
Central supervision screen _________________________________________________________________________________
Toolbar ________________________________________________________________________________________________
Teaching positions - "Teach" button __________________________________________________________________________
14
14
15
16
17
Motion task editor ___________________________________________________________________________________________
General organization of the screen___________________________________________________________________________
Toolbar ________________________________________________________________________________________________
List of accessible function blocks ____________________________________________________________________________
Function block editing area_________________________________________________________________________________
The motion sequence _____________________________________________________________________________________
Storing and restoring data _________________________________________________________________________________
Function blocks__________________________________________________________________________________________
Administrative commands__________________________________________________________________________________
Multi-axis positioning _____________________________________________________________________________________
Application function blocks _________________________________________________________________________________
Logic commands_________________________________________________________________________________________
Execution rules __________________________________________________________________________________________
18
18
18
19
19
20
20
21
42
44
51
54
61
Automatic mode ____________________________________________________________________________________________
Central supervision screen _________________________________________________________________________________
Control panel ___________________________________________________________________________________________
Motion sequence ________________________________________________________________________________________
Toolbar ________________________________________________________________________________________________
"Cycle Time" supervision window ____________________________________________________________________________
75
76
76
77
77
78
Trace function ______________________________________________________________________________________________ 79
Mains contactor operation ____________________________________________________________________________________ 80
Scaling ___________________________________________________________________________________________________ 82
Error management __________________________________________________________________________________________ 83
Application Template parameter table ___________________________________________________________________________ 86
Axis module interface _____________________________________________________________________________________ 91
Interface Master encoder __________________________________________________________________________________ 94
Axis parameters _________________________________________________________________________________________ 95
Master encoder parameters ________________________________________________________________________________ 96
Servo drives configuration _________________________________________________________________________________ 96
Teach Position Table _____________________________________________________________________________________ 97
Active Errors parameters list________________________________________________________________________________ 97
Logged Errors parameters list ______________________________________________________________________________ 98
Cam Profile parameters ___________________________________________________________________________________ 99
Motion Task table parameters _____________________________________________________________________________ 100
Flying Shear and Rotary Knife parameters____________________________________________________________________ 102
While every precaution has been taken in the preparation of this document, Schneider
Electric SA assumes no liability for any omissions or errors it may contain, nor for any
damages resulting from the application or use of the information herein.
The products and options described in this document may be changed or modified at
any time, either from a technical point of view or in the way they are operated. Their
description can in no way be considered contractual.
3
Important information
PLEASE NOTE
Please read these instructions carefully and examine the equipment in order to familiarize yourself with the device before installing,
operating or carrying out any maintenance work on it.
The following special messages that you will come across in this document or on the device are designed to warn you about potential risks
or draw your attention to information that will clarify or simplify a procedure.
The addition of this symbol to a "Danger" or "Warning" safety label indicates that there is an electrical risk that will result
in injury if the instructions are not followed.
This is a safety warning symbol. It warns you of the potential risk of injury. You must comply with all safety messages that
follow this symbol in order to avoid the risk of injury or death.
DANGER
DANGER indicates an imminently hazardous situation which, if not avoided, will result in death, serious injury or equipment
damage.
WARNING
WARNING indicates a potentially hazardous situation which, if not avoided, can result in death, serious injury or equipment
damage.
CAUTION
CAUTION indicates a potentially hazardous situation which, if not avoided, can result in injury or equipment damage.
PLEASE NOTE:
Only qualified staff are authorized to carry out maintenance work on electrical equipment. Schneider Electric accepts no responsibility for
the consequences of using this device. This document does not constitute an instruction manual for inexperienced people.
© 2006 Schneider Electric. All rights reserved.
4
Documentation structure
Installation Manual
This manual describes:
• How to install the controller
• How to connect the controller
Optional Keypad User's Manual
This manual describes:
• How to install the keypad
• How to connect the keypad
• How to program the controller via the keypad
Easy Motion - Programming Manual
Supplied preinstalled in the Lexium Controller, the application model associated with Easy Motion mode is a user-friendly tool that can be
used for:
• Rapid axis configuration
• Use of Manual/Automatic mode
• Creating positioning tasks
• Editing cam profiles
• Backup and recovery of the machine parameters
• Diagnostics of the motion controller and the various axes
This programming manual also contains a table of the parameters that can be accessed via the communication protocols.
Motion Pro - Programming Manual
The Motion Pro Programming Manual is included in the software online help.
This online help describes:
• The software interface
• IEC 1131 programming
• The function libraries (standard functions, motion control functions, application functions)
• The Lexium Controller configuration screens
Modbus, Ethernet, Profibus DP, and DeviceNet manuals
These manuals describe:
• Connection to the bus or network
• Diagnostics
• Software setup
• The protocol communication services
5
General organization of the screen
Organization of the screen
Easy Motion is organized into five different modes.
• Configuration (see page 7)
• Manual mode (see page 14)
• Motion task editor (see page 18)
• Automatic mode (see page 75)
• Error display (see page 83)
Each of these modes has its own screen. These screens are described in detail in this manual. However they all follow the same general
organizational rule.
Each screen can be divided into 6 parts:
2
1
3
6
4
5
1 Navigation bar: This is present in all modes. It is used to switch from one mode to another. It can contain additional buttons, depending
on the mode used.
2 Toolbar: This is specific to each mode. It contains the buttons required for launching functions specific to the mode being used.
3 Central screen: This is used for supervising the axes or editing the motion sequence.
4 Dropdown menu: This contains information used for editing the motion sequence.
5 Status bar: This shows active errors (with their numbers) and a short version of the message describing them (see page 83).
6 Status buttons:
• "Main Power" : control of the mains contactor (see page 80).
• "Error Reset" : acknowledgement of errors (see page 83).
6
Configuring the devices
The parameters required for configuration can be found in the "Configuration mode" screen which can be accessed at any time by clicking
the "Config" button located on the left of the Easy Motion graphic interface. Click "Conf Enable" then "Edit Par" to access selection of the
various devices.
When the "Configuration Mode" screen is opened, if no modifications have been made to the parameters for the time being, it only shows
the general navigation bar (on the left of the screen) and the toolbar specific to this screen. This bar consists of 3 main buttons (Upload,
Download and Edit Par) and three masked buttons (Read Par, Write Par and Save Par). The masked buttons only appear if the Edit Par
button is selected.
Description of the functions connected with the buttons:
• Upload: Used to read each of the configuration parameters of the servo drives connected to the Lexium Controller on the Motion bus.
These parameters are then saved to the controller's non-volatile memory. This function is used to save a given configuration.
• Download: Used to restore a configuration saved to the servo drives connected to the Lexium Controller on the Motion bus. This function
is used for the immediate transfer of the configuration parameters from the servo drives, necessary during a maintenance operation or
duplication of a machine.
• Edit Par: Opens the exhaustive list of the axis configuration parameters. This list of parameters is detailed in the next section, List of
configuration parameters (see page 9). This button also enables access to the extended function buttons in the configuration toolbar.
• Read Par: Used to read previously saved data.
• Write Par: Used to write modified data.
• Save Drive: Used to save these parameters to the servo drive's non-volatile memory.
Note : You must have performed a "Write Par" before you can use "Save Drive".
7
Configuring the devices
Configuring the controller
This is the first step in the configuration. To open the Lexium Controller configuration menu click on the "LMC Par" button on the left of the
screen, in the navigation bar.
Activating this button opens a special window for configuring 8 parameters:
- "Project Name": Enter the name of the project being created.
- "Number of Axis in Project": Enter the number of real axes used in the project.
Note : When the number of axis is modified, it is compulsory to reset the Lexium Controller.
- "OnlyLexium05" allows ("True") or prohibits ("False") indication that the connected servo drives are only Lexium 05 type. This allows
you to skip the Lexium 15 initialization wait phase, which takes several seconds.
- "Display encoder": This option allows ("True") or prohibits ("False") display of the external encoder parameters.
- "Display VirtAxis": This option allows ("True") or prohibits ("False") display of the virtual axis parameters.
- The "IP Address" of the Lexium controller: This address consists of 4 fields to be filled in one after the other.
Note : The Lexium controller must be restarted for the new address to be taken into account.
- The "IP Mask" subnet mask: This mask also consists of 4 fields to be filled in one after the other.
- The "Modbus Address" of the Lexium controller: Used to display and modify the Modbus address.
- The Modbus "Modbus Baudrate" or transmission speed: Used to modify the Modbus transmission speed.
- The address of the optional fieldbus, "Fieldbus Address": Used to display the address configured using DeviceNet or Profibus DP.
- The "Date" and "Time": These two fields are used to adjust the internal clock of the Lexium Controller.
- The "Firmware version" of the controller. Used to display the software version of the Lexium Controller.
Configuring the axes
Before starting programming the motion tasks in the Lexium Controller, the servo drives connected to the controller must be configured one
at a time.
- The servo drive CANopen addresses must correspond to the order of the axes configured on Easy Motion (between 1 and 8)
- The CANopen data rate must correspond to that configured on the Lexium Controller (1 Mbps by default on Easy Motion)
The Lexium Controller can control three types of axis on the Motion Bus:
- Real axes: Up to 8 axes synchronized axes
- Virtual axes: 1 axis with the Easy Motion offer
- A master encoder axis
To open the axis configuration menu, click on the "Axis Par" button located on the left of the screen, in the navigation bar
8
Configuring the devices
List of parameters
Real axes
Item
Detailed description
Access
Unit
Minimum
Maximum
Default
R/W
-
1
10
-
R/W
-
-
-
-
Used to choose between a rotary axis or a linear
axis.
Rotary: A rotary axis has unlimited travel. The
negative [Soft limit neg.] and positive [Soft limit
pos.] limit positions are not active in this case.
Linear: A linear axis is one whose range of travel
Rotary/Linear
is limited by the positions of negative [Soft limit
neg.] and positive [Soft limit pos.] software limits.
A linear axis performs absolute and relative
movements within movement limits that are
defined by software limits. A reference point must
be defined.
R/W
-
0 = Rotary
1 = Linear
0
Modulo
Used to set the rollover parameters of an axis.
When a value other than zero is entered, the axis
becomes a rollover axis. The Modulo parameter
is used to define the position interval traveled by
the axis in one turn. This type of axis requires a
referencing movement.
Note: This parameter is only active for a rotary
axis.
R/W
User unit/
turn (1)
0
999999
360
Soft Limit
Enable
Used to activate or deactivate the software limit
that defines a minimum or maximum limit
position. When the axis is linear and [Soft Limit
Enable] = 1 the range of travel of the axis is
limited by the negative [Soft limit neg.] and
positive [Soft limit pos.] software limit positions.
R/W
-
0 = Deactivated
1 = Activated
0
Used to define a maximum software limit position
for a linear axis. When the axis is linear and [Soft
Soft Limit Pos Limit Enable] = 1 the range of travel of the axis is
limited by the negative [Soft limit neg.] and
positive [Soft limit pos.] software limit positions.
R/W
User unit (1)
-999999
999999
0
Used to define a minimum software limit position
for a linear axis. When the axis is linear and [Soft
Soft Limit Neg Limit Enable] = 1 the range of travel of the axis is
limited by the negative [Soft limit neg.] and
positive [Soft limit pos.] software limit positions.
R/W
User unit (1)
-999999
999999
0
Ramp Type
Trapezoid: The servo drive is subject to constant
linear acceleration/deceleration until the target
velocity is reached.
Sinus²: To reduce jolts, the servo drive is
accelerated/decelerated according to a
continuous acceleration ramp. The resulting
velocity characteristic corresponds to a
sinusoidal² curve.
R/W
-
0 = Trapezoid
1 = Sinus²
0
User Unit
Numerator
This parameter is used to configure the
numerator of the scaling factor for the position,
velocity and acceleration values.
An explanation of how this scaling works is given
page 82
R/W
-
-32768
32768
45
Parameter of Designates the axis whose parameters are being
axis
displayed or modified.
Axis Name
Used to name an axis. This field is free format,
maximum 10 characters. The name entered
appears on the axis display (see page 15).
(1) The user units depend on the scaling performed with the [User Unit Numerator] and [User Unit Denominator] parameters.
9
Configuring the devices
Item
Detailed description
Access
Unit
Minimum
Maximum
Default
This parameter is used to configure the
denominator of the scaling factor for the position,
User Unit
velocity and acceleration values.
Denominator
An explanation of how this scaling works is given
page 82
R/W
-
1
2147483647
16384
Definition of the type of homing to be performed.
The default value depends on the servo drive
Homing Mode
used:
(1)
Lexium 05 range: Positive limit.
Lexium 15 range: Immediate homing.
R/W
-
1
35
18
Defines the Homing Speed.
Lexium 05 parameter: HMn
Homing Speed
Lexium 15 parameter: Vref
(1)
Note: Please refer to the servo drive
documentation for more detailed information.
R/W
-
1
13200
60
-
Lexium 05: 1
Lexium 15 LP:
0.001
Lexium 15 MP/
HP: 0
Lexium 05:
12700
Lexium 15 LP:
369.2
Lexium 15 MP/
HP: 62500
Lexium 05: Lexium 15 LP:
0.001
Lexium 15 MP/
HP: -
ms
Lexium 05: 1
Lexium 15 LP:
0
Lexium 15 MP/
HP: 0
Lexium 05:
32767
Lexium 15 LP:
1000
Lexium 15 MP/
HP: 1000
Lexium 05: Lexium 15 LP:
0
Lexium 15 MP/
HP: 0
Lexium 05:
4950
Lexium 15 LP:
1000
Lexium 15 MP/
HP: 25
Lexium 05:
495
Lexium 15 LP:
1000
Lexium 15 MP/
HP: 25
KPn
(1)
Adjustment of the servo drive velocity loop
proportional gain.
Lexium 05 parameter: KPn
Lexium 15 parameter: Kp_V
Note: Please refer to the servo drive
documentation for more detailed information.
TNn
(1)
Adjustment of the servo drive velocity loop
integral time.
Lexium 05 parameter: TNn
Lexium 15 parameter: Tn_v
Note: Please refer to the servo drive
documentation for more detailed information.
KPp
(1)
Adjustment of the servo drive position loop
proportional gain.
Lexium 05 parameter: KPp
Lexium 15 parameter: Kp_p
Note: Please refer to the servo drive
documentation for more detailed information.
R/W
-
Lexium 05: 20
Lexium 15 LP:
0.1
Lexium 15 MP/
HP: 0.001
Motor
feedback
(1)
This parameter is used to define the type of
feedback sensor used on your axis, the
parameters of the servo drive, and the method for
calculating certain predefined adjustment
coefficients.
Note: This parameter is only active when the
servo drive configured on this axis is a Lexium 15.
Lexium 15 parameter: FBTYPE
Note: Only perform this modification if the servo
drive is deactivated. Then reinitialize the servo
drive.
0 Resolver
1SinCos 5V
2 HIPERFACE®
Note: Please refer to the Lexium 15 servo drive
documentation for more detailed information.
R/W
-
0
16
0
VelFeedFor
(1)
Determines the position controller predictive
control factor. Predictive control is used to reduce
the task of the servo drive position controller.
Better adjustment of this factor also makes for
easier use of the dynamic range of the servo
drive position controller. The most favorable
setting (in general 1.0) depends on factors
external to the servo drive such as friction,
dynamic resistance and rigidity.
Lexium 5 parameter: CTRL_KFPp
Lexium 15 parameter: GPFFV
Note: Please refer to the servo drive
documentation for more detailed information.
R/W
-
Lexium 05: 0
Lexium 15 LP:
0
Lexium 15 MP/
HP: 0
Lexium 05: 110
Lexium 15 LP:
1000
Lexium 15 MP/
HP: 50
Lexium 05: Lexium 15 LP:
1
Lexium 15 MP/
HP: 1
R/W
R/W
Drive
(1)
Type of servo drive
R/-
-
-
-
-
CRC
Used to calculate a checksum
R/-
-
-
-
-
(1) This parameter will be configurable on Lexium 15 only with futur versions of Lexium Controller.
10
Configuring the devices
Virtual axes
Item
Detailed description
Access
Unit
Minimum
Maximum
Default
R/W
-
1
10
-
R/W
-
-
-
-
Used to choose between a rotary axis or a linear
axis.
Rotary: A rotary axis has unlimited travel. The
negative [Soft limit neg.] and positive [Soft limit
pos.] limit positions are not active in this case.
Rotary/Linear Linear: A linear axis is one whose range of travel
is limited by the positions of negative [Soft limit
neg.] and positive [Soft limit pos.] software limits.
A linear axis performs absolute and relative
movements within movement limits that are
defined by software limits. A reference point must
be defined.
R/W
-
0 = Rotary
1 = Linear
0
Modulo
Used to set the rollover parameters of an axis.
When a value other than zero is entered, the axis
becomes a rollover axis. The Modulo parameter
is used to define the position interval traveled by
the axis in one turn. This type of axis requires a
referencing movement.
Note: This parameter is only active for a rotary
axis.
R/W
User unit/
turn (1)
0
999999
360
Soft Limit
Enable
Used to activate or deactivate the software limit
that defines a minimum or maximum limit
position. When the axis is linear and [Soft Limit
Enable] = 1 the range of travel of the axis is
limited by the negative [Soft limit neg.] and
positive [Soft limit pos.] software limit positions.
R/W
-
0 = Deactivated
1 = Activated
0
Used to define a maximum software limit position
for a linear axis. When the axis is linear and [Soft
Soft Limit Pos Limit Enable] = 1 the range of travel of the axis is
limited by the negative [Soft limit neg.] and
positive [Soft limit pos.] software limit positions.
R/W
User unit
(1)
-999999
999999
0
Used to define a minimum software limit position
for a linear axis. When the axis is linear and [Soft
Soft Limit Neg Limit Enable] = 1 the range of travel of the axis is
limited by the negative [Soft limit neg.] and
positive [Soft limit pos.] software limit positions.
R/W
User unit
(1)
-999999
999999
0
Ramp Type
Trapezoid: The servo drive is subject to constant
linear acceleration/deceleration until the target
velocity is reached.
Sinus²: To reduce jolts, the servo drive is
accelerated/decelerated according to a
continuous acceleration ramp. The resulting
velocity characteristic corresponds to a
sinusoidal² curve.
R/W
-
0 = Trapezoid
1 = Sinus²
0
User Unit
Numerator
This parameter is used to configure the
numerator of the scaling factor for the position,
velocity and acceleration values.
An explanation of how this scaling works is given
page 82
R/W
-
-32768
32768
45
This parameter is used to configure the
denominator of the scaling factor for the position,
User Unit
velocity and acceleration values.
Denominator
An explanation of how this scaling works is given
page 82
R/W
-
1
2147483647
16384
R/-
-
-
-
-
Parameter of Designates the axis whose parameters are being
axis
displayed or modified.
Axis Name
CRC
Used to name an axis. This field is free format,
maximum 10 characters. The name entered
appears on the axis display (see page 15).
Used to calculate a checksum
(1) The user units depend on the scaling performed with the [User Unit Numerator] and [User Unit Denominator] parameters.
11
Configuring the devices
External encoder
Item
Detailed description
Access
Unit
Minimum
Maximum
Default
R/W
-
1
10
-
R/W
-
-
-
-
Used to select the type of encoder.
Encoder type INC: Incremental encoder
SSI: SSI encoder
R/W
-
0 : Incremental
1 : SSI
-
Used to choose between a rotary axis or a linear
axis.
Rotary: A rotary axis has unlimited travel. The
negative [Soft limit neg.] and positive [Soft limit
pos.] limit positions are not active in this case.
Linear: A linear axis is one whose range of travel
Rotary/Linear
is limited by the positions of negative [Soft limit
neg.] and positive [Soft limit pos.] software limits.
A linear axis performs absolute and relative
movements within movement limits that are
defined by software limits. A reference point must
be defined.
R/W
-
0 = Rotary
1 = Linear
0
Modulo
Used to set the rollover parameters of an axis.
When a value other than zero is entered, the axis
becomes a rollover axis. The Modulo parameter
is used to define the position interval traveled by
the axis in one turn. This type of axis requires a
referencing movement. Note: This parameter is
only active for a rotary axis.
R/W
User unit/
turn (1)
0
999999
360
Soft Limit
Enable
Used to activate or deactivate the software limit
that defines a minimum or maximum limit
position. When the axis is linear and [Soft Limit
Enable] = 1 the range of travel of the axis is
limited by the negative [Soft limit neg.] and
positive [Soft limit pos.] software limit positions.
R/W
-
0 = Deactivated
1 = Activated
0
Used to define a minimum software limit position
for a linear axis. When the axis is linear and [Soft
Soft Limit Pos Limit Enable] = 1 the range of travel of the axis is
limited by the negative [Soft limit neg.] and
positive [Soft limit pos.] software limit positions.
R/W
User unit
(1)
-999999
999999
0
Used to define a maximum software limit position
for a linear axis. When the axis is linear and [Soft
Soft Limit Neg Limit Enable] = 1 the range of travel of the axis is
limited by the negative [Soft limit neg.] and
positive [Soft limit pos.] software limit positions.
R/W
User unit
(1)
-999999
999999
0
Parameter of Designates the axis whose parameters are being
axis
displayed or modified.
Axis Name
Used to name an axis. This field is free format,
maximum 10 characters. The name entered
appears on the axis display.
(1) The user units depend on the scaling performed with the [User Unit Numerator] and [User Unit Denominator] parameters.
12
Configuring the devices
Item
Detailed description
Access
Unit
Minimum
Maximum
Default
User Unit
Numerator
This parameter is used to configure the
numerator of the scaling factor for the position,
velocity and acceleration values.
An explanation of how this scaling works is given
page 82
R/W
-
-32768
32768
-
User Unit
Denominator
This parameter is used to configure the
denominator of the scaling factor for the position,
velocity and acceleration values.
An explanation of how this scaling works is given
page 82
R/W
-
1
2147483647
-
Used to select the type of code used for the
encoder:
BIN: Binary code
GRAY: Gray code
Note: This parameter is only active when
Encoder type = SSI.
R/W
-
0 = BIN
1= GRAY
-
Number of frame bits for the position in the turn.
SsiSingleTurnBits Note: This parameter is only active when
[Encoder type] = [SSI].
R/W
-
-
-
0
Number of frame bits for the turn number.
SsiMultiTurnBits Note: This parameter is only active when
[Encoder type] = [SSI].
R/W
-
-
-
0
HeaderBits
Number of header bits.
0: No header bits
Note: This parameter is only active when
[Encoder type] = [SSI].
R/W
-
0
4
0
StatusBits
Number of frame bits for the status.
Note: This parameter is only active when
[Encoder type] = [SSI].
R/W
-
0
3
0
Parity
Used to activate or deactivate the odd or even
parity bit.
0: No header bits
1: Even parity bit
2: Odd parity bit
Note: This parameter is only active when
[Encoder type] = [SSI].
R/W
-
0
2
0
CRC
Used to calculate a checksum
R/-
-
-
-
-
Code
13
Manual mode
Manual mode is used for individual control of each of the axes connected to the Lexium Controller.
General organization of the screen
2
3
1
The manual mode screen consists of four sections.
1 A central screen for supervising all the connected axes and selecting the active axis.
2 The control bar at the top of the screen.
3 The navigation bar with the addition of the "Teach" button.
4 The table of positions stored via the teach function.
14
4
Manual mode
Central supervision screen
Display of the real axes:
The central supervision screen displays each of the real axes connected to the Lexium Controller. The axes are represented by the following
visual:
• "Select" button: In this mode only one axis can be active at a time. This axis is activated by clicking on the "Select" button.
• Representation of the motor shaft: Gives the position of the axis in the turn in real time.
• "Pos" field: Gives the absolute position of the axis in real time.
• "Vel" field: Gives the current velocity of the axis.
• Servo drive status field: Gives the PLC open status diagram status (see page 23) of the axis in real time.
• Active error field: Gives the last active error on the axis in real time.
Not more than 4 real axes can be displayed at the same time.
When more than 4 axes are created, click on "Axis 5-8" to display the other axes.
Display of the virtual axis:
The central supervision screen displays the virtual axis. The axis is represented by the following visual:
• "Select" button: In this mode only one axis can be active at a time. This axis is activated by clicking on the "Select" button.
• Representation of the motor shaft: Gives the position of the axis in the turn in real time.
• "Pos" field: Gives the absolute position of the axis in real time.
• "Vel" field: Gives the current velocity of the axis.
• Axis status field: Gives the PLC open status diagram status (see page 23) of the axis in real time.
15
Manual mode
Control parameters
All the parameters required for executing a movement on the selected axis can be accessed via the following table:
• "Pos" field: Gives the position to be reached when executing a movement. This distance can be
relative (in the context of executing a relative movement) or absolute (in the context of executing an
absolute movement).
• "Vel" field: Gives the maximum velocity of the velocity profile generated in the context of the execution
of a MoveRel, Move Abs or MoveVel type movement (see Control bar section on page 16).
• "Acc" field: Gives the acceleration of the velocity profile generated in the context of the execution of a
MoveRel, Move Abs or MoveVel type movement (see Control bar section on page 16).
• "Dec" field: Gives the deceleration of the velocity profile generated in the context of the execution of a
MoveRel, Move Abs or MoveVel type movement (see Control bar section on page 16).
• "Dir" field: Gives the position of the movement. There are 5 possible types of position:
- -1 = Negative direction (Negative direction is defined as being counterclockwise rotation of the shaft
viewed facing the motor shaft).
- 0 = The shortest (Only for rotary axes. The controller calculates the shortest distance between the
current position and the target position. It takes the shortest route).
- 1 = Positive direction (Positive direction is defined as being clockwise rotation of the shaft viewed
facing the motor shaft).
- 2 = Current direction (Only for rotary axes).
- 3 = The fastest (Only for rotary axes).
Toolbar
The control bar at the top of the manual mode screen is used to enable, energize and start movements on the selected axis. *
This bar contains 10 buttons. Each button has a particular function:
• "Man Enable": Used to enable manual mode and enable the selected axis.
• "jog -": Starts a continuous movement at constant velocity in negative direction. The velocity, acceleration and deceleration of this
movement are those entered in the Control parameters table described on page 16.
• "jog +": Starts a continuous movement at constant velocity in positive direction. The velocity, acceleration and deceleration of this
movement are those entered in the Control parameters table described on page 16.
• "MoveRel": Starts a relative movement (eMoveRel type, see page 27) with the target position, maximum velocity, acceleration and
deceleration values entered in the Control parameters table described on page 16.
• "MoveAbs": Starts an absolute movement (eMoveAbs type, see page 24) with the target position, maximum velocity, acceleration and
deceleration values entered in the Control parameters table described on page 16.
• "MoveVel": Starts a continuous movement at constant velocity (eMoveVel type, see page 31) with the velocity, acceleration,
deceleration, and direction values entered in the Control parameters table described on page 16.
• "Stop": stops the current movement.
• "Homing": Starts the homing procedure on the selected axis. The homing parameters such as the homing type, velocity and acceleration
of this movement are those entered in the Configuration of devices menu described on page 9.
• "SetPos": This is used to redefine the current position of the axis (eSetPos block, see page 39). The aim of doing this is, for example,
to define a new reference position.
• "PowerOn": Enables the power on the selected axis.
16
Manual mode
Teaching positions - "Teach" button
In EasyMotion it is possible to capture 32 positions using the teach function. This teach function is accessed by clicking on the "Teach"
button in the navigation bar.
Four buttons then appear to the left of the position storage table.
Control buttons
• Enter: Saves the current position of the axis to the line selected in the table.
• InsLine: Inserts a line in the table in the position of the selected line. The following lines are then moved down one row.
• DelLine: Deletes the selected line.
• DelList: Deletes the list of stored positions.
The table of positions stored via the teach function
Each captured position is stored in the position table located on the right of the "Manual Mode" screen.
The name of the axis appears in this table by default, but only if the name has been defined. The stored position can be renamed or altered
by clicking on the selected box and entering the required information.
How are the stored positions used?
The stored positions can be used in the following blocks:
•
•
•
•
•
eMoveAbs
eMoveRel
eMoveAdd
eMoveContAbs
eMoveContRel
Simply enter the position register number in these blocks in order to use the distance entered as the target distance.
17
Motion task editor
Motion Task editor mode is used to configure a sequence of function blocks step by step. These can be motion control blocks, axis status
management blocks or blocks to manage events linked to this sequence. Each of the accessible blocks is described in the Function Blocks
section on page 21. The execution of this sequence is governed by the operating principles described in the Execution rules section on
page 61.
The motion sequence editor is accessed by clicking on the "Editor" button in the navigation bar (on the left of the Easy Motion screen).
General organization of the screen
6
2
5
1
4
3
This screen is divided into five parts:
1 Navigation bar.
2 Toolbar. This is at the top of the screen and contains 3 buttons.
3 List of accessible function blocks. On the right of the screen.
4 Function block editing area.
5 The motion sequence.
6 The data store and restore area.
Toolbar
Located at the top of the screen, the motion sequence editor toolbar contains three buttons:
• Ins Line: Inserts a line above the selected line in the motion sequence table. The following lines are then moved down one number.
Note: If the list is full (i.e. there are 64 blocks in the list) the last block is overwritten.
• Del Line: Deletes the selected line.
• Del List: Deletes the entire sequence.
18
Motion task editor
List of accessible function blocks
Located on the right of the screen in the special dropdown menu area (see page 18), this is used to access all the function blocks that can
be used in the motion sequence (see Function blocks section on page 21).
Once a block has been selected in this list, it can be configured in the function block editing area by clicking on the "ENTER" button.
Function block editing area
When the "ENTER" button is pressed, the function block selected in the list is displayed graphically in the function block editing area. In this
area the parameters required for each block can be modified. These parameters are described in the Function blocks section on page 21.
Once these parameters have been entered, the block can be pasted into the motion sequence using the "Paste" button. The block is then
ready to be executed according to the sequence entered in the motion sequence.
19
Motion task editor
The motion sequence
Easy Motion allows 64 steps to be entered (divided between all the connected axes) in the motion sequence. Each step in the sequence
contains one function block.
This sequence is represented as a value table containing the list of all the parameters for each block. This list can be displayed in the "Motion
Task Editor" screen.
Displaying this screen does not provide access to all the parameters in the list, but does enable a block to be selected and:
- It can be edited using the "Copy" button in the function block editing area (see page 19)
- It can be deleted using the "Del Line" button in the toolbar (see page 18)
The complete list of the motion sequence is as shown below. It can be accessed via the Modbus table (see page 86) in order to be edited
via the fieldbus.
Step
1
2
3
4
5
6
Command
PowerOn
PowerOn
MoveAbs
GearIn
Axis
Conveyor1
Slave
Conveyor1
Slave
Param. 1
Val. P1
Param. 2
Val. P2
Param. 3
Val. P 3
Position
Master
23478
Conveyor1
Velocity
Ratio
123
2.4
Accel
Accel
23
45
Storing and restoring data
"Store Data to file": Used to store data in a file
- Step 1: Parameters list files (.SYM) allow to chose the range of parameters to be saved. Complete Application Template parameters
or only the motion task table parameters. It is also possible to create customized SYM files with Motion Pro.
Default folder:
C:\Program Files\Schneider Electric\Motion Control\CoDeSys V2.3\Targets\Schneider Electric\Lexium Controller
V0101\Examples\Templates
- Step 2: Chose the directory and the name of the file for data storage
- Step 3: Specify communication parameters for connection with LMC
- Step 4: Start to store
"Restore Data from File": Used to restore data from a file.
- Step 1: Select file with parameter to be written into LMC
- Step 2: Specify communication parameters for connection with LMC
- Step 3: Start restore
20
Motion task editor
Step by step: How to add a block to the motion sequence
Let's use the example of the eMoveRel block:
1
4
2
5
3
1 First of all the block is selected in the list of accessible function blocks.
2 Then the block is displayed in the function block editing area by clicking on the "Enter1" button.
3 The 8 parameters are then entered one at a time.
4 Line 2 of the motion sequence is then selected.
5 The block is inserted in this line by clicking on the "Paste" button.
The next block can be inserted.
Function blocks
Easy Motion enables most of the function blocks in Motion Pro to be accessed. These function blocks comply with the specifications of the
PLCopen standard.
These commands can be of the following types:
- Single axis positioning
- Administrative
- Multi-axis positioning
- Application functions
- Execution conditions
21
Motion task editor
Easy Motion/Motion Pro/PLCopen equivalence table
This table indicates the equivalent names for the following functions:
N.B.:
The Easy Motion functions use the blocks that are available with Motion Pro. Motion Pro is based on the SoftMotion library developed by
3S. This library runs in the CoDeSys environment. It complies with the PLCopen recommendations.
PLCopen is a structural and functional description of positioning functions. This description has been drawn up by a group of companies
made up of the main suppliers on the position control market.
Easy Motion
eMoveAbs
eMoveRel
eMoveAdd
eMoveVel
eMoveContRel
eMoveContAbs
eStop
ePowerOn
ePowerOnAll
ePowerOff
ePowerOffAll
eHome
eCamSel
eCamIn
eCamOut
eGearIn
eGearOut
eFShearIn
eFShearStop
eFShearOut
eRKnifeIn
eRKnifeStop
eRKnifeOut
eMoveSupI
ePhasing
eSetPos
eRepeat
eLatchPos
eJump
eJumpI_On
eJumpI_Off
eSetQ
eResetQ
eSetRPos
eAddRPos
eEnableTP
eDisableTP
eWaitAxis
eWaitEOP
eWaitSync
eWaitI_On
eWaitI_Off
eWaitTime
eWaitPos
eWaitDist
22
Motion Pro
MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive
MC_MoveVelocity
SMC_MoveContinuousAbsolute
SMC_MoveContinuousRelative
MC_Stop
MC_Power
PLCopen
MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive
MC_MoveVelocity
MC_PassiveHome
MC_CamTableSelect
MC_CamIn
MC_CamOut
MC_GearIn
MC_GearOut
MC_PassiveHome
MC_CamTableSelect
MC_CamIn
MC_CamOut
MC_GearIn
MC_GearOut
MC_MoveSuperimposed
MC_Phasing
MC_SetPosition
MC_MoveSuperimposed
MC_Phasing
MC_TouchProbe
MC_Power
Motion task editor
Status diagram
These commands follow the status diagram of the PLCopen standard
eGearln(Esclave)
eCampln(Esclave)
ePhasing(Esclave)
eGearln(Esclave)
eCampln(Esclave)
synchronized_
motion
Error
eGearln(Esclave)
eCampln(Esclave)
eMoveVel
eGearOut
eCamOut
eStop
eMoveAbs
eMoveRel
eMoveAbs
eMoveRel
eMoveSupl
eMoveAdd
eGearln(Esclave)
eCampln(Esclave)
eMoveAbs ; eMoveRel ;
eMoveAdd ;
discrete_
motion
eMoveSupl
eMoveVel
continuous_
motion
eMoveVel
eStop
eStop
Note 1
eMoveAbs
eMoveRel
eMoveAdd
eMoveSupl
stopping
Done
Error
Note 1
eStop
Note 2
errorstop
Error
MC_Reset
eStop
Note 4
Error
Done
homing
standstill
eHome
power_off
Note 3
Note 1: In this ErrorStop or Stopping state, all the function blocks can be called, even if they are not executed. Only the Error Reset button
or an error can generate the transition to the StandStill or ErrorStop states respectively.
Note 2: Power on = TRUE and there is an active error on the axis.
Note 3: Power on = TRUE and there is no active error on the axis.
Note 4: eStop performed AND NO eStop in progress.
23
Motion task editor
Managing the execution time
Each block in the sequence of motion tasks must be executed within a limited period. This period is defined by the "TimeOut" value entered
for each of the blocks. If this value is 0, there is no limitation on the execution time of the block. If this value is positive (For example X ms),
the block must be executed in X milliseconds. After this period, the Lexium Controller generates an error message "MTI Timeout Error" (See
page 83)
Single axis positioning commands
The single axis motion control function blocks are defined in the PLCopen standard for coordinated axes, i.e., those that do not require a
link with one another. These function blocks execute simple positioning commands such as relative or absolute movements, etc.
eMoveAbs
This command creates a movement of the axis to an absolute position following a trapezoid or Sinus² path. The choice of the type of path
is connected with the parameters of the axes (see Parameters of real axes on page 9 or Parameters of virtual axes on page 11).
The shape of the profile is defined by the velocity, acceleration and deceleration values given as the parameters of the function block.
Depending on the limits of the linear axis, this distance can be positive or negative (if the axis is defined from -2000 to 2000, for example).
A negative distance will be rejected if the axis is positive only, and vice versa.
In the case of a rotary axis, the direction parameter indicates the direction of rotation. This parameter is not used for a linear axis.
If the axis is rotary, this position cannot be negative.
The Reg parameter is to used to specify whether the position to be reached is that entered in the Pos parameter (in this case, Reg = 0) or
a position in the table of positions stored via the teach function (see page 17). In this case, Reg will take the value of the index in the table.
The "Buffered" parameter is used to link the current movement to another movement. A sequence can contain a maximum of 8 movements.
24
Parameter
Axis
P1
P2
P3
P4
Identifier
Axis
Pos
Vel
Acc
Dec
Function
Axis number
Position
Velocity
Acceleration
Deceleration
P5
Dir
Direction
(Rotary axis only)
P6
Reg
Position register index
Sequencing
Buffered
Sequencing of movements
Adjustment range/Units
1 to 8
User units
User units/Sec
User units/sec^2
User units/sec^2
0 = shortest
1 = positive direction
2 = current direction
3 = fastest
-1 = negative direction
0 = Position of P1
1..max = Position of teach function register
0 = Deactivated
1 = Activated
Motion task editor
Step by step: Examples of movement
Linear axis with a trapezoid motion profile.
Axis
Pos
Vel
Acc
Dec
Dir
Reg
Buffered
1
12000
2000
500
500
N/A
0
0
Velocity
Position
The above configuration gives the following behavior:
Seconds
Rotary axis (360° rollover) with a trapezoid motion profile and positive movement (the axis is already positioned at 200°).
Axis
Pos
Vel
Acc
Dec
Dir
Reg
Buffered
1
40
20
5
5
1
0
0
Velocity
Position
The above configuration gives the following behavior:
Seconds
25
Motion task editor
Rotary axis (360° rollover) with a trapezoid motion profile and shortest movement (the axis is already positioned at 200°).
Axis
Pos
Vel
Acc
Dec
Dir
Reg
Buffered
1
40
20
5
5
0
0
0
Velocity
Position
The above configuration gives the following behavior:
Seconds
26
Motion task editor
eMoveRel
This command creates a movement of the axis for a distance relative to its current position following a trapezoid or Sinus² path.
The choice of the type of path is connected with the parameters of the axes (see Parameters of real axes on page 9 or Parameters of virtual
axes on page 11).
The shape of the profile is defined by the velocity, acceleration and deceleration parameters given as the parameters of the function block.
This distance can be positive or negative. In the case of a linear axis, the position must be within the limits of the axis.
In the case of a rotary axis, if it has no end limit, and if the relative distance exceeds the rollover, the axis will perform several turns to reach
the position.
The Reg parameter is to used to specify whether the position to be reached is that entered in the Pos parameter (in this case, Reg = 0) or
a position in the table of positions stored via the teach function (see page 17). In this case, Reg will take the value of the index in the table.
The "Buffered" parameter is used to link the current movement to another movement. A sequence can contain a maximum of 8 movements.
Parameter
Axis
P1
P2
P3
P4
Identifier
Axis
Dist
Vel
Acc
Dec
Function
Axis number
Distance
Velocity
Acceleration
Deceleration
P6
Reg
Position register index
Sequencing
Buffered
Sequencing of movements
Adjustment range/Units
1 to 8
User units
User units/Sec
User units/sec^2
User units/sec^2
0 = Position of P1
1..max = Position of teach function register
0 = Deactivated
1 = Activated
27
Motion task editor
Step by step: Examples of movement
Linear axis with a trapezoid positive motion profile. The axis is already at position 2000.
Axis
Pos
Vel
Acc
Dec
Reg
Buffered
1
3000
1000
500
500
0
0
Velocity
Position
The above configuration gives the following behavior:
Seconds
Linear axis with a trapezoid negative motion profile. The axis is already at position 2000.
Axis
Pos
Vel
Acc
Dec
Reg
Buffered
1
-2000
500
250
250
0
0
Velocity
Position
The above configuration gives the following behavior:
Seconds
28
Motion task editor
eMoveAdd
This command adds a distance relative to target position of the axis, following a trapezoid or Sinus² path, to the current movement of the
axis. There are two possibilities:
• The axis is in "discrete_motion" state: The axis performs a coordinated axis movement. The distance set in the eMoveAdd function block
is added to the target position of the function currently operating on the axis. The velocity of the axis is thus that set in the eMoveAdd
block. This function is useful you wish to add a distance to a movement without interrupting that movement.
• The axis is in "standstill" state: The axis is therefore stationary. The additional distance to be traveled is measured from the momentary
position.
The choice of the type of path is connected with the parameters of the axes (see Parameters of real axes on page 9 or Parameters of virtual
axes on page 11).
The profile is defined by the velocity, acceleration and deceleration parameters given as the parameters of the function block.
This distance can be positive or negative. In the case of a linear axis, the target position must be within the limits of the axis.
In the case of a rotary axis, if it has no end limit, and if the target distance exceeds the rollover, the axis will perform several turns to reach
the position.
The Reg parameter is to used to specify whether the position to be reached is that entered in the Pos parameter (in this case, Reg = 0) or
a position in the table of positions stored via the teach function (see page 17). In this case, Reg will take the value of the index in the table.
The "Buffered" parameter is used to link the current movement to another movement. A sequence can contain a maximum of 8 movements.
Parameter
Axis
P1
P2
P3
P4
Identifier
Axis
Pos
Vel
Acc
Dec
Function
Axis number
Position
Velocity
Acceleration
Deceleration
P6
Reg
Position register index
Sequencing
Buffered
Sequencing of movements
Adjustment range/Units
1 to 8
User units
User units/Sec
User units/sec^2
User units/sec^2
0 = Position of P1
1..max = Position of teach function register
0 = Deactivated
1 = Activated
29
Motion task editor
Step by step: Examples of movement
Linear axis with a trapezoid positive motion profile. The target position of the axis is 10000. It is still moving when 2000 is added to the
position with a lower velocity on the rising edge of an input.
Step
Command
STEP
CMD
1
2
3
4
5
6
PowerOn
eMoveAbs
eWaitI_On
eMoveAdd
eWaitAxis
Axis Param.1
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Axis P1 Name P1 Value P2 Name P2 Value P3 Name P3 Value P4 Name P4 Value P5 Name P5 Value P6 Name P6 Value
1
1
0
1
1
Pos
Input
Pos
10000
1
2000
Vel
1000
Acc
500
Dec
500
Vel
500
Acc
100
Dec
100
Dir
1
Param. 7
Val. P7
P7 Name
P7 Value
Reg
0
Buffered
0
Reg
0
Buffered
0
Position
Velocity
LI1 activated
Seconds
Linear axis with a trapezoid positive motion profile. The target position of the axis is 2. It is stationary when 2000 is added to the position
with a lower velocity on the rising edge of an input.
Step
Command
STEP
CMD
1
2
3
4
5
6
PowerOn
eMoveAbs
eWaitI_On
eMoveAdd
eWaitAxis
Axis Param.1
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Axis P1 Name P1 Value P2 Name P2 Value P3 Name P3 Value P4 Name P4 Value P5 Name P5 Value P6 Name P6 Value
1
1
0
1
1
Pos
Input
Pos
12
1
2000
Vel
1000
Acc
500
Dec
500
Vel
500
Acc
100
Dec
100
Dir
1
Param. 7
Val. P7
P7 Name
P7 Value
Reg
0
Buffered
0
Reg
0
Buffered
0
Position
Velocity
LI1 activated
Seconds
30
Motion task editor
eMoveVel
This command involves an infinite movement of the axis at the given velocity.
To reach this velocity, the servo drive follows a profile defined by the velocity, acceleration and deceleration parameters given in the function
block.
The configured velocity must always be positive.
The direction of the movement is given by the Dir parameter.
Parameter
Axis
P1
P2
P3
Identifier
Axis
Vel
Acc
Dec
Function
Axis number
Velocity
Acceleration
Deceleration
P4
Dir
Direction
(Rotary axis only)
Sequencing
Buffered
Sequencing of movements
Adjustment range/Units
1 to 8
User units/Sec
User units/sec^2
User units/sec^2
0 = shortest
1 = positive direction
2 = current direction
3 = fastest
-1 = negative direction
0 = Deactivated
1 = Activated
31
Motion task editor
Step by step: Examples of movement
Linear axis with trapezoid profile. Infinite movement at a constant velocity of 2000 units/second in positive direction.
1
2000
500
500
1
Velocity
Position
Axis
Vel
Acc
Dec
Dir
Seconds
Linear axis with trapezoid profile. Infinite movement at a constant velocity of 2000 units/second in negative direction.
1
2000
500
500
-1
Position
Velocity
Axis
Vel
Acc
Dec
Dir
Seconds
32
Motion task editor
eMoveContAbs
This command creates a movement of the axis to an absolute position following a trapezoid or Sinus² path. The choice of the type of path
is connected with the parameters of the axes (see Parameters of real axes on page 9 or Parameters of virtual axes on page 11).
The profile is defined by the velocity, acceleration and deceleration values given as the parameters of the function block.
This distance can be positive or negative, depending on the limits of the linear axis. If the axis is defined from -2000 to 2000, for example.
A negative distance will be rejected if the axis is positive only, and vice versa.
Unlike the eMoveAbs block, the final velocity parameter ("EndVel") defines the velocity of the axis to the target position of the movement.
This parameter is used to create movement sequences (see the Sequencing movements section, on page 62)
The Reg parameter is to used to specify whether the position to be reached is that entered in the Pos parameter (in this case, Reg = 0) or
a position in the table of positions stored via the teach function (see page 17). In this case, Reg will take the value of the index in the table.
The "Buffered" parameter is used to link the current movement to another movement. A sequence can contain a maximum of 8 movements.
CAUTION
Depending on the command (route required to take the axis at the final velocity < distance between the starting position and the final
position), the axis may perform an initial movement in the opposite direction.
Failure to follow this instruction can result in equipment damage.
Parameter
Axis
P1
P2
P3
P4
P5
Identifier
Axis
Pos
Vel
EndVel
Acc
Dec
Function
Axis number
Position
Velocity
Final velocity
Acceleration
Deceleration
P6
Reg
Position register index
Sequencing
Buffered
Sequencing of movements
Adjustment range/Units
1 to 8
User units/Sec
User units/Sec
User units/sec^2
User units/sec^2
0 = Position of P1
1..max = Position of teach function register
0 = Deactivated
1 = Activated
33
Motion task editor
Step by step: Examples of movements
Linear axis with trapezoid profile. Absolute movement to position 12000 with a velocity of 2000, followed by an absolute movement to
position 24000 with a velocity of 1000.
Command
CMD
1
2
PowerOn
eMoveCont
Abs
eWaitAxis
eMoveAbs
eWaitAxis
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Axis P1 Name P1 Value P2 Name P2 Value P3 Name P3 Value P4 Name P4 Value P5 Name P5 Value P6 Name P6 Value
1
1
1
1
1
Param. 7
Val. P7
P7 Name
P7 Value
Pos
12000
Vel
2000 EndVe 1000
l
Acc
1000
Dec
1000
Reg
0
Buffered
0
Pos
24000
Vel
1000
Dec
1000
Dir
0
Reg
0
Buffered
0
Acc
1000
Velocity
3
4
5
Axis Param.1
Position
Step
STEP
Seconds
Linear axis with trapezoid profile. Absolute movement to position 12000 with a velocity of 2000, followed by an absolute movement to
position 24000 with a velocity of 3000.
Step
Command
STEP
CMD
1
2
PowerOn
eMoveCont
Abs
eWaitAxis
eMoveAbs
eWaitAxis
3
4
5
34
Axis Param.1
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Axis P1 Name P1 Value P2 Name P2 Value P3 Name P3 Value P4 Name P4 Value P5 Name P5 Value P6 Name P6 Value
1
1
1
1
1
Param. 7
Val. P7
P7 Name
P7 Value
Pos
12000
Vel
2000 EndVe 3000
l
Acc
1000
Dec
1000
Reg
0
Buffered
0
Pos
24000
Vel
3000
Dec
1000
Dir
0
Reg
0
Buffered
0
Acc
1000
Motion task editor
eMoveContRel
This command creates a movement of the axis to a distance relative to its current position following a trapezoid or Sinus² path. The choice
of the type of path is connected with the parameters of the axes (see Parameters of real axes on page 9 or Parameters of virtual axes on
page 11).
The profile is defined by the velocity, acceleration and deceleration values given as the parameters of the function block.
This distance can be positive or negative. In the case of a linear axis, the target position must be within the limits of the axis.
In the case of a rotary axis, if it has no end limit, and if the relative distance exceeds the rollover, the axis will perform several turns to reach
the target position.
Unlike the eMoveRel block, the final velocity parameter ("EndVel") defines the velocity of the axis to the target position of the movement.
This parameter is used to create movement sequences (see the Sequencing movements section, on page 62).
The Reg parameter is to used to specify whether the position to be reached is that entered in the Pos parameter (in this case, Reg = 0) or
a position in the table of positions stored via the teach function (see page 17). In this case, Reg will take the value of the index in the table.
The "Buffered" parameter is used to link the current movement to another movement. A sequence can contain a maximum of 8 movements.
Caution: Depending on the command (route required to take the axis at the final velocity < distance between the starting position and the
final position), the axis may perform an initial movement in the opposite direction.
Parameter
Axis
P1
P2
P3
P4
P5
Identifier
Axis
Dist
Vel
EndVel
Acc
Dec
Function
Axis number
Distance
Velocity
Final velocity
Acceleration
Deceleration
P6
Reg
Position register index
Sequencing
Buffered
Sequencing of movements
Adjustment range/Units
1 to 8
User units/Sec
User units/Sec
User units/sec^2
User units/sec^2
0 = Position of P1
1..max = Position of teach function register
0 = Deactivated
1 = Activated
35
Motion task editor
Step by step: Examples of movements
Linear axis with trapezoid profile. The axis is at position 20000. Relative movement to position 12000 with a velocity of 2000, followed by
an absolute movement to position 26000 with a velocity of 1000.
Step
Command
Axis
Param. 1
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
STEP
CMD
Axis
P1 Name
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
P6 Value
1
2
3
4
5
PowerOn
eMoveContRel
eWaitAxis
eMoveAbs
eWaitAxis
1
1
1
1
1
Pos
12000
1
40000
Vel
2000
EndVel
1000
Acc
1000
Dec
1000
Reg
0
Vel
1000
Acc
1000
Dec
1000
Dir
0
Reg
0
Velocity
Position
Pos
Seconds
Linear axis with trapezoid profile. The axis is at position 20000. Relative movement to position 12000 with a velocity of 2000, followed by
an absolute movement to position 26000 with a velocity of 3000.
Step
Command
Axis
Param. 1
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
STEP
CMD
Axis
P1 Name
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
P6 Value
1
2
3
4
5
PowerOn
eMoveContRel
eWaitAxis
eMoveAbs
eWaitAxis
1
1
1
1
1
Pos
29000
1
50000
Vel
2000
EndVel
3000
Acc
1000
Dec
1000
Reg
0
Vel
3000
Acc
1000
Dec
1000
Dir
0
Reg
0
Position
Velocity
Pos
Seconds
36
Motion task editor
eMoveSupI
This command has two modes of operation, which depend on the status (see PLCopen status diagram on page 23) of the axis:
• The axis is in "discrete_motion" state: The axis performs a coordinated axis movement. The distance set in the eMoveSupl function block
is added to the target position of the function currently operating on the axis. This new target position (i.e., the position of the movement
plus that which has been added on) is then reached after the same period of time.
• The axis is in "continuous_motion" state: The axis performs an infinite movement. The additional distance to be traveled is measured
from the momentary position. This function block is very useful for correcting a delay on the fly.
• The axis is in "Synchronised_motion" state: The axis performs a synchronized movement. The additional distance to be traveled is
measured from the momentary position. This function block is very useful for correcting a delay on the fly.
This command is always executed in addition to another current command. It does not interrupt a current initial command.
The velocity, acceleration and deceleration values must be considered as being relative and thus independent of the current movement.
Important:
eMoveSupI must be executed after an initial movement. If the initial command is interrupted by a new command, the eMoveSupI command
is interrupted.
Parameter
Axis
P1
P2
P3
P4
Identifier
Axis
Pos
Vel
Acc
Dec
Function
Axis number
Position
Velocity
Acceleration
Deceleration
Adjustment range/Units
1 to 8
User units/Sec
User units/sec^2
User units/sec^2
37
Motion task editor
Step by step: Examples of movements
Linear axis with trapezoid profile. The axis performs an absolute movement to position 15000 with a velocity of 1000. Enabling an input
triggers an additional movement of 5000.
Command
Axis
Param. 1
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
CMD
Axis
P1 Name
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
P6 Value
1
2
3
4
5
PowerOn
eMoveAbs
eWaitI_On
eMoveSupI
eWaitAxis
1
1
0
1
1
Pos
Input
Pos
15000
1
5000
Vel
1000
Acc
1000
Dec
1000
Dir
0
Reg
0
Vel
1000
Acc
1000
Dec
1000
Velocity
Position
Step
STEP
LI1 at 1
Seconds
Linear axis with trapezoid profile. The axis performs an infinite movement at a velocity of 1000. Enabling an input triggers an additional
movement of 5000.
Command
Axis
Param. 1
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
CMD
Axis
P1 Name
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
1
2
3
4
5
PowerOn
eMoveVel
eWaitI_On
eMoveSupI
eWaitAxis
1
1
0
1
1
Vel
Input
Pos
1000
1
5000
Vel
2000
Acc
1000
Dec
1000
Vel
1000
Acc
1000
Dec
1000
Velocity
Position
Step
STEP
LI1 at 1
Seconds
38
Motion task editor
eSetPos
This command is used to redefine the position of the axis zero point. For example in order to define a new reference position.
This command can be executed during the execution of another positioning function.
There are two possible modes:
• Absolute: The position defined in P1 becomes the current position of the axis.
• Relative: The current position is shifted by the value entered in P1.
Parameter
Axis
P1
Identifier
Axis
Pos
Function
Axis number
Position
P2
Mode
Mode
Adjustment range/Units
1 to 8
0 = Absolute
1 = Relative
39
Motion task editor
Step by step: Examples of movements
Linear axis with trapezoid profile. The axis performs an absolute movement to position 10000 with a velocity of 1000. Enabling an input
triggers a redefinition of the current position as 7500.
Command
Axis
Param. 1
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
CMD
Axis
P1 Name
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
1
2
3
4
5
PowerOn
eMoveAbs
eWaitI_On
eSetpos
eWaitAxis
1
1
0
1
1
Pos
Input
Pos
10000
1
7500
Vel
1000
Acc
500
Dec
500
Dir
0
Reg
Mode
0
Position
Velocity
Step
STEP
LI1 at 1
Seconds
Linear axis with trapezoid profile. The axis performs an absolute movement to position 10000 with a velocity of 1000. Enabling an input
triggers the addition of 7000 to the current position.
Axis
Param. 1
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
CMD
Axis
P1 Name
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
1
2
3
4
5
PowerOn
eMoveAbs
eWaitI_On
eSetpos
eWaitAxis
1
1
0
1
1
Pos
Input
Pos
10000
1
7000
Vel
1000
Acc
500
Dec
500
Dir
0
Reg
Mode
1
LI1 at 1
Seconds
40
Position
Command
Velocity
Step
STEP
Motion task editor
eAddRPos
This command adds the value defined in P2 to a position stored in the position register defined in P1.
For rotary axes, the value given in P3 must be equal to the rollover value.
Parameter
P1
P2
P3
Identifier
Index
Value
Modulo
Function
Register number
Value of the position to be saved
Value of the rollover (rotary axis)
Adjustment range/Units
1 to 32
User units
User units
eSetRPos
This command writes the value of P2 to the P1 position register.
Parameter
P1
P2
Identifier
Index
Value
Function
Register number
Value of the position to be saved
Adjustment range/Units
1 to 32
User units
eWritePar
This command is used to write a parameter to a servo drive using its CANopen address.
Parameter
Axe
P1
P2
P3
P4
Identifier
Axis
Index
SubIndex
Length
Value
Function
Axis number
Parameter CANopen address index
Parameter CANopen address sub-index
Parameter length
Value to be written
Adjustment range/Units
1 to 8
bytes
41
Motion task editor
Administrative commands
eStop
This command brakes the axis to zero velocity. It cannot be interrupted.
Parameter
Axis
P1
Identifier
Axis
Dec
Function
Axis number
Deceleration
Sequencing
Buffered
Sequencing of movements
Adjustment range/Units
1 to 8
Units/sec^2
0 = Deactivated
1 = Activated
ePowerOn
This command enables the power stage of the servo drive designated by the Axis parameter.
Parameter
Axis
Identifier
Axis
Function
Axis number
ePowerOnAll
This command enables the power stage of all configured servo drives.
It does not require the entry of any parameters.
42
Adjustment range/Units
1 to 8
Motion task editor
ePowerOff
This command disables the power stage of the servo drive designated by the Axis parameter.
Parameter
Axis
Identifier
Axis
Function
Axis number
Adjustment range/Units
1 to 8
ePowerOffAll
This command disables the power stage of all configured servo drives.
It does not require the entry of any parameters.
eHome
This command starts a homing operation on the axis designated in P1. The homing method used is that configured by the "Homing Mode"
axis parameter, see page 10.
Parameter
Axis
P1
P2
Identifier
Axis
Pos
Dec
Function
Axis number
Position
Deceleration
Adjustment range/Units
1 to 8
User units/sec^2
43
Motion task editor
Multi-axis positioning
eCamSel
This command selects and loads a cam profile to be used with an eCamIn command. It allows up to 8 cams to be entered.
The first two parameters are used to choose, respectively:
• The axis on which the cam will be executed, or Slave axis.
• The reference axis of this cam, or Master axis.
Parameter P3 (Periodic cam) determines whether the profile must be executed again when the position of the master goes outside the range
of the cam.
• P3 = 0 Deactivated: When the master goes beyond the profile end position (xEnd), the eCamIn block provides the end of profile
information (EndOfProfile). The slave is kept in its last programmed position. It should be noted that if the master re-enters the profile
definition area, the slave will be controlled in accordance with the defined profile.
• If P3 = 1 Activated: When the master goes beyond the profile end position, the slave returns to the start of the cam profile cycle.
Parameter P4 (Absolute master position) determines the starting point of the cam according to the current position of the master
• P4 = 1 Absolute master position: The cam starts at the point on the profile corresponding to the current position of the master. This
point may therefore be in the middle of the cam profile. In this case, as soon as the eCamIn block is executed, the slave will move to the
position defined by the profile. If this point is located outside the cam profile definition area, an error is indicated.
• P4 = 0 Relative master position: The cam is started at the current position of the master, i.e., in this case, the zero point of the profile
is the current position of the master. Cam profiles for which the master definition area (range from xStart to xEnd) does not contain 0
cannot be used with this mode as an error is indicated.
• Parameter P5 (Absolute slave position) determines the behavior of the slave according to the value of the eCamIn function StartMode
input.
CamIn.StartMode
Absolute slave position
Relative slave position
44
absolute
absolute
relative
relative
relative
relative
Ramp_In
Rampe_In absolue
Rampe_In relativ
Parameter
Axis
Identifier
Axis
Function
Axis number
P1
Master
Master axis number
P2
Cam
Cam profile number
P3
Periodic
Periodicity of the cam
P4
MstAbs
Position of the absolute master
P5
SlvAbs
Position of the absolute slave
Ramp_In_pos
Rampe_In_pos absolue
Rampe_In_pos relativ
Ramp_In_neg
Rampe_In_neg absolue
Rampe_In_neg relativ
Adjustment range/Units
1 to 8
1-8 Real axes
9 Virtual axis
10 Master encoder
1 to 8
1 = periodic cam
0 = non-periodic cam
1 = Absolute master position
0 = Relative master position
1 = Absolute slave position
0 = Relative slave position
Motion task editor
Entering the cam points
The cam points are entered by clicking on the additional "Data" button in the navigation bar on the left of the screen. The following window
is used for entering 16 points per cam.
- "Number of Cam Points": Number of points in the Cam profile.
- "XStart": Start position.
- "XEnd": End position.
Each point is characterized by its coordinates on the cam profile (dX and dY): The curve between two points is calculated using the "spline
curve" interpolation method. These curves are used to define complex curves in their entirety, using a limited number of points. Each point
on a spline curve is defined, in addition to its coordinates, by its tangential velocity dV and its local acceleration value dA (the first and the
second position derivatives respectively).
- dX: The vertical axis of the point on the cam profile. A complete cam profile is by definition between 0° and 360°
- dY: The horizontal axis of the point gives the distance between the slave axis and its home position. This is also between 0° and 360°.
- dV: The local velocity at the point. This gives the angle of the profile at this point.
- dA: The local acceleration at the point. This gives the curvature of the profile.
45
Motion task editor
Examples of cams
Example of a profile with velocity dv = 1 and acceleration dA = 0.5 at point 2.
Example of a profile with velocity dv = 0 and acceleration dA = 0 at point 2.
46
Motion task editor
eCamIn
This command links a slave axis to a master axis. It can be symbolized by a mechanical clutch in opposition to the eCamOut function. The
slave then executes the cam profile given in P10 by the value of "Cam".
P2 "Vel", P3 "Acc" and P4 "Dec" are characteristic parameters of the additional acceleration ramp for the Ramp_In, Ramp_In_Pos and
Ramp_In_Neg modes described below.
Parameter P5 "SMode" gives the initial characteristics of the movement of the slave axis:
- Absolute: The cam profile is started in absolute position in relation to the current position of the slave axis. If the target position of the
cam is different from the position of the slave, this results in a position jump.
- Relative: The cam profile is started in relative position in relation to the current position. This choice is only relevant if the cam activation
position is position 0, otherwise this results in a position jump.
- Ramp_In: It is possible to compensate for any jumps by following an additional motion profile to reach the cam target position. This
profile is configured using the P2, P3 and P4 data, and is calculated as quickly as possible.
- Ramp_In_Pos: In this case, an additional motion profile is activated but it is only executed in positive direction. Only for rotary axes.
- Ramp_In_Neg: In this case, an additional motion profile is activated but it is only executed in negative direction. Only for rotary axes.
Parameter P6 "MOffset" is used to enter a delay or an advance on the position of the master axis. This parameter is used for precise
adjustment of the link between the master and the slave.
Parameter P7 "SOffset" is used to enter a delay or an advance on the position of the slave axis. This parameter is used for precise
adjustment of the link between the master and the slave.
Parameter P8 "MScale" is used for scaling the position of the master axis. This parameter is used for precise adjustment of the link between
the master and the slave.
Parameter P9 "SScale" is used for scaling the position of the slave axis. This parameter is used for precise adjustment of the link between
the master and the slave.
Parameter
Axis
Identifier
Axis
Function
Axis number
P1
Master
Master axis number
P2
P3
P4
Vel
Acc
Dec
Velocity
Acceleration
Deceleration
P5
SMode
Start Mode
P6
P7
P8
P9
P10
MOffset
SOffset
MScale
SScale
Cam
Master offset
Slave offset
Scaling of the master
Scaling of the slave
Cam number
Adjustment range/Units
1 to 8
1-8 Real axes
9 Virtual axis
10 Master encoder
User units/Sec
User units/sec^2
User units/sec^2
0: Absolute
1: Relative
2: Ramp_In
3: Ramp_In_Pos
4: Ramp_In_Neg
User units
User units
Default value: 1.0
Default value: 1.0
1 to 8
47
Motion task editor
eCamOut
This command uncouples a slave axis from a master axis. If the slave axis is rotating at this moment, it will execute an infinite movement
at constant velocity to its current velocity.
Parameter
Axis
Identifier
Axis
Function
Axis number
Adjustment range/Units
1 to 8
eGearIn
This command links a slave axis to a master axis via electronic gearing. The relationship between the velocity of the slave and that of the
master is calculated using the quotient of the input parameters P2 "Numer" and P3 "Denom". These are the numerator and denominator of
this ratio respectively.
The slave axis may need to accelerate or brake in order to reach the target velocity. Parameters P3 "Acc" and P4 "Dec" give the acceleration
and deceleration values of such a movement.
48
Parameter
Axis
Identifier
Axis
Function
Axis number
P1
Master
Master axis number
P2
P3
P4
P5
Numer
Denom
Acc
Dec
Numerator
Denominator
Acceleration
Deceleration
Adjustment range/Units
1 to 8
1-8 Real axes
9 Virtual axis
10 Master encoder
User units/sec^2
User units/sec^2
Motion task editor
eGearOut
This command uncouples a slave axis from a master axis. If the slave axis is rotating at this moment, it will execute an infinite movement
at constant velocity to its current velocity.
Parameter
Axis
Identifier
Axis
Function
Axis number
Adjustment range/Units
1 to 8
ePhasing
This command links a slave axis to a master axis in phase. In other words both axes rotate at the same velocity.
Their respective positions are given by parameter P2 "Pos". Therefore if this parameter is zero, both axes not only rotate at the same
velocity, but their positions are also identical at all times.
In order to bring the axes into phase, the slave axis may have to follow an additional motion profile defined by the P3 "Vel", P4 "Acc" and
P5 "Dec" parameters.
Parameter
Axis
Identifier
Axis
Function
Axis number
P1
Master
Master axis number
P2
P3
P4
P5
Pos
Vel
Acc
Dec
Position
Velocity
Acceleration
Deceleration
Adjustment range/Units
1 to 8
1-8 Real axes
9 Virtual axis
10 Master encoder
User units
User units/Sec
User units/sec^2
User units/sec^2
49
Motion task editor
eEnableTP
This function triggers the operation of one of the two Lexium Controller fast capture inputs. This block requires the following parameters to
be entered:
Parameter P1 "TP Nr" designates the number of the selected fast capture input. There are two capture inputs available on the controller.
Parameter P2 "Window On" activates the position window in which the fast input is activated. If this parameter is zero, the capture input will
always be enabled. The limits of this window are defined by parameters P3 "FirstPos" and P4 "LastPos", which give the start and end of
activation position values of the fast capture input respectively.
Parameter P5 "negEdge" is used to reverse the polarity of the capture input. By default, the position capture is carried out on a rising edge
(negEdge=0). If this parameter is enabled (negEdge = 1) the position capture is carried out on a falling edge of the input.
Parameter
P1
Identifier
TP Nr
Function
Number of the capture input
P2
WindowOn
Activity window
P3
P4
FirstPos
LastPos
Starting position
Final position
P5
negEdge
Polarity of capture
P6
TLIndex
Index of the teach function list
Adjustment range/Units
1 or 2
1-8 Real axes
9 Virtual axis
10 Master encoder
User units
User units
0 = rising edge
1 = falling edge
1 to 32
eDisableTP
This function is used to deactivate one of the two Lexium Controller fast capture inputs.
Parameter
P1
50
Identifier
TP Nr
Function
Number of the capture input
Adjustment range/Units
1 or 2
Motion task editor
Application function blocks
eFShearIn
This command is used to launch the "Flying Shear" application function block.
The flying shear parameters are entered by clicking on the additional "Parameter" button in the navigation bar on the left of the screen.
Please refer to the Motion Pro - Programming manual for more information on application function block parameters.
eFShearStop
This command stops the "flying shear" application function block. The slave decelerates following the deceleration profile entered in the
"Stop Dec" parameter (see page 51).
Parameter
Axis
Identifier
Axis
Function
Slave axis number
Adjustment range/Units
1 to 8
eFShearOut
This command releases the slave axis from the master. If it is rotating at the time this block is executed, the slave axis will continue with the
current velocity.
Parameter
Axis
Identifier
Axis
Function
Slave axis number
Adjustment range/Units
1 to 8
51
Motion task editor
eRKnifeIn
This command launches the "Rotary Knife" application function block.
The rotary knife parameters are entered by clicking on the additional "Parameter" button in the navigation bar on the left of the screen.
Please refer to the Motion Pro - Programming manual for more information on application function block parameters.
eRKnifeStop
This command stops the "rotary knife" application function block.
Parameter
Axis
Identifier
Axis
Function
Slave axis number
Adjustment range/Units
1 to 8
eRKnifeOut
This command releases the slave axis from the master. If it is rotating at the time this block is executed, the slave axis will continue with the
current velocity.
Parameter
Axis
52
Identifier
Axis
Function
Slave axis number
Adjustment range/Units
1 to 8
Motion task editor
eClampIn
This command is used to launch the "eClampIn" application function block used for clamping with torque limiting.
These block parameters are entered by clicking on the additional "Parameter" button of the navigation bar on the left of the screen.
Please refer to the Motion Pro - Programming manual for more information on application function block parameters.
eClampOut
This command stops the "eClampIn" application function block.
Parameter
Axis
Identifier
Axis
Function
Slave axis number
Adjustment range/Units
1 to 8
53
Motion task editor
Logic commands
eWaitI_On
This command waits for a Lexium Controller logic input to change to state 1
Parameter
P1
Identifier
Input
Function
Number of the input used
Adjustment range/Units
1 to 8
eWaitI_Off
This command waits for a Lexium Controller logic input to change to state 0
Parameter
P1
Identifier
Input
Function
Number of the input used
Adjustment range/Units
1 to 8
eWaitTime
This command executes a time delay of a defined duration.
Parameter
P1
54
Identifier
Time
Function
Duration of the time delay
Adjustment range/Units
Seconds
Motion task editor
eRepeat
This command repeats one or more steps in the motion sequence table. The step from which the table must be executed again must be
less than the step of the eRepeat command. There can be up to 8 nested repetitions.
Parameter P2 "Count" is used to limit the number of repetitions of the command.
Parameter
P1
P2
Identifier
Step
Count
Function
Step from which the sequence must be repeated
Number of repetitions
Adjustment range/Units
1 to 64
eJump
This command executes an unconditional jump to the step defined in P1 "Step".
Parameter
P1
Identifier
Step
Function
Number of the destination step
Adjustment range/Units
1 to 64
55
Motion task editor
eJumpI_On
This Command executes a conditional jump to a step number (P2 "Step"). If the input selected in P1 "Input" is at state 1, the jump is
executed. Otherwise the next step is executed.
Parameter
P1
P2
Identifier
Input
Step
Function
Number of the input used
Number of the destination step
Adjustment range/Units
1 to 8
1 to 64
eJumpI_Off
This Command executes a conditional jump to a step number (P2 "Step"). If the input selected in P1 "Input" is at state 0, the jump is
executed. Otherwise the next step is executed.
Parameter
P1
P2
56
Identifier
Input
Step
Function
Number of the input used
Number of the destination step
Adjustment range/Units
1 to 8
1 to 64
Motion task editor
eSetQ
This command forces the selected logic output to state 1.
Parameter
P1
Identifier
Output
Function
Number of the output used
Adjustment range/Units
1 to 8
eResetQ
This command forces the selected logic output to state 0.
Parameter
P1
Identifier
Output
Function
Number of the output used
Adjustment range/Units
1 to 8
eWaitAxis
This command waits for the last movement command executed on the axis to be completed.
Parameter
Axis
Identifier
Axis
Function
Axis number
Adjustment range/Units
1 to 8
57
Motion task editor
eWaitEOP
This command waits for the end of execution of a cam profile (EndOfProfile). This is the end of a eCamIn command.
Parameter
Axis
Identifier
Axis
Function
Axis number
Adjustment range/Units
1 to 8
eWaitSync
This command waits for the "InSync" (Synchronized) state of an eCamIn, eGearIn, eFShearIn or eRKnifeIn command.
Parameter
Axis
Identifier
Axis
Function
Axis number
Adjustment range/Units
1 to 8
eWaitPos
This command waits for the position of an axis to be greater than/equal to P1 "Pos".
Parameter
Axis
P1
P2
58
Identifier
Axis
Pos
Range
Function
Axis number
Position
Allows to define interval
Adjustment range/Units
1 to 8
User units
0 = upper or equal
1 = lower
Motion task editor
eWaitDist
This command waits for the distance traveled by the axis to be greater than distance P1, in both directions.
Parameter
Axis
P1
Identifier
Axis
Dist
Function
Axis number
Distance
Adjustment range/Units
1 to 8
User units
eLatchPos
This command stores the position of the axis in the position register using the teach function.
Parameter
Axis
P1
Identifier
Axis
Index
Function
Axis number
Position register
Adjustment range/Units
1 to 8
1 to 32
59
Motion task editor
eWaitTP
This command is used to wait for a Touch Probe input. The position is stored in the index.
Parameter
P1
P2
Identifier
TP Nr
Index
Function
Capture input number
Teach function list index
eStopMTI
This command is used to stop execution of the motion sequence.
60
Adjustment range/Units
Motion task editor
Execution rules
General rules for executing commands using the motion task table interpreter
The interpreter executes all commands in ascending step number order in the same cycle. This means that two consecutive instructions in
the table will be executed simultaneously. Only the following conditions stop the execution of the table:
• The next command is zero (eNoCmd). This is usually the end of the list, then the table starts again automatically from the beginning.
• A wait command is executed (eWaitppp type) and the next command is not a wait command. If a number of wait commands are placed
one after the other, they are all executed in the same cycle time. The interpreter stops at the last wait command and waits for the missing
condition.
These stopping rules are described in detail in the next section, Examples of tables, on page 71.
61
Motion task editor
Sequencing of movements
There are various ways of sequencing movements. Depending on the requirements of the application, the movements must be executed
in one of the following ways:
• Point-to-point: The axis moves to each target position with zero velocity and the positions follow on one after the other.
• Interruptive: The axis executes a standard movement and must, due to a reason connected with the sequence of the machine, change
position.
• Linked to previous position: The axis arrives at the first target position with the velocity of the first movement.
• Linked to next position: The axis arrives at the first target position with the velocity of the second movement.
Step by step: Point-to-Point sequencing
In Point-to-point mode the movements of the axis can be linked together immediately, or this may be dependent on time or a logic input.
Linear axis with a trapezoid motion profile. Positions linked together immediately.
The parameter P7 "Buffered" function in the eMoveAbs block is used here.
Command
CMD
1
Power
On
eMove
Abs
eMove
Abs
eMove
Abs
eMove
Abs
eWait
Axis
2
3
4
5
Param.1
Axis P1 Name
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Param. 7
Val. P7
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
P6 Value
P7 Name
P7 Value
1
1
Pos
10000
Vel
1000
Acc
500
Dec
500
Dir
1
Reg
0
Buffer
0
1
Pos
2000
Vel
200
Acc
100
Dec
100
Dir
1
Reg
0
Buffer
1
1
Pos
3000
Vel
500
Acc
500
Dec
500
Dir
1
Reg
0
Buffer
1
1
Pos
2000
Vel
1000
Acc
1000
Dec
500
Dir
1
Reg
0
Buffer
1
1
Velocity
6
Axis
Distance
Step
STEP
Seconds
62
Motion task editor
Linear axis with a trapezoid motion profile. Positions dependent on time.
Command
CMD
1
Power
On
eMove
Abs
eWait
Time
eMove
Abs
eWait
Time
eMove
Abs
eWait
Axis
3
4
5
6
7
Param.1
Axis P1 Name
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Param. 7
Val. P7
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
P6 Value
P7 Name
P7 Value
10000
Vel
1000
Acc
500
Dec
500
Dir
1
Reg
0
Buffer
0
Time
20
Vel
500
Acc
500
Dec
500
Dir
1
Reg
0
Buffer
0
Time
10
Vel
1000
Acc
1000
Dec
500
Dir
1
Reg
0
Buffer
0
1
1
Pos
0
1
Pos
3000
0
1
Pos
2000
1
Distance
2
Axis
Velocity
Step
STEP
Seconds
63
Motion task editor
Linear axis with a trapezoid motion profile. Positions dependent on a logic input.
Step
Command
STEP
CMD
1
Power
On
eMove
Abs
eWaitI
_On
eMove
Abs
eWaitI
_On
eMove
Abs
eWait
Axis
2
3
4
5
6
Param.1
Axis P1 Name
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Param. 7
Val. P7
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
P6 Value
P7 Name
P7 Value
10000
Vel
1000
Acc
500
Dec
500
Dir
1
Reg
0
Buffer
0
LI
1
Vel
500
Acc
500
Dec
500
Dir
1
Reg
0
Buffer
0
LI
2
Vel
1000
Acc
1000
Dec
500
Dir
1
Reg
0
Buffer
0
1
1
Pos
0
1
Pos
3000
0
1
Pos
2000
1
Distance
Velocity
7
Axis
LI1 at 1
Seconds
64
LI2 at 1
Motion task editor
Step by step: Interruptive sequencing
In interruptive mode the movements of the axis can be interrupted immediately by a new movement. This is the default mode of the Lexium
Controller.
Linear axis with a trapezoid motion profile. Interrupts dependent on time.
Step
Command
STEP
CMD
1
Power
On
eMove
Vel
eWait
Time
eMove
Vel
eWait
Time
eMove
Abs
eWait
Axis
2
3
4
5
6
Param.1
Axis P1 Name
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Param. 7
Val. P7
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
P6 Value
P7 Name
P7 Value
1000
Acc
500
Dec
500
Time
10
Vel
500
Acc
500
Dec
500
Dir
1
Reg
0
Buffer
0
Time
3
Vel
1000
Acc
1000
Dec
500
Dir
1
Reg
0
Buffer
0
1
1
Vel
0
1
Pos
3000
0
1
Pos
2000
1
Distance
Velocity
7
Axis
LI1 at 1
LI2 at 1
Seconds
65
Motion task editor
Linear axis with a trapezoid motion profile. Interrupts dependent on a logic input.
Step
Command
STEP
CMD
1
Power
On
eMove
Rel
eWaitI
_On
eMove
Rel
eWaitI
_On
eMove
Rel
eWait
Axis
2
3
4
5
6
Param.1
Axis P1 Name
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Param. 7
Val. P7
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
P6 Value
P7 Name
P7 Value
10000
Vel
1000
Acc
500
Dec
500
Dir
1
Reg
0
Buffer
0
LI
1
Vel
500
Acc
500
Dec
500
Dir
1
Reg
0
Buffer
0
LI
2
Vel
1000
Acc
1000
Dec
1000
Dir
1
Reg
0
Buffer
0
1
1
Pos
0
1
Pos
3000
0
1
Pos
8000
1
Distance
Velocity
7
Axis
LI1 at 1
LI2 at 1
Seconds
66
Motion task editor
Step by step: "Linked to previous position" sequencing
In Linked to previous position mode the movements of the axis follow on one after the other and the velocity of movement N to the target
position is equal to velocity VN of this movement.
Step
Command
STEP
CMD
1
Power
On
eMove
ContAbs
eMove
ContAbs
eMove
Abs
eWait
Axis
2
3
4
Param.1
Axis P1 Name
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Param. 7
Val. P7
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
P6 Value
P7 Name
P7 Value
1
1
Pos
9500
Vel
1000
EndVel
1000
Acc
500
Dec
500
Reg
0
Buffer
0
1
Pos
19500
Vel
2000
EndVel
2000
Acc
1000
Dec
1000
Reg
0
Buffer
1
1
Pos
36000
Vel
3000
Acc
1000
Dec
500
Dir
1
Reg
0
Buffer
1
1
Distance
Velocity
5
Axis
Seconds
67
Motion task editor
Step
Command
STEP
CMD
1
Power
On
eMove
ContAbs
eMove
ContAbs
eMove
Abs
eWait
Axis
2
3
4
Param.1
Axis P1 Name
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Param. 7
Val. P7
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
P6 Value
P7 Name
P7 Value
1
1
Pos
16500
Vel
3000
EndVel
3000
Acc
500
Dec
500
Reg
0
Buffer
0
1
Pos
26500
Vel
2000
EndVel
3000
Acc
1000
Dec
1000
Reg
0
Buffer
1
1
Pos
36500
Vel
1000
Acc
1000
Dec
500
Dir
1
Reg
0
Buffer
1
1
Distance
Velocity
5
Axis
Seconds
68
Motion task editor
Step by step: "Linked to next position" sequencing
In Linked to next position mode the movements of the axis follow on one after the other and the velocity of movement N to the target position
is equal to velocity VN+1 of the next movement.
Step
Command
STEP
CMD
1
Power
On
eMove
ContAbs
eMove
ContAbs
eMove
Abs
eWait
Axis
2
3
4
Param.1
Axis P1 Name
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Param. 7
Val. P7
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
P6 Value
P7 Name
P7 Value
1
1
Pos
11000
Vel
1000
EndVel
2000
Acc
500
Dec
500
Reg
0
Buffer
0
1
Pos
21000
Vel
2000
EndVel
3000
Acc
1000
Dec
1000
Reg
0
Buffer
1
1
Pos
37500
Vel
3000
Acc
1000
Dec
500
Dir
1
Reg
0
Buffer
1
1
Distance
Velocity
5
Axis
Seconds
69
Motion task editor
Step
Command
STEP
CMD
1
Power
On
eMove
ContAbs
eMove
ContAbs
eMove
Abs
eWait
Axis
2
3
4
Param.1
Axis P1 Name
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Param. 7
Val. P7
P1 Value
P2 Name
P2 Value
P3 Name
P3 Value
P4 Name
P4 Value
P5 Name
P5 Value
P6 Name
P6 Value
P7 Name
P7 Value
1
1
Pos
18000
Vel
3000
EndVel
2000
Acc
500
Dec
500
Reg
0
Buffer
0
1
Pos
29000
Vel
2000
EndVel
1000
Acc
1000
Dec
1000
Reg
0
Buffer
1
1
Pos
36500
Vel
1000
Acc
1000
Dec
500
Dir
1
Reg
0
Buffer
1
1
Distance
Velocity
5
Axis
Seconds
70
Motion task editor
Examples of tables
Example 1:
When input 1 changes to state 1, axes 1, 2 and 3 start their movements in parallel. When all the axes have reached their target positions,
output 1 changes to state 1.
When input 1 changes to state 0, all the axes return to zero, but one after the other.
When axis 3 reaches zero, the output is reset, the motion task table returns to step 2, and the cycle restarts.
Command
Axis
Param. 1
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Param. 7
Val. P7
CMD
Axis
Par1
Value1
Par2
Value2
Par3
Value3
Par4
Value4
Par5
Value5
Par6
Value6
Par7
Value7
Power
OnAll
WaitI_On
MoveAbs
MoveAbs
MoveAbs
WaitAxis
WaitAxis
WaitAxis
SetQ
WaitI_Off
MoveAbs
WaitAxis
MoveAbs
WaitAxis
MoveAbs
WaitAxis
ResetQ
Jump
0
Input
Pos
Pos
Pos
1
9500
14500
-10000
Vel
Vel
Vel
1000
1000
1000
Acc
Acc
Acc
1000
1000
1000
Dec
Dec
Dec
500
500
500
Dir
Dir
Dir
1
1
1
Reg
Reg
Reg
0
0
0
Buffered
Buffered
Buffered
0
0
0
Output
Input
Pos
1
1
0
Vel
1000
Acc
500
Dec
1000
Dir
1
Reg
0
Buffered
0
Pos
0
Vel
1000
Acc
500
Dec
1000
Dir
1
Reg
0
Buffered
0
Pos
0
Vel
1000
Acc
500
Dec
1000
Dir
1
Reg
0
Buffered
0
Output
Step
1
2
1
2
3
1
2
3
1
1
2
2
3
3
71
Motion task editor
Axis 1:
LI1 at 1
L01 at 1
L01 at 0
LI1 at 1
L01 at 1
LI1 at 0
Axis 2:
LI1 at 1
L01 at 1
LI1 at 0
LI1 at 1
L01 at 1
LI1 at 0
LI1 at 1
L01 at 1
LI1 at 0
LI1 at 1
L01 at 1
LI1 at 0
Axis 3:
72
Motion task editor
Example 2:
When Input 1 becomes true, User Cam 1 is loaded and a Camming for Axis 2 is started.
As soon as Axis 2 is synchronized, Axis 1 is started with a MoveVel.
The two axes remain synchronized until Input 1 becomes false.
Then Camming is aborted and both Axes are stopped.
Step
Command
Axis
Param. 1
Val. P1
Param. 2
Val. P2
Param. 3
Val. P3
Param. 4
Val. P4
Param. 5
Val. P5
Param. 6
Val. P6
Param. 7
Val. P7
Step
CMD
Axis
Par1
Value1
Par2
Value2
Par3
Value3
Par4
Value4
Par5
Value5
Par6
Value6
Par7
Value7
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
PowerOn
PowerOn
WaitI_On
CamSel
CamIn
WaitSync
MoveVel
WaitAxis
WaitI_Off
Camout
Stop
WaitAxis
Stop
WaitAxis
Jump
0
1
2
Input
Master
Master
1
1
1
Cam
Vel
1
Perio Cam
1
MstAbs
1
1000
Acc
1000
Dec
1000
Vel
2000
Acc
1000
Input
1
Dec
2000
Dec
2000
Step
3
2
2
2
1
1
2
2
2
1
1
Dec
1000
73
Motion task editor
Axis 1:
LI1 at 0
LI1 at 1
Axis 2:
LI1 at 1
74
LI1 at 0
Automatic mode
Manual mode enables the motion sequence programmed in the motion sequence editor (see page 14) to be checked step by step.
This mode is the continuous operating mode of the Lexium Controller. It is used to execute the motion sequence continuously.
General organization of the screen
The automatic mode screen consists of five sections:
• A central screen for supervising all the connected axes
• A control panel on the right of the screen used for supervising the states of the I/O
• The motion task sequence
• The toolbar at the top of the screen
• The navigation bar
75
Automatic mode
Central supervision screen
The central supervision screen is used to display the behavior of the axes during the execution of the sequence. For each axis it gives:
• Its position: The position of the axis is updated in real time.
• Its velocity: The velocity of the axis is updated in real time.
• The function block being executed on the axis: This information is important for checking the synchronization of the sequence.
• The axis status: Enables the behavior of the axis to be located in the status diagram (see page 23).
• The presence of errors on the axis.
Control panel
Used to display and force the state of the Lexium Controller I/O.
To force I/O click on "Force IQs".
"Force mask" allows to select I/O to force. Then forcing is done by clicking on the I/O.
76
Automatic mode
Motion sequence
This table enables the progress of the sequence to be monitored step by step in real time. The active step is indicated by a green
background.
Toolbar
The toolbar contains five buttons and one field:
• "Auto Enable": This button activates the execution of the motion sequence.
• "Start": This button starts the automatic execution of the motion task sequence. The execution corresponds to the normal operation of
the machine.
• "Step": This button starts step by step execution of the motion sequence.
• "Reset": This button is used to return to the first step in the execution of the sequence.
• "StartStep": This field is used to select to the first step in the execution of the sequence.
• "Cycle time": This button is used to open the specific window for supervising the Lexium Controller cycle time.
77
Automatic mode
"Cycle Time" supervision window
This screen consists of six fields:
• "Actual cycle": Gives the current cycle time in µs.
• "Minimum cycle": Gives the minimum cycle time in µs.
• "Cycle Count": Gives the number of cycles executed since the Lexium Controller was energized.
• "Average cycle": Gives the average cycle time in µs.
• "Maximum cycle": Gives the maximum cycle time in µs.
• "Reset": Updates each of these counters.
78
Trace function
This function is accessed by pressing "Trace".
This function is used to read any 8 parameters simultaneously.
These parameters can be selected from a list of active parameters using: "Var 0, Var 1, Var 2", etc.
The parameter-setting actions and options are accessed by right-clicking the mouse:
Please refer to the Motion Pro - Programming manual for more information on the Trace function parameters.
79
Mains contactor operation
Easy Motion offers the option of controlling the mains contactor that makes the current upstream of the servo drives. The purpose of this
function is to control the contactor (gMB_xMainsContactor output) and monitor its status (activated or not) via the feedback contact (NO).
Three types of operation are available. They can be configured via the MainsWatch Mode parameter which can be accessed in the Easy
Motion Config/LMC Par menu.
• If MainsWatch Mode = 0, mains contactor feedback monitoring is deactivated.
• If MainsWatch Mode = 1, the function is activated, and the gMB_xMainsWatch internal variable is monitored. This mode can be used to
add software conditions to the feedback contact monitoring.
• If MainsWatch Mode = 2, the function is activated, and mains contactor feedback monitoring is associated with a logic input LIx.
When the function is activated, the start sequence is as follows:
After Easy Motion has been started and the drives initialized, the mains contactor control output changes to 1.
If the mains contactor feedback does not change to 1 (LIx logic input or gMB_xMainsWatch variable) within a predefined time, or if a
Reaction 1 (R1) type error is active, the mains contactor control output changes back to 0, the application cannot start and Mains Control
Error is displayed.
Mains contactor feedback
(Input or gMB_xMainsWatch)
Mains contactor control output
(Output)
Time
Delay
If the mains contactor feedback switches to 1 before the end of the delay and no Reaction 1 (R1) type error is active, the application can
start.
Mains contactor feedback
(Input or gMB_xMainsWatch)
Mains contactor control output
(Output)
Time
Delay
During operation, if the mains contactor feedback changes to 0 (open circuit), if the mains contactor control output is forced to 0 or if a
Reaction 1 (R1) type error appears, the system shuts down and Mains Control Error is displayed.
Note : The Main Power button can also be used to trigger a Reaction 1 (R1) type error. When it is acknowledged by Error Reset the axes
will be reinitialized.
Default value:
The mains contactor feedback is assigned to the Lexium Controller input 8.
Mains contactor monitoring is assigned to the Lexium Controller output 8.
The delay is configured as 1 second.
80
Control of the mains contactor
These parameters can be configured when the Application Template is used with Motion Pro.
Please refer to the Easy Motion - Programming Manual - Application Template parameter table documentation for more information.
Example of wiring the mains contactor with a mains contactor auxiliary contact wired on a logic input (LIx)
+24 Volt
k2
additional contacts
LIx
Lexium
Controller
gMB_xMainsContactor
auxiliary relay K1
Mains Contactor K2
0 Volt
81
Scaling
For the user to be able to program his distances, positions (degrees, µm, etc) as well as the velocities, accelerations and decelerations
using units that are consistent with those used in mechanical engineering, a scaling coefficient has to be defined for each axis.
This coefficient takes the form of a ratio of 2 parameters (integers):
- User Unit Numerator (N)
- User Unit Denominator (D)
There are two possible ways to determine the ratio of N/D
a)Whether it is possible to measure or find out precisely the distance traveled by the axis for one motor revolution.
N
1---- = X × ---------D
INC
X is the distance traveled for one motor revolution. This distance must be expressed in the unit that the user wishes to use.
b)If various devices such as a gearbox, ball screw, and cog wheels make up the drive chain, I can determine my N/D ratio using the ratios
of these devices.
N
1---- = Y × OUT
------------- × ---------D
IN
INC
Y is the distance traveled for one revolution of the ball screw or cog wheel. This distance must be expressed in the unit that the user wishes
to use.
OUT: Is the number of revolutions at the gearbox output for IN input revolutions.
INC: Is the number of increments per motor revolution.
In the case of the LEX05 with BSH motor INC = 131,072
In the case of the Lexium15 the value of INC depends on the resolution of the position feedback used.
With a BSH, INC = 131,072.
With other types of motor, the maximum value of INC can vary (Max = 1,054,478)
The speed should always be expressed in Units/sec
The acceleration and deceleration should always be expressed in units/sec2
Important note:
For users of Motion Pro/CoDeSys, who also use the Application Template, it is preferable to use the Application Template configuration
screens or the graphic display terminal to set these parameters.
In this case, the Motion Pro/CoDeSys configuration screens must not be used.
82
Error management
When gMB_xErrorHandlerEnable = 1, faults are routinely saved in 2 lists:
• Active Error list: accessible in the Easy Motion Error List menu.
This list details the active errors and is deleted after an Error Reset.
It is limited to 16 inputs. If more than 16 errors are active, only the first 16 errors are listed.
• Logger List: accessible in the Easy Motion Logg List menu.
This list contains the error history. It lists all errors, even after they have been acknowledged.
It is deleted after a Del Logger.
It is limited to 32 inputs and operates on the FIFO principle (First In, First Out).
If the error is still active, after an Error Reset it is automatically rewritten to Active Error List and it appears twice in Logger List.
On the graphic display terminal, only the most recent error is displayed.
There are 2 types of error:
· Errors specific to Codesys - Soft Motion. For more information about these errors, please refer to the Codesys - Soft Motion
documentation.
· Errors specific to the Application Template with a type 40xx ID.
83
Error management
Description of the errors specific to the Application Template:
There are 3 classes of fault, each causing a different reaction:
Reaction 1 (R1): Faults causing stopping and disabling (PowerOff) of all axes and resetting of the mains contactor.
Reaction 2 (R2): Faults causing stopping and disabling (PowerOff) of all axes.
Reaction 3 (R3): Faults causing stopping without disabling of all axes.
ID
4001
84
Reaction
1
Error message
Meaning
Corrective action
The emergency stop bit has
been activated
Change the gMB_xEmergencyStop bit to FALSE
This bit can only be controlled via the Application Template
parameter table.
Please refer to the Easy Motion - Programming Manual Application Template parameter table documentation for
more information.
Error affecting the mains
contactor function or a
Reaction 1 (R1) type error is
active
Check the mains contactor mechanism
If no physical mains contactor mechanism has been fitted, set
the MainsWatch Mode parameter to 0.
This parameter can be accessed in the Easy Motion Config/
LMC Par menu
Please refer to the Easy Motion - Programming Manual Mains Contactor operation documentation for more
information about how the mains contactor works
The axis number is invalid
The axis number must be between 1 and 10
Please refer to the Easy Motion - Programming Manual Application Template parameter table documentation for
more information
Emergency Stop
active
4002
1
Mains Control
Error
4003
3
Drive Number out
of range
4004
3
MTI Parameter
Error
4005
3
MTI Unknown
Command
4006
3
MTI Timeout Error
A timeout can be configured in Modify the programming in the motion sequence
each motion task. This error is
triggered when this timeout
has elapsed.
4007
3
MTI Repeat Error
The number of repeats
(eRepeat) is more than 8
4008
3
Teach List Index The teach function table index The index must be an integer between 1 and 32
Error
is invalid
The parameters entered in the Please refer to the Easy Motion - Programming Manual motion sequence are not
Application Template parameter table documentation for
correct
more information about the parameter value ranges
Command not recognized in
the motion sequence
Please refer to the Easy Motion - Programming Manual Application Template parameter table documentation for
more information about the motion sequence commands
Modify the programming in the motion sequence
Error management
ID
Reaction
Error message
4009
3
3
4010
Meaning
Corrective action
Invalid User Cam
The number of the selected
Cam profile, the number of
points or the value of certain
parameters are invalid
Please refer to the Easy Motion - Programming Manual Application Template parameter table documentation for
more information about the Cam profile value ranges
Axis Parameter
Error
The axis parameters are
inconsistent with those saved
during the last session
This error always appears the first time Easy Motion is
used.
Use the Read Par command in the Easy Motion Config menu
to update the axis parameters
Problem during servo drive
initialization
Check communication with the servo drives (numbers of the
nodes and baudrate)
This error appears if the number of axes configured is higher
than the number of axes that are actually connected
In this case, correct the number of axis and reset the Lexium
Controller
4011
1
Error during
startup
4015
3
Axis Name:
Unknown CMD
4016
2
A motion command has been
Axis Name: Axis in
sent to an axis in ErrorStop
Error Stop
mode (PLCopen state)
Please refer to the PLCopen state chart in the Easy Motion Programming Manual documentation for more information
4017
3
A motion command has been
Axis Name: Axis in
sent to an axis in PowerOff
wrong State
mode (PLCopen state)
Please refer to the PLCopen state chart in the Easy Motion Programming Manual documentation for more information
4018
3
An eMoveSupI command has The eMoveSupI command must be sent to a moving axis
Axis Name: CMD
Please refer to the PLCopen state chart in the Easy Motion been sent to a stopped axis
not allowed
Programming Manual documentation for more information
4019
3
Axis Name: Invalid
Axis Number
4020
3
The number of movements
Modify the programming in the motion sequence
Axis Name: Buffer
stored in memory is more than
size exceeded
8
4026
3
Read Drive
Error when reading the
Parameter Error parameters on a servo drive
Check communication with the servo drives
4027
3
Write Drive
Error when writing the
Parameter Error parameters to a servo drive
Check communication with the servo drives
3
Error when saving the
Save Drive
parameters to non-volatile
Parameter Error
memory on a servo drive
Check communication with the servo drives
4028
3
Error when uploading a
Upload Drive
Parameter Error configuration from a servo
drive
Check communication with the servo drives
4029
4030
3
Download Drive Error when downloading a
Parameter Error configuration to a servo drive
Check communication with the servo drives
An invalid command has been Please refer to the Easy Motion - Programming Manual sent to the axis.
Application Template parameter table documentation for
more information about valid axis commands
The axis number is invalid
The axis number must be between 1 and 10
Please refer to the Easy Motion - Programming Manual Application Template parameter table documentation for
more information
85
Application Template parameter table
Parameters and commands accessible via the Application Template can be managed by global variables. Those variables are accessible
via Ethernet, Modbus or directly with Motion Pro. It allows to use the functionalities of the application template without using the Graphical
User Interface.
Parameter Name
Address
Type
Default
Value
gMB_sUserProjectName
%MW0
STRING[19]
-
gMB_xOnlyLexium05
%MW18
BOOL
0
gMB_xDisplayEncoder
%MW20
BOOL
gMB_xDisplayVirtAxis
%MW21
BOOL
gMB_xForceEnable
%MW17
BOOL
gMB_dwMC_Input_Image %MW22
WORD
gMB_dwMC_Input_
ForceValue
%MW23
WORD
gMB_dwMC_Input_
ForceMask
%MW24
WORD
gMB_dwMC_Output_
Image
%MW25
WORD
gMB_dwMC_Output_
ForceValue
%MW26
WORD
gMB_dwMC_Output_
ForceMask
%MW27
WORD
gMB_xBatteryOK
%MW28
BOOL
Range
SYSTEM
-
Description
Access
Project name defined by User
in configuration screen
R/W
0/1
Optimize Motion bus booting time
if only Lexium 05 are used
1 : Configuration with only Lexium 05
0 : Configuration with at least one Lexium 15
R/W
0
0/1
Display Encoder in manual
and automatic modes
R/W
0
0/1
Display virtual Axis in manual
and automatic modes
R/W
0/1
Enables forcing of I/O
R/W
-
8# 00000000
TO
8# 11111111
0
8# 00000000
TO
8# 11111111
16# FFFF
16# 0000
TO
16# FFFF
Image of local Logical inputs (LI1 to LI8)
R
Force values of HW inputs
R
8# 00000000
TO
8# 11111111
0
8# 00000000
TO
8# 11111111
16# FFFF
16# 0000
TO
16# FFFF
Image of Logical outputs (LO1 to LO8)
R
Force values of local logical outputs
R
Force mask of local logical outputs
=0 not allowed to force
1 : allowed to force
R/W
0/1
Force mask of local logical inputs
0 : not allowed to force
1 : allowed to force
R/W
Battery status
1 : battery ok
0 : battery in default
R
gMB_iTPLVersionLow
%MW29
WORD
0
Application Template Version, low index
R
gMB_iTPLVersionHigh
%MW30
WORD
1
Application Template Version, high index
R
gMB_sTPLVersion
%MW31
STRING[11]
V1.0.0
Complete Application Template Version,
string format
R
gMB_dtMC_SystemTime
%MW42 DATE_AND_
TIME
System Timer
Format :
DATE_AND_TIME#1996-05-06-15:36:30
R/W
gB_dtC_SetSystemTime
%MW44 DATE_AND_
TIME
%MW46
TIME
Set value of system watch
R/W
Format : t#12h34m15s
R/W
gMB_timSystemTime
86
Application Template parameter table
Parameter Name
Address
Type
gMB_xEmergencyStop
%MW50
BOOL
Default
Range
Description
Access
Value
ERROR HANDLING
0
0/1
R/W
Emergency Stop,
1 : generates error category 1
It is not a safety feature
0
0/1
W
Global Error reset (reset whole active error list)
gMB_xErrorReset
%MW51
BOOL
gMB_xErrorReset1
%MW52
BOOL
0
0/1
Error reset for Axis1 (axis module reset)
(drive + program)
W
gMB_xErrorReset2
%MW53
BOOL
0
0/1
Error reset for Axis2
W
gMB_xErrorReset3
%MW54
BOOL
0
0/1
Error reset for Axis3
W
gMB_xErrorReset4
%MW55
BOOL
0
0/1
Error reset for Axis4
W
gMB_xErrorReset5
%MW56
BOOL
0
0/1
Error reset for Axis5
W
gMB_xErrorReset6
%MW57
BOOL
0
0/1
Error reset for Axis6
W
gMB_xErrorReset7
%MW58
BOOL
0
0/1
Error reset for Axis7
W
gMB_xErrorReset8
%MW59
BOOL
0
0/1
Error reset for Axis8
W
gMB_xErrorReset9
%MW60
BOOL
0
0/1
Error reset for virtual Axis
W
gMB_xErrorHandlerEnable
%MW61
BOOL
1
0/1
1 : Enable Error Handler
- active errors list
- error logger list
- error reactions
R/W
gMB_xError
%MW62
BOOL
0
0/1
Status global Error active (any kind of error)
R
gMB_xErrorReaction1
%MW63
BOOL
0
0/1
Status Error reaction1 active
R
gMB_xErrorReaction2
%MW64
BOOL
0
0/1
Status Error reaction10 active
R
gMB_xErrorReaction3
%MW65
BOOL
0
0/1
Status Error reaction100 active
R
gMB_xBlinkSlow
%MW66
BOOL
0
0/1
Slow blink frequency (1 sec on / O.5 off)
R
gMB_xBlinkFast
%MW67
BOOL
0
0/1
Fast blink frequency (0.5 sec on / 0.25 off)
R
gMB_iNumberOfActiveErrors
%MW4443
INT
gMB_xLoggerDelete
%MW4828
BOOL
gMB_iNumberOfLogListEntries %MW4829
INT
0/1
Active errors in the list
R
Delete logger list
W
Number of entries in the logger list
R
87
Application Template parameter table
Parameter Name
Address
Type
Default Range
Description
Value
MANUAL MODE
0
0 / 1 Enter selected axis actual position to teach list
register
0
0 / 1 Delete COMPLETE teachlist
gMB_xTeachEnter
%MW98
BOOL
gMB_xTeachDeleteList
%MW99
BOOL
gMB_xTeachInsertLine
%MW96
BOOL
0/1
Insert line, moves all following lines one line up
W
gMB_xTeachDeleteLine
%MW97
BOOL
0/1
Delete actual line
W
gMB_uiTeachListIndex
%MW4185
UINT
1
gMB_Manual_iAxisNo
%MW100
UINT
0
gMB_Manual_xJoggForw
%MW101
BOOL
0
gMB_Manual_xJoggBack
%MW102
BOOL
0
0/1
Input jogging backward (in manual mode)
R/W
gMB_Manual_
xMoveRelStart
gMB_Manual_
xMoveVelStart
gMB_Manual_
xMoveAbsStart
gMB_Manual_xHomeStart
%MW103
BOOL
0
0/1
Input start of relative movement (in manual mode)
R/W
%MW104
BOOL
0
0/1
Input start of velocity movement (in manual mode)
R/W
%MW105
BOOL
0
0/1
Input start of absolute movement (in manual mode)
R/W
%MW106
BOOL
0
0/1
Input start of homing (in manual mode)
R/W
1 to 32 Index of teachlist
1 to 10 Selected Axis number for manual operation
- 1 to 8 for real axis
- 10 for virtual axis
0 / 1 Input jogging forward (in manual mode)
Access
R/W
R/W
R/W
R/W
R/W
gMB_Manual_xStop
%MW107
BOOL
0
0/1
Input stop (in manual mode)
R/W
gMB_Manual_xPowerOn
%MW108
BOOL
0
0/1
Input Power On (in manual mode) This input closes
position and velocity loop on the motor.
R/W
gMB_Manual_xSetPos
%MW109
BOOL
0
0/1
Input Set axis Position. The axis position is settled to
gMB_Manual_ rPosition (in manual mode)
R/W
gMB_Manual_rVel
%MW110
REAL
100
Velocity for manual movement
R/W
gMB_Manual_rAcc
%MW112
REAL
1000
Acceleration for manual movement
R/W
gMB_Manual_rDec
%MW114
REAL
1000
Deceleration for manual movement
R/W
gMB_Manual_rPosition
%MW116
REAL
100
Position for manual movement
-1 to 3 Direction for manual movement
- 1 : negative
0 : shortest
1 : positive
2 : previous
3 : fastest
0 / 1 Status Jog forward active (in manual mode)
R/W
gMB_Manual_eDirection
gMB_Manual_
xJoggForwActive
gMB_Manual_
xJoggBackActive
gMB_Manual_
xMoveRelActive
gMB_Manual_
xMoveAbsActive
gMB_Manual_
xHomeActive
gMB_Manual_
xMoveVelActive
gMB_Manual_
xSetPosActive
88
%MW118 MC_Direction
0
R/W
%MW122
BOOL
0
%MW123
BOOL
0
0/1
Status Jog backward active (in manual mode)
W
%MW124
BOOL
0
0/1
Status relative move active (in manual mode)
W
%MW125
BOOL
0
0/1
Status absolute move active (in manual mode)
W
%MW126
BOOL
0
0/1
Status homing move active (in manual mode)
W
%MW127
BOOL
0
0/1
Status velocity move active (in manual mode)
W
%MW128
BOOL
0
0/1
Status set axis position active (in manual mode)
W
W
Application Template parameter table
Parameter Name
Address
Type
gMB_iConfigAxisNumber
%MW130
INT
gMB_xDownLoadPar
%MW131
BOOL
gMB_xDownLoadActive
%MW132
BOOL
gMB_xUpLoadPar
%MW133
BOOL
gMB_xUpLoadActive
%MW134
BOOL
gMB_xUpDownLoadYes
%MW135
BOOL
gMB_xUpDownLoadBusy
%MW136
BOOL
gMB_xUpDownLoadError
%MW137
BOOL
gMB_xEditParameter
%MW138
BOOL
gMB_xEditParameterActive %MW139
BOOL
Default
Range
Description
Access
Value
CONFIGURATION MODE
0
1 to 10
Selected Axis Number for Configuration mode R / W
- 1 to 8 for real axis
- 0 for virtual axis
0
0/1
W
Input Download drive configuration
Controller to drive
0
0/1
R
Status Download Controller to drive
(feedback of gMB_xDownLoadPar)
0
0/1
R/W
Input Upload drive configuration
Drive to Controller
0
0/1
R
Status Upload Drive to Controller Status
(feedback of gMB xUpLoadPar _)
0
0/1
R/W
Input acknowledge Up-DownLoad
(wait for gMB_xDownLoadActive)
0
0/1
R
Status Upload/download drive configuration in
progress
0
0/1
R
Status Upload/download drive configuration
error
(reseted with global error reset)
0
0/1
R/W
Input Edit parameters defined by :
gMB_xAxisParEditSel and
gMB_iConfigAxisNumber parameters
gMB_xEncParEditSel
gMB_xLMCParEditSel
0
0/1
R
Status edit axis parameters active feedback.
gMB_xConfigWritePar
%MW140
BOOL
0
0/1
Input write axes Parameter (all parameters
selected (encoder, axis, controller)
R/W
gMB_xConfigReadPar
%MW141
BOOL
0
0/1
Input start read axes Parameter
R/W
gMB_xConfigSavePar
%MW142
BOOL
0
0/1
Input start save drive Parameter
(in non Volatil memory)
R/W
gMB_xWriteParActive
%MW143
BOOL
0
0/1
Status write axes Parameters active
R
gMB_xReadParActive
%MW144
BOOL
0
0/1
Status read axes Parameters active
R
gMB_xSaveParActive
%MW145
BOOL
0
0/1
Status save drive Parameters active
R
gMB_xAxisParEditSel
%MW146
BOOL
0
0/1
Input select Edit Axis Parameters. Axis
number is given by gMB_iConfigAxisNumber
R/W
gMB_xEncParEditSel
%MW147
BOOL
0
0/1
Input select Edit Master Encoder Parameters
R/W
gMB_xLMCParEditSel
%MW148
BOOL
0
0/1
Input select Edit Lexium Controller
Parameters
R/W
gMB_xAxisParEditActive
%MW149
BOOL
0
0/1
Status Edit Axis Parameters active
R
gMB_xEncParEditActive
%MW150
BOOL
0
0/1
Status Edit Master Enc Parameters active
R
gMB_xLMCParEditActive
%MW151
BOOL
0
0/1
Status Edit Lexium Controller Parameters
active
R
89
Application Template parameter table
Parameter Name
Address
gMB_iMainsWatchMode
%MW19
Default
Range
Value
MAINS CONTACTOR
WORD
0
0/1/2
gMB_xMainsWatch
%MW155
BOOL
0
gMB_timPowerOnDelay
%MW156
TIME
1s
gMB_xMainsContactor
%MW161
BOOL
0
0/1
Status Mains Contactor
gMB_byMainsContactorOutPut %MW162
BYTE
8
0 to 8
Number of Lexium Controller HW output
used for Mains Contactor
0 for no output used
1 to 8 number of output used
R /W
%MW163
BYTE
8
0 to 8
Only needed If gMB_xMainsWatchMode=2
It has to be false and switch to true within
gMB_timPowerOnDelay
Number of Lexium Controller HW input used
for Mains Contactor feedback
R /W
gMB_xManualOn
%MW180
R /W
gMB_xAutoOn
%MW181
OPERATIONAL MODES
BOOL
0
0/1
Operation mode Manual select
BOOL
0
0/1
Operation mode Automatic select
gMB_xCommissOn
%MW182
BOOL
0
0/1
Operation mode Configuration select
R /W
gMB_byMainsWatchInPut
90
Type
0/1
Description
Access
Selection of Mains Watch feedback mode
0 : feed back is Simulated,
1 : the internal gMB_xMainsWatch variable
is used to simulate the feedback
2 : a logical input (LIx) is used.
The number of the input is defined by
gMB_iMainsWatchInPut
R/W
Only needed If gMB_xMainsWatchMode=1
Simulate the Feedback contact from Mains
Contactor
It has to be false and switch to true within
gMB_timPowerOnDelay
R/W
Power on delay
R/W
R
R /W
gMB_xManActive
%MW183
BOOL
0
0/1
Operation mode Manual active
R
gMB_xAutoActive
%MW184
BOOL
0
0/1
Operation mode Automatic active
R
gMB_xConfigActive
%MW185
BOOL
0
0/1
Operation mode Configuration active
R
gMB_xMTIStart
%MW190
BOOL
gMB_xMTIReset
%MW191
BOOL
gMB_xMTISingleStep
%MW192
AUTOMATIC MODE
0
Start Motion Task table execution at step
defined by gMB_uiMTIStartStep
R/W
0
Reset Motion Task table to step defined by
gMB_uiMTIStartStep
R/W
BOOL
0
Single Step Motion Task table execution
R/W
R/W
gMB_uiMTIStartStep
%MW193
UINT
1
1 to 64
Defines the Start Step of Motion Task table
gMB_iMTIActualStep
%MW196
INT
0
1 to 64
Actual step of Motion Task table
R
gMB_eMTIActualCMD
%MW197 TPL_Comma
ndType
-
-
Actual command of Motion Task table. See
list of commands
R
gMB_iNumberOfAxes
%MW299
2
1 to 8
Number of real Axes in Application Template
R/W
INT
Application Template parameter table
Axis module interface
This interface allows, through an array of words, to control the status and to send move commands for each axis independently.
It contains all the parameters needed for every type of commands (eCMD, see list below)
Parameters are taken into account and the command is executed as soon as eCMD is different than 0.
Command names and numbers (eCMD):
Command Nbr
1
2
3
4
5
6
7
8
9
10
11
Command Name
eMoveAbs,
eMoveRel,
eMoveAdd,
eMoveVel,
eMoveContRel,
eMoveContAbs,
eSTOP,
ePowerOn,
ePowerOnAll,
ePowerOff,
ePowerOffAll,
Command Nbr
12
13
14
15
16
17
18
19
20
21
22
Command Name
eHome,
eCamSel,
eCamIn,
eCamOut,
eGearIn,
eGearOut,
eFShearIn,
eFShearOut,
eFShearStop,
eRKnifeIn,
eRKnifeOut,
Command Nbr
23
24
25
26
27
28
29
30
31
32
33
Command Name
eRKnifeStop,
eMoveSupI,
ePhasing,
eSetPos,
eWritePar,
eClampIn,
eClampOut,
eStrippIn,
eStrippOut,
eAccuIn,
eAccuOut,
For further information regarding the parameters and the behaviour of the functions see page 22.
The interface is shown as an array of parameters. Each configured axis has its own array.
Variable Name
gMB_astAxisModuleInterface
Address
%MW300
Data Type
ARRAY [1..gc_iMaxNumerOfAxes] OF TPL_AxisModuleInterfaceType
Length of the array : 106 words / 212 bytes
Axis
Real axis 1
Real axis 2
Real axis 3
Real axis 4
Real axis 5
Real axis 6
Real axis 7
Real axis 8
Virtual axis
Axis default name
Axis1
Axis2
Axis3
Axis4
Axis5
Axis6
Axis7
Axis8
VirtAxis
Array address
%MW300
%MW406
%MW512
%MW618
%MW724
%MW830
%MW936
%MW1042
%MW1148
The following array gives:
All the parameters of the axis module interface
The offset to add to the address of the first byte
For instance, address of byNumberOfOutput2 for axis 6 is:
%MW(830+4+2) = %MB836
eDirection for axis 4 is:
%MW(618+14) = %MW632
91
Application Template parameter table
Offset
Var
(byte)
Type
LL Byte + 0
LH Byte +1
HH Byte +3
0
iMasterAxisNumber:
eCMD
Master axis number
• Type of function to execute
Is used only if eCMD function requires a master (ex: eGearIn, • Can be either the name or the number of the command
Input eCamIn…).
(see list before)
• From 1 to 8 for reel axes
• 9 for virtual axis
• 10 for master encoder
4
xBuffer
eCMD is memorised and will
Input be executed after the
previous command. Used for
sequencing of movement
8
Input
12
Input
16
Input
20
Input
24
Input
28
Input
32
Input
36
40
44
byNumberOfOutput1
Lexium Controller's output
number allocated to the first
output of eCMD function
byNumberOfOutput2
Lexium Controller's output
number allocated to the
second output of eCMD
function
byNumberOfOutput3
Lexium Controller's output
number allocated to the third
output of eCMD function
rPosition
position parameter of eCMD function
rVelocity
velocity parameter of eCMD function
rEndVelocity
For eMoveContAbs or eMoveContRel commands, allows to define the end velocity
rAcceleration
acceleration parameter of eCMD function
rDeceleration
deceleration parameter of eCMD function
eDirection
direction parameter of eCMD function
iUserCamNumber
number of the cam profile (see eCamIn command)
rMasterOffset
see eCamIn command
rSlaveOffset
Input
see eCamIn command
rMasterScaling
Input
see eCamIn command
rSlaveScaling
Input
voir commande eCamIn
48
Input
iCamStartMode
see eCamIn command
52
Input
xSlaveAbsolute
see eCamSel command
xPeriodicCam
see eCamSel command
reserved
uiGearDenominator
denominator of the ratio for eGearIn command
92
HL Byte +2
iGearNumerator
numerator of the ratio for eGearIn command
xWSSelect
starting mode selection
(warm/cold) for the
application function blocks
(See application function
blocs commands)
byNumberOfInput1
Lexium Controller's input
number allocated to the first
input of eCMD function
byNumberOfInput3
Lexium Controller's input
number allocated to the third
input of eCMD function
byNumberOfInput4
Lexium Controller's input
number allocated to the fourth
input of eCMD function
byNumberOfInput5
Lexium Controller's input
number allocated to the fifth
input of eCMD function
byNumberOfOutput4
Lexium Controller's output
number allocated to the fourth
output of eCMD function
byNumberOfOutput5
Lexium Controller's output
number allocated to the fifth
output of eCMD function
byNumberOfOutput6
Lexium Controller's output
number allocated to the sixth
output of eCMD function
56
Input
60
byNumberOfInput2
Lexium Controller's input
Input number allocated to the
second input of eCMD
function
64
Input
68
Input rLengthToCut
see eFlyingShearIn and eRotaryKnife commands
72
Input
rErrorStopDec
see eFlyingShearIn and eRotaryKnife commands
76
Input
rSetPosPos
position parameter of eSetPos function (see eSetPos page 39)
byNumberOfInput6
Lexium Controller's input
number allocated to the sixth
input of eCMD function
xMasterAbolute
see eCamSel command
Application Template parameter table
Offset Var
(byte) Type
LL Byte + 0
LH Byte +1
HL Byte +2
HH Byte +3
reserved
reserved
reserved
reserved
80
xSetPosMode
xWindowOnly
Input mode of eSetPos command validation of the TPx capture
(see command eSetPos
in a determined window only
page 39)
84
Input
88
Input rLastPosition
final position for the TPx capture window
92
Input
96
Output
100
xCMDDone
xParallelCMDDone
Output = 1: eCMD command is done end of execution of parallel
command
xHomeOk
= 1: homing is done
iErrorID
identification number of the error
108
112
116
120
124
128
132
136
140
144
xEndOfProfile
xError
Output = 1: CAM profile is done (see = 1: axis is in error
eCamIn command)
Output
Output
Output
Output
Output sErrorMsg
Output error message
Output
Output
Output
Output
148
Output
152
Output
rSetPosition
axis current position
156
Output
rSetVelocity
axis current velocity
160
xPowerOn
Output = 1: power is validated on the
axis.
164
Output
168
pAxisRefPtr
Output • pointer to Axis ref
• allows to easily access to Axis ref parameters
172
pAxisParPtr
Output • pointer to axis parameters
• allows to easily access to axis parameters
104
rFirstPosition
starting position for the TPx capture window
iTPNumber
Touch probe number (TPx)
xActive
= 1: a command is active
reserved
eActiveCMD
number of the active command
xSynchron
=1: the slave is synchronised
with the master
nAxisState
axis status in PLCopen diagram
reserved
reserved
reserved
reserved
rRecordedPosition
TPx captured position
iTPSens
TPx's polarity of capture (rising edge or falling edge)
176
Input
reserved
180
stCANParameter
Input write a parameter in a servo drive using its CANopen address. Used with eWritePar command (see page 41). See details
of this structure below
188
Input
pAdrOfInput
inputs' module address (=0 for local inputs) can be used for CANopen I/O extensions
192
Input
pAdrOfOutput
outputs' module address (=0 for local outputs) can be used for CANopen I/O extensions
93
Application Template parameter table
Offset Var
(byte) Type
196
200
204
208
LL Byte + 0
LH Byte +1
HL Byte +2
reserved
reserved
reserved
reserved
HH Byte +3
reserved
reserved
reserved
reserved
Details of stCANParameter array:
Offset
(byte)
LL Byte + 0
LH Byte +1
180
wIndex:
IIndex of the CANopen parameter to write
184
dwValue
value to write
HL Byte +2
bySubIndex
Sub-index of the CANopen
parameter
HH Byte +3
byLength
Length of the parameter
Interface Master encoder
This interface allows, through an array of words, to control the status and to send commands to the master encoder.
Variable Name
gMB_stEncoderInterface
Address
AT %MW1254
Data Type
TPL_EncoderInterfaceType
Size of TPL_EncoderInterfaceType Structure: 44 Bytes = 22 Words
Offset
(bytes
)
LH Byte +1
0
rFirstPosition
starting position for the TPx capture window
4
rLastPosition
final position for the TPx capture window
8
94
LL Byte + 0
iTPNumber
Touch probe number (TPx)
HL Byte +2
HH Byte +3
i iTPSens
TPx's polarity of capture
(rising edge or falling edge)
12
rRecordedPosition
TPx captured position
16
rSetPosPos
position parameter of eSetPos function (see eSetPos page 39)
20
xSetPosMode
xWindowOnly
xActive
> mode of eSetPos command validation of the TPx capture in = 1: a command is active
(see command eSetPos page a determined window only
39)
24
iErrorID
identification number of the error
28
pAxisRefPtr
• pointer to Axis ref
• allows to easily access to Axis ref parameters
32
pAxisParPtr
• pointer to axis parameters
• allows to easily access to axis parameters
36
rPosition
current position
40
rVelocity
current velocity
reserved
xError
= 1: axis is in error
Application Template parameter table
Axis parameters
This array is used for reel or virtual axes configuration parameters (see page 9).
Each axis has its own array.
Variable Name
gMB_astAxisParameter
Address
AT %MW1276
Data Type
ARRAY [1..9] OF TPL_AxisParameterType
Axis default name
Axis1
Axis2
Axis3
Axis4
Axis5
Axis6
Axis7
Axis8
VirtAxis
Master
Array address
%MW 1276
%MW 1312
%MW 1348
%MW 1384
%MW 1420
%MW 1456
%MW 1492
%MW 1528
%MW 1564
%MW 1600
Length of the array : 36 words / 72 bytes
Axis
Real axis 1
Real axis 2
Real axis 3
Real axis 4
Real axis 5
Real axis 6
Real axis 7
Real axis 8
Virtual axis
Master encoder
Offset
LL Byte + 0
LH Byte +1
HL Byte +2
HH Byte +3
reserved
reserved
reserved
reserved
SAxisName
axis name
12
iMovementTpye
axis type: rotary (= 0) or linear (=1) axis
16
rModulo
modulo of the axis
20
xSoftLimitEnable
software limit enable
24
rSoftLimitPos
maximum software limit position
for a linear axis
28
rSoftLimitNeg
minimum software limit position
for a linear axis
32
eRampType
ramp type (trapezoid or sinus)
36
dwDenom
denominator of the scaling factor
40
uiHMethod
homing method
uiHMn
homing speed
44
uiKPn
velocity loop proportional gain
uiTNn
velocity loop integral time
48
uiKPp
position loop proportional gain
uiKFPp
predictive control factor (VelFeedFor)
52
56
60
64
sType
type of servo drive
68
reserved
reserved
iNum
numerator of the scaling factor
wCheckSum
checksum calculation, used by the application to control the
consistency
95
Application Template parameter table
Master encoder parameters
This array is used for master encoder configuration parameters (see page 12)
Variable Name
gMB_stEncoderParameter
Address
AT %MW1600
Data Type
TPL_ TPL_EncoderParameterType
Length of array: 24 words / 48 bytes
Offset
LL Byte + 0
0
SAxisName
4
axis name
8
LH Byte +1
iMovementTpye
axis type: rotary (= 0) or linear (=1) axis
12
16
20
HL Byte +2
HH Byte +3
bCodeType
type of code used for the
encoder:
BIN: Binary code
GRAY: Gray code
Réservé
rModulo
modulo of the axis
xSoftLimitEnable
software limit enable
bEncoderType
type of encoder:
INC: Incremental encoder
SSI: SSI encoder
wHeaderBits
number of header bits
24
rSoftLimitPos
maximum software limit position for a linear axis
28
rSoftLimitNeg
minimum software limit position for a linear axis
32
iNum
numerator of the scaling factor
36
dwDenom
denominator of the scaling factor
40
wSSiSingleTurnBits
number of frame bits for the position in the turn
wSSiMultiTurnBits
number of frame bits for the turn number
wParity
used to activate or deactivate the odd or even parity bit
wCheckSum
checksum calculation, used by the application to control the
consistency
44
wStatusBits
number of frame bits for the status
Servo drives configuration
Lexium Controller can save the complete configuration of all the servo drives connected. (see page 7)
Each servo drive's configuration is stored in 300 words / 600 bytes array.
96
Variable Name
gMB_aaLXMParameter
Address
AT %MW1624
Data Type
ARRAY [1..8] OF TypeParameterSetVar_SM
Axis
Real axis 1
Real axis 2
Real axis 3
Real axis 4
Real axis 5
Real axis 6
Real axis 7
Real axis 8
Axis default name
Axis1
Axis2
Axis3
Axis4
Axis5
Axis6
Axis7
Axis8
Array address
%MW 1624
%MW 1944
%MW 2264
%MW 2584
%MW 2904
%MW 3224
%MW 3544
%MW 3864
Application Template parameter table
Teach Position Table
The values stored in the teach position table with the 'Teach' button (see page 17) are accessible (in write or read mode)
It is possible to store 32 positions, each with a comment (12 digits)
Variable Name
gMB_astTeachList
Address
AT %MW4186
Data Type
ARRAY[1..32] OF TPL_TeachType
The description below gives access to the arrays of each stored position.
Line
1
2
3
4
5
6
7
8
Start address
%MW 4186
%MW 4194
%MW 4202
%MW 4210
%MW 4218
%MW 4226
%MW 4234
%MW 4242
Line
9
10
11
12
13
14
15
16
Start address
%MW 4250
%MW 4258
%MW 4266
%MW 4274
%MW 4282
%MW 4290
%MW 4298
%MW 4306
Line
17
18
19
20
21
22
23
24
Start address
%MW 4314
%MW 4322
%MW 4330
%MW 4338
%MW 4346
%MW 4354
%MW 4362
%MW 4370
Line
25
26
27
28
29
30
31
32
Start address
%MW 4378
%MW 4386
%MW 4394
%MW 4402
%MW 4410
%MW 4418
%MW 4426
%MW 4434
Array length (for each position) : 16 bytes / 8 words
Array content :
Offset(
LL Byte + 0
byte)
0
sSource
4
linked comment, Axis name by default
8
12
LH Byte + 1
HL Byte + 2
HH Byte + 3
rPosition
stored position
Active Errors parameters list
Each active error in the Lexium Controller is stored with its parameters in an array.
A maximum of 16 errors can be active simultaneously
Variable Name
gMB_ astErrorList
Address
AT %MW4444
Data Type
ARRAY[1..16] OF TPL_ ErrorType
The description below gives access to the array of each active error
Error arrays addresses :
Error
Error N° 1
Error N° 2
Error N° 3
Error N° 4
Error N° 5
Error N° 6
Error N° 7
Error N° 8
Array address
%MW 4444
%MW 4468
%MW 4492
%MW 4516
%MW 4540
%MW 4564
%MW 4588
%MW 4612
Error
Error N° 9
Error N° 10
Error N° 11
Error N° 12
Error N° 13
Error N° 14
Error N° 15
Error N° 16
Array address
%MW 4636
%MW 4660
%MW 4684
%MW 4708
%MW 4732
%MW 4756
%MW 4780
%MW 4804
Array length: 48 bytes / 24 words
97
Application Template parameter table
Array content:
Offset
0
4
8
12
16
20
24
28
32
36
40
44
LL Byte + 0
iErrorId
error identification number
timErrorTime
date and time when error appeared
LH Byte +1
HL Byte +2
wErrorReaction
reaction type
HH Byte +3
sErrorMsg
Error Message
For more details concerning the error management see page 85.
Logged Errors parameters list
The description below gives access to the array of each active error
Variable Name
gMB_ astLoggerList
Address
AT %MW4830
Data Type
ARRAY[1..32] OF TPL_ ErrorType
Error arrays addresses:
Error
Error N° 1
Error N° 2
Error N° 3
Error N° 4
Error N° 5
Error N° 6
Error N° 7
Error N° 8
Error N° 9
Error N° 10
Error N° 11
Error N° 12
Error N° 13
Error N° 14
Error N° 15
Error N° 16
Array address
%MW 4830
%MW 4854
%MW 4878
%MW 4902
%MW 4926
%MW 4950
%MW 4974
%MW 4998
%MW 5022
%MW 5046
%MW 5070
%MW 5094
%MW 5118
%MW 5142
%MW 5166
%MW 5190
Array length: 48 bytes / 24 words
The array structure is exactly the same than for the active error list.
For more details concerning the error management see page 85.
98
Error
Error N° 17
Error N° 18
Error N° 19
Error N° 20
Error N° 21
Error N° 22
Error N° 23
Error N° 24
Error N° 25
Error N° 26
Error N° 27
Error N° 28
Error N° 29
Error N° 30
Error N° 31
Error N° 32
Array address
%MW 5214
%MW 5238
%MW 5262
%MW 5286
%MW 5310
%MW 5334
%MW 5358
%MW 5382
%MW 5406
%MW 5430
%MW 5454
%MW 5478
%MW 5502
%MW 5526
%MW 5550
%MW 5574
Application Template parameter table
Cam Profile parameters
The cam profile parameters created with the Application Template (see page 45) are stored in predefined arrays.
Variable Name
gMB_astUserCam
Address
AT %MW 5598
Data Type
ARRAY[1..8] OF TPL_UserCamType
The description below gives access to the parameters of each cam profile.
Array address for each profile:
Cam Profile
CAM1
CAM2
CAM3
CAM4
Array address
%MW 5598
%MW 5786
%MW 5974
%MW 6162
Cam Profile
CAM5
CAM6
CAM7
CAM8
Array address
%MW 6350
%MW 6538
%MW 6726
%MW 6914
Array length: 376 bytes / 188 words
Array content:
Offset
0
4
8
12
LL Byte + 0
wCamStructID
cam profile identification
xStart
cam master start position
xEnd
cam master end position
byType
define cam profile type = 3 by
default for polynomial profile
between 2 points
See MC_CAM_REF structure
description in Motion Pro On
line Help
16
20
24
>
28
32
36
116
120
124
128
byInterpolationQuality
interpolation quality
= 1 : linear (default)
= 2 : cubic
LH Byte +1
byVarType
used if byType = 1 or = 2
HL Byte +2
HH Byte +3
reserved
reserved
nElements
cam profile number of points
See MC_CAM_REF structure
description in Motion Pro On
line Help
reserved
reserved
reserved
reserved
reserved
See MC_CAM_REF structure
description in Motion Pro On
line Help
pce
nTappets
number of configured cam switches
reserved
reserved
pt
pointer to cam switch structure.
See SMC_CAMTappet structure description in Motion Pro On line Help
dwTappetActiveBits
strCAMName
Cam profile name
reserved
reserved
bChangedOnline
reserved
dX[0]
first point,
master position
dY[0]
first point,
Slave position
dV[0]
first point,
local velocity at the point. Gives the angle of the profile at this point.
99
Application Template parameter table
Offset
132
136
140
144
148
.
.
.
360
364
368
372
LL Byte + 0
LH Byte +1
HL Byte +2
dA[0]
first point,
local acceleration at the point. Gives the curvature of the profile at this point
dX[1]
second point,
master position
dY[1]
second point,
Slave position
dV[1]
second point,
local velocity at the point. Gives the angle of the profile at this point.
dA[1]
second point,
local acceleration at the point. Gives the curvature of the profile at this point
.
.
.
dX[15]
sixteenth point,
master position
dY[15]
sixteenth point,
Slave position
dV[15]
sixteenth point,
local velocity at the point. Gives the angle of the profile at this point.
dA[15]
sixteenth point,
local acceleration at the point. Gives the curvature of the profile at this point
HH Byte +3
Motion Task table parameters
The application template allows configuring a motion task table (see page 18)
The description below gives access to all the parameters of this motion task table
Variable Name
gMB_astMTIList
Address
AT %MW7600
Data Type
ARRAY[1..75] OF TPL_MotionTaskType
Each Motion task is described by an array with a command and parameters.
Motion Task array addresses:
Line
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
100
Address
%MW 7600
%MW 7686
%MW 7772
%MW 7858
%MW 7944
%MW 8030
%MW 8116
%MW 8202
%MW 8288
%MW 8374
%MW 8460
%MW 8546
%MW 8632
%MW 8718
%MW 8804
%MW 8890
Line
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
Address
%MW 8976
%MW 9062
%MW 9148
%MW 9234
%MW 9320
%MW 9406
%MW 9492
%MW 9578
%MW 9664
%MW 9750
%MW 9836
%MW 9922
%MW 10008
%MW 10094
%MW 10180
%MW 10266
Line
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
Address
%MW 10352
%MW 10438
%MW 10524
%MW 10610
%MW 10696
%MW 10782
%MW 10868
%MW 10954
%MW 11040
%MW 11126
%MW 11212
%MW 11298
%MW 11384
%MW 11470
%MW 11556
%MW 11642
Line
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
Address
%MW 11728
%MW 11814
%MW 11900
%MW 11986
%MW 12072
%MW 12158
%MW 12244
%MW 12330
%MW 12416
%MW 12502
%MW 12588
%MW 12674
%MW 12760
%MW 12846
%MW 12932
%MW 13018
Application Template parameter table
Array length: 172 bytes / 86 words
Array content:
Offset
0
4
8
12
24
28
40
44
56
60
72
76
88
92
104
108
120
124
136
140
152
156
168
LL Byte + 0
LH Byte +1
iStepNr
Line number
xBuffer
enables buffer mode
diTimeOut
execution time out (=0, no time out)
sName_P1
First parameter name
rValue_P1
First parameter value
sName_P2
Second parameter name
rValue_P2
Second parameter value
sName_P3
reserved
HL Byte +2
eCommand
number of executed command
HH Byte +3
See blow this array, the list of Motion commands and numbers
iAxisNumber
axis number
rValue_P3
sName_P4
rValue_P4
sName_P5
rValue_P5
sName_P6
rValue_P6
sName_P7
rValue_P7
sName_P8
rValue_P8
sName_P9
rValue_P9
sName_P10
rValue_P10
101
Application Template parameter table
Command names and numbers:
Command Nbr
1
2
3
4
5
6
7
8
9
10
11
Command Name
eMoveAbs,
eMoveRel,
eMoveAdd,
eMoveVel,
eMoveContRel,
eMoveContAbs,
eSTOP,
ePowerOn,
ePowerOnAll,
ePowerOff,
ePowerOffAll,
Command Nbr
12
13
14
15
16
17
18
19
20
21
22
Command Name
eHome,
eCamSel,
eCamIn,
eCamOut,
eGearIn,
eGearOut,
eFShearIn,
eFShearOut,
eFShearStop,
eRKnifeIn,
eRKnifeOut,
Command Nbr
23
24
25
26
27
28
29
30
31
32
33
Command Name
eRKnifeStop,
eMoveSupI,
ePhasing,
eSetPos,
eWritePar,
eClampIn,
eClampOut,
eStrippIn,
eStrippOut,
eAccuIn,
eAccuOut,
For further information regarding the parameters and the behavior of the functions see page 22.
Flying Shear and Rotary Knife parameters
The array below gives for each configured axis the addresses of the parameters of Flying shear and Rotary Knife application function blocks.
Variable Name
Address
gMB_astFlyingShearParameter
AT %MW7102
Data Type
ARRAY[1..9] OF
AFB_ST_FlyingShearParameter
Array length: 108 bytes = 54 words
Array content:
Offset
0
4
8
12
16
20
24
28
32
36
40
44
48
52
56
60
64
68
72
76
80
84
88
92
96
100
104
LL Byte + 0
rMaxSlidePosition
rMinSlidePosition
rRestPos
rMaxBackmoveVel
rMaxBackmoveAcc
rSyncEndPos
rStopDec
diWS_Mode
rWS_Window
rWS_Vel
rWS_AccDec
iTP_Number
rTP_SP
rTP_Window
diOpMode
rKnifePerimeter
diMaxNumMissedTP
rm
rCAMOffset
xOffsetMode
rOffsetStartPos
rOffsetReachedPos
rSlavePosition
rMasterPosition
xInValidTP
rMinTP_SP
rMasterStartPhase
LH Byte +1
HL Byte +2
xTP_Mode
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
For more details about behavior and variable signification, see on line help.
102
HH Byte +3
Easy_Motion_EN_V1
2007-04
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