LEXIUM - Schneider Electric

LEXIUM
Communication via Modbus Plus
35005527_05
eng
February 2005
2
Document Set
Document Set
At a Glance
Document set:
l Modbus Plus Network:
Modicon Installation manual 890 USE 100 00
Modicon reference manual for Modbus Plus protocol PI-MBUS-300
l Quantum PLC
Modicon Modsoft Programmer User Manual 890 USE 115 00
Modicon Ladder Logic Block Library User Guide - 840 USE 101 00
l Premium PLC:
l PL7 Micro/Junior/Pro communication applications TLX DS COM PL7 43F
l Lexium drive:
Lexium user manual
Unilink software user manual
List of ASCII commands
These documents are available on the Lexium Motion Tools CD-ROM
(ref. AM0 CSW 001V350).
3
Document Set
4
Table of Contents
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Chapter 1
The Modbus Plus Package on LEXIUM . . . . . . . . . . . . . . . . . . . 9
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Implementation: General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter 2
Hardware Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installation: General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Assembly Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modbus Plus Accessory References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection to Modbus Plus Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tap Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 3
Software Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Software Part: General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive Functioning on the Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Peer Cop: Lexium Command Data from PLC . . . . . . . . . . . . . . . . . . . . . . . . . . .
Global Data Sent from Lexium . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 4
23
24
25
27
28
33
Quantum Command Station . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Quantum Command Station: General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Quantum Command Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MSTR Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 5
13
14
16
17
18
20
35
36
37
39
Premium Command Station. . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Premium Command Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Use of Global Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using Messaging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming Example 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming Example 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
49
50
51
52
54
56
5
Chapter 6
Configuration of Lexium: Parameters . . . . . . . . . . . . . . . . . . . 61
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Communication Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Configuration of Address and TimeOut via Unilink or via a Terminal . . . . . . . . . 66
Peer Cop Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Global data configuration via Unilink or via a terminal . . . . . . . . . . . . . . . . . . . . . 68
Chapter 7
Diagnostics: Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Diagnostics: Different Statuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Lexium Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Chapter 8
Drive Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Status Diagram for the standard DRIVECOM . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
DRIVECOM Standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Status Diagram/Instrument control for Lexium. . . . . . . . . . . . . . . . . . . . . . . . . . . 77
DRIVECOM Command Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
DRIVECOM Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Unilink Forced Local Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Chapter 9
Theoretical Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Theoretical Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Chapter 10
List of Lexium Variables: General . . . . . . . . . . . . . . . . . . . . . . 91
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
General variables for Lexium: General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Read/Write logical Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
List of General Lexium Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
List of Logical Variables and Status Registers. . . . . . . . . . . . . . . . . . . . . . . . . . 101
Read/Write Status Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
6
Glossary
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Index
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
About the Book
At a Glance
Document Scope
This document is a description of the Modbus Plus environment, as well as the
Lexium command station principles and drive function. This description is not
exhaustive.
User Comments
We welcome your comments about this document. You can reach us by e-mail at
techpub@schneider-electric.com.
7
About the Book
8
The Modbus Plus Package on
LEXIUM
1
At a Glance
Aim of this
Chapter
This Chapter details the implementation of Modbus Plus on LEXIUM.
What's in this
Chapter?
This chapter contains the following topics:
03/2003
Topic
Page
Implementation: General
10
Methodology
12
9
Modbus Plus Implementation
Implementation: General
At a Glance
The Modbus Plus communication option card enables you to connect a Lexium drive
on a Modbus Plus network.
The Modbus Plus option card package consists of:
l An option card reference AM0 MBP 001 V000.
l A CD-ROM containing the present manual.
The Modbus Plus cables and accessories are not supplied. References for the
necessary elements are detailed in the Hardware implementation chapter.
Compatibility
This card can be used on Lexium digital MHDA drives with analogue setpoints:
Reference
Permanent output current
MHDA 1004.00
1.5 A rms
MHDA 1008.00
3 A rms
MHDA 1017.00
6 A rms
MHDA 1028.00
10 A rms
MHDA1056.00
20 A rms
MHDA 1112.00
40 A rms
MHDA 1198.00
70 A rms
Note: Compatibility rules:
l The drive serial number should be greater than or equal to 0770 220 200 (*) or
l
l
l
RL (Revision Level) ≥ 8.
The software version of the drive must be higher than or equal to version V4.20.
The PL7 version must be higher than or equal to version V3.0
The Unilink version must be higher than or equal to V2.0
(*) Modbus Plus connection is not possible for a serial number below 770 220 000.
For a serial number between 770 220 000 and 770 220 200 please contact us.
10
03/2003
Modbus Plus Implementation
Compatibility
with Option Card
Standards
l
l
l
l
l
l
l
l
Operational
Temperature
03/2003
l
l
EN61131-2
IEC 1000-4-2
IEC 1000-4-3
IEC 1000-4-5
IEC 1000-4-6
EN55022/55011
UL508
CSA 22-2
In operation: 0 to 60°C
In storage: -25°C to 70°C
11
Modbus Plus Implementation
Methodology
Presentation
Flow Chart
The following flow chart summarizes the different phases of the implementation of
a Lexium drive equipped with a Modbus Plus card option in a Modbus Plus
architecture network.
Hardware
Implementation
Card installation
Chapter 2 - Hardware
Installation
Installation
Connection to Modbus Plus
network
Local Mode
Design
Configuring/Programming
Quantum command station
Chapter
4
Command Station
Offline mode
Operation
12
Configuring/Programming
Premium command station
Chapter
5
Command Station
Quantum
Premium
Configuring Lexium
communication
parameters
Chapter
6
Configuration
Diagnostics debug
Chapter 7 - Diagnostics
-
Lexium
03/2003
Hardware Implementation
2
At a Glance
Aim of this
Chapter
This chapter details the hardware implementation of Modbus Plus on LEXIUM
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
Installation: General
14
Assembly Instructions
16
Modbus Plus Accessory References
17
Connection to Modbus Plus Bus
18
Tap Layout
20
13
Hardware Implementation - Modbus Plus
Installation: General
At a Glance
Modbus Plus is a local network designed for industry controlled applications.
It is possible to connect up to 32 stations on a cable network, the length of which can
be up to 450m. Repeaters can increase the length of the cable up to 1800m and the
number of stations to 64. Bridges and bridge multiplexers enable you to interconnect
the Modbus Plus networks.
Example of Modbus Plus architecture
Network A
PLC
Station 10
PLC
Station 5
Repeater
RR85
Network A
I/O
Station 3
Bridge
Drive
BP85
Station 2
Station 4
Network B
Drive
Station 23
Networks A and B are interconnected via a bridge called "Bridge Plus 85". For more
detailed information about the various elements, consult the Modbus Plus Modicon
network installation guide.
Network stations are identified by an address configured by the user.
Each of these addresses is independent of its physical location on the site.
They should be between 1 and 64 and do not have to be sequential. There can be
no duplicate addresses. Any piece of equipment with a duplicate address will not be
able to be connected and a fault will be shown by means of the diagnostic LED. See
Diagnostics: Indication, p. 69
14
Hardware Implementation - Modbus Plus
Installation
The Modbus Plus option card is not mounted on the drive when it is supplied. The
card slot for this card (reference X11 on the drive) is protected by a secure cover.
AM0 MBP
COM
Lexium
Modbus Plus Interface
The Modbus Plus card option has a Sub-D 9 female connector as well as a green
diagnostics LED
The power supply for this card is provided by Lexium.
15
Hardware Implementation - Modbus Plus
Assembly Instructions
Procedure
Warning: Before starting, make sure that the drive is not switched on.
Step
16
Action
1
Detach the cover from the port intended for the option cards.
2
Take care not to let any components (for example the screws) fall into the open
slot.
3
Carefully place the card into the slot, following the guidance rail.
4
Press down firmly on the card until the card's contact is in contact with the edge
of the drive. This enables you to make sure that the card is well connected to
the drive.
5
Fix the card with the 2 screws provided.
Hardware Implementation - Modbus Plus
Modbus Plus Accessory References
Table of
References
References for the different accessories
Accessory
Reference
Bridge muliplexer
BM85
Bridge BP85
NWBP 85 002
Repeater RR85
NWRR 85 001
2.4 m tap-off cable
990 NAD 219 10
6 m tap-off cable
990 NAD 219 30
30.5 m main network cable
490 NAA 271 01
152.5 m main network cable
490 NAA 271 02
305 m main network cable
490 NAA 271 03
457 m main network cable
490 NAA 271 04
1525 m main network cable
490 NAA 271 05
Junction box IP 20
990 NAD 230 00
Junction box IP 65
990 NAD 230 10
Termination of line for box IP20
AS MBKT 185
Line termination for box IP65
990 NAD 230 11
Modbus Plus card PCMCIA for Premium
TSX MBP 100
TSX MBP CE 030
- Cable for PCMCIA_3m card
TSX MBP CE 060
- Cable for PCMCIA MBP_6m card
Note: For more extensive details, please consult the Schneider catalogues.
17
Hardware Implementation - Modbus Plus
Connection to Modbus Plus Bus
Introduction
The bus is made up of a shielded twisted pair cable, transported on a direct route
between one station and the next. The two data lines inside the cable are not
sensitive to polarity.
Diagram
Showing Station
Connections
Station connections on the cable network are carried out by means of taps. These
consist of "crossings" for the main cable and a "Tap" for the cable leading to the
station.
Up to 32 stations. 450m of cable max.
Taps
3m of cable min
Final
Station
(PLC)
Intermediate
Station
(Drive 1)
End Taps
18
Intermediate
Station
(Drive 2)
Inline Taps
Final
Station
(Drive 3)
Hardware Implementation - Modbus Plus
Connection of
the Option Card
on the Trunk
Cable
A Trunk cable is used at each intermediate point between the box and the
corresponding station. The cable is pre-equipped at one end with a 9 pin Sub-D
connector for connection to the station.
COM
Lexium
Modbus Plus Interface
AM0 MBP
Female connector
9 pin card
Tap
Modbus Plus
990NAD23000
Equipped cable
Modbus Plus
990NAD21xxx
Main Modbus Plus
cable
490NAA271xx
The option card connects with the main network cable by its Sub-D 9 connector
whose pin configuration is shown below.
Pin 1
Shield
Main Bus
Connection
Pin 2
MBP input
signal
Pin 3
MBP output
signal
The left input to the junction box is different from the right input:
the grounding of the trunk cable is not symmetrical. The junction boxes must be
aligned in the same way throughout the network.
Left position in
network
Right position in
network
19
Hardware Implementation - Modbus Plus
Tap Layout
Principles and
diagrams
One end of the trunk cable is free so that it can be connected to the tap.
Connection to the tap :
l Insert the cable into the tap and hold in place using a cable clamp
l Connect the wires following the directions shown on the diagram below.
The terminals are located as follows:
W GND
W
BLU
O
Cable clamp
Trunk cable
to the station
Earth wire
external shield
Color of the different terminals
Terminal
Wire Color
O
Orange
W
White
GND
Shield
W
White
BLU
Blue
Connection principle
The figures underneath show the connection sequence.
1
2
3
Cap
Terminal
Procedure
Step
1
20
Procedures to follow:
Action
In order to connect each wire remove the plastic cap from the terminal.
2
Place the wire in the terminal slot.
3
Replace the cap using a screwdriver, then press down on the cap to push the wire well into the slot. There is
a tool especially designed to do this. (Reference number AMP 552714-3).
Hardware Implementation - Modbus Plus
Connecting the wire of the external shield:
Install an open terminal spade tag on the wire of the external shield, either by
soldering or by setting, and connect it to the earth screw of the case as shown on
the diagram below.
Wiring of the cable network:
The tap can be wired in two different ways depending on its position in the cable
network.
Modbus Plus End Taps:
The tap is made up of a resistant line termination joined together by two internal
staples At each end of the cable network the two staples must be joined to the inside
of the tap so as to avoid signal reflections.
Principle
network
cable
GND
W
BLK
Cable clamp
Staples
installed
Principle
network
cable
GND
W
BLK
Staples
installed
Cable clamp
Modbus Plus Inline Taps :
For Inline Taps the two staples are not connected.
Principle
network
cable
Cable clamp
GND
W
BLK
GND
W
BLK
Principle
network
cable
Cable clamp
21
Hardware Implementation - Modbus Plus
Ground
Connection of
Tap-off Cables
The Modbus Plus tap-off cable must be connected to ground via the backplane or
an equivalent point in the network.
The backplane is grounded by means of a metal clip which connects the cable shield
to the backplane.
The clip is supplied together with the junction box.
Metal clip
Modplus Plus tap-off cable
Strip
the shielding
13 mm min
22
30 cm max
Software Implementation
3
At a Glance
Aim of this
Chapter
This Chapter describes the general communication function of the Modbus Plus
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
Software Part: General
24
Drive Functioning on the Network
25
Peer Cop: Lexium Command Data from PLC
27
Global Data Sent from Lexium
28
Messaging
33
23
Software Implementation - Modbus Plus
Software Part: General
General
Communication using Modbus Plus enables the exchange of data between all
stations connected on the bus.
Modbus Plus protocol is based on the principal of a logic token bus (Logic token
passing). The token is a database circulating between stations. When one station
has the token, it is possible to read all data coming from other stations or to write the
data to other stations.
There are three communication functions:
Messaging
Point to point communication method between the network equipment. The
message transmitter sends a request to the destination station. The station
concerned must transmit an acknowledgement of receipt of the message, then send
the reply when the token is next passing. The message can contain up to 100
registers in 16 bit format. The messaging range is not limited to the network segment
but can come through the network routers.
Peer Cop
Peer cop (also known as specific output) is a method of mapping a block of registers
from one specific node to the drive controller’s Command and Adjustment registers.
The transmitting node sends the peer cop data once per token pass. Each command
node can send up to 32 words of peer cop data to specific nodes on the network as
long as the total does not exceeded 500 words. Peer cop is a fast, efficient way to
send data from the command node to the drive controller. It does not require ladder
logic to be written.
Note : Peer cop data cannot be passed through bridges. Also, the drive controller
can receive peer cop data but cannot transmit it.
Global Data
When a networked node holds the token, it may communicate with other nodes on
the link and gather network statistics. When a node releases the token, it appends
up to 32 sixteen-bit words of global data to the token frame. All nodes present on the
network detect this data packet, and any appropriately programmed node can
extract the data and record it in its global database. For a Modbus Plus network with
a maximum 64 nodes, the global database can contain up to 2048 sixteen-bit words
(32 words per node). Different networks cannot share global data since the token
cannot pass through a bridge.
24
Software Implementation - Modbus Plus
Drive Functioning on the Network
Introduction
The Lexium drive appears on the Modbus Plus network as a "slave" station.
The drive:
l Receives the Peer Cop data (Limited to 9 words max),
l Transmits global data (Limited to 18 words max),
l Responds to messaging requests (Read/Write).
The following chapters briefly describe the Lexium parameters accessible via
Modbus Plus. For more details about these parameters, please consult the ASCII
command list available on CD-ROM Lexium Motion Tools (reference number
AM0 CSW 001V350).
25
Software Implementation - Modbus Plus
26
Software Implementation - Modbus Plus
Peer Cop: Lexium Command Data from PLC
At a Glance
The structure of the Peer Cop data received by the drive is predifined. The user can
specify the number of registers to be transmitted. This is configured via Unilink using
Peer Cop ASCII parameter. Setting this parameter to 0 will disable Peer Cop
transactions.
The table below lists the command registers transmitted from the PLC to the Lexium
as Peer Cop data and the order in which the registers are sent. For example, if you
configure 4x register 40400 as specific output source register then the OPMODE
object would be found in register 40405.
Peer Cop Data
Order Number
Object
Description
1
STW
DRIVECOM command word
Description: (See Drive Operating Modes, p. 73)
2
VCMD
Speed setpoint. Only in mode 0. (OPMODE=0, controlled by bit 6 of
the STW) Units in (3000*rpm)/10000
3
ICMD
Current setpoint. (OPMODE=2, controlled by bit 6 of the STW)
Unit = (2 x nominal current of the drive in amperes) / 10 [unit in mA]
4
5
S_SETH (least significant) Absolute position setpoint in increments.
S_SETH (most significant) (OPMODE=5, controlled by bit 6 of the STW) (*)
6
OPMODE
Basic function of the drive:
l 0 : Digital speed setpoint
l 1 : Analog speed setpoint
l 2 : Digital torque setpoint
l 3 : Analog torque setpoint
l 4 : Position control by external encoder
l 5 : Position control by external network (ex:Modbus Plus)
l 8 : Position control order
7
MOVE
Start of Parameterized position control Task (0 - 255). This data is
only valid in mode 8 (OPMODE=8, controlled by bit 6 of the STW)
8
VJOG (least significant)
9
VJOG (most significant)
JOG mode is an infinite movement task. This value defines the
speed of transfer in increments/sec. It is only valid in mode 8.
(controlled by bit 8 of the STW)
(*) This "trajectory" mode consists of two parameters:
l PTBASE (address: 213) : Time base expressed in N*250 µ s
For example: N=4 implies an interpolation time of 1ms
l PRBASE (address: 209): Defines the number of increments by revolution
For example: N=20 or 220=1048576 increments/revolution
27
Software Implementation - Modbus Plus
Global Data Sent from Lexium
List of
Transmitted
Variables
28
The list of variables transmitted in Global Data is also predefined. The user can
specify the number of registers to be sent.
If the global data transmission is enabled for the Lexium drive controller, up to 18
display registers of the drive controller can be broadcast to the network as global
data with each token rotation. To enable global data transmission, enter the number
of display registers to be transmitted in the GDTX parameter via Unilink (See
Configuration of Lexium: Parameters, p. 61). Entering "0" for this parameter disables
gobal data transmission.
The table below lists the display registers transmitted as global data from the Lexium
and the order in which the register are sent during global data transfers. For
example, if you configured 4x register 40500 as the global input destination register
then the ERRCODE (most significant) object would be found in register 40504.
Global Data
Order Number
Designation
Description
1
ZSW
DriveCom status word
Drive Operating Modes, p. 73
2
STATCODE
(least
significant)
3
STATCODE
(most
significant)
Alarm in progress
#bit
0 : IT threshold exceeded
1 : Ballast power reached
2 : Following error window exceeded
3 : Node guarding active
4 : Missing network phase
5 : Software limit 1 exceeded
6 : Software limit 2 exceeded
7 : Erroneous start command
8 : Lack of reference point
9 : PSTOP limit operated
10 : NSTOP limit operated
11 : Implicit data HIPERFACE
12 : Expansion card malfunction
13 : HIPERFACE reference mode reset to 0
14 : Error speed/current table
15-30 : Reserved
31 : Beta software version not allowed
-
Software Implementation - Modbus Plus
Global Data
Order Number
Designation
Description
4
ERRCODE
(least
significant)
5
ERRCODE
(most
significant)
Error in progress:
#bit
0 : Heatsink temperature too high
1 : Overvoltage
2 : Following error
3 : Feedback fault
4 : Undervoltage
5 : Motor temperature too high
6 : Faulty auxiliary voltage
7 : Overspeed
8 : EEPROM fault
9 : Flash EPROM fault
10 : Brake fault
11 : Motor phase fault
12 : Internal temperature too high
13 : Final power stage fault
14 : Maximum IT value exceeded
15 : 2 or 3 phases missing
16 : Analog/numeric conversion error
17 : Ballast error
18 : Network phase fault
19 : Expansion card hardware error
20 : Expansion card software error
21 : Ground short circuit
22 : CAN fault BusOff
23 : Alarm defined in error by WMASK
24 : Commutation error (overspeed)
25 : Hardware limit error
26 : Reserved
27 : Reserved
28 : Sercos error
29 : TimeOut Sercos
30 : Reserved
31 : System error
29
Software Implementation - Modbus Plus
30
Global Data
Order Number
Designation
Description
4
ERRCODE
(least
significant)
5
ERRCODE
(most
significant)
Error in progress:
#bit
0 : Heatsink temperature too high
1 : Overvoltage
2 : Following error
3 : Feedback fault
4 : Undervoltage
5 : Motor temperature too high
6 : Faulty auxiliary voltage
7 : Overspeed
8 : EEPROM fault
9 : Flash EPROM fault
10 : Brake fault
11 : Motor phase fault
12 : Internal temperature too high
13 : Final power stage fault
14 : Maximum IT value exceeded
15 : 2 or 3 phases missing
16 : Analog/numeric conversion error
17 : Ballast error
18 : Network phase fault
19 : Expansion card hardware error
20 : Expansion card software error
21 : Ground short circuit
22 : CAN fault BusOff
23 : Alarm defined in error by WMASK
24 : Commutation error (overspeed)
25 : Hardware limit error
26 : Reserved
27 : Reserved
28 : Sercos error
29 : TimeOut Sercos
30 : Reserved
31 : System error
Software Implementation - Modbus Plus
Global Data
Order Number
Designation
Description
6
TJRSTAT
(least
significant)
7
TJRSTAT
(most
significant)
Internal status:
#bit
0 : INPOS2 output update
1 : End of current movement task
2 : Movement task completed
3-15 : Reserved
16 : Movement task active
17 : Reference point reached
18 : Position = source
19 : In position
20 : Rising edge detection on input latch 2
21 : Reference point active
22 : JOG move active
23 : Falling edge detection on input latch 2
24 : Emergency stop active
25-31 : Reserved
8
PFB
(least
significant)
9
PFB
(most
significant)
10
V
Current speed. Unit = (3000 x rpm)/10000
[*unit in rpm]
11
I
Actual value of current. Unit* = (DICONT** x 2) / 10
[*unit in mA]
[**DICONT in A]
12
MONITOR 1
Value of analog output Monitor 1 in mV
13
MONITOR 2
Value of analog output Monitor 2 in mV
14
ANIN 1
Value of analog input SW1 in mV
15
ANIN 2
Value of analog input SW2 in mV
Current position in increments.
31
Software Implementation - Modbus Plus
32
Global Data
Order Number
Designation
Description
16
STAT IO
Status of logical inputs/outputs of the drive according to
the following sequence:
#bit
0 : OUT 2
1 : OUT 1
2 : ENABLE
3 : IN4
4 : IN3
5 : IN2
6 : IN1
17
PE (least
significant)
Current following error in increments.
18
PE (most
significant)
Software Implementation - Modbus Plus
Messaging
Types of
variables
Messaging allows the command station read or write access to internal drive data.
This data is:
l Command variables
l Monitoring variables
l Configuration and adjustment variables.
Note: List of available variables (See List of Lexium Variables: General, p. 91).
Variables that are contained in the 9 Peer cop command registers can not be
overwritten via messaging when Peer cop is enabled. Write access to these
registers is permitted when Peer cop is disabled.
The drive can be controlled by another station using this device when Peer Cop is
disabled.
33
Software Implementation - Modbus Plus
34
Quantum Command Station
4
At a Glance
Aim of this
Chapter
This Chapter shows how to place the different modes of communication enabling
access to the drive.
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
Quantum Command Station: General
36
Quantum Command Station
37
MSTR Block
39
35
Quantum Command Station: General
Quantum Command Station: General
General
36
An application can be installed on a Quantum PLC in various ways via Modsoft,
Concept or ProWORX. This chapter will demonstrate how to configure Modbus Plus
exchanges via Modsoft and Concept. Also, programming examples of reading,
writing and controlling the Lexium drive will be covered.
Quantum Command Station: General
Quantum Command Station
Configuration of
Peer Cop and
Global Data via
Modsoft
The Modsoft Peer Cop screen enables the configuration of the Quantum registers
exchanged between Peer Cop and Global Data with the other stations on the
network.
Configuration Example
MODSOFT
Next
Subscribe
F2
F3
F1
Prev
F4
F6
F5
F7 Lev 8 F8 MIXED F9 S3
PEER COP
No of Ports:1
Port n°:1 - Port M+ U.C
Words used
23 from 1024
Access to subscriber: 5
MODE
ADRESSE
LG TYPE INDEX
DATA RECEPTION
DATA TRANSMISSION 40200 - 40208 9
BIN
RECEP. GLOBAL DB 41100 - 41117 18 BIN 1
RECEP. GLOBAL DB
RECEP. GLOBAL DB
RECEP. GLOBAL DB
RECEP. GLOBAL DB
RECEP. GLOBAL DB
RECEP. GLOBAL DB
RECEP. GLOBAL DB
TO ALL NETWORK SUBSCRIBERS
BD GLOBAL TRANSMISSION
-
Timeout
If Err.
: 500ms
: INIT
The configuration above shows the registers exchanged with address station no. 5.
l 9 registers 16 bits (Modsoft registers 40200 to 40208) are transmitted in Peer
Cop to station 5.
l 18 registers 16 bits (Modsoft registers 41100 to 41117) receive the Global data
transmitted by station 5.
37
Quantum Command Station: General
Configuration of
Peer Cop and
Global Data via
Concept
Configuration of PeerCop and Global Data via Concept :
Peer Cop
Specific Output
Expansion Size: Range:
Health timeout (msec
Dest. Node Source Ref.
1
2
Link 0 (CPU)
3
Link 1 (Head S 4
5
Link 2 (Head S 6
7
8
9
Last value
10
Clear on timeout 11
12
Bin/BCD
Length
Go To
400100
9 BIN
Specific
Input...
Hold on timeout
Output...
Cancel
OK
Help
The configuration above shows the registers exchanged with address station no.3.9
registers (PLC registers 40100 to 40108) are transmitted in PeerCop to station 3.
300
Peer Cop
100
Expansion Size:
0
Health timeout (msec Global Input
Go To
(1-64)
Range:
Subfield
1
Link 0 (CPU)
2
Link 1 (Head S 3 *
4
Link 2 (Head S 5
6
7
8
9
Last value
10
Clear on timeout
Hold on timeout Clear Subfields
1
Dest. Ref.
400140
1-32
Length
Index
1
Bin/BCD
18 BIN
2
3
4
5
Specific
6
Input...
7
8
OK
OK
400001-420000 1-32
Cancel
Output...
Cancel
Help
Help
Help
The configuration above shows the registers exchanged with address station
no.3.18 registers (PLC registers 40140 to 40157) are transmitted via Global Data to
station 3.
38
Quantum Command Station: General
MSTR Block
Overview of
MSTR Block
PLCs that support MODBUS PLUS communications have a special MSTR (master)
instruction with which nodes of the network can initiate message transactions. The
MSTR function allows you to initiate one of nine possible network communications
operations. Each operation is designated by a code (see Table below):
MSTR Operation
Operation code
Write data
1
Read data
2
Local statistics
3
Write in the Global data base
5
Read the Global data base
6
Remote statistics
7
Clear remote statistics
8
Peer Cop status
9
This section discusses read and write MSTR instruction blocks. For additional
information on Modbus instructions, refer to the Ladder Logic Block Library User
Guide, 840 USE 10 100.
39
Quantum Command Station: General
MSTR Block
Structure
Inputs:
MSTR has two control points (see Figure below):
l Top node input - enables the instruction when top node input is ON.
l Middle node input - terminates the active operation when middlenode input is
ON.
Outputs:
MSTR can produce three possible outputs (see Figure below):
l Top node output — echoes the state of the top node input (goes ONwhile the
instruction is active).
l Middle node output — echoes the state of the middle node input andgoes ON if
the MSTR operation is terminated prior to completion.
l Bottom node output — goes ON when MSTR operation is completedsuccessfully.
Enables selected
MSTR operation
Terminates active
MSTR operation
Top Node
content
Control
Block
Operation active
Data
Zone
Operation terminated
unsuccessfully
MSTR
Length
Operation successfull
The 4x register entered in the top node is the first of nine contiguous holding
registers that comprise the control block (see Table 11).
Note: You must understand MODBUS PLUS routing path procedures before
programming an MSTR instruction. For a complete overview, refer to the MODBUS
PLUS Network Planning and Installation Guide, 890 USE 100 00 .
40
Quantum Command Station: General
Table Control
Block Holding
Registers
Register
Contents
1
MSTR Operation Code
2
Error in progress for the MSTR
3
Write : Number of variables to send
Read : Number of variables to read
4
Read / write concerns the base variable address.
Warning : there is a shift of 1 for this register.
For example, in order to access address 180, you have to enter 181.
5
Station address destination
6
Station address destination routing 2
7
Station address destination routing 3
8
Station address destination routing 4
9
Station address destination routing 5
Middle Node
Content
The 4x register entered in the middle node is the first in a group of contiguous
holding registers that comprise the data area. For operations that provide the
communication processor with data such as a write operation the data area is the
source of the data. For operations that acquire data from the communication
processor such as a read operation the data area is the destination for the data.
Bottom Node
Content
The integer value entered in the bottom node specifies the length the maximum
number of registers in the data area. Although the typical MODBUS PLUS length
may range from 1 to 100 registers, the Lexium drive controller range is 1 to 60
registers.
Read and Write
MSTR
Operations
An MSTR write operation transfers data from a controlling device to the drive
controller. An MSTR read operation transfers data from the drive controller to a
controlling device on the network.
41
Quantum Command Station: General
Control Block
Table below shows the information contained in the top node of the MSTR control
block in a read or write operation.
Control Block Register - Read and Write Operations
Register
Function
Content
Displayed
Operation type
1 = Write; 2 = Read
1st implied
Error status
Displays a hex value indicating MSTR error, when relevant
2nd implied
Length
Write = # of registers to be sent to drive controller.
Read = # of registers to be read to drive controller.
3rd implied
Drive controller
data area
Specifies starting register in the drive controller to be read from or written to
4th...8th implied
Routing 1...5
Designates 1st...5th routing path addresses, respectively; last non-zero
byte in routing path is the transaction device.
Example 1
Example
MODSOFT
Actions Hex
Tools
Exit
Dec
Bin
Go to
F6
F2
F3
F4
F5
F7 Lev 8 F8 MIXED F9 S3
F1
MSTR: Instruction for Modbus Plus network accessPage 1/3
Use page 2 for TCP/IP, page 3 for SY/MAX
MODBUS PLUS function code:
Status word:
Quantity of reg. transferred:
depends on function code used:
Routing 1, Destination Address:
Routing 2, Destination Address:
Routing 3, Destination Address:
Routing 4, Destination Address:
Routing 5, Destination Address:
1
3
5
7
9
Function code:
-> Reg Write
2 ->
-> Local Call Stat
4 ->
-> BD Global Write
6 ->
-> Subscribed Call Stat
8 ->
-> Peer Cop Communication Status
40300
40301
40302
40303
40304
40305
40306
40307
40308
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
=
=
=
=
=
=
=
=
=
2
0000
1
181
5
0
0
0
0
DEC
HEX
DEC
DEC
DEC
DEC
DEC
DEC
DEC
Reg Read
Local Init Stat
BD Global Read
Subscribed Init Stat
MSTR End
The example above shows how an MSTR block is used to read a register beginning
at address 180 (OPMODE) on address station 5.
The registers 40001 to 40009 are assigned at configuration of the MSTR block
l 40001 : Read data operation
l 40002 : Current error (0 no error)
l 40003 : Number of read registers
l 40004 : Base address for read 180 (181-1)
l 40005 - 40009 : Address of the destination station for the message (5). No
defined route. Station 10 is on the same network as the PLC.
42
Quantum Command Station: General
Programming
Example
Purpose
To power up, initialize and enable the drive. Download a motion task via messaging.
Start a motion task from the PLC by Peer Cop using Concept programming
software.
1. Configure the PLC Peer Cop/Global Data exchanges as outlined in the section,
Quantum Command Station – Configuration of Peer Cop and Global Data via
Concept.
2. Configure the Lexium as described in Chapter 6, Configuration of Lexium.
43
Quantum Command Station: General
3. Define motion task #192 parameters by writing from PLC. In addition to the MSTR
block described earlier, this example makes use of another method of writing to
the Lexium, the WRITE_REG block for use in Concept. The example below
makes use of two WRITE_REG blocks setup to write to modbus plus address 3
in this case the Lexium Drive. The first block is triggered by the boolean variable
WRITE_MT which will send the value stored in the PLC varaiable MTMUX, 192
for this example, to address 348 (347 + 1) in the Lexium drive. This is the address
in the drive where the motion task you wish to write is stored. Refer to the ASCII
command MTMUX in Chapter 10. It has a length of 1 word. When the done bit is
set on the first block it triggers the second WRITE_REG block which passes the
Motion task parameters stored in the PLC starting at address 400680 to the
Lexium address 184 (183 + 1). The parameters are 11 words long.
Concept [D:\CONCEP~1\MBTEST3]<6> - [READWRITE]
File Edit View Objects Project Online Options Window Help
WRITE_MT triggers a write of a motion task to the Lexium. MTMUX is the
number of the motion task you wish to write. Valid values are 0 and 192-255. 348 is the
address in the Lexium where MTMUX is stored. (347 + 1). It’s length is 1 word.
When done bit is set a second write is triggered which passes the Motion task parameters
to Lexium address 184(183+1). They are 11 words long. The data to be written is stored
in 400680.
Variable
Address
O_ACC1
O_ACC2
O_C
O_DEC1
O_DEC2
O_FN
O_FT
O_P
O_V
400680
400681
400682
400683
400684
400685
400686
400687
400689
FBI_29_9 ( 4 )
WRITE_REG
FBI_29_10 ( 3 )
MODBUSP_ADDR
Slot_ID
AddrFld
3
44
Routing1
Routing2
Routing3
Routing4
Routing5
WRITE_MT
348
1
MTMUX
DONE
REQ
SLAVEREG ERROR
NO_REG
REG_WRIT
STATUS
AddrFld
FBI_29_15 ( 7 )
err2
%400678
WRITE_REG
184
11
%400680
REQ
DONE
SLAVEREG ERROR
NO_REG
REG_WRIT
AddrFld
STATUS
done
err1
%400677
Quantum Command Station: General
4. To enable the drive to move the motor the state machine must be programmed
in accordance with the DRIVECOM standard as it applies to the Lexium drive.
Refer to Chapter 8 for detailed information on the DRIVECOM standard. The
figure below depicts a Concept Structured Text section that tests to see which
state the Lexium is in. In order to be able to start a motion task, the Lexium must
be in the state "Lexium Running". This is equivalent to a value of 16#27 in the
STATUS variable. Please note that STATUS is equal to the boolean AND of ZSW
and 16#006F. ZSW is the status of the drive which is sent in the 1st register of
the Global Data transaction.
45
Quantum Command Station: General
5. The following structured text programming was implemented to transition the
drive to the "Lexium Running" state. This involves 3 drive transitions, 2,3 and 4
as described in the Status Diagram in Chapter 8. Transition 2 tests for the drive
to be in the "Lexium Powered and Locked" state (StateSwitchOnDisabled) and
that the PLC boolean variables Enable is high and ESTOP is low. When these
conditions are satisfied the PLC sends a value of 16#0006 in the command word
STW. STW is the first word in the Peer Cop data exchange. As a result of this
command the drive should transition to the "Waiting State". Transition 3 tests to
make sure that it did. (StateReadyToSwitchOn). If it did then the PLC sends a
value of 16#0007 in the command word STW. As a result of this command the
drive should transition to the "Lexium Ready" state. In this state the drive is
enabled with torque but not ready to accept motion commands. Transition 4 tests
for this "Lexium Ready" state (StateSwitchedOn) and for the PLC boolean
variable, Run_Mode, to be set. If both these conditions are satisfied then the PLC
sends the command 16#001F in the command word STW. Upon acceptance of
this command the drive will transition to the "Lexium Running" state. The drive
can now execute motion commands.
46
Quantum Command Station: General
6. In order to start a motion task the drive must be in Opmode 8 and have its
reference point set. Toggling bit 6 of the command word STW will start the motion
task. The following structured text programming was used to start the motion
task. The code checks for the drive to be in the "Lexium Running" state
(StateOperationEnabled) and that it is in Opmode 8. If these conditions are true
then the code checks for the start signal, PLC boolean variable, Start_Out, to be
set. When set, bit 6 of the STW command word is toggled causing the drive to
execute the motion task number stored in the MOVE object (7th register in the
Peer Cop data exchange).
IF StateOperationEnabled THEN
IF (Opmode = 8) THEN
(* Jog Drive *
Jog is done by toggling bit 8 of the STW command word, 0 to 1 starts jog, 1 to 0 stops jog *)
IF Jog AND NOT (Home) AND NOT (startMotionTask) THEN
STW_Word := OR_WORD (IN1 :=STW_Word, IN2 := 16#0120);
JogFlag :=1;
END_IF;
IF NOT (Jog) AND JogFlag = 1 THEN
STW_Word := XOR_WORD (IN1 :=STW_Word, IN2 := 16#0120);
JogFlag :=0;
END_IF;
(* Home Drive *
Home is done by toggling bit 11 of the STW word from 0 to 1 *)
IF Home AND NOT (Jog) AND NOT (startMotionTask) THEN
STW_Word := XOR_WORD (IN1 :=STW_Word, IN2 := 16#0800);
END_IF;
(* Start Motion Task *
A motion task is started with EACH transition of bit 6 in the STW word, it is a toggle style bit *)
IF (startMotionTask OR executeNewSpeed OR executeNewPosition) AND NOT (Home) AND
NOT (Jog) THEN
STW_Word := XOR_WORD (IN1 := STW_Word, IN2 :=16#0040);
END_IF;
END_IF;
END_IF;
47
Quantum Command Station: General
48
Premium Command Station
5
At a Glance
Aim of this
Chapter
This chapter shows how to place the different modes of communication enabling
access to the drive.
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
Premium Command Station
50
Use of Global Data
51
Using Messaging
52
Programming Example 1
54
Programming Example 2
56
49
Premium Command Station: General
Premium Command Station
General
An application is installed on a Premium PLC by means of the PL7 software factory.
This factory contains a specific screen, which enables you to configure the Modbus
Plus exchanges. This chapter shows how to implement the different modes of
communication allowing access to the drive.
The installation is carried out in two parts:
l Station configuration : Station address, Peer Cop
l Write PLC tasks. Use of messaging and global data
Peer Cop
Configuration
Peer Cop configuration occurs once the Premium station is configured. When these
are defined, Premium manages their updating in a manner that is clear to the user.
There is no function to execute.
The example below shows Peer Cop configuration. A Premium register zone serves
as a storage buffer between the application and the Modbus Plus network.
Configuration
TSX 57202 V3.3 ...
TSX 57202 [RACK 0 POSITION 1]
Configuration
XMWI
XTI
Designation: PROCESSOR TSX P 57202
2
1
0
P
S
Y
5
5
0
0
3
4
Peer Cop Output
TCHANNEL 1:
SCHANNEL 1
Station
TSX MBP CARD PCMCIA MODBUS
X
1
MAST
5MODBUS
2
7
2
3
0
4
2 Station number:
1
5
6
7
1
Ref.
Length (0...32)
%MW1525
0
0
0
9
0
0
Confirm
Cancel
Address of 1st %MW
%MW
1525
Peer Cop
2
Timeout Value:
500
(ms)
3
4
5
Input Fall-back mode
Maintain
Reset to 0
Specific Inputs...
Specific Outputs...
6
The Premium station address is 1. The station wants to receive 9 words of Peer Cop
data from station address 5.
Data sent out in Peer Cop will be issued from the 16 bit registers %MW1525 to
%MW1533. These registers will be updated using the application defined by the
user. Premium automatically and periodically transfers these registers onto the
Modbus Plus network.
Note: For more detailed information, please consult the TLX DS COM PL7 manual.
50
Premium Command Station: General
Use of Global Data
The
"READ_GDATA"
function
Unlike a Quantum station, Global data is not managed directly by the PLC. The
"READ_GDATA" function must be used to take these values into account.
The example below shows the use of the READ_GDATA function in the Premium
environment. The top screen represents a defined task in ST language (structured
literal language) which will be executed on each PLC cycle. The bottom screen is an
on-line help which makes the implementation of the function easier.
!
ST: MAST - Mod_lexium
%L200:
(* Read Lexium drive global data on MODBUS PLUS
Address ADR#1.1.5
Address of global data reception zone %MW1101:18
Exchange report
%MW1150: 4
*)
IF %MW100=5 AND NOT %MW1150:X0 THEN
%MW1150:4:=0;READ_GDATA(ADR#1.1.5,%MW1101:18,%MW1150:4);END_IF;
PL7: Library Functions
Parameters
?
EF
Function Information:
Family
Character string
Interpolation command
Movement Cmd
Communication
Numeric conversions
Date, Time and length
Lib.V. App.V.
2.00 1.00 2.00 3.07 3.07
2.00 2.10 -
Name
PRINT_CHAR
RCV_TLG
READ_ASYN
READ_GDATA
READ_PCMCIA
READ_VAR
Comment
Write a character string
Receive a telegram
Read internal bits and words from the asynchronous server
Read MODBUS+ global data
Read from PCMCIA memory card
Read standard objects
Call format
Parameters of the PROCEDURE:
Name
Type
ADR AR_W
ADR AR_W
ADR AR_W
Nature
Comment
Entry zone:
IN
Address: ADR#[{r.s}]m.v.e or SYS
ADR#1.1.5
OUT Contents of global data received
%MW1101:18
IN/OUT Act, Number, CR, time-out: %MWxx:4. %MW1101:4
Display the call
READ_GDATA( ADR#1.15.%MW1101:18,%MW1150:4)
In the example above, when the condition is verified (%MW1150:X0=0), the
application reads 18 items of global data produced by address station 5 (1.15).
The read data will be stored in the Premium registers %MW1101 to %MW1118.
An exchange report will be stored in the Premium registers %MW1150 to
%MW1153.
51
Premium Command Station: General
Using Messaging
Read Command
The "READ_VAR" function allows a read request to be carried out by messaging
using Modbus Plus.
The example below shows the use of the READ_VAR function in the Premium
environment. The screen on the left represents a defined task in ST language
(structured literal language) which will be executed on each PLC cycle. The screen
on the right is an on-line help which makes the implementation of the function easier.
ST = MAST - Command
!
IF %M206 THEN
READ_VAR(ADR#1.1.5,’%MW’,180,5,%MW2000:5,%MW2500:4) :5,%MW2500:4) ;
RESET %M206;
END_IF;
READ_VAR
Parameters
Address:
ADR#1 .1.5
Type of object to read:
%MW
Address of first object to read:
180
Number of consecutive objects to read:
5
Reception Zone:
%MW2000
5
Report:
%MW2500
4
In the example, the application reads 5 registers 16 bits (%MW) beginning at
address 180 on station address 5 (1.1.5) when the %M206 condition is verified.
(takes account of %MW2500:X0 = 0)
The read data will be stored in the Premium registers %MW2000 to %MW2004.
An exchange report will be stored in the Premium registers %MW2500 to
%MW2503.
52
Premium Command Station: General
Write Command
The "WRITE_VAR" function allows a write request to be carried out by messaging
using Modbus Plus.
The example below shows the use of the WRITE_VAR function in the Premium
environment. The screen on the left represents a defined task in ST language
(structured literal language) which will be executed on each PLC cycle. The screen
on the right is an on-line help which makes the implementation of the function easier.
ST = MAST - Command
!
IF %M209 THEN
WRITE_VAR(ADR#1.1.5,’%MW’,180,1,%MW3100:1,%MW3200:4) :1,%MW3200:4) ;
RESET %M209;
END_IF;
WRITE_VAR
Parameters
Address:
ADR#1.1.5
Type of object to write:
%MW
Address of the first object to write:
100
Number of consecutive objects to write:
1
Data to write:
%MW3100
1
Report:
%MW3200
4
In the example, the application writes a 16-bit register (%MW) beginning at address
180 on station address 5 (1.1.5) when the %M209 condition is verified. (takes
account of %MW3200:X0=0)
The data to be written is stored in the Premium register %MW3100.
An exchange report will be stored in the Premium registers %MW3200 to
%MW3203.
53
Premium Command Station: General
Programming Example 1
Purpose
To achieve control of the "movement task program by Peer_cop and Global Data.
Configure the Premium/Lexium:
l At the PLC, this is done using the PL7 software:
l define the master PLC address: 1
l activate the Peer_cop and specify the outputs:
er
Address of 1 word of the Peer_cop table: %MW1525.
Assign a number of words for each slave in the network on the basis of current
or future needs.
In the PL7 screen used for Peer_cop configuration:
Station
Ref.
Length (0...32)
2
%MW1525
32
3
%MW1557
9
1
4
5
0
%MW1566
6
9
0
In this example, there are 3 slaves at the addresses 2, 3 and 5. The station is
declared to be set up in readiness for a product which accepts 32 Peer_cop words.
Note that continuity of the table of words is maintained despite the absence of
station 4.
l
At Lexium address 3, this is done using the Unilink software:
l define the address: 3
l define the Peer_cop
l define the global data
Literal programming:
The movement task parameters are loaded using the Unilink tool.
l
Write the application in literal language in order to read the Global Data:
(* drive address *)
! %MW10:6 := ADR#0.1.3;
( * %MW10:6 => optional definition of an indirect address *)
( * ADR#0.1.3 => Lexium @3 *)
l
54
Read the global data:
Premium Command Station: General
Note:
Hypothesis: the DriveCom must have the status "Lexium running (See Status
Diagram for the Standard DriveCom, p. 74)"
! %L200:
(* read global data from Lexium @3 drive to Modbus Plus *)
(* address of global data reception zone: %MW1101:18 *)
(* address ADR#0.1.3 = %MW10:6 *)
(* %M24 = read command *)
(* exchange report: %MW1150:4 *)
(* Zsw:18 status, first word of Zsw table=%MW1101 *)
IF %M24 AND NOT %MW1150:X0 THEN RESET %M24;
%MW1150:4 = 0;
READ_GDATA (%MW10:6 , Zsw:18 , %MW1150:4);
END_IF;
Operation:
Start and confirm the drive using the Drivecom diagram:
l PLC started
l Confirm reading of Global Data %MW24 := 1
l Set command word STW to 0 to set the Lexium to the status "powered-up and
locked": %MW1557 := 0
l To switch the Lexium to the Drivecom "started" status, specify the following in
sequence:
%MW1557 := 6
%MW1557 := 7
%MW1557 := 16#001F
On each command, the status changes in accordance with the diagram described
in the chapter Drivecom. (See Status Diagram for the Standard DriveCom, p. 74)
When the status is equal to 16#0027, the drive is ready to receive the movement
start command via a dedicated operating screen or via an animation table.
The sequence is as follows:
The referenced axis is tested by reading bit 1 of %MW1107.
l Test of the global data, bit 9 of word %MW1102 (absence of reference point).
l Select Opmode 8 (%MW1562 = 8).
l If the axis is not referenced, activate bit 11 of the command word STW
(%MW1557).
l Select the step for the movement task (No. of task to be started MW1563 = 3)
l Start the movement via bit 6 of the command word STW.
l
55
Premium Command Station: General
Programming Example 2
At a Glance
PL7 Programming Example:
Example of message mode, to read and modify the parameters of steps 0 and 192
to 255 in the movement task.
The 9 parameters that are simultaneously modified are:
l O_ACC1
l O_ACC2
l O_C
l O_DEC1
l O_DEC2
l O_FN
l O_FT
l O_P
l O_V
The network consists of a master PLC and a Lexium slave:
l Address of the master PLC station: 1
l Address of the slave Lexium station: 3
Configure the Premium/Lexium:
At the PLC, this is done using the PL7 software:
l define the master PLC address: 1
l activate the Peer_cop and specify the outputs:
l
er
Address of 1 word of the Peer_cop table: %MW1525.
Assign a number of words for each slave in the network on the basis of current
or future needs.
In the PL7 screen used for Peer_cop configuration:
Station
Ref.
Length (0...32)
1
2
%MW1525
32
3
%MW1557
9
%MW1566
9
4
5
6
0
0
In this example, there are 3 slaves at the addresses 2, 3 and 5. The station is
declared to be set up in readiness for a product which accepts 32 Peer_cop words.
Note that continuity of the table of words is maintained despite the absence of
station 4.
l
56
At Lexium address 3, this is done using the Unilink software:
Premium Command Station: General
l
l
l
define the address: 3
define the Peer_cop
define the global data
Write the application in literal language, Lexium drive slave @3:
(* drive address *)
! %MW10:6 := ADR#0.1.3;
( * %MW10:6 => optional definition of an indirect address *)
( * ADR#0.1.3 => Lexium @3 *)
! %L200:
(*
(*
(*
(*
(*
(*
read global data from Lexium @3 drive to Modbus Plus *)
address of global data reception zone: %MW1101:18 *)
address ADR#0.1.3 = %MW10:6 *)
%M24 = read command *)
exchange report: %MW1150:4 *)
Zsw:18 status, first word of Zsw table=%MW1101 *)
IF %M24 AND NOT %MW1150:X0 THEN RESET %M24;
%MW1150:4 = 0;
READ_GDATA (%MW10:6 , Zsw:18 , %MW1150:4);
END_IF;
! (* filtering of status word *)
%MW750:=%MW1101 AND 16#006F;
%L300:
(* WRITE Lg1 MTMUX Lexium @3 on Modbus Plus *)
(* address: %MW10:6 *)
(* type of variable: %MW *)
(* MTMUX register: 347 *)
(* length of MTMUX register: 1 *)
(* register number for MTASK step: %MW60:1 *)
(* exchange report: %MW80:4 *)
IF %M50 AND NOT %MW80:X0
THEN RESET %M50; %MW80:4:=0;
WRITE_VAR(%MW10:6,’%MW’,347,1,%MW60:1,%MW80:4);
END_IF;
!
%L320:
(* WRITE Lg11 table MTMAX Lexium @3 on Modbus Plus *)
(* address: %MW10:6 *)
57
Premium Command Station: General
(*
(*
(*
(*
(*
type of variable: %MW *)
1st MTMAX register to be written: 183 *)
number of registers to be written: 11 *)
value to be output: %MW61:11 *)
exchange report: %MW84:4 *)
IF %M51 AND NOT %MW84:X0
THEN RESET %M51; %MW84:4:=0;
WRITE_VAR(%MW10:6,’%MW’,183,11,%MW61:11,%MW84:4);
END_IF;
!
%L340:
(* read MTMUX Lexium @3 on Modbus Plus *)
(* address: %MW10:6 *)
(* type of variable: %MW *)
(* MTMUX register: 347 *)
(* length of MTMUX register: 1 *)
(* register number for MTASK step: %MW60:1 *)
(* exchange report: %MW80:4 *)
IF %M52 AND NOT %MW80:X0
THEN RESET %M52; %MW80:4:=0, %MW60:=0;
READ_VAR(%MW10:6,’%MW’,347,1,%MW60:1,%MW80:4);
END_IF;
!
%L360:
(* read MTMUX Lexium @3 on Modbus Plus *)
(* address: %MW10:6 *)
(* type of variable: %MW *)
(* 1st MTMAX register to be read: 183 *)
(* number of registers to be read: 11 *)
(* receive register: %MW61:11 *)
(* exchange report: %MW80:4 *)
IF %M53 AND NOT %MW80:X0
THEN RESET %M53; %MW80:4:=0, %MW61:=0;
READ_VAR(%MW10:6,’%MW’,183,11,%MW61:11,%MW80:4);
END_IF;
Program Operation
Start and confirm the drive using the Drivecom diagram:
l PLC started
l Confirm reading of Global Data %MW24 := 1
58
Premium Command Station: General
l
Set command word STW to 0 to set the Lexium to the status "powered-up and
locked": %MW1557 := 0
l To switch the Lexium to the Drivecom "started" status, specify the following in
sequence:
%MW1557 := 6
%MW1557 := 7
%MW1557 := 16#001F
The status (remember: STATUS = ZSW AND 16#006F) changes on each command
in accordance with the diagram in the chapter Drivecom. (See Drive Operating
Modes, p. 73)
When the status is equal to 16#0027, the drive is ready to receive the movement
start command.
l Select the step for the movement task to be read or modified:
Write the number of the step to be read or modified to the register %MW60.
This register will be loaded into the MTMUX register when bit %M50 is activated.
The MTMUX register can be read by loading its value into the register %MW60.
Activate bit %M52 to perform this load operation.
l Read the step parameters for the selected movement task:
Activate bit %M53
Parameters 183 to 191 (O_ACC1 ....O_V (See General table of read/write
variables, p. 92)) of the Lexium drive are then loaded into registers %MW61 to
%MW71.
Special case: Parameters 190 and 191 use 2 words each. Consequently, we
have %MD68 for register 190 and %MD70 for register 191.
l Write the step parameters for the selected movement task:
Activate bit %M51 after you have changed one or more of the parameters in the
registers %M61 to %M71.
The parameters of all the internal words %MW61 to %MW71 are then loaded into
the registers 183 to 191 of the Lexium drive.
Pay attention to the special case of the double parameters 190 (0_P) and 191
(O_V).
The new parameters will not be used until the step is started (specified in the
MOVE parameters) via command bit 6 of the STW.
l Meaning of the bits for the movement task:
bits %M50 = write confirmation for the MTMUX register
bits %M51 = write confirmation for the parameters of the movement task
bits %M52 = read confirmation for the MTMUX register
bits %M53 = read confirmation for the parameters of the movement task
59
Premium Command Station: General
60
Configuration of Lexium:
Parameters
6
At a Glance
Aim of this
Chapter
This chapter describes the configuration of different communication parameters.
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
Communication Parameters
62
Configuration of Address and TimeOut via Unilink or via a Terminal
66
Peer Cop Data
67
Global data configuration via Unilink or via a terminal
68
61
Configuration of Lexium
Communication Parameters
At a Glance
Communication parameters are configured in 2 ways:
l either via the Unilink software terminal mode or via a hyperterminal mode under
Windows.
Some ASCII commands are defined to make it possible to read or modify these
parameters.
l Via the Modbus Plus screen in the Unilink software
Addressing
"DRIVE 0" basic configuration screen
62
Configuration of Lexium
Modbus Plus
Parameters:
The Modbus Plus screen in the Unilink software:
MODBUS “DRIVE0”
Modbus+
Address
Bus Time-Out
Communication status
10 ms
Peer-Cop Station
DPR
ModBus +
Peer-Cop length
2*
Byte
Global-Data Length
2*
Byte
Drive
OK
Cancel
Apply
The following table describes different parameters in the "Modbus Plus Settings"
zone:
Parameter
Command
ASCII
Range
Default value
Note
Address (*)
ADDR
1-63
1
Modbus+ node address
(read only)
Bus TimeOut (**)
TIMEMBP
0.01-60
1
In seconds. Increments
of 10ms
Command station
Peer-Cop Station
Master address
PEERCOPS
1-64
1
Must be different from
the drive address. 0= no
PeerCop registers
received
PEERCOP register
Peer-Cop length
PEERCOP
0-9
0
Number of PeerCop
registers received. 0=
PeerCop registers
received
Global data Tx
GDTX
0-18
0
Number of Global data
registers transmitted. 0:
Global data not
transmitted
(*) The station address is entered in the Unilink base adjustment screen.
(**) Timeout represents:
l the longest time span during which no token has been received;
l the longest time span between the reception of two PeerCop transmissions.
63
Configuration of Lexium
The following table describes the different values in the communication status zone:
Parameters
ASCII command
DPR
DPRSTATE (status
during initialization phase)
DPRSTATE = 80:
Message ready
Modbus +
MBPSTATE (status read
by Unilink)
Updated by MBP card, it
makes the drive aware of
the MBP card status
Drive
MBPSTATE (status read
by Unilink)
Updated by the drive, it
makes the MBP card
aware of the drive status
Range
Default value
Note
16-bit length
1-100
0
16-bit length
0
16-bit length
Descriptions of the different MBPSTATE statuses:
Value of MBPSTATE
Description
0
Card not configured
1
Card in Run
2
No communication from card
3
Network communication fault
4
DPRAM communication fault
Descriptions of the different MBPDRVSTAT status:
Value of MBPDRVSTAT
Description
1
Drive ready
2
Network communication fault
4
DPRAM communication fault
8
Communication fault: network ignored
(MBTNTO* bit)
(*) MBPNTO = 0 communication fault reported to the drive.
MBPNTO = 1 communication fault ignored by the drive, it is accessible
in write mode via the ASCII MBPDRVSTAT command.
Thus if MBPDRVSTAT = 8h for MBPNTO = 1 then the read value is 9
If MBPDRVSTAT = 0h for MBPNTO = 0 then the read value is 1
64
Configuration of Lexium
Procédure
The Modbus Plus Lexium communication is configured as follows:
Step
Action
1
Power up the drive. The network cable does not have to be connected.
2
Check that the Modbus Plus card option is in good working order: The green
diagnostics LED should flash regularly (6 flashes per second).
3
Run the Unilink software or a terminal
65
Configuration of Lexium
Configuration of Address and TimeOut via Unilink or via a Terminal
Address
Configuration
Note: An address should not be duplicated on the network and should be between
1 and 63.
Configuration via Unilink
l Configure the "Address" field using the station address in the Unilink basic setup
screen.
Configuration via a terminal
Enter the terminal screen,
l Enter the ADDR command <Address>. For example, to set the drive address to
3, type ADDR 3.
l Enter the ADDR command without parameters to check that the configuration
has been correctly implemented.
l
Note:The address is stored in the drive. Replacing the Modbus Plus card has no
effect on the drive address. It continues to have the previously configured address.
TimeOut
Configuration
Configuration via Unilink
Configure the " Bus Time-Out" field with the selected value.
Configuration via a terminal
l Enter the terminal screen,
l Enter the TIMEMBP command <Value in 0.01 sec.> For example, type TIMEMBP
200, to set a time out value of 2 seconds.
l Enter the TIMEMBP command without parameters to check that the configuration
has been correctly implemented.
TimeOut represents:
l The maximum period of time during which a token is not received,
l The maximum period of time between 2 Peer Cop transmissions being received.
When a TimeOut is detected, the drive faults.
l
66
Configuration of Lexium
Peer Cop Data
Peer Cop
Configuration
Peer Cop data are the registers transmitted by the command station. The number of
registers received by the drive can be configured by the user.
The number of Peer Cop registers transferred can be configured in either of two
ways:
Configuration via Unilink
l Configure the "Peer-Cop Station" field with the command station address,
l Configure the "Peer-Cop Length" field with the number of received Peer Cop
registers.
Configuration via a terminal
Selecting the number of a Peer Cop registers
l Enter the terminal screen,
l Enter the Peer Cop command <Number of Peer Cop registers>. For example,
type Peer Cop 9 to configure the Lexium to receive 9 registers.
l Enter the Peer Cop command without parameters to check that the configuration
has been correctly implemented.
Command station configuration
l Enter the Peer Cop command <Command Station Address>. For example, type
Peer Cop 6 to configure the PLC in command whose node address is 6.
Enter the Peer Cop command without parameters to check that the configuration
has been correctly implemented.
For example:
If the number 2 is entered in the "Number of Peer Cop Registers" parameter of
the drive and the PLC, only the first two registers of the Peer Cop data, STW and
VCMD variables will be received by the drive.
l The configured number of Peer Cop registers should be adjusted in relation to the
application requirements. The smallest possible number of Peer Cops should be
used to optimize the network bandwidth and feed-through time of the Modbus
Plus card. However, you are strongly advised to always use the STW command
word.
l
If no Peer Cop data is received from the command station before the end of the
specified wait time, the drive faults. It can still be accessed via messaging.
Common
Parameter
Management
with Messaging
Variables that are configured in the 9 Peer Cop command registers can not be
overwritten via messaging when Peer Cop exchanges are enabled. Write access to
these registers is permitted when they are not configured in the Peer Cop exchange.
67
Configuration of Lexium
Global data configuration via Unilink or via a terminal
Global data
configuration
68
Updating global data is confirmed by selecting a number of Global data registers
greater than 0.
Configuration via Unilink:
l configure the "Global-Data length" field with the number of registers.
Configuration via a terminal:
Selecting the number of Global data registers
l enter the terminal screen,
l Enter the GDTX command <Number of Global Data registers>. For example,
type GDTX 18 to configure the Lexium to send 18 registers
l enter the GDTX command without parameters to check that the configuration has
been correctly implemented.
Example:
l if the number 2 is entered in the "Number of Global data registers" drive and PLC
parameters, only the first two registers of the Global data, ZSW and STATCODE
variables will be updated by the drive,
l the number of configured Global data registers should be adjusted in relation to
the application requirements. The smallest possible amount of global data must
be used in order to optimize the network bandwidth and feed-through time of the
Modbus Plus card.
Diagnostics: Indication
7
At a Glance
Aim of this
Chapter
This Chapter explains the meaning of the different green LEDs, which can be found
on the Modbus Plus card.
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
Diagnostics: Different Statuses
70
Lexium Drive Parameters
71
69
Diagnostics
Diagnostics: Different Statuses
Diagnostics
70
The Modbus+ card is provided with a green indicator LED, which indicates the
communication status. The following table indicates the meaning of the different
statuses.
LED status
Meaning
Off
The options card has faulted, the Modbus Plus address is not
configured. Causes for this fault:
l An error in communicating with the drive.
l An option card hardware fault.
1 flash/second
MONITOR LINK. From powering up or following a DUPLICATE
STATION status, the card examines the network and constructs
a table of active nodes. After 5 seconds, the card tries to resume
normal mode (TOKEN OK).
6 flashes/second
TOKEN OK. The token circulates normally and the card receives
it once per rotation.
2 flashes/second
followed by a 2 second
pause
NEVER GETTING TOKEN. The token circulates on the network
but the card never receives it.
3 flashes/second
followed by a 1.7 second
pause
SOLE STATION. The network comprises one station only or the
link was lost.
4 flashes/second
followed by a 1.4 second
pause
DUPLICATE STATION. Another network node has the address
of the options card. This requires reconfiguration or the other
node to be disconnected from the network.
Diagnostics
Lexium Drive Parameters
Drive status
The Lexium drive uses three parameters (See Modbus Plus Parameters:, p. 63)
which allow the drive and Modbus Plus option card status to be seen.
l (DPR, ASCII equivalent DPRSTATE)
l (Modbus Plus, ASCII equivalent MBPSTATE)
l (Drive, ASCII equivalent MBPDPRVSTATE)
These parameters can be accessed:
l Via the Unilink software terminal or any terminal. Some ASCII commands are
defined to allow parameter reading.
l Via the Modbus Plus screen in the Unilink software
71
Diagnostics
72
Drive Operating Modes
8
At a Glance
Aim of this
Chapter
This chapter shows the status chart of the standard DRIVECOM as well as the
forced local mode via Unilink.
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
Status Diagram for the standard DRIVECOM
74
DRIVECOM Standard
75
Status Diagram/Instrument control for Lexium
77
DRIVECOM Command Word
81
DRIVECOM Status word
84
Unilink Forced Local Mode
86
73
The DriveCom Profile and the Forced Local Mode via Unilink
Status Diagram for the standard DRIVECOM
Status Diagram
for the Standard
DriveCom
The Lexium drive can be commanded via Modbus Plus according to the status
diagram for the DRIVECOM standard:
Diagram:
Output stage
deactivated
Fault
13
Activation
of faults
Start
0
14
Not ready
for power up
Fault
1
15
No power
2
7
10
12
Ready for
power up
3
6
Power activated
9
8
Power up
4
Execution
Activated
5
11
16
Fast stop
activated
This standard includes the key functions for drives produced by a number of different
manufacturers.
Each status corresponds to an internal drive behavior. The status of the drive can
be accessed via its status word. The status is changed using the command word.
The value of any bits marked with an X is irrelevant.
74
The DriveCom Profile and the Forced Local Mode via Unilink
DRIVECOM Standard
DRIVECOM
Standard
The Lexium control process conforms to the DRIVECOM standard state chart. Each
state represents an aspect of the internal behavior of the drive controller. The drive
controller state changes when:
l The command word, STW (Peercop word 1), sends a command.
l An event other than a command, such as an external fault, occurs.
The drive controller status is given by the status word, ZSW (Global Data word 1).
The drive controller states are described below.
Not Ready to Switch On (Initialization of communications)
The communication card is initializing, but the drive controller is not yet powered or
is in the process of powering up. Drive funstion is disabled.
Switch On Disabled (Configuration of the drive controller)
The driver controller is powered up and has completed its initialization routine.
Configuration and adjustment parameters can be modified at this time. Operation of
the output voltage circuitry is locked out during this time.
Ready to Switch On and Switched On (Initialization and configuration of the drive
controller is complete)
The drive controller is not delivering voltage to the output but is ready and waiting.
Switching on enabled.
Operation Enabled (Ability to output voltage to the motor terminals)
The drive controller output voltage circuitry is functional. All run, stop, and autotuning functions are acknowledged. Adjustment parameters can be modified at any
time. Configuration parameters can be changed only when the motor is stopped;
and if a configuration parameter is changed, the drive controller returns to the Switch
On disabled state.
Quick Stop Active (E-stop/rapid deceleration)
Activation of this stop mode causes the drive controller to decelerate the motor using
the minimum deceleration ramp time. To restart the drive controller output, the
controller must be returned to the Switch On disabled state. From this point,
sequential transition commands can return the controller to the Operation enabled
state.
Malfunction Reaction Active (Ability to determine what action to take when a fault
occurs)
The drive controller detects a fault and reacts by performing an action that is
appropriate (and perhaps pre-programmed, in certain cases) to the type of fault.
Other drive functions are disabled during this time.
75
The DriveCom Profile and the Forced Local Mode via Unilink
Malfunction (Drive controller in faulted state)
The drive controller has detected the occurrence of a fault that warrants disabling
the drive functions. A fault reset command or the cycling of the main power is
required to return the controller to the Switch On disabled state. From this point,
sequential transition commands can return the controller to the Operation enabled
state. For more information, refer to "Switch On Disabled (Configuration of the drive
controller)".
76
The DriveCom Profile and the Forced Local Mode via Unilink
Status Diagram/Instrument control for Lexium
Instrument
control
The control of the instrument is described with the aid of a state machine. The state
machine isdefined in the drive profile by a flow diagram for all operating modes. The
following diagram shows the possible instrument states for the Lexium Drive (See
Status Diagram for the standard DRIVECOM, p. 74).
Note: STATUS is the logical boolean AND of ZSW (Word 1 of Global Data) and 6F
(hex). All STATUS and STW (Command word 1 of Peercop data) values are given
in hexadecimal.
77
The DriveCom Profile and the Forced Local Mode via Unilink
Drive disable
Input into the status diagram
0
Appearance of a fault
14
Inoperative Lexium
Active communication
STATUS = xx00h or 20h
Faulty Lexium
STATUS = xxx8h
or xxxFh
or xx28h
STW = 0080h
1
15
STW = 0000h
Lexium powered
and locked
STATUS = xx40h or 60h
9
7
12
10
2
STW = 0000h
STW =
0006h
STW = 0006h
STW =
0000h to
0002h
Waiting state
STATUS = xx21h or 01h
8
STW = 0006h
STW = 0007h
6
3
Drive Enabled
Lexium ready
STATUS = xx23h
STW = 0007h
5
4
STW = 001Fh
Emergency stop
STW = 000Fh
Lexium running
STATUS = xx27h
16
11
STW = 001Fh
Note: STATUS = ZSW AND 16#006Fh
78
Lexium in fast stop
STATUS = xx07h or 03h
The DriveCom Profile and the Forced Local Mode via Unilink
Instrument
states
The following table describes the instruments states and the transitions :
Not ready for switch-on
"Inoperative Lexium"
Lexium drive is not ready for switch-on. No operation readiness
(Fault RA/RB) is signaled from the amplifier software.
Switch-on inhibited"Lexium
powered and locked"
LEXIUM DRIVE is ready for switch-on. Parameters can be
transferred, DC-link (DC-bus) can be switched on, motion
functions cannot be carried out yet.
Ready for switchon"Waiting State"
DC-link voltage must be applied. Parameters can be
transferred, motion functions cannot be carried out yet.
Ready for operation"Lexium DC-link voltage must be switched on. Parameters can be
Ready"
transferred, motion functions cannot be carried out yet. Output
stage is switched on (enabled).
Transitions of
the state
machine
Operation enabled"Lexium
Running"
No error present. Output stage is switched on, motion functions
are enabled.
Fast stop activated"Lexium
in Fast Stop"
Drive has been stopped, using the emergency stop ramp.
Output stage is switched on (enabled), motion functions are
enabled.
Error response active/
error"Faulty Lexium"
If an instrument error occurs, the LEXIUM DRIVE changes to
the instrument state "Error response active". In this state, the
power stage is switched off immediately. After this error
response has taken place, it changes to the state "Error". This
state can only be terminated by the bit-command "Errorreset".To do this, the cause of the error must have been
removed (see ASCII command ERRCODE).
This table gives equivalent bit manipulation to the hexadecimal values listed in the
state flow diagram above.
Transition 0
Event
Action
Initialization started
Transition 1
Event
Initialization successfully completed, LEXIUM DRIVE switch-on
inhibit
Action
None
Transition 2
Event
Bit 1 (inhibit voltage) and Bit 2 (fast stop) are set in the control
word(command: shutdown). DC-link voltage is present.
Action
None
Event
Bit 0 (switch-on) is also set (command: switch-on)
Action
Output stage is switched on (enabled). Drive has torque
Event
Bit 3 (operation enabled) is also set (command: operation
enable)
Transition 3
Transition 4
Reset / 24V supply is switched on
79
The DriveCom Profile and the Forced Local Mode via Unilink
Action
Transition 5
Motion functions are enabled, depending on the operating
mode that is set.
Event
Bit 3 is canceled (command: inhibit)
Action
Motion functions are disabled.Drive is braked, using the
relevant ramp (depends on operating mode).
Transition 6
Event
Bit 0 is canceled (ready for switch-on).
Action
Output stage is switched off (disabled). Drive has no torque.
Transition 7
Event
Bit 1 or Bit 2 is canceled.
Action
(Command: "Fast stop" or "Inhibit voltage")
Transition 8
Event
Bit 0 is canceled (operation enabled -> ready for switch-on)
Action
Output stage is switched off (disabled) - motor loses torque.
Transition 9
Event
Bit 1 is canceled (operation enabled -> switch-on inhibited)
Action
Transition 10 Event
Action
Transition 11 Event
Action
Transition 12 Event
Action
Transition 13 Event
Action
Output stage is switched off (disabled) - motor loses torque.
Bit 1 or 2 are canceled (ready for operation -> switch-on
inhibited)
Output stage is switched off (disabled) - motor loses torque.
Bit 2 is canceled (operation enabled -> fast stop)
Drive is stopped, using the emergency ramp. The output stage
remains enabled.Setpoints are canceled (e.g motion block
number, digital setpoint).
Bit 1 is canceled (fast stop -> switch-on inhibited)
Output stage is switched off (disabled) - motor loses torque.
Error response active
Output stage is switched off (disabled) - motor loses torque.
Transition 14 Event
Error
Action
None
Transition 15 Event
Action
Transition 16 Event
Action
Bit 7 is set (error -> switch-on inhibited)
Acknowledge error (depending on error – with/without reset)
Bit 2 is set (fast stop -> operation enabled)
Motion function is enabled again.
The state transitions are affected by internal events (e.g. switching off the DC-link
voltage) and by flags in the control word (Bits 0, 1, 2, 3, 7).
80
The DriveCom Profile and the Forced Local Mode via Unilink
DRIVECOM Command Word
Control word
(STW)
With the aid of the control word, you can switch from one instrument state to another.
In the diagram for the state machine you can see which instrument states can be
reached by which transitions. The momentary instrument state can be taken from
the STATUS word.
Several states may be passed through during a telegram cycle (e.g. Ready for
switch on -> Ready for operation -> Operation enabled). The bits in the control word
can be (operating-) mode-dependent or mode-independent.
The following table describes the bit definitions of the control word (STW).
Bit
DRIVECOM Standard
Name
Application of the Lexium to the DRIVECOM
standard
0
Switch on
Ready Status
1
Inhibit voltage
-
2
Fast stop, switch-on
inhibited
1 -> 0 drive brakes using emergency ramp(ASCII
parameter DECSTOP), axis is disabled.
3
Operation enabled
Drive can be issued motion commands
4
Fast stop
1 -> 0 drive brakes using emergency ramp (ASCII
parameter DECSTOP), axis remains enabled.
5
Depends on operating
mode
Mode-dependent
6
Depends on operating
mode
Mode-dependent
7
Reset Fault
Fault reset control
8
Start Jogging
mode-dependent
9
Reserved
-
10
Reserved
-
11
Start homing (edge)
mode-dependent
12
Manufacturer-specific
reset the position
13
Alarm acknowledgment acknowledge warnings, must set ASCII parameter
Manufacturer-specific
CLRWARN = 1 to enable this feature
14
Manufacturer-specific
reserved
15
Manufacturer-specific
reserved
0= not ready, 1 = ready
Depending on the bit combination in the control word, a corresponding control
command is defined.
The following table shows the bit combinations and also determines the priorities of
the individual bits, in case several bits are altered in one telegram cycle.
81
The DriveCom Profile and the Forced Local Mode via Unilink
State after
command is
Given and typical
Hex value for
status word
Command
in
DRIVECOM
BIt
13
BIt
7
BIt
4
BIt
3
BIt
2
BIt
1
BIt
0
Transitio
n (see
Status
diagram)
Typical
values of
the
command
word
Waiting State
STATUS = xx21 or
xx01
Shutdown
X
X
X
X
1
1
0
2,6,8
16#0006
Lexium Ready
STATUS = xx23
Switch-on
X
X
X
X
1
1
1
3
16#0007
Lexium powered
and locked
STATUS = xx40 or
xx60
Inhibit
voltage
X
X
X
X
X
0
X
7,9,10,12
16#0000
Lexium powered
and locked
STATUS = xx40 or
xx60
Fast stop
(disable)ES
TOP
X
X
X
X
0
1
X
7,10,11,
>12
16#0000
Lexium in Fast Stop Fast stop
X
STATUS = xx07 or (enable)QUI
xx03
CK STOP
X
0
1
1
1
1
11
16#000F
Lexium Ready
STATUS = xx23
Inhibit
operation
X
X
X
0
1
1
1
5
16#0007
Lexium Running
STATUS = xx27
Enable
operation
X
X
1
1
1
1
1
4,16
16#001F
Lexium powered
and locked
STATUS = xx40 or
xx60
Reset Fault
X
1
X
X
X
X
X
15
16#0080
Bits labeled with X are irrelevant.
82
The DriveCom Profile and the Forced Local Mode via Unilink
Mode-dependent bits in the control word:
Mode
Bit 5
Bit 6
Bit 8
Bit 11
8: Position
1 > 0 - Pauses motion
0 > 1 – Resumes motion
For Motion Task: Acc. and dec. ramps are
defined by ASCII parameters O_ACC1 and
O_DEC1.
For Homing/Jogging: Acc. and dec. ramps
are defined by ASCII parameters ACCR and
DECR.
Start a motion task
with every
transition edge
(toggle bit).
Start / stop
jogging
Start homing
0: Digital speed 1 > 0 – Stop motion.
Drive brakes, using the preset speed ramps.
ASCII parameters ACC and DEC.
Set to 1 -Authorizes Reserved
motion to preset
speed in VCMD
Reserved
2: Digital
current
Reserved
Set to 1 -Authorizes Reserved
motion to preset
current in ICMD
Reserved
1: Analog
speed
Reserved
Reserved
Reserved
Reserved
3: Analog
current
Reserved
Reserved
Reserved
Reserved
5: Position
control via
external
network
Reserved
Start S_SETH
Reserved
Reserved
Priority of the Bits 6, 8, 11 in position-control mode: 6 (high), 11, 8 (low).
83
The DriveCom Profile and the Forced Local Mode via Unilink
DRIVECOM Status word
Status word
(ZSW)
With the aid of the status word, the instrument state can be represented and the
transmitted control word can be verified. If an unexpected condition is reported, as
the result of a transmitted control word, then first of all the boundary conditions for
the expected instrument state must be clarified (e.g. enable of the output stage –
hardware + software, application of the DC-link voltage).The bits in the status word
can be mode-dependent or mode-independent.
The following table describes the bit definitions of the status word (ZSW).
84
Bit
DRIVECOM Standard Name
Applicatioon of the Lexium to the
DRIVECOM standard
0
Ready to Switch on
Waiting state
1
Switched-on
Lexium ready
2
Operation enabled
Lexium running
3
Fault present
Faulty Lexium, see ASCII command
ERRCODE
4
Voltage inhibited
-
5
Fast stop
-
6
Switch-on inhibit
-
7
Warning active
see ASCII command STATCODE
8
Following error
only in position-control mode Opmode 5
9
Remote/Local
not supported, fixed to 1
10
Setpoint reached
only in position modes 4 and 5:
11
Threshold reached
not supported at present
12
Reserved
Reserved
13
Mode-dependent
Reserved
14
Manufacturer-specific
Reserved
15
Manufacturer-specific
Reserved
The DriveCom Profile and the Forced Local Mode via Unilink
Status word (ZSW) states:
State
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Not ready for switch-on
"Inoperative Lexium"
0
X
X
0
0
0
0
Switch-on inhibit
"Lexium Powered and Locked"
1
X
X
0
0
0
0
Ready for switch-on
"Waiting State"
0
1
X
0
0
0
1
Ready for operation
"Lexium Ready"
0
1
X
0
1
1
1
Operation enabled
"Lexium Running"
0
1
X
0
1
1
1
Error
"Faulty Lexium"
0
X
X
1
0
0
0
Fast stop active
"Lexium in Fast Stop"
0
0
X
0
1
1
1
Example of the Sequence of Transition Commands to recover from a Fault
Condition
When a fault occurs, the status word is set to xxx8h or xxxFh. The fault must be
cleared by setting the command word to a value of 0080h (toggle bit 7 0>1). The
Lexium responds by clearing the fault (if possible) and setting the status to "Lexium
Powered and Locked" with a status word value of xx40h or xx60h. To enter the
"Waiting State" status, write 0006h to the command word. The status word now has
a value of xx21h or xx01h. Next, enter the "Lexium Ready" state by writing 0007h to
the command word. The status word now has a value of xx23h. The output stage is
now enabled. Next, in order to command motion, write 001Fh to the command word.
The drive will transition to the "Lexium Running" state with a status word value of
xx27h. Motion functions are now enabled and depending on the operating mode that
is set, the motor can be commanded to move.
85
The DriveCom Profile and the Forced Local Mode via Unilink
Unilink Forced Local Mode
Unilink Forced
Local Mode
86
When the axis is debugged, it is possible to switch to forced local mode in Unilink.
Switching to local mode is done via the "Enable" command from Unilink. If this is
done, Peer Cop data exchanges are stopped and all the commands in Unilink are
accessible in the same way as they are in standalone operation.
Peer Cop exchanges are reestablished by issuing the "disable" command from
Unilink.
Theoretical Performance
9
Theoretical Performance
Average Time
Between 2
Updates of Data
by a Network
Station (Token
Rotation Time)
Reference documents: Modicon Installation manual 890 USE 100 00.
Token Rotation Time:
TRT (in ms) = (2.08+0.016 * DMW) * DMP+(0.19+0.016 * GDW) * GDN+0.53 * N.
N = Number of network station,
DMP = Number of master using MSTR,
DMW = Average number of MSTR register word,
GDN = Number of station transmitting Global Data (and Peer Cop),
GDW = Average number of register word transmitted in Global Data.
Example in a configuration using a Premium station, a Quantum station and a
Lexium drive:
Premium (9 Peer Cop) + Quantum (9 Peer Cop + MSTR (Get Network statistic)) +
Lexium (18 Global Data).
TRT = (2.08 + negligible) * 1 + (0.19 + 0.016 * 18) * 3 + 0.53 * 3 = 5 ms approx. This
corresponds to the value read by the MSTR request on the Quantum.
87
General
Lexium Scan
Time
Peer Cop and Global Data Lexium scan time = 10 ms typically
Lexium response time for accessing messaging, drive parameters and drive
commands varies in the order of a few ms to 500ms.
It depends on the parameter types (loop adjustment, configuration adjustment,
motion task adjustment, etc.) and on the drive status (valid or locked).
Examples:
l Locked drive
Reading proportional gain (PG) from position loop t = 4ms
Writing proportional gain (PG) from position loop t = 326ms
l Confirmed drive
Writing proportional gain (PG) from position loop t = 392ms
Acceleration (ACC) in reading t = 4ms
Acceleration (ACC) in reading t = 6ms
l Enable drive command t = 2ms
Average
response time
Average RT for Global Data and Peer Cop = 1 * TRT + 1/2 equipment receptor scan
time.
Average RT for Messaging = 1 * TRT + 1 caller equipment scan time + 1/2 target
equipment scan.
88
General
Average
Application
Response Time
general diagram
PLC
Drive 1
Modbus Plus Network
MB+
TRT
MB+ card
Towards motors
Drive 2
Application processing MAST or
FAST cycle time
MB+ card
Lexium Scan Time
Average application response time:
RTAppavge = 1.5TcyclePLC + TRavge
89
General
90
List of Lexium Variables: General
10
At a Glance
Aim of this
Chapter
This chapter contains tables showing the variables, which can be accessed by the
user via messaging.
This list is not exhaustive, see the ASCII Command on the Lexium motion tools CD.
What's in this
Chapter?
This chapter contains the following topics:
Topic
General variables for Lexium: General
Page
92
Read/Write logical Variables
98
List of General Lexium Variables
99
List of Logical Variables and Status Registers
101
Read/Write Status Registers
102
91
List of Lexium variables
General variables for Lexium: General
General
The following tables show the variables that can be accessed by the user via
messaging.
The list is not exhaustive. For a complete list, consult the list of ASCII commands
available on the Lexium Motion Tool CD-ROM (ref. AM0 CSW 001V350).
Formats:
l W: 16 bits word
l DW: Double Word (32 bits, least significant first)
l F: Float (32 bits with the value * 1000)
Example: ASCII GP=0.15, the returned value will read 150.
General table of
read/write
variables
Variables accessible to the user
92
Drive
memory
address *
ASCII
command
Description
Range
Default
value
Format
001
ACC
Acceleration rate
1 to 32767.
10
DW
002
ACCR
Acceleration ramp
(reference point, Jog)
1 to 32767.
10
DW
008
ANDB
Analog input signal dead
band
0 to 10000.
0
DW (F)
017
AVZ1
Input 1 filter time constant 0.2 to 100.
1
DW (F)
034
DEC
Deceleration rate
1 to 32767.
10
DW
035
DECDIS
Deceleration in case of
power outage
1 to 32767.
10
DW
036
DECR
Deceleration ramp
(reference point, Jog)
1 to 32767.
10
DW
037
DECSTOP
Fast stop ramp
1 to 32767.
10
050
ENCIN
Encoder input resolution
4096
256, 512,
1024, 2048,
...65536
DW
055
ENCZERO
Top zero offset
0 to 1023.
0
W
056
EXTMUL
External incremental
return scale factor
0 to 32767.
256
W
062
GEARI
Number of teeth on
gearing input
1 to 32767.
8192
W
064
GEARO
Number of teeth on
gearing output
-32768 to
32767.
8192
W
DW
List of Lexium variables
Drive
memory
address *
ASCII
command
Description
Range
Default
value
Format
066
GP
Position loop: Proportional 0.01 to 25.
gain
0.15
DW (F)
067
GPFBT
Position loop: control
current for anticipation
speed
0 to 2.0.
1
DW (F)
068
GPFFT
Position loop: Setpoint
current or speed.
0 to 2.0.
1
DW (F)
069
GPFFV
Position loop: Anticipation
speed.
0 to 2.0.
1
DW (F)
070
GPTN
Position loop: Integration
action time
1 to 200.0.
50
DW (F)
071
GPV
Position loop: Control
speed for Feed Forward
0.1 to 60.
3
DW (F)
072
GV
Speed loop: Proportional
gain
0 to 200.0.
1
DW (F)
073
GVFBT
Speed loop: First
integration return filter
time constant
0 to 100.
0.4
DW (F)
074
GVFILT
Speed loop: proportion of
filtering in [%] for GVT2
0 to 100.
85
W
075
GVFR
Speed loop: PI-Plus term
0 to 1
1
DW (F)
076
GVT2
Speed loop: 2nd time
constant
0 to 1000
1
DW (F)
077
GVTN
Speed loop: I integration
time
0.2 to 1000
10
DW (F)
090
I2TLIM
I2T message
0 to 100
80
W
092
ICONT
Nominal current
10% of
DICONT to
max
(DICONT,
IPEAK)
DW (F)
Min of
DICONT
and
MICON
T
099
IN1TRIG
Auxiliary trigger variable
for IN1MODE
Long
integer
0
DW
102
IN2TRIG
Auxiliary trigger variable
for IN2MODE
Long
integer
0
DW
105
IN3TRIG
Auxiliary trigger variable
for IN3MODE
Long
integer
0
DW
93
List of Lexium variables
94
Drive
memory
address *
ASCII
command
Description
Range
Default
value
Format
108
IN4TRIG
Auxiliary trigger variable
for In4MODE
Long
integer
0
DW
110
IPEAK
Max application current
20% of
DICONT to
2*DICONT
IMAX
DW (F)
111
IPEAKN
Max application current
negative direction
20% of
DICONT to
2*DICONT
IMAX
DW (F)
113
ISCALE1
Scale factor for analog
current command 1
0 to 100
DIPEAK DW (F)
114
ISCALE2
Scale factor for analog
current command 2
0 to 100
DIPEAK DW (F)
303
KTN
Integral action time for the
current regulator
0.2 to 10
0.6
DW (F)
132
MAXTEMPE
Max. drive internal
temperature
10 to 80
70
W
133
MAXTEMPH
Cut-out value of the
radiator temperature
20 to 85
80
W
134
MAXTEMPM
Max. motor temperature.
0 to 6000
1000
DW (F)
142
MICONT
Nominal direct current
10% of
DICONT,
DICONT DW (F)
143
MIPEAK
Peak current limit for
motor
20% of
DICONT,
DIPEAK DW (F)
149
MLGC
Adaptive gain of the
current regulator (direct
current)
0.2 to 1
0.7
DW (F)
150
MLGD
Gain of the axis D current
regulator for the motor
current
0.1 to 1
0.3
DW (F)
151
MLGP
Adaptive gain of the peak
motor current
0.1 to 1
0.4
DW (F)
152
MLGQ
Gain of the axis Q current
regulator for the motor
current
0.01 to 30
1
DW (F)
156
MPHASE
Motor phase, Electrical
offset (resolver
adjustment)
0 to 360
0
W
List of Lexium variables
Drive
memory
address *
ASCII
command
Description
Range
Default
value
Format
160
MRESBW
Resolver bandwidth
200 to 800
600
W
163
MSPEED
Max. speed limit for motor 0 to 12000
3000
DW (F)
165
MTANGLP
Current advance
0 to 45
0
W
347
MTMUX
Motion task loading
0,192.........
..255
0
W
167
MVANGLB
Advance depending on
the rotation speed (Phi
initial)
0 to 15000
2400
DW
168
MVANGLF
Advance depending on
the rotation speed (Phi
final)
0 to 45
20
W
146
MVANGLP
Velocity-related
commutation angle
0 to 45
0
W
183
O_ACC1
Acceleration time 1 for MT 1 to 32000
0
0
W
184
O_ACC2
Acceleration time 2 for MT 1 to 32000
0
0
W
185
O_C
Command variable for MT
0
int (=word)
-
W
186
O_DEC1
Deceleration time 1 for MT 1 to 32000
0
0
W
187
O_DEC2
Deceleration time 2 for MT 1 to 32000
0
0
W
188
O_FN
Next order number for MT
0
0
W
189
O_FT
Next order delay for MT 0
1 to 32767
0
W
190
O_P
Target position for MT 0
Long
integer
0
DW
191
O_V
Target speed for MT 0
Long
integer
0
DW
176
O1TRIG
Auxiliary trigger variable
for O1MODE
Long
integer
0
DW
179
O2TRIG
Auxiliary trigger variable
for O2MODE
Long
integer
0
DW
0,1...180,1
92...255
95
List of Lexium variables
96
Drive
memory
address *
ASCII
command
Description
Range
Default
value
Format
193
PBALMAX
Maximum ballast power
0-80 (3A);
0-200
(>3A);
external
1500
80/200
DW
198
PEINPOS
Position error threshold for Long
integer
the in-position band
(INPOS)
4000
DW
199
PEMAX
Max. following error
Long
integer
262144
DW
202
PGEARI
Numerator for the Motion
Task resolution factor
Long
integer
1
DW
203
PGEARO
Denominator for the
Motion Task resolution
factor
Long
integer
1
DW
213
PTBASE
External trajectory time
base
1 to 100
4
W
214
PTMIN
Minimum acceleration
time for MT
1 to 32767
1
DW
216
PVMAX
Max. speed for the MT
0 to Long
integer
100
DW
217
PVMAX
Max. speed for the MT
(negative direction)
0 to Long
integer
100
DW
226
REFIP
Application current in
reference point on the
mechanical limit
0 to IPEAK
IPEAK
DW (F)
231
ROFFS
Source offset
Long
integer
0
DW
260
SWE1
Position value for
Pos.Reg.1
Long
integer
0
DW
262
SWE2
Position value for
Pos.Reg.2
Long
integer
0
DW
264
SWE3
Position value for
Pos.Reg.3
Long
integer
0
DW
266
SWE4
Position value for
Pos.Reg.4
Long
integer
0
DW
List of Lexium variables
Drive
memory
address *
ASCII
command
Description
Range
Default
value
Format
278
UID
User ID
-32768 to
32767
0
W
305
UCOMP
No-return compensation
-231 to 231. 0
DW
284
VBUSMAX
Max. bus voltage
30 to 950
DW
900
285
VBUSMIN
Min. bus voltage
30 to 800
100
W
289
VJOG
Speed in Jog
0 to Long
integer
0
DW
290
VLIM
System speed limit
0 to
MSPEED
3000
DW (F)
291
VLIMN
System speed limit
(negative direction)
0 to
MSPEED
3000
DW (F)
295
VOSPD
Max. speed exceeded
0 to
1.2*MSPE
ED
3600
DW (F)
296
VREF
Homing speed
0 to Long
integer
0
DW
297
VSCALE1
Scale factor on speed 1
input
0 to 12000
3000
W
298
VSCALE 2
Scale factor on speed 2
input
0 to 12000
3000
W
* See the ASCII command manual for the full list. The drive memory address is listed
in the table under "object number" for the specific ASCII command. Remember to
add 1 to the address when you use Modicon PLCs.
97
List of Lexium variables
Read/Write logical Variables
Table of read/
write logical
variables
98
Table of variables
Address
ASCII
command
Description
Range
Default
value
Format
003
ACTFAULT
Active fault mode
0=var. cut
1=deceleration
0
W
162
MSG
Messages
acceptance/refusal
0=refusal
1=acceptance of
error messages
only
2=acceptance of
all messages
0
W
180
OPMODE
Operation mode
0-5, 8
1
W
209
PRBASE
Bits by rev
16,20
20
W
211
PROMPT
1
RS232 protocol pre- 0=no prompt
selection
1=prompt activated
2=echo char. and
prompt activated
3=prompt and
checksum
activated
-
245
SPSET
Ramp authorization
in Sine
0=not authorized
1=authorized
0
W
255
STOPMODE
Dynamic brake
management mode
0
0=no braking
1=braking upon
fault and/or var. cut
W
List of Lexium variables
List of General Lexium Variables
Table of General
Read Only
Variables
Address ASCII
command
Description
Range
Default
value
Format
009
ANIN1
Analog 1 input
-20000 to
20000
-
DW
010
ANIN2
Analog 2 input
-20000 to
20000
-
DW
039
DICONT
Nominal current of
the drive
1.5 to 20
Hardware
Defined
DW (F)
041
DIPEAK
Peak current drive
3.0 to 40
Hardware
Defined
DW (F)
088
I
Real value of current
-
-
DW (F)
089
I2T
RMS average current 0 to 100
-
DW
093
ID
D component of the
real value of the
current
-
-
DW (F)
091
ICMD
Setpoint value of
current
-2*DICONT to 2*DICONT
DW (F)
095
IMAX
Limit of current for
motor and drive
combination
0.3 to 40
Min of
DW (F)
DIPEAK and
MIPEAK
112
IQ
Q component of the
real value of the
current
-
-
DW (F)
136
MDBCNT
Number of motor data 1 to 127
sets
-
W
154
MONITOR 1
Analog 1 output
voltage
-10000 to
10000
-
W
155
MONITOR 2
Analog 2 output
voltage
-10000 to
10000
-
W
192
PBAL
Real value of the
ballast power
0 to 1500
-
DW
197
PE
Slave position error
Long int
-
DW
200
PFB
Current position
checking
Long int
-
DW
99
List of Lexium variables
100
Address ASCII
command
Description
Range
Default
value
Format
210
PRD
Measured position
counter hardware
0 to 1048575
-
DW
215
PV
Instantaneous speed
of the position
regulator
Long int
-
DW
272
TEMPE
Internal temperature
-20 to 90
-
DW
273
TEMPH
Real value of the
radiator temperature
-20 to 90
-
DW
274
TEMPM
Motor temperature
0 to 10000
-
DW
280
V
Measured speed
(rpm)
-15000 to
15000
-
DW
282
VBUS
Bus voltage
0 to 900
-
DW
286
VCMD
Speed setpoint
-
-
DW (F)
292
VMAX
Maximum system
load
0 to 12000
-
DW (F)
List of Lexium variables
List of Logical Variables and Status Registers
Table of read
only logical
variables
Table of read
only state
registers
Table of variables
Address
ASCII
command
Description
Range
Default
value
Format
004
ACTIVE
Power stage activated 0=deactivated / deactivated
1=activated
W
006
AENA
Initialization stage of
software validation
0=inactive
1=active
1
W
221
READY
Software validation
status
0.1
-
W
Table of registers
Address
ASCII
command
Description
Range
Default
value
Format
097
IN1
Status of hardware
logical input 1
0 (low),1
(high)
-
W
100
IN2
Status of hardware
logical input 2
0 (low),1
(high)
-
W
103
IN3
Status of hardware
logical input 3
0 (low),1
(high)
-
W
106
IN4
Status of hardware
logical input 4
0 (low),1
(high)
-
W
109
INPOS
Movement task
completed in the
window configured by
PEINPOS
0=not in pos
1=in pos
-
W
174
O1
Status of hardware
logical output 1
0 (low),1
(high)
-
W
177
O2
Status of hardware
logical output 2
0 (low),1
(high)
-
W
181
OPTION
Option ID card
Int (=word)
-
W
251
STAT
Drive status word
Int (=word)
-
W
101
List of Lexium variables
Read/Write Status Registers
Table of Read/
Write Status
Registers
102
Table of registers
Address ASCII
command
Description
Range
Default
value
Format
015
ANZERO1
Analog input zero 1
(ANOFF1)
-
-
W
016
ANZERO2
Analog input zero 2
(ANOFF2)
-
-
W
024
CLRFAULT
Clear/acknowledge
drive error
-
-
W
306
COLDSTART
Reset drive
-
-
W
029
CONTINUE
Continue the previous
position control order
-
-
W
043
DIS
Software deactivation
-
-
W
048
EN
Software activation
-
-
W
115
K
Stop (=Deactivate)
-
-
W
131
LOAD
Data loading from
EProm to RAM
-
-
W
141
MH
Start reference point
-
-
W
145
MJOG
Start Jog
-
-
W
233
RSTVAR
Factory adjustment of
variables
-
-
W
234
S
Movement stop and
drive deactivation
-
-
W
235
SAVE
Saves variables in
EProm from RAM
-
-
W
240
SETREF
Configure a reference
point
-
-
W
241
SETROFFS
ROFFS automatic
configuration
-
-
W
254
STOP
Stop movement task
-
-
W
322
MOVE
Stop movement task
indicated
Start command bit
movement in the
DRIVECOM word in
PeerCop.
0,1
...180,192...255
-
W
List of Lexium variables
How to obtain
Product ID
ModBus Plus address = 10000
Register layout of data read back:
l Length of manufacturer name (14h)
l Manufacturer
l Length of model name (0Ah)
l Model name
l Reference name
l Software version
l Product
l Software Ref.No.
The response length is 46 bytes.
Reading a Premium station will preferably need to be done in access % MBxx with
xx = 2* the address of the reception buffer %MWyy.
For example: buffer = %MW1150 or %MB2300
With a Quantum station using Concept issue a READ_REG block with a value of
10001 on the SLAVEREG pin, 23 (words) on the NO_REG pin and a 4x register of
your choice on the REG_READ pin to store the return data.
103
List of Lexium variables
104
Glossary
G
Global Data
This is a database updated by each station on the network.
L
Lexium
Schneider Automation speed drive product family.
M
Modbus Plus
Communication protocol based on the logic token bus principle.
Modsoft
Software factory associated to Quantum PLCs.
105
Glossary
P
Peer Cop
A rapid and efficient means of being able to send the command data to a "slave"
station.
Premium
Schneider Automation program PLC family.
Q
Quantum
106
Schneider Automation program PLC family.
BC
Index
Symbols
L
"READ_GDATA" function, 51
Lexium scan time, 88
A
M
application response time, 89
assembly instructions, 16
average response time, 88
messaging, 24
types of variables, 33
Modbus Plus accessory references, 17
C
P
common parameter management with
messaging, 67
compatibility, 10
compatibility with option card standards, 11
Configuration
Global data, 68
configuration
address, 66
Peer Cop, 67
TimeOut, 66
Configuration of Lexium parameters, 62
Peer Cop, 24
list of variables transmitted, 28
Peer Cops
Lexium command data from PLC, 27
Premium command station, 50
Peer Cop configuration, 50
presentation flow chart, 12
G
Q
Quantum command station, 37
configuration of Peer Cop and Global
Data, 37
MSTR Block, 39
Global Data, 24
I
introduction to the option card, 10
S
status diagram, 74
status of communication LED, 70
107
Index
T
Token Rotation Time, 87
U
use of global data, 51
use of messaging
"WRITE_VAR" function, 53
using messaging, 52
"READ_VAR" function, 52
108
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