NOTICE Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, or maintain it. The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure.

The addition of this symbol to a Danger safety label indicates that an electrical hazard exists, which will result in personal injury if the instructions are not followed.

This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all safety messages that follow this symbol to avoid possible injury or death.

DANGER

DANGER indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.

WARNING

WARNING indicates a potentially hazardous situation which, if not avoided, can result in death or serious injury.

CAUTION

CAUTION indicates a potentially hazardous situation which, if not avoided, can result in minor or moderate injury.

NOTICE

NOTICE is used to address practices not related to physical injury.

PLEASE

NOTE

Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material.

A qualified person is one who has skills and knowledge related to the construction and operation of electrical equipment and its installation, and has received safety training to recognize and avoid the hazards involved

Optimized CANopen ATV-IMC Schneider Electric 3

Before You Begin

Do not use this product on machinery lacking effective point-of-operation guarding. Lack of effective point-ofoperation guarding on a machine can result in serious injury to the operator of that machine.

WARNING

UNGUARDED MACHINERY CAN CAUSE SERIOUS INJURY

• Do not use this software and related automation products on equipment which does not have point-of-operation protection.

• Do not reach into machine during operation.

Failure to follow these instructions can result in death, serious injury or equipment damage.

This automation equipment and related software is used to control a variety of industrial processes. The type or model of automation equipment suitable for each application will vary depending on factors such as the control function required, degree of protection required, production methods, unusual conditions, government regulations, etc. In some applications, more than one processor may be required, as when backup redundancy is needed.

Only the user can be aware of all the conditions and factors present during setup, operation and maintenance of the machine; therefore, only the user can determine the automation equipment and the related safeties and interlocks which can be properly used. When selecting automation and control equipment and related software for a particular application, the user should refer to the applicable local and national standards and regulations. A

“National Safety Council’s” Accident Prevention Manual (nationally recognized in the United States of America) also provides much useful information.

In some applications, such as packaging machinery, additional operator protection such as point-of-operation guarding must be provided. This is necessary if the operator’s hands and other parts of the body are free to enter the pinch points or other hazardous areas and serious injury can occur. Software products alone cannot protect an operator from injury. For this reason the software cannot be substituted for or take the place of point-of-operation protection.

Ensure that appropriate safeties and mechanical/electrical interlocks related to point-of-operation protection have been installed and are operational before placing the equipment into service. All interlocks and safeties related to point-of-operation protection must be coordinated with the related automation equipment and software programming.

NOTE: Coordination of safeties and mechanical/electrical interlocks for point-of-operation protection is outside the scope of the Function Block Library, System User Guide, or other implementation referenced in this documentation.

START-UP AND TEST

Before using electrical control and automation equipment for regular operation after installation, the system should be given a start-up test by qualified personnel to verify correct operation of the equipment. It is important that arrangements for such a check be made and that enough time is allowed to perform complete and satisfactory testing.

Optimized CANopen ATV-IMC Schneider Electric 4

CAUTION

EQUIPMENT OPERATION HAZARD

• Verify that all installation and set up procedures have been completed.

• Before operational tests are performed, remove all blocks or other temporary holding means used for shipment from all component devices.

• Remove tools, meters and debris from equipment.

Failure to follow these instructions can result in injury or equipment damage.

Follow all start up tests recommended in the equipment documentation. Store all equipment documentation for future reference.

Software testing must be done in both simulated and real environments.

Verify that the completed system is free from all short circuits and grounds, except those grounds installed according to local regulations (according to the National Electrical Code in the U.S.A, for instance). If high-potential voltage testing is necessary, follow recommendations in equipment documentation to prevent accidental equipment damage.

Before energizing equipment:

• Remove tools, meters, and debris from equipment.

• Close the equipment enclosure door.

• Remove ground from incoming power lines.

• Perform all startup tests recommended by the manufacturer.

OPERATION AND ADJUSTMENTS

The following precautions are from the NEMA Standards Publication ICS 7.1-1995 (English version prevails):

• Regardless of the care exercised in the design and manufacture of equipment or in the selection and ratings of components, there are hazards that can be encountered if such equipment is improperly operated.

• It is sometimes possible to misadjust the equipment and thus produce unsatisfactory or unsafe operation. Always use the manufacturer’s instructions as a guide for functional adjustments. Personnel who have access to these adjustments should be familiar with the equipment manufacturer’s instructions and the machinery used with the electrical equipment.

• Only those operational adjustments actually required by the operator should be accessible to the operator. Access to other controls should be restricted to prevent unauthorized changes in operating characteristics.

WARNING

UNINTENDED EQUIPMENT OPERATION

• Only use software tools approved by Schneider Electric for use with this equipment.

• Update your application program every time you change the physical hardware configuration.

Failure to follow these instructions can cause death, serious injury or equipment damage.

Optimized CANopen ATV-IMC Schneider Electric 5

Introduction

This document is intended to provide a quick introduction to the described system. It is not intended to replace any specific product documentation, nor any of your own design documentation. On the contrary, it offers additional information to the product documentation for installing, configuring and implementing the system.

The architecture described in this document is not a specific product in the normal commercial sense. It describes an example of how Schneider Electric and third-party components may be integrated to fulfill an industrial application.

A detailed functional description or the specification for a specific user application is not part of this document. Nevertheless, the document outlines some typical applications where the system might be implemented.

The architecture described in this document has been fully tested in our laboratories using all the specific references you will find in the component list near the end of this document.

Of course, your specific application requirements may be different and will require additional and/or different components. In this case, you will have to adapt the information provided in this document to your particular needs. To do so, you will need to consult the specific product documentation of the components that you are substituting in this architecture. Pay particular attention in conforming to any safety information, different electrical requirements and normative standards that would apply to your adaptation.

It should be noted that there are some major components in the architecture described in this document that cannot be substituted without completely invalidating the architecture, descriptions, instructions, wiring diagrams and compatibility between the various software and hardware components specified herein. You must be aware of the consequences of component substitution in the architecture described in this document as substitutions may impair the compatibility and interoperability of software and hardware.

This document describes a generic architecture based on Altivar ATV-IMC Drive controller

G-Type and hoisting architecture based on Altivar ATV-IMC Drive controller S-Type.

Optimized CANopen ATV-IMC Schneider Electric 6

CFC

Abbreviation

RMS

RPM

RPDO

SFC

SDO

TPDO

TVDA

VSD

WxHxD

HMI

I/O

IMC

POU

PDO

DFB

EDS

E-STOP

FBD

Abbreviations

Signification

Alternating Current

Circuit Breaker

Continuous Function Chart - a programming language based on function chart

Digital Input

Digital Output

Direct Current

Derived Function Blocks

Electronic Data Sheet

Emergency Stop

Function Block Diagram - an IEC-61131 programming language

Human Machine Interface

Input/Output

Instruction List - a textual IEC-61131 programming language

Integrated Machine Controller

Ladder Diagram - a graphic IEC-61131 programming language

Personal Computer

Programmable Object Unit, Program Section in SoMachine

Process Data Object (CANopen)

Power Supply

Root Mean Square

Revolutions Per Minute

Receive Process Data Object (CANopen)

Schneider Electric

Sequential Function Chart - an IEC-61131 programming language

Service Data Object

Structured Text - an IEC-61131 programming language

Transmit Process Data Object (CANopen)

Tested, Validated and Documented Architecture

Variable Speed Drive

Dimensions: Width, Height and Depth

Optimized CANopen ATV-IMC Schneider Electric 7

Expression

Altivar (ATV)

CANopen

FDT/DTM

Harmony

Lexium (LXM)

Magelis

ATV-IMC

Modbus

OsiSense

Phaseo

PLCopen

Preventa

SoMachine

TeSys

Vijeo Designer

Glossary

Signification

SE product name for a family of VSDs

Name for a communications machine bus system

Field Device Tool / Device Type Manager, technology

SE product name for a family of switches and indicators

SE product name for a family of servo drives

SE product name for a family of HMI devices

SE product name for drive controller

A Communications protocol

SE product name for a family of sensors

SE product name for a family of power supplies

An international standard for industrial controller programming.

SE product name for a family of safety devices

SE product name for an integrated software tool

SE product name for a family for motor protection devices and load contactors

SE product name for Magelis HMI devices configuration software

Optimized CANopen ATV-IMC Schneider Electric 8

Application Source Code

Introduction

The example source code is in the form of configuration, application and import files. Use the appropriate software tool to either open or import the files.

Extension

AIW

File Type

Configuration file

Comma Separated Values, Spreadsheet CSV

DCF

DOC

DOP

EDS

ISL

Device Configuration File

Document file

Project File

Electronic Data Sheet - Device Definition

Island file, project file

PDF Portable Document Format - document

PROJECT Project file

VDZ

ZW1

Project file

Project archive file

Software Tool Required

Advantys Configuration Software

MS Excel

Advantys Configuration Software

Microsoft Word

Vijeo Designer Lite

Industrial standard

Advantys Configuration Software

Adobe Acrobat

SoMachine

Vijeo Designer

EPLAN P8

Optimized CANopen ATV-IMC Schneider Electric 9

Typical Applications

Introduction

Here you will find a list of the typical applications, and market segments, where this system or subsystem can be applied:

Hoisting

• Self-erecting

• Tower crane

• Gantry crane

• Overhead traveling crane

Textile

• Opening and closing machines

• Circular knitting machines

• Plucking machines

• Blending machines

• Carding machines

• Drawing frame machines

• Combing machines

• Ring spinning machines

Pumping

• Booster stations

• Compressors

• Vacuum pumps

• Irrigation

Others

• Winding / Unwinding machines

• Wood working machines

• Cutting machines

• Sanders

• Sawing machines

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SPECIAL NOTE

The products specified in this document have been tested under actual service conditions. Of course, your specific application requirements may be different from those assumed for this and any related examples described herein. In that case, you will have to adapt the information provided in this and other related documents to your particular needs. To do so, you will need to consult the specific product documentation of the hardware and/or software components that you may add or substitute for any examples specified in this documentation. Pay particular attention and conform to any safety information, different electrical requirements and normative standards that would apply to your adaptation.

The application examples and descriptions contained in this document have been developed based on products and standards available and defined for Europe. Some or all of the application examples may contain recommendations of products that are not available in your country or locality, or may recommend wiring, products, procedures or functions that are in conflict with your local, regional or national electrical or safety codes and/or normative standards.

NOTE:

The use and application of the information contained herein require expertise in the design and programming of automated control systems. Only the user or integrator can be aware of all the conditions and factors present during installation and setup, operation, and maintenance of the machine or process, and can therefore determine the automation and associated equipment and the related safety provisions and interlocks which can be effectively and properly used. When selecting automation and control equipment, and any other related equipment or software, for a particular application, the user or integrator must also consider any applicable local, regional or national standards and/or regulations.

Optimized CANopen ATV-IMC Schneider Electric 11

General

Layout

System

Introduction

The system chapter describes the architecture, the dimensions, the quantities and different types of components used within this system.

Architecture

The controller in this application is an Altivar ATV-IMC Drive controller. The user can control the application using the Magelis HMI device. The VSDs, servo drives and Advantys OTBs are connected to the ATV-IMC via a CANopen fieldbus. The example application includes two functional safety options according to EN ISO 13849-1 standards: an Emergency Stop function supervised by a Preventa Safety Module (see the appropriate hardware manual), and a second Preventa Safety Module to evaluate protective door sensors.

1. Schneider Electric main switch

2. Phaseo power supply ABL8

3. Altivar ATV-IMC drive controller

4. Magelis graphic HMI STU655

5. Altivar drive ATV312

6. Altivar drive ATV71 + encoder card

7. Lexium 32A servo drive

8. OsiSense (Osicoder) XCC

9. Advantys OTB I/O island

10. Modicon TM2 I/O extension (digital In)

11. Modicon TM2 I/O extension (digital Out)

12. Modicon TM2 I/O extension (analog

In/Out)

13. Harmony E-Stop enclosure XALK

14. Preventa safety module XPS

15. Lexium servo motor BMH

16. Harmony pushbutton enclosure XAL-D

17. Harmony tower light XVBC

18. TeSys motor protection GV2

19. Multi 9 circuit breaker

20. TeSysD contactor LC1D

21. Preventa safety switch XCS

22. AC motor

23. operator switch (direct I/O vs. CANopen)

24. Harmony pendant control station XAC

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Components

Hardware:

• Schneider Electric main switch

• TeSys motor circuit breaker GV2

• Phaseo ABL8 power supply

• TeSysD load contactors

• Altivar ATV-IMC Drive controller

• Altivar 71 variable speed drive with OsiSense (Osicoder) encoder

• Altivar 312 variable speed drive

• Lexium 32A servo drive

• Lexium BMH servo motor

• Preventa XPS safety module

• Harmony XALK Emergency Stop switch with rotation release

• Harmony pushbuttons

• Magelis HMISTU655 Graphic display terminal

• Advantys OTB distributed I/O island

Software:

• SoMachine

• Advantys Configuration Tool

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Quantities of

Components

For a complete and detailed list of components, the quantities required and the order numbers, please refer to the components list at the rear of this document.

Degree of

Protection

Functional

Safety Notice

(EN ISO 13849-1

EN IEC 62061)

Emergency

Stop

Safety

Function

The standard and level of functional safety you apply to your application is determined by your system design and the overall extent to which your system may be a hazard to people and machinery.

Whether or not a specific functional safety category should be applied to your system should be ascertained with a proper risk analysis.

This document is not comprehensive for any systems using the given architecture and does not absolve users of their duty to uphold the functional safety requirements with respect to the equipment used in their systems or of compliance with either national or international safety laws or regulations.

Emergency Stop/Emergency Disconnection function

This function for stopping in an emergency is a protective measure which compliments the safety functions for the safeguarding of hazardous zones according to EN ISO 12100-2.

Door guarding up to Performance Level (PL) = b, Safety Integrity Level (SIL) = 1

Not all the components in this configuration are designed to withstand the same environmental conditions. Some components may need additional protection, such as housings, depending on the environment in which you intend to use them. For environmental details of the individual components please refer to the list in the appendix of this document and the corresponding user manual.

Optimized CANopen ATV-IMC Schneider Electric 14

Installation

Introduction

This chapter describes the steps necessary to set up the hardware and configure the software required to fulfill the described function of the application.

Assembly

Front side

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Main rack interior

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Notes

The components designed for installation in a cabinet, i.e. safety modules, circuit breakers, contactors, motor starters/protectors, power supply and Advantys OTB I/O modules can be mounted on a 35 mm DIN rail.

Main switch, Lexium 32A servo drives and Altivar 312, Altivar 71 variable speed drives are screwed directly onto the mounting plate. Alternatively if an adapter is used, the Altivar 312 and Altivar 71 can be mounted on a DIN rail.

The Emergency Stop button, the door guard switches and the pushbutton housing for the display and acknowledgement indicators are designed for on-wall mounting in the field. All switches (except the door guard switch) can also be installed directly in a control cabinet

(e.g., in a cabinet door) without special housings.

There are two options for installing XB5 pushbuttons or indicator lamps. These can be installed either in a 22 mm hole, e.g., drilled into the front door of the control cabinet, or in an XALD-type housing suitable for up to 5 pushbuttons or indicator lamps. The XALD pushbutton housing is designed for backplane assembly or direct wall mounting (IP54 protection degree).

The individual components must be interconnected in accordance with the detailed circuit diagram in order to ensure that it works correctly.

CANopen cables are installed for the communications link between the controller and the

ATV312, LXM32A, ATV71 and Advantys OTB I/O modules.

The Ethernet cable is installed for the communications link between the controller and the

HMI.

Optimized CANopen ATV-IMC Schneider Electric 17

General

Hardware

General description of the hardware and assembly instructions.

Main Switch by Schneider Electric

Regionally dependent component*

*consult local catalog

Main Switch

Rotary handle

Terminal shield

*consult local catalog

Rotary handle with red handle on yellow front

Terminal shield short

Power supply

Phaseo

ABL8RPS24100

Primary 200…500 Vac,

Secondary 24 Vdc,

240 W, 10 A

Emergency Stop

Switch

(trigger action)

Harmony

XALK178G

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Emergency Stop

Harmony

XB5AS844 + B5AZ141

Including Label

ZBY8330

Safety Module

Preventa

XPSAF5130

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Expansion Module

Preventa

XPSECP5131 to increase the number of safety output contacts of the base module.

Motor Circuit Breaker

GV2*

Used together with

auxiliary contact

GVAE11

*consult local catalog

(1) When installing base modules and modules for increasing the number of safety contacts into different electrical enclosures, run separate cables for terminals

U1-13 and U1-23.

(2) Operating status of internal electronic fuse.

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Load Contactor

TeSysD

LC1D18BL

Signal Lamps and

Illuminated Pushbutton

Harmony Style 5

XB5AVB1

XB5AW36B5

Circuit Breaker

Multi 9*

*consult local catalog

Altivar ATV-IMC

Drive Controller

VW3A3521

(G-Type)

VW3A3521S0

(S-Type)

Is mounted on Altivar 71 drive as option card.

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Connectors and ports

I/Os and power supply

Optimized CANopen ATV-IMC Schneider Electric 22

Altivar extension card

VW3A3202

Is mounted on Altivar 71 drive as option card. the picture shows the default setting of switch 4

(SW4 = Source)

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Altivar extension card

VW3A3202

Digital I/Os

Connection with with external power supply

Analog I/Os

Variable Speed Drive

Altivar 71

ATV71H075*

3-phase

1 HP (0.75 kW)

*consult local catalog

(1) Analog input: can be configured as current input

(0…20mA) or voltage input (0..10V)

(2) Analog output: can be configured as current output

(0...20mA) or voltage output (±10V or 0…10V)

(3) Add a resistor if pulse sequence exceeds 5V

Optimized CANopen ATV-IMC Schneider Electric 24

Encoder Interface card for ATV71

VW3A3401

Zero speed torque

Accurate speed

Regulation

Torque accuracy

Shorter response times on a torque surge

Improved dynamic performance in transient state

Overspeed detection

Load slipping detection

Incremental Encoder

XCC1510PS11X

The encoder is used on the hoisting motor shaft and is connected to the encoder interface card on the ATV71.

Incremental Encoder

10-wire Encoder Cable

XCCPM23121L5

Optimized CANopen ATV-IMC Schneider Electric 25

Variable Speed Drive

Altivar 312

ATV312H075*

3-phase

1 HP (0.75 kW)

*consult local catalog

Braking Resistor for

Altivar 312

VW3A58732

Protected Braking

Resistor, 100 Ω

28 W at 122 °F (50 °C)

Braking Resistor for

Altivar 71

VW3A7801

Hoist Resistor, 100 Ω

1.6 kW at 122 °F (50 °C)

Optimized CANopen ATV-IMC Schneider Electric 26

Servo Drive

Lexium 32A

LXM32AD18M2

1-phase continuous output current:

6 A RMS at 6000 RPM

Servo Drive

Lexium 32A

LXM32AD18M2

Embedded Human

Machine Interface

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Servo Drive

Lexium 32A

1-phase

LXM32AD18M2

Wiring diagram

Power cable connection to motor (Length 3 m)

Servo Drive

Lexium 32A

1-phase

LXM32AD18M2

Wiring diagram holding brake

Servo Drive

Lexium 32A

1-phase

LXM32AD18M2

Parallel connection DC bus

Optimized CANopen ATV-IMC Schneider Electric 28

Servo Drive

Lexium 32A

1-phase

LXM32AD18M2

Connecting the external braking resistor

Servo Drive

Lexium 32A

1-phase

LXM32AD18M2

Wiring diagram power stage supply voltage for

1-phase device

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Servo Drive

Lexium 32A

1-phase

LXM32AD18M2

Wiring diagram motor encoder

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Servo Drive

Lexium 32A

1-phase

LXM32AD18M2

Wiring diagram controller supply voltage

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Servo Drive

Lexium 32A

1-phase

LXM32AD18M2

Wiring diagram, digital inputs/outputs

Servo Motor

BMH0702T02F2A with brake

Continuous stall torque:

2.5 Nm at 6000 RPM

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Distributed I/O

Advantys OTB

OTB1C0DM9LP

CANopen interface module,

14 Digital Inputs,

2 Solid-State Outputs,

6 Relay Outputs,

Removable Screw

Terminal Blocks

I/O Module

Advantys

TM2DDO8TT

8 Digital Source Outputs,

24 Vdc,

Removable Screw

Terminal Block

I/O Module

Advantys

TM2AMM3HT

2 Analog Inputs

(0…10 Vdc / 4…20 mA)

1 Analog Output

(0..10 Vdc / 4..20 mA)

Magelis HMI

STU655

Fu: 0.3 A quick-blow fuse

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Magelis HMI

STU655

Optimized CANopen ATV-IMC Schneider Electric 34

Magelis HMI

STU655

Power and communication connectors

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General

Software

The main programming work lies in programming the Altivar ATV-IMC Drive controller, the configuration of the CANopen fieldbus and creating the screens for the HMI display.

Programming the Altivar ATV-IMC Drive controller is done using SoMachine software.

Programming of the Magelis HMISTU655 is done by using Vijeo Designer which is integrated into SoMachine software.

The basic configuration of the drives ATV71, ATV312 and LXM32A is done using the control panel. The configuration of the Advantys OTB Island is done using the Advantys Configuration

Software.

To use the software packages, your PC must have the appropriate Microsoft Windows operating system installed:

• Windows XP Professional

The software tools have the following default install paths:

• SoMachine

C:\Program Files\Schneider Electric\SoMachine

• Vijeo Designer (installed with SoMachine)

C:\Program Files\Schneider Electric\Vijeo Designer

• Advantys Configuration Software

C:\Program Files\Schneider Electric\Advantys

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General

Communication

This TVDA architecture includes two different communication networks or fieldbusses.

The CANopen fieldbus connects the ATV-IMC as CANopen Master and the Altivar drives,

Advantys OTB and Lexium 32A servo drives as CANopen nodes.

All the drives and the I/O-Island are connected via CANopen TAPs. The CANopen transmission rate is 500 kbit/s.

The Altivar ATV-IMC Drive controller and the Magelis HMISTU655 communicate via

Ethernet network. The download from the PC to the ATV-IMC and the HMI is done using a single cable connection. The PC has to be connected to the ATV-IMC via USB and using this connection the data is sent across to the HMI.

Programming-cable for

ATV-IMC

TCSXCNAMUM3P

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CANopen connection

Altivar 71

Node ID: 1..3

Note:

In case of CANopen, the

CANopen Tap

TSXCANTDM4 is used to connect the drive to the CANopen fieldbus via RJ45 socket.

CANopen connection

Altivar 312

Node ID: 4..7

Note:

In case of CANopen, the

CANopen Tap

TSXCANTDM4 is used to connect the drive to the CANopen fieldbus via RJ45 socket.

Optimized CANopen ATV-IMC Schneider Electric 38

CANopen connection

Lexium 32

Node ID: 8..9

Pin Signal Meaning I/O

CAN_H

CAN interface CAN level

CAN_L

CAN interface CAN level

CAN_0V

Reference potential CAN -

4. nc not used -

5. nc not used -

6. nc not used -

7. nc not used -

8. nc not used -

Advantys OTB

CANopen

OTB1CODM9LP

Node ID: 10

(at 500 kbit/s)

1. Network address (Node-ID x10) encoder wheel

2. Network address (Node-ID x1) encoder wheel

3. Transmission speed encoder wheel

Optimized CANopen ATV-IMC Schneider Electric 39

Advantys OTB

OTB1C0DM9LP

CANopen port

CANopen TAP

TSXCANTDM4

4 port CANopen junction box

For the purpose of this application, the sliding switch should be set to

OFF if it is not at the end of the CANopen line.

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CANopen TAP

TSXCANTDM4

Note:

When using devices which require a 24 Vdc power supply on

CANopen line (such as

TeSysU) the 24 Vdc power must be wired.

Power supply:

V+1 24

CG1 0 Vdc

CANopen connector

VW3CANKCDF90T,

VW3CANKCDF90TP

These connectors are used for the link to the

CANopen node.

CANopen connector

VW3CANKCDF180T

This connector should be used with ATV-IMC board

VW3CANKCDF90T,

VW3CANKCDF90TP

VW3CANKCDF180T

Optimized CANopen ATV-IMC Schneider Electric 41

CANopen pre-assembled connection cable

CANopen cable

TSXCANCxy

The cable is available in various versions ( x ):

A - Standard

B - No Flame

D - Heavy Duty and various lengths ( y ):

50 - for 50 m

100 - for 100 m,

300 - for 300 m.

TCSCCN4F3M1T

(length: 1 m)

Used for connection between ATV312/71,

LXM32A and

TSXCANTDM4.

TSXCANCADD1

(length: 1 m)

Used for connection between Advantys OTB and TSXCANTDM4.

Optimized CANopen ATV-IMC Schneider Electric 42

PC ↔ ATV-IMC ↔

STU655

The download direction is from the PC to the

ATV-IMC drive controller and via the

ATV-IMC drive controller to the HMI

STU655

Note:

For a direct connection from the PC to the controller the

TCSXCNAMUM3P cable can be used

.

(1) PC

(2) Altivar ATV-IMC Drive controller

(3) Magelis HMISTU655

(4) USB to USB cable TCSXCNAMUM3P

(5) RJ45 (HMI) to RJ45 (ATV-IMC) cable 490NTW00002

Optimized CANopen ATV-IMC Schneider Electric 43

Magelis

HMISTU655 communication ports

PC ↔ HMI connection cable

XBTZG935

Cable for the connection between a SoMachineequipped PC and

HMISTU655

Controller ↔ HMI connection cable

490NTW00002

(2m)

Cable for connecting an

HMISTU655 and an

ATV-IMC

Optimized CANopen ATV-IMC Schneider Electric 44

Implementation

Introduction

The implementation chapter describes all the steps necessary to initialize, to configure, to program and startup the system to achieve the application functions as listed below.

Function

Functional

Layout

Start up and functional description

1. Ensure all motor starters/protectors and Multi9 circuit breakers are in the ON position.

2. Ensure that the main switch is in the ON position.

3. Press the "ACKN E-STOP" blue illuminated pushbutton on the main cabinet door to acknowledge the system is energized. The blue illuminated pushbutton will turn

OFF if the system is energized.

4. Ensure that all machine interlocks are engaged (i.e. the door guard switches)

5. Press the "ACKN DOOR-READY" blue illuminated pushbutton on the motor rack to acknowledge the system is ready for operation. The blue illuminated pushbutton will turn OFF if the system is ready for operation.

6. Use Magelis STU HMI to control/monitor the system. a. The “BUS” and “SAFETY” screens can be used to monitor the network, system status and alarm messages. b. The “ATV71” screen can be used to control/monitor Altivar 71 variable speed drives. c. The “ATV312” screen can be used to control/monitor Altivar 312 variable speed drives. d. The “LXM32A” screen can be used to control/monitor Lexium 32A servo drives. e. The “OTB” screen can be used to observe the status of the Advantys OTB

I/O.

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Course of

Action

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Communication Setup

Introduction

This chapter describes the data passed via the communication networks or fieldbusses (e.g. CANopen or Ethernet) that are not bound directly with digital or analog hardware.

The list contains:

• The device links

• Direction of data flow

• Symbolic name and

• Bus address of the device concerned.

Device Links

This application uses CANopen fieldbus and Ethernet networks.

The Altivar ATV-IMC Drive controller and Magelis STU HMI are connected via

Ethernet using SoMachine protocol.

The SoMachine protocol over Ethernet connects:

Magelis STU HMI (IP 192.168.100.30)

Altivar ATV-IMC Drive controller (IP 192.168.100.20)

CANopen connects the following devices:

1 ATV-IMC bus master, address 127

3 Altivar 71 variable speed drives, bus addresses 1..3

4 Altivar 312 variable speed drives, bus addresses 4..7

2 Lexium 32A servo drives, bus addresses 8..9

1 Advantys OTB I/O islands, bus address 10

The used CANopen baudrate is 500kbit/s.

NOTE

For the data exchange between the ATV-IMC and the Altivar 71, the Altivar 312 and the Lexium 32A, PLCopen function blocks are used. It is not necessary to configure the data exchange manually.

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Datalink

Advantys OTB

Æ ATV-IMC

Read anlog input 0 module 4

ATV-IMC Æ

Advantys OTB Channel write output 0 to 7 module 0

Read input 8 to 11 module 1

Read anlog input 0 module 3 write output 0 to 7 module 2 write output 8 to 15 module 2

ATV-IMC (CANopen-Master, #127) Advantys OTB (CANopen-Slave #10)

Data Direction Advantys OTB

ATV-IMC

Channel

Read input 0 to 7 module 0

Variable Address usiIputOTB_10_1 %IB114

Designation

First input byte

(OTB1CODM9LP)

Read input 8 to 11 module 0

Read input 0 to 7 module 1 input

(OTB1CODM9LP) usiIputOTB_10_3 %IB116 First input byte

(TM2DDI16DT) write analog output module 3 iIputOTB_10_5 %IW59 input

(TM2DDI16DT)

First input word

(TM2ALM3RT) input

(TM2ALM3RT)

Data Direction ATV-IMC Æ Advantys OTB

Variable Address Designation usiOputOTB_10_1 iOputOTB_10_4

%QB176

%QW90

First output byte

(OTB1CODM9LP) usiOputOTB_10_2 %QB177 First output byte

(TM2DRA16RT) usiOputOTB_10_3 %QB178 Second output byte

(TM2DRA16RT)

First output word

(TM2ALM3RT)

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Controller

Introduction

The controller chapter describes the steps required for the initialization and configuration and the source program required to fulfill the functions.

Requirements

• SoMachine is installed on your PC

• The Altivar ATV-IMC Drive controller is switched on and running

• The ATV-IMC is connected to the HMI with the Ethernet cable 490NTW00002

• The ATV-IMC is connected to the PC via the USB cable TCSXCNAMUM3P

Setting up the ATV-IMC is done as follows:

• Create a new project

• Add an Option Board

• Add the CANopen fieldbus

• Import of the Advantys OTB EDS file

• Add CANopen devices

• ATV CANopen configuration

• LXM32A CANopen configuration

• Advantys OTB CANopen configuration

• Add Library

• Add Folder

• Add a POU

• Task configuration

• Configure controller ↔ HMI data exchange

• Add Vijeo Designer HMI

• Ethernet settings

• Communication setting controller ↔ PC

• Communication setting controller ↔ HMI

• Save the Project

• Build Application

• Download the controller and HMI program

• Login to the controller

• Application overview

Create a new project

To create a new project select

Create new Machine.

Æ Start with application

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Under

Controller Templates select:

ATV_IMC_Template.project

Note:

If the SoMachine Solution

Extension is not installed on the

PC, the templates related to

ATV-IMC S-Type will not appear.

Save the project at the desired location and enter a File name .

In this case the File name is

Optimized_CANopen_ATV-

IMC.

Click on Save.

Click on Program.

The Program window appears.

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Add an

Option Board

To add an option board, in the

Device Browser right click on

MyController Æ Local Æ

Option_Board Æ <Empty> and click on Plug Device

Select the IO_Extended and click on Plug Device.

Close the dialog.

The added option board is shown in the Devices navigator.

Double-click on IO_Extended to open the Option_Board parameter

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Add the

CANopen fieldbus

The I/O Mapping dialog box opens.

While the variable names in this dialog box can be changed by the user, the addresses and data types are automatically assigned by SoMachine.

However, for your application program use only the variables and not the assigned addresses.

To update the variables with the newest I/O data, check

Always update variables.

In the Devices Browser right click on CAN and select:

Add Device...

Note:

The assemby of the bus is shown in the chapter on communication.

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Select the CANopen master:

CANopen Optimized

Click on Add Device.

Double-click on CAN in the

Devices browser.

On the CANbus Tab, set the

Baudrate of the CANopen bus, select 500000 as a Baudrate.

Double-click on

CANopen_Optimized in the

Devices navigator.

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To activate the Heartbeat of the CANopen fieldbus double- click the CANopen_Optimized and check Enable heartbeat

Producing.

The Node ID for the CANopen master is 127 .

The Heartbeat Time is

200 ms .

Import the

Advantys

OTB EDS file

To use the extended Advantys

OTB island (configured by

Advantys Configuration

Software) you have to import the Advantys OTB eds file.

Select from the main menu

Tools Æ

Device Repository …

In the Device Repository select Install…

Select the Advantys OTB EDS file.

The EDS file could be created from the Advantys

Configuration Software, described in the Chapter

Advantys OTB.

Change to the location where the file is stored.

In this project the Advantys

OTB EDS file is named

OTB_TVD_Opti_ATVIMC.eds

Click on Open .

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Note:

The used eds file for this TVDA project can be found under

Fieldbusses Æ CANopen Æ

Remote Device Æ

OTB_TVD_Opti_ATVIMC

Click on Close .

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Add

CANopen devices

In the Devices browser right click on the

CANopen_Optimized and select Add Device… in the pop-up menu.

In this project the following devices are connected to the

CANopen bus:

3x Altivar 71

4x Altivar 312

2x Lexium 32 A

1x OTB_TVD_Opti_ATVIMC

Add each device by choosing it and clicking on Add Device .

Once you have added all the devices click on Close.

The new devices are now listed under CANopen_Optimized

In the devices browser.

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To change the name of a device, right click on the device and select Properties… from the pop-up menu.

Enter the new name without any blanks and confirm the name change by OK .

Note :

The name of the device is also the AXIS REF name for the

PLCopen functions used in the application program.

The new names of the devices are now listed under

CANopen_Optimized .

To configure the devices, double click on the specific item.

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CANopen configuration

Double click on the individual device in the devices browser to do the CANopen configuration.

Set the Node ID for the chosen device.

3x ATV 71, Node ID: 1..3

4x ATV 312, Node ID: 4..7

2x Lexium32, Node ID: 8..9

1x OTB, Node ID: 10

Check Enable Expert Setting

Set the Heartbeat Producer

Time to 200 ms .

Click on Change Heartbeat

Consumer Properties… and check the time.

Minimum value allowed for

Heartbeat Time is: Producer

Time multiplied by 1.5.

Heartbeat Time and Producer

Time have to be multiples of the cycle time value. With a cycle time of 40 ms and a producer time of 200 ms this results in:

200 ms x 1.5 = 300 ms

As 300 ms is not a multiple of

40 ms, the Heartbeat time needs to be set to 320 ms .

Note:

These values depend on the application.

Change to Tab CANopen I/O

Mapping.

Check Always update variables.

Note:

All Variables can have a

Global Name in the field

Variable and can be used in the Application program.

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Add Library

To use special functions you need special libraries. These can be inserted by double clicking on Library Manager in the devices browser .

In the Library Manager click on Add library…

In the Add library dialog on the

Placeholder tab select:

Placeholder name →

SE_Toolbox and as

Default Library

Util → Toolbox for the Toolbox lib.

In each case, click on OK to add the library.

The new library is now listed in the Library Manager .

If you wish to add more libraries repeat steps 1 to 3.

In case you want to add the libraries Conveying, Hoisting or Packaging make sure you have installed the SoMachine Solution Extension on your PC and an S-Type controller is used in your project configuration.

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Add Folder

In the devices browser right click on

Application → Add Folder…

Type in the Folder name: e.g.

ATV71

Click on OK .

To include additional folders, repeat steps 1 through 2

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Add POU

1 In the devices browser right click on:

Application Æ Add Object Æ

POU…

2 Enter the

Name: Main

Type: Program

Implementation language:

Structured Text (ST)

Click on Open

3 Note :

All the IEC languages can be used for programs, function blocks and functions.

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4 Repeat step 1 to add another

POU called:

Name: CANopenState

Type: Program

Implementation language:

Continuous Function Chart

(CFC)

Click on Open .

5 The new CANopenState POU is now visible under

Application .

Double click on CANopenState to open it.

6 The upper frame displays the declaration section. The lower frame is for programming.

On the right side is the

ToolBox .

Use drag and drop with the

ToolBox to place example templates in the programming section.

E.g. Box for function or function blocks.

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7 Once you have placed a template in the programming section click on the Function block name ( ???

) .

A white box is displayed next to the ???

Click on the white box.

8 This will invoke the Input

Assistant window

Select

Categories:

Functionblocks

Items:

CIA405 Æ

CAA CIA 405 Æ

Query state Æ

GET_STATE

Click on OK.

9 The same, GET_STATE , will appear as the FB.

The ???

indicates that this function block is still not instantiated.

Click on ???

Type in a user defined variable name for the function block.

Finalize the input by pressing

Enter.

In this case the variable name is

CANopen1 .

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10 The Auto Declare window opens.

CANopen1 is visible under

Name .

Click on OK .

11 Drag and drop an Input from the ToolBox and place it at the first input of the function block.

The connection between the two is done with the mouse.

Click on ???

and type in a user defined variable name.

Name: CANopenNetwork

12 The Auto Declare window opens.

CANopenNetwork is visible under Name: .

As CANopenNetwork will be used as constant, mark the checkbox CONSTANT under

Flags: .

For the value of this new constant CANopenNetwork type in 1 in the Initialization filed.

Click on OK .

13 Based on the steps before, complete your application.

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Task

Configuration

1 In the Mast task of the Task

Configuration there must be at least one POU, otherwise no program code will be invoked cyclically.

Other tasks than the MAST task are not needed and can be deleted from here.

2 To do so, right click on

Freewheel task you like to delete and select from the pop-up menu Delete .

Delete also the following tasks in the same way:

• Start_Task

• Stop_Task

• Sync_Task

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3 Double click on MAST in the devices browser.

4 In the MAST task is already one POU called

Application_MastTask predefined.

To remove this item, click on

Application_MastTask and click on Remove POU .

5 Click on Add POU .

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In the Input Assistant select

Categories: Programs

Items: Application Æ Main

Click on OK .

Now the Main POU is in the

MAST task.

Change the following parameters:

Interval: 40

Sensitivity: 1

Note:

The Interval time for one cycle is connected to the Heartbeat check of the

CANopen.

The Heartbeat must be always a multiple of the Interval time.

E.g.: Interval = 40ms => Heartbeat Producer Time = 200ms and Heartbeat

Consumer Time = 320ms (>Producer and x*Interval)

(See CANopen configuration ATV71)

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The other POUs will be invoked by the Main POU.

Double click on Main (PRG) in the devices browser.

Enter in body of the POU a function call: e.g.: CANopenState ( );

Now the Main program calls the

CANopenState program.

Proceed in the same way with any additional program or function you would like to call.

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Add Vijeo

Designer HMI

To add an HMI unit to the project right click on

Optimized_CANopen_ATV-

IMC in the devices browser and select:

Add Device… in the drop down menu.

Select:

Magelis HMI Æ HMISTU Series

Æ HMISTU655 and click on Add Device

Optimized CANopen ATV-IMC Schneider Electric 69

is now listed in the devices browser.

And the program Vijeo Designer opens for you to start programming.

(See chapter HMI)

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Ethernet settings

To change the Ethernet settings double click on

Ethernet in the devices browser.

Configure

Controller

↔

HMI Data

Exchange

Chose the fixed IP Address radio button and set an IP

Address (in this project

192.168.100.20

) and a Subnet

Mask (in this project

255.255.255.0

)

Note:

The USB cable

TCSXCNAMUM3P must be used for the initial project download. For subsequent downloads, the

Ethernet connection can be used.

In the devices browser right click on:

Application Æ Add Object Æ

Symbol configuration

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2 The name of the Symbol configuration is predefined and cannot be changed.

Click on Open to proceed.

3 Click on Refresh in the now open symbol configuration.

All the variables created in the user program are shown in the

Available variables list.

The global variables are located in the GVL folder.

To export variables to the HMI, select them and click on > .

In this example following variables groups are selected:

• CANopenState

• DataforHMI

• Ioconfig_Globals_Mapping

• OTB_Data

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5 The right frame lists the

Selected variables which are to be used in the HMI.

6 Right click on

Symbol configuration and select

Export Symbols to Vijeo-

Designer in the drop down menu to export the variable-list.

Communication setting controller

↔

PC

In SoMachine double click on

MyController in the devices browser.

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On the Communication settings tab click on

Add gateway…

Retain the factory settings and and click on OK

Select Gateway-1.

Click on Scan network.

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5 During the scan, the Scan network button becomes inactive.

When the scan is finished, the

Scan network button becomes active again and the devices that have been detected are listed under Gateway-1.

Select the controller that is being used and click on

Set active path .

A hazard message appears.

Read the message and confirm to continue .

The controller used is now marked as active.

This means that the online functions are available (e.g. program download, monitoring, online change)

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Communication setting controller

↔

HMI

1 In Vijeo Designer select the

HMI in the Project browser.

The HMI is connected with the controller via Ethernet. In the

Network area enter the Target

IP Address (in this project

192.168.100.30) and the

SubnetMask (in this project

255.255.255.0) of the HMI.

2 In SoMachine double click on

HMISTU655 in the devices browser.

On the Communication settings tab click on

Add gateway…

Retain the factory settings and and click on OK .

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Select Gateway-1 .

Click on Scan network .

Note:

In order to be able to connect to the HMI via ATV-IMC by using Ethernet, the project needs to be downloaded the first time by a direct connection between PC and HMI by using the USB TCSXCNAMUM3P download cable.

6 During the scan, the Scan network button becomes inactive.

When the scan is finished, the

Scan network button becomes active again and the devices that have been detected are listed under Gateway-1.

Select the HMI that is being used and click on

Set active path .

A hazard message appears.

Read the message and confirm to continue .

The HMI used is now marked as active.

Note:

Whenever the connection will be changed (e.g., from USB connection to Ethernet link) the steps 5 to 8 need to be repeated.

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Save the project

To save the project and change the name select:

File Æ Save Project As…

Build

Application

Select the desired location and input a file name.

In this case the file name is

Optimized_CANopen_ATV-

IMC

Click on Save.

To build the application select:

Build Æ Build

Note:

If you wish to build the whole project (HMI and Controller) select

Build Æ Build All

After the build you are notified in the Messages field as to whether the build was successful or not.

If the build was not successful there will be a list of detected warnings or errors in the

Messages field.

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Download the controller and HMI program

To download the application to the controller and the HMI in

SoMachine select on:

Online Æ Multiple

Download…

Check the HMI and the controller application .

For the first download it is recommencded to activate the option Always perform a full download .

To start the application after download, check the option

Start all applications after downloading or online change .

Click on OK .

Another dialog box pops up.

Read the question and click on

Yes to perform the Multiple

Download operation.

Before the download starts a build of the complete project is done.

The result of the build is displayed in the message window.

Once the download to the controller is finished, the HMI download starts.

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Login to controller

The result of the HMI download is displayed in the Messages window.

The results of the download are displayed in the

Multiple Download - Result window.

Click on Close to close the results window .

To log in to the controller select:

Online Æ Login

If the controller program is different from the program on the PC a message asks you if you wish to replace the old controller program.

If you do not wish to replace the controller program continue with step 6, otherwise click Yes to confirm the download .

The actual download status is displayed at the bottom of the main window.

You are offered to option to create a boot project. A boot project is stored in FLASH memory so that a power loss does not mean you have to repeat the download on restart.

Select Yes to create a boot application.

The actual creation status is displayed at the bottom of the main window.

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To start the new Application select

Online Æ Start

If everything is running properly the devices and folders are marked in green otherwise they will be marked in red.

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Application overview

With the SUG two example application codes are available.

The first is generic, the second is based on the hoisting AFB Library.

The picture on the right shows the structure of the Generic

Application example code.

The program is split into function-groups with folders.

The picture on the right shows the structure of the Hoisting

Application example code.

The program is split into function-groups with folders.

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HMI

Introduction

This application uses a Magelis HMISTU655. This HMI device communicates via the

SoMachine protocol on Ethernet with the controller. The HMI is programmed using the software tool Vijeo Designer (delivered with SoMachine), described briefly in the following pages.

The PC with SoMachine is connected via USB cable TCSXCNAMUM3P to the ATV-IMC, and from there via Ethernet to the HMI panel using the Ethernet cable 490NTW00002 .

Note:

The Vijeo Designer tool is opened and closed via the SoMachine software. For more information see the chapter:

Controller: Add Vijeo Designer HMI

Setting up the HMI is done as follows:

• Main Window

• Communication settings

• Create a switch

• Create a numeric display

• Example screens Generic

• Example screens Hoisting

Main Window

After double clicking on the

HMISTU655 in the SoMachine devices browser, Vijeo

Designer opens the HMI main window.

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Communication settings

To set the communication parameters, in the

Navigator select

IO Manager Æ

SoMachineNetwork02 Æ

SOM_MyController and click on the browser button for the configuration in the

Property Inspector

In the dialog set the controller

Equipment Address.

You will find this address in

SoMachine… (see next step)

… by double clicking the

MyController entry in the devices browser.

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In the Communication

Settings tab right click on the controller and select Change

Device Name…

The Equipment address of the controller is displayed under

Device Name Æ Current: and can be changed under Æ New:

Create a switch

Select the Switch icon in the

Tool bar.

Select the position and dimension where you wish to place the button by opening a rectangle on the display and pressing enter.

In the Switch Settings dialog , select the variable that should be linked use the bulb icon to browse for a variable to the button.

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Click on the bulb icon (as indicated in the image above) to open the Variables List ..

Use the tab SoMachine .

Select the required variable and click OK.

Go to the Label tab .

Here select Label Type: Static and enter a name for the button, e.g. Enable.

Once you have finished your settings click on OK .

The display now shows the new button.

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Create a

Numeric

Display

Click on the Numeric Display icon in the tool bar.

Select the spot where you want to position the display by opening the rectangle and pressing enter.

In the Numeric Display

Settings dialog go to the

General tab.

In Display Digits you can set the maximum number of the digits to be displayed for both integral and fractional part of the value.

To link a Variable to the display click on the bulb icon to browse for a variable .

Click on OK.

The display shows the new numeric display.

Example

Screens

Generic

The Home page shows the

Optimized CANopen ATV IMC architecture.

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The Safety page shows the status of the Emergency Stop relay.

The Bus page shows the state of all CANopen nodes.

Via the ATV71 page it is possible to control Altivar 71 variable speed drives.

Via the ATV312 page it is possible to control Altivar 312 variable speed drives.

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Via the LXM32 page it is possible to control both

Lexium 32A servo drives.

The OTB page shows the status of the input and output bits of the Advantys OTB device.

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Example

Screens

Hoisting

The Home page shows the

Hoisting Optimized CANopen

ATV IMC architecture.

The Main page allows to navigate to the desired function:

• Hoist 1+2

• Slewing

• Trolley 1+2

• Translation

Windcontrol

The Alarm State page provides an overview in case an alarm is active on one of the listed functions here.

If for instance the background colour of the Trolley 2 turns red, more details on the current alarm state can be requested by pressing on the button

Trolley 2 . In this case a new screen will appear and provide more information on the alarm.

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The Safety page shows the status of the Emergency Stop relay.

The Bus page shows the state of all CANopen Nodes.

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Devices

Introduction

This chapter describes the steps required to initialize and configure the different devices required to attain the described system function.

General

Note

Altivar 312, Altivar 71 and Lexium 32A drives must be configured using the local control panel on the device itself.

If this is not a new drive you should re-establish the factory settings. If you need instructions on how to do this, please read the drive documentation.

Be sure that the controller is in STOP state before configuring the drives.

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Altivar 312

Introduction

The ATV312 parameters can be entered or modified via the local control panel on the

Note

front of the device itself.

If this is not a new drive you should re-establish the factory settings. If you need instructions on how to do this, please read the drive documentation.

The jog dial is part of the local control panel and can be used for navigation by turning it clockwise or counter-clockwise. Pressing the jog dial enables the user to make a selection or confirm information.

Control panel

The drive parameters can be input using the buttons and the jog dial on the control panel of the Altivar.

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CANopen settings

1 Using the buttons on the front panel, select the sub-menu

Communication (COM).

2 In the Communication (COM) sub-menu input the CANopen address in the parameter AdC0.

In the example application the addresses for the four drives are

4 to 7

3 Also in the Communication

(COM-) sub-menu, in the parameter BdC0, set the

Baudrate to 500.0 (kBits).

4 For the drive to operate with the new parameters, a power cycle (on, off, on) is required.

WARNING

UNINTENDED EQUIPMENT OPERATION

After making any configuration changes or adjustments, be sure to cycle power (remove and reapply power) on the drive.

Failure to follow these instructions can cause death, serious injury or equipment damage.

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Changing the

Access Level

LAC

To set the parameters for the brake function a higher access level (L3) is required.

To go to expert mode L3:

Î Select

[COMMAND] and press enter

Î LAC [ACCESS

LEVEL] and press enter

Î L1 (Level 1) is displayed

Î Select (Level 3) and press enter for 2 seconds to set the new level.

Return to the LAC with ESC.

Return to the CtL with ESC.

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Brake settings

1 The R2 relay output is used for brake control.

2 To assign the R2 relay output:

Î Select

[ APPLICATION

FUNCT.] and press enter

Î Select [BRAKE

LOGIC CONTROL] and press enter

Î Select [BRAKE

LOGIC CONTROL] and press enter

Î Select r2 and press enter.

Set the parameters to the values shown here on the right.

Note:

These parameters are for the machine described in this example only. In all likelihood, you will need to adapt these parameters for your specific machine.

After all parameters are set return to the bLC with ESC.

Return to the bLC with ESC.

Return to the Fun with ESC.

Optimized CANopen ATV-IMC Schneider Electric 96

Limit switches configuration

1 The input LI5 and LI6 are assigned to limit switches

2 To assign the inputs LI5 and

LI6 for the forward and reverse limit switches:

Î Select

[ APPLICATION

FUNCT.] and press enter

Î Select [Limit switches.] and press enter

Î Select LAF [Forward limit switch.] and press enter.

Î Select and press enter.

Î Press

Î Select LAR [Reverse limit switch.] and press enter.

Î Select and press enter.

Once the limit switches are configured return to the LSTwith ESC.

Return to the FUn with ESC.

Optimized CANopen ATV-IMC Schneider Electric 97

Local mode configuration

1 The input LI3 is assigned to local mode

To assign LI3 for the local mode configuration

Î Select

[ Communication] and press enter

Î Select FLO[Forced local mode.] and press enter

Î Select LI3 and press enter.

Once the the local mode is configured return to the FLOwith ESC.

Return to the Con with ESC.

Local mode:

Local mode is required to manage the axis movement when the wiring is directly connected to the Altivar and not to the controller.

Local mode is used to test the axis during:

• Commissioning of the crane for the first time; in this case the operator is able to check that the movement is correct.

• Maintenance, when it is required to move an axis without the help of the controller.

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Altivar 71

Introduction

The ATV71 parameters can be entered or modified using the graphic keypad panel.

For the generic application example the first part, From Configuration setting ( 1 ) up to

Note

Enable Motor Tuning ( 19 ) usage of configuration is enough. For the hoisting application example the second MultiMotor configuration is needed for the usage of

CANopen or Hardwired modus.

If this is not a new drive you should re-establish the factory settings. If you need instructions on how to do this, please read the drive documentation.

Configuration settings

1 The drive configuration can be done using the jog dial on the front panel of the

Altivar.

To select push ENT (ENT is the enter of the Jog dial)

To leave a menu push ESC.

2 To change settings go to:

1 DRIVE MENU and press ENT.

Simply Start

Go to

1.1 SIMPLY START. and press ENT

Note:

These example parameters are for the machine described in this example only. In all likelihood, you will need to adapt these parameters for your specific machine.

You have to check with the actual equipment you have on your local crane.

Optimized CANopen ATV-IMC Schneider Electric 99

Configuring a hoist drive, the

Macro configuration needs to be set to Hoisting .

Configure all Rated motor data as power, voltage, speed current etc.

For using highspeed functions as Speed optimization and rope slack AFB , the Max frequency must be changed from 60.0Hz to the maximum possible of the crane.

50.0Hz motors should be able to have 100.0Hz max frequency.

Acceleration and Deceleration must be set to the fastest reaction time 0.1s for Anti-sway axis drive (i.e. Trolley).

For other axis drives using AFBs from Segment Library useful values need to be found for the application during commissioning.

Low speed must be set to

0.0Hz

on closed loop drives

(FVC) and High speed to the same as Max frequency

(100.0Hz)

To make sure that the internal PID is set to the right values for the application used it is suggested that you create a trace of the actual speed and do a test run of the drive.

Verify that the drive reaches the target speed. If the drive does not reach this speed, the time integral of the speed loop is not steep enough and needs to be increased

If the speed profile oscilates around the target speed, stop the drive and reduce the speed proportional gain and repeat the test

WARNING

UNGUARDED MACHINERY CAN CAUSE SERIOUS INJURY

• Do not use this software and related automation products on equipment which does not have point-of-operation protection.

• Do not reach into machine during operation.

Failure to follow these instructions can cause death, serious injury or equipment damage.

Optimized CANopen ATV-IMC Schneider Electric 100

ATV PID

Change to

1.3 Settings

Speed prop. gain and Speed

Time Integral need to be set on application values.

Application

Function

Change to

1.7 Application Function

Menu.

All Present Speeds must be set to No.

Brake Logic

Change to

Brake Logic Control .

Optimized CANopen ATV-IMC Schneider Electric 101

Motor Control

Type

In the

Brake Logic Control menu the following must be configured.

Brake Assignment: R2

Movement Type: Hoisting

Brake Impulse: Yes

Depending on the used brake and crane equipment.

Brake Release Time: 0.50s

Brake Engage Delay: 0.00s

Brake Engage Time: 0.50s

These values need to be adapted to the hardware that is used. The shown here values are only used for our example.

For Hoisting position synchronization and Anti-crab

AFB axis drives the Brake

Engage Delay must be set to

0.50s

Change to

1.4 Motor Control menu.

The Motor control Type must be set to FVC.

Overview of Parameter

Encoder

Settings

For the Encoder configuration the following settings need to be done:

Encoder Type: AABB

Number of Pulses: 1024

Encoder Usage: Spd fbk reg.

Encoder Check: Done

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Commands via CANopen

Change to

1.6 Command

And set Ref. 1 Channel to

CANopen

CANopen

Settings

16 Change to

1.9 COMMUNICATION and go to the CANopen menu.

17 Set the CANopen address to

1 for the first ATV71, and 2 for the second ATV71, etc.

Set the CANopen bit rate to

500 kbps.

After changing the configuration it is necessary to perform a power cycle on the drive (on-off-on).

Note:

For high power drives [more than 121 HP (90 kW)] you should do an automatic reboot with the graphic keypad panel (refer to drive user’s manual for details)

WARNING

UNINTENDED EQUIPMENT OPERATION

After making any configuration changes or adjustments, be sure to cycle power (remove and reapply power) on the drive.

Failure to follow these instructions can cause death, serious injury or equipment damage.

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Enable Auto tuning

To enable the auto tuning go to

1.4 MOTOR CONTROL and set

Auto tuning: Yes

Second Motor

Configuration

Multimotor

1 The Hoisting application shown in the example, includes a fallback function to continue running the crane, even when the CANopen bus or the controller have become inoperational. For this case a key switch is mounted inside the TVDA to switch between CANopen commands and hardwired commands.

To implement this, a second configuration needs to be done on the drives. Using

Application Function Æ Multimotor Configuration the function can be activated.

In CANopen command mode the key switch sends all drives a false signal on LI3 and the controller gets the signals from the drive inputs over CANopen. The controller does all the stop and start commands and all coded functions are included.

In hardwired command mode the key switch sends all drives a true signal and they work hardwired with limited function, but can still be moved and used.

Limitations for the Hardwired command mode are:

• No AFB function available

• Only Stop Limit switch

• Running with slow speed

2 Go to

1.7 Application Function

And select

MultiMotors/Configuration

3 Set

MultiMotors: Yes

2 Configurations: LI3

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4 The first configuration for CANopen control mode must be done as seen before in

CANopen configuration. To change to the second configuration for hardwired control mode the LI3 must be activated with 24V Input (set to High)

5 Repeat the Steps 1 to 14 from the CANopen control mode configuration.

Only in Step 7 for Low Speed use another Value (see next point).

6 With the second Hardwired control mode configuration only one speed (LSP) is possible .

Therefore it must be set to a different value other than 0Hz.

Set

Low speed: 10.0Hz

Limit switch configuration

7 Go to

1.7 Application Function and enter the

Limit Switches configuration

8 Configure the Forward ( FW ) and the Reverse ( RV ) limit switches.

Stop FW limit sw: LI5

Stop RV limit sw: LI6

9 Change to

1.6 Command and set

Ref. 1 Channel: AI1

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After changing the configuration it is necessary to perform a power cycle on the drive (on-off-on).

Note:

For high power drives [more than 121 HP (90 kW)] you should do an automatic reboot with the graphic keypad panel (refer to drive user’s manual for details)

WARNING

UNINTENDED EQUIPMENT OPERATION

After making any configuration changes or adjustments, be sure to cycle power (remove and reapply power) on the drive.

Failure to follow these instructions can cause death, serious injury or equipment damage.

Enable Auto tuning

To enable the auto tuning go to

1.4 MOTOR CONTROL and set

Auto tuning: Yes

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Lexium 32A

Introduction

The LXM 32A parameters can be entered or modified using the local control panel on the front of the device itself. Before you can start the drive configuration with

SoMachine you must set the CANopen address and the baudrate.

Note:

If this is not a brand new drive you should re-establish the factory settings. If you need instructions on how to do this, please refer to the drive documentation.

CANopen settings

1 If the drive is being started for the first time, the FSu (First Setup) is invoked. Only the CANopen address ( CoAd ) and the baudrate ( Cobd ) are initially needed.

If the drive has never been started before, follow the steps below to change the address or the baudrate.

In this project the CANopen addresses for the drives are 8 + 9 . The Baudrate for the drives is 500 kBaud .

Optimized CANopen ATV-IMC Schneider Electric 107

For the drive to operate with the new parameters, a power cycle (on, off, on) is required.

WARNING

UNINTENDED EQUIPMENT OPERATION

After making any configuration changes or adjustments, be sure to cycle power (remove and reapply power) on the drive.

Failure to follow these instructions can cause death, serious injury or equipment damage.

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Advantys OTB

General

The Advantys OTB EDS (electronic data sheet) file is generated using the Advantys

Configuration Software. This section describes how to generate an EDS file, that can be imported into SoMachine Device Repository (see chapter Controller ).

Note:

If the user is using only the basic Advantys OTB module; the OTB1CODM9LP device can be used, this is already installed in the SoMachine Device Repository.

Advantys OTB

Parameter setting

1 On start-up of Advantys

Software select your Language and click on OK .

Select:

File → New Workspace…

3 File

Name and the Island File

Name .

Click on OK .

The empty workspace opens.

On the right side of the workspace is the Catalog

Browser.

Here you can select the devices you need for your island.

Example:

1x OTB1CODM9LP

1x TM2DDDI16DT

1x TM2DDRA16RT

1x TM2AML3LT

Optimized CANopen ATV-IMC Schneider Electric 109

the finished configured rack.

6 EDS File select

File → Export

OTB_TVD_Opti_ATVIMC …

OTB_TVD_Opti_ATVIMC.eds and select

EDS as Export Format .

Continue the export with OK .

Optimized CANopen ATV-IMC Schneider Electric 110

8 Configuration

SyCon or CoDeSys and click

OK .

9 indicated at the bottom of the main window.

To save the island click on the save icon in the toolbar.

Note:

Refer to the Communication chapter for how to set up the Advantys OTB CANopen baudrate and bus address.

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Appendix

The Hoisting Application

Introduction

Different machines and processes share the same initial requirements that can be implemented with a generic architecture employing the current Schneider Electric product offer. These generic architectures include power supply, controller, motion, visual indication, communication and safety aspects. The use of these generic architectures to implement customer solutions covers not only a large section of customer automation requirements but allows the implementation of a tested and validated software and hardware solution.

This chapter describes the Schneider Electric hoisting application function blocks used in this architecture. This document does not provide a functional description for the application solution. The functions listed here are not comprehensive and form only a foundation for real life applications. It is not intended to provide an application that fulfills a real life situation in all aspects. For a comprehensive description of the function blocks please refer to the library and function block documentation.

The information given here is intended to support the user in the assembly, configuration and implementation of the described solution. The information provided here is additional information to the product documentation, with a focus on the specific components used in the solution provided here.

It is expected that the reader has at least a basic knowledge of the industrial application for which this solution is provided and understands the professional jargon normally used in that type of application. This document is not an introduction into the specific type of industrial application for which this solution is provided.

Application

Basics

The solution described in this document is provided for hoisting applications which may consist of the following machine types:

• Building o

Self-erecting o

Tower

• Industry o

Gantry o

Overhead traveling crane

Optimized CANopen ATV-IMC Schneider Electric 112

Application Specifics

Application

Dedicated

Hardware

This chapter describes the hardware used in this architecture that is specifically dedicated to the application it is intended for.

Limit Switch

OsiSense

XCKMR54D1H29

2 x 2-pole NC + NC

Optimized CANopen ATV-IMC Schneider Electric 113

Screw Limit Switch

(3 rd

Party Component)

TER International

Reference depends on the

Scaling rates

Overload Limit Switch

OsiSense

XCKM110

Optimized CANopen ATV-IMC Schneider Electric 114

Encoder Interface card for

ATV71

VW3A3401

Zero speed torque

Accurate speed

Regulation

Torque accuracy

Shorter response times on a torque surge

Improved dynamic performance in transient state

Overspeed detection

Load slipping detection

Incremental Encoder

OsiSense

XCC1510PS11X

Type R (N): 5 Vdc output driver, RS 422, 4.5…5.5 Vdc.

Spring coupling

XCCRAR1010

Incremental Encoder

10-wire Encoder Cable

XCCPM23121L5

Inductive Proximity Sensor

OsiSense

XS618B1PBL2

Optimized CANopen ATV-IMC

BU : Blue

BN : Brown

BK : Black

Schneider Electric 115

Photo-electric Sensor

OsiSense

XUX1ARCNT16

REFLECTOR

XUZC80

Inductive Proximity Sensor

OsiSense

XS9C111A1M12

(3 rd

Load Cell

Party Component)

Vishay

KISD-6

Web Tension Transmitter

PS-1010T

Relay output :

Transmitter:

Optimized CANopen ATV-IMC Schneider Electric 116

Amplifier Inputs: Amplifier Outputs:

1. Shield 8. +VIN

2. –SEN (Orange) 9. COM

3. –EXC (Black) 10. 0-10V

4. –SIG (Red) 11. ISOCOM

5. +SIG (White) 12. 4-20 mA

6. +EXC (Green)

7. +SEN (Blue)

Note:

1. For this application that uses a four-wire load cell cable, two jumpers must be installed between +SEN and +EXC and between –SEN and –EXC.

2. The 4 to 20 mA outputs are used for this architecture.

Optimized CANopen ATV-IMC Schneider Electric 117

Application Functions

Application

Functions

Application

Function

Blocks

To facilitate the software engineering tasks associated with the application described,

Schneider Electric has developed an Application Function Block Library that has been tested and validated.

The following pages show the application function blocks that are running on the architecture described here.

The Hoisting library needs to be included in the application program (See the chapter

Controller: Include new library file )

For more detailed information concerning the Hositing AFBs, see SoMachine Hoisting

Application Functions Hoisting Library Guide , also available as online help in SoMachine.

Note:

Application function blocks within Hoisting library can only be used with S-type controllers.

With G-type controllers, a message "Use of <Name of FB> is not authorized with the current type of device " appears during the build phase

The Hoisting Library and the S-Type option will be available after installation of the solution extension of SoMachine.

Schneider Electric provides an A pplication F unction B lock Library (AFB) for Hoisting. This is a set of function blocks, tested & validated for functionality and has been designed to help

OEMs develop their crane applications.

For the hardware, Schneider Electric offers a set of function blocks (FBs) that provide various application and device functions.

In this example application:

Hoisting Movement:

• Limit switch management

• Overload

• Load overspeed control

• Speed optimization and rope slack

• Hoisting position synchronization

Trolley Movement:

• Anti-sway

Travel Movement:

• Limit switch management

• Anti-crab

General:

• Monitoring data storage

• select

• Scale

• input potentiometer

Optimized CANopen ATV-IMC Schneider Electric 118

Limit switch management

Limit switch management

Limit switch management is used to help to prevent the trolley, bridge or hoist from moving to positions that are undesirable for the functioning or functional safety of the crane, load, other equipment and personnel. The function block can monitor up to four limit positions / switches.

This function block helps to prevent moving parts of a crane from reaching areas out of their operational range. It can be used on the Trolley, Bridge, Hoist or Slewing movement of any crane equipped with limit switch sensors.

The adaptive ramp feature allows higher performance of a crane while moving in the slow-down area by calculating the maximum allowed velocity at the actual position rather than simply slowing down to a pre-defined slow speed after a slow-down limit switch is activated.

Unlike the single limit switch management function block ( LimitSwitch_AR ), the double limit switch management function block administers two devices in synchronous mode which are intended to be used with the HoistPositionSync function block.

NOTE:

The function block is constructed using 2 instances of the LimitSwitch_AR function block. The behavior of the FB in the nonsync mode is similar to the

LimitSwitch_AR function block.

Optimized CANopen ATV-IMC Schneider Electric 119

The Limit switch management function block limits the movement of the Trolley/Bridge/Hoist along a rail. This function block controls the Trolley/Bridge/Hoist by stopping/slowing it down according to the status of limit switch/sensors.

Optimized CANopen ATV-IMC Schneider Electric 120

Overload according to

EN15011

This function reads the torque inputs from the hoist drive. It detects an overload situation according to the calibrated torque threshold and gives an alarm indication by lights and horn as well as stopping the upwards movement of the hoist.

Additionally a warning indication by lights and horn at 90% of the nominal calibrated load is generated.

The function also shows the actual mass of the load with an accuracy of +/- 5%, depending on the setting of the speed loop of the drive.

The FB is fully compatible with the requirements of EN15011. Furthermore it is possible to connect a load cell instead of the drive torque value.

NOTE:

The function block Overload_EN15011 replaces the former function blocks

• OverloadCtrlTrq

• OverloadCtrlDist

• OverloadCtrlEnc

For consistency and maintenance reasons these three FBs listed above are still kept in the latest Hoisting library. However, it is recommended to start new projects by using

Overload_EN15011 FB only.

Optimized CANopen ATV-IMC Schneider Electric 121

Load overspeed control

The Load overspeed control detects if the drive exceeds the maximum allowed speed during movement and also detects any movement once the brakes have been fully applied. Detection is done by monitoring the feedback from a pulse sensor.

The Load overspeed control function block has two functions. It detects if the hoist drive can hold the load during the hoist movement. This is done by checking the actual speed against the maximum speed via the pulse sensor. While the drive is stopped and the brake is on, it detects load movement due to brake failure.

Optimized CANopen ATV-IMC Schneider Electric 122

Speed optimization

& rope slack

The Speed optimization allows operation at constant power consumption in order to reach a speed higher than the rated speed without exceeding the rated motor current.

Constant power operation increases the system efficiency.

The Rope slack function is used to help avoid extra rope being let out after the hook has already touched the ground.

The Speed optimization and Rope slack function block includes two functions in one block.

The Speed optimization function gives the operator the possibility to use the second speed value as the optimum speed for the hoisting movement with the actual load. The actual speed is compared with the actual and maximum allowable torque to obtain the optimum speed for the current load.

The Rope slack function detects when the load drops below a minimum torque (the weight of the hook) and reduces the speed to the minimum (maintenance) speed. This protects the crane against unwinding the whole cable from the drum. Only when the torque returns to a value above the minimum is normal movement allowed again.

Optimized CANopen ATV-IMC Schneider Electric 123

Anti-sway

Anti-sway calculates the optimum speed profile to avoid sway during sideways motion (Trolley / Bridge travel). The calculation is based on the speed, the load height, and the rope length.

The Schneider Electric Anti-sway solution does not require sensors.

The Anti-sway function interacts with one axis (trolley or travel) and, based on the operational input, calculates a movement profile so that the drive compensates for the normal sway effect of the load.

The Anti-sway solution from Schneider Electric works without using sensors to measure the amount of sway.

NOTE:

The function block AntiSwayOpenLoop_2 is the successor of the function block

AntiSwayOpenLoop .

For consistency and maintenance reasons this FB is still kept in the latest Hoisting library.

However. it is recommended to start new projects by using AntiSwayOpenLoop_2 FB only.

Optimized CANopen ATV-IMC Schneider Electric 124

Hoisting position synchronization

Hoisting position synchronization is designed to synchronize the hoisting movement when simultaneous handling with two Hoists is required for large objects. It controls the hoisting of both trolleys, so they act as a single unit to handle the load.

The Hoisting position synchronization function for industrial cranes is designed to synchronize the movement of two axes for simultaneous handling of large singular objects.

These axes are controlled by the hoist drives.

The image below shows an over-head crane with a trolley synchronization function: For the industry crane it is used for the hoist movement.

Optimized CANopen ATV-IMC Schneider Electric 125

Anti-crab

During travel, both sides of the bridge are moved by different drives. The Anti-crab function detects a drift and skew of the bridge using 2 inductive sensors. If the function detects non-parallel movement, it calculates a new drive speed for the variable speed drives in order to correct the situation.

The Anti-crab function detects a skew or drifts in the bridge against the rail and calculates a corrected speed for both of the drives in order to maintain the bridge parallel to the rail.

Optimized CANopen ATV-IMC Schneider Electric 126

Monitoring data storage

There are several function blocks which collect and monitor the data associated with the crane’s operation for mandatory statistics, maintenance and troubleshooting.

NOTE:

Besides the function blocks AlarmDataStorage_2 , MaintenanceDataStorage_2 and

StatisticDataSorage_2 the library contains as well their preceding function blocks:

• MaintenanceDataStorage

• AlarmDataStorage

• StatisticDataStorage

For consistency and maintenance reasons these three FBs listed above are still kept in the latest Hoisting library. However, it is recommended to start new projects by using the most recent version of the function blocks ( AlarmDataStorage_2 , MaintenanceDataStorage_2 ,

StatisticDataSorage_2 ) only .

Optimized CANopen ATV-IMC Schneider Electric 127

Monitoring data storage

The Monitoring data storage function consists of three parts.

• Alarm data storage function block series

• Statistic data storage function block

• Maintenance data storage function block

The Alarm data storage function block series are pre-configured for the following events:

Overload, Over-speed, Encoder Alarm, Over-torque and Load Slippage. All event signals are archived with their respective date, time and duration.

The Statistic data storage function block records all events that are part of the movement.

The function block records four separate movements. Hoisting, Trolley, Bridge travel and

Slewing. Depending on the crane, the inputs can also be used for other movements. For each type of movement the function block counts the events and calculates an overall runtime for each axis.

The maintenance block uses actual loading information to calculate the amount of used theoretical lifetime for each movement and generates an alarm if maintenance is needed.

Optimized CANopen ATV-IMC Schneider Electric 128

Speed select

The Speed select allows the user to select the target speed. The user can select the speed reference by using either an analog input or a selector switch.

The Speed select function block is used to select a speed value from different sources. The required speed value can be either a fixed or an analog value.

Optimized CANopen ATV-IMC Schneider Electric 129

Scale input

Scale input is a scaling function which converts an input value to a specified range.

Its range is linear and it generates an error signal in the case of invalid parameters.

Electronic

Potentiometer

The ElectronicPotentiometer FB offers an effective approach of setting an arbitrary analog speed reference and direction of movement of a variable speed drive using 3 or 4 digital inputs. Although this FB does not require specific hardware to work, it is recommended to use it together with a joystick control.

Optimized CANopen ATV-IMC Schneider Electric 130

Detailed Component List

Sarel cabinet

Main switch

The following is a list of components for the main components of the Optimized CANopen

ATV-IMC architecture.

Hardware-Components

Pos. Qty Description

1.1

1.2

1.3

1.4

1.5

1.6

1.7

1.8

1.9

Cabinet with mounting plate

Side wall 1800 x 600 mm

Filter fan, 300 m³/h, IP54

Cabinet filter

Wiring diagram pocket

Cabinet light incl. socket, magnetic fixing

Thermostat with Fahrenheit scale, 1

NO, 32…140 °F (0…60 °C)

Cable Gland Plate 1 Part 1200x600

Set of 4 Enclosure Casters

Part Number

Rev./

Vers.

NSY*

NSY2SP186

NSYCVF300M***PF

NSYCAG223LPF

NSYSDP6M

NSYLAM75

NSYCCOTHOF

NSYEC126

NSYSW

Hardware-Components

Pos. Qty Description

2.1 1 Main switch

2.2 1 Contact block

2.3

2.4

Terminal cover

Rotary drive with door interface

Part Number

*consult local catalog

Rev./

Vers.

Power supply

Optional

3.3

3.4

3.5

3.6

3.7

3.8

Hardware-Components

Pos. Qty Description

3.1

3.2

Power supply, input 100…120 or

200…500 Vac, output 24 Vdc, 10 A

Circuit Breaker C60N 1P, C, 2 A

Circuit Breaker C60N 2P, C, 2 A

Circuit Breaker C60N 2P, C, 10 A

Circuit Breaker C60N 1P, C, 3 A

Circuit Breaker C60N 2P, C, 3 A

Auxiliary contacts for C60N

Power supply, input 120 or 230 Vac, output 24 Vdc, 10 A

Part Number

Rev./

Vers.

ABL8RPS24100

23726 *consult local catalog

23747 *consult local catalog

23756 *consult local catalog

24427 *consult local catalog

24444 *consult local catalog

26924 *consult local catalog

ABL4RSM24100

Optimized CANopen ATV-IMC Schneider Electric 131

ATV-IMC,

Advantys OTB

Hardware-Components

Pos. Qty Description

4.1a

4.1b

4.2

Altivar ATV-IMC Drive controller

For use in generic applications without solution libraries (Packaging,

Conveying, Hoisting)

Altivar ATV-IMC Drive Controller

For applications with use of solution libraries (Packaging, Conveying,

Hoisting)

Advantys OTB I/O island

4.4

4.5

Advantys OTB I/O card 24 Vdc

Relay output card

Part Number

VW3A3521

VW3A3521S0

Rev./

Vers.

V1.1IE21

OTB1CODM9LP

TM2ALM3LT

TM2DDI16DT

TM2DRA16RT

Drives

Hardware-Components

Pos. Qty Description

5.1 4 ATV312 variable speed drive

1 HP (0.75 kW)

5.2 3

5.3

5.4

5.5

5.6

5.7

5.8

5.9

5.10

5.11

ATV71 variable speed drive

1 HP (0.75 kW)

Brake resistor for ATV71H075*

Extended I/O card ATV 71

Logic I/O card ATV 71

ATV71 encoder card

Lexium 32A servo drives continuous output current: 6 A RMS at 6000 RPM

BMH Servo motor with brake

Power cable for Lexium 32, 5 m

Encoder cable for Lexium 32, 5 m

Magnetic circuit breaker 4 A

5.12

5.13

Magnetic circuit breaker 6.3 A

Auxiliary contacts for circuit breaker

1 NO 1 NC

Part Number

ATV312H075*

*consult product catalog

ATV71H075*

*consult product catalog

VW3A7801

VW3A3202

VW3A3201

VW3A3401

LXM32AD18M2

Rev./

Vers.

V5.1

V3.3

V01.03.17

BMH0702T02F2A

VW3M5101R50

VW3M8102R50

GV2* *consult local catalog

GVAE11

Optimized CANopen ATV-IMC Schneider Electric 132

Sensors

Encoder

HMI

Preventa

Hardware-Components

Pos.

6.1

6.2

6.3

Qty

Description Part Number

Rev./

Vers.

Inductive Proximity Sensor OsiSense XS618B1PBL2

Photo-electric Sensor OsiSense XUX1ARCNT16

Reflector for Photo-electric Sensor

OsiSense

XUZC80

6.4

6.6

6.7

6.8

6.9

Inductive Proximity Sensor OsiSense XS9C111A1M12

XCKMR54D1H29

Overload Limit Switch OsiSense

Screw Limit Switch

TER International (Third party)

Load Cell Vishay (Third party)

Web Tension Transmitter for Load

Cell

XCKM110 depends on the

Scaling rates

KISD-6

PS-1010T

Hardware-Components

Pos. Qty Description

7.1

7.2

7.3

7.4

OsiSense incremental encoder

58 mm

Encoder cable 10 pin

Shaft coupling with spring

Fixing brackets for 58 mm encoder

Part Number

Rev./

Vers.

XCC1510PS11X

XCCPM23121L5

XCCRAR1010

XCCRE5RN

Hardware-Components

Pos. Qty Description

8.1

8.2

Magelis HMISTU655 touch display

Ethernet cable, 2m

Part Number

HMISTU655

490NTW00002

Rev./

Vers.

V6.1

Hardware-Components

Pos.

9.2

9.3

9.4

9.5

Qty

Description Part Number

Rev./

Vers.

Safety extension module

XPSAF5130

XPSECP5131

Door guarding safety module XPS AC XPSAC5121

E-Stop pushbutton for field

Emergency Stop pushbutton for cabinet door

XALK178G

XB5AS844

9.6

9.7

Auxiliary contacts for cabinet E-Stop

Illuminated push button, 1 NC, blue

ZB5AZ141

XB5AW36B5

XALD01

XCSPA792

9.10

9.11

9.12

9.13

Actuator for door guard switch

Contactors 7.5 kW

Auxiliary contact 2 NO+2 NC

Door guarding contactors 2.4 kW

XCSZ13

LC1D18BL

LADN22

LC1D09BL

Optimized CANopen ATV-IMC Schneider Electric 133

Harmony

CANopen

Hardware-Components

Pos. Qty Description

10.1

10.2

10.3

10.4

10.5

10.6

Key lock selector switch

Box for 3 button

Signal lamp LED white

Pushbutton with LED green

Pushbutton with LED red

Pushbutton with LED yellow

10.8

10.9

10.10 1

10.11 1

Signal element green

Signal element red

Signal element blue

Signal element white

10.12 1 Signal element orange

10.13 1 Tube connection

Part Number

XB5AG41

XALD03

XB5AVB1

XB5AW33B5

XB5AW34B5

XB5AW35B5

XVBC21

XVBC2B3

XVBC2B4

XVBC2B6

XVBC2B7

XVBC2B5

XVBZ02

Hardware-Components

Pos.

11.1

11.2

11.3

11.4

Qty

Description Part Number

CANopen tap with 4x SUBD9

CANopen cord set SUBD9 SUBD9

CANopen cord set SUBD9 RJ45, 1 m TCSCCN4F3M1T

M12 female socket for CANopen 5 m 1525704

Rev./

Vers.

TSXCANTDM4

TSXCANCADD1

Rev./

Vers.

Software-Components

Pos. Qty Description

Software Tools 12.1 1 SoMachine (includes Vijeo Designer) on DVD, trial version

12.2 1 Single user license for SoMachine

12.3 1 SoMachine (includes Vijeo Designer) with Solution Extension on DVD, single user license

(instead position 12.1 and 12.2)

12.5 1 PC → ATV-IMC Programming cable,

USB to USB

Part Number

Rev./

Vers.

MSDCHNSFNV31 V3.1

MSDCHNL

•

MSDCHLLMUV31S0 V3.1

STBSPU1000 V5.6

TCSXCNAMUM3P

Optimized CANopen ATV-IMC Schneider Electric 134

Component Protection Classes

Positioning Component

Protection Class

Main switch

Emergency Stop switch housing

XALK

Preventa relays XPS

Single/Double switch housing, complete

Control switch, 3 positions

Indicator buttons

Buttons with LED + 1 switch

Labels 30x40

Position switch Universal

Contactor

Phaseo Power Supply

ATV-IMC drive controller

Altivar 312 and Altivar 71

Lexium 32 servo drive

BMH Servo motor

In Field, On Site

Cabinet

Front

IP54 IP65 IP67 IP55 IP65

Inside

IP20

X shaft end

IP40

X X

Advantys OTB

Magelis HMISTU655

Environmental Characteristics

NOTE: The equipment represented in the architecture(s) of this document has been rigorously tested to meet the individually specified environmental characteristics for operation and storage, and that information is available in the product catalogs. If your application requirements are extreme or otherwise do not appear to correspond to the catalog information, your local Schneider Electric

Support will be eager to assist you in determining what is appropriate for your particular application needs.

Optimized CANopen ATV-IMC Schneider Electric 135

Component Features

Components

Schneider Electric Main Switch/Circuit Breaker

*consult local country catalog

Power Supply Phaseo: ABL8RPS24100

• 1 or 2-phase connection

• 100...120 Vac and 200...500 Vac input

• 24 Vdc output

• 10 A output

• Diagnostic relay

• Protected against overload and short circuits

Optimized CANopen ATV-IMC Schneider Electric 136

Preventa safety module: XPSAC5121

Main technical characteristics:

For monitoring Emergency Stop

Max. Category accord. EN 13849-1 3

No. of safety circuits

No. of additional circuits

3 N/O

1 Solid-State

Indicators

Power supply AC/DC

Response time on input opening

AC-15 breaking capacity

DC-13 breaking capacity

2 LED

24 V

< 100 ms

C300

24 Vdc / 2 A - L/R

50ms

17 V / 10 mA

114 x 22.5 x 99

Minimum voltage and current

Dimensions (mm)

Connection

Degree of protection

Captive screw-clamp terminals

IP20 (terminals)

IP40 (casing)

Safety modules XPS AC are used for monitoring Emergency

Stop circuits conforming to standards EN ISO 13850 and EN

60204-1 and also meet the safety requirements for the electrical monitoring of switches in protection devices conforming to standard EN 1088 / ISO 14119. They provide protection for both the machine operator and the machine by immediately stopping the dangerous movement on receipt of a stop instruction from the operator, or on detection of a fault in the safety circuit itself.

Altivar ATV-IMC Drive controller:

VW3A3521 and VW3A3521S0

• 10 logic inputs (2 inputs can be used for 2 counters or 2 inputs can be used for 2 incremental encoders)

• 2 analog inputs

• 6 logic outputs

• 2 analog outputs

• A master port for the CANopen fieldbus

• A mini-USB B port for programming with SoMachine software

• An Ethernet port to be used for programming with

SoMachine software or Modbus TCP communication.

Magelis Display Terminal: HMISTU655

• High-definition TFT QVGA with 24 Vdc power supply

• 64kK

• Serial port RJ45 RS485/232 multiprotocol interface

• 10/100 BaseT RJ45 Ethernet port interface

• 1 mini USB Device + 1 USB Host 2.0 interface

• Temperature range: 32…122 °F (0…50 °C)

• Certificates: UL, CE, cULus, C-Tick

Optimized CANopen ATV-IMC Schneider Electric 137

Altivar 71 Variable Speed Drive

- 200 Vac to 240 Vac 1-phase,

0.5 HP to 10 HP (0.37 kW to 7.5 kW)

- 200 Vac to 240 Vac 3-phase,

0.5 HP to 100 HP (0.37 kW to 75 kW)

- 380 Vac to 480 Vac 3-phase,

1 HP to 670 HP (0.75 kW to 500 kW)

- 500 Vac to 690 Vac 3-phase,

3 HP to 845 HP (2.2 kW to 630 kW)

• Integrated EMC filter

• Temperature range: 14…122 °F (-10…50 °C)

• Speed range 0 to 1000 Hz

• Graphical display for control and parameterization

• Operation via Modbus, CANopen or other buses possible

• 2 analog inputs plus 1 analog output

• Digital inputs, 2 digital status outputs

• 1 shutdown output (Power removal function)

• Option cards for communication buses, Extended I/O and encoder

• Protections of drive and motor

• Compact design, side-by-side installation possible

Altivar 312 Variable Speed Drive

The Altivar 312 drive is a variable speed drive for 3-phase squirrel cage asynchronous motors. The Altivar 312 is robust, compact, easy to use and conforms to EN 50190, IEC/EN

61800-2, IEC/EN 61800-3 standards UL/CSA certification and to CE marking.

Altivar 312 drives communicate on Modbus and CANopen industrial buses. These two protocols are integrated as standard.

Multiple units can be mounted side by side to save space.

Drives are available for motor ratings between 0.25 and 20 HP

(0.18 kW and 15 kW), with four types of power supply:

- 200 Vac to 240 Vac 1-phase,

0.25 to 3 HP (0.18 kW to 2.2 kW)

- 200 Vac to 240 Vac 3-phase,

0.25 to 20 HP (0.18 kW to 15 kW)

- 380 Vac to 500 Vac 3-phase,

0.5 to 20 HP (0.37 kW to 15 kW)

- 525 Vac to 600 Vac 3-phase,

1 to 20 HP (0.75 kW to 15 kW)

Optimized CANopen ATV-IMC Schneider Electric 138

Lexium 32 servo drive

• Voltage

1-phase 100 – 120 Vac or 200 – 240 Vac

3-phase 200 – 240 Vac or 380 – 480 Vac

• Power: 0.5 to 8 HP (0.4 to 6 kW)

• Rated torque:

• Rated speed:

0.5 to 36 Nm

1500 to 8000 RPM

• The compact design allows for space-saving installation of the drive in control cabinets or machines.

• Features the "Power Removal" (Safe Stop) functional safety function, which prevents the motor from being started accidentally. Category 3 with machine standard EN

13849-1

• Lexium 32 servo amplifiers are fitted with a brake resistor as standard (an external brake resistor is optional)

• Quick control loop scan time: 62.5 µs for current control loop, 250 µs for speed control loop and 250 µs for position control loop

• Operating modes: Point-to-point positioning (relative and absolute), electronic gears, speed profile, speed control

• and manual operation for straightforward setup. interfaces:

CANopen, Modbus or Profibus DP

Analog reference inputs with ± 10 Vdc

Logic inputs and outputs

Advantys OTB distributed I/O OTB1CODM9LP

Interface module for Advantys OTB I/O-Island with the following technical specifications:

• Bus parameterization via bus backplane module

• Integrated macros for rapid startup

• 16-channel

• Removable screw terminal block

Advantages when integrating or replacing module

• Slim line design

• Plug-in

• Controller sends configuration every time the power supply is connected

• CANopen Sub-D9

• Up to 7 expansion modules can be connected

• Very

• 12 Digital Inputs

• 6 Relay Outputs

• 2 Transistor Outputs (Source)

• 2 Remote Fast Counters

• 2 Remote Very Fast Counters

• 2 Impulsion Generators

Optimized CANopen ATV-IMC Schneider Electric 139

Advantys Configuration Software STBSPU1000

Software to configure the Advantys OTB, (STB, FTB and FTM).

• Parameterize all the I/O modules of the Advantys OTB platform (digital, analog and intelligent modules) with standard functions.

• Generating of export EDS files for SoMachine

SoMachine OEM Machine Programming Software:

MSDCHNSFNV31 or MSDCHLLMUV31S0

SoMachine is the OEM solution software for developing, configuring and commissioning the entire machine in a single software environment, including logic, motion control, HMI and related network automation functions.

SoMachine allows you to program and commission all the elements in Schneider Electric’s Flexible and Scalable Control platform, the comprehensive solution-oriented offer for OEMs, which helps you achieve the most optimized control solution for each machine’s requirements.

Flexible and Scalable Control platforms include:

Controllers:

HMI controllers:

• Magelis XBTGC HMI controller

• Magelis XBTGT HMI controller

• Magelis XBTGK HMI controller

Logic controllers:

• Modicon M238 Logic controller

• Modicon M258 Logic controller

Motion controller

• Modicon LMC058 Motion controller

Drive controller:

• Altivar ATV-IMC Drive controller

HMI:

HMI Magelis graphic panels:

• XBTGT

• XBTGK

SoMachine is a professional, efficient, and open software solution integrating Vijeo-Designer.

It integrates also the configuring and commissioning tool for motion control devices.

It features all IEC 61131-3 languages, integrated field bus configuration, expert diagnostics and debugging, as well as outstanding capabilities for maintenance and visualization.

SoMachine provides you:

• One software package

• One project file

• One connection

• One download operation

Optimized CANopen ATV-IMC Schneider Electric 140

Contact

Homepage http://www.schneider-electric.com

As standards, specifications and designs change from time to time, please ask for confirmation of the information given in this publication .

Optimized CANopen ATV-IMC Schneider Electric 141

வணக்கம்! Schneider Electric Compact / CANopen / Drive Controller / ATV-IMC + Optimized Hoisting உடன் உங்களுக்கு உதவ சிறப்பாகப் பயிற்றுவிக்கப்பட்ட AI சாட்போட் நான். நான் ஆவணத்தை முழுமையாக மதிப்பாய்வு செய்துள்ளேன், மேலும் உங்களுக்குத் தேவையான சரியான தகவலைக் கண்டறிய அல்லது உள்ளடக்கத்தை தெளிவான மற்றும் எளிமையான சொற்களில் விளக்க உதவ முடியும். குறிப்பிட்ட அம்சங்கள், சரிசெய்தல் படிகள் அல்லது பொதுவான பயன்பாடு குறித்த வழிகாட்டுதலை நீங்கள் தேடுகிறீர்களானால், உங்கள் கேள்விகளைக் கேட்க தயங்கவும். உங்கள் கவலைகள் அல்லது தேவைகள் பற்றி நீங்கள் எவ்வளவு அதிகமாக விவரங்களை வழங்குகிறீர்களோ, அவ்வளவு துல்லியமாகவும் эффективноவும் நான் உங்களுக்கு உதவ முடியும்!

உதவியாளர் தட்டச்சு செய்கிறார்

உதவியாளர் விசைப்பலகையில் இல்லை. தயவுசெய்து, பின்னர் மீண்டும் முயற்சிக்கவும்.

உள்ளடக்க அட்டவணை

உங்கள் தாய்மொழி அல்லாத ஒன்று உட்பட, பல மொழிகளில் எழுதப்பட்ட ஆவணத்தை நீங்கள் அடைந்துவிட்டீர்கள் போல் தெரிகிறது. நீங்கள் விரும்பும் மொழி இல்லாத பக்கங்களை தற்காலிகமாக மறைக்க பின்வரும் இணைப்புகளைப் பயன்படுத்தலாம்.

விளம்பரம்

This document is based on US standards and is not valid for use outside the U.S.A.

Compact / CANopen /

Drive Controller / ATV-IMC

+ Optimized Hoisting

System User Guide

Contents

Important Information

DANGER

WARNING

CAUTION

NOTICE

Before You Begin

Introduction

Introduction

Abbreviations

Glossary

Application Source Code

Introduction

Typical Applications

Introduction

General

Layout

System

Introduction

Architecture

Components

Quantities of

Components

Degree of

Protection

Functional

Safety Notice

Emergency

Stop

Safety

Function

Installation

Introduction

Assembly

Front side

Main rack interior

Notes

General

Hardware

General

Software

General

Communication

.

Implementation

Introduction

Function

Functional

Layout

Course of

Action

Communication Setup

Introduction

Device Links

NOTE

Datalink

Controller

Introduction

Requirements

Create a new project

Add an

Option Board

Add the

CANopen fieldbus

Import the

Advantys

OTB EDS file

Add

CANopen devices

CANopen configuration

Add Library

Add Folder

Add POU

Task

Configuration