Schneider Electric Lexium 15 using EcoStruxure™ Control Expert - Communication by Fipio User Guide
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Lexium 15 using EcoStruxure™ Control Expert
35008159 12/2018
Lexium 15 using
EcoStruxure™
Control Expert
Communication by Fipio
Setup Manual
(Original Document)
12/2018 www.schneider-electric.com
2
The information provided in this documentation contains general descriptions and/or technical characteristics of the performance of the products contained herein. This documentation is not intended as a substitute for and is not to be used for determining suitability or reliability of these products for specific user applications. It is the duty of any such user or integrator to perform the appropriate and complete risk analysis, evaluation and testing of the products with respect to the relevant specific application or use thereof. Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for misuse of the information contained herein. If you have any suggestions for improvements or amendments or have found errors in this publication, please notify us.
You agree not to reproduce, other than for your own personal, noncommercial use, all or part of this document on any medium whatsoever without permission of Schneider Electric, given in writing. You also agree not to establish any hypertext links to this document or its content.
Schneider Electric does not grant any right or license for the personal and noncommercial use of the document or its content, except for a non-exclusive license to consult it on an "as is" basis, at your own risk. All other rights are reserved.
All pertinent state, regional, and local safety regulations must be observed when installing and using this product. For reasons of safety and to help ensure compliance with documented system data, only the manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant instructions must be followed.
Failure to use Schneider Electric software or approved software with our hardware products may result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2018 Schneider Electric. All rights reserved.
35008159 12/2018
Table of Contents
Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 1 Fipio on LEXIUM 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Implementation: overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 2 Hardware implementation. . . . . . . . . . . . . . . . . . . . . . . .
Installation: overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Assembly precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References of Fipio accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting to Fipio Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Preparation of cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection using the TSX FP ACC12 connector . . . . . . . . . . . . . . . .
Connection of TSX FP ACC 2 connectors. . . . . . . . . . . . . . . . . . . . . .
Connection to TSX FP ACC 4 junction box . . . . . . . . . . . . . . . . . . . . .
Chapter 3 Software implementation . . . . . . . . . . . . . . . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operation of servodrive on the bus . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 4 Premium Command Station . . . . . . . . . . . . . . . . . . . . . .
Command Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Addressing of Remote Module Language Objects on a FIPIO Bus . .
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Use of messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 5 Lexium 15 configuration: parameters . . . . . . . . . . . . . .
Configuration parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 6 Debugging and diagnostics . . . . . . . . . . . . . . . . . . . . . .
Diagnostics of FIPIO option card. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Lexium 15 Parameters in Unilink Software . . . . . . . . . . . . . . . . . . . . .
Diagnostics by READ_STS Instruction . . . . . . . . . . . . . . . . . . . . . . . .
Debugging Screen for Lexium 15 on Fipio . . . . . . . . . . . . . . . . . . . . .
Shared Debug Screen for Lexium 15 . . . . . . . . . . . . . . . . . . . . . . . . .
Speed settings screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Speed Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque Setpoint Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53
55
57
58
59
49
50
51
52
42
43
45
45
35
37
38
39
27
30
33
34
20
21
23
24
14
15
16
19
11
12
7
9
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4
Analog Torque Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Position on External Encoder Screen . . . . . . . . . . . . . . . . . . . . . . . . .
Position setpoint screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motion control screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 7 Replacement of the servodrive. . . . . . . . . . . . . . . . . . . . .
General Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LXM_SAVE Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LXM_RESTORE Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Implementation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 8 Introduction to Lexium 15 servo language objects . . . . .
8.1 Lexium 15 Drive Language Objects and IODDTs . . . . . . . . . . . . . . . .
Presentation of Language Objects of Lexium 15 Servodrives on Fipio
Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Implicit Exchange Language Objects Associated with the Application-
Specific Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Explicit Exchange Language Objects Associated with the Application-
Specific Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Management of Exchanges and Reports with Explicit Objects . . . . . .
8.2 Lexium servo drives IODDT 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
77
78
79
81
85
Details of Implicit Exchange Objects of the T_LEXIUM_FIPIO IODDT:
%I, %IW and %ID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Details of Implicit Exchange Objects of the T_LEXIUM_FIPIO IODDT:
%QW and %QD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Details of Explicit Exchange Objects of the T_LEXIUM_FIPIO IODDT:
8.3 Lexium 15 Servodrive Language Objects . . . . . . . . . . . . . . . . . . . . . .
86
Implicit Exchange Language Objects. . . . . . . . . . . . . . . . . . . . . . . . . .
Explicit Exchange Language Objects. . . . . . . . . . . . . . . . . . . . . . . . . .
99
Chapter 9 Servodrive operating modes . . . . . . . . . . . . . . . . . . . . . .
103
Operating Modes of Servodrive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
91
94
96
97
Status Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Unilink-forced offline mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Downgraded Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
104
105
107
108
Chapter 10 Theoretical performance . . . . . . . . . . . . . . . . . . . . . . . . .
109
Theoretical Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
109
67
68
69
71
60
61
62
63
73
75
76
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Chapter 11 List of Lexium 15 variables . . . . . . . . . . . . . . . . . . . . . .
Lexium 15 Variables: overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General read/write variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Read/Write semi-logical variables . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General read only variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Read-only logic and register status variables . . . . . . . . . . . . . . . . . . .
Read/Write Status Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
111
112
113
117
118
119
120
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
123
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6
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Safety Information
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, service, 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.
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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.
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About the Book
At a Glance
Document Scope
This manual describes how to install hardware and software for Lexium 15 drives on a Fipio bus.
Validity Note
This documentation is valid for EcoStruxure™ Control Expert 14.0 or later.
The technical characteristics of the devices described in the present document also appear online.
To access the information online:
Step
1
2
3
4
5
6
Action
Go to the Schneider Electric home page www.schneider-electric.com
.
In the Search box type the reference of a product or the name of a product range.
Do not include blank spaces in the reference or product range.
To get information on grouping similar modules, use asterisks ( * ).
If you entered a reference, go to the Product Datasheets search results and click on the reference that interests you.
If you entered the name of a product range, go to the Product Ranges search results and click on the product range that interests you.
If more than one reference appears in the Products search results, click on the reference that interests you.
Depending on the size of your screen, you may need to scroll down to see the data sheet.
To save or print a data sheet as a .pdf file, click Download XXX product datasheet.
The characteristics that are presented in the present document should be the same as those characteristics that appear online. In line with our policy of constant improvement, we may revise content over time to improve clarity and accuracy. If you see a difference between the document and online information, use the online information as your reference.
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Related Documents
Title of Documentation
Premium and Atrium Using EcoStruxure™ Control Expert, Fipio Bus,
Setup Manual
Reference Number
35008155 (English),
35008156 (French),
35008157 (German),
35013953 (Italian),
35008158 (Spanish),
35013954 (Chinese)
You can download these technical publications and other technical information from our website at https://www.schneider-electric.com/en/download
Product Related Information
WARNING
UNINTENDED EQUIPMENT OPERATION
The application of this product requires expertise in the design and programming of control systems. Only persons with such expertise should be allowed to program, install, alter, and apply this product.
Follow all local and national safety codes and standards.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
10
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Lexium 15 using EcoStruxure™ Control Expert
Implementation - Fipio
35008159 12/2018
Fipio on LEXIUM 15
Chapter 1
Fipio on LEXIUM 15
Subject of this Chapter
This chapter details the implementation of Fipio on LEXIUM 15
What Is in This Chapter?
This chapter contains the following topics:
Topic
Implementation: overview
Methodology
Page
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Implementation - Fipio
Implementation: overview
Introduction
The Fipio communication option card enables you to connect a Lexium 15 drive on a Fipio bus.
The Fipio option card package consists of:
An option card, reference AM0 FIP 001 V000,
The Fipio accessories and cables comply with the standards referred to in the Schneider
Automation product catalog. References for the necessary elements are detailed in the Hardware implementation
see page 15
chapter.
Compatibility
This card may be used with Lexium 15 servodrives.
Reference
LXM15LD13M3
LXM15LD21M3
LXM15LD28M3
LXM15LU60N4
LXM15LD10N4
LXM15LD17N4
LXM15MD28N4
LXM15MD40N4
LXM15MD56N4
LXM15HC11N4X
LXM15HC20N4X
Permanent output current
3 A clr
6A clr
10 A clr
1.5 A clr
3 A clr
6 A clr
10 A clr
14 A clr
20 A clr
40 A clr
70 A clr
NOTE: Lexium 15 LP compatibility rules :
The software version of the drive must be higher than version V1.4,
Control Expert version V2.3 software can accept a Lexium 15 drive using a specific profile with extended services.
The Unilink version must be higher than V1.5.
Lexium 15 MP/HP compatibility rules :
The software version of the drive must be higher than version V7.0,
Control Expert version V2.3 software can accept a Lexium 15 MP/HP servodrive using a specific profile with extended services,
The Unilink version must be higher than V3.5.
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Compatibility with Option Card Standards
EN61131-2
IEC 1000-4-2
IEC 1000-4-3
IEC 1000-4-5
IEC 1000-4-6
EN55022/55011
UL508
CSA 22-2
Operating temperature
In operation: 0 °C to 60 °C.
En Stockage : -25 °C to 70 °C.
Implementation - Fipio
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Implementation - Fipio
Methodology
Introductory flow chart
The following flow chart summarizes the various phases for implementing a Lexium 15 drive equipped with a Fipio option card in a Fipio network architecture.
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Lexium 15 using EcoStruxure™ Control Expert
Hardware implementation - Fipio
35008159 12/2018
Hardware implementation
Chapter 2
Hardware implementation
Purpose of this chapter
This chapter deals with the material setting of the Fipio option card on the Lexium 15 servodrive
What Is in This Chapter?
This chapter contains the following topics:
Topic
Installation: overview
Assembly precautions
References of Fipio accessories
Connecting to Fipio Bus
Preparation of cables
Connection using the TSX FP ACC12 connector
Connection of TSX FP ACC 2 connectors
Connection to TSX FP ACC 4 junction box
Page
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Hardware implementation - Fipio
Installation: overview
Introduction
Fipio is a field bus which allows the decentralization of the inputs/outputs of a PLC station and its industrial peripheral devices nearest to the operational part.
From a PLC station whose processor has a built-in Fipio link, the Fipio bus is used to connect 1 to
127 devices.
The Fipio field bus can be used in a single architecture (mono-station) or in a more complex architecture (multi-station) where several Fipio segments can be brought together by a local network at a higher level such as Fipway or Ethernet TCP/IP, for example.
Main features (reminder)
Structure
Nature
Topology
Access method
Communication
Privileged exchanges
Open field bus, conforming to World FIP standards.
Devices linked by chaining or branching.
Managed by a bus arbiter.
By exchange of variables which can be accessed by the user in the form of language objects and X-Way datagrams.
Cyclical exchange of status variables and remote input/output commands.
Transmission
Mode
Bit rate
Medium
Physical layer in baseband on shielded twisted pair in accordance with
IEC 1158-2.
1 Mb/s.
Shielded twisted pair (150 Ohms of characteristic impedance).
Configuration
Number of connection points
Number of segments
PLC
Programming terminal
Length
128 logic connection points for the entire architecture.
Unlimited.
One PLC (connection point with address 0).
One programming terminal (must be connected to connection point 63).
The length of a segment depends on its type of branches:
1000 meters maximum without repeater,
1500 meters maximum between the devices which are the furthest apart.
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Typical architecture
Illustration:
Hardware implementation - Fipio
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Hardware implementation - Fipio
Installation
The Fipio option card is not mounted on the servodrive when it is supplied. The card slot for this card (reference X11 on the servodrive) is protected by a cover.
The Fipio option card has a Sub-D 9 male connector and 2 diagnostics LEDs.
The power for this card is supplied by the servodrive.
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Hardware implementation - Fipio
Assembly precautions
Procedure to be followed
Before starting, make sure that the servo drive is switched OFF.
Stage
1
2
3
4
5
Action
Detach the cover from the port intended for the option cards.
Take care to ensure that nothing falls into the open slot.
Carefully place the card into the slot, following the guide rail.
Press down firmly on the card until the card's contact is in contact with the edge of the servo drive. This enables you to make sure that the card is well connected to the servo drive.
Fix the card in place with the 2 knurled screws provided.
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Hardware implementation - Fipio
References of Fipio accessories
Table of References
References for the main accessories
Designation
Polycarbonate female connector (SUB-D 9 pin)
Zamac female connector (SUB-D 9 pin)
IP20-rated isolation box for connection to bus (branching)
IP20-rated isolation box for connection to bus (branching)
IP65-rated dust and damp proof junction box for connection to bus (branching)
IP65-rated dust and damp proof junction box for connection to bus (branching)
Electrical repeater
Electric/fiber optic repeater
Line terminator:
Trunk cable (standard environment)
Trunk cable (harsh environment)
Branch cables
Fipio PCMCIA card for Micro/Premium
Cable for TSX FPP 10/20 PCMCIA card
Cable for PC card
Product Reference
TSX FP ACC 12
TSX FP ACC 2
TSX FP ACC 14
TSX FP ACC 3
TSX FP ACC 4
TBX FP ACC 10
TSX FP ACC 6
TSX FP ACC 8M
TSX FP ACC 7
TSX FP CA •00
TSX FP CR •00
TSX FP CC •00
TSX FPP 10
TSX FP CG 0•0
TSX FP CE 030
NOTE: For more extensive details, please consult the Schneider catalogues.
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Hardware implementation - Fipio
Connecting to Fipio Bus
Introduction
The bus consists of a shielded twisted pair cable.
Connections can be made to the bus either by chaining or branching.
Diagram Showing Station Connections
Wiring by Chaining:
Wiring by Branching:
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Hardware implementation - Fipio
Connection of the Option Card to the Branch Cable
The connection in chaining or branching mode on the AM0 FIP 001 V000 Fipio option card is made using TSX FP ACC12 or TSX FP ACC2 connectors.
Example of connection of the Fipio card by branching.
22
NOTE: The connection or disconnection of the connectors between the TSX FP ACC12 and the
Fipio bus may be altered while the module is powered up. When making any alterations that involve connecting or disconnecting the branching devices, you must make sure that power is switched off.
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Hardware implementation - Fipio
Preparation of cables
Procedure to be followed
Before connecting the auxiliaries, you are advised to prepare the cables by following the steps below:
1 Strip a 5 cm length of sleeve from the cable,
2
3 cut the braid in line with the ground connection, fit the ground connection clamp (the position of the clamp on the cable must take account of the fact that it must be fastened to the connector, to the right or the left of the cable),
4 split apart the liner and the transparent cable strands to free the wires,
5 strip 5 cm from the end of each of these wires and fit them with the end-pieces supplied.
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Hardware implementation - Fipio
Connection using the TSX FP ACC12 connector
General
This connector is used for connections to the FIPIO option card by chaining or branching.
It is important to check for proper electrical continuity when wiring the connector.
Illustration
Illustration of TSX FP ACC 12 connector:
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Hardware implementation - Fipio
Description of TSX FP ACC 12 connector:
6
7
4
5
8
9
2
3
Number
1
Description
SUB-D 9 pin connector with directionable upward or downward cable outlet
Cover
Connection block
Cable shield holding clamp
Fastening screw for TSX FP ACC 12
Ground connection lug
Double wiring ends
Cable cleat
Fastening screw for clamp
When the connector is located at the end of the bus, the cable A is replaced by a standardized TSX
FP ACC 7 line terminator resistor.
For further information, refer to the information sheet supplied with all TSX FP ACC 12 products.
Connections
Identification of signal wire colors:
Reminder: the trunk cable contains a shielded pair: red and green wires, the branch cable contains two shielded pairs: red and green wires for one pair and orange and black wires for the second pair.
Connection by chaining:
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Hardware implementation - Fipio
Connection by branching:
Line terminator:
DANGER
ELECTRICK SHOCK
Before disconnecting the TSX FP ACC 12 from a device, ensure that is is grounded to the local ground or take appropriate electrical insulation measures.
Failure to follow these instructions will result in death or serious injury.
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Hardware implementation - Fipio
Connection of TSX FP ACC 2 connectors
Installation
The different cables are connected using a screw terminal block. The procedure for installation is as follows:
Stage Action
1 Open the connector
2 Prepare the cables ( see page 23 )
, then tighten the connection for each wire on the screw terminal block, observing the requirements for the pairing and polarity of wires: Red (+) / Green (-) and
Orange (+) / Black (-). The wiring diagrams below show the two types of connection possible: by chaining or branching.
3 Fasten the ground connection clamp(s) to the connector taking care not to pinch the wires.
4 Remove the blank(s) on the cover to allow the cables to be passed through.
5 Replace the cover and fasten it in place.
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Hardware implementation - Fipio
Connection by chaining
If the device to which the connector is fitted is positioned at the start or the end of the FIPIO segment, only cable 1 is connected to the junction box. If this is the case, cable 2 must be replaced by a TSX FP ACC 7 non-polarized line terminator.
The fastening system for the ground connection clamps prevents cables arriving opposite each other. They must either arrive from the same direction (left or right), or be offset.
Illustration of connection by chaining:
28
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Hardware implementation - Fipio
Connection by branching
In the drawing below, cable 1 is a branch cable of type TSX FP CC•••. If the branch is made using
2 TSX FP CA/CR••• type cables, the connection is made in the same way as for chaining.
In this type of configuration, the cable can either arrive from the left or the right, or from above or below.
Illustration of connection by branching:
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Hardware implementation - Fipio
Connection to TSX FP ACC 4 junction box
Implementation
The different cables are connected using screw terminal blocks, with one terminal block per twisted pair. The installation procedure is as follows:
Step
1
2
3
4
5
6
Action
Open the junction box
Prepare the cables ( see page 23 ) , then pass them through the stuffing box
Fit a ground connection clamp to each cable. The position of the clamp on each cable must take into account its attachment to the junction box (to the right or the left of the cable)
Tighten the connection for each wire on the screw terminal block observing the requirements for the pairing and polarity of wires: Red (D+) / Green (D-) or Orange (D+) / Black (D-)
Fasten the ground connection clamps, then tighten the stuffing box through which a cable or line terminator has been threaded
Replace the cover and fasten it into place.
Possible connections
The TSX FP ACC 4 junction box also has a 9-pin female connector which can be used to connect a type 3 PCMCIA device: TSX FPP 10, TSX FPP 20.
Two types of connection are possible: branching and chaining.
Branching with TSX FP CC •00 branch cable
30
In this case, the branch must be connected as shown above. The user may also connect a programming terminal to the SUB-D connector after having loosened the plug by a quarter turn.
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Hardware implementation - Fipio
In this example, the branch cable exits through the left stuffing box. It is also possible to allow it to exit from the right side.
Chaining carried out with the TSX FP CA •00/CR•00 trunk cable
In this case, the branches must be connected as shown above. The user may also connect a programming terminal to the SUB-D connector after having loosened the plug by a quarter turn.
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Hardware implementation - Fipio
Connection of a terminator
If the box is positioned at the start or end of the segment, only T1 cable is connected and a TSX
FP ACC 7 terminator (non-polarized) is connected instead of the second cable segment.
The connection is made as shown below:
32
1 TSX FP CA •00/CR •00 trunk cable
2 TSX FP CC •00 branch cable
5 TSX FP ACC 7 line terminator
(+) Corresponds to red or orange wire
(-) Corresponds to green or black wire
NOTE: For connection of TSX FP ACC 3 and TSX FP ACC 14 boxes, refer to the general Fipio documentation.
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Software implementation - Fipio
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Software implementation
Chapter 3
Software implementation
Subject of this Chapter
This chapter describes the general communication function on Fipio.
What Is in This Chapter?
This chapter contains the following topics:
Topic
Overview
Operation of servodrive on the bus
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Software implementation - Fipio
Overview
Introduction
A device on the Fipio field bus is identified by its connection point.
The number of the connection point represents the physical address of the equipment on the bus and takes a value between 0 and 127. For the Lexium 15 servodrive, this value is limited to 62.
Address 0 is exclusively reserved for the bus manager PLC.
Address 63 is reserved for the programming terminal. This specific address allows the terminal to access any network architecture without the need for prior configuration.
All other addresses can be used by any devices that can be connected to the FIPIO bus, but must have been configured in advance using the programming software
Bus arbiter
On a FIPIO bus, a single manager PLC authorizes data exchanges. This PLC is the active bus arbiter, and is responsible for managing access to the medium.
The task of the bus arbiter is to scroll through the list of messages to be sent and to allocate the word for the aperiodic exchanges of variables and messages requested.
The list of cyclic exchanges followed by the windows allocated for the aperiodic traffic form a macrocycle. The active bus arbiter scans this macrocycle, and repeats this task to infinity.
On a FIPIO bus, the macrocycle is linked to the exchange requirements of the application program.
In particular, this makes it possible to:
scan the status and command variables of the devices while meeting requirements to update
PLC tasks, allocate an aperiodic exchange window to variables for the configuration, management and diagnostics of remote devices, allocate an aperiodic exchange window to messages to be shared between all devices using a messaging service (this window allows 20 messages of 128 bytes to be exchanged per second, with this rate rising to 50 messages per second for messages of 32 bytes).
All these functions are automatically supported by the system when the bus is configured.
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Software implementation - Fipio
Operation of servodrive on the bus
Introduction
The Lexium 15 servodrive appears on the Fipio bus as a slave station.
The Lexium 15 servodrive can exchange information over Fipio either by aperiodic exchange or by
cyclic exchange. These exchanges
command and status, debug, diagnostics.
see page 75
make it possible to access the following information:
Reading and writing of configuration parameters,
Overview of exchanges possible between the processor and Lexium 15 :
Replacement of Defective Servodrive
This service allows you to save and restore all parameters of the servodrive and the programmed
Motion tasks using two instructions.
This function allows you to replace a defective servodrive
Unilink software.
see page 67
without having to use
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Software implementation - Fipio
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Lexium 15 using EcoStruxure™ Control Expert
Premium command station: Overview
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Premium Command Station
Chapter 4
Premium Command Station
Purpose of this chapter
This chapter shows how to position the various communication modes allowing access to the servodrive.
What Is in This Chapter?
This chapter contains the following topics:
Topic
Command Station
Addressing of Remote Module Language Objects on a FIPIO Bus
Configuration
Use of messaging
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Premium command station: Overview
Command Station
Overview
An application is installed on a Premium or Atrium PLC by means of the Control Expert software workshop.
Depending on the version of Control Expert software, the services available will differ:
Software version V1.1: configuration of drives with customized services and profile.
The installation is carried out in two parts:
Station configuration,
Writing PLC tasks (using messaging).
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Addressing of Remote Module Language Objects on a FIPIO Bus
At a Glance
The addressing of the main bit and word objects of remote modules on the Fipio bus is performed on a geographical basis. That means that it depends on:
The connection point,
The type of module (base or extended),
The channel number.
Illustration
Addressing is defined in the following way:
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Premium command station: Overview
Syntax
The table below describes the different elements that make up addressing.
Family
Symbol
Object type
Format (size)
Module/channel address and connection point
Rack No.
Module No.
Channel No.
r m c b e
W
D
F
I
Q
Element Values
% -
-
-
M
K
X
-
-
-
Meaning
Image of the physical input of the module.
Image of the physical output of the module.
This information is exchanged automatically for each cycle of the task to which they are attached.
Internal variable
This read or write information is exchanged at the request of the project.
Internal constant
This configuration information is available as read only.
-
16 Bit
32 Bit
32 Bit
Boolean
For Boolean objects the X can be omitted.
Single length.
Double length.
Floating point. The floating point format used is the IEEE Std 754-1985 standard (equivalent to IEC 559).
2 Bus number.
1 to 127 Connection point number.
Channel data No. d
0
0 or 1
0 to 999 or MOD
0 to 999 or ERR
Virtual rack number:
0: base module, 1: extension module.
MOD: channel reserved for managing the module and parameters common to all the channels.
ERR: Used to read a module or channel fault.
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Examples
The table below shows some examples of addressing objects.
Object
%MW\2.1\0.0.5.2
%I\2.1\0.0.7
%Q\2.1\0.1.2
Meaning
Status word at rank 2 of the image bit of input 5 of the remote input base module situated at connection point 1 on the Fipio bus.
Image bit of input 7 of remote input base module situated at connection point 1 on the Fipio bus.
Image bit of output 2 of the remote output extension module situated at connection point 1 on the Fipio bus.
%I\2.2\0.0.MOD.ERR Fault information for Momentum module situated at connection point 2 on the Fipio bus.
%I\2.3\0.0.0.ERR
Fault information for channel 0 of Magelis module situated at connection point 3 on the Fipio bus.
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Premium command station: Overview
Configuration
Introduction
A Lexium 15 servodrive configured and implemented using Control Expert software will benefit from the following specific services:
A customized debugging screen,
A customized interface language,
Pre-symbolization,
Specific services (e.g.: replacement of defective servodrive)
Configuration
The following table describes the procedure to be followed to configure a Lexium 15 drive on a
Fipio bus.
Step
1
2
Action
Access (see Premium and Atrium Using EcoStruxure™ Control Expert, Fipio Bus, Setup Manual) the Fipio bus configuration screen
Fipio Bus, Setup Manual) .
(see Premium and Atrium Using EcoStruxure™ Control Expert,
Add (see Premium and Atrium Using EcoStruxure™ Control Expert, Fipio Bus, Setup Manual)
Lexium 15 servodrive on the bus.
Note: Select the desired device in the Lexium model family under Lexium drop.
Note: Lexium 15 servodrives cannot be connected to connection points higher than 64.
a
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Premium command station: Overview
Use of messaging
Introduction
The servodrive is seen as a module without parameters.
To access all the servodrive parameters (position loops, speed loops, current loops, motor parameters, monitoring parameters) and to load the Motion tasks, use the services for reading/writing messaging variables.
Two examples of application for a Lexium 15 drive are given in the paragraphs below.
Read Command
The READ_VAR function enables a read request to be performed using messaging over Fipio.
The example below shows the use of the READ_VAR function in the Premium environment.
IF %M206 THEN
READ_VAR (ADDR('\2.1\SYS'),'%MD',2,1,%MW100:4,%MW0:2);
RESET %M206;
END_IF;
The following table explains the parameters:
(ADDR('\2.1\SYS') Fipio address of servodrive:
2 = Fipio channel address,
1 = servodrive connection point on Fipio bus.
'%MD' Type of object to be exchanged (for Lexium 15: always %MW or %MD ).
2
(ACCR)
1
%MW100:4
%MW0:2
Coding of object to be read: for the servodrive, this code will be the identifier of the corresponding ASCII command
( see page 111 ) (the full list of Lexium 15 variables
is available on the CD-ROM provided with every Lexium 15 servodrive).
Number of objects to be read
Address of communication report (4 words).
Read 2 words starting from %MW0 .
Important
Certain parametrs are coded into two 16-bit registers (these are DW double words). To perform a read of contiguous registers, first make sure that the registers are of the same type (single word:
W or double word: DW).
Note : Double words cannot be truncated.
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Premium command station: Overview
Write Command
The WRITE_VAR function enables a write request to be performed using messaging over Fipio.
The examples below show the use of the WRITE_VAR function:
IF %M209 THEN
WRITE_VAR (ADDR('\2.1\SYS'),'%MW',11,1,%MW0:2,%MW100:4);
RESET %M209;
END_IF;
Example of how to write an ASCII command in double word format:
IF %M209 THEN
WRITE_VAR (ADDR('\2.1\SYS'),'%MD',3,1,%MW0:2,%MW100:4);
RESET %M209;
END_IF;
The following table explains the parameters:
(ADDR('\2.1\SYS') Fipio address of servodrive:
2 = Fipio channel address,
1 = servodrive connection point on Fipio bus.
Type of object to be exchanged (for Lexium 15: always %MW or %MD ).
'%MW' or '%MD'
11 or 3
(ANOFF1)
1
%MW0:2
Coding of object to be read: for the servodrive, this code will be the identifier of the corresponding ASCII command
Number of objects to be written.
Read 2 words starting from %MW0 .
) (the full list of Lexium 15 variables
is also available on the CD-ROM provided with every Lexium 15 servodrive).
%MW100:4 Address of communication report (4 words).
Reading Status
The status of the Lexium 15 servodrive can be read using the READ_STS (see EcoStruxure™
Control Expert, I/O Management, Block Library) instruction.
Other Instructions
The LXM_SAVE and LXM_RESTORE instructions are used for the Defective Lexium
see page 67
module replacement service.
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Lexium 15 configuration
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Lexium 15 configuration: parameters
Chapter 5
Lexium 15 configuration: parameters
Configuration parameters
Introduction
The Lexium 15 drives control their own operating mode. They configure themselves automatically on power-up by retrieving the information held in their own internal Flash memory. The parameters are entered in the following screens.
FIPIO address
The address of the servodrive on the FIPIO bus is created from the base adjustment screen of the
Unilink software. Possible address values are: 1 to 62.
View of the window used to configure the FIPIO address:
NOTE: The baud rate does not need to be entered. It is calculated automatically.
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Lexium 15 configuration
Additional parameters
The servodrive communication parameters must be inserted in the Unilink software's FIBIO screen
(except the FIPIO address). This screen is accessible as soon as Unilink is connected to a servodrive that includes the FIPIO card option.
The Unilink software FIPIO screen :
The following table describes the different parameters of the "FIPIO" screen.
Parameter ASCII command
Lexium 15 LP
ADDR FIPIO
Address (1)
Input
TimeOut (2)
BUSP4
Lexium 15 MP/HP
ADDR -
Identifier Range of
Values
1-62
TO_IN 413
Output
TimeOut (3)
FIPIO
DPR
Drive
BUSP5
BUSP9 (4)
DPRSTATE (5)
TO_OUT
MBPSTATE (4)
DPRSTATE (5)
MBPDRVSTAT (6) MBPDRVSTAT (6) -
-
-
414
Error Access Note
1 Read Node address
20 ms, 32 ms,
64 ms, 256 ms,
1 s, 4 s
32 ms, 64 ms,
256 ms, 1 s, 4 s
-
-
1-100
20 ms Read/
Write
-
-
0
256 ms Read/
Write
0
Read
Read
Read
-
16 bit length
16 bit length
16 bit length
(1) The address on the FIPIO bus is configured in the "Basic Settings" screen of Unilink. Possible address values range from 1 to 62.
The FIPIO address may also be configured using the dialogue (display and BP) in front, before the servodrive.
(2) Input TimeOut: maximum response time of the servodrive
(3) Output TimeOut: maximum update time for %QW words
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Lexium 15 configuration
2
3
0
1
4
(4) MBPSTATE:
State read by Unilink, updated by the FIPIO card, which allows the servodrive to know the state of the FIPIO card.
Description of the different states of MBPSTATE/BUSP9:
Card not configured
Card in Run
Card not communicating (STOP)
Network communication fault
DPRAM communication fault
(5) DPRSTATE:
0
80
81
82
Initialization of FIPIO card
Nominal phase no message
Receiving message
Sending response
(6) MBPDRVSTAT:
State read by Unilink, updated by the servodrive, which allows the FIPIO card to know the state of the servodrive. Write-accessible through the ASCII MBPDRVSTAT command.
Description of the different MBPDRVSTAT statuses:
1H
2H servodrive ready
Network communication fault
4H DPRAM communication fault
8H MBPNTO (*) Communication fault: network unknown
(*) MBPNTO = 0 communication defect reported to the servodrive.
MBPNTO = 1 communication fault unknown to servodrive, write-accessible
via the ASCII MBPDRVSTAT command.
Either MBPDRVSTAT = 16#08 for MBPNTO = 1
or MBPDRVSTAT = 16#00 for MBPNTO = 0
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Lexium 15 configuration
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Lexium 15 using EcoStruxure™ Control Expert
Debugging and diagnostics
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Debugging and diagnostics
Chapter 6
Debugging and diagnostics
Purpose of this chapter
This chapter discusses the adjustments and diagnostics of the Lexium 15 servodrives on a FIPIO bus.
What Is in This Chapter?
This chapter contains the following topics:
Topic
Diagnostics of FIPIO option card
Lexium 15 Parameters in Unilink Software
Diagnostics by READ_STS Instruction
Debugging Screen for Lexium 15 on Fipio
Shared Debug Screen for Lexium 15
Speed settings screen
Analog Speed Screen
Torque Setpoint Screen
Analog Torque Screen
Position on External Encoder Screen
Position setpoint screen
Motion control screens
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Debugging and diagnostics
Diagnostics of FIPIO option card
Diagnostics
The FIPIO option card has two indicator LEDs to facilitate diagnostics. Their meanings are stated below.
COM LED
Status
Off
Flashing
Meaning
No communication
Communication established.
ERR LED
Status
Off
Flashing
Fixed on
Meaning
Normal operation
Card not configured or communication error
Faulty module
NOTE: During the initialization phase on power up, the ERR LED and COM LED flash.
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Debugging and diagnostics
Lexium 15 Parameters in Unilink Software
Servodrive status
The Lexium 15 servodrive uses three parameters, which allow the drive and Fipio option card status to be seen.
These parameters can be accessed :
Via the Unilink software terminal or any terminal. The ACII commands associated with these
parameters are described in the table (
see page 46
.
Via the Unilink software screens (Fipio card parameters (
see page 45
window) :
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Debugging and diagnostics
Diagnostics by READ_STS Instruction
Introduction
It is possible to read the status of the drive from the Control Expert software by using the
READ_STS instruction.
Syntax
The syntax of the READ_STS instruction is as follows :
READ_STS(%CH\2.e\r.m.c)
Description
The following table describes the different elements that are part of the instruction.
r m
Element
READ_STS
%CH
2.e
c
Description
Name of the instruction.
Channel-type object.
Module/channel address and connection point ( 2.e
for Lexium 15).
Virtual rack number ( 0 for Lexium 15).
Module number ( 0 for Lexium 15).
Channel number ( 0 for Lexium 15) or MOD .
Examples
The following table shows the two examples applied to Lexium 15.
Object
READ_STS %CH\2.1\0.0.MOD
READ_STS %CH\2.1\0.0.0
Description
Read servodrive module status.
Read servodrive channel status.
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Debugging and diagnostics
Debugging Screen for Lexium 15 on Fipio
Overview
This screen (see Premium and Atrium Using EcoStruxure™ Control Expert, Fipio Bus, Setup
Manual) , featuring several zones, is used to access the debugging function for Lexium 15 servodrives on a Fipio bus.
Illustration
The following figure shows the debugging screen for a Lexium 15 servodrive on a Fipio bus.
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Debugging and diagnostics
Description
The following table shows the different elements of the debug screen and their functions.
Reference Element
1 Tabs
2
3
4
5
Module zone
Channel zone
Function
The tab in the foreground indicates the current mode (Debug in this example).
Every mode can be selected using the respective tab.
The available modes are :
Configuration,
Debug, accessible only in Online mode,
Fault (channel level) accessible only in online mode.
Gives a reminder of the device’s shortened name.
In online mode, this zone also includes the three LEDs Run, Err, IO.
Allows you :
By clicking on the device reference number, to display the tabs :
Description which gives the characteristics of the device,
I/O Objects (see EcoStruxure™ Control Expert, Operating Modes) which is used to presymbolize the input/output objects,
Fault which shows the device faults (only accessible in online mode).
To display the Symbol, which is the name of the channel defined by the user
(using the variable editor).
These parameters are accessible in Configuration mode. In Debug mode they are grayed out.
General parameters zone
Current parameters zone
This zone depends on the operating mode selected from the OPMODE drop-down list. It is broken down into two sections :
A shared screen ( see page 55 ) ,
A panel specific to the operating mode.
The available operating modes are given below :
0 : Speed setpoint
1 : Analog speed
2 : Torque setpoint
4 : Position on external encoder
5 : Position setpoint
,
8 : Motion control
With DIRECT MOVE inactive,
With DIRECT MOVE active.
:
,
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Shared Debug Screen for Lexium 15
Introduction
The following figure shows the shared zone of the screen for debugging the Lexium 15 drive on a
Fipio bus.
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Debugging and diagnostics
Description
The following table shows the different elements of the shared zone of the debug screen and their functions.
Zone Description
Operating mode This zone consists of :
An OPMODE drop-down list to select the operating mode,
An LED which is orange when the Lexium 15 is in Offline (local) mode.
Fast stop This zone consists of :
A switch which can be positioned to :
OFF to deactivate stop,
ON to activate stop,
An External stop check box, which indicates acknowledgement by Lexium 15 :
Check box not checked = not active,
Check box checked = active.
Acknowledgment This zone is used to view and acknowledge faults and alarms. It consists of :
An LED which turns orange to indicate a fault,
An LED which turns orange to indicate an alarm,
Two acknowledgment buttons with the following meaning :
Button not pressed = not acknowledged,
Button pressed = acknowledged.
DRIVECOM This zone consists of :
The Drive status field, which displays the current status of the Lexium 15 (in hex),
The 4 buttons Power authorized, Unlocked, Movement authorized and Control enabled which can be used to change the drive status with the following significance :
Button not pressed = not active,
Button pressed = active.
Discrete I/O
Analog I/O
Current value
The Drive status field, which displays the current status of the servodrive.
Zone which uses a series of check boxes to display the state of the discrete I/Os of the
Lexium 15 and which has the following significance:
Check box not checked = 0,
Check box checked = 1.
Zone which displays the values of the 2 analog inputs and the 2 analog outputs (in signed decimal) of the Lexium 15.
Zone which displays the Position, Speed and Current values of the Lexium 15, as well as the value of the External coder position (where used). These values are expressed in signed decimal (the unit is indicated to the right of the value).
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Speed settings screen
Introduction
A specific panel appears at the bottom of the debug window when the operating mode Speed setpoint is selected. This mode allows to finish a velocity and to launch the servodrive from this velocity.
The panel looks like this:
Description
This window consists of:
an entry field for entering the speed setpoint in signed decimal a servodrive stop operation switch a start button of the servodrive at the defined velocity
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Debugging and diagnostics
Analog Speed Screen
Introduction
A specific panel appears at the bottom of the debug window when the Analog speed operating mode is selected. This mode is used to start the servodrive at a speed set as +/- 10V via the analog inputs of the servodrive.
The panel looks like this:
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Torque Setpoint Screen
Introduction
A specific panel appears at the bottom of the debug window when the Torque setpoint operating mode is selected. This mode is used to set a torque and start the servodrive at this torque.
The panel looks like this:
Description
This window consists of:
An entry field for entering the current setpoint in signed decimal,
A button to start the servodrive with the set torque.
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Debugging and diagnostics
Analog Torque Screen
Introduction
A specific panel appears at the bottom of the debug window when the Analog torque operating mode is selected. This mode is used to start the servodrive with torque set as a current loop via the analog inputs of the servodrive.
The panel looks like this:
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Position on External Encoder Screen
Introduction
A specific panel appears at the bottom of the debug window when the Position on external encoder operating mode is selected. The following error is also displayed in the Current value zone of the shared window. This mode is used with the Electrical shaft function (see the Unilink and Unilink
MH programming guides).
The panel looks like this:
Description
This operating mode displays the following error in the Current value field of the main window.
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Debugging and diagnostics
Position setpoint screen
Introduction
A specific panel appears at the bottom of the debug window when the Position setpoint operating mode is selected. The following error is also displayed in the Current value zone of the shared window. This mode is used for setting the servodrive to a defined value.
The panel looks like this:
Description
This window consists of:
The position to be reached a servodrive stop operation switch (without effect) a servodrive start switch (without effect) in addition, the following error value is displayed in the Current value zone of the main window
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Debugging and diagnostics
Motion control screens
Introduction
This mode has two sub-modes:
without DIRECT MOVE with DIRECT MOVE
DIRECT MOVE is enabled using the button which appears in the Operate mode zone when:
Motion control is selected.
Illustration with DIRECT MOVE activated :
Without DIRECT MOVE
A specific panel appears at the bottom of the debug window when the DIRECT MOVE operational sub-mode is not active. The following error is also displayed in the Current value zone of the shared window. This mode is used to send a task to be carried out by Lexium 15. It also allows setting of references and launching of a JOG to a given speed.
The panel looks like this:
This window consists of:
a Reference point zone: click on the button to launch the process to set a reference point. An indicator shows the status of the reference setting.
a control zone used to launch a task an on/off switch to stop the motion in progress: Pause a start button to launch a task
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Debugging and diagnostics
a zone relating to the task to be launched consisting of:
a task data entry zone for the task to be launched:
a zone displaying the task in progress two task progress indicators a zone relating to the JOG consisting of:
an entry field for entering the JOG speed (VJOG) in signed decimal
a button to start the JOG a JOG progress indicator in addition, the following error value is displayed in the Current value zone of the main window
With DIRECT MOVE
A specific panel appears at the bottom of the debug window when the DIRECT MOVE operational sub-mode is active. The following error is also displayed in the Current value zone of the shared window. This mode is used for sending different types of movements to be executed by the
Lexium 15. It also allows reference setting and various detailed adjustemts as described below.
The panel looks like this:
64
This window consists of:
a Reference point zone: click on the button to launch the process to set a reference point. An indicator shows the status of the reference setting.
a pick list for the following types of movement:
Absolute
Relative to last setpoint
Relative to current position
Relative to position captured on falling edge
Relative to position captured on rising edge
Relative to IN_POSITION
an on/off switch
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Debugging and diagnostics
a start button to launch the movement a zone relating to position and speed consisting of:
an entry field for entering the position in signed decimal an entry field for entering the speed in signed decimal
a switch to select display of speed and position in units or in increments a switch to choose the type of input: analog or setpoint a zone relating to acceleration and deceleration consisting of:
an entry field for entering the acceleration in signed decimal
an entry field for entering the deceleration in signed decimal a switch to display acceleration and deceleration in mm/s 2 or in ms in addition, the following error value is displayed in the Current value zone of the main window
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Debugging and diagnostics
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Lexium 15 using EcoStruxure™ Control Expert
Replacement of the Lexium 15 servodrive
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Replacement of the servodrive
Chapter 7
Replacement of the servodrive
Purpose of this chapter
This chapter deals with the operations to be performed to replace a Lexium 15 drive, if, for example, the drive is defective.
What Is in This Chapter?
This chapter contains the following topics:
Topic
General Introduction
LXM_SAVE Function
LXM_RESTORE Function
Implementation
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Replacement of the Lexium 15 servodrive
General Introduction
Overview
Servodrive replacement allows you to save and restore the parameters of the servodrives on the
Fipio bus.
When a servodrive is defective it can be replaced without having to use Unilink software.
Principle
To perform this operation, two functions are available : these are the functions LXM_SAVE and
LXM_RESTORE which enable you to save and restore the parameters and tasks of the Lexium 15.
These functions are available in the Control Expert library, in the Lexium 15 family.
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LXM_SAVE Function
Introduction
This function is used to save the parameters or tasks of the Lexium 15.
Syntax
The syntax of this function is as follows:
To save the parameters of the LexiumLexium 15:
LXM_SAVE (ADDR('\2.e\SYS', 'P', %MWg:h, %MWx:y)
To save the Lexium 15 tasks:
LXM_SAVE (ADDR('\2.e\SYS', 'MT', %MWg:h, %MWx:y)
The following table describes the function's different parameters.
Parameter
ADDR('\b.e\SYS'
'P' or 'MT'
%MWx:y
%MWg:h
Description
Address of the connection point of Fipio card number e.
Type of object to be saved :
'P' = parameters,
'MT' = tasks (Motion tasks).
Word zone where data will be saved.
Word zone to which exchange management information will be written
(minimum of 14 words).
The following table describes the management information.
Word number Most Significant Byte
%MWg Exchange number.
%MWg+1
%MWg+2
Operation report.
Timeout.
%MWg+3
%MWg+4 -
Length.
The words %MWg+5 to %MWg+13 are reserved.
-
Least Significant Byte
Communication report.
Timeout.
Length.
Activity bit.
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Replacement of the Lexium 15 servodrive
Description of Reports
The following table shows the main report descriptions depending on the values returned.
Description
The address format is incorrect.
The type of object is different from 'P' or 'MT' .
The management parameters are less than 14 words long.
The frame received from the Fipio card does not contain any data.
The frame received from the Fipio card is of an incorrect length.
The frame received from the Fipio card contains the response code FD .
(1)
The length of the word zone is insufficient to save data.
(2)
Incorrect response from Lexium.
Memory capacity of Fipio card on Lexium 15 exceeded.
Operation report value Communication report value
16#00
16#00
16#00
16#03
16#01
16#00
16#32
16#33
16#03
16#06
16#05
16#00
16#00
16#09
16#00
16#00
Key:
(1)
(2)
For example, when another request is being processed.
In this case, the minimum number of bytes required to save the data is specified in the word %MWg+3 .
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LXM_RESTORE Function
Introduction
This function is used to restore the parameters or tasks of the Lexium 15.
Syntax
The syntax of this function is as follows :
To restore the parameters of the Lexium 15 :
LXM_RESTORE (ADDR('\2.e\SYS'), 'P', %MWx:y, %MWg:h)
To restore the tasks of the Lexium 15 :
LXM_RESTORE (ADDR('\2.e\SYS'), 'MT', %MWx:y, %MWg:h)
The following table describes the function's different parameters.
Parameter
(ADDR('\2.e\SYS')
'P' or 'MT'
%MWx:y
%MWg:h
Description
Address of the connection point of Fipio card number e.
Type of object to be restored :
'P' = parameters,
'MT' = tasks (Motion tasks).
Word zone where the data is stored and from which it will be restored.
Word zone to which exchange management information will be written
(minimum of 14 words).
The following table describes the management information.
Word number Most Significant Byte
%MWg Exchange number.
%MWg+1
%MWg+2
Operation report.
Timeout.
%MWg+3
%MWg+4 -
Length.
The words %MWg+5 to %MWg+13 are reserved.
-
Least Significant Byte
Communication report.
Timeout.
Length.
Activity bit.
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Description of Reports
The following table shows the main report descriptions depending on the values returned.
Description
The address format is incorrect.
Operation report value Communication report value
16#00 16#03
The type of object is different to ‘P’ or ‘MT’.
16#00
The management parameters are less than 14 words long. 16#00
16#03
16#06
16#05
16#00 The frame received from the Fipio card does not contain any data.
The frame received from the Fipio card is of an incorrect length.
16#01 16#00 The frame received from the Fipio card contains the response code FD .
(1)
The length of the word zone where the data is stored is insufficient.
(2)
The checksum of the word zone where the data is stored is incorrect.
The type of Lexium 15 on the Fipio bus is different from the one whose parameters have been saved.
16#00
16#30
16#31
16#0A
16#00
16#00
Incorrect response from Lexium 15.
Memory capacity of Fipio card on Lexium 15 exceeded.
Incorrect type of memory zone.
16#32
16#33
16#34
16#00
16#00
16#00
Key :
(1)
(2)
For example, when another request is being processed.
In this case, the minimum number of bytes required to restore the data is specified in the word %MWg+3 .
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Implementation
Procedure
The following table describes the procedure to be followed to implement the defective drive replacement function.
Step
1
2
3
4
5
Action
Save Lexium 15 parameters and tasks in the PLC application.
Run servodrive hardware fault detection.
Replacement of defective servodrive.
Adjust servodrive address on front panel.
Restore parameters and tasks of servodrive from PLC application.
Example:
Example of how to program the function:
! (* SAVE PARAMETERS *)
IF %M0 THEN
LXM_SAVE(ADDR('\2.1\SYS'),'P',%MW100:14,%MW500:780);
RESET %M0;
END_IF;
! (* RESTORE PARAMETERS *)
IF %M1 THEN
LXM_RESTORE(ADDR('\2.1\SYS'),'P',%MW500:780,%MW100:14);
RESET %M1;
END_IF;
! (* SAVE TASK *)
IF %M2 THEN
LXM_SAVE(ADDR('\2.1\SYS'),'MT',%MW100:14,%MW500:120);
RESET %M2;
END_IF;
! (* RESTORE TASK *)
IF %M3 THEN
LXM_RESTORE(ADDR('\2.1\SYS'),'MT',%MW500:120,%MW100:14);
RESET %M3;
END_IF;
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Introduction to Lexium 15 servo language objects
Chapter 8
Introduction to Lexium 15 servo language objects
Purpose of this chapter
This chapter describes the language objects associated with Lexium 15 servo drives on a Fipio bus.
What Is in This Chapter?
This chapter contains the following sections:
Section
8.1
8.2
8.3
Topic
Lexium 15 Drive Language Objects and IODDTs
Lexium servo drives IODDT 15
Lexium 15 Servodrive Language Objects
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Language objects
Lexium 15 Drive Language Objects and IODDTs
Section 8.1
Lexium 15 Drive Language Objects and IODDTs
Purpose of this Section
This section presents general information about language objects and IODDTs of Lexium 15 drives on a Fipio bus.
What Is in This Section?
This section contains the following topics:
Topic
Presentation of Language Objects of Lexium 15 Servodrives on Fipio Bus
Implicit Exchange Language Objects Associated with the Application-Specific Function
Explicit Exchange Language Objects Associated with the Application-Specific Function
Management of Exchanges and Reports with Explicit Objects
Page
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Presentation of Language Objects of Lexium 15 Servodrives on Fipio Bus
Overview
Lexium 15 servodrives on a Fipio bus have an associated IODDT:
T_LEXIUM_FIPIO .
The IODDTs are predefined by the manufacturer. They contain input/output language objects belonging to a channel of an application-specific module.
NOTE: The language objects that are not detailed in the Lexium 15 IODDT are described in a specific chapter
see page 96
NOTE: IODDT variables can be created in two different ways:
Tab I/O objects
Data Editor.
(see EcoStruxure™ Control Expert, Operating Modes) ,
Language Object Types
Each IODDT contains a set of language objects allowing its operation to be controlled and checked.
There are two types of language objects:
Implicit exchange objects, which are automatically exchanged on each cycle of the task associated with the module,
Explicit exchange objects, which are exchanged when requested to do so by the project, using explicit exchange instructions.
Implicit exchanges are related to the module inputs/outputs: process value results, information and commands.
Explicit exchanges allow module parametering and diagnostics.
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Implicit Exchange Language Objects Associated with the Application-Specific Function
At a Glance
An integrated application-specific interface or the addition of a module automatically enhances the language objects application used to program this interface or module.
These objects correspond to the input/output images and software data of the module or integrated application-specific interface.
Reminders
The module inputs ( %I and %IW ) are updated in the PLC memory at the start of the task, the PLC being in RUN or STOP mode.
The outputs ( %Q and %QW ) are updated at the end of the task, only when the PLC is in RUN mode.
NOTE: When the task occurs in STOP mode, either of the following are possible, depending on the configuration selected:
outputs are set to fallback position (fallback mode) outputs are maintained at their last value (maintain mode)
Figure
The following diagram shows the operating cycle of a PLC task (cyclical execution).
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Explicit Exchange Language Objects Associated with the Application-Specific Function
At a Glance
Explicit exchanges are exchanges performed at the user program's request, and using instructions:
READ_STS words)
(see EcoStruxure™ Control Expert, I/O Management, Block Library)
WRITE_CMD
SAVE_PARAM adjustment parameters)
RESTORE_PARAM
(restore adjustment parameters)
(read status
(see EcoStruxure™ Control Expert, I/O Management, Block Library) command words)
WRITE_PARAM adjustment parameters)
READ_PARAM
(write
(see EcoStruxure™ Control Expert, I/O Management, Block Library)
(see EcoStruxure™ Control Expert, I/O Management, Block Library) adjustment parameters)
(see EcoStruxure™ Control Expert, I/O Management, Block Library)
(write
(read
(save
(see EcoStruxure™ Control Expert, I/O Management, Block Library)
These exchanges apply to a set of %MW objects of the same type (status, commands or parameters) that belong to a channel.
NOTE: These objects provide information about the module (e.g., type of channel fault, etc.), and are used to control the modules and to define their operating modes (saving and restoring currently applied adjustment parameters).
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Language objects
General Principle For Using Explicit Instructions
The diagram below shows the different types of explicit exchanges that can be made between the processor and module.
Managing exchanges
During an explicit exchange, it is necessary to check its performance in order that data is only taken into account when the exchange has been correctly executed.
To do this, two types of information are available:
information concerning the exchange in progress
see page 84
see page 84
The following diagram describes the management principle for an exchange:
80
NOTE: In order to avoid several simultaneous explicit exchanges for the same channel, it is necessary to test the value of the word EXCH_STS ( %MWr.m.c.0
) of the IODDT associated to the channel before to call any EF using this channel.
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Language objects
Management of Exchanges and Reports with Explicit Objects
At a Glance
When data is exchanged between the PCL memory and the module, the module may require several task cycles to acknowledge this information. All IODDTs use two words to manage exchanges:
EXCH_STS (%MW\2.e\0.m.c.0): exchange in progress
EXCH_RPT (%MW\2.e\0.m.c.1): report
NOTE: Depending on the localization of the module, the management of the explicit exchanges
(%MW0.0.MOD.0.0 for example)will not be detected by the application:
For in-rack modules, explicit exchanges are done immediately on the local PLC Bus and are finished before the end of the execution task. So, the READ_STS , for example, is always finished
when the %MW0.0.MOD.0.0 bit is checked by the application.
For remote bus (Fipio for example), explicit exchanges are not synchronous with the execution task. So, the detection is possible by the application.
Illustration
The illustration below shows the different significant bits for managing exchanges:
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Description of the Significant Bits
Each bit of the words EXCH_STS (%MW\2.e\0.m.c.0) and EXCH_RPT (%MW\2.e\0.m.c.1) is associated with a type of parameter:
Rank 0 bits are associated with the status parameters:
The STS_IN_PROGR bit (%MW\2.e\0.m.c.0.0) indicates whether a read request for the status
words is in progress.
The STS_ERR bit (%MW\2.e\0.m.c.1.0) specifies whether a read request for the status words is refused by the module channel.
Rank 1 bits are associated with the command parameters:
The CMD_IN_PROGR bit (%MW\2.e\0.m.c.0.1) indicates whether command parameters are
being sent to the module channel.
The CMD_ERR bit (%MW\2.e\0.m.c.1.1) specifies whether the command parameters are refused by the module channel.
Rank 2 bits are associated with the adjustment parameters:
The ADJ_IN_PROGR bit (%MW\2.e\0.m.c.0.2) indicates whether the adjustment parameters are being exchanged with the module channel (via WRITE_PARAM, READ_PARAM,
SAVE_PARAM, RESTORE_PARAM ).
The ADJ_ERR bit (%MW\2.e\0.m.c.1.2) specifies whether the adjustment parameters are refused by the module.
If the exchange is correctly executed, the bit is set to 0.
Rank 15 bits indicate a reconfiguration on channel c of the module from the console
(modification of the configuration parameters + cold start-up of the channel).
NOTE: m stands for the position of the module; c stands for the channel number in the module.
NOTE: Exchange and report words also exist at module level EXCH_STS (%MW\2.e\0.m.MOD) and EXCH_RPT (%MW\2.e\0.m.MOD.1) in the IODDT type T_GEN_MOD .
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Example
Phase 1: Sending data by using the WRITE_PARAM instruction.
Language objects
When the instruction is scanned by the PLC processor, the Exchange in progress bit is set to 1 in
%MW\2.e\0.m.c.
Phase 2: Analysis of the data by the I/O module and report
When the data is exchanged between the PLC memory and the module, processing by the module is managed by the ADJ_ERR bit (%MW\2.e\0.m.c.1.2): Report (0 = correct exchange, 1 = faulty exchange).
NOTE: There is no adjustment parameter at module level.
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Execution Indicators for an Explicit Exchange: EXCH_STS
The table below shows the control bits of the explicit exchanges: EXCH_STS (%MW\2.e\0.m.c.0).
Standard symbol
STS_IN_PROGR
CMD_IN_PROGR
ADJ_IN_PROGR
RECONF_IN_PROGR
Type
BOOL
BOOL
BOOL
BOOL
Access Meaning
R Reading of channel status words in progress
R
R
Command parameters exchange in progress
Adjust parameters exchange in progress
R Reconfiguration of the module in progress
Address
%MW\2.e\0m.c.0.0
%MW\2.e\0m.c.0.1
%MW\2.e\0m.c.0.2
%MW\2.e\0.m.c.0.15
NOTE: If the module is not present or is disconnected, explicit exchange objects (Read_Sts for example) are not sent to the module (STS_IN_PROG (%MWr.m.c.0.0) = 0), but the words are refreshed.
Explicit Exchange Report: EXCH_RPT
The table below shows the report bits: EXCH_RPT (%MW\2.e\0.m.c.1).
Standard symbol Type Access Meaning
STS_ERR BOOL R Error in reading status words of the channel
(1 = failure)
CMD_ERR BOOL R
ADJ_ERR
RECONF_ERR
BOOL R
BOOL R
Error when exchanging command parameters
(1 = failure)
Error when exchanging adjustment parameters
(1 = failure)
Fault when reconfiguring the channel
(1 = failure)
Address
%MW\2.e\0.m.c.1.0
%MW\2.e\0.m.c.1.1
%MW\2.e\0.m.c.1.2
%MW\2.e\0.m.c.1.15
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Lexium servo drives IODDT 15
Section 8.2
Lexium servo drives IODDT 15
Subject of this Section
This section describes the different IODDTs and language objects associated with Lexium servo drives 15 on a Fipio bus.
What Is in This Section?
This section contains the following topics:
Topic
Details of Implicit Exchange Objects of the T_LEXIUM_FIPIO IODDT: %I, %IW and %ID
Details of Implicit Exchange Objects of the T_LEXIUM_FIPIO IODDT: %QW and %QD
Details of Explicit Exchange Objects of the T_LEXIUM_FIPIO IODDT:
Page
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Details of Implicit Exchange Objects of the T_LEXIUM_FIPIO IODDT: %I, %IW and
%ID
Introduction
This page describes the implicit exchange objects (%I, %IW and %ID) of the T_LEXIUM_FIPIO
IODDT that apply to Lexium 15 drives.
Error Bit
The following table presents the meaning of the error bit CH_ERROR ( %I\2.e\0.m.c.ERR
).
Standard symbol
CH_ERROR
Type
BOOL
Access Meaning
R Indicates that input channel c is faulty.
Reference
%I\2.e\0.m.c.ERR
Servodrive Status: ZSW
The following table presents the meanings of the ZSW drive status word bits
( %IW\2.e\0.m.c.0
).
-
-
-
-
Standard symbol
RDY_START
DRV_RDY
DRV_RUN
Type Access Meaning
BOOL R Ready for start-up.
BOOL R
BOOL R
Servodrive ready.
Servodrive running.
FAULT
UNDER_POWER
BOOL R
BOOL R
EMCY_STOP_IN_PROG BOOL R
Fault present.
Power under voltage.
Emergency stop in progress.
(1)
DRV_LOCK
ALRM_IN_PROG
FOLL_ERR
SETPOINT_REACHED
-
BOOL R
BOOL R
BOOL R
-
BOOL R
Servodrive locked.
Alarm in progress.
Following error in external position command.
(2)
Reserved.
THR_REACHED
OFFLINE_MODE
-
-
-
BOOL R
-
-
BOOL R
-
Setpoint reached.
(3)
Threshold reached (not supported).
Reserved.
Reserved.
Offline mode.
Reserved.
Reference
%IW\2.e\0.m.c.0.0
%IW\2.e\0.m.c.0.1
%IW\2.e\0.m.c.0.2
%IW\2.e\0.m.c.0.3
%IW\2.e\0.m.c.0.4
%IW\2.e\0.m.c.0.5
%IW\2.e\0.m.c.0.6
%IW\2.e\0.m.c.0.7
%IW\2.e\0.m.c.0.8
%IW\2.e\0.m.c.0.9
%IW\2.e\0.m.c.0.10
%IW\2.e\0.m.c.0.11
%IW\2.e\0.m.c.0.12
%IW\2.e\0.m.c.0.13
%IW\2.e\0.m.c.0.14
%IW\2.e\0.m.c.0.15
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Standard symbol
Key :
(1)
(2)
(3)
Type Access Meaning
Only in operating modes 0, 2 and 8.
Only in operating mode 5.
Only in operating modes 4 and 8.
NOTE: Certain statuses are only valid on bit combinations
see page 105
.
Reference
Alarm: STATCODE_1 and STATCODE_2
The following table presents the meanings of the alarm words STATCODE_1
( %IW\2.e\0.m.c.1
) and STATCODE_2 ( %IW\2.e\0.m.c.2
).
Standard symbol
STATCODE_1
STATCODE_2
Type
INT
INT
Access Meaning
R
R
Alarm 1
.
Alarm 2
Reference
%IW\2.e\0.m.c.1
%IW\2.e\0.m.c.2
Error: ERRCODE_1 and ERRCODE_2
The following table presents the meanings of the error words ERRCODE_1 ( %IW\2.e\0.m.c.5
) and ERRCODE_2 ( %IW\2.e\0.m.c.6
).
Standard symbol
ERRCODE_1
ERRCODE_2
Type
INT
INT
Access Meaning
R
R
Reference
%IW\2.e\0.m.c.3
%IW\2.e\0.m.c.4
Status: TRJSTAT_1
The following table presents the meanings of the TRJSTAT_1 status word bits
( %IW\2.e\0.m.c.5
).
Standard symbol
IMPOS2_OUT
END_MOT_TASK
-
MOT_TASK_COMPLETE
-
Type
BOOL
BOOL
BOOL
-
R
R
Access Meaning
R INPOS2 output updated.
End of current motion task.
Motion task completed (Toggle).
Reserved.
Reference
%IW\2.e\0.m.c.5.0
%IW\2.e\0.m.c.5.1
%IW\2.e\0.m.c.5.2
%IW\2.e\0.m.c.5.3
to
%IW\2.e\0.m.c.5.15
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Status: TRJSTAT_2
The following table presents the meanings of the TRJSTAT_2 status word bits
( %IW\2.e\0.m.c.6
).
-
Standard symbol Type
MOT_TASK_ACT BOOL
REF_OK
HOMED
BOOL
BOOL
IN_POSITION
RE_IN2
REF_ACT
JOG_ACT
BOOL
BOOL
BOOL
BOOL
FE_IN2
EMCY_ACT
-
BOOL
BOOL
-
R
R
R
R
R
R
R
R
Access Meaning
R Motion task active.
Reference point reached.
Position = home.
In position.
Rising edge detection on input latch 2.
Reference point active.
JOG move active.
Reference
%IW\2.e\0.m.c.6.0
%IW\2.e\0.m.c.6.1
%IW\2.e\0.m.c.6.2
%IW\2.e\0.m.c.6.3
%IW\2.e\0.m.c.6.4
%IW\2.e\0.m.c.6.5
%IW\2.e\0.m.c.6.6
Falling edge detection on input latch 2.
%IW\2.e\0.m.c.6.7
Emergency stop active.
%IW\2.e\0.m.c.6.8
Reserved.
%IW\2.e\0.m.c.6.9
to
%IW\2.e\0.m.c.6.15
Position: PFB
The following table presents the meaning of the position word PFB ( %ID\2.e\0.m.c.7
).
Standard symbol Type
PFB DINT
Access Meaning
R Position (in increments).
Reference
%ID\2.e\0.m.c.7
Speed: V
The following table presents the meaning of the speed word V ( %IW\2.e\0.m.c.9
).
Standard symbol Type
V INT
Access Meaning
R Speed (0.3 rpm).
Reference
%IW\2.e\0.m.c.9
Effective current: I
The following table presents the meaning of the effective current word I ( %IW\2.e\0.m.c.10
).
I
Standard symbol Type
INT
Access Meaning
R Effective current
(1/10000 x DIPEAK (A)).
Reference
%IW\2.e\0.m.c.10
Key :
DIPEAK (A)
2 x exit current permanent ( see page 12 ) .
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Language objects
MONITOR1 and MONITOR2
The following table presents the meanings of the words MONITOR1 ( %IW\2.e\0.m.c.11
) and
MONITOR2 ( %IW\2.e\0.m.c.12
).
Standard symbol
MONITOR1
MONITOR2
Type
INT
INT
Access Meaning
R ANAOUT1 value (in mV).
R ANAOUT2 value (in mV).
Reference
%IW\2.e\0.m.c.11
%IW\2.e\0.m.c.12
NOTE: These values are not accessible for a Lexium 15 LP
Analog Inputs: ANIN1 and ANIN2
The following table presents the meanings of the analog input words ANIN1
( %IW\2.e\0.m.c.13
) and ANIN2 ( %IW\2.e\0.m.c.14
).
Standard symbol
ANIN1
ANIN2
Type
INT
INT
Access Meaning
R Analog Input 1.
R Analog Input 2.
Reference
%IW\2.e\0.m.c.13
%IW\2.e\0.m.c.14
STAT_IO
The following table presents the meaning of the word STAT_IO ( %IW\2.e\0.m.c.15
).
Standard symbol Type
STAT_IO INT
Access Meaning
R Digital I/O Drive Status.
Reference
%IW\2.e\0.m.c.15
Following error: PE
The following table presents the meaning of the following error word PE ( %ID\2.e\0.m.c.16
).
Standard symbol Type
PE DINT
Access Meaning
R Following error (in increments).
Reference
%ID\2.e\0.m.c.16
Task number in progress: TASK_NUMBER
The following table presents the meaning of the word TASK_NUMBER ( %IW\2.e\0.m.c.18
).
Standard symbol Type
TASK_NUMBER INT
Access Meaning
R Current task (Motion
Task) number.
Reference
%IW\2.e\0.m.c.18
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External encoder position: PFB0
The following table presents the meaning of the external coder position word PFB0
( %ID\2.e\0.m.c.19
).
-
Standard symbol Type
PFB0 DINT
Access Meaning
R External coder position (if EXPOS = 2, with EXTMUL, EXTCIN, GEARO, GEARI).
Reserved.
Reference
%ID\2.e\0.m.c.19
%IW\2.e\0.m.c.21
to
%IW\2.e\0.m.c.31
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Details of Implicit Exchange Objects of the T_LEXIUM_FIPIO IODDT: %QW and %QD
Introduction
This page describes the (%QW and %QD) implicit exchange objects of IODDT T_LEXIUM_FIPIO which apply to Lexium 15 servodrives.
Command Register : DRIVECOM
The following table presents the meaning of the ( %QW\2.e\0.m.c.0
) DRIVECOM command register word.
Standard symbol Type
DRIVECOM INT
Access Meaning
R/W Command Register.
Reference
%QW\2.e\0.m.c.0
NOTE: The bits of the DRIVECOM word are described in a specific chapter (
see page 97
.
Operating mode : OPMODE
The following table presents the meaning of the ( %QW\2.e\0.m.c.1
) OPMODE operating mode word.
Standard symbol Type
OPMODE INT
Access Meaning
R/W Operating mode of drive.
Reference
%QW\2.e\0.m.c.1
The following table presents the possible values of the %QW\2.e\0.m.c.1
OPCODE word.
Value
16#00
16#01
16#02
16#03
16#04
16#05
16#08
Operating mode
Speed setpoint (OPMODE 0).
Analog speed (OPMODE 1).
Torque setpoint (OPMODE 2).
Analog torque (OPMODE 3).
Position on external encoder (OPMODE 4).
Position setpoint (OPMODE 5).
Motion control (OPMODE 8).
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Commands : CMD_POS, CMD_VEL, CMD_CUR and VJOG
The following table presents the meaning of the command words CMD_POS
( %QD\2.e\0.m.c.2
), CMD_VEL ( %QW\2.e\0.m.c.4
), CMD_CUR ( %QW\2.e\0.m.c.5
) and
VJOG ( %QD\2.e\0.m.c.6
).
Standard symbol Type
CMD_POS DINT
CMD_VEL
CMD_CUR
VJOG
INT
INT
DINT
Access Meaning
R/W Absolute command position (in increments) (*).
R/W
R/W
R/W
Digital speed command (0.3 rpm).
Digital current command
(1/1000 x DIPEAK (A)).
JOG speed command (0.3 rpm).
Reference
%QD\2.e\0.m.c.2
%QW\2.e\0.m.c.4
%QW\2.e\0.m.c.5
%QD\2.e\0.m.c.6
Key :
DIPEAK (A)
2 x exit current permanent ( see page 12 ) .
(*) This trajectory mode is made up of 2 parameters :
PTBASE (address: 213) : time base expressed in N*250 s Example : N=4 implies an
interpolation time of 1 ms
PRBASE (address: 209) : defines the number of increments per rotation Example : N=20, or in other words 220=1048576 increments/rotation
CAUTION
RISK OF MECHANICAL DAMAGE
Make sure that the chosen parameters are compatible with the kinetics of your machine
Failure to follow these instructions can result in injury or equipment damage.
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Motion tasks : MTMUX, MOVE, O_C, O_P, O_V, O_ACC1 and O_DEC1
The following table presents the meaning of the words MTMUX ( %QW\2.e\0.m.c8
), MOVE
( %QW\2.e\0.m.c.9
), O_C ( %QW\2.e\0.m.c.10
), O_P ( %QD\2.e\0.m.c.11
), O_V
( %QD\2.e\0.m.c.13
), O_ACC1 ( %QW\2.e\0.m.c.15
) and O_DEC1 ( %QW\2.e\0.m.c.16
).
Standard symbol Type
MTMUX INT
-
MOVE
O_C
O_P
O_V
O_ACC1
O_DEC1
-
INT
INT
DINT
DINT
INT
INT
-
Access Meaning
R/W Preselected motion task (must be = 0 in
DIRECT MOVE) mode.
R/W
R/W
R/W
R/W
R/W
Motion task number.
Type of movement and unit.
Target position of motion task
(in increments).
Target speed of motion task.
R/W
Acceleration of motion task.
(1)
Deceleration of the motion task.
(1)
Reserved.
Reference
%QW\2.e\0.m.c.8
%QW\2.e\0.m.c.9
%QW\2.e\0.m.c.10
%QD\2.e\0.m.c.11
%QD\2.e\0.m.c.13
%QW\2.e\0.m.c.15
%QW\2.e\0.m.c.16
%QW\2.e\0.m.c.17
to
%QW\2.e\0.m.c.31
Key :
(1) If O_ACC1 or O_DE1 = 0, then the maximum value is applied.
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Language objects
Details of Explicit Exchange Objects of the T_LEXIUM_FIPIO IODDT:
Introduction
This page describes the explicit exchange objects of the T_LEXIUM_FIPIO IODDT that apply to
Lexium 15 drives.
Exchange management: EXCH_STS
The following table presents the meanings of the EXCH_STS exchange management word bits
( %MW\2.e\0.m.c.0
).
Standard symbol Type
STS_IN_PROG BOOL
CMD_IN_PROG
ADJ_IN_PROG
BOOL
BOOL
R
R
Access Meaning
R Parameter status reading in progress.
Command parameters write in progress.
Reference
%MW\2.e\0.m.c.0.0
%MW\2.e\0.m.c.0.1
Parameter exchange adjustment in progress.
%MW\2.e\0.m.c.0.2
Exchange report: EXCH_RPT
The following table presents the meanings of the EXCH_RPT exchange report word bits
( %MW\2.e\0.m.c.1
).
Standard symbol Type
STS_ERR BOOL
CMD_ERR
ADJ_ERR
BOOL
BOOL
R
R
Access Meaning
R Error reading channel status.
Error sending a command to the channel.
Error adjusting the channel.
Reference
%MW\2.e\0.m.c.1.0
%MW\2.e\0.m.c.1.1
%MW\2.e\0.m.c.1.2
Channel error: CH_FLT
The following table presents the meanings of the CH_FLT channel error word bits
( %MW\2.e\0.m.c.2
).
Standard symbol
INTERNAL_FLT
CONF_FLT
COM_FLT
APPLI_FLT
Type
BOOL
BOOL
BOOL
BOOL
R
R
Access Meaning
R Internal channel fault.
R
Hardware or software configuration error.
Error communicating with the bus.
Application fault.
Reference
%MW\2.e\0.m.c.2.4
%MW\2.e\0.m.c.2.5
%MW\2.e\0.m.c.2.6
%MW\2.e\0.m.c.2.7
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Language objects
Communication error: FIP_ERROR
The following table presents the meaning of the communication error word FIP_ERROR
( %MW\2.e\0.m.c.7
).
Standard symbol
PFB
Type
INT
Access Meaning
R Communication error.
Reference
%MW\2.e\0.m.c.7
NOTE: The FIP_ERROR word bits are described in a specific chapter
see page 102
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Language objects
Lexium 15 Servodrive Language Objects
Section 8.3
Lexium 15 Servodrive Language Objects
Purpose of this Section
This section describes the language objects associated with Lexium 15 servo drives on a Fipio bus.
What Is in This Section?
This section contains the following topics:
Topic
Implicit Exchange Language Objects
Explicit Exchange Language Objects
Page
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Language objects
Implicit Exchange Language Objects
Introduction
This page describes the implicit exchange language objects of a Lexium 15 servodrive on a Fipio bus.
Command Register : DRIVECOM
The following table presents the meanings of the DRIVECOM command register word bits
( %QW\2.e\0.m.c.0
).
Object
%QW\2.e\0.m.c.0.0
%QW\2.e\0.m.c.0.1
%QW\2.e\0.m.c.0.2
%QW\2.e\0.m.c.0.3
%QW\2.e\0.m.c.0.4
%QW\2.e\0.m.c.0.5
%QW\2.e\0.m.c.0.6
%QW\2.e\0.m.c.0.7
%QW\2.e\0.m.c.0.8
%QW\2.e\0.m.c.0.9
%QW\2.e\0.m.c.0.10
%QW\2.e\0.m.c.0.11
%QW\2.e\0.m.c.0.12
%QW\2.e\0.m.c.0.13
%QW\2.e\0.m.c.0.14
%QW\2.e\0.m.c.0.15
Meaning
Transition to Ready status.
Switched on.
0 : emergency stop.
Run.
Ramp stop.
Depends on operating mode ( see page 98 ) .
Depends on operating mode ( see page 98 ) .
Fault acknowledgment.
Depends on operating mode ( see page 98 ) .
Direct Move.
Reserved.
Depends on operating mode ( see page 98 ) .
Re-initialization of position (manufacturer-specific function).
Alarm acknowledgment (manufacturer-specific function).
Reserved.
Reserved.
NOTE: Certain statuses are only valid on bit combinations
see page 105
.
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Language objects
DRIVECOM word bits
The following table presents the meanings of the DRIVECOM command register word bits
( %QW\2.e\0.m.c.0
) that are dependent on the operating mode.
OPMODE 0 OPMODE 2 OPMODE 1
OPMODE 3
OPMODE 4
%QW\2.e\0.m.c.0.5
%QW\2.e\0.m.c.0.6
Ramp stop.
Reserved.
VCMD authorized setpoint.
ICMD authorized setpoint.
%QW\2.e\0.m.c.0.8
Reserved.
%QW\2.e\0.m.c.0.11
Reserved.
Reserved.
Reserved.
Reserved.
Reserved.
Reserved.
Reserved.
-
-
OPMODE 5 OPMODE 8
Without
Direct Move
(bit 9 = 0)
With Direct
Move
(bit 9 = 1)
Reserved.
Pause / Restart.
Start S_SETH. Start motion task.
Start movement.
Start JOG.
Start reference point.
-
-
NOTE: The movement command Direct Move is launched, either on the rising or falling edge of bit
6, or on a change of status of the motion control parameters.
The motion task start command is launched, either on the rising or falling edge of bit 6.
On change of status in bit 9, there is no stop.
RISK OF UNATTENDED MOVEMENTS
WARNING
Use of Direct Move mode can cause the axis to begin movement immediately. Make sure that safety devices are in place to protect the hardware and persons nearby.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Explicit Exchange Language Objects
Introduction
This page describes the explicit exchange language objects of a Lexium 15 servodrive on a Fipio bus.
Alarm and Error Words
The following table presents the meaning of the Lexium 15 servodrive bits.
Object
%MW\2.e\0.m.c.3
%MW\2.e\0.m.c.4
%MW\2.e\0.m.c.5
%MW\2.e\0.m.c.6
%MW\2.e\0.m.c.8
%MW\2.e\0.m.c.9
Meaning
STATCODE_1 alarm ( see page 99 )
.
STATCODE_2 alarm ( see page 100 )
.
ERRCODE_1 drive error ( see page 100 )
.
ERRCODE_2 drive error ( see page 101 )
.
Reserved.
Reserved.
Bit Table
The following table presents the meaning of the word bits %MW\2.e\0.m.c.3
.
Object
%MW\2.e\0.m.c.3.0
%MW\2.e\0.m.c.3.1
%MW\2.e\0.m.c.3.2
%MW\2.e\0.m.c.3.3
%MW\2.e\0.m.c.3.4
%MW\2.e\0.m.c.3.5
%MW\2.e\0.m.c.3.6
%MW\2.e\0.m.c.3.7
%MW\2.e\0.m.c.3.8
%MW\2.e\0.m.c.3.9
%MW\2.e\0.m.c.3.10
%MW\2.e\0.m.c.3.11
%MW\2.e\0.m.c.3.12
%MW\2.e\0.m.c.3.13
Meaning Servodrive warning code
(1) n01 I
2
T warning.
Ballast power.
Following error.
Response check.
Mains phase.
Limit switch 1.
Limit switch 2.
Motion task error.
No "reference" point value.
Positive limit.
Negative limit.
n10 n11
Default values.
n12
The Fipio interface is not functioning correctly. n13
HIPERFACE reference mode.
n14 n06 n07 n08 n09 n02 n03 n04 n05
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Language objects
Object
%MW\2.e\0.m.c.3.14
%MW\2.e\0.m.c.3.15
Meaning
Table error.
Reserved.
Servodrive warning code
(1) n15 n16
Key :
(1) For additional information, see the installation guides for the
Lexium 15 LP/MP/HP servodrives.
Bit Table
The following table presents the meaning of the word bits %MW\2.e\0.m.c.4
.
Object
%MW\2.e\0.m.c.4.0
à
%MW\2.e\0.m.c.4.14
%MW\2.e\0.m.c.4.15
Meaning
Reserved.
Beta Version of firmware.
Servodrive warning code
(1) n17... n31 n32
Key :
(1) For additional information, see the installation guides for the
Lexium 15 LP/MP/HP servodrives.
Bit Table
The following table presents the meaning of the word bits %MW\2.e\0.m.c.5
.
Object
%MW\2.e\0.m.c.5.0
%MW\2.e\0.m.c.5.1
%MW\2.e\0.m.c.5.2
%MW\2.e\0.m.c.5.3
%MW\2.e\0.m.c.5.4
%MW\2.e\0.m.c.5.5
Meaning
Servodrive heatsink overheating.
Voltage limit on DC link exceeded.
Following error limit exceeded.
Return signals missing or inadequate.
F03
F04
DC link voltage lower than factory settings (100 V). F05
Motor overheating.
F06
Servodrive warning code
(1)
F01
F02
%MW\2.e\0.m.c.5.6
%MW\2.e\0.m.c.5.7
%MW\2.e\0.m.c.5.8
%MW\2.e\0.m.c.5.9
Internal 24 Vdc fault.
Speed limit exceeded.
EEPROM checksum error.
Flash EPROM checksum error.
%MW\2.e\0.m.c.5.10
Motor brake faulty.
F07
F08
F09
F10
F11
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Object Meaning
%MW\2.e\0.m.c.5.11
Motor phase missing.
%MW\2.e\0.m.c.5.12
Ambient temperature.
%MW\2.e\0.m.c.5.13
Fault at servodrive output stage.
%MW\2.e\0.m.c.5.14
Maximum I 2 T value exceeded.
%MW\2.e\0.m.c.5.15
2 or 3 phases missing from power supply.
Servodrive warning code
(1)
F12
F13
F14
F15
F16
Key :
(1) For additional information, see the installation guides for the
Lexium 15 LP/MP/HP servodrives.
Bit Table
The following table presents the meaning of the word bits %MW\2.e\0.m.c.6
.
Object
%MW\2.e\0.m.c.6.0
%MW\2.e\0.m.c.6.1
%MW\2.e\0.m.c.6.2
%MW\2.e\0.m.c.6.3
%MW\2.e\0.m.c.6.4
%MW\2.e\0.m.c.6.5
%MW\2.e\0.m.c.6.6
%MW\2.e\0.m.c.6.7
%MW\2.e\0.m.c.6.8
%MW\2.e\0.m.c.6.9
%MW\2.e\0.m.c.6.10
%MW\2.e\0.m.c.6.11
%MW\2.e\0.m.c.6.12
%MW\2.e\0.m.c.6.13
%MW\2.e\0.m.c.6.14
%MW\2.e\0.m.c.6.15
Meaning
Analog/digital converter error.
Regen circuit faulty or incorrectly adjusted.
One phase missing from network power supply. F19
Location fault.
F20
Servodrive warning code
(1)
F17
F18
Processing fault.
Short-circuit to ground.
Reserved.
Alarm set to error by WMASK.
F21
F22
F23
F24
Exchange error.
Hard limit error.
External trajectory error.
Reserved.
Network error / Enable input = 0.
Reserved.
Reserved.
System error.
F25
F26
F27
F28
F29
F30
F31
F32
Key :
(1) For additional information, see the installation guides for the
Lexium 15 LP/MP/HP servodrives.
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Language objects
Communication error: FIP_ERROR
The following table presents the meaning of the FIP_ERROR communication error bits
( %MW\2.e\0.m.c.7
).
Object
%MW\2.e\0.m.c.7.0
%MW\2.e\0.m.c.7.1
%MW\2.e\0.m.c.7.2
to
%MW\2.e\0.m.c.7.15
Meaning
Shared memory error.
Fipio network error.
Reserved.
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Lexium 15 operating modes
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Servodrive operating modes
Chapter 9
Servodrive operating modes
Purpose of this chapter
This chapter explains the different operating modes of the Lexium 15 servodrive on FIPIO.
What Is in This Chapter?
This chapter contains the following topics:
Topic
Operating Modes of Servodrive
Status Diagram
Unilink-forced offline mode
Downgraded Operating Modes
Page
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103
Lexium 15 operating modes
Operating Modes of Servodrive
Introduction
The Lexium 15 servodrive on a Fipio bus has the following 7 operating modes :
0 : Speed setpoint,
1 : Analog speed,
2 : Torque setpoint,
3 : Analog torque,
4 : Position on external encoder,
5 : Position setpoint,
8 : Motion control :
With DIRECT MOVE inactive,
With DIRECT MOVE active.
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Status Diagram
Status Diagram for the DriveCom Standard
The Lexium 15 servodrive can be driven via Fipio in accordance with the following status diagram
The diagram below has been adapted to the properties of the Lexium 15 in order to facilitate programming. Each status represents an internal servodrive behavior. It is possible to change from one status to another by using the command word %QW\2.c\0.0.0
(STW). The status of the drive can be viewed using the status word %IW\2.c\0.0.0
(ZSW).
STATUS ZSW AND 16#006F
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Lexium 15 operating modes
The following table shows the combinations of bits accepted by the command word (STW).
Command
Stop
Run
Inhibit voltage
Fast stop (deactivate)
Fast stop (authorize)
Inhibit operation
Authorize operation
Clear Error
Acknowledge Warnings
-
-
-
-
-
1
-
-
-
Bit 13 Bit 7
-
-
-
-
-
-
-
-
1
-
1
-
0
-
-
-
-
-
Bit 4
0
1
-
1
-
-
-
-
-
Bit 3
1
1
0
1
-
-
-
1
Bit 2
1
1
1
1
1
-
-
1
0
Bit 1
1
1
1
-
1
-
-
-
1
Bit 0
0
-
Key :
Not significant.
The following table shows the combinations of bits accepted by the status word (ZSW).
Command
Not ready to run
Prevent run
Ready to run
Ready for operation
Operation authorized
Operation inhibited
Error
Error response
Fast stop active
0
0
0
0
0
0
0
Bit 6
0
1
-
-
0
-
1
1
1
-
-
Bit 5
-
-
-
-
-
-
-
-
-
Bit 4
1
1
0
0
1
0
0
Bit 3
0
0
0
0
0
1
0
0
0
Bit 2
0
0
0
0
1
1
0
0
1
Bit 1
0
0
0
0
1
1
0
1
1
Bit 0
0
0
-
Key :
Not significant.
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Unilink-forced offline mode
Unilink-forced offline mode
When the axis is debugged, it is possible to switch to forced offline mode in Unilink.
The switch to offline mode is achieved by using the servodrive "Validation" command through
Unilink. In this case the exchange of Fipio command words is halted, and the entire Unilink command set is accessible as if in independent operating mode.
The exchange of Fipio command words is reactivated with the servodrive "Devalidation" commando through Unilink.
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Lexium 15 operating modes
Downgraded Operating Modes
Operating Modes
The behavior of Fipio on Lexium 15 when operating in downgraded mode is specified below :
Operating mode
Stop PLC
Network fault
Fipio network configuration refused
Performance
The outputs %QW are maintained except %QW\2.e\0.0.0.d.0
to
%QW\2.e\0.0.0.d.3
set to 0.
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Performance
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Theoretical performance
Chapter 10
Theoretical performance
Theoretical Performance
Preface
The following provides a review of the cycle times (see Premium and Atrium Using EcoStruxure™
Control Expert, Fipio Bus, Setup Manual) of the Fipio bus applied to Lexium 15 servodrive.
Network Cycle Time
The network cycle time for a mono task application is calculated for the following configuration:
The bus length is 1 Km,
The values corresponding to silence time, slot time and bandwidth are the default values
(automatic mode).
For an application where all devices are configured in the same task, the value of the network cycle time of the task, in milliseconds, is obtained using the following formula:
Value of coefficient K for all types of Lexium 15 : 1,5
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Performance
Example:
Example of calculation for 2 Lexium 15's configured in the Mast task :
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List of Lexium 15 variables
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List of Lexium 15 variables
Chapter 11
List of Lexium 15 variables
Purpose of this chapter
This chapter contains one part of the Lexium 15 variable tables, accessible by the user through messaging.
What Is in This Chapter?
This chapter contains the following topics:
Lexium 15 Variables: overview
General read/write variables
Read/Write semi-logical variables
General read only variables
Read-only logic and register status variables
Read/Write Status Registers
Topic Page
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List of Lexium 15 variables
Lexium 15 Variables: overview
Overview
The following tables show the variables which can be accessed by the user via messaging.
The list is not exhaustive. To obtain the complete list, see the ASCII Command List that is available on the CD-Rom provided with every Lexium 15 servodrive.
Formats:
W: Word (16 bit words)
DW: Double Word (32 bits, least significant first)
F: Floating point (32 bits with the value * 1000)
Example: ASCII GP=0.15, the returned value read will be 150.
The ASCII variables specific to the Fipio ard are described in the chapter
describes the LexiumLexium 15 servodrive configuration parameters.
see page 45
that
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List of Lexium 15 variables
General read/write variables
Table of Variables
The general variables which can be read/write-accessed by the user are shown below:
008
017
034
035
Identifier ASCII command
Lexium 15 LP Lexium 15 MP/HP
001
002
ACC
ACCR
ACC
ACCR
036
062
064
066
068
037
050
055
056
069
070
072
073
074
075
077
090
ANDB
AVZ1
DEC
DECDIS
DECR
DECSTOP
ENCIN
ENCZERO
EXTMUL
GEARI
GEARO
GP
GPFFT
GPFFV
–
GV
–
–
GVFR
GVTN
I2TLIM
ANDB
AVZ1
DEC
DECDIS
DECR
DECSTOP
ENCIN
ENCZERO
EXTMUL
GEARI
GEARO
GP
GPFFT
GPFFV
GPTN
GV
GVFBT
GVFILT
GVFR
GVTN
I2TLIM
Description
Acceleration rate
Acceleration ramp (reference point, Jog)
Analog input signal dead band
Input 1 filter time constant
Deceleration rate
Deceleration in case of power outage
Deceleration ramp (reference point, Jog)
Fast stop ramp
Encoder input resolution
Top zero offset
External incremental return scale factor
Format
DW
DW
DW (F)
DW (F)
DW
DW
DW
DW
DW
W
W
Number of teeth on gearing input W
Number of teeth on gearing output W
Position loop: Proportional gain
Position loop: Feed Forward current
DW (F)
DW (F)
DW (F) Position loop: Feed Forward speed
Position loop: Integration action time
Speed loop: Proportional gain
Speed loop: First return filter rate time constant
Speed loop: proportion of filtering in [%] for GVT2
DW (F)
DW (F)
DW (F)
W
Speed loop: PI-Plus term
Speed loop: I-integration time
I2T message
DW (F)
DW (F)
W
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List of Lexium 15 variables
102
105
108
110
111
113
114
303
132
133
134
142
143
149
Identifier ASCII command
Lexium 15 LP Lexium 15 MP/HP
092
099
–
IN1TRIG
ICONT
IN1TRIG
150
151
152
156
160
163
165
IN2TRIG
IN3TRIG
IN4TRIG
IPEAK
IPEAKN
ISCALE1
ISCALE2
KTN
MAXTEMPE MAXTEMPE
MAXTEMPH MAXTEMPH
MAXTEMPM MAXTEMPM
MICONT
MIPEAK
MLGC
MLGD
MLGP
MLGQ
MPHASE
MRESBW
MSPEED
MTANGLP
IN2TRIG
IN3TRIG
IN4TRIG
IPEAK
IPEAKN
ISCALE1
ISCALE2
KTN
MICONT
MIPEAK
MLGC
MLGD
MLGP
MLGQ
MPHASE
MRESBW
MSPEED
MTANGLP
Description
Nominal current
Auxiliary trigger variable for
IN1MODE
Auxiliary trigger variable for
IN2MODE
Auxiliary trigger variable for
IN3MODE
Auxiliary trigger variable for
In4MODE
Max application current
Max application current negative direction
Scale factor for analog current command 1
Scale factor for analog current command 2
Format
DW (F)
DW
DW
DW
DW
DW (F)
DW (F)
DW (F)
DW (F)
Entire action time for the current regulator
Max. internal temperature of servodrive
Radiator temperature cut-off value
Max. temperature Motor
Nominal direct current
Peak current limited motor
Adaptive gain of the current regulator (direct current)
DW (F)
W
W
DW (F)
DW (F)
DW (F)
DW (F)
D axis current regulator gain for the motor current
DW (F)
Peak motor current adaptive gain DW (F)
Q axis current regulator gain for the motor current
DW (F)
Motor phase, Electrical offset
(resolver adjustment)
W
Resolver bandwidth
Max. speed limited motor
Current advance
W
DW (F)
W
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Identifier ASCII command
347
Lexium 15 LP Lexium 15 MP/HP
MTMUX MTMUX
Description
167
168
146
183
184
185
186
187
188
189
190
191
176
179
193
198
199
202
203
213
214
216
217
218
MVANGLB
MVANGLF
MVANGLP
O_ACC
O_TAB
O_C
O_DEC
O_TAB
O_FN
O_FT
O_P
O_V
O1TRIG
O2TRIG
PBALMAX
PEINPOS
PEMAX
PGEARI
PGEARO
PTBASE
PTMIN
PVMAX
PVMAXN
OCOPY
MVANGLB
MVANGLF
MVANGLP
O_ACC1
O_ACC2
O_C
O_DEC1
O_DEC2
O_FN
O_FT
O_P
O_V
O1TRIG
O2TRIG
PBALMAX
PEINPOS
PEMAX
PGEARI
PGEARO
PTBASE
PTMIN
PVMAX
PVMAX
OCOPY
Format
OPMode <> 8 Parameter-based
MT selection
Advance depending on the rotation speed (initial Phi)
Advance depending on rotation speed (final Phi)
Velocity-Related Commutation
Angle
Acceleration time 1 for MT <>0
W
DW
W
W
W
Acceleration time 2 for MT <>0
Command variable for MT <> 0
Deceleration time 1 for MT <> 0 W
Deceleration time 2 for MT <> 0 W
Next order number for MT <> 0 W
W
DW (for Lexium 15 LP) W
(for Lexium 15 MP/HP)
Next order delay time for MT <> 0 W
Target position for MT <> 0 DW
Target speed for MT <> 0
Auxiliary variable for O1MODE trigger
DW
DW
DW Auxiliary variable for O2MODE trigger
Maximum ballast power
Position error threshold for the in-position band (INPOS)
Max tracking error
DW
DW
DW
DW Numerator for the Motion Task resolution factor
Denominator for the Motion Task resolution factor
External trajectory time basis
Minimum MT acceleration time
DW
Max. MT speed
Max. MT speed (negative direction)
MT backup copy
W
DW
DW
DW
W
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List of Lexium 15 variables
Identifier ASCII command
226
Lexium 15 LP Lexium 15 MP/HP
REFIP REFIP
Description
231
260
262
264
266
284
285
289
290
291
295
296
297
298
ROFFS
SWE1
SWE2
–
–
VBUSMAX
VBUSMIN
VJOG
VLIM
VLIMN
VOSPD
VREF
VSCALE1
VSCALE 2
ROFFS
SWE1
SWE2
SWE3
SWE4
VBUSMAX
VBUSMIN
VJOG
VLIM
VLIMN
VOSPD
VREF
VSCALE1
VSCALE 2
Application current at reference point on mechanical stop
Source offset
Position value for Pos.Reg.1
Position value for Pos.Reg.2
Position value for Pos.Reg.3
Position value for Pos.Reg.4
Max. bus voltage
Min. bus voltage
Speed in Jog
System speed limit
System speed limit (negative direction)
Speed overshoot
Homing speed
Scale factor on speed 1 input
Scale factor on speed 2 input
Format
DW (F)
DW
DW
DW
DW
DW
DW
W
DW
DW (F)
DW (F)
DW (F)
DW
W
W
116
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List of Lexium 15 variables
Read/Write semi-logical variables
Table of variables
The table of read/write-accessible semi-logical variables is shown below:
Description Identifier ASCII command
Lexium 15 LP
003 ACTFAULT
Lexium 15 MP/HP
ACTFAULT
162
180
209
211
255
MSG
OPMODE
PRBASE
PROMPT
STOPMODE
MSG
OPMODE
PRBASE
PROMPT
STOPMODE
Active fault mode
Message acceptance/refusal
Operation mode
Bits by rev
RS232 protocol preselection
Dynamic brake management mode
Range
Error
0=var. cut
1=deceleration
0=refusal 1=acceptance of messages
0-5, 8
16, 20
0=prompt step 1= active prompt 2= char. echo and active prompt
3=prompt and check sum activated
0=braking step
1=braking on fault and/or var. cut
Value Format
0
0
1
20
1
0
W
W
W
W
–
W
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List of Lexium 15 variables
General read only variables
Table of variables
The list of general read-only accessible variables is provided below:
192
197
200
210
112
136
154
155
215
272
273
274
280
039
041
088
089
Identifier ASCII command
Lexium 15 LP
009
010
ANIN1
ANIN2
I
DICONT
DIPEAK
DI2T
093
091
095
ID
–
ICMD
282
286
292
–
IQ
–
–
PBAL
PE
PFB
PRD
PV
TEMPE
TEMPH
TEMPM
V
VBUS
VCMD
–
Description Format
IQ
MDBCNT
MONITOR 1
MONITOR 2
PBAL
PE
PFB
PRD
PV
TEMPE
TEMPH
TEMPM
V
Lexium 15 MP/HP
ANIN1
ANIN2
DICONT
I
DIPEAK
I2T
ID
ICMD
IMAX
VBUS
VCMD
VMAX
Analog Input 1
Analog Input 2
Nominal current of the servodrive
Servodrive peak current
Real value of the current
RMS average current
D component of the real current value
Current setpoint value
Current limit for the servodrive/motor combination
Q component of the real current value
Number of motor data sets
Analog 1 output voltage
Analog 2 output voltage
Real ballast power value
Slave position error
Current position control
Measured position hardware counter
Instantaneous speed of the position regulator DW
Internal Temperature DW
Real radiator temperature value
Motor temperature
Measured speed
(rpm)
DW
DW
DW
Bus voltage
Speed setpoint
Maximum system load
DW
DW (F)
DW (F)
DW
DW
DW
DW
W
W
DW (F)
W
DW
DW
DW (F)
DW (F)
DW (F)
DW
DW (F)
DW (F)
DW (F)
118
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List of Lexium 15 variables
Read-only logic and register status variables
Table of logic variables
The following is a list of read-only logic variables :
Identifier ASCII command
Lexium 15 LP Lexium 15 MP/HP
004 ACTIVE ACTIVE
Description
Power level on / off
006
221
AENA
READY
AENA
READY
Initialization status of the software validation
Software validation status
Range
0=off
1=on
0,1
Value
–
1
–
Format
W
W
W
Table of Status registers
The following is a list of read-only status registers :
Identifier ASCII command
Lexium 15 LP Lexium 15 MP/HP
097 IN1 IN1
Description
100
103
106
109
174
177
181
251
IN2
IN3
IN4
INPOS
O1
O2
OPTION
STAT
IN2
IN3
IN4
INPOS
O1
O2
OPTION
STAT
Range Value Format
Status of hardware logic input 1
Status of hardware logic input 2
Status of hardware logic input 3
Status of hardware logic input 4
0=inactive
1=active
0=inactive
1=active
0=inactive
1=active
0=inactive
1=active
–
–
–
–
Motion task completed in
PEINPOS-configured window
0=not in pos
1=in pos
Status of hardware logic output 1 0=inactive
1=active
–
–
Status of hardware logic output 2 0=inactive
1=active
Option ID card
Servodrive status word
–
Entire (=word) –
Entire (=word) –
W
W
W
W
W
W
W
W
W
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List of Lexium 15 variables
Read/Write Status Registers
Table of Status Registers
The read/write accessible status registers are listed in the table below:
Description
141
145
233
234
043
048
115
131
235
240
241
254
322
Identifier ASCII command
Lexium 15 LP
015
016
ANZERO1
ANZERO2
024
306
029
CLRFAULT
COLDSTART
CONTINUE
Lexium 15 MP/HP
ANZERO1
ANZERO2
CLRFAULT
COLDSTART
CONTINUE
DIS
EN
K
LOAD
MH
MJOG
RSTVAR
S
SAVE
SETREF
–
STOP
MOVE
DIS
EN
K
LOAD
MH
MJOG
RSTVAR
S
SAVE
SETREF
SETROFFS
STOP
MOVE
Analog input zero 1 (ANOFF1)
Analog input zero 2 (ANOFF2)
Clear/acknowledge servodrive error
Reset servodrive
Continue the previous position control order
Software deactivation
Software activation
Stop (= deactivate)
Data loading from EPROM to RAM
Start reference point
Start Jog
Factory adjustment of variables
Movement stop and drive deactivation
Saves variables in EPROM from RAM
Configure a reference point
ROFFS automatic configuration
Stop motion task
Start the indicated motion task
Start movement command bit in the
DRIVECOM word
Format
W
W
W
W
W
W
W
W
W
W
W
W
W
W
W
W
W
W
120
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List of Lexium 15 variables
Request equipment identification
A Lexium 15 identification request can be made using the SEND_REQ instruction in Control
Expert.
Code : 16#0F.
Example of syntax :
SEND_REQ(ADDR('\2.1\SYS'),16#000F,%MW200:1,%MW300:200, %MW100:4);
The response for a Lexium 15 on Fipio is as follows (in the form of %MB ) :
Byte
%MBn
%MBn+1
%MBn+2
%MBn+3
%MBn+4 to
%MBn+24
%MBn+25
%MBn+26
%MBn+27
%MBn+28
%MBn+29
%MBn+30
%MBn+31
%MBn+32
%MBn+33
%MBn+34
%MBn+35
%MBn+36 to
%MBn+56
%MBn+57
%MBn+58
Value Description
16#FF Type of identification. Always FF.
16#80 The product range : 80 for Fipio.
16#49 Commercial version of servodrive. In this case V4.9.
16#20 Servodrive ASCII string length. Always = 20.
String ASCII string giving the product reference of the drive in 20 characters. The 21st character is equal to 0 (end of string).
16#08 Number of PLC description bits. Always = 8.
16#03 Device ready. Always = 3.
16#00 Status of servodrive LEDs. Always = 0 (no LED).
16#F1 Application type. F1 = FED profile.
16#11 Product type. 11 = modular product.
16#06 Catalog reference of servodrive. In this case, 06 for LXMLU60N4.
16#00 Base module fault. In this case 0 = no fault.
16#01 Number of sub-modules. In this case 1 = 1 Fipio card.
16#00 Sub-module address. Always = 0 for the Fipio card.
16#10 Firmware Version of Fipio card. In this case V1.0.
16#14 Fipio card ASCII string length.
Always = 20.
String ASCII string giving the product reference of the Fipio card in 20 characters. The
21st character is equal to 0 (end of string).
16#08 Number of Fipio card status description bits. Always = 8.
Fipio card status:
16#00 0 = Card not configured.
16#01 1 = Card in RUN.
16#02 2 = Card in STOP.
16#03 3 = Communication fault.
16#04 4 = DPRAM fault.
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List of Lexium 15 variables
Byte
%MBn+59
%MBn+60
%MBn+61
%MBn+62
%MBn+63
Value Description
Status of COM (most significant) and ERR (least significant) LEDs.
Example: : 16#40 = COM flashing and ERR off.
16#x0 0 = Off.
16#x4 4 = Flashing.
16#x8 8 = Fixed.
16#2F Application type of Fipio card.
16#01 Product type of Fipio card.
16#05 Catalog reference of Fipio card. In this case 5 for AM0 FIP.
Fipio card faults:
16#00 0 = No fault.
16#01 1 = DPRAM fault.
16#02 2 = FIP communication fault.
122
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Lexium 15 using EcoStruxure™ Control Expert
Index
35008159 12/2018
Index
C
channel data structure for lexium devices
configuring
connecting
TSXFPACC12,
TSXFPACC2,
D
debugging,
L
O
P
parameter settings,
Lexium,
R
READ_VAR,
T
T_LEXIUM_FIPIO,
35008159 12/2018
U
Using
Lexium 15 messaging on the Fipio bus,
W
WRITE_VAR,
123
Index
124
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